公开(公告)号：US20130211588A1

公开(公告)日：2013-08-15

申请号：US13764556

申请日：2013-02-11

申请人： Intuitive Surgical Operations, Inc.

发明人： Nicola Diolaiti

IPC分类号： B25J13/06

CPC分类号： B25J13/06 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/2059 ,  A61B2090/062 ,  B25J9/1689 ,  G05B2219/39468

摘要： An operator telerobotically controls instruments to perform a procedure on an object at a work site while viewing real-time images of the work site on a display screen. An assistant controls movement of another instrument towards or away from the work site to relieve the operator from such task. Control of the instrument is automatically switched from the assistant to the operator upon the working end of the instrument entering the view on the display screen.

摘要翻译： 操作员telerobotically控制仪器在工作现场的对象上执行过程，同时在显示屏幕上查看工作现场的实时图像。 辅助人员控制另一台仪器朝着或离开工地的移动，以减轻操作人员的这种工作。 仪器的工作端在显示屏上进入视图后，仪器的控制将自动从助手切换到操作者。

公开(公告)号：US20110078979A1

公开(公告)日：2011-04-07

申请号：US12924397

申请日：2010-09-27

申请人： Alban Hutter

发明人： Alban Hutter

IPC分类号： B65B59/04 ,  G06F19/00

CPC分类号： G05B19/41815 ,  B65B21/18 ,  B65B21/24 ,  B65B59/04 ,  B65B65/003 ,  G05B2219/31266 ,  G05B2219/36352 ,  G05B2219/39468 ,  G05B2219/40014 ,  G05B2219/45048 ,  G05B2219/45051 ,  Y02P90/08 ,  Y02P90/28 ,  Y10T29/49716

摘要： A method and a computer program for converting a packaging line. A packaging and storage system for combining and packing and/or repacking of articles.With the method according to the invention at hand it is being determined on the basis of the desired composition of articles, which tools are required in the packaging line and a respective data processor controlled replacement of the tools is carried out in the packaging line. The removed and no longer needed tools are placed in storage afterwards.

摘要翻译： 一种用于转换包装线的方法和计算机程序。 用于组合和包装和/或重新包装物品的包装和储存系统。 根据本发明的方法，正在根据所需的制品组成确定，在包装线中需要哪些工具，并且在包装线中执行相应的数据处理器控制的工具的更换。 已经删除并且不再需要的工具随后被放置在存储器中。

公开(公告)号：US20060161302A1

公开(公告)日：2006-07-20

申请号：US11376927

申请日：2006-03-16

申请人： Dwayne Perry ,  Richard Heavner

发明人： Dwayne Perry ,  Richard Heavner

IPC分类号： G06F19/00

CPC分类号： B25J9/161 ,  B25J15/04 ,  G05B2219/31095 ,  G05B2219/31142 ,  G05B2219/39468 ,  G05B2219/49304 ,  G05B2219/50338 ,  Y02P90/18

摘要： A tool changer comprising a master module and a tool module includes a rapid-connect communication bus between the master and tool modules. A unique tool identification number, along with other tool-related information, may be transmitted from the tool module to the master module within about 250 msec of the master and tool modules coupling together. The master module includes a robotic system communications network node connected to the rapid-connect communication bus, and operative to transmit data between the tool and the network via the communication bus. The need for a separate network node in the tool module is obviated, reducing cost and reducing the start-up time required to initialize such a network node upon connecting to a new tool. The rapid-connect communication bus may be a serial bus.

公开(公告)号：US06415204B1

公开(公告)日：2002-07-02

申请号：US09762935

申请日：2001-02-14

申请人： Michio Hirabayashi ,  Katsuhisa Ida ,  Nobuo Higuchi ,  Yoshihito Sugano ,  Yoshihiko Nakanishi ,  Hiromi Kitaura ,  Kenichi Kuruma ,  Hiroyuki Hayashi

发明人： Michio Hirabayashi ,  Katsuhisa Ida ,  Nobuo Higuchi ,  Yoshihito Sugano ,  Yoshihiko Nakanishi ,  Hiromi Kitaura ,  Kenichi Kuruma ,  Hiroyuki Hayashi

