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1. 发明授权

EP3192616B1 ROBOT TO PICK UP AND TRANSPORT OBJECTS AND METHOD USING SUCH A ROBOT 有权转让
公开(公告)号：EP3192616B1
公开(公告)日：2024-09-25
申请号：EP16151220.7
申请日：2016-01-14
IPC分类号： B25J5/00 , B25J18/02 , B65G1/04 , B66F9/06 , B66F9/14
CPC分类号： B25J5/007 , B25J18/025 , B66F9/06 , B66F9/063 , B66F9/147 , B65G1/0407

2. 发明公开

EP4431247A1 HUBVORRICHTUNG ZUR VERWENDUNG IN EINEM STERILEN ISOLATIONSBEREICH, ISOLATOR UND PRODUKTIONSANLAGE SOWIE VERFAHREN ZU DEREN BETRIEB 审中-公开
公开(公告)号：EP4431247A1
公开(公告)日：2024-09-18
申请号：EP24157925.9
申请日：2024-02-15
申请人： Syntegon Technology GmbH
发明人： Bäuerle, Johannes , Ilgenfritz, Markus , Nagler, Stefan
IPC分类号： B25J1/08 , A61L2/00 , B25J18/04 , B25J19/00 , F16K41/00
CPC分类号： B25J19/0083 , B25J18/04 , B25J1/08 , A61L2/00
摘要： Die Erfindung betrifft eine Hubvorrichtung zur Verwendung in einem sterilen Isolationsbereich, einen Isolator und eine Produktionsanlage sowie ein Verfahren zu deren Betrieb.

3. 发明授权

EP3401063B1 ARM FOR MULTI-JOINT ROBOT, AND MULTI-JOINT ROBOT 有权转让
公开(公告)号：EP3401063B1
公开(公告)日：2024-07-03
申请号：EP18171266.2
申请日：2018-05-08
IPC分类号： B25J9/00 , B25J18/00
CPC分类号： B25J18/00 , B25J9/0009

4. 发明公开

EP4389363A1 ROBOT 审中-公开
公开(公告)号：EP4389363A1
公开(公告)日：2024-06-26
申请号：EP23216726.2
申请日：2023-12-14
申请人： Seiko Epson Corporation
发明人： KIKUCHI, Takayuki , NAKANISHI, Daisuke , NAGAMATSU, Shoichi
IPC分类号： B25J9/04 , B25J18/00
CPC分类号： B25J9/044 , B25J18/00
摘要： A robot includes a base, a first arm coupled rotatably around a first rotation axis relative to the base, a second arm having a base formed by a frame-shaped member and rotating around a second rotation axis parallel to the first rotation axis relative to the first arm, a shaft placed at an opposite side to the first arm of the second arm, a drive unit rotationally driving the second arm around the second rotation axis relative to the first arm, and a supporting portion supporting the shaft to rotate around a third rotation axis parallel to the second rotation axis and move the shaft along an axial direction of the third rotation axis, wherein the base has a first placement portion in which the drive unit is placed, a second placement portion in which the supporting portion is placed, a first beam placed over between the first placement portion and the second placement portion, and a second beam placed over between the first placement portion and the second placement portion and having a projecting portion projecting toward an axial direction of the second rotation axis relative to the first beam.

5. 发明公开

EP4349549A3 ROBOTIC ARM MOUNT ASSEMBLY INCLUDING RACK AND PINION 审中-实审
公开(公告)号：EP4349549A3
公开(公告)日：2024-06-12
申请号：EP23198387.5
申请日：2023-09-19
申请人： Kubota Corporation
发明人： ANATTASAKUL, Roatchanatam , NG, Pius
IPC分类号： B25J18/02
CPC分类号： B25J18/025
摘要： A robotic arm mount assembly (1) includes a first mount (2) with a main body (12), the main body including a first end and a second end opposed to the first end in an axial direction, the first end including a first mounting portion. The robotic arm mount assembly also includes a motor (3) including a motor body and a motor shaft attached to the motor body, a pinion gear (6) attached to the motor shaft, a rack (5) to be driven by the pinion gear, and a second mount (4) including an extension portion and a second mounting portion.

6. 发明公开

EP4371712A1 CONTROL SYSTEM FOR CONTINUUM ROBOT, AND CONTROL METHOD FOR SAME 审中-实审
公开(公告)号：EP4371712A1
公开(公告)日：2024-05-22
申请号：EP22858377.9
申请日：2022-08-09
申请人： CANON KABUSHIKI KAISHA
发明人： TAKAGI Kiyoshi
IPC分类号： B25J9/10 , B25J17/00 , B25J18/06 , A61B1/005
CPC分类号： A61B1/005 , A61B34/35 , B25J18/06 , B25J17/00 , B25J9/10
摘要： Provided is a mechanism in which, when there are a plurality of drive control units having different back-drivability as drive control units for curving a curvable portion, switching therebetween can be appropriately performed with a reduced burden on an operator. The control system for a continuum robot includes: a kinematics computing unit (230) that calculates a drive amount of the wire being driven by a drive unit from a bending angle of the curvable portion of a continuum robot (100); a low back-drivability drive control unit (251) that controls the drive amount of the wire being driven by the drive unit based on a result of the kinematics computation; a high back-drivability drive control unit (252) with which the drive unit is more easily driven in a reverse direction than in a case of drive control performed by the drive control unit (251) when the curvable portion is subjected to an external force, the drive control unit (252) being configured to control the drive amount of the wire being driven by the drive unit based on the result of the kinematics computation; and a switching control unit (220) that performs control to switch between the drive control unit (251) and the second drive control unit (252) in accordance with a mode signal indicating a drive control unit to be selected or a result of detecting a force applied to the wire.

