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1.发明授权Integrated vacuum gripper with internal releasable magnet and method of using same 有权具有内部可释放磁体的集成真空夹具及其使用方法公开(公告)号：US07963578B2
公开(公告)日：2011-06-21
申请号：US12130301
申请日：2008-05-30
申请人： James W. Wells , Lance T. Ransom
发明人： James W. Wells , Lance T. Ransom
IPC分类号： A47G21/10
CPC分类号： B66C1/06 , B66C1/0212 , B66C1/0256
摘要： An integrated vacuum and magnetic gripper includes a rigid housing defining an internal chamber, and a flexible vacuum cup operatively connected thereto. A vacuum cavity is defined by the vacuum cup and a vacuum source is configured to reduce pressure in the vacuum cavity. A permanent magnet is disposed within the rigid housing, and a magnet release mechanism is configured to selectively render the magnet incapable of exerting sufficient force to hold the work piece. A pole plate may be interposed between the internal chamber and vacuum cavity, such that the pole plate forms a portion of the internal chamber and may act to provide friction on the work piece. A method of using the gripped includes operating at high acceleration while the vacuum gripper is monitored as fully operational and operating only at lower acceleration while the vacuum gripper is not fully operational.
摘要翻译： 集成的真空和磁性夹具包括限定内部室的刚性壳体和与其可操作地连接的柔性真空杯。 真空腔由真空杯限定，并且真空源构造成减小真空腔中的压力。 永磁体设置在刚性壳体内，并且磁体释放机构构造成选择性地使磁体不能施加足够的力来保持工件。 极板可以插入在内室和真空腔之间，使得极板形成内室的一部分并且可以起作用以在工件上提供摩擦力。 使用夹持的方法包括在高加速度下操作，同时真空夹具被监视为完全操作并且仅在较低加速度下操作，而真空夹具不能完全操作。
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公开(公告)号：US08025323B2
公开(公告)日：2011-09-27
申请号：US12257701
申请日：2008-10-24
申请人： Lance T. Ransom
发明人： Lance T. Ransom
CPC分类号： B25J15/0052 , B25J19/0091 , Y10T74/20305 , Y10T74/2133
摘要： A ratcheting end-of-arm (EOM) tool having a spring-loaded level compensator, a distally mounted gripper, and a ratcheting mechanism. In operation, upon a selectively adequate contact between the gripper and a payload, the ratcheting mechanism is engaged which holds the position of the gripper with respect to the robot arm at a fixed position, independent of spring biasing. Upon conclusion of robotic movement of the payload, the gripper is deactivated, the ratcheting mechanism is disengaged, and the spring returns the ratcheting EOA tool to its nominal configuration.
摘要翻译： 具有弹簧加载水平补偿器，远端安装夹具和棘轮机构的棘轮式末端臂（EOM）工具。 在操作中，在夹具和有效载荷之间有选择性地充分接触的情况下，棘轮机构接合，该夹紧机构将夹持器相对于机器人臂的位置保持在固定位置，而与弹簧偏置无关。 在结束有效载荷的机器人移动之后，夹具被停用，棘轮机构脱开，弹簧将棘轮EOA工具返回到其标称构型。
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3.发明申请Integrated Vacuum Gripper with Internal Releasable Magnet and Method of Using Same 有权具有内部可释放磁体的集成真空夹具及其使用方法公开(公告)号：US20090297316A1
公开(公告)日：2009-12-03
申请号：US12130301
申请日：2008-05-30
申请人： James W. Wells , Lance T. Ransom
发明人： James W. Wells , Lance T. Ransom
CPC分类号： B66C1/06 , B66C1/0212 , B66C1/0256
摘要： An integrated vacuum and magnetic gripper includes a rigid housing defining an internal chamber, and a flexible vacuum cup operatively connected thereto. A vacuum cavity is defined by the vacuum cup and a vacuum source is configured to reduce pressure in the vacuum cavity. A permanent magnet is disposed within the rigid housing, and a magnet release mechanism is configured to selectively render the magnet incapable of exerting sufficient force to hold the work piece. A pole plate may be interposed between the internal chamber and vacuum cavity, such that the pole plate forms a portion of the internal chamber and may act to provide friction on the work piece. A method of using the gripped includes operating at high acceleration while the vacuum gripper is monitored as fully operational and operating only at lower acceleration while the vacuum gripper is not fully operational.
