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1. 发明授权

US12134183B2 Isolating robotic actuators from food and beverage preparation 有权
公开(公告)号：US12134183B2
公开(公告)日：2024-11-05
申请号：US18112921
申请日：2023-02-22
申请人： Truebird Technologies, Inc.
发明人： Michael Hazen Knuepfel , Andrew William Lynch , Darian Montague Ahler , Jordan Ross Adelson
IPC分类号： B25J15/04 , A23F5/08 , A23F5/26 , A47J31/42 , A47J31/44 , A47J31/52 , A47J36/32 , A47J43/06 , A47J44/00 , B25J9/00 , B25J9/02 , B25J9/16 , B25J11/00 , B25J15/06 , G07F17/00 , A47J31/00 , A47J43/046 , A47J43/27
CPC分类号： B25J15/0441 , A23F5/08 , A23F5/26 , A47J31/42 , A47J31/4496 , A47J31/52 , A47J31/521 , A47J36/321 , A47J43/06 , A47J44/00 , B25J9/0009 , B25J9/023 , B25J9/1612 , B25J11/0045 , B25J15/0608 , G07F17/0071 , G07F17/0078 , A47J31/007 , A47J43/0465 , A47J43/27 , B25J9/026 , G05B2219/39065
摘要： Provided is a device, comprising: a barrier configured to impeded or prevent particles shed by a robot in a first volume of space from entering a second volume of space in which the robot manipulates a workpiece; and a robot having three or more degrees of freedom, the robot comprising: a first portion disposed on a first side of the barrier in the first volume, the first portion comprising an actuator of the robot, the actuator being configured to drive movement of the robot to manipulate the workpiece; and a second portion disposed on a second side of the barrier in the second volume, the second portion comprising an end-effector of the robot by which the robot makes contact with the workpiece.

2. 发明授权

US09002517B2 Telematic interface with directional translation 有权
标题翻译：具有定向转换功能的远程通讯接口
公开(公告)号：US09002517B2
公开(公告)日：2015-04-07
申请号：US14494635
申请日：2014-09-24
申请人： Harris Corporation
发明人： Paul M. Bosscher , Matthew D. Summer , Loran J. Wilkinson , William S. Bowman
IPC分类号： G05B15/00 , B25J13/02 , G06F3/01 , G05B19/00
CPC分类号： B25J13/025 , B25J5/005 , B25J9/1689 , B25J19/023 , G05B2219/39065 , G05B2219/40184 , G05B2219/40401 , G06F3/017
摘要： Method and system for telematic control of a slave device. Displacement of a user interface control is sensed with respect to a control direction. A first directional translation is performed to convert data specifying the control direction to data specifying a slave direction. The slave direction will generally be different from the control direction and defines a direction that the slave device should move in response to the physical displacement of the user interface. A second directional translation is performed to convert data specifying haptic sensor data to a haptic feedback direction. The haptic feedback direction will generally be different from the sensed direction and can define a direction of force to be generated by at least one component of the user interface. The first and second directional translation are determined based on a point-of-view of an imaging sensor.
摘要翻译：从属设备远程信息处理的方法和系统。相对于控制方向检测用户界面控制的位移。执行第一定向转换以将指定控制方向的数据转换为指定从方向的数据。从动方向通常与控制方向不同，并且定义了从属设备响应于用户接口的物理位移而移动的方向。执行第二定向转换以将指定触觉传感器数据的数据转换为触觉反馈方向。触觉反馈方向通常不同于感测到的方向，并且可以定义由用户界面的至少一个部件产生的力的方向。基于成像传感器的视点来确定第一和第二定向平移。

