End Effector Patents (Class 901/30)
  • Patent number: 9245784
    Abstract: A substrate retaining device comprising: a support mechanism configured to change a pitch at which a plurality of substrate retaining units are arranged, urging mechanisms provided for the respective substrate retaining units and configured to urge the movable units to cause movable retaining members to press-hold substrates, and a push back mechanism configured to release the press-holding of the substrates by the movable retaining members. A push back portion of the push back mechanism is positioned at a standby position, at which the push back portion makes no contact with the movable units.
    Type: Grant
    Filed: December 18, 2012
    Date of Patent: January 26, 2016
    Inventors: Yasuhiko Hashimoto, Takayuki Fukushima
  • Publication number: 20150148954
    Abstract: A robot apparatus includes a manipulator including a hand and an arm, a teaching apparatus that teaches operation of the manipulator, and a control apparatus that controls the manipulator that operates in a regular operation status or an erroneous manipulation avoiding status based on a control signal from the teaching apparatus. After determining whether a status of the manipulator is the regular operation status or the erroneous manipulation avoiding status, the control apparatus transmits a control signal for performing operation at a set regular speed to the manipulator in a case of the regular operation status, and the control apparatus transmits a control signal for performing operation at a speed lower than or equal to a safety speed that is set based on the regular speed to the manipulator in a case of the erroneous manipulation avoiding status.
    Type: Application
    Filed: October 22, 2014
    Publication date: May 28, 2015
    Inventor: Masatoshi Sasaki
  • Publication number: 20150148948
    Abstract: Current handheld marking devices typically use hand movement to create marks on a surface. Marks, in this context, can be defined as an area on a surface having different physical properties from its surroundings. Such marks are created by the motion of a marking region that travels on a surface plane, creating a mark over time. Examples of such devices are: pens, brushes, markers, spray tools, and engraving instruments. Marking devices carry motion from the brain, to the hand, through the device and onto the surface. A feedback loop is created from the brain to hands to a final mark on a surface. The mark is observed as it is created and loops back into the brain. This creative mark making loop is the process to generate a visual element or design on a surface. Typically this loop is consistent across handheld marking devices.
    Type: Application
    Filed: November 23, 2013
    Publication date: May 28, 2015
    Inventors: Dilip Singh, Michael Isner
  • Publication number: 20150148951
    Abstract: Provided are a method and a control apparatus for cooperative cleaning using multiple cleaning robots, including monitoring an overall cleaning condition of an extensive space and automatically assigning multiple cleaning robots to a space required to be cleaned, and when a cleaning area is fixed based on a cooperative cleaning method, data on an amount of garbage generated from the cleaning area or a cleaning condition of the cleaning area may be accumulated to facilitate easier management of the cleaning.
    Type: Application
    Filed: April 16, 2014
    Publication date: May 28, 2015
    Applicant: Electronics and Telecommunications Research Institute
    Inventors: Seo Hyun JEON, Min Su JANG, Dae Ha LEE, Chang Eun LEE, Hyun Ja IM, Young Jo CHO, Jae Hong KIM, Jong Hyun PARK
  • Publication number: 20150133044
    Abstract: A cooling mechanism includes a plurality of support stands which is provided in a vertical direction over a plurality of stages in an atmospheric transfer chamber where a down-flow is formed, a plurality of support pins which is provided in each of the support stands and supports a target object in contact with the backside of the target object. The cooling mechanism further includes a plurality of air guide plates which is provided in the support stands and cools the target object supported by the support stand located at a lower stage using the down-flow.
    Type: Application
    Filed: May 2, 2013
    Publication date: May 14, 2015
    Inventors: Keita Kumagai, Yoshiaki Sasaki, Hirohito Kikushima, Hayato Itomi
  • Publication number: 20150127141
    Abstract: A robot includes a force detection unit and an arm including an end effector. The arm applies a force acting in a predetermined direction to a first workpiece so that the first workpiece is pressed against at least a first surface and a second surface of a second workpiece.
