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公开(公告)号：US20150224650A1
公开(公告)日：2015-08-13
申请号：US14178902
申请日：2014-02-12
发明人： Yi Xu , Lynn Ann DeRose , Weston Blaine Griffin , Ying Mao , Xianqiao Tong , Balajee Kannan
CPC分类号： B25J15/0608 , B25J9/1692 , B25J9/1697 , G05B2219/36371 , G05B2219/39393 , G05B2219/39567 , G05B2219/40053 , G05B2219/40564 , Y10S901/02 , Y10S901/40 , Y10S901/47 , Y10S902/02
摘要： Embodiments of the disclosure comprise a vision-based robotic manipulation system that identifies, singulates, and removes an individual surgical instrument from a cluttered environment. A computer-vision algorithm incorporated with the system is robust against optical challenges such as changing light conditions, specularities, and inter-reflections among various surgical instruments. The system estimates 2D pose (as opposed to a more challenging 3D pose) using a camera with normal room lighting to identify each object, including its specified data matrix barcode; and incorporates the use of a robotic arm with a compliant electromagnetic gripper to handle objects having large shape variance. The system can then relocate the objects as desired. The robot manipulator is utilized in hospital and research settings, manufacturing, and sterile environments.
摘要翻译： 本公开的实施例包括基于视觉的机器人操纵系统，其从杂乱的环境识别，单独和移除单个外科器械。 与系统结合的计算机视觉算法对于诸如改变各种手术器械中的光条件，镜面反射和相互反射之类的光学挑战是鲁棒的。 该系统使用具有正常房间照明的相机来估计2D姿态（与更具挑战性的3D姿势相反）来识别每个对象，包括其指定的数据矩阵条形码; 并且结合使用具有柔性电磁夹具的机器臂来处理具有大形状差异的物体。 然后，系统可以根据需要重新定位对象。 机器人操纵器用于医院和研究设施，制造和无菌环境。
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公开(公告)号：US20170252929A1
公开(公告)日：2017-09-07
申请号：US15432096
申请日：2017-02-14
申请人： FANUC CORPORATION
发明人： Tetsuo FUKADA
CPC分类号： B25J15/0608 , B25J9/1612 , G05B2219/39567 , G05B2219/40053 , Y10S901/40
摘要： A bulk workpiece picking system is configured by including: a robot which is provided with an electromagnetic hand capable of magnetically attracting a metal workpiece; a determination section which determines whether or not the workpiece is magnetically attracted by the electromagnetic hand; and a magnetic force control section which controls the magnetic force of the electromagnetic hand, the magnetic force control section being configured such that: before it is determined by the determination section that the magnetic attraction is performed; the magnetic force control section sets a magnitude of the magnetic force of the electromagnetic hand so that the electromagnetic hand can suspend one workpiece and cannot suspend two workpieces; and then, after it is determined by the determination section that the magnetic attraction is performed, the magnetic force control section increases the magnetic force of the electromagnetic hand.
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公开(公告)号：US09132553B2
公开(公告)日：2015-09-15
申请号：US13644307
申请日：2012-10-04
发明人： Yuya Yasuda , Kazuhiko Fukushima
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/39508 , G05B2219/39567 , G05B2219/40053 , G05B2219/40613 , G05B2219/45063 , Y02P80/40
摘要： A robot system includes a container, a disposed-state detector, and a robot arm. The container is configured to accommodate a plurality of to-be-held objects and includes a reticulated portion. The disposed-state detector is configured to detect disposed states of the plurality of respective to-be-held objects disposed in the container. The robot arm includes a holder configured to hold a to-be-held object among the plurality of to-be-held objects based on the disposed states of the plurality of respective to-be-held objects detected by the disposed-state detector.
摘要翻译： 机器人系统包括容器，布置状态检测器和机器人手臂。 该容器构造成容纳多个被保持物体，并且包括网状部分。 配置状态检测器被配置为检测设置在容器中的多个相应待保持物体的布置状态。 机器人手臂包括保持器，其被构造成基于由配置状态检测器检测到的多个相应待保持物体的布置状态，在多个待保持物体之间保持被保持物体。
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公开(公告)号：US11684232B2
公开(公告)日：2023-06-27
申请号：US17144069
申请日：2021-01-07
CPC分类号： A47L15/0076 , A47L15/13 , A47L15/14 , A47L15/37 , A47L15/4295 , B25J9/1679 , B25J11/0085 , A47L2401/04 , G05B2219/2613 , G05B2219/39567
摘要： A system and method for cleaning a reusable dish, comprising: picking a dirty dish from a load module disposed to contain at least one dirty dish with a robotic arm, wherein said dirty dish is stained with material that needs to be removed prior to reuse; transporting said dirty dish from said load module to a wash module with said robotic arm; cleaning said dirty dish in said wash module having the means to transform said dirty dish into a clean dish, wherein said clean dish does not exhibit any material that needs to be removed prior to reuse; transporting said clean dish from said wash module to a store module with said robotic arm; and dropping off said clean dish in said store module, wherein said store module is disposed to contain at least one clean dish, whereby each dirty dish is cleaned thoroughly and efficiently with individual attention in real time.
