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61. 发明申请

WO1997030826A1 A PRODUCTION POSITIONING SYSTEM 审中-公开
标题翻译：生产定位系统
公开(公告)号：WO1997030826A1
公开(公告)日：1997-08-28
申请号：PCT/SE1997000259
申请日：1997-02-17
申请人： NEOS ROBOTICS AB , NEUMANN, Karl-Erik
发明人： NEOS ROBOTICS AB
IPC分类号： B25J09/10
CPC分类号： B25J13/089 , B25J9/1697 , G05B2219/37053 , G05B2219/37567
摘要： A positioning method for a production system for positioning the location of a positioning head (2, 12, 27) in relation to a work object, comprising a positioning body (1, 11), e.g. a robot or a machine tool, a positioning control unit (3) for the positioning body (1, 11) and a control data system (4) for the positioning control unit (3), wherein the control data system (4) communicates with a three-dimensional localisation measuring system (6) comprising at least one recording device (7) which determines and adjusts the location of the positioning head (2, 12, 27) in space and a positioning device for a production system for positioning the location of a positioning head (2, 12, 27) in relation to a work object, comprising a positioning body (1, 11), e.g. a robot or a machine tool, a positioning control unit (3) for the positioning body (1, 11) and a control data system (4) for the positioning control unit (3), wherein the control data system (4) is arranged to communicate with a three-dimensional localisation measuring system (6) comprising at least one recording device (7) for determining and adjusting the location of the positioning head (2, 12, 27) in space.
摘要翻译：一种用于定位相对于工件的定位头（2,12,27）的定位的生产系统的定位方法，包括定位体（1,11），例如定位体。机器人或机床，用于定位体（1,11）的定位控制单元（3）和用于定位控制单元（3）的控制数据系统（4），其中控制数据系统（4）与三维定位测量系统（6）包括至少一个记录装置（7），该记录装置确定并调整定位头（2,12,27）在空间中的位置，以及用于定位位置的生产系统的定位装置相对于工作对象的定位头（2,12,27）包括定位体（1,11），例如，机器人或机床，用于定位体（1,11）的定位控制单元（3）和用于定位控制单元（3）的控制数据系统（4），其中控制数据系统（4）被布置与包括至少一个记录装置（7）的三维定位测量系统（6）进行通信，用于在空间中确定和调整定位头（2,12,27）的位置。

62. 发明申请

WO2019094951A1 END OF ARM TOOLS FOR SOFT ROBOTIC SYSTEMS 审中-公开
公开(公告)号：WO2019094951A1
公开(公告)日：2019-05-16
申请号：PCT/US2018/060792
申请日：2018-11-13
申请人： SOFT ROBOTICS, INC.
发明人： CURHAN, Jeffrey , DEMELLO, Craig , WOMERSLEY, Thomas , GUNNER, William
IPC分类号： B25J9/14 , B25J15/00 , B25J15/12
CPC分类号： B25J15/12 , B25J9/142 , B25J13/081 , B25J13/089 , B25J15/0023 , F16B33/004 , F16B35/06 , F16L55/1108 , F16L2201/40
摘要： Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). In particular, exemplary embodiments provide structures allowing a displacement fluid to be discharged from a distal end of a robotic finger. The discharge may be used to displace a target object, such as an object that is adjacent to another blocking object or the side of a container. After the target object is displaced, the EOAT may be better able to maneuver into a gripping posture and may be able to secure a better grasp on the target object.

63. 发明申请

WO2016122416A1 MOBILE MANIPULATOR AND METHOD OF CONTROLLING THE MOBILE MANIPULATOR FOR TRACKING A SURFACE 审中-公开
标题翻译：移动控制器和控制用于跟踪表面的移动操纵器的方法
公开(公告)号：WO2016122416A1
公开(公告)日：2016-08-04
申请号：PCT/SG2016/050050
申请日：2016-02-01
申请人： AGENCY FOR SCIENCE,TECHNOLOGY AND RESEARCH
发明人： LI, Renjun , TAN, Boon Hwa , HUANG, Zhiyong , YAU, Wei Yun
IPC分类号： B25J9/16 , B25J13/08
CPC分类号： B25J9/1692 , B25J5/007 , B25J9/16 , B25J9/1684 , B25J13/089 , G05B2219/36415 , G05B2219/40298
摘要： There is provided a method of controlling a mobile manipulator for tracking a surface. The mobile manipulator includes a mobile base movable in an axial direction of the mobile manipulator and a manipulator supported on the mobile base having an end effector adjustable in a lateral direction of the mobile manipulator. The method includes detecting the surface from the mobile manipulator, including positions of the surface at points along the surface, determining a reference path for the end effector to track based on an offset from the surface detected, determining a tracking error in the reference path determined, and adjusting a position of the end effector in the lateral direction based on the tracking error to compensate for the tracking error in the reference path determined. There is also provided a corresponding mobile manipulator.
摘要翻译：提供了一种控制用于跟踪表面的移动操纵器的方法。移动操纵器包括可在移动操纵器的轴向方向上移动的移动基座和支撑在移动基座上的操纵器，其具有可在移动操纵器的横向方向上调节的端部执行器。该方法包括从移动操纵器检测表面，包括沿着表面的点处的表面的位置，基于从所检测的表面的偏移确定用于末端执行器跟踪的参考路径，确定所确定的参考路径中的跟踪误差并且基于跟踪误差来调整末端执行器在横向上的位置，以补偿所确定的参考路径中的跟踪误差。还提供了相应的移动机械手。

