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1. 发明授权

US12073150B2 Dynamic path for end effector control 有权
公开(公告)号：US12073150B2
公开(公告)日：2024-08-27
申请号：US16631404
申请日：2018-07-16
申请人： FASTBRICK IP PTY LTD
发明人： Mark Joseph Pivac , James Gary Robertson
IPC分类号： B25J9/00 , B25J5/00 , B25J9/02 , B25J9/16 , B25J13/08 , B25J19/02 , B28D1/00 , B28D1/10 , B28D1/18 , B28D7/00 , B28D7/04 , B60P1/48 , E04B1/02 , E04G21/22 , G05B19/4097 , G05B19/416 , G06F16/00 , G06F16/17 , G06F30/13 , B60P3/28 , B66C13/22 , E04B2/04 , E04F21/02 , G01C15/00 , G01S17/66 , G06F111/20
CPC分类号： G06F30/13 , B25J5/00 , B25J9/023 , B25J9/161 , B25J9/1612 , B25J9/162 , B25J9/1633 , B25J9/1635 , B25J9/1638 , B25J9/1651 , B25J9/1664 , B25J9/1674 , B25J9/1679 , B25J9/1684 , B25J9/1694 , B25J13/089 , B25J19/021 , B25J19/022 , B28D1/003 , B28D1/10 , B28D1/186 , B28D7/005 , B28D7/04 , B60P1/48 , E04B1/02 , E04G21/22 , G05B19/4097 , G05B19/416 , G06F16/00 , G06F16/1734 , B25J9/1697 , B60P3/28 , B66C13/22 , E04B2/04 , E04F21/023 , G01C15/002 , G01S17/66 , G05B2219/35207 , G05B2219/39001 , G05B2219/40257 , G05B2219/45086 , G06F2111/20
摘要： A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, and repeatedly determines a robot base position using signals from the tracking system, calculates an end effector path extending to the end effector destination at least in part using the robot base position, generates robot control signals based on the end effector path and applies the robot control signals to the robot arm to cause the end effector to be moved along the end effector path towards the destination.

2. 发明授权

US11687686B2 Brick/block laying machine incorporated in a vehicle 有权
公开(公告)号：US11687686B2
公开(公告)日：2023-06-27
申请号：US17382136
申请日：2021-07-21
申请人： FASTBRICK IP PTY LTD
发明人： Mark Pivac
IPC分类号： E04G21/22 , G06F30/13 , B25J9/16 , G05B19/4097 , G06F16/00 , B28D1/00 , B28D1/10 , B28D1/18 , B28D7/00 , B28D7/04 , B25J5/00 , B25J19/02 , B60P1/48 , B25J13/08 , B25J9/02 , E04B1/02 , G06F16/17 , G05B19/416 , G01S17/66 , B60P3/28 , G01C15/00 , G06F111/20 , E04F21/02 , B66C13/22 , E04B2/04
CPC分类号： G06F30/13 , B25J5/00 , B25J9/023 , B25J9/161 , B25J9/162 , B25J9/1612 , B25J9/1633 , B25J9/1635 , B25J9/1638 , B25J9/1651 , B25J9/1664 , B25J9/1674 , B25J9/1679 , B25J9/1684 , B25J9/1694 , B25J13/089 , B25J19/021 , B25J19/022 , B28D1/003 , B28D1/10 , B28D1/186 , B28D7/005 , B28D7/04 , B60P1/48 , E04B1/02 , E04G21/22 , G05B19/4097 , G05B19/416 , G06F16/00 , G06F16/1734 , B25J9/1697 , B60P3/28 , B66C13/22 , E04B2/04 , E04F21/023 , G01C15/002 , G01S17/66 , G05B2219/35207 , G05B2219/39001 , G05B2219/40257 , G05B2219/45086 , G06F2111/20
摘要： A self-contained truck-mounted brick laying machine can include a frame that can support packs or pallets of bricks placed on a platform. A transfer robot can pick up and move the brick(s). A carousel can be coaxial with a tower. The carousel can transfer the brick(s) via the tower to an articulated and/or telescoping boom. The bricks can be moved along the boom by, e.g., linearly moving shuttles, to reach a brick laying and adhesive applying head. The brick laying and adhesive applying head can mount to an element of the stick, about an axis which is disposed horizontally. The poise of the brick laying and adhesive applying head about the axis can be adjusted and can be set in use so that the base of a clevis of the robotic arm mounts about a horizontal axis, and the tracker component is disposed uppermost on the brick laying and adhesive applying head. The brick laying and adhesive applying head can apply adhesive to the brick and can have a robot that lays the brick. Vision and laser scanning and tracking systems can be provided to allow the measurement of as-built slabs, bricks, the monitoring and adjustment of the process and the monitoring of safety zones. The first, or any course of bricks can have the bricks pre machined by the router module so that the top of the course is level once laid.

