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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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Форма поиска

Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
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Применить Всего найдено 25028. Отображено 200.
18-10-2017 дата публикации

ГРЕЙФЕР

Номер: RU2633814C2
Принадлежит: АРЕФА ГмбХ (DE)

Изобретение относится к грейферам для поднятия и опускания грузов. Грейфер содержит присоединяющую часть (3) и соединительную часть (4), установленную на присоединяющей части с возможностью направляемого перемещения вдоль оси (5) между первым (Е1) и вторым (Е2) предельными положениями. На присоединяющей части (3) расположены два фиксатора (7), перемещающиеся между захватывающим положением (G), в котором они захватывают обратным хватом контрэлемент (9) груза (2) задней поверхностью упора (8), и разомкнутым положением (F), в котором они высвобождают контрэлемент. Присоединяющая часть (3) соединена с двумя фиксаторами (7) с помощью передаточного механизма (10) таким образом, что в первом предельном положении (Е1) фиксаторы находятся в захватывающем положении (G), а во втором предельном положении (Е2) фиксаторы находятся в разомкнутом положении (F). Фиксаторы (7) расположены на одинаковом расстоянии друг от друга по воображаемой окружности (13), описанной вокруг центральной продольной оси ( ...

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11-10-2017 дата публикации

УСТРОЙСТВО ДЛЯ ПОГРУЗКИ-РАЗГРУЗКИ КОРПУСОВ, СОДЕРЖАЩИХ ОБЪЕКТЫ

Номер: RU2633204C2
Принадлежит: АРЕВА НС (FR)

Изобретение относится к погрузочно-разгрузочному устройству для корпусов и содержащихся в них контейнеров. Погрузочно-разгрузочное устройство содержит кожух, расположенный в колесе, вращающемся вокруг своей оси, и предназначенный для размещения корпуса, закрытый на первом продольном конце и открытый на втором продольном конце, удерживающее устройство (14), установленное в области второго конца кожуха и содержащее два зажимных захвата, которые прикладывают зажимное усилие к корпусу (Е), исполнительное устройство для открывания и закрывания зажимных захватов, два стопорных захвата (36, 38), каждый из которых поддерживается зажимным захватом и свободно поворачивается вокруг зажимного захвата, пружины (40), соединяющие стопорные захваты (36, 38), так что открывание зажимных захватов вызывает открывание стопорных захватов (36, 38), и стопорные захваты (36, 38) способны открываться независимо от зажимных захватов. Погрузочно-разгрузочное устройство имеет высокую прочность, является надежным, ...

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22-10-2020 дата публикации

Номер: RU2017126881A3
Автор:
Принадлежит:

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26-12-2022 дата публикации

ЗАХВАТНОЕ УСТРОЙСТВО ДЛЯ РОБОТОВ

Номер: RU215762U1

Полезная модель относится к автоматизации и роботизации производственных процессов и может быть использована в качестве захватного устройства в манипуляторах и промышленных роботах. Захватное устройство содержит корпус с крышкой, во внутренних полостях которых установлен поршень, жестко соединенный с толкателем, кулачки, уплотнение. При этом поршень жестко соединен с толкателем посредством крепежного винта с возможностью возвратно-поступательного движения под воздействием давления сжатого воздуха, поступающего по каналам из внешнего источника. К толкателю прикреплены кулисы посредством установочного штифта и втулок с возможностью превращения возвратно-поступательного движения поршня в качающее движение. К каждой кулисе прикреплены кулачки через оси качания, что обеспечивает их боковое движение от оси поршня. В корпусе установлена пружина с возможностью удерживания кулачков в сжатом состоянии при пропадании давления сжатого воздуха от внешнего источника, а между корпусом и крышкой, на поршне ...

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20-02-2015 дата публикации

МАНИПУЛЯЦИОННЫЙ МОДУЛЬ ДЛЯ МАНИПУЛЯЦИИ С АВТОМОБИЛЬНЫМИ КОЛЕСАМИ

Номер: RU2013137201A
Принадлежит:

... 1. Манипуляционный модуль для манипуляций с автомобильными колесами в устройстве для обработки их поверхности по меньшей мере с двумя удерживаемыми рамной структурой (16) зажимными узлами (32a, 32b), каждый из которых включает в себя несколько прижимных элементов (60a, 60b), которые выполнены с возможностью прижима к одной или нескольким ответным поверхностям (62) отдельного автомобильного колеса (12), отличающийся тем, что по меньшей мере один из зажимных узлов (32a, 32b) включает в себя устройство (66a, 66b) поступательного движения, посредством которого прижимные элементы (60a, 60b) являются перемещаемыми относительно рамной структуры (16) с вектором перемещения, который параллелен оси (R) вращения захваченного автомобильного колеса (12).2. Манипуляционный модуль по п.1, отличающийся тем, что прижимные элементы (60a, 60b) посредством устройства (66a, 66b) поступательного движения выполнены с возможностью перемещения относительно рамной структуры (16) коаксиально оси (R) вращения захваченного ...

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30-04-1993 дата публикации

BRITTLE PART GRIPPER JAW

Номер: RU1812101C
Автор:
Принадлежит:

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07-11-1991 дата публикации

Технологическая система

Номер: SU1690538A3

Изобретение относится к машиностроению и может быть использовано на автоматизированных литейных установках. Цель изобретения - повышение надежности и безопасности работы. В технологической системе, содержащей захватное устройство и ряд захватываемых объектов, имеются соединительные средства в виде ниппелей для пропускания воздушной рабочей среды и для установления временной связи между захватным устройством и захватываемым объектом. Для этого соединительные средства - ниппели содержат трубообразный элемент, имеющий по крайней мере один открытый конец, причем этот открытый конец имеет возможность герметичного взаимодействия с плоской поверхностью на захватываемом объекте и расположения в отверстиях этого объекта. Диаметры отверстий объекта 8 немного меньше диаметров открытых концов ниппелей. 5 з.п.ф-лы, 3 ил. Ё ...

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12-08-2021 дата публикации

Vorrichtung zum Bewegen eines Produktstapels mit einem Roboter

Номер: DE102020201669A1
Принадлежит:

Eine erfindungsgemäße Vorrichtung zum Bewegen eines Produktstapels mit einem Roboter, wobei der Roboter (10) einen Gelenkarm (11) umfasst, an welchem ein erster Greifer (30) für den Produktstapel (1) angeordnet ist, zeichnet sich dadurch aus, dass am Gelenkarm (11) eine Greifeinrichtung (20) angeordnet ist, welche den ersten Greifer (30) und einen zweiten Greifer (32) umfasst, wobei der erste Greifer und der zweite Greifer relativ zueinander positionierbar sind. Die Erfindung ermöglicht es in vorteilhafter Weise, Produktstapel automatisiert zu bewegen und insbesondere gewendet oder ungewendet abzusetzen.

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02-01-1992 дата публикации

Номер: DE9017733U1
Автор:

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15-02-2018 дата публикации

Werkzeugkopf, Greif- und/oder Manipulationseinrichtung mit einem solchen Werkzeugkopf sowie Verfahren zur Handhabung von Stückgütern oder Gebinden

Номер: DE102016214736A1
Принадлежит:

Es ist ein innerhalb eines definierten und/oder abgegrenzten Bewegungsraumes beweglicher und/oder um eine vertikale oder gegenüber einer Vertikalen geneigten Achse (28) rotierbarer Werkzeugkopf (10) offenbart, der wenigstens einen in ungefähr horizontalem Verlauf außen um einen zu erfassenden Artikel oder um ein zu erfassendes Stückgut und/oder Gebinde (16) und/oder um eine zu erfassende Artikel-, Stückgut- oder Gebindegruppierung legbaren geschlossenen Riemen (30) trägt, dem mindestens eine steuerbare Spanneinrichtung (38) zur Variation eines Umfangs sowie einer Spannung des Riemens (30) zur zumindest temporären Ausbildung eines Haftreibungsschlusses zwischen den Kontaktflächen des Artikels, Stückgutes oder Gebindes (16) und/oder der Gruppierung und dem wenigstens einen Riemen (30) zum Zwecke des Aufnehmens und der Handhabung des Artikels, Stückgutes oder Gebindes (16) und/oder der Gruppierung zugeordnet ist. Weiterhin ist ein Verfahren zur Handhabung und/oder Gruppierung von Artikeln, ...

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09-08-2018 дата публикации

Greifvorrichtung mit externem Magnetfeldsensor

Номер: DE102017001221A1
Принадлежит:

Die Erfindung betrifft eine Greifvorrichtung mit mindestens zwei aufeinander zu- oder voneinander wegbewegbar angeordneten Greifelementen, die im Gehäuse der Greifvorrichtung auf Schlitten sitzen oder von Schlitten getriebetechnisch angelenkt werden. Dabei ist am Gehäuse der Greifvorrichtung eine Tragvorrichtung angeordnet, in oder an der ein Magnetfeldsensor fest oder justierbar gehalten wird. An mindestens einem Schlitten innerhalb des Gehäuses ist ein Tragelement angeordnet, das einen Magnetfelderzeuger lagert.Mit der vorliegenden Erfindung wird eine Greifvorrichtung entwickelt, bei der für eine Anordnung eines Magnetfelderzeugers - zur hubabhängigen Auslösung eines Schaltsignals in einem außen am Gehäuse gelagerten handelsüblichen Magnetfeldsensor - im Inneren des Vorrichtungsgehäuses eine Tragvorrichtung so gestaltet und gelagert wird, dass diese bei minimalem Bauraum und geringer Gewichtskraft einfach und sicher zu montieren ist.

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20-05-2020 дата публикации

Werkstückgreifhand, Handsystem und Robotersystem

Номер: DE102019130292A1
Принадлежит:

Es handelt sich um eine Werkstückgreifhand, die ein erstes bewegliches Element und ein zweites bewegliches Element, die miteinander zusammenwirkend ein Objekt ergreifen; eine erste Antriebseinheit, die das erste bewegliche Element linear bewegt; eine Trageinheit, die das zweite bewegliche Element drehbar trägt; ein Verbindungselement, das mit dem ersten beweglichen Element und dem zweiten beweglichen Element gekoppelt ist und die lineare Bewegung des ersten beweglichen Elements zu dem zweiten beweglichen Element überträgt und das zweite bewegliche Element dreht; und eine zweite Antriebseinheit, die die Trageinheit bewegt und die Position des Drehzentrums des zweiten beweglichen Elements verändert, umfasst.

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07-04-1983 дата публикации

LOAD HANDLING HEAD FOR A MACHINE PARTICULARLY INTENDED FOR HANDLING LOOSE SIGNATURE PACKS

Номер: GB0002070559B
Автор:
Принадлежит: WAMAC MACHINERY AB

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12-02-2003 дата публикации

Grippers with movable web

Номер: GB2378432A
Принадлежит:

A gripping apparatus for pick and place handling of articles, wherein the apparatus comprises:
```a supporting frame 100; and
```a pair of gripping fingers 2a,2b mounted directly or indirectly to the supporting frame and moveable towards each other so as to grip an article therebetween or moveable apart for conventional release of the article, each finger being faced with a respective facing material web 7a,7b which is powered to be moveable over the surface of the finger, whereby an article gripped between the gripping fingers may be picked up, released and/or moved therealong, in use, by movement of the facing material webs and independently of movement of the gripping fingers toward or away from each other e.g. by powered drums 8.

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25-03-1964 дата публикации

Improvements in or relating to remote controlled manipulators

Номер: GB0000953468A
Автор: PESENTI PIERRE
Принадлежит:

... 953,468. Handling radio-active material. COMMISSARIAT A L'ENERGIE ATOMIQUE. Aug. 3, 1960 [Aug. 31, 1959], No. 26942/60. Heading B4Q. A remote controlled manipulator comprises a control head T 1 and a driven head T 2 connected together by a support (not shown), the head T 1 having a handle m to produce movements about mutually perpendicular axes A 1 A 1 , B 1 B 1 which are transmitted by cables 6, 12 to cause similar movements of jaws p in the head T 2 . The head T 1 also carries a trigger g which may be moved towards the handle m to control a cable 14 and actuate the jaws p, these jaws being closed when they are pulled into a tubular element 5 against the action of a spring q. The two heads are similar and each comprises a pair of plates 1 carrying a shaft 4 on which a support 3 may oscillate about the axis A 1 A 1 or A 2 A 2 , the cable 6 being wound round a pulley 7 secured to each support 3. The tubular element 5 is rotatable about the axis B 1 B 1 or B 2 B 2 in a support 3 and has a ...

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08-07-2020 дата публикации

End effectors carrying plies of limp material for shaping by a mandrel

Номер: GB0002567041B
Принадлежит: BOEING CO, The Boeing Company

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02-09-2020 дата публикации

End effector carriage for delta robot

Номер: GB0002581848A
Автор: TROY BODKIN, Troy Bodkin
Принадлежит:

An end effector carriage 4 for a delta robot (2, figure 1) comprises a housing 17 connected to a delta robot arm 9, in use, for actuation of the housing. An electric motor 18 is sealed within the housing and an output shaft 28 is driven by the electric motor to move a picker (10) relative to the housing. The axis of rotation of the picker is parallel to an axis of an end effector carriage. The end effector carriage may comprise a fluid pressure line 22 within the housing to provide pneumatic or hydraulic actuation of the picker. The output shaft may be arranged in the force path between the motor and the picker and may further comprise a fluid pathway 30 extending between the fluid pressure line and the picker. The output shaft may comprise a range-taking fluid inlet (32, figure 3) to maintain fluid communication between the fluid pathway and the fluid pressure line during movement of the shaft. There may be a one or more fluid inlets circumferentially spaced about the shaft.

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16-12-2015 дата публикации

Modular robot

Номер: GB0201519152D0
Автор:
Принадлежит:

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20-02-2019 дата публикации

Order fulfillment system with robotic break pack

Номер: GB0002565709A
Принадлежит:

In some embodiments, methods and systems for fulfilling consumer orders are provided. A stocking station includes at least one robotic stocking arm configured to unload a product from a first receptacle and to place the unloaded product onto a storage shelf, and a first picking station includes a first robotic picking arm configured to pick a first product from the storage shelf and to load the first product picked from the storage shelf into a second receptacle for delivery to a consumer. An empty receptacle placement station includes at least one robotic placing arm configured to place an empty second receptacle onto a packing conveyor configured to transport the empty second receptacle toward the first picking station for loading of the first product into the empty second receptacle. An electronic inventory management device transmits a signal the empty receptacle placement station and the first robotic picking arm.

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23-02-1977 дата публикации

ARTICLE EXCHANGE APPARATUS

Номер: GB0001465596A
Автор:
Принадлежит:

... 1465596 Grippers INTERNATIONAL BUSINESS MACHINES CORP 9 Oct 1974 [30 Nov 1973] 43658/74 Heading B8H The apparatus shown in Fig. 1 comprises a pair of grippers 12, 14 which co-operate to transfer an article 10 from one to the other, the grippers 12, 14 being formed from a resilient material such as plastics such that their fingers 26, Fig. 2, are spring-loaded, the fingers being each provided with an inner flat surface 28 at the tip so that when a grapple is holding an article there is an open space formed between each of the surfaces 28 and the article. When the grapple 12 is moved towards the grapple 14 the fingers of the latter enter the said open spaces formed between the fingers of the grapple 12 and the article and the latter-mentioned fingers are forced away from the article as the fingers of grapple 14 engage the article, and on subsequent retraction of the grapple 14 the article 10 is held thereby. Fig. 3 (not shown), discloses a grapple in which the tips (36) are formed by respective ...

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15-05-1989 дата публикации

ANLAGE ZUM BESCHICKEN WENIGSTENS EINER WERKZEUGMASCHINE MIT AUF PALETTEN BEREITGESTELLTENWERKSTUECKEN

Номер: ATA217384A
Автор:
Принадлежит:

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15-05-1989 дата публикации

VORRICHTUNG ZUM GREIFEN VON BAUTEILEN

Номер: ATA143683A
Автор:
Принадлежит:

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15-10-2020 дата публикации

Magazine for inserts

Номер: AT0000522423A1
Автор:
Принадлежит:

Magazin (1) für Einlegeteile (2), insbesondere Magnetadapter, für Betonfertigteile, wobei das Magazin (1) einen entlang einer Rohrachse (R) verlaufenden rohrförmigen Speicher (3) zur Aufnahme der Einlegeteile (2) im Inneren des rohrförmigen Speichers (3) umfasst, wobei der rohrförmige Speicher (3) eine Ausbringöffnung (4) zur Ausbringung der Einlegeteile (2) aus dem Magazin (1) aufweist, wobei das Magazin (1) eine Vereinzelungsvorrichtung (5) zur vereinzelten Ausbringung der Einlegeteile (2) umfasst, wobei die Vereinzelungsvorrichtung (5) eine Greifvorrichtung (6) umfasst, wobei die Greifvorrichtung (6) zwischen einer Rückhaltestellung, in welcher ein Einlegeteil (2) von der Greifvorrichtung (6) haltbar ist, und einer Ausgabestellung, in welcher ein von der Greifvorrichtung (6) gehaltenes Einlegeteil (2) freigebbar ist, hin und her bewegbar ist, wobei die Greifvorrichtung (6) wenigstens ein Greifelement (7, 7‘) umfasst, wobei sich das wenigstens eine Greifelement (7, 7‘) zumindest in der ...

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15-04-1988 дата публикации

PLANT FOR FEEDING AT LEAST ONE MACHINE TOOL ALSO ON PALLETS MADE AVAILABLE WORKPIECES

Номер: AT0000040484A
Автор:
Принадлежит:

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15-01-1987 дата публикации

DEVICES FOR THE CLEANING/CWORKING OVER AGAIN OF WORKPIECES.

Номер: AT0000024677T
Принадлежит:

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30-07-2020 дата публикации

Banknote storage container handling system

Номер: AU2019273975A1
Принадлежит: Spruson & Ferguson

A banknote storage container handling system is provided which comprises: a conveyance device 200 for conveying banknote storage containers; an unlocking device 300 for opening banknote storage containers 10, arranged to the side of the conveyance device 200; a detection unit 220 for searching for an identification part of a banknote storage container 10; and a control device 100 which, on the basis of data from the detection unit 220, identifies the surface of the banknote storage container 10 that has a keyhole 12, and unlocks the storage container 10 by controlling the unlocking device 300.

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15-04-2021 дата публикации

Banknote storage container handling system

Номер: AU2019273975B2
Принадлежит:

A banknote storage container handling system is provided which comprises: a conveyance device 200 for conveying banknote storage containers; an unlocking device 300 for opening banknote storage containers 10, arranged to the side of the conveyance device 200; a detection unit 220 for searching for an identification part of a banknote storage container 10; and a control device 100 which, on the basis of data from the detection unit 220, identifies the surface of the banknote storage container 10 that has a keyhole 12, and unlocks the storage container 10 by controlling the unlocking device 300.

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08-12-1988 дата публикации

GRIPPER APPARATUS FOR STACKING SHEETS OF GLASS

Номер: AU0000579707B2
Принадлежит:

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29-07-2021 дата публикации

System and method for changing liners, the configuration of which allows the automated removal and insertion of liners of a mill used for ore grinding

Номер: AU2018455235A1
Принадлежит:

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.

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18-05-2006 дата публикации

APPARATUS AND METHOD FOR HANDLING HUMID PRODUCTS

Номер: CA0002585477A1
Принадлежит:

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13-12-1988 дата публикации

METHOD AND APPARATUS FOR HIGH DENSITY WIRE HARNESS MANUFACTURE

Номер: CA1246329A
Принадлежит: UNIMATION INC, UNIMATION, INC.

... 32 The invention is a system for the assembly of wire harnesses. More particularly the invention provides an assembly tool and a wire feed system for delivering a completed wire from a wire fabrication cell to the final wire harness assembly point. The assembly tool consists of two symmetrical parts which function together in jaw-like fashion to receive and then guide a wire to an assembly point. Each half of the assembly tool is double-ended, so that the wire may be inserted from either the left or right half of the assembly tool. The wire feed system includes a wire tensioning and centering tool mounted on the end effector and a pneumatically driven wire feed system. Back pressure is used to effectively blow the wire from a first point remote from the assembly point to the gripper for acquisition by the gripper. The wire harness assembly system also includes a stationary clamp which initially receives the terminated wire from the wire feed system and positions it for acquisition by the ...

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07-06-1988 дата публикации

SUPPORTING DEVICE

Номер: CA1237739A
Принадлежит: FUJITSU LTD, FUJITSU LIMITED

SUPPORTING DEVICE A supporting device comprising a first member which supports a springy means for resiliently supporting a second member. The supporting device comprises a detection means for detecting displacement of the springy means with respect to the first member in accordance with the movement of the second member and a biasing means which applies a force to the springy means from the same direction as or from a direction opposite to that of the displacement for changing the elasticity of the springy means in accordance with the movement of the second member.

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31-10-2019 дата публикации

WASTE SORTING GANTRY ROBOT

Номер: CA0003097800A1
Принадлежит: MARKS & CLERK

A waste sorting robot gripper comprises a suction cup engageable with the surface of a waste object. The suction cup has an air hole for evacuating air from the suction cup. A suction tube is coupled to the suction cup. The suction tube comprises a longitudinal axis. A first air inlet is in fluid communication with the air hole at one end of the suction tube and an air outlet at the other end of the suction tube. A path of the air flow between the air inlet and the air outlet is substantially along the longitudinal axis. The suction tube comprises a second air inlet in fluid communication with an air source, the second air inlet being between the first air inlet and the air outlet.

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23-12-2018 дата публикации

A FUNCTIONAL ASSEMBLY FOR AN INDUSTRIAL MACHINE, IN PARTICULAR FOR A ROBOT, INCLUDING AN OPERATIVE UNIT EQUIPPED WITH A SAFETY COVER

Номер: CA0003007241A1
Принадлежит:

A functional assembly for an industrial machine, in particular for a robot, comprises a support frame (3) provided with a flange (305) for connection to a robot wrist (105) or other element of an industrial machine. An operative unit (4), such as a gripping tool or an operative tool is supported by the support frame (3). A safety cover (5) for the operative unit (4) is carried by the support frame (3) and defines a containment volume. The safety cover (5) has a fixed portion (5A) rigidly connected to the support frame (3) which supports the operative unit and a portion (5B) movable along a main direction (A) with respect to the fixed portion (5A), and located outside thereof. The movable portion (5B) is movably mounted on the support frame (3). The movable portion (5B) of the safety cover (5) is movable between a lowered position, wherein it surrounds and completely covers the operative unit (4), and a raised position, wherein the operative unit (4) is at least partially outside the containment ...

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28-11-2019 дата публикации

BANKNOTE STORAGE CONTAINER HANDLING SYSTEM

Номер: CA0003087703A1
Принадлежит: GOWLING WLG (CANADA) LLP

A banknote storage container handling system is provided which comprises: a conveyance device 200 for conveying banknote storage containers; an unlocking device 300 for opening banknote storage containers 10, arranged to the side of the conveyance device 200; a detection unit 220 for searching for an identification part of a banknote storage container 10; and a control device 100 which, on the basis of data from the detection unit 220, identifies the surface of the banknote storage container 10 that has a keyhole 12, and unlocks the storage container 10 by controlling the unlocking device 300.

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25-07-2019 дата публикации

A GRASPING AFFORDANCE FOR USE IN A ROBOT SYSTEM

Номер: CA0003088706A1

An affordance is provided which allows a robot system to pick an expanded range of items using 5 a single type of end effector, without requiring the use of different end effectors. In particular, there is provided an affordance for an item to be grasped by a robot system, the robot system comprising an end effector. The affordance comprises a first layer and a second layer. The first layer is arranged to be grasped by the end effector and the second layer is arranged to adhere to the item. There is also provided a system comprising an affordance and a robot system 10 comprising an end effector arranged to grasp at least one item from at least one storage means by way of the affordance. There is also provided an order fulfilment system comprising a storage means arranged to store at least one item and a system wherein the robot system is arranged to grasp at least one item from the storage means by way of the affordance. There is also provided a method of applying to an item an affordance ...

