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1. 发明公开

EP2720597A1 METHOD AND SYSTEM FOR CLEANING OF CROCKERY, USING ELECTRONIC VISION SYSTEM AND MANIPULATOR 有权
标题翻译：方法和系统清洗器皿由电子系统和机械手SIGHT
公开(公告)号：EP2720597A1
公开(公告)日：2014-04-23
申请号：EP12730687.6
申请日：2012-06-14
申请人： Kampri Support B.V.
发明人： KAMPHUIS, Willem Ernst Hendrik
IPC分类号： A47L15/24 , B25J5/00 , G06K9/00 , B25J15/02
CPC分类号： A47L15/241 , B25J11/0085 , B25J15/0004 , B25J15/0028 , B25J15/0057 , B25J15/026 , G06K9/48 , G06T7/73 , G06T2207/30108
摘要： Ina method and system of cleaning dirty crockery, gripping positions of supplied items of the dirty crockery are detected by an electronic vision system. An item of crockery is gripped by a gripper member of a manipulator. The gripper member has a gripper body, and a pair of fingers extending from the gripper body. Each finger has an end carrying a clamping member. The fingers are movable towards one another for gripping the item of crockery. The clamping members are rotated around an axis parallel to a line connecting the ends of the fingers for changing the orientation of the item of crockery. The gripped item of crockery is placed in a basket, which is fed into a washing machine. The electronic vision system comprises a camera for taking an image of the item of crockery, a processor for analyzing the image, and a memory for storing dimensions and shapes of edges of different types of crockery. The processor is configured to detect a shape in the image, determine a dimension corresponding to the shape in the image, and compare the dimension corresponding to the shape in the image with the stored dimensions of shapes of the different types of crockery. If the dimension corresponding to the shape in the image is substantially equal to a stored dimension of an edge of a particular type of crockery, then the shape in the image is identified as the edge of the particular type of crockery.

2. 发明授权

EP2433760B1 Hand and robot 有权
标题翻译：手和机器人
公开(公告)号：EP2433760B1
公开(公告)日：2013-02-13
申请号：EP11180431.6
申请日：2011-09-07
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Kubota, Yoshiaki , Dan, Yoichiro , Tijiwa, Jun
IPC分类号： B25J15/00 , B25J15/02
CPC分类号： B25J15/026 , B25J15/0004 , B25J15/0028

3. 发明授权

EP2170748B1 GRIPPER 有权
标题翻译：抓斗
公开(公告)号：EP2170748B1
公开(公告)日：2010-08-18
申请号：EP08766772.1
申请日：2008-06-04
申请人： FPS Food Processing Systems B.V.
发明人： CREZEE, Leonardus Paulus
IPC分类号： B65G47/90 , B25J15/00
CPC分类号： B65G47/90 , B25J15/0004 , B25J15/10

4. 发明公开

EP0479847A1 GRIPPING AND MANIPULATING DEVICE AND HANDLING METHOD 失效
标题翻译：夹持和操纵装置和操作程序的。
公开(公告)号：EP0479847A1
公开(公告)日：1992-04-15
申请号：EP90909756.0
申请日：1990-06-28
申请人： NATIONAL RESEARCH DEVELOPMENT CORPORATION
发明人： BILLINGTON, William Peter , BROWN, Frank Raymond
IPC分类号： B25J15 , A01H4
CPC分类号： A01H4/001 , B25J15/0004
摘要： Appareil pour saisir et manipuler un végétal de petite taille pendant les opérations de micro-propagation. Cet appareil se compose d'une paire de rouleaux en porte-à-faux (20, 20A) faisant saillie à partir d'une paire d'éléments de soutien (15 et 15A) montés de manière à pouvoir pivoter sur un châssis secondaire (1). Chacun des rouleaux est actionné par un moteur pas-à-pas (23). On peut ainsi les rapprocher ou les éloigner l'un de l'autre en faisant pivoter les éléments de soutien au moyen d'un cylindre pneumatique (34). La plante peut être saisie par un mouvement contrôlé des rouleaux qui s'approchent ou s'éloignent l'un de l'autre et peut être soulevée par rotation de ceux-ci en sens inverse. On peut aussi imprimer aux rouleaux un autre mouvement en déplaçant l'un d'entre eux (20A) dans la direction de son axe de rotation.