    Type: Application
    Filed: October 30, 2014
    Publication date: May 7, 2015
    Inventors: Hiroyuki KAWADA, Yuki KIYOSAWA, Makoto KUDO
  • Patent number: 9021900
    Abstract: Provided is an in-pipe inspection robot which moves along a path in a pipe to inspect suspected areas such as cracks in the pipe. An in-pipe inspection robot in accordance with an exemplary embodiment of the present invention has a configuration in which two or more operating units having a plurality of arms, which move forward and backward in a radial direction of a pipe, are connected to each other to move in a straight direction or to be bent relative to each other by means of a flexible link mechanism.
    Type: Grant
    Filed: September 6, 2012
    Date of Patent: May 5, 2015
    Assignee: Industry-Academic Cooperation Foundation Yonsei University
    Inventors: Hyun Seok Yang, Woong Sun Jeon
  • Patent number: 9026250
    Abstract: A robotic arm is mounted on a personal mobility device, such as a wheelchair, scooter or the like, and is controlled with a user input interface, also mounted on the personal mobility device. The user input interface has a grip operable by the user to move in a plurality of orthogonal directions, both spatially and angularly, having articulating arms supporting a housing with a pivot member.
    Type: Grant
    Filed: August 17, 2011
    Date of Patent: May 5, 2015
    Assignee: Harris Corporation
    Inventors: Matthew D. Summer, Paul M. Bosscher, Laurance H. Davis, III
  • Publication number: 20150120047
    Abstract: A control device includes a reception unit that receives first operation information and second operation information different from the first operation information; and a process unit that instructs a robot to execute operations based on the first operation information and the second operation information using a plurality of captured images of an imaged target object, the images being captured multiple times while the robot moves from a first posture to a second posture different from the first posture.
    Type: Application
    Filed: October 22, 2014
    Publication date: April 30, 2015
    Inventors: Masaki MOTOYOSHI, Kenji ONDA, Hiroyuki KAWADA, Mitsuhiro INAZUMI
  • Publication number: 20150114236
    Abstract: A robotic cooking apparatus that can cook dishes using a computer recipe provided by a user and ingredients stored in it. Able to adjust the recipe based on user preference data. Cooking apparatus comprises of ingredient input section, cooking stations, pre-processing and post-processing station. Input section has trays and can be at room temperature or refrigerated for storing perishable ingredients. Robot head assembly is able to transfer ingredients, identify and measure as well as take inventory periodically. Cooking apparatus is connected to a network and can be operated remotely by a fixed or handheld device and monitor its operation remotely.
    Type: Application
    Filed: June 2, 2011
    Publication date: April 30, 2015
    Inventors: Shambhu Nath Roy, Riya Bhattacharya
  • Publication number: 20150105891
    Abstract: A bioassembly system having a tissue/object modeling software component fully and seamlessly integrated with a robotic bioassembly workstation component for the computer-assisted design, fabrication and assembly of biological and non-biological constructs. The robotic bioassembly workstation includes a six-axis robot providing the capability for oblique-angle printing, printing by non-sequential planar layering, and printing on print substrates having variable surface topographies, enabling fabrication of more complex bio-constructs including tissues, organs and vascular trees.
    Type: Application
    Filed: October 10, 2014
    Publication date: April 16, 2015
    Inventors: Michael Golway, Justin C. Palmer, Jeffrey Kyle Eli, Joshua D. Bartlett, Ellsworth H. Collins
  • Patent number: 8992113
    Abstract: An assembly for releasably connecting an end effector in the form of a robotic tool or component to a robotic arm is disclosed. The connection is manually operated and formed of a first and second joint member including a cylindrical body, a locking collar, and a locking wall extending from the cylindrical body. The locking collar is coaxially aligned with and rotatably connected to the first joint member. The second joint member has a cylindrical mating body and a coupler, and engages the first joint member. The coupler also includes key pins, the pins being engageable in keyed relationship with the locking wall, the coupler and locking collar further includes intervening circumferentially spaced teeth, wherein the collar is rotatable to releasably engage the first joint member with the second joint member.
    Type: Grant
    Filed: June 4, 2010
    Date of Patent: March 31, 2015
    Assignee: RE2, Inc.
