公开(公告)号：US08939487B2

公开(公告)日：2015-01-27

申请号：US13702856

申请日：2011-06-07

申请人： Abraham Gijsbert De Koning

发明人： Abraham Gijsbert De Koning

IPC分类号： B66C1/42 ,  B25J15/00 ,  B25J15/02 ,  B25J15/04

CPC分类号： B25J15/0028 ,  B25J15/02 ,  B25J15/0475 ,  Y10S901/31 ,  Y10S901/36

摘要： A gripping device (4) is attached to a robot arm (2). 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 for various gripping fingers (17, 27, 37) that 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 apparatus, such as a bolt. With this relatively simple construction, weights of several hundred kilos can be lifted and positioned accurately, for example in a processing machine.

摘要翻译： 夹持装置（4）附接到机器人手臂（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）设置有用于可连接的各种夹持爪（17,27,37）的电动或气动联接器。 旋转驱动器（13）存在于夹持手指插孔（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，例如在加工机器中可以将数百公斤的重量提升和定位。

公开(公告)号：US20140167432A1

公开(公告)日：2014-06-19

申请号：US14124204

申请日：2012-05-24

申请人： David Heriban ,  Joël Agnus

发明人： David Heriban ,  Joël Agnus

IPC分类号： B25J15/02 ,  B25J15/00 ,  B25J7/00

CPC分类号： B25J15/0253 ,  B25J7/00 ,  B25J15/0028 ,  B25J15/02 ,  B81C99/002 ,  Y10T29/49826

摘要： The present invention relates to a tool for a microtechnical gripper. The tool of the invention comprises a tip having a support and first and second fingers disposed opposite one another in a chosen position. Each finger is connected to said support by a connecting element so as to be held in a rest position corresponding to said chosen position, the connecting element being flexible in order to allow said fingers to move with at least one degree of freedom relative to the support.

摘要翻译： 本发明涉及一种用于微技术夹具的工具。 本发明的工具包括具有支撑件的尖端和在选定位置彼此相对设置的第一和第二指状物。 每个手指通过连接元件连接到所述支撑件，以便被保持在对应于所选择的位置的静止位置，连接元件是柔性的，以便允许所述手指相对于支撑件至少一个自由度移动 。

公开(公告)号：US20120007375A1

公开(公告)日：2012-01-12

申请号：US13195511

申请日：2011-08-01

申请人： Timothy VITTOR

发明人： Timothy VITTOR

IPC分类号： B25J15/00 ,  B29C51/00 ,  B25J15/08

CPC分类号： B25J15/02

摘要： The disclosure relates to a gripper finger including a surface area for clamping. This area this area is covered with a membrane including at least one section, which is substantially made of a shape memory polymer (SMP). The disclosure relates also to a gripper tool including such gripper finger and a method for adjusting such a gripper tool.

摘要翻译： 本发明涉及一种夹持器手指，其包括用于夹紧的表面区域。 该区域覆盖有包括基本上由形状记忆聚合物（SMP）制成的至少一个部分的膜。 本公开还涉及包括这种夹持器手指的夹持器工具和用于调节这种夹持器工具的方法。

公开(公告)号：US20100109360A1

公开(公告)日：2010-05-06

申请号：US12605972

申请日：2009-10-26

申请人： Ken Meisho

发明人： Ken Meisho

IPC分类号： B25J15/00 ,  B25J15/02 ,  B25J15/08

CPC分类号： B25J17/0208 ,  B23P19/105 ,  B25J13/085 ,  B25J15/02 ,  Y10T74/20335

摘要： 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.

