公开(公告)号：US3972422A

公开(公告)日：1976-08-03

申请号：US506113

申请日：1974-09-16

申请人： George Mink

发明人： George Mink

IPC分类号： B25J15/02 ,  B25J3/00

CPC分类号： B25J15/02

摘要： A material handling apparatus adapted to grip a workpiece and move it from one position to another position where it is released. The apparatus includes gripping fingers that are pivotal between a released position and a gripping position and a carrier for the gripping fingers that is movable from a first position to a second position. Actuating means moves the gripping fingers to their gripping position when the positioning means move the carrier to a first position and for moving the gripping fingers to a released position when the positioning means moves the carrier to its second position.

摘要翻译： 一种材料处理装置，适于夹紧工件并将其从一个位置移动到另一位置，在该位置被释放。 该装置包括在释放位置和夹持位置之间枢转的夹持指状物和用于夹持指状物的载体，其可从第一位置移动到第二位置。 当定位装置将托架移动到第一位置并且当定位装置将托架移动到其第二位置时将夹持指状件移动到释放位置，致动装置将夹持手指移动到夹持位置。

公开(公告)号：US20240091959A1

公开(公告)日：2024-03-21

申请号：US18468081

申请日：2023-09-15

申请人： Syntegon Technology GmbH

发明人： Matthias Schwandt ,  Johannes Bäuerle ,  Sebastian Gran

IPC分类号： B25J15/02 ,  B25J15/00

CPC分类号： B25J15/02 ,  B25J15/0038

摘要： A conveying device includes a first drive body, a second drive body and a lifting body for receiving a payload. The drive bodies can be activated independently of each other along a conveying axis or on a conveying plane. A first lifting link is pivotably articulated to the first drive body and a second lifting link is pivotably articulated to the second drive body. The lifting links are functionally connected to the lifting body so that a relative movement of the drive bodies can be converted into a movement of the lifting body along a lifting axis A first guide link is pivotably articulated to the first drive body, a second guide link is pivotably articulated to the second drive body, the guide links are connected to a first guide element, the lifting body has a second guide element, and the guide elements form a linear guide with a guide axis that coincides with the lifting axis.

公开(公告)号：US11865707B2

公开(公告)日：2024-01-09

申请号：US16940554

申请日：2020-07-28

申请人： Nimble Robotics, Inc.

发明人： Simon Kalouche

IPC分类号： B65G1/137 ,  B65G1/04 ,  B65G1/06 ,  B25J5/02 ,  B25J15/06 ,  B25J19/00 ,  B25J9/04 ,  B25J17/02 ,  B25J13/08 ,  B25J9/16 ,  B60M1/30 ,  B25J5/00 ,  B25J9/14 ,  B25J19/04 ,  B25J15/04 ,  B25J15/02 ,  B65G47/91 ,  B25J13/00 ,  B25J15/00 ,  B25J19/02

CPC分类号： B25J5/007 ,  B25J5/02 ,  B25J9/042 ,  B25J9/14 ,  B25J9/161 ,  B25J9/162 ,  B25J9/163 ,  B25J9/1612 ,  B25J9/1689 ,  B25J9/1697 ,  B25J13/00 ,  B25J13/006 ,  B25J13/08 ,  B25J13/089 ,  B25J15/0061 ,  B25J15/02 ,  B25J15/0441 ,  B25J15/0616 ,  B25J15/0625 ,  B25J17/02 ,  B25J19/005 ,  B25J19/0025 ,  B25J19/02 ,  B25J19/021 ,  B25J19/04 ,  B60M1/30 ,  B65G1/0464 ,  B65G1/0478 ,  B65G1/065 ,  B65G1/1373 ,  B65G1/1375 ,  B65G47/917 ,  B65G47/918 ,  B65G2203/041 ,  B65G2203/042 ,  B65G2209/04

摘要： A mobile manipulator robot for retrieving inventory items from a storage system. The robot includes a body, a wheel assembly, a sensor to locate a position of the robot within the storage system, an interface configured to send processor readable data to a remote processor and to an operator interface, and receive processor executable instructions from the remote processor and from the operator interface, an imaging device to capture images of the inventory items, a picking manipulator, first and second pneumatic gripping elements for grasping the inventory items, and a coupler configured to mate with a valve to access a pneumatic supply for operating at least one of the first or second pneumatic gripping elements. The robot is configured to transition the valve from a closed condition to an open condition and selectively place one of the first or the second pneumatic gripping elements in communication with the pneumatic supply.

