95 results about "Articulated robot" patented technology

The present invention provides a vertical articulated robot and robot system capable of improving detection accuracy. [Solution] The device comprises a base, a first drive mechanism connected to the base, a first arm 221 connected to the first drive mechanism and rotating around a pivot axis, a second drive mechanism connected to the first arm 221, a second arm connected to the second drive mechanism, and a motor 700 for driving the second arm. The first arm 221 has a first housing 300 connected to the first drive mechanism, a second housing 400 fixed to the first housing 300 and connected to the second drive mechanism, and an inertial sensor module 600 fixed to the first housing 300 and detecting at least one of acceleration and angular velocity in the first arm 221. The motor 700 is fixed to the second housing 400 or the second arm.

A cooking robot system according to some embodiments of the present disclosure may comprise: a first pot; an articulated robot; and a control unit, wherein the control unit may determine whether to rotate a gripper unit coupled to the articulated robot according to the type of cooking utensil when the cooking utensil is gripped by controlling the movement of the articulated robot.

This invention provides a vertical articulated robot capable of improving operational performance, and a method for assembling a vertical articulated robot. [Solution] The fifth arm 225 has a housing 100, a first bevel gear 300, and a second bevel gear 400, and a flange 500, a reduction gear 510 connected to the flange 500 that amplifies the force received and drives the flange 500, and a fitting member 520 inserted into the reduction gear 510 and detachably fitted to the connection portion 411 of the second shaft portion 410.

To provide a learning device for generating a learning model capable of generating teaching data of an articulated robot.SOLUTION: The learning device includes a setting unit that sets a task including a first target value range for a tip position of the articulated robot and a second target value range for a direction in which the tip position is to be directed, a determination unit that determines whether first tip position information indicating the tip position of the articulated robot after the articulated robot is driven is within the first target value range and whether first direction information indicating a direction of the tip position of the articulated robot is within the second target value range, a learning unit that learns a correspondence relationship among a second tip position of the articulated robot before the articulated robot is driven by a drive control unit, second direction information indicating a direction in which the tip position is directed, a control value, the first tip position information, the first direction information, and a determination result, and an update unit that updates the task when one or more determination results by the determination unit satisfy a predetermined condition.SELECTED DRAWING: Figure 1

An unmanned ground-based hygiene maintenance vehicle, UGV, includes a housing with a base plate, top plate and housing side wall substantially perpendicular to the base plate. Arranged in the housing is at least one wheel drive coupled to at least one wheel in a recess in the base plate. The UGV includes sensors for sensing the environment of the UGV, and a controller for autonomous location and navigation of the UGV based on sensing parameters of the sensors. The UGV includes an articulated robot arm on the top plate of the housing and to support a hygiene maintenance tool. The UGV includes at least one load-receiving element coupled to the housing side wall and extending outwards from the housing side wall, wherein the load-receiving element includes a load support surface for supporting a hygiene maintenance tool supply module with respect to a vertical direction extending transverse to the base plate.

The invention relates to a handling robot, in particular an articulated robot, for a cleanroom environment (12), comprising at least one, in particular multi-axis, robot arm (14), with at least one robot flange (16) arranged at at least one end (18) of the robot arm (14) and provided for a detachable connection with at least one end effector (20), and with at least one robot base (22) on which the robot arm (14) is arranged, in particular movably mounted. It is proposed that the handling robot comprises at least one motion and / or bearing unit (24) on which the robot base (22) is arranged, in particular movably mounted, and which is provided for moving at least the robot base (22) relative to a surface (26).

An articulated robot may include: a first rotating part; a second rotating part rotatably connected to the first rotating part; a connector connecting the first rotating part and the second rotating part, where a first connector hole and a second connector hole are defined in the connector; and a stopper including a portion detachably inserted into each of the first connector hole and the second connector hole. The stopper includes: a main body including the portion inserted into each of the first connector hole and the second connector hole; a support disposed under the main body, where a support hole is defined in the support; and a fastener including a portion detachably inserted into the support hole.

The invention relates to the technical field of face cleaning, in particular to a face cleaning robot self-adaptive smooth cleaning method, which comprises the following steps: acquiring a face RGB-D image; face feature points are extracted, and a polygon vertex set is constructed based on the outermost layer feature points of the face; acquiring a face region pixel set by using a scanning line filling algorithm, and performing pixel point cloud conversion; face cleaning zoning is carried out; utilizing the local point cloud set, the PCA normal vector and normal vector direction normalization to extract the local curved surface normal vector of the human face; carrying out kinematics constraint on the attitude; and performing force-position hybrid control and active obstacle avoidance safety control on the error. According to the method, the face cleaning task of the joint type robot and safety control in the task process are achieved.

