A method for aligning a robot end with a target object is disclosed. The method includes: acquiring a target direction for a surface to be aligned(S100); selecting a control point, and establishing a coordinate system of the control point(S200); controlling the surface to move along a direction such that the z-axis points in the target direction(S300); rotating, when the surface is determined to be in contact with the target object, the surface with respect to the target object actively and keeping the surface in contact with the target object, and acquiring a first displacement of the control point(S400); determining a relationship between the first displacement and the z-axis(S500); determining, based on the relationship between the first displacement and the z-axis, whether a current rotation direction is a correct alignment direction(S600); and controlling, based on the determination, the surface to be rotated(S700).
A method for suppressing vibration of a control signal for force control, includes: acquiring a first output signal of a force sensing device, the first output signal including at least one of a force signal and a torque signal (S110); processing, by an analog differential circuit, the first output signal to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal (S120); and suppressing, by using the second output signal, vibration of the control signal for force control (S130). A computer device and a readable storage medium are also provided.
A multidimensional joint is provided and includes a body and a drive assembly. The body includes a first motor and a second motor. The drive assembly includes a planetary carrier rotatably coupled to the body, a first drive gear driveably coupled to the first motor, a second drive gear driveably coupled to the second motor, at least one driven gear and at least one output end. The first and the second drive gears are rotatably mounted on the planetary carrier about a first axis, and the at least one driven gear is rotatably mounted on the planetary carrier about a second axis in a different direction from the first axis. The first and the second drive gears are engaged with the at least one driven gear respectively. The at least one driven gear is coupled to the at least one output end configured to output torque to a load.
A transmission device with multiple degrees of freedom includes a first platform, a second platform, a fixing platform, first branch chains, second branch chains and transmission assemblies. The first branch chains, the first platform (10) and the fixing platform form a first multiple degrees of freedom parallel mechanism having an output end. The second branch chains, the second platform and the fixing platform form a second multiple degrees of freedom parallel mechanism having an input end. A structure of the second branch chain is similar to a structure of the first branch chain, and a size of the second branch chain is enlarged or reduced in proportion to that of the first branch chain. The transmission assemblies are configured to couple the output end to the input end.
B25J 3/02 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving a parallelogram coupling of the leader and follower units
A harmonic drive includes: a wave generator; a circular spline provided with internal teeth; a flexible spline provided between the wave generator and the circular spline and configured to be engaged with the internal teeth of the circular spline; and a plurality sets of torque sensors. Each set of torque sensors includes a plurality of strain gauges, each set of torque sensors is respectively configured to measure torque transmitted by the harmonic drive during rotation of the flexible spline. Signals measured by each of the plurality sets of torque sensors include a torque ripple, and the plurality sets of torque sensors are alternatively arranged. The harmonic drive further includes a processor configured to calculate a true torque transmitted by the harmonic drive based on signals measured by the plurality sets of torque sensors. The torque ripple is excluded from the true torque.
A transmission mechanism for a rotary joint, a robot joint and a robot. The transmission mechanism includes a driving member, a transmission member, an output shaft, an input shaft, and a housing. The driving member has a driving end. The transmission member has an output end and an input end. The output shaft is drivingly connected to the output end. The input shaft is drivingly connected to both the driving end and the input end, and sleeved on the output shaft. The housing is arranged around the input shaft. The housing, the input shaft and the output shaft are in a triple nested structure. The implementation of the present disclosure can compress a total length of the joint, save axial space, and make full use of radial space, while satisfying good assembly coaxiality.
The present disclosure relates to a method for calibrating an articulated robot, a computer device and a non-temporary computer-readable storage medium. The method includes: acquiring desired trajectory information regarding a desired trajectory of the end-effector (S110); acquiring load information regarding a load subjected by the articulated robot, the load including a gravity load, an inertial load and an external load (S120); obtaining, based on the desired trajectory information, joint position data indicating a joint position of the articulated robot (S130); obtaining, based on the joint position data and the load information, end position change data indicating an end position change of the end-effector (S140); and compensating, based on the end position change data, a position error of the end-effector according to a predetermined compensation strategy (S150).
A gripping device (100) includes a base (10) and at least two gripper assemblies (20) . Each gripper assembly (20) includes a gripping finger (21) and a first link assembly (22) . In a first gripping mode, the gripping fingers (21) are in a first state, and the first link assemblies (22) are configured to drive the gripping fingers (21) to move inward and contact a target object. In a second gripping mode, the gripping fingers (21) are in the first state, and the first link assemblies (22) are configured to drive the gripping fingers (21) to move outward and contact the target object. In a third gripping mode, the first link assemblies (22) are configured to drive the gripping fingers (21) switch to the second state from the first state, and drive the gripping fingers (21) to move inward and contact the target object in cooperation with the first link assemblies (22) . A robot (300) is also provided.
A suction device (100) includes a suction body (110) including an inner surface (112) that is in contact with an object to be sucked, and has an air hole (116) in the middle thereof; a holder (120) connected to the suction body (110), and having an air channel (122) that being in communication with the air hole (116), the air channel (122) being connected to a vacuum device. A directional dry adhesive layer (130) is provided on the inner surface (112) of the suction body (110), and the directional dry adhesive layer (130) having a plurality of micro-wedge structures (132) inclined in a direction away from the air hole (116). The suction device achieves stable loading and unloading of the micro-wedge structure of the directional dry adhesive layer through a deformation of the suction body due to the negative pressure, which increases a shear force and torque loading capacity of the suction device without substantially sacrificing a vacuum suction force along a suction direction, and does not leave any colloid residue on the surface of the object to be sucked. An end effector of a robot and a robot are also provided.
B65G 49/07 - Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for semiconductor wafers
B25J 15/06 - Gripping heads with vacuum or magnetic holding means
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
The present disclosure relates to an adhesion device and a robot having the adhesion device. The adhesion device includes a substrate, an inner surface of the substrate being configured to be in contact with an object to be adhered; a directional dry adhesive layer provided on the inner surface of the substrate, the directional dry adhesive layer having a plurality of inclined micro-wedge structures; and an adhesion layer provided on the inner surface of the substrate and surrounding the directional dry adhesive layer.
Provided are a gripper and a robot. The gripper includes a case, a plurality of gripping assemblies respectively assembled to the case, and a driving assembly configured to move the plurality of gripping assemblies. Each gripping assembly is provided with a fingertip at an end portion, and fingertips of the gripper are configured to cooperate with each other for grasping. Each gripping assembly further includes a gear set and a gear carrier rotatably connected to the case. The gear set includes a fixed gear, an intermediate gear and a fingertip gear engaged in sequence. The fixed gear is fixedly connected to the case, and the fingertip gear is fixedly connected to the fingertip. The intermediate gear and the fingertip gear are mounted to the gear carrier and respectively rotatably connected to the gear carrier. The driving assembly is configured to rotate the gear carrier.
