Abstract: A gripper for holding preforms or containers in their neck region having two pivotable gripper arms held in a base position under spring tension such that their gripping ends jointly enclose and hold the neck region. They are pivotable out of the base position jointly in one direction if they come into contact with an obstacle. In the base position, a main gripper arm is clamped via a spring with the gripper base, which pulls the main arm into contact with the other secondary gripper arm. The main and secondary arms are each mounted in a respective joint. The joint of the secondary arm is closer to its gripping end than the joint of the main arm is to its gripping end. The arms press against one another in the closed position at least in two regions, one above the joint of the secondary arm and the other below it.

Abstract: The present disclosure discloses a method and apparatus for motion planning of a robot, a method and apparatus for path planning of a robot, and a method and apparatus for grasping of a robot. The method includes: when the robot operates on an object to be operated, performing, in combination with a space model of a real scene where the object is located, collision detection on the object and a collision subject in the space model; and determining a motion planning scheme for the robot corresponding to a result of the collision detection based on collision sensitivity of the object and collision sensitivity of the collision subject, the motion planning scheme being formed by the robot operating on the object.

Abstract: A robot control device, which causes a robot mounted on a transport vehicle to be stopped on the basis of an external force applied to the robot, is equipped with a determination unit configured to determine whether or not the transport vehicle is currently traveling, and a control unit configured to cause the robot to be stopped in the case that the transport vehicle is currently traveling, and to enable the robot to be operated in the case that the transport vehicle is not currently traveling.

Abstract: A robot with an impact buffering member on the surface of a robot arm for alleviating the impact when the arm contacts an object; and a contact detection unit for detecting a contact between the robot arm and object. The unit has a soft porous member on the front surface side of the impact buffering member and softer than the member; a housing member including the soft porous member and formed of a flexible material; a fluid discharge pipe for discharging a fluid inside the housing member when the object makes contact so the volume of the housing member decreases; and a volume change detection portion for detecting a change in volume of the housing member by utilizing the discharged fluid. It is possible to secure sufficient safety in a cooperative work between a person and a robot or the like, even when the person contacts the robot arm.

Abstract: A method for simulating a braking operation of a robot wherein a dynamic model of the robot is used to determine, for a given initial state of the robot, a final state range with a plurality of possible final states of the robot as a result of the simulated braking operation.

Abstract: A robot includes first and second arms to rotate and convey an object; a first rotary body to support the first arm and having a first fluid passage and at least one second fluid passage communicating with the first fluid passage; a base-end-side arm formed with an internal space and a hole part into which a part of the first rotary body is inserted; a second rotary body to support the second arm and having a third fluid passage communicating at one end thereof with the second fluid passage and communicating at the other end thereof with the internal space; a supplying device disposed in the internal space and connected to an upstream-end side of the first fluid passage, and to supply fluid to the first fluid passage; a first motor to rotate the first rotary body; and a second motor to rotate the second rotary body.

Abstract: A ceiling mounted robot includes a first member, a first arm portion that is rotatably provided on the first member via a first joint portion, a second arm portion that is rotatably provided on the first arm portion via a second joint portion, a wiring portion that is inserted into the first arm portion and the second arm portion, and a connector portion that is connected to the wiring portion.

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.

Abstract: A locating beam and a robot linear motion unit having the same, wherein the locating beam comprises a first support beam and a second support beam which are parallel to each other, a crossbeam connected between the first support beam and the second support beam and is vertical to the beams, and a joints between the crossbeam and the beams is provided with a right-angle connecting piece. The robot linear motion unit includes a motion track and a transmission mechanism arranged along the extension direction of the motion track, and the motion track is arranged on a surface of the locating beam. Arranging the crossbeam and right-angle connecting pieces between the first support beam and the second support beam in the locating beam, improves the mechanical structure strength, reduces deflection deformation and twist deformation of the locating beam, and improves the impact resistance of the robot linear motion unit.

Abstract: Proposed is a monitoring device for monitoring and/or sensing predefined positions of a robotic device (5) having at least two axes of motion. The monitoring device comprises at least two sensors (15, 16), the first (15) of which is defined to sense a horizontal position and/or rotative position of the main support (9) and the second sensor (16) a defined horizontal position of the robotic arm (11). The monitoring device comprises furthermore sensor active faces (17a, 18a, 18b) arranged selectively for the first sensor (15) arranged in the horizontal motion zone and/or swiveling zone of the robotic device (5).

Abstract: An abutment member having an abutment section abutting a work stand on which a workpiece to which an arm performs work is placed is provided on a front surface of a robot body.

