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1. 发明公开

EP4359177A1 VACUUM GRIPPING SYSTEM WITH EXTENDING GRIPPER ARM 审中-公开
公开(公告)号：EP4359177A1
公开(公告)日：2024-05-01
申请号：EP22821038.1
申请日：2022-06-09
申请人： Plus One Robotics, Inc.
发明人： HVASS, Paul , CHURCHILL, Matt
IPC分类号： B25J15/06
CPC分类号： B25J15/0052 , B25J15/0616 , B25J17/0225

2. 发明授权

EP2939533B1 DOUBLE GRIPPER FOR THE APPLICATION OF TEAT CUPS TO AN ANIMAL TO BE MILKED, RINSE CUP FOR THIS AND MILKING MACHINE PROVIDED THEREWITH, AND A METHOD FOR MILKING 有权
公开(公告)号：EP2939533B1
公开(公告)日：2018-10-10
申请号：EP15166155.0
申请日：2015-05-03
申请人： Technologies Holdings Corporation
发明人： Hofman, Hendrik , van der Sluis, Peter
IPC分类号： A01J5/017 , A01J7/04
CPC分类号： A01J5/0175 , A01J7/04 , B25J11/0045 , B25J15/0052 , B25J15/0616 , F16B1/00 , F16B2001/0035 , Y10S901/40
摘要： This invention is related to a double grab, its rinsing cup and milking machine provided therewith, and the method for automatically applying teat cups to the teats of an udder of an animal to be milked. The double grab according to the invention includes: - a first housing part provided with a first magnet designed to hold a first teat cup; - a second housing part, installed substantially in a horizontal plane next to the first housing part, provided with a second magnet designed to hold a second teat cup; - whereby each housing part is provided with separate pivoting means that can be activated and is designed to make the related housing part pivot around a pivoting axis which in use, extends substantially in a horizontal direction, substantially in a widthwise direction of the arm.

3. 发明授权

EP3260231B1 GREIFER UND VERFAHREN ZUM GREIFEN VON ENDEN VON DRÄHTEN UND DRAHTSCHWEISSMASCHINE UND ROBOTER MIT DERARTIGEN GREIFERN 有权
公开(公告)号：EP3260231B1
公开(公告)日：2018-08-29
申请号：EP16175331.4
申请日：2016-06-20
申请人： Ideal-Werk C. & E. Jungeblodt GmbH & Co.KG
发明人： JUNGEBLODT, Max Clemens
IPC分类号： B23K37/04 , B21F15/08 , B25J15/02 , B25J15/00 , B23K101/32
CPC分类号： B23K37/0435 , B21F15/08 , B23K2101/32 , B25J15/0052 , B25J15/0253

4. 发明授权

EP3153417B1 GRIPPER DEVICE 有权
公开(公告)号：EP3153417B1
公开(公告)日：2018-08-01
申请号：EP16190752.2
申请日：2016-09-27
申请人： Toyo Jidoki Co., Ltd.
发明人： YOSHIKANE, Tohru
IPC分类号： B65B43/32 , B65B43/46 , B65G47/86
CPC分类号： B25J15/0052 , B25J15/0028 , B65B43/32 , B65B43/465 , B65B59/00 , B65B59/005 , B65G47/847
摘要： A gripper device (10) includes: a carrier device (12) movably provided; a plurality of gripper pairs (16) attached to the carrier device (12) through supports (14); and a distance adjustment mechanism (20) that adjusts a distance between one gripper (31, 33) and another gripper (32, 34) included in each of the plurality of gripper pairs (16), wherein, the one gripper (31, 33) and the another gripper (32, 34) included in each of the plurality of gripper pairs (16) are attached to the carrier device (12) through a same support (14), and the distance adjustment mechanism (20) swings at least one of the one gripper (31, 33) and the another gripper (32, 34) included in each of the plurality of gripper pairs (16) around the same support (14) in such a manner that a distance between the one gripper (31, 33) and the another gripper (32, 34) is adjusted.

