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公开(公告)号：US09873199B2
公开(公告)日：2018-01-23
申请号：US15391692
申请日：2016-12-27
发明人： Parris S. Wellman , Matthew David Verminski , Andrew Stubbs , Robert Michael Shydo, Jr. , Ennio Claretti , Boris Aronchik , John Gregory Longtine
CPC分类号： B25J9/1602 , B25J9/0084 , B25J9/1612 , B25J9/1664 , B25J9/1669 , B25J9/1697 , B65G1/0492 , B65G1/10 , B65G1/1378 , G05B2219/39468 , G05B2219/39473 , G05B2219/39536 , G05B2219/39543 , G05B2219/39546 , G06Q10/08 , G06Q10/087 , Y10S901/03 , Y10S901/09 , Y10S901/30 , Y10S901/31 , Y10S901/47
摘要： Robotic arms or manipulators can be utilized to grasp inventory items within an inventory system. Information can be obtained about constraints relative to relevant elements of a process of transferring the item from place to place. Examples of such elements may include a grasping location from which an item is to be grasped, a receiving location in which a grasped item is to be placed, or a space between the grasping location and the receiving location. The information about the constraints can be used to select from multiple possible grasping options, such as by eliminating options that conflict with the constraints or preferring options that outperform others given the constraints.
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公开(公告)号：US09808933B2
公开(公告)日：2017-11-07
申请号：US15080069
申请日：2016-03-24
发明人： Yhu-Tin Lin , Joerg Pohlers , Ken Dellach , Maurice Perlman
CPC分类号： B25J9/163 , B25J15/0061 , B25J15/0616 , G05B2219/39468 , Y10S901/41
摘要： A robotic system includes a robot, an end-effector assembly disposed at a distal end of a main boom, rotatable parallel frame rails, and tool support branches. Tool modules are connected to a tool support branch and rotatable/translatable with respect to a respective branch axis. A configuration tool has a control block engaged by a wrist of the robot and a work tool. A controller commands the robot to automatically configure the end-effector assembly by adjusting the frame rails and/or tool support branches or tool modules using the work tool, doing so in response to an identified work task. Engagement of the wrist with the tool changer is commanded and the identified work task is executed using the end-effector assembly. A configuration stand may automatically flip the end-effector assembly to a configuration location, command engagement of the wrist with the tool changer, and configure the end-effector assembly.
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公开(公告)号：US20170190050A1
公开(公告)日：2017-07-06
申请号：US15463682
申请日：2017-03-20
申请人： Daniel Cookson , Andrew Wallace , James Griffith
发明人： Daniel Cookson , Andrew Wallace , James Griffith
CPC分类号： B25J9/1646 , B25J9/08 , B25J9/1612 , B25J15/0066 , B25J15/0408 , B25J15/0483 , B25J15/0491 , B25J19/0025 , G05B19/128 , G05B2219/31095 , G05B2219/39468 , G05B2219/49304 , G05B2219/50338 , Y10S901/02
摘要： Robots capable of accommodating dynamic replacement of end effectors load and run software that allows the end effector to be operated without change to the main control program. The driver may be dynamically linked and run during program execution when the corresponding end effector is detected. Typically, the robot controller will store a library of drivers, and load the appropriate driver when a new end effector is detected.
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公开(公告)号：US20170106532A1
公开(公告)日：2017-04-20
申请号：US15391692
申请日：2016-12-27
发明人： Parris S. Wellman , Matthew David Verminski , Andrew Stubbs , Robert Michael Shydo, JR. , Ennio Claretti , Boris Aronchik , John Gregory Longtine
CPC分类号： B25J9/1602 , B25J9/0084 , B25J9/1612 , B25J9/1664 , B25J9/1669 , B25J9/1697 , B65G1/0492 , B65G1/10 , B65G1/1378 , G05B2219/39468 , G05B2219/39473 , G05B2219/39536 , G05B2219/39543 , G05B2219/39546 , G06Q10/08 , G06Q10/087 , Y10S901/03 , Y10S901/09 , Y10S901/30 , Y10S901/31 , Y10S901/47
摘要： Robotic arms or manipulators can be utilized to grasp inventory items within an inventory system. Information can be obtained about constraints relative to relevant elements of a process of transferring the item from place to place. Examples of such elements may include a grasping location from which an item is to be grasped, a receiving location in which a grasped item is to be placed, or a space between the grasping location and the receiving location. The information about the constraints can be used to select from multiple possible grasping options, such as by eliminating options that conflict with the constraints or preferring options that outperform others given the constraints.