Abstract: Systems and methods relating to a clutch system for use in controllably transmitting torque from an input shaft to an output shaft. The clutch system has a torque transmission fluid that has a viscosity that changes based on the strength of an electromagnetic field passing through the fluid. A number of sensors are placed at different radial locations on the torque transmission disks to detect the strength of the electromagnetic field. Based on the strength of the electromagnetic field, the amount of torque being transmitted from the input shaft to the output shaft can be adjusted. Also disclosed is a distributed actuation architecture that uses this clutch system. The distributed actuation architecture allows for the use of a single drive motor in conjunction with multiple instances of the clutch system to actuate a mechanical linkage, such as a robotic arm.

Abstract: In sensor-less collision detection of a robot, a conventional method for displaying abnormality of the robot makes an abnormality display of “collision detected” when a collision is erroneously detected, and does not clarify the situations under which the collision has been erroneously detected. In a method for displaying abnormality of a robot, when a collision of the robot is detected and the collision detection is displayed, at least one abnormality display is selected from a plurality of abnormality detection items different from collision detection. This can offer information useful for the user to understand the situations at occurrence of the erroneous collision detection.

Abstract: An autonomous mobile device, an autonomous movement system, and an autonomous movement method, each having an obstacle avoidance capability, are provided. The autonomous mobile device includes an avoidance pattern determination unit for determining the travel pattern of the local device according to the state of motion, relative to the autonomous movement device, of a mobile obstacle other than the autonomous movement device; and a travel controller for causing the autonomous movement device to travel according to the travel pattern determined by the avoidance pattern determination unit. One of avoidance patterns is selected in accordance with a relative velocity to a mobile obstacle.

Abstract: An automatic moving device and a control method therefor. The automatic moving device comprises a battery pack providing power. The automatic moving device can work within a working area and automatically return to a charging station for charging. The control method comprises the following steps: monitoring the power level of the battery pack; if the power level of the battery pack is less than or equal to a preset power level, initiating an action of returning the automatic moving device to the charging station; and after a preset time period, stopping the travel. By setting a preset time period simultaneously with initiating a return action, and executing a return action within the preset time period, the control method prevents damage to the battery pack from over-discharging caused by the automatic moving device continually returning, thus achieving the effects of protecting the battery pack and extending the life thereof.

Abstract: In a running control method of a running apparatus, person moving direction and speed are estimated based on a person position history for predetermined time. It is decided whether contact with a person is likely to be made based on the estimation and running information about the running apparatus. When it is decided that the contact is likely to be made, a first route where the running apparatus avoids the person is generated for controlling running of the running apparatus therealong. It is decided whether the person has the intention to contact with the running apparatus based on the decision in the contact possibility deciding unit after the running along the first route. When it is decided that the person has the contact intention, a second route where the running apparatus approaches the person is generated for controlling the running of the running apparatus therealong.

Abstract: A overload protection mechanism protects a driven load, such as a driven lever. An overload lever is pivotally coupled to a first part of the driven load. The overload lever has a first end that receives an applied force and an opposing second end. A zero length spring mechanism is coupled to a second part of the driven load spaced apart from the first part and to the second end of the overload lever. The zero length spring mechanism urges the second end of the overload lever toward the second part of the driven load with a force that is substantially proportional to the distance between the second end of the overload lever and the second part of the driven load. A stop mechanism is coupled to the zero length spring mechanism to maintain a minimum distance between the second end of the overload lever and the second part of the driven load.

Abstract: A protective device is provided for a gripping device on a handling apparatus, e.g., a handling robot. The gripping device has gripping parts in the form of gripping fingers, which gripping parts are movable using a transmission mechanism. The gripping device has at least one overload safety device as the protective device which, in response to the exceeding of a certain force on the gripping device, has the effect of an evasion of the gripping device. The protective device responds exclusively in response to forces which occur from a direction and which act upon the gripping parts outside a direction of forces required for gripping objects.

Abstract: Devices, systems, and methods for social behavior of a telepresence robot are disclosed herein. A telepresence robot may include a drive system, a control system, an object detection system, and a social behaviors component. The drive system is configured to move the telepresence robot. The control system is configured to control the drive system to drive the telepresence robot around a work area. The object detection system is configured to detect a human in proximity to the telepresence robot. The social behaviors component is configured to provide instructions to the control system to cause the telepresence robot to operate according to a first set of rules when a presence of one or more humans is not detected and operate according to a second set of rules when the presence of one or more humans is detected.

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.

Abstract: A safety stop mechanism for an automated storage library in which a connector has first and second ends. The first end is configured to contact a door of the automated storage library when the door is in at least a first position. A safety stop is connected to the second end of the connector and adapted to move from a down position to an up position. The safety stop is in the down position when the door is in the first position allowing for travel of the robotic accessor over the safety stop.