5. 发明公开

EP0115602A1 Vorrichtung zum Manipulieren von Werkstücken 失效
标题翻译：装置用于操纵工件。
公开(公告)号：EP0115602A1
公开(公告)日：1984-08-15
申请号：EP83112473.0
申请日：1983-12-12
申请人： Hämmerle AG
发明人： Ragettli, Christian , Frei, Theo
IPC分类号： B21D5/02 , B21D43/10 , B25J11/00 , B25J15/02
CPC分类号： B21D43/105 , B21D5/0281 , B25J9/10 , B25J15/0004
摘要： Mit dieser Vorrichtung können vor allem schwere und unhandliche Blechtafeln (28) ohne menschliche Kraft von einer Stapeleinrichtung übernommen und einer Abkantpresse (1) für die Bearbeitung zugeführt werden. Mittels drehbarer, an einem auf und ab bewegbaren Zangenschlitten (20) angeordneter Zangen (24), hin und her bewegbarer erster Horizontalschlitten (9), vor- und rückbewegbarer zweiter Horizontalschlitten (16) und einer Drehvorrichtung (39) läßt sich jede Blechtafel (28) um eine horizontale Zangenachse (25) direkt wenden und/oder in der Ebene der Blechtafel (28) mit einem neuen Fassen indirekt drehen. Die normalerweise mittels zwei Zangen (24) gehaltene Blechtafel (28) wird unter der Zangenachse (25) durch eine mehrteilige, von zwei unabhängig bewegbaren Blechstützenschlitten (21) getragene Blechstütze (29, 30) unterstützt. Damit ist es möglich, jede Kante der Blechtafel (28) für Aufwärts- und/oder Abwärtsbüge in den Arbeitsbereich des Werkzeugstempels (3) zu führen und die Blechtafel (28) auch während des Arbeitsganges zu halten.
摘要翻译：在该装置中，特别是笨重的金属片（28）可以从堆叠器转移无需人工力和压制动器（1），用于处理被提供。通过旋转的装置，布置在可上下移动的钳托架（20）的夹具（24）往复运动的第一水平滑动（9），上游和rückbewegbarer第二水平托架（16）和转动装置（39）可以是任何的金属板（28 接触）（绕水平轴钳子25）直接和/或用新的把握间接（在板28）的平面转动。常由两个夹具（24）来保持金属片（28）被支撑在所述钳轴线（25）由多个部分组成的，由两个独立的可移动的纸张支撑托架（21）由片材支撑件（29，30）承载。这使得有可能在操作过程中引导所述板（28）的每个边缘向上和/或Abwärtsbüge到工具冲头（3）的工作区域，并保持金属板（28）也。

6. 发明授权

EP2660015B1 Greifer 有权转让
标题翻译：抢
公开(公告)号：EP2660015B1
公开(公告)日：2015-03-11
申请号：EP12166334.8
申请日：2012-05-02
申请人： GLP systems GmbH
发明人： Hecht, Robert, Dr. , Ladda, Christian
IPC分类号： B25J15/00 , B25J15/08
CPC分类号： B25J15/086 , B25J15/0004 , B25J15/0028 , B25J15/026 , B25J15/106

7. 发明授权

EP1947675B1 Manipulator for rotating and translating a sample holder 有权
标题翻译：操纵器用于旋转和移动样品架
公开(公告)号：EP1947675B1
公开(公告)日：2009-03-25
申请号：EP08150440.9
申请日：2008-01-21
申请人： FEI COMPANY , The Regents of the University of California , Board of Trustees at the University of Illinois
发明人： Duden, Thomas , Schmid, Andreas , Petrov, Ivan , Donchev, Todor , Olson, Eric , Van de Water, Jeroen , Wagner, Raymond , Van den Oetelaar, Johannes , Bruggers, Jan Willem , Slingerland, Hendrik , Ottevanger, Adriaan
IPC分类号： H01J37/20 , B25J7/00 , G01N23/22 , G02B21/32 , H01L41/09
CPC分类号： H01J37/20 , B25J7/00 , B25J15/0004