IPC分类号： G06F1900

CPC分类号： H05K13/0452 ,  B23P21/004 ,  B23P2700/08 ,  B25J15/04 ,  G05B2219/39468 ,  Y10T29/49829 ,  Y10T29/534 ,  Y10T409/307728 ,  Y10T409/308288 ,  Y10T409/30868 ,  Y10T409/308792 ,  Y10T409/309016

摘要： A robots (210A, 210B), which is fixed onto a base (20, 20B) having a rectangular shape, has a mechanical hand (211A, 211B). A plurality of robot tools, each of which is freely attached to the tip of the mechanical hand (211A, 211B) for pinching a part, and a plurality of trays (6) each containing assembling jigs to be used for assembling parts, are brought in a movable range (RA, RB) of the robot, and the assembling tools are set at a predetermined position within the movable range (RA, RB). Then, an assembling job for the parts is carried out by using the assembling tools thus set. With this arrangement, the exchanging processes of the assembling tools can be carried out without depending on the human hands, even when the type of the assembly product is changed. Consequently, it becomes possible to efficiently carry out the manufacturing process of a small number of many types of products.

摘要翻译： 固定在具有矩形形状的基座（20,20B）上的机器人（210A，210B）具有机械手（211A，211B）。 多个机器人工具，其中每个机器人工具自由地附接到用于夹持部件的机械手（211A，211B）的末端，并且多个托盘（6）各自包含用于组装零件的组装夹具 在机器人的可移动范围（RA，RB）中，并且组装工具被设置在可移动范围（RA，RB）内的预定位置。 然后，通过使用如此设置的组装工具进行零件的组装作业。 利用这种布置，即使当组装产品的类型改变时，组装工具的交换过程也可以不依赖于人的手而进行。 因此，可以有效地执行少量许多类型的产品的制造过程。

公开(公告)号：US5586387A

公开(公告)日：1996-12-24

申请号：US360568

申请日：1994-12-21

申请人： Takuya Nakatani ,  Mitsutaka Abe ,  Shigeru Dono ,  Youji Urano

发明人： Takuya Nakatani ,  Mitsutaka Abe ,  Shigeru Dono ,  Youji Urano

IPC分类号： B23P19/04 ,  B23P21/00 ,  B25J9/18 ,  G05B19/418

CPC分类号： G05B19/4182 ,  B23P21/00 ,  G05B2219/34368 ,  G05B2219/39083 ,  G05B2219/39468 ,  G05B2219/40607 ,  G05B2219/50362 ,  G05B2219/50366 ,  G05B2219/50377 ,  Y02P90/04 ,  Y02P90/083 ,  Y10T29/53013 ,  Y10T29/53087 ,  Y10T29/5337 ,  Y10T29/53383 ,  Y10T29/53417

摘要： An automated part assembly machine has a work table supported to a base and movable relative thereto and at least two separate robots each having an end effector movable around within an individual work region. The two robots are positioned in such a relation as to give a common work region in which the individual work regions of the two robots overlap. A parts supply is arranged to the work table for storing parts to be picked-up by the robots. A plurality of operator hands are selectively and removably attached to the end effector of the robot for handling the parts by the robot. Disposed within the common region is a jig which positions the parts for assembly by the robot. The robots and the work table are controlled to operate in cooperation for assembly of the parts. The machine is characterized in that the robots are mounted on the movable work table together with the operator hands and the jig with the robots spaced in the moving direction of the work table, and that the parts supply extends in the moving direction of the work table. Thus, the robots are enabled to move together with the jig and the operator hands relative to the parts supply so that the robots can reach over a wide range of the parts supply beyond the individual work regions to thereby successfully pick-up suitable parts and transfer them to the jig for immediate assembly of the parts. Further, since the operator hands are on the movable work table, the robot can change the operator hands while moving relative to the parts supply for effecting the part assembly substantially without interruption, in addition to the advantage of enabling one robot to change the operator hand while the other robot is handling the parts.