The present disclosure discloses a stator assembly. The stator assembly comprises: a stator core comprising a plurality of stator teeth, and any two adjacent ones of the plurality of stator teeth are provided with a stator slot therebetween; and a stator winding formed by a wire wound on the stator teeth, the stator winding being received in the stator slots. A cross section of the stator winding in a winding direction of the wire is a plurality of wires having orthohexagonal shapes, and any two adjacent ones of wires closely fit each other.
H02K 3/28 - Layout of windings or of connections between windings
H02K 3/34 - Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation
14.
METHOD FOR DETERMINING EXTERNAL FORCE APPLIED TO ROBOTIC ARM, ROBOTIC ARM AND STORAGE MEDIUM
The present disclosure relates to a method for determining an external force applied to a robotic arm. The robotic arm (10) includes a plurality of links (11), a plurality of joints (12) and a plurality of 6-DOF force and torque sensors (14). In the method, inertial property parameters and motion state parameters of each link are determined (S1, S2). An inertial force and an inertial torque at the center of mass of a target link are determined (S3). Forces and torques between the two ends of the target link and the corresponding joints are acquired respectively by the 6-DOF force and torque sensors (S4). The external force applied to the target link is determined according to the inertial force and the inertial torque at the center of mass of the target link, and the forces and the torques between the two ends of the target link and the corresponding joints (S5).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
A gripping device, a robot and a method for sensing force information. The device includes a case, linkage gripping assemblies mutually matched to grip an object, a driving assembly and a plurality of load cells. Each linkage gripping assembly includes a fingertip, a first link fixedly connected to the fingertip, a second link including a first end rotatably connected to a first end of the first link and a second end rotatably connected to the case, and a third link including a first end rotatably connected to a second end of the first link and a second end rotatably connected to the case. The driving assembly is in transmission connection with the second end of the second link to rotate the second link. Each load cell is disposed in a respective one of at least three of the first link, the second link, the third link and the driving assembly.
The present disclosure discloses a grasping device, a robot grasping jaw and a robot. The grasping device includes: a bracket; a gecko biomimetic adhesive pad having a first surface with a directional dry adhesion structure; a first connecting structure connecting the bracket and a first side of the gecko biomimetic adhesive pad; and a second connecting structure provided opposite to the first connecting structure and connecting the bracket and a second side of the gecko biomimetic adhesive pad. The first connecting structure is retractable. The first connecting structure and the second connecting structure are configured to collaboratively provide a loading force in a first direction to the gecko biomimetic adhesive pad.
A safety system of a joint assembly which includes a motor and a brake coupled to the motor is provided. The safety system includes at least one set of sensors configured to detect at least one parameter associated with safety function of the joint assembly, a driving circuit coupled to the motor and the brake and arranged within the joint assembly; and a first processor and a second processor arranged within the joint assembly. The first processor and the second processor configured to receive a signal indicative of the at least one parameter from the at least one set of sensors and send a stop command directly to the driving circuit to stop the motor in response to a joint fault determined based on the signal received from the at least one set of sensors.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
The present disclosure relates to a speed reducer, a speed-reducing transmission mechanism, and a robot joint and a robot including the speed-reducing transmission mechanism. The speed reducer is configured to achieve a reduction transmission from a transmission input shaft to a transmission output shaft, and includes: a wave generator mounted to the transmission input shaft; a fixed circular spline; and a flexspline located between the circular spline and the wave generator, and including a gear portion and a flange portion. The flange portion is configured to be connected to the transmission output shaft.
Disclosed are a sealing device, an apparatus and a robot having the same. The sealing device for use between first and second members made of metal includes a first sealing component configured to be sealingly connected to the first member; and a second sealing component configured to be sealingly connected to the second member. The first and second sealing components are configured to form at least one dynamic seal with each other in a circumferential direction of the first and second members. Portions of the first and second sealing components that are in contact with each other are made of plastic. The apparatus includes the sealing device. The robot includes a robot arm including at least a first link and the sealing device, wherein the first member is the first link and the second member is a second link, a base or an end-effector connected to the first link.
Disclosed are a sealing device, an apparatus and a robot having the same. The sealing device for use between first and second members includes a first sealing component configured to be sealingly connected to the first member; and a second sealing component configured to be sealingly connected to the second member. The first and second sealing components are configured to form at least one dynamic seal with each other in a circumferential direction of the first and second members. The apparatus includes the sealing device. The robot includes a robot arm including at least a first link and the sealing device, wherein the first member is the first link and the second member is a second link, a base or an end-effector connected to the first link.
F16J 15/3236 - Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings with at least one lip having two or more lips with at least one lip for each surface, e.g. U-cup packings
A brake assembly includes: a motor rotor; a brake disc fixed on the motor rotor; a friction plate fixed to and surrounding the brake disc; a bearing rotatably sleeved on the motor rotor; an electromagnet assembly fixed on the bearing; a baffle plate fixed to the electromagnet assembly; an armature slidably sleeved on the motor rotor, and located between the baffle plate and the electromagnet assembly; and a spring assembly provided between the armature and the electromagnet assembly. When the electromagnet assembly is de-energized, the armature is pushed by the spring assembly to move in a direction close to the baffle plate, such that the friction plate is clamped by the armature and the baffle plate to realize braking.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
F16D 55/22 - Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads
F16D 65/18 - Actuating mechanisms for brakesMeans for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
A parallel robot (100), comprising a base (10), a movement platform (20), a plurality of branches (30), a plurality of driving devices (40), a plurality of transmission devices (50), a plurality of force/torque sensing members (60), and a control device (70), wherein each transmission device (50) is connected to the base (10) and comprises an output end (51); each branch (30) comprises a first end (31) connected to the output end (51) and a second end (32) connected to the movement platform (20); each driving device (40) is connected to the transmission device (50) and configured to drive the transmission device (50) to move so that the transmission device (50) drives the branch (30) to move; each force/torque sensing member (60) is connected to the output end (51) and configured to sense force and/or torque between the driving device (40) and the output end (51); and the control device (70) is configured to adjust the driving force of the driving device (40) according to the force and/or the torque sensed by the force/torque sensing member (60), the target force or displacement to be loaded on the movement platform (20), and a preset rule, until the force and/or the torque sensed by the force/torque sensing member (60) matches the target force or displacement.