摘要翻译： 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：US5788453A

公开(公告)日：1998-08-04

申请号：US657721

申请日：1996-05-30

申请人： Arik Donde ,  Herzel Laor

发明人： Arik Donde ,  Herzel Laor

IPC分类号： B25J15/08 ,  B25J15/02 ,  H01L21/677 ,  H01L21/687 ,  B25J15/12

CPC分类号： B25J15/02 ,  H01L21/68707 ,  Y10S414/141

摘要： A piezoelectric gripping system firmly secures a semiconductor wafer or other workpiece onto a robotic transfer blade so as to allow for acceleration forces that exceed the frictional holding force between the blade and workpiece. To prevent production of contaminating particulates during grasping, the piezoelectric grippers of the system are independently actuated into slight contact with the workpiece so as to prevent frictional movement of the workpiece relative to the blade during the grasping operation. Once all of the grippers are in slight contact with the workpiece, the voltage to each gripper is increased by a predetermined amount to thereby uniformly increase the force exerted by each gripper on the workpiece and to thereby more firmly secure the workpiece to the blade. Thereafter, the blade may transfer the workpiece at extremely high speeds without the workpiece moving frictionally relative to the blade.

摘要翻译： 压电夹持系统将半导体晶片或其他工件牢固地固定到机器人转印刀片上，以便允许超过刀片和工件之间的摩擦保持力的加速力。 为了防止在抓握期间产生污染微粒，系统的压电夹持器被独立地致动为与工件轻微接触，以便在抓取操作期间防止工件相对于叶片的摩擦运动。 一旦所有夹具与工件轻微接触，则每个夹具的电压增加预定的量，从而均匀地增加每个夹持器对工件的作用力，从而将工件更牢固地固定在叶片上。 此后，刀片可以以非常高的速度传送工件，而不会使工件相对于刀片摩擦地运动。

公开(公告)号：US5116094A

公开(公告)日：1992-05-26

申请号：US499923

申请日：1990-03-23

申请人： Darrell D. Jones

发明人： Darrell D. Jones

IPC分类号： B25J15/02

CPC分类号： B25J15/02 ,  Y10S294/907

摘要： A plurality of gripper modules positioned in space apart relationship along a frame member provide an end-of-arm tool. A pair of gripper modules disposed on opposite sides of the end-of-arm tool each support a Hall effect sensor which is coupled through a signal processing circuit to control the heads of the gripper modules.

摘要翻译： 沿着框架构件以空间分开的关系定位的多个夹持器模块提供了手臂末端工具。 设置在臂结构工具的相对侧上的一对夹持器模块各自支撑霍尔效应传感器，霍尔效应传感器通过信号处理电路耦合以控制夹持器模块的头部。

公开(公告)号：US5005889A

公开(公告)日：1991-04-09

申请号：US359120

申请日：1989-05-31

申请人： Klaus K. Nerger ,  Hans J. Klein ,  Gunther Burkart

发明人： Klaus K. Nerger ,  Hans J. Klein ,  Gunther Burkart

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

CPC分类号： B25J15/0004 ,  B25J15/02 ,  B25J19/06

摘要： An industrial robot gripper assembly includes a pair of spaced apart gripper arms, each of which carries a plurality of workpiece receiving devices. The gripper arms are movable toward and away from each other and at least one of the workpiece receiving devices on each of the gripper arms is movable along an arcuate path so as to bring the receiving devices into appropriate receiving positions for gripping engagement with a workpiece.

摘要翻译： 工业机器人夹持器组件包括一对间隔开的夹持臂，每个夹持臂承载多个工件接收装置。 夹持臂可相对于彼此移动并远离彼此移动，并且每个夹持臂上的至少一个工件接收装置可沿弓形路径移动，以使接收装置进入用于与工件夹紧接合的适当接收位置。

公开(公告)号：US4929009A

公开(公告)日：1990-05-29

申请号：US338155

申请日：1989-04-14

申请人： Ron Vandersluis ,  Erik Quittner

发明人： Ron Vandersluis ,  Erik Quittner

IPC分类号： B25J15/02 ,  B64G4/00

CPC分类号： B64G4/00 ,  B25J15/02 ,  Y10S294/907

摘要： The end effector forms part of the relocatable space station remote manipulator system. The end effector has grappling capabilities and latching capabilities and may include a force moment sensor which can cooperate with the arm in order to align the end effector with a grapple fixture without the aid of a grappling mechanism. The function of the end effector, when two are installed, one on each end of a symmetrical manipulator arm is to provide the capability to interchange the wrist and shoulder functions of the arm, thus enabling the manipulator to be self relocatable. The end effector combines the snare and rigidizing features of existing end effectors with new latching and umbilical electrical power and signal transfer features.