5. 发明授权

EP3266718B1 VERPACKUNGSMASCHINE MIT EINER ZWISCHENABLAGEEINRICHTUNG FÜR VERPACKTE PHARMAZEUTISCHE ERZEUGNISSE 有权转让
公开(公告)号：EP3266718B1
公开(公告)日：2018-07-25
申请号：EP16178561.3
申请日：2016-07-08
申请人： Mediseal GmbH
发明人： Lücke, Joachim , Schlenkermann, Hendrik
IPC分类号： B65B35/52 , B65G57/30 , B65G47/08 , B65B35/36 , B65B35/38
CPC分类号： B65B35/38 , B25J9/0093 , B25J15/0052 , B25J15/0616 , B65B35/50 , B65B2220/16 , B65G47/52 , B65G47/914

6. 发明公开

EP3215319A4 AN INTEGRATED GRIPPER AND A ROBOT 审中-公开
公开(公告)号：EP3215319A4
公开(公告)日：2018-07-11
申请号：EP14905627
申请日：2014-11-07
申请人： ABB SCHWEIZ AG
发明人： HE XUEYING , YANG JUN , GUAN LIANGYONG , LI WENLONG
IPC分类号： B25J9/00 , B25J15/00 , B25J15/02 , B25J15/06 , B25J19/02
CPC分类号： B25J19/023 , B25J15/0052 , B25J15/026 , B25J15/0625 , B25J15/0658
摘要： An integrated gripper(10) is disclosed. The integrated gripper comprises a kernel processor(20), a servo gripper finger member(30), a pneumatic member(40) and an interface member(50); the servo gripper finger member(30) comprises at least two fingers(31), a servo actuator(32), and a motor(33), the fingers(32) being driven by the motor(33) to grip and/or move an object; the pneumatic member, comprising a cup(41), a vacuum generator(42) and a pneumatic actuator(43), is configured to suck and/or blow off an object; the kernel processor(20) is configured to control the servo actuator(32) of the servo gripper finger member(30) and the pneumatic actuator(43) of the pneumatic member(40); and the interface member(50) comprises a power supply interface(51), a bus interface(52) and an air input interface(53), the power supply interface(51), the bus interface(52) and the air input interface(53) being connected to a power supply, a bus and an air input respectively. A robot comprising the integrated gripper is also disclosed. Compared with the existing prior art, the proposed solution makes the gripper more functional with compact solution and makes the robot system more flexible.

7. 发明公开

EP3186175A4 ROBOTIC CARTON UNLOADER 有权
公开(公告)号：EP3186175A4
公开(公告)日：2018-05-09
申请号：EP15835314
申请日：2015-08-26
申请人： INTELLIGRATED HEADQUARTERS LLC
发明人： GIRTMAN MICHAEL
IPC分类号： B25J9/00 , B25J9/16 , B25J15/00 , B25J15/06 , B65G13/00 , B65G43/00 , B65G47/04 , B65G59/02 , B65G59/04 , B65G67/24
CPC分类号： B25J15/0616 , B25J9/0093 , B25J9/1687 , B25J15/0052 , B65G59/023 , B65G59/04 , B65G67/24
摘要： A robotic carton unloader for automatic unloading of cartons from a carton pile. In various embodiments, a robotic carton unloader may include a mobile body, a movable robotic arm attached to the mobile body and comprising an end effector, a conveyor system having a front portion, and a lift attached to the mobile body and the front portion of the conveyor system to move the front portion. In some embodiments, the conveyor system may comprise a front-end shelf conveyor configured to be moved (e.g., raised, lowered, laterally moved, tilted, etc.) relative to the body of the unloader. The front-end shelf conveyor may be moved separately for positioning below the robotic arm in order to receive cartons from a small distance. The front-end shelf conveyor may be moved via various mechanisms (e.g., scissor lifts, pedestal lifts, etc.).

8. 发明公开

EP3296067A1 PART SUPPORT APPARATUS, CONTROL METHOD, AND MANUFACTURING METHOD 有权
标题翻译：部件支撑装置，控制方法和制造方法
公开(公告)号：EP3296067A1
公开(公告)日：2018-03-21
申请号：EP17001492.2
申请日：2017-09-06
申请人： Hirata Corporation
发明人： Kozaki, Masaru
IPC分类号： B25J9/00 , B25J21/00
CPC分类号： B25J9/1682 , B23P21/00 , B25J9/0084 , B25J9/06 , B25J9/1602 , B25J9/1669 , B25J15/0052 , B25J15/0206 , B25J18/007 , B25J21/00
摘要： A part support apparatus (1) for supporting a plurality of parts which form a product by being connected to each other includes a plurality of support robots (3A - 3H) arranged in a work space (S) and supporting the plurality of parts, a control unit (6, 61a) controlling the plurality of support robots, and a storage unit (61b) storing a form pattern of each support robot corresponding to a type of a product. Each of the plurality of support robots includes a support unit (30) supporting a part, and a multiaxial robot (31) to which the support unit is attached, and which changes the posture and position of the support unit. The control unit controls the posture and position of each support unit by the multiaxial robot based on the form pattern, such that the plurality of parts are arranged to be connectable to each other.
摘要翻译：用于支承多个形成通过连接到彼此产品部件的一部分支撑装置（1）包括多个支撑机器人 - 设置在一个工作空间（S）（3A 3H）和支撑所述多个部分，一个控制所述多个支援机器人的控制部（6,61a）;以及存储与各产品的种类对应的各支援机器人的表格模式的存储部（61b）。多个支撑机器人中的每一个包括支撑部件的支撑单元（30）以及附接有支撑单元的多轴机器人（31），并且改变支撑单元的姿态和位置。控制单元基于形状图案通过多轴机器人控制每个支撑单元的姿态和位置，使得多个部件被布置为可彼此连接。