A motion unit of the disclosed gait training system comprises: a support unit including an actuator support portion having a predetermined height; and an actuator including a first link having one end connected to the actuator support portion by a first joint, a second link having one end connected to the other end of the first link by a second joint, and a foot plate connected to the other end of the second link by a third joint, wherein a first driving motor for rotating the first link with respect to the actuator support portion is installed at the first joint, a second driving motor for rotating the second link with respect to the first link is installed at the second joint, and a third driving motor for rotating the footrest with respect to the second link is installed at the third joint.

To provide an inspection device of a bottom surface of a transformer tank capable of reducing a burden of a worker and stabilizing inspection quality.SOLUTION: The inspection device 100 inspects the coating state of the bottom surface of the transformer tank 200. The inspection device 100 includes an imaging unit 180 configured to be capable of imaging the bottom surface of the transformer tank 200 after being coated, and an image processing unit 162 that automatically inspects the coating state of the bottom surface of the transformer tank 200 by performing predetermined image processing on an image for inspection captured by the imaging unit 180. The imaging section 180 includes an articulated robot 110 to which a wrist unit 170 is attached, an image sensor 120 attached to the distal end of the wrist unit 170, and an imaging control section 161 that controls the articulated robot 110 and the image sensor 120.SELECTED DRAWING: Figure 1

Reduce the turning radius of an articulated robot. [Solution] The articulated robot (articulated robot 1) comprises a manipulator 3 with a serial link structure having at least a first joint JT2 that rotates around a first axis Ax2 and a second joint JT3 that rotates around a second axis Ax3 that is parallel to the first axis, a first wire body (harness 5) laid along the manipulator on a first side in the direction in which the first axis and the second axis extend, and a second wire body (hose 6) laid along the manipulator on a second side opposite the first side across the manipulator in the direction in which the first axis and the second axis extend.

An articulated robot (1) comprises: a manipulator (3) of a serial link structure having at least a first joint (JT2) that rotates around a first axis (Ax2) and a second joint (JT3) that rotates around a second axis (Ax3) parallel to the first axis; a first linear body (5) laid along the manipulator on a first side in a direction in which the first axis and the second axis extend; and a second linear body (6) laid along the manipulator on a second side opposite from the first side across the manipulator in the direction in which the first axis and the second axis extend.

A vertical articulated robot comprises: a first arm; a second arm coupled to a distal end of the first arm, configured to rotate about a first axis of rotation with respect to the first arm, and extending along the first axis of rotation; and a third arm coupled to a distal end of the second arm and configured to rotate about a second axis of rotation with respect to the second arm. The second arm comprises: a housing coupled to the first arm; and a first cable exit section and a second cable exit section arranged on the housing.The first cable exit section directs a first cable out of the housing, with the first cable being routed from the inside of the first arm to the inside of the housing, and the second cable exit section directs a second cable out of the housing, with the second cable being routed from the inside of the first arm to the inside of the housing. The first cable exit section and the second cable exit section are arranged so that they are opposite each other across the first axis of rotation.

In a configuration that allows wiring to be routed from the second arm, this invention provides a vertical articulated robot that offers excellent weight balance of the second arm and effectively suppresses a decrease in operational performance. [Solution] The vertical articulated robot has a first arm, a second arm connected to the tip of the first arm and rotating relative to the first arm around a first pivot axis and extending along the first pivot axis, and a third arm connected to the tip of the second arm and rotating relative to the second arm around a second pivot axis. The second arm has a housing connected to the first arm, a first wiring outlet located in the housing that pulls out first wiring routed from inside the first arm into the housing, and a second wiring outlet that pulls out second wiring routed from inside the first arm into the housing. The first wiring outlet and the second wiring outlet are arranged opposite each other via a first pivot axis.

[Problem] To realize a technique with which it is possible to appropriately determine the internal structure of a three-dimensional object. [Solution] This solid object fabrication system 1 comprises a head 21, an articulated robot 22, a structure determination unit 153, a route generation unit 154, a head movement control unit 155, and a discharge control unit 156. The head 21 discharges a fabrication material for fabricating a solid object. The articulated robot 22 moves the head 21. The structure determination unit 153 determines the structure of the solid object, which includes an internal structure, on the basis of three-dimensional data pertaining to the solid object. The route generation unit 154 sets, on the basis of the structure determined by the structure determination unit 153, a tool path over which one built-up layer of the solid object including the internal structure is produced in an unbroken action. The head movement control unit 155 and the discharge control unit 156 move the head 21 by using the articulated robot 22 and cause the head 21 to discharge the fabrication material in accordance with the tool path generated by the route generation unit 154.

