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1. 发明申请

US20180272543A1 ROBOTIC APPARATUS, INTERCHANGEABLE TOOL, AND METHOD FOR CONTROLLING ROBOTIC APPARATUS 审中-公开
公开(公告)号：US20180272543A1
公开(公告)日：2018-09-27
申请号：US15922590
申请日：2018-03-15
申请人： CANON KABUSHIKI KAISHA
发明人： Naonori Kayama , Yoshiyuki Miyazaki
IPC分类号： B25J15/04 , B25J9/16 , B25J15/00
CPC分类号： B25J15/0475 , B25J9/1682 , B25J9/1687 , B25J9/1694 , B25J15/0004 , B25J15/0416 , B25J15/0433 , G05B2219/40053 , G05B2219/40583
摘要： An interchangeable tool including a finger of a shape suitable for various components is mechanically detachably mounted to a robot arm. This eliminates the need for seeking the origin of the actuator for each interchange. By interchanging fingers themselves, the entire end effector can be reduced in size and weight.

2. 发明申请

US20180117776A1 Automated Digit Interchange 审中-公开
公开(公告)号：US20180117776A1
公开(公告)日：2018-05-03
申请号：US15853695
申请日：2017-12-22
申请人： X Development LLC
发明人： Marc Strauss , David Youmans , Scott Stanford
IPC分类号： B25J15/08 , B25J15/04
CPC分类号： B25J15/0475 , B25J15/0408 , B25J15/0433 , B25J15/08
摘要： A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.

3. 发明授权

US09855663B1 Automated digit interchange 有权
公开(公告)号：US09855663B1
公开(公告)日：2018-01-02
申请号：US15186393
申请日：2016-06-17
申请人： X Development LLC
发明人： Marc Strauss , David Youmans , Scott Stanford
IPC分类号： B25J15/04 , B25J15/08
CPC分类号： B25J15/0475 , B25J15/0408 , B25J15/0433 , B25J15/08
摘要： A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.

4. 发明申请

US20170173789A1 ADAPTABLE END EFFECTOR AND METHOD 审中-公开
公开(公告)号：US20170173789A1
公开(公告)日：2017-06-22
申请号：US15378298
申请日：2016-12-14
申请人： Comau LLC
发明人： Velibor Kilibarda , Bryan Finzel , Michael R. Dugas
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J13/085 , B25J15/0028 , B25J15/0033 , B25J15/0047 , B25J15/0061 , B25J15/0475 , B25J15/103 , B25J19/023 , G05B2219/39466 , G05B2219/39486 , G05B2219/39487 , G05B2219/39496 , G05B2219/39559
摘要： An adaptable end effector useful to accommodate a wide variety of components, component geometries and variations in component geometries. In one example, the end effector includes a movable arm and at least three fingers each having a gripping tool for engagement of the component with variable and/or programmable holding force preventing relative movement.

5. 发明授权

US09616580B2 End effector for a robotic arm 有权
公开(公告)号：US09616580B2
公开(公告)日：2017-04-11
申请号：US13841006
申请日：2013-03-15
申请人： Sarcos LC
发明人： Fraser M. Smith , Michael Morrison , Glenn Colvin, Jr. , Wayco Scroggin
IPC分类号： B25J15/10 , B25J15/00 , B25J13/08 , B25J15/04
CPC分类号： B25J15/0066 , B25J13/086 , B25J15/0475 , B25J15/10 , Y10S901/30 , Y10S901/39
摘要： An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.