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07-02-2019 дата публикации

AUTOMATED AND ROBOTIZED CONSTRUCTION SYSTEM AND CONSTRUCTION METHOD

Номер: CA0003071573A1
Принадлежит: AVENTUM IP LAW LLP

The present invention provides an automated system for constructing and assembling walls, floors, roofs and stairs. The system comprises: at least one robotic arm; at least one tool for securing materials; at least one system for sliding, rotating and lifting; and male-female coupling elements.

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28-11-2019 дата публикации

ROBOT HAND AND CONVEYING DEVICE

Номер: CA0003087626A1
Принадлежит: GOWLING WLG (CANADA) LLP

The purpose of the present invention is to provide a robot hand which can place all thin objects in a thin object bundle, such as a banknote bundle, in a prescribed position. This robot hand 100 is provided with a first finger 110, a second finger 120, a finger moving mechanism 130, a pushing unit 140 and a pushing unit reciprocating mechanism 150. The second finger is arranged facing the first finger. The finger moving mechanism moves at least one of the first finger and the second finger in the direction of opposition between the first finger and the second finger. The pushing unit reciprocating mechanism causes the pushing unit to reciprocate in a direction parallel to the depth direction of the first finger.

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18-12-2014 дата публикации

SYSTEMS AND METHODS FOR SENSING OBJECTS

Номер: CA0002951523A1
Принадлежит:

Disclosed is a tactile sensing and integrated vision system that surmounts problems of existing systems. The tactile sensing skin can be formed into any shape, size, or form factor, including large areas. Computer-implemented algorithms can detect position-orientation and force-torque at landmark points for a given object set. The result is a modular sensing system that is highly scalable in terms of price, quantity, size and applications. Such skin technology and associated software can comprise a sensing package that integrates tactile and visual data with accompanying software for state estimation, situational awareness, and automatic control of machinery. The addition of tactile data can serve to constrain and/or augment visual pose estimation methods as well as provide pose estimation to visually occluded objects.

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12-11-2015 дата публикации

ACTUATION OF A HAND TO BE PROVIDED ON A HUMANOID ROBOT

Номер: CA0002948073A1
Принадлежит:

The invention relates to a hand to be provided on a humanoid robot. The hand includes a palm and a plurality of fingers (12, 13, 14). Each finger (12, 13, 14) is movable, relative to the palm, between a rest position, maintained by means of a spring effect, and a compressed position, obtained by driving a connecting part (22, 23, 24) using the palm countering the spring effect. Said hand is characterized in that it includes a motor-driven shaft (20), connected to the connecting part (22, 23, 24) of each finger (12, 13, 14), and configured such as to move at least one first finger (12) and at least one second finger (13), respectively, from the rest position to the compressed position, by rotating the motor-driven shaft (20), in a first rotational direction and in an opposite direction, respectively.

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25-06-2019 дата публикации

APPARATUS FOR AUTOMATED POSITIONING OF EDDY CURRENT TEST PROBE

Номер: CA0002967589C

An apparatus for automated inspection and repair of a tube sheet. The apparatus has a rotating gripper pod, comprising at least one tube gripper, a sliding body portion containing the gripper pod; a housing portion comprising at least one tube gripper and a tool head coupling. The tool head coupling swapably attaches to an eddy current test probe and at least one kind of tube repair tool. Novel, auto-locking tube grippers are also disclosed. A serial bus connects electronic modules within the apparatus and also connects the apparatus to an external controller.

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14-02-1975 дата публикации

DREHSPERRE FUER DAS GREIFGLIED EINER GREIFZANGE.

Номер: CH0000558707A
Автор:

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31-12-1963 дата публикации

Télémanipulateur

Номер: CH0000374263A

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28-06-1985 дата публикации

DEVICE FOR FEEDING A PALLET WITH PAPIERSTAPELN.

Номер: CH0000649969A5
Автор: SYLVANDER THOMAS
Принадлежит: WAMAC MACHINERY AB

Подробнее
15-11-1989 дата публикации

TOOL FOR ROBOTS AND USE OF THE TOOL.

Номер: CH0000672281A5
Автор: SERVIS, WILHELM

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29-08-2014 дата публикации

Mounting System.

Номер: CH0000707625A1
Принадлежит:

Ein System und ein Verfahren zum Montieren von laminierten Anordnungen gebrauchen einen Roboter (10) zum Aufnehmen und Platzieren eines plattenförmigen Materials, wobei sie ferner eine Klebemittel-Auftragseinrichtung (13) gebrauchen, welche durch den Roboter (10) von einer Klebemittel-Auftragseinrichtung-Ruhestation (14) aufgenommen wird, welche dazu verwendet wird, um Klebemittel an das plattenförmige Material anzulegen, und welche dann an die Klebemittel-Auftragseinrichtung-Ruhestation (14) zurückgegeben wird.

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15-08-1989 дата публикации

MANIPULATING DEVICE ROBOTIZZATO AND SYSTEM OF SHEET BENDING FORTIFIED OF SUCH DEVICE.

Номер: CH0000671179A5
Автор: SARTORIO, FRANCO
Принадлежит: PRIMA IND SPA, PRIMA INDUSTRIE S.P.A.

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14-07-1989 дата публикации

Industrial robot gripper mechanism - uses cuff of memory alloy and associated heating or cooling device

Номер: CH0000670794A5

The gripper mechanism comprises a robot arm (1) with a linkage (2) at its free end fitted with a clamp (3) supporting a cuff (4) of a memory alloy with an associated heating and/or cooling device. The cuff can be fitted over a pin (6) attached to the component (5) to be handled with a given temp. cycle effected via the heating and/or cooling device to allow it to be gripped and released. The heating device may comprise an inductive heating coil, or a resistance heating coil, a liquid heating loop, or a Peltier element, with cooling provided by forced or natural convection, a liquid cooling loop or a Peltier element. USE/ADVANTAGE - Automised mass prodn. line. Higher reliability witheasier supervision of complete installation.

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15-07-2019 дата публикации

Gripper with a gripper frame and having at least one gripper movable gripping jaw relative to the frame.

Номер: CH0000710520B1
Принадлежит: HAMILTON BONADUZ AG, Hamilton Bonaduz AG

Greifer (10) mit einem Greifergestell (12) und mit wenigstens einer relativ zum Greifergestell (12) beweglichen Greifbacke (14, 16), wobei in dem Greifergestell (12) ein relativ zum Greifergestell (12) längs einer Antriebsbahn (A) bewegliches Antriebsteil (22) vorgesehen ist, mit welchem die Greiferbacke (14, 16) derart zur gemeinsamen Bewegung gekoppelt ist, dass sich die Greiferbacke (14, 16) dann relativ zum Greifergestell (12) bewegt, wenn das Antriebsteil (22) relativ zum Greifergestell (12) bewegt wird, welcher dadurch gekennzeichnet ist, dass die Greiferbacke (14, 16) mit dem Antriebsteil (22) durch ein Lenkerband (18, 20) verbunden ist, welches betriebsmässig um eine Biegeachse (B18, B20), die mit der Antriebsbahn (A) und einer Längsrichtung des Lenkerbands (18) einen Winkel, vorzugsweise einen rechten Winkel, einschliesst, biegeelastisch verformbar ist.

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30-06-2016 дата публикации

Gripper with a hand stand comprises and with at least one relatively movable gripping jaw for hand stand comprises.

Номер: CH0000710520A2
Автор: MARTINA CAVEGN
Принадлежит:

Greifer (10) mit einem Greifergestell (12) und mit wenigstens einer relativ zum Greifergestell (12) beweglichen Greifbacke (14, 16), wobei in dem Greifergestell (12) ein relativ zum Greifergestell (12) längs einer Antriebsbahn (A) bewegliches Antriebsteil (22) vorgesehen ist, mit welchem die Greiferbacke (14, 16) derart zur gemeinsamen Bewegung gekoppelt ist, dass sich die Greiferbacke (14, 16) dann relativ zum Greifergestell (12) bewegt, wenn das Antriebsteil (22) relativ zum Greifergestell (12) bewegt wird, welcher dadurch gekennzeichnet ist, dass die Greiferbacke (14, 16) mit dem Antriebsteil (22) durch ein Lenkerband (18, 20) verbunden ist, welches betriebsmässig um eine Biegeachse (B18, B20), die mit der Antriebsbahn (A) und einer Längsrichtung des Lenkerbands (18) einen Winkel, vorzugsweise einen rechten Winkel, einschliesst, biegeelastisch verformbar ist.

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15-04-2019 дата публикации

Gripper system for handling systems.

Номер: CH0000714221A2
Принадлежит:

Die Erfindung betrifft ein Greifersystem für Handlingsysteme zum Holen und Bringen von Transportobjekten. Das Greifersystem fixiert das Transportobjekt beim Holen mit der Schwerkraft des Transportobjektes. Dadurch entfällt das aufwändige Einlernen (Teachen) der Positionen im Handlingsystem. Durch das leicht schiefe Lagern eines Transportobjektes werden das Holen (Pick) und das Bringen (Place) mit dem Handlingsystem verbessert, da der Greifer beim Ein- und Ausfahren automatisch entlastet wird. TO = Transportobjekt wie Werkstückpalette oder Lagertransportbehälter H = Halter oder Haltebügel (obige oder stirnseitige Befestigung an Transportobjekt) G = Greifer von Automatisierungssystem wie Roboter oder Handlingsystem OID = Beschriftung von Transportobjekt wie RFID Barcode oder Nummer ...

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15-12-2020 дата публикации

Device and method for depalletizing stacked articles.

Номер: CH0000716125B1
Автор: URS BEGERT, Urs Begert
Принадлежит: STOECKLIN LOGISTIK AG, Stöcklin Logistik AG

Vorgesehen ist eine Vorrichtung (9) zum Depalettieren von gestapelten Stückgutgebinden (2, 6), wobei die Vorrichtung (9) eine Halteeinrichtung (11) mit daran angeordneten und zum lösbaren Saugeingriff mit einer Seitenwand (3, 4) des Gebindes (2, 6) ausgebildete Saugmittel (12, 13) und eine relativ zur Halteeinrichtung (11) bewegbare Trageplatte (14) zur Unterstützung des Gebindes (2, 6) aufweist, und eine Aufnahme (15) mit mindestens einem Träger (16) besitzt, an der die Halteeinrichtung (11) und eine Eingriffseinrichtung (18) zum lösbaren Eingriff mit einer Ausnehmung (5) in einer der Seitenwände (3, 4) des Gebindes (2, 6) angeordnet ist, und die Vorrichtung eine Sensoreinrichtung aufweist, die zur Erfassung der Position und/oder Lage der Ausnehmung (5) ausgebildet ist.

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30-10-2020 дата публикации

Device and method for depalletizing stacked articles.

Номер: CH0000716125A2
Автор: URS BEGERT, Urs Begert
Принадлежит:

Vorgesehen ist eine Vorrichtung (9) zum Depalettieren von gestapelten Stückgutgebinden, wobei die Vorrichtung (9) eine Halteeinrichtung (11) mit daran angeordneten und zum lösbaren Sauaeingriff mit einer Seitenwand (3, 4) des Gebindes (2, 6) ausgebildete Saugmittel (12) und eine relativ zur Halteeinrichtung (11) bewegbare Trageplatte (14) zur Unterstützung des Gebindes aufweist, und eine Aufnahme (15) mit mindestens einem Träger (16) besitzt, an der die Halteeinrichtung (11) und eine Eingriffseinrichtung (18) zum lösbaren Eingriff mit einer Ausnehmung in einer der Seitenwände des Gebindes angeoeordnet ist, und die Vorrichtung eine Sensoreinrichtung aufweist, die zur Erfassung der Position und/oder Lage der Ausnehmung ausgebildet ist.

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30-10-2020 дата публикации

Depalletizer assembly with a device for depalletizing stackable articles and method for depalletizing stackable articles.

Номер: CH0000716129A1
Автор: URS BEGERT, Urs Begert
Принадлежит:

Vorgesehen ist eine Depalettieranordnung mit einem, eine Tragstruktur (39) aufweisenden Manipulator und einer an der Tragstruktur relativ zum Manipulator bewegbar angeordneten Vorrichtung (9) zum Depalettieren von stapelbaren Stückgutgebinden, wobei die Vorrichtung (9) eine Halteeinrichtung mit daran angeordneten und zum lösbaren Saugeingriff mit einer Seitenwand des Gebindes ausgebildete Saugmittel und eine relativ zur Halteeinrichtung bewegbare Trageplatte zur Unterstützung des Gebindes aufweist und eine Aufnahme mit mindestens einem Träger besitzt, an der die Halteeinrichtung angeordnet ist. Dabei weist die Vorrichtung (9) eine Eingriffseinrichtung auf, die zum lösbaren Eingriff mit einer Ausnehmung einer Seitenwand des Gebindes ausgebildet ist. Die Vorrichtung (9) ist an einer relativ zur Tragstruktur (39) drehbar angeordneten Drehaufnahme (41) angeordnet.

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15-10-2021 дата публикации

Verfahren und System zur Kommissionierung von auf Artikelpaletten in einem Palettenlager in stapelbaren Stückgutgebinden bereit gestellter Waren auf einer Zielpalette.

Номер: CH716130B1
Автор: URS BEGERT, Urs Begert
Принадлежит: STOECKLIN LOGISTIK AG, Stöcklin Logistik AG

Vorgesehen ist ein Verfahren zur Kommissionierung von auf Artikelpaletten in einem Palettenlager in stapelbaren Stückgutgebinden (2) bereit gestellter Waren, bei dem Waren auf einer Zielpalette in den stapelbaren Stückgutgebinden (2) zusammengeführt werden, und die Stückgutgebinde (2) mit einem von einem Tragemittel (14) einer automatisierten Vorrichtung zur Depalettierung der Stückgutgebinde (2) von einer Unterlage anhebbaren unteren Auflagebereich und einer Seitenwand versehen sind, wobei nach dem Verfahren folgende Schritte ausgeführt werden: Herbeiführen eines lösbaren Eingriffs einer Halteeinrichtung der Vorrichtung zur Depalettierung mit einer Ausnehmung der Seitenwand des Stückgutgebindes (2) Anheben des Stückgutgebindes (2) mittels der Halteeinrichtung zur Trennung des Auflagebereichs des Stückgutgebindes (2) zumindest entlang eines Teilbereichs von der Unterlage zur Herbeiführung eines Zwischenraums (21) zwischen dem Auflagebereich und der Unterlage Einführen des Tragemittels ( ...

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15-06-2021 дата публикации

Depalettieranordnung mit einer Vorrichtung zum Depalettieren von stapelbaren Stückgutgebinden.

Номер: CH716129B1
Автор: URS BEGERT, Urs Begert
Принадлежит: STOECKLIN LOGISTIK AG, Stöcklin Logistik AG

Vorgesehen ist eine Depalettieranordnung (38) mit einem, eine Tragstruktur (39) aufweisenden Manipulator (40) und einer an der Tragstruktur relativ zum Manipulator bewegbar angeordneten Vorrichtung zum Depalettieren von gestapelten Stückgutgebinden wobei die Vorrichtung eine Halteeinrichtung mit daran angeordneten und zum lösbaren Saugeingriff mit einer Seitenwand des Gebindes ausgebildete Saugmittel und eine relativ zur Halteeinrichtung bewegbare Trageplatte zur Unterstützung des Gebindes aufweist, und eine Aufnahme mit mindestens einem Träger besitzt, an der die Halteeinrichtung angeordnet ist, wobei die Vorrichtung eine Eingriffseinrichtung aufweist, die zum lösbaren Eingriff mit einer Ausnehmung einer Seitenwand des Gebindes ausgebildet ist und die Vorrichtung an einer relativ zur Tragstruktur (39) drehbar angeordneten Drehaufnahme (41) angeordnet ist.

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30-10-2020 дата публикации

Method and system for picking articles on a target pallet on article pallets in a pallet store in stackable articles.

Номер: CH0000716130A1
Автор: URS BEGERT, Urs Begert
Принадлежит:

Vorgesehen ist ein Verfahren zur Kommissionierung von auf Artikelpaletten in einem Palettenlager in stapelbaren Stückgutgebinden (2) bereit gestellter Waren, bei dem Waren auf einer Zielpalette in den stapelbaren Stückgutgebinden zusammengeführt werden, und die Stückgutgebinde mit einem von einer Trageplatte (14) einer automatisierten Vorrichtung zur Depalettierung der Stückgutgebinde von einer Unterlage anhebbaren unteren Auflagebereich und einer Seitenwand versehen sind, gekennzeichnet durch die Schritte Herbeiführen eines lösbaren Eingriffs einer Halteeinrichtung der Vorrichtung zur Depalettierung mit einer Ausnehmung der Seitenwand des Stückgutgebindes Anheben des Stückgutgebindes mittels der Halteeinrichtung zur Trennung des Auflagebereichs des Stückgutgebindes zumindest entlang eines Teilbereichs von der Unterlage zur Herbeiführung eines Zwischenraums (211) zwischen dem Auflagebereich und der Unterlage Einführen der Trageplatte in den Zwischenraum Trennen des angehobenen Stückgutgebindes ...

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30-07-2021 дата публикации

Verfahren zum Depalettieren von gestapelten Stückgutgebinden.

Номер: CH0000717051B1
Принадлежит: STOECKLIN LOGISTIK AG, Stöcklin Logistik AG

Vorgesehen ist ein Verfahren zur Depalettierung von gestapelten Stückgutgebinden (2, 6), bei dem ein einen unteren Auflagebereich (22) aufweisendes Gebinde (2, 6) mittels einer Eingriffseinrichtung (18) entlang mindestens eines Teilbereichs des Auflagebereichs (22) von einer Unterlage abgehoben wird und eine Trageplatte (14) unter den abgehobenen Teilbereich bewegt wird, und ein körperlicher Kontakt des Teilbereichs zur Unterstützung des auf der Trageplatte (14) mit dem Teilbereich aufliegenden Gebindes (2) mit der Trageplatte (14) herbei geführt wird, mit den Schritten des Herbeiführens eines lösbaren Eingriffs der Eingriffseinrichtung (18) mit einer Ausnehmung (5) einer Seitenwand (3) des Gebindes (2) Anheben des Gebindes (2) mittels der Eingriffseinrichtung (18) zur Trennung des Auflagebereichs (22) des Gebindes (2) zumindest entlang eines Teilbereichs von der Unterlage zur Herbeiführung eines Zwischenraums (21) zwischen dem Auflagebereich (22) und der Unterlage wobei ein Haltemittel ...

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31-05-2017 дата публикации

RELOADING DEVICE FOR GLASS SUBSTRATE

Номер: EA0201790155A1
Автор:
Принадлежит:

Подробнее
12-10-2018 дата публикации

Elastic clamp of stacking robot

Номер: CN0108639776A
Принадлежит:

Подробнее
12-10-2018 дата публикации

Spray wire grabbing mechanism with convenient-to-install flexible flange

Номер: CN0108638113A
Автор: LUO FUZHONG
Принадлежит:

Подробнее
07-12-2016 дата публикации

Cradle head

Номер: CN0205781793U
Автор: YAN XIN
Принадлежит:

Подробнее
26-10-2018 дата публикации

Dynamic plate manipulator grabbing tool for scroll plate flexible production line

Номер: CN0108705369A
Принадлежит:

Подробнее
08-05-2018 дата публикации

Mechanical arm capable of being replaced

Номер: CN0108000540A
Автор: WANG ZENING, LIU JIN
Принадлежит:

Подробнее
30-12-2005 дата публикации

INSTALLATION OF TREATMENT OF MATERIAL SEMICONDUCTOR SECTIONS

Номер: FR0002852142B1
Принадлежит:

Подробнее
02-12-1988 дата публикации

Appareil de transport et de manutention de charges comprenant un chariot sans conducteur à fourche de levage

Номер: FR0002615778A
Принадлежит:

Appareil de transport et de manutention de charge, comprenant une fourche de levage d'une unité 3 sur laquelle sont rangées des caisses ou analogues 4 et un bras manipulateur 6-12 équipé de moyens 13 de prise de charge permettant de saisir une caisse 4 sur l'unité 3 et de la déposer en un point d'utilisation, et de prendre une caisse vide en ce point pour la ranger sur l'unité 3. L'invention s'applique au transport, à la manutention et à la distribution des articles les plus divers.

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27-04-2012 дата публикации

DEVICE OF DETECTION OF the STATE Of a BODY OF GRIPPING

Номер: FR0002941294B1
Принадлежит: SENSTRONIC

Подробнее
22-10-1976 дата публикации

ARTICLE EXCHANGING GRAPPLES

Номер: FR0002252905B1
Автор:
Принадлежит:

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24-01-1975 дата публикации

PROCESSING APPARATUS FOR PROCESSING WORKPIECES IN A GAS-TIGHT CHAMBER

Номер: FR0002234969A1
Автор:
Принадлежит:

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10-08-2012 дата публикации

MICRO-ROBOT, PROCESS OF ORDER, PROCESS OF SIMULATION AND COMPUTER PROGRAMS ASSOCIATE

Номер: FR0002971244A1

L'invention concerne un micro-robot (2) micro-fabriqué selon la technologie des microsystèmes électromécaniques, comprenant i paire de modules d'entraînement (6, 8, 10, 12, 14, 16) ; i variant de 1 à n avec n supérieur ou égal à 1 ; le micro-robot (2) comportant : - un support (4) agencé pour porter au moins deux modules d'entraînement (6, 8, 10, 12, 14, 16) alignés selon une première direction (x), lesdits modules d'entraînement formant une paire de modules d'entraînement ; - i paire d'embiellages primaires (22, 24, 26, 28, 30, 32), chaque embiellage primaire étant articulé au doigt d'entraînement (56) d'un module d'entraînement de la iième paire de modules d'entrainement ; - une paire d'embiellage secondaire (18, 20), chaque embiellage secondaire étant articulé à l'embiellage primaire de la nième paire de modules d'entrainement et au support (4) ; et - un organe d'actionnement (33) articulé à chaque embiellage secondaire (18, 20).

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09-09-1994 дата публикации

Device to connect/disconnect by remote handling a card from connector and its base plate

Номер: FR0002702176A1
Принадлежит:

L'invention propose un dispositif permettant de saisir une fiche de connecteur, de lui faire subir, par actionnement d'un levier, une translation assurant son introduction dans son embase. Ce dispositif comporte en outre des moyens d'accrochage (18, 24) pour saisir la fiche du connecteur, des moyens de translation (16, 20, 22) pour mouvoir la fiche de connecteur maintenue par les moyens d'accrochage, et des moyens de guidage (14) pour diriger le mouvement de la fiche du connecteur vers/hors de l'embase. Application aux cellules dites "chaudes" dans le domaine nucléaire.

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10-09-2004 дата публикации

Semi-conductor section treatment setup for use in e.g. micro-electronic field, has locking unit preventing movement of adaptor support with respect to semi-conductor section-holder, when adaptor is positioned in section-holder

Номер: FR0002852142A1
Принадлежит:

L'invention concerne une installation de traitement de tranches de matériau semiconducteur, comportant : • Un bac destiné à contenir un bain de traitement et muni de moyens porte-tranches apte à recevoir au moins une tranche d'une première dimension, et • Des moyens de préhension aptes à saisir chaque tranche de la première dimension, pour la mettre dans le bac et la sortir de celui-ci, • Un support adaptateur pour recevoir des tranches d'une deuxième dimension inférieure à la première dimension, ledit support adaptateur présentant une géométrie telle qu'il peut être saisi directement par les moyens de préhension et être reçu par les moyens porte-tranches, caractérisée en ce que l'installation comprend des moyens de blocage en rotation pour empêcher le support adaptateur de se déplacer en rotation par rapport aux moyens porte-tranches, lorsque ledit support adaptateur est positionné dans lesdits moyens porte-tranches.

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21-01-2008 дата публикации

GAGE AND GRIPPER ASSEMBLY FOR A WORKPIECE TRANSFER MECHANISM

Номер: KR1020080007507A
Принадлежит:

A gage and gripper assembly for directly measuring characteristics of a workpiece. The assembly is adapted to be attached to a transfer mechanism, such as a robot arm, and includes a head having a gripper and a gage. The gripper is adapted to lift and hold the workpiece using jaws or other means, and the gage is adapted to directly measure characteristics of the workpiece while the workpiece is held by the gripper. © KIPO & WIPO 2008 ...