A grabbing apparatus (1), which comprises a housing (10) and at least two clamping jaw assemblies (20). Each clamping jaw assembly (20) comprises: a fingertip (21) used for clamping a target object (2); a connecting rod assembly (22), having a first end connected to the fingertip (21), and a second end rotatably connected to the housing (10); and an attaching assembly (23), disposed on the side of the connecting rod assembly (22) facing the target object (2) to be grabbed. The grabbing apparatus (1) is configured to switch between a first grabbing mode and a second grabbing mode, wherein in the first grabbing mode, the grabbing apparatus (1) clamps a target object (2) by means of each of the fingertips (21). And in the second grabbing mode, the grabbing apparatus (1) attaches to and/or suctions to the target object (2) by means of each of the attaching assemblies (23), thereby achieving a grabbing operation.
B65G 49/07 - Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for semiconductor wafers
B23Q 7/04 - Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
B05C 13/00 - Means for manipulating or holding work, e.g. for separate articles
B66C 1/28 - Duplicate, e.g. pivoted, members engaging the loads from two sides
B66C 1/42 - Gripping members engaging only the external or internal surface of the articles
B66C 1/44 - Gripping members engaging only the external or internal surface of the articles and applying frictional forces
A robot system and a color control method thereof are disclosed. The robot system includes at least two robots (100) and a server (400) that are connected to a communication network. The server (400) is configured to run an IDE and display a GUI of the IDE to provide a VPL tool (610) use the VPL tool (610) to select first and second initial VPL blocks (631a, 631b) respectively corresponding to the first and second robots (100a, 100b); acquire first color information indicating a first color and second color information indicating a second color respectively from the first and second initial VPL blocks (631a, 631b); and send the first and second color information to the first and second robots (100a, 100b) respectively. The first or second robot (100a, 100b) controls, in response to the received first or second color information, the plurality of light-emitting devices (130) thereof to display the first or second color.
A multidimensional joint is provided and includes a body and a drive assembly. The body includes a first motor and a second motor. The drive assembly includes a planetary carrier rotatably coupled to the body, a first drive gear driveably coupled to the first motor, a second drive gear driveably coupled to the second motor, at least one driven gear and at least one output end. The first and the second drive gears are rotatably mounted on the planetary carrier about a first axis, and the at least one driven gear is rotatably mounted on the planetary carrier about a second axis in a different direction from the first axis. The first and the second drive gears are engaged with the at least one driven gear respectively. The at least one driven gear is coupled to the at least one output end configured to output torque to a load.
A harmonic drive includes: a wave generator; a circular spline provided with internal teeth; a flexible spline provided between the wave generator and the circular spline and configured to be engaged with the internal teeth of the circular spline; and a plurality sets of torque sensors. Each set of torque sensors includes a plurality of strain gauges, each set of torque sensors is respectively configured to measure torque transmitted by the harmonic drive during rotation of the flexible spline. Signals measured by each of the plurality sets of torque sensors include a torque ripple, and the plurality sets of torque sensors are alternatively arranged. The harmonic drive further includes a processor configured to calculate a true torque transmitted by the harmonic drive based on signals measured by the plurality sets of torque sensors. The torque ripple is excluded from the true torque.
A robot teleoperation system is provided, which comprises a master robot (20), a slave robot (30), and a control system (40) configured to cause the slave robot (30) to follow the movement of the master robot (20). The control system (40) is further configured to determine a coefficient K and determine a control force F output by the slave robot (30) at the selected point based on the coefficient K and a displacement error between a reference point on the master robot (20) and a selected point on the slave robot (30) corresponding to the reference point.
A transmission device with multiple degrees of freedom (1) includes a first platform (10), a second platform (20), a fixing platform (30), first branch chains (40), second branch chains (50) and transmission assemblies (60). The first branch chains (40), the first platform (10) and the fixing platform (30) form a first multiple degrees of freedom parallel mechanism having an output end (80). The second branch chains (50), the second platform (20) and the fixing platform (30) form a second multiple degrees of freedom parallel mechanism having an input end (90). The structure of the second branch chain (50) is similar to the structure of the first branch chain (40), and the size of the second branch chain (50) is enlarged or reduced in proportion to that of the first branch chain (40). The transmission assemblies (60) are configured to couple the output end (80) to the input end (90).
A gripping device, a robot and a method for sensing force information. The gripping device (1, 7) includes a case (10, 70), a plurality of linkage gripping assemblies (11, 12, 71, 72) mutually matched to grip an object, a driving assembly (30) and a plurality of load cells. Each linkage gripping assembly (11, 12, 71, 72) includes a fingertip (110, 710), a first link (111, 711) fixedly connected to the fingertip (110, 710), a second link (112, 712) including a first end rotatably connected to a first end of the first link (111, 711) and a second end rotatably connected to the case (10, 70), and a third link (113, 713) including a first end rotatably connected to a second end of the first link (111, 711) and a second end rotatably connected to the case (10, 70). The driving assembly (30) is in transmission connection with the second end of the second link (112, 712) to rotate the second link (112, 712). Each load cell is disposed in a respective one of at least three of the first link (111, 711), the second link (112, 712), the third link (113, 713) and the driving assembly (30).
A sensing assembly includes a magnet assembly configured to be coupled to a first component and a pair of hall-effect sensors configured to be coupled to a second component. The pair of hall-effect sensors are configured to generate substantially identical signal changes in response to a first relative motion in a first direction between the magnet assembly and the pair of hall-effect sensors, and to generate substantially equal but opposite signal changes in response to a second relative motion in a second direction between the magnet assembly and the pair of sensors. The first direction is perpendicular to the second direction.
The present application relates to a teleoperation method for a robot, and a robot and a computer-readable storage medium. The method comprises the steps of: acquiring an image of a target object, and generating a point cloud of the target object according to the image; establishing a virtual fixture on the basis of a geometric feature corresponding to the point cloud, wherein the virtual fixture comprises a prohibited-area virtual fixture and/or a guide virtual fixture; determining a reference point of the virtual fixture and a control point of a robot, and according to the distance between the reference point and the control point, determining a virtual force of the virtual fixture acting on the control point; and on the basis of the virtual force, determining a control force applied to the control point.
A robot teleoperation method, a robot and a storage medium are disclosed. The method includes: acquiring an image of a target object, and generating a point cloud of the target object according to the image; establishing a virtual fixture based on a geometric feature corresponding to the point cloud; the virtual fixture including at least one of a forbidden region virtual fixture or a guidance virtual fixture; determining a reference point of the virtual fixture and a control point of the robot, and determining a virtual force of the virtual fixture acting on the control point according to a distance between the reference point and the control point; and determining a control force applied to the control point based on the virtual force.
