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1. 发明申请

US20100140969A1 RECONFIGURABLE END-EFFECTORS WITH ARTICULATING FRAME AND INDEXABLE MASTER BOOM 有权
标题翻译：具有连接框架和可指定主板的可重新配置的终端效果器
公开(公告)号：US20100140969A1
公开(公告)日：2010-06-10
申请号：US12626993
申请日：2009-11-30
申请人： Yhu-Tin Lin , Andrew L. Bartos , Roland J. Menassa , Douglas R. Black , Joseph J. Ekl, JR. , Mark A. Cline
发明人： Yhu-Tin Lin , Andrew L. Bartos , Roland J. Menassa , Douglas R. Black , Joseph J. Ekl, JR. , Mark A. Cline
IPC分类号： B25J15/04 , B25J15/00
CPC分类号： B25J15/0052 , B25J15/0061
摘要： The end-effector includes an articulating frame mounted on an indexable boom. Tool modules mount on the end-effector and connect to a workpiece. Each tool module includes a flexible dress package including a cable carrier. A channel rail is supported by the end-effector frame and guides the cable carrier. A setup tool and associated process can reconfigure the positions of the tool modules and the frame and boom of the end-effector.
摘要翻译：末端执行器包括安装在可转位起重臂上的铰接框架。工具模块安装在末端执行器上并连接到工件。每个工具模块包括一个包括电缆托架的柔性连衣裙。通道轨道由末端执行器框架支撑并引导电缆托架。设置工具和关联过程可以重新配置工具模块和末端执行器的框架和起重臂的位置。

2. 发明授权

US08496425B2 Reconfigurable end-effectors with articulating frame and indexable master boom 有权
标题翻译：具有铰接框架和可转位主臂的可重新配置的终端执行器
公开(公告)号：US08496425B2
公开(公告)日：2013-07-30
申请号：US12626993
申请日：2009-11-30
申请人： Yhu-Tin Lin , Andrew L. Bartos , Roland J. Menassa , Douglas R. Black , Joseph J. Ekl, Jr. , Mark A. Cline
发明人： Yhu-Tin Lin , Andrew L. Bartos , Roland J. Menassa , Douglas R. Black , Joseph J. Ekl, Jr. , Mark A. Cline
IPC分类号： B25J17/02 , B25J15/06 , B66F9/00
CPC分类号： B25J15/0052 , B25J15/0061
摘要： The end-effector includes an articulating frame mounted on an indexable boom. Tool modules mount on the end-effector and connect to a workpiece. Each tool module includes a flexible dress package including a cable carrier. A channel rail is supported by the end-effector frame and guides the cable carrier. A setup tool and associated process can reconfigure the positions of the tool modules and the frame and boom of the end-effector.
摘要翻译：末端执行器包括安装在可转位起重臂上的铰接框架。工具模块安装在末端执行器上并连接到工件。每个工具模块包括一个包括电缆托架的柔性连衣裙。通道轨道由末端执行器框架支撑并引导电缆托架。设置工具和关联过程可以重新配置工具模块和末端执行器的框架和起重臂的位置。

3. 发明申请

US20120280527A1 RECONFIGURABLE END-EFFECTOR ATTACHABLE TO A ROBOTIC ARM 有权
标题翻译：可重构的终端效应器可连接到机架式ARM
公开(公告)号：US20120280527A1
公开(公告)日：2012-11-08
申请号：US13100368
申请日：2011-05-04
申请人： Yhu-Tin Lin , Andrew L. Bartos , Roland J. Menassa , Hyunshik Shin , Shinho Kang , Yong-Hyun Ju , Ki-Beom Kim , Sang-Yul Ju
发明人： Yhu-Tin Lin , Andrew L. Bartos , Roland J. Menassa , Hyunshik Shin , Shinho Kang , Yong-Hyun Ju , Ki-Beom Kim , Sang-Yul Ju
IPC分类号： B25J15/00
CPC分类号： B25J15/0061 , B25J9/04 , B25J15/0052 , B25J15/0616 , B65G47/91 , Y10S901/14 , Y10S901/19 , Y10S901/23 , Y10S901/30 , Y10S901/40
摘要： A reconfigurable end-effector attachable to a robotic arm, includes a master boom, a first branch assembly and a second branch assembly, a dual articulation mechanism. The dual articulation mechanism includes a first clutch attached to the first branch assembly and is configured to articulate the first branch assembly relative to the second branch assembly. The dual articulation mechanism further includes a second clutch attached to the master boom, the second branch assembly and the first clutch and is configured to simultaneously articulate the first and second branch assemblies relative to the master boom. The first and second branch assemblies each have limbs connected to branches supporting a plurality of tool modules. Each tool module includes an end element configurable to interact with a workpiece.
摘要翻译：可附接到机器人臂的可重新配置的末端执行器包括主臂，第一分支组件和第二分支组件，双重铰接机构。所述双关节运动机构包括附接到所述第一分支组件的第一离合器并且构造成使所述第一分支组件相对于所述第二分支组件铰接。双关节运动机构还包括附接到主起重臂的第二离合器，第二分支组件和第一离合器，并且构造成能够相对于主起重臂同时铰接第一和第二分支组件。第一和第二分支组件各自具有连接到支撑多个工具模块的分支的四肢。每个工具模块包括可配置成与工件相互作用的端部元件。