3. 发明公开

US20230167650A1 BLOCK TRANSFER APPARATUS AND IMPROVED CLAMPING ASSEMBLY FOR USE THEREWITH 审中-公开
公开(公告)号：US20230167650A1
公开(公告)日：2023-06-01
申请号：US17920335
申请日：2021-04-22
申请人： FASTBRICK IP PTY LTD
发明人： Samuel Thomas Pickering , David James Newcombe , Rudolf Hans Hauri
IPC分类号： E04G21/22 , B25J15/02 , B25J15/00 , B25J9/16 , B25J11/00 , B25J13/08
CPC分类号： E04G21/22 , B25J15/0253 , B25J15/0033 , B25J9/1694 , B25J11/00 , B25J13/089
摘要： A block transfer apparatus for transferring a block between an upstream and downstream clamps of a block delivery system. The apparatus includes: a frame pivotally mounted to a support; a clamping assembly mounted to the frame and linearly extendable relative thereto, and including a pair of gripper jaws for clamping opposing sides of the block. The apparatus receives a block in the gripper jaws in an approximate position; rotates to a drop position and releases the block allowing it to self-datum onto first and second orthogonal datum surfaces. The apparatus re-clamps the block after the drop by applying a clamping force to opposing sides of the block to register the block against a third datum surface to thereby datum the position of the block with respect to the clamping assembly; and presents the block clamped in the datumed position for transfer to the downstream clamp.

4. 发明申请

US20220058300A1 BRICK/BLOCK LAYING MACHINE INCORPORATED IN A VEHICLE 有权
公开(公告)号：US20220058300A1
公开(公告)日：2022-02-24
申请号：US17382136
申请日：2021-07-21
申请人： FASTBRICK IP PTY LTD
发明人： Mark Pivac
IPC分类号： G06F30/13 , B25J9/16 , G05B19/4097 , E04G21/22 , G06F16/00 , B28D1/00 , B28D1/10 , B28D1/18 , B28D7/00 , B28D7/04 , B25J5/00 , B25J19/02 , B60P1/48 , B25J13/08 , B25J9/02 , G06F16/17 , G05B19/416
摘要： A self-contained truck-mounted brick laying machine can include a frame that can support packs or pallets of bricks placed on a platform. A transfer robot can pick up and move the brick(s). A carousel can be coaxial with a tower. The carousel can transfer the brick(s) via the tower to an articulated and/or telescoping boom. The bricks can be moved along the boom by, e.g., linearly moving shuttles, to reach a brick laying and adhesive applying head. The brick laying and adhesive applying head can mount to an element of the stick, about an axis which is disposed horizontally. The poise of the brick laying and adhesive applying head about the axis can be adjusted and can be set in use so that the base of a clevis of the robotic arm mounts about a horizontal axis, and the tracker component is disposed uppermost on the brick laying and adhesive applying head. The brick laying and adhesive applying head can apply adhesive to the brick and can have a robot that lays the brick. Vision and laser scanning and tracking systems can be provided to allow the measurement of as-built slabs, bricks, the monitoring and adjustment of the process and the monitoring of safety zones. The first, or any course of bricks can have the bricks pre machined by the router module so that the top of the course is level once laid.

5. 发明申请

US20210348402A1 BOOM FOR MATERIAL TRANSPORT 有权
公开(公告)号：US20210348402A1
公开(公告)日：2021-11-11
申请号：US17073760
申请日：2020-10-19
申请人： FASTBRICK IP PTY LTD
发明人： Mark Pivac
IPC分类号： E04G21/16 , B66C23/42 , B66C23/68 , B66C23/70 , E04G21/22 , E04G21/12
摘要： A foldable boom for conveying an item, said foldable boom being foldable about at least one folding axis, said foldable boom being locatable in a folded stowed position, and moveable to unfolded extended positions; said foldable boom having a near end arranged for pivotal movement about a first horizontal axis located on a turret, said turret being rotatable about a vertical axis; said foldable boom having first conveying apparatus to convey an item therealong, internally within said foldable boom, to a remote end of the foldable boom; wherein said foldable boom is foldable about a folding axis, and a pivoting shuttle equipped with a clamp to releasably hold an item is provided at said folding axis to transfer said item between said first conveying apparatus in boom elements connected about said folding axis.

6. 发明授权

US10987812B1 Error accrual and mitigation during robotic process 有权
公开(公告)号：US10987812B1
公开(公告)日：2021-04-27
申请号：US16154923
申请日：2018-10-09
申请人： X Development LLC
发明人： Jeff Linnell , Anthony Jules , Marek Michalowski , Kendra Byrne , Jonathan Proto , Brandon Kruysman , Eli Reekmans , Matthew Bitterman , Michael Beardsworth
IPC分类号： B25J9/16 , E04G21/22 , G05B19/4063 , G05B17/02
摘要： A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).

