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1. 发明授权

US06322508B1 Automated meat grading method and apparatus 失效
标题翻译：自动肉分级方法和装置
公开(公告)号：US06322508B1
公开(公告)日：2001-11-27
申请号：US09121186
申请日：1998-07-23
申请人： Andrew A. Goldenberg , Nenad Kircanski , Ziren Lu
发明人： Andrew A. Goldenberg , Nenad Kircanski , Ziren Lu
IPC分类号： A61B800
CPC分类号： A22B5/007
摘要： The present invention relates to an automated grading process and apparatus for grading an animal carcass. The process includes the steps of generating and receiving signals; determining the location of the ribs in the carcass therefrom; determining a predetermined reference point on the carcass; determining a probing location; and probing the carcass. As an example the predetermined reference point may be the first rib and the probe location may be between the third and fourth ribs. The present invention also includes a method for determining the location of the ribs and a method for determining the first rib. The apparatus includes a base, a clamping sub-system for positioning the carcass and a sensing-probing subsystem. The sensing-probing subsystem includes a signal generator and a signal receiver each directed at the clamped carcass; a method of determining the location of the ribs; a method of determining a predetermined reference point on the carcass; a method of determining a probing location; and a probe. The probe is attached to a robotic arm.
摘要翻译：本发明涉及一种用于分级动物体的自动化分级方法和装置。该过程包括产生和接收信号的步骤; 确定所述胎体中的所述肋的位置; 确定所述屠体上的预定参考点; 确定探测位置; 并探测尸体。作为示例，预定参考点可以是第一肋，并且探针位置可以在第三肋和第四肋之间。本发明还包括用于确定肋的位置的方法和用于确定第一肋的方法。该装置包括基座，用于定位胎体的夹紧子系统和感测探测子系统。感测探测子系统包括信号发生器和信号接收器，每个信号发生器和信号接收器均指向被夹持的胎体; 确定肋骨位置的方法; 确定胎体上的预定参考点的方法; 确定探测位置的方法; 和探针。探头连接到机械臂。

2. 发明授权

US06347259B1 High precision positioning device and method of operating same 失效
标题翻译：高精度定位装置及其操作方法
公开(公告)号：US06347259B1
公开(公告)日：2002-02-12
申请号：US09283150
申请日：1999-04-01
申请人： Andrew A. Goldenberg , Nenad Kircanski , Prakash Naidu
发明人： Andrew A. Goldenberg , Nenad Kircanski , Prakash Naidu
IPC分类号： G06F700
CPC分类号： G05B19/404 , G05B19/401
摘要： A high precision positioning device includes an end effector and a platen spaced therebelow for receiving a workpiece. One of the end effector and the platen is moveable in the X-Y plane. One of the end effector and the platen is moveable in the Z direction. The device includes senors for sensing the position of the end effector in the X, Y and Z directions relative to the platen. The apparatus includes a control system for controlling the movement of the end effector relative to the platen and adjusting the position of the end effector relative to the X. Y and Z position as sensed by the sensors. Preferably the platen is generally parallel to the X-Y plane and the Z direction is normal to the platen. Preferably the control system uses a position, velocity and acceleration control system for controlling the movement in the X and Y direction and an impedance control system for controlling the movement in the Z direction. The method of operating the high precision positioning device uses a host computer and an embedded computer. The method includes the steps of receiving and checking data; sending and decoding the checked data and determining when a move command appears; instructing a move command and determining set-point data for the move command; sending set-point data to regulator task module and sending data from the positional sensors to the regulator task module; determining the control parameters in the regulator task module and activating the motors to move the end effector.
摘要翻译：高精度定位装置包括末端执行器和在其下方间隔开的用于接收工件的压板。端部执行器和压板中的一个可在X-Y平面中移动。端部执行器和压板中的一个可在Z方向上移动。该装置包括用于感测端部执行器相对于压板的X，Y和Z方向上的位置的传感器。该装置包括控制系统，用于控制端部执行器相对于压板的移动，并且调节端部执行器相对于由传感器感测的X.Y和Z位置的位置。优选地，压板大致平行于X-Y平面并且Z方向垂直于压板。优选地，控制系统使用位置，速度和加速度控制系统来控制X和Y方向上的运动，以及阻抗控制系统，用于控制在Z方向上的移动。操作高精度定位装置的方法使用主计算机和嵌入式计算机。该方法包括接收和检查数据的步骤; 发送和解码所检查的数据并确定何时出现移动命令; 指示移动命令并确定移动命令的设定点数据; 将设定点数据发送到调节器任务模块，并将数据从位置传感器发送到调节器任务模块; 确定调节器任务模块中的控制参数并激活电机以移动末端执行器。

