公开(公告)号：WO2021150643A1

公开(公告)日：2021-07-29

申请号：PCT/US2021/014243

申请日：2021-01-20

申请人： BROOKS AUTOMATION, INC.

发明人： WHITE, Stephen

IPC分类号： G01N35/00 ,  B25J15/10 ,  B25J15/00 ,  B25J13/082 ,  B25J15/0038 ,  B65G1/0464 ,  B65G1/137 ,  G01N2035/0406 ,  G01N2035/0493 ,  G01N35/0099

摘要： A gripper provides for gripping labware having a variety of diameters and shapes. The gripper includes a support structure having a center axis, a motor, and a gripper stage. The gripper stage includes a plurality of blades, each of the blades having a) a first end through which a blade rotation axis extends, the blade rotation axis being fixed relative to the support structure and offset from the center axis, b) a second end that is circumferentially and radially moveable to rotate the blade about the blade rotation axis, and c) a center portion. The gripper stage also includes a ring structure coupled to the motor to rotate the ring structure around the center axis. The ring structure, as it rotates, moves the second end of each blade to rotate the blade about the blade rotation axis of the blade to shift the center portion towards the center axis to contact an outer portion of a vessel extending along the center axis.

公开(公告)号：WO2023277794A2

公开(公告)日：2023-01-05

申请号：PCT/SG2022/050387

申请日：2022-06-06

申请人： NATIONAL UNIVERSITY OF SINGAPORE

发明人： LU, Zeyu ,  YU, Haoyong

IPC分类号： G01L5/16 ,  G01L1/22 ,  B25J13/08 ,  B25J13/082 ,  B25J13/084 ,  B25J13/085 ,  G01L5/00

摘要： A force sensor comprising a contact arrangement for transmitting a contact force to a force sensor assembly. The force sensor assembly comprising a first sensor sensing, and producing an output from, a normal contact force component of the contact force; and a body moveable on transmission of the contact force to the force sensor assembly; and a second sensor for sensing, and producing an output from, a relative displacement of the body relative to the second sensor, the a tri-axis contact force being determined from the relative displacement.

公开(公告)号：WO2023275010A1

公开(公告)日：2023-01-05

申请号：PCT/EP2022/067664

申请日：2022-06-28

申请人： MELEXIS TECHNOLOGIES SA

发明人： DUPRE, Nicolas ,  CLOSE, Gael ,  LE SIGNOR, Théo ,  VANGERVEN, Tim

IPC分类号： G01L1/12 ,  G01L1/14 ,  G01L5/164 ,  G01L5/169 ,  G01L5/22 ,  B25J13/08 ,  G01G7/00 ,  G01G19/52 ,  A47J42/38 ,  A47J42/44 ,  B25J13/082 ,  G01G7/02 ,  G01L1/04 ,  G01L1/122 ,  G01L1/127 ,  G01L5/226 ,  G01R33/0047 ,  G01R33/072

摘要： A force sensor comprises a sensing system including a target piece and a sensing element, configured to provide changes of a magnetic field, being generated by motion of the target piece. The sensing element senses these changes and provides a signal representative of the position of the target piece. An integrated circuit with processing means can process signals from the sensing element. A semiconductor package includes at least the integrated circuit. A flexible piece comprises the target, and it is attached to the semiconductor package, where the attachment area between the flexible piece and the semiconductor package does not extend beyond the top projection, or outline, of the semiconductor package. The flexible piece receives a force stimulus, so that upon exerting a force on the flexible piece, the displacement of the target piece with respect to the surface of the semiconductor package can be sensed by the sensing element.

公开(公告)号：WO2022090700A2

公开(公告)日：2022-05-05

申请号：PCT/GB2021/052775

申请日：2021-10-26

申请人： WOOTZANO LIMITED

发明人： OPOKU, Jesse ,  MORINI, François ,  BECKWITH, Mark ,  SYED, Atif

IPC分类号： B25J13/08 ,  B25J19/02 ,  B25J9/00 ,  B25J9/16 ,  B25J11/00 ,  B07C5/36 ,  B25J11/0045 ,  B25J13/082 ,  B25J13/087 ,  B25J15/0028 ,  B25J19/022 ,  B25J19/023 ,  B25J9/0084 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/1694 ,  B65B25/046 ,  B65B5/06 ,  B65B5/068 ,  B65B5/105 ,  B65B57/14 ,  G01G9/00 ,  G05B2219/39505 ,  G05B2219/39532 ,  G05B2219/39533 ,  G05B2219/39535 ,  G05B2219/40553 ,  G05B2219/40567 ,  G05B2219/40627 ,  G05B2219/45047 ,  G05B2219/45048 ,  G06K9/62 ,  G06V10/765 ,  G06V10/82 ,  G06V20/68 ,  G06V2201/06