Provided are a gripper (1) and a robot. The gripper (1) includes a case (10), a plurality of gripping assemblies (11, 21) respectively assembled to the case (10), and a driving assembly configured to move the plurality of gripping assemblies (11, 21). Each gripping assembly (11, 21) is provided with a fingertip (111, 211) at an end portion, and fingertips (111, 211) of the gripper (1) are configured to cooperate with each other for grasping. Each gripping assembly (11, 21) further includes a gear set and a gear carrier (113, 213) rotatably connected to the case (10). The gear set includes a fixed gear (114, 214), an intermediate gear (115, 215) and a fingertip gear (116, 216) engaged in sequence. The fixed gear (114, 214) is fixedly connected to the case (10), and the fingertip gear (116, 216) is fixedly connected to the fingertip (111, 211). The intermediate gear (115, 215) and the fingertip gear (116, 216) are mounted to the gear carrier (113, 213) and respectively rotatably connected to the gear carrier (113, 213). The driving assembly is configured to rotate the gear carrier (113, 213).
A gripper with at least one gripping jaw is provided. The at least one gripping jaw includes a base, a gripping portion configured to contact an object, a flexible member connecting the base and the gripping portion, and a sensor assembly located between the base and the gripping portion. The flexible member is configured to enable the gripping portion to deflect with respect to the base when the gripping portion is subjected to a force in a first direction from the object. The sensor assembly is configured to generate a signal in response to the deflection of the gripping portion.
A rotational joint, comprising a joint housing (20), a drive apparatus mounted in the joint housing (20), and an encoder module (30) mounted on the drive apparatus, the drive apparatus having an inner shaft (12) and an outer shaft (11) surrounding the inner shaft (12) and separated radially from the inner shaft (12). The encoder module (30) comprises: a first magnetic disc assembly (31) configured to rotate synchronously with the outer shaft (11); a second magnetic disc assembly (32) configured to rotate synchronously with the inner shaft (12); a first sensor assembly arranged adjacent to the first magnetic disc assembly (31) so as to detect the movement of a magnetic disc of the first magnetic disc assembly (31); and a second sensor assembly arranged adjacent to the second magnetic disc assembly (32) so as to detect the movement of a magnetic disc of the second magnetic disc assembly (32), a magnetic disc surface of the first magnetic disc assembly (31) and a magnetic disc surface of the second magnetic disc assembly (32) being arranged to be coplanar and spaced radially by at least a predetermined distance. Also provided is an apparatus having the rotational joint, the apparatus comprising at least one rotational joint.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
37.
TRANSMISSION MECHANISM FOR REVOLUTE JOINT, ROBOT JOINT, AND ROBOT
The present application relates to a transmission mechanism (10) for a revolute joint. The transmission mechanism (10) for a revolute joint comprises a driving member (100), a transmission member (200), an output shaft (300), an input shaft (400), and a housing (500). The driving member (100) has a driving end (110a). The transmission member (200) has an output end (210) and an input end (220). The output shaft (300) is drivingly connected to the output end (210). The input shaft (400) is drivingly connected to both the driving end (110a) and the input end (220), and is sleeved outside the output shaft (300). The housing (500) is sleeved outside the input shaft (400). The housing (500), the input shaft (300) and the output shaft (300) form a three-layer sleeved structure, and compared with a traditional arrangement having a left-to-right linear axial distribution, while maintaining good assembly coaxiality, the total length of the joint can be compressed, axial space is saved, and radial space is fully utilized.
The present application relates to a stator assembly (100), comprising: a stator core, comprising a plurality of stator teeth (101), and a stator slot (102) being formed between any two adjacent stator teeth (101); and stator windings (201), formed by winding a wire (202) around the stator teeth (101), and accommodated in the stator slots (102). The cross section of the stator windings (201) in the winding direction of the wire (202) is a plurality of wires (202) in the shape of regular hexagons, and any two adjacent wires (202) fit tightly together.
A brake assembly (100), comprising an electric motor rotor (10); a brake disk (20), which is fixed to the electric motor rotor (10); a friction plate (30), which is fixed around the brake disk (20); a bearing (40), which is rotationally sleeved on the electric motor rotor (10); an electromagnet assembly (50), which is fixedly arranged on the bearing (40); a baffle (60), which is fixed to the electromagnet assembly (50); an armature (70), which is slidably sleeved on the electric motor rotor (10) and located between the baffle (60) and the electromagnet assembly (50); and a spring assembly (80), which is arranged between the armature (70) and the electromagnet assembly (50). When the electromagnet assembly (50) is powered off, the armature (70) is pressed by the spring assembly (80) to move in a direction approaching the baffle (60), such that the friction plate (30) is clamped by the armature (70) and the baffle (60) to achieve braking.
H02K 7/102 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
40.
SPEED REDUCER, REDUCTION DRIVE SYSTEM, AND ROBOT JOINT AND ROBOT COMPRISING REDUCTION DRIVE SYSTEM
The present application relates to a speed reducer, a reduction drive system, and a robot joint and a robot comprising the reduction drive system. The speed reducer is configured to achieve reduction transmission from a drive input shaft to a drive output shaft, and comprises: a wave generator installed at the drive input shaft; a fixed circular spline; and a flexspline located between the circular spline and the wave generator and comprising a gear portion and a bell mouth portion. The bell mouth portion is configured to be connected to the drive output shaft.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
The present application relates to a cable detection method, a robot and a storage device. The method includes: acquiring an RGB image of a cable and a corresponding depth image; performing image segmentation on the RGB image, and merging pixel points in the RGB image, which are adjacent in position and have similar pixel features, into super-pixels; determining a target similarity between at least some of the super-pixels and the adjacent super-pixels, and detecting cables in the RGB image according to the target similarity between at least some of the super-pixels and the adjacent super-pixels; determining whether the cables are overlapped; and when it is detected that the cables are overlapped, determining an overlapping relationship between the detected cables according to the depth image.
The present application discloses a grasping device (100), a robot grasping jaw (503) and a robot (500). The grasping device (100) includes: a bracket (106); a gecko biomimetic adhesive pad (101) having a first surface (111) with a directional dry adhesion structure; a first connecting structure (102) connecting the bracket (106) and a first side of the gecko biomimetic adhesive pad (101); and a second connecting structure (103) provided opposite to the first connecting structure (102) and connecting the bracket (106) and a second side of the gecko biomimetic adhesive pad (101). The first connecting structure (102) is retractable. The first connecting structure (102) and the second connecting structure (103) are configured to collaboratively provide a loading force in a first direction to the gecko biomimetic adhesive pad (101).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
A gripper with at least one gripping jaw is provided. The at least one gripping jaw includes a base, a gripping portion configured to contact an object, a flexible member connecting the base and the gripping portion, and a sensor assembly located between the base and the gripping portion. The flexible member is configured to enable the gripping portion to deflect with respect to the base when the gripping portion is subjected to a force in a first direction from the object. The sensor assembly is configured to generate a signal in response to the deflection of the gripping portion.
