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1. 发明授权

US06517132B2 Multifinger hand device 有权
标题翻译： Multifinger手动装置
公开(公告)号：US06517132B2
公开(公告)日：2003-02-11
申请号：US09824233
申请日：2001-04-03
申请人： Hiroshi Matsuda , Kazuhiro Kishimoto
发明人： Hiroshi Matsuda , Kazuhiro Kishimoto
IPC分类号： B25J1510
CPC分类号： B25J15/0009 , A61F2/583 , A61F2/586 , A61F2002/587 , A61F2002/701 , B25J15/08
摘要： A multifinger hand device has a plurality of finger mechanisms extending from a palm unit. The finger mechanisms include a finger mechanism corresponding to a thumb and other finger mechanisms. Joints of the finger mechanism corresponding to the thumb include a joint closest to the palm unit and having a rotational axis about which the joint is rotatable, the rotational axis extending substantially perpendicularly to the rotational axis of a joint, closest to the palm unit, of one of the other finger mechanisms. The joints, closest to the palm unit, of the other finger mechanisms have respective rotational axes about which the joints are rotatable and which are slightly inclined to each other and extend substantially perpendicularly to a main palm plate of the palm unit. The other finger mechanisms have link mechanisms closest to the palm unit which are fixed to the palm unit with their respective rotational axes being inclined to each other.
摘要翻译：多手指装置具有从手掌单元延伸的多个手指机构。手指机构包括对应于拇指和其他手指机构的手指机构。对应于拇指的手指机构的接头包括最靠近手掌单元的接头，并且具有旋转轴线，接头可围绕该旋转轴线旋转，旋转轴线基本上垂直于最靠近手掌单元的接头的旋转轴线延伸其他手指机制之一。最接近手掌单元的其它指状机构的接合部具有相应的旋转轴线，关节可绕其旋转并且彼此稍微倾斜并基本上垂直于手掌单元的主掌板延伸。其他手指机构具有最靠近手掌单元的连接机构，其固定到手掌单元，并且它们各自的旋转轴线彼此倾斜。

2. 发明授权

US06257636B1 Self-actuating mechanical grapple for lifting and handling objects 失效
标题翻译：用于提升和处理物体的自动机械抓斗
公开(公告)号：US06257636B1
公开(公告)日：2001-07-10
申请号：US09585538
申请日：2000-06-02
申请人： Gregory L. Hovis , Carl T. Etheredge, Jr.
发明人： Gregory L. Hovis , Carl T. Etheredge, Jr.
IPC分类号： B25J1510
CPC分类号： B66C1/66
摘要： A self-actuating mechanical grapple for lifting and handling an object includes a support housing with upper and lower portions and defining an internal recess. The lower portion of the housing includes a bottom opening which communicates with the recess. Preferably, two or three grapple jaws are provided, the first end portions of which are connected to the housing and the second end portions thereof remain free for engaging an object. The grapple jaws are pivotable between open and closed positions. An actuator member is slidably positioned in the recess for opening and closing the jaws, and includes a cam portion in operative engagement with the first end portions of the jaws in a manner to pivot the jaws when the actuator member moves axially relative to the housing. The actuator member includes a rotatable member with at least one contact member. A locking member or logic ring includes grooves defining open and closed positions of the jaws and is fixedly mounted to the internal surface of the housing and cooperates with the rotatable member. A plunger member is axially movable in the housing for contacting an object and includes at least one stud member for immovably engaging the contact member.
摘要翻译：用于提升和处理物体的自动致动机械抓斗包括具有上部和下部并且限定内部凹部的支撑壳体。壳体的下部包括与凹部连通的底部开口。优选地，设置两个或三个抓爪，其第一端部连接到壳体，并且其第二端部保持自由以接合物体。抓斗爪可在打开位置和关闭位置之间枢转。致动器构件可滑动地定位在凹部中，用于打开和关闭夹爪，并且包括凸轮部分，当致动器构件相对于壳体轴向移动时，凸轮部分以与夹爪的第一端部部分有效接合的方式枢转夹爪。致动器构件包括具有至少一个接触构件的可旋转构件。锁定构件或逻辑环包括限定夹爪的打开和关闭位置的槽，并且固定地安装到壳体的内表面并与可旋转构件配合。柱塞构件在壳体中可轴向移动以接触物体并且包括用于不可移动地接合接触构件的至少一个螺柱构件。