摘要： An item packing system configured to sort and/or pack items into item containers, the system comprising a robotic arm. At least one end effector for holding and manipulating an item to be sorted and/or packed, wherein at least one end effector comprises a pressure sensing assembly. A controller configured to receive sensor signals from the pressure sensing assembly to obtain an indication of a magnitude of contact pressure for contact between the end effector and the item held by the end effector. A direction of contact pressure for contact between the end effector and the item held by the end effector, wherein the controller is configured to determine whether the end effector is correctly holding the item based on the indication of the magnitude of the contact pressure and the indication of the direction of contact pressure.

公开(公告)号：WO2021122648A

公开(公告)日：2021-06-24

申请号：PCT/EP2020/086291

申请日：2020-12-15

申请人： CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE [FR]/[FR] ,  UNIVERSITE DE POITIERS [FR]/[FR]

发明人： GAZEAU, Jean-Pierre ,  LAGUILLAUMIE, Pierre ,  VULLIEZ, Philippe ,  MIZERA, Camille

IPC分类号： B25J9/10 ,  B25J13/08 ,  B25J15/00 ,  B25J19/00 ,  B25J13/082 ,  B25J13/088 ,  B25J15/0009 ,  B25J19/0083 ,  B25J9/104

摘要： La présente invention concerne un dispositif (1) formant une main robotique, comprenant : - une embase formant une paume de main, - au moins deux structures articulées formant chacune un doigt robotique, chaque structure articulée étant reliée à l'embase par au moins une articulation, - au moins un mécanisme d'entraînement pour chaque articulation, - au moins un actionneur agencé pour actionner l'au moins un mécanisme d'entraînement au moyen au moins d'un lien souple d'entraînement reliant et entraînant l'au moins un mécanisme d'entraînement, - des moyens de mesure du pivotement de l'au moins un actionneur et d'une ou plusieurs desdites articulations, - un gant (102) recouvrant l'embase et les au moins deux structures articulées, le gant étant fermé de manière à former, à l'intérieur dudit gant, un volume rempli d'huile entre la paroi du gant et l'embase et les au moins deux structures articulées. Le domaine de l'invention est en particulier celui des mains robotiques utilisées en milieu aquatique en grande profondeur.

公开(公告)号：WO2023006208A1

公开(公告)日：2023-02-02

申请号：PCT/EP2021/071299

申请日：2021-07-29

申请人： ABB SCHWEIZ AG ,  VANDERHOYDONK, Willem ,  LEROY, Rudi

发明人： VANDERHOYDONK, Willem ,  LEROY, Rudi

IPC分类号： B25J9/16 ,  B25J13/08 ,  B25J15/02 ,  B25J15/10 ,  B25J19/02 ,  B25J13/082 ,  B25J15/0253 ,  B25J19/021 ,  B25J9/1612

摘要： A robot gripper (0, 0' ) comprises a palm (5) and first and second fingers (1, 2) connected to said palm (5) that have gripping surfaces (12) facing each other for gripping an object (19) between them and that are displaceable with respect to each other along a first axis (8) normal to said gripping surfaces (12). The palm (5) further carries at least a third finger (3) having a support surface (12), wherein, when the gripper (0, 0' ) is in a use pose in which the support surface (12) is oriented horizontally and facing upward, the first axis (8) is also horizontal and the gripping surfaces (14) are located above the support surfaces (13).

公开(公告)号：WO2023274844A1

公开(公告)日：2023-01-05

申请号：PCT/EP2022/067214

申请日：2022-06-23

申请人： BIMBA LLC

发明人： BASKERVILLE, Steven John

IPC分类号： B25J13/08 ,  B25J15/10 ,  B25B1/24 ,  B25J13/082 ,  B25J13/084 ,  B25J13/085 ,  G01L5/16 ,  G01L5/226 ,  G01L5/228

摘要： An example finger of a robotic gripper (200) includes: a pin housing (620); a plurality of pins disposed partially in the pin housing (620), each pin being configured to be movable within the pin housing (620); a spring plate (626), wherein each pin of the plurality of pins is spring-loaded by a spring (624) disposed between the pin and the spring plate (626); a back plate (634) coupled to the pin housing (620); and a force sensor (638) interposed between the spring plate (626) and the back plate (634), such that when a subset of pins of the plurality of pins contact an object, the subset of pins move within the pin housing (620) against respective springs (624) associated with the subset of pins, and the force sensor (638) provides an electric signal indicative of a force applied by the subset of pins to the object.