3. 发明申请

US20100131099A1 METHOD FOR ASSESSING THE POSITIONING ACCURACY OF A MEDICAL ROBOT ARM 有权
标题翻译：评估医用机器人定位精度的方法
公开(公告)号：US20100131099A1
公开(公告)日：2010-05-27
申请号：US12620674
申请日：2009-11-18
申请人： Rainer Birkenbach , Richard Wohlgemuth
发明人： Rainer Birkenbach , Richard Wohlgemuth
IPC分类号： G06F7/00 , G08B21/00 , G06F7/60
CPC分类号： G05B19/402 , A61B34/30 , B25J9/1638 , G05B2219/39065 , G05B2219/39183 , G05B2219/45123
摘要： A method for assessing the positioning accuracy of a medical robot arm comprising at least one joint, wherein the rigidity of the robot arm in a joint placement is calculated and assessed on the basis of a rigidity model.
摘要翻译：一种用于评估包括至少一个关节的医疗机器人手臂的定位精度的方法，其中，基于刚度模型来计算和评估在关节位置中的机器人手臂的刚度。

4. 发明申请

US20090143912A1 SYSTEM AND METHOD FOR GRAPHICALLY ALLOCATING ROBOT'S WORKING SPACE 有权
标题翻译：用于图形分配机器人工作空间的系统和方法
公开(公告)号：US20090143912A1
公开(公告)日：2009-06-04
申请号：US12031718
申请日：2008-02-15
申请人： Wei-Han Wang , Ya-Hui Tsai , Yen-Chun Lin
发明人： Wei-Han Wang , Ya-Hui Tsai , Yen-Chun Lin
IPC分类号： G05B19/19
CPC分类号： B25J9/1671 , G05B2219/39065 , G05B2219/40089 , G05B2219/40095 , G05B2219/40099 , G05B2219/40607
摘要： System and method for graphically allocating robot's working space are provided. The system includes an image extractor, a task-allocating server and a robot. A graphic user interface (GUI) of the task-allocating server includes a robot's working scene area, a space attribute allocating area and a robot's task area. Thus, a user assigns one certain space area in the robot's working scene area with a “wall” attribute, or another space area with a “charging station” attribute. Meanwhile, by using the GUI, the user directly assigns the robot to execute a specific task at a certain area. Hence, the user or remote controller facilitates the robot to provide safer and more effective service through his/her environment recognition.
摘要翻译：提供了图形化分配机器人工作空间的系统和方法。该系统包括图像提取器，任务分配服务器和机器人。任务分配服务器的图形用户界面（GUI）包括机器人的工作场景区域，空间属性分配区域和机器人的任务区域。因此，用户在机器人的工作场景区域中分配一个具有“墙”属性的特定空间区域或者具有“充电站”属性的另一个空间区域。同时，通过使用GUI，用户直接指定机器人在特定区域执行特定任务。因此，用户或遥控器便于机器人通过他/她的环境识别来提供更安全和更有效的服务。

5. 发明授权

US12090640B2 Breakaway end-effectors for food and beverage preparation robots 有权
公开(公告)号：US12090640B2
公开(公告)日：2024-09-17
申请号：US16600468
申请日：2019-10-12
申请人： Truebird, Inc.
发明人： Michael Hazen Knuepfel , Andrew William Lynch , Darian Montague Ahler , Jordan Ross Adelson
IPC分类号： B25J15/04 , A23F5/08 , A23F5/26 , A47J31/00 , A47J31/42 , A47J31/44 , A47J31/52 , A47J36/32 , A47J43/046 , A47J43/06 , A47J44/00 , B25J9/00 , B25J9/02 , B25J9/16 , B25J11/00 , B25J15/06 , G07F17/00 , A47J43/27
CPC分类号： B25J15/0441 , A23F5/08 , A23F5/26 , A47J31/42 , A47J31/4496 , A47J31/52 , A47J31/521 , A47J36/321 , A47J43/06 , A47J44/00 , B25J9/0009 , B25J9/023 , B25J9/1612 , B25J11/0045 , B25J15/0608 , G07F17/0071 , G07F17/0078 , A47J31/007 , A47J43/0465 , A47J43/27 , B25J9/026 , G05B2219/39065
摘要： Provided is a robot, including: a controller; a plurality of actuators mechanically coupled to an end-effector mount; a first set of end-effectors magnetically coupled to the end-effector mount; and a sensor adjacent an interface between at least some of the first set of end effectors and the end-effector mount, wherein: the end effectors are magnetically coupled to the end-effector mount with magnetic couplings that decouple in response to less than 200 Newtons of force being applied to distal portions of respective end effectors in a direction opposing movement of respective end effectors driven by at least some of the actuators, and the sensor is configured to output a signal indicative of a given end effector decoupling and indicate which end effector in the first decoupled.