3. 发明授权

US06273485B1 Parallel pneumatic gripper with body and jaws obtained from extruded elements 失效
标题翻译：平行气动夹具，主体和夹爪由挤压件获得
公开(公告)号：US06273485B1
公开(公告)日：2001-08-14
申请号：US09293740
申请日：1999-04-16
申请人： Giuseppe Maffeis , Giuseppe Bellandi
发明人： Giuseppe Maffeis , Giuseppe Bellandi
IPC分类号： B25J1510
CPC分类号： B25B5/061 , B25B1/18
摘要： A parallel pneumatic gripper is provided with body (11) and jaws (13), which are pieces of extruded elements made of aluminum or its alloys, finished by means of extrusion and designed to be joined in a complementary manner. In addition, this pneumatic gripper has a control piston (14) that accommodates and is moved in a chamber (25) defined by two heads (12) inserted and fixed to the opposite ends of the body.
摘要翻译：平行的气动夹具设置有主体（11）和夹爪（13），其是由铝或其合金制成的挤压元件片，通过挤压成型并被设计成以互补方式连接。此外，该气动夹具具有控制活塞（14），该控制活塞（14）容纳并且在由插入并固定到主体的相对端的两个头部（12）限定的腔室（25）中移动。

4. 发明授权

US06273484B1 Wafer holding device 失效
标题翻译：晶圆保持装置
公开(公告)号：US06273484B1
公开(公告)日：2001-08-14
申请号：US09452772
申请日：1999-12-01
申请人： Jui-Hung Peng
发明人： Jui-Hung Peng
IPC分类号： B25J1510
CPC分类号： H01L21/68728 , B25B5/06 , Y10S414/141 , Y10T279/18
摘要： The present invention relates to a wafer holding device comprising a rotatable base and a plurality of weighted-jaws pivotally coupled on the base. Each of the weighted-jaws is provided with a step portion, used to support and clamp the wafer, and a pendulum weight. The pendulum weight can be integrally formed or detachably hanged on the jaw, depending on the size of the wafer clamped. As the base is rotated at a predetermined velocity, the pendulum weights sway out of the axis of the base due to the centrifugal force generated by the rotation, thereby clamping the wafer in the step portions. The preferred embodiment of the present invention can further provide a stopper formed on the base and a spring connected between the base and each of the jaws so as to keep limit the movement of the jaws within predetermined range.
摘要翻译：本发明涉及一种晶片保持装置，其包括可旋转的基座和枢转地联接在基座上的多个加重的夹爪。每个加重爪设置有用于支撑和夹紧晶片的台阶部分和摆锤重量。取决于夹紧的晶片的尺寸，摆锤重量可以一体地形成或可拆卸地悬挂在钳口上。当基座以预定的速度旋转时，由于由旋转产生的离心力，摆锤重量摆动离开基座的轴线，从而将晶片夹在台阶部分中。本发明的优选实施例还可以提供形成在基座上的止动件和连接在基座和每个夹爪之间的弹簧，以便保持卡爪在预定范围内的移动。

5. 发明授权

US06273483B1 Three orthogonal directions movable fingers for holding and/or manipulating a three-dimensional object 失效
标题翻译：用于保持和/或操纵三维物体的三个正交方向可移动的手指
公开(公告)号：US06273483B1
公开(公告)日：2001-08-14
申请号：US09208995
申请日：1998-12-11
申请人： Gary M. Bone
发明人： Gary M. Bone
IPC分类号： B25J1510
CPC分类号： B25J17/0266 , B25J15/103 , B25J15/106
摘要： A robotic gripper for fixturing and manipulating a sheet of substantially rigid material, e.g. a sheet metal part, has three fingers with circumferential grooves thereon. Each of the fingers has three degrees of movement. The sheet metal part has at least one opening of a size suited to accommodate one of the fingers. The other fingers can engage the edges of other openings in the sheet metal part or the outside edge of the part. The fingers can be moved away from each other or towards each other respectively depending on the positioning of the fingers, whereby the sheet metal part is fixtured by means of the grooves of the fingers. By using three fingers each having three degrees of movement, and having grooves thereon, an object can be held and kinematically locked without the application of force.
摘要翻译：一种机器人夹具，用于固定和操纵一块基本上刚性的材料，例如，金属片部分具有三个手指，其上具有周向槽。每个手指都有三个运动。钣金件具有至少一个适于容纳一个手指的尺寸的开口。其他指状物可以接合在金属板部件中的其它开口的边缘或部件的外边缘。手指可以根据手指的位置分别移动彼此或彼此分开，由此通过手指的凹槽固定金属片部分。通过使用具有三个运动方向的三个手指，并且在其上具有凹槽，可以保持物体并运动地锁定而不施加力。