6. 发明授权

US08939487B2 Gripping device 有权
标题翻译：夹紧装置
公开(公告)号：US08939487B2
公开(公告)日：2015-01-27
申请号：US13702856
申请日：2011-06-07
申请人： Abraham Gijsbert De Koning
发明人： Abraham Gijsbert De Koning
IPC分类号： B66C1/42 , B25J15/00 , B25J15/02 , B25J15/04
CPC分类号： B25J15/0028 , B25J15/02 , B25J15/0475 , Y10S901/31 , Y10S901/36
摘要： A gripping device (4) is attached to a robot arm (2). The gripping device (4) consists of a housing (6) and two gripping finger sockets (9,10) which can be displaced linearly with respect thereto. Each gripping finger socket (9, 10) is provided with an electric or pneumatic coupling for various gripping fingers (17, 27, 37) that can be connected. A rotating drive (13) is present between the gripping finger sockets (9, 10) on which a tool can be placed for releasing or attaching a fastening apparatus, such as a bolt. With this relatively simple construction, weights of several hundred kilos can be lifted and positioned accurately, for example in a processing machine.
摘要翻译：夹持装置（4）附接到机器人手臂（2）。夹持装置（4）包括壳体（6）和两个可相对于其线性移位的夹持指套（9,10）。每个夹持指套（9,10）设置有用于可连接的各种夹持爪（17,27,37）的电动或气动联接器。旋转驱动器（13）存在于夹持手指插孔（9,10）之间，工具可以放置在其上以释放或附接诸如螺栓的紧固装置。通过这种相对简单的结构，例如在加工机器中可以将数百公斤的重量提升和定位。

7. 发明申请

US20140105719A1 CHUTE ARRANGEMENT WITH STRIP-OFF FEATURE 有权
标题翻译： CHUTE安排与条纹功能
公开(公告)号：US20140105719A1
公开(公告)日：2014-04-17
申请号：US14055601
申请日：2013-10-16
申请人： Beckman Coulter, Inc.
发明人： Martin Mueller , Lukas Bearden
IPC分类号： B65G11/02
CPC分类号： B25J15/10 , A61B50/36 , B25J15/0475 , B25J15/103 , B25J19/02 , B25J19/021 , B65B69/00 , B65G11/023 , G01B7/02 , G01B11/14 , G01F23/0061 , G01F23/2962 , G01G19/52 , G01N35/00732 , G01N35/0099 , G01S15/04 , Y10T29/49826
摘要： Embodiments of the invention provide systems and methods for a chute arrangement comprising an element for objects, such as, test tubes, caps, etc. released by a gripper unit such that the released objects may be collected in a container. The element may comprise a plurality of slots for a plurality of gripper fingers in the gripper unit to pass through. The element may be configured to restrain the object as the plurality of gripper fingers release the object.
摘要翻译：本发明的实施例提供了一种用于滑槽装置的系统和方法，其包括用于由夹持器单元释放的物体（例如，试管，帽等）的元件，使得释放的物体可以被收集在容器中。元件可以包括用于夹持器单元中的多个夹持器指状物的多个狭槽以通过。元件可以被配置为当多个夹爪指状物释放物体时约束物体。

8. 发明授权

US08602470B2 Gripper claw with replaceable gripper fingers 有权
标题翻译：夹爪用可更换夹爪的手指
公开(公告)号：US08602470B2
公开(公告)日：2013-12-10
申请号：US13549970
申请日：2012-07-16
申请人： Tino Bieler
发明人： Tino Bieler
IPC分类号： B66C1/42
CPC分类号： B25J15/026 , B25J15/0475
摘要： A gripper claw has replaceable gripper fingers and two gripper jaws each with a first jaw flange. The jaws are fastened to respective jaw flanges and are movable on linear guides, toward and away from one another. Each jaw has a holding mandrel, with holding cone. Each finger is reversibly insertable into one gripper jaw and has a finger base with depression complementary to a respective cone. The cone has a length that is at least one-third of its largest diameter, and its smallest diameter is at most 90% of the largest cone diameter. The jaws and the bases form a holding mechanism which holds the fingers in a stop position on a respective gripper jaw and they form a stabilizing mechanism that, with the holding cone, prevent tilting of the fingers.
摘要翻译：夹爪具有可更换的夹爪和两个夹爪，每个具有第一夹爪。钳口被紧固到相应的钳口凸缘上，并且可以在线性引导件上彼此朝向和远离地移动。每个钳口具有保持心轴，具有保持锥。每个手指可逆地插入到一个夹爪中，并具有带有与相应锥体互补的凹陷的手指基部。锥体的长度至少为其最大直径的三分之一，其最小直径为最大圆锥直径的至多90％。夹爪和基座形成保持机构，该保持机构将手指保持在相应夹持爪上的停止位置，并且它们形成稳定机构，与保持锥一起防止手指倾斜。