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06-02-2014 дата публикации

Device for handling Objects

Номер: KR1020140015461A
Автор:
Принадлежит:

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28-12-2020 дата публикации

기판 반송 장치

Номер: KR102195817B1

... 기판 파지 핸드(3)와, 기판 파지 핸드(3)의 선단부에 설치되고, 복수의 제1 손톱부를 갖는 제1 지지부재(4A)와, 기판 파지 핸드(3)의 기단부에 설치되고, 복수의 제2 손톱부를 갖는 제2 지지부재(4B)와, 기판 파지 핸드(3)의 기단부에 설치되고, 광 또는 초음파를 조사하여, 기판(9)을 검지하도록 구성되어 있는 제1 센서(11A)와, 인접하는 기판(9) 사이의 공간을 향해, 제1 센서(11A)에 광 또는 초음파를 조사시켜, 기판(9)이 정상적으로 지지되어 있는지 여부를 판정하는 제어 장치(200)를 구비하는, 기판 반송 장치.

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16-08-2012 дата публикации

GRIPPER ASSEMBLY FOR MOVING DEVICE

Номер: WO2012109076A1
Принадлежит:

A gripper assembly for use with a moving device. The moving device can be a mechanical device such as a robot. The gripper assembly includes a platform and an elongate arm extending from the platform. The elongate arm is in the form of least one elongate member. Each elongate member has a body which has a proximal end and an opposed distal end. A gripping mechanism is rotatably supported relative to the arm, and includes a holder having a pivoting arm pivotably joined to the body in the region of the distal end of the body. An actuator is in operable communication with the pivoting arm to impart pivotable movement to the pivoting arm and rotational movement to said gripping mechanism about a horizontal axis upon actuation of the actuator. The gripper assembly may have a center of mass substantially aligned with a vertical rotation axis of the gripper assembly.

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24-12-2014 дата публикации

A ROTARY JOINT OF A ROBOT AND THE ROBOT INCLUDING THE SAME

Номер: WO2014201606A1
Принадлежит:

The present application provides a rotary joint, including a hollow gear and a hollow wiring unit having a first flexible printed circuit board therein, to allow hose to pass through both the hollow gear and the hollow wiring unit. The present application also provides a robot comprising said rotary joint.

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01-06-2006 дата публикации

HYDRAULIC UNIT AND METHOD FOR PROVIDING A PRESSURIZED HYDRAULIC FLUID

Номер: WO000002006056256A3
Принадлежит:

The invention relates to a hydraulic unit (2) for providing a pressurized hydraulic fluid at an outlet (36, 36A, B), which comprises an electric motor (14) and a pump (16) operated by said motor for generating pressure. A reservoir (5) having a variable compensation volume stores the hydraulic fluid primed by the pump (16) in a gas-free manner. The hydraulic fluid is especially pressurized in order to safely and reliably guarantee that the hydraulic fluid is gas-free. The inventive design allows for the safe and operationally reliable use of the hydraulic unit (2) even at high acceleration values. The hydraulic unit (2) is especially adapted for use in an industrial robot.

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09-11-2006 дата публикации

Gripper gage assembly

Номер: US20060248960A1
Принадлежит:

A gage and gripper assembly for directly measuring characteristics of a workpiece. The assembly is adapted to be attached to a transfer mechanism, such as a robot arm, and includes a head having a gripper and a gage. The gripper is adapted to lift and hold the workpiece using jaws or other means, and the gage is adapted to directly measure characteristics of the workpiece while the workpiece is held by the gripper.

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30-12-1986 дата публикации

Workpiece manipulator for a hot environment

Номер: US0004632623A1
Принадлежит: United Technologies Corporation

A manipulator for a workpiece, useful in conjuction with a robot, is especially designed for handling forging preforms in a hot furnace. A fluidic type sensor is used to position the structure above a furnace surface on which the preform rests. Air continuously flows through the sensor to cool the sensor and parts of the manipulator, discharging toward the furnace floor near the workpiece. Thus, even though the absolute position and texture of the furnace surface may vary, the manipulator will always grip the workpiece at the same location relative to the surface.

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29-04-1975 дата публикации

ARTICLE EXCHANGING GRAPPLES

Номер: US0003880294A1
Автор: Arseneault Paul

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02-04-1991 дата публикации

Robot slice aligning end effector

Номер: US0005004399A1
Принадлежит: Texas Instruments Incorporated

An end effector (10) is pivotally affixed to a robot arm (12) and comprises a platform (28) and a catcher (42). In operation, the end effector (10) picks up an integrated circuit slice (S), tilts the platform (28) away from the horizontal, causing the slice (S) to slide into an indexing surface (47) of the catcher (42). This places the slice (S) in a predetermined position relative to the robot arm (12) allowing for precise placement of the slice (S) at a workstation (106).

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14-05-1991 дата публикации

Automated archiving and retrieval system for computer data storage cassettes

Номер: US0005015139A
Автор:
Принадлежит:

A system especially adapted to retrieve, insert and transport a computer data storage cassette between spaced-apart cassette library and cassette drive unit sites. The system includes a robot carried by a movable transport assembly which is operable to transport the robot between the cassette library and cassette drive unit sites. The robot itself includes an especially adapted robotic manipulator whereby the cassette may be gripped and released. A mechanical cassette ejector is preferably provided to ensure that the cassette is expelled from the fingers of the robotic manipulator when the cassette is released. A push rod may also be provided so as to engage, and thus manipulate, a door which covers a slot of the cassette drive unit. Controlled movements of the transport system will bring the robotic manipulator into an initial position relative to the cassette in the cassette library or the cassette drive unit, such that controlled movements of the robot will then effect precise positioning ...

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16-06-2020 дата публикации

Электромеханическое захватное устройство

Номер: RU0000198037U1

Техническое решение относится к захватам роботизированных манипуляторов, предназначенных для захвата, удержания, отпускания эластичных изделий. Устройство содержит крепежный кронштейн, на котором закреплены электромеханический двигатель, приводной валик и ведомый валик. При этом электромеханический двигатель соединен с приводным валом, на котором установлен приводной валик, и обеспечивает вращение указанного вала вокруг своей оси, причем второй конец приводного вала зафиксирован на ступице, закрепленной на корпусе крепежного кронштейна. Ведомый валик установлен на ведомом валу, который закреплен на шаровых опорах с каждой стороны крепежного кронштейна, причем первая шаровая опора жестко закреплена на корпусе крепежного кронштейна, а вторая шаровая опора закреплена на подвижной подпружиненной направляющей, обеспечивающей движение второй шаровой опоры вдоль вертикальной оси. При этом ведомый валик приводится в движение приводным валиком за счет трения сопрягаемых поверхностей, обеспечивая захват эластичного изделия между вращающимися навстречу друг другу валиками и его дальнейшую фиксацию посредством остановки электромеханического двигателя. Техническим результатом является повышение эффективности операции захвата за счет увеличения площади взаимодействия захватного устройства с эластичным изделием. 4 з.п. ф-лы, 3 ил. РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 198 037 U1 (51) МПК B25J 15/00 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ПОЛЕЗНОЙ МОДЕЛИ К ПАТЕНТУ (52) СПК B25J 15/00 (2020.02) (21)(22) Заявка: 2019135326, 05.11.2019 (24) Дата начала отсчета срока действия патента: Дата регистрации: 16.06.2020 (45) Опубликовано: 16.06.2020 Бюл. № 17 (56) Список документов, цитированных в отчете о поиске: SU 1409571 A1, 15.07.1988. SU 1798289 A2, 28.02.1993. US 4578013 A1, 25.03.1986. US 2267532 A1, 23.12.1941. WO 2006048441 A1, 11.05.2006. SU 1708699 A1, 30.01.1992. 1 9 8 0 3 7 R U (54) ЭЛЕКТРОМЕХАНИЧЕСКОЕ ЗАХВАТНОЕ УСТРОЙСТВО (57) Реферат: ...

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22-12-2020 дата публикации

Автономный робот для покраски

Номер: RU0000201578U1
Принадлежит: СОСА ГОНСАЛЕС, С.Л.

Полезная модель может быть использована в области дизайна интерьера при покраске внутренней части помещений. Автономный робот для покраски содержит подвижное основание 1, оснащенное баком для краски и насосом. Основание 1 содержит ряд датчиков, выполненных с возможностью определения местоположения основания 1 и обнаружения препятствий, по существу, вертикальную подъемную колонну 4, на конце которой расположена сочлененная рука робота 5, увенчанная головкой 6. Головка 6 содержит пистолет с краской, подключенный к насосу, камеру, выполненную с возможностью распознавания поверхностей, подлежащих покраске и обрисовке, и датчик приближения. Полезная модель позволяет уменьшить усилия и время, необходимые для выполнения покраски и обрисовки труднодоступных поверхностей при распознавании препятствий в рабочей зоне. 4 з.п. ф-лы, 3 ил. РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 201 578 U1 (51) МПК B05B 13/00 (2006.01) B25J 9/14 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ПОЛЕЗНОЙ МОДЕЛИ К ПАТЕНТУ (52) СПК B05B 13/00 (2020.05); B25J 9/14 (2020.05) (21)(22) Заявка: 2020112398, 26.03.2020 (24) Дата начала отсчета срока действия патента: (73) Патентообладатель(и): СОСА ГОНСАЛЕС, С.Л. (ES) Дата регистрации: 22.12.2020 Приоритет(ы): (30) Конвенционный приоритет: 13.02.2020 ES U202030243 (45) Опубликовано: 22.12.2020 Бюл. № 36 2 0 1 5 7 8 R U (54) АВТОНОМНЫЙ РОБОТ ДЛЯ ПОКРАСКИ (57) Реферат: Полезная модель может быть использована в области дизайна интерьера при покраске внутренней части помещений. Автономный робот для покраски содержит подвижное основание 1, оснащенное баком для краски и насосом. Основание 1 содержит ряд датчиков, выполненных с возможностью определения местоположения основания 1 и обнаружения препятствий, по существу, вертикальную подъемную колонну 4, на конце которой расположена сочлененная рука робота 5, Стр.: 1 увенчанная головкой 6. Головка 6 содержит пистолет с краской, подключенный к насосу, камеру, выполненную с возможностью ...

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15-03-2012 дата публикации

Hand and robot

Номер: US20120061981A1
Принадлежит: Yaskawa Electric Corp

A hand according to an embodiment includes a pair of supporting units, a pair of capturing claws, an opening-and-closing mechanism, and a reciprocating mechanism. The pair of capturing claws are supported on the inner surfaces of the pair of respective supporting units and capture a part. The opening-and-closing mechanism opens and closes the pair of supporting units along a reciprocating axis intersecting with longitudinal directions of the supporting units. The reciprocating mechanism causes the pair of capturing claws to rotate about the reciprocating axis to change the direction of each tip of the capturing claws.

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29-03-2012 дата публикации

Transport and handling retention member

Номер: US20120073703A1
Принадлежит: LCTech GmbH

The transport and handling retention member comprises an adapter ring which has a central opening for receiving a tubular container for receiving samples, a gripping member for gripping the adapter ring, and a transfer head which can be moved between a rest position and an operating position, the transfer head in the operating position coming into operational contact with a tubular container which is received in the adapter ring.

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26-04-2012 дата публикации

Dual Sensing End Effector with Single Sensor

Номер: US20120101633A1
Автор: Matthew J. Rodnick
Принадлежит: Lam Research Corp

Systems, methods, and computer programs are presented for an end effector with a dual optical sensor. One end effector includes an arm, a mapping sensor, and a load sensor. The arm has one end connected to a pivoting joint, and a light signal is routed around the arm through a single light path. The mapping sensor is used for identifying the presence of the wafer when the wafer is not loaded on the end effector. The load sensor is used for identifying presence of the wafer on the end effector when the wafer is loaded on the end effector. The load sensor is defined by a second segment in the single light path such that the wafer intersects the second segment and interferes with the single light path when the wafer is loaded. A control module determines if an interruption in the single light path corresponds to an interruption of the single light path in the mapping sensor or the load sensor. As a result, one single light sensor is used to sense for two different conditions in the end effector.

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21-06-2012 дата публикации

Robot and robot hand

Номер: US20120153652A1
Принадлежит: Seiko Epson Corp

A recess has a proximal-end-side surface and a distal-end-side surface. When an intersection between a straight line included in the proximal-end-side surface and a straight line included in the distal-end-side surface is a base point, a line passing through the base point is a base line, a line between two claw portions, passing through an end point of the recess and orthogonal to the base line is an orthogonal line, the angle α made between the base line, and the straight line included in the distal-end-side surface is greater than 0 degrees and less than 90 degrees, the angle β made between the orthogonal line, and the straight line included in the proximal-end-side surface is greater than 0 degrees and less than 90 degrees, and the length d from the base point to the orthogonal line is greater than 0.

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05-07-2012 дата публикации

Fluid pressure transmission device and robot hand device

Номер: US20120169081A1
Принадлежит: Honda Motor Co Ltd

A fluid pressure transmission device is equipped with a plurality of driving fluid pressure cylinders 37 1 , 37 2 , a plurality of driven fluid pressure cylinders 23, 24 with cylinder chambers 23 a, 24 a thereof being communicated with cylinder chambers 371 1 , 371 2 of the main driving fluid pressure cylinders 37 1 , 37 2 via fluid pressure transmission pipes 38 1 , 38 2 , and a sub driving fluid pressure cylinder 41 which is divided into two cylinder chambers 41 a, 41 b by a piston 412, and the fluid pressure generated by the main driving fluid pressure cylinders 37 1 , 37 2 is transmitted to the driven fluid pressure cylinders 23, 24. Pistons 371 1 , 371 2 are driven by the main motor 40, and the piston 412 is driven by the assistant motor 43. The fluid pressure transmission pipes 38 1 , 38 2 and the cylinder chambers 41 a, 41 b of the sub driving fluid pressure cylinder are connected via connecting pipes 42 1 , 42 2 .

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09-08-2012 дата публикации

Workpiece transfer apparatus

Номер: US20120201641A1
Принадлежит: Daihen Corp

A workpiece transfer apparatus includes a stationary base, an elevation base, first and second arms, a workpiece-holding hand, and a driving mechanism for the hand. The first arm is supported on the elevation base so as to be rotatable about a first vertical axis. The second arm is supported on the distal end of the first arm such that the second arm is rotatable about a second vertical axis. The hand is supported on the distal end of the second arm so as to be rotatable about a third vertical axis. A motor is arranged in the first arm, whereas a transmission is arranged to extend in a region from the interior of the first arm through the interior of the second arm.

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13-09-2012 дата публикации

Gripping head for a robot or manipulator of a cartoning machine

Номер: US20120230809A1
Автор: Daniele Bellante
Принадлежит: CAMA1 SpA

A gripping head for a loading robot or manipulator of a cartoning machine capable of nesting articles arranged on two substantially parallel rows, the gripping head comprising a row of gripping members, wherein each of the gripping members comprises a gripping section adapted to receive two adjacent articles and on opposite sides with respect to a centreline plane, and wherein at least the gripping members having even index position or odd index position in the row rotate by about 180 degrees around an axis.

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27-09-2012 дата публикации

Speed reducer, robot hand and robot

Номер: US20120244984A1
Принадлежит: Seiko Epson Corp

Through holes are formed in a revolving gear which revolves while being engaged with a ring gear, and penetration pins which are configured to extract rotation of the revolving gear are inserted in the through holes. The ring gear and the revolving gear are divided into halves in the thickness direction. Two sheets of ring gears are biased to rotate in reverse directions.

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08-11-2012 дата публикации

Reconfigurable end-effector attachable to a robotic arm

Номер: US20120280527A1
Принадлежит: GM GLOBAL TECHNOLOGY OPERATIONS LLC

A reconfigurable end-effector attachable to a robotic arm, includes a master boom, a first branch assembly and a second branch assembly, a dual articulation mechanism. The dual articulation mechanism includes a first clutch attached to the first branch assembly and is configured to articulate the first branch assembly relative to the second branch assembly. The dual articulation mechanism further includes a second clutch attached to the master boom, the second branch assembly and the first clutch and is configured to simultaneously articulate the first and second branch assemblies relative to the master boom. The first and second branch assemblies each have limbs connected to branches supporting a plurality of tool modules. Each tool module includes an end element configurable to interact with a workpiece.

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03-01-2013 дата публикации

Robotic Movement System

Номер: US20130000438A1
Автор: Alexander G. Ouellet
Принадлежит: Individual

A robotic movement system includes at least one orb-based transmission assembly that includes an orb mount structure to or in which a magnet is mounted. At least one motor and a plurality of rollers are also mounted to the orb mount structure. The rollers contact an orb, which is rotated via rotation of the rollers for displacement and rotation of the robotic platform. The orb also includes a magnet having a magnetic attraction to the magnet mounted to the orb mount structure to hold the orb in contact with the rollers. In exemplary embodiments, the robotic movement system can function as a navigation and displacement mechanism for a displaceable robotic system or as a robotic joint for robots or for living beings.

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07-03-2013 дата публикации

Robot hand and robot device

Номер: US20130057004A1
Принадлежит: Yaskawa Electric Corp

This disclosure discloses a robot hand of underactuated mechanism. The robot hand includes a plurality of actuators, a plurality of joints where the number of the joints is more than the number of the actuators, a palm portion, three finger portions each including a plurality of links having bases coupled to the palm portion and coupled being capable of flexion, and a shape-fitting mechanism which is provided in at the finger portion, and which enables to grasp an object to be grasped in an enclosing manner with the finger portions by performing providing torsional displacement to the links.

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14-03-2013 дата публикации

SWIVELLING PILE CLAMP

Номер: US20130062898A1
Автор: Ong Chin Chai
Принадлежит:

A pile clamp assembly to clamp a pile that consists of the following main components; top pile clamp device, the bottom pile clamp device, a plurality clamp wedges and a plurality vertical hydraulic clamps which combines to make a flat clamp wedge contact with the surface of a deviated and twisted pile. This clamping mechanism reduces bending in the driven pile by enabling the next adjoining pile to conform as much as possible to the alignment of the existing driven pile and gradually corrects the pile's vertical alignment and twist as it penetrates the ground through interactions of the unique swiveling clamp wedges. 1. A pile clamp assembly to clamp a pile that comprising; top pile clamp device , the bottom pile clamp device , a plurality clamp wedges and a plurality vertical hydraulic clamps wherein;the clamp wedges have curved cylindrical contact surfaces meeting the corresponding contact surfaces of the circular clamp housing so that it can swivel about its unique pivot point in the x-y plane and vertical z-axis as if like a ball and socket joint to make a flat contact with the surface of a deviated and twisted pile,permitting the top adjoining pile to follow the deviation of the bottom driven pile without a kink in the pile so as to avoid bending the pile,andthe opening and closing of the swivelling clamp wedges in a ring formation is controlled by a centrally located spring that can expand or contract unrestricted even if the axis of the hollow cavity is misaligned.2. The pile clamp assembly of wherein it is connected to the push rod of a hydraulic static pile driver that slide along the guide shafts.3. The pile clamp assembly of wherein the pile clamp assembly further comprises vertical hydraulic clamps claim 1 , guide shafts and push rods arranged in such a way to preserve the centroids to be coincident with the centroid of the pile.4. The pile clamp assembly of wherein it can clamp any tubular pile by adapting the shape of the clamp wedges to conform with ...

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28-03-2013 дата публикации

Surgical system entry guide

Номер: US20130079794A9
Принадлежит: Intuitive Surgical Operations Inc

An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

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25-04-2013 дата публикации

Device Used for Capturing Micro-Particles and a Micro-Particles Transporting Equipment Provided with the Device Thereof

Номер: US20130101378A1
Принадлежит: NINGBO UNIVERSITY OF TECHNOLOGY

A device used for capturing micro-particles, which comprises a pressure regulator, a micro-jet nozzle, and a hydraulic device for providing injection liquid for the micro-jet nozzle; wherein the micro-jet nozzle is provided with an annular jet hole, the annular jet hole having a bottom end, a top end, an inner diameter, an entrance port located at the top end, and an injection port located at the bottom end, the output of the pressure regulator is connected to the entrance port of the micro-jet nozzle. Compared with the prior art, in the present invention, the liquid is taken as the medium, a kind of upward support on the micro-particles and a flow-around lift force perpendicular to the jet direction are generated by the micro-jet nozzle with the annular jet hole, which jointly act on the micro-particles, so as to achieve the micro-particle capture. 1. A device for capturing micro-particles , each micro-particle having a diameter , comprising:a pressure regulator having an input and an output;a micro-jet nozzle coupled to the pressure regulator, the micro-jet nozzle having a length and an axis; anda hydraulic device for providing injection liquid for the micro-jet nozzle, the hydraulic device having an outlet pipe connected to the input of the pressure regulator,wherein the micro-jet nozzle is provided with an annular jet hole disposed along the axis of the micro jet nozzle and extends through the length of the micro-jet nozzle, the annular jet hole having a bottom end, a top end, an inner diameter, an entrance port located at the top end, and an injection port located at the bottom end, the inner diameter matches the diameter of the micro-particles to be captured, the output of the pressure regulator is connected to the entrance port of the micro-jet nozzle.2. The device of claim 1 , wherein the inner diameter ψof the annular jet hole and the diameter Φof the micro-particles meet the following condition: Φ−10 μm≦ψ≦Φ claim 1 , the units of ψand Φare μm.3. The device ...

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02-05-2013 дата публикации

GRIPPING AND RELEASING APPARATUS AND METHOD

Номер: US20130106127A1
Принадлежит: CORNELL UNIVERSITY

A passive universal gripper includes a mass of granular material encased in an elastic membrane. Using a combination of positive and negative pressure, the gripper can rapidly grip and release a wide range of objects that are typically challenging for conventional universal grippers, such as flat objects, soft objects, or objects with complex geometries. The gripper passively conforms to the shape of a target object, then vacuum-hardens to grip it rigidly; later using positive pressure to reverse this transition-releasing the object and returning to a deformable state. The apparatus and method enable the fast ejection of objects from the gripper, as well as essentially instantaneous reset time between releasing and gripping. 1. A passive gripping and releasing apparatus , comprising:a deformable membrane having an opening fluidically coupled to a source of fluid ingress and egress in an evacuable sealing relationship;at least one port providing the source of fluid ingress and egress disposed in fluid connection with the opening of the membrane; anda granular material disposed within the membrane.2. The apparatus of claim 1 , wherein the granular material is characterized by having a volume change equal to or less than about 5% between a fluid phase and a solid phase of the material.3. The apparatus of claim 1 , wherein the at least one port includes a fluid evacuation port and a fluid input port.4. The apparatus of claim 1 , further comprising a base disposed in coupling relation with the membrane.5. The apparatus of claim 1 , further comprising a filter disposed in coupling relation with the opening of the membrane.6. The apparatus of claim 1 , further comprising a pump coupled to the at least one port.7. The apparatus of claim 6 , wherein the pump is a reversible action pump.8. The apparatus of claim 6 , wherein the pump is internal to the apparatus.9. The apparatus of claim 1 , further comprising a reservoir of compressed fluid coupled to the at least one port.10 ...

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02-05-2013 дата публикации

Multi-fingered type hand device

Номер: US20130106128A1
Принадлежит: Honda Motor Co Ltd

Provided is a multi-fingered type hand device that facilitates arrangements of wirings connecting driving members which drive fingertips and the like of a robot with members which control the driving members. The multi-fingered type hand device 1 includes a wrist portion 10, a base portion 20, and a plurality of finger mechanisms 30, the wrist portion 10 having therein a wrist sensor 12, at least one of the plurality of finger mechanisms 30 having therein a fingertip sensor 321, the base portion 20 including a frame-shaped frame portion 21, a tactile sensor 25, a first substrate 23 that controls outputs of the wrist sensor 12, the fingertip sensor 321, and the tactile sensor 25, and a second substrate 24, the first substrate 23 and the second substrate 24 being disposed opposite to each other so as to sandwich the frame portion 21 from the upper and lower.

