公开(公告)号：WO2017136002A1

公开(公告)日：2017-08-10

申请号：PCT/US2016/053735

申请日：2016-09-26

Applicant: GENERAL ATOMICS

Inventor： SILKE, Gerald William ,  CONDON, Michael Bernard

IPC: H02K1/28

CPC classification number: H02K1/276 ,  B25J15/0608 ,  H02K1/278 ,  H02K15/03

Abstract: Some embodiments provide a magnet gripper system, comprising: a gripper base comprising a magnetically attractive face; at least two slide plate retaining systems; and two or more slide plates wherein at least one of the slide plates is movably cooperated with each of the at least two slide plate retaining systems such that the slide plates are configured to move between a retracted position with the slide plates retracted relative to the face of the gripper base and an extended position with the slide plates extended relative to the face of the gripper base with an end of each of the slide plates being positioned further from the face of the gripper base when in the extended position than when the slide plates are in the retracted position.

Abstract translation: 一些实施例提供了一种磁体夹持器系统，包括：包括磁吸面的夹持器基部; 至少两个滑板保持系统; 以及两个或更多个滑动板，其中至少一个滑动板与至少两个滑动板保持系统中的每一个可移动地配合，使得滑动板构造成在滑动板相对于表面缩回的缩回位置 所述滑动板相对于所述夹持器基座的表面延伸，每个所述滑动板的端部在处于所述伸出位置时比所述夹持器基部的表面定位成比当所述滑动板 处于缩回位置。

公开(公告)号：WO2016014917A1

公开(公告)日：2016-01-28

申请号：PCT/US2015/041937

申请日：2015-07-24

Applicant: IAM ROBOTICS, LLC

Inventor： GALLUZZO, Thomas ,  ALTMAN, Vladimir ,  HOUGHTON, Ricky

IPC: B25J9/06 ,  B25J9/16 ,  B25J18/00

CPC classification number: G06Q10/087 ,  B25J5/007 ,  B25J9/0093 ,  B25J9/162 ,  B25J9/1692 ,  B25J11/00 ,  B25J15/0028 ,  B25J15/0085 ,  B25J15/06 ,  B25J15/0608 ,  B25J15/0616 ,  B25J19/021 ,  B60P1/5423 ,  B65G1/1373 ,  B65G1/1375 ,  B65G2209/04 ,  G05B2219/37008 ,  G05B2219/39441 ,  G05B2219/40298 ,  G05B2219/40543 ,  G05B2219/40564 ,  G05B2219/45063 ,  G05D1/0011 ,  G05D1/0088 ,  G05D1/0248 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/31 ,  Y10S901/40 ,  Y10S901/47

Abstract: A method and system for piece-picking or piece put-away within a logistics facility. The system includes a central server and at least one mobile manipulation robot. The central server is configured to communicate with the robots to send and receive piece-picking data which includes a unique identification for each piece to be picked, a location within the logistics facility of the pieces to be picked, and a route for the robot to take within the logistics facility. The robots can then autonomously navigate and position themselves within the logistics facility by recognition of landmarks by at least one of a plurality of sensors. The sensors also provide signals related to detection, identification, and location of a piece to be picked or put-away, and processors on the robots analyze the sensor information to generate movements of a unique articulated arm and end effector on the robot to pick or put-away the piece.

Abstract translation: 物流设施内的拣选或散装的方法和系统。 该系统包括中央服务器和至少一个移动操纵机器人。 中央服务器被配置为与机器人通信以发送和接收片选数据，其包括要拾取的每个片段的唯一标识，待拾取的片段的物流设施内的位置，以及用于机器人到 在物流设施内。 机器人然后可以通过多个传感器中的至少一个来识别地标来自主地导航并定位在物流设施内。 这些传感器还提供与要拾取或放弃的零件的检测，识别和定位有关的信号，并且机器人上的处理器分析传感器信息以产生机器人上独特的铰接臂和末端执行器的运动，以拾取或 放弃了一块。

公开(公告)号：WO2015195230A1

公开(公告)日：2015-12-23

申请号：PCT/US2015/030620

申请日：2015-05-13

Applicant: APPLIED MATERIALS, INC.