9. 发明申请

US20080135065A1 Automatically removing contaminants from a manufactured part 有权
标题翻译：自动从制造部件去除污染物
公开(公告)号：US20080135065A1
公开(公告)日：2008-06-12
申请号：US11636122
申请日：2006-12-08
申请人： Yi Zhao Yao , Sai H. Wong , Meng K. Leong , Siew W. Sum
发明人： Yi Zhao Yao , Sai H. Wong , Meng K. Leong , Siew W. Sum
IPC分类号： B08B3/02 , B08B13/00
CPC分类号： G11B25/043 , B08B3/02 , B08B11/00 , B25J9/1682 , B25J15/0475
摘要： Embodiments of the present invention pertain to automatically removing contaminants from a manufactured part. According to one embodiment, a first robotic arm automatically holds the manufactured part. A second arm automatically sprays the manufactured part with a solution that causes contaminants to be removed from the manufactured part. The solution is collected. The collected solution contains the contaminants that were removed from the manufactured part.
摘要翻译：本发明的实施例涉及从制造的部件中自动去除污染物。根据一个实施例，第一机器臂自动保持所制造的部件。第二臂自动地喷射制造的部件，使得可以从制造的部件移除污染物的溶液。收集解决方案。收集的溶液含有从制造的部件中除去的污染物。

10. 发明申请

US20080122155A1 Tensioning Or Gripping Device In Particular A Linear Or Centering Gripper 失效
标题翻译：拉紧或夹紧装置特别是线性或定心夹爪
公开(公告)号：US20080122155A1
公开(公告)日：2008-05-29
申请号：US11667409
申请日：2005-11-07
申请人： Wolfgang Wieland
发明人： Wolfgang Wieland
IPC分类号： B23Q3/00
CPC分类号： B25B1/2405 , B25J15/0475
摘要： A tensioning or gripping device in particular a linear or centering gripper, comprises at least one displaceable base jaw (14) and a false jaw (16) which may be placed on the base jaw (14), whereby the false jaw (16) comprises two coupling sections (22, 24), running at least in part perpendicular to the direction (20) of displacement of the base jaw (14) and arranged one behind the other in the direction (20) of displacement of the base jaw (14), for connection to the base jaw (14). The base jaw (14) comprises a spring-loaded pin (18), running in the direction (20) of displacement of the base jaw, which, with the false jaw (16) placed on the base jaw (14), acts against a coupling section (24) for retaining the false jaw (16), such that the other coupling section (22) is tensioned against a stop surface (26) arranged on the base jaw (14).
摘要翻译：张紧或夹持装置，特别是线性或定心夹持器，包括至少一个可移动的基座钳口（14）和可以放置在基座钳口（14）上的假颚板（16），由此假颚板（16）包括两个联接部分（22,24），其至少部分地垂直于基部钳口（14）的位移方向（20）延伸，并且在基部钳口（14）的位移方向（20）上彼此相邻地布置），用于连接到基座颚（14）。基座钳口（14）包括弹簧加载的销（18），该销弹簧沿基座钳位移位的方向（20）延伸，基座夹爪（16）放置在基座钳口（14）上，抵抗用于保持所述假颚部（16）的联接部分（24），使得所述另一个联接部分（22）被压靠在布置在所述基部颚板（14）上的止动表面（26）上。

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