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16-05-2013 дата публикации

ROBOTIC HAND WITH PALM SECTION COMPRISING SEVERAL PARTS ABLE TO MOVE RELATIVE TO EACH OTHER

Номер: US20130119687A1
Автор: DAI Jian Shen
Принадлежит: KING'S COLLEGE LONDON

An improved robotic hand in which the palm section enables it to be capable of a wide range of movement with the ability to have good precision and control. The palm section consists of a plurality of parts which are able to move or flex relative to each other. Preferably, it is constructed as five bar spherical linkage having two degrees of freedom. 1. A robotic hand which comprises a palm section and a plurality of flexible fingers movably attached to a palm section in which parts of the palm section are able to move or flex relative to each other.2. A robotic hand as claimed in claim 1 , in which the palm section is able to flex or move about a central position.3. A robotic hand as claimed in claim 1 , in which the fingers comprise a plurality of segments hingedly connected together.4. A robotic hand as claimed in claim 3 , in which there are three segments.5. A robotic hand as claimed in claim 1 , in which the fingers can move about a central position of the palm section without moving any finger joint.6. A robotic hand as claimed in claim 1 , in which the palm section comprises a plurality of hingedly connected bars.7. A robotic hand as claimed in claim 6 , in which the bars form part of the spherical sections.8. A robotic hand as claimed in claim 6 , in which the palm section is constructed as a network of curved bars hingedly connected together with the fingers mounted on the bars.9. A robotic hand as claimed in claim 6 , in which the bars can be locked in a position relative to each other.10. A robotic hand as claimed in in which the palm section can be locked in a fixed position by a locking mechanism.11. A robotic hand as claimed in claim 10 , in which the palm section can change from having two degrees of freedom to having one degree of freedom by operation of the locking mechanism.12. A robotic hand as claimed in claim 10 , in which the palm section can change from having one degree of freedom to having zero degrees of freedom by operation of the locking ...

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16-05-2013 дата публикации

SHEAR FORCE DETECTION DEVICE, TACTILE SENSOR AND GRASPING APPARATUS

Номер: US20130119689A1
Автор: NISHIWAKI Tsutomu
Принадлежит: SEIKO EPSON CORPORATION

A shear force detection device for detecting a shear force includes: a support body including an opening defined by a pair of straight parts perpendicular to a detection direction of the shear force and parallel to each other; a support film on the support body and closing the opening, the support film having flexibility; a piezoelectric part on the support film and extending astride an inside and outside of the opening and along at least one of the pair of straight parts of the opening when viewed in a plane in which the support body is seen in a substrate thickness direction, the piezoelectric part being bendable to output an electric signal; and an elastic layer covering the piezoelectric part and the support film. 1. A force sensor comprising:a support body including a first opening defined by a first pair of straight parts perpendicular to a first direction and parallel to each other and a second opening defined by a second pair of straight parts perpendicular to a second direction and parallel to each other, the second direction crossing the first direction;a support film provided on the support body, the support film closing the first opening and the second opening;a first piezoelectric part provided on the support film and extending astride an inside and an outside of the first opening and along at least one of the first pair of straight parts;a second piezoelectric part provided on the support film and extending astride an inside and an outside of the second opening and along at least one of the second pair of straight parts; andan elastic layer covering the first piezoelectric part, the second piezoelectric part and the support film.2. The force sensor according to claim 1 , further comprising:a third opening provided in the support body, the third opening being closed by the support film; anda third piezoelectric part provided on the support film and inside the third opening, the third piezoelectric part being covered by the elastic layer.3. A grasping ...

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23-05-2013 дата публикации

Switchable plate manufacturing vacuum tool

Номер: US20130127194A1
Принадлежит: Nike Inc

Aspects of the present invention relate to systems, methods, and apparatus for a vacuum tool having a switchable plate, such that a common vacuum tool may be adapted with different plates. A switchable plate may form the entirety of the vacuum tool's material contacting surface or a switchable plate may form a portion of the material contacting surface. The vacuum tool is effective for picking and placing one or more manufacturing parts utilizing a vacuum force.

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30-05-2013 дата публикации

MEDICAMENT DISPENSING MACHINE

Номер: US20130133782A1
Принадлежит: YUYAMA MFG. Co., LTD

The medicament dispensing machine enables to use vials having various sizes and shapes without changing a part in the machine or without performing a special operation. The medicament dispensing machine contains a discharging unit that receives a vial filled with a medicament from a medicament filling means and discharges out of a vial discharging window. The discharging unit contains a vial gripping means having a pair of gripping arms that grip a vial, a body of gripping means having the vial gripping means, a moving means that moves the vial gripping means from the medicament filling means to the vial discharging window, and an orientation changing mechanism that changes the orientation of the body of gripping means. With a coordination of the movement of the body of gripping means toward the vial discharging window, the orientation changing mechanism makes the gripping arms orient to the vial discharging window. 1. A gripping device for gripping a vial , comprising:a pair of arms between which the vial is held; and the pair of arms grips a body of the vial, and', 'the neck holder holds at least a part of a neck portion of the vial to prevent the vial from falling through said pair of arms., 'a neck holder located a predetermined distance above upper surfaces of said pair of arms, wherein2. The gripping device of claim 1 , wherein the neck holder comprises an upward-facing surface that extends in a horizontal direction and engages with a bottom surface of a flange provided in the neck portion of the vial so that the vial is prevented from falling through said pair of arms while the pair of arms are holding the vial upright.3. The gripping device of claim 2 , wherein the neck holder further comprises an oblique portion connected to a front end of said upward-facing surface claim 2 ,wherein a width of the oblique portion increases gradually from a front-end to a rear-end of said oblique portion, andwherein the oblique portion is sloping upward as it extends from ...

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30-05-2013 дата публикации

GRIPPING DEVICE

Номер: US20130134726A1
Автор: Waizenegger Kurt

The invention relates to a gripping device for picking up and transporting a product. An elastic belt that is provided on the gripping device lies against a surface section of the product when said product is picked up by the gripping device. The elastic belt can thereby be pressed against the surface section of the product by at least one spring element in order to hold the product securely in the gripping device during the transport. 1. A gripping device for picking up and transporting a product , the gripping device comprising:an elastic belt that lies against a surface section of the product when the product is picked up by the gripping device;wherein the elastic belt can be pressed against the surface section of the product by at least one spring element in order to hold the product in the gripping device in a stationary manner during the transport.2. The gripping device of claim 1 , wherein the elastic belt is attached to the gripping device in a detachable manner.3. The gripping device of claim 1 , wherein the elastic belt has a ribbing on its surface.4. The gripping device of claim 1 , wherein the elastic belt has a thickness of from about 1 mm to about 3 mm.5. The gripping device of claim 1 , wherein the elastic belt is a silicone belt.6. The gripping device of claim 1 , wherein the elastic belt is attached to the gripping device in such a manner that the elastic belt pre-tensions the spring element.7. The gripping device of claim 1 , wherein the elastic belt is attached to the gripping device in such a manner that the elastic belt is spaced at a distance from the spring element.8. The gripping device of claim 1 , wherein the spring element is arranged on the gripping device in a detachable manner.9. The gripping device of claim 1 , wherein the spring element has an attachment element in the form of an attachment lug.10. The gripping device of claim 1 , wherein the spring element is an elastic expansion bellows.11. The gripping device of claim 1 , wherein ...

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06-06-2013 дата публикации

Piezoelectric motor, drive unit, robot hand, robot, electronic component transporting apparatus, electronic component inspecting apparatus, and printer

Номер: US20130140951A1
Принадлежит: Seiko Epson Corp

A piezoelectric motor includes a piezoelectric element, a first support member, a second support member, a third support member, and a fourth support member that support the piezoelectric element, a elastic portion that presses the first support member and the second support member, a case that comes in contact with the third support member and the fourth support member, and a pressing plate that presses the elastic portion.

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06-06-2013 дата публикации

Piezoelectric motor, drive unit, electronic part transfer apparatus, electronic part inspection apparatus, robot, and printer

Номер: US20130140952A1
Принадлежит: Seiko Epson Corp

A piezoelectric motor includes a piezoelectric element, an oscillating plate including the piezoelectric element, a driving projection provided at an end of the oscillating plate, and a driven member driven by the driving projection coming into abutment therewith and is characterized in that Young's modulus E1 of the driving projection and Young's modulus E2 of the driven member are different.

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06-06-2013 дата публикации

ACTUATOR, ROBOT HAND, ROBOT, ELECTRIC COMPONENT CONVEYING APPARATUS, ELECTRONIC COMPONENT TESTING APPARATUS, AND PRINTER

Номер: US20130140953A1
Автор: MIYAZAWA Osamu
Принадлежит: SEIKO EPSON CORPORATION

An actuator includes a vibrating piezoelectric element and a holding section configured to hold the piezoelectric element. The holding section includes a first supporting section arranged on a vibrating surface of the piezoelectric element and arranged on one side of the piezoelectric element and a second supporting section arranged on the other side of the piezoelectric element. 1. An actuator comprising:a piezoelectric element excited to vibrate in a longitudinal vibration mode and a bending vibration mode;a driven body with which a contact section included in the piezoelectric element comes into contact, the driven body being driven by vibration of the contact section;a holding section configured to hold the piezoelectric element; anda base including an urging section configured to urge the holding section to the driven body, whereinthe holding section includes a first supporting section arranged in a direction crossing a vibrating surface of the piezoelectric element and arranged on one side of the piezoelectric element and a second supporting section arranged on the other side to be opposed to the first supporting section via the piezoelectric element.2. The actuator according to claim 1 , wherein a supported region of the piezoelectric element supported by the first supporting section and the second supporting section includes at least one of nodes of vibration claim 1 , which are nodes of vibration in the longitudinal vibration mode of the piezoelectric element and nodes of vibration in the bending vibration mode of the piezoelectric element.3. The actuator according to claim 1 , wherein at least one of the first supporting section and the second supporting section includes a cushioning section.4. The actuator according to claim 1 , wherein at least one of the first supporting section and the second supporting section includes an elastic section.5. A robot hand comprising the actuator according to .6. A robot hand comprising the actuator according to .7. A ...

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20-06-2013 дата публикации

Inflatable Robots, Robotic Components and Assemblies and Methods Including Same

Номер: US20130152724A1
Принадлежит: iRobot Corporation

A robotic joint assembly includes a first structural member, a second structural member, and a rolling flexure joint joining the first structural member to the second structural member to provide at least one degree of freedom between the first and second structural members. The rolling flexure joint includes first and second flexible hinge members each having one end secured to the first structural member and an opposing end secured to the second structural member. The first and second flexible hinge members cross one another between the first and second structural members. 1. A robotic joint assembly comprising:a first structural member;a second structural member; and the rolling flexure joint includes first and second flexible hinge members each having one end secured to the first structural member and an opposing end secured to the second structural member; and', 'the first and second flexible hinge members cross one another between the first and second structural members., 'a rolling flexure joint joining the first structural member to the second structural member to provide at least one degree of freedom between the first and second structural members, wherein2. The robotic joint assembly of wherein the first and second flexible hinge members are first and second ribbons.3. The robotic joint assembly of including a third flexible hinge member having one end secured to the first structural member and an opposing end secured to the second structural member claim 1 , wherein the third flexible hinge member crosses the second flexible hinge member between the first and second structural members and the second flexible hinge member is interposed between the first and third flexible hinge members.4. The robotic joint assembly of wherein;the first structural member has a first end surface and first and second side surfaces on opposed sides of the first end surface;the second structural member has a second end surface and third and fourth side surfaces on opposed ...

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20-06-2013 дата публикации

Mechanical Gripper for Manipulation of Micro-Sized Objects

Номер: US20130154292A1
Принадлежит:

An apparatus for the micromanipulation of micro-sized objects includes a micromanipulation device in the form of a hollow frame having a base, resiliently deflectable arms projecting from the base and defining a gap for receiving a micro-sized object, and a saddle connected to the tips of the arms between the base and the tips. A force generating device applies a force to the saddle to deflect the tips inwards to close the gap about the micro-sized object. A fixture is provided for supporting the micromanipulation device and force generating device. The force generating device can be a micrometer. The micromanipulation device is configured for production using micro-fabrication techniques. The micromanipulation device may include a piercing element for piercing an object positioned between the arms of the device, and may further include a notch aligned with the piercing element for retaining the object. 1. A micromanipulation device for manipulating micro-sized objects , comprising:a base;a pair of resiliently deflectable elongate arms projecting from said base, the tips of the arms disposed in opposition to each other and defining a gap therebetween; anda saddle attached to said tips of said arms and disposed between said arms, said saddle including a force transmission surface offset from said tips of said arms toward said base, said saddle configured so that application of a force on said force transmission surface toward said base deflects said arms towards each other to reduce the gap therebetween.2. The micromanipulation device of claim 1 , wherein said arms are curved from said base toward said tips of said arms.3. The micromanipulation device of claim 2 , wherein said arms are curved at a substantially constant radius.4. The micromanipulation device of claim 3 , wherein said pair of arms are attached to said base separated by a base length and said radius is greater than said length.5. The micromanipulation device of claim 1 , wherein said pair of arms are ...

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20-06-2013 дата публикации

GRIPPING DEVICE

Номер: US20130154293A1
Принадлежит: PEX RENT B.V.

Gripping device () and robot arm () to which such a gripping device () is attached. The gripping device () consists of a housing () and two gripping finger sockets () which can be displaced linearly with respect thereto. Each gripping finger socket () is provided with an electric or pneumatic coupling by means of which various gripping fingers () can be connected. A rotating drive () is present between the gripping finger sockets () on which a tool can be placed for releasing or attaching a fastening means, such as a bolt. By means of this relatively simple construction, weights of several hundreds kilos can be lifted and positioned accurately, for example in a processing machine. 113-. (canceled)14466529101727379101361518. Gripping device () comprising a housing () , which housing () is provided with a connection () for attachment to a robot arm () , in which said housing is provided with two gripping finger sockets ( , ) which can be displaced with respect to said housing and with respect to one another in a controlled manner , gripping fingers ( , , ) provided in each of said gripping finger sockets ( , ) and a rotating drive () which is fitted to the housing () , which rotating drive comprises a coupling part () that can be moved in translation in the direction of a rotation axis () and is arranged for connecting various tools to , by means of which various fastening means can be tightened or loosened , and wherein said gripping finger sockets are provided with a pneumatic , electric or hydraulic coupling for locking or releasing said gripping fingers that are replaceable and connectable in a fixed position with respect to the gripping finger sockets.1515172737. Gripping device according to claim 14 , in which said coupling part () is arranged between said gripping fingers ( claim 14 , claim 14 , ).1678. Gripping device according to claim 14 , in which said housing is provided with a linear guide ( claim 14 , ) for said gripping finger sockets.171341. Gripping ...

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20-06-2013 дата публикации

ROBOT AND ROBOT HAND

Номер: US20130154294A1
Автор: SHIOMI Masahiro
Принадлежит: SEIKO EPSON CORPORATION

A robot hand for grasping an object to be grasped includes plural bar-shaped placing sections on which the object to be grasped is placed, plural holding sections which hold lateral sides of the object to be grasped, and a space adjusting section which moves the plural placing sections and the plural holding sections to adjust the space between the plural placing sections. 1. A robot having a robot hand comprising:a placing section which is formed by a bar in the form of a substantially quadrilateral frame with a first supporting member and where an object to be grasped is placed;a supporting section which is formed by connecting one end of a second supporting member to a center of the first supporting member and retains the placing section;a space adjusting section which moves the supporting section while retaining the second supporting member, and adjusts a space between plural units of the placing section; anda holding section arranged within the frame formed by the first supporting member and the placing section.2. The robot according to claim 1 , wherein a part where the placing section contacts a bottom of the object to be grasped is a substantially linear bar.3. The robot according to claim 1 , wherein a cross-sectional shape of the placing section orthogonal to a longitudinal direction is substantially circular or substantially elliptical.4. The robot according to claim 1 , wherein a cross-sectional shape of the placing section orthogonal to a longitudinal direction is substantially quadrilateral.5. The robot according to claim 1 , wherein the holding section includes a central area including a center and a peripheral area situated on a periphery of the central area claim 1 , and the central area has a smaller spring constant than a spring constant of the peripheral area.6. The robot according to claim 1 , wherein at least a part of a site contacting the object to be grasped claim 1 , of the placing section and the holding section claim 1 , is made of a ...

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27-06-2013 дата публикации

Force sensing for surgical instruments

Номер: US20130165869A1
Принадлежит: Intuitive Surgical Operations Inc

An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a surgical instrument, a robotic surgical system, a cannula, a cannula seal, and a method for improved sensing of z-axis forces on a robotic surgical instrument are disclosed.

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11-07-2013 дата публикации

HUMANOID ELECTRIC HAND

Номер: US20130175816A1
Принадлежит:

A humanoid electric hand includes a metacarpophalangeal joint and an interphalangeal joint. The interphalangeal joint bends or extends together with a bending or extending operation of the metacarpophalangeal joint, by linking a finger motor for driving a finger to a worm deceleration mechanism, an output gear of which moves rotationally to bend or extend the metacarpophalangeal joint, and by linking the metacarpophalangeal joint to the interphalangeal joint via a link mechanism. 17-. (canceled)8. A humanoid electric hand comprises:a metacarpophalangeal joint; andan interphalangeal joint that bends or extends together with a bending or extending operation of the metacarpophalangeal joint, by linking a finger motor for driving a finger to a worm deceleration mechanism, an output gear of which moves rotationally to bend or extend the metacarpophalangeal joint, and by linking the metacarpophalangeal joint to the interphalangeal joint via a link mechanism.9. The humanoid electric hand according to claim 8 , wherein the link mechanism includes a driving link formed by two parts linked via elastic members.10. The humanoid electric hand according to claim 9 , wherein the elastic members comprise: the first elastic member compresses when a force in a direction of changing a joint angle of the interphalangeal joint toward joint bending acts on the driving link,', 'the second elastic member has a higher modulus of elasticity than that of the first elastic member, and compresses when a force in a direction of changing the joint angle of the interphalangeal joint toward joint extension acts on the driving link, and', 'the second elastic member is arranged to not extend when the first elastic member compresses., 'a first elastic member and a second elastic member, wherein11. The humanoid electric hand according to claim 8 , wherein a thumb of the electric hand has a mechanism with two degrees of freedom performing a turning operation and a bending or extending operation.12. The ...

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18-07-2013 дата публикации

GRIPPER HEAD FOR GRIPPING ARRANGEMENTS FOR MANIPULATING LONG WORKPIECES, DEVICE FOR FEEDING LONG WORKPIECES INTO AND REMOVING SAME FROM A PROCESSING MACHINE AND METHOD FOR BEND-STRAIGHTENING LONG WORKPIECES

Номер: US20130180307A1
Автор: Mitze Manfred
Принадлежит:

The invention relates to a gripping head for grasping devices for manipulating a long workpiece in a horizontal arrangement. A gripping head with two clamping jaws which can be adjusted independently of one another can be used. In addition, a device for feeding long workpieces into a processing machine, and discharging them therefrom is proposed. At least one of the grasping devices may have a gripping head for gripping in a frictionally locking fashion one end of the workpiece which is conveyed here by the horizontal conveying means, and drive means for pulling the workpiece to be straightened into the processing section and for pushing the straightened workpiece out onto the at least one horizontal conveying means by means of the gripping head. 1. A gripping head for grasping devices at least for manipulating by turning a long workpiece (W) in a horizontal arrangement , in particular at the end regions thereof ,wherein{'b': 8', '8', '8', '18', '18, 'the gripping head (; A, B) has two clamping jaws (A, B) which are adjustable independently of one another and can be rotated about a center of rotation (D) of the gripping head.'}288816161818. A The gripping head as claimed in claim 1 , wherein the gripping head (; A claim 1 , B) has guide rails (A claim 1 , B) claim 1 , running laterally claim 1 , in particular on different sides claim 1 , past the long workpiece (W) which is to be clamped claim 1 , for the clamping jaws (A claim 1 , B).31818. A The gripping head as claimed in the preamble of claim 1 , in particular as claimed in claim 1 , wherein the clamping geometries of the two clamping jaws (A claim 1 , B) differ from one another.418191819. The gripping head as claimed in the preamble of claim 1 , in particular as claimed in claim 1 , wherein one clamping jaw (A) has a prismatic clamping geometry (A) claim 1 , and the other clamping jaw (B) has a flat clamping geometry (B).51418181113. The gripping head as claimed in the preamble of claim 1 , in particular as ...

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25-07-2013 дата публикации

PIN-TYPE GRIPPER

Номер: US20130187398A1
Автор: Cho Ho-Young
Принадлежит: KOREA PNEUMATIC SYSTEM, CO., LTD

The present invention relates to a pin-type gripper adapted for holding and transferring a target made of soft material. The pin-type gripper includes: a cylinder unit; a pair of slide blocks which are obliquely disposed at the left and right sides of the end of a piston rod and extend in a skirt shape; and links which transmit the piston motion to the slide blocks. A pin which pegs a target is installed on an end of each slide block. According to the present invention, one cylinder unit controls two slide members at the same time. Thus, the pin-type gripper is superior in structure, control, and economic performance to a typical gripper that requires two cylinders and a complicated design. 1. A pin-type gripper , comprising:a housing in which a cylinder unit and an actuating part are organically arranged, with pin holes formed in a bottom of the housing so that pins of side blocks are extracted from or retracted into the housing through the pin holes;the single cylinder unit comprising: a cylinder provided in an upper end of a medial portion of the housing; a piston reciprocating upwards and downwards in the cylinder; and a rod extending from the piston to a predetermined position below the cylinder; andthe actuating part comprising: a pair of slide blocks obliquely disposed at left and right sides of an end of the rod, the slide blocks extending in a skirt shape, with one or more pins provided in an end of each of the pair of slide blocks; and links connected at first ends thereof to the rod and connected at second ends thereof to the respective slide blocks so that movement of the rod generated by the cylinder is transmitted to the slide blocks by the links.2. The pin-type gripper according to claim 1 , wherein the housing has two compression air supply holes extending from a side surface of the housing into the cylinder claim 1 , the two compression air supply holes respectively communicating with an upper space above the piston and a lower space below the ...

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25-07-2013 дата публикации

ROBOT, ROBOT HAND, AND METHOD FOR ADJUSTING HOLDING POSITION OF ROBOT HAND

Номер: US20130190925A1
Автор: MIYOSHI Tetsuya
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A robot includes a robot hand, an arm unit, and a controller. The robot hand includes a movable portion. To the arm unit, the robot hand is mounted. The controller is configured to control the arm unit to move the movable portion of the robot hand so as to adjust a holding position of the robot hand relative to a to-be-held object. 1. A robot comprising:a robot hand comprising a movable portion;an arm unit to which the robot hand is mounted; anda controller configured to control the arm unit to move the movable portion of the robot hand so as to adjust a holding position of the robot hand relative to a to-be-held object.2. The robot according to claim 1 ,wherein the robot hand comprises at least one holder mounted to the movable portion and configured to hold the to-be-held object, andwherein the arm unit is configured to move with the at least one holder in fixed state so as to move the movable portion and adjust a holding position of the at least one holder.3. The robot according to claim 2 ,wherein the at least one holder comprises a plurality of holders, andwherein the arm unit is configured to move with at least one holder among the plurality of holders in fixed state so as to move the movable portion and adjust a holding position of the at least one holder relative to the to-be-held object.4. The robot according to claim 3 ,wherein the plurality of holders are configured to hold a plurality of resin products coupled to each other by a connecting portion, andwherein the arm unit is configured to move so as to move the movable portion of the robot hand and adjust holding positions of the plurality of holders relative to the plurality of resin products.5. The robot according to claim 1 , wherein the controller is configured to move the arm unit based on holding position information of the to-be-held object with a part of the robot hand in fixed state so as to move the movable portion and adjust the holding position of the robot hand relative to the to-be-held ...

