Communication With Another Machine Patents (Class 901/6)
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Publication number: 20080041317Abstract: A method for processing bioresponse signals coming from organisms living in a well-defined living space, which are each comprised in a microenvironment, wherein these signals are obtained in online measuring of bioresponse variables, and wherein these signals are at least real-time processed in a signal processor, wherein, on the one hand, these organisms are monitored in the said microenvironments, and wherein, on the other hand, these variables can be adjusted by corresponding signal control apparatuses in accordance with a living space control model, wherein the living space comprises an incubator for hatching out hatching eggs, wherein the bioresponse variables are measured and controlled in a physical and/or chemical manner, for instance in the form of optical, electrical, magnetic, acoustic or mechanical bioresponse signals, or combinations thereof.Type: ApplicationFiled: August 11, 2004Publication date: February 21, 2008Applicant: KATHOLIEKE UNIVERSITEIT LEUVENInventors: Daniel Albert Berckmans, Andres Van Brecht, Jean-Marie Aerts, Lode Peeters, Ivan Van Der Beken, Paul Degraeve
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Patent number: 7333879Abstract: An offline programming device capable of automatically generating a measuring program by which the time and the workload for making an offline program may be greatly reduced.Type: GrantFiled: December 14, 2006Date of Patent: February 19, 2008Assignee: Fanuc LtdInventors: Katsutoshi Takizawa, Yoshiharu Nagatsuka, Hirohiko Kobayashi
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Patent number: 7324873Abstract: An offline teaching apparatus including a data acquiring section for acquiring position and orientation data and processing-condition data including interpolation commands, at respective predefined taught points, from an existing first processing program for a first workpiece; a processing-path calculating section for determining a processing path in the first program, based on the position and orientation data and the interpolation commands; a model generating section for generating, by using data of a second workpiece model of a second workpiece having geometrical features different from the first workpiece, a processing line showing a range of processing on the second workpiece; a taught-point calculating section for determining a geometrical correlation between the processing path and the processing line, and determining positions and orientations at respective taught points in the processing line; and a program generating section for generating a processing program for the second workpiece, by using theType: GrantFiled: October 11, 2006Date of Patent: January 29, 2008Assignee: Fanuc LtdInventors: Yoshiharu Nagatsuka, Kozo Inoue
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Patent number: 7282882Abstract: A robot control system for simultaneously controlling multi-axial robots each of which has actuators, a standard movement part being set in each of the robots, includes: a single main controller for calculating respective movement positions of the standard moving part on a movement route along which the standard moving part is to be moved; and sub-controllers installed for each of the robots, each of the sub-controllers calculating an operation amount of each of the actuators so that the standard moving part of a corresponding robot is to be moved along the movement route, based on the movement positions of the standard moving part of the corresponding robot on the movement route, and controlling each of the actuators of the robots in accordance with the operation amount.Type: GrantFiled: December 30, 2005Date of Patent: October 16, 2007Assignee: Kawasaki Jukogyo Kabushiki KaishaInventors: Hiroaki Kitatsuji, Naoyuki Matsumoto, Yoshinori Kegasa
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Patent number: 7283888Abstract: Method and system for a direct transmission of motion path data (310) from a generating system (204) to a control system (205) for use in controlling a servo-driven machine. For example, a machine tool for machining stock material, and the data generating system includes a computer-aided-design software package (301). Tool paths for directing the tool members of the machine tool can be extracted from a design file opened by the CAD software through the operation interface of the CAD software (302). Alternatively, the design file can be used to specify motion paths rather than end product geometry. The CAD interpreter application extracts the motion path data from the design file, eliminating the need to translate the data into another or intermediate form for controlling the machine tool.Type: GrantFiled: May 10, 2001Date of Patent: October 16, 2007Assignee: Brigham Young UniversityInventors: Mark S. Evans, Walter Edward Red, Charles Gregory Jensen, C. Porter Bassett, Corey Lynn McBride, Jonathan Edward Bosley, Girish C. Ghimire
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Patent number: 7239940Abstract: A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.Type: GrantFiled: January 6, 2005Date of Patent: July 3, 2007Assignee: Intuitive Surgical, IncInventors: Yulun Wang, Modjtaba Ghodoussi, Darrin Uecker, James Wright, Amante Mangaser