    Inventors: Frank F. Campagna, Nabil Michael Rizk, Keith M. Gunnett
  • Patent number: 8985935
    Abstract: A calibrated mass damper for use with end effectors for semiconductor wafer handling robots is described. The calibrated mass damper reduces vibrational response in an end effector carrying a semiconductor wafer without requiring modification of the end effector structure.
    Type: Grant
    Filed: February 1, 2013
    Date of Patent: March 24, 2015
    Assignee: Novellus Systems, Inc.
    Inventors: Mark K. Tan, Nicholas M. Kopec, Richard M. Blank
  • Publication number: 20150081095
    Abstract: Provided is a robot further improved in safety. The robot includes at least one link which is rotatably coupled around an axis, a motor which rotates the link around the axis, a first sensor which detects a rotation state of the motor, and a second sensor which detects a rotation state of the link. The robot also includes a controller which controls the rotation of the link based on information from the first sensor. The controller determines an operation state of at least one of the first sensor and the second sensor, based on first information from the first sensor and second information from the second sensor.
    Type: Application
    Filed: November 20, 2014
    Publication date: March 19, 2015
    Inventors: Tomoyuki SHIRAKI, Atsushi ICHIBANGASE, Yuji SAJIKAWA, Tomohiro MATSUO, Shinichi ISHIKAWA, Tomoki KAWANO
  • Publication number: 20150073435
    Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.
    Type: Application
    Filed: September 18, 2014
    Publication date: March 12, 2015
    Inventors: Giuseppe Maria Prisco, David Q. Larkin, William C. Nowlin
  • Patent number: 8977378
    Abstract: Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.
    Type: Grant
    Filed: March 14, 2014
    Date of Patent: March 10, 2015
    Assignee: Northeastern University
    Inventors: Brian Weinberg, Constantinos Mavroidis
  • Publication number: 20150057677
    Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
    Type: Application
    Filed: September 5, 2014
    Publication date: February 26, 2015
    Inventors: Nicola DIOLAITI, David Q. LARKIN, Thomas G. COOPER, Bruce M. SCHENA
  • Patent number: 8965571
    Abstract: A brick laying system where an operator such as a mason works proximate a moveable platform having a robotic arm assembly, a mortar applicator with a mortar transfer device, and a brick transfer device to build structures. The robotically assisted brick laying system may also contain a stabilizer having a disturbance sensing and a disturbance correcting component that provides compensation for disturbances caused by load shifting, movement of the platform, wind, operator movement, and the like. In addition, the robotically assisted brick laying system has a sensing and positioning component for controlling placement of the moveable platform and robotic arm assembly. The interoperability of the system with a mason or skilled operator removes much of the manual labor component of brick laying, allowing the mason more time to focus on craftsmanship and quality, thus improving the end product and the overall working conditions of the mason.
    Type: Grant
    Filed: August 10, 2011
    Date of Patent: February 24, 2015
    Assignee: Construction Robotics, LLC
    Inventors: Scott Lawrence Peters, Nathan Podkaminer, Thomas Charles Coller
  • Publication number: 20150042278
    Abstract: An electric charger resource sharing method and system comprise a charger that supplies electrical energy to a plurality of electric vehicles. The charger includes a robotic arm that articulates to be proximal to each of the electric vehicles for supplying the electrical energy to the electric vehicles and a docking interface at a distal end of the robotic arm that couples with a receptacle on each of the electric vehicles for transferring the electrical energy from the charger to the electric vehicles. A resource management device receives a bid from each electric vehicle, and allocates a portion of the electrical energy for a predetermined period of time to an electric vehicle of the plurality of electric vehicles in response to the bid of the electric vehicle.
    Type: Application
    Filed: August 7, 2014
    Publication date: February 12, 2015
    Inventor: Kevin Walter Leary
  • Patent number: 8950065
    Abstract: A combination component handling and connecting device connectable to a multi-axis robot for use in moving and connecting components and subassemblies includes a housing and an actuator fixedly connected to the housing. The actuator includes an actuating link movable from a first position to a second position. Connected to the actuating link is an end effector for concurrent movement with the actuating link. The component handling and connecting device includes a clamp having a first jaw and a second jaw. The second jaw is connected to the actuating link for selectively moving the second jaw toward the first jaw operative to engage a component.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: February 10, 2015
    Assignee: Comau, Inc.