7. 发明公开

EP4370287A1 HANDHABUNGSVORRICHTUNG ZUM HANDHABEN EINES KRAFTFAHRZEUGKAROSSERIEBAUTEILS 审中-实审
公开(公告)号：EP4370287A1
公开(公告)日：2024-05-22
申请号：EP22740394.6
申请日：2022-07-06
申请人： Dürr Systems AG
发明人： HANNIG, Detlev
IPC分类号： B25J11/00 , B25J18/00 , B05B13/04 , B25J19/00 , B05B14/00 , B05B13/02 , B08B17/06 , B05B15/55
CPC分类号： B25J11/0075 , B25J18/005 , B25J19/0058 , B05B13/0292 , B05B13/0431 , B05B15/55 , B08B5/02

8. 发明公开

EP4316754A1 METHOD AND APPARATUS FOR COMPENSATING BOOM DEFLECTION, AND METHOD AND APPARATUS FOR CONTROLLING BOOM 审中-实审
公开(公告)号：EP4316754A1
公开(公告)日：2024-02-07
申请号：EP22774266.5
申请日：2022-03-23
申请人： Zoomlion Heavy Industry Science and Technology Co., Ltd.
发明人： FU, Ling , PI, Haojie , LIU, Yanbin , YIN, Li , SHE, Lingjuan , YU, Xiaoying
IPC分类号： B25J18/00 , B25J17/00 , B25J17/02
摘要： A method for compensating boom deflection, which comprises: determining a joint angle set of a boom if an end of the boom were to reach a predetermined target position when the boom is viewed as a rigid body, wherein the joint angle set comprises a joint angle of each joint of the boom; determining an actual position that the joint angle set causes the end to reach; determining the deviation between the actual position and the predetermined target position; and when the deviation does not satisfy a predetermined condition, adjusting the joint angle set, and when the deviation determined according to the adjusted joint angle set does not satisfy the predetermined condition, continuing to adjust the joint angle set until the deviation satisfies the predetermined condition. The end of the boom can consequently more accurately reach the predetermined target position. The present invention further relates to a method for controlling a boom, an apparatus for compensating boom deflection, an apparatus for controlling a boom, a construction machine, and a computer-readable storage medium.

9. 发明公开

EP4299030A1 MECHANICAL ARM AND CONTROL METHOD THEREFOR 审中-实审
公开(公告)号：EP4299030A1
公开(公告)日：2024-01-03
申请号：EP22810214.1
申请日：2022-04-07
申请人： Agibot Medtech (Suzhou) Co., Ltd.
发明人： CHENG, Hao , XU, Min
IPC分类号： A61B34/30 , B25J18/00
摘要： The present invention relates to a mechanical arm and a control method therefor. The mechanical arm comprises a spatial positioning mechanism, a planar motion mechanism, and a self-rotating joint that connects the spatial positioning mechanism and the planar motion mechanism, wherein the space positioning mechanism comprises a base and a joint mechanism, the joint mechanism comprises a plurality of joints which are installed in sequence, the joint at the head end of the joint mechanism is installed on the base, and the joint at the tail end of the joint mechanism is rotatably connected to the self-rotating joint; the tail end of the planar motion mechanism is connected to a surgical instrument, and a vertical line of the plane where the planar motion mechanism is located is perpendicular to the rotation axis of the self-rotating joint; the intersection between the rotation axis of the self-rotating joint section and the axis of the surgical instrument is a driving fixed point, so as to conveniently set the driving fixed point; the rotation of the surgical instrument around the driving fixed point does not require the spatial positioning mechanism to move, such that the occurrence of multi-arm collision is reduced; and the infinity solution of the same posture of the surgical instrument can be realized by means of the linkage of the spatial positioning mechanism, the planar motion mechanism and the self-rotating joint, such that the kinematics solution is simple.

10. 发明公开

EP4282602A1 COOPERATIVE ROBOT HAVING IMPROVED ARM STRUCTURE AND METHOD FOR CONTROLLING SAME 无效转让
公开(公告)号：EP4282602A1
公开(公告)日：2023-11-29
申请号：EP22742766.3
申请日：2022-01-13
申请人： Hanwha Corporation
发明人： HONG, Ha Na , LEE, Jong Won
IPC分类号： B25J11/00 , B25J18/00 , B25J9/00 , B25J9/10 , B25J9/16 , B25J19/02
摘要： A cooperative robot according to an embodiment is a cooperative robot including a driver, an arm, and a controller, wherein the arm includes a first plate, a connector arranged on one surface of the first plate and connecting the cooperative robot and the arm to each other, a second plate arranged to be spaced apart from the first plate in a first direction to have one surface facing another surface of the first plate, a loadcell arranged to be in contact with the other surface of the first plate and one surface of the second plate and measuring a load applied in the first direction to transmit the measured load to the controller, at least one support shaft arranged between the first plate and the second plate and extending in the first direction, and a grip gripping an object.

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