6. 发明授权

US06817641B1 Robotic arm and hand 失效
标题翻译：机器手臂和手
公开(公告)号：US06817641B1
公开(公告)日：2004-11-16
申请号：US10232041
申请日：2002-08-30
申请人： Lawrence J. Singleton, Jr.
发明人： Lawrence J. Singleton, Jr.
IPC分类号： B25J1510
CPC分类号： B25J9/102 , B25J9/104 , B25J15/0009
摘要： A robotic arm and hand for imitating the human hand. The robotic arm and hand includes a motor member being coupled to a frame member. The motor member is designed for being operationally coupled to the control system and a power source whereby the control system is for controlling power from the power supply to the motor member. A drive assembly is operationally coupled to the motor member whereby the drive assembly is rotated by the motor member. A plurality of cable assemblies are coupled to the drive assembly whereby each of the cable assemblies is actuated by the drive assembly when the drive assembly is rotated by the motor member. A plurality of phalange assemblies are coupled to the cable assemblies. Each of the phalange assemblies is designed for being moved like the fingers of a human when the cable assemblies are actuated by the drive assembly.
摘要翻译：一只机器人的手臂，用来模仿人的手。机器手臂和手包括联接到框架构件的马达构件。电动机构件设计成可操作地耦合到控制系统和电源，由此控制系统用于控制从电源到电动机构件的电力。驱动组件可操作地联接到马达构件，由此驱动组件由马达构件旋转。多个电缆组件联接到驱动组件，由此当驱动组件被电动机构件旋转时，每个电缆组件由驱动组件致动。多个棘爪组件联接到电缆组件。当电缆组件由驱动组件致动时，每个趾骨组件设计成像人的手指一样移动。

7. 发明授权

US06692049B2 Intelligent integrated circuit wafer handling system with fail safe system 失效
标题翻译：具有故障安全系统的智能集成电路晶片处理系统
公开(公告)号：US06692049B2
公开(公告)日：2004-02-17
申请号：US09734308
申请日：2000-12-11
申请人： Orville Ray Holbrooks
发明人： Orville Ray Holbrooks
IPC分类号： B25J1510
CPC分类号： H01L21/67259 , H01L21/681 , H01L21/68707 , Y10S294/907 , Y10S414/141
摘要： A system for handling stiff but flexible discs, particularly semiconductor wafers, including fail safe mechanisms that prevent the disc from being dropped if power to the unit is interrupted. Also, the electronics controlling operation resumes functioning at the point in the operation cycle existing when power was interrupted. A wafer hand assembly member is slipped under a wafer, or between parallel stacked but spaced wafers, and one or more fingers are rotated 90° to a position perpendicular to the plane of the stiff hand assembly member. The hand assembly also has one or more posts positioned perpendicular to the surface of the hand assembly. The finger(s) and post(s) or rear barrier constitute three upright projections or points forming the corners of a triangle with the wafer to be grasped there between. A translator solenoid or voice coil, controls the lateral location of one finger or post, moving that finger or post toward the other two stationary fingers or post(s) causing the wafer to be grasped with controlled traction force between the fixed posts and the moveable finger. The traction force is controlled by the amount of driving energy fed to the translator solenoid. If the power to the solenoid or voice is interrupted, springs in the system cause the disk to be held between the posts or barrier and fingers until power is restored.
摘要翻译：一种用于处理刚性但柔性的盘，特别是半导体晶片的系统，包括故障安全机制，防止如果该单元的电力被中断，该盘被丢弃。此外，电源控制操作在电源中断时存在的运行循环中恢复运行。晶片手组件部件滑入晶片下方，或平行堆叠但间隔开的晶片之间，并且一个或多个指状物旋转90°至垂直于刚性手部组件的平面的位置。手组件还具有垂直于手组件表面定位的一个或多个柱。手指和柱子或后屏障构成三个直立的突起或形成三角形角部的点，晶片将被夹在其间。翻译电磁线圈或音圈控制一个手指或支柱的横向位置，将该手指或支柱移动到另外两个固定的指状物或柱子上，从而使得晶片被固定的支柱与可动的手指。牵引力由馈送到转换螺线管的驱动能量的量来控制。如果螺线管或声音的电源中断，系统中的弹簧会使磁盘保持在柱子或屏障和手指之间，直到电源恢复。

