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1.WO/2020/138954MOBILE ROBOT AND METHOD FOR CONTROLLING MOBILE ROBOT
WO 02.07.2020
Int.Class B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
Appl.No PCT/KR2019/018469 Applicant LG ELECTRONICS INC. Inventor BYUN, Jaejung
The present invention comprises: a driving unit for moving a main body; an image acquisition unit for acquiring surrounding images; and a control unit for analyzing the images acquired by the image acquisition unit so as to determine whether a reflector located around the main body exists, wherein the control unit determines whether the reflector exists around the main body on the basis of the degree of similarity between the images acquired by the image acquisition unit and previously stored images of the main body.
2.WO/2020/132756SYSTEM AND METHOD FOR CHANGING LINERS, THE CONFIGURATION OF WHICH ALLOWS THE AUTOMATED REMOVAL AND INSERTION OF LINERS OF A MILL USED FOR ORE GRINDING
WO 02.07.2020
Int.Class B02C 17/18
BPERFORMING OPERATIONS; TRANSPORTING
02CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
CCRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
17Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
18Details
Appl.No PCT/CL2018/050150 Applicant MI ROBOTIC SOLUTIONS S.A. Inventor SALAMANCA POBLETE, Hugo
The invention relates to a system and method for changing liners of a mill, the configuration of which allows the automated robotic manipulation of liners of mills for ore grinding in comminution processes. The configuration and operation of the system allows the task of manipulation to be improved, having a greater degree of freedom and/or flexibility in its movements, thereby providing a greater degree of certainty and efficiency and thus optimising the time that the mill is halted for maintenance, and also preventing the risks to which maintenance staff may be exposed. The system comprises at least one support structure, at least one system for supplying and moving liners, at least one robotic manipulator system for manipulating the liners, at least one liner manipulation tool, at least one artificial vision system, and at least one control system.
3.WO/2020/132924METHOD AND DEVICE FOR CALIBRATING EXTERNAL PARAMETERS OF ROBOT SENSOR, ROBOT AND STORAGE MEDIUM
WO 02.07.2020
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/CN2018/123793 Applicant UBTECH ROBOTICS CORP Inventor XIONG, Youjun
A method for calibrating an external parameter of a robot sensor, the method comprising: acquiring first sensor data and second sensor data obtained by a first sensor and a second sensor in a robot (110) collecting position information of a calibration reference object (120); converting said data into a same coordinate system, and correspondingly obtaining first converted sensor data and second converted sensor data; determining a first coordinate position (x0, y0) and a second coordinate position (x'0, y'0) of a reference point in the calibration reference object (120), and using the first coordinate position (x0, y0) and the second coordinate position (x'0, y'0) as a set of coordinate data; and when the relative positional relationship between the robot (110) and the calibration reference object (120) changes, repeating the steps above to obtain N sets of coordinate data, and then calculating external parameters between the first sensor and the second sensor. The present method improves the performance of the robot (110). In addition, also provided are a device for calibrating the external parameters of the robot sensor, the robot (110) and a storage medium.
4.WO/2020/133270DYNAMIC PARAMETER IDENTIFICATION METHOD FOR ROBOT, ROBOT AND STORAGE DEVICE
WO 02.07.2020
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/CN2018/125045 Applicant SHENZHEN A&E INTELLIGENT TECHNOLOGY INSTITUTE CO., LTD. Inventor WU, Feng
A dynamic parameter identification method for a robot, a robot and a storage device, the method comprising: at a plurality of different rotational speeds, enabling a driving motor to rotate at constant speeds, and acquiring corresponding armature current at each rotational speed; according to the corresponding armature current at each rotational speed, calculating corresponding friction torque at each rotational speed to form a plurality of data pairs of the rotational speeds and the friction torques; and establishing a friction polynomial model according to the data pairs, wherein the friction polynomial model is used to describe the relationship between the rotational speeds of the driving motor and the friction torques. The friction polynomial model may not only be used as a linear model, but also has the ability to express nonlinear characteristics, has better adaptability, and may simplify dynamic parameter identification and calculation for the robot.
5.WO/2020/136563STRUCTURAL ASSEMBLER
WO 02.07.2020
Int.Class B25J 5/00
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
Appl.No PCT/IB2019/061303 Applicant SEMBLR TECHNOLOGIES LIMITED Inventor TEDBURY, Ivo
The present invention relates to a robot for use in an assembly system in which a structure is assembled out of a plurality of structural units, wherein the robot is configured to manoeuvre around the structure.
