公开(公告)号：US20240208078A1

公开(公告)日：2024-06-27

申请号：US18384874

申请日：2023-10-29

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Thomas Wagner ,  Kevin Ahearn ,  Benjamin Cohen ,  Michael Dawson-Haggerty ,  Christopher Geyer ,  Thomas Koletschka ,  Kyle Maroney ,  Matthew T. Mason ,  Gene Temple Price ,  Joseph Romano ,  Daniel Smith ,  Siddhartha Srinivasa ,  Prasanna Velagapudi ,  Thomas Allen

IPC: B25J15/00 ,  B25J15/06 ,  B25J15/10

CPC classification number: B25J15/0033 ,  B25J15/0004 ,  B25J15/0023 ,  B25J15/0052 ,  B25J15/0095 ,  B25J15/0616 ,  B25J15/10 ,  Y10S901/40

Abstract: An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.

公开(公告)号：US20230373107A1

公开(公告)日：2023-11-23

申请号：US18299750

申请日：2023-04-13

Applicant: Roche Diagnostics Operations, Inc.

Inventor： Avinash Addihalli Narayana ,  Timo Gutmann ,  Markus Kollmer ,  Marius Kraetschmer ,  Andrii Kulitskyi ,  Vladimirs Leontjevs ,  Jan Pauls

IPC: B25J15/08 ,  B25J15/00

CPC classification number: B25J15/083 ,  B25J15/0095

Abstract: A gripping apparatus for gripping a sample container comprising: a gripper body comprising a gripper actuator; at least two gripper fingers each comprising a gripping surface, wherein at least one of the gripper fingers is movably coupled to the gripper body, and wherein the gripping apparatus is designed for gripping a sample container with the gripping surfaces of the at least two gripper fingers by moving the at least one movable gripper finger; and characterized in that the gripping apparatus comprises at least one elastically mounted contacting surface for elastically contacting a sample container about to be gripped by the gripping apparatus.

公开(公告)号：US11753186B2

公开(公告)日：2023-09-12

申请号：US16900434

申请日：2020-06-12

Applicant: The Boeing Company

Inventor： Caleb J. Handolescu ,  Luis F. Velasquez ,  Allen James Halbritter

IPC: B64F5/50 ,  B25J15/00 ,  B25J15/06 ,  B25J9/12 ,  B29C70/54 ,  B29L31/30

CPC classification number: B64F5/50 ,  B25J9/123 ,  B25J15/0052 ,  B25J15/0095 ,  B25J15/0616 ,  B25J15/0625 ,  B29C70/541 ,  B29L2031/3076

Abstract: Described herein are flexible truss systems and methods of transferring flexible composite parts using these systems. A flexible truss system comprises a flexible truss mechanism and composite pick-and-place mechanisms supported on the flexible truss mechanism and designed to attach to various composite parts. The flexible truss mechanism comprises flexible elongated members and slidable ribs coupled to each flexible elongated member. Specifically, each rib is slidably coupled to at least one flexible elongated member. In some examples, each rib is also fixedly coupled to another flexible elongated member. The slidable coupling allows the flexible truss mechanism to bend and follow the shape of a supported part, such that the composite pick-and-place mechanisms are able to contact and support different areas of the composite part. As such, the same flexible truss mechanism is able to support flexible composite parts having different shapes.

公开(公告)号：US11738455B2

公开(公告)日：2023-08-29

申请号：US17839570

申请日：2022-06-14

Applicant: MBL LIMITED

Inventor： Mark Oleynik

IPC: B25J9/16 ,  B25J9/00 ,  B62D57/032 ,  G05B19/42 ,  B25J13/02 ,  B25J11/00 ,  B25J19/02 ,  B25J3/04 ,  A47J36/32 ,  B25J15/00

CPC classification number: B25J9/163 ,  A47J36/321 ,  B25J3/04 ,  B25J9/0018 ,  B25J9/0087 ,  B25J11/009 ,  B25J13/02 ,  B25J15/0095 ,  B25J19/02 ,  B62D57/032 ,  G05B19/42 ,  G05B2219/36184 ,  G05B2219/40116 ,  G05B2219/40391 ,  G05B2219/40395 ,  Y10S901/01 ,  Y10S901/03 ,  Y10S901/28

Abstract: Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result.

公开(公告)号：US10076843B2

公开(公告)日：2018-09-18

申请号：US15210887

申请日：2016-07-15

Applicant: FANUC CORPORATION

Inventor： Yoshiaki Kato

IPC: G05B15/00 ,  G05B19/00 ,  B25J13/08 ,  B25J9/16 ,  B25J15/00 ,  G05B19/425

CPC classification number: B25J13/085 ,  B25J9/1633 ,  B25J15/0095 ,  G05B19/425 ,  G05B2219/39021 ,  Y02P90/265

Abstract: A teaching apparatus for robot includes a force sensor disposed between an arm of a robot and an end effector, and a guide part attached to the end effector. An object includes a recessed part. The recessed part has a reference surface, with which target surface of the end part of the guide part are brought into surface-contact so as to determine a position and a posture of the robot. A robot control device performs a control for bringing the target surface of the guide part into surface-contact with the reference surface of the recessed part so as to determine a teaching position of the robot, based on the direction of a force applied to the end effector.