Inventor： MAZZOCCO, John ,  GREENBERG, Daniel

IPC: H01L21/677

CPC classification number: B25J15/0616 ,  B25J15/0608 ,  H01L21/67778 ,  H01L21/6838 ,  H01L21/68707 ,  Y10S901/31 ,  Y10S901/40

Abstract: Embodiments of the invention include methods and apparatuses for removing a carrier ring assembly from a carrier that includes tightly pitched slots. Embodiments include a robot arm that comprises an end effector wrist, an end effector that has a maximum thickness less than approximately 3.0 mm and a gripping device for securing a carrier ring assembly to the end effector. According to an embodiment, the gripping device may be a clamping member. One or more actuators may be used to displace the clamping member in a direction relative to the end effector. In an additional embodiment, the gripping device may be an electromagnetic device that includes a plurality of electromagnets that are inserted into a top surface of the end effector. Embodiments further include a vacuum gripping device that includes openings in a top surface of the end effector that are coupled to a vacuum controller by air-lines.

Abstract translation: 本发明的实施例包括用于从包括紧密倾斜槽的载体移除载体环组件的方法和装置。 实施例包括机器人臂，其包括端部执行器腕部，具有小于约3.0mm的最大厚度的端部执行器和用于将承载环组件固定到端部执行器的夹持装置。 根据实施例，夹持装置可以是夹紧构件。 一个或多个致动器可以用于沿相对于末端执行器的方向移动夹紧构件。 在另外的实施例中，夹持装置可以是包括插入端部执行器的顶表面中的多个电磁体的电磁装置。 实施例还包括真空夹紧装置，其包括端部执行器的顶表面中的通过空气线联接到真空控制器的开口。

公开(公告)号：WO2015175714A1

公开(公告)日：2015-11-19

申请号：PCT/US2015/030654

申请日：2015-05-13

Applicant: APPLIED MATERIALS, INC.

Inventor： MAZZOCCO, John ,  GREENBERG, Daniel ,  YAYA, Brian Aldwin

IPC: H01L21/677

CPC classification number: H01L21/683 ,  B25J15/0608 ,  H01L21/68 ,  H01L21/68707 ,  Y10S901/30

Abstract: Embodiments include methods and apparatuses for transferring and aligning a carrier ring. In an embodiment, a method includes lifting the carrier ring from a first location with a robot arm that includes an end effector wrist and an end effector. Front dowel pins and rear dowel pins are coupled to the end effector. In an embodiment, the end effector wrist includes a plunger that has a gripping device. Embodiments include securing the plunger to the carrier ring with the gripping device and extending the plunger out from the end effector wrist until the carrier ring contacts the front dowel pins. Thereafter, the carrier ring is transferred from the first location to the second location. The plunger and the carrier ring are then retracted until the rear dowel pins engage an alignment notch and an alignment flat on the carrier ring.

Abstract translation: 实施例包括用于传送和对准载体环的方法和装置。 在一个实施例中，一种方法包括用包括末端执行器腕部和末端执行器的机器人手臂从第一位置提升载体环。 前销销和后销销连接到末端执行器。 在一个实施例中，末端执行器腕部包括具有夹持装置的柱塞。 实施例包括用夹持装置将柱塞固定到承载环上，并将柱塞从端部执行器手腕伸出，直到承载环接触前销钉。 此后，载波环从第一位置传送到第二位置。 柱塞和承载环然后缩回，直到后销定位销与载体环上的对准槽口和对准平面接合。

