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1. 发明申请

US20220250258A1 ARTICULATING GRIPPER TOOLING 有权
公开(公告)号：US20220250258A1
公开(公告)日：2022-08-11
申请号：US17727228
申请日：2022-04-22
申请人： PHD, Inc.
发明人： Tod A. Gunder
IPC分类号： B25J15/08
摘要： A gripping device for gripping a workpiece includes: at least one gripping element configured for contacting the workpiece, the at least one gripping element including a shaft; at least one articulating finger jaw; a mounting block connecting the shaft to the at least one articulating finger jaw, the mounting block including an articulation stop having a first stopping surface and a second stopping surface; and a stopping member connected to the shaft, the stopping member being configured for contacting one of the first stopping surface and the second stopping surface to limit a rotation of the shaft relative to the mounting block, the stopping member being in the form of a fastener which is inelastic.

2. 发明授权

US11312022B2 Autonomously encapsulating gripper tooling 有权
公开(公告)号：US11312022B2
公开(公告)日：2022-04-26
申请号：US16430724
申请日：2019-06-04
申请人： PHD, Inc.
发明人： Matthew R. Williams
IPC分类号： B25J15/00 , B25J15/10 , B25J15/02
摘要： A gripper tooling including a gripper, at least one slider, and at least one tooling member configured for gripping a workpiece. Each tooling member including a base slideably mounted to the at least one slider, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, an adducting tendon having a proximal end attached to the at least one slider and a distal end attached to the distal segment, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment. The at least one tooling member is configured for autonomously gripping the workpiece as the at least one jaw moves toward the workpiece and the at least one tooling member autonomously returns to an ungripped position as the at least one jaw moves away from the workpiece.

3. 发明授权

US10780575B2 Robot end effector cuff 有权
公开(公告)号：US10780575B2
公开(公告)日：2020-09-22
申请号：US15979647
申请日：2018-05-15
申请人： PHD, Inc.
发明人： Cale M. Reese , James M. Davis , Brian M. Sutter , Scott A. Shepherd
IPC分类号： B25J9/08 , B25J15/00 , B25J19/00 , B25J18/00
摘要： A robotic system including a robot and an end effector cuff connected to the robot. The end effector cuff has a body and includes at least one fluid inlet, at least one fluid port fluidly connected to the at least one fluid inlet, at least one fluid valve fluidly connected to the at least one fluid port and housed within the body of the end effector cuff, and an electronic control unit operably coupled to the robot and housed within the body of the end effector cuff. The robotic system also includes an end effector connected to the end effector cuff.

4. 发明授权

US09796096B2 Gripper with indexable speed reducer 有权
公开(公告)号：US09796096B2
公开(公告)日：2017-10-24
申请号：US15266314
申请日：2016-09-15
申请人： PHD, Inc.
发明人： Matthew R. Williams
IPC分类号： B25J15/02 , B25J15/04 , B25J15/00 , B25J9/08
CPC分类号： B25J15/026 , B25J9/08 , B25J15/0028 , B25J15/0408
摘要： A gripper for a robot has a gripper mechanism with a jaw motion input, and a motor speed reducer combination including a speed reducer and a motor. The speed reducer has a motion output. The gripper mechanism has a first pattern of mounting features arranged about the jaw motion input. The speed reducer has a second pattern of mounting features arranged about the motion output. The first pattern of mounting features and the second pattern of mounting features are arranged so that the motor reducer combination may be mounted to the gripper mechanism in at least four indexed positions about the motion output and the jaw motion input.

