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Analysis

1.20220307928FORCE SENSOR AND FITTING SYSTEM
US 29.09.2022
Int.Class G01L 5/1627
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
5Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
16for measuring several components of force
161using variations in ohmic resistance
1627of strain gauges
Appl.No 17700192 Applicant SINTOKOGIO, LTD. Inventor Yoshikane TANAAMI

A force sensor includes a force receiver which receives a force or a moment that acts on a detection target part, and a strain element which is provided to a sensor base and which serves as an elastic support that supports the force receiver. The force sensor includes two systems of detecting sections which each independently detect strain of four beam parts of the strain element, two systems of computing circuits which each independently compute, on the basis of a detection result that has been outputted from a corresponding one of the two systems of detecting sections, the force or the moment that acts on the detection target part, and two systems of output sections which each independently output, as an electrical signal, a computation result that has been outputted from a corresponding one of the two systems of computing circuits.

2.20220305663PERCEPTION MAST FOR AN INTEGRATED MOBILE MANIPULATOR ROBOT
US 29.09.2022
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No 17699545 Applicant Boston Dynamics, Inc. Inventor Matthew Turpin

A perception mast for mobile robot is provided. The mobile robot comprises a mobile base, a turntable operatively coupled to the mobile base, the turntable configured to rotate about a first axis, an arm operatively coupled to a first location on the turntable, and the perception mast operatively coupled to a second location on the turntable, the perception mast configured to rotate about a second axis parallel to the first axis, wherein the perception mast includes disposed thereon, a first perception module and a second perception module arranged between the first imaging module and the turntable.

3.20220305662PAINTING ROBOT SYSTEM AND PAINTING METHOD
US 29.09.2022
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No 17582849 Applicant ABB SCHWEIZ AG Inventor Takahiro Tawata

Provided are a painting robot system that may perform painting well not only on a forward path but also on a backward path, and a painting method. An image processing portion (210) included in a painting robot system (11) creates image data for a forward path in a state of having first strip image data of a strip shape corresponding to nozzles (54A) in a first nozzle column (55A) and second strip image data of a strip shape corresponding to nozzles (54B) in a second nozzle column (55B), the image processing portion (210) creates the second strip image data as image data for a backward path in a state of deviating relative to the first strip image data, and the amount of position deviation is set as the following position: the Pth nozzle (54B) in the second nozzle column (54B) lands first relative to the Pth nozzle (54A) in the first nozzle column (54A) with an adjacent landing position at a distance of multiplying the number (N) by twice of the distance (L1).

4.WO/2022/200363ROBOTIC SYSTEM AND METHOD FOR SORTING WASTE WITH AIR FLOW
WO 29.09.2022
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No PCT/EP2022/057513 Applicant TOMRA SORTING GMBH Inventor BALTHASAR, Dirk
The inventive concept is based on the inventors' realization that by providing a sorting device for a robotic system that has two tubes being telescopically arranged and resiliently separated with a springing means, the picking and releasing of heavy objects may be improved. The inventive concept includes a method and system for conducting the sorting with a robotic arm and suction gripping system.
5.WO/2022/203933DYNAMIC TORQUE SATURATION LIMITS FOR ROBOT ACTUATOR(S)
WO 29.09.2022
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No PCT/US2022/020733 Applicant X DEVELOPMENT LLC Inventor WILSON, Robert
Implementations are directed to, for each of one or more joints of a robot, generating dynamic joint torque saturation limits for the joint, such as an upper joint torque saturation value and a lower joint torque saturation value. Implementations are additionally or alternatively directed to utilizing the dynamic torque saturation limits for the joint in generating driving torques and/or to driving a motor (or other actuator) of the joint based on the driving torques. Various implementations can enable regulation of contact forces for a robot in situations where the robot lacks joint torque sensor(s) and/or force torque sensor(s) and/or in situations where such sensor(s) are present, but have failed or are malfunctioning.
6.20220305664ARTICLE PICKUP SYSTEM, ARTICLE PICKUP ROBOT, ARTICLE PICKUP METHOD, AND ARTICLE PICKUP PROGRAM
US 29.09.2022
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No 17699742 Applicant TOYOTA JIDOSHA KABUSHIKI KAISHA Inventor Koichi Ikeda

The article pickup system includes: a camera that is provided in a mobile body capable of moving in an environment where a plurality of articles to be picked up are present and that acquires image data by capturing the plurality of articles; and an article pickup robot that moves in the environment and picks up the plurality of captured articles. The article pickup robot includes: a camera position acquisition unit that detects the camera and then acquires position information of the camera; an article position specification unit that specifies positions of the plurality of articles based on the position information of the camera; a mobile unit that moves to the specified positions; and a pickup unit that picks up the plurality of articles at the positions to which the mobile unit has moved.