This invention discloses an adaptive machining device and method for precision copper tubes of various specifications. The device includes an articulated robot, an end effector, a vision system, and a control system. The method includes planning the insertion depth and gripping posture of the copper tube based on its outer diameter and effective gripping length; when the copper tube reaches the insertion depth, controlling the articulated robot to perform a preset tilting motion so that the copper tube slides along a support rod, with axial limiting and centering achieved by a retaining ring; monitoring the relative posture of the end effector and the spindle hole in real time, dynamically adjusting the motion trajectory of the articulated robot; and feeding the copper tube into the spindle hole and clamping it by the machine tool when the end effector and the spindle hole are aligned. After machining is completed, controlling the end effector to align again and insert into the spindle hole, activating the air-blowing chip removal component to blow away copper chips, and transferring the copper tube to the unloading station. This invention can dynamically adjust the robot's motion trajectory to ensure precise alignment between the copper tube and the spindle hole, improving machining accuracy and production efficiency.

An apparatus for mounting a component includes an articulated robot mounting a component on a replacement target where the component is provided at a mounting position, a first sensor unit provided in the articulated robot and sensing the mounting position or whether or not the component is provided, a second sensor unit provided in the articulated robot and sensing spaced distances between the articulated robot and the mounting position at a plurality of points, and a control unit controlling the articulated robot to mount the component on the replacement target and controlling a position of the articulated robot so that a difference between spaced distance values between the articulated robot and the plurality of points sensed by the second sensor unit converges to zero, when the component is not sensed or a surface of the mounting position is sensed by the first sensor unit.

This invention provides a gripper for an articulated robot, belonging to the field of articulated robot technology. It solves the problem that existing robotic arms can only grasp regularly shaped spherical objects, and the gripping strength is relatively low. This gripper for an articulated robot includes a mounting plate located at the wrist of the robot's end effector. A first finger cylinder is fixedly connected to the mounting plate. The first finger cylinder includes two symmetrically arranged first gripping fingers, each with a first clamping plate fixedly connected to it. Each first clamping plate has two first clamping plungers spaced apart, with the inner end of each first clamping plunger protruding from the inner side of the corresponding first clamping plate. The first gripping fingers and the first clamping plungers are staggered. This gripper for an articulated robot has the advantages of being able to grasp irregularly shaped ball joints and other similar parts, and providing a high degree of gripping strength.

The invention discloses carbon steel frame carrying equipment which comprises a welding ground rail, a tool clamp, a six-axis joint robot and a PLC control system, the welding ground rail comprises a rack and a sliding table, the rack is fixed to the ground through a plurality of bottom feet arranged on the lower portion of the rack, a linear rail is arranged on the rack, the sliding table is installed on the linear rail, and the welding ground rail is connected with the tool clamp. The sliding table can horizontally move in a reciprocating mode along the linear track, the six-axis joint robot base is fixed to the sliding table, a connecting flange is arranged at the tail end of the top of the six-axis joint robot, and the tool clamp is installed at the top of the six-axis joint robot through the connecting flange. The PLC control system is in communication connection with the welding ground rail, the tool clamp and the six-axis joint robot at the same time through an industrial bus. In this way, the requirement for efficient and accurate carrying of the carbon steel frame can be met, workpieces are automatically carried to the designated position, and potential safety hazards caused by manual heavy object carrying are reduced.

The present invention provides a rod gripping device and system that can stably grip a rod even when its mass increases, as well as a method for handling a rod to safely grip and / or release it. [Solution] The first bar gripping device 5a comprises an articulated robot 109a and a first bar gripping section 13a connected to the tip of the articulated robot 109a. The first bar gripping section 13a includes a first gripping right section 63aa that rotates from one side of the bar B to support the other side of the bar B, and a first gripping left front section 63ab1 that is positioned adjacent to the first gripping right section 63aa in a direction substantially perpendicular to the direction in which the first gripping right section 63aa rotates, and rotates from the other side of the bar B to support the one side of the bar B so as to overlap with the first gripping right section 63aa.

