公开(公告)号：WO2003037574A2

公开(公告)日：2003-05-08

申请号：PCT/CA2002/001676

申请日：2002-10-31

Applicant: THERMO CRS LTD. ,  RIFF, Michael ,  HATHERLEY, Thomas

Inventor： RIFF, Michael ,  HATHERLEY, Thomas

IPC: B25J9/04

CPC classification number: G01N35/0099 ,  B25J9/046 ,  B25J9/104 ,  G01N35/028 ,  G01N2035/042

Abstract: A robotic device for moving at least one object between locations, including a servo motor system having a single servo axis for effecting motion in at least two directions of motion. The robotic device includes a link arm rotationally coupled to said servo motor system for lifting and placing said at least one object, a head assembly having gripper arms for gripping and releasing said at least one object at said locations. The head assembly includes a leveling mechanism for maintaining said at least one object in a desired orientation, and a split ring sensing mechanism, disposed between said gripper arms, for determining the presence of said at least one object.

Abstract translation: 一种用于在位置之间移动至少一个物体的机器人装置，包括具有单个伺服轴的伺服电动机系统，用于在至少两个运动方向上进行运动。 所述机器人装置包括旋转地联接到所述伺服电动机系统的连杆臂，用于提升和放置所述至少一个物体，头部组件具有用于在所述位置夹持和释放所述至少一个物体的夹持臂。 头部组件包括用于将所述至少一个物体保持在期望取向的调平机构，以及设置在所述夹持臂之间的用于确定所述至少一个物体的存在的开口感测机构。

公开(公告)号：WO2004067233A1

公开(公告)日：2004-08-12

申请号：PCT/CA2004/000135

申请日：2004-01-30

Applicant: THERMO CRS LTD. ,  HATHERLEY, Thomas, Ian ,  RIFF, Michael, Paul

Inventor： HATHERLEY, Thomas, Ian ,  RIFF, Michael, Paul

IPC: B25J15/00

CPC classification number: B25J13/08 ,  B25J15/00

Abstract: An apparatus, associated with a gripping device (12) attached to a robotic arm (10), the gripping device (12) being adapted to engage an object (11), the apparatus being adapted for sensing an error during the gripping step. The apparatus includes a trigger (34), to activate an error sensor (36), and cams (26), pivotably attached to the gripping device (12) and associated with the gripping members (18, 20) of the gripping device (12), the cams (26) being able to activate the trigger (34) in the event the object (11) is not engaged by the gripping device (12).

Abstract translation: 一种与附接到机器人臂（10）的夹持装置（12）相关联的装置，所述夹持装置（12）适于接合物体（11），所述装置适于在夹持步骤期间感测到错误。 该装置包括用于启动误差传感器（36）的触发器（34）和可枢转地附接到夹持装置（12）并与夹持装置（12）的夹紧构件（18,20）相关联的凸轮（26） ），在物体（11）未被夹持装置（12）接合的情况下，凸轮（26）能够启动触发器（34）。

公开(公告)号：WO03037574A3

公开(公告)日：2003-09-18

申请号：PCT/CA0201676

申请日：2002-10-31

Applicant: THERMO CRS LTD ,  RIFF MICHAEL ,  HATHERLEY THOMAS

Inventor： RIFF MICHAEL ,  HATHERLEY THOMAS

IPC: B25J9/04 ,  B25J9/10 ,  G01N35/00 ,  G01N35/02 ,  G01N35/04

CPC classification number: G01N35/0099 ,  B25J9/046 ,  B25J9/104 ,  G01N35/028 ,  G01N2035/042

Abstract: A robotic device (10) for moving at least one object between locations, including a servo motor system (20) having a single servo axis for effecting motion in at least two directions of motion. The robotic device (10) includes a link arm (24) rotationally coupled to said servo motor system (20) for lifting and placing said at least one object, a head assembly (28) having gripper fingers (42, 44) for gripping and releasing said at least one object at said locations. The head assembly (28) includes a leveling mechanism (52) for maintaining said at least one object in a desired orientation, and a split ring sensing mechanism, disposed between said gripper fingers (42, 44), for determining the presence of said at least one object.