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Patent number: 7226269Abstract: In one embodiment, the invention is a substrate edge gripper assembly for positioning a semiconductor substrate upon a transfer robot. In one embodiment, a modular assembly comprises spring loaded jaws that are mounted on either side of a robot end effector. The jaws are adapted to be actuated by a feature remote from the robot end effector to release the substrate for delivery.Type: GrantFiled: January 15, 2004Date of Patent: June 5, 2007Assignee: Applied Materials, Inc.Inventors: Satish Sundar, Sanjeev Baluja
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Patent number: 7211978Abstract: A system for performing the method of this invention includes a leader having a robot arm able to articulate about first axes and supporting an end effector. A follower includes a robot arm able to articulate about respective second axes. Servo motors articulate the leader arm about the first axes and the follower arm about the second axes. A user interface allows a user to jog the arm of the leader and to program movement of the arms for automatic execution such that the end effector reaches predetermined positions. A controller, operatively connected to the servo motors and the user interface, controls operation of the servo motors, moves the arm of the leader in accordance with the programmed movement, and moves the arm of the follower such that it tracks or mirrors movement of the leader.Type: GrantFiled: June 18, 2004Date of Patent: May 1, 2007Assignee: Fanuc Robotics America, Inc.Inventors: Tien L. Chang, H. Dean McGee, Eric Wong, Sai-Kai Cheng, Jason Tsai
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Patent number: 7179043Abstract: A manipulating arrangement having a horizontal portal on which a slide is horizontally traversable, an arm being pivotably mounted on the slide about a pivot axis which runs parallel to the portal, and a gripper for at least one of workpieces and tools being arranged on the end of the arm. The slide has an elongated support, on which a further slide is mounted in a vertically traversable manner, and the arm is pivotably mounted on the further slide.Type: GrantFiled: May 26, 2004Date of Patent: February 20, 2007Assignee: Felsomat GmbH & Co., KGInventor: Helmut F. Jäger
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Patent number: 7161322Abstract: A robot that includes an arm coupled to a platform. The arm includes an actuator that moves a second arm linkage relative to a first arm linkage. In a first mode of operation the actuator moves the second linkage in a first degree of freedom. In a second mode of operation the actuator moves the second linkage in a second degree of freedom. The use of a single actuator to provide two degrees of freedom reduces the number parts and associated cost of the arm. The arm further includes a grasper that can grab an object such as a wheelchair. The robot can be used to push the wheelchair. Commands to operate the robot can be generated at a remote input station and transmitted through a broadband network.Type: GrantFiled: November 18, 2003Date of Patent: January 9, 2007Assignee: InTouch Technologies, Inc.Inventors: Yulun Wang, Keith Phillip Laby, Ranjan Mukherjee
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Patent number: 7136722Abstract: A human-type link system, such as a humanoid robot having a dynamically feasible motion of the link system that is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by calculating from a dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acting on the link system and the acceleration of the link system caused by the force.Type: GrantFiled: February 10, 2003Date of Patent: November 14, 2006Assignee: The University of TokyoInventors: Yoshihiko Nakamura, Katsu Yamane, Manabu Tange
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Patent number: 7024250Abstract: A method for the synchronous control of several manipulators, such as several industrial robots, is characterized in that control units of specific manipulators exchange control information according to the data structures contained in a corresponding control program, through which control units to be synchronized and synchronization points in the control programs taking place there can be clearly identified, and in that on reaching and synchronization points the program sequence in the control units to be synchronized is continued according to the contents of the data structures in conjunction with the already exchanged control information or stopped until corresponding information arrives from other control units to be synchronized.Type: GrantFiled: May 14, 2003Date of Patent: April 4, 2006Assignee: KUKA Roboter GmbHInventors: Stefan Graf, Andreas Hagenauer, Michael Chaffee, Kenneth Stoddard
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Patent number: 7013749Abstract: A robot driven robot index system includes a track having indices defining robot workstation positions along the track. The system also includes a non-driven carriage movable about the track. The carriage has a locking device for controllably locking the carriage to the track. The system further includes a robot having a base and a swingable, movable arm. The robot base is secured to the non-driven carriage. The system also includes at least one reference connector spacedly disposed from the track and located within a working range of the robot. The robot arm is adapted to connect with the reference connector, for moving the robot along the track between workstations through the movement of the robot arm.Type: GrantFiled: June 7, 2004Date of Patent: March 21, 2006Assignee: TESCO Engineering, Inc.Inventor: Katsutoshi Uno