3. 发明授权

US06353774B1 High precision vision guided positioning device 失效
标题翻译：高精度视觉引导定位装置
公开(公告)号：US06353774B1
公开(公告)日：2002-03-05
申请号：US09667670
申请日：2000-09-22
申请人： Andrew A. Goldenberg , Nenad Kircanski , Sasan Raghibizadeh
发明人： Andrew A. Goldenberg , Nenad Kircanski , Sasan Raghibizadeh
IPC分类号： G06F1900
CPC分类号： G01N35/1074 , B25J9/026 , B25J19/023 , G01N35/0099 , G01N35/028 , G01N35/109 , G01N2035/1037 , Y10T29/49831 , Y10T29/53004
摘要： A positioning device includes a gantry robot and an elevator unit. The gantry robot includes a head assembly, a work-space spaced below the head assembly for receiving at least one tray and a device for moving the head assembly in the X, Y and Z directions. The gantry robot further includes a device for scanning the work-space. The elevator unit has a plurality of shelves arranged in a series one above another. Each shelf is adapted to receive at least one tray and the shelves are movable in the Z direction. A device for moving a tray between the elevator unit and the work-space is included. A control system for controlling the movement of the head assembly in the X, Y and Z direction, for controlling the movement of the shelves in the Z direction and for controlling the tray moving device is operably connected to the gantry robot and the elevator unit.
摘要翻译：定位装置包括龙门机器人和电梯单元。台架机器人包括头部组件，在头部组件下方间隔开的用于容纳至少一个托盘的工作空间和用于在X，Y和Z方向上移动头部组件的装置。龙门机器人还包括用于扫描工作空间的装置。电梯单元具有多个彼此串联布置的搁架。每个搁板适于容纳至少一个托盘，并且搁架可在Z方向上移动。包括用于在电梯单元和工作空间之间移动托盘的装置。用于控制头部组件在X，Y和Z方向上的运动的控制系统，用于控制搁架在Z方向上的运动和用于控制托盘移动装置，可操作地连接到台架机器人和电梯单元。

4. 发明授权

US06084373A Reconfigurable modular joint and robots produced therefrom 失效
标题翻译：可重构的模块化接头和机器人
公开(公告)号：US06084373A
公开(公告)日：2000-07-04
申请号：US108392
申请日：1998-07-01
申请人： Andrew A. Goldenberg , Nenad Kircanski , Manja Kircanski , Ananth Seshan
发明人： Andrew A. Goldenberg , Nenad Kircanski , Manja Kircanski , Ananth Seshan
IPC分类号： B25J9/08 , B25J9/18
CPC分类号： B25J9/08 , G05B2219/34205 , G05B2219/34422 , G05B2219/34448 , G05B2219/37094 , G05B2219/37103
摘要： The present invention provides a reconfigurable modular drive joint that can be used as the basis for building and configuring robotic and automated systems as an interconnected network of individual nodes, with each node representing a single modular joint. Each modular joint can be quickly set up in either a roll, pitch or yaw configuration. A large number of different robot structures can be built using a small number of the modular joints in any of these three configurations. The modules are equipped with quick-connect mechanisms so that a new robot structure can be assembled in a few minutes. A robot or other automated system assembled from such modular joints is a true reconfigurable and modular system. The control system is decentralized. Each modular joint is provided with its own built-in control system and electronics. The modular joints each include a motor and associated sensors. An embedded control system including a power amplifier for the motor, a sensor interface, microprocessor, and communication circuitry are provided. The only external connections to each module is a communication bus between the modules and the host computer and a power supply bus.
摘要翻译：本发明提供了可重新配置的模块化驱动接头，其可以用作构建和配置作为单个节点的互连网络的机器人和自动化系统的基础，每个节点表示单个模块化接头。每个模块化关节可以快速地设置在滚动，俯仰或偏航配置中。可以使用在这三种配置中的任何一种中的少量模块化接头来构建大量不同的机器人结构。这些模块配有快速连接机构，以便在几分钟内组装新的机器人结构。从这种模块化接头组装的机器人或其他自动化系统是真正的可重新配置和模块化系统。控制系统是分散的。每个模块化接头都配有自己的内置控制系统和电子设备。模块化接头各自包括电机和相关的传感器。提供了一种嵌入式控制系统，包括用于电动机的功率放大器，传感器接口，微处理器和通信电路。每个模块的唯一外部连接是模块与主机和电源总线之间的通信总线。

