公开(公告)号：US11717972B2

公开(公告)日：2023-08-08

申请号：US17387385

申请日：2021-07-28

Applicant: BAE Systems plc

Inventor： David Samuel John Holmes ,  Martin Knott ,  Daniel James Middleton

IPC: B25J9/16 ,  B25J19/06 ,  G05B19/418

CPC classification number: B25J9/1697 ,  B25J9/1676 ,  B25J9/1687 ,  B25J19/06 ,  G05B19/418 ,  G05B2219/40202

Abstract: A workbench system comprising: a workbench; a multi-axis robot; a visible light projector; and a controller; wherein the workbench and the robot are located in a common workspace; the controller is configured to: determine a movement operation for the robot; and, using the determined movement operation, control the visible light projector to project a visible light indication onto at least one of a surface of the workbench and a surface of the workspace; the visible light indication indicates a limited area of the workbench and/or workspace, the limited area corresponding to a limited volume of space; and the movement operation is such that, if the robot performs the movement operation, the robot moves entirely within only the limited volume of space.

公开(公告)号：US20210354303A1

公开(公告)日：2021-11-18

申请号：US17387385

申请日：2021-07-28

Applicant: BAE Systems plc

Inventor： David Samuel John Holmes ,  Martin Knott ,  Daniel James Middleton

IPC: B25J9/16

Abstract: A workbench system comprising: a workbench; a multi-axis robot; a visible light projector; and a controller; wherein the workbench and the robot are located in a common workspace; the controller is configured to: determine a movement operation for the robot; and, using the determined movement operation, control the visible light projector to project a visible light indication onto at least one of a surface of the workbench and a surface of the workspace; the visible light indication indicates a limited area of the workbench and/or workspace, the limited area corresponding to a limited volume of space; and the movement operation is such that, if the robot performs the movement operation, the robot moves entirely within only the limited volume of space.

公开(公告)号：US20210170576A1

公开(公告)日：2021-06-10

申请号：US15734425

申请日：2019-06-18

Applicant: BAE Systems plc

Inventor： Martin Knott ,  Daniel James Middleton ,  David Samuel John Holmes

IPC: B25J9/00 ,  B25J9/16 ,  B25J11/00 ,  B25H1/16 ,  G05B19/418

Abstract: A workbench system comprising: a workbench; a sensor system comprising one or more sensors, the sensor system configured to identify a user in a workspace in which the workbench is located; a controller operatively coupled to the sensor system and configured to: based on the identity of the user, determine a task to be performed by the user using the workbench system; and based on the identity of the user and the determined task, control one or more properties of the workbench.

公开(公告)号：US20210046654A1

公开(公告)日：2021-02-18

申请号：US16963952

申请日：2019-02-19

Applicant: BAE Systems plc

Inventor： Martin Knott

IPC: B25J9/16 ,  B25J9/04 ,  B25J13/08 ,  B25J11/00 ,  B25J9/12 ,  B25J15/00 ,  B25J19/00

Abstract: A robotic system comprising: a multi-axis robot; one or more sensors located on the multi-axis robot; a damping system configured to apply a resistive force to the multi-axis robot, thereby to resist movement of the multi-axis robot; and a controller coupled to the one or more sensors and the damping system, the controller being configured to: receive sensor measurements from the one or more sensors; and control, based on the received sensor measurements, the damping system thereby to control the resistive force applied by the damping system to the multi-axis robot.

公开(公告)号：US10717095B2

公开(公告)日：2020-07-21

申请号：US16073452

申请日：2017-02-02

Applicant: BAE SYSTEMS PLC ,  THE UNIVERSITY OF SHEFFIELD

Inventor： Martin Knott ,  Ryan Wesley Diver

IPC: B05B7/04 ,  B05B12/00 ,  B05C17/02 ,  B25J15/00 ,  B25J11/00 ,  B05C5/02

Abstract: An end effector for a robot having a threaded shaft; a motor coupled to the shaft and configured to rotate the shaft about its axis; a nut threaded onto the shaft; a feature for preventing the nut from rotating about the axis of the shaft; and an elongate member fixed at one end to the nut and extending from the nut in a direction parallel to the axis of the shaft. The end effector may further include a container for containing a fluid having an elongate body portion having an opening at one end; and a reciprocable plunger extending into an opposite end of the body portion. A second end of the elongate member may be coupled to the plunger.