Robots, exhibiting: an articulated robot arm configured to operate within a work area of ​​the robot arm; an end effector arranged on the robot arm, wherein the end effector has a gripper configured to grasp an object; a first imaging system comprising a first imager positioned at the end effector and configured to capture images in a first direction; a second imaging system comprising a second image sensor located at the end effector and configured to acquire images in a second direction orthogonal to the first direction; and a control unit configured to: Control either the first image sensor or the second image sensor to obtain a set of stereo images of a target positioned in the workspace; Determining the position of the end effector relative to the target based on images of the target; Determining a position of the end effector relative to the object based on the determined position of the end effector relative to the target and a position of the target relative to the object; and Controlling robot movement based on the determined position of the end effector relative to the object.

This utility model discloses an articulated robot, relating to the field of robot technology. The articulated robot includes a crossbeam, a moving part, and a robotic arm assembly. The technical solution of this utility model involves setting up a crossbeam for easy mounting on a production line, and mounting the robotic arm assembly on the crossbeam via the moving part. Due to the power output of the first and second drive groups, the robotic arm assembly can easily move along the crossbeam or along the direction of the telescopic part. Control is achieved through the vertical movement control of the robotic arm assembly, ensuring stability in grasping on the production line. Furthermore, the control of the moving part on the crossbeam ensures sufficient movement space for the robotic arm assembly, improving its working efficiency. Simultaneously, the telescopic part restricts the direction of movement of the robotic arm assembly under the power output of the second drive group, ensuring the stability of the robotic arm assembly's movement.

The agricultural machinery equipment component laser additive repairing equipment comprises a walking trolley and an additive printing device, and a joint robot is installed on a trolley body of the walking trolley; the additive printing device comprises a laser printing head and a powder supply mechanism for supplying powder to the laser printing head, the powder supply mechanism is installed on a trolley body of the walking trolley, and the laser printing head is installed at the tail end of the joint robot. The walking trolley is adopted as a moving platform, the additive manufacturing device is integrated on the walking trolley, directional transfer of repairing equipment to a field operation scene is achieved, and therefore on-site online repairing of agricultural machinery components is supported. And meanwhile, the multi-degree-of-freedom movement flexibility of the joint robot is utilized, so that a printing head can be accurately matched with and repair a complex space curved surface damaged part, and the remanufacturing capacity and the process adaptability of a complex structural part in a field environment can be effectively improved.

Provided is a conveyance device comprising an articulated robot arm and capable of reducing manufacturing cost. The conveyance device 1 carries a workpiece 101 into or out from an external device, and comprises: a guide rail 2 disposed above the external device; a carrier 10 that can freely reciprocate on the guide rail 2; one articulated robot arm 30 mounted on the carrier 10; and a temporary placement carriage 40 that can freely reciprocate on the guide rail 2 and is connected to the carrier 10. In addition, the temporary placement carriage 40 comprises: a first temporary placement part for temporarily placing the workpiece 101 carried out from the external device by the robot arm 30; and a second temporary placement part for temporarily placing a workpiece to be carried into the external device by the robot arm 30.

MULTI MODAL ROBOT TRAINING USING CGI VIDEOS An articulated Robot herein referred to as an automated system is typically deployed in industrial environments to perform critical tasks at high speed and accuracy. They require to be trained at many different tasks such as loading, unloading, gripping & releasing an object to name a few. Modern Robots have capabilities to learn by observing a human or another Robot perform the sequence of tasks and record the movements to formulate a control plan based on the tasks to be executed by the automated system henceforth referred to as a Robot, with the aid of a computer. However such methods are time consuming and prone to errors. The present invention discloses a solution that utilises a computer-generated imagery (CGI) video in combination with Computer aided design (CAD) process, to enable the generation of a control program for a Robot as contained in the CGI input. Further, machine learning, reinforced learning, Generative Artificial Intelligence and predictive analytics are incorporated within the control program, to help enhance the performance of the control program by fine tuning the operating models for efficient and quick deployment of Robots in different manufacturing environments. The control program may subsequently be used to evaluate the robot's performance and provide feedback for recalibrating the robot control program.

Give robots more flexibility in how they work. [Solution] The control system 1 includes an articulated robot 30 and a control device 70. The articulated robot 30 has a robot arm 32 that moves from a first position to a second position, and a plurality of gripping members 313 that are moved together by the robot arm 32 to grip ingredients. The control device 70 controls the second gripping member 313 of the articulated robot 30 to grip the ingredient while the first gripping member 313 of the articulated robot 30 is gripping the ingredient, while the robot arm 32 keeps the first gripping member 313 and the second gripping member 313 positioned at the first position.

