公开(公告)号：US20170197317A1

公开(公告)日：2017-07-13

申请号：US15315199

申请日：2015-06-01

Applicant: KUKA Systems GmbH

Inventor： Julian Stockschlaeder ,  Zafer Bozada ,  Tuncay Maris

IPC: B25J15/00 ,  B25J19/06 ,  B25J15/02

CPC classification number: B25J15/0047 ,  B25J15/02 ,  B25J15/0253 ,  B25J19/06

Abstract: A gripping device, which is provided, in particular, as an effector for an industrial robot comprises first and second clamping jaws, which are arranged so as to be moveable relative towards each other in order to grasp a workpiece. The first clamping jaw is provided with a tongue projection and the second clamping jaw with a corresponding groove, which at least partially accommodates the tongue projection in the state in which the clamping jaws are moved towards each other in order to prevent objects or body parts from being inadvertently inserted into the space between the clamping jaws.

公开(公告)号：US09694500B1

公开(公告)日：2017-07-04

申请号：US15388646

申请日：2016-12-22

Applicant: PHD, Inc.

Inventor： Daniel Ferrier

IPC: B25J15/04 ,  B25J15/02

CPC classification number: B25J15/022 ,  B25J13/08 ,  B25J15/02

Abstract: A sensor or switch mechanism is connected to a gripper mechanism and uses a pivotal cam link connected to the driving mechanism of the gripper. A cam slot in the cam link is configured to convert linear reciprocal motion of the driving mechanism of the gripper to amplified rotational motion of the pivotal cam link. A target on the cam link and a stationary sensor positioned proximate to an arc described by the target on rotation of the cam link allows the sensor or switch mechanism to distinguish between the gripper properly gripping a single workpiece and the gripper improperly gripping no workpiece and/or two or more workpieces.

公开(公告)号：US20160368145A1

公开(公告)日：2016-12-22

申请号：US15175875

申请日：2016-06-07

Applicant: BOE TECHNOLOGY GROUP CO., LTD. ,  HEFEI BOE OPTOELECTRONICS TECHNOLOGY CO., LTD.

Inventor： Yangkun JING ,  Shengguang SANG

IPC: B25J9/16

CPC classification number: B25J9/1687 ,  B25J9/1679 ,  B25J9/1684 ,  B25J11/0095 ,  B25J15/02 ,  B25J19/023 ,  G05B2219/45045 ,  H01L21/6732 ,  H01L21/6734

Abstract: The present disclosure provides a post position adjustment device, a cassette adjustment device and a substrate conveyance system. The post position adjustment device includes: a post-picking-and-placing unit configured to pick a post out from current positioning hole and install the post into a target positioning hole; a movement mechanism configured to move the post-picking-and-placing unit; and a movement control unit configured to control the movement mechanism to move the post-picking-and-placing unit to a source position where the post is currently located, and after the post has been picked out from the current positioning hole by the post-picking-and-placing unit, control the movement mechanism to move the post-picking-and-placing unit to a target position.

Abstract translation: 本公开提供了一种后位置调整装置，盒调节装置和基板输送系统。 后位置调整装置包括：拣选后配置单元，被配置为从当前定位孔拾取一个柱，并将柱安装到目标定位孔中; 移动机构，其构造成移动所述拣选和放置单元; 以及移动控制单元，被配置为控制所述移动机构以将所述拾取后放置单元移动到所述柱当前所在的源位置，并且在所述柱已经通过所述后取样位置从所述当前定位孔拾取之后， 拾取和放置单元，控制移动机构以将拾取后放置单元移动到目标位置。