Abstract: A roller assembly provides collision protection and stability to a mobile robot. The roller assembly includes a shaft forming an axis about which the roller assembly can rotate. The shaft has opposite ends configured to be supported by bearings in the robot. The roller assembly also includes an impact absorbing layer coaxially covering the shaft. It further includes a shell coaxially covering the impact absorbing layer having a lower coefficient of friction than the impact absorbing layer for providing low sliding friction.

Abstract: A method for handling of a first robotized mobile machine moving in a congested working environment under the control of a second robotized mobile machine, providing the operator, in real time, with a relevant view of the working scene, even if an object intrudes into the field of view of the camera and thereby obscures the operator's view. This method is based on use of properties of a physics engine of the constraint resolution type. For each object in the scene, the physics engine has a physical representation of said object in the form of a mesh. The engine calculates a wrench on the basis of the respective positions and velocities of two objects. In case of a collision between the manipulator and a fixed object in the scene, the engine determines the wrench to be applied to the manipulator in order to make it avoid the object.

Abstract: Method for controlling the action of a robotic arm which comprises the following stages: a) moving the robotic arm by means of an action programmed in a controller; b) measuring the force which the robotic arm applies at specific points in the movement in stage a); c) comparing the force applied at each of the points in stage b) with force profile data stored in the controller; d) as a result of the comparison in paragraph c), generating an alarm signal if the force measured in stage b) is outside the limits defined in the force profile and carrying out stage a) if the force measured in stage b) is within the limits defined in the force profile.

Abstract: A self-propelled cleaner (1), i.e., a self-propelled electronic device, includes a temperature measurement unit (63) that measures an ambient temperature during self-propelled operation, a temperature decision unit (521) that decides whether the measured ambient temperature is equal to or more than a set value, and an abnormal temperature notification unit (522) that externally reports abnormal temperature information indicating that the measured ambient temperature is equal to or more than the set value if the measured ambient temperature is decided to be equal to or more than the set value.

Abstract: Disclosed are a device and a method for picking up glass plates from at least one production line in order to convey said glass plates on to a storage housing or a coating plant. An embodiment of the device includes: a) a linearly movable, vertically installed main lifting column with a lifting rake that can be vertically moved therealong; b) a horizontal drive unit for the lifting rake; c) at least one sensor which is mounted on a fork of the lifting rake and is used for detecting the availability of the targeted storage place of a glass plate; d) at least one sensor which is mounted on a fork of the lifting rake and is used for detecting if a glass plate is located on the lifting rake; e) at least one sensor that is mounted on a fork of the lifting rake and is used for detecting cracks in a glass plate.

Abstract: A transfer robot according to the embodiment includes an arm unit, a base unit, a guide unit, a lifting unit, and a vent part. The arm unit includes a robot hand capable of holding an object to be transferred. The base unit is formed into a substantially box shape. The guide unit includes a vertical shaft vertically arranged in the base unit. The lifting unit is provided to be raisable and lowerable along the vertical shaft and supports the arm unit at an upper end portion. The vent part is opened in an upper surface of the base unit and vents downflow from an outside to an inside of the base unit.

Abstract: According to a method according to the invention for controlling a robot (1), in particular a human-collaborating robot, a robot- or task-specific redundancy of the robot is resolved, wherein, in order to resolve the redundancy, a position-dependent inertia variable (mn(?v(q))) of the robot is minimized.

Abstract: A robotic tool changer removably attaches a robotic tool to a robotic arm. The changer includes a tool module connected to the robotic tool, and a master module connected to the robotic arm. To attach and detach the robotic tool, the changer couples and uncouples the tool module and the master module. A master electrical signal module (ESM) affixes to the master module and a tool ESM affixes to the tool module. In accordance with design requirements, the changer applies the same power supply to both the master ESM and the tool ESM. The changer, however, selectively suppresses application of the power supply to the tool ESM, while maintaining application of the power supply to the master ESM, during the coupling or uncoupling of the master module and the tool module. In doing so, the changer enables such coupling and uncoupling, while also preventing the formation of transient electric arcs.

Abstract: Exemplary robots and corresponding exemplary operating methods for a painting system are disclosed. In one example, the robot is a handling robot for opening and closing doors or bonnets of motor vehicle bodies. A robot element of a handling robot that is susceptible to dirt retention, e.g., a handling tool, may be arranged away from the spray jet of a paint during the painting operation and is applied to the component that is to be painted. The robot may include a cleaning device for cleaning or for keeping the robot element of the handling robot that is susceptible to dirt retention clean from paint that is applied with spray jet in the painting operation.