公开(公告)号：US20190250180A1

公开(公告)日：2019-08-15

申请号：US16316963

申请日：2017-06-27

申请人： SIEMENS HEALTHCARE DIAGNOSTICS INC.

发明人： Benjamin S. POLLACK ,  Steven POLLACK

IPC分类号： G01N35/00 ,  B25J9/02 ,  B25J9/16 ,  B25J15/08

CPC分类号： G01N35/0099 ,  B25J9/026 ,  B25J9/041 ,  B25J9/16 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1697 ,  B25J15/02 ,  B25J15/08 ,  B25J19/023 ,  G01N35/00732 ,  G01N2035/041 ,  G01N2035/0465 ,  G01N2035/0493 ,  G05B19/401

摘要： Methods of operating a gripper are provided. The methods include providing a robot including the gripper, the gripper moveable by the robot and including gripper fingers, providing a sample rack including receptacles accessible by the gripper, at least some of the receptacles adapted to contain specimen containers, providing data, obtained by imaging, regarding the sample rack and the specimen containers therein, and determining, based on the data, an accessible target receptacle for one of a pick operation or a place operation. Apparatus and systems configured to carry out the methods are provided, as are other aspects.

公开(公告)号：US20180257241A1

公开(公告)日：2018-09-13

申请号：US15452956

申请日：2017-03-08

申请人： Amazon Technologies, Inc.

发明人： Ennio Claretti ,  Andrew D. Marchese ,  Ying Xu

IPC分类号： B25J15/00 ,  B25J15/02 ,  B25J15/06

CPC分类号： B25J15/0023 ,  B25J15/00 ,  B25J15/0028 ,  B25J15/02 ,  B25J15/0616

摘要： A system, apparatus, and method is configured to retrieve items and particularly items that are stored in high-density storage solutions. The system can include one or two-piece manipulators with retractable grippers. The manipulators can be relatively low profile and/or low friction to facilitate their placement between a target item and adjacent items on densely packed shelves or trays. In a retracted position, the grippers can be stowed beneath the surface of the manipulators to further facilitate the placement of the manipulators. In a deployed position, the grippers can extend above the surface of the manipulators to increase the contact area, coefficient of friction, and/or surface pressure of the manipulators on the target item. The grippers can enable the manipulators to be thinner than would otherwise be possible to enable retrieval of items from tightly packed storage solutions—e.g., warehouses with higher gross cubic utilization (GCU).

公开(公告)号：US20180243702A1

公开(公告)日：2018-08-30

申请号：US15905193

申请日：2018-02-26

申请人： Fast & Fluid Management B.V.

发明人： Johannes Hermanus Nicolaas POST ,  Ronald Peter KROM

IPC分类号： B01F11/00 ,  B01F15/00

CPC分类号： B01F11/0008 ,  B01F11/0022 ,  B01F15/00123 ,  B01F15/00753 ,  B01F2215/005 ,  B25J9/1692 ,  B25J15/02

摘要： A mechanism for clamping a container, the clamping mechanism comprising a support structure on which a first clamping member and an opposing second clamping member defining an adjustable clamping distance therebetween are mounted, at least one of the first and second clamping member being controllably moveable to increase or decrease the clamping distance by an electrical actuator means, which electrical actuator means is controllable by a control means. A resilient compression means is mounted outside of the clamping distance and wherein the control means is configured to measure, in operation, an electrical characteristic of the electrical actuator means during a compression of the resilient compression means by at least one of the first and second clamping member. The mechanism also pertains to a fluid mixer for paints, colourants and the like, comprising such a clamping mechanism and to a method for calibrating a clamping mechanism.

