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4767143 Robot hand
New Patents
~6~18 TABLE
TENNIS
ROBOT
Westphal Daley A table tennis robot with right and left servers, oscillatory motion, top spin and bottom spin, right and left side spin, combination of spins, or no-spin modes, variable ball speeds, and continuous reaycling of balls, to provide a human player with challenging practice serves. A bali catching net is located at one end of the tennis table. Bans caught by the net fall into a pan located below the table and are then fed upward by suction of a fan into a chamber. The chamber distributes balls one at a time into a vertical tube. At its bottom, the tube has right and left branches. A ball deflecting vane is adjustable to selectively direct a ball into either the right or left branch. The branches lead, respectively, to a right server and a left server. Each server has a rotating ball drive wheel. The output port of the right server has adjustable guide rails to impart high top spin to a ball. The output port of the left server has adjustable guide plates to impart various types of spin to a ball. The robot is oscillated about a vertical axis by a drive motor.
4769700 ROBOT
TRACTORS
Timothy Pryor, Tecumseh, Canada assigned to Diffracto Ltd Disclosed is an electro-optical and microcomputer based method and apparatus for automatically guiding tractors and other farm machinery for the purpose of automatic crop planting, tending and harvesting. A target is preferably located at one boundary of the field which serves as a reference. The position of the machinery in the field is determined by electrooptically sensing the target with a sensor located on the machinery. A desired trajectory for the machinery is then determined and the machinery is steered automatically along this trajectory. 4766775 MODULAR ROBOT MANIPULATOR Steven W Hodge A modular robotic remote manipulator is disclosed. The manipulator utilizes a base module,
any number of generally identical but appropriately sized articulating modules, extender modules as may be needed, and an end effector module to accommodate the task assigned to the manipulator. The articulating modules are constructed to afford three different motions about three different axes which intersect at a common point lying between the input end and the output end of the module to effect a range of possible motion for the module output which defines an imaginary sphere. This module is also constructed to provide a separate rotary torque through the output coupling to the next module. The couplers for interconnecting the modules utilize toggle operated spool shaped locks. An end effector or gripper employs a rotating shaft and follower connected through a cable and pulley arrangement to operate the gripper jaws.
4767048 MOBILE
ROBOTIC
PLATFORM
Andrew G Kimbrough, James C Hammond assigned to Kinetic Energy Corp A mobile robotic platform and guide means therefor having a carriage with one or more uniquely constructed drive rollers having radiallyextending metal filaments embedded in a complaint material and which coact with a track defining the guide means which has a length of textured material, such as wire mesh secured thereto. The coaction provides an infinite pitch rack drive. The mobile robotic platform can have the carriage thereof provided with two or more tractor units pivotally mounted thereto and each of which carry a pair of the aforesaid drive rollers whereby the carriage can follow guide means of varying contours with controlled travel and continuous operation of an operative device carried by the carriage. 4767143 ROBOT
HAND
Leroy D Michael, Michael W Green assigned to The Boeing Company A robot hand for grasping objects having substantially planar faces includes a base and a plurality of arms extending from the base. A plurality of vacuum cups are supported on and radially movable along the arms. Pivotal drive means pivot the arms, radial drive means move the cups along the arms, and vacuum means apply a vacuum to the cups. The cups are readily
New Patents
positioned to permit lifting and transporting of objects such as plies and the like, including those objects having irregular planar shapes. 4777416
iii
or left of the intersecting position, and steering the vehicle straight when the tracking position is at the same location as the intersecting position, to the left when the tracking position is to the right of the intersecting position, and to the right when the tracking position is to the left of the intersecting position.
