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公开(公告)号：US09927800B2
公开(公告)日：2018-03-27
申请号：US14957726
申请日：2015-12-03
IPC分类号： G05B15/02 , B23Q37/00 , B25J9/16 , G05B19/409
CPC分类号： G05B19/409 , B23Q37/00 , B25J9/16 , G05B15/02 , G05B2219/45094 , G05B2219/50291
摘要： A manufacturing center configured for use with a plurality of tools and a plurality of nests. The manufacturing center includes a base configured for coupling with one of the plurality of nests. The base includes a base electrical connector. The manufacturing center also includes an arm configured for coupling with one of the plurality of tools. The arm has an end movable with respect to the base, and the end includes an arm electrical connector. A controller is operable to control movement of the arm and is in communication with the base electrical connector and the arm electrical connector. The controller is operable to identify which one of the plurality of tools is coupled with the arm and which one of the plurality of nests is coupled with the base at least in part by way of communication with the arm electrical connector and the base electrical connector.
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2.发明申请公开(公告)号：US20140094945A1
公开(公告)日：2014-04-03
申请号：US13630268
申请日：2012-09-28
CPC分类号： G05B19/409 , B23Q37/00 , B25J9/16 , G05B15/02 , G05B2219/45094 , G05B2219/50291
摘要： A manufacturing center configured for use with a plurality of tools and a plurality of nests. The manufacturing center includes a base configured for coupling with one of the plurality of nests. The base includes a base electrical connector. The manufacturing center also includes an arm configured for coupling with one of the plurality of tools. The arm has an end movable with respect to the base, and the end includes an arm electrical connector. A controller is operable to control movement of the arm and is in communication with the base electrical connector and the arm electrical connector. The controller is operable to identify which one of the plurality of tools is coupled with the arm and which one of the plurality of nests is coupled with the base at least in part by way of communication with the arm electrical connector and the base electrical connector.
摘要翻译： 一种制造中心，其配置为与多个工具和多个巢一起使用。 制造中心包括被配置为与多个巢中的一个嵌套连接的基座。 基座包括基座电连接器。 该制造中心还包括构造成与多个工具之一联接的臂。 臂具有相对于基座可移动的端部，并且端部包括臂电连接器。 控制器可操作以控制臂的运动并且与基座电连接器和臂电连接器连通。 所述控制器可操作以识别所述多个工具中的哪一个与所述臂连接，并且所述多个巢中的哪一个至少部分地通过与所述臂电连接器和所述基座电连接器的通信与所述基座联接。
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公开(公告)号：US20160303737A1
公开(公告)日：2016-10-20
申请号：US15099895
申请日：2016-04-15
申请人： ABB Technology Ltd.
CPC分类号： B25J13/025 , B25J9/0081 , B25J9/1656 , B25J11/005 , B25J11/0065 , G05B19/423 , G05B2219/35444 , G05B2219/36453 , G05B2219/45059 , G05B2219/45062 , G05B2219/45094 , G05B2219/45135
摘要： A dummy tool is used to teach a robot the path the robot will follow to perform work on a workpiece to eliminate the possibility of damaging an actual tool during the training. The dummy tool provides the robot programmer an indication of potential collisions between the tool and the workpiece and other objects in the work cell when path is being taught. The dummy tool can have a detachable input/output device with a graphic user interface (GUI) that can communicate wirelessly with the robot controller. The dummy tool can also have a moveable camera attached thereto to track the relationship of the tool to objects in the work area.
摘要翻译： 使用虚拟工具来教导机器人遵循的路径来执行工件上的工作，以消除在训练期间损坏实际工具的可能性。 虚拟工具为机器人程序员提供了当通道被教导时工具和工件和工作单元中的其他物体之间潜在的碰撞的指示。 虚拟工具可以具有可拆卸的输入/输出设备，其具有可与机器人控制器无线通信的图形用户界面（GUI）。 虚拟工具还可以具有附接到其上的可移动照相机，以跟踪工具与工作区域中的对象的关系。
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4.发明申请MILKING BOX WITH ROBOTIC ATTACHER AND BACKPLANE FOR TRACKING MOVEMENTS OF A DAIRY ANIMAL 有权用于跟踪动物的运动的机器人和背板的洗衣盒公开(公告)号：US20160037746A1
公开(公告)日：2016-02-11
申请号：US14921066
申请日：2015-10-23
CPC分类号： A01J5/007 , A01J5/0175 , A01K1/01 , A01K1/0103 , A01K1/12 , A01K5/02 , A01K11/006 , G05B2219/45094
摘要： A milking box comprises a stall portion and a backplane positioned in the stall portion. The backplane moves toward the rear of the stall portion in response to pressure applied to a contact surface of the backplane. The backplane moves toward the front of stall portion in response to pressure removed from the contact surface. A robotic attacher extends from the rear of the stall portion and between the hind legs of a dairy livestock located in the stall portion. A controller determines the position of the backplane relative to the rear of the stall portion. The controller determines an x-offset based at least in part upon the position of the backplane relative to the rear of the stall portion, wherein the x-offset increases as the dairy livestock moves toward the front of the stall and the x-offset decreases as the dairy livestock moves toward the rear of the stall. The controller further communicates a signal to move the robotic attacher in an x-direction, the amount of movement determined at least in part according to the x-offset.