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公开(公告)号：US09561587B2
公开(公告)日：2017-02-07
申请号：US14572332
申请日：2014-12-16
发明人： Parris S. Wellman , Matthew David Verminski , Andrew Stubbs , Robert Michael Shydo, Jr. , Ennio Claretti , Boris Aronchik , John Gregory Longtine
CPC分类号： B25J9/1602 , B25J9/0084 , B25J9/1612 , B25J9/1664 , B25J9/1669 , B25J9/1697 , B65G1/0492 , B65G1/10 , B65G1/1378 , G05B2219/39468 , G05B2219/39473 , G05B2219/39536 , G05B2219/39543 , G05B2219/39546 , G06Q10/08 , G06Q10/087 , Y10S901/03 , Y10S901/09 , Y10S901/30 , Y10S901/31 , Y10S901/47
摘要： Robotic arms or manipulators can be utilized to grasp inventory items within an inventory system. Information about an item to be grasped can be detected and/or accessed from one or more databases to determine a grasping strategy for grasping the item with a robotic arm or manipulator. For example, one or more accessed databases can contain information about the item, characteristics of the item, and/or similar items, such as information indicating grasping strategies that have been successful or unsuccessful for such items in the past.
摘要翻译： 机器人手臂或机械手可用于掌握库存系统中的库存物品。 可以从一个或多个数据库检测和/或访问关于待抓取的物品的信息，以确定用机器人手臂或操纵器抓取物品的抓取策略。 例如，一个或多个被访问的数据库可以包含关于该项目的信息，该项目的特征和/或类似的项目，诸如指示过去已经成功或不成功的抓取策略的信息。
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公开(公告)号：US09492923B2
公开(公告)日：2016-11-15
申请号：US14572420
申请日：2014-12-16
发明人： Parris S. Wellman , Matthew David Verminski , Andrew Stubbs , Robert Michael Shydo, Jr. , Ennio Claretti , Boris Aronchik , John Gregory Longtine
CPC分类号： B25J9/1602 , B25J9/0084 , B25J9/1612 , B25J9/1664 , B25J9/1669 , B25J9/1697 , B65G1/0492 , B65G1/10 , B65G1/1378 , G05B2219/39468 , G05B2219/39473 , G05B2219/39536 , G05B2219/39543 , G05B2219/39546 , G06Q10/08 , G06Q10/087 , Y10S901/03 , Y10S901/09 , Y10S901/30 , Y10S901/31 , Y10S901/47
摘要： Robotic arms may be utilized to grasp inventory items within an inventory system. Information about an inventory item to be grasped can be detected and used to determine a grasping strategy in conjunction with information from a database. Instructions for grasping an inventory item can be generated based on the detected information and the database.
摘要翻译： 机械手臂可用于掌握库存系统中的库存物品。 可以检测到关于要被掌握的库存项目的信息，并且用于结合来自数据库的信息来确定抓取策略。 可以根据检测到的信息和数据库生成抓取清单项目的说明。
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公开(公告)号：US20160167228A1
公开(公告)日：2016-06-16
申请号：US14572420
申请日：2014-12-16
发明人： Parris S. Wellman , Matthew David Verminski , Andrew Stubbs , Robert Michael Shydo, JR. , Ennio Claretti , Boris Aronchik , John Gregory Longtine
CPC分类号： B25J9/1602 , B25J9/0084 , B25J9/1612 , B25J9/1664 , B25J9/1669 , B25J9/1697 , B65G1/0492 , B65G1/10 , B65G1/1378 , G05B2219/39468 , G05B2219/39473 , G05B2219/39536 , G05B2219/39543 , G05B2219/39546 , G06Q10/08 , G06Q10/087 , Y10S901/03 , Y10S901/09 , Y10S901/30 , Y10S901/31 , Y10S901/47
摘要： Robotic arms may be utilized to grasp inventory items within an inventory system. Information about an inventory item to be grasped can be detected and used to determine a grasping strategy in conjunction with information from a database. Instructions for grasping an inventory item can be generated based on the detected information and the database.