公开(公告)号：US20160214262A1

公开(公告)日：2016-07-28

申请号：US15001626

申请日：2016-01-20

Applicant: FANUC CORPORATION

Inventor： Shunichi Saito ,  Yoshitake Furuya

IPC: B25J15/00 ,  B65G47/90

CPC classification number: B65G47/90 ,  B25J15/0061 ,  B25J15/02 ,  B65G47/904

Abstract: The conveyor system of the present invention comprises a conveyor robot having a hand and arm, and a pair of gripping jigs attached to a conveyed object. The hand of the conveyor robot comprises a body part attached to an arm, a pair of projecting parts projecting out from different positions of the body part in the same direction, hook parts provided on the pair of projecting parts, and pushing parts attached to the body part adjoining the pair of projecting parts and configured to move along the projection direction of the pair of projecting parts to generate a pushing force. Each gripping jig attached to a conveyed object comprises of a pushed part pushed by a pushing part of the hand, and a rod-shaped part caught on a hook part of the hand.

Abstract translation: 本发明的输送机系统包括具有手和臂的输送机器人，以及附着在输送物体上的一对夹具。 输送机械手的手包括安装在臂上的主体部分，从主体部分的不同位置沿相同方向突出的一对突出部分，设置在该对突出部分上的钩部分和附接到该部分的推动部件 身体部分邻接所述一对突出部分并且构造成沿着所述一对突出部分的突出方向移动以产生推力。 安装在被搬运物体上的夹持夹具包括被推动部分推压的被推动部分和钩在手部的钩部上的杆状部。

公开(公告)号：US20150021949A1

公开(公告)日：2015-01-22

申请号：US14350088

申请日：2012-10-08

Applicant: Schunk GbmH & Co. KG Spann- und Greiftechnik

Inventor： Andreas Schuster ,  Michael Drab ,  Matthias Quaas

IPC: B25J15/00 ,  F16F1/36

CPC classification number: B25J15/0028 ,  B25J15/02 ,  F16F1/36

Abstract: A gripping or clamping device for gripping or clamping objects has at least one actuator that can be driven by a drive, at least one jaw, and a transmission provided between the actuator and the jaw, wherein the force produced by the drive is transmitted to the object at least by means of a force transmission element provided on or formed by the transmission and/or the clamping means, wherein the force transmission element has a force conducting section. A clamping element that permits an elastic flexibility in the force transmission direction is provided between the force conducting section and the force transmission element.

Abstract translation: 用于夹紧或夹紧物体的夹紧或夹紧装置具有至少一个致动器，其可由驱动器，至少一个钳口和设置在致动器和钳口之间的变速器驱动，其中由驱动器产生的力传递到 至少通过设置在变速器和/或夹紧装置上或由变速器和/或夹紧装置形成的力传递元件，其中力传递元件具有力传导部分。 在力传递部分和力传递元件之间设置有允许在力传递方向上的弹性柔性的夹紧元件。

公开(公告)号：US20130334831A1

公开(公告)日：2013-12-19

申请号：US13906524

申请日：2013-05-31

Applicant: GIMATIC S.p.A

Inventor： Giuseppe Maffeis

IPC: B25J15/00

CPC classification number: B25J15/0028 ,  B25J15/0047 ,  B25J15/02 ,  B25J15/10 ,  B25J15/103

Abstract: A self-centering clamp having three jaws, for the industrial automation field and particularly adapted to equip robotic arms, is described.One of the jaws is controlled by a cursor directly activated by the clamp actuator, that can be electric, pneumatic, oleopneumatic, etc. The other two jaws are controlled by corresponding transfer levers kinematically coupled to the cursor. Unlike the conventional arrangements, the levers rotate in a lying plane parallel to the handling plane of the jaws and the cursor. Therefore, the clamp is not very bulky in height and has low weight.