7.20220305667SAFETY SYSTEMS AND METHODS FOR AN INTEGRATED MOBILE MANIPULATOR ROBOT
US 29.09.2022
Int.Class B25J 13/08
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
Appl.No 17699542 Applicant Boston Dynamics, Inc. Inventor Michael Murphy

A robot comprises a mobile base, a robotic arm operatively coupled to the mobile base, a plurality of distance sensors, at least one antenna configured to receive one or more signals from a monitoring system external to the robot, and a computer processor. The computer processor is configured to limit one or more operations of the robot when it is determined that the one or more signals are not received by the at least one antenna.

8.WO/2022/199059CONTROL METHOD AND APPARATUS FOR ROBOTIC ARM, AND OPERATION CONTROL DEVICE AND READABLE STORAGE MEDIUM
WO 29.09.2022
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No PCT/CN2021/131202 Applicant UBTECH ROBOTICS CORP LTD Inventor ZHANG, Zhihao
A control method and apparatus for a robotic arm, and an operation control device and a readable storage medium. The control method comprises: after an actual joint angle of a humanoid robotic arm at the current moment and a pose to be implemented are acquired, calculating an original arm angle value of a joint plane, where said pose is located, relative to a corresponding reference plane, and calculating a joint angle set to be corrected that corresponds to the original arm angle value; then, calculating an inverse Jacobian matrix of said pose relative to a robotic arm joint angle, and performing parameter correction on the inverse Jacobian matrix by using a joint singularity avoidance feature limiting condition; and therefore, in combination with a corrected inverse Jacobian matrix, an actual joint angle set and the joint angle set to be corrected, calculating a corresponding target joint angle set for said pose, such that when the humanoid robotic arm is controlled, according to the target joint angle set, to move, the humanoid robotic arm can stably move to achieve a target pose while avoiding a singular position of the robotic arm, thereby enhancing the operability of the humanoid robotic arm.
9.WO/2022/202614LINEAR MOTION MECHANISM, AND HORIZONTAL ARTICULATED ROBOT
WO 29.09.2022
Int.Class B25J 9/06
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
06characterised by multi-articulated arms
Appl.No PCT/JP2022/012309 Applicant FANUC CORPORATION Inventor ITOKAZU, Kenta
A linear motion mechanism (100) is provided with an elongate shaft (6) extending along a prescribed axis (C), a drive mechanism (7) which moves the shaft (6) in the axis (C) direction with a prescribed stroke, a housing (4) which accommodates the drive mechanism (7) and which has an opening (42) allowing at least one end portion (61) of the shaft (6) to project to the outside in such a way as to be capable of moving backward and forward, and a tubular protective cover (13) of which the two ends are fixed to the housing (4) and the end portion (61) of the shaft (6), wherein the protective cover (13) encloses the opening (42) and the part of the shaft (6) that projects outward from the opening (42), expands and contracts in the axis (C) direction in accordance with movement of the shaft (6) relative to the housing (4) in the axis (C) direction, and is fixed to the housing (4) in a position in which a part of the drive mechanism (7) including an end surface through which the shaft (6) projects is disposed inside the protective cover (13).
10.20220305669ROBOT HAND
US 29.09.2022
Int.Class B25J 15/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
Appl.No 17674804 Applicant Honda Motor Co., Ltd. Inventor Hironori WAITA

A robot hand includes: a first link; a first fixed pulley and a second fixed pulley, respectively provided at a proximal end pivot part of the first link and rotatable around a first axis; a second link, supported at an intermediate pivot part by the first link to be rotatable around a second axis; a lever link, supported by the proximal end pivot part of the first link to be rotatable around the first axis; a lever pulley, supported by the lever link; a hanging cable, hung on the first fixed pulley, the lever pulley, and the second fixed pulley; a conversion mechanism, connecting the lever link and the second link, and converting rotation of the lever link into rotation of the second link; and a second link driving mechanism, rotating the lever link around the first axis by pulling the hanging cable.