摘要翻译： 机械手臂可用于掌握库存系统中的库存物品。 可以检测到关于要被掌握的库存项目的信息，并且用于结合来自数据库的信息来确定抓取策略。 可以根据检测到的信息和数据库生成抓取清单项目的说明。
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公开(公告)号：US07027893B2
公开(公告)日：2006-04-11
申请号：US10647559
申请日：2003-08-25
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.
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公开(公告)号：US5711697A
公开(公告)日：1998-01-27
申请号：US737604
申请日：1996-11-25
申请人： Tadashi Taninaga , Tetsuya Ogawa
发明人： Tadashi Taninaga , Tetsuya Ogawa
CPC分类号： B24B27/04 , B24B49/16 , B25J11/0065 , B25J9/1679 , G05B2219/37285 , G05B2219/37583 , G05B2219/39468 , G05B2219/45058 , G05B2219/49074 , G05B2219/49075 , Y10T483/17 , Y10T483/1736 , Y10T483/18
摘要： When the amount of a change in load current supplied to a grinder is not more than a predetermined threshold value, the amount of piercing into a workpiece by the grinder is controlled according to the load current. When the amount of a change in load current exceeds the predetermined threshold value, the grinding speed of the grinder is controlled according to the load current. When performing a plurality of operations with one robot, a position correction value calculated in one operation is utilized to correct a target position in another operation.
摘要翻译： PCT No.PCT / JP95 / 01197 Sec。 371日期：1996年11月25日 102（e）日期1996年11月25日PCT归档1995年6月16日PCT公布。 WO95 / 35187 PCT出版物 日期1995年12月28日当提供给研磨机的负载电流的变化量不大于预定阈值时，根据负载电流来控制由研磨机刺入工件的量。 当负载电流变化量超过预定阈值时，根据负载电流来控制研磨机的磨削速度。 当使用一个机器人执行多个操作时，利用在一个操作中计算的位置校正值来校正另一个操作中的目标位置。
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公开(公告)号：US5694690A
公开(公告)日：1997-12-09
申请号：US465897
申请日：1995-06-06
申请人： Antonio C. Micale
发明人： Antonio C. Micale
IPC分类号： B23P21/00 , B23Q35/02 , B25J9/16 , B64C1/00 , B64C1/06 , B64C1/12 , B64F5/00 , G05B19/418 , B23Q17/00
CPC分类号： B64C1/12 , B23P21/00 , B23Q35/02 , B25J9/1687 , B64C1/061 , B64C1/064 , B64F5/0009 , G05B19/41805 , B23P2700/01 , G05B2219/35012 , G05B2219/39468 , G05B2219/45064 , G05B2219/45197 , Y02P90/04 , Y02P90/08 , Y02P90/087 , Y02P90/16 , Y02P90/265 , Y10T29/49622 , Y10T29/49629 , Y10T29/49771 , Y10T29/4978 , Y10T29/49956 , Y10T29/49996 , Y10T29/49998 , Y10T408/03 , Y10T409/303752 , Y10T409/304144 , Y10T483/13 , Y10T483/138
摘要： A method of making a large airplane structure from a plurality of subassemblies. The method comprises drilling coordination holes in selected components which are made for accurate assembly of the subassemblies, and that will be located on the subassemblies in a position to be used to accurately position the subassemblies relative to each other so the spatial relationships between key features of the subassemblies as defined by the coordination holes make the subassemblies self-locating and intrinsically determinate of the final contour and configuration of the large airplane structure, independent of tooling. The drilling of coordination holes in the selected components is done using an end effector carried by a precision computer controlled robot that is directed to the drilling locations using a digital dataset taken directly from original digital part definition records.
摘要翻译： 一种从多个子组件制造大型飞机结构的方法。 该方法包括在所选择的部件中钻孔配合孔，其用于准备组装子组件，并且将位于子组件上以用于相对于彼此精确地定位子组件的位置，使得组件的关键特征之间的空间关系 由协调孔定义的子组件使得组件自定位并且固有地确定大型飞机结构的最终轮廓和构造，而与工具无关。 使用由精密计算机控制的机器人承载的末端执行器，使用直接从原始数字部件定义记录中获取的数字数据集，将所选部件中的协调孔钻孔，定向到钻孔位置。
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