摘要翻译： 挤奶箱包括失速部分和位于失速部分中的背板。 响应于施加到背板的接触表面的压力，背板向失速部分的后部移动。 响应于从接触表面移除的压力，底板向失速部分的前部移动。 一个机器人的附属装置从档位部分的后部和位于档位部分的一个奶牛家畜的后腿之间延伸。 控制器确定背板相对于失速部分的后部的位置。 控制器至少部分地基于背板相对于失速部分的后部的位置来确定x偏移，其中x偏移随着奶牛家畜向失速的前方移动而增加，并且x偏移减小 因为奶牛家畜向档位的后方移动。 所述控制器进一步传达信号以沿x方向移动所述机器人附件，所述移动量至少部分地根据所述x偏移确定。
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5.发明申请MILKING BOX WITH ROBOTIC ATTACHER AND BACKPLANE FOR TRACKING MOVEMENTS OF A DAIRY ANIMAL 有权用于跟踪动物的运动的机器人和背板的洗衣盒公开(公告)号：US20120272912A1
公开(公告)日：2012-11-01
申请号：US13448993
申请日：2012-04-17
CPC分类号： A01J5/007 , A01J5/0175 , A01K1/01 , A01K1/0103 , A01K1/12 , A01K5/02 , A01K11/006 , G05B2219/45094
摘要： In certain embodiments, a milking box comprises a stall portion and a backplane positioned in the stall portion. The backplane moves toward the rear of the stall portion in response to pressure applied to a contact surface of the backplane. The backplane moves toward the front of stall portion in response to pressure removed from the contact surface.
摘要翻译： 在某些实施例中，挤奶箱包括失速部分和位于失速部分中的背板。 响应于施加到背板的接触表面的压力，背板向失速部分的后部移动。 响应于从接触表面移除的压力，底板向失速部分的前部移动。
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公开(公告)号：US20170322539A1
公开(公告)日：2017-11-09
申请号：US15586949
申请日：2017-05-04
CPC分类号： G05B19/402 , B43L13/00 , B43L13/022 , B44B3/009 , B44B3/02 , G05B2219/45013 , G05B2219/45041 , G05B2219/45094 , G05B2219/45212
摘要： The present invention provides for a wall mountable system for automated drawing of an image upon a wall which includes a horizontal mounting track for mounting on a wall, a robot having a y-track rigidly mounted it where the robot and the mounted y-track travel along the horizontal track. An end effector, which includes a pen holding mechanism holding a pen, is in electrical communication with the robot and travels along the y-track of the robot. The present invention provides a system and device that can attach to a wall or vertical surface in a damage-free manner and draw fast any complexity or style image of custom size in both the horizontal (X) and vertical (Y) directions, that is easy to remove and transport and require small floor space to operate.
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公开(公告)号：US20170003678A1
公开(公告)日：2017-01-05
申请号：US15112999
申请日：2015-01-22
发明人： Becket Colon
CPC分类号： G05B19/4207 , A63C5/12 , A63C17/017 , A63C2203/42 , B27K5/02 , B27M1/08 , B27M3/22 , G05B19/4099 , G05B2219/36401 , G05B2219/37572 , G05B2219/45094
摘要： The present invention relates to a method and a system for manufacturing a board body (10), such as a skateboard, from a blank (20) having an indefinite shape. The blank (20) with the indefinite shape is collected by a handling robot (50). The shape of the blank (20) is scanned in three dimensions by means of a vision system (47) and a virtual image of said blank (20) is stored in a memory and used to calculate a three dimensional cutting path for milling the blank (20) into said board body (10).