Robot system that includes the following an articulated robot arm (110) which includes a first arm section (120) which is mounted on a first rotary joint (125) at a near end (PE1) of the first arm section (120), wherein the first rotary joint (125) has an axis of rotation (RA1) that is aligned along a z-axis direction, such that the first arm section (120) moves about the first rotary joint (125) in an xy-plane that is perpendicular to the z-axis, wherein the first arm section (120) has a second pivot connection (135) located at a remote end (DE1) of the first arm section (120), wherein the axis of rotation (RA2) of the second rotary joint (135) is essentially aligned along the z-axis direction; a second arm section (130) which is mounted on the second pivot point (135) at a near end (PE2) of the second arm section (130), such that the second arm section (130) moves about the second pivot point in an xy-plane which is substantially perpendicular to the z-axis; and a motion control system (140) configured to control an end tool position (ETP) of an end tool (ETL) with an accuracy level defined as robot accuracy, based at least partially on sensing and controlling the angular positions of the first and second arm sections (130) to control the first and second rotary joints, respectively, using position sensors (SEN1, SEN2) incorporated in the articulated robot (110); and a determination system (150) for additional measurement position coordinates, which in turn comprises the following a first image acquisition configuration (160) comprising a first camera (CAM1), wherein the first image acquisition configuration (160) has an optical axis (OA1) that is substantially parallel to the z-axis and has a focus area along its optical axis (OA1); an XY scale (170) comprising a substantially planar substrate (SUB) oriented substantially perpendicular to the z-axis and several corresponding mapping features (IIF, AIF) distributed on the substrate (SUB), wherein the corresponding mapping features (IIF, AIF) are located at corresponding known XY scale coordinates on the XY scale (170); an image trigger section (181) configured to input at least one input signal belonging to the end tool position (ETP) and to determine the time of a first image acquisition trigger signal based on the at least one input signal and to output the first image acquisition trigger signal to the first image acquisition configuration (160), wherein the first image acquisition configuration (160) is configured to acquire a digital image of the XY scale (170) at an image acquisition time in response to receiving the first image acquisition trigger signal, and a metrology position coordinate processing section (190) configured to input the captured image and to identify at least one corresponding mapping feature (IIF, AIF) of the XY scale (170) contained in the captured image and the associated corresponding known XY scale coordinate location, wherein the determination system (150) for additional measurement position coordinates is configured such that one movable element from the XY scale (170) or the first image acquisition configuration (160) is coupled to the second arm section (130) near the remote end (DE2) of the second arm section (130) and the other is coupled to a stationary element (STE), wherein the location of the XY scale (170) along the z-axis is within the focus area of ​​the first image acquisition configuration (160) and the stationary from the XY scale (170) or the first image acquisition configuration (160) defines a first reference position (REF1); the determination system (150) for additional metrology position coordinates is configured such that the metrology position coordinate processing section (190) is configured to determine a relative position between the movable from the XY scale (170) or the first image acquisition configuration (160) and the first reference position (REF1) with an accuracy level better than the robot accuracy, based on determining an image position of the identified at least one corresponding imageable feature (IIF, AIF) in the acquired image; and the specific relative position specifies the metrology position coordinates of the end tool position (ETP) at the time of image acquisition with an accuracy level that is better than the robot accuracy, at least for x and y metrology position coordinates in an xy plane that is perpendicular to the z-axis.

A robot control device (1) comprises the following: a feedforward model computation unit (13) that receives a commanded position as an input and computes a state variable of a preconfigured feedforward model based on the feedforward model; a dynamic approximation model derivation unit (12) that receives a representative pose of an articulated robot as an input and derives a dynamic approximation model that approximates a dynamic model of the articulated robot in the representative pose of the articulated robot; a first feedforward transformation unit (15) that computes a motor position feedforward value, which is a motor position obtained by performing coordinate transformation from the state variable of the feedforward model to a motor position in the dynamic approximation model; and a servo control unit (16) that controls a motor in the direction of a target position.which is the motor position feedforward value output by the first feedforward transformation unit (15).

Systems and methods for manufacturing with an end effector are provided. The end effector includes a coupling device configured to be functionally coupled to a robot arm of an articulated robot; a first tool arm and a second tool arm coupled to and extending from the coupling device, each of the first and second tool arms configured to independently and controllably extend and retract from and from the coupling device, and configured to controllably rotate relative to the coupling device; a first tool functionally coupled to the first tool arm and configured to independently perform a first manufacturing task, the first tool configured to controllably rotate relative to the first tool arm; and a second tool functionally coupled to the second tool arm and configured to independently perform a second manufacturing task, the second tool configured to controllably rotate relative to the second tool arm.