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公开(公告)号：US20130140403A1
公开(公告)日：2013-06-06
申请号：US13706956
申请日：2012-12-06
IPC分类号： B64G1/64
CPC分类号： B64G1/646 , B64G1/002 , B64G1/222 , B64G1/242 , G05B2219/39567 , G05B2219/45085
摘要： A method for delivering a payload to a space facility is provided. The method includes detecting the relative position and velocity of a launch vehicle stage, the launch vehicle stage including the payload and one or more thrusters. The method also includes providing guidance information to the launch vehicle stage. The launch vehicle stage does not include a relative navigation system. In response to receiving the guidance information, the method further includes activating one or more thrusters corresponding to the guidance information, and guiding a capture head of a boom into capture proximity to the payload. One end of the boom is coupled to the space facility and the other end of the boom is coupled to the capture head. The method also includes capturing the payload, removing any residual relative velocity of the payload relative to the space facility, and moving the captured payload to the space facility.
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6.发明授权Tactile feedback apparatus using electromagnetic attraction for remote control robot 失效触觉反馈装置使用电磁吸引遥控机器人
公开(公告)号：US6163739A
公开(公告)日：2000-12-19
申请号：US72515
申请日：1998-05-04
申请人： Jong Oh Park , In Suk Ahn , Jung Hoon Lee
发明人： Jong Oh Park , In Suk Ahn , Jung Hoon Lee
CPC分类号： B25J13/084 , G05B2219/39567
摘要： A tactile feedback apparatus using an electromagnetic attraction for a remote control robot employs tactile data obtained during operation between a gripper attached to a robot arm of an externally controlled robot and the gripper's target so as to be transferred to an operator stationed in a central control room, thereby enabling the robot system to effectively carry out sophisticated tasks. The tactile feedback apparatus enables a successive tactile control by use of an electromagnetic attraction, and an array type fabrication, and by optimizing a production design to broaden a tactile feedback area, there may be provided a small tactile feedback device for representing a relatively improved tactility per unit, and further by aligning the tactile feedback devices in a 5.times.5 array mode on a skin of 15.times.15 mm.sup.2, there is obtained a contact location thereof.
摘要翻译： 使用遥控机器人的电磁吸引力的触觉反馈装置利用在外部控制的机器人的机器人手臂的夹持器与夹持器的目标之间的操作期间获得的触觉数据，并将其传送到驻在中央控制室的操作者 从而使机器人系统能够有效地执行复杂的任务。 触觉反馈装置能够通过使用电磁吸引力和阵列式制造进行连续的触觉控制，并且通过优化生产设计以拓宽触觉反馈区域，可以提供用于表示相对改善的触觉的小的触觉反馈装置 并且进一步通过在15×15mm2的皮肤上以5×5阵列模式对准触觉反馈装置，获得其接触位置。
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公开(公告)号：US20160199959A1
公开(公告)日：2016-07-14
申请号：US14947732
申请日：2015-11-20
申请人： Incodema3D, LLC
发明人： Scott Volk
IPC分类号： B24B31/112 , B24B1/00
CPC分类号： G05B19/4097 , B24B1/005 , B24B31/112 , B29C64/35 , B33Y40/00 , B33Y80/00 , G05B2219/39567 , G05B2219/45199
摘要： At least one magnetic medium is loaded into a cavity of a build piece. The build piece is created by an additive manufacturing process. The magnetic medium is magnetically moved in the cavity.