64. 发明申请

WO2016103303A1 自走式関節ロボット审中-公开
标题翻译：自我推荐的机器人
公开(公告)号：WO2016103303A1
公开(公告)日：2016-06-30
申请号：PCT/JP2014/006494
申请日：2014-12-26
申请人：川崎重工業株式会社
发明人：橋本　康彦 , 稲田　隆浩 , 坂東　賢二 , 田中　良明 , 村上　潤一 , 日比野　聡 , 岩▲崎▼　友希男
IPC分类号： B25J5/00
CPC分类号： G05D1/0234 , B25J5/007 , B25J9/0087 , B25J9/0096 , B25J9/043 , B25J9/044 , B25J13/089 , B25J19/005
摘要：生産工場において作業を行う自走式関節ロボットが、サーボモータによりそれぞれ駆動される、二次元平面内で自走するための少なくとも２つの動作軸を有する自走可能な台車と、台車に支持され、サーボモータにより駆動され且つ関節を構成する少なくとも１つの動作軸を有するロボットアームと、ロボットアームの先端に設けられたエンドエフェクタと、台車内に設けられ、ロボットアームの動作軸と台車の動作軸とが協働することによってロボットアーム又はエンドエフェクタに規定された制御点が目標位置へ到達するように、ロボットアームの動作軸及び台車の動作軸を制御する制御ユニットとを備える。
摘要翻译：这种用于在生产车间中进行操作的自走式铰接式机器人配备有：具有两个或更多个操作轴的自推进推车，用于在二维平面内自推进并由伺服电机驱动; 由推车支撑并具有构成接头并由伺服电机驱动的一个或多个操作轴的机器人手臂; 设置在机器人臂的尖端处的末端执行器; 以及控制单元，其以这样的方式控制机器人手臂操作轴和小车操作轴，使得由于机器人手臂操作轴和手推车操作的协作，由机器人手臂或端部执行器限定的控制点到达目标位置轴。

65. 发明申请

WO2009086495A2 ROBOTIC ARM FOR ACCURATE POSITIONING IN THREE-DIMENSIONAL SPACE, MEASUREMENT OF THREE-DIMENSIONAL COORDINATES, AND REMOTE TOOLING OPERATIONS IN THREE-DIMENSIONAL SPACE 审中-公开
标题翻译：用于三维空间精确定位的机动武器，三维坐标的测量以及三维空间中的远程工具操作
公开(公告)号：WO2009086495A2
公开(公告)日：2009-07-09
申请号：PCT/US2008088394
申请日：2008-12-29
申请人： STATHIS SAM
发明人： STATHIS SAM
IPC分类号： B25J9/02 , B25J13/08
CPC分类号： B25J19/022 , B25J5/005 , B25J5/007 , B25J13/089 , G01S13/881 , G01S17/42
摘要： CMM (coordinate measurement) functions are incorporated into robotic devices used a construction site system. The construction site system is capable of determining the absolute position of any physical point in three- dimensional space upon which the moving robot is to operate, that position is determined globally relative to monuments with known positions. A CMM determines the position of a point in three-dimensional space locally relative to itself. Combining the CMM functions with the global position determination functions improves the accuracy and precision of point location. The device disclosed in the Present Application comprises a motorized robotic arm having a plurality of moveable joints that give the arm the ability to reach out and touch any point in three-dimensional space within its reach. Attached to the robotic arm is a probe with a stylus having a sensor that will measure the coordinates of the point relative to itself. Coordinate information is then transmitted wirelessly to a control station. The device also transmits its absolute position wirelessly to a control station. Several different devices may be attached to the stylus. Coordinate measurement is only one function that can be performed. One device of significance would be an electronic distance measurement unit. This would enable the robot arm to be used either as a laser pointer and a distance measurement unit or as a total station. The arm can also be detected and seen by other robots and monuments on the site, and these other devices transmit the position of the Present Invention to the control station. The device has a locator device (such as a passive corner cube prism or an active wireless beacon) that can be seen by the other devices at the site.
摘要翻译： CMM（坐标测量）功能被并入到使用建筑工地系统的机器人装置中。施工现场系统能够确定移动机器人将要运行的三维空间中的任何物理点的绝对位置，该位置相对于具有已知位置的纪念碑全局地确定。 CMM相对于自身在局部地确定三维空间中的点的位置。将CMM功能与全局位置确定功能相结合，提高了点位置的精度和精度。在本申请中公开的装置包括具有多个可移动接头的电动机器人臂，其使臂能够伸出并触摸其可触及的三维空间内的任何点。连接到机器手臂的探头是带有传感器的触针的探头，该传感器将测量点相对于自身的坐标。然后将坐标信息无线地发送到控制站。该设备还将其绝对位置无线传输到控制站。可以将多个不同的装置附接到触控笔。坐标测量只能执行一个功能。一个显着的装置将是电子距离测量单元。这将使得机器人臂可以用作激光指示器，距离测量单元或全站仪。手臂也可以由现场的其他机器人和纪念碑检测和看到，这些其他设备将本发明的位置传送到控制站。该设备具有可以在现场的其他设备看到的定位器设备（例如被动角立方棱镜或有源无线信标）。

