Disclosed is an automatic die cleaning device with reusable cleaning fluid. The automatic die cleaning device includes a robot, a cleaning fluid cyclic-spraying system and a die overturning mechanism. The automatic die cleaning device can spray the cleaning fluid to a die to clean oil stains off the surface of the wheel die, thus realizing the function of automatically cleaning the oil stains off the surface of the die; and the automatic die cleaning device also has the function of reusing the cleaning fluid, thereby saving the cleaning fluid and reducing the influence on the environment. The cleaned die surface is smooth, and the effect is ideal. The automatic die cleaning device reduces the labor intensity, meets the requirement of high-efficiency production, and improves the production efficiency.

An arrangement for the assembly and wiring of electrical components in switchgear construction, the arrangement comprising a robot with an end effector designed as a gripper, a mounting plate holding device, with which a mounting plate is held in a mounting position with respect to the robot, and a component supply in the access area of the robot, via which components to be mounted on the mounting plate are provided for removal by the robot, wherein a controller of the robot has machine data for controlling the robot including position data for the arrangement of components on a mounting plane of a mounting plate to be equipped, wherein the robot has an optical imaging system which is adapted to detect an orientation of a mounting plate with respect to the robot, the controller of the robot being adapted to provide the position data with an offset representing the orientation of the mounting plate with respect to the robot as a function of the detected orientation. A corresponding method is further described.

A substrate processing apparatus includes a process module including a substrate support unit, an inverting unit and a processing unit, and a transfer module, wherein the inverting unit inverts a substrate so that a second surface faces upward, and provides the inverted substrate to the substrate support unit, wherein the processing unit performs a first processing on the second surface of the substrate seated on the substrate support unit, wherein the inverting unit inverts the first processed substrate so that the first surface faces upward, wherein the transfer module takes the substrate with a first surface facing upward out of the process module, and introduces again the substrate with a first surface facing upward into the process module to seat it on the substrate support unit, wherein the processing unit performs a second processing on the first surface of the substrate seated on the substrate support unit.

A surgical instrument includes an end effector, a shaft assembly, a drive, and an activating mechanism. The end effector includes first and second jaws. At least one of the first and second jaws is pivotable relative to the other of the first and second jaws between open and closed positions. The shaft assembly extends proximally from the end effector. The drive is operatively connected to a portion of at least one of the end effector or the shaft assembly. The activating mechanism includes an actuation body operatively connected to the drive. The portion is configured to perform a first actuation profile in response to the actuation body moving along a first predetermined path or perform a second actuation profile in response to the actuation body moving along a second predetermined path. Selection of the first predetermined path is configured to prevent the actuation body from accessing the second predetermined path.

An automated cooking system for adding time and labor efficiencies in food production environments such as restaurants. The automated cooking system includes at least a fryer, a dispensing freezer, a hot holding station, a plurality of baskets, and a gantry system. The gantry system includes a gantry control for a gantry, configured to engage and move each of the baskets. The basket and gantry include interface elements for enabling precise movements and rapid opening and closing of baskets at the system. Aspects of an automated cooking system and a corresponding method for discharging cooked food product help to avoid the problems associated with manually operating a cooking system. Specifically, the system described herein provides for apparatuses and methods to cook and dispense food product in a more efficient manner with regard to both time and labor considerations within food production environments.

An article supplying apparatus includes a retention unit configured to retain an article, a robot hand configured to insert the article retained in the retention unit into a container, and a control unit configured to control operation of the robot hand. The robot hand has a holding portion for holding the article. The control unit executes holding control in which the article is held by the holding portion; and stand-by insertion control in which after the holding portion is temporarily disposed at a stand-by position different from a position immediately above an article insertion port in the container and set on a movement path from a start position of the holding through the holding control to the position immediately thereabove, the holding portion is moved to the position immediately thereabove, and the article is inserted into the container via the article insertion port.

The present disclosure relates to systems and methods for automated drill pipe handling operations, such as trip in, trip out, and stand building operations. A pipe handling system of the present disclosure may include a lifting system for handling a load of a pipe stand, a pipe handling robot configured for engaging with the pipe stand and manipulating a position of the pipe stand, and a feedback device configured to provide information about a condition of the pipe stand, the lifting system, or the pipe handling robot. In some embodiments, the pipe handling robot may be a first robot configured for engaging with and manipulating a first end of the pipe stand, and the system may include a second pipe handling robot configured for engaging with and manipulating a second end of the pipe stand.

A gripper mechanism includes a pair of gripper jaws, a linear actuator, and a rocker bogey. The linear actuator drives a first gripper jaw to move relative to a second gripper jaw. Here, the linear actuator includes a screw shaft and a drive nut where the drive nut includes a protrusion having protrusion axis expending along a length of the protrusion. The protrusion axis is perpendicular to an actuation axis of the linear actuator along a length of the screw shaft. The rocker bogey is coupled to the drive nut at the protrusion to form a pivot point for the rocker bogey and to enable the rocker bogey to pivot about the protrusion axis when the linear actuator drives the first gripper jaw to move relative to the second gripper jaw.

A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising: a first and second joint permitting the end effector element to adopt a range of configurations relative to a longitudinal axis of the shaft, the first joint being driveable by a first pair of driving elements having a first positional accuracy requirement and the second joint being driveable by a second pair of driving elements having a second positional accuracy requirement lower than the positional accuracy requirement of the first pair of driving elements; and an instrument interface at a proximal end of the shaft, comprising: a chassis formed from the attachment of a first chassis portion to a second chassis portion, the first chassis portion comprising a mounting surface to which the shaft is mounted; wherein the first pair of driving elements are secured relative to the first chassis portion.

Generating and utilizing action image(s) that represent a candidate pose (e.g., a candidate end effector pose), in determining whether to utilize the candidate pose in performance of a robotic task. The action image(s) and corresponding current image(s) can be processed, using a trained critic network, to generate a value that indicates a probability of success of the robotic task if component(s) of the robot are traversed to the particular pose. When the value satisfies one or more conditions (e.g., satisfies a threshold), the robot can be controlled to cause the component(s) to traverse to the particular pose in performing the robotic task.