公开(公告)号：WO2022207853A1

公开(公告)日：2022-10-06

申请号：PCT/EP2022/058679

申请日：2022-03-31

申请人： OCADO INNOVATION LIMITED

发明人： FRAS, Jan ,  SOTIROPOULOS, Panagiotis ,  MNYUSIWALLA, Hussein ,  DEL SOL ACERO, Enrique ,  TRIANTAFYLLOU, Pavlos

IPC分类号： B25J15/00 ,  B25J19/02 ,  B25J9/14 ,  B25J13/08 ,  B25J15/08 ,  B25J13/082 ,  B25J13/085 ,  B25J15/0023 ,  B25J19/023 ,  B25J9/142 ,  G01L1/04

摘要： This disclosure relates to a finger assembly for a manipulating apparatus comprising a rigid body and a deformable membrane received within an aperture. The exterior surface of the deformable membrane comprises a gripping surface arranged to grip an object being manipulated and an interior surface of the deformable element comprises visual markers. The finger assembly further comprises a reflective surface received within the rigid body opposed the deformable membrane so as to reflect an image of the visual markers and an optical sensor arranged to view the visual markers on the interior surface of the deformable membrane and the reflected image of the visual markers, providing a stereoscopic view of the visual markers.

公开(公告)号：WO2022068985A2

公开(公告)日：2022-04-07

申请号：PCT/DE2021/000162

申请日：2021-09-29

申请人： FRAUNHOFER-GESELLSCHAFT ZUR FÖRDERUNG DER ANGEWANDTEN FORSCHUNG EINGETRAGENER VEREIN ,  IDH TECHNISCHE PRODUKTE GMBH

发明人： RICHTER-TRUMMER, Valentin ,  UNGER, Erik ,  JÄGER, Erik ,  SCHAFFRATH, Robert ,  OLIJNYK, Tobias

IPC分类号： B25J15/00 ,  B25J15/06 ,  B25J13/08 ,  B25J9/16 ,  B25J19/02 ,  B25J13/082 ,  B25J15/0061 ,  B25J15/008 ,  B25J15/0616 ,  B25J9/1612 ,  B25J9/163 ,  G05B2219/39505

摘要： Die Erfindung betrifft ein Verfahren zum Halten eines Objektes mit einem Greifer, wobei der Greifer zumindest einen Greiferelementeverbund mit einer Mehrzahl an Greiferelementen aufweist und wobei die Greiferelemente zur Erzeugung einer Haltekraft zwischen Greifer und Objekt eine Einrichtung zur Erzeugung einer Haftkraft zwischen den an dem Objekt anliegenden Greiferelementen und dem Objekt aufweisen. Aufgabe der Erfindung ist es, ein Verfahren zum Halten eines Objektes mit einem Sauggreifer zu schaffen, sodass der Sauggreifer unabhängig von einer Druckluftversorgung sein kann und gleichzeitig eine vorgegebene Mindesthaltekraft über einen langen Zeitraum bereitgestellt wird. Die Aufgabe wird dadurch gelöst, dass beim Halten des Objektes mit dem Greifer bei einem ersten Teil der Mehrzahl der Greiferelemente (7) in einer Nachgreifprozedur die Haftkraft zwischen diesen Greiferelementen (7) und dem Objekt gelöst wird und anschließend diese Greiferelemente (7) oder ein Teil der gelösten Greiferelemente (7) durch erneuten Aufbau der Haftkraft erneut an dem Objekt angeheftet werden und der verbleibende Teil der Mehrzahl der Greiferelemente (7) in einer Halteprozedur während des Lösens und erneuten Anheften des ersten Teils der Mehrzahl der Greiferelemente (7) aufgrund der zwischen den Greiferelementen (7) des verbleibenden Teils und dem Objekt anliegenden Haftkraft am Objekt anhaftet.