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Patent number: 7010390Abstract: The invention concerns a method and a system for controlling a first robot and at least one other robot, the at least one other robot being calibrated relative to the first robot by the determination of at least one coordinate transformation of the first robot relative to at least one other robot and said at least one transformation is stored in a control device of the other robot, wherein also the first robot is calibrated relative to the other robot by the determination of at least one independent coordinate transformation and said at least one independent transformation is stored in a control device of the first robot.Type: GrantFiled: July 17, 2003Date of Patent: March 7, 2006Assignee: KUKA Roboter GmbHInventors: Stefan Graf, Andreas Hagenauer, Michael Chaffee
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Patent number: 6853881Abstract: A robot controller executes an operating program, calculates a position and posture of a robot, and sends the position and posture information to a personal computer (PC). At the PC side, on the basis of this position and posture information, animation display information of a work cell including the position and posture of the robot is created and then sent to a teaching pendant. In the teaching pendant, the animation display information is received, and an animation image is displayed on a display section. Until the operating program is terminated, this operation is performed so that an operating animation of the robot is displayed on the display section of the teaching pendant.Type: GrantFiled: April 2, 2002Date of Patent: February 8, 2005Assignee: Fanuc Ltd.Inventors: Atsushi Watanabe, Tetsuya Kosaka, Yoshiharu Nagatsuka
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Patent number: 6831437Abstract: A walking platform that achieves automatic self-stabilization includes a motor within the mid-region of the platform that is in communication with a crankshaft. The crankshaft has a connecting rod that is rotatably attached to it. The connecting rod, in turn, has a pole that is rotatably attached to it. There is a foot attached that is capable of supporting the weight of the platform. The motor is powered by a battery that causes the components of the platform to simulate a walking motion. This battery is attached to the lower portion of the platform in order to lower the center of gravity of the platform. The platform also includes at least one levered component that is rotatably attached to the platform, allowing it to pivot freely and dampen oscillations produced by the walking platform.Type: GrantFiled: April 29, 2002Date of Patent: December 14, 2004Inventor: Andrew S. Filo
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Patent number: 6804580Abstract: A system for controlling a plurality of robots and a method for controlling said system. Said system comprises a plurality of controllers, each having an associated motion system adapted to control attached robots, with each motion controller being able to receive motion instructions from at least one motion instruction source and at least one of said motion instruction sources being a control program, as well as a computer network over which said controllers communicate. In this way, the invention can be applied to solve problems which are commonly encountered in coordination activities such as load sharing, mating of parts while processing, fixtureless transfer, teaching, manual motion of coordinated operations, and time coordinated motion.Type: GrantFiled: April 3, 2003Date of Patent: October 12, 2004Assignee: Kuka Roboter GmbHInventors: Kenneth A. Stoddard, R. William Kneifel, II, David M. Martin, Khalid Mirza, Michael C. Chaffee, Andreas Hagenauer, Stefan Graf
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Patent number: 6748298Abstract: In order to reduce the risk of damage on external objects, material articles or persons during the operation of a robot, particularly a miniature robot, the invention provides a method for limiting the force action of a robot part, such as a robot arm, on such an external object during a collision in such a way that as a result of a maximum permitted force, maximum force Fmax, acting on the object in the case of a collision, a corresponding, maximum permitted kinetic energy, maximum energy Ekin,max of the robot part is determined, continuously and at adequately short time intervals the actual kinetic energy, actual energy Ekin, of the robot part is determined and on exceeding the maximum permitted energy Ekin,max, the actual operating speed V of the robot is reduced.Type: GrantFiled: June 12, 2003Date of Patent: June 8, 2004Assignee: Kuka Roboter GmbHInventor: Peter Heiligensetzer
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Patent number: 6715981Abstract: A transport system provided in particular for large-component transfer presses is distinguished by a design with a low width and, nevertheless, permits large transport steps. By controlling two drives in the direction of rotation in relation to each other, all desired travel curves in one plane can be realized. As a result of the simple construction, a cost-effective solution is achieved for a highly dynamic transport system.Type: GrantFiled: September 13, 2001Date of Patent: April 6, 2004Assignee: Müller Weingarten AGInventors: Erich Harsch, Rainer Reichenbach
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Publication number: 20030216715Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.Type: ApplicationFiled: April 24, 2003Publication date: November 20, 2003Applicant: INTUITIVE SURGICAL, INC.Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Michael J. Tierney
