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Analysis

1.WO/2022/133507BENDING INSTALLATION AND MANIPULATOR WITH ROTATABLE GRIPPER ARRANGEMENT
WO 30.06.2022
Int.Class B25J 5/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
02travelling along a guideway
Appl.No PCT/AT2021/060481 Applicant TRUMPF MASCHINEN AUSTRIA GMBH & CO. KG. Inventor ANGERER, Gerhard
The invention relates to a manipulator (1) for structural parts (2), in particular for sheet metal parts, and to a bending installation (37). The manipulator (1) comprises a base body (4), which can be mounted in a fixed position or is movable along a guide arrangement (3), a first pivot arm (6) coupled pivotably to the base body (4) via a horizontal first pivot axis (5), a second pivot arm (8) coupled pivotably to the first pivot arm (6) via a horizontal second pivot axis (7), and a third pivot arm (10) coupled pivotably to the second pivot arm (6) via a horizontal third pivot axis (9). A first rotation axis (11), running radially with respect to the third pivot axis (9), is formed on the third pivot arm (10). Moreover, a gripper support arm (12), coupled rotatably to the third pivot arm (10) via the first rotation axis (11), is formed, which runs radially with respect to the first rotation axis (11). A gripper arrangement (13) is coupled rotatably to the gripper support arm (12) via a second rotation axis (14), which is spaced apart from the first rotation axis (11).
2.WO/2022/134512FIVE-AXIS ROBOT MOTION PLATFORM AND FIVE-AXIS ROBOT THEREOF
WO 30.06.2022
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/CN2021/102251 Applicant CHENXING (TIANJIN) AUTOMATION EQUIPMENT CO., LTD. Inventor LI, Xingyuan
Provided is a five-axis robot motion platform, relating to the technical field of robotics; the motion platform comprises a driving drive mechanism (1), a driven drive mechanism (2), and a mounting platform (3) used for mounting the driving drive mechanism (1) and the driven drive mechanism (2); the driven drive mechanism (2) is located in the geometric center of the mounting platform (3); the driving drive mechanism (1) is distributed around the periphery of the driven drive mechanism (2); the driving drive mechanism (1) and the driven drive mechanism (2) are driven by gear meshing; comprised are two driving drive mechanisms (1), one is used for controlling the horizontal rotation of the motion platform, and the other is used for controlling the vertical rotation of the motion platform. Each driving drive mechanism (1) surrounds a driven drive mechanism (2); There is no mutual interference between the forward rotation and reverse rotation of the robot and the gripped object and the motion platform; also, the length of the end of the gripper does not need to be increased, and the centered driven drive mechanism evenly bears forces, improving gripping accuracy.
3.WO/2022/138337ROBOT CONTROL DEVICE AND ROBOT SYSTEM
WO 30.06.2022
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/JP2021/046108 Applicant FANUC CORPORATION Inventor INAGAKI Satoshi
Provided is a robot control device capable of reducing a robot vibration amount using machine learning based on a smaller number of operations. In order to perform a task on a target which is moved by a robot, this robot control device according to one aspect of the present invention, which controls robot operation on the basis of an operation program for identifying, via a plurality of pass-through points, a movement path including one or more task intervals in which a task is to be performed, is equipped with: a command value generation unit for generating a command value which dictates the state of the robot at each time on the basis of the operation program; a drive unit for driving the robot according to the command value; a vibration amount acquisition unit for acquiring the amount of vibrations of the robot which is driven by the drive unit at each time; a vibration amount extraction unit for extracting the vibration amount at the time which corresponds to the task interval from among the vibration amounts acquired by the vibration amount acquisition unit, on the basis of the operation program; and a command value correction unit for correcting the command value on the basis of the vibration amount extracted by the vibration amount extraction unit.
4.WO/2022/138502ROBOT SYSTEM, CONTROL METHOD, AND PASSIVE ARM
WO 30.06.2022
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/JP2021/046801 Applicant KAWASAKI JUKOGYO KABUSHIKI KAISHA Inventor FUJISAWA, Shinichi
A robot system (1) comprises: a robot arm (310A, 310B); a passive arm (100, 200) which is engaged and disengaged with the robot arm and which is moved by the robot arm; and a control device (500A, 500B) which controls a first motion and a second motion of the robot arm. The first motion is a motion that is performed by the robot arm to act on an object (VB), and the second motion is a motion that is performed by the robot arm to cause the passive arm to act on the object. In the second motion, the control device executes: interlocking the robot arm and the passive arm; bringing the passive arm into engagement with the object by causing the robot arm to operate the passive arm; and causing the robot arm to operate the passive arm being in engagement with the object so as to cause the passive arm to act on the object.
5.20220202514TORQUE-BASED TRANSITION BETWEEN OPERATING GEARS
US 30.06.2022
Int.Class A61B 34/37
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
Appl.No 17137852 Applicant Ethicon LLC Inventor Chad P. Boudreaux

A surgical tool configured to receive rotary inputs from a robotic surgical system. The surgical tool comprises a distal end effector comprising jaws for clamping tissue therebetween, an intermediate shaft portion coupled to the distal end effector, and a proximal housing coupled to the intermediate shaft portion. The proximal housing comprises an arrangement of rotary drives comprising a first rotary drive. The first rotary drive comprises an input shaft configured to receive a rotary input from the robotic surgical system, a transition nut slidably positioned on the input shaft, and an output gear. The first rotary drive further comprises a high-speed gear configured to selectively drive the output gear, a high-torque gear configured to selectively drive the output gear, and a spring arrangement configured to bias the transition nut along the input shaft from a high-speed operating state to a high-torque operating state upon obtaining a threshold torque.