4. 发明授权

US08857877B2 Reconfigurable end-effector attachable to a robotic arm 有权
标题翻译：可重构的末端执行器可附着到机器臂上
公开(公告)号：US08857877B2
公开(公告)日：2014-10-14
申请号：US13100368
申请日：2011-05-04
申请人： Yhu-Tin Lin , Andrew L. Bartos , Roland J. Menassa , Hyunshik Shin , Shinho Kang , Yong-Hyun Ju , Ki-Beom Kim , Sang-Yul Ju
发明人： Yhu-Tin Lin , Andrew L. Bartos , Roland J. Menassa , Hyunshik Shin , Shinho Kang , Yong-Hyun Ju , Ki-Beom Kim , Sang-Yul Ju
IPC分类号： B25J17/02 , B25J15/00 , B25J9/04 , B25J15/06 , B65G47/91
CPC分类号： B25J15/0061 , B25J9/04 , B25J15/0052 , B25J15/0616 , B65G47/91 , Y10S901/14 , Y10S901/19 , Y10S901/23 , Y10S901/30 , Y10S901/40
摘要： A reconfigurable end-effector attachable to a robotic arm, includes a master boom, a first branch assembly and a second branch assembly, a dual articulation mechanism. The dual articulation mechanism includes a first clutch attached to the first branch assembly and is configured to articulate the first branch assembly relative to the second branch assembly. The dual articulation mechanism further includes a second clutch attached to the master boom, the second branch assembly and the first clutch and is configured to simultaneously articulate the first and second branch assemblies relative to the master boom. The first and second branch assemblies each have limbs connected to branches supporting a plurality of tool modules. Each tool module includes an end element configurable to interact with a workpiece.
摘要翻译：可附接到机器人臂的可重新配置的末端执行器包括主臂，第一分支组件和第二分支组件，双重铰接机构。所述双关节运动机构包括附接到所述第一分支组件的第一离合器并且构造成使所述第一分支组件相对于所述第二分支组件铰接。双关节运动机构还包括附接到主起重臂的第二离合器，第二分支组件和第一离合器，并且构造成能够相对于主起重臂同时铰接第一和第二分支组件。第一和第二分支组件各自具有连接到支撑多个工具模块的分支的四肢。每个工具模块包括可配置成与工件相互作用的端部元件。

5. 发明授权

US07971916B2 Reconfigurable robotic end-effectors for material handling 有权
标题翻译：用于材料处理的可重构机器人终端执行器
公开(公告)号：US07971916B2
公开(公告)日：2011-07-05
申请号：US12125676
申请日：2008-05-22
申请人： Yhu-Tin Lin , James W. Wells , Roland J. Menassa
发明人： Yhu-Tin Lin , James W. Wells , Roland J. Menassa
IPC分类号： A47B97/00
CPC分类号： B25J15/0616 , A61B34/30 , B25J15/0052 , B25J15/0061
摘要： A tool module associated with an end-effector for a robot arm that includes both linear and rotational locking mechanisms providing movement in five degrees of freedom. The tool module includes an integrated locking assembly that includes a linear locking mechanism and a rotary locking mechanism that are simultaneously locked and unlocked. The linear locking mechanism locks to a rod and the rotary locking mechanism locks and unlocks a shaft that is rigidly coupled to a swing arm. An opposite end of the swing arm includes another linear locking mechanism that locks and unlocks a shaft supporting a vacuum cup at an opposite end. The vacuum cup is mounted to a ball joint on the shaft that allows the vacuum cup to pivot. By locking and unlocking the locking mechanisms of the tool module, the end-effector can be readily configured to grasp and hold various parts of different dimensions and shapes.
摘要翻译：与用于机器人臂的末端执行器相关联的工具模块，其包括提供五个自由度的运动的线性和旋转锁定机构。工具模块包括集成的锁定组件，其包括同时锁定和解锁的线性锁定机构和旋转锁定机构。线性锁定机构锁定到杆上，并且旋转锁定机构锁定并解锁刚性地联接到摆臂的轴。摆臂的另一端包括另一线性锁定机构，其锁定和解锁在相对端支撑真空杯的轴。真空杯安装在轴上的球形接头上，允许真空杯枢转。通过锁定和解锁工具模块的锁定机构，末端执行器可以容易地构造成抓住并保持不同尺寸和形状的各种部件。

