公开(公告)号：US10035263B2

公开(公告)日：2018-07-31

申请号：US15341985

申请日：2016-11-02

申请人： Kurion, Inc.

发明人： Jascha Frei ,  Robert R. Heim ,  Paul Damon Linnebur

IPC分类号： B25J9/16

CPC分类号： B25J9/162 ,  B25J9/06 ,  B25J18/00 ,  G05B2219/40056 ,  G05B2219/40234 ,  G05B2219/40495 ,  Y10S901/01 ,  Y10S901/44

摘要： Systems and methods for a robotic system capable of carrying out operations in a hazardous or confined space. The system comprises a manipulator arm, a plinth, a trolley, an end effector, and a control system. The plinth and trolley each comprise one or more locking pawls for securing the system to mounting levels along a length of the manipulator arm. The system is capable of maneuvering between mounting points in an inch-worm-like fashion. Motion starts from a fixed position where both the trolley and plinth locking pawls are secured to a first mounting level along the length of the manipulator arm. The trolley locking pawls are then released and the trolley runs along the manipulator and secures locking pawls to a second mounting level along the length of the manipulator arm. The plinth locking pawls are then released and the plinth is drawn to the second mounting level along the length of the manipulator arm where it is secured via locking pawls. When both the plinth and trolley are secured, operations can be carried out.

公开(公告)号：US20150197015A1

公开(公告)日：2015-07-16

申请号：US14451714

申请日：2014-08-05

申请人： Electronics and Telecommunications Research Institute

发明人： Chang Eun LEE ,  Sung Hoon KIM ,  Jong Hyun PARK

IPC分类号： B25J17/00 ,  B25J9/16 ,  H04W4/00 ,  G05B15/02

CPC分类号： H04W4/005 ,  B25J9/065 ,  B25J9/08 ,  B25J9/1689 ,  B25J13/006 ,  G05B2219/33192 ,  G05B2219/40161 ,  G05B2219/40234 ,  G05B2219/40304 ,  H04W4/70 ,  Y10S901/01 ,  Y10S901/28

摘要： Disclosed is a snake robot for exploration and disclosed is a separable module type snake robot that configures an ad-hoc mesh network by separating a body part into multiple mobile relay modules according to a propagation situation to seamlessly transmit image information to a remote control center.

摘要翻译： 公开了一种用于探索的蛇形机器人，并且公开了一种可分离模块型蛇式机器人，其通过根据传播情况将身体部分分离成多个移动中继模块来配置自组织网络网络，以将图像信息无缝传送到远程控制中心。

公开(公告)号：US08271157B2

公开(公告)日：2012-09-18

申请号：US11421001

申请日：2006-05-30

申请人： Hiroaki Yamaguchi

发明人： Hiroaki Yamaguchi

IPC分类号： G01C22/00

CPC分类号： B62D57/00 ,  B08B9/045 ,  B25J5/007 ,  B25J9/065 ,  B25J9/1625 ,  G05B2219/40234

摘要： A steering mechanism is provided on an equilateral triangular base of a mobile mechanism, and three joints are attached to the base at the three vertexes thereof. Links are attached to the three joints respectively. On each link is provided a steering mechanism. The equilateral triangular base of the mobile mechanism is moved or rotated by periodically driving the three joints while steering the four steering mechanisms.

摘要翻译： 在移动机构的等边三角形基座上设置有转向机构，并且在三个顶点附接有三个接头。 链接分别连接到三个关节。 在每个链路上提供了转向机构。 通过在转向四个转向机构的同时周期性地驱动三个关节来移动或旋转移动机构的等边三角形底座。

公开(公告)号：US20110295427A1

公开(公告)日：2011-12-01

申请号：US12787885

申请日：2010-05-26

申请人： William P. Motzer ,  Gary E. Georgeson ,  Scott W. Lea ,  Peter J. Hellenbrand ,  James J. Troy

发明人： William P. Motzer ,  Gary E. Georgeson ,  Scott W. Lea ,  Peter J. Hellenbrand ,  James J. Troy

IPC分类号： G05B15/00 ,  G01P21/00

CPC分类号： B25J9/162 ,  B25J9/06 ,  B25J9/065 ,  B25J9/1694 ,  G05B2219/39014 ,  G05B2219/39024 ,  G05B2219/40039 ,  G05B2219/40234 ,  G05B2219/45071

摘要： Methods and systems are provided for positioning a remote sensor within a target object. An articulated robotic system is coupled to the remote sensor. A positioning system determines a position of the target object to be inspected and determines a first position of the remote sensor. A control system calibrates a virtual representation of the target object with respect to the position of the target object, and tracks movement of the remote sensor relative to the target object.