A safety system (50) of a joint assembly (10) which includes a motor (20) and a brake (30) coupled to the motor (20) is provided. The safety system (50) includes at least one set of sensors (60) configured to detect at least one parameter associated with safety function of the joint assembly (10), a driving circuit (70) coupled to the motor (20) and the brake (30) and arranged within the joint assembly (10); and a first processor (80) and a second processor (81) arranged within the joint assembly (10). The first processor (80) and the second processor (81) configured to receive a signal indicative of the at least one parameter from the at least one set of sensors (60) and send a stop command directly to the driving circuit (70) to stop the motor (20) in response to a joint fault determined based on the signal received from the at least one set of sensors (60).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
Handling machines, automatic [manipulators]; conveyors [machines]; packaging machines; electromechanical machines for chemical industry; metalworking machines; machines for use in the manufacture of electrical and electronic circuitry; chucks [parts of machines]; industrial robots; holding devices for machine tools; feeder [parts of machine]; transmissions for machines; sorting machines for industry.
46.
SENSING ASSEMBLY, FORCE AND TORQUE SENSOR ASSEMBLY, ROBOT JOINT AND ROBOT
A sensing assembly includes a magnet assembly configured to be coupled to a first component and a pair of hall-effect sensors configured to be coupled to a second component. The pair of hall-effect sensors are configured to generate substantially identical signal changes in response to a first relative motion in a first direction between the magnet assembly and the pair of hall-effect sensors, and to generate substantially equal but opposite signal changes in response to a second relative motion in a second direction between the magnet assembly and the pair of sensors. The first direction is perpendicular to the second direction.
G01L 1/12 - Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
G01L 3/00 - Measuring torque, work, mechanical power, or mechanical efficiency, in general
G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
37 - Construction and mining; installation and repair services
Goods & Services
Electromechanical machines for chemical industry; machine
tools; industrial robots; sorting machines for industry;
machines for processing plastics; conveyors [machines];
finishing machines; handling machines, automatic
[manipulators]; metalworking machines; handling apparatus
for loading and unloading. Machinery installation, maintenance and repair; electric
appliance installation and repair; installation, maintenance
and repair of computer hardware; interference suppression in
electrical apparatus; office machines and equipment
installation, maintenance and repair; vehicle breakdown
repair services; heating equipment installation and repair;
rental of construction equipment; anti-rust treatment for
vehicles; kitchen equipment installation.
A gripper includes a lead screw, a first gripping jaw and a second gripping jaw. The lead screw includes a spiral portion having at least one first spiral track and at least one second spiral track with opposite helical directions. A portion of a coverage of the first spiral track overlaps a portion of a coverage of the second spiral track along a length of the spiral portion. The first gripping jaw has a first pin extending into the first spiral track, and the second gripping jaw has a second pin extending into the second spiral track. When the spiral portion rotates, the first spiral track drives the first pin to allow a first linear movement of the first gripping jaw, and the second spiral track drives the second pin to allow a second linear movement of the second gripping jaw opposite to the first linear movement.
The present disclosure relates to a gripper and a robot. The gripper according to the present disclosure includes at least three guiding rails arranged head to tail in sequence, at least three gripping fingers respectively disposed on the at least three guiding rails and a driving mechanism. A first end of each of the gripping fingers is slidably connected to the corresponding guiding rail and a second end of each of the gripping fingers is for contacting the object to be gripped. The driving mechanism drives each of the gripping fingers to move along the corresponding guiding rail, so that the second end of each of the gripping fingers moves toward or away from a gripping center of the gripper.
An axial force sensor assembly for detecting an axial force is provided, which includes a mounting bracket and a first sensor assembled on the mounting bracket. The mounting bracket includes an inner mounting portion, an outer mounting portion and a multi-layer connecting member connected between the inner mounting portion and the outer mounting portion. The multi-layer connecting structure is more compliant in a direction of the axial force to be detected than in other loading directions. The first sensor is configured to detect a relative displacement between the inner mounting portion and the outer mounting portion in the direction of the axial force to be detected.
G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
G01L 5/16 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
51.
Method for assembling an operating member and an adapting member by a robot, robot, and controller
A method for assembling an operating member and an adapting member by a robot is provided. According to the method, the operating member is moved to the adapting member in an assembly direction until the operating member reaches the adapting member. A moving mode for adjusting the operating member is determined, in which the moving mode includes one or both of a moving-in-plane mode and a posture-adjusting mode. The operating member is moved in the determined moving mode and applied a force continuously in the assembly direction during movement. It is determined whether a preset condition for a completion of the assembling of the operating member and the adapting member is satisfied. And the movement of the operating member in the determined moving mode is stopped or the applied force is stopped when it is determined that the preset condition is satisfied.
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
B23P 19/04 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
The present disclosure relates to a brake mechanism, a joint actuator and a robot. The brake mechanism includes a friction member configured to be fixed to a rotor of the motor, a brake member abutting against one side of the friction member, a pushing member abutting against the other side of the friction member and configured to provide an adjustable pushing force to the brake member, a locking mechanism configured to prevent the brake member from rotating according to a brake command.
F16D 55/02 - Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
F16D 59/02 - Self-acting brakes, e.g. coming into operation at a predetermined speed spring-loaded and adapted to be released by mechanical, fluid, or electromagnetic means
F16D 55/00 - Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
37 - Construction and mining; installation and repair services
Goods & Services
Electromechanical machines for chemical industry, namely, industrial robots and parts grippers in the nature of manipulators being structural parts of industrial robots; industrial robots; sorting machines for industry, namely, machines for sorting machine parts and removing non-conforming materials; machines for processing plastics; conveyors being machines; material handling machines, namely, industrial robots and automatic manipulators for grasping, holding and moving objects being structural parts of industrial robots; handling apparatus for loading and unloading, namely, loading and unloading machines in the nature of industrial robots and automatic manipulators being structural parts of industrial robots; none of the foregoing being used for power drill bits and sharpening machines Machinery installation, maintenance and repair, namely, the installation, maintenance and repair of industrial robots and automatic manipulators for grasping, holding and moving objects for industrial purposes, health care, research, and agricultural food processing purposes; electric appliance installation and repair; installation, maintenance and repair of computer hardware; Interference suppression services for electrical apparatus; office machines and equipment installation, maintenance and repair; heating equipment installation and repair; rental of construction equipment; kitchen equipment installation
54.