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01-08-2013 дата публикации

ROBOTIC FINGER ASSEMBLY

Номер: US20130193704A1
Принадлежит:

A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange. 1. A robotic hand assembly comprising:a base structure;a finger having first, second, and third phalanges;a first joint operatively connecting the first phalange to the base structure such that the first phalange is selectively rotatable with respect to the base structure about a first axis;a second joint operatively connecting the second phalange to the first phalange such that the second phalange is selectively rotatable with respect to the first phalange about a second axis; anda third joint operatively connecting the third phalange to the second phalange such that the third phalange is selectively rotatable with respect to the second phalange about a third axis;wherein the third joint is kinematically linked to the second joint such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.2. The robotic hand assembly of claim 1 , further comprising a linkage that is rotatably mounted with respect to the first phalange and rotatably mounted with respect to the third phalange to kinematically link the third joint and the second joint.3. The robotic hand assembly of claim 2 , wherein the linkage includes a spring.4. The robotic hand assembly of claim 1 , further comprising a first tendon being operatively connected to the second phalange such that tension in the first tendon urges the second phalange to rotate about the second axis in a ...

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08-08-2013 дата публикации

ROBOT HAND, ROBOT, AND CONTROL METHOD FOR THE ROBOT HAND

Номер: US20130200644A1
Автор: SHIOMI Masahiro
Принадлежит: SEIKO EPSON CORPORATION

A robot hand moved by a robot to grip an object to be gripped includes a plurality of bar-like placing sections on which the object to be gripped is placed, a plurality of plate-like pressing sections paired with the plurality of placing sections and configured to press side surfaces of the object to be gripped, a space adjusting section configured to move the plurality of pressing sections to bring the pressing sections into contact with a plurality of contact sections, a first strain gauge configured to detect a distance between the placing section and the pressing section and an angle of the pressing section with respect to the placing section, and a second strain gauge configured to detect a distance between the placing section and the pressing section and an angle of the pressing section with respect to the placing section. 1. A robot hand comprising:a plurality of bar-like placing sections on which the object to be gripped is placed;pressing sections paired with the placing sections and configured to press side surfaces of the object to be gripped;a space adjusting section configured to move the placing sections to adjust a space between the plurality of placing sections and move the pressing sections to bring the pressing sections into contact with the object to be gripped; anda detecting section configured to detect an inclination angle formed by the placing section and the pressing section paired with each other and a placing section-pressing section angle, which is a twisting angle of the pressing section with respect to the placing section, whereinthe robot hand grips the object to be gripped.2. The robot hand according to claim 1 , further comprising a control section configured to calculate a placing section-pressing section distance claim 1 , which is the distance between the placing section and the pressing section paired with each other claim 1 , and a distance after correction obtained by correcting the placing section-pressing section distance ...

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08-08-2013 дата публикации

INDUSTRIAL ROBOT

Номер: US20130202390A1
Принадлежит:

An industrial robot is provided with the first hand, the second hand, the arm and the main unit section. The base end portion of the first hand and the base end portion of the second hand are joined to the front end portion of the arm such that they overlap with each other in the top-bottom direction. The first hand and the second hand are independently rotatable with respect to the arm and also rotatable about the common center of rotation with respect to the arm in the view from the top-bottom direction. Also, the first hand and the second hand are formed being bent in the view from the top-bottom direction, and also formed to have line symmetry about a predetermined imaginary line passing through the center of rotation in the view from the top-bottom direction. 1. An industrial robot comprising;a first hand and a second hand, both configured to transport objects loaded thereon;an arm to which said first hand and said second hand are rotatably joined; anda main unit to which a base end portion of said arm is rotatably joined;wherein a base end portion of said first hand and a base end portion of said second hand are joined to a front end portion of said arm; andwherein said first hand and said second hand are independently rotatable with respect to said arm and also rotatable about a common center of rotation with respect to said arm in the view from die-a top-bottom direction, and are formed being bent in the view from the top-bottom direction and also to have line symmetry about a predetermined imaginary line passing through said center of rotation in the view from the top-bottom direction.2. The industrial robot as set forth in ; 'configured to take out said objects to be transported from a first arrangement location, in which said objects to be transported are stacked up in the top-bottom direction while a front end side of said first hand and a front end side of said second hand are overlapped with each other in the top-bottom direction; and/or', 'wherein the ...

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15-08-2013 дата публикации

WAFER INVERSION MECHANISM

Номер: US20130209211A1
Автор: Palm Troy
Принадлежит: Rudolph Technologies, Inc.

A BOLTS compatible module includes a support mechanism for gripping a wafer. The support mechanism is coupled to a rotary mechanism for rotating the support mechanism with a wafer grip therein. The rotary mechanism is coupled to the module and capable of at least 180° of rotation. 1. A BOLTS compatible module comprising:a support mechanism for gripping a wafer, the support mechanism being coupled to a rotary mechanism for rotating the support mechanism with a wafer gripped therein, the rotary mechanism being coupled to the module and capable of at least 180° of rotation.2. The module of claim 1 , wherein the support mechanism includes opposed clamp arms in parallel relation to one another and rotatable with the rotary mechanism.3. The module of claim 2 , wherein the clamp arms include at least two gripping members claim 2 , each gripping member including a pair of contact faces that work in conjunction with one another to grasp the wafer.4. The module of claim 1 , further comprising a horizontal support configured to position the support mechanism relative to a vertical member.5. An edge grip mechanism comprising:at least two gripping members, each gripping member having a first portion and a second portion that reciprocate between and open position in which a substrate may be placed or removed and a closed position in which the substrate is positively grasped;each gripping member having a pair of contact faces that work in conjunction with one another to grasp the substrate.6. A method of handling a substrate claim 1 , comprising:positioning the substrate between two gripping members;rotating the substrate 180°. This application claims priority under 35 U.S.C. §119(e) to U.S. Provisional Patent Application Ser. No. 61/580,641 filed on Dec. 27, 2011, and incorporated herein by reference.The present disclosure relates generally to a mechanism for inverting or queuing a semiconductor substrate for processing or inspection. The mechanism has a BOLTS (Box Opener/Loader ...

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22-08-2013 дата публикации

MASS DAMPER FOR SEMICONDUCTOR WAFER HANDLING END EFFECTOR

Номер: US20130213169A1
Принадлежит:

A calibrated mass damper for use with end effectors for semiconductor wafer handling robots is described. The calibrated mass damper reduces vibrational response in an end effector carrying a semiconductor wafer without requiring modification of the end effector structure. 1. A device comprising:a mechanical interface configured to rigidly connect to an end effector of a wafer handling robot, the end effector configured to support a wafer; and the CMD is greater than one half pound-mass, and', 'the CMD is calibrated to produce at least one octave of separation between a first modal frequency of the end effector and a first modal frequency of the wafer that the end effector is configured to support., 'a calibrated mass damper (CMD), wherein2. The device of claim 1 , wherein the CMD is approximately one half pound-mass.3. The device of claim 1 , wherein the CMD is made from tungsten.4. The device of claim 1 , wherein the CMD is nickel-plated.5. The device of claim 1 , wherein:the end effector has a first length in a direction corresponding to a largest dimension of the end effector,the CMD and the end effector, when the CMD is installed on the end effector, have a combined second length in the direction corresponding to the largest dimension of the end effector, andthe second length does not exceed the first length by more than 1.35″.6. The device of claim 1 , wherein the CMD includes a housing and a calibration material claim 1 , wherein:the calibration material is sealed inside the housing, andthe calibration material is granulated.7. An end effector retrofit kit claim 1 , the end effector retrofit kit comprising: the CMD includes a mechanical interface configured to rigidly connect to an end effector of a wafer handling robot, the end effector configured to support a wafer,', 'the CMD is greater than one half pound-mass, and', 'the CMD is calibrated to produce at least one octave of separation between a first modal frequency of the end effector and a first modal ...

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19-09-2013 дата публикации

Robot system, robot hand, and robot system operating method

Номер: US20130245823A1
Принадлежит: Yaskawa Electric Corp

A robot system includes a robot arm, a robot hand provided to the robot arm, and a plurality of finger members for holding a target object, installed to the robot hand. The robot hand includes a hand main body portion which is connected to the robot arm and includes an actuator, and a finger holding mechanism which replaceably holds at least a pair of the finger members is connected to the hand main body portion and is driven by the actuator.

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26-09-2013 дата публикации

ROBOT HAND

Номер: US20130249225A1
Автор: KIMURA Yasutomo
Принадлежит: DISCO CORPORATION

A robot hand having a suction holding unit on one face side holds a plate-shaped work by suction. An outer circumferential edge of the plate-shaped work is held, without contact with a surface of the plate-shaped work, by an outer circumference holding unit provided on the other face side. The robot hand can be used to hold the plate-shaped work yet to be worked by the suction holding unit, and to hold the plate-shaped work having been worked by the outer circumference holding unit. This prevents working debris from being deposited on the plate-shaped work yet to be worked and prevents defective working from occurring. In addition, since the plate-shaped work having been worked is held by the outer circumference holding unit, the robot hand does not make contact with surfaces of the worked plate-shaped work, and, accordingly, no contact marks are formed on the surfaces of the work. 1suction holding means for holding a plate-shaped work on one face side by suction; andouter circumference holding means for holding an outer circumferential edge of a plate-shaped work on an other face side,wherein the outer circumference holding means includes an abutment section adapted to make contact with the outer circumferential edge of the plate-shaped work, a pressing unit having moving means disposed at a position opposite to the abutment section and adapted to move a pressing member toward and away from the abutment section, and a tentative receiving section disposed between the abutment section and the pressing unit and adapted to tentatively receive an outer circumferential portion of the plate-shaped work, andthe pressing member is moved toward the abutment section by the moving means, whereby the plate-shaped work tentatively received by the tentative receiving section is moved toward the abutment section, and the outer circumferential edge of the plate-shaped work is clamped and held by the abutment section and the pressing unit.. A robot hand for holding a plate-shaped ...

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26-09-2013 дата публикации

Spacecraft capture mechanism

Номер: US20130249229A1
Принадлежит: MacDonald Dettwiler and Associates Corp

The present invention provides a capture mechanism for capturing and locking onto the Marman flange located on the exterior surfaces of spacecraft/satellites. The capture mechanism achieves its goal of quickly capturing a target spacecraft by splitting the two basic actions involved into two separate mechanisms. One mechanism performs the quick grasp of the target while the other mechanism rigidises that grasp to ensure that the target is held as firmly as desired. The jaws can be set up to grasp gently, firmly, or even not close completely on the target. Once the jaws have sprung shut, a second mechanism draws the jaws (and their closing mechanism) back into the body of the tool pulling the captured target onto two rigidisation surfaces. The mechanism keeps pulling backwards until a pre-established preload is reached at which point the target is considered suitably rigidised to the capture mechanism.

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26-09-2013 дата публикации

APPARATUS AND METHOD FOR ENGAGING AND HANDLING ARTICLES OF MANUFACTURE

Номер: US20130251497A1
Принадлежит: The Procter & Gamble Company

Apparatus and method for engaging an article. The apparatus has a base portion, an end portion disposed adjacent the base portion. The end portion is moveable in relation to the base portion generally along the longitudinal centerline. One or more bands are joined to and extend between the base portion and the end portion. At least one of the bands bends away from the longitudinal centerline when the end portion is moved toward the base portion from the disengaged configuration to the activated configuration. 1. An apparatus for engaging an article , the apparatus having a longitudinal centerline , a disengaged configuration with a disengaged cross-section and an activated configuration with an activated cross-section , the apparatus comprising:a base portion;an end portion disposed adjacent the base portion along the longitudinal centerline of the apparatus, the end portion being moveable in relation to the base portion generally along the longitudinal centerline of the apparatus; andat least a first flexible band and a separate second flexible band extending between the base portion and the end portion, the first and second bands each having a first end joined to the base portion, a second end joined to the end portion and a central region located between the first end and the second end, wherein the first band is joined to the base portion at a first location in a longitudinal direction and the second band is joined to the base portion at a second location in the longitudinal direction and the first location and the second location are different, andwherein at least one of the two or more band bends away from the longitudinal centerline of the apparatus when the end portion is moved toward the base portion from the disengaged configuration to the activated configuration.2. The apparatus of claim 1 , wherein the first flexible band and the second flexible band each has a length and the length and the length of the first flexible band and the length of the second ...

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26-09-2013 дата публикации

Control system for a grasping device

Номер: US20130253705A1
Принадлежит: VANDERBILT UNIVERSITY

A method for operating a grasping device and grasping devices therefrom are provided. The grasping device is configured to use a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device. The method include receiving at least one control signal, determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device, and selectively actuating the plurality of joints to traverse the sequence of poses, where a direction for traversing the sequence of poses is based on the at least one control signal.

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10-10-2013 дата публикации

Operating A Mobile Robot

Номер: US20130268118A1
Принадлежит: iRobot Corp

A robot system that includes an operator control unit, mission robot, and a repeater. The operator control unit has a display. The robot includes a robot body, a drive system supporting the robot body and configured to maneuver the robot over a work surface, and a controller in communication with the drive system and the operator control unit. The repeater receives a communication signal between the operator control unit and the robot and retransmits the signal.

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24-10-2013 дата публикации

DEVICE FOR SECURING TRIM TO A SEAT

Номер: US20130278000A1
Принадлежит:

A seat assembly machine includes a plurality of grippers useful for securing a piece of trim to a seat cushion. In a disclosed example, each gripper includes a plurality of prongs that are moved between neutral, closed and released positions that each facilitate a different portion of the assembly process. In one example, each gripper includes a sleeve within which the prongs are moveable so that the prongs are manipulated between the neutral, closed and released positions. A disclosed example sleeve includes an interior channel having a contour that manipulates the prongs between the different positions based on the location of the prongs within the sleeve. 1. A gripper for use in a seat trim application process comprising:a first member disposed along an axis;a sleeve at least partially telescopically disposed in the first member and arranged to extend or retract relative to the first member in response to a desired position;a plurality of prongs retractably retained within the sleeve for gripping a component, wherein at least one spring biases at least one end of the prongs toward one another when the prongs are in a neutral position such that the prongs are allowed to move relative to each other if the bias is overcome.2. The gripper of claim 1 , wherein each of the plurality of prongs includes at least one chamfered surface adjacent the first end and facing another of the plurality of prongs.3. The gripper of claim 1 , wherein each of the plurality of prongs has a first end disposed outside of the sleeve and a second end opposite the first end is disposed in the sleeve claim 1 , wherein the second end of each of the plurality of prongs are biased apart by a biasing member.4. The gripper of claim 1 , wherein the biasing member comprises two coil springs.5. The gripper of claim 1 , wherein a pivot member is positioned between the prongs such that biasing a second end of each of the plurality of prongs away from each other biases a first end of each of the ...

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31-10-2013 дата публикации

APPARATUS AND METHOD FOR ENGAGING AND HANDLING ARTICLES OF MANUFACTURE

Номер: US20130285403A1
Принадлежит:

Apparatus and method for engaging an article. The apparatus has a longitudinal centerline, a disengaged configuration and an activated configuration. The apparatus also includes a base having a first end and a second end and a sleeve surrounding at least a portion of the base. The sleeve has one or more bands extending between a proximal end and a distal end, the proximal end of the sleeve being joined to the base at a fixed location and the distal end of the sleeve being moveable with respect to the proximal end along the base. At least one of the band bends away from the longitudinal centerline when the distal end of the sleeve is moved toward the proximal end of the sleeve along the base from the disengaged configuration to the activated configuration. 1. An apparatus for engaging an article having , the apparatus having a longitudinal centerline , a disengaged configuration with a disengaged cross-section and an activated configuration with an activated cross-section , the apparatus comprising:a base disposed generally along the longitudinal centerline of the apparatus, the base having a first end and a second end; anda sleeve surrounding at least a portion of the base, the sleeve portion having a proximal end and a distal end and one or more bands extending between the proximal end and the distal end, the proximal end of the sleeve being joined to the base at a fixed location and the distal end of the sleeve being moveable with respect to the proximal end along the base;wherein at least one of the one or more band bends away from the longitudinal centerline of the apparatus when the distal end of the sleeve is moved toward the proximal end of the sleeve along the base from the disengaged configuration to the activated configuration.2. The apparatus of having three or more band extending between the proximal end and the distal end of the sleeve.3. The apparatus of having two or more bands claim 2 , wherein each of the two or more bands has a length and the ...

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31-10-2013 дата публикации

APPARATUS AND METHOD FOR ENGAGING AND HANDLING ARTICLES OF MANUFACTURE

Номер: US20130287540A1
Принадлежит:

Apparatus and method for engaging an article. The apparatus has a longitudinal centerline, a disengaged configuration and an activated configuration. The apparatus further includes a base portion, first and second engaging arm portions joined to the base portion, first and second moveable portion operatively associated with the first and second engaging arm portions, respectively, and one or more engaging arm bands extending between the first and second moveable portions and the first and second arm portions, wherein at least one of the arm bands bends away from the longitudinal centerline of the engaging arm when the apparatus is changed from the disengaged configuration to the activated configuration. 1. An apparatus for engaging an article , the apparatus having a longitudinal centerline , a disengaged configuration and an activated configuration , the apparatus comprising:a base portion;a first engaging arm portion joined to the base portion, the first engaging arm having a first base end portion and a first free end portion disposed along a first longitudinal centerline away from the base portion;a first moveable portion operatively associated with the first engaging arm portion and being moveable in relation to the first free end portion generally along the first longitudinal centerline;a second engaging arm portion joined to the base portion, the second engaging arm having a second base end portion and a second free end portion disposed along a second longitudinal centerline away from base portion;a second moveable portion operatively associated with the second engaging arm portion and being moveable in relation to the second free end portion generally along the second longitudinal centerline;one or more first engaging arm bands extending between the first moveable portion and the first free end portion, the bands having a first proximal end joined to the first moveable portion, a first distal end joined to the first free end portion and a first central ...

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07-11-2013 дата публикации

Device and method for handling components, preferably components to be coated

Номер: US20130292958A1
Автор: Thomas A. Bucknell
Принадлежит: Duerr Systems AG

A device and a method is provided for handling components (B) preferably to be coated, for example vehicle parts, particularly hoods, flaps, doors or the like of motor vehicle bodies, comprising a grasping element ( 10 ), which can be changed in terms of volume and/or changed in terms of shape, in order to grasp the component (B), as a result of which the component (B) can be handled.

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07-11-2013 дата публикации

Electroadhesive Conveying Surfaces

Номер: US20130294875A1
Принадлежит: SRI INTERNATIONAL

An electroadhesive gripping platform includes one or more electrodes. A power supply is configured to apply voltage to the one or more electrodes in the electroadhesive platform via one or more terminals. A controller is configured to operate the electroadhesive gripping platform to selectively adhere to items loaded thereon and thereby enhance traction control over such items. The controller can control the power supply to apply a voltage to the one or more electrodes in the electroadhesive platform to thereby cause the electroadhesive platform to adhere to an item disposed on the electroadhesive platform such that the item resists moving with respect to the electroadhesive platform. The controller can also control the voltage supply to reduce the voltage applied to the one or more terminals such that the item moves with respect to the electroadhesive platform. 1. A system comprising:an electroadhesive platform including one or more electrodes;a power supply configured to electrically connect to the one or more electrodes in the electroadhesive platform;a controller configured to: (i) control the power supply to apply a voltage to the one or more electrodes in the electroadhesive platform to thereby cause the electroadhesive platform to adhere to an item disposed on the electroadhesive platform such that the item resists moving with respect to the electroadhesive platform and (ii) control the voltage supply to reduce the voltage applied to the one or more electrodes such that the item moves with respect to the electroadhesive platform.2. The system according to claim 1 , wherein the electroadhesive platform includes a compliant electroadhesive gripping surface that is attracted to an exterior surface of the item responsive to the voltage being applied.3. The system according to claim 1 , wherein the applied voltage is sufficient to cause the item to substantially track a path of the electroadhesive platform while the electroadhesive platform is in motion.4. The ...

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14-11-2013 дата публикации

END EFFECTOR FOR A ROBOTIC ARM

Номер: US20130302129A1
Принадлежит:

An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector. 1. An end effector for a robotic arm , comprising:a grasping apparatus having a gripping member; andan appendage extending from the gripping member forming a channel between the griping member and the appendage, wherein the channel is configured to receive at least a portion of an article to be manipulated by the end effector.2. The end effector of claim 1 , further comprising at least one of a sensor and a light source.3. The end effector of claim 2 , wherein the at least one of a sensor and a light source is associated with the appendage to assist positioning of the channel when receiving the article to be manipulated.4. The end effector of claim 1 , wherein the channel comprises walls angled to form a tapered channel.5. The end effector of claim 1 , wherein the channel comprises parallel walls.6. The end effector of claim 1 , wherein the appendage is removably attachable to the gripping member.7. The end effector of claim 1 , wherein the channel is configured to receive a storage container latch.8. The end effector of claim 1 , wherein the grasping apparatus comprises at least one of a sensor and a light source.9. The end effector of claim 1 , wherein the grasping apparatus comprises a second gripping member that is rotatable to a position that minimizes interference during use of the appendage.10. The end effector of claim 1 , wherein the grasping apparatus comprises a second gripping member having a second appendage.11. The end effector of claim 1 , wherein the appendage further comprises one or more cut-outs formed in one or more sides of the appendage.12. The end effector of claim 1 , ...

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21-11-2013 дата публикации

Apparatus and method for transporting wafer-shaped articles

Номер: US20130309048A1
Автор: Andreas GLEISSNER
Принадлежит: LAM RESEARCH AG

An apparatus for transporting a wafer-shaped article, comprises a holder configured to hold a wafer-shaped article of a predetermined diameter, attached to a robot arm that is horizontally movable, via a linkage. The holder is vertically movable relative to the distal end of the robot arm via the linkage from a retracted position to an extended position.

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21-11-2013 дата публикации

GRIPPING DEVICE, TRANSFER DEVICE WITH SAME, AND METHOD FOR CONTROLLING GRIPPING DEVICE

Номер: US20130310980A1
Автор: Matsuoka Hirofumi
Принадлежит: TOYOTA JIDOSHA KABUSHIKI KAISHA

A gripping device comprises: a gripping unit for gripping a work; a controller for controlling the gripping operation of the gripping unit; and contact sections attached to the gripping unit contacting the work, the contact sections being adapted to deform following the shape of the work, and to maintain the deformation. The gripping operation of the gripping unit presses the contact sections against the work to cause the contact sections to follow the outside of the work, and grips the work with the shape of the contact sections maintained. After predetermined number of times of gripping operation, the controller changes the positions of the contact points of the contact sections with the work when the work is gripped. As a result, different works having different shapes can be stably gripped and the lifetime of the contact sections can be extended to be longer than that of conventional products. The change, by the controller, in the positions of the points on the work with which the contact sections are in contact when the work is gripped is performed by shifting the contact sections in a plane vertical to the gripping direction. 1. A gripping device for gripping a work comprising:a gripping unit for gripping the work;a controller for controlling the gripping operation of the gripping unit; andmultiple contact sections attached to the gripping unit at contact points with the work, each of the contact sections being deformable following the outer shape of the work and being able to maintain the deformed shape,wherein the gripping operation of the gripping unit makes the contact sections pressed to the work and deformed along the outer shape of the work, and the gripping unit grips the work where the deformed shape of the contact section is maintained, andwherein the controller changes the contact points of the contact sections with the work after gripping at predetermined times.2. The gripping device according to claim 1 ,wherein the controller shifts the contact ...

