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    Retriever tool with interchangeable accessories
    4.
    发明授权
    Retriever tool with interchangeable accessories 失效
    猎犬工具具有可互换配件

    公开(公告)号：US5348359A

    公开(公告)日：1994-09-20

    申请号：US10882

    申请日：1993-01-29

    申请人： James J. Boozer

    发明人： James J. Boozer

    IPC分类号： B25J1/02 ,  B25J15/06 ,  B25J19/02 ,  B25J15/04

    CPC分类号： B25J1/02 ,  B25J15/0608 ,  B25J19/025

    摘要： An electromagnetic pick-up retriever tool having a number of interchangeable accessories to assist in locating, illuminating, viewing and retrieving both magnetic and non-magnetic objects such as small mechanical parts. The tool has a pistol-like handle which contains the power source and circuitry and which has a receptacle which selectively receives various attachments such as a bendable/reformable wand having an electromagnet at the end. Illuminating lights and fiber optic viewers may be selectively attached to the device.

    摘要翻译： 一种具有多个可互换附件的电磁拾取器，其具有辅助定位，照明，观察和检索诸如小机械部件的磁性和非磁性物体。 该工具具有手枪式手柄，其包含电源和电路，并且具有插座，其选择性地接收各种附件，例如在端部具有电磁体的可弯曲/可重新配置的魔杖。 照明灯和光纤观察器可以选择性地附接到设备。

    Compact robot arm member relative movement sensor
    5.
    发明授权
    Compact robot arm member relative movement sensor 失效
    紧凑的机器人臂部件相对运动传感器

    公开(公告)号：US4818174A

    公开(公告)日：1989-04-04

    申请号：US484229

    申请日：1983-04-12

    申请人： Archie H. Arpiarian ,  Mohammed M. Khusro

    发明人： Archie H. Arpiarian ,  Mohammed M. Khusro

    IPC分类号： B25J19/02 ,  B25J19/06 ,  B25J9/00 ,  B25J17/02

    CPC分类号： B25J19/025 ,  B25J19/063

    摘要： Apparatus for determining when the hand of a robot arm, resiliently mounted on a robot arm body, strikes or makes contact with an object that impedes or limits its movement, employs an optical fiber in place of conventional light focusing optics to produce a compact and ruggedized robot arm member relative movement sensor. The apparatus includes a light source mounted in a particular location on the robot arm hand and a light sensitive device spaced from the light source and mounted in a particular location on the robot body, a device that is capable of continuously generating a hand-to-robot arm body relative position signal in response to the particular location of collimated light from the robot hand mounted light source that passes through a light collimating optical fiber and strikes the light sensitive surface of the light sensitive device. Relative movement between the robot arm body and the robot hand resulting from contact between a motion-impeding object and the robot hand causes the light sensitive device to generate a signal indicative of such object contact and/or extent of relative hand-to-robot arm movement. The use of an optical fiber in the light path in place of a conventional lens makes it possible to employ this relative movement sensing apparatus in a vibratory environment and also makes it possible to shorten the light path length and thereby reduce the size of said relative motion sensing apparatus.

    摘要翻译： 用于确定何时弹性地安装在机器人手臂主体上的机器人的手与阻碍或限制其运动的物体相撞或接触的装置采用光纤代替传统的光聚焦光学器件，以产生紧凑且坚固的 机器人臂部件相对运动传感器。 该装置包括安装在机器人手臂上的特定位置的光源和与光源间隔开并安装在机器人主体上的特定位置的光敏装置，该装置能够连续生成手 - 响应于来自机器人手持式光源的准直光的特定位置的机器人臂体的相对位置信号，其通过光准直光纤并且撞击光敏装置的光敏表面。 由运动阻碍物体与机器人手之间的接触产生的机器人手臂主体与机器人手之间的相对运动导致光敏装置产生指示这种物体接触的信号和/或相对的手到机器人手臂的程度 运动。 在光路中使用光纤代替常规透镜使得可以在振动环境中使用该相对运动感测装置，并且还可以缩短光路长度，从而减小所述相对运动的尺寸 感测装置。

    Systems and methods incorporating an end effector with a rotatable and/or pivotable body and/or an optical sensor having a light path that extends along a length of the end effector
    9.
    发明授权
    Systems and methods incorporating an end effector with a rotatable and/or pivotable body and/or an optical sensor having a light path that extends along a length of the end effector 失效
    将末端执行器与可旋转和/或可枢转的主体和/或光学传感器结合的系统和方法具有沿着末端执行器的长度延伸的光路

    公开(公告)号：US06822413B2

    公开(公告)日：2004-11-23

    申请号：US10391306

    申请日：2003-03-18

    申请人： Sean D. Simondet

    发明人： Sean D. Simondet

    IPC分类号： B25J1502

    CPC分类号： H01L21/67766 ,  B25J9/1692 ,  B25J19/025 ,  H01L21/67265 ,  H01L21/67769 ,  H01L21/67778

    摘要： Robot system incorporates a versatile end effector that can be used to transport wafers, map wafers, and autocalibrate the movements of the robotic system. Typically, the end effector of the invention is rotatably and/or pivotably coupled to a robotic arm and includes an optical sensor system whose light path preferably includes a directional component that extends along a lengthwise axis of the end effector. Preferably the end effector is independently movable about at least two axes. These characteristics, singly or in combination, allow the end effector to carry out transport, mapping, and autocalibration functions within a relatively small volume either horizontally, vertically, or at other desired orientations.

    摘要翻译： 机器人系统结合了多功能的末端执行器，可用于运输晶片，映射晶片，并自动校准机器人系统的运动。 通常，本发明的末端执行器可旋转地和/或可枢转地耦合到机器臂并且包括光学传感器系统，其光路优选地包括沿着端部执行器的纵向轴线延伸的方向分量。 优选地，末端执行器可以围绕至少两个轴线独立地移动。 这些特征，单独或组合地允许末端执行器在水平，垂直或其他期望取向的相对较小的体积内进行运输，映射和自动校准功能。

    Detection assembly for detecting dispensed material
    10.
    发明授权
    Detection assembly for detecting dispensed material 失效

    公开(公告)号：US06541757B2

    公开(公告)日：2003-04-01

    申请号：US09789653

    申请日：2001-02-21

    申请人： Leonard H. Bieman ,  Edward W. Roney

    发明人： Leonard H. Bieman ,  Edward W. Roney

    IPC分类号： G06M700

    CPC分类号： B05C5/0216 ,  B23K9/1274 ,  B25J19/023 ,  B25J19/025 ,  G06T1/0007

    摘要： The subject invention is an optical detection assembly (26) for detecting dispensed material (28). The detection assembly (26) includes a housing (38) having a number of optical sensors (42) mounted to the housing (38). A material applicator (30) is mounted within a central opening (44) of the housing (38) and extends through the opening (44) such that the sensors (42) substantially surround the applicator (30) to continuously detect the material (28) being dispensed through the applicator (30). The subject invention also includes the method of detecting the material (28) being dispensed upon a workpiece (32) utilizing a robotic apparatus (20) having an articulated arm (24) with the housing (38) mounted to the arm (24).