摘要翻译： 提供了用于将远程传感器定位在目标对象内的方法和系统。 铰接机器人系统耦合到远程传感器。 定位系统确定要检查的目标对象的位置并确定远程传感器的第一位置。 控制系统相对于目标对象的位置校准目标对象的虚拟表示，并跟踪远程传感器相对于目标对象的移动。

公开(公告)号：US4954952A

公开(公告)日：1990-09-04

申请号：US401338

申请日：1989-10-02

申请人： Shivadev K. Ubhayakar ,  Robert D. Baker

发明人： Shivadev K. Ubhayakar ,  Robert D. Baker

IPC分类号： B25J9/00 ,  B25J9/06 ,  B25J9/08 ,  B25J9/10 ,  B25J9/12 ,  B25J9/16 ,  B25J15/10 ,  B25J17/02 ,  B25J18/06 ,  B25J19/00 ,  G05B19/414

CPC分类号： G05B19/4141 ,  B25J15/103 ,  B25J17/0266 ,  B25J18/06 ,  B25J19/0029 ,  B25J9/0084 ,  B25J9/06 ,  B25J9/08 ,  B25J9/1085 ,  B25J9/126 ,  B25J9/1625 ,  G05B2219/25353 ,  G05B2219/33002 ,  G05B2219/33204 ,  G05B2219/33207 ,  G05B2219/33338 ,  G05B2219/34236 ,  G05B2219/34488 ,  G05B2219/37572 ,  G05B2219/39549 ,  G05B2219/40195 ,  G05B2219/40234 ,  G05B2219/40303 ,  G05B2219/40304 ,  G05B2219/41342 ,  G05B2219/41352 ,  Y10S706/904

摘要： A multisection flexible multidigit arm contains hands at each end, each of which hands contains a set of fingers, suitably three, which are similarly formed flexible multidigit arms constructed to a smaller scale. Each hand contains connectors for coupling the hand to a mating connector mounted on an associated structure to provide appropriate power and control signals to the arm. One hand may grip the connector and the other hand is free to move to various positions and perform various tasks. In an additional aspect the arm may move to different locations by somersaulting between spaced connectors in the system. In an assembly system the robotic arms are used to construct frames or other assemblies.A completely self contained arm includes a self contained source of power. Radio communication means are provided to allow electronic interaction with the arm from a remote location. In an additional aspect the self contained circuitry includes processor means programmed to control the arm to perform a certain task, relieving the operator at the remote location from specifying the details.Control signals to the sections of the arm in an additional aspect to the disclosed invention are provided by an electrical system that uses only a few wires by multiplexing the signals and the actuators, effectively "time sharing" the electrical leads between the large number of actuators.

公开(公告)号：US09566711B2

公开(公告)日：2017-02-14

申请号：US14196951

申请日：2014-03-04

申请人： Sarcos LC

发明人： Fraser M. Smith

IPC分类号： G05B19/418 ,  B25J9/16

CPC分类号： B25J9/1682 ,  B25J9/1625 ,  B25J9/1689 ,  B25J9/1694 ,  G05B19/41815 ,  G05B2219/35444 ,  G05B2219/39001 ,  G05B2219/39146 ,  G05B2219/40134 ,  G05B2219/40136 ,  G05B2219/40176 ,  G05B2219/40234 ,  G05B2219/40413 ,  G05B2219/40414 ,  Y10S901/27 ,  Y10S901/28 ,  Y10S901/46

摘要： Device coordinated robotic control technology is described. A network of robotic devices is established. An anthropomorphic motion is sensed from an operator. One or more signals are generated that are representative of at least a portion of the anthropomorphic motion. The one or more signals are converted into a collective set of commands to actuate the network of robotic devices. The collective set of commands is functionally equivalent to the anthropomorphic motion.

摘要翻译： 描述了设备协调的机器人控制技术。 建立了机器人设备网络。 从操作员感觉到人形运动。 生成代表人形运动的至少一部分的一个或多个信号。 一个或多个信号被转换成集合的一组命令来致动机器人设备的网络。 集体命令在功能上等同于人形运动。

公开(公告)号：US20110295426A1

公开(公告)日：2011-12-01

申请号：US12787226

申请日：2010-05-25

申请人： Gary E. Georgeson ,  William P. Motzer ,  Joseph L. Hafenrichter

发明人： Gary E. Georgeson ,  William P. Motzer ,  Joseph L. Hafenrichter

IPC分类号： G05B15/00

CPC分类号： B25J9/065 ,  B25J9/1625 ,  G05B2219/40039 ,  G05B2219/40234 ,  G05B2219/45071

摘要： At least one serpentine body is provided for maintenance operations on an object. At least one serpentine body is coupled to at least one sensor, and at least one serpentine body is coupled to at least one tool. The at least one sensor is configured to inspect the object, and the at least one tool is configured to modify the object.