5. 发明申请

US20160008936A1 PIN CLAMP WITH MULTI-THICKNESS CLAMPING FEATURE 有权
标题翻译：具有多重钳位功能的PIN夹
公开(公告)号：US20160008936A1
公开(公告)日：2016-01-14
申请号：US14858645
申请日：2015-09-18
申请人： PHD, Inc.
发明人： Bruce D. McIntosh , Paul J. Nicholson
IPC分类号： B23Q3/06 , B25B5/08
CPC分类号： B23Q3/062 , B25B5/087
摘要： A pin clamp for clamping a workpiece includes a housing having a longitudinal axis and a locating pin extending through the housing. The locating pin is sized to be positioned within an opening of the workpiece. A finger is positioned adjacent to the locating pin and movable in a transverse direction relative to the longitudinal axis to retain the workpiece on the locating pin. An exterior driving linkage is configured to move the locating pin in opposite directions along the longitudinal axis. A locking arrangement is carried by the housing. A sequence cam is connected with the exterior driving linkage thereby allowing axial movement of the exterior driving linkage to be converted into transverse movement of the sequence cam. The sequence cam includes an engagement surface which engages the locking arrangement to lock the locating pin and the finger against the workpiece upon retraction of the exterior driving linkage.
摘要翻译：用于夹紧工件的销夹具包括具有纵向轴线的壳体和延伸穿过壳体的定位销。定位销的尺寸设置成位于工件的开口内。手指定位成邻近定位销，并可相对于纵向轴线在横向方向上移动，以将工件保持在定位销上。外部驱动连杆构造成沿着纵向轴线沿相反方向移动定位销。锁定装置由壳体承载。顺序凸轮与外部驱动连杆连接，从而允许外部驱动联动装置的轴向移动，以转换成顺序凸轮的横向移动。顺序凸轮包括接合表面，该接合表面与锁定装置接合，以在缩回外部驱动连杆时将定位销和手指锁定在工件上。

6. 发明授权

US09168621B2 Pin clamp with multi-thickness clamping feature 有权
标题翻译：多夹紧钳夹
公开(公告)号：US09168621B2
公开(公告)日：2015-10-27
申请号：US13653803
申请日：2012-10-17
申请人： Bruce D. McIntosh
发明人： Bruce D. McIntosh
IPC分类号： B23Q3/08 , B25B5/08
CPC分类号： B25B5/087 , B23Q3/08
摘要： A pin clamp for clamping a workpiece includes a housing and a locating pin extending through the housing and having a longitudinal axis. The locating pin is sized to be positioned within an opening of the workpiece. A finger is positioned adjacent to the locating pin and movable in a transverse direction relative to the longitudinal axis to retain the workpiece on the locating pin. A linear actuator is configured to move the locating pin in opposite directions along the longitudinal axis. A locking arrangement is carried by the housing. A sequence cam is connected with the linear actuator in a manner allowing axial movement of the linear actuator to be converted into transverse movement of the sequence cam. The sequence cam includes an engagement surface which engages the locking arrangement to lock the locating pin and the finger against the workpiece upon retraction of the linear actuator.
摘要翻译：用于夹紧工件的销夹具包括壳体和延伸穿过壳体并具有纵向轴线的定位销。定位销的尺寸设置成位于工件的开口内。手指定位成邻近定位销，并可相对于纵向轴线在横向方向上移动，以将工件保持在定位销上。线性致动器构造成沿着纵向轴线沿相反方向移动定位销。锁定装置由壳体承载。顺序凸轮以线性致动器的轴向移动方式与线性致动器连接以转换成顺序凸轮的横向移动。顺序凸轮包括接合表面，该接合表面接合锁定装置，以在线性致动器缩回时将定位销和手指锁定在工件上。

7. 发明授权

US08366085B2 Pin locating assembly 有权
标题翻译：针定位组件
公开(公告)号：US08366085B2
公开(公告)日：2013-02-05
申请号：US12142431
申请日：2008-06-19
申请人： Clinton L. Alexander , Parag Patwardhan , Bruce D. McIntosh
发明人： Clinton L. Alexander , Parag Patwardhan , Bruce D. McIntosh
IPC分类号： B23Q3/08
CPC分类号： B23Q16/00
摘要： A locating pin assembly is provided. The assembly includes a body and a cylinder assembly for moving a ram in a reciprocally linear manner. A bearing is coupled to the ram and configured to engage a bearing wedge to reduce “play” between the ram and the assembly. Illustratively, the bearing and bearing wedge reduce or substantially eliminate this “play” to prevent axial rotation of the ram.
摘要翻译：提供定位销组件。组件包括主体和用于以往复线性方式移动冲头的气缸组件。轴承联接到冲头并且构造成接合轴承楔以减少冲头和组件之间的间隙。说明性地，轴承和轴承楔减少或基本上消除了这种冲击，以防止冲头的轴向旋转。