    Inventor: Velibor Kilibarda
  • Patent number: 8954182
    Abstract: A robot system includes a manipulator; a work table arranged within a movement extent of the manipulator; an imaging unit for taking a two-dimensional image of the workpieces loaded on the work table; a workpiece supply unit for supplying workpieces onto the work table; and a control system for controlling operations of the manipulator and the imaging unit. The control system includes an imaging control unit for controlling the imaging unit to take the two-dimensional image of the workpieces loaded on the work table, a workpiece detecting unit for detecting a position and a posture of each of the workpieces loaded on the work table by comparing the two-dimensional image taken by the imaging unit with templates stored in advance, and a manipulator control unit for operating the manipulator to perform a work with respect to the workpieces detected by the workpiece detecting unit.
    Type: Grant
    Filed: August 30, 2011
    Date of Patent: February 10, 2015
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Takeshi Okamoto, Kenji Matsufuji, Takurou Yano, Takuya Murayama, Yoshihisa Nagano
  • Publication number: 20150032243
    Abstract: A robot system according to an aspect of the embodiment includes at least one robot, a transporter, and a controller. The robot performs multi-axial operation based on an operation instruction by the controller. The transporter has a pair of guides arranged parallel to each other along a predetermined transport direction, the guides having a variable spacing therebetween, transports a workpiece to a working position of the robot while restricting the movement of the workpiece present in an area between the pair of guides toward the direction of the spacing, and sandwiches and holds the workpiece by the pair of guides at the working position. The controller instructs the robot to perform the operation to apply predetermined processing to the workpiece held at the working position.
    Type: Application
    Filed: October 15, 2014
    Publication date: January 29, 2015
    Inventors: Takashi SHIINO, Keigo ISHIBASHI, Toshiaki IKEDA, Toshiyuki HARADA, Shoji KOYAKUMARU
  • Patent number: 8942845
    Abstract: A robot includes a gripping section and a main body section to which the pair of finger sections are attached, having one end sections of the pair of finger sections rotatably connected to each other around a first rotating shaft disposed at a position separate from the main body section, and adapted to open and close the pair of finger sections by swinging the other side of the pair of finger sections on a plane parallel to a mounting surface on which an object is mounted centered on the first rotating shaft to thereby grip the object, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and grip the object with the gripping section at at least three contact points.
    Type: Grant
    Filed: September 14, 2011
    Date of Patent: January 27, 2015
    Assignee: Seiko Epson Corporation
    Inventors: Yukihiro Yamaguchi, Tatsuya Hosoda, Kazuhiro Kosuge, Yasuhisa Hirata
  • Patent number: 8938315
    Abstract: A method for verifying completion of a task is provided. In various embodiments, the method includes obtaining location coordinates of at least one location sensor within a work cell. The at least one sensor is affixed to a tool used to operate on a feature of a structure to be assembled, fabricated or inspected. The method additionally includes, generating a virtual object locus based on the location coordinates of the at least one location sensor. The virtual object locus corresponds to a computerized schematic of the structure to be assembled and represents of all possible locations of an object end of the tool within the work cell. The method further includes, identifying one of a plurality of candidate features as the most likely to be the feature operated on by the tool. The identification is based on a probability calculation for each of the candidate features that each respective candidate feature is the feature operated on by the tool.
    Type: Grant
    Filed: January 13, 2014
    Date of Patent: January 20, 2015
    Assignee: The Boeing Company
    Inventors: Philip L. Freeman, Thomas E. Shepherd, Christopher K. Zuver
  • Patent number: 8919714
    Abstract: A compliant tool holder is provided for use with robots, unmanned ground vehicles, and the like. The compliant tool holder is characterized in that it involves the use of means for compliance, such as springs, rubber, plastics, metals, composites, shock mounts, vibration mounts, or similar means for permitting compliant movement in three rotational and three translational degrees of freedom during end effector changes. The compliant tool holder reduces costs associated with automated tool change in the field, and allows for more rapid switching of end effectors, enabling a greater range of uses for robots and unmanned ground vehicles.