摘要翻译： 自动化部件组装机具有支撑到基座并可相对于其移动的工作台，以及至少两个分离的机器人，每个机器人具有可在单个工作区域内移动的末端执行器。 两个机器人位于这样的关系中，以便给出两个机器人的各个工作区域重叠的公共工作区域。 零件供应被安排在工作台上，用于存储由机器人拾取的零件。 多个操作者手被选择性地并且可移除地附接到机器人的末端执行器以由机器人处理部件。 在公共区域内设置有用于将机器人组装的部件定位的夹具。 机器人和工作台被控制以协作组装零件。 该机器的特征在于，机器人与操作者手和夹具一起安装在可移动工作台上，其中机器人在工作台的移动方向上间隔开，并且部件供应沿工作台的移动方向延伸 。 因此，机器人能够与夹具和操作者手相对于零件供应一起移动，使得机器人可以跨越各个工作区域的范围内的零件供应范围，从而成功地拾取适当的部件并转移 他们到夹具立即组装零件。 此外，由于操作者手在可移动工作台上，所以机器人可以相对于零件供应而移动时可以改变操作者的手，以实现零件组装的基本上不间断，除了使一个机器人能够改变操作者手的优点 而另一个机器人正在处理部件。

公开(公告)号：US4996012A

公开(公告)日：1991-02-26

申请号：US347005

申请日：1989-05-04

申请人： Fritz Gierschewski ,  Claus D. Koster ,  Joachim Luhr

发明人： Fritz Gierschewski ,  Claus D. Koster ,  Joachim Luhr

IPC分类号： A43D25/18 ,  A43D1/00 ,  A43D37/00 ,  A43D86/00 ,  A43D119/00 ,  B29D35/00 ,  B29D35/08 ,  B29D35/10 ,  G05B19/401 ,  G05B19/42

CPC分类号： B29D35/0009 ,  A43D119/00 ,  G05B19/4015 ,  G05B19/4207 ,  G05B2219/39468 ,  G05B2219/45243 ,  G05B2219/49221

摘要： To automate the roughening of the peripheral surface of a shoe upper in the region to be soled, the application of adhesive along such surface and a final deburring operation, prior to injection molding the last supported shoe upper in the region of lateral side mold elements is measured at the peripheral curvature to determine a curved line of spacial coordinates and angles of curvature starting at a preselected null point, and the values are stored. Another last supported shoe upper is moved by a rotary turntable to be scanned at selected points along its periphery for comparing the selected points to the spacial coordinates and angles of curvature. Any deviation therefrom is adapted to a second preselected null point, after which the shoe upper is guided by a computer controlled robotic device along the curved line starting from the second null point.

摘要翻译： 为了自动化要被固化的区域中的鞋面的外周表面的粗糙化，沿着这种表面施加粘合剂和最后的去毛刺操作，在注射成型侧面模具元件区域中的最后支撑的鞋面之前， 在周边曲率处测量以确定从预选零点开始的空间坐标和曲率角的曲线，并且存储该值。 另一最后支撑的鞋面由旋转转盘移动，以沿其周边的选定点进行扫描，以将所选择的点与空间坐标和曲率角进行比较。 任何偏离其适应于第二预选零点，之后鞋上部由计算机控制的机器人装置沿着从第二零点开始的曲线引导。

公开(公告)号：US4420812A

公开(公告)日：1983-12-13

申请号：US185023

申请日：1980-09-08

申请人： Yoshimasa Ito ,  Junji Hashizume ,  Junichi Ikeda ,  Noriyuki Utsumi ,  Tessyu Naka

发明人： Yoshimasa Ito ,  Junji Hashizume ,  Junichi Ikeda ,  Noriyuki Utsumi ,  Tessyu Naka

IPC分类号： B25J9/18 ,  G05B19/418 ,  G05B19/423 ,  G05B19/42 ,  G06F15/46

CPC分类号： G05B19/423 ,  G05B19/4182 ,  G05B2219/34388 ,  G05B2219/36159 ,  G05B2219/36458 ,  G05B2219/36471 ,  G05B2219/39468 ,  G05B2219/45013 ,  Y02P90/083

摘要： A teaching-playback type robot is disclosed having a manipulator with a plurality of movable members connected to each other, a detector detecting the relative positions of the members, a switch for designating position signals from the detector upon a teaching operation, a memory for storing position signals from the detector, an interpolating arithmetic circuit for performing interpolating operation based on two position signals read out from memory upon playback operation.