66. 发明申请

WO2008110559A2 A SUPPORT ARRANGEMENT FOR A TREATMENT DEVICE 审中-公开
标题翻译：治疗设备的支持安排
公开(公告)号：WO2008110559A2
公开(公告)日：2008-09-18
申请号：PCT/EP2008052889
申请日：2008-03-11
申请人： AZIMUT BENETTI S P A , RAGGI CLAUDIO
发明人： RAGGI CLAUDIO
IPC分类号： B25J15/00
CPC分类号： B25J5/00 , B25J13/089
摘要： A support system for supporting a treatment device configured to move in a three dimensional space relative an objectis disclosed. A method for treating objects based on a support system is also disclosed. The support system comprises a free-standing base element for supporting an actuator of the treatment device and at least one transfer element for enabling movement of the free-standing base element relative to the object upon activation of a transfer element actuator. Acontrol arrangement is provided for controlling the position of the free-standing base element, the control arrangement comprising at least one positioning tool for providing positioning information. The control arrangement is configured to adapt movements of the treatment device between successive positions of the free-standing base element based on the positioning information such that synchronised treatment of the object is provided.
摘要翻译：一种用于支撑被配置为相对于所公开的对象在三维空间中移动的治疗装置的支撑系统。还公开了一种基于支撑系统处理物体的方法。支撑系统包括用于支撑治疗装置的致动器的独立的基座元件和至少一个传递元件，用于当激活转移元件致动器时能使自由基座元件相对于物体移动。提供控制装置用于控制独立式基座的位置，所述控制装置包括用于提供定位信息的至少一个定位工具。控制装置被配置为基于定位信息来适应处理装置在独立的基本元件的连续位置之间的移动，使得提供对象的同步处理。

67. 发明申请

WO2006072471A2 RADIOBASED LOCATING SYSTEM PROVIDED WITH A SYNTHETIC APERTURE 审中-公开
标题翻译：用合成孔径射电为基础的系统位置
公开(公告)号：WO2006072471A2
公开(公告)日：2006-07-13
申请号：PCT/EP2005054420
申请日：2005-09-07
申请人： SIEMENS AG , GULDEN PETER , MAX STEPHAN , VOSSIEK MARTIN
发明人： GULDEN PETER , MAX STEPHAN , VOSSIEK MARTIN
IPC分类号： G01S5/02
CPC分类号： G01S5/0205 , B25J13/089 , G01S13/876 , G01S13/9017 , G01S2013/466
摘要： The invention relates to a method for increasing the accuracy of measurement of a radiobased locating system consisting of a mobile station and at least one fixed station, wherein the movement of a mobile station from an initial position is detected by means of measuring data of an absolute sensor system and a relative sensor system, a virtual antenna is embodied in the form of synthetic aperture by means of measuring data and the mobile station is focused on the fixed station and/or vice versa by using the synthetic aperture.
摘要翻译：本发明涉及一种方法，用于增加移动和的测定精度的至少一个固定站具有无线电的基于位置的系统的本发明的特征在于， - 一个绝对传感器和重新lativsensorik成功结束的测量数据来检测来自移动站的断开齿轮位置移动的发出， - 由测量数据的成功形成合成孔径的形式产生的vir图阿尔天线的装置，以及 - 使用所述合成孔径聚焦成功连续到从固定站和/或反之亦然的移动台的构成的基础上。