6.WO/2020/137799ROBOT POSITION CORRECTION METHOD AND ROBOT
WO 02.07.2020
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/JP2019/049822 Applicant KAWASAKI JUKOGYO KABUSHIKI KAISHA Inventor YOSHIDA, Masaya
This robot position correction method comprises: a correction step for rotating an arm around a first axis, detecting a rotation angle around the first axis when a target blocks detection light, and rotating the arm and/or a hand around the first axis, a second axis and/or a third axis, on the basis of a detection result to position the first axis, the third axis, and the target on the same straight line; and a correction amount calculation step for obtaining rotation angle correction amounts of the second axis and the third axis, on the basis of the rotation angles of the respective rotation axes acquired after the correction step in a first attitude.
7.WO/2020/137800ROBOT POSITION CORRECTION METHOD AND ROBOT
WO 02.07.2020
Int.Class B25J 9/06
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
06characterised by multi-articulated arms
Appl.No PCT/JP2019/049824 Applicant KAWASAKI JUKOGYO KABUSHIKI KAISHA Inventor YOSHIDA, Masaya
This position correction method comprises: a step for causing a hand to face a target, by moving the hand such that the hand has a predetermined first initial attitude; a first position detecting step for swinging the hand and detecting a rotation angle of a rotary shaft when the target blocks detection light; a step for causing the hand to face the target, by moving the hand such that the hand has a predetermined second initial attitude; a second position detecting step for swinging the hand and detecting a rotation angle of the rotary shaft when the target blocks the detection light; and a correction amount calculation step for obtaining rotation angle correction amounts of a second axis and a third axis, on the basis of a difference between the position of the target acquired in the first initial attitude and the position of the target acquired in the second initial attitude.
8.WO/2020/138017ROBOT CONTROL DEVICE, ROBOT SYSTEM, AND ROBOT CONTROL METHOD
WO 02.07.2020
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/JP2019/050458 Applicant KAWASAKI JUKOGYO KABUSHIKI KAISHA Inventor NAKAYA, Atsushi
A robot control device is provided which can simply prevent the posture of a robot arm from changing abruptly due to a singularity. In the course of changing the attitude of the horizontal multi-joint robot to an attitude capable of holding a workpiece housed in a housing device, this robot control device aligns a third rotation axis on the circumference of the circle that has, as the center, a first rotation axis and, as the radius, the difference between the distance between the first rotation axis and a second rotation axis and the distance between the second rotation axis and a third rotation axis, causes a second straight line connecting the first rotation axis and the second rotation axis to cut across the third rotation axis, and thereafter, causes the second and third rotation axes to each move in only one of the two regions obtained by division with a third straight line connecting the first rotation axis and the center point of the work piece housed in the housing device as the dividing line.
9.WO/2020/133881LEARNING CONTROL METHOD FOR MECHANICAL APPARATUS, AND MECHANICAL APPARATUS LEARNING CONTROL SYSTEM HAVING LEARNING FUNCTION
WO 02.07.2020
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/CN2019/086712 Applicant NANJING ESTUN ROBOTICS CO., LTD. Inventor ZHANG, Ye
A learning control method for a mechanical apparatus, and a mechanical apparatus learning control system having a learning function. A learning server, a mechanical control unit, a driving unit, a teaching system and a sensor are provided for a mechanical apparatus; a learning analysis unit is constructed in the mechanical control unit; during a learning process of the mechanical apparatus, segmented arrangement and analysis are carried out on process information and learning correction of an action; and process value data is integrated, and the arranged process value data is saved in the learning server. Process value information of a mechanical apparatus is recorded, a new processing process is analyzed and learning correction is acquired from a learning server according to an analysis result, so that there is no need to re-use a sensor to re-learn the processing process, thereby improving production efficiency.
10.WO/2020/135607SPATIAL PATH TRANSITIONING METHOD FOR INDUSTRIAL ROBOT, SYSTEM, AND ROBOT
WO 02.07.2020
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/CN2019/128773 Applicant SHENZHEN YUEJIANG TECHNOLOGY CO., LTD. Inventor LIN, Jionghui
Provided are a spatial path transitioning method for an industrial robot, a system, and a robot. The method comprises: constructing a transition region curve according to a linear motion path, an arc curve motion path, and a transition normalization parameter; calculating a boundary speed of the transition region curve according to a sagitta error and a maximum acceleration; and performing optimization on the transition region curve according to the boundary speed, acquiring, on the basis of the transition region curve, position information of each interpolation period in a transition region, and controlling a robot to move according to the position information. The invention constructs the transition region curve and imposes a constraint on the boundary speed, so as to achieve consistency of a transition path at both a low speed and a high speed. A traveling speed on a path in the transition region is determined according to the sagitta error and the maximum acceleration, such that a transition speed is guaranteed to be within an allowable range, and a continuous curvature change is achieved where the transition path and an original path are joined, thereby achieving a smooth transition.