摘要翻译： 本发明涉及一种从具有不定形状的坯料（20）制造诸如滑板的板体（10）的方法和系统。 具有不确定形状的坯料（20）由处理机器人（50）收集。 坯料（20）的形状通过视觉系统（47）在三维扫描，并且所述坯料（20）的虚拟图像被存储在存储器中，并用于计算铣削坯料的三维切割路径 （20）插入所述板体（10）中。
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8.发明授权公开(公告)号：US09207657B2
公开(公告)日：2015-12-08
申请号：US13630268
申请日：2012-09-28
IPC分类号： G05B15/02 , B25J9/16 , G05B19/409 , B23Q37/00
CPC分类号： G05B19/409 , B23Q37/00 , B25J9/16 , G05B15/02 , G05B2219/45094 , G05B2219/50291
摘要： A manufacturing center configured for use with a plurality of tools and a plurality of nests. The manufacturing center includes a base configured for coupling with one of the plurality of nests. The base includes a base electrical connector. The manufacturing center also includes an arm configured for coupling with one of the plurality of tools. The arm has an end movable with respect to the base, and the end includes an arm electrical connector. A controller is operable to control movement of the arm and is in communication with the base electrical connector and the arm electrical connector. The controller is operable to identify which one of the plurality of tools is coupled with the arm and which one of the plurality of nests is coupled with the base at least in part by way of communication with the arm electrical connector and the base electrical connector.
摘要翻译： 一种制造中心，其配置为与多个工具和多个巢一起使用。 制造中心包括被配置为与多个巢中的一个嵌套联接的基座。 基座包括基座电连接器。 该制造中心还包括构造成与多个工具之一联接的臂。 臂具有相对于基座可移动的端部，并且端部包括臂电连接器。 控制器可操作以控制臂的移动并且与基座电连接器和臂电连接器连通。 所述控制器可操作以识别所述多个工具中的哪一个与所述臂联接，并且所述多个巢中的哪一个至少部分地通过与所述臂电连接器和所述基座电连接器的通信与所述基座联接。
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公开(公告)号：US09615537B2
公开(公告)日：2017-04-11
申请号：US15136460
申请日：2016-04-22
CPC分类号： A01J5/007 , A01J5/0175 , A01K1/01 , A01K1/0103 , A01K1/12 , A01K5/02 , A01K11/006 , G05B2219/45094
摘要： A milking box comprises a stall portion having a longitudinal axis. A backplane is positioned in the stall portion and moves toward the rear of the stall portion along the longitudinal axis in response to pressure applied, and toward the front of the stall portion in response to pressure removed. A robotic attacher extends from the rear of the stall portion and between the hind legs of a dairy livestock. A controller determines the position of the backplane relative to the rear of the stall portion and determines a positional offset that increases as the dairy livestock moves toward the front of the stall and decreases as it moves toward the rear of the stall. The controller further communicates a signal to move the robotic attacher along the longitudinal axis. The amount of movement is determined at least in part according to the positional offset.
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公开(公告)号：US20160235028A1
公开(公告)日：2016-08-18
申请号：US15136460
申请日：2016-04-22
CPC分类号： A01J5/007 , A01J5/0175 , A01K1/01 , A01K1/0103 , A01K1/12 , A01K5/02 , A01K11/006 , G05B2219/45094
摘要： A milking box comprises a stall portion having a longitudinal axis. A backplane is positioned in the stall portion and moves toward the rear of the stall portion along the longitudinal axis in response to pressure applied, and toward the front of the stall portion in response to pressure removed. A robotic attacher extends from the rear of the stall portion and between the hind legs of a dairy livestock. A controller determines the position of the backplane relative to the rear of the stall portion and determines a positional offset that increases as the dairy livestock moves toward the front of the stall and decreases as it moves toward the rear of the stall. The controller further communicates a signal to move the robotic attacher along the longitudinal axis. The amount of movement is determined at least in part according to the positional offset.
摘要翻译： 挤奶箱包括具有纵向轴线的失速部分。 背板位于失速部分中，并且响应于施加的压力而沿着纵向轴线朝向失速部分的后部移动，并且响应于去除的压力朝向失速部分的前部移动。 一名机器人护卫员从摊档部分的后部延伸出来，并在奶牛家畜的后腿之间延伸。 控制器确定背板相对于失速部分的后部的位置，并且确定当乳品牲畜向失速的前方移动时增加的位置偏移，并且随着朝向档位的后方移动而减小。 控制器进一步传送信号以使机器人附件沿着纵向轴线移动。 移动量至少部分地根据位置偏移确定。
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