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    MACHINE VISION CONTROLLED ROBOT TOOL SYSTEM
    11.
    发明申请
    MACHINE VISION CONTROLLED ROBOT TOOL SYSTEM 审中-公开
    机器视觉控制机器人工具系统

    公开(公告)号：WO2005072917A1

    公开(公告)日：2005-08-11

    申请号：PCT/FI2005/050016

    申请日：2005-01-28

    Applicant: SANDELIN, Teemu ,  UUSITALO, Jani

    Inventor： SANDELIN, Teemu ,  UUSITALO, Jani

    IPC: B25J13/08

    CPC classification number: B25J19/023 ,  B25J15/0475

    Abstract: A robot tool system which is intended to be attached to an arm (11) of a robot, and which comprises at least a tool change unit (4) for placing tools (5), an actuator for placing the tool in a use position, as well as a machine vision member with the viewing direction to the working area of the tools. The tool change unit (4) and the actuator (3) are positioned around the viewing direction of the machine vision member (2), and the machine vision member is used for controlling the movement and function of the tools (5). The invention also relates to a corresponding control method for a robot tool system.

    Abstract translation: 一种旨在附接到机器人的臂（11）并且至少包括用于放置工具（5）的工具更换单元（4），用于将工具放置在使用位置的致动器的机器人工具系统， 以及具有对工具的工作区域的观察方向的机器视觉成员。 工具更换单元（4）和致动器（3）围绕机器视觉构件（2）的观察方向定位，机器视觉构件用于控制工具（5）的运动和功能。 本发明还涉及一种用于机器人工具系统的相应控制方法。

    REMOVABLE SPECIMEN GRIPPER FINGERS
    16.
    发明申请
    REMOVABLE SPECIMEN GRIPPER FINGERS 审中-公开
    可移动样本抓手

    公开(公告)号：WO2014062786A1

    公开(公告)日：2014-04-24

    申请号：PCT/US2013/065216

    申请日：2013-10-16

    Applicant: BECKMAN COULTER, INC.

    Inventor： MULLER, Martin ,  LAUTERBACH, Sophia

    IPC: G01N35/00 ,  B23Q7/04 ,  B25J15/04

    CPC classification number: B25J15/10 ,  A61B50/36 ,  B25J15/0475 ,  B25J15/103 ,  B25J19/02 ,  B25J19/021 ,  B65B69/00 ,  B65G11/023 ,  G01B7/02 ,  G01B11/14 ,  G01F23/0061 ,  G01F23/2962 ,  G01G19/52 ,  G01N35/00732 ,  G01N35/0099 ,  G01S15/04 ,  Y10T29/49826

    Abstract: Systems and methods for gripper finger release assemblies for specimen gripper units are disclosed. Embodiments of the invention include release elements to enable replacement of gripper fingers without the need of tools or without the need to demount and mount the entire gripper unit for exchange of gripper fingers. A release element may comprise a first sliding element and a second sliding element coupled to a plate such that pressing the second sliding element enables the first sliding element to release a gripper finger coupled to the first sliding element.

    Abstract translation: 公开了用于样品夹持器单元的夹持器手指释放组件的系统和方法。 本发明的实施例包括释放元件，以便能够在不需要工具的情况下更换夹持器手指，或者不需要拆卸和安装整个夹持器单元以更换夹爪。 释放元件可以包括联接到板的第一滑动元件和第二滑动元件，使得按压第二滑动元件使得第一滑动元件能够释放联接到第一滑动元件的夹持器手指。

    GRIPPING DEVICE
    17.
    发明申请
    GRIPPING DEVICE 审中-公开
    传送设备

    公开(公告)号：WO2011155826A1

    公开(公告)日：2011-12-15

    申请号：PCT/NL2011/050403

    申请日：2011-06-07

    Applicant: PEX RENT B.V. ,  DE KONING, Abraham, Gijsbert

    Inventor： DE KONING, Abraham, Gijsbert

    IPC: B25J15/02 ,  B25J15/04

    CPC classification number: B25J15/0028 ,  B25J15/02 ,  B25J15/0475 ,  Y10S901/31 ,  Y10S901/36

    Abstract: Gripping device (4) and robot arm (2) to which such a gripping device (4) is attached. The gripping device (4) consists of a housing (6) and two gripping finger sockets (9,10) which can be displaced linearly with respect thereto. Each gripping finger socket (9, 10) is provided with an electric or pneumatic coupling by means of which various gripping fingers (17, 27, 37) can be connected. A rotating drive (13) is present between the gripping finger sockets (9, 10) on which a tool can be placed for releasing or attaching a fastening means, such as a bolt. By means of this relatively simple construction, weights of several hundreds kilos can be lifted and positioned accurately, for example in a processing machine.

