公开(公告)号：US12220812B2

公开(公告)日：2025-02-11

申请号：US17428713

申请日：2020-04-03

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Shigeki Ono ,  Ryo Taniuchi ,  Shunsuke Wakimitsu

IPC: B25J19/00 ,  B25J9/06 ,  B25J17/02 ,  B25J9/00 ,  B25J9/12

Abstract: A robot device includes a first link configured to rotate on a first axis, a second link supported by a tip-end part of the first link so as to be rotatable on a second axis, and a hand part supported by a tip-end part of the second link. When one direction perpendicular to the first axis is a first perpendicular direction, and a direction perpendicular to both the first axis and the first perpendicular direction is a second perpendicular direction, the second axis extends in parallel to the first perpendicular direction and is deviated from the first axis in the second perpendicular direction.

公开(公告)号：US12220191B2

公开(公告)日：2025-02-11

申请号：US18283181

申请日：2022-04-07

Applicant: AGIBOT MEDTECH (SUZHOU) CO., LTD.

Inventor： Hao Cheng ,  Min Xu

IPC: A61B34/30 ,  B25J9/06 ,  B25J17/02

Abstract: This application provides a robotic arm and a control method therefor. The robotic arm comprises a spatial positioning mechanism, a planar motion mechanism and a connection and rotation joint connecting the spatial positioning mechanism and the planar motion mechanism. The space positioning mechanism comprises a base, and a joint mechanism including multiple joints, with the joint at a head end thereof installed onto the base, and the joint at a tail end rotatably connected to the connection and rotation joint; a tail end of the planar motion mechanism is connected to a surgical instrument. Perpendicular line of a plane where the planar motion mechanism is located is perpendicular to rotation axis of the connection and rotation joint; and the intersection between the rotation axis and axis of the surgical instrument is an active remote-center-of-motion point, which facilitates setting of the active remote-center-of-motion point and reduces occurrence of multi-arm collision.

公开(公告)号：US20250008883A1

公开(公告)日：2025-01-09

申请号：US18893026

申请日：2024-09-23

Applicant: DOGTOOTH TECHNOLOGIES LIMITED

Inventor： Duncan ROBERTSON ,  Matthew COOK ,  Edward HERBERT ,  Frank TULLY

IPC: A01G9/14 ,  A01D46/22 ,  A01D46/24 ,  A01D46/253 ,  A01D46/28 ,  A01D46/30 ,  B25J9/00 ,  B25J9/06 ,  B25J9/16 ,  B25J11/00 ,  B25J15/00 ,  G05D1/648 ,  G06F18/214 ,  G06F18/24 ,  G06F18/243 ,  G06Q30/0283 ,  G06T7/00 ,  G06T7/11 ,  G06T7/50 ,  G06T7/60 ,  G06T7/70 ,  G06T7/90 ,  G06V20/10 ,  G06V20/68

Abstract: A robotic fruit picking system includes an autonomous robot that includes a positioning subsystem that enables autonomous positioning of the robot using a computer vision guidance system. The robot also includes at least one picking arm and at least one picking head, or other type of end effector, mounted on each picking arm to either cut a stem or branch for a specific fruit or bunch of fruits or pluck that fruit or bunch. A computer vision subsystem analyses images of the fruit to be picked or stored and a control subsystem is programmed with or learns picking strategies using machine learning techniques. A quality control (QC) subsystem monitors the quality of fruit and grades that fruit according to size and/or quality. The robot has a storage subsystem for storing fruit in containers for storage or transportation, or in punnets for retail.

公开(公告)号：US12186848B1

公开(公告)日：2025-01-07

申请号：US18423660

申请日：2024-01-26

Applicant: General Electric Company

Inventor： Andrew Crispin Graham

IPC: B25J13/08 ,  B23P6/00 ,  B25J9/06 ,  F01D21/00 ,  G01M15/02

Abstract: A snake-arm robot and a servicing device are mechanically coupled. The mechanical coupling is accomplished by a longitudinal insertion of the snake-arm robot into the servicing device or the servicing device into the snake-arm robot. An actuator moves the snake-arm robot through a passage within an engine until the snake-arm robot reaches a desired location. The movement of the snake-arm robot concurrently moves the servicing device through the passage. Subsequently, the snake-arm robot is de-coupled from the servicing device and the snake-arm robot is removed from the engine while leaving the servicing device in place within the engine.

公开(公告)号：US20240424668A1

公开(公告)日：2024-12-26

申请号：US18824364

申请日：2024-09-04

Applicant: CANON KABUSHIKI KAISHA

Inventor： TOMOHIRO MIZUNO

IPC: B25J9/06 ,  B25J13/08

Abstract: A continuum robot includes a forward and backward movement unit configured to cause a plurality of bendable portions to perform forward movement or backward movement in a lengthwise direction, an attitude change unit configured to cause each of the bendable portions to bend to change an attitude, an attitude memory configured to store the attitude with regard to each of the bendable portions, and a control switching unit configured to perform, when the forward movement or the backward movement is detected, in a case where an attitude of at least one bendable portion deviates to a predetermined extent or beyond from an attitude of the at least one bendable portion which is stored in the attitude memory, switching as change control of the attitude for the attitude change unit from position control for changing the attitude into a specified attitude to control for changing the attitude following an external force.

