公开(公告)号：US20180200893A1

公开(公告)日：2018-07-19

申请号：US15872085

申请日：2018-01-16

申请人： Seiko Epson Corporation

发明人： Makoto TAGUCHI

IPC分类号： B25J13/08 ,  B25J9/16 ,  G05B15/02

CPC分类号： B25J13/085 ,  B25J9/0096 ,  B25J9/1633 ,  B25J9/1669 ,  B25J9/1687 ,  B25J9/1694 ,  G05B15/02 ,  G05B2219/40033 ,  Y10S901/09 ,  Y10S901/30 ,  Y10S901/46

摘要： A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot provided with a manipulator, wherein in a case where the processor is configured to cause an end effector connected to the manipulator assemble a first object held by the end effector to a second object and a third object, the processor is configured to: cause the first object to come into contact with at least one of the second object and the third object; rotate the first object around a second rotation axis intersecting a first rotation axis while rotating the first object around the first rotation axis to assemble the second object and the first object to each other; and thereafter, rotate the first object around a third rotation axis intersecting the first rotation axis to assemble the third object and the first object to each other.

公开(公告)号：US20180141218A1

公开(公告)日：2018-05-24

申请号：US15873848

申请日：2018-01-17

申请人： CANON KABUSHIKI KAISHA

发明人： Tsutomu OSAKA

IPC分类号： B25J13/08

CPC分类号： B25J13/088 ,  G05B2219/40018 ,  Y10S901/28 ,  Y10S901/30

摘要： A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.

公开(公告)号：US09943966B2

公开(公告)日：2018-04-17

申请号：US15066059

申请日：2016-03-10

申请人： FANUC CORPORATION

发明人： Toru Shirahata

IPC分类号： B23Q11/00 ,  B25J9/16 ,  B25J11/00

CPC分类号： B25J9/1697 ,  B23Q11/0053 ,  B25J11/00 ,  G05B2219/39543 ,  Y02P70/171 ,  Y10S901/02 ,  Y10S901/30 ,  Y10S901/47

摘要： A processing machine system includes a processing machine having a machining table, a robot that removes chips produced from processing of the work, a chip collecting hand attached to a distal end portion of the robot to collect the chips, and a robot control unit. The robot control unit acquires a deposition amount of the chips deposited on the machining table, decides whether it is necessary to collect the chips on the basis of the acquired deposition amount. When the chip collection is necessary, the robot control unit operates the robot so as to collect the chips with the chip collecting hand, after the processing is finished.

公开(公告)号：US09925672B2

公开(公告)日：2018-03-27

申请号：US15454077

申请日：2017-03-09

申请人： FANUC CORPORATION

发明人： Kazutaka Nakayama

IPC分类号： B25J15/12 ,  B25J15/00 ,  B25J15/10 ,  B25J19/02

CPC分类号： B25J15/12 ,  B25J15/0009 ,  B25J15/0028 ,  B25J15/10 ,  B25J19/022 ,  B25J19/023 ,  Y10S901/30

摘要： A robot gripping device has finger parts. Each finger part has a finger part body which is comprised of a plurality of plate-shaped elastic members, a first anti-slip part which is provided at an inside surface of a front end side of the finger part body, and a reinforcing member which is arranged along an outer surface of the finger part body, is connected to the front end of the finger part body, and is higher in rigidity than the finger part body. The reinforcing member has a first rotary joint which makes the reinforcing member pivot about a first axis of rotation which is perpendicular to the longitudinal direction of the finger part body. The robot gripping device has a drive part which makes a base end of the finger part body move along the center of grip to make the finger parts open and close.

公开(公告)号：US20170341314A1

公开(公告)日：2017-11-30

申请号：US15167681

申请日：2016-05-27

申请人： The Boeing Company

发明人： Anthony W Baker ,  Steven A Dorris ,  Christopher P Bellavia ,  Hugh L Taylor ,  Luke C Ingram ,  Kenny P Bowers

IPC分类号： B29C70/38 ,  G05B19/409 ,  B29K105/08 ,  B29K307/04

CPC分类号： B29C70/382 ,  B29K2105/08 ,  B29K2307/04 ,  G05B19/401 ,  G05B19/409 ,  G05B2219/37074 ,  G05B2219/39059 ,  G05B2219/45238 ,  Y10S901/30

摘要： Systems and methods are provided for verifying the placement of tows by a robot. One embodiment includes a robot that includes an end effector that lays up tows, actuators that reposition the end effector, a memory storing a Numerical Control (NC) program, and a robot controller that directs the actuators to reposition the end effector based on the NC program, and instructs the end effector to lay up tows based on the NC program. The system also includes a sensor system comprising an imaging device that acquires images of the tows as the tows are laid-up, a measuring device that generates input as tows are laid-up by the end effector, and a sensor controller that receives images from the imaging device and the input from the measuring device, and updates stored data to correlate the images with instructions in the NC program, based on the input.

