公开(公告)号：US12064867B2

公开(公告)日：2024-08-20

申请号：US17356765

申请日：2021-06-24

申请人： Bernd Hartmann ,  Wolfram Grafe

发明人： Bernd Hartmann ,  Wolfram Grafe

IPC分类号： B25J15/12 ,  B25J9/00 ,  B25J9/16 ,  B25J13/08 ,  B25J15/10 ,  B65G59/02 ,  B65G65/00 ,  B65G65/02 ,  B65G65/16 ,  B65G65/32

CPC分类号： B25J15/12 ,  B25J9/0093 ,  B25J9/1697 ,  B25J13/082 ,  B25J15/10 ,  B65G59/02 ,  B65G65/005 ,  B65G65/02 ,  B65G2201/025 ,  B65G2203/0233 ,  B65G2203/041 ,  B65G2814/031

摘要： A method for unloading a container having packages with a rail device comprising a rail having a hand element displaceable in the longitudinal direction. The hand element has a plurality of finger elements having two flexible flank elements extending jointly from one end to the opposite end of the finger element. Each are connected flexibly to each other via a plurality of webs. The finger elements adjustable from a curved position into an extended position and back. The packages are stacked in the container forming a front face in which the rail device is brought close to the front face of the stacked packages. One hand element grips one package from the stack of packages and removes it from the stack. Following the removal, it is displaced along the rail and following the displacement grips one further package and removes it from the stack of packages.

公开(公告)号：US12053893B2

公开(公告)日：2024-08-06

申请号：US16949754

申请日：2020-11-12

申请人： Bright Machines, Inc.

发明人： Ran Loulavi ,  Nikolay Shtanikov ,  Ivan Hin-Kwan Chew ,  James Leo McCormick ,  Stephen Hoyt Hancock ,  Jeremy Avizrat ,  Shai Mordechai Niezni ,  Dov Kariv ,  Leonid Epstein

IPC分类号： B25J15/12 ,  B25J9/00 ,  B25J9/16 ,  B25J13/08 ,  B25J15/00 ,  B25J15/08 ,  B25J17/02 ,  H05K13/04

CPC分类号： B25J9/1687 ,  B25J9/0096 ,  B25J9/1633 ,  B25J13/085 ,  B25J13/088 ,  B25J15/0066 ,  B25J15/12 ,  B25J17/0225 ,  B25J17/0233 ,  B25J17/0241 ,  H05K13/0408

摘要： A two-stage insertion system including a gripper to grip a module, a compliance element to provide movement in the XY axis, a first stage insertion control to insert the module into a socket, to a first level, and a second stage insertion control to complete the insertion of the module into the socket, when the first stage insertion control indicates that the module is aligned to the socket, the second level insertion control exerting enough force to complete the insertion of the module into the socket.

公开(公告)号：US20240131725A1

公开(公告)日：2024-04-25

申请号：US18547723

申请日：2021-04-29

申请人： FANUC CORPORATION

发明人： Kazuki WAKABAYASHI ,  Yihua GU

IPC分类号： B25J13/08 ,  B25J15/12

CPC分类号： B25J13/085 ,  B25J15/12

摘要： A robot control device controls a robot equipped with a sensor capable of measuring force, the robot control device including: a measurement value acquisition unit acquires a first measurement value measured by the sensor when a first tool having a known mass and center-of-gravity position is placed at the tip of the wrist of the robot and the wrist performs a specific motion, and a second measurement value measured by the sensor when a second tool having a known mass and center-of-gravity position is placed and the wrist performs a specific motion; a measurement value storage unit that stores the first measurement value and the second measurement value acquired by the measurement value acquisition unit; and a correction unit that corrects the measurement values from the sensor, on the basis of the first measurement value and the second measurement value stored in the measurement value storage unit.

公开(公告)号：US20240116192A1

公开(公告)日：2024-04-11

申请号：US18546286

申请日：2022-02-07

申请人： UNIVERSITÀ DI PISA ,  FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA

发明人： Antonio BICCHI ,  Gianluca LENTINI ,  Manuel Giuseppe CATALANO ,  Giorgio GRIOLI

IPC分类号： B25J13/08 ,  B25J9/16 ,  B25J15/12

CPC分类号： B25J13/087 ,  B25J9/163 ,  B25J9/1694 ,  B25J15/12

摘要： A process of interacting with objects is provided including a robot with an end effector, a driver of the end effector and sensors for acquiring at least one environmental or interaction parameter; a computer for controlling the robot; an instruction block configured to instruct the robot to move the end effector according to instructions defined by the instruction block.

公开(公告)号：US11904457B2

公开(公告)日：2024-02-20

申请号：US17128768

申请日：2020-12-21

申请人： Evodyne Robotics Corporation

发明人： Raghav Gupta ,  Brandon Kane Tarter ,  Austin Edward Kerby ,  Rajath Swaroop Mulky ,  Brian Lim

IPC分类号： B25J15/00 ,  B25J15/12 ,  B25J15/02 ,  B25J19/02

CPC分类号： B25J15/0009 ,  B25J15/0233 ,  B25J15/12 ,  B25J19/02

摘要： Grippers, such as robotic grippers, and associated methods and systems are disclosed herein. One disclosed gripper includes a first compliant gripper jaw, a first push-pull assembly having a first distal end fixed on the first compliant gripper jaw, a second compliant gripper jaw, a second push-pull assembly having a second distal end fixed on the second compliant gripper jaw, and an actuator connected to both the first push-pull assembly and the second push-pull assembly.