METHOD FOR ASSEMBLING AN OPREATING MEMBER AND AN ADAPTING MEMBER BY A ROBOT, ROBOT, AND CONTROLLER
A method for assembling an operating member and an adapting member by a robot is provided. According to the method, the operating member is moved to the adapting member in an assembly direction until the operating member reaches the adapting member. Amoving mode for adjusting the operating member is determined, in which the moving mode includes one or both of a moving-in-plane mode and a posture-adjusting mode. The operating member is moved in the determined moving mode and applied a force continuously in the assembly direction during movement. It is determined whether a preset condition for a completion of the assembling of the operating member and the adapting member is satisfied. And the movement of the operating member in the determined moving mode is stopped or the applied force is stopped when it is determined that the preset condition is satisfied.
B23P 19/04 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
A gripper and a robot. The gripper includes at least three guiding rails (11,21,31),which are arranged head to tail in sequence, at least three gripping fingers(4,5,6) respectively disposed on the at least three guiding rails (11,21,31), and a driving mechanism (7). A first end of each of the gripping fingers (4,5,6) is slidably connected to the corresponding one of the at least three guiding rails (11,21,31) and a second end of each of the gripping fingers (4,5,6) is used for contacting the object to be gripped. The driving mechanism(7) is used for driving each of the gripping fingers (4,5,6) to move along the corresponding guiding rail (11,21,31), so that the second end of each of the gripping fingers (4,5,6) moves toward or away from a gripping center of the gripper to grip or release the object.
A gripper includes a lead screw, a first gripping jaw and a second gripping jaw. The lead screw includes a spiral portion having at least one first spiral track and at least one second spiral track with opposite helical directions. A portion of a coverage of the first spiral track overlaps a portion of a coverage of the second spiral track along a length of the spiral portion. The first gripping jaw has a first pin extending into the first spiral track, and the second gripping jaw has a second pin extending into the second spiral track. When the spiral portion rotates, the first spiral track drives the first pin to allow a first linear movement of the first gripping jaw, and the second spiral track drives the second pin to allow a second linear movement of the second gripping jaw opposite to the first linear movement.
A brake apparatus for a rotating component, a robot joint and a robot including the same. The brake apparatus (1) includes: a locking component (11) including a locking end (111) provided with a first magnet (112); and a brake component (12) including a mounting portion connected to the rotating component and a plurality of brake ends provided on the mounting portion along a circumferential direction of the mounting portion. Each of the plurality of brake ends is provided with a second magnet (122). A side of the first magnet (112) facing the brake component (12) is configured to have same polarity as sides of the second magnets (122) facing the locking component (11). A distance from the first magnet (112) to a rotary axis of the rotating component is substantially the same as distances from the second magnets (122) to the rotary axis of the rotating component.
The present application provides a brake apparatus for a rotating component, a robot joint and a robot including the same. The brake apparatus includes: a locking component including a locking end provided with a first magnet; and a brake component including a mounting portion connected to the rotating component and a plurality of brake ends provided on the mounting portion along a circumferential direction of the mounting portion. Each of the plurality of brake ends is provided with a second magnet. A side of the first magnet facing the brake component is configured to have same polarity as sides of the second magnets facing the locking component. A distance from the first magnet to a rotary axis of the rotating component is substantially the same as distances from the second magnets to the rotary axis of the rotating component.
A multi-degree of freedom force and torque sensor (100) is provided. The multi-DOF force and torque sensor includes a first rigid plate (10), a second rigid plate (20), multiple elastic elements (30) connected between the first and second rigid plates, and multiple signal pairs arranged between the first and second rigid plates. The signal pairs are used for detecting relative displacements of the first and second rigid plates in multiple directions.
G01L 5/1627 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
60.
AXIAL FORCE SENSOR ASSEMBLY, ROBOT GRIPPER AND ROBOT
An axial force sensor assembly (10) for detecting an axial force is provided, which includes a mounting bracket (20) and a first sensor assembled (30) on the mounting bracket (20). The mounting bracket (20) includes an inner mounting portion (22), an outer mounting portion (21) and a multi-layer connecting member (23) connected between the inner mounting portion (22) and the outer mounting portion (21). The multi-layer connecting member (23) is more compliant in a direction of the axial force to be detected than in other loading directions. The first sensor assembled (30) is configured to detect a relative displacement between the inner mounting portion (22) and the outer mounting portion (21) in the direction of the axial force to be detected.
G01L 5/16 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
A grasping mechanism includes a base and at least two linkage grasping assemblies. Each linkage grasping assembly includes a grasping member, a first rod and a second rod. The grasping member includes a grasping portion and a connecting portion. The first rod has a first end rotatably connected to the connecting portion and a second end rotatably connected to the base. The second rod has a first end rotatably connected to the connecting portion and a second end rotatably connected to the base.
The present application relates to a cable detection method, a robot and a storage device. Said method comprises: acquiring an RGB image of a cable and a corresponding depth image; performing image segmentation on the RGB image, and merging pixel points in the RGB image, which are adjacent in position and have similar pixel features, into super-pixels; determining a target similarity between at least some of the super-pixels and the adjacent super-pixels, and detecting cables in the RGB image according to the target similarity between at least some of the super-pixels and the adjacent super-pixels; determining whether the cables are overlapped; and when it is detected that the cables are overlapped, determining an overlapping relationship between the detected cables according to the depth image. Said method is able to accurately detect cables placed in a scattered manner and cables placed in a stacked manner.
Method and system for improving control of robotic arms (114, 600) are presented. The method includes predefining a plurality of motion primitives (120, 200, 210, 508), which may include one or more preconditions (122, 202, 204, 212, 214, 216, 504) and effects (124, 222, 224, 226, 228, 506). A target state for a plurality of work-pieces (108, 304, 306, 308, 310) may be determined as well as an initial state of the plurality of work-pieces (108, 304, 306, 308, 310). A sequence of operations (206, 208, 217, 218, 220) may be generated based on the preconditions (122, 202, 204, 212, 214, 216, 504) and/or effects (124, 222, 224, 226, 228, 506) of the motion primitives (120, 200, 210, 508), as well as the target state and the initial state. Executing the sequence of operations (206, 208, 217, 218, 220) may be capable of changing the plurality of work-pieces (108, 304, 306, 308, 310) from the initial state to the target state.
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
A method, system, and non-transitory, computer-readable medium are provided for estimating a direction of gravity with respect to a robot. The method includes rotating a first joint. A first torque information of the first joint is recorded during rotation of the first joint. A second joint is then rotated. A second torque information of the second joint is recorded during rotation of the second joint. The direction of gravity is then estimated with respect to the robot based on the first torque information and the second torque information. The method provides an efficient way for determining the direction of gravity with respect to the robot.