5. 发明授权

US08275443B2 MRI compatible robot with calibration phantom and phantom 有权
标题翻译：具有校准幻影和幻影的MRI兼容机器人
公开(公告)号：US08275443B2
公开(公告)日：2012-09-25
申请号：US12457707
申请日：2009-06-18
申请人： Andrew A. Goldenberg , Yi Yang , Liang Ma , John Trachenberg , Walter Kucharczyk , Masoom Haider , Marshall Stephen Sussman , Uri Lindner , Robert Anthonie Weersink
发明人： Andrew A. Goldenberg , Yi Yang , Liang Ma , John Trachenberg , Walter Kucharczyk , Masoom Haider , Marshall Stephen Sussman , Uri Lindner , Robert Anthonie Weersink
IPC分类号： A61B5/055
CPC分类号： G01R33/58 , A61B34/30 , A61B34/37 , A61B2017/00084 , A61B2017/00725 , A61B2018/2261 , A61B2034/107 , A61B2034/301 , A61B2090/374
摘要： A medical robot for use inside an MRI includes a horizontal motion assembly, a vertical motion assembly and a controller. The horizontal motion assembly and the vertical assembly each includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the respective horizontal motion assembly and vertical motion assembly. Each motor has a cross section positioned in one of the axial and sagittal plane of the MRI. A medical instrument assembly is operably connectable to one of the moving joint of the vertical motion assembly. The controller is operably connected to the horizontal motion joint and the vertical motion joint and it is adapted to be powered off when the magnetic resonance imager is being used to collect images.
摘要翻译：在MRI内使用的医疗机器人包括水平运动组件，垂直运动组件和控制器。水平运动组件和垂直组件各自包括运动接头，可操作地连接到运动接头的超声波马达和可操作地连接到超声波马达的编码器。马达和编码器位于相应的水平运动组件和垂直运动组件的接头附近。每个电动机具有位于MRI的轴向和矢状平面之一中的横截面。医疗器械组件可操作地连接到垂直运动组件的运动接头之一。控制器可操作地连接到水平运动接头和垂直运动接头，并且当磁共振成像仪用于收集图像时，控制器适于断电。