公开(公告)号：US12167898B2

公开(公告)日：2024-12-17

申请号：US17468745

申请日：2021-09-08

Applicant: Memic Innovative Surgery Ltd.

Inventor： Dvir Cohen ,  Eli Shapira

IPC: A61B34/30 ,  A61B1/05 ,  A61B1/303 ,  A61B17/29 ,  A61B17/32 ,  A61B17/3201 ,  A61B18/14 ,  A61B34/00 ,  A61B34/35 ,  A61B90/00 ,  A61B90/50 ,  A61B90/57 ,  B25J9/00 ,  B25J9/06 ,  B25J9/16 ,  B25J13/06 ,  B25J13/08 ,  A61B17/00

Abstract: A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.

公开(公告)号：US12162738B2

公开(公告)日：2024-12-10

申请号：US17829148

申请日：2022-05-31

Applicant: Toyota Research Institute, Inc.

Inventor： Alexander Alspach ,  Andrew M. Beaulieu ,  Aimee S. Goncalves

IPC: B25J13/08 ,  B25J5/00 ,  B25J9/00 ,  B25J9/06 ,  B25J9/14 ,  B25J9/16 ,  B25J15/00 ,  B25J19/00 ,  B66F9/075 ,  B66F9/18 ,  G01L1/04 ,  G01L1/12 ,  G01L1/22 ,  G01L5/00 ,  G01L5/22 ,  G01L7/08 ,  G01L9/00

Abstract: Robots and sensor systems having a compliant member for maintaining the position of a sensor are disclosed. In one embodiment, a robot includes a rigid surface, one or more compliant members attached to the rigid surface, and a sensor device. The sensor device includes an inflatable diaphragm operable to be disposed around the one or more compliant members, the inflatable diaphragm having a port, and a pressure sensor fluidly coupled to the port and operable to detect a pressure within the inflatable diaphragm. The one or more compliant members prevent lateral movement and rotational movement of the sensor device.

公开(公告)号：US12138633B2

公开(公告)日：2024-11-12

申请号：US17418819

申请日：2018-12-27

Applicant: MI ROBOTIC SOLUTIONS S.A. [CL/CL]

Inventor： Hugo Salamanca Poblete ,  Luis Baeza Ramirez

IPC: B02C17/22 ,  B02C17/18 ,  B23P19/02 ,  B25J5/02 ,  B25J9/06 ,  B25J19/04

Abstract: The invention relates to a system and method for changing liners of a mill, the configuration of which allows the automated robotic manipulation of liners of mills for ore grinding in comminution processes. The configuration and operation of the system allows the task of manipulation to be improved, having a greater degree of freedom and/or flexibility in its movements, thereby providing a greater degree of certainty and efficiency to the method and thus optimising the time that the mill is halted for maintenance, and also preventing the risks to which maintenance staff may be exposed. The system comprises at least one support structure, at least one system for supplying and moving liners, at least one robotic manipulator system for manipulating the liners, at least one liner manipulation tool, at least one artificial vision system, and at least one control system.

公开(公告)号：US20240351201A1

公开(公告)日：2024-10-24

申请号：US18638817

申请日：2024-04-18

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Tomohisa URAKAMI ,  Nobutaka TSUBOI

IPC: B25J9/16 ,  B25J9/06 ,  B25J13/08

CPC classification number: B25J9/1633 ,  B25J9/06 ,  B25J9/1607 ,  B25J9/163 ,  B25J13/088

Abstract: A robot according to this disclosure includes a robot body including an arm including a plurality of links, a plurality of driving axis units configured to drive the plurality of links, and an inertia sensor(s) included in the arm; and a controller configured to acquire a compensation amount(s) for vibration based on a detection result(s) of the inertia sensor(s) acquired by executing at least one of correction of an inclination(s) of the inertia sensor(s) relative to a to-be-compensated driving axis unit(s), which is/are the driving axis unit(s) that is/are to be subjected to compensation, and elimination of a gravitational acceleration component(s) included in a detection result(s) that is/are detected by the inertia sensor(s).

公开(公告)号：US20240308064A1

公开(公告)日：2024-09-19

申请号：US18279711

申请日：2021-03-03

Applicant: HIBOT CORPORATION

Inventor： Hiroya YAMADA

IPC: B25J9/10 ,  B25J9/06 ,  B25J9/14

CPC classification number: B25J9/104 ,  B25J9/06 ,  B25J9/144

Abstract: With the purpose of realizing a robot arm that achieves both lightness of weight and ease of maintenance, and that has a long reach, a robot arm (100) is provided with a pneumatic cylinder (102) that pulls in a wire (104), and a movable pulley (105) that amplifies a force generated by the pneumatic cylinder (102) and that transmits the force by the wire (104), wherein the robot arm (100) is connected to a joint (103) that is driven by the force amplified by the movable pulley (105). An articulated robot arm can be realized by serially connecting a plurality of the robot arms (100) and arranging joints between the plurality of robot arms.