公开(公告)号：WO2015061232A1

公开(公告)日：2015-04-30

申请号：PCT/US2014/061425

申请日：2014-10-20

Applicant: ESCO CORPORATION

Inventor： CLARKE, Rod ,  CARPENTER, Ryan, J. ,  CARPENTER, Christopher, M. ,  BEWLEY, Eric, L. ,  FINLEY, Taylor, M. ,  BLOMBERG, Joseph, E. ,  COWGILL, Noah

IPC: B25J5/00 ,  B25J19/00 ,  G01M13/00 ,  E02F3/00

CPC classification number: E02F9/2891 ,  B25J11/00 ,  B25J15/0066 ,  B25J15/0608 ,  E02F5/02 ,  E02F9/2816 ,  E02F9/2833 ,  Y10T29/4973 ,  Y10T29/53013 ,  Y10T29/53478 ,  Y10T29/53974

Abstract: A process and tool for installing and removing various kinds of wear parts used with earth working equipment. The process and tool allows the operator to remove and install the wear parts at a safe distance so that the operator is physically remote from the potential risks of the removal and installation process. The tool may be manually operated via an operator or the tool may be a semi-automated or fully automated.

Abstract translation: 用于安装和拆除与土方工程设备一起使用的各种磨损零件的工艺和工具。 该过程和工具允许操作员将安装的零件拆卸并安装在安全距离处，以使操作员远离脱除和安装过程的潜在风险。 该工具可以通过操作者手动操作，或者该工具可以是半自动的或全自动的。

公开(公告)号：WO2012149363A3

公开(公告)日：2013-04-18

申请号：PCT/US2012035511

申请日：2012-04-27

Applicant: RAYTHEON CO ,  JACOBSEN STEPHEN C ,  SMITH FRASER M ,  COLVIN GLENN E JR ,  MCCULLOUGH JOHN

Inventor： JACOBSEN STEPHEN C ,  SMITH FRASER M ,  COLVIN GLENN E JR ,  MCCULLOUGH JOHN

IPC: B25J15/06 ,  B25J3/04 ,  B25J5/00

CPC classification number: B66F9/182 ,  B25J5/007 ,  B25J9/0084 ,  B25J9/162 ,  B25J11/00 ,  B25J13/08 ,  B25J15/0608 ,  B66C1/04 ,  B66C1/68 ,  H01F7/04 ,  Y10T483/1726

Abstract: A device and method for adjusting the magnetic strength of a magnetic end effector (100) for lift systems (110) is described. The magnetic end effector is capable of lifting discriminate payloads by selectively varying the strength of the magnetic forces output by the magnetic end effector. An actuator (420) can be operatively coupled to the variable strength magnet end effector, wherein the actuator is selectively actuatable to control the adjustment of the variable strength magnet. The actuator may also be configured to maintain the variable strength magnet at a desired magnetic force output strength once achieved for any given amount of time.

Abstract translation: 描述了一种用于调节用于升降系统（110）的磁性末端执行器（100）的磁强度的装置和方法。 磁端执行器能够通过选择性地改变由磁端执行器输出的磁力的强度来提升鉴别有效载荷。 致动器（420）可以可操作地联接到可变强度磁体末端执行器，其中致动器可选择性地致动以控制可变强度磁体的调节。 致动器还可以被配置为将可变强度磁体保持在任何给定时间量达到期望的磁力输出强度。

公开(公告)号：WO2012170123A2

公开(公告)日：2012-12-13

申请号：PCT/US2012/035592

申请日：2012-04-27

Applicant: RAYTHEON COMPANY ,  JACOBSEN, Stephen, C. ,  MCCULLOUGH, John ,  SMITH, Fraser, M. ,  OLIVIER, Marc, X.

Inventor： JACOBSEN, Stephen, C. ,  MCCULLOUGH, John ,  SMITH, Fraser, M. ,  OLIVIER, Marc, X.