公开(公告)号：US09802319B2

公开(公告)日：2017-10-31

申请号：US14726992

申请日：2015-06-01

申请人： Seiko Epson Corporation

发明人： Yuki Kiyosawa

IPC分类号： G05B15/00 ,  G05B19/00 ,  B25J9/16

CPC分类号： B25J9/1697 ,  G05B2219/40487 ,  G05B2219/45064 ,  Y10S901/30 ,  Y10S901/47

摘要： A robot includes an operation execution unit; and a control unit which controls the operation execution unit, in which the control unit assembles an operation member at an assembly position by the operation execution unit and determines a state of fastening based on a captured image including the assembly position.

公开(公告)号：US20170254709A1

公开(公告)日：2017-09-07

申请号：US15600105

申请日：2017-05-19

申请人： ROBOTIQ INC.

发明人： Nicolas LAUZIER ,  Simon LEFRANÇOIS ,  David CASTONGUAY ,  Louis-Alexis ALLEN DEMERS ,  Jean-François DUVAL ,  Yan DROLET MIHELIC ,  Pierre Olivier PROULX ,  Rachid BEKHTI ,  Philippe CARDOU ,  Vincent DUCHAINE ,  Samuel BOUCHARD ,  Jean-Philippe JOBIN

IPC分类号： G01L1/14 ,  B25J13/08 ,  G01L25/00 ,  G05B19/423 ,  G01L5/22 ,  B25J9/16 ,  B25J9/00 ,  G01L5/16

CPC分类号： G01L1/14 ,  B25J9/0081 ,  B25J9/163 ,  B25J13/085 ,  G01L5/16 ,  G01L5/226 ,  G01L25/00 ,  G05B19/423 ,  G05B2219/39529 ,  Y10S901/02 ,  Y10S901/30

摘要： This invention relates to force/torque sensor and more particularly to multi-axis force/torque sensor and the methods of use for directly teaching a task to a mechatronic manipulator. The force/torque sensor has a casing, an outer frame forming part of or connected to the casing, an inner frame forming part of or connected to the casing, a compliant member connecting the outer frame to the inner frame, and one or more measurement elements mounted in the casing for measuring compliance of the compliant member when a force or torque is applied between the outer frame and the inner frame.

公开(公告)号：US09698035B2

公开(公告)日：2017-07-04

申请号：US14139522

申请日：2013-12-23

申请人： LAM Research Corporation

发明人： Matthew J. Rodnick

IPC分类号： H01L21/677

CPC分类号： H01L21/677 ,  H01L21/67742 ,  H01L21/67766 ,  Y10S294/902 ,  Y10S901/30

摘要： Provided herein are high coefficient of friction contact surfaces for transfer of substrates including semiconductor wafers. In certain implementations, the contact surfaces include microstructures that exploit intermolecular surface forces for increased adhesion and friction in the x-y direction during substrate transfer, while allowing easy release in the z-direction without tilting the substrate. Also provided are robot end effectors including the contact surfaces and related high-throughput transfer systems and methods.

公开(公告)号：US20170136625A1

公开(公告)日：2017-05-18

申请号：US15319261

申请日：2015-06-10

申请人： Vanderlande Industries B.V.

发明人： Erik Wilhelmus Petronella Van Meijl

IPC分类号： B25J9/16 ,  B66C23/16 ,  B66C23/18 ,  B66C13/22 ,  B25J9/00 ,  B64F1/36

CPC分类号： B25J9/1615 ,  B25J9/0018 ,  B25J9/0093 ,  B64F1/368 ,  B66C13/22 ,  B66C23/16 ,  B66C23/18 ,  Y10S901/02 ,  Y10S901/23 ,  Y10S901/30

摘要： A device for supporting a luggage item including a vertical base member, an arm, and carrying-element having a support surface. A guide guides vertical movement of the arm along a length of the base member, a driver drives vertical arm movement, a sensor determines force acting on the carrying element, a position sensor determines a vertical position and speed of the arm, and a controller controls the driver and sets a support force based on the determined vertical speed position of the arm.

公开(公告)号：US09604360B2

公开(公告)日：2017-03-28

申请号：US14623044

申请日：2015-02-16

申请人： FANUC CORPORATION

发明人： Keisuke Suga

IPC分类号： B25J9/16

CPC分类号： B25J9/163 ,  B25J9/1671 ,  G05B2219/40382 ,  G05B2219/40478 ,  Y10S901/03 ,  Y10S901/30 ,  Y10S901/47

摘要： A robot system comprises a robot provided with a robot arm and a robot hand, and a control device for controlling the motion of the robot, wherein a permitted area where a teaching operation for the robot hand should be permitted is preset within a maximum area which the robot hand can reach. The control device is provided with a judging part which judges if the robot hand as a whole is present in the permitted area, based on robot hand position information, and a teaching operation restricting part which permits a teaching operation for the robot hand when it is judged that the robot hand as a whole is present in the permitted area and prohibits a teaching operation for the robot hand when it is judged that the robot hand as a whole is not present in the permitted area.