6. 发明申请

US20090292298A1 RECONFIGURABLE ROBOTIC END-EFFECTORS FOR MATERIAL HANDLING 有权
标题翻译：用于材料处理的可重构机器人终端效应器
公开(公告)号：US20090292298A1
公开(公告)日：2009-11-26
申请号：US12125676
申请日：2008-05-22
申请人： Yhu-Tin Lin , James W. Wells , Roland J. Menassa
发明人： Yhu-Tin Lin , James W. Wells , Roland J. Menassa
IPC分类号： A61B19/00
CPC分类号： B25J15/0616 , A61B34/30 , B25J15/0052 , B25J15/0061
摘要： A tool module associated with an end-effector for a robot arm that includes both linear and rotational locking mechanisms providing movement in five degrees of freedom. The tool module includes an integrated locking assembly that includes a linear locking mechanism and a rotary locking mechanism that are simultaneously locked and unlocked. The linear locking mechanism locks to a rod and the rotary locking mechanism locks and unlocks a shaft that is rigidly coupled to a swing arm. An opposite end of the swing arm includes another linear locking mechanism that locks and unlocks a shaft supporting a vacuum cup at an opposite end. The vacuum cup is mounted to a ball joint on the shaft that allows the vacuum cup to pivot. By locking and unlocking the locking mechanisms of the tool module, the end-effector can be readily configured to grasp and hold various parts of different dimensions and shapes.
摘要翻译：与用于机器人臂的末端执行器相关联的工具模块，其包括提供五个自由度的运动的线性和旋转锁定机构。工具模块包括集成的锁定组件，其包括同时锁定和解锁的线性锁定机构和旋转锁定机构。线性锁定机构锁定到杆上，并且旋转锁定机构锁定并解锁刚性地联接到摆臂的轴。摆臂的另一端包括另一线性锁定机构，其锁定和解锁在相对端支撑真空杯的轴。真空杯安装在轴上的球形接头上，允许真空杯枢转。通过锁定和解锁工具模块的锁定机构，末端执行器可以容易地构造成抓住并保持不同尺寸和形状的各种部件。

7. 发明授权

US08033002B2 Method for configuring an end-of-arm tool for a robotic arm 有权
标题翻译：用于配置机器人臂的手臂末端工具的方法
公开(公告)号：US08033002B2
公开(公告)日：2011-10-11
申请号：US12026905
申请日：2008-02-06
申请人： Yhu-Tin Lin , James W. Wells , Bradley J. Walworth , Lance T. Ransom , Roland J. Menassa
发明人： Yhu-Tin Lin , James W. Wells , Bradley J. Walworth , Lance T. Ransom , Roland J. Menassa
IPC分类号： B21D39/00
CPC分类号： B25J15/0052 , B25J15/0061 , Y10T29/49826 , Y10T29/4984 , Y10T29/49895 , Y10T29/49998 , Y10T29/53974
摘要： An end-of-arm tool having a workpiece interface tool is attachable to an articulable robotic arm. The end-of-arm tool can be configured by engaging an adjustable modular unit including a swing arm, a cylinder, and a workpiece interface tool to a rail element of the end-of-arm tool. The adjustable modular unit machine-slides in the rail element to a preferred x-axis position, machine-pivots to a preferred angular orientation, and machine-extends along a longitudinal axis of the cylinder to a preferred z-axis position, and machine-rotates to a preferred rotational angle about the z-axis.
摘要翻译：具有工件接口工具的手臂末端工具可附接到可铰接机器臂。臂结构工具可以通过将包括摆臂，气缸和工件接口工具的可调模块单元与臂结构工具的导轨元件相结合来构成。可调整的模块化单元机器在轨道元件中滑动到优选的x轴位置，机器枢转到优选的角度定向，并且机器沿着圆柱体的纵向轴线延伸到优选的z轴位置，旋转到围绕z轴的优选旋转角度。