    Type: Grant
    Filed: October 13, 2011
    Date of Patent: December 30, 2014
    Assignee: RE2, Inc.
    Inventors: Nabil Michael Rizk, Frank F. Campagna, Aaron P. Nicely, Joseph J. Vasalani, III
  • Patent number: 8911987
    Abstract: An automated instrument for identification and/or characterization of a microbial agent present in a sample. The instrument includes (a) a sample removal apparatus operative to remove a test sample from a specimen container and add the test sample to a disposable separation device; (b) a separation and concentration apparatus operative on the separation device to separate the microbial agent from other components which may be present in the test sample and concentrate the microbial agent within the separation device; and (c) a identification and/or characterization module interrogating the concentrated microbial agent to identify and/or characterize the microbial agent.
    Type: Grant
    Filed: May 14, 2010
    Date of Patent: December 16, 2014
    Assignee: Biomerieux, Inc
    Inventors: Ronnie J. Robinson, Mark S. Wilson, Christopher S. Ronsick, John D. Walsh, Jones M. Hyman, Bradford G. Clay
  • Patent number: 8909374
    Abstract: A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.
    Type: Grant
    Filed: March 5, 2013
    Date of Patent: December 9, 2014
    Assignee: Panasonic Corporation
    Inventors: Yudai Fudaba, Masaki Yamamoto, Yuko Tsusaka, Taichi Sato
  • Publication number: 20140358162
    Abstract: Robotic platform for mini-invasive surgery comprising robotic arms (4a, 4b) suitable to be placed in the body of a patient, introduced through a single access port, which are an extension of external robotic manipulators (19). The continuity between external (1) and internal (4a, 4b) robotic arms is guaranteed by means of a trans-abdominal magnetic connection (6) between the internal robotic arm integral with the external one. The trans-abdominal magnetic coupling not only guarantees a stable anchoring, but most of all it transfers degrees of freedom to the internal robotic arms, inducing the motion of internal magnets by means of the automatized motion of external magnets. It is also possible to reposition the internal robotic arms without requiring having to additionally perform incisions on the abdomen. Using the external robotic arms allows translating the internal ones on the entire abdomen thus providing a working space not bound to the point of insertion and theoretically unlimited.
    Type: Application
    Filed: May 31, 2012
    Publication date: December 4, 2014
    Inventors: Pietro Valdastri, Christian Di Natali, Massimiliano Simi, Tommaso Ranzani, Arianna Menciassi, Paolo Dario
  • Publication number: 20140350707
    Abstract: A robot system according to one aspect of an embodiment includes a robot and a control unit. The robot performs multi-axis operations based on instructions on the operations from the control unit. The control unit causes a power source to supply power to a partially fabricated item that includes a movable member that is able to be controlled by receiving power, and instructs the robot to perform an operation of attaching a predetermined member to the partially fabricated item while controlling the movable member.
    Type: Application
    Filed: August 5, 2014
    Publication date: November 27, 2014
    Inventors: Kenji MATSUFUJI, Ken OKAWA, Takuya MURAYAMA, Kenichi MOTONAGA
  • Publication number: 20140330432
    Abstract: Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement.
    Type: Application
    Filed: May 6, 2014
    Publication date: November 6, 2014
    Applicant: Vanderbilt University
    Inventors: Nabil Simaan, Andrea Bajo, James L. Netterville, C. Gaelyn Garrett
  • Publication number: 20140316557
    Abstract: A system is provided for processing container-grown plants positioned in a given area. The system includes a processing station positioned in the area for processing the container-grown plants. It also includes one or more autonomous mobile container handling robots configured to: (i) travel to a source location in the area and pick up a container-grown plant, (ii) transport the container-grown plant to the processing station where a process is performed on the container-grown plant, (iii) transport the container-grown plant from the processing station to a destination location in the area, (iv) deposit the container-grown plant at the destination location, and (v) repeat (i) through (iv) for a set of container-grown plants in the source location.
    Type: Application
    Filed: January 24, 2014
    Publication date: October 23, 2014
    Applicant: Harvest Automation, Inc.