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Patent number: 6546315Abstract: Programmable material is a collection of substantially cubic shaped bricks called monomers that move relative to each other under computer control to sculpt engineering structures (5) and mechanisms (6) (walking machine) illustrated in the figure. The monomers have features to lock to other monomers and slide relative to other monomers without separating. The monomers are fault tolerant against damage; functional monomers move faulty monomers and replace them with functioning clones. Movement of monomers is broken down systematically into streamers, gateways, highways and reservoir methods to obtain individual monomer movement paths required to synthesise a structure. Specialised monomers can carry tools which together with synthesis of custom structures create custom machines.Type: GrantFiled: October 10, 2000Date of Patent: April 8, 2003Inventor: Joseph Michael
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Patent number: 6456901Abstract: A hybrid control system is provided for controlling the movement of a robot. The hybrid control system includes a singularity detector; a task level controller that receives a motion plan and determines a first set of control commands which are defined in a task space; and a joint level controller that receives the motion plan and determines a second set of control commands which are defined in a joint space. The singularity detector monitors the movement of the robot and detects robot movement in a region about a singularity configuration. When robot movement occurs outside of this region, the task level controller is operable to issue the first set of control commands to the robot. When the robot movement occurs inside of this region, the joint level controller is operable to issue the second set of control commands to the robot. In this way, the hybrid control system ensures feasible robot motion in the neighborhood of and at kinematic singularity configuration.Type: GrantFiled: April 20, 2001Date of Patent: September 24, 2002Inventors: Ning Xi, Jindong Tan
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Patent number: 6439371Abstract: A workpiece loader/unloader system for an industrial machine, such as a hemmer, is disclosed. The system includes a single pocket shuttle movable between an extended position in which the shuttle overlies a work station on the industrial machine, and a retracted position in which the shuttle is laterally spaced from the work station. A gripper on the shuttle selectively engages and supports the workpiece after the workpiece has been machined at the work station. A loader manipulator is movable between a preload position in which the loader supports an unmachined workpiece at a position laterally spaced from the work station, and a load position in which the loader manipulator overlies the work station. An actuator moves the loader manipulator between the preload and load position.Type: GrantFiled: March 14, 2001Date of Patent: August 27, 2002Assignee: Valiant CorporationInventor: Dominique Baulier
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Patent number: 6434448Abstract: A robot controller for use in a robot control system with a plurality of robots connected one another through a communication path. When a cause for stopping occurs in one or more robots, other robots are also stopped in the same type of stopping procedure. A priority of execution on a plurality of stop procedure types is determined. When a cause for stopping occurs in one or more robots in the robots connected through the communication line or in the robots in synchronously cooperative operation, all of the robots connected through the communication line or the robots in synchronously cooperative operation are stopped in the same type of stopping procedure. If different causes for stopping occur in the robots, a stopping procedure type having higher priority in the stopping procedures determined in accordance with the different causes of stopping is adopted to stop all of the robots in the same type of stopping procedure.Type: GrantFiled: September 4, 2001Date of Patent: August 13, 2002Assignee: Fanuc Ltd.Inventors: Tetsuya Kosaka, Hiromitsu Takahashi
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Patent number: 6401011Abstract: A synchronous control unit receives data describing robot motion and speed along a pathway. A storage unit stores the data. In accordance with an internal clock or encoder equivalent internal to the robot, an output unit outputs the data to a positioning controller thereby synchronizing the robot movement with the data.Type: GrantFiled: November 28, 2000Date of Patent: June 4, 2002Assignee: Aida Engineering Co., Ltd.Inventor: Yoshiharu Hashimukai
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Patent number: 6400998Abstract: A method and apparatus for NC machining management based on a measurement program, wherein a machining shape at an arbitrary machining stage is determined by an NC program, a geometric element or a geometric model is generated, and a measurement program is generated on the basis of the geometric model. The measurement program is executed when at least one of the steps of the NC program is completed, and the results of measurement are used as control information for machining measurement.Type: GrantFiled: July 2, 1998Date of Patent: June 4, 2002Assignees: Mitutoyo Corporation, Kabushiki Kaisha Mori Seiki Seisakusho, Okuma CorporationInventors: Kazuo Yamazaki, Sadayuki Matsumiya, Naoki Morita, Yasushi Fukaya