摘要翻译： 提供至少一个蛇形体用于物体上的维护操作。 至少一个蛇形体联接到至少一个传感器，并且至少一个蛇形体联接到至少一个工具。 所述至少一个传感器被配置为检查所述对象，并​​且所述至少一个工具被配置为修改所述对象。

公开(公告)号：US06791291B2

公开(公告)日：2004-09-14

申请号：US10259150

申请日：2002-09-27

申请人： Shinji Shimizu ,  Noriyoshi Kikuchi ,  Katsuhiro Yamazoe ,  Takahiro Kobiki

发明人： Shinji Shimizu ,  Noriyoshi Kikuchi ,  Katsuhiro Yamazoe ,  Takahiro Kobiki

IPC分类号： B25J916

CPC分类号： B25J9/1615 ,  G05B2219/39236 ,  G05B2219/39251 ,  G05B2219/40234

摘要： In an industrial robot having a plurality of arms, each arm is coupled with other elements such as a mounting base, another arm, a robotic hand, and revolved by a motion of a revolving joint. A motor for moving the revolving joint, an encoder for sensing a rotation angle of a drive shaft of the motor, and a control circuit for controlling the driving of the motor are provided on the same arm. A signal cable for transmitting a sensing signal of the encoder to the control circuit is terminated at the control circuit on the same arm. There is no need to align the signal cable from the encoder to a main control circuit provided in the mounting base.

摘要翻译： 在具有多个臂的工业机器人中，每个臂与诸如安装基座，另一个臂，机器人手的其它元件联接，并且由旋转接头的运动旋转。 用于移动旋转接头的电动机，用于感测电动机的驱动轴的旋转角度的编码器和用于控制电动机的驱动的控制电路设置在同一个臂上。 用于将编码器的感测信号发送到控制电路的信号电缆在同一个臂上的控制电路处终止。 无需将编码器的信号电缆与安装基座中提供的主控制电路对齐。

公开(公告)号：US20030062858A1

公开(公告)日：2003-04-03

申请号：US10259150

申请日：2002-09-27

发明人： Shinji Shimizu ,  Noriyoshi Kikuchi ,  Katsuhiro Yamazoe ,  Takahiro Kobiki

IPC分类号： H02P001/54

CPC分类号： B25J9/1615 ,  G05B2219/39236 ,  G05B2219/39251 ,  G05B2219/40234

摘要： In an industrial robot having a plurality of arms, each arm is coupled with other elements such as a mounting base, another arm, a robotic hand, and revolved by a motion of the revolute joint. A motor for moving the revolute joint, an encoder for sensing a rotation angle of a drive shaft of the motor, and a control circuit for controlling the driving of the motor are provided on the same arm. A signal cable for transmitting a sensing signal of the encoder to the control circuit is terminated at the control circuit on the same arm. There is no need to align the signal cable from the encoder to a main control circuit provide in the mounting base.

摘要翻译： 在具有多个臂的工业机器人中，每个臂与诸如安装基座，另一个臂，机器人手的其它元件联接，并且由旋转接头的运动旋转。 用于移动旋转接头的电动机，用于感测电动机的驱动轴的旋转角度的编码器和用于控制电动机的驱动的控制电路设置在同一个臂上。 用于将编码器的感测信号发送到控制电路的信号电缆在同一个臂上的控制电路处终止。 无需将编码器的信号电缆与安装基座中的主控制电路对齐。

公开(公告)号：US20190184553A1

公开(公告)日：2019-06-20

申请号：US16326892

申请日：2017-08-10

申请人： CANON KABUSHIKI KAISHA

发明人： Kiyoshi Takagi

IPC分类号： B25J9/06 ,  B25J9/16

CPC分类号： B25J9/065 ,  B25J9/1625 ,  B25J9/163 ,  G05B2219/40234

摘要： To provide a technology of reducing a difference with respect to a target position of a curvable portion of a continuum robot which is to move forward substantially along a trajectory including a branched trajectory and a space. A continuum robot includes a plurality of curvable portions separately driven by wires, and control units which control positions of a plurality of curvable portions in accordance with a kinematic model. A modification value for modifying the kinematic model based on a target position and a measured position about each of the cases in which the plurality of curvable portions take a plurality of positions having at least one intersection is calculated. Modification uses a modification result in at least one of the plurality of positions as an initial value to modify the kinematic model in another position, and synthesizes the plurality of modification values.