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1 / 10,700
1.WO/2022/105966LIFTING AID AND RIGID BACK ELEMENT
WO - 27.05.2022
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/DE2021/100921 Applicant HEINZELMANN, Dominik Inventor HEINZELMANN, Dominik
The invention relates to a lifting aid for supporting the core muscles, which lifting aid is situated immovably, via an upper body attachment (support) and a lower body attachment, on the back of a person wearing said aid, and comprises: - a rigid back system (1) with a right and a left waist element (4, 10) hinged thereon; - at least one mechanical energy accumulator which stores energy in the form of elastic deformation and the spring elements (21, 21.1) of which are fastened by one end to the lower body attachment (8); - at least one force transmission element/tensile device (11, 11.1) which is fastened to the lower energy accumulator(s) (21, 21.1) and connects said accumulators to the back system (1); and - free-wheel devices (6) having a free-wheel and adjustment function in the waist elements (4, 10), wherein the rigid back system (1) is fixed on the back and here transfers tensile forces from the energy accumulator (7, 7.1) to the back region. The invention also relates to a rigid back element (1).
2.WO/2022/107352SELF-TRAVELING TRANSPORT DEVICE, CONTROL METHOD FOR SELF-TRAVELING TRANSPORT DEVICE, AND INSPECTION PROGRAM
WO - 27.05.2022
Int.Class B25J 9/22
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
22Recording or playback systems
 Appl.No PCT/JP2021/009291 Applicant OMRON CORPORATION Inventor OKADA, Tomohiro
In a self-traveling transport device according to the present invention, toppling over of the self-traveling transport device due to the movement of a robot arm is prevented. The self-traveling transport device (1) is provided with a traveling robot (3) and a robot arm (4) and performs a control so as to stop the robot arm (4) when the movement of the robot arm (4) is about to deviate from an allowable movement range set on the basis of a movement range file (21) in which is registered the movement range of the robot arm (4), which is capable of standing up.
3.WO/2022/108837AUTOMATED STORAGE OPTIMIZATION AND STACKABLE PALLETS
WO - 27.05.2022
Int.Class B65G 61/00
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
61Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
 Appl.No PCT/US2021/059079 Applicant BAKER HUGHES OILFIELD OPERATIONS LLC Inventor OSGOUEI, Reza Ettehadi
Examples described herein provide a system that includes a pallet. The pallet includes a base and a support member extending from the base. The support member is configured to support another pallet upwardly adjacent to and spaced from goods on the pallet. The support member is configured with an indexing feature. The system further includes a robot including a pallet engaging member configured to engage the pallet at the indexing feature on the support member. The system further includes a control system to control the robot based on a task.
4.WO/2022/104934ZEROING TOOL AND ZEROING ASSEMBLY LINE
WO - 27.05.2022
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/CN2020/133931 Applicant BOZHON PRECISION INDUSTRY TECHNOLOGY CO., LTD. Inventor CHEN, Xizhao
Disclosed in the present application are a zeroing tool and a zeroing assembly line. The zeroing tool comprises: a mounting frame; a rotating mechanism, comprising a rotating driver and a clamping member provided at the driving end of the rotating driver; a horizontal drive mechanism, configured to drive the mounting frame to move along a first direction, the mounting frame being slidably connected to the output end of the horizontal drive mechanism in the first direction; a first supporting base; and a second supporting base rotatably provided on the first supporting base. The horizontal drive mechanism is provided on the second supporting base, and the rotating axis of the second supporting base extends in a second direction which is perpendicular to the first direction.
5.WO/2022/108519LASER-DRIVEN MICRO-FINGERS AND METHOD OF MICRO-MANIPULATION
WO - 27.05.2022
Int.Class B25J 7/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
7Micromanipulators
 Appl.No PCT/SG2021/050669 Applicant NANYANG TECHNOLOGICAL UNIVERSITY Inventor CHEAH, Chien Chern
Laser-driven micro-fingers and method for micro-manipulation of an object in a medium, includes: providing a micro-finger configured to undergo a change in a pose of the micro-finger in response to an interaction with at least one laser beam trapping the micro-finger, wherein the micro-finger has an elongate body defining a length of the micro-finger, the elongate body being configured to provide a plurality of contact points with the object.