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28-11-2013 дата публикации

FOLDING DEVICE AND FOLDING METHOD

Номер: US20130312473A1
Принадлежит:

A manipulator-guided folding (hemming) tool () includes a frame () having a preferably roller-shaped folding element () and a connection () for connecting to a manipulator (), and a detecting device () for the loads that occur during folding. The detecting device () has an indicator () for the loads, which indicator is arranged on the folding tool (). The indicator is preferably designed as an optical indicator and is arranged in a tool area that is visible during folding. 1. A manipulator guided hemming tool comprising:a frame;a hemming element;a connection for connection to a manipulator or robot;a detecting device for the loads occurring during hemming, wherein the detecting device has an indicator for the loads and the indicator is arranged at the hemming tool.2. A hemming tool in accordance with claim 1 , wherein the indicator comprises an optical indicator arranged in an area visible during hemming on an outside of the hemming tool.3. A hemming tool in accordance with claim 1 , wherein the indicator comprises a range indicator for different load ranges.4. A hemming tool in accordance with claim 1 , wherein indicator has a plurality of different indicator elements including lights of different colors.5. (canceled)6. A hemming tool in accordance with claim 1 , wherein the detecting device is arranged in claim 1 , on or at the frame and/or at a hemming element of the hemming tool.7. A hemming tool in accordance with claim 1 , wherein the detecting device detects and indicates only the loads occurring during final hemming.8. A hemming tool in accordance with claim 1 , wherein the hemming tool has an arrangement of hemming elements capable of performing yielding motions claim 1 , wherein the detecting device measures the yielding path.9. A hemming tool in accordance with claim 1 , wherein the hemming tool is designed for pulling and pushing hemming forces and has a mount capable of performing yielding motions in opposite directions for one or more hemming elements ...

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28-11-2013 дата публикации

ROBOTIC TOOL CHANGE SYSTEM

Номер: US20130313791A1
Автор: SETRAKIAN MARK
Принадлежит: Northrop Grumman Systems Corporation

A robotic tool system includes a gripping mechanism having a pair of movable jaws that extend along a longitudinal axis. Each jaw has a convex inner surface relative to the axis that cooperate to define a first adaptor. A tool assembly includes a tool and a second adaptor connected to the tool and having a biconvex projection. The jaws are movable towards one another from a first condition spaced from the second adaptor to a second condition in which the first adaptor engages the second adaptor to securely fasten the tool assembly to the gripping mechanism. 1. A robotic tool system comprising:a gripping mechanism including a pair of movable jaws that extend along a longitudinal axis, each jaw having a convex inner surface relative to the axis that cooperate to define a first adaptor; anda tool assembly including a tool and a second adaptor connected to the tool and having a biconvex projection;the jaws being movable towards one another from a first condition spaced from the second adaptor to a second condition in which the first adaptor engages the second adaptor to securely fasten the tool assembly to the gripping mechanism.2. The tool system of claim 1 , wherein the first adaptor further includes a linear surface extending from each convex surface claim 1 , the second adaptor further including a rectangular fin that extends from the projection for mating with the linear surfaces when the jaws are in the second condition.3. The tool system of claim 1 , wherein engagement of the first adaptor with the second adaptor when the adaptors are misaligned with one another automatically aligns the adaptors to allow the jaws to reach the second condition.4. The tool system of claim 3 , wherein the first adaptor further includes a linear surface extending from each convex surface claim 3 , the second adaptor further including a rectangular fin that extends from the projection and engages at least one of the linear surfaces to guide the second adaptor into alignment with the ...

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05-12-2013 дата публикации

HANDLING MODULE FOR HANDLING MOTOR VEHICLE WHEELS

Номер: US20130320687A1
Автор: Starz Reiner
Принадлежит: EISENMANN AG

A handling module for handling vehicle wheels in an installation for the surface treatment thereof and having at least two gripping units which are supported by a frame structure and each of which comprises a plurality of press-on elements which are pressable onto one or more counter surfaces of an individual vehicle wheel. At least one of the gripping units includes a translation device by which the press-on elements are movable in relation to the frame structure with a movement component which is parallel to the axis of rotation of a gripped vehicle wheel. 1. A handling module for handling vehicle wheels in a system for the surface treatment thereof , the handling module comprising:at least two gripping units which are carried by a frame structure and whereof each includes a plurality of contact pressure elements which are capable of being pressed against one or more counter-surfaces of an individual vehicle wheel,and wherein at least one of the gripping units has a translational device by means of which the contact pressure elements may be are moved in relation to the frame structure by a motion component parallel to an axis of rotation of the vehicle wheel.2. A handling module according to claim 1 , wherein the contact pressure elements are movable by means of the translational device in relation to the frame structure in a manner coaxial to the axis of rotation of the vehicle wheel.3. A handling module according to claim 1 , wherein a plurality of the gripping units each include a translational device.4. A handling module according to claim 1 , wherein contact pressure elements of a first gripping unit are movable independently of contact pressure elements of a second gripping unit.5. A handling module according to claim 1 , wherein the gripping units are configured such that vehicle wheels gripped by the gripping units are aligned axially parallel to one another in relation to their axis of rotation.6. A handling module according to claim 1 , wherein contact ...

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12-12-2013 дата публикации

ROBOTIC ARM

Номер: US20130330162A1
Автор: HORINOUCHI Takashi
Принадлежит: Panasonic Corporation

A robotic arm includes: an arm having one or more joints; an arm securing unit provided at at least one of the one or more joints and configured to secure, by electrostatic adhesion, a positional relationship between two parts coupled by each of the at least one of the one or more joints; and a control unit configured to turn on and off the electrostatic adhesion of the arm securing unit. 1. A robotic arm comprising:an arm having one or more joints;an arm securing unit provided at at least one of the one or more joints and configured to secure, by electrostatic adhesion, a positional relationship between two parts coupled by each of the at least one of the one or more joints; anda control unit configured to turn on and off the electrostatic adhesion of the arm securing unit.2. The robotic arm according to claim 1 ,wherein the arm securing unit is configured to electrostatically adhere together the two parts coupled by each of the at least one of the one or more joints of the arm, to secure the positional relationship between the two parts.3. The robotic arm according to claim 1 ,wherein each of the one or more joints of the arm is provided with the arm securing unit.4. The robotic arm according to claim 1 , further comprising:a hand having one or more joints and coupled to the arm by at least one of the one or more joints of the arm, the hand being for grasping an object; anda hand securing unit provided at at least one of the one or more joints of the hand and configured to secure, by electrostatic adhesion, a positional relationship between two parts coupled by each of the at least one of the one or more joints of the hand,wherein the control unit is further configured to turn on and off the electrostatic adhesion of the hand securing unit.5. The robotic arm according to claim 4 ,wherein the hand securing unit is configured to electrostatically adhere together the two parts coupled by each of the at least one of the one or more joints of the hand, to secure the ...

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19-12-2013 дата публикации

CLAMP HAVING THREE JAWS

Номер: US20130334831A1
Автор: MAFFEIS Giuseppe
Принадлежит:

A self-centering clamp having three jaws, for the industrial automation field and particularly adapted to equip robotic arms, is described. 11. Clamp () comprising:{'b': 2', '21', '23', '1', '3', '1', '3', '21', '23, 'a body () provided with a longitudinal axis (Z-Z) and three coplanar seats (-) for housing corresponding jaws (G-G), wherein the jaws (G-G) are each alternately translatable into the respective seat (-) in two ways (X-X, X′, X″) of a direction orthogonal to the longitudinal axis (Z-Z), between a proximal position and a distal position with respect to the longitudinal axis (Z-Z) itself, and'}{'b': 4', '5', '14', '4', '1', '3', '5', '14', '11', '2', '1', '4', '11', '2', '3, 'a device (A) for activating the jaws comprising an actuator () and a drive mechanism (-) adapted to drive a motion of the actuator () to the jaws (G-G), wherein the drive mechanism (-) comprises a cursor () translatable in said body () integrally with a first jaw (G), in response to the actuator () starting, and a transmission configured to impart movement of the cursor () to the second jaw (G) and the third jaw (G),'}{'b': 17', '18', '11', '17', '18', '2', '3', '11', '1, 'wherein the transmission comprises two controlling levers (, ), both rotatable on a respective rotation axis parallel to the longitudinal axis (Z-Z), in response to the translatory movement of the cursor (), and wherein both levers (, ) are constrained to a corresponding jaw of said second (G) and said third (G) jaws to impart a travel equivalent to the travel imparted by the cursor () to the first jaw (G).'}211718212313. Clamp () having three jaws according to claim 1 , wherein said levers ( claim 1 , ) are substantially coplanar and rotate in a lying plane parallel to a lying plane of the seats (-) of the jaws (G claim 1 , G).3117181113. Clamp () having three jaws according to claim 1 , wherein said levers ( claim 1 , ) are substantially flat and are interposed between the cursor () and the jaws (G claim 1 , G). ...

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19-12-2013 дата публикации

GRIPPER APPARATUS AND METHOD FOR CONTAINERS OF DIFFERENT SIZES

Номер: US20130336755A1
Автор: Neeper Robert K.
Принадлежит: Brooks Automation, Inc.

A gripper apparatus for removing and replacing objects such as containers or vials in an array of containers has a gripper head which extends downward from a support arm, a planetary gear assembly mounted in the gripper head including at least three planet gears, and at least one gripping grip extending downward from each planet gear and projecting beyond a lower end of the gripper head. A drive motor drives the planetary gear assembly to rotate the planet gears in opposite directions, moving the grips inward and outward along predetermined paths to grip and carry an object and release the object when in a desired location. 1. A method of grasping and lifting containers of varying sizes from an array of containers , comprising:positioning a gripper head at a selected position above an array of containers, each container having a first transverse size dimension;actuating a drive motor which controls rotation of a plurality of planet gears of a planetary gear assembly in the gripper head, each planet gear being associated with a grip projecting downwardly from the gripper head, each grip moving along a predetermined inward or outward path as the associated planet gear rotates in opposite directions;the drive motor driving the planet gears to move the respective grips until each grip is at a predetermined position relative to the other grips defining an opening between the grips which is slightly larger than the container first transverse size dimension;lowering the gripper head until the grips are located in a space in the array between a selected container and adjacent containers in the array with the grips surrounding the selected container in the array;rotating the planet gears to move each grip inwardly from the predetermined position into engagement with the container, whereby the container is grasped between the grips; andraising the gripper head to lift the container from the array.2. The method of claim 1 , wherein the drive motor driving the plurality of ...

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26-12-2013 дата публикации

ROBOT HAND

Номер: US20130341946A1
Автор: Yamanaka Satoshi
Принадлежит:

A robot hand includes a mounting surface to which a work unit is mounted with some freedom of horizontal movement. A pair of anti-fall hooks is formed at a tip portion of the mounting surface to support a front edge portion of the work unit so as to prevent the work unit from falling off the mounting surface. A pair of support section is provided at a rear edge portion of the mounting surface to support a rear edge portion of the work unit. If, during placement of the work unit into a cassette, the work unit collides with the cassette, the work unit comes into contact with one of the support sections, and the work unit is rotated on the mounting surface about the contact point as a fulcrum so as to correct the misalignment of the work unit. 1a mounting surface to which the work unit is mounted with some freedom of horizontal movement allowed for the work unit;a pair of anti-fall hooks each of which is formed at one edge portion of the mounting surface to support a front edge portion of the work unit mounted to the mounting surface so as to prevent the work unit from falling off the mounting surface; anda pair of support sections each of which is provided at an other edge portion of the mounting surface opposite to the anti-fall hooks to support a rear edge portion of the work unit,wherein if the annular frame collides with the cassette when the robot is activated to place the work unit, mounted to the mounting surface of the robot hand, into the cassette, the robot hand permits the rear edge portion of the work unit to come into contact with one of the support sections so as to allow the work unit to be rotated on the mounting surface about the support section in contact with the rear edge portion as a fulcrum and allow the work unit to be placed into the cassette.. A robot hand fitted to an arm of a robot for placing a work unit into a cassette, the work unit including an annular frame, an adhesive tape and a plate-shaped work, the annular frame having an opening ...

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02-01-2014 дата публикации

GRIPPING DEVICES AND METHODS THEREOF

Номер: US20140000225A1
Автор: Sutton George H.
Принадлежит: MOTOMAN, INC.

A device for gripping a cylindrical object comprises two gripping springs and an actuator, wherein: each gripping spring comprises a first end, a second end opposite the first end, and an arcuate section disposed therebetween; the gripping springs are disposed on the device such that the first ends are pivotally coupled to the device, and the arcuate sections oppose each other so as to define an opening through which the cylindrical object is inserted; and the actuator is mechanically coupled to at least one of the second ends of the gripping springs such that movement of the actuator causes the arcuate sections of the gripping springs to grip the cylindrical object when inserted into the opening. 1. A device for gripping a cylindrical object , the device comprising:a body;a first gripping spring having a first end and a second end opposite the first end, the first end of the first gripping spring coupled to the body;a second gripping spring having a first end and a second end opposite the first end, the first end of the second gripping spring coupled to the body;a first drive link coupled to the second end of the first gripping spring;a second drive link coupled to the second end of the second gripping spring;an actuator coupled to at least one of the first or second gripping springs such that a first movement of the actuator moves the first and second gripping springs from a first position to a second position and a second movement of the actuator moves the first and second gripping springs from the second position to the first position;wherein the first and second gripping springs oppose each other so as to define a gripping area.2. The device of claim 1 , wherein the first gripping spring comprises an arcuate section and the second griping spring comprises an arcuate section claim 1 , wherein the arcuate sections of the respective first and second gripping springs form the gripping area.3. The device of claim 1 , wherein the first and second movements are ...

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02-01-2014 дата публикации

TRANSFER ROBOT, ITS SUBSTRATE TRANSFER METHOD AND SUBSTRATE TRANSFER RELAY DEVICE

Номер: US20140003890A1
Автор: GOTO Hirohiko
Принадлежит: KAWASAKI JUKOGYO KABUSHIKI KAISHA

A transfer robot is equipped with a first hand and a second hand. The first and the second hands, each have two blades, for holding respective substrates. In addition, the transfer robot includes a rotation unit, a first extension and retraction unit, a second extension and retraction unit and an up-down unit, and by these four units, the first and the second hands can be moved to a substrate transfer relay device where substrates are placed, and to four process chambers. 1. A transfer robot comprising:a first hand having plural holding sections for holding respective substrates;a second hand having plural holding sections for holding respective substrates; anda moving device that moves the first and the second hands to a standby position where the substrates are placed and to respective plural different transfer positions.2. The transfer robot as set forth in claim 1 , wherein the moving device is configured such that plural substrates placed at the standby position are held and received by the plural holding sections of the first hand claim 1 , after which the plural substrates held by the plural holding sections of the first hand are sequentially handed over to a the respective transfer position while substrates placed at a the respective transfer positions are received by the holding sections of the second hand.3. The transfer robot as set forth in claim 2 , wherein:the standby position is a position at which the plural substrates can be kept on standby and at which the substrates are delivered between itself and a hoop by a transport robot; andthe moving device moves the first and the second hands in order that the plural substrates held by the plural holding sections of the second hand are placed at the standby position.4. The transfer robot as set forth in claim 3 , wherein:the moving device is configured such that, in a single transfer process, the substrates are handed over respectively to predefined N transfer positions;the first hand has N or more holding ...

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09-01-2014 дата публикации

ROBOTIC HAND WITH CONFORMAL FINGER

Номер: US20140007730A1
Автор: DeLouis Mark J.
Принадлежит: RE2, Inc.

A robotic finger assembly can include a base for mounting the finger to a robotic hand, with the base having a motor, and at least three links. The links of the robotic hand are connected to each other and to the base by a series of joints. A joint shaft and a pivot shaft, where the pivot shaft can freely move within its respective joint shaft, is connected to a preceding link. The motor is activated for opening or closing the finger. The finger closes on an object with a distributed force across the links. Grasping also can mean engaging an object like a human hand, by closing the first finger link until it engages the object, then closing the second finger link until it engages the object, then closing the third link until it engages the object. A robotic hand assembly is also disclosed. 1. A robotic finger assembly comprising:a base for mounting said finger to a robotic hand, said base having a motor;at least two links, said links connected to each other and said base by a joint; anda joint shaft and a pivot shaft comprising said joints, said pivot shaft freely moving within its respective joint shaft and connected to a preceding link, wherein said motor is activated for opening or closing said finger.2. The robotic finger assembly of claim 1 , the closing of said finger further comprising a grasping behavior in the finger claim 1 , such that said finger closes on an object with a distributed force across said links.3. The robotic finger assembly of claim 2 , said grasping further comprises engaging an object by closing a first finger link until it engages the object claim 2 , then closing a second finger link until it engages the object claim 2 , then closing a third link until it engages the object.4. The robotic finger assembly of claim 1 , wherein fully opening said finger resets the finger.5. The robotic finger assembly of claim 1 , wherein tension between the finger joints is caused by engagement of the links on the object claim 1 , wherein tension ...

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09-01-2014 дата публикации

TRANSFER DEVICE COMPRISING A GRIPPER

Номер: US20140008927A1
Принадлежит: SIDEL PARTICIPATIONS

A gripper () for gripping an object (), intended for a transfer device includes two jaws (). Each of the jaws includes: a recess (), and a first clamping portion () and a second locking portion (). The first clamping portion () of each jaw () of the gripper () includes a supporting surface and, when the gripper () is closed around an object () occupying a predetermined reference position, the supporting surface is intended to engage with a portion of a bearing surface of a radial collar of the object. 1101416444648505648446050581042646668141642141664666814166466141664664292262837392535446466422628373925351416. A device () for transferring objects , such as preforms () or containers () , including on the one hand a neck () having its final shape provided with a rim () delimiting an opening () and at least one annular collar () projecting radially and on the other hand a hollow body () extending axially away from the opening () of the neck () from a junction section () adjacent the collar () to a bottom () , said transfer device () including at least one gripper () which includes at least a first jaw () and a second jaw () delimiting between them a housing () adapted to receive a portion of said object ( , ) , the gripper () being adapted to occupy at least an open position in which an object ( , ) can be extracted from between or inserted between the jaws ( , ) to occupy a particular reference position in the housing () and a closed position in which , when such an object ( , ) is present , said jaws ( , ) cooperate with at least a portion of the object ( , ) occupying said particular reference position , in which the jaws ( , ) of said gripper () each include a recess () that is open radially to allow the passage of jaws ( , , , ) of a manipulator clamp ( , ) that are adapted to cooperate with the neck () so that said jaws ( , ) of the gripper () and said jaws ( , , , ) of the manipulator clamp ( , ) are able to interpenetrate without mechanical interference upon ...

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09-01-2014 дата публикации

Gripping device for manipulating flexible elements

Номер: US20140008928A1
Принадлежит: Individual

The invention relates to a gripping device for manipulating flexible elements, coupleable to a robot arm as an end effector, comprising a main rack ( 14, 15, 17, 18, 19, 20, 24, 25 ) and a plurality of gripping elements ( 1 - 9 ) coupled in the main rack by means of respective operating mechanisms ( 1 a - 1 f; 2 a - 2 e; 3 a - 3 f; 4 a - 4 g; 5 a - 5 d; 6 a - 6 g; 7 a - 7 f; 8 a - 8 e; 9 a - 9 f ) for gripping a flexible element ( 10 ), characterized in that it comprises at least four gripping elements ( 1 - 9 ) for gripping the flexible element ( 10 ); at least one gripping element ( 5 ) is a multiposition gripping element independently displaceable with respect to the other gripping elements ( 1 - 4, 6 - 9 ) in at least one direction parallel to the plane defined by the other gripping elements ( 1 - 4, 6 - 9 ) by means of a displacement system ( 16, 38, 39, 40, 41, 42, 45 ) assembled in the main rack ( 14, 15, 17, 18, 19, 20, 24, 25 ) and in a perpendicular direction (Z) to said plane by means of a vertical operating mechanism ( 5 b ); at least two of the other gripping elements ( 1 - 4, 6 - 9 ) defining the aforementioned plane are independently displaceable in any direction (X, Y) within said plane by means of respective two-way additional displacement systems assembled in the main rack ( 14, 15, 17, 18, 19, 20, 24, 25 ); the gripping elements ( 1 - 9 ) are automatically adjustable in their respective positions such that they are arranged in one and the same plane for capturing the flexible element ( 10 ) in a flat two-dimensional configuration and, once the flexible element ( 10 ) is captured, moving to generate a three-dimensional configuration in the flexible element ( 10 ) without generating stretching forces on the flexible element ( 10 ).

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09-01-2014 дата публикации

DEVICE FOR HANDLING OBJECTS

Номер: US20140010628A1
Принадлежит: GLOBAL SAFETY TEXTILES GMBH

The invention relates to a device for handling objects, comprising at least one inflatable air chamber and a retaining unit for objects, which is attached to the air chamber, to a robot or manipulator, characterized by at least one device for handling objects, and to a method for handling objects using the aforementioned device, characterized by the steps of: moving the device with the side thereof comprising the retaining unit to the object to be handled in a first position; establishing an adhesive connection between the retaining unit and the object to be handled, thus retaining the object; moving the device to a desired second position, and releasing the object from the retaining unit by inflating the at least one air chamber. 1. A device for handling articles , comprising:At least one inflatable air chamber, andA retainer secured to said air chamber for holding the articles, wherein said air chamber comprises at least two layers of woven textile fabrics.2. The device as set forth in claim 1 , wherein said air chamber has at least one seam extending around the two textile layers of fabric.3. The device as set forth in claim 1 , wherein said two textile fabric layers are stitched along the seam.4. The device as set forth in claim 1 , wherein said two textile layers of fabric are interwoven in one piece claim 1 , wherein said seam represents a single-layer portion surrounding the two textile fabric layers as a woven seam in surrounding the air chamber.5. The device as set forth in claim 4 , wherein said retainer is designed as a bonding coating.6. The device as set forth in claim 4 , wherein said retainer comprises magnets.7. The device as set forth in claim 5 , wherein said retainer comprises at least one active face of a Velcro fastener.8. The device as set forth in claim 1 , wherein it comprises:A plurality of spaced-apart air chambers andA plurality of retainers disposed between the air chambers.9. A robotic or manipulator device claim 1 , wherein at least one ...

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30-01-2014 дата публикации

CLAMPING MECHANISM AND CARRYING DEVICE AND TRANSFERRING APPARATUS WITH THE SAME

Номер: US20140027245A1
Автор: Li Dong

The present disclosure provides a clamping mechanism for clamping a liquid crystal panel of a LCD, the clamping mechanism includes a base, a clamping member mounted on the base, and an elastic member connected to the base and applying a drawing force onto the clamping member to allow the clamping member under balanced outer force. With the clamping mechanism, the vertical position of the clamping mechanism can be adjusted as the height of the liquid crystal panel changes, thus, the clamping member can be kept coplanar with the liquid crystal panel, to avoid the fracture of the liquid crystal panel; meanwhile, with the elastic member, the frequency and the precision of adjusting the clamping mechanism can be decreased to reduce the maintaining cost of the clamping mechanism. The present disclosure further provides a carrying device and a transferring apparatus with the clamping mechanism. 1. A clamping mechanism , comprising:a base;a clamping member mounted on the base; andan elastic member secured to the base and applying a drawing force onto the clamping member to allow the clamping member to bear balanced outer force.2. The clamping mechanism as claimed in claim 1 , wherein the elastic member is vertically configured with one end thereof secured to the base and the other end thereof secured to the clamping member.3. The clamping mechanism as claimed in further comprising a pulley secured to the base claim 1 , one end of the elastic member is secured to the base and the other end thereof is connected to a connecting rope claim 1 , and the connecting rope wraps around the pulley to be connected to the clamping member.4. The clamping mechanism as claimed in claim 1 , wherein the base defines a hole claim 1 , the clamping mechanism further comprises an adjusting device claim 1 , the adjusting device comprises a screw and a nut; one end of the screw is connected to the elastic member and the other end thereof passes through the hole; and the nut is secured to the nut ...

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30-01-2014 дата публикации

Kinematic Holding System For A Placement Head Of A Placement Apparatus

Номер: US20140030052A1
Принадлежит: Besi Switzerland AG

A kinematic holding system for a placement head of a placement apparatus comprises a placement head alignment device which comprises at least one length-variable holding member arranged at a distance from a joint between a placement head support and the placement head. This holding member determines the pivoting position of the placement head relative to the placement head support. The length of the holding member is changeable during the placement operation depending on a deformation of the placement head guide device caused by the pressing force of the placement head against the substrate in such a way that an axis error (tilt) of the placement head caused by the deformation of the placement head guide device is compensated. 1. Kinematic holding system for a placement head of a placement apparatus for mounting electronic or optical components on substrates , comprisinga placement head guide device comprising a placement head support for holding the placement head, anda placement head alignment device for adjusting the alignment of the placement head relative to the placement head support, wherein the placement head alignment device comprises a joint via which the placement head is supported in an inclination-adjustable way on the placement head support, and wherein the placement head alignment device comprises at least one length-variable holding member which is arranged at a distance from the joint between the placement head support and the placement head and which determines the pivoting position of the placement head relative to the placement head support and whose length is changeable during the placement operation depending on a deformation of the placement head guide device caused by the pressing force of the placement head against the substrate in such a way that an axis error of the placement head caused by the deformation of the placement head guide device is compensated.2. Holding system according to claim 1 , wherein the length-variable holding member ...

