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Analysis

1.WO/2022/131962METHOD FOR DETERMINING THE DEFORMATION OF STRUCTURAL ELEMENTS OF A DELTA ROBOT
WO 23.06.2022
Int.Class B25J 19/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Appl.No PCT/RU2021/050409 Applicant OBSHCHESTVO S OGRANICHENNOI OTVETSTVENNOSTIU "MOLODAYA, DINAMICHNO RAZVIVAUSHCHAYASYA KOMPANIYA" Inventor NEVOLIN, Aleksandr Olegovich
The invention relates to the field of measuring technology, and more particularly to means for measuring deformations of the structural elements of devices, preferably delta robots, occurring only during motion. The present method for determining the deformation of an arm of a delta robot occurring only during motion is characterized in that a source of laser light is pre-mounted on one end of an arm, and a grid of photodiodes is mounted on the other end of said arm, wherein the laser light source and the photodiode grid are mounted in such a way that in the absence of deformation of the arm, the laser light source points towards the centre of the photodiode grid; the delta robot is then set in motion and, directly during said motion, the position of the laser light source relative to the centre of the photodiode grid is determined; if displacement of the laser light source relative to the centre of the photodiode grid is detected, the presence of deformation of the arm is established. The invention makes it possible to increase efficiency and reduce operating costs when determining the deformation of an arm of a delta robot during motion.
2.WO/2022/128211MACHINE TOOL SYSTEM AND METHOD FOR CONTROLLING A MOBILE MACHINE TOOL
WO 23.06.2022
Int.Class G05B 19/4093
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
4093characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
Appl.No PCT/EP2021/079031 Applicant HILTI AKTIENGESELLSCHAFT Inventor LUKIC, Sasha
The invention relates to a machine tool system (10) for a construction site (38), comprising: a mobile machine tool (12), in particular a construction robot, preferably for use in construction above and below ground, the mobile machine tool (12) being designed for work, in particular with a tool (14), at at least one working position (50) of the construction site (38); a control unit (20) for controlling the mobile machine tool (12), comprising a microprocessor unit (21) and a program code memory unit (22) in which program code which can be executed on the microprocessor unit (21) can be stored; and a component data memory unit (24) in which at least one component data set for at least one component (44) to be used on the construction site (38) can be stored, wherein the control unit (20) is designed to determine the working position (50) using a component data set stored in the component data memory unit (24). The invention also relates to a method (100) for controlling a mobile machine tool (10). With the invention, subsequent damage owing to improper installation of components (44) can be avoided.
3.WO/2022/128421DEVICE FOR HANDLING CLOSURES INSIDE A CLEAN ROOM, A CLEAN ROOM COMPRISING A CORRESPONDING DEVICE, AND A METHOD FOR HANDLING CLOSURES INSIDE A CLEAN ROOM
WO 23.06.2022
Int.Class B25J 9/00
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
Appl.No PCT/EP2021/083270 Applicant SYNTEGON TECHNOLOGY GMBH Inventor NAGLER, Stefan
The invention relates to a device (10) for handling closures (12) inside a clean room, in particular in a sterile environment, to a clean room comprising a corresponding device (10) and to a method for handling closures (12) inside a clean room, in particular in a sterile environment.
4.WO/2022/130386A CATERPILLAR APPARATUS FOR MOVING ALONG A SURFACE
WO 23.06.2022
Int.Class A47L 11/38
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
38Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
Appl.No PCT/IL2021/051500 Applicant COHEN, Assaf Inventor COHEN, Assaf
A caterpillar assembly for moving along a non-horizontal surface comprising a track, a moving system, and a plurality of vacuum grippers successively arranged along the track configured be attached to the non-horizontal surface by means of vacuum and move with respect to the track by means of the moving system to advance the caterpillar assembly along the non-horizontal surface.
5.WO/2022/129531APPARATUS AND METHODS FOR MANIPULATING PLATES
WO 23.06.2022
Int.Class B65H 9/10
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
9Registering, e.g. orientating, articles; Devices therefor
10Pusher or like movable registers; Pusher or gripper devices which move articles into registered position
Appl.No PCT/EP2021/086502 Applicant XEIKON PREPRESS N.V. Inventor WATTYN, Bart Marc Luc
An apparatus for aligning an edge, typically a leading edge of a plate, in particular a printing plate or a printing plate precursor, said apparatus comprising a support (100) configured for supporting the plate on a support surface, and intended to be located upstream of a treatment station; at least two movable elements (501, 502) arranged to be moved by an edge, typically a leading edge, of the plate, said at least two movable elements comprising a first and a second movable element; a detection means (601, 602) configured to detect a first and second measure representative for a first and second position of the first and second movable element, respectively, at least one controllable component (100, 250) configured to perform an action on the plate; and a control means (700) configured to control the at least one controllable component based on the first and second measure.
