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81. 发明申请

WO2010030055A1 MOBILE ROBOT WITH JUMP FUNCTION 审中-公开
标题翻译：具有跳跃功能的移动机器人
公开(公告)号：WO2010030055A1
公开(公告)日：2010-03-18
申请号：PCT/KR2008/006247
申请日：2008-10-22
申请人： CONVEX CO., LTD. , YIM, Choong-hyuk , KIM, Dong-hwan , KIM, Dong-su , LEE, Byung-ho , YOON, Doo-ho , CHOI, Dae-sun
发明人： YIM, Choong-hyuk , KIM, Dong-hwan , KIM, Dong-su , LEE, Byung-ho , YOON, Doo-ho , CHOI, Dae-sun
IPC分类号： B25J5/00
CPC分类号： B25J5/007 , B25J9/0003 , B25J13/089 , B25J19/021 , B25J19/026
摘要： The present invention relates to a mobile robot having jump function. An exemplary mobile robot according to an embodiment of the present invention includes a robot body; a pair of wheels rotatably connected to the robot body; a driving motor driving the pair of wheels so as to move the robot body; a link mechanism connected to the robot body so as to be elongated to the rear of the robot body and pivotally connected to the robot body so as to pivotally rotate toward the robot body; a spring elastically connecting the robot body and the link mechanism; and a link mechanism regulating unit applying power enabling the link mechanism to overcome elastic power of the spring to move toward the robot body to the link mechanism and subsequently removing the power applied to the link mechanism such that the link mechanism returns to its original state by elastic force of the spring, thereby generating power for jump.
摘要翻译：本发明涉及具有跳跃功能的移动机器人。根据本发明的实施例的示例性移动机器人包括机器人主体; 可旋转地连接到机器人主体的一对轮; 驱动所述一对车轮的驱动马达以使所述机器人主体移动; 连接机构，其连接到机器人主体，以便延伸到机器人主体的后部并且可枢转地连接到机器人主体以朝向机器人主体枢转地旋转; 弹性地连接机器人主体和连杆机构的弹簧; 以及连杆机构调节单元，其施加能量使得所述连杆机构能够克服所述弹簧的弹性功率以朝向所述机器人主体移动到所述连杆机构的功率，并且随后去除施加到所述连杆机构的功率，使得所述连杆机构返回到其原始状态弹簧的弹力，从而产生跳力。

82. 发明申请

WO2010025714A2 VERFAHREN UND ANORDNUNG ZUR STEUERUNG EINES ROBOTERS ANHAND EINES OBJEKTES 审中-公开
标题翻译：方法和系统控制机器人基于对象
公开(公告)号：WO2010025714A2
公开(公告)日：2010-03-11
申请号：PCT/DE2009/001248
申请日：2009-09-03
申请人： TRIPLE SENSOR TECHNOLOGIES GMBH , BRAND, Michael , LAUSCH, Holger , WERNER, Christoph
发明人： BRAND, Michael , LAUSCH, Holger , WERNER, Christoph
CPC分类号： B25J13/089 , E04H4/1654
摘要： Die Erfindung beinhaltet ein Verfahren und eine Anordnung zur Steuerung eines Roboters anhand eines Objektes, in dem sich nicht sichtbare magnetische Teile in unveränderlicher Lage befinden. Hierzu wird zunächst ein zyklisch veränderliches Primärmagnetfeld erzeugt, das zu Messungszwecken innerhalb eines Messungszyklus mindestens zwei entgegengesetzte Feldrichtungen aufweist und das zusammen mit einem magnetischen Hintergrundfeld auf die magnetischen Teile einwirkt und in diesen magnetische Streufelder erzeugt, die sich zu einem Gesamtstreufeld überlagern. Danach wird dieses Gesamtstreufeld vom Hintergrundfeld durch Differenzbildung separiert und ausgewertet. Hierauf werden die magnetischen Teile detektiert und hinsichtlich ihrer Anzahl, Form, Größe, Lage und Orientierung vermessen. Schließlich werden die so gewonnenen Messwerte analysiert, die Steuerdaten für den Roboter ermittelt und dem Roboter mitgeteilt.
摘要翻译：本发明包括一种方法和用于控制的对象，其中隐形磁性部件都处于稳定的位置的基础上，机器人的结构。为此目的，一个循环变化的主磁场产生最初具有与测量周期内的测量目的的至少两个相反的场的方向和其与背景磁场的磁性部件共同作用并在这些杂散磁场，其被叠加以形成总杂散场生成。此后，这个整体杂散场分离并通过减法背景场进行评价。此后，检测到磁性部分，并在其数量，形状，大小，位置和方向来衡量。最后，将如此获得的测量值进行分析，以确定用于机器人装置的控制数据，并传送给机器人。