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Patent number: 6363300Abstract: Process for the automatic determination of an optimal movement program of a robot comprising at least one moving member, a motor associated with the moving member and a control unit capable of activating the motor according to a movement program to move the moving member along a trajectory with a predetermined movement parameter. The process comprises the steps of: acquiring data indicating the load state of the motor and the precision of movement of the robot during the execution of a movement program, comparing the information on the load state and on the precision of movement with predetermined limit values, repeatedly executing the movement program while progressively varying the movement parameter until a measured value of the load state and/or of the precision of movement exceeds a corresponding limit value, and storing as the optimal movement program the last movement program which has been executed without exceeding the limit values.Type: GrantFiled: March 28, 2000Date of Patent: March 26, 2002Assignee: Comau S.p.A.Inventor: Marco-Severo Inga
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Patent number: 6330493Abstract: A control system for performing a synchronously cooperative operation among some robots of a plurality of robots connected by a communication line. A plurality of robots No. 1 to No. 4 is operated individually and also is operated in synchronous cooperation. Further, some robots No. 1 and 2 is operated in synchronous cooperation while the other robots Nos. 2 and 4 are operated in synchronous cooperation. The robots Nos. 3 and 4 are operated in synchronous cooperation. The robots No. 1 and 3 is operated in synchronous cooperation while the robots Nos. 2 and 4 are operated individually. The synchronously cooperative operation is performed by any desired combination in that the above robot control part keeps motion procedures denoting changes, which are corresponding to the frame notifications of the passage of time from the above media reproduction part; and moves the above robot according toe the above motion procedures, in the corresponding frame.Type: GrantFiled: September 18, 2000Date of Patent: December 11, 2001Assignee: Fanuc Ltd.Inventors: Hiromitsu Takahashi, Tetsuya Kosaka
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Patent number: 6314338Abstract: A robotic library system having a self-discoverable inter-library connectivity capability, and methods of operating the robotic library system are provided. Each library of the multi-library system has a unique identifier with which it is associated. The identifiers are adapted to be readable by identifier readers in adjoining libraries connected by pass through ports. In operation, knowledge of the library identity on each side of the pass through ports can be used to control transfers of the data cartridges among the libraries. Data cartridge transfers between connected libraries may be initiated when just the source library and pass through port are ready, then completed when the destination library becomes ready. Transfer paths spanning several libraries may be discovered by querying adjoining libraries for their identity until all possible paths are discovered.Type: GrantFiled: January 6, 2000Date of Patent: November 6, 2001Assignee: Storage Technology CorporationInventor: Robert L. Billington
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Patent number: 6208104Abstract: An element including a first processing circuit conducting a real time processes for controlling a robot body and a man-machine interface element including a second processing circuit for operating the robot body are connected through the common storage device. It enables for application programs that can run with a general OS to easily refer to data relating to the robot. It also enables to easily construct necessary software.Type: GrantFiled: November 10, 1999Date of Patent: March 27, 2001Assignee: Kawasaki Jukogyo Kabushiki KaishaInventors: Kazuhiko Onoue, Takahiro Ueno, Masataka Koyama, Nobuyasu Shimomura
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Patent number: 6160371Abstract: When the operator inputs a macro control command, each microrobot takes an actual action on the basis of the command. That action is autonomously controlled to successfully execute the macro command. The autonomous control is to feed back and control the deviation between sensor information (position, speed, and acceleration) of the microrobot and the control command. When a plurality of microrobots are used and must take distributed, cooperative actions, conditions required for task completion such as environmental conditions (temperature, humidity, and the like) are obtained via communications with the base controller and are used for control information compensation. Such control allows each microrobot to cope with complicated tasks independently of the number of sensors, communication performance, and computer processing performance.Type: GrantFiled: February 2, 1999Date of Patent: December 12, 2000Assignee: Canon Kabushiki KaishaInventor: Jin Tachikawa
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Patent number: 6157872Abstract: Programmable material is a collection of substantially cubic shaped bricks called monomers that move relative to each other under computer control to sculpt engineering structures (5) and mechanisms (6) (walking machine) illustrated in FIG. 2. The monomers have features to lock to other monomers and slide relative to other monomers without separating. The monomers are fault tolerant against damage; functional monomers move faulty monomers and replace them with functioning clones. Movement of monomers is broken down systematically into streamers, gateways, highways and reservoir methods to obtain individual monomer movement paths required to synthesize a structure. Specialized monomers can carry tools which together with synthesis of custom structures create custom machines.Type: GrantFiled: December 11, 1996Date of Patent: December 5, 2000Inventor: Joseph Michael