Abstract: In order to flexibly identify the current operating state of control elements which are used to control a process installation, the invention provides a method for identifying the operating state of at least one control element, which is designed for an active and a passive operating state, for a control apparatus, wherein, in the active operating state, the control element controls a process function of an area of a process installation, comprising the following steps: the control apparatus is connected to the process installation, the control element is functionally associated with the process function, and the operating state of the control element is identified as active on the basis of successful functional association of the control element with the process function.

Abstract: A control device (1) for a robot arm (8) which, if a person approach detection unit (3) detects approach of a person, performs control according to an impact between the robot arm (8) and the person. The control performed according to the impact is performed through an impact countermeasure motion control unit (4) and by setting individual mechanical impedances for respective joint portions of the robot arm (8) based on a movement of the person detected by a human movement detection unit (2).

Abstract: The present invention provides a locating beam and a robot linear motion unit having the same. The locating beam comprises a first support beam (11) and a second support beam (12) which are parallel to each other, wherein a crossbeam (13) is connected between the first support beam (11) and the second support beam (12) and is vertical to the beams (11, 12), and each of the joints between the crossbeam (13) and the beams (11, 12) is provided with a right-angle connecting piece (15). The robot linear motion unit comprises a motion track and a transmission mechanism arranged along the extension direction of the motion track, wherein the motion track is arranged on a surface of the locating beam.

Abstract: A safety stop is provided for stopping a movable member having at least one set of opposed wheels for gripping a rail. The stop has a track on each of opposite sides forming a wedge shape of a narrow end progressively widening to a wide end in a direction of travel of the movable member. With the opposed wheels of the movable member respectively at opposite sides of the wedge shape member, the tracks of the wedge shape member engage and impart a spreading strain to the opposed wheels as the movable member moves in the direction of travel. The opposed wheels of the movable member comprise a deformable material to absorb the kinetic energy of the movable member. The tracks of the stop additionally may have undulating features comprising concave and convex surfaces in the direction of motion.

Abstract: An NC machine tool system includes an NC machine tool (10), a first operation panel (22) and a second operation panel (24) for the NC machine tool, a multi-joint robot (40), a memory (450), and a robot controller (50). The multi-joint robot (40) is disposed above the NC machine tool. The memory (450) stores a wait position return program by which the multi-joint robot (40) is operated. The robot controller (50) controls the multi-joint robot (40) in accordance with the program. Operation panels (22, 24) are respectively provided with switch keys (22c, 24c) operated to execute the wait position return program stored in the memory (450) so as to operate the multi-joint robot (40).

Abstract: The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object.

Abstract: A safety stop is provided for stopping a movable member having at least one set of opposed wheels for gripping a rail. The stop has a track on each of opposite sides forming a wedge shape of a narrow end progressively widening to a wide end in a direction of travel of the movable member. With the opposed wheels of the movable member respectively at opposite sides of the wedge shape member, the tracks of the wedge shape member engage and impart a spreading strain to the opposed wheels as the movable member moves in the direction of travel. The opposed wheels of the movable member comprise a deformable material to absorb the kinetic energy of the movable member. The tracks of the stop additionally may have undulating features comprising concave and convex surfaces in the direction of motion.

Abstract: A gripping device comprising holders which exhibit a two-directional elasticity for picking up products with large dimensional tolerances. The gripping device may comprise two grippers disposed in opposed relationship with one another. At least one of the grippers may be movable towards the other. Each of the grippers may include a holder and a gripping jaw attached to the holder. The holder may be a C-shaped portion that exhibits a two-directional elasticity to allow horizontal as well as a vertical movement of the gripping jaw. At least one of the holders may be coupled to a linear actuator to move the gripper in at least a substantially horizontal direction.

Abstract: A robot part, such as a robot arm or a robot joint, surrounded by an impact absorbing structure is provided. According to the invention, the impact absorbing structure has a shroud surrounding the robot part. The shroud is mounted on two spacing elements such that an interspace is formed between the shroud and the robot part. At least one of the spacing elements mounts the shroud elastically. Also provided is a method of protecting a robot part by providing the robot part with an impact absorbing structure according to the invention.

Abstract: Proposed is a monitoring device for monitoring and/or sensing predefined positions of a robotic device (5) having at least two axes of motion. The monitoring device comprises at least two sensors (15, 16), the first (15) of which is defined to sense a horizontal position and/or rotative position of the main support (9) and the second sensor (16) a defined horizontal position of the robotic arm (11). The monitoring device comprises furthermore sensor active faces (17a, 18a, 18b) arranged selectively for the first sensor (15) arranged in the horizontal motion zone and/or swivelling zone of the robotic device (5).