Abstract translation: 一种用于在位置之间移动至少一个物体的机器人装置（10），包括具有单个伺服轴的伺服电动机系统（20），用于在至少两个运动方向上进行运动。 所述机器人装置（10）包括旋转地联接到所述伺服电动机系统（20）上的用于提升和放置所述至少一个物体的连杆臂（24），具有夹持器手指（42,44）的头部组件（28） 在所述位置释放所述至少一个物体。 头部组件（28）包括用于将所述至少一个物体保持在期望取向的调平机构（52）和设置在所述夹持器指状物（42,44）之间的开口环检测机构，用于确定所述至少一个 至少一个对象。

公开(公告)号：WO2003061830A1

公开(公告)日：2003-07-31

申请号：PCT/CA2003/000106

申请日：2003-01-27

Applicant: THERMO CRS LTD. ,  HAAS, Hansjoerg, Werner ,  JONES, Trevor, Gordon ,  HERTZ, Roger, Barry ,  MCCRACKIN, Daniel, Curtis ,  OUTHOUSE, Edgar, Allison ,  HATHERLEY, Thomas, Ian ,  RIFF, Michael, Paul ,  LOWE, Gregory, Earl ,  KLINCK, Bradley, Kenneth ,  HUBER, Richard, Alexander ,  WITTCHEN, Jonathan, David ,  PECK, Michael , Macalister

Inventor： HAAS, Hansjoerg, Werner ,  JONES, Trevor, Gordon ,  HERTZ, Roger, Barry ,  MCCRACKIN, Daniel, Curtis ,  OUTHOUSE, Edgar, Allison ,  HATHERLEY, Thomas, Ian ,  RIFF, Michael, Paul ,  LOWE, Gregory, Earl ,  KLINCK, Bradley, Kenneth ,  HUBER, Richard, Alexander ,  WITTCHEN, Jonathan, David ,  PECK, Michael , Macalister

IPC: B01L3/00

CPC classification number: G01N35/0092 ,  G01N35/0099 ,  G01N35/028 ,  G01N2035/00326 ,  G01N2035/00881 ,  G01N2035/0425 ,  G01N2035/0465

Abstract: A method of processing objects using a bilateral architecture. The method comprises the steps of: arranging a plurality of instruments around a bi-directional conveyance device, the instruments spaced at fixed pitch intervals along the conveyance device; assigning dedicated movers to each of the instruments, the dedicated movers for loading and unloading of the objects to and from the instruments and the conveyance device; and controlling the operation of the conveyance device to have an interrupted motion, the interrupted motion for coordinating the loading and unloading of the objects; wherein the dedicated movers are positioned such that adjacent movers operate independently of one another. The method can be operated on an automated robotic system having a modular architecture. The system comprises: a backbone having a plurality of backbone connectors; a module having a module connector for releasably coupling with a respective one of the backbone connectors; a bi-directional motion device connected to the backbone, the motion device for presenting an object adjacent to the module when the module is coupled to the backbone; a connection interface formable by coupling the backbone and module connectors, the connection interface for providing an operational coupling between the backbone and the module when adjacent thereto; wherein the connection interface provides a repeatable connection and disconnection capability between the backbone and the module for ready reconfiguration of the modular architecture.

Abstract translation: 使用双向架构处理对象的方法。 该方法包括以下步骤：将多个仪器布置在双向输送装置周围，仪器沿传送装置以固定的间距间隔隔开; 将专用移动器分配给每个仪器，用于将物体装载和离开仪器和输送装置的专用移动器; 并且控制所述输送装置的操作具有中断运动，所述中断运动用于协调所述物体的装载和卸载; 其中专用移动器被定位成使得相邻的移动器彼此独立地操作。 该方法可以在具有模块化架构的自动化机器人系统上操作。 该系统包括：具有多个主干连接器的主干; 模块，具有用于可拆卸地与相应的一个主干连接器耦合的模块连接器; 连接到所述主干的双向运动装置，所述运动装置用于当所述模块耦合到所述主干时呈现与所述模块相邻的对象; 所述连接接口可通过联接所述主干和模块连接器而形成，所述连接接口用于在与所述主干和所述模块相邻时提供所述主干和所述模块之间的操作耦合 其中所述连接接口在所述骨干和所述模块之间提供可重复的连接和断开能力，以便所述模块化架构的准备好重新配置。