    Abstract translation: 夹持装置（4）和附接有该夹持装置（4）的机械臂（2）。 夹持装置（4）包括壳体（6）和两个可相对于其线性移位的夹持指套（9,10）。 每个夹持指套（9,10）设置有电气或气动联接器，通过该联接器可以连接各种夹紧指（17,27,37）。 旋转驱动器（13）存在于夹持指套（9,10）之间，工具可以放置在其上以释放或附接诸如螺栓的紧固装置。 通过这种相对简单的结构，可以将数百公斤的重量提升和定位，例如在加工机器中。

    MODULAR STAMPED PARTS TRANSFER GRIPPER
    18.
    发明申请
    MODULAR STAMPED PARTS TRANSFER GRIPPER 审中-公开
    模块式冲压件转印拖把

    公开(公告)号：WO1998015392A1

    公开(公告)日：1998-04-16

    申请号：PCT/US1997017795

    申请日：1997-10-03

    Applicant: PHD, INC. ,  MOILANEN, Steven, M. ,  MCINTOSH, Bruce, D.

    Inventor： PHD, INC.

    IPC: B25J15/04

    CPC classification number: B25J9/08 ,  B25B5/087 ,  B25B5/163 ,  B25J15/0052 ,  B25J15/0226 ,  B25J15/0475 ,  Y10S294/902

    Abstract: A modular gripper assembly having body with a yoke structure (44) defined at one end thereof and an actuator at an opposite end for reciprocally driving a piston assembly (58) within the yoke structure (44). A pair of opposable jaw members (49) having through-slots (48) formed therein are provided within the yoke structure (44) and coupled to the piston assembly (58) by a cam pin (47) so that at least one of the opposable jaw members (49) pivots when the piston assembly (58) moves within the yoke structure (44). The jaw members (49) are removable and interchangeable.

    Abstract translation: 一种模块式夹持器组件，其具有在其一端限定的轭结构（44）的本体和在相对端的致动器，用于往复驱动所述轭结构（44）内的活塞组件（58）。 在轭结构（44）内设置有一对具有形成在其中的通孔（48）的相对的颚构件（49），并通过凸轮销（47）与活塞组件（58）联接，使得至少一个 当活塞组件（58）在轭结构（44）内移动时，相对的钳口构件（49）枢转。 钳口构件（49）是可拆卸和可互换的。

    ATTACHMENT SYSTEM FOR INDUSTRIAL ROBOT, INDUSTRIAL ROBOT AND METHOD
    19.
    发明申请
    ATTACHMENT SYSTEM FOR INDUSTRIAL ROBOT, INDUSTRIAL ROBOT AND METHOD 审中-公开

    公开(公告)号：WO2019141345A1

    公开(公告)日：2019-07-25

    申请号：PCT/EP2018/050966

    申请日：2018-01-16

    Applicant: ABB SCHWEIZ AG

    Inventor： SIRKETT, Daniel

    IPC: B25J15/04

    CPC classification number: B25J15/0475 ,  B25J15/0425 ,  B25J15/0491

    Abstract: Attachment system (18) for an industrial robot (10), the attachment system (18) comprising a base member(28) having a base (30) and a locking member (32) movable relative to the base (30) between a locking position and an unlocking position; and an attachment member (26); wherein the attachment member (26) comprises an engageable structure (34) configured to be engaged by the locking member (32) when the locking member (32) adopts the locking position, in order to fix the attachment member (26) to the base member (28); and wherein the attachment system (18) further comprises an engaging biasing member (64) configured to bias the locking member (32) towards the engageable structure (34), when the locking member (32) engages the engageable structure (34) in the locking position. An industrial robot (10) comprising an attachment system (18) and a method for handling the industrial robot (10) are also provided.

    SOFT ROBOTIC ACTUATORS AND GRIPPERS
    20.
    发明申请
    SOFT ROBOTIC ACTUATORS AND GRIPPERS 审中-公开
    软机器人执行器和抓手

    公开(公告)号：WO2017127497A1

    公开(公告)日：2017-07-27

    申请号：PCT/US2017/014054

    申请日：2017-01-19

    Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE

    Inventor： GALLOWAY, Kevin, C. ,  WOOD, Robert, J. ,  BECKER, Kaitlyn

    IPC: B29C45/43 ,  A61B1/008 ,  A61B34/30 ,  B25J9/00 ,  B25J15/00 ,  B25J18/06

    CPC classification number: B25J15/12 ,  A61B34/30 ,  B25J15/0023 ,  B25J15/0066 ,  B25J15/0475 ,  B25J15/10 ,  B29C33/46 ,  B29L2031/703

    Abstract: A method of making an actuator having a complex internal shape includes providing a core of a shape that defines an internal cavity of an actuator; molding an actuator around the core, wherein the core occupies the internal cavity of the actuator, the cavity having an opening; generating a pressure differential between an exterior surface of the actuator and the internal cavity of the actuator, wherein the external pressure is less than the internal pressure, to expand the actuator cavity; and removing the core through the opening of the expanded actuator cavity.

    Abstract translation: 制造具有复杂内部形状的致动器的方法包括提供限定致动器的内腔的形状的核心; 围绕所述芯模制致动器，其中所述芯占据所述致动器的内腔，所述腔具有开口; 在致动器的外表面和致动器的内腔之间产生压力差，其中外部压力小于内部压力，以使致动器腔膨胀; 并通过扩大的致动器腔的开口移除芯。

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