6. 发明授权

US09878446B2 Determination of object-related gripping regions using a robot 有权
公开(公告)号：US09878446B2
公开(公告)日：2018-01-30
申请号：US14934667
申请日：2015-11-06
申请人： KUKA Roboter GmbH
发明人： Christian Scheurer , Stephanie Bobert , Uwe Zimmermann
IPC分类号： B25J13/02 , B25J9/16
CPC分类号： B25J9/1612 , B25J9/1669 , B25J13/02 , G05B2219/39065 , G05B2219/39466 , G05B2219/39476 , G05B2219/39484 , G05B2219/39543 , Y10S901/02
摘要： The invention relates to a method and a system for determining gripping regions on an object. The object is to be gripped, based on the determined gripping regions, by means of a robot. At least one first gripping pose of the robot is taught at the object, and additional gripping poses are determined at the object. Based on these gripping poses, a first gripping region is configured.

7. 发明申请

US20160136807A1 Determination of Object-Related Gripping Regions Using a Robot 有权
标题翻译：使用机器人确定与对象相关的抓握区域
公开(公告)号：US20160136807A1
公开(公告)日：2016-05-19
申请号：US14934667
申请日：2015-11-06
申请人： KUKA Roboter GmbH
发明人： Christian Scheurer , Stephanie Bobert , Uwe Zimmermann
IPC分类号： B25J9/16 , B25J13/02
CPC分类号： B25J9/1612 , B25J9/1669 , B25J13/02 , G05B2219/39065 , G05B2219/39466 , G05B2219/39476 , G05B2219/39484 , G05B2219/39543 , Y10S901/02
摘要： The invention relates to a method and a system for determining gripping regions on an object. The object is to be gripped, based on the determined gripping regions, by means of a robot. At least one first gripping pose of the robot is taught at the object, and additional gripping poses are determined at the object. Based on these gripping poses, a first gripping region is configured.
摘要翻译：本发明涉及一种用于确定物体上的夹持区域的方法和系统。基于所确定的夹持区域，通过机器人来夹持该物体。在物体上教导机器人的至少一个第一夹持姿态，并且在物体处确定额外的夹持姿态。基于这些夹持姿势，构造第一夹持区域。

8. 发明授权

US08918214B2 Telematic interface with directional translation 有权
标题翻译：具有定向转换功能的Telematic接口
公开(公告)号：US08918214B2
公开(公告)日：2014-12-23
申请号：US13009019
申请日：2011-01-19
申请人： Paul M. Bosscher , Matthew D. Summer , Loran J. Wilkinson , William S. Bowman
发明人： Paul M. Bosscher , Matthew D. Summer , Loran J. Wilkinson , William S. Bowman
IPC分类号： G05B15/00 , B25J9/16 , B25J5/00 , B25J19/02 , G05B19/00
CPC分类号： B25J13/025 , B25J5/005 , B25J9/1689 , B25J19/023 , G05B2219/39065 , G05B2219/40184 , G05B2219/40401 , G06F3/017
摘要： Method and system for telematic control of a slave device. Displacement of a user interface control is sensed with respect to a control direction. A first directional translation is performed to convert data specifying the control direction to data specifying a slave direction. The slave direction will generally be different from the control direction and defines a direction that the slave device should move in response to the physical displacement of the user interface. A second directional translation is performed to convert data specifying haptic sensor data to a haptic feedback direction. The haptic feedback direction will generally be different from the sensed direction and can define a direction of force to be generated by at least one component of the user interface. The first and second directional translation are determined based on a point-of-view of an imaging sensor.
摘要翻译：从属设备远程信息处理的方法和系统。相对于控制方向检测用户界面控制的位移。执行第一定向转换以将指定控制方向的数据转换为指定从方向的数据。从动方向通常与控制方向不同，并且定义了从属设备响应于用户接口的物理位移而移动的方向。执行第二定向转换以将指定触觉传感器数据的数据转换为触觉反馈方向。触觉反馈方向通常不同于感测到的方向，并且可以定义由用户界面的至少一个部件产生的力的方向。基于成像传感器的视点来确定第一和第二定向平移。