83. 发明申请

WO2008068478A2 ROBOTIC ARMS 审中-公开
标题翻译：机动车
公开(公告)号：WO2008068478A2
公开(公告)日：2008-06-12
申请号：PCT/GB2007/004645
申请日：2007-12-05
申请人： OLIVER CRISPIN ROBOTICS LIMITED , BUCKINGHAM, Robert, Oliver , GRAHAM, Andrew, Crispin
发明人： BUCKINGHAM, Robert, Oliver , GRAHAM, Andrew, Crispin
IPC分类号： B25J1/02 , A61B1/005
CPC分类号： B25J18/06 , A61B1/0053 , A61B1/0055 , A61B1/24 , A61B1/313 , A61B5/01 , A61B5/036 , B25J13/089
摘要： A robotic arm of the "tip following" type, which can advance into an environment is covered is covered by a sensorised skin. The arm can thus detect a parameter of the environment, and the shape can be adjusted accordingly.
摘要翻译：可以进入环境的“尖端跟随”类型的机器人手臂被传感的皮肤覆盖。因此，臂能够检测环境的参数，并且可以相应地调整形状。

84. 发明公开

EP3482885A1 GRIPPING METHOD, GRIPPING SYSTEM, AND PROGRAM 审中-公开
公开(公告)号：EP3482885A1
公开(公告)日：2019-05-15
申请号：EP18194893.6
申请日：2018-09-17
申请人： OMRON CORPORATION
发明人： NISHINA, Yuki , KONISHI, Yoshinori
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J9/1669 , B25J9/1697 , B25J13/089 , G05B2219/39543 , G05B2219/40053 , G06K9/00201 , G06K9/3241
摘要： Provided is a gripping method by which an object can be gripped even if there is an area for which no three-dimensional measurement information can be obtained. The gripping method relates to a gripping method for gripping an object W using a multi-fingered hand H provided with a plurality of fingers. A three-dimensional measurement sensor 16 is used to measure an area that contains the object W to obtain three-dimensional information. If the area includes an area for which no three-dimensional information can be obtained, the area is separated and is interpolated using the range information indicating the closer one of distances obtained at two positions on an axis extending along a direction in which the fingers are opened and closed, the two positions being adjacent to the unmeasured area with the unmeasured area interposed therebetween. Then, the distance between the fingers for gripping the object W is decided, and the multi-fingered hand is controlled based on the distance.

85. 发明授权

EP2101961B1 ROBOTIC ARM WITH SENSOR FOR AN ENVIRONEMENTAL PARAMETER 有权
公开(公告)号：EP2101961B1
公开(公告)日：2018-10-17
申请号：EP07858771.4
申请日：2007-12-05
申请人： Oliver Crispin Robotics Limited
发明人： BUCKINGHAM, Robert Oliver , GRAHAM, Andrew Crispin
IPC分类号： B25J13/08 , B25J18/06 , A61B1/313 , A61B5/01 , A61B5/03 , A61B1/005 , A61B1/24
CPC分类号： B25J18/06 , A61B1/0053 , A61B1/0055 , A61B1/24 , A61B1/313 , A61B5/01 , A61B5/036 , B25J13/089
摘要： A robotic arm of the "top following" type, which can advance into an environment is covered is covered by a sensorised skin. The arm can thus detect a parameter of the environment, and the shape can be adjusted accordingly.

86. 发明公开

EP3187312A3 SELF-LOCATING ROBOTS 审中-公开
公开(公告)号：EP3187312A3
公开(公告)日：2017-08-02
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.

87. 发明公开

EP2878921A3 Mapping a second coordinate system to a first coordinate system 审中-公开
标题翻译：在第一坐标系的坐标的第二系统的图示
公开(公告)号：EP2878921A3
公开(公告)日：2015-10-28
申请号：EP14192760.8
申请日：2014-11-12
申请人： The Boeing Company
发明人： Dorsey-Palmateer, John Willard , Kennedy, Michael Richard
IPC分类号： G01B21/04
CPC分类号： B25J11/007 , B21J15/142 , B21J15/28 , B25J13/089 , B64F5/10 , G01B11/002 , G01B21/042 , G01S7/4808 , G01S17/06 , G01S17/66 , G05B2219/45088 , Y10S901/01
摘要： A system for use in mapping a second coordinate system to a first coordinate system is provided including a first elongated object proximate a first surface on a first side of a structure and a second elongated object proximate a second surface on a second side of the structure, the second surface and the second side opposite the structure relative to the first surface and the first side, the first object aligned with the second object at a first point on the first surface. The system also includes a first plurality of corner cubes affixed to the first object at first known distances from each other and from the first point, wherein the first object abuts the first surface at the first point. The system also includes a second plurality of corner cubes affixed to the second object at second known distances from each other and from the first point, wherein the second object abuts second surface at second point opposite first point.