Abstract translation: 描述了一种具有三个钳口的自动定心夹具，用于工业自动化领域，并且特别适用于配备机器人手臂。 夹爪中的一个由由夹紧致动器直接激活的光标控制，该致动器可以是电动的，气动的，油压的等等。另外两个钳口由与光标运动耦合的相应的传递杆控制。 与常规布置不同，杠杆在平行于夹爪和光标的处理平面的平躺平面中旋转。 因此，夹具的高度不是很大，重量很轻。

公开(公告)号：US20130154293A1

公开(公告)日：2013-06-20

申请号：US13702856

申请日：2011-06-07

Applicant: Abraham Gijsbert De Koning

Inventor： Abraham Gijsbert De Koning

IPC: B25J15/00

CPC classification number: B25J15/0028 ,  B25J15/02 ,  B25J15/0475 ,  Y10S901/31 ,  Y10S901/36

Abstract: Gripping device (4) and robot arm (2) to which such a gripping device (4) is attached. The gripping device (4) consists of a housing (6) and two gripping finger sockets (9,10) which can be displaced linearly with respect thereto. Each gripping finger socket (9, 10) is provided with an electric or pneumatic coupling by means of which various gripping fingers (17, 27, 37) can be connected. A rotating drive (13) is present between the gripping finger sockets (9, 10) 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.

Abstract translation: 夹持装置（4）和附接有该夹持装置（4）的机械臂（2）。 夹持装置（4）包括壳体（6）和两个可相对于其线性移位的夹持指套（9,10）。 每个夹持指套（9,10）设置有电气或气动联接器，通过该联接器可以连接各种夹紧指（17,27,37）。 旋转驱动器（13）存在于夹持指套（9,10）之间，工具可以放置在其上以释放或附接诸如螺栓的紧固装置。 通过这种相对简单的结构，可以将数百公斤的重量提升和定位，例如在加工机器中。

公开(公告)号：US08182197B2

公开(公告)日：2012-05-22

申请号：US12605972

申请日：2009-10-26

Applicant: Ken Meisho

Inventor： Ken Meisho

IPC: B25J19/00

CPC classification number: B25J17/0208 ,  B23P19/105 ,  B25J13/085 ,  B25J15/02 ,  Y10T74/20335

Abstract: In a gripping device, a displacement-type force sensor is provided on a side of a driving mechanism opposite fingers to which the driving mechanism is connected to form a grip section. The driving mechanism is supported on a housing with an elastic member being disposed therebetween at a position closer to the fingers than the center of gravity of the grip section.

Abstract translation: 在夹持装置中，位移型力传感器设置在驱动机构的相对的手指的一侧，驱动机构连接到该侧面上以形成抓握部。 驱动机构被支撑在壳体上，弹性构件设置在与握持部分的重心更靠近手指的位置处。

公开(公告)号：US06296635B1

公开(公告)日：2001-10-02

申请号：US09312501

申请日：1999-05-17

Applicant: Kevin W. Smith ,  Juergen Andrew Kortenbach ,  Charles R. Slater ,  Anthony I. Mazzeo ,  Theodore C. Slack, Jr. ,  Thomas O. Bales

Inventor： Kevin W. Smith ,  Juergen Andrew Kortenbach ,  Charles R. Slater ,  Anthony I. Mazzeo ,  Theodore C. Slack, Jr. ,  Thomas O. Bales

IPC: A61B1818

CPC classification number: B25J15/02 ,  A61B17/00234 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/00477 ,  A61B2034/2059 ,  B25J3/04 ,  B25J9/06 ,  B25J9/104

Abstract: The methods and devices of the invention include an encoder, an endoscopic robotic instrument, and an encoder/robotic instrument interface. A preferred embodiment of the encoder has a chest/shoulder plate provided with telescoping tubes and joints. Each joint is provided with a direct drive potentiometer to monitor movement and provide a corresponding signal. The chest plate is preferably adaptable to a large range of human-chest sizes and the telescopic segments are strapped to the arms of the practitioner at the elbows. A pistol grip is provided at the wrist end of the telescopic segments. According to the presently preferred embodiment, the encoder encodes flexion and rotation at the shoulder, elbow and wrist of each arm in addition to gripping at each hand. The encoding device is coupled to a circuit which operates a servo system. The servo system includes a series of servo motors. A series of pulleys corresponding to the number of servo motors are arranged in a housing. The robotic instrument preferably comprises two arms mounted at the distal end of a multi-lumen tube. Each arm has rotational and flexional joints corresponding to the shoulder, elbow, and wrist of the practitioner. Tendons are coupled to the pulleys of the servo motors and are fed through the multi-lumen tube to the joints of the two arms.