8. 发明公开

EP0638396A2 A rapid attachment device for a manipulator head 失效
标题翻译： Schnellkupplungseinrichtungfüreinen Werkzeugkopf eines机械手。
公开(公告)号：EP0638396A2
公开(公告)日：1995-02-15
申请号：EP94113770.5
申请日：1990-12-19
申请人： AMADA COMPANY LIMITED
发明人： Sartorio, Franco , Ballesio, Bruno , Vergano, Stefano
IPC分类号： B25J15/04 , B25J19/06
CPC分类号： B25J15/04 , B25J15/0004 , B25J17/0208 , Y10S294/902
摘要： A transmission coupling for manipulator head includes a support body (50) connected to the manipulator head (4), an intermediate transmission member (76) slidable on the support body (50) along a first line (C), and an attachment member (28) slidable on the intermediate member (76) along a second line (B)perpendicular to the first line. The attachment member can pivot relative to the support body (50) about at least two mutually-perpendicular axes substantially parallel to the plane defined by the first and second lines. The present invention also relates to a rapid attachment device for an interchangeable tool for a manipulator head (104) include a base body (106) connected to the manipulator head and generating means for providing a force for retaining the tool (102). The base body and the tool have respective cooperating abutment surfaces which are kept in contact as a result of the force exerted by the generating means and are adapted to establish the position of the tool relative to the head along a first line of constraint. Constraining members (118,120) are provided for constraining the two degrees of freedom of the tool in a plane substantially perpendicular to the first line of constraint.
摘要翻译：用于机械手头（104）的可互换工具的快速附接装置包括连接到操纵器头部的基体（106）和用于提供用于保持工具（102）的力的发生装置。基体和工具具有相应的配合的邻接表面，其由于由发生装置施加的力而保持接触，并且适于沿着第一约束条件建立工具相对于头部的位置。提供约束构件（118,120）用于在基本上垂直于第一约束线的平面中约束工具的两个自由度。

9. 发明公开

EP0154552A2 Head and method for orienting electrical components 失效
标题翻译： Kopf zum Aufnehmen und Verfahren zum Ausrichten von elektrischen Bauelementen。
公开(公告)号：EP0154552A2
公开(公告)日：1985-09-11
申请号：EP85301550.1
申请日：1985-03-06
申请人： DYNAPERT PRECIMA LIMITED , EMHART ENTERPRISES CORP
发明人： Hawkswell, Victor Thomas
IPC分类号： H05K13/00
CPC分类号： H01L21/68 , B25J15/0004 , B25J15/103 , H01L21/6838 , Y10T29/53178 , Y10T29/53191
摘要： @ in known pick-up heads for orienting electrical components the component, supported by a pick-up tool, is engaged by a plurality of pairs of opposed jaws to urge the component into a desired orientation. When the components become oriented the pairs of jaws exert a slight gripping force on the component which can damage fragile components, for example so-called "chips". In the invention, a datum face (20) of the pick-up tool (14) against which the component (40) is supported has the same peripheral shape as the component (40) but each dimension is slightly larger than the corresponding dimension of the component (40) and orienting faces (42,44,46) of the jaws (16) are disposed to engage the periphery of the pick-up tool (14) when the component (40) is oriented so that the components (40) are not gripped between the pairs of jaws (16). Likelihood of damage is thus reduced.
摘要翻译：在用于定向电气部件的已知拾取头中，由拾取工具支撑的部件由多对相对的夹爪接合以将部件推动到期望的取向。当组件变得取向时，成对的夹爪对组件施加轻微的夹紧力，其可能损坏脆弱部件，例如所谓的“碎片”。在本发明中，所述部件被支撑的所述拾取工具的基准面具有与所述部件相同的外围形状，但是每个尺寸略大于所述部件的对应尺寸，并且所述夹爪的定向面被设置为接合当部件被定向成使得部件没有夹持在成对的夹爪之间时，拾取工具的周边。损害的可能性因此减少。

10. 发明公开

EP4410503A1 PICK-AND-PLACE SYSTEM AND METHOD 审中-公开
公开(公告)号：EP4410503A1
公开(公告)日：2024-08-07
申请号：EP24155263.7
申请日：2024-02-01
申请人： The Boeing Company
发明人： Zmeu, Sandra L. , Ahn, Jonathan Y. , Ball, Austin B. , Fritzke, Ricardo A. , Brown, Christopher R.
IPC分类号： B25J13/08 , B25J9/16 , B25J15/00 , B25J15/02 , B25J19/02 , B64F5/10 , B64F5/50 , B25J17/02
CPC分类号： B25J15/0061 , B25J15/0253 , B25J15/0004 , B25J9/1687 , B25J13/082 , B25J13/085 , B25J19/022 , B25J9/1612 , B25J13/089 , B25J17/0216 , B64F5/50 , B64F5/10 , G05B2219/4506320130101
摘要： A pick-and-place system includes a rigid elongate strongback, configured to be supported by a robotic arm of a robotic device. In addition, the pick-and-place system includes a plurality of actuator-clamp assemblies, mountable in spaced relation to each other on the strongback. Each actuator-clamp assembly includes one or more jaw assemblies, each configured to clamp onto a localized segment of a workpiece. Each actuator-clamp assembly also includes a multi-axis actuator, configured to couple the one or more jaw assemblies to the strongback and adjust an orientation of the localized segment prior to placement of the workpiece onto a mating structure.

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