摘要翻译： 至少一个磁性介质被装载到构件的空腔中。 建造件是通过添加剂制造过程创建的。 磁性介质在空腔中磁性地移动。
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公开(公告)号：US09259844B2
公开(公告)日：2016-02-16
申请号：US14178902
申请日：2014-02-12
发明人： Yi Xu , Lynn Ann DeRose , Weston Blaine Griffin , Ying Mao , Xianqiao Tong , Balajee Kannan
CPC分类号： B25J15/0608 , B25J9/1692 , B25J9/1697 , G05B2219/36371 , G05B2219/39393 , G05B2219/39567 , G05B2219/40053 , G05B2219/40564 , Y10S901/02 , Y10S901/40 , Y10S901/47 , Y10S902/02
摘要： Embodiments of the disclosure comprise a vision-based robotic manipulation system that identifies, singulates, and removes an individual surgical instrument from a cluttered environment. A computer-vision algorithm incorporated with the system is robust against optical challenges such as changing light conditions, specularities, and inter-reflections among various surgical instruments. The system estimates 2D pose (as opposed to a more challenging 3D pose) using a camera with normal room lighting to identify each object, including its specified data matrix barcode; and incorporates the use of a robotic arm with a compliant electromagnetic gripper to handle objects having large shape variance. The system can then relocate the objects as desired. The robot manipulator is utilized in hospital and research settings, manufacturing, and sterile environments.
摘要翻译： 本公开的实施例包括基于视觉的机器人操纵系统，其从杂乱的环境识别，单独和移除单个外科器械。 与系统结合的计算机视觉算法对于诸如改变各种手术器械中的光条件，镜面反射和相互反射之类的光学挑战是鲁棒的。 该系统使用具有正常房间照明的相机来估计2D姿态（与更具挑战性的3D姿势相反）来识别每个对象，包括其指定的数据矩阵条形码; 并且结合使用具有柔性电磁夹具的机器臂来处理具有大形状差异的物体。 然后，系统可以根据需要重新定位对象。 机器人操纵器用于医院和研究设施，制造和无菌环境。
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公开(公告)号：US08967548B2
公开(公告)日：2015-03-03
申请号：US13706956
申请日：2012-12-06
CPC分类号： B64G1/646 , B64G1/002 , B64G1/222 , B64G1/242 , G05B2219/39567 , G05B2219/45085
摘要： A method for delivering a payload to a space facility is provided. The method includes detecting the relative position and velocity of a launch vehicle stage, the launch vehicle stage including the payload and one or more thrusters. The method also includes providing guidance information to the launch vehicle stage. The launch vehicle stage does not include a relative navigation system. In response to receiving the guidance information, the method further includes activating one or more thrusters corresponding to the guidance information, and guiding a capture head of a boom into capture proximity to the payload. One end of the boom is coupled to the space facility and the other end of the boom is coupled to the capture head. The method also includes capturing the payload, removing any residual relative velocity of the payload relative to the space facility, and moving the captured payload to the space facility.
摘要翻译： 提供了一种用于将有效载荷传送到空间设施的方法。 该方法包括检测运载火箭台的相对位置和速度，运载火箭级包括有效载荷和一个或多个推进器。 该方法还包括向运载火箭阶段提供引导信息。 运载火箭阶段不包括相对导航系统。 响应于接收到引导信息，该方法还包括激活对应于引导信息的一个或多个推进器，以及将悬臂的捕获头引导到靠近有效载荷的位置。 悬臂的一端联接到空间设施，并且悬臂的另一端连接到捕获头。 该方法还包括捕获有效载荷，消除有效载荷相对于空间设施的任何剩余相对速度，以及将捕获到的有效载荷移动到空间设施。
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公开(公告)号：US20130085605A1
公开(公告)日：2013-04-04
申请号：US13644307
申请日：2012-10-04
发明人： Yuya YASUDA , Kazuhiko FUKUSHIMA
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/39508 , G05B2219/39567 , G05B2219/40053 , G05B2219/40613 , G05B2219/45063 , Y02P80/40
摘要： A robot system includes a container, a disposed-state detector, and a robot arm. The container is configured to accommodate a plurality of to-be-held objects and includes a reticulated portion. The disposed-state detector is configured to detect disposed states of the plurality of respective to-be-held objects disposed in the container. The robot arm includes a holder configured to hold a to-be-held object among the plurality of to-be-held objects based on the disposed states of the plurality of respective to-be-held objects detected by the disposed-state detector.
摘要翻译： 机器人系统包括容器，布置状态检测器和机器人手臂。 该容器构造成容纳多个被保持物体，并且包括网状部分。 配置状态检测器被配置为检测设置在容器中的多个相应待保持物体的布置状态。 机器人手臂包括保持器，其被构造成基于由配置状态检测器检测到的多个相应待保持物体的布置状态，在多个待保持物体之间保持被保持物体。
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