Abstract translation: 本发明的方法和装置包括编码器，内窥镜机器人仪器和编码器/机器人仪器接口。 编码器的优选实施例具有设置有伸缩管和接头的胸/肩板。 每个接头都配有一个直接驱动电位器来监控运动并提供相应的信号。 胸板优选适应于大范围的人胸部尺寸，并且伸缩部分在肘部处被绑在医师的手臂上。 在伸缩段的腕端设有手枪把手。 根据目前优选的实施例，编码器除了在每只手握持之外还编码每个臂的肩部，肘部和手腕的屈曲和旋转。 编码装置耦合到操作伺服系统的电路。 伺服系统包括一系列伺服电机。 与伺服马达的数量对应的一系列滑轮布置在壳体中。 机器人装置优选地包括安装在多腔管的远端处的两个臂。 每个臂具有对应于从业者的肩部，肘部和手腕的旋转和弯曲关节。 肌腱联接到伺服电动机的皮带轮，并通过多腔管馈送到两个臂的关节。

公开(公告)号：US6109852A

公开(公告)日：2000-08-29

申请号：US101856

申请日：1999-02-05

Applicant: Mohsen Shahinpoor ,  Mehran Mojarrad

Inventor： Mohsen Shahinpoor ,  Mehran Mojarrad

IPC: A61F2/08 ,  A61F2/50 ,  B25J9/10 ,  B25J15/02 ,  B25J18/06 ,  B64C9/00 ,  B64C13/50 ,  B64C27/72 ,  F03G7/00 ,  B25J15/00 ,  A61M25/09 ,  B05D5/12 ,  B05D7/04 ,  B25J17/00

CPC classification number: F03G7/005 ,  A61F2/08 ,  B25J15/02 ,  B25J18/06 ,  B25J9/1075 ,  B25J9/1095 ,  B64C13/50 ,  B64C27/72 ,  B64C9/00 ,  A61F2002/0894 ,  A61F2002/5066 ,  B64C2027/7266 ,  Y02T50/34 ,  Y10T74/20311

Abstract: A chemical (coating and reduction)/mechanical/electrical treatment of ion-exchange materials (preferably ion-exchange membranes) to convert them to artificial muscles. The figure is a perspective view of an actuator of the invention showing the treated membrane actuator (A) with electrodes (25 and 26) placed at one end of the membrane, the electrodes being further attached to a power source (35). Artificial muscles created by the inventive method are capable of undergoing electrically-controllable large deformations resembling the behavior of biological muscles. A typical flap muscle of 0.2-0.4 mm thickness, 2-5 mm width and 20 mm length manufactured by the inventive process can achieve a completely reversible maximum deflection of 12-15 mm under a maximum voltage of 2.0-2.5 volts.

Abstract translation: PCT No.PCT / US96 / 17870 Sec。 371日期1999年2月5日 102（e）1999年2月5日PCT PCT 1996年11月6日PCT公布。 出版物WO97 / 26039 日期1997年7月24日离子交换材料（优选离子交换膜）的化学（涂层和还原）/机械/电处理将其转化为人造肌肉。 该图是本发明的致动器的透视图，示出了处理过的膜致动器（A），其中电极（25和26）放置在膜的一端，电极进一步附接到电源（35）。 通过本发明方法产生的人造肌肉能够经历类似于生物肌肉行为的电可控大变形。 通过本发明方法制造的0.2-0.4mm厚度，2-5mm宽度和20mm长度的典型皮瓣可以在2.0-2.5V的最大电压下实现12-15mm的完全可逆的最大偏转。