    Inventors: Joseph L. Jones, Clara Vu, Paul E. Sandin, Charles M. Grinnell
  • Patent number: 8868231
    Abstract: In a system, one or more robotic arms are positioned adjacent a transport surface that is moving workpieces, and one or more picking elements are connected to each of the robotic arms. The picking elements have physical picking features that remove the workpieces from the transport surface and move the workpieces to another location. A controller is operatively connected to the robotic arms and the picking elements, and the controller independently controls the robotic arms and the picking elements to dynamically position the picking elements in coordination with a dynamic size, spacing, and transport speed of the workpieces being moved by the transport surface.
    Type: Grant
    Filed: August 10, 2011
    Date of Patent: October 21, 2014
    Assignee: Xerox Corporation
    Inventors: Kenneth P. Moore, Douglas K. Herrmann, Derek A. Bryl, Paul N. Richards, Richard Scarlata
  • Patent number: 8857877
    Abstract: A reconfigurable end-effector attachable to a robotic arm, includes a master boom, a first branch assembly and a second branch assembly, a dual articulation mechanism. The dual articulation mechanism includes a first clutch attached to the first branch assembly and is configured to articulate the first branch assembly relative to the second branch assembly. The dual articulation mechanism further includes a second clutch attached to the master boom, the second branch assembly and the first clutch and is configured to simultaneously articulate the first and second branch assemblies relative to the master boom. The first and second branch assemblies each have limbs connected to branches supporting a plurality of tool modules. Each tool module includes an end element configurable to interact with a workpiece.
    Type: Grant
    Filed: May 4, 2011
    Date of Patent: October 14, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Yhu-Tin Lin, Andrew L. Bartos, Roland J. Menassa, Hyunshik Shin, Shinho Kang, Yong-Hyun Ju, Ki-Beom Kim, Sang-Yul Ju
  • Patent number: 8857821
    Abstract: A manually actuated robotic tool changer includes a first housing having a generally cylindrical piston with a central axis partially extending from the first housing, the piston rotatable about the axis. A plurality of tabs are disposed about the circumference of a portion of the piston extending from the first housing. A second housing has a bore to receive a portion of the piston. A plurality of locking lugs are disposed about the bore. The tool changer is manually actuated from an unlocked position wherein the piston assumes a position with respect to the first housing such that the extending portion of the piston may be moved within the bore with the tabs moving between the locking lugs, to a locked position wherein the piston is rotated with respect to the first housing such that the tabs move beneath the locking lugs to lock the first and second housings together.
    Type: Grant
    Filed: September 5, 2008
    Date of Patent: October 14, 2014
    Assignee: ATI Industrial Automation, Inc.
    Inventors: Daniel Allen Norton, Kenneth L. Potts
  • Publication number: 20140301818
    Abstract: A substrate transport apparatus for transporting substrates, the substrate transport apparatus including a frame, at least one transfer arm connected to the frame, at least one end effector mounted to the at least one transfer arm and at least one substrate support pad disposed on the at least one end effector, the at least one substrate support pad has a configuration that effects increased friction force, resulting from an increased friction coefficient, in at least one predetermined direction.
    Type: Application
    Filed: December 17, 2012
    Publication date: October 9, 2014
    Applicant: Brooks Automation, Inc,
    Inventors: Ulysses Gilchrist, Jairo Terra Moura
  • Patent number: 8840356
    Abstract: A workpiece transporting apparatus includes a hand, a rotating portion for rotatably holding the hand, an arm provided in the hand and having one end provided at the rotating portion, and a holding portion provided in the hand and provided to another end of the arm for holding a workpiece, in which a center portion of the holding portion is disposed with a predetermined interval from an axial line extended from a rotational center of the rotating portion toward another end of the arm.
    Type: Grant
    Filed: September 8, 2011
    Date of Patent: September 23, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Masayuki Kaneko, Taro Nakamura, Takayuki Hasegawa
  • Publication number: 20140277334
    Abstract: An instrument driver comprises opposing rotatable gripping pads. Each of the gripping pads including an outer circular rim and a center hub. The pads are configured for applying a gripping force to an elongated member. The instrument driver further comprises shafts affixed to the center hubs, and a driver assembly configured for rotating at least one of the shafts, thereby causing the pads to rotate in opposite directions to linearly translate the gripped member. Each of the pads further includes a framework for partially collapsing in response to the gripping force, such that portions of the rims flatten to contact each other. Each rim has a concave gripping surface in order to facilitate vertical centering of the member between the pads. Each of the pads further includes a pair of upper and lower sprockets for interlacing with each other to prevent the elongated member from slipping out between the pads.