公开(公告)号：US10011021B2

公开(公告)日：2018-07-03

申请号：US15315199

申请日：2015-06-01

申请人： KUKA Systems GmbH

发明人： Julian Stockschlaeder ,  Zafer Bozada ,  Tuncay Maris

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

CPC分类号： B25J15/0047 ,  B25J15/02 ,  B25J15/0253 ,  B25J19/06

摘要： 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：US09919424B1

公开(公告)日：2018-03-20

申请号：US14809913

申请日：2015-07-27

申请人： X Development LLC

发明人： Roman Devengenzo

IPC分类号： G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  B25J9/00 ,  B25J13/02

CPC分类号： B25J9/1656 ,  B25J9/1676 ,  B25J13/06 ,  B25J15/02

摘要： Example methods and systems are disclosed for performing automated tasks with a robot system. In one example, a robot system includes a robotic arm and an end-effector coupled to the robotic arm. The end-effector is actuatable among more than two states of actuation. The robot system also includes an analog control switch located on the end-effector. The analog control switch is actuatable among more than two switch positions. The analog control switch is configured such that actuation of the analog control switch among the more than two switch positions causes a corresponding actuation of the end-effector among the more than two states of actuation.

公开(公告)号：US20180015613A1

公开(公告)日：2018-01-18

申请号：US15537689

申请日：2014-12-26

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Junichi MURAKAMI ,  Kenji BANDO ,  Yukio IWASAKI ,  Satoru HIBINO ,  Yoshiaki TANAKA ,  Yasuhiko HASHIMOTO ,  Takahiro INADA

IPC分类号： B25J9/06 ,  B25J9/16 ,  B25J13/08 ,  B25J15/02 ,  B23P19/04

CPC分类号： B25J9/06 ,  B23P19/04 ,  B25J9/16 ,  B25J9/162 ,  B25J9/1682 ,  B25J13/089 ,  B25J15/02

摘要： A robot includes: a restricting member configured to restrict a horizontal movement of a predetermined workpiece; and a workpiece moving member configured to generate an action for horizontally moving the workpiece. The controller performs a control operation of positioning the workpiece at a stop position in such a manner that: based on predetermined size information of the workpiece and preset stop position information of the workpiece, the restricting member is positioned at a predetermined restricting position included in the stop position for the workpiece, and the workpiece moving member acts on the workpiece and is moved toward the restricting position to horizontally move the workpiece; and the workpiece is brought into contact with the restricting member.

公开(公告)号：US09827677B1

公开(公告)日：2017-11-28

申请号：US15155368

申请日：2016-05-16

申请人： X Development LLC

发明人： Seth Gilbertson ,  Jeff Weber ,  Robert Wilson

IPC分类号： G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  B25J9/00 ,  B25J11/00 ,  G05D1/02 ,  A47L11/24 ,  A47L11/40

CPC分类号： B25J9/1682 ,  A47L11/24 ,  A47L11/4011 ,  A47L11/4052 ,  A47L11/4055 ,  A47L11/4061 ,  A47L2201/00 ,  B25J5/007 ,  B25J9/0087 ,  B25J9/046 ,  B25J9/1694 ,  B25J11/008 ,  B25J11/0085 ,  B25J15/0014 ,  B25J15/0019 ,  B25J15/0066 ,  B25J15/02 ,  G05D1/021 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/41

摘要： An example robotic device includes a mobile base and a base linkage. The base linkage has a first end and a second end where the first end is connected to the mobile base. The robotic device also includes a first end effector connected to the second end of the base linkage. The first end effector includes a shovel tool. The robotic device additionally includes an actuated control arm having a first end and a second end. The first end of the actuated control arm is connected to the second end of the base linkage. The robotic device further includes a second end effector connected to the second end of the actuated control arm. The second end effector includes a sweeping tool. The actuated control arm is configured to move the sweeping tool to engage with the shovel tool to sweep one or more objects onto the shovel tool.