摘要翻译： 公开了一种示教播放型机器人，其具有具有彼此连接的多个可动构件的操纵器，检测构件的相对位置的检测器，用于在教学操作时指定来自检测器的位置信号的开关，用于存储的存储器 来自检测器的位置信号，用于根据重放操作从存储器读出的两个位置信号进行内插运算的内插运算电路。

公开(公告)号：US4275986A

公开(公告)日：1981-06-30

申请号：US31463

申请日：1979-04-19

申请人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

发明人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

IPC分类号： B23P21/00 ,  B25J9/00 ,  G05B19/25 ,  G05B19/42

CPC分类号： G05B19/42 ,  B23P21/002 ,  B25J9/0084 ,  G05B19/253 ,  G05B2219/34236 ,  G05B2219/34239 ,  G05B2219/35238 ,  G05B2219/35543 ,  G05B2219/39002 ,  G05B2219/39468 ,  G05B2219/40307 ,  G05B2219/42207 ,  G05B2219/43183 ,  G05B2219/45051 ,  G05B2219/45083 ,  G05B2219/49395

摘要： A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.

摘要翻译： 提供了一种可编程自动组装系统，可用于组装小部件。 每个装配站包括配合的操纵臂，其可编程以在中心位置的工作台上组装零件。 提供了改进的设施，用于在每个车站教授机械臂，这些设施包括一台计算机，它帮助教学操作员建立小零件组装所需的程序以实现公差的制定。 每个操纵臂包括闭环示教设施，用于在操作的教学模式期间将臂保持在先前定位的位置。 该计算机被用作在辅助操作期间执行若干任务的教学辅助设备，这对于操作者手动执行是非常困难的。 所有组装站可以在从公共盘存储设施回放期间被控制，使得每个操纵器处的控制电路和存储器存储设施被最小化。

公开(公告)号：US4260941A

公开(公告)日：1981-04-07

申请号：US31462

申请日：1979-04-19

申请人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

发明人： Joseph F. Engelberger ,  Torsten H. Lindbom ,  Maurice J. Dunne ,  William Perzley ,  Wilbur N. Roberts ,  Horace L. Gardner

IPC分类号： B23P21/00 ,  B25J9/04 ,  G05B19/25 ,  G05B19/42 ,  G05B11/32

CPC分类号： G05B19/42 ,  B23P21/002 ,  B25J9/046 ,  G05B19/253 ,  G05B2219/34236 ,  G05B2219/34239 ,  G05B2219/35238 ,  G05B2219/35543 ,  G05B2219/39002 ,  G05B2219/39468 ,  G05B2219/40307 ,  G05B2219/42207 ,  G05B2219/43183 ,  G05B2219/45051 ,  G05B2219/45083 ,  G05B2219/49395

摘要： A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.

公开(公告)号：US20240173872A1

公开(公告)日：2024-05-30

申请号：US18384923

申请日：2023-10-30

申请人： Berkshire Grey Operating Company, Inc.

发明人： Thomas WAGNER ,  John Richard AMEND, JR. ,  William FARMER ,  Andrew GAUTHIER ,  Victoria HINCHEY ,  Kyle MARONEY ,  Matthew T. MASON ,  Richard MUSGRAVE ,  Samuel NASEEF ,  Thomas ALLEN

IPC分类号： B25J15/04

CPC分类号： B25J15/0408 ,  B25J15/0441 ,  B25J15/0491 ,  G05B2219/39468

摘要： A method is disclosed of changing a tool on a programmable motion device. The method includes the steps of moving an attachment portion of an end effector of the programmable motion device in a continuous motion; while the attachment portion of the end effector moves in the continuous motion, engaging one of: the attachment portion of the end effector with the tool, or the tool attached to the attachment portion of the end effector with an exchange system, and continuing to move the attachment portion of the end effector in the continuous motion to change a connection status of the attachment portion of the end effector while the attachment portion of the end effector moves in the continuous motion.