6.WO/2022/131172COMMAND VALUE CORRECTION DEVICE AND ROBOT SYSTEM
WO 23.06.2022
Int.Class B25J 9/10
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
10characterised by positioning means for manipulator elements
Appl.No PCT/JP2021/045662 Applicant FANUC CORPORATION Inventor HARADA Kunihiko
Provided is a command value correction device that can reduce positioning error for a robot. A command value correction device according to one embodiment of the present invention corrects a command value for directing the posture of a multi-jointed robot that positions a distal-end section of an arm that has a plurality of joints, the device comprising: a robot model setting unit that sets a robot model that represents the multi-jointed robot with an elastically deformable model; a support model setting unit that sets a support model that represents a support, to which the multi-jointed robot is fixed, with an elastically deformable model; a force calculation unit that calculates force exerted on the support by the weight of the multi-jointed robot if the posture of the multi-jointed robot follows the command value prior to correction; and a correction unit that corrects the command value so as to cancel out elastic deformation of the support model due to the force calculated by the force calculation unit.
7.WO/2022/127962HANDLING SYSTEM WITH EXTERNAL CONTROL ASSEMBLY
WO 23.06.2022
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/DE2021/000208 Applicant ZIMMER, Martin Inventor ZIMMER, Martin
The invention relates to a handling system comprising an industrial robot which has at least one handling device and comprising an industrial robot controller. The individual handling device has a handling tool and an electronic assembly with at least one computing unit and at least one wireless module. The invention also relates to a method for operating such a handling system. The industrial robot controller is connected to an external control assembly by means of a binary signal interface for the purpose of bidirectional communication. The external control assembly has a bidirectional wireless serial interface for the handling device, said interface being designed as a signal and data interface. The handling device and/or the external control assembly has at least one interface surface of a temporary data interface, wherein the data interface can be locked from the signal interface at least for incoming data. Within the handling device, the computing unit is connected to at least one force-based sensor system and/or at least one stroke-based sensor system in a hardwired manner. By virtue of the invention, a handling system with a largely universally applicable actuation of the handling device is developed.
8.WO/2022/131412FINGER MOVEMENT ASSIST APPARATUS
WO 23.06.2022
Int.Class A61H 1/02
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
1Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones 
02Stretching or bending apparatus for exercising
Appl.No PCT/KR2020/018724 Applicant KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY Inventor PARK, Hyung-Soon
A finger movement assist apparatus according to one embodiment may comprise: a palm support installed so as to surround a portion of the back of a hand and a wrist; an extension assist unit having one side fixed to the middle phalanx of a finger and the other side connected to the palm support to assist with an extension movement of the finger through an elastic force between both ends; and a flexion assist unit including a distal phalanx support mounted on the distal end of the finger, and a first flexion wire and a second flexion wire which are mounted on a part of the finger and assist with a flexion movement of the finger by receiving a tensile force from the outside.
9.WO/2022/129566CO-HANDLING ROBOT HAVING A MIXED-FORCE CONTROL LAW PROVIDING HIGH EFFECTOR SENSITIVITY AND ENABLING INTERACTION WITH THE BODY OF THE ROBOT
WO 23.06.2022
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/EP2021/086585 Applicant COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES Inventor LAMY, Xavier
Disclosed is a co-handling robot having a mixed-forced control law providing high effector sensitivity and enabling interaction with the body of the robot. The invention essentially consists in carefully positioning a multi-axis force sensor between the end member (flange) of an industrial co-handling robot and the tool supported thereby, and in modifying an increased force control law implemented in the robot controller by introducing a saturation function.
10.WO/2022/130931REMOTE CONTROL SYSTEM, CONTROL METHOD FOR REMOTE CONTROL SYSTEM, AND REMOTE CONTROL PROGRAM
WO 23.06.2022
Int.Class B25J 3/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
3Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Appl.No PCT/JP2021/043261 Applicant KAWASAKI JUKOGYO KABUSHIKI KAISHA Inventor AZUMA Kentaro
A remote control system 100 comprises: an manipulation device 2 which is manipulated by a user; a robot 1 which acts on a workpiece W in response to an operation of the manipulation device 2; a tactile force sensor 13 which is provided to the robot 1 and which is for detecting an operating condition of the robot 1; an imaging device 71 which captures an image of the robot 1 and/or the workpiece W; a display device 8 which displays an image captured by the imaging device 71 and provides said image to the user who manipulates the manipulation device 2; and a control device 3 which, on the basis of a detection result of the tactile force sensor 13, executes operational control on the robot 1 and/or the manipulation device 2. In order to reduce time-lag in displaying of the captured image by the display device 8 in response to the operational control, the control device 3 delays the operational control.