RECHARGE DOCKING SYSTEM FOR MOBILE ROBOT Robert George, Michael DiPietro, Mark B Kadonoff, James F Maddox assigned to Denning Mobile Robotics Inc A recharge docking system for a batterypowered mobile robot which senses when the battery charge is below a predetermined level and halts the travel of the robot at its next navigational node, following which the robot independently plots and negotiates a path from the next node back to a base node at a recharge station, where the batteries are charged. 4777785 METHOD ROBOTIC
OF GUIDING A LAWNMOWER
4779075 DEVICE FOR ABSOLUTE DISPLACEMENT DETERMINATION Walter Zagelein, Dieter Rechinger, Rosstal, Federal Republic Of Germany assigned to Siemens Aktiengesellschaft To make possible a technically uncomplicated and reliable absolute displacement determination-in particular for the position determination of robot drives-a cyclic position transmitter (L) and a revolution transmitter (U) rigidly coupled therewith are provided, the sum signal of which indicates the displacement. As revolution transmitter there is used a transmitter (U) which makes use of the Wiegend effect. 4779203
Raymond Rafaels A method for guiding a robotic vehicle includes the steps of establishing a tracking position along a row of vehicle sensors at which the border is to intersect the row, positioning the vehicle on the border so that the border intersects the row at an intersecting position, generating a positive signal when a sensor senses any obstruction by vegetation of a path of radiation from a respective emitter to a respective detector, generating a negative signal when a sensor does not sense any obstruction, repeating said generating steps as said vehicle advances, sending a plurality of groups of said generated signals to a processor, averaging said signals, identifying the intersecting position by identifying an adjacent pair of oppositely signalling sensors on the basis of said averaging of said signals, determining whether the tracking position is at or to the right
VISUAL NAVIGATION SYSTEM FOR MOBILE ROBOTS Virge W McClure, Donald J Christian assigned to Texas Instruments Incorporated A visual navigation system navigates an electrically controllable apparatus such as a mobile robot. Navigation commands are generated to move the mobile apparatus based upon the location of the mobile apparatus. Once the location of the mobile apparatus is determined and the coordinates of a new position are provided, then the commands are transmitted to the mobile apparatus to relocate to the new position. The repetitive update of the location and move commands ensure the movement of the mobile apparatus without wire or rails.
For information about P A T S E A R C H ~
Pergamon Orbit lnfoLine Inc. 8000 Westpark Drive McLean, VA 22102 USA Telephone (703) 442-0900 Telex: 90-1811
Pergamon Orbit InfoLine Ltd 12 Vandy Street London EC2A 2DE UK Telephone (01) 377-4650 Telex: 8814614
~6~18 TABLE
TENNIS
ROBOT
Westphal Daley A table tennis robot with right and left servers, oscillatory motion, top spin and bottom spin, right and left side spin, combination of spins, or no-spin modes, variable ball speeds, and continuous reaycling of balls, to provide a human player with challenging practice serves. A bali catching net is located at one end of the tennis table. Bans caught by the net fall into a pan located below the table and are then fed upward by suction of a fan into a chamber. The chamber distributes balls one at a time into a vertical tube. At its bottom, the tube has right and left branches. A ball deflecting vane is adjustable to selectively direct a ball into either the right or left branch. The branches lead, respectively, to a right server and a left server. Each server has a rotating ball drive wheel. The output port of the right server has adjustable guide rails to impart high top spin to a ball. The output port of the left server has adjustable guide plates to impart various types of spin to a ball. The robot is oscillated about a vertical axis by a drive motor.
4769700 ROBOT
TRACTORS
Timothy Pryor, Tecumseh, Canada assigned to Diffracto Ltd Disclosed is an electro-optical and microcomputer based method and apparatus for automatically guiding tractors and other farm machinery for the purpose of automatic crop planting, tending and harvesting. A target is preferably located at one boundary of the field which serves as a reference. The position of the machinery in the field is determined by electrooptically sensing the target with a sensor located on the machinery. A desired trajectory for the machinery is then determined and the machinery is steered automatically along this trajectory. 4766775 MODULAR ROBOT MANIPULATOR Steven W Hodge A modular robotic remote manipulator is disclosed. The manipulator utilizes a base module,
any number of generally identical but appropriately sized articulating modules, extender modules as may be needed, and an end effector module to accommodate the task assigned to the manipulator. The articulating modules are constructed to afford three different motions about three different axes which intersect at a common point lying between the input end and the output end of the module to effect a range of possible motion for the module output which defines an imaginary sphere. This module is also constructed to provide a separate rotary torque through the output coupling to the next module. The couplers for interconnecting the modules utilize toggle operated spool shaped locks. An end effector or gripper employs a rotating shaft and follower connected through a cable and pulley arrangement to operate the gripper jaws.