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06-02-2014 дата публикации

Mobile robotic manipulator system

Номер: US20140035306A1
Принадлежит: SRI International Inc

Robotic hands and finger modules include an under-actuated finger with multiple joints including a distal joint, an intermediate joint, and a proximal joint. A brake subsystem in communication with each of the joints selectively locks and unlocks the joints individually. A robotic hand can selectively lock the joints of a finger individually such that one or more joints are locked while one or more joints are unlocked. In addition, the finger module can drive a tendon coupled to the joints to flex the underactuated finger in a manner determined by which of the joints is locked and which of the joints is unlocked. A robotic hand can move an underactuated finger with its distal and proximal joints unlocked until the finger makes contact with an object, and lock the proximal joint, in response to contact made with the object, while the distal joint remains unlocked.

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06-02-2014 дата публикации

GAS-PRESSURE TYPE GRAVITY COMPENSATION ELEVATOR

Номер: US20140037412A1
Автор: ASAI KATSUHIKO
Принадлежит: Panasonic Corporation

There is provided a gas-pressure type gravity compensation elevator for ascending/descending a load object, which includes a control part. The control part is adapted to selectively connect a constant-pressure gas cylinder maintained at a constant pressure according to the grasping state, to a gas cylinder for exerting a driving force in the direction of ascent on an elevating mechanism. Further, the control part is adapted to control a sum of a volumes in the gas cylinder and the constant-pressure gas cylinder such that it equals to a sum of their average volumes, every time the grasping state is changed. 1. A gas-pressure type gravity compensation elevator comprising:an elevating mechanism adapted to grasp and ascend/descend a load object;a grasping-state detection portion adapted to detect a load-object grasping state of the elevating mechanism;a gas cylinder adapted to exert a driving force in a direction of ascent, on the elevating mechanism;a first constant-pressure gas cylinder which is pressed by a first constant-load generating portion and is capable of exhibiting a volume change equal to or more than a volume change in the gas cylinder, such that the gas cylinder maintains a pressure which generates a driving force balanced with a weight of the elevating mechanism and a weight of the load object being grasped by the elevating mechanism;a first connection valve adapted to open and close a connection pipe which connects the first constant-pressure gas cylinder and the gas cylinder to each other;a first volume estimation part adapted to estimate, as an estimated value, a sum of a volume in the gas cylinder and a volume in the first constant-pressure gas cylinder;a second constant-pressure gas cylinder which is pressed by a second constant-load generating portion and is capable of exhibiting a volume change equal to or more than the volume change in the gas cylinder, such that the gas cylinder maintains a pressure which generates a driving force balanced with ...

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13-02-2014 дата публикации

CLAMPING DEVICE

Номер: US20140042761A1
Автор: Li Bing, Yang Bo
Принадлежит:

A clamping device includes a driving mechanism and a pair of clamping mechanisms. Each clamping mechanism includes a clipping member, an installing plate, a positioning member, a resisting plate, and an elastic member. The clipping members are movably connected to the driving mechanism. A protrusion protrudes from the clipping member, and includes a first inclined surface. The installing plate defines an opening. The protrusion passes through the opening. The positioning member is inserted into the installing plate and fixed with the clipping member. The resisting plate is movably mounted on the installing plate. An abutting portion protrudes from the resisting plate, and passes through the opening. The abutting portion comprises a second inclined surface resisting the first inclined surface, the elastic member is sandwiched between the installing plate and the resisting plate, for providing a resetting force to the resisting plate. 1. A clamping device for positioning a workpiece to a rack , the clamping device comprising:a mounting base;a driving mechanism mounted on the mounting base; and a clipping member connected to the driving mechanism, the clipping member comprising a protrusion protruding from a part of the clipping member, the protrusion comprising a first inclined surface;', 'an installing plate defining an opening, the protrusion being inserted into the opening;', 'a positioning member inserted into the installing plate and fixed with the clipping member, a spring resisting against the installing plate and sleeved on the positioning member, for providing an elastic resetting force to the installing plate;', 'a resisting plate movably mounted on the installing plate for clamping the workpiece, the resisting plate comprising an abutting portion protruding from a part of the resisting plate corresponding to the opening, the abutting portion comprising a second inclined surface abutting the first inclined surface; and', 'an elastic member sandwiched between ...

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13-02-2014 дата публикации

Micro-gripper for Automated Sample Harvesting and Analysis

Номер: US20140044237A1

The present invention relates to a micro-gripper comprising tweezers, designed to be used for the harvesting of fragile sub-millimeter samples from their production or storage medium. The tweezers may be equipped with removable soft ending elements to prevent the deterioration of the sample. When coupled to a robotic arm, this micro-gripper allows automated flow of operations in a continuous and automated process, from harvesting to sample preparation and analysis. The present invention is particularly used in X-ray crystallography. 1. A gripper comprising tweezers to harvest organic or biological samples inferior in size to 1 mm;2. ) claim 1 , said samples being macromolecule crystals;3. ) claim 2 , wherein said tweezers are made of soft ending elements such as claim 2 , but not limited to polymer elements;4. ) claim 3 , wherein said soft elements are removable and attached to an actuator such as claim 3 , but not limited to a piezoelectric claim 3 , mechanical claim 3 , or thermoelectric device;5. a gripper comprising tweezers to harvest organic or biological samples inferior in size to 1 mm and mounted on a robotic arm;6. ) claim 5 , said samples being macromolecule crystals;7. ) claim 6 , wherein said tweezers are made of soft ending elements such as claim 6 , but not limited to polymer elements;8. ) claim 5 , wherein said tweezers are made of soft ending elements such as claim 5 , but not limited to polymer elements;9. ) claim 6 , wherein said soft elements are removable and attached to an actuator such as claim 6 , but not limited to a piezoelectric claim 6 , mechanical claim 6 , or thermoelectric device;10. A method to harvest organic or biological samples inferior in size to 1 mm claim 6 , using a gripper comprising tweezers;11. ) claim 10 , said samples being macromolecule crystals;12. ) claim 10 , wherein said tweezers are made of soft ending elements such as claim 10 , but not limited to polymer elements;13. ) claim 10 , said gripper being mounted on a ...

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27-02-2014 дата публикации

CLAMPING MECHANISM

Номер: US20140054913A1
Автор: HE CHANG-XUE
Принадлежит:

A clamping mechanism includes a mounting member, three sealing assemblies, three clamping assemblies, and six adjusting valves. The mounting member defines a receiving hole axially and three mounting holes radially, the three mounting holes communicate with the receiving hole. Each sealing assembly includes a top seal and a bottom seal sealing opposite ends of corresponding mounting hole. Each clamping assembly includes a holding member and a piston, a first end of the holding member extends through the axial hole and is received in the receiving hole, the piston is fixed to the holding member and divides the mounting hole into a first chamber and a second chamber. The six adjusting valves respectively communicate with the first chambers and the second chambers of the three mounting holes. 1. A clamping mechanism , comprising:a mounting member defining a receiving hole axially and at least two mounting holes radially, the at least two mounting holes communicating with the receiving hole;at least two sealing assemblies each comprising a top seal and a bottom seal sealing opposite ends of a corresponding mounting hole, the top seal being adjacent to the receiving hole and defining an axial hole thereon;at least two clamping assemblies slidably received in the at least two mounting holes respectively, each clamping assembly comprising a holding member and a piston, a first end of the holding member extending through the axial hole of the top seal and received in the receiving hole, a second end of the holding member being received in the mounting hole, the piston being fixed to the second end of the holding member and dividing the mounting hole into a first chamber and a second chamber separating from the first chamber; anda plurality of adjusting valves respectively communicating with the first chambers and the second chambers of the at least two mounting holes.2. The clamping mechanism of claim 1 , further comprising a connecting member received in the receiving hole ...

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06-03-2014 дата публикации

FOAM AFFIXING MECHANISM AND CLAMPING ASSEMBLY THEREOF

Номер: US20140060746A1
Автор: LU JIAN-QIANG
Принадлежит: HON HAI PRECISION INDUSTRY CO., LTD.

A foam affixing mechanism employed to affix foam to a workpiece, includes a robot arm, a foam supplying assembly and a clamping assembly. The foam supplying assembly is located adjacent to the robot arm to supply foam pieces. The clamping assembly is mounted on the robot arm. The clamping assembly includes a fixing frame, a driving member, a pair of fixing members, and a pair of clamping subassemblies. The driving member is mounted on the fixing frame, the pair of fixing members are fixed to the fixing frame. The clamping subassembly includes a first linking member rotatably connected to the driving member and a second linking member rotatably connected to the first linking member. The second linking member is rotatably connected to the fixing member by a middle portion thereof, the second linking member includes a clamping portion at an end. The present invention further discloses a clamping assembly. 1. A foam affixing mechanism employed to adhere a foam piece to a workpiece , comprising:a robot arm;a foam supplying assembly located adjacent to the robot arm to supply the foam piece; and a fixing frame;', 'a driving member mounted on the fixing frame;', 'a pair of fixing members fixed to the fixing frame and located at opposite sides of the driving member; and', 'a pair of clamping subassemblies, wherein each clamping subassembly comprises a first linking member and a second linking member rotatably connected to the first linking member, the first linking member is rotatably connected to the driving member, the second linking member is rotatably connected to the fixing member by a middle portion thereof, the second linking member comprises a clamping portion at a distal end away from the first linking member, when the driving member drives the pair of first linking members to rotate the pair of second linking members relative to the pair of fixing members, the pair of clamping portions move toward or away from the pair of fixing members respectively to clamp or ...

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13-03-2014 дата публикации

Mass transfer tool

Номер: US20140071580A1
Принадлежит: Individual

Systems and methods for transferring a micro device from a carrier substrate are disclosed. In an embodiment, a mass transfer tool includes an articulating transfer head assembly, a carrier substrate holder, and an actuator assembly to adjust a spatial relationship between the articulating transfer head assembly and the carrier substrate holder. The articulating transfer head assembly may include an electrostatic voltage source connection and a substrate supporting an array of electrostatic transfer heads.

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10-04-2014 дата публикации

CROSSBAR, AND SYSTEM AND METHOD OF REPLACING A CROSSBAR

Номер: US20140096353A1
Автор: OJIMA Toshihiro
Принадлежит: AIDA ENGINEERING, LTD.

Provided is a system for replacing a crossbar, which is capable of promptly and smoothly mounting and removing a crossbar for replacement between a workpiece transferring apparatus and a crossbar replacing apparatus. The crossbar is to be mounted to the workpiece transferring apparatus. The crossbar extends substantially orthogonal to a workpiece transferring direction in a press machine and is configured to be capable of retaining and releasing a workpiece. The crossbar is configured to be switchable between a state in which both end portions of the crossbar are rotatable relative to a center portion of the crossbar about a longitudinal axis of the crossbar, and a state in which both the end portions are not rotatable relative to the center portion. 1. A crossbar , which is to be mounted to a workpiece transferring apparatus and is configured to be capable of retaining and releasing a workpiece ,the crossbar extending substantially orthogonal to a workpiece transferring direction in a press machine,the crossbar being configured to be switchable between a state in which both end portions of the crossbar are rotatable relative to a center portion of the crossbar about a longitudinal axis of the crossbar, and a state in which both the end portions are not rotatable relative to the center portion.2. A system for replacing a crossbar , the system comprising:a crossbar that extends substantially orthogonal to a workpiece transferring direction in a press machine and is configured to be capable of retaining and releasing a workpiece;a workpiece transferring apparatus that transfers the workpiece with use of the crossbar; and 'the crossbar being replaced between the workpiece transferring apparatus and the crossbar replacing apparatus,', 'a crossbar replacing apparatus that is configured to be capable of supporting the crossbar,'} use the crossbar configured to be switchable between a state in which both end portions of the crossbar are rotatable relative to a center ...

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10-04-2014 дата публикации

Integrated Two Dimensional Robotic Palm for Variable Pitch Positioning of Multiple Transfer Devices

Номер: US20140097629A1
Принадлежит: Festo Corp

A handling device includes a base plate defining an X-Y plane, a plurality of X rails movably supported on the base plate and extending in an X-direction, a plurality of Y rails movably supported on the base plate and extending in a Y-direction perpendicular to the X-direction and a drive system supported on the base plate for moving the X rails in the Y-direction and for moving the Y rails in the X-direction, wherein a spacing between the X rails varies as the X rails move, and wherein a spacing between the Y rails varies as the Y rails move, and wherein the spacing between the X-rails is continuously variable with respect to the spacing between the Y rails.

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10-04-2014 дата публикации

GRIPPER WITH CABLE SYNCHRONIZED JAW MOVEMENT

Номер: US20140097632A1
Принадлежит: PHD, INC.

A gripping device including a main body, a first elongate actuator, a second elongate actuator, a first jaw, a second jaw, a first pin, a second pin, a pair of pulleys, and a cable. The elongate actuators are both disposed in respective actuator bores within the main body and translate opposingly to each other. The jaws are both driven by a respective elongate actuator. The pins both include respective pin bodies defining a channel and are configured to drive their respective jaw by a respective elongate actuator and are disposed through transverse holes formed in the respective elongate actuator and a respective pin slot formed in the main body. The pulleys are attached to the main body. The cable forms a closed loop around the pulleys through the channels and is affixed to the first channel to inhibit relative movement between the first channel and the cable. 1. A device for gripping an object comprising:a main body including a first actuator bore, a second actuator bore, a first pin slot located transversely to said first actuator bore, and a second pin slot located transversely to said second actuator bore;a first elongate actuator disposed within said first actuator bore of said main body and including a first traverse hole;a second elongate actuator disposed within said second actuator bore of said main body and including a second transverse hole, said first elongate actuator and said second elongate actuator configured to translate opposingly to one another within said first actuator bore and said second actuator bore, respectively;a first jaw driven by said first elongate actuator;a second jaw driven by said second elongate actuator;a first pin comprising a first pin body defining a first channel, said first pin configured to drive said first jaw by said first elongate actuator and disposed through said first transverse hole and said first pin slot;a second pin comprising a second pin body defining a second channel, said second pin configured to drive said ...

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07-01-2021 дата публикации

ROBOTIC FRUIT PICKING SYSTEM

Номер: US20210000013A1
Принадлежит:

A robotic fruit picking system includes an autonomous robot that includes a positioning subsystem that enables autonomous positioning of the robot using a computer vision guidance system. The robot also includes at least one picking arm and at least one picking head, or other type of end effector, mounted on each picking arm to either cut a stem or branch for a specific fruit or bunch of fruits or pluck that fruit or bunch. A computer vision subsystem analyses images of the fruit to be picked or stored and a control subsystem is programmed with or learns picking strategies using machine learning techniques. A quality control (QC) subsystem monitors the quality of fruit and grades that fruit according to size and/or quality. The robot has a storage subsystem for storing fruit in containers for storage or transportation, or in punnets for retail. 1. An agricultural robotic system comprising:two or more autonomous robots, in which each robot is a crop harvesting or crop carrying or crop spraying robot;a positioning subsystem configured to estimate or determine the position of each robot;a communication subsystem to enable the robots to automatically share information about their position such that the positioning subsystem enables autonomous positioning of the several autonomous robots using a computer implemented guidance system;and in which the robots are further configured to form a convoy of robots, all following a similar route.2. The agricultural robotic system of claim 1 , in which the two or more robots form a convoy in which each robot follows a substantially similar route using the computer implemented guidance system.3. The agricultural robotic system of claim 1 , in which each robot follows its predecessor robot at a configurable target distance or after a configurable target time.4. The agricultural robotic system of claim 1 , in which the positioning subsystem measures the displacement of each robot relative to a global coordinate frame or to other robots ...

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02-01-2020 дата публикации

EGG GRASP DEVICE HAVING INTERLACED MEMBERS, AND ASSOCIATED SYSTEMS AND METHODS

Номер: US20200000068A1
Автор: Suh William Dongwook
Принадлежит:

An egg grasp device is provided. Such a device includes a body and a plurality of elongated members extending from the body. The elongated members are interlaced to form a sheath capable of retaining an egg. The sheath has a distal end and a proximal end at which the elongated members are operably engaged with the body. The elongated members cooperate to define an opening at the distal end through which an egg is received when the elongated members engage and deflect about an egg such that the egg is seated within the sheath. Associated systems and methods are also provided. 1. An egg grasp device , comprising:a body; anda plurality of elongated members extending from the body and being interlaced to form a sheath capable of retaining an egg, each elongated member crossing multiple other elongated members, the sheath having a distal end and a proximal end at which the elongated members are operably engaged with the body, each elongated member extending substantially perpendicular from the proximal end of the body, the elongated members cooperating to define an opening at the distal end through which an egg is received when the elongated members engage and deflect about an egg such that the egg is seated within the sheath.2. An egg grasp device according to claim 1 , wherein each elongated member is formed of a resilient material.3. An egg grasp device according to claim 2 , wherein each elongated member is formed of a flexible wire and loop shaped.4. An egg grasp device according to claim 1 , wherein each elongated member has a pair of leg segments extending from the body claim 1 , and each elongated member further having an arcuate segment connecting the pair of leg segments.5. An egg grasp device according to claim 4 , wherein the arcuate segments cooperate to define the opening.6. An egg grasp device according to claim 1 , further comprising a release device configured to release the egg from the sheath.7. An egg grasp device according to claim 1 , further ...

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03-01-2019 дата публикации

APPARATUS FOR PROCESSING AND GRADING FOOD ARTICLES AND RELATED METHODS

Номер: US20190000094A1
Принадлежит:

This disclosure concerns methods for processing and grading food articles including x-raying the food articles a first time and taking a 3D image of the food articles. 1. A method for grading a food article , the method comprising:utilizing a grading device to move a portion of the food article from a position on the surface of the grading conveyor,wherein the portion is one of a plurality of portions of the food article that each have an alignment and orientation with respect to the surface of the grading conveyor and are positioned parallel to each other on the surface of the grading conveyor,wherein none of the remaining portions of the plurality of portions that are positioned parallel to each other on the surface of the grading conveyor are substantially moved during the movement of the portion of the food article from the position on the surface of the grading conveyor, andwherein the alignments and orientations of the remaining portions of the plurality of portions that are positioned parallel to each other on the surface of the grading conveyor are substantially maintained during the movement of the portion of the food article from the position on the surface of the grading conveyor.2. A method for grading a food article , the method comprising:utilizing a grading device to move a portion of the food article from a position on the surface of the grading conveyor,wherein the portion is one of a plurality of portions of the food article that are positioned parallel to each other and in series with each other on the surface of the grading conveyor,wherein the portion is adjoined on every side by another portion,wherein none of the remaining portions of the plurality of portions that are positioned parallel to each other on the surface of the grading conveyor are substantially moved during the movement of the portion of the food article from the position on the surface of the grading conveyor, andwherein the alignments and orientations of the remaining portions ...

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02-01-2020 дата публикации

ALIGNMENT AND ATTACHMENT SYSTEMS FOR MEDICAL INSTRUMENTS

Номер: US20200000537A1
Принадлежит:

A medical instrument can include alignment and attachment mechanisms for aligning and attaching the medical instrument to another device, such as an adapter on an instrument drive mechanism. For example, a medical system can include a medical instrument having an instrument handle and an elongated body. The system can include an alignment mechanism configured to provide rotational alignment between the medical instrument and an adapter. The system can also include an attachment mechanism configured to secure the medical instrument to the adapter. The attachment mechanism can include at least three locking elements positioned circumferentially about the axis. 1. A medical system , comprising:a medical instrument comprising an instrument handle and an elongated body, wherein the instrument handle is configured to attach to an adapter on an instrument drive mechanism such that a plurality of drive inputs on the instrument handle engage with a corresponding plurality of instrument drive outputs of the adapter; andan alignment mechanism comprising an alignment surface on the elongated body configured to rotate the instrument handle during attachment of the instrument handle to the adapter to provide rotational alignment between the medical instrument and the adapter such that the plurality of drive inputs are aligned with the plurality of drive outputs.2. The system of claim 1 , wherein the alignment mechanism extends along a longitudinal axis of the instrument handle.3. (canceled)4. The system of claim 1 , wherein the alignment surface comprises a spiral surface on the elongated body.5. The system of claim 1 , wherein claim 1 , when the instrument handle is attached to the adapter claim 1 , a distal surface on the instrument handle opposes a proximal surface on the adapter.6. The system of claim 1 , wherein the instrument drive mechanism is positioned on a robotic arm.7. The system of claim 6 , wherein the robotic arm extends from a bed or a cart.8. The system of claim ...

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06-01-2022 дата публикации

ROBOTIC LAUNDRY DEVICES AND METHODS OF USE

Номер: US20220001545A1
Принадлежит:

Devices, systems, and methods for repositioning a deformable laundry article are described. For example, a robotic device includes a conveyor configured to transfer the deformable laundry article outside of a work volume, two or more lifters including grippers individually anchored about the perimeter of the work volume, two or more sensors disposed at fixed locations about the work volume, and a memory storing data indicative of repositioned deformable laundry articles. A controller is in operative communication with the memory, the two or more sensors, and the two or more lifters. The controller is configured to receive a signal from the sensors, identify grip points on the deformable laundry article suspended above the conveyor, instruct a lifter to grip and lift an identified grip point to the suspension height, determine whether the deformable laundry article is repositioned, and instruct the lifters to lower the repositioned deformable laundry article onto the conveyor. 1. An autonomous system for spreading out a deformable laundry article for folding , comprising:a conveyor disposed at a bottom of a work volume, the conveyor being configured to transfer the deformable laundry article beyond a perimeter of the work volume;at least three lifters, each one of the at least three lifters comprising a gripper and at least one drive motor, wherein the at least three lifters are spaced apart aside at least two edges of the conveyor, each one of the at least three lifters being configured to move the gripper within the work volume and releasably engage the deformable laundry article;two or more sensors positioned to detect a presence of the deformable laundry article within the work volume and to output an output signal indicative of article state;a memory configured to store data indicative of one or more deformable articles spread out for folding; and receive the output signal;', 'identify, based on the output signal, one or more grip points adjacent one or more ...

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06-01-2022 дата публикации

ROBOT FOR DETECTING AND SAVING LIFE IN SMALL SPACE

Номер: US20220001552A1
Принадлежит:

A robot for detecting and saving a life, includes: a body part including a plurality of unit joints; a head part which is provided at the front of the body part in the direction in which the body part moves forward, and which has a gripper capable of picking up an object by a plurality of tongs parts that are folded and unfolded; and an extension part capable of extending forward from the head part so as to enter a small space that is difficult for the body part to enter. 1. A robot for detecting and saving a life comprising:a body part including a plurality of unit joints;a head part which is provided at the front of the body part in a direction where the body part moves forward and includes a gripper capable of picking up an object by a plurality of tongs parts which are folded and unfolded; andan extension part provided to extend forward from the head part so as to enter a small space that is difficult for the body part to enter.2. The robot for detecting and saving the life of claim 1 , wherein a heat source sensor for sensing a heat source is provided in one of the plurality of tongs parts.3. The robot for detecting and saving the life of claim 1 , wherein a smoke sensor for sensing smoke is provided in one of the plurality of tongs parts.4. The robot for detecting and saving the life of claim 2 , wherein an extinguishing liquid is stored inside the head part and extinguishing liquid injection holes for injecting the extinguishing liquid are formed on an outer circumferential surface of the head part to inject the extinguishing liquid when the heat source is sensed by the heat source sensor or the smoke is sensed by the smoke sensor.5. The robot for detecting and saving the life of claim 1 , wherein a sonic sensor is provided in one of the tongs parts to transmit a signal detected from the sonic sensor to rescuers or a rescue center and detect a rescue signal of the survivor.6. The robot for detecting and saving the life of claim 5 , wherein a communication ...