8. 发明授权

US07290478B2 Stop for a slide assembly 有权
标题翻译：停止滑动组件
公开(公告)号：US07290478B2
公开(公告)日：2007-11-06
申请号：US11340121
申请日：2006-01-26
申请人： Matthew R. Williams , Cale M. Reese , Clyde W. Sprowl
发明人： Matthew R. Williams , Cale M. Reese , Clyde W. Sprowl
IPC分类号： F15B15/24 , F15B15/00
CPC分类号： F16D63/008 , F16C29/00
摘要： A rodless slide assembly is provided illustratively having a longitudinally-extending cylinder, a carriage, a stop assembly, and a catch assembly. The longitudinally-extending cylinder comprises first and second ends and a path of travel extending therebetween. The carriage is slidable on the path of travel on the cylinder between the first and second ends. The stop assembly comprises a stop block and is coupled to the carriage. In one embodiment the catch assembly includes a catch bar and an actuator assembly. The catch bar is located adjacent the path of travel of the carriage. The actuator assembly selectively moves the catch bar to engage the stop block and stop the carriage when the carriage is positioned at a selected location on the path of travel.
摘要翻译：提供无杆滑动组件，其示例性地具有纵向延伸的气缸，滑架，止动组件和止动组件。纵向延伸的气缸包括第一和第二端以及在它们之间延伸的行进路径。滑架可在第一和第二端之间的气缸上行进的路径上滑动。止动组件包括止动块并且联接到滑架。在一个实施例中，捕捉组件包括捕捉杆和致动器组件。卡扣座位于靠近马车行驶路径的地方。致动器组件选择性地移动卡扣杆以接合止动块并且当滑架位于行进路径上的选定位置时停止托架。

9. 发明授权

US07188879B2 Slide gripper assembly 失效
标题翻译：滑动夹具组件
公开(公告)号：US07188879B2
公开(公告)日：2007-03-13
申请号：US11062531
申请日：2005-02-22
申请人： Bruce D. McIntosh , Kenneth A. Steele , William David Givens , William E. Davenport
发明人： Bruce D. McIntosh , Kenneth A. Steele , William David Givens , William E. Davenport
IPC分类号： B25J15/08
CPC分类号： B25J9/144 , B25J15/0206
摘要： A slide gripper assembly is provided having a slide assembly coupled to a gripper assembly. The slide assembly extends and retracts the gripper assembly. A bracket assembly is coupled to the slide and gripper assemblies to move the gripper assembly relative to the slide assembly. The Bracket assembly may comprise an at least partially-spherical head which may be coupled to the gripper assembly to allow movement of the same relative to the slide assembly.
摘要翻译：提供了具有联接到夹持器组件的滑动组件的滑动夹具组件。滑动组件延伸和缩回夹具组件。支架组件联接到滑块和夹具组件以相对于滑动组件移动夹具组件。支架组件可以包括至少部分球形的头部，其可以联接到夹持器组件以允许其相对于滑动组件的移动。

10. 发明授权

US06948708B2 Gripper provided with an adjustable sensor assembly 有权
标题翻译：夹具配有可调式传感器组件
公开(公告)号：US06948708B2
公开(公告)日：2005-09-27
申请号：US10398291
申请日：2002-03-15
申请人： Steven M. Moilanen , William D. Givens , Bruce D. McIntosh
发明人： Steven M. Moilanen , William D. Givens , Bruce D. McIntosh
IPC分类号： B25B5/08 , B25B5/16 , B25J13/08 , B25J15/02 , B25J19/02 , B23Q3/08
CPC分类号： B25J19/02 , B25B5/087 , B25B5/16 , B25J13/088 , B25J15/0226
摘要： A fluid actuated parts gripper assembly is provided. The fluid actuated parts gripper assembly has a pair of opposable pivoting jaw members, a fluid driven actuator, a linkage structure, a sensor target, a mounting and a sensor. The linkage structure is driven by the fluid driven actuator and is coupled to at least one of the pair of opposable jaw members. The sensor target is coupled to the linkage structure and is movable therewith. The mounting is located adjacent the sensor target and the sensor is mounted on the mounting configured to detect the sensor target.
摘要翻译：提供流体致动部件夹持器组件。流体驱动部件夹持器组件具有一对可旋转的枢转爪构件，流体驱动致动器，连杆结构，传感器目标，安装件和传感器。连杆结构由流体驱动的致动器驱动并且联接到一对可相对的钳口构件中的至少一个。传感器目标件联接到连杆结构并且可随之移动。安装件位于传感器目标附近，传感器安装在配置为检测传感器目标的安装件上。

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