Patents Examined by Dean Kramer
  • Patent number: 9911640
    Abstract: Proposed is a universal gripping and suction chuck for use as an interchangeable end effector of a robot arm of a robotic station capable of picking up, transporting, and handling objects having colors and outlines. The chuck housing contains elements of a vacuum system for holding the object by vacuum suction force, a vortex system for holding the objects in a non-contact manner in a state of levitation, and a mechanical edge gripper. The vacuum system, the vortex system, and the mechanical edge gripper can be selectively activated by commands from the central processing system that receives a signal recognition signal, object presence/absence signal and/or object approaching signal from respective sensors and depending on the type of the object recognized by the respective sensor. As a result, the chuck can pick up and handle such different objects as solid semiconductor wafer, paper or fabric interleaves, or small-diameter rings.
    Type: Grant
    Filed: September 1, 2015
    Date of Patent: March 6, 2018
    Inventors: Boris Kesil, Elik Gershenzon
  • Patent number: 9868206
    Abstract: There is provided a carrier device that has a linkage arm mechanism, in particular, a carrier device that cools the linkage arm mechanism and can reduce the impact of radiation heat from a work that is in a high temperature state. A carrier device is a carrier device that includes a linkage arm mechanism and a pivot shaft, and the linkage arm mechanism includes lower arms and upper arms, and one ends of which are respectively connected to the lower arms, and horizontal movement members that support a work that is connected to the other ends of the upper arms, and cooling plates are respectively arranged between the upper arms, and the horizontal movement members.
    Type: Grant
    Filed: January 4, 2017
    Date of Patent: January 16, 2018
    Inventors: Masaru Shimada, Sayako Takarabe, Hideki Matsuo
  • Patent number: 9862102
    Abstract: An example robotic gripping apparatus includes a robotic wrist and a motor contained within the robotic wrist. The motor includes a drive shaft that rotates about a primary axis during motor operation. The robotic gripping apparatus also includes a cylindrical worm gear, connected to the drive shaft, that encircles the motor and rotates about the primary axis during motor operation. Additionally, the robotic gripping apparatus includes two or more robotic fingers, each having a proximal end and a distal end. The robotic gripping apparatus further includes two or more spur gears corresponding to the two or more robotic fingers. Each spur gear is attached to the proximal end of the corresponding robotic finger. Each spur gear engages the cylindrical worm gear and rotates the corresponding robotic finger when the cylindrical worm gear rotates about the primary axis.
    Type: Grant
    Filed: June 23, 2017
    Date of Patent: January 9, 2018
    Assignee: X Development LLC
    Inventor: David Youmans
  • Patent number: 9844883
    Abstract: The invention concerns a gripper (1) adapted to be used in an automated system for handling flexible substrates provided in a pile. The gripper (1) is rotatably arranged on an arm (6) of a robot and comprises a lower finger (7) and an upper finger (8). The lower finger (7) comprises a sharp, wedge-shaped edge (14), which is adapted to enable insertion of the lower finger (7) between substrates of the pile. The lower finger (7) has a round tip (11), which extends to at least one side of the lower finger (7) and forms a smooth, wedge-shaped edge (15), wherein the sharp, wedge-shaped edge (14) is arranged on the at least one side remote from the round tip (11) and substantially in level with but protruding further than the smooth, wedge-shaped edge (15).
    Type: Grant
    Filed: March 19, 2015
    Date of Patent: December 19, 2017
    Inventor: Bo Genefke
  • Patent number: 9833908
    Abstract: A hand mechanism including a first multi-joint finger, a second multi-joint finger, and a single-joint finger rotatable about a center of a predetermined connecting portion together with the first and second multi-joint fingers. The mechanism executes a first mode in which the respective entire fingers of the first and second multi-joint fingers are rotated in an identical direction using a connecting portion with respect to an attachment member when driven by a driving actuator, and a second mode in which a finger section other than a first predetermined finger section included in the first multi-joint finger is rotated with respect to the first predetermined finger section and a finger section other than a second predetermined finger section included in the second multi-joint finger is rotated with respect to the second predetermined finger section, when the rotation of the first and second predetermined finger sections are inhibited in the first mode.
    Type: Grant
    Filed: December 8, 2014
    Date of Patent: December 5, 2017
    Assignee: THK CO., LTD.
    Inventor: Masaki Nagatsuka
  • Patent number: 9821472
    Abstract: A ten-link gripping mechanism having a modular structure and a single degree of freedom, for robots, machines and handling devices, includes at least one eight-link finger mechanism with a gripper jaw, guided as a coupler by two four-bar linkages based one on the other. The choice of the dimensions of the individual elements enables the movement of the gripper jaw to be adapted to the task at hand while using only a single drive. The drive can be of a universal type, such as pneumatic, electromotive, magnetic or by means of a spring.
    Type: Grant
    Filed: August 24, 2016
    Date of Patent: November 21, 2017
    Inventor: M. Mohsen Saadat
  • Patent number: 9821471
    Abstract: A hand intended for a humanoid robot comprising a palm and several fingers, each of the fingers being able to be displaced in relation to the palm between a position of rest maintained by spring effect and a compressed position obtained by driving a link part with the palm countering the spring effect, comprises a motorized shaft, linked to the link part of each of the fingers, and configured to respectively displace at least one first finger and at least one second finger, from the position of rest to the compressed position, by rotation of the motorized shaft respectively in a first direction of rotation and in an opposite direction.