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
A method for estimating a direction of gravity with respect to a robot, a robotic system and a non-transitory, computer-readable medium are provided. The method includes: rotating a first joint, and recording a first torque information of the first joint during rotation (S201); rotating a second joint, and recording a second torque information of the second joint during rotation (S202); and estimating the direction of gravity with respect to the robot based on the first torque information and the second torque information (S203). The method provides an efficient way to determining the direction of gravity with respect to the robot. A robotic system and a non-transitory, computer-readable medium are also provided.
Grasping mechanism (50) includes a base (10) and at least two linkage grasping assemblies (20). Each linkage grasping assembly includes a grasping member (210), a first rod (220) and a second rod (230). The grasping member includes a grasping portion (212) and a connecting portion (214). The first rod has a first end rotatably connected to the connecting portion and a second end rotatably connected to the base. The second rod has a first end rotatably connected to the connecting portion and a second end rotatably connected to the base. The length of a first connecting line (L1) between rotation centers of two ends of the first rod is constantly different from the length of a second connecting line (L2) between rotation centers of two ends of the second rod, or the length of the first connecting line is different from the length of the second connecting line in a certain operation state.
A brake mechanism (10), a joint actuator (20) and a robot (30) are provided. The brake mechanism (10) includes a friction member (11) configured to be fixed to a rotor (221) of a motor (22), a brake member (12) abutting against one side of the friction member (11), a pushing member (13) abutting against the other side of the friction member (11) and configured to provide an adjustable pushing force to the brake member (12), a locking mechanism (14) configured to prevent the brake member (12) from rotating according to a brake command.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
The present disclosure relates to a brake mechanism, a joint actuator and a robot. The brake mechanism includes a friction member configured to be fixed to a rotor of the motor, a brake member abutting against one side of the friction member, a pushing member abutting against the other side of the friction member and configured to provide an adjustable pushing force to the brake member, a locking mechanism configured to prevent the brake member from rotating according to a brake command.
F16D 55/02 - Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
F16D 59/02 - Self-acting brakes, e.g. coming into operation at a predetermined speed spring-loaded and adapted to be released by mechanical, fluid, or electromagnetic means
F16D 55/00 - Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Computer operating programs, recorded; computer peripheral
devices; computer programs, downloadable; computer hardware;
humanoid robots with artificial intelligence; surveying
apparatus and instruments; signal lanterns; electric
installations for the remote control of industrial
operations; monitors [computer programs]; downloadable
mobile applications. Mechanical research; cloud computing; consultancy in the
design and development of computer hardware; conversion of
computer programs and data, other than physical conversion;
platform as a service [PaaS]; software as a service [SaaS];
research in the field of artificial intelligence; computer
programming; computer system design; providing information
relating to computer technology and programming via a web
site.
A robotic arm and a robot are provided. The robotic arm (100, 10, 20, 30, 40, 50, 60) includes multiple joints (121-127, 200a-200d, 511-513) and multiple links (131-137, 301, 302, 411-413). The links are connected successively by the joints. At least two of the joints each include a sensor (205) configured to measure force and torque information of more than one of six degrees of freedom (DOF) applied on its respective joint.
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
A robotic arm includes multiple joints and multiple links. The links are connected successively by the joints. At least two of the joints may each comprise a sensor configured to measure force and torque information in multiple DOF of its respective joint. In certain implementations, the sensor may be located between an input part of the respective one of the at least two joints and an output part of the respective one of the at least two joints.
An industrial robot and a robot (100) are provided. The industrial robot (100) may include a number of links (110), a number of actuators (120) connected by the links (110), a number of light devices (130) and a controller (400). Each light device (130) may be arranged around the respective actuator (120) and between two adjacent links (110). The controller (400) may be utilized to control each light device (130) to indicate the state of the respective actuator (120). Since the light device (130) is arranged around the actuator (120), a user of the robot (100) may observe the light device (130) at any position relative to the robot (100). Thus, the user may easily learn the state of the actuators (120) of the robot (100) based on the lighting of the corresponding light device (130).
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Computer operating programs, recorded; computer peripheral devices; Downloadable computer programs for database management, spreadsheets, word processing; computer hardware; humanoid robots with artificial intelligence; surveying machines and instruments; electric installations for the remote control of industrial operations; computer monitors; downloadable computer application software for mobile phones, namely, software for database management, electronic forms, word processing Mechanical research; cloud computing featuring software for database management, spreadsheet, word processing; consultancy in the design and development of computer hardware; conversion of computer programs and data, other than physical conversion; platform as a service (PaaS) featuring computer software platforms for database management, spreadsheets, word processing; software as a service (SaaS) services featuring software for database management, spreadsheets, word processing; research in the field of artificial intelligence; computer programming; computer system design; providing information relating to computer technology and programming via a web site
Methods and systems for insertion mounting workpieces (20) are provided. A method is provided that includes acquiring a position (62) of the second fitting part (31) of the receiving component (30), moving the first fitting part (21) of the workpiece (20) towards the second fitting part (31) of the receiving component (30) until the workpiece (20) is in contact with the receiving component (30), and rotating the workpiece (20) while pressing the workpiece (20) towards the receiving component (30). The implementation of the present disclosure may be applied for various types of workpieces (20) and receiving components (30) and may overcome minor deviations of positions between the workpiece (20) and the receiving component (30) during the insertion operation, thereby improving the efficiency of the insertion operation.