9. 发明公开

US20230278236A1 ISOLATING ROBOTIC ACTUATORS FROM FOOD AND BEVERAGE PREPARATION 审中-公开
公开(公告)号：US20230278236A1
公开(公告)日：2023-09-07
申请号：US18112921
申请日：2023-02-22
申请人： Truebird Technologies, Inc.
发明人： Michael Hazen Knuepfel , Andrew William Lynch , Darian Montague Ahler , Jordan Ross Adelson
IPC分类号： B25J15/04 , B25J11/00 , A47J36/32 , A47J44/00 , A23F5/08 , B25J9/00 , B25J9/16 , A47J31/42 , A47J31/44 , G07F17/00 , B25J15/06 , B25J9/02 , A47J31/52 , A23F5/26 , A47J43/06 , A47J31/00 , A47J43/046 , A47J43/27
CPC分类号： B25J15/0441 , B25J11/0045 , A47J36/321 , A47J44/00 , A23F5/08 , B25J9/0009 , B25J9/1612 , A47J31/42 , A47J31/4496 , G07F17/0071 , B25J15/0608 , B25J9/023 , A47J31/521 , A23F5/26 , A47J43/06 , G07F17/0078 , A47J31/52 , A47J31/007 , G05B2219/39065 , A47J43/0465 , B25J9/026 , A47J43/27
摘要： Provided is a device, comprising: a barrier configured to impeded or prevent particles shed by a robot in a first volume of space from entering a second volume of space in which the robot manipulates a workpiece; and a robot having three or more degrees of freedom, the robot comprising: a first portion disposed on a first side of the barrier in the first volume, the first portion comprising an actuator of the robot, the actuator being configured to drive movement of the robot to manipulate the workpiece; and a second portion disposed on a second side of the barrier in the second volume, the second portion comprising an end-effector of the robot by which the robot makes contact with the workpiece.

10. 发明申请

US20160139577A1 Method for determining a movement limit 审中-公开
标题翻译：确定移动限制的方法
公开(公告)号：US20160139577A1
公开(公告)日：2016-05-19
申请号：US14941731
申请日：2015-11-16
申请人： Deutsches Zentrum fuer Luft - und Ramfahrt e.V.
发明人： Carsten SEEHOF
IPC分类号： G05B17/02 , B25J9/00 , G01B21/04
CPC分类号： G05B17/02 , B25J9/0009 , B25J9/003 , B25J9/1615 , B25J9/1623 , G01B21/04 , G05B2219/39065 , G05B2219/49278 , G05B2219/50162 , G09B9/12
摘要： In a movement system, the movement limit is determined by having a degree of freedom of the movement system defined and the respective current movement system state being available. Subsequently, an articulation trajectory is determined for each upper articulation point of the movement system, on which articulation trajectory the articulation point can move along the degree of freedom. The movement limit is then derived by calculating the point of intersection of the actuator movement in an extreme deflection with its respective articulation trajectory.
摘要翻译：在移动系统中，通过限定移动系统的自由度和相应的当前运动系统状态可用来确定移动限制。随后，针对运动系统的每个上部关节点确定关节运动轨迹，铰接点可以沿着该自由度移动的关节运动轨迹。然后通过计算极端偏转中的致动器运动与其各自的关节轨迹的交点来导出移动极限。

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