摘要翻译： 末端执行器构成可重定位空间站远程操纵器系统的一部分。 末端执行器具有抓握能力和锁定能力，并且可以包括力矩传感器，该力矩传感器可以与臂配合，以便在没有抓斗机构的帮助下将末端执行器与抓斗夹具对准。 末端执行器的功能，当两个安装在对称的操纵臂的每一端上时，其功能是提供臂的腕部和肩部功能的交换能力，从而使操纵器能够自我重新定位。 末端执行器结合了现有末端执行器的圈套和刚性特征，具有新的锁定和脐带电力和信号传递功能。

公开(公告)号：US4872257A

公开(公告)日：1989-10-10

申请号：US915275

申请日：1986-10-03

申请人： Takehisa Wakamori ,  Takashi Ogawa ,  Ryoji Ito ,  Chikafumi Shimanaka

发明人： Takehisa Wakamori ,  Takashi Ogawa ,  Ryoji Ito ,  Chikafumi Shimanaka

IPC分类号： B07C5/34 ,  B25J9/16 ,  B25J15/02 ,  B25J17/02 ,  B25J19/02 ,  G05B19/12 ,  G05B19/418

CPC分类号： B07C5/3412 ,  B25J15/02 ,  B25J15/026 ,  B25J17/0241 ,  B25J19/021 ,  B25J9/1617 ,  B25J9/1697 ,  G05B19/128 ,  G05B19/4182 ,  G05B2219/23363 ,  Y02P90/083 ,  Y02P90/10 ,  Y10T29/49293 ,  Y10T29/49769 ,  Y10T29/4984 ,  Y10T29/53004 ,  Y10T29/53013 ,  Y10T29/53061 ,  Y10T29/53087

摘要： A bearing is automatically installed on an engine component of a internal combustion engine, such as a connecting rod, a crankshaft, a cylinder block, or the like. Data indicated on the engine component and identifying the engine component is read and stored. A bearing which matches the engine component is selected from a bearing stocker based on the stored data. The selected bearing is then transferred to an installing robot which installs the bearing on the engine component.

摘要翻译： 轴承自动安装在内燃机的发动机部件上，例如连杆，曲轴，气缸体等。 读取并存储发动机部件上指示的数据并识别发动机部件。 基于存储的数据，从轴承储料器中选择与发动机部件匹配的轴承。 然后将选定的轴承转移到将轴承安装在发动机部件上的安装机器人。

公开(公告)号：US4811935A

公开(公告)日：1989-03-14

申请号：US25975

申请日：1987-03-16

申请人： Kinichi Tamura ,  Susumu Kawada ,  Yoshitada Sekine ,  Kazuyoshi Abe ,  Ryosuke Ishikawa ,  Fumiki Yokota

发明人： Kinichi Tamura ,  Susumu Kawada ,  Yoshitada Sekine ,  Kazuyoshi Abe ,  Ryosuke Ishikawa ,  Fumiki Yokota

IPC分类号： B23K37/047 ,  B25B1/18 ,  B25B1/24 ,  B25J5/02 ,  B25J9/00 ,  B25J15/02 ,  B25B27/14

CPC分类号： B25B1/2421 ,  B23K37/047 ,  B25B1/18 ,  B25J15/02 ,  B25J5/02 ,  B25J9/0084 ,  B23P2700/50

摘要： For holding a plurality of different, in shape, workpieces, a holding unit comprises a laminated body with a number of thin identical shaped elongate plates which have one ends forming a workpiece supporting surface, a vibrator unit for moving the elongate plates so as to vary the shape of the workpiece supporting surface to create a new one, and a bias mechanism for clamping the laminated body, so the newly created shape of the workpiece supporting surface is maintained.

摘要翻译： 为了保持多个不同的形状的工件，保持单元包括具有多个薄的相同形状的细长板的层压体，其具有形成工件支撑表面的一端，用于移动细长板以便改变的振动器单元 工件支撑表面的形状以产生新的工件支撑表面，以及用于夹紧层压体的偏压机构，从而保持了新形成的工件支撑表面的形状。