公开(公告)号：US11951621B2

公开(公告)日：2024-04-09

申请号：US17291240

申请日：2019-09-26

Applicant: Ghost Robotics LLC

Inventor： Gavin Kenneally ,  Jiren Parikh

IPC: B25J9/12 ,  B25J13/08 ,  B25J19/00 ,  B62D57/02

CPC classification number: B25J9/12 ,  B25J13/088 ,  B25J19/0025 ,  B62D57/02

Abstract: A legged robot having a frame with a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides, legs in mechanical communication with one or more of the plurality of brackets, each leg having a knee motor, an abduction motor, and a hip motor, a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs, and a power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module.

公开(公告)号：US11945120B2

公开(公告)日：2024-04-02

申请号：US16969184

申请日：2019-02-19

Applicant: OMRON Corporation

Inventor： Yasumoto Mori ,  Maki Endo ,  Teruyuki Shiraki

IPC: B25J9/16 ,  B25J9/12 ,  B25J19/00 ,  B25J19/02

CPC classification number: B25J9/1674 ,  B25J19/0066 ,  B25J19/02 ,  B25J9/12

Abstract: A robot control device, abnormality diagnosis method, and non-transitory computer readable medium are provided. The robot control device (300) performs abnormality diagnosis of a robot body (200) including a motor (201) that rotates, from a starting angle position to a target angle position, a rotational shaft (204) for transmitting power to an arm (203) so that the arm performs a predetermined operation. The robot control device includes: a drive control unit (304) driving the motor so that the rotational shaft rotates from the starting angle position to the target angle position within a rotational speed range of the rotational shaft in which it is possible to detect a vibration component caused by an abnormality from among the vibration components generated along with the rotation of the rotational shaft; a vibration detection unit (305) detecting the vibration component; and a diagnosis unit performing abnormality diagnosis based on the detected vibration component.

公开(公告)号：US11938628B2

公开(公告)日：2024-03-26

申请号：US17530712

申请日：2021-11-19

Applicant: Boston Dynamics, Inc.

Inventor： Kyle Rogers

IPC: B25J5/00 ,  B25J9/12 ,  G05F1/10 ,  H02P3/22 ,  H03K17/56

CPC classification number: B25J9/12 ,  G05F1/10 ,  H02P3/22 ,  H03K17/56

Abstract: An electronic circuit comprises a charge storing component, a set of one or more switching components coupled to the charge storing component, and an additional switching component coupled to each of the one or more switching components in the set. The additional switching component is configured to operate in a first state or a second state based on a received current or voltage. The first state prevents current to flow from the charge storing component to each of the one or more switching components in the set and the second state allows current to flow from the charge storing component to each of the one or more switching components in the set.

公开(公告)号：US11938627B2

公开(公告)日：2024-03-26

申请号：US17630812

申请日：2019-08-01

Applicant: RETHINK ROBOTICS GMBH

Inventor： Yong Yang ,  Sheng Zhang ,  Chao Jiang

IPC: B25J9/10 ,  B25J9/12 ,  B25J17/00 ,  F16H49/00

CPC classification number: B25J9/108 ,  B25J9/1025 ,  B25J9/12 ,  B25J9/126 ,  B25J17/00 ,  F16H49/001

Abstract: A robot joint, including: a housing; an output shaft, at least partially housed inside the housing and provided with a shaft portion and a flange portion at a first end of the shaft portion; a first bearing portion, housed in the housing and supporting a first position of the flange portion of the output shaft; a second bearing portion, housed in the housing and supporting a second position of the output shaft in an axial direction; and a motor, housed in the housing, where the second bearing portion is arranged between the motor and the first bearing portion along the axial direction of the output shaft. Further provided is a robot. By effectively supporting the output shaft at multiple points, the output shaft is enabled to more effectively and stably bear the moment or bending moment of a load, and the robot joint structure is enabled to be compact and lighter.

公开(公告)号：US20240091928A1

公开(公告)日：2024-03-21

申请号：US18274308

申请日：2022-01-28

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Takuya KAWATA ,  Masato YAMAMOTO ,  Norihisa TATSUTA ,  Akinori TAKAGI

IPC: B25J9/12 ,  B25J9/10 ,  B25J18/00

CPC classification number: B25J9/12 ,  B25J9/106 ,  B25J18/00

Abstract: A wrist of an arm robot includes a first motor, a first speed reducer, a second motor, a transmission shaft, and a second speed reducer. The first motor is arranged at a base and generates a first rotational drive force to rotate a first distal portion. The first speed reducer is arranged at the first distal portion, includes a hollow portion, and reduces a rotational speed of the first rotational drive force. The second motor is arranged at the base and generates a second rotational drive force to rotate a second distal portion. The transmission shaft is arranged at the first distal portion and passes through the hollow portion of the first speed reducer. The second speed reducer is arranged at the first distal portion, is arranged coaxial with the first speed reducer, and is arranged along an axial direction of the first speed reducer.