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01-01-2015 дата публикации

All-in-one jigless projection loading system and body component assembling method using the same for vehicle

Номер: US20150001186A1
Автор: Sung Phil Ryu
Принадлежит: Hyundai Motor Co

An all-in-one jigless projection loading system for a vehicle is adapted to load and assemble a body component to a vehicle body. The all-in-one jigless projection loading system may include: a fixing bracket fixed to an arm of a robot; a position adjusting member rotatably mounted to the fixing bracket; a gripper mounted to the fixing bracket to be movable backward and forward, and gripping the body component; an array unit mounted to the position adjusting member, and arraying the body component; and a welding unit mounted to the fixing bracket, and projection-welding the body component to a vehicle body.

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07-01-2021 дата публикации

PIVOTING UNIT FOR A HANDLING ROBOT AND ASSOCIATED METHOD

Номер: US20210001478A1
Автор: Hannig Detlev
Принадлежит:

The disclosure concerns a pivoting unit for a handling robot for opening a flap (e.g. door) of a motor vehicle body, comprising a mounting flange, a gripper arm and a first gripping tool for gripping an engagement on the flap to be opened, the first gripping tool being mounted on the gripper arm, and a pivoting head for pivoting the gripper arm between an initial position and an engaged position. The disclosure provides that a second gripping tool is also mounted on the gripper arm, and that the two gripping tools on the gripper arm are adapted to be inserted in different insertion directions into engagement with the openable flap of the motor vehicle body, in particular from top to bottom for the first gripping tool and from bottom to top for the second gripping tool. The disclosure further comprises an associated method. 113.-. (canceled)14. pivoting unit adapted for mounting on a handling robot for opening and closing a flap of a motor vehicle body , said pivoting unit comprising:a) a mounting flange for mounting the pivoting unit on the handling robot,b) a gripper arm,c) a first gripping tool for gripping an engagement on the openable flap of the motor vehicle body, wherein the first gripping tool is mounted on the gripper arm, and d1) an initial position in which the first gripping tool does not engage in the engagement on the flap of the motor vehicle body to be opened or closed, and', 'd2) an engagement position in which the first gripping tool engages in the engagement on the flap of the motor vehicle body which can be opened or closed,, 'd) a pivoting head for pivoting the gripper arm with the first gripping tool relative to the mounting flange between'}e) wherein a second gripping tool for gripping an engagement on the openable flap of the motor vehicle body is also mounted on the gripper arm, andf) wherein the two gripping tools on the gripper arm are designed to be inserted in different insertion directions into the engagement on the openable flap of the ...

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07-01-2021 дата публикации

DIRECT DRIVE BRUSHLESS MOTOR FOR ROBOTIC FINGER

Номер: US20210001495A1
Принадлежит:

A direct drive brushless motor including a plurality of rotational components and a plurality of non-rotational components. Ones of the pluralities of rotational and non-rotational components form a dual magnetic circuit. The plurality of rotational components includes a center rotation shaft circumscribed by a plurality of coils and a coil termination plate configured to support the plurality of coils. The plurality of non-rotational components includes a plurality of outer magnets arranged around the plurality of coils in a Halbach configuration and a plurality of inner magnets arranged in a Halbach configuration between the coils and the shaft. A flex cable having one or more leads provides electrical current to the plurality of coils without the use of brushes. 1. A direct drive brushless motor , comprising:a plurality of rotational components including a center rotation shaft circumscribed by a plurality of coils and a coil termination plate configured to support the plurality of coils wherein the center rotation shaft is configured to rotate about a longitudinal axis and wherein each of the plurality of coils are substantially rectangular and defined by a first dimension parallel to the longitudinal axis and a second dimension transverse to the first dimension wherein the first dimension is longer than the second dimension;a plurality of non-rotational components including a plurality of inner magnets and a plurality of outer magnets wherein the plurality of outer magnets are positioned around the plurality of coils;a flex cable having a first end and a second end, and including a plurality of electrically conductive wires for providing electrical current to one or more of the plurality of coils without the use of brushes;a dual magnetic circuit formed from ones of the plurality rotational components and ones of the plurality non-rotational components, the dual magnetic circuit including an outer circuit and an inner circuit wherein the outer circuit includes ...

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07-01-2021 дата публикации

SELF-PROPELLED GRIPPER

Номер: US20210001496A1
Принадлежит:

A self-propelled gripper installed on a robotic arm is provided. The robotic arm comprises a body and a tip axis. The self-propelled gripper comprises a housing, a rotation element, a moving element, and at least one claw body. The housing is fixed on the body. The rotation element is disposed in the housing and secured with the tip axis. The moving element is movably disposed in the housing and is connected to the rotation element. The moving element includes at least one slot. The claw body is pivoted on the housing and partially extends in the corresponding slot. When the rotation element rotates along with the tip axis, the rotation element drives the moving element to process a linear motion along a rotation central line so that the claw body pivotally rotates on the housing. 1. A self-propelled gripper , being installed on a robotic arm , the robotic arm comprising a body and a tip axis , the tip axis including a flange face and at least one locking hole , the at least one locking hole being formed on the flange face , and a rotation central line being defined by the flange face , the self-propelled gripper comprising:a housing, being fixed to the body;a rotation element, being disposed in the housing, including a connecting surface being fixed to the flange face;a moving element, being movably disposed in the housing and connected to the rotation element, the moving element including at least one slot; andat least one claw body, being pivoted on the housing and partially extending into the at least one slot correspondingly;wherein when the rotation element rotates along with the tip axis, the rotation element drives the moving element to process a linear motion along the rotation central line so that the at least one claw body pivotally rotates on the housing.2. The self-propelled gripper as claimed in claim 1 , wherein the housing further includes a first guiding structure claim 1 , the moving element further includes a second guiding structure claim 1 , and ...

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07-01-2021 дата публикации

GRIPPING MECHANISM AND ASSEMBLY APPARATUS

Номер: US20210001497A1
Автор: IZUMI Koji
Принадлежит: KYOCERA Document Solutions Inc.

A gripping mechanism includes a frame and two or more spheres. The frame houses the two or more spheres. At least two spheres of the two or more spheres grip an object. Preferably, the frame includes two or more side plates. The number of the two or more side plates is the same as the number of the two or more spheres. Each of the two or more side plates is inclined toward a center axis of the frame. Each of the two or more spheres is in contact with at least one side plate of the two or more side plates. 1. A gripping mechanism comprisingtwo or more spheres, anda frame that houses the two or more spheres, whereinat least two spheres of the two or more spheres grip an object.2. The gripping mechanism according to claim 1 , whereinthe frame includes two or more side plates,a number of the two or more side plates is the same as a number of the two or more spheres,each of the two or more side plates is inclined toward a center axis of the frame, andeach of the two or more spheres is in contact with at least one side plate of the two or more side plates.3. The gripping mechanism according to claim 2 , whereinEach of the two or more side plates has a cut that allows the object to pass therethrough without allowing the two or more spheres to pass therethrough.4. The gripping mechanism according to claim 1 , whereinthe frame includes a bottom plate, andthe bottom plate has an opening that allows the object to pass therethrough without allowing the two or more spheres to pass therethrough.5. The gripping mechanism according to claim 1 , whereinthe two or more spheres are four spheres,respective diameters of the four spheres are identical to each other, the four spheres being arranged with respective centers of the four spheres located at vertices of a square, andeach of the four spheres is in contact with two adjoining spheres of the four spheres in a state where the object is not gripped.6. An assembly apparatus comprising{'claim-ref': {'@idref': 'CLM-00001', 'claim 1'}, ' ...

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01-01-2015 дата публикации

CLAMPING MECHANISM

Номер: US20150001867A1
Автор: ZHU YONG-GANG
Принадлежит:

A clamping mechanism includes an adjusting assembly, a driving assembly and a plurality of clamping assemblies. Each clamping assembly includes a base body slidably sleeved on the driving assembly. The adjusting assembly includes a first adjusting member, and a second adjusting member parallel to the first adjusting member. The first adjusting member is fixed to a base body located on a first end of the plurality of clamping assemblies. Opposite ends of the second adjusting member are fixed to the driving assembly and a base body located on a second end of the plurality of clamping assemblies. Each of the first and second adjusting members respectively define a plurality of first and second steps. The first steps and the second steps slidable resist sidewalls of the base body. An upward direction of the plurality of first steps is reverse to that of the plurality of the second steps. 1. A clamping mechanism comprising:a plurality of clamping assemblies each comprising a base body and a clamping member assembled to the base body;a driving assembly comprising a fixing member;a driving member coupled to the fixing member and fixedly coupled to the base body adjacent to the fixing member;a supporting member having a first end and a second end, wherein the first end is fixedly coupled to the fixing member and the second end extends into the base body of each of the plurality of clamping assemblies; a first adjusting member having an end being fixedly coupled to the base body adjacent to the fixing member and defining a plurality of first steps slidably resisting sidewalls of the each of the base bodies, wherein a height of the plurality of first steps increases in a direction away from the fixing member;', 'a second adjusting member parallel to the first adjusting member having opposite ends that are respectively fixedly coupled to the fixing member and the base body away from the fixing member, and the second adjusting member further defining a plurality of second steps ...

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05-01-2017 дата публикации

Sacrificial Element Removal Apparatus

Номер: US20170001250A1
Принадлежит: Jaguar Land Rover Limired

Apparatus is provided for removing a sacrificial element () from a body panel () of a motor vehicle during the assembly of the body structure of the motor vehicle. The apparatus comprises a cutter tool having a pair of cutter wheels () defining a cutter gap () therebetween. Means (R) are provided for positioning the cutter tool () so that the cutter gap () is aligned with the sacrificial element (). The positioning means (R) can also move the cutter wheels () relative to the sacrificial element (). The engagement of the cutter wheels () with the sacrificial element can cause the cutter wheels to rotate and cut the sacrificial element. A related method and cutter tool are also contemplated. 1. An apparatus for removing a sacrificial element from a body panel of a motor vehicle during the assembly of a body structure of the motor vehicle , the apparatus comprising:a cutter tool having a pair of cutter wheels defining a cutter gap therebetween;a positioning apparatus that positions the cutter tool so that the cutter gap is aligned with the sacrificial element; anda movement apparatus that moves the cutter tool relative to the sacrificial element to cut the sacrificial element.2. The apparatus of claim 1 , wherein the cutter tool is configured such that claim 1 , when the cutter tool moves relative to the sacrificial element claim 1 , the engagement of the cutter wheels with the sacrificial element causes the cutter wheels to rotate and cut the sacrificial element.3. The apparatus of claim 1 , wherein the cutter wheels have complementary shearing surfaces which define a stepped cutter gap.4. The apparatus of claim 1 , wherein the cutter wheels are mounted to respective cutter shafts claim 1 , and wherein respective the axes of the cutter shafts are substantially parallel to each other.5. The apparatus of claim 4 , further comprising gearing between the cutter shafts that constrains the cutter wheels from rotating in opposite directions.6. The apparatus of claim 1 , ...

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07-01-2016 дата публикации

CLAMPING ASSEMBLY

Номер: US20160001424A1
Принадлежит:

A clamping assembly is provided. The clamping assembly includes a base member having a base portion and an extension portion. The clamping assembly further includes a piston that is adapted to move first and second guide members toward the base portion to move first and second wedge members, respectively, in first and second directions, respectively, on the extension portion to lift a wedge coupling member relative to the extension portion. The clamping assembly further includes a shaft coupled to the wedge coupling member that is further coupled to a clamping arm. 1. A clamping assembly , comprising:a base member having an end surface, the base member further having an aperture extending therethrough along a longitudinal axis;a first wedge member being slidably disposed on the end surface of the base member;a second wedge member being slidably disposed on the end surface of the base member; anda wedge coupling member disposed on the first wedge member and the second wedge member, the wedge coupling member slidably engaging the first and second wedge members such that the wedge coupling member moves along the longitudinal axis away from the end surface when the first wedge member moves on the base member in a first direction, and the second wedge member moves on the base member in a second direction, the second direction being in an opposite direction relative to the first direction.2. The clamping assembly of claim 1 , further comprising a shaft coupled to the wedge coupling member and extending through the aperture of the base member claim 1 , the shaft further coupled to a clamping arm.3. The clamping assembly of claim 1 , wherein the base member includes a base portion and an extension portion extending from the base portion claim 1 , the extension portion having the end surface claim 1 , the aperture extending through both the base portion and the extension portion of the base member along the longitudinal axis.4. The clamping assembly of claim 3 , wherein the ...

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07-01-2016 дата публикации

MAGNETIC ASSEMBLY OF SOFT ROBOTS WITH HARD COMPONENTS

Номер: US20160001444A1
Принадлежит:

Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks. 1. A reconfigurable robotic device , comprising: (a) at least one chamber disposed within the flexible body in fluidic communication with a first inlet, wherein the flexible body is capable of actuation upon pressurization, and', '(b) a first magnetic connecting component embedded in the flexible body and positioned about the first inlet; and, 'a flexible body comprising (a) a rigid body comprising a second inlet, and', '(b) a second magnetic connecting component positioned about the second inlet;, 'a hard component comprisingwherein the first and second magnetic connecting components from the flexible body and hard component are in compliant contact with each other to form a seal between the flexible body and hard component and in fluidic communication between the first inlet and second inlet.2. The reconfigurable robotic device of claim 1 , wherein the magnetic connecting component is selected from the group of a magnet and a ferromagnetic material and wherein at least one of the first and second magnetic connecting component is a magnet.3. The reconfigurable robotic device of claim 1 , wherein the hard component is secured to a frame.4. The ...

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07-01-2016 дата публикации

END EFFECTOR FOR AN INSTRUMENT

Номер: US20160001448A1
Принадлежит:

An end effector () comprises a base (), a first gripper () connected with the base () so as to swivel around a gripper axis (), and a positioning element () which is guided on the base displaceably along an end effector axis () and interacts with the gripper () via a guide slot system. The gripper axis () extends outside of a guide slot () of the guide slot system. 160. An end effector () for an instrument controlled by a robot comprising:{'b': 63', '64', '63', '68', '66', '76', '64', '68', '70, 'a base (), a first gripper () connected with the base () so as to swivel around a gripper axis (), a positioning element () which is guided on the base displaceably along an end effector axis () and interacts with the gripper () via a guide slot system, characterised in that the gripper axis () extends outside of a guide slot () of a guide slot system.'}260706870. The end effector () according to claim 1 , characterised in that a distance between the guide slot () and gripper axis () is equal to at least one third of a length of the guide slot ().36070766864. The end effector () according to claim 1 , characterised in that the guide slot () extends between a plane perpendicular to an end effector axis () in which the gripper axis () extends claim 1 , and a clamping zone of the gripper ().4607064696670. The end effector () according to claim 1 , characterised in that the guide slot () is recessed in the gripper () and a bolt () of the positioning element () is displaceable within the guide slot ().560706876706876. The end effector () according to claim 4 , characterised in that the distance between an end of the guide slot () facing the gripper axis () and an end effector axis () is less than the distance between an end of the guide slot () facing away from the gripper axis () and the end effector axis ().6607076. The end effector () according to claim 5 , characterised in that the guide slot () is curved claim 5 , and wherein a concave side of said curved guide slot ON ...

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07-01-2016 дата публикации

COMPOSITE END EFFECTOR AND METHOD OF MAKING A COMPOSITE END EFFECTOR

Номер: US20160001449A1
Принадлежит:

A composite end effector including a lower sandwich panel having a first side and a second side opposite the first side, an upper sandwich panel having a first side and a second side opposite the first side, wherein the first side of the upper sandwich panel is bonded to the first side of the lower sandwich panel, and an intermediate element disposed between the second side of the lower sandwich panel and the second side of the upper sandwich panel. The intermediate element may include an electrical conductor, wherein an electrostatic chuck is electrically coupled to the electrical conductor through an aperture in the upper sandwich panel. Alternatively or additionally, the intermediate element may include a pair of optical fibers disposed within a pair of channels formed in at least one of the first side of the upper sandwich panel and the first side of the lower sandwich panel. 1. A composite end effector comprising:a lower sandwich panel having a first side and a second side opposite the first side;an upper sandwich panel having a first side and a second side opposite the first side, wherein the first side of the upper sandwich panel is bonded to the first side of the lower sandwich panel; andan intermediate element disposed between the second side of the lower sandwich panel and the second side of the upper sandwich panel.2. The composite end effector of claim 1 , wherein the intermediate element comprises an electrical conductor claim 1 , and wherein an electrostatic chuck is electrically coupled to the electrical conductor through an aperture in the upper sandwich panel.3. The composite end effector of claim 2 , further comprising an electrical connector disposed intermediate the electrical conductor and the electrostatic chuck for electrically coupling the electrical conductor to the electrostatic chuck.4. The composite end effector of claim 2 , wherein the electrical conductor is embedded within a layer of adhesive intermediate the lower sandwich panel and ...

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07-01-2016 дата публикации

MASS TRANSFER TOOL

Номер: US20160001450A1
Принадлежит:

Systems and methods for transferring a micro device from a carrier substrate are disclosed. In an embodiment, a mass transfer tool includes an articulating transfer head assembly, a carrier substrate holder, and an actuator assembly to adjust a spatial relationship between the articulating transfer head assembly and the carrier substrate holder. The articulating transfer head assembly may include an electrostatic voltage source connection and a substrate supporting an array of electrostatic transfer heads. 1. A mass transfer tool comprising:an articulating transfer head assembly including an electrostatic voltage source connection, the electrostatic voltage source connection to electrically connect with an array of electrostatic transfer heads;a carrier substrate holder; andan actuator assembly to adjust a spatial relationship between the articulating transfer head assembly and the carrier substrate holder.2. The mass transfer tool of claim 1 , wherein the articulating transfer head assembly includes a mounting surface claim 1 , the mounting surface to hold a substrate supporting the array of electrostatic transfer heads against the electrostatic voltage source connection.3. The mass transfer tool of claim 2 , wherein the electrostatic voltage source connection includes a resilient conductor to press against the substrate and to electrically connect the substrate with the electrostatic voltage source connection.4. The mass transfer tool of claim 2 , wherein the actuator assembly includes a first flexure coupled with the articulating transfer head assembly to constrain movement of the articulating transfer head assembly in a direction orthogonal to the mounting surface.5. The mass transfer tool of claim 4 , wherein the actuator assembly includes a second flexure coupled with the articulating transfer head assembly claim 4 , and wherein the second flexure includes a second flexing surface oriented substantially parallel to a first flexing surface of the first flexure. ...

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05-01-2017 дата публикации

SUPPORTING AND GRIPPING DEVICE IN PARTICULAR FOR CONTAINER FILLING AND/OR CAPPING LINES

Номер: US20170001313A1
Автор: Ronchi Cesare
Принадлежит:

A device for supporting and gripping containers (), comprising a base () which defines an upper surface () supporting a container (); devices () for gripping the container (), associated with the said base (); and devices () for actuating the devices () for gripping the container (). 111a. A device for supporting and gripping containers ( ,) , comprising:{'b': 10', '110', '210', '15', '115', '215', '1', '1, 'i': 'a', 'a base (;;) defining an upper surface (;;) for supporting a container (,);'}{'b': 20', '120', '220', '1', '1', '10', '110', '210, 'i': 'a', 'devices (;;) for gripping the container (,), associated with the said base (;;);'}{'b': 30', '130', '230', '20', '120', '220', '1', '1', '20', '120', '220', '22', '122', '222', '15', '115', '215', '10', '110', '210', '1', '1', '20', '120', '220', '21', '121', '221', '10', '110', '210', '16', '116', '216', '30', '130', '230', '21', '121', '221, 'i': a', 'a, 'devices (;;) for actuating the devices (;;) for gripping the container (,), wherein said gripping devices (;;) comprise at least one pair of jaws (;;), each rotating between a position, pivoted downwards, substantially contained below the upper surface (;;) of the base (;;), and a raised position for gripping the container (,) on the upper surface, and wherein said gripping devices (;;) comprise at least one pair of sliders (;;) inserted in the base (;;) inside a respective seat (;;) and translationally movable in both senses of different—angularly spaced—directions upon operation of the said actuating devices (;;), each jaw being associated with a respective slider (;;).'}222122222211212212212222210110210131132131210112212b;b;bbd;d. The device according to claim 1 , wherein said jaws (;;) are arranged above or alongside the respective slider (;;) and have a pin () projecting from one side of the jaw at right angles thereto and parallel to the support surface of the base (;;) for engagement with a corresponding hole (;;) in a frame () of the base () or a distal ...

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02-01-2020 дата публикации

GRIP APPARATUS AND ROBOT HAVING THE SAME

Номер: US20200001473A1
Автор: LEE Donghyeong
Принадлежит: LG ELECTRONICS INC.

A grip apparatus is provided. The grip apparatus includes: a housing formed therein with an accommodation space opened downward to accommodate an object; an elastic membrane provided in the accommodation space and surrounding the object; a fastening member at least partially positioned between an inner periphery of the housing and the elastic membrane to fasten the elastic membrane; and a winder configured to pull the fastening member by winding the fastening member. 1. A grip apparatus comprising:a housing opened downward and formed therein with an accommodation space to accommodate an object;an elastic membrane provided in the accommodation space to surround the object;a fastening member at least partially positioned between an inner periphery of the housing and the elastic membrane to fasten the elastic membrane; anda winder configured to pull the fastening member by winding the fastening member.2. The grip apparatus according to claim 1 , wherein the fastening member includes a belt or a wire.3. The grip apparatus according to claim 1 , wherein the winder includes:a roller rotated about a vertical axis and wound by the fastening member; anda motor configured to rotate the roller.4. The grip apparatus of claim 3 , further comprising a torque sensor configured to sense a torque load of the motor claim 3 , whereinthe motor is stopped when a sensed value of the torque sensor reaches a predetermined set torque.5. The grip apparatus according to claim 1 , wherein the elastic membrane includes:an upper fixing portion fixed to the housing;a lower fixing portion fixed to the housing and spaced downward from the upper fixing portion; andan elastic portion positioned between the upper fixing portion and the lower fixing portion, and whereinthe fastening member faces the elastic portion with respect to a horizontal direction.6. The grip apparatus according to claim 1 , wherein the housing is formed therein with a through-hole through which the fastening member passes claim ...

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07-01-2016 дата публикации

ASSEMBLY SYSTEM

Номер: US20160001537A1
Принадлежит: DESIGNERGY SA

A system () and a method for assembling laminated structures utilising a robot () for collecting and placing sheet-shaped material, further utilising an adhesive applicator () which is collected from an adhesive applicator rest station () by the robot (), is used to apply adhesive to the sheet-shaped material, and is then returned to the adhesive applicator rest station (). 2. System according to claim 1 , wherein said robot comprises a manipulation head claim 1 , said manipulation head comprising a first manipulator for releasably holding said sheet-shaped material and a second manipulator for releasably holding said adhesive applicator.3. System according to claim 2 , wherein said first manipulator and said second manipulator each comprise at least one of: at least one gripper claim 2 , at least one pneumatic suction cup claim 2 , at least one electromagnet.4. System according to claim 1 , wherein said adhesive applicator arrangement comprises an adhesive reservoir in operative connection with the adhesive applicator and comprises means for forcing adhesive towards the adhesive applicator.5. System according to claim 4 , wherein said means for forcing adhesive towards the adhesive applicator comprise at least one of: a pump claim 4 , a piston arrangement claim 4 , a pressurized gas arrangement claim 4 , a gravity-feed arrangement.6. System according to claim 1 , wherein the adhesive applicator rest station comprises a liquid reservoir for holding a quantity of a liquid agent in contact with at least part of the adhesive applicator when the adhesive applicator is in the adhesive applicator rest station.7. System according to claim 1 , wherein said laminated structures are building integrated photovoltaics comprising a photovoltaic panel and at least one structural element.8. System according to claim 1 , wherein said sheet-shaped material comprises a photovoltaic panel and at least one structural element.9. Method for assembling laminated structures from sheet- ...

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