8. 发明授权

US06305728B1 Device for mechanically grasping and palletizing rectangular objects 失效
标题翻译：用于机械抓取和堆垛矩形物体的装置
公开(公告)号：US06305728B1
公开(公告)日：2001-10-23
申请号：US09513263
申请日：2000-02-24
申请人： Carl F. Holter , John M. Manion
发明人： Carl F. Holter , John M. Manion
IPC分类号： B25J1510
CPC分类号： B65G47/90 , B25J15/0253 , B25J15/0273 , B25J15/0616 , B25J15/106
摘要： A device for mechanically picking and palletizing rectangular objects of various sizes for attachment to a robotic arm. The device includes a pair of rails having a plurality of longitudinally spaced, elongated L-shaped grips extending there through. The distance between the respective rails can be adjusted to accommodate various width containers. The L-shaped grips are capable of pivotal rotation such that their grip ends rotate under the object for picking and palletizing. A pair of pallet hooks having suction cups attached thereto is also provided on the device.
摘要翻译：用于机械拾取和码垛各种尺寸的矩形物体以附接到机器人手臂的装置。该装置包括一对轨道，该轨道具有在其上延伸的多个纵向间隔开的细长L形把手。可以调节相应轨道之间的距离以适应各种宽度的容器。 L形把手能够枢转旋转，使得其手柄端部在物体下方旋转以进行拾取和码垛。在该装置上还设置有一对具有附着吸盘的托盘钩。

9. 发明授权

US06494516B1 Gripper device 有权
标题翻译：夹爪装置
公开(公告)号：US06494516B1
公开(公告)日：2002-12-17
申请号：US09933789
申请日：2001-08-21
申请人： Millo Bertini
发明人： Millo Bertini
IPC分类号： B25J1510
CPC分类号： B23P19/084 , B25J15/10
摘要： A gripper device particularly suitable for positioning an annular member onto a workpiece that includes a housing having a pair of piston chambers, each of the piston chambers having a piston reciprocally mounted therein. A cover plate, having a plurality of radial slides mounted therein for radial movement, is connected to the housing. A plurality of through holes are also formed in the cover plate. One of the pistons has a piston rod to which each of the radial slides is connected thereto by an interconnecting link. The other piston is provided with a pusher disposed in alignment with each of the through holes to extend therethrough in the operative position. The piston actuating the slides is fluid actuated between operative and inoperative positions and the pusher piston is fluid actuated toward operative position and spring biased toward inoperative position. A gripping finger is adjustably positioned on each of the slides for handling annular members of different sizes.
摘要翻译：一种特别适用于将环形构件定位在工件上的夹持装置，其包括具有一对活塞室的壳体，每个活塞室具有往复安装在其中的活塞。具有安装在其中用于径向运动的多个径向滑块的盖板连接到壳体。多个通孔也形成在盖板中。其中一个活塞具有活塞杆，每个径向滑块通过互连连接件连接到活塞杆上。另一个活塞设置有与每个通孔对齐布置的推动器，以在操作位置延伸穿过其中。致动滑块的活塞在操作和非操作位置之间被流体致动，并且推动器活塞朝向操作位置流体致动，并且弹簧偏压到不工作位置。夹持手指可调节地定位在每个滑块上，用于处理不同尺寸的环形构件。

10. 发明授权

US06247738B1 Robot hand 失效
标题翻译：机器人手
公开(公告)号：US06247738B1
公开(公告)日：2001-06-19
申请号：US09009059
申请日：1998-01-20
申请人： Axel Winkel , Patrick Scherr
发明人： Axel Winkel , Patrick Scherr
IPC分类号： B25J1510
CPC分类号： B25J15/10 , A61B34/30 , A61B34/71 , A61B34/72 , A61B2034/741 , B25J15/0009
摘要： The invention provides a robot hand that can mimic the movements of a human hand in operation. The robot hand includes a thumb and at least one opposing finger having at least two phalanxes connectable to each other by a distal phalanx joint. The thumb of the robot hand also includes a joint which allows the thumb to move transversely with respect to the opposing fingers. The robot hand can also include one or more additional fingers disposed on an opposite side of the thumb. The robot hand can be operated mechanically or electrically through controlling motors.
摘要翻译：本发明提供了一种可以模拟人手在运行中的运动的机器人手。机器人手包括拇指和至少一个相对的手指，其具有通过远端指骨关节彼此连接的至少两个指骨。机器人手的拇指还包括允许拇指相对于相对的手指横向移动的关节。机器人手还可以包括设置在拇指的相对侧上的一个或多个附加手指。机械手可以通过控制电机机械地或电动地操作。

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