摘要翻译： 集成的真空和磁性夹具包括限定内部室的刚性壳体和与其可操作地连接的柔性真空杯。 真空腔由真空杯限定，并且真空源构造成减小真空腔中的压力。 永磁体设置在刚性壳体内，并且磁体释放机构构造成选择性地使磁体不能施加足够的力来保持工件。 极板可以插入在内室和真空腔之间，使得极板形成内室的一部分并且可以起作用以在工件上提供摩擦力。 使用夹持的方法包括在高加速度下操作，同时真空夹具被监视为完全操作并且仅在较低加速度下操作，而真空夹具不能完全操作。
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公开(公告)号：US07001130B2
公开(公告)日：2006-02-21
申请号：US10023238
申请日：2001-12-18
申请人： Lance T. Ransom
发明人： Lance T. Ransom
IPC分类号： B65D85/68
CPC分类号： B25J9/0096 , B25J17/0208
摘要： Robotic rack loading apparatus and method include features and loading steps that provide essentially damage free rack loading of automotive panel assemblies into a specially designed rack. The rack includes dunnage elements containing sets of slots with lead-in upper edge angles and sensing holes associated with the slots. The robot carries a modified end of arm tool including a sensor to sense the location of a sensing hole to position a panel for loading into a corresponding set of slots. Another sensor preferably senses objects or structure in the rack to position the tool in a preload position. A compliant device allows lateral and longitudinal compliance of the end of arm tool to allow assemblies to be funneled into position in the slots without encountering damaging stress. A programmed robot can thus automatically load panel assemblies into the rack without damage.
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公开(公告)号：US20090194922A1
公开(公告)日：2009-08-06
申请号：US12026871
申请日：2008-02-06
IPC分类号： B23Q1/25
CPC分类号： B25J15/0052 , B25J15/0061
摘要： A configurable end-of-arm tool attachable to an articulable robotic arm is described. The end-of-arm tool comprises a rail element, a machine-adjustable swing arm, a machine-adjustable extendable shaft attached to the swing arm. A machine-adjustable rotator set is attached to the extendable shaft, and a workpiece interface tool is attached to the extendable shaft. The swing arm, the extendable shaft, and the rotator set are machine-adjustable to place the workpiece interface tool at a predetermined position.
摘要翻译： 描述了一种可配置的可铰接式机械臂的可配置端臂工具。 手臂末端工具包括轨道元件，机器可调摆臂，连接到摆臂的机器可调延伸轴。 机器可调节的旋转体组件附接到可延伸的轴，并且工件接口工具附接到可延伸的轴。 摆臂，可延伸轴和转子组是机械可调的，以将工件接口工具放置在预定位置。
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公开(公告)号：US20090193642A1
公开(公告)日：2009-08-06
申请号：US12026905
申请日：2008-02-06
IPC分类号： B21D39/00
CPC分类号： B25J15/0052 , B25J15/0061 , Y10T29/49826 , Y10T29/4984 , Y10T29/49895 , Y10T29/49998 , Y10T29/53974
摘要： An end-of-arm tool having a workpiece interface tool is attachable to an articulable robotic arm. The end-of-arm tool can be configured by engaging an adjustable modular unit including a swing arm, a cylinder, and a workpiece interface tool to a rail element of the end-of-arm tool. The adjustable modular unit machine-slides in the rail element to a preferred x-axis position, machine-pivots to a preferred angular orientation, and machine-extends along a longitudinal axis of the cylinder to a preferred z-axis position, and machine-rotates to a preferred rotational angle about the z-axis.