6. 发明授权

US07600592B2 Variable configuration articulated tracked vehicle 有权
标题翻译：可变配置铰接跟踪车辆
公开(公告)号：US07600592B2
公开(公告)日：2009-10-13
申请号：US11498981
申请日：2006-08-04
申请人： Andrew A. Goldenberg , Jun Lin
发明人： Andrew A. Goldenberg , Jun Lin
IPC分类号： B62D55/02
CPC分类号： B62D55/075 , B62D55/10 , B62D55/12 , B62D55/14
摘要： A variable configuration articulated tracked vehicle comprises a chassis, a pair of right and left drive pulleys, a right and left planetary wheel, a right and left track, a right and left arm mechanism, and a right and left drive motor. The drive pulleys are rotatably attached to the chassis and each pair of drive pulleys is in the same plane. The planetary wheels are movable relative to the chassis such that each planetary wheel is in the same plane as its respective drive pulleys. The tracks extend around the pair of drive pulleys and the planetary wheel on the respective sides. The arm mechanisms connect the respective planetary wheel to the chassis. Each arm mechanism is rotatably attached to the chassis with a cam. The cam defines a motion path of one end of the arm whereby the motion of the planetary wheel provides a path for the planetary wheel such that the track path defined by the respective drive pulleys and the planetary wheel is a constant track length. The motors are each operably connected to the respective pair of drive pulleys for driving the track.
摘要翻译：可变配置的铰接跟踪车辆包括底架，左右一对驱动滑轮，左右行星轮，左右轨道，右侧和左侧臂机构以及左右驱动马达。驱动滑轮可旋转地附接到底盘，并且每对驱动滑轮在同一平面内。行星轮相对于底盘可移动，使得每个行星轮与其相应的驱动滑轮处于同一平面。轨道围绕该对驱动滑轮和相应侧面上的行星轮延伸。臂机构将相应的行星轮连接到底盘。每个臂机构用凸轮可旋转地附接到底盘。凸轮限定臂的一端的运动路径，由此行星轮的运动为行星轮提供路径，使得由相应的驱动滑轮和行星轮限定的轨道路径是恒定的轨道长度。电动机各自可操作地连接到相应的一对驱动滑轮，用于驱动轨道。

7. 发明授权

US5255948A Device for use in positioning an article precisely in a desired location 失效
标题翻译：用于将物品精确地定位在期望位置的装置
公开(公告)号：US5255948A
公开(公告)日：1993-10-26
申请号：US774506
申请日：1991-10-10
申请人： Jacek Wiercienski , Pawel Kuzan , Krzysztof F. Szymczyk , Andrew A. Goldenberg , Bruce L. Godkin
发明人： Jacek Wiercienski , Pawel Kuzan , Krzysztof F. Szymczyk , Andrew A. Goldenberg , Bruce L. Godkin
IPC分类号： B23P19/00 , B25J15/02 , B25J17/02 , H05K13/04 , B66F11/00
CPC分类号： B23P19/10 , B25J15/0253 , B25J17/0208 , H05K13/0404 , H05K13/0413
摘要： A device for use in placing surface mount components upon PCBs having article gripping elements carried by a support. The article gripping elements are movable between an upper position and a lower position for engaging and gripping surface mount components. The article gripping elements are dependent from a vertical flexible shaft so that the elements may become inclined upon contacting with a surface mount component so that a correct engagement and gripping action takes place. A seat is provided upon the support to ensure correct orientation of the elements upon their return to the upper position.
摘要翻译：用于将表面安装部件放置在具有由支撑件承载的物品夹持元件的PCB上的装置。物品夹持元件可以在上部位置和下部位置之间移动，用于接合和夹持表面安装部件。物品夹持元件从竖直的柔性轴中取决于元件可能在与表面安装部件接触时变得倾斜，使得发生正确的接合和夹持动作。在支撑件上设置座椅，以确保元件在返回到上部位置时的正确定位。

8. 发明授权

US08280485B2 Medical robot for use in a MRI 有权
标题翻译：用于MRI的医疗机器人
公开(公告)号：US08280485B2
公开(公告)日：2012-10-02
申请号：US12457708
申请日：2009-06-18
申请人： Andrew A. Goldenberg , Yi Yang , Liang Ma , John Trachtenberg
发明人： Andrew A. Goldenberg , Yi Yang , Liang Ma , John Trachtenberg
IPC分类号： A61B5/055
CPC分类号： G01R33/58 , A61B34/30 , A61B34/37 , A61B2017/00084 , A61B2017/00725 , A61B2018/2261 , A61B2034/107 , A61B2034/301 , A61B2090/374
摘要： A medical robot for use inside a magnetic resonance imager includes a horizontal motion assembly, a vertical motion assembly and a controller. The horizontal motion assembly includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the horizontal motion assembly. The vertical motion assembly is operably connected to the horizontal motion assembly and it includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the vertical motion assembly. The controller is operably connected thereto and is adapted to be powered off when the magnetic resonance imager is being used to collect images. A medical instrument assembly is connectable to the medical robot.
摘要翻译：在磁共振成像器内使用的医疗机器人包括水平运动组件，垂直运动组件和控制器。水平运动组件包括运动接头，可操作地连接到运动接头的超声波马达和可操作地连接到超声马达的编码器。马达和编码器位于水平运动组件的接头附近。垂直运动组件可操作地连接到水平运动组件，并且其包括运动接头，可操作地连接到运动接头的超声波马达和可操作地连接到超声波马达的编码器。马达和编码器位于垂直运动组件的接头附近。控制器可操作地连接到其上，并且当磁共振成像器被用于收集图像时适于断电。医疗器械组件可连接到医疗机器人。