    Type: Application
    Filed: March 14, 2013
    Publication date: September 18, 2014
    Inventor: HANSEN MEDICAL, INC.
  • Publication number: 20140277679
    Abstract: Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.
    Type: Application
    Filed: March 14, 2014
    Publication date: September 18, 2014
    Applicant: Northeastern University
    Inventors: Brian Weinberg, Constantinos Mavroidis
  • Patent number: 8838273
    Abstract: The present disclosure relates to a system, method and article which may be configured to autonomously dispense a medium onto a relatively large surface relatively accurately.
    Type: Grant
    Filed: December 10, 2008
    Date of Patent: September 16, 2014
    Assignee: Southwest Research Institute
    Inventors: Paul Hvass, Paul Thomas Evans
  • Publication number: 20140257565
    Abstract: A robot cleaner is disclosed. The robot cleaner includes a cleaner body, a position sensor disposed in the cleaner body, the position sensor including a light transmission unit to emit light and a light reception unit to receive light reflected or scattered from an obstacle after being emitted from the light transmission unit, and a transparent member to transmit the light emitted from the light transmission unit and the light to be received by the light reception unit.
    Type: Application
    Filed: March 4, 2014
    Publication date: September 11, 2014
    Applicant: LG Electronics Inc.
    Inventors: Changhwa SUN, Dongmyung SHIN, Sungjin CHO
  • Patent number: 8820203
    Abstract: A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.
    Type: Grant
    Filed: February 11, 2009
    Date of Patent: September 2, 2014
    Assignee: Fanuc Robotics America, Inc.
    Inventors: Yi Sun, H. Dean McGee, Jason Tsai, Hadi Akeel
  • Publication number: 20140222198
    Abstract: The invention is a modular and autonomously reconfigurable manipulator system which introduces a new dimension to the versatility of robot manipulation for diverse tasks. The hardware component is a redundant mechanism which can lock any number of its joints at any relative position to form a particular configuration with a certain number of degrees of freedom and specific values for kinematic, dynamic and control parameters, optimum for a given task to be performed. The process of identifying the optimum configuration for a given task and implementing it on the manipulator is done autonomously through the system software. Therefore, no manual interaction is required to form a new configuration most suitable for a given task. The kinematic, dynamic and control parameters of the system can vary continuously enabling the manipulator to form virtually an infinite number of configurations.
    Type: Application
    Filed: January 24, 2013
    Publication date: August 7, 2014
    Inventors: Mohammad Reza Emami, Jason Alexander Kereluk
  • Publication number: 20140210224
    Abstract: An end effector device attached to a tip end portion of a robot arm includes a plurality of support units provided on a blade. Each of the support units includes: a plurality of nail pieces configured to support peripheral portions of a plurality of semiconductor wafers such that the semiconductor wafers are parallel to one another and spaced apart from one another; and a pitch changing mechanism configured to change upper-lower intervals of the nail pieces. The pitch changing mechanism includes: a coil spring configured to support the plurality of nail pieces such that the plurality of nail pieces are spaced apart from one another in an upper-lower direction and elastically deform in the upper-lower direction; and an operating mechanism configured to cause the coil spring to elastically deform in the upper-lower direction. The operating mechanism includes a piston pin fitted in the coil spring to move up and down.
    Type: Application
    Filed: August 9, 2012
    Publication date: July 31, 2014
    Inventors: Yasuhiko Hashimoto, Shigeki Ono, Takayuki Fukushima
  • Patent number: 8776345
    Abstract: A tire mounting apparatus is constructed from a first working mechanism and a second working mechanism that are separate from each other. The first working mechanism is provided with a tire holding device for holding a tire and with a temporary tightening device for temporarily tightening nuts onto hub bolts to which the tire is mounted. The second working mechanism is provided with a final tightening device means for finally tightening the temporarily tightened nuts. The final tightening device includes two nut runners and an interval adjuster for adjusting an interval between the two nut runners.