7. 发明授权

US10676926B2 Device and method for adhering brick slips to a panel 有权
公开(公告)号：US10676926B2
公开(公告)日：2020-06-09
申请号：US16302281
申请日：2017-05-17
申请人： ACQUIES HOLDING BV
发明人： Murk Anne Kooistra
IPC分类号： E04C2/04 , E04G21/22
摘要： The invention relates to a device for adhering brick slips to a panel, which device comprises: —a horizontal transport surface with an infeed side and an outfeed side for transporting the panel from the infeed side, over the transport surface and to the outfeed side; —a buffer arranged adjacently of the transport surface for buffering at least one row of brick slips; —dispensing means for dispensing a layer of adhesive onto the panel; and —engaging means displaceable between a position above the buffer and a position above the transport surface for picking up from the buffer the at least one row of brick slips and placing the row of brick slips on the panel.

8. 发明申请

US20190184555A1 Customized Robotic Installation Based on Measurements Collected on Site 审中-公开
公开(公告)号：US20190184555A1
公开(公告)日：2019-06-20
申请号：US16251175
申请日：2019-01-18
申请人： X Development LLC
发明人： Jeff Linnell , Anthony Jules , Marek Michalowski , Kendra Byrne , Jonathan Proto , Brandon Kruysman , Eli Reekmans
IPC分类号： B25J9/16 , G05B17/02 , E04G21/22 , B25J13/08
CPC分类号： B25J9/163 , B25J9/1669 , B25J9/1671 , B25J9/1674 , B25J13/089 , E04G21/22 , G05B17/02 , G05B2219/45086
摘要： A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

9. 发明授权

US09476708B2 Accelerometer based attitude determination 有权
标题翻译：基于加速度计的姿态测定
公开(公告)号：US09476708B2
公开(公告)日：2016-10-25
申请号：US14108930
申请日：2013-12-17
申请人： COMMISSARIAT A L/ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
发明人： Mikael Carmona , Laurent Jouanet , Nathalie Sprynski
IPC分类号： G01C9/00 , G01C9/02 , E04G21/22 , G01C9/06 , G01C21/10 , G06F3/046 , G06F3/0346
CPC分类号： G01C9/02 , E04G21/22 , G01C9/06 , G01C21/10 , G06F3/0346 , G06F3/046
摘要： Determining an object's inclination fixed reference frame relative to a gravity field includes supplying circularly disposed accelerometers rigidly linked by the object and measuring in non-collinear directions. A radius linking it to the circle's center defines an accelerometer's measurement direction. The accelerometers measure components of the field along the measurement directions to provide measurement values. Then, a matrix equation is solved to obtain the object's inclination relative to the reference frame.
摘要翻译：确定物体的倾斜固定参考系相对于重力场包括提供由物体刚性地连接并且以非共线方向测量的循环布置的加速度计。将其连接到圆的中心的半径定义加速度计的测量方向。加速度计沿测量方向测量场的分量，以提供测量值。然后，求解矩阵方程以获得对象相对于参考系的倾斜度。

10. 发明授权

US09157247B2 Mason's speed square 有权
标题翻译：梅森的速度广场
公开(公告)号：US09157247B2
公开(公告)日：2015-10-13
申请号：US13776202
申请日：2013-02-25
申请人： Peter Korevaar
发明人： Peter Korevaar
IPC分类号： E04G21/22 , E04G21/16 , B25H7/02 , B43L7/027
CPC分类号： E04G21/22 , B25H7/02 , B43L7/027 , E04G21/16
摘要： An apparatus for use with a masonry block. The apparatus includes a body part that is at least substantially planar, has a perimeter, has a front surface and an opposed rear surface. The apparatus also includes a ¼ block stop part extending from the front surface and a ½ block stop part extending from the rear surface, the body part being dimensioned and the stop parts being positioned and dimensioned such that, when the body part is operatively positioned in a first configuration with the ¼ block stop part abutting the block, the perimeter of the body part can be used to mark the block for a ¼ block cut and when the body part is operatively positioned in a second configuration with the ½ block stop part abutting the block, the perimeter of the body part can be used to mark the block for a ½ block cut.
摘要翻译：用于砖石块的装置。该装置包括至少基本上平面的主体部分，具有周边，具有前表面和相对的后表面。该装置还包括从前表面延伸的¼块止动部分和从后表面延伸的½块止动部分，主体部分的尺寸确定并且止动部件的定位和尺寸使得当主体部分可操作地定位在具有¼块止动部分邻接块的第一构造，主体部分的周边可用于标记块，用于1/4块切割，并且当主体部分可操作地定位在第二构造中时，½块止动部分邻接该块，身体部位的周长可用于标记块的1/2块切割。

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