    Type: Grant
    Filed: May 7, 2015
    Date of Patent: November 21, 2017
    Inventors: Jérémy Laville, Gilles Fauchet, Thibault Depost
  • Patent number: 9821911
    Abstract: A trolley arrangement for a galley of an aircraft has a trolley container in which at least two trolleys can be arranged in a longitudinal direction and a trolley-handling device for pulling and pushing a trolley longitudinally into the trolley container. This device has a linear guide with a stationary guiding bar and a slide movable along the guiding bar longitudinally, a pulling and pushing bar extending along a longitudinal axis, axially fixed on the slide, but rotatable about the longitudinal axis, a hook at a distal end of the pulling and pushing bar remote from the slide, a handling bar axially fixed on the slide or on the pulling and pushing bar, and a joint between the handling bar and the slide or the pulling and pushing bar, so that the handling bar and the pulling and pushing bar are axially connected and are rotationally coupled.
    Type: Grant
    Filed: August 31, 2015
    Date of Patent: November 21, 2017
    Assignee: SELL GmbH
    Inventors: Tim Wallbott, Samuel Klassen
  • Patent number: 9815207
    Abstract: Device for supporting and gripping containers (1,1a), comprising: a base (10;110;210) which defines an upper surface (15;115,215) supporting a container (1;1a); devices (20;120) for gripping the container (1,1a), associated with the base (10;110;210); devices (30) for actuating the devices (30) for gripping the container (1,1a); wherein the gripping devices (20;120) comprise at least one pair of sliders (21;121;221) inserted in the base (10;110;210) inside a respective seat (16;116;216) and translationally movable in both senses of different directions upon operation of the actuating devices (30), each jaw being associated with a respective slider (21;121;221).
    Type: Grant
    Filed: June 29, 2016
    Date of Patent: November 14, 2017
    Assignee: RONCHI MARIO S.P.A.
    Inventor: Cesare Ronchi
  • Patent number: 9808937
    Abstract: A film suction mechanism is provided which can prevent a film-like member from warping or sagging for reliable suction, handing over, or the like of the film-like member. A film suction mechanism of the present invention is a film suction mechanism for processing or transferring a flexible film-like member. The film suction mechanism includes a suction unit having a function of attaching the film-like member thereto by suction and an air nozzle having a function of blowing pressurized air onto a first surface of the film-like member. The suction unit includes a plurality of suction pads. The suction unit is capable of attaching a second surface of the film-like member thereto by suction while the pressurized air is blown onto the first surface of the film-like member.
    Type: Grant
    Filed: April 29, 2015
    Date of Patent: November 7, 2017
    Assignee: Semiconductor Energy Laboratory Co., Ltd.
    Inventors: Kayo Kumakura, Satoru Idojiri, Masakatsu Ohno, Koichi Takeshima, Yoshiharu Hirakata, Kohei Yokoyama
  • Patent number: 9808936
    Abstract: Two-phase gripper. The gripper reorients and grasps an object while being picked up. The gripper includes a parallel jaw gripper including a pair of opposed, two-phase fingers, each finger including a cavity covered by an elastic strip wherein the elastic strip includes a point contact. Closure of the jaws of the gripper on an object at a first relatively lower force results in contact with lower friction between the point contact on the elastic strip on the fingers and the object allowing the object to rotate under gravity as the gripper is raised. Thereafter, closure of the jaws of the gripper on the object at a second relatively higher force causes the elastic strip to receded into the cavity resulting in multi-point contact with higher friction between the fingers and the object to securely grasp the object. In a preferred embodiment, the cavity is a Y-shaped groove and the object is cylindrical or prismatic.
    Type: Grant
    Filed: July 1, 2016
    Date of Patent: November 7, 2017
    Assignees: Massachusetts Institute of Technology, Carnegie Mellon University
    Inventors: Nikhil Narsingh Chavan Dafle, Alberto Rodriguez Garcia, Matthew T. Mason
  • Patent number: 9796096
    Abstract: 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.
    Type: Grant
    Filed: September 15, 2016
    Date of Patent: October 24, 2017
    Assignee: PHD, Inc.
    Inventor: Matthew R. Williams
  • Patent number: 9790059
    Abstract: A gripping device for attachment to a machine is disclosed. The gripping device may have a mounting structure and a tool housing attached to the mounting structure. The tool housing may have at least one tool attachment portion. The gripping device may have a first tool portion pivotally supported on the at least one tool attachment portion at a first pivot point, and an actuation member disposed between the mounting structure and the first tool portion. Further, the gripping device may have a second tool portion pivotally supported on the first tool portion. The gripping device may also have a push rod disposed between the second tool portion and the at least one tool attachment portion. The push rod may be selectively locked at the first pivot point or second pivot point on the at least one tool attachment portion.
    Type: Grant
    Filed: January 13, 2015
    Date of Patent: October 17, 2017
    Assignee: Caterpillar Work Tools B.V.
    Inventors: Patrick Grant, Hans Van Sambeek
  • Patent number: 9790058
    Abstract: A spreader frame, comprising a set of outer bars and a corresponding set of inner bars, each outer bar having a series of apertures and each inner bar having a spring-biased pin shaped and oriented to fit into any aperture of the series of apertures, each inner bar slidably engaging each corresponding outer bar to form an expandable beam having a first end and a second end, and each beam being connected at its first end and second end to a further beam to form a frame, wherein for each beam, each aperture of the series of apertures other than a selected aperture is filled with a corresponding outer bar pin, and the inner bar is slidable within the outer bar to bring the spring-biased pin in position to insert into the selected aperture to fix the size of the beam.
    Type: Grant
    Filed: July 22, 2016
    Date of Patent: October 17, 2017
    Inventor: Bjorn Reiner Sandrowski
  • Patent number: 9790750
    Abstract: A handling tool is disclosed that includes a body having a high-stress location, a pocket formed in the high stress location, and a sensor adhered to a surface of the pocket and oriented along an axis of the body. The high stress location may be in a hinged plate of