8. 发明授权

US08025277B2 Reconfigurable end-of-arm tool for robotic arm 有权
标题翻译：机器人手臂可重新配置的手臂末端工具
公开(公告)号：US08025277B2
公开(公告)日：2011-09-27
申请号：US12026871
申请日：2008-02-06
申请人： Yhu-Tin Lin , James W. Wells , Bradley J. Walworth , Lance T. Ransom , Roland J. Menassa
发明人： Yhu-Tin Lin , James W. Wells , Bradley J. Walworth , Lance T. Ransom , Roland J. Menassa
IPC分类号： B23Q1/25
CPC分类号： B25J15/0052 , B25J15/0061
摘要： A configurable end-of-arm tool attachable to an articulable robotic arm is described. The end-of-arm tool comprises a rail element, a machine-adjustable swing arm, a machine-adjustable extendable shaft attached to the swing arm. A machine-adjustable rotator set is attached to the extendable shaft, and a workpiece interface tool is attached to the extendable shaft. The swing arm, the extendable shaft, and the rotator set are machine-adjustable to place the workpiece interface tool at a predetermined position.
摘要翻译：描述了一种可配置的可铰接式机械臂的可配置端臂工具。手臂末端工具包括轨道元件，机器可调摆臂，连接到摆臂的机器可调延伸轴。机器可调节的旋转体组件附接到可延伸的轴，并且工件接口工具附接到可延伸的轴。摆臂，可延伸轴和转子组是机械可调的，以将工件接口工具放置在预定位置。

9. 发明申请

US20090194922A1 RECONFIGURABLE END-OF-ARM TOOL FOR ROBOTIC ARM 有权
标题翻译：用于机载ARM的可重新配置的ARM-ARM工具
公开(公告)号：US20090194922A1
公开(公告)日：2009-08-06
申请号：US12026871
申请日：2008-02-06
申请人： Yhu-Tin Lin , James W. Wells , Bradley J. Walworth , Lance T. Ransom , Roland J. Menassa
发明人： Yhu-Tin Lin , James W. Wells , Bradley J. Walworth , Lance T. Ransom , Roland J. Menassa
IPC分类号： B23Q1/25
CPC分类号： B25J15/0052 , B25J15/0061
摘要： A configurable end-of-arm tool attachable to an articulable robotic arm is described. The end-of-arm tool comprises a rail element, a machine-adjustable swing arm, a machine-adjustable extendable shaft attached to the swing arm. A machine-adjustable rotator set is attached to the extendable shaft, and a workpiece interface tool is attached to the extendable shaft. The swing arm, the extendable shaft, and the rotator set are machine-adjustable to place the workpiece interface tool at a predetermined position.
摘要翻译：描述了一种可配置的可铰接式机械臂的可配置端臂工具。手臂末端工具包括轨道元件，机器可调摆臂，连接到摆臂的机器可调延伸轴。机器可调节的旋转体组件附接到可延伸的轴，并且工件接口工具附接到可延伸的轴。摆臂，可延伸轴和转子组是机械可调的，以将工件接口工具放置在预定位置。

10. 发明申请

US20090193642A1 METHOD FOR CONFIGURING AN END-OF-ARM TOOL FOR A ROBOTIC ARM 有权
标题翻译：用于配置机器人ARM的最终工具的方法
公开(公告)号：US20090193642A1
公开(公告)日：2009-08-06
申请号：US12026905
申请日：2008-02-06
申请人： Yhu-Tin Lin , James W. Wells , Bradley J. Walworth , Lance T. Ransom , Roland J. Menassa
发明人： Yhu-Tin Lin , James W. Wells , Bradley J. Walworth , Lance T. Ransom , Roland J. Menassa
IPC分类号： B21D39/00
CPC分类号： B25J15/0052 , B25J15/0061 , Y10T29/49826 , Y10T29/4984 , Y10T29/49895 , Y10T29/49998 , Y10T29/53974
摘要： An end-of-arm tool having a workpiece interface tool is attachable to an articulable robotic arm. The end-of-arm tool can be configured by engaging an adjustable modular unit including a swing arm, a cylinder, and a workpiece interface tool to a rail element of the end-of-arm tool. The adjustable modular unit machine-slides in the rail element to a preferred x-axis position, machine-pivots to a preferred angular orientation, and machine-extends along a longitudinal axis of the cylinder to a preferred z-axis position, and machine-rotates to a preferred rotational angle about the z-axis.
摘要翻译：具有工件接口工具的手臂末端工具可附接到可铰接机器臂。臂结构工具可以通过将包括摆臂，气缸和工件接口工具的可调模块单元与臂结构工具的导轨元件相结合来构成。可调整的模块化单元机器在轨道元件中滑动到优选的x轴位置，机器枢转到优选的角度定向，并且机器沿着圆柱体的纵向轴线延伸到优选的z轴位置，旋转到围绕z轴的优选旋转角度。

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