6.WO/2022/108549A ROBOTIC PICKER
WO - 27.05.2022
Int.Class B07C 5/02
BPERFORMING OPERATIONS; TRANSPORTING
07SEPARATING SOLIDS FROM SOLIDS; SORTING
CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
5Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
02Measures preceding sorting, e.g. arranging articles in a stream, orientating
 Appl.No PCT/TR2021/050752 Applicant ROBO MAKER MUHENDISLIK SANAYI VE TICARET LIMITED SIRKETI Inventor ERON, Mert
The present invention relates to at least one picking unit (10) in order to provide removal of foreign substances (11) provided together with the product and comprising at least one feeding conveyor (21) which provides transfer of the products to be separated, and at least one sensing mechanism (30) associated with said feeding conveyor (21). The improvement is that the subject matter picking unit (10) comprises at least one sensor (31) for determining the position of the foreign substances (11) on the feeding conveyor (21), at least one control unit (40) associated with said sensor (31) and which has distinctive information about the foreign substance (11), at least one holding element (54) associated with said control unit (40) and configured to be actuated by means of at least one scara robot embodiment (52)
7.WO/2022/105023ROBOT CONTROL METHOD AND APPARATUS, AND COMPUTER READABLE STORAGE MEDIUM, AND ROBOT
WO - 27.05.2022
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/CN2020/140433 Applicant UBTECH ROBOTICS CORP LTD Inventor CHEN, Chunyu
A robot control method, comprising: obtaining left foot stress information and right foot stress information of a robot; calculating a zero moment point of a center of mass of a body of the robot according to the left foot stress information and the right foot stress information; on the basis of a preset linear inverted pendulum model, updating a movement trajectory of the robot according to the zero moment point of the center of mass of the body to obtain an updated position of the center of mass of the body; performing inverse kinematic analysis on the updated position of the center of mass of the body to obtain joint angles of a left leg and a right leg of the robot; and controlling the robot to move according to the joint angles. According to the method, the joint angles of the movement can be adjusted in real time according to stress information of the robot on the basis of the linear inverted pendulum model, and the robot can still walk stably even in the case of interference of various external environmental forces or uneven ground. Also provided are a robot control apparatus, a computer readable storage medium, and a robot.
8.WO/2022/105020ROBOT CONTROL METHOD AND APPARATUS, COMPUTER READABLE STORAGE MEDIUM, AND ROBOT
WO - 27.05.2022
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/CN2020/139870 Applicant UBTECH ROBOTICS CORP LTD Inventor CHEN, Chunyu
A robot control method, comprising: obtaining left foot stress information and right foot stress information of a robot; calculating a zero moment point of the center of mass of the robot according to the left foot stress information and the right foot stress information; calculating an expected transport output amount of the robot according to the zero moment point of the center of mass; on the basis of a preset linear inverted pendulum model, updating a motion path of the robot according to the expected transport output amount, so as to obtain an updated position of the center of mass; performing inverse kinematics analysis on the updated position of the center of mass to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles. By adopting the method, it can be ensured that the center of mass of a robot is within a support range when the robot picks up an object, so that the stability of the robot is greatly improved. Also provided are a robot control apparatus, a computer readable storage medium, and a robot.
9.WO/2022/105635ROBOT MOTOR-SKILL LEARNING METHOD AND SYSTEM
WO - 27.05.2022
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/CN2021/129342 Applicant INSTITUTE OF INTELLIGENT MANUFACTURING, GUANGDONG ACADEMY OF SCIENCES Inventor CHENG, Taobo
Disclosed are a robot motor-skill learning method and system, said method comprising: obtaining a human drag demonstration data sample set; performing dimensionality reduction on said data sample set on the basis of principal component analysis; establishing variable constraint conditions in a latent space and, in combination with said variable constraint conditions, filtering the data sample set after dimensionality reduction to generate a latent space data set; using a Gaussian mixture model with Gaussian mixture regression to perform modeling and learning of said latent space data set, to output a robot motion-control training model; performing prediction on said robot motion-control training model on the basis of a recurrent neural network to solve for the optimal solution of the model, and converting the model optimal solution into an actual control variable of the robot. In the embodiments of the present invention, autonomous learning of robot motor skills can be achieved by means of using a small amount of human demonstration data while taking into account the inherent constraints of the robot body, effectively improving the generalization ability and programming efficiency of an algorithm.
10.WO/2022/104449PICK AND PLACE SYSTEMS AND METHODS
WO - 27.05.2022
Int.Class G01B 21/22
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
21Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the other groups of this subclass
22for measuring angles or tapers; for testing the alignment of axes
 Appl.No PCT/CA2021/000101 Applicant APERA AI INC. Inventor AFROOZE, Sina
A pick and place system comprises a computer connected to receive images of a field of view of a bin or other location at which objects are placed from disparate viewpoints. The computer is configured to process 2D image data of one or more of the images to determine a coarse pose and search range corresponding to the object. The computer is configured to perform subsequent stereo matching within the search range to obtain an accurate pose of the object. The computer is connected to control a robot to pick and place a selected object. Poses of objects may be determined asynchronously with picking the objects. Poses of plural objects may be determined and saved, the images may be processed to detect changes in the field of view. Saved poses for objects unaffected by changes may be used to pick the corresponding objects.
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