9. 发明申请

US20080277172A1 Hybrid mobile robot 有权
标题翻译：混合动力机器人
公开(公告)号：US20080277172A1
公开(公告)日：2008-11-13
申请号：US11980782
申请日：2007-10-31
申请人： Pinhas Ben-Tzvi , Andrew A. Goldenberg , Jean W. Zu
发明人： Pinhas Ben-Tzvi , Andrew A. Goldenberg , Jean W. Zu
IPC分类号： B62D55/00 , G06F19/00
CPC分类号： B62D55/075 , B25J5/005 , B62D55/12
摘要： A hybrid mobile robot includes a base link and a second link. The base link has a drive system and is adapted to function as a traction device and a turret. The second link is attached to the base link at a first joint. The second link has a drive system and is adapted to function as a traction device and to be deployed for manipulation. In another embodiment an invertible robot includes at least one base link and a second link. In another embodiment a mobile robot includes a chassis and a track drive pulley system including a tension and suspension mechanism. In another embodiment a mobile robot includes a wireless communication system.
摘要翻译：混合移动机器人包括基本链路和第二链路。基座连接件具有驱动系统，并且适于用作牵引装置和转塔。第二个链接在第一个关节处连接到基本链接。第二连杆具有驱动系统并适于用作牵引装置并被部署用于操纵。在另一个实施例中，可逆机器人包括至少一个基本链接和第二链接。在另一个实施例中，移动机器人包括底盘和包括张力和悬挂机构的履带驱动滑轮系统。在另一个实施例中，移动机器人包括无线通信系统。

10. 发明申请

US20090326365A1 Medical robot for use in a MRI 有权
标题翻译：用于MRI的医疗机器人
公开(公告)号：US20090326365A1
公开(公告)日：2009-12-31
申请号：US12457708
申请日：2009-06-18
申请人： Andrew A. Goldenberg , Yi Yang , Liang Ma
发明人： Andrew A. Goldenberg , Yi Yang , Liang Ma
IPC分类号： A61B5/055 , A61B19/00
CPC分类号： G01R33/58 , A61B34/30 , A61B34/37 , A61B2017/00084 , A61B2017/00725 , A61B2018/2261 , A61B2034/107 , A61B2034/301 , A61B2090/374
摘要： A medical robot for use inside a magnetic resonance imager includes a horizontal motion assembly, a vertical motion assembly and a controller. The horizontal motion assembly includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the horizontal motion assembly. The vertical motion assembly is operably connected to the horizontal motion assembly and it includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the vertical motion assembly. The controller is operably connected thereto and is adapted to be powered off when the magnetic resonance imager is being used to collect images. A medical instrument assembly is connectable to the medical robot.
摘要翻译：在磁共振成像器内使用的医疗机器人包括水平运动组件，垂直运动组件和控制器。水平运动组件包括运动接头，可操作地连接到运动接头的超声波马达和可操作地连接到超声马达的编码器。马达和编码器位于水平运动组件的接头附近。垂直运动组件可操作地连接到水平运动组件，并且其包括运动接头，可操作地连接到运动接头的超声波马达和可操作地连接到超声波马达的编码器。马达和编码器位于垂直运动组件的接头附近。控制器可操作地连接到其上，并且当磁共振成像器被用于收集图像时适于断电。医疗器械组件可连接到医疗机器人。

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