88. 发明授权

EP1834191B1 FUNKBASIERTES ORTUNGSSYSTEM MIT SYNTHETISCHER APERTUR 有权
标题翻译：用合成孔径射电为基础的系统位置
公开(公告)号：EP1834191B1
公开(公告)日：2011-07-27
申请号：EP05787290.5
申请日：2005-09-07
申请人： Symeo GmbH
发明人： GULDEN, Peter , MAX, Stephan , VOSSIEK, Martin
IPC分类号： G01S13/87
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.

89. 发明公开

EP1465012A3 Supporting structure for use in a lithographic apparatus 审中-公开
标题翻译：在Verwending光刻设备的支撑结构
公开(公告)号：EP1465012A3
公开(公告)日：2004-12-22
申请号：EP04076024.1
申请日：2004-03-30
申请人： ASML Netherlands B.V.
发明人： Tinnemans, Patricius Aloysius Jacobus , Buis, Edwin Johan , Donders, Sjoerd Nicolaas Lambertus , Van Elp, Jan , Hoogkamp, Jan Frederik , Van Meer, Aschwin Lodewijk Hendricus Johannes , Smulders, Patrick Johannes Cornelus Hendrik , Spanjers, Franciscus Andreas Cornelis Johannes , Vermeulen, Johannes Petrus Martinus Bernardus , Visser, Raimond , Tegenbosch, Henricus Gerardus , Van den Berg, Johannes Charles Adrianus , Van de Sande, Henricus Johannes Adrianus , Vervoort, Thijs
IPC分类号： G03F7/20
CPC分类号： G03F7/70741 , B25J13/089 , G03F7/7075 , G03F7/70925 , H01L21/6833 , H02N13/00
摘要： The present invention relates to a lithographic projection apparatus with a supporting structure to support and move an object, like a substrate (W). The supporting structure may be a robot (8). The robot (8) has a robot arm (10) with a support frame (18) for supporting, e.g. the substrate (W). The support frame (18) has one or more clamps (20, 22, 24) for holding the object (W) during movement. The robot arm comprises one or more compliant parts (14; 26; 28). The clamp may be a Johnson-Raybeck effect type clamp with an oxidized upper surface. For better de-clamping, a RF AC decaying de-clamping voltage may be provided to the clamp. The apparatus may be cleaned with one single substrate only.

90. 发明公开

EP1465012A2 Supporting structure for use in a lithographic apparatus 审中-公开
标题翻译： Tragstruktur zur Verwending in einem lithographischenGerät
公开(公告)号：EP1465012A2
公开(公告)日：2004-10-06
申请号：EP04076024.1
申请日：2004-03-30
申请人： ASML Netherlands B.V.
发明人： Tinnemans, Patricius Aloysius Jacobus , Buis, Edwin Johan , Donders, Sjoerd Nicolaas Lambertus , Van Elp, Jan , Hoogkamp, Jan Frederik , Van Meer, Aschwin Lodewijk Hendricus Johannes , Smulders, Patrick Johannes Cornelus Hendrik , Spanjers, Franciscus Andreas Cornelis Johannes , Vermeulen, Johannes Petrus Martinus Bernardus , Visser, Raimond , Tegenbosch, Henricus Gerardus , Van den Berg, Johannes Charles Adrianus , Van de Sande, Henricus Johannes Adrianus , Vervoort, Thijs
IPC分类号： G03F7/20
CPC分类号： G03F7/70741 , B25J13/089 , G03F7/7075 , G03F7/70925 , H01L21/6833 , H02N13/00
摘要： The present invention relates to a lithographic projection apparatus with a supporting structure to support and move an object, like a substrate (W). The supporting structure may be a robot (8). The robot (8) has a robot arm (10) with a support frame (18) for supporting, e.g. the substrate (W). The support frame (18) has one or more clamps (20, 22, 24) for holding the object (W) during movement. The robot arm comprises one or more compliant parts (14; 26; 28). The clamp may be a Johnson-Raybeck effect type clamp with an oxidized upper surface. For better de-clamping, a RF AC decaying de-clamping voltage may be provided to the clamp. The apparatus may be cleaned with one single substrate only.
摘要翻译：本发明涉及一种具有用于支撑和移动物体（如衬底）的支撑结构的光刻投影设备。支撑结构可以是机器人（8）。机器人（8）具有机器人臂（10），其具有支撑框架（18）基板（W）。支撑框架（18）具有用于在运动期间保持物体（W）的一个或多个夹具（20,22,24）。机器人手臂包括一个或多个柔顺部件（14; 26; 28）。夹具可以是具有氧化的上表面的Johnson-Raybeck效应型夹具。为了更好地去夹紧，可以向夹具提供RF AC衰减的去夹紧电压。该装置可以仅用一个单一的衬底清洁。

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