公开(公告)号：US20180250833A1

公开(公告)日：2018-09-06

申请号：US15909709

申请日：2018-03-01

Applicant: AEA SRL ,  Airbus SAS

Inventor： Sébastien BORIA ,  Fabien ALBERT ,  Pierre LEPINE ,  Luca LATTANZI ,  Cristina CRISTALLI ,  Enrico CONCETTONI

IPC: B25J15/06 ,  B25J15/00 ,  B25H1/00

CPC classification number: B25J15/0683 ,  B21J15/142 ,  B23B49/026 ,  B23B2215/04 ,  B23B2260/118 ,  B23P2700/01 ,  B23Q9/0014 ,  B23Q17/2233 ,  B25H1/0064 ,  B25J11/005 ,  B25J15/0061 ,  B25J15/0095 ,  B64F5/10 ,  B64F5/40

Abstract: An apparatus for clamping a robotically controlled tool to a workpiece comprises a tool support mountable on a robotic arm and configured to support the tool, a plurality of clamping modules, each of which includes at least one vacuum cup arranged to clamp the tool support to the workpiece, and an adjustment mechanism configured to adjust the position of the tool support relative to the workpiece.

公开(公告)号：US10011020B2

公开(公告)日：2018-07-03

申请号：US15371921

申请日：2016-12-07

Applicant: Berkshire Grey Inc.

Inventor： Thomas Wagner ,  Kevin Ahearn ,  Benjamin Cohen ,  Michael Dawson-Haggerty ,  Christopher Geyer ,  Thomas Koletschka ,  Kyle Maroney ,  Matthew T. Mason ,  Gene Temple Price ,  Joseph Romano ,  Daniel Smith ,  Siddhartha Srinivasa ,  Prasanna Velagapudi ,  Thomas Allen

IPC: B25J15/06 ,  B25J15/12 ,  B25J15/00 ,  B25J15/10

CPC classification number: B25J15/0033 ,  B25J15/0023 ,  B25J15/0052 ,  B25J15/0095 ,  B25J15/0616 ,  B25J15/10 ,  Y10S901/40

Abstract: An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.

公开(公告)号：US20050183533A1

公开(公告)日：2005-08-25

申请号：US11062154

申请日：2005-02-18

Applicant: Ralf Tillmann

Inventor： Ralf Tillmann

IPC: B25J19/00 ,  B25J9/06 ,  B25J9/10 ,  B65G49/07 ,  H01L21/677 ,  B25J17/00

CPC classification number: B25J9/1015 ,  B25J15/0095 ,  H01L21/67766 ,  Y10T74/20305 ,  Y10T74/20317

Abstract: There is provided a robot-guidance assembly for providing a precision motion of an object, especially for providing a precision motion of a disklike member such as a wafer, including a robot having at least one robot arm. The at least one robot arm has a free end and a fixed end. The robot can move the free end of the at least one robot arm in at least one moving plane. The assembly also includes a guiding apparatus for precisely guiding the free end of the at least one robot arm in the at least one moving plane. There is also provided a method for inspecting a surface of an object.

Abstract translation: 提供了一种用于提供物体的精确运动的机器人引导组件，特别是用于提供包括具有至少一个机器人手臂的机器人的诸如晶片的盘状构件的精确运动。 所述至少一个机器人臂具有自由端和固定端。 机器人可以在至少一个移动平面中移动至少一个机器人手臂的自由端。 组件还包括用于精确地引导至少一个移动平面中的至少一个机器人臂的自由端的引导装置。 还提供了用于检查物体表面的方法。

公开(公告)号：US12115607B2

公开(公告)日：2024-10-15

申请号：US17356524

申请日：2021-06-24

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  SHINMEI INDUSTRY CO., LTD.

Inventor： Ryoichi Ogawa ,  Yasuhiro Kawai

IPC: B25J15/00 ,  B23P19/04 ,  B25B27/24 ,  F01L3/10

CPC classification number: B23P19/045 ,  B25B27/24 ,  B25J15/0095 ,  B25J15/0038 ,  F01L3/10

Abstract: A retainer gripping device, configured to grip a retainer accommodating a set of cotters inside the retainer, includes a retainer gripping unit, a retainer supporting portion, and a cotter supporting portion. The retainer gripping unit is configured to grip the retainer. The retainer supporting portion is configured such that the retainer gripped by the retainer gripping unit is placed in a state in which the set of cotters are accommodated inside the retainer. The cotter supporting portion is configured to support lower end edge portions of the cotters accommodated inside the retainer in a state in which the lower end edge portions are lifted upward higher than a lower end edge portion of the retainer.

公开(公告)号：US12070849B2

公开(公告)日：2024-08-27

申请号：US17383874

申请日：2021-07-23

Applicant: Saab Seaeye Limited

Inventor： Jon Mortimer Robertson

IPC: B25J15/04 ,  B23Q5/04 ,  B25J15/00 ,  B25J15/08

CPC classification number: B25J15/0433 ,  B23Q5/045 ,  B25J15/0095 ,  B25J15/0491 ,  Y10S483/901 ,  Y10T409/309296

Abstract: A tool attachment (200) for a robotic manipulator (100), includes a housing (202), an input shaft (208) configured to be engaged by an end effector (105) of the robotic manipulator (100), an output shaft (210), and a tool (214) coupled to the output shaft (210). The housing (202) includes at least one slot or at least one projection for preventing relative rotational movement between the housing (202) and a housing of the robotic manipulator (100). Upon engagement of the end effector (105) of the robotic manipulator (100) with the input shaft (208), the tool attachment (200) is retained on the robotic manipulator (100), and rotational movement of the end effector (105) of the robotic manipulator (100) acts to rotate said input shaft (208) and drive said tool (214).