    Type: Grant
    Filed: January 16, 2009
    Date of Patent: July 15, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Saeko Komatsu, Yoshito Otake
  • Publication number: 20140174354
    Abstract: A single- and dual-chamber module-attachable wafer-handling chamber includes: a wafer-handling main chamber equipped with a wafer-handling robot therein, and adaptors for connecting process modules to the wafer-handling main chamber. The adaptors are detachably attached to the sides of the wafer-handling main chamber, respectively, and the process modules are detachably attached to the adaptors, respectively, so that the process modules can be attached to the wafer-handling main chamber, regardless of whether the process modules are of a single-chamber type or dual-chamber type.
    Type: Application
    Filed: December 26, 2012
    Publication date: June 26, 2014
    Applicant: ASM IP HOLDING B.V.
    Inventor: Izumi Arai
  • Publication number: 20140148950
    Abstract: A manipulator system includes a master manipulation unit that performs a manipulation input by an operator, a slave motion unit that operates in accordance with the manipulation input, an interlock control unit that analyzes the manipulation input and performs control to operate the slave motion unit, interlocking with the manipulation input, and an interlock permission input unit that is capable of being manipulated by the operator and transmits, to the interlock control unit, an interlock permission mode signal used to enter a mode in which interlock of the slave motion unit is permitted based on the manipulation input of the mater manipulation unit when the operator manipulates the interlock permission input unit.
    Type: Application
    Filed: January 31, 2014
    Publication date: May 29, 2014
    Inventors: Ryohei OGAWA, Masaru YANAGIHARA
  • Patent number: 8715040
    Abstract: A workholder includes a connecting member, a polishing member mounted on the connecting member, an elastic member sleeved on the connecting member, and a fixing assembly for movably receiving the connecting member. An end of the elastic member resists the polishing member, and the other end of the elastic member resists the fixing assembly, such that the connecting member is moveable to adjust a position of the polishing member when polishing.
    Type: Grant
    Filed: October 29, 2010
    Date of Patent: May 6, 2014
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Dong-Wei Gao
  • Publication number: 20140115863
    Abstract: To automatically perform an attachment work of a material supply to a target object, a robot system includes a robot provided with a body, a first arm provided for the body and having a plurality of joints, a second arm provided for the body separately from the first arm and having a plurality of joints, and hand units respectively provided for the first arm and the second arm. The robot holds one of a plurality of types of workpiece components using the hand units of the first arm and the second arm at the same time, and the remaining type of the workpiece components is held and carried by the hand unit of the first arm or the second arm.
    Type: Application
    Filed: January 7, 2014
    Publication date: May 1, 2014
    Inventors: Katsunori URABE, Kenichi MOTONAGA, Keigo ISHIBASHI, Takashi SHIINO
  • Publication number: 20140120235
    Abstract: A system and method for preparing treats is presented. A vending machine for building custom ordered treats includes an enclosed housing with windows. A robot is inside the housing and first and second user interfaces are attached to the housing. The first and second user interfaces accept inputs from first and second users respectively. The robot has left and right arms as well as a simulated head to make it appear somewhat human like. The left and right arms work together to assemble a single treat when only one treat has been requested at the vending machine. However, when two different treats have been requested the left arm can work independently, at least sometimes, of the right arm on a custom treat for the first user. Similarly, the right arm can, at least sometimes, work independently of the left arm on a custom treat for the second user.
    Type: Application
    Filed: October 24, 2013
    Publication date: May 1, 2014
    Inventors: Allan S. Jones, James S. Wolf, Jeffrey L. Redington, Todd A. Smith, Ward Beckwith, David E. Brain, Eric F. Marcil
  • Patent number: 8702340
    Abstract: An integrated locking device that includes both a linear locking mechanism and a rotary locking mechanism. The locking device includes a housing where the linear locking mechanism and the rotary locking mechanism are mounted to different sides of the housing so as to reduce the height of the device.
    Type: Grant
    Filed: December 22, 2010
    Date of Patent: April 22, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Yhu-Tin Lin, Andrew L. Bartos