Abstract: A gripper for retaining containers includes gripper arms extending from corresponding rotation axes. Each gripper arm ends in a free claw and has a pair of permanent magnets. Adjacent poles of adjacent magnets have opposite polarities. The gripper also has a carrier plate for the gripper arms. This carrier plate has two pairs of permanent magnets oriented parallel to the rotation axes.

Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g.

Abstract: The invention relates to a method and to a system for aligning and controlling the position of a robot tool, wherein a monitoring device is equipped with a detection unit and processing unit which co-operates with the control device of the robot and automatically determines the alignment of the robot tool by means of the detection unit by taking into account at least one pre-determined reference direction of the robot tool, in addition to at least one predetermined tolerance angle which defines a tolerance range for the at least one reference direction of the robot tool. The processing unit compares the determined alignment to the predetermined reference direction and/or to the tolerance values predetermined by the defined tolerance range and/or of the at least one tolerance range is not respected, the respective robot tool is disconnected and/or deactivated in co-operation with the control device of the robot.

Abstract: A robot arm mechanism includes a first shaft assembly, a second shaft assembly, a first motor, a second motor, and an air tubing assembly. The second shaft assembly is rotatably assembled with the first shaft assembly. The first motor is selectively assembled within the first shaft assembly or the second shaft assembly. The air tubing assembly is assembled within the first shaft assembly or the second shaft assembly, and surrounds the first motor for cooling down the first motor, surrounds the second motor for cooling down the second motor, and cooling down the inner temperature of the robot. A robot using the robot arm mechanism is further provided.

Abstract: Methods for automated handling for forming a device and automated handling systems for forming a device are presented. One of the methods includes providing a production area with a plurality of destinations and a transport system which includes transport and load/unload (U/L) units in the production area. The transport units include automated guided vehicles (AGVs) with a storage compartment for holding at least one carrier containing production material for forming the device and U/L units include AGVs with a robotic system for handling carriers. A transfer of a selected carrier from a first destination to a second destination is determined. A request to the transport system is issued to effect the transfer of the selected carrier, which includes using a selected U/L unit, a selected transport unit, or a combination of selected U/L and transport units.

Abstract: An arm structure of a robot installed in a vacuum chamber kept in a depressurized state includes a first arm, a second arm, and an end effector configured to hold a workpiece. The first arm is provided with a specified drive system arranged in an inside of the first arm, and the inside of the first arm is kept in an atmospheric pressure state. The second arm has no drive system therein. A partition wall is provided near a connecting portion of the first arm and the second arm to isolate the atmospheric pressure state maintained within the first arm from the depressurized state. An airtight terminal is provided in the partition wall to electrically interconnect an atmosphere side and a vacuum side in an airtight state.

Abstract: A mechanical manipulator includes a base seat, a connecting arm, a mechanical arm, an electric cable, and a cable protection structure. The connecting arm has a first end rotatably hinged to the base seat, a second end opposite to the first end, and a side surface, the connecting arm defines a cable receiving slot in the side surface. The mechanical arm is rotatably hinged to the second end of the connecting arm. The electric cable is partially received within the cable receiving slot. Two ends of the electric cable are exposed from two ends of the cable receiving slot and then enter into the base seat and the mechanical arm respectively. The cable protection structure is fixed to the connecting arm and resists against the electric cable toward the cable receiving slot, for preventing the electric cable emerging from the cable receiving slot.

Abstract: A robot system includes a robot arm driven by a motor, a collision detector that detects a collision between the robot arm and an obstacle, which is provided on the robot arm, and a stopping method selector that controls the robot arm by selecting any one of all stopping methods on the basis of the information obtained by the collision detector, thereby selecting a stopping method in accordance with the status of the collision.

Abstract: A structure is provided with a first member at a base end side, a third member at a leading end side, a second member arranged between the first and third members, and a coupling force generator for generating a first coupling force for pressing an end surface of the first member and that of the second member against each other and a second coupling force for pressing an end surface of the second member and that of the third member against each other. In this structure, the first and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the first member and that of the second member by the first coupling force, whereas the second and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the second member and that of the first member by the second coupling force.

Abstract: A flexspline protective structure includes a first rotation member, a second rotation member and a plurality of fixing members. The second rotation member is sleeved on the first rotation member. The plurality of fixing members fix the first rotation member and the second rotation member together and are capable of breaking off in the event of jamming or other mischance to enable the second rotation member to rotate freely relative to the first rotation member. The disclosure presents a robot arm mechanism equipped with the flexspline protective structure.