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    • 23. 发明授权
    • Methods, systems, and apparatus for calibration of an orientation between an end effector and an article
    • 用于校准末端执行器和物品之间取向的方法,系统和装置
    • US09310791B2
    • 2016-04-12
    • US14004859
    • 2012-03-16
    • Siddharth Ram ChhatparSandeep M. Naik
    • Siddharth Ram ChhatparSandeep M. Naik
    • G05B19/401B25J9/16G05B19/04
    • G05B19/04B25J9/1692G05B2219/39021G05B2219/39024
    • Disclosed are methods adapted to aid in a calibration of a robotic end effector. The method includes providing a robotic component having an end effector and a light beam sensor provided in a fixed orientation to the end effector fingers, rotating a light beam of the light beam sensor relative to a geometrical calibration feature of a teach tool mounted in an approximately known orientation to an article, and determining a precise location (e.g., center) of the geometrical calibration feature based upon engagement of the light beam with edges of the geometrical calibration feature. In another aspect, a rotational orientation of the fingers of the end effector are calibrated using the teach tool. A novel teach tool and a robot calibration system including the teach tool are disclosed, as are other aspects.
    • 公开了适于帮助机器人末端执行器的校准的方法。 该方法包括提供具有端部执行器和光束传感器的机器人部件,光束传感器以固定方向设置在末端执行器指状件上,使光束传感器的光束相对于安装在大致上安装的教导工具的几何校准特征 基于物体的已知取向,以及基于所述光束与所述几何校准特征的边缘的接合来确定所述几何校准特征的精确位置(例如,中心)。 在另一方面,使用教导工具来校准末端执行器的手指的旋转取向。 公开了一种新颖的教学工具和包括教学工具的机器人校准系统,以及其他方面。
    • 29. 发明授权
    • Automated network triggering-forwarding device
    • 自动网络触发转发设备
    • US09111044B2
    • 2015-08-18
    • US14347139
    • 2012-12-26
    • Zhuhai Sunhome Information Co., Ltd.
    • Depin GongChii Tsong JangDehong Ding
    • G06F13/38G05B19/04G06M3/08
    • G06F13/385G05B19/04G05B19/0423G05B2219/21116G05B2219/25413G06M3/08
    • An automated network triggering-forwarding device connected with a control computer and an information input equipment by a network or a cable, respectively, is provided, which comprises a static output module, a dynamic forwarding module, and an information feedback module. A preset trigger signal is output by touching a key or combination of keys of a key output module, the output information of the information input equipment is forwarded to the control computer by the dynamic forwarding module, and the information fed back by the control computer is displayed on the feedback display module and a voice prompt is provided through the voice output module by the information feedback module. The buttons are imparted with different output definitions according to different service requirements, and tart triggering other recognizing devices to operate when needed according to operator demand. The dynamic output function can be externally connected with a plurality of non-network equipment.
    • 提供了分别通过网络或电缆与控制计算机和信息输入设备连接的自动化网络触发转发设备,其包括静态输出模块,动态转发模块和信息反馈模块。 通过触摸键输出模块的键或键的组合输出预设触发信号,信息输入设备的输出信息由动态转发模块转发给控制计算机,控制计算机反馈的信息为 显示在反馈显示模块上,并且通过信息反馈模块通过语音输出模块提供语音提示。 根据不同的服务要求,按钮被赋予不同的输出定义,并且根据操作者的需求,可以根据需要触发其他识别装置进行操作。 动态输出功能可以与多个非网络设备进行外部连接。