公开(公告)号：US20240416517A1

公开(公告)日：2024-12-19

申请号：US18553949

申请日：2022-04-13

Applicant: BAE Systems plc

Inventor： Daniel James Middleton ,  Martin Knott ,  Simon Cheetham

IPC: B25J9/16 ,  B25J9/00

Abstract: A robot cell, having a cell floor defining an array of nodes corresponding with a predetermined two-dimensional coordinate system and defining a volume for receiving a workpiece W therein, is described. The robot cell comprises: a set of robots, including a first robot, having respective bases, end effectors and working envelopes and defining respective three-dimensional coordinate systems, located according to the array of nodes; a set of detectors, including a first detector, configured to detect respective locations and/or bearings of the set of robots; a set of sensors, including a first sensor, configured to sense respective poses of the set of robots; and a controller, communicatively coupled to the set of robots and to the set of detectors, configured to control movement of the set of robots using the detected respective locations and/or bearings of the set of robots.

公开(公告)号：US11453122B2

公开(公告)日：2022-09-27

申请号：US17040168

申请日：2019-03-27

Applicant: BAE Systems plc

Inventor： Martin Knott ,  Daniel James Middleton

IPC: B25J9/16 ,  G06N20/00 ,  B25J13/08 ,  B25J19/06

Abstract: A system for robot and human collaboration. The system comprises: a multi-axis robot; one or more torque sensors, each torque sensor being configured to measure a torque about a respective axis of the multi-axis robot; and a controller configured to: receive one or more torque measurements taken by the one or more torque sensors; compare the one or more torque measurements or a function of the one or more torque measurements to a threshold value; and control the multi-axis robot based on the comparison.

公开(公告)号：US20210187728A1

公开(公告)日：2021-06-24

申请号：US17058874

申请日：2019-06-18

Applicant: BAE Systems plc

Inventor： David Samuel John Holmes ,  Martin Knott ,  Daniel James Middleton

IPC: B25J9/00 ,  B25J9/16 ,  B25H1/02 ,  G05B19/418

Abstract: A workbench system comprising: a workbench; one or more sensors mounted to the workbench; a multi-axis robot comprising an end effector for holding an object; and a controller configured to: control the robot to move the object held by the end effector relative to the one or more sensors; control the one or more sensors to measure one or more physical properties of the object held by the end effector; and perform a validation process using the measurements taken by the one or more sensors.

公开(公告)号：US20210154829A1

公开(公告)日：2021-05-27

申请号：US17058878

申请日：2019-06-18

Applicant: BAE Systems plc

Inventor： David Samuel John Holmes ,  Martin Knott ,  Daniel James Middleton

IPC: B25J9/00 ,  B23P21/00 ,  B25H1/02 ,  B25J9/16 ,  B25J11/00 ,  B25J13/08

Abstract: A system comprising: a workbench having a display; a body-wearable mobile device for example, a smartwatch worn by a user); and a controller configured to: receive data (for example, data measured by the body-wearable mobile device) from the body-wearable mobile device; using the received data, determine a task for a user of the workbench; and control the display based on the determined task. For example, the display may be controlled to display instructions for performing the determined task, or an indication that the user is not permitted to perform the determined task.

公开(公告)号：US20240367318A1

公开(公告)日：2024-11-07

申请号：US18553961

申请日：2022-04-13

Applicant: BAE Systems plc

Inventor： Jane Alexandra Byford ,  Martin Knott ,  Daniel James Middleton ,  Jake Butterworth ,  Craig Philip Turnbull

IPC: B25J9/16 ,  B25J9/00

Abstract: A robot cell, having a cell floor defining an array of nodes corresponding with a predetermined two-dimensional coordinate system and defining a volume for receiving a workpiece W therein and accessible by a human operator, is described. The robot cell comprises: a set of robots, including a first robot, having respective bases, end effectors and working envelopes and defining respective three-dimensional coordinate systems, located according to the array of nodes; a set of detectors, including a first detector, configured to detect respective locations and/or bearings of the set of robots using a set of targets disposed on and/or in the cell floor; a safety system, configured to alert the human operator; and a controller, communicatively coupled to the set of robots and to the set of detectors, configured to control movement of the set of robots using the detected respective locations and/or bearings of the set of robots.