公开(公告)号：US20240051156A1

公开(公告)日：2024-02-15

申请号：US18492856

申请日：2023-10-24

Applicant: Nexera Robotics Corp.

Inventor： Sepehr SHEIKHOLESLAMI ,  Carlo MENON

IPC: B25J15/06 ,  B25J9/12 ,  B25J19/00

CPC classification number: B25J15/0616 ,  B25J9/12 ,  B25J15/0683 ,  B25J19/0054

Abstract: The present invention will provide a device in which the gripping action is achieved by a compliant membrane manipulated by electromagnetic forces. The gripping force provided by the present invention is best suited for delicate objects, as it gently applies the gripping force necessary for displacement. This is accomplished through a chamber, a membrane, a plunger attached to the membrane, and a solenoid configured to manipulate the plunger, and thus, the membrane.

公开(公告)号：US20240000001A1

公开(公告)日：2024-01-04

申请号：US17810604

申请日：2022-07-03

Applicant: Emmet Edward Hand

Inventor： Emmet Edward Hand

IPC: A01B39/18 ,  B25J11/00 ,  B25J19/02 ,  B25J9/12 ,  B25J9/16

CPC classification number: A01B39/18 ,  B25J11/005 ,  B25J19/023 ,  B25J9/12 ,  B25J9/1666

Abstract: An apparatus and method for removing weeds from an aesthetic mulch garden using an autonomous battery-powered differential-wheeled robot is disclosed. The boundary of the domain of said aesthetic mulch garden is predefined by the user and said robot is confined to patrol within said domain. The robot searches for weeds using machine vision which seeks colorimetric contrast between weeds and mulch and undergoes a novel randomized reflective trajectory to patrol said domain. An independent collision avoidance system allows said robot to avoid interaction with non-weed objects. Said robot has a central processing unit (CPU) receiving input from said machine vision system which positions a device for weed extraction and controls said extraction. A built-in suction system and receptacle is incorporated in said robot to maintain the weed extraction device clean and ready for operation while storing extracted weeds for later disposal.

公开(公告)号：US11858133B2

公开(公告)日：2024-01-02

申请号：US16823597

申请日：2020-03-19

Applicant: DENSO WAVE INCORPORATED

Inventor： Atsuko Yoshimi

IPC: B25J9/06 ,  B25J9/12 ,  B25J9/16 ,  B25J9/00

CPC classification number: B25J9/06 ,  B25J9/0009 ,  B25J9/12 ,  B25J9/1638

Abstract: In a robot system provided with an articulated arm, information showing whether or not an operator holds one or more of a plurality of arms of the articulated arm. An operator's holding state of the arms are determined based on the detected information. Based on results of the determination, the rotation of motors provided at axes (joints) is controlled for selectively controlling a constrained state which constrains the rotation of the axes and release of the constrained state.

公开(公告)号：US20230364809A1

公开(公告)日：2023-11-16

申请号：US18198146

申请日：2023-05-16

Applicant: Avar Robotics, Inc.

Inventor： Stephen E. Delaporte

IPC: B25J17/00 ,  B25J9/10 ,  B25J9/12 ,  B25J13/08

CPC classification number: B25J17/00 ,  B25J9/102 ,  B25J9/12 ,  B25J13/085

Abstract: A robotic joint contains a transmission system that can shift from one gear set to another, either automatically or manually, allowing the joint to have different gear ratios that can drive different speeds and output torques. The transmission system is coupled to a driving actuator enclosed within the robotic joint, which may use a secondary actuator to activate a clutch such that it can shift the transmission from one gear set to another. A feedback system using sensors embedded within the robotic joint as well as sensors distributed within the environment may be used to detect the size and weight of an object that the robotic arm and its joints will be manipulating.

公开(公告)号：US11764092B2

公开(公告)日：2023-09-19

申请号：US17779873

申请日：2020-11-20

Applicant: Tokyo Electron Limited

Inventor： Tatsuo Hatano ,  Tetsuya Miyashita ,  Naoki Watanabe ,  Naoyuki Suzuki

IPC: H01L21/677 ,  B25J9/02 ,  B25J9/12 ,  B25J11/00 ,  H02K7/14 ,  H02K41/02 ,  H01L21/67 ,  H01L21/687

CPC classification number: H01L21/67742 ,  B25J9/02 ,  B25J9/12 ,  B25J11/0095 ,  H02K7/14 ,  H02K41/02 ,  H01L21/67167 ,  H01L21/67748 ,  H01L21/68707

Abstract: The substrate transfer apparatus includes a planar motor provided in a transfer chamber and having coils arranged therein; a transfer unit movable on the planar motor; and a control unit configured to control an energization of the coils. The transfer unit includes two bases having magnets arranged thereon and configured to be movable on the planar motor, a substrate support member configured to support a substrate, and a link mechanism configured to connect the two bases and the substrate support member to each other.