9. 发明公开

EP3236511A1 VERFAHREN UND VORRICHTUNG ZUM ENTNEHMEN VON BATTERIEZELLEN AUS EINER RECHTECKIGEN UMVERPACKUNG 审中-公开
标题翻译：用于从矩形替换中去除电池的方法和装置
公开(公告)号：EP3236511A1
公开(公告)日：2017-10-25
申请号：EP17152753.4
申请日：2017-01-24
申请人： Manz AG
发明人： FREUNDT, Dr. Martin , MAURER, Martin , HEIM, Alexander
IPC分类号： H01M2/10 , H01M10/04
CPC分类号： H01M2/1077 , B25J15/0052 , B65B69/00 , H01M10/0404
摘要： Ein Verfahren und eine Vorrichtung (10) zum schnellen Entnehmen von Batteriezellen (13) aus einer rechteckigen Umverpackung (12) und Ablegen auf einem Zielträger (15), wobei mindestens zwei Greifer (17, 18) an einer gemeinsamen Achse (19) drehbar angeordnet sind und im Wechsel Zeilen (14) von Batteriezellen (13) aus der Umverpackung (12) entnehmen und auf dem Zielträger (15) absetzen.
摘要翻译：一种方法和对于矩形外包装的快速拆卸的电池单元（13）（12）以及沉积的目标载波（15）上的设备（10），其中至少两个夹具（17，18）可旋转地布置在一个共同的轴（19）并从外包装（12）移除电池单元（13）的交替线（14）并沉降在目标载体（15）上。

10. 发明公开

EP3228566A1 DEVICE FOR PICKING ARTICLES 有权
标题翻译：设备捡物品
公开(公告)号：EP3228566A1
公开(公告)日：2017-10-11
申请号：EP17164151.7
申请日：2017-03-31
申请人： CT Pack S.R.L.
发明人： DAVI, Daniele , PALLARA, Michele
IPC分类号： B65G47/91
CPC分类号： B25J15/0052 , B25J15/0616 , B65G47/914 , B65G47/918
摘要： Described is a device for picking articles (1) comprising a supporting unit (2) and a plurality of gripper heads (3) equipped with respective means (4) for gripping an article and movable relative to the supporting unit (2) along a picking direction (Z).
The gripper heads (3) are divided into at least first gripper heads (3a) and second gripper heads (3b).
The device (1) comprises at least a first picking unit (100), applied to the supporting unit (2) and on which the first gripper heads (3a) are positioned in mutually aligned configuration along a first alignment direction (X), and a second picking unit (200), applied to the supporting unit (2) and on which the second gripper heads (3b) are positioned in mutually aligned configuration along a second alignment direction (Y) transversal to the first alignment direction (X).
摘要翻译：描述了一种用于拾取物品（1）的装置，该装置包括支撑单元（2）和配备有用于抓取物品的相应装置（4）的多个抓取头（3），并且该抓取头可以相对于支撑单元（2）方向（Z）。抓爪头（3）分成至少第一抓爪头（3a）和第二抓爪头（3b）。所述装置（1）至少包括施加到所述支撑单元（2）上的第一拾取单元（100），并且所述第一夹具头（3a）沿着第一对准方向（X）以相互对齐的配置定位在所述第一拾取单元（100）上，以及第二拾取单元（200），所述第二拾取单元（200）施加到所述支撑单元（2）并且所述第二夹具头（3b）沿着与所述第一对准方向（X）横向的第二对准方向（Y）以相互对齐的配置定位在所述第二拾取单元上。

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