6.20220203526HUMANOID ROBOT CONTROL METHOD, HUMANOID ROBOT USING THE SAME, AND COMPUTER READABLE STORAGE MEDIUM
US 30.06.2022
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 17504544 Applicant UBTECH ROBOTICS CORP LTD Inventor Jie BAI

A humanoid robot control method, a mobile machine using the same, and a computer readable storage medium are provided. The method includes: mapping posture information of leg joints of a human body to leg joint servos of a humanoid robot to obtain an expected rotation angle and an expected rotation angular velocity of non-target optimized joint servos of the leg joint servos and an expected rotation angle and an expected rotation angular velocity of target optimized joint servos of the leg joint servos; obtaining an optimization objective function corresponding to the target optimized joint servos of the leg joint servos; optimizing the expected rotation angle and the expected rotation angular velocity of the target optimized joint servos to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity of the target optimized joint servos; and controlling each of the leg joint servos of the humanoid robot.

7.20220203563ROBOT HAVING AT LEAST ONE COVERING AND AT LEAST ONE CONTACT SENSOR
US 30.06.2022
Int.Class B25J 19/06
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
06Safety devices
Appl.No 17429008 Applicant KUKA Deutschland GmbH Inventor Markus Wuensch

A robot includes a robot arm having a plurality of motor-driven joints and a plurality of links, each of which interconnect two adjacent joints. At least one of the links has a supporting structural component configured to transmit forces and/or torques from an adjacent joint to the other adjacent joint. The structural component is provided with at least one covering that at least partially covers the structural component and at least one contact sensor. The at least one contact sensor is configured as a switching strip arranged between the structural component and the covering. Movable mounting of the covering on the structural component, which mounting is spring-preloaded into the basic position of the covering, is adjusted by an inherent elasticity of the switching strip.

8.WO/2022/134511MOVING PLATFORM OF SIX-AXIS ROBOT, AND SIX-AXIS ROBOT
WO 30.06.2022
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/CN2021/102244 Applicant CHENXING (TIANJIN) AUTOMATION EQUIPMENT CO., LTD. Inventor LI, Xingyuan
A moving platform of a six-axis robot, relating to the technical field of robots. The moving platform comprises driving mechanisms (1), a driven mechanism (2), and a mounting platform (3) used for mounting the driving mechanisms (1) and the driven mechanism (2), wherein the driven mechanism (2) is located at the geometric center of the mounting platform (3); there are three driving mechanisms (1) distributed around the driven mechanism (2); each driving mechanism (1) is in gear meshing transmission with the driven mechanism (2); and the three driving mechanisms (1) are used for achieving the rotational motion of the moving platform in an X direction, a Y direction, and a Z direction. Due to the circumferential distribution of the driving mechanisms (1), a robot rotates forwardly and reversely, such that there is no mutual interference between a gripped object and the moving platform; moreover, there is no need to increase the length of the tail end of a gripper, such that the driven mechanism located in the middle is subjected to a uniform force, and the gripping accuracy is improved.
9.WO/2022/139026SMART FACTORY COLLABORATION SYSTEM USING AUGMENTED REALITY
WO 30.06.2022
Int.Class G05B 19/418
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
418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
Appl.No PCT/KR2020/018949 Applicant ACEROBOTECH CO., LTD. Inventor CHO, Hee Hwan
The present invention pertains to a smart factory collaboration system using augmented reality and comprises: an operator terminal that displays, on an augmented reality (AR) screen, one or more robots selected from among robots of a smart factory, and when an operator clicks a menu button displayed in the AR screen, allows menu information to be checked on the AR screen; an interface unit configured so that the operator may remotely control the robot; a recognition unit that communicates with the interface unit to recognize an action taken by the operator when the operator controls the interface unit; a control unit that communicates with the recognition unit; an operation unit of the robot to be controlled by communicating with the control unit; and a management server that manages collaboration of the smart factory.
10.WO/2022/140151CONSTRAINED MANIPULATION OF OBJECTS
WO 30.06.2022
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/US2021/063776 Applicant BOSTON DYNAMICS, INC. Inventor AGHASADEGHI, Navid
A computer-implemented method (500) executed by data processing hardware (36) of a robot (10) causes the data processing hardware to perform operations. The robot includes an articulated arm (20) having an end effector (24) engaged with a constrained object (4). The operations include receiving a measured task parameter set (322) for the end effector, including position parameters (P322) defining a position of the end effector. The operations include determining, using the measured task parameter set, at least one axis of freedom and at least one constrained axis for the end effector. The operations include assigning a first impedance value (238) to the end effector along the at least one axis of freedom and a second impedance value (238) to the end effector along the at least one constrained axis. The operations include instructing the articulated arm to move the end effector along the at least one axis of freedom.