4767048 MOBILE
ROBOTIC
PLATFORM
Andrew G Kimbrough, James C Hammond assigned to Kinetic Energy Corp A mobile robotic platform and guide means therefor having a carriage with one or more uniquely constructed drive rollers having radiallyextending metal filaments embedded in a complaint material and which coact with a track defining the guide means which has a length of textured material, such as wire mesh secured thereto. The coaction provides an infinite pitch rack drive. The mobile robotic platform can have the carriage thereof provided with two or more tractor units pivotally mounted thereto and each of which carry a pair of the aforesaid drive rollers whereby the carriage can follow guide means of varying contours with controlled travel and continuous operation of an operative device carried by the carriage. 4767143 ROBOT
HAND
Leroy D Michael, Michael W Green assigned to The Boeing Company A robot hand for grasping objects having substantially planar faces includes a base and a plurality of arms extending from the base. A plurality of vacuum cups are supported on and radially movable along the arms. Pivotal drive means pivot the arms, radial drive means move the cups along the arms, and vacuum means apply a vacuum to the cups. The cups are readily
New Patents
positioned to permit lifting and transporting of objects such as plies and the like, including those objects having irregular planar shapes. 4777416
iii
or left of the intersecting position, and steering the vehicle straight when the tracking position is at the same location as the intersecting position, to the left when the tracking position is to the right of the intersecting position, and to the right when the tracking position is to the left of the intersecting position.
RECHARGE DOCKING SYSTEM FOR MOBILE ROBOT Robert George, Michael DiPietro, Mark B Kadonoff, James F Maddox assigned to Denning Mobile Robotics Inc A recharge docking system for a batterypowered mobile robot which senses when the battery charge is below a predetermined level and halts the travel of the robot at its next navigational node, following which the robot independently plots and negotiates a path from the next node back to a base node at a recharge station, where the batteries are charged. 4777785 METHOD ROBOTIC
OF GUIDING A LAWNMOWER
4779075 DEVICE FOR ABSOLUTE DISPLACEMENT DETERMINATION Walter Zagelein, Dieter Rechinger, Rosstal, Federal Republic Of Germany assigned to Siemens Aktiengesellschaft To make possible a technically uncomplicated and reliable absolute displacement determination-in particular for the position determination of robot drives-a cyclic position transmitter (L) and a revolution transmitter (U) rigidly coupled therewith are provided, the sum signal of which indicates the displacement. As revolution transmitter there is used a transmitter (U) which makes use of the Wiegend effect. 4779203
Raymond Rafaels A method for guiding a robotic vehicle includes the steps of establishing a tracking position along a row of vehicle sensors at which the border is to intersect the row, positioning the vehicle on the border so that the border intersects the row at an intersecting position, generating a positive signal when a sensor senses any obstruction by vegetation of a path of radiation from a respective emitter to a respective detector, generating a negative signal when a sensor does not sense any obstruction, repeating said generating steps as said vehicle advances, sending a plurality of groups of said generated signals to a processor, averaging said signals, identifying the intersecting position by identifying an adjacent pair of oppositely signalling sensors on the basis of said averaging of said signals, determining whether the tracking position is at or to the right
VISUAL NAVIGATION SYSTEM FOR MOBILE ROBOTS Virge W McClure, Donald J Christian assigned to Texas Instruments Incorporated A visual navigation system navigates an electrically controllable apparatus such as a mobile robot. Navigation commands are generated to move the mobile apparatus based upon the location of the mobile apparatus. Once the location of the mobile apparatus is determined and the coordinates of a new position are provided, then the commands are transmitted to the mobile apparatus to relocate to the new position. The repetitive update of the location and move commands ensure the movement of the mobile apparatus without wire or rails.
For information about P A T S E A R C H ~
Pergamon Orbit lnfoLine Inc. 8000 Westpark Drive McLean, VA 22102 USA Telephone (703) 442-0900 Telex: 90-1811
Pergamon Orbit InfoLine Ltd 12 Vandy Street London EC2A 2DE UK Telephone (01) 377-4650 Telex: 8814614