公开(公告)号：US11826905B2

公开(公告)日：2023-11-28

申请号：US17584983

申请日：2022-01-26

申请人： Soft Robotics, Inc.

发明人： Joshua Aaron Lessing ,  Ryan Richard Knopf ,  Daniel Vincent Harburg ,  Kevin Alcedo ,  Grant Thomas Sellers ,  Mark Chiappetta

IPC分类号： B25J15/00 ,  B25J15/06 ,  B25J15/10 ,  B25J15/12 ,  B25J9/14 ,  B25J19/00 ,  B25J15/04

CPC分类号： B25J15/12 ,  B25J9/142 ,  B25J15/0023 ,  B25J15/0475 ,  B25J15/10 ,  B25J19/0075 ,  Y10S901/39

摘要： Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.

公开(公告)号：US20230364805A1

公开(公告)日：2023-11-16

申请号：US18137926

申请日：2023-04-21

申请人： SOFT ROBOTICS, INC.

发明人： Michael Rosenstein ,  Jeff Curhan ,  Joshua Aaron Lessing ,  Ryan Knopf ,  Daniel Harburg ,  Mark Chiappetta

IPC分类号： B25J15/00 ,  B25J9/16 ,  B25J15/12 ,  G06F3/0488 ,  B25J9/14 ,  F15B15/10 ,  B25J9/00

CPC分类号： B25J15/0023 ,  B25J9/1694 ,  B25J9/1676 ,  B25J15/12 ,  G06F3/0488 ,  B25J9/1612 ,  B25J9/1697 ,  B25J9/1656 ,  B25J9/142 ,  B25J9/1689 ,  B25J9/1692 ,  F15B15/10 ,  B25J9/0009 ,  Y10S901/47 ,  Y10S901/29 ,  Y10S901/37 ,  Y10S901/09 ,  G05B2219/39466 ,  G05B2219/39554 ,  G05B2219/40253

摘要： Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.

公开(公告)号：US20230356414A1

公开(公告)日：2023-11-09

申请号：US17617088

申请日：2021-10-19

申请人： SHANGHAI FLEXIV ROBOTICS TECHNOLOGY CO., LTD. ,  FLEXIV LTD.

发明人： Ran AN ,  Juncai PENG ,  Tingke SONG

IPC分类号： B25J15/12

CPC分类号： B25J15/12

摘要： A gripper with at least one gripping jaw is provided. The at least one gripping jaw includes a base, a gripping portion configured to contact an object, a flexible member connecting the base and the gripping portion, and a sensor assembly located between the base and the gripping portion. The flexible member is configured to enable the gripping portion to deflect with respect to the base when the gripping portion is subjected to a force in a first direction from the object. The sensor assembly is configured to generate a signal in response to the deflection of the gripping portion.

公开(公告)号：US20230347529A1

公开(公告)日：2023-11-02

申请号：US17733249

申请日：2022-04-29

申请人： Becton Dickinson Rowa Germany GmbH

发明人： Dietmar GROSS ,  Christoph Hellenbrand

IPC分类号： B25J15/02 ,  B25J15/12 ,  B25J15/00

CPC分类号： B25J15/0233 ,  B25J15/12 ,  B25J15/0033

摘要： The present disclosure relates to a gripper and a method for moving piece goods. The gripper has a deposit table extending in first and second directions and a gripping assembly guide arrangement having a gripping assembly. The gripping assembly has a unilaterally flexible chain including a bending limitation device, a first end remote from the gripping assembly guide arrangement and a second end close to the gripping assembly guide arrangement. The unilaterally flexible chain is moved and is deflected by a deflection device in an articulation direction at an angle of between 70-110° to the first direction. The unilaterally flexible chain is arranged in such a way that pushing forces are transmitted to a piece good, and the unilaterally flexible chain has an alignment device which, in the non-articulated state, holds the chain links in a mutually non-pivoted, stretched alignment.

公开(公告)号：US20230330870A1

公开(公告)日：2023-10-19

申请号：US18320590

申请日：2023-05-19

申请人： SOFT ROBOTICS, INC.

发明人： Jeffrey Curhan ,  Chikyung Won ,  Andrew George Goodale

IPC分类号： B25J15/10 ,  B25J15/02 ,  B25J9/14 ,  B25J19/00 ,  B25J15/12 ,  B25J15/00

CPC分类号： B25J15/12 ,  B25J9/142 ,  B25J15/0023 ,  B25J15/0253 ,  B25J15/10 ,  B25J19/0075

摘要： A soft robotic gripper having component parts capable of being assembled in the field at the terminus of an industrial robot arm for providing adaptive gripping of a product. A hub includes a pneumatic inlet leading to outlets. Finger mounts with pneumatic passages hold inflatable fingers, and tension fastener(s) secure and compress the finger mounts toward the hub by passing through the pneumatic passages and fastening under tension in a direction of the hub.