IPC: G06F7/00 ,  B66F19/00

CPC classification number: B66F9/182 ,  B25J5/007 ,  B25J9/0084 ,  B25J9/162 ,  B25J11/00 ,  B25J13/08 ,  B25J15/0608 ,  B66C1/04 ,  B66C1/68 ,  H01F7/04 ,  Y10T483/1726

Abstract: A method for compensating for a perturbation external to a platform having a plurality of mechanical arms in accordance with an embodiment of the technology includes detecting a normal positional and/or orientational measurement of the platform using a sensor. A perturbed positional and/or orientational measurement of the platform can also be detected using the sensor. The normal positional and/or orientational measurement and the perturbed positional and/or orientational measurement can be compared to determine a positional and/or orientational difference. A position and/or orientation of a mechanical arm can be adjusted to compensate for the perturbation based on the positional and/or orientational difference.

Abstract translation: 根据该技术的实施例，用于补偿具有多个机械臂的平台外部的扰动的方法包括使用传感器检测平台的正常位置和/或取向测量。 还可以使用传感器来检测平台的扰动位置和/或取向测量。 可以比较正常的位置和/或取向测量和扰动的位置和/或取向测量以确定位置和/或取向差。 可以调节机械臂的位置和/或取向，以基于位置和/或取向差来补偿扰动。

公开(公告)号：WO2004098839A1

公开(公告)日：2004-11-18

申请号：PCT/SE2004/000659

申请日：2004-04-29

Applicant: ANDERSSON, Johnny

Inventor： ANDERSSON, Johnny

IPC: B25J15/06

CPC classification number: B25J15/0608

Abstract: A picking member (1) intended to take hold of at least a first ar­ticle (7) in connection with fetching the article (7) from a holding device (5) arranged for storage and/or intermediate storage of at least the first article (7) and a second article (9) close to each other. The articles (7, 9) at least partially comprising a magnetizable material. The picking member (1) comprises a picking means (2) arranged to take hold of the first article (7). The invention also relates to a separating magnet (3) arranged to facilitate for a taking member (1) to take hold of an article, a method for fetching an article and a robot for fetching an article.

Abstract translation: 一种用于至少保持第一物品（7）的拾取构件（1），用于从被设置用于至少保存和/或中间储存至少第一物品（7）的保持装置（5） 7）和第二物品（9）彼此靠近。 制品（7,9）至少部分地包括可磁化材料。 拾取构件（1）包括设置成夹持第一制品（7）的拾取装置（2）。 本发明还涉及一种分离磁铁（3），其被设置为便于拍摄构件（1）抓住物品，用于取出物品的方法和用于取出物品的机器人。

公开(公告)号：WO2018004455A1

公开(公告)日：2018-01-04

申请号：PCT/SG2016/050309

申请日：2016-06-30

Applicant: AEM SINGAPORE PTE. LTD.

Inventor： CHAN, See Jean

IPC: B65G47/91 ,  B25J15/06 ,  B23P19/00

CPC classification number: B25J15/0616 ,  B25J5/02 ,  B25J9/0018 ,  B25J9/0084 ,  B25J13/086 ,  B25J15/0608 ,  B65G47/91 ,  B65G47/92

Abstract: An automated picking apparatus for picking an object disposed on a surface. The automated picking apparatus comprises: a picking device displaceable toward the surface for picking the object; a compensator device co-operably connected to the picking device, the compensator device comprising a first magnet and a second magnet separated by a distance and arranged to repel away from each other; and an actuating mechanism operable for displacing the picking device toward the surface for picking the object, wherein operation of the actuating mechanism activates the compensator device and displaces the picking device co-operably connected thereto; wherein activation of the compensator device reduces the distance between the first and second magnetic elements thereof; and wherein continued operation of the actuating mechanism subsequent to contact between the picking device and the object further reduces the distance between the first and second magnetic elements of the compensator device.