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Computer operating programs, recorded; computer peripheral
devices; computer programs, downloadable; computer hardware;
humanoid robots with artificial intelligence; surveying
apparatus and instruments; signal lanterns; electric
installations for the remote control of industrial
operations; monitors [computer programs]; downloadable
mobile applications. Mechanical research; cloud computing; consultancy in the
design and development of computer hardware; conversion of
computer programs and data, other than physical conversion;
platform as a service [PaaS]; software as a service [SaaS];
research in the field of artificial intelligence; computer
programming; computer system design; providing information
relating to computer technology and programming via a web
site.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Computer operating programs, recorded; computer peripheral
devices; computer programs, downloadable; computer hardware;
humanoid robots with artificial intelligence; surveying
apparatus and instruments; signal lanterns; electric
installations for the remote control of industrial
operations; monitors [computer programs]; downloadable
mobile applications. Mechanical research; cloud computing; consultancy in the
design and development of computer hardware; conversion of
computer programs and data, other than physical conversion;
platform as a service [PaaS]; software as a service [SaaS];
research in the field of artificial intelligence; computer
programming; computer system design; providing information
relating to computer technology and programming via a web
site.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Computer operating programs, recorded; computer peripheral devices; computer programs, downloadable, for use in database management, use as a spreadsheet, word processing; computer hardware; humanoid robots with artificial intelligence; surveying machines and instruments; signal lanterns, namely, rotating lights; electric installations for the remote control of industrial operations; downloadable and recorded computer programs for monitoring security; downloadable mobile application software for use in database management, use in electronic storage of data Mechanical research; cloud computing featuring software for use in database management, for use as a spreadsheet, word processing; consultancy in the design and development of computer hardware; conversion of computer programs and data, other than physical conversion; platform as a service (PaaS) featuring computer software platforms for use in database management, for use as a spreadsheet, word processing; software as a service (SaaS) featuring software for use in database management, for use as a spreadsheet, word processing; research in the field of artificial intelligence; computer programming; computer system design; providing information relating to computer technology and programming via a web site
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Computer operating programs, recorded; computer peripheral devices; computer programs, downloadable, for use in database management, use as a spreadsheet, word processing; computer hardware; humanoid robots with artificial intelligence; surveying machines and instruments; signal lanterns, namely, rotating lights; electric installations for the remote control of industrial operations; downloadable and recorded computer programs for monitoring security; downloadable mobile application software for use in database management, use in electronic storage of data cloud computing featuring software for use in database management, for use as a spreadsheet, word processing; conversion of computer programs and data, other than physical conversion; platform as a service (PaaS) featuring computer software platforms for use in database management, for use as a spreadsheet, word processing; software as a service (SaaS) featuring software for use in database management, for use as a spreadsheet, word processing; computer programming; providing information relating to computer technology and programming via a web site
80.
ACTUATOR AND ROBOT WITH RELIABLE TORQUE SENSOR ARRANGEMENT
An actuator of a robotic system and a robot are provided. The actuator (10) may include a center shaft (12), an outer shell (11) connected to the center shaft (12), an input flange (14), and an output flange (16) coaxially installed on the center shaft (12), a torque sensor (15) and a motor assembly (13). The input flange (14) and the output flange (16) are radially fixed with at least one of the outer shell (11) and the center shaft (12) through a plurality of bearings (20). The torque sensor (15) is connected between the input flange (14) and the output flange (16). The motor assembly is coupled to the input flange (14). Disturbances transmitted from either side of the torque sensor (15) may be isolated from the torque sensor (15). Therefore, the reliability of the readings of the torque sensor may be improved.
A sealing apparatus for a robot and an articulated robot utilizing the sealing apparatus are provided. The sealing apparatus (100) includes a first enclosure (10) and a second enclosure (20). The second enclosure (20) may be rotatably connected to the first enclosure (10) such that the first enclosure (10) and the second enclosure (20) cooperatively define a gap (50) between the first enclosure (10) and the second enclosure (20). The sealing apparatus (100) may further include a seal (30) disposed in the gap (50) such that the seal (30) and the second enclosure (20) cooperatively define a chamber (331). The sealing apparatus (100) also includes an elastomer (40) disposed in the chamber (331). The elastomer (40) may be compressed by the seal (30) and the second enclosure (20) to generate an elastic force that presses the seal (30) against the first enclosure (10).
A fixing apparatus (100) for fixing a shaft (200) to a mounting part (300) and an actuator (400) of a robot are provided. The fixing apparatus (100) includes an inner ring (110) and an outer ring (120). The inner ring (110) has an outer tapered surface and is arranged to be sleeved on the shaft (200). The outer ring (120) has an inner tapered surface that fits the outer tapered surface of the inner ring (110). The inner ring (110) and the outer ring (120) are both arranged to abut the mounting part (300) in an axial direction of the shaft (200). The outer ring (120) is configured to be detachably fixed to the mounting part (300), and the inner ring (110) is squeezed by the outer ring (120) to grip the shaft (200) in a radial direction when the outer ring (120) is fixed to the mounting part (300).
F16D 1/09 - Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with clamping hubCouplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with hub and longitudinal key with radial clamping due to axial loading of at least one pair of conical surfaces
83.
ROBOT AND GRIPPER WITH SYNTHETIC FIBRILLAR ADHESIVE
Robot (300) and gripper (100) with synthetic fibrillar adhesive. The gripper may include a shell (10) and at least two finger assemblies (20). The finger assemblies are utilized to grasp an object on two opposite sides of the object. Each finger assembly may include a connecting rod (201), a pad portion (202) and a layer of synthetic fibrillar adhesive (203). The connecting rod may be movably connected to the shell. The pad portion may be connected to the connecting rod, and the connecting rod may move the pad portion towards the object under a driving force. The layer of synthetic fibrillar adhesive may be attached to the pad portion. Microfibers of the layer of synthetic fibrillar adhesive may be inclined away from the shell.
A teaching system for a robot(40), including a motion bar(10) for controlling the robot(40) and a robot system(400) utilizing the teaching system. The teaching system includes a first controller(10) configured to provide motion-related control functions for controlling motion of the robot(40), and a second controller(20) configured to provide control functions other than the motion-related control functions for programming one or more actions of the robot(40).
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
Battery making machines; robotic mechanisms [machines] for
lifting; finishing machines; transmissions for machines;
control mechanisms for machines, engines or motors; sorting
machines for industry; machines for processing
pharmaceutical industry; metalworking machines; handling
machines, automatic [manipulators]; kitchen machines,
electric.
Battery making machines; robotic mechanisms [machines] for
lifting; finishing machines; transmissions for machines;
control mechanisms for machines, engines or motors; sorting
machines for industry; machines for processing
pharmaceutical industry; metalworking machines; handling
machines, automatic [manipulators]; kitchen machines,
electric.
Battery manufacturing machines; kitchen machines, namely, electric mixers; pharmaceutical processing industry machine for producing soft gels and hard gelatin capsules; finishing machines in the nature of wood drilling machines and machines for processing plastics; metalworking machines in the nature of machining centers; handling machines, being automatic in the nature of cargo handling machines, and spare parts assembly lines in the nature of a series of machines for assembling spare machine parts in successive stages; industrial robots; manipulators being machines for industrial use in the nature of industrial robots and parts grippers, namely, manipulators for forging presses, forging machines, and spare parts assembly; electric welding machines; industry sorting machines for sorting machine parts and removing non-conforming materials
Battery making machines; Robotized lifting machines for lifting various parts in an assembly line; finishing machines for metal, plastic, and wood; transmissions for machines; control mechanisms for engines or motors in the nature of pneumatic controls ; Industrial Machines for sorting machine parts ; Machine used for process filtration in the pharmaceutical industry; metalworking machines; automatic handling machines in the nature of parts assembly ; Kitchen machines, namely, electric standing mixers