摘要翻译： 具有工件接口工具的手臂末端工具可附接到可铰接机器臂。 臂结构工具可以通过将包括摆臂，气缸和工件接口工具的可调模块单元与臂结构工具的导轨元件相结合来构成。 可调整的模块化单元机器在轨道元件中滑动到优选的x轴位置，机器枢转到优选的角度定向，并且机器沿着圆柱体的纵向轴线延伸到优选的z轴位置， 旋转到围绕z轴的优选旋转角度。
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公开(公告)号：US08033002B2
公开(公告)日：2011-10-11
申请号：US12026905
申请日：2008-02-06
IPC分类号： B21D39/00
CPC分类号： B25J15/0052 , B25J15/0061 , Y10T29/49826 , Y10T29/4984 , Y10T29/49895 , Y10T29/49998 , Y10T29/53974
摘要： An end-of-arm tool having a workpiece interface tool is attachable to an articulable robotic arm. The end-of-arm tool can be configured by engaging an adjustable modular unit including a swing arm, a cylinder, and a workpiece interface tool to a rail element of the end-of-arm tool. The adjustable modular unit machine-slides in the rail element to a preferred x-axis position, machine-pivots to a preferred angular orientation, and machine-extends along a longitudinal axis of the cylinder to a preferred z-axis position, and machine-rotates to a preferred rotational angle about the z-axis.
摘要翻译： 具有工件接口工具的手臂末端工具可附接到可铰接机器臂。 臂结构工具可以通过将包括摆臂，气缸和工件接口工具的可调模块单元与臂结构工具的导轨元件相结合来构成。 可调整的模块化单元机器在轨道元件中滑动到优选的x轴位置，机器枢转到优选的角度定向，并且机器沿着圆柱体的纵向轴线延伸到优选的z轴位置， 旋转到围绕z轴的优选旋转角度。
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公开(公告)号：US08025277B2
公开(公告)日：2011-09-27
申请号：US12026871
申请日：2008-02-06
IPC分类号： B23Q1/25
CPC分类号： B25J15/0052 , B25J15/0061
摘要： A configurable end-of-arm tool attachable to an articulable robotic arm is described. The end-of-arm tool comprises a rail element, a machine-adjustable swing arm, a machine-adjustable extendable shaft attached to the swing arm. A machine-adjustable rotator set is attached to the extendable shaft, and a workpiece interface tool is attached to the extendable shaft. The swing arm, the extendable shaft, and the rotator set are machine-adjustable to place the workpiece interface tool at a predetermined position.
摘要翻译： 描述了一种可配置的可铰接式机械臂的可配置端臂工具。 手臂末端工具包括轨道元件，机器可调摆臂，连接到摆臂的机器可调延伸轴。 机器可调节的旋转体组件附接到可延伸的轴，并且工件接口工具附接到可延伸的轴。 摆臂，可延伸轴和转子组是机械可调的，以将工件接口工具放置在预定位置。
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公开(公告)号：US20100101355A1
公开(公告)日：2010-04-29
申请号：US12257701
申请日：2008-10-24
申请人： Lance T. Ransom
发明人： Lance T. Ransom
IPC分类号： B25J18/00
CPC分类号： B25J15/0052 , B25J19/0091 , Y10T74/20305 , Y10T74/2133
摘要： A ratcheting end-of-arm (EOM) tool having a spring-loaded level compensator, a distally mounted gripper, and a ratcheting mechanism. In operation, upon a selectively adequate contact between the gripper and a payload, the ratcheting mechanism is engaged which holds the position of the gripper with respect to the robot arm at a fixed position, independent of spring biasing. Upon conclusion of robotic movement of the payload, the gripper is deactivated, the ratcheting mechanism is disengaged, and the spring returns the ratcheting EOA tool to its nominal configuration.
摘要翻译： 具有弹簧加载水平补偿器，远端安装夹具和棘轮机构的棘轮式末端臂（EOM）工具。 在操作中，在夹具和有效载荷之间有选择性地充分接触的情况下，棘轮机构接合，该夹紧机构将夹持器相对于机器人臂的位置保持在固定位置，而与弹簧偏置无关。 在结束有效载荷的机器人移动之后，夹具被停用，棘轮机构脱开，弹簧将棘轮EOA工具返回到其标称构型。
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