Abstract translation:

一种用于拾取放置在表面上的物体的自动拾取设备。 该自动拾取装置包括：拾取装置，该拾取装置可朝着表面移动以拾取物体; 补偿器装置，所述补偿器装置可操作地连接到所述采摘装置，所述补偿器装置包括第一磁体和第二磁体，所述第一磁体和所述第二磁体以一定距离分开并且被布置成彼此分开; 以及致动机构，所述致动机构可操作用于朝向所述表面移动所述采摘装置以拾取所述物体，其中所述致动机构的操作激活所述补偿器装置并且移位与所述补偿器装置可操作地连接的所述采摘装置; 其中所述补偿器装置的激活减小了其第一和第二磁性元件之间的距离; 并且其中在拾取装置和物体之间接触之后致动机构的继续操作进一步减小了补偿器装置的第一和第二磁性元件之间的距离。

公开(公告)号：WO2016193297A1

公开(公告)日：2016-12-08

申请号：PCT/EP2016/062362

申请日：2016-06-01

Applicant: TOTAL WIND A/S

Inventor： LAURSEN, Jens Nygaard

IPC: F03D1/00 ,  F03D13/10 ,  F03D80/50 ,  B23P19/06 ,  B25J5/00 ,  B25J9/10 ,  B25J11/00

CPC classification number: F03D80/50 ,  B23P19/06 ,  B25J5/00 ,  B25J11/005 ,  B25J15/0608 ,  F03D13/10 ,  F05B2230/50 ,  F05B2230/60 ,  F05B2240/912 ,  F05B2260/301 ,  F05B2260/302 ,  Y02E10/728 ,  Y02P70/523

Abstract: Robot (1), for performing assembly and maintenance operations in a sectioned tower of a type where the tower sections are connected by a bolted flange joint comprising a circular internal flange (3) and a plurality of bolts (5), the robot (1) comprising; a. at least two trolleys (7), b. a connecting arrangement (9), and c. a controller (11), wherein said at least two trolleys (7) each comprises a conveying means, wherein each conveying means comprises a support configured for supporting the robot on said circular internal flange (3), wherein each support comprises at least one support point and wherein the supports in combination comprise at least three support points, wherein each trolley (7) is connected to the connecting arrangement (9), wherein the length of the connecting arrangement (9) is configured for positioning each support point at a distance from the centre of the flange (3) that exceed the internal radius of the flange (3), wherein the lay-out of the three support points that are farthest apart forms a triangle, wherein at least one trolley (7) is a driven trolley, wherein the conveying means of said driven trolley (7) comprises a drive configured for moving the trolleys tangentially along said internal flange, wherein said drive is operably connected to the controller (11), and wherein at least one trolley (7) comprises attachment means configured for attachment of a working tool (21) for performing the assembly and maintenance operations, and a working tool (21).

Abstract translation: 机器人（1）用于在塔架部分通过包括圆形内部凸缘（3）和多个螺栓（5）的螺栓连接的法兰接头连接的分段塔中执行组装和维护操作，机器人（1） ） 包括; 一个。 至少两个手推车（7），b。 连接装置（9），和c。 控制器（11），其中所述至少两个手推车（7）各自包括输送装置，其中每个输送装置包括构造成用于将所述机器人支撑在所述圆形内部凸缘（3）上的支撑件，其中每个支撑件包括至少一个支撑件 并且其中所述支撑件组合包括至少三个支撑点，其中每个手推车（7）连接到所述连接装置（9），其中所述连接装置（9）的长度被配置用于将每个支撑点定位在距离 从所述法兰（3）的超过所述法兰（3）的内半径的中心开始，其中所述三个支点最远的布置形成三角形，其中至少一个手推车（7）是驱动的 其特征在于，所述自动推车（7）的输送装置包括驱动器，其构造成用于沿着所述内部凸缘切向移动所述推车，其中所述驱动器可操作地连接到所述控制器（11），并且其中 至少一个手推车（7）包括构造成用于附接用于执行组装和维护操作的工作工具（21）的附接装置和工作工具（21）。