68. 发明公开

EP3386420A1 ROBOT ARM LOCATION 审中-公开
公开(公告)号：EP3386420A1
公开(公告)日：2018-10-17
申请号：EP16815913.5
申请日：2016-12-09
申请人： CMR Surgical Limited
发明人： SCHOLAN, Andrew Murray
IPC分类号： A61B34/30 , A61B34/35 , B25J9/00 , B25J13/08 , A61B90/50
CPC分类号： B25J9/1692 , A61B34/30 , A61B34/35 , A61B90/50 , A61B90/96 , A61B90/98 , A61B2017/00482 , B25J9/0009 , B25J13/089
摘要： A robot arm comprises a mounting portion configured for mounting in a socket. The mounting portion comprises a reader configured for reading location identifiers. A signal output from the reader allows determination of the location of the robot arm. The location identifier may be a barcode or a QR code.

69. 发明公开

EP3369535A1 MIRROR-EXCHANGING DEVICE FOR SEGMENTED MIRROR TELESCOPE AND MIRROR-EXCHANGING METHOD THEREFOR 审中-公开
公开(公告)号：EP3369535A1
公开(公告)日：2018-09-05
申请号：EP16859328.3
申请日：2016-02-15
申请人： Mitsubishi Electric Corporation
发明人： HARUNA, Masaki , FUKUSHIMA, Kazuhiko , KIM, Ieyoung , SOFUKU, Satoru , NAKAOJI, Toshitaka , HORIUCHI, Yasushi , SARUTA, Yusuke , TAKAKI, Junji , KAWAGUCHI, Noboru , EZAKI, Yutaka
IPC分类号： B25J13/08 , G02B7/198 , G02B23/02
CPC分类号： B25J13/085 , B25J5/04 , B25J9/0018 , B25J9/003 , B25J9/04 , B25J13/088 , B25J13/089 , B25J15/0206 , B25J15/0253 , B25J19/02 , B25J19/023 , G02B5/09 , G02B7/183 , G02B7/198 , G02B23/02
摘要： Provided is a mirror replacement device (1) for a segmented mirror telescope, which is capable of positioning a segment mirror (3) with high accuracy. The mirror replacement device includes a gripping mechanism (6) to grip the segment mirror (3), a fine drive mechanism (7) to change a position and a posture of the gripping mechanism (6), a lift mechanism (4) for the segment mirror, a first detector (111, 112) to detect a relative position and a relative posture between a comparison object and a target object, a second detector (110) to detect a bend of the fine drive mechanism, and a mirror replacement controller to replace the segment mirror based on detection signals output from the above-mentioned detectors. The mirror replacement controller includes a determiner to determine whether or not the first detector (111, 112) can successfully perform a measurement. When it is determined that the measurement can be successfully performed, the control is performed based on the detection signal output from the first detector. When it is determined that the measurement cannot be successfully performed, the control is performed based on the detection signal output from the second detector.

70. 发明公开

EP3187312A2 SELF-LOCATING ROBOTS 审中-公开
标题翻译：自定位机器人
公开(公告)号：EP3187312A2
公开(公告)日：2017-07-05
申请号：EP16195799.8
申请日：2016-10-26
申请人： The Boeing Company
发明人： Szarski, Martin Alexander , BAIN, David Michael , CROTHERS, Phillip John
IPC分类号： B25J9/16 , B25J19/02
CPC分类号： B25J13/089 , B25J5/007 , B25J9/009 , B25J9/046 , B25J9/1664 , B25J9/1697 , B25J19/021 , B25J19/023 , G05B2219/37208 , G05B2219/37558 , G05B2219/40424
摘要： A method and apparatus for a robot self-locating on a movement surface. The method may comprise moving a first robot across the movement surface and relative to a workpiece, in which the movement surface faces the workpiece. The method may also form sensor data using a first number of sensors on the first robot as the first robot moves across the movement surface, in which the sensor data represents identifying characteristics of a portion of the movement surface. The method may also determine a location of the first robot on the movement surface using the sensor data. The method may further determine a location of a functional component of the first robot relative to the workpiece using the location of the first robot on the movement surface.
摘要翻译：一种机器人自动定位在运动表面上的方法和设备。该方法可以包括使第一机器人横跨运动表面并相对于工件运动，其中运动表面面向工件。当第一机器人在移动表面上移动时，该方法还可以使用第一机器人上的第一数量的传感器形成传感器数据，其中传感器数据表示移动表面的一部分的识别特征。该方法还可以使用传感器数据确定第一机器人在运动表面上的位置。该方法可以进一步使用第一机器人在运动表面上的位置来确定第一机器人的功能部件相对于工件的位置。

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