公开(公告)号：US20230102018A1

公开(公告)日：2023-03-30

申请号：US17488377

申请日：2021-09-29

Applicant: Delaware Capital Formation, Inc.

Inventor： James W. Geary ,  Benjamin J. JENNINGS ,  Jeffery J. MRUZIK

IPC: B23Q3/155

Abstract: A tool changer 30 with a master half 32 and tool half 34. A securing mechanism has a clasp 70 and a cam 72. The clasps 70 move between a release position and a grasping position. In the grasping position, the master 32 and tool halves 34 are secured together with one another. The cam 72 moves the clasps 70 between the release and grasping positions. From a release position, the master half 32 engages the tool half 34. The master half 32 moves laterally with respect to the tool half 34. This, in turn, moves the cam 72, and thus the clasps, from their release positions to their grasping positions. In the grasping position, the clasps 70 grasp the tool half 34, the cam locks 72 in its grasping position and the master 32 and tool 34 halves secure with one another.

公开(公告)号：US20240388228A1

公开(公告)日：2024-11-21

申请号：US18199718

申请日：2023-05-19

Applicant: Delaware Capital Formation, Inc.

Inventor： Benjamin J. JENNINGS ,  Anjan Archarya GANGULI ,  Brian A. KNOBLOCH ,  James W. GEARY ,  Christopher D. D'SPAIN ,  Joshua M. EVANS

IPC: H02P8/22 ,  B25J9/12

Abstract: A stepper motor control system includes: a stepper motor configured to actuate an actuator to engage an object; a power control module configured to: during a first period before compression of a compliance mechanism occurs, apply electrical pulses to stator coils of the stepper motor in a predetermined order and based on a first predetermined torque and a first predetermined speed, where compression of the compliance mechanism occurs when the actuator contacts the object; and during a second period after the compression of the compliance mechanism occurs, apply a predetermined number of extra pulses to the stator coils of the stepper motor in the predetermined order and based on a second predetermined torque and a second predetermined speed.