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Patent number: 6099237Abstract: In order to configure a handling device, provided with an actuator for gripping a work piece, as well as at least two movement axes that are operatively connected to a drive and which allow the actuator to be positioned in different positions on a coordinate system, such that it has a relatively inexpensive design but can still be used for a multitude of purposes, a design is suggested for said handling system where the handling device is adapted to at least one workpiece carrier, provided with several workpiece holders on which a workpiece can be arranged, such that the handling device (1) is provided with means for positioning a reference point of the handling device (1) with the aid of the movement axes in such a way that it is located only in fixedly predetermined positions, so that at least in some of these positions the reference point is located respectively on one reference axis for one of the holders (31, 32, 33, 34, 35, 36, 37, 38).Type: GrantFiled: June 3, 1998Date of Patent: August 8, 2000Assignee: Karl Richard PfiffnerInventor: Karl Richard Pfiffner
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Patent number: 5997293Abstract: The furnace for firing ceramic materials has a working surface including a firing area and a storage area. A hood is provided which is moveable motorically relative to the working surface and positioned above the firing area to define the firing chamber. A robot arm for moving the ceramic material into and out of the firing area is provided.Type: GrantFiled: May 6, 1998Date of Patent: December 7, 1999Assignee: Ivoclar AGInventors: Robert Grunenfelder, Andreas Meier, Jurgen Seger
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Patent number: 5988960Abstract: A CNC machine tool has a plurality of collet chucks in a fixture that requires loading workpieces in these collets by hand. The workpieces are first assembled on a loading bar or holder so they can be collectively loaded in the ganged collet chuck for machining in the CNC machine. The holder has spaced stations, and each station includes a standard base adapter and an individualized parts adapter that fits onto the base adapter. Each parts adapter will be configured to accept a part to be machined.Type: GrantFiled: June 9, 1998Date of Patent: November 23, 1999Inventor: James J. Hasler
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Patent number: 5979340Abstract: A robotic mechanism which can be attached to a furnace hopper and includes a frame which supports a pole insertion mechanism for inserting a pole into a furnace hopper. The pole insertion mechanism is supported from the Fame by a gimbal and moves the pole axially. Hydraulic actuators rotate the pole insertion mechanism about the gimbal. A control system is associated with the mechanism and enables an operator to position the end of the pole within the hopper to remove clinkers.Type: GrantFiled: June 5, 1998Date of Patent: November 9, 1999Assignee: The Board of Regents of the University of Texas SystemInventors: Carl Thomas Michael Haas, Sidigata Venkataraman Sreenivasan, Alfred Ellis Traver, Kamel Shawki Saidi, Jongwon Seo, Richard Lael Greer
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Patent number: 5870820Abstract: An IC mounting/demounting system wherein a plurality of holding sections are fixedly secured to an index plate rotatable by a servo motor. A plurality of IC's are successively mounted and demounted on a socket board or a tray, and the plurality of IC's are simultaneously held and transferred. This improves the efficiency of the IC transferring work between the socket board and the tray and shortens working time.Type: GrantFiled: July 30, 1997Date of Patent: February 16, 1999Assignee: Mitsubishi Denki Kabushiki KaishaInventors: Isao Arakawa, Yoshinori Hirata
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Patent number: 5829495Abstract: An adapter for automatically fueling automotive vehicles, primarily cars, wherein a robot which includes a robot head that is movable in relation to the robot and can via a positioning system be docked with the adapter (3). The adapter is intended to be fastened to the upper orifice of the fuel-tank pipe (2) and includes a conical part.The present invention is characterized in that the adapter (3) includes a base part (13) and an adaptation funnel (14), wherein the base part (13) is intended to be fastened to the fuel-tank pipe (2), and wherein the base part has an opening (16); in that the adaptation funnel (14) projects out from the base part (13); in that the adaptation funnel (14) is rotatable relative to the base part about the longitudinal axis (17) of the base part, thereby enabling the adapter (3) to be positioned correctly on the fuel-tank pipe (2) in a rotational direction.Type: GrantFiled: February 10, 1997Date of Patent: November 3, 1998Assignee: Autofill Patent ABInventor: Sten Corfitsen
