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    • 6. 发明授权
    • Robotic end of arm tool method and apparatus
    • 手臂工具方法和装置的机器人末端
    • US07611180B1
    • 2009-11-03
    • US11493953
    • 2006-07-27
    • Trent P. FisherJohn M WestbeldRobert M. MillerJason R. Heinz
    • Trent P. FisherJohn M WestbeldRobert M. MillerJason R. Heinz
    • B25J9/00B25J15/06
    • B25J15/0616B25J15/0052B25J15/0061
    • An end of arm tool has a mounting bracket mounting the end of arm tool to the robot arm for movement therewith and has a plurality of operating mechanisms mounted to the mounting bracket, a plurality of gripping devices each operatively connected to a respective operating mechanism and movable along a path, and a plurality of individual motors each operatively connected to a respective gripping device for moving the respective gripping device along its respective path. At least one programmable controller for operating the motors is provided to adjust the positions of the gripping devices along their respective paths to one of a plurality of predetermined positions established by the controller for gripping the article and to position the end of arm tool adjacent the article so that at least one of the gripping devices grips the article.
    • 手臂工具的末端具有安装支架,其将手臂工具的端部安装到机器人手臂以与其一起运动,并且具有安装到安装支架的多个操作机构,多个夹紧装置,每个夹紧装置可操作地连接到相应的操作机构并且可移动 以及多个单独的电动机,每个电动机可操作地连接到相应的夹持装置,用于沿相应的路径移动相应的夹紧装置。 提供用于操作马达的至少一个可编程控制器,用于将夹持装置沿其相应路径的位置调整到由控制器建立的多个预定位置中的一个,用于夹持物品并将手臂工具的末端邻近物品 使得握持装置中的至少一个夹持物品。