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Patent number: 5825981Abstract: An object of the device according to the present invention is to enable small-volume, high-diversity production to be conducted efficiently, in the same way as in the conventional FMS, whilst at the same time overcoming problems associated with the conventional techniques, such as the complexity of creating programs for manufacturing processes, work interruptions due to robot breakdown, and `deadlock` incidents arising during operation. When seed data indicating an objective task (for example, the task of completing a particular product) is input to a computer, by communicating with hardware robots via a communications network, the computer selects a plurality of hardware robots, which are capable of implementing cooperatively the objective task indicated by the input seed data, and which are not engaged in any task based on other seed data. A software robot is created by inputting the seed data to at least one of the selected plurality of hardware robots.Type: GrantFiled: March 11, 1997Date of Patent: October 20, 1998Assignee: Komatsu Ltd.Inventor: Tomoo Matsuda
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Patent number: 5671786Abstract: Apparatus for the automatic fuelling of vehicles. A robot head that carries a fuel filler tube is movable to enable it to be brought into position to engage with a vehicle fuel-tank pipe. The robot head carries an opening device for opening a fuel-tank cover plate of a vehicle. The positioning of the robot head is effected by a positioning system that includes a transceiver unit carried by the robot head and that preferably operates at microwave frequency. A passive transponder is carried by the vehicle and includes a simple code which the transponder is intended to modulate on a signal transmitted by the transceiver and is reflected by the transponder. The signal received by the transceiver from the transponder is decoded and is used to access a robot head movement plan that corresponds with that code, to automatically steer the robot head to the fuel tank pipe and thereby enable the vehicle to be fuelled.Type: GrantFiled: March 3, 1995Date of Patent: September 30, 1997Inventor: Sten Corfitsen
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Patent number: 5638875Abstract: Apparatus for the automatic refuelling of vehicles, primarily cars, including a robot which includes a robot head that is movable in relation to the robot so as to bring the robot head to a predetermined position in relation to the vehicle fuel tank pipe. The positioning of the robot head is effected by a positioning system which includes a first part located on the robot head and a second part placed in a predetermined position on the vehicle, wherein the robot head includes an outer tube and an inner tube which can be moved within said outer tube and extended out of said tube. The outer tube is resilient or yieldable, and the free, front end of the outer tube has the shape of a truncated cone that docks with a correspondingly conical part of an adapter attached to the upper orifice of the vehicle fuel tank pipe during said positioning operation.Type: GrantFiled: March 3, 1995Date of Patent: June 17, 1997Inventor: Sten Corfitsen
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Patent number: 5634503Abstract: A refuelling system is provided, the system comprising: a plurality of vertically telescoping elements, the telescoping elements containing a constant length of flexible conduit for transfer of fuel; at least one vertically movable pulley to maintain a constant length of flexible hose within the telescoping elements; an overhead gantry capable of moving the vertically telescoping elements in two horizontal essentially perpendicular axes; and a rotating lower portion of the telescoping elements capable of rotating about an essentially vertical axis and supporting a fuel nozzle. The refuelling system of the present invention does not result in significant segments of unsupported lengths of conduits for fuel, compressed air, vapor recovery, electrical power or control or sensor signals. It is relatively simple and utilizes readily available components and parts, and does not required significant machining of components. This results in an installation that is economical to install and operate.Type: GrantFiled: June 5, 1995Date of Patent: June 3, 1997Assignee: Shell Oil CompanyInventors: David I. Musil, George N. P. Root, Joseph A. Padula, Owen R. Williams, William D. Ramsey, Jr.
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Patent number: 5628604Abstract: A conveying system provides a cassette accommodating workpieces; a container containing the cassette; a transferring device for conveying the cassette while supporting it or conveying the container which is empty or contains the cassette while supporting it, the transferring device having a supporting device for supporting the cassette. In the conveying system, a handle is provided on the upper surface of the container so that it is supported by the supporting device.Type: GrantFiled: August 26, 1996Date of Patent: May 13, 1997Assignee: Shinko Electric Co., Ltd.Inventors: Masanao Murata, Teppei Yamashita, Tsuyoshi Tanaka, Teruya Morita, Hiroyuki Oyobe
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Patent number: 5606153Abstract: A method of, and apparatus for, a robotic filter weighing system for weighing filters stored in sample holders which includes a sample cabinet which holds a carousel having a plurality of filter samples contained in a like plurality of sample holders and in which a robotic system is used for removing in turn each of the sample holders and sequentially placing each of the sample holders in a filter extraction station for removing the filter from its respective holder. The robot system then moves the extracted filter to a weighing system which calculates the weight of the particulate matter contained on the filter and then replaces the filter in its sample holder and replaces the sample holder back in the sample cabinet.Type: GrantFiled: April 7, 1994Date of Patent: February 25, 1997Assignee: R. J. Reynolds Tobacco CompanyInventors: Robert J. Fix, Sr., Bain C. McConnell, James T. Atkins, Philip A. Deal, Timothy A. Hobbs, John L. Nelson, John W. Thompson
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Patent number: 5544683Abstract: A method and an apparatus for the automatic quantitative filling of powdered or granulated samples for analytic measurement purposes as well as a shaking and holding device for sample substances utilized therefor with which precisely admeasured amounts of the sample substance can be filled into a measuring vessel. The shaking device permits the sample substance to be filled in a continuous, slow and defined flowing stream. The shaking and holding of the sample vessel transpires preferentially pneumatically.Type: GrantFiled: December 6, 1994Date of Patent: August 13, 1996Assignee: Bruker Analytische Messtechnik GmbHInventor: Peter Guhl
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Patent number: 5456561Abstract: An alignment station for elements such as semiconductor wafers on a robot arm uses a rotating support and edge detector which in combination are operative to place a wafer on the rotating support, detect wafer alignment, move the wafer to bring it into alignment either on the rotating support itself or onto a separate station.Type: GrantFiled: July 12, 1994Date of Patent: October 10, 1995Assignee: ADE CorporationInventors: Noel S. Poduje, Roy S. Mallory
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Patent number: 5433818Abstract: Apparatus for turning a sheet-like workpiece, e.g. a rectangular sheet of glass, and for applying a sealing strip continuously along its edges, includes an air flotation/section support bed (14, 15) covered by an air-permeable mat (16), a sealing strip applicator (32, 59) on a carriage (33), suction cup assemblies (63, 72) mobilely mounted on respective mutually perpendicular slides (24, 25) for gripping the sheet (22) at two adjacent corners thereof, the movement of the assemblies (63, 72) being coordinated such that, while gripping the sheet (22), one assembly (72) is moved towards the initial position of the other assembly (63) and simultaneously the latter (63) is moved towards the corner diagonally opposite the corner at which the first assembly (72) was initially disposed.Type: GrantFiled: April 21, 1993Date of Patent: July 18, 1995Assignee: Willian Design LimitedInventor: John Lee
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Patent number: 5431201Abstract: A system for filling containers with a prescribed medication includes a support head for receiving a disposable syringe which allows the syringe to be pumped to transfer liquid to an from the syringe. A robot arm is also provided to carry medication and diluent containers to the syringe for withdrawing diluent to the syringe and injecting it into the medication container for mixing. In order to ensure alignment of the containers with the syringe, there is provided on the support head an additional needle grasping system which grasps and locates the needle for penetration of the membrane of the container. The support head includes a weigh scale as an integral element thereof so that the syringe is weighed after each step of the process.Type: GrantFiled: December 3, 1993Date of Patent: July 11, 1995Assignee: Technology 2000 IncororatedInventors: Mark G. Torchia, Dennis D. Cote, Ken J. McTaggart, Craig P. Judt
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Patent number: 5383500Abstract: A system for control of automatic refueling of automotive vehicles parked alongside a fuel dispenser unit which allows for a customer to control a refueling procedure without having to exit the vehicle. The control system includes a processing unit, control operating units, operating units and a communications system which is located within the vehicle to be refueled. The communications system has the capability to start, monitor and finish the refueling procedure by transmitting and receiving data signals which concern the refueling procedure such as signals which start the refueling procedure and signals which interrupt the procedure. The data signals are received by the from the vehicle into the processing unit where the signals are processed. The processed data signals are directed to control operating units. The control operating units then direct operating units in carrying out operating functions which are necessary to automatically refuel the vehicle.Type: GrantFiled: March 8, 1993Date of Patent: January 24, 1995Assignee: Shell Oil CompanyInventors: Sicco Dwars, Cornelis van Ouwerkerk, Caspar Verhaagen
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Patent number: 5358397Abstract: A light weight extruder (20) is suitable for high production, in-line extrusion of flowable materials with high precision in the placement and control of the extruded material. The extruder uses a high torque hydraulic motor (72) to drive a feed screw (88) in dispensing highly viscous but flowable material through an extrusion die (126) of preselected configuration. A plurality of heating bands (114-118) surrounding the barrel (86) of the extruder provide precise control over the material temperature at the point of extrusion. In an alternate embodiment, an injection nozzle (120a) is provided with a plurality of independently controllable extrusion dies (128, 130, 132). The extruder is sufficiently light and manipulable such that it can be mounted on the end of the arm of a robot (122).Type: GrantFiled: May 10, 1993Date of Patent: October 25, 1994Assignee: L&L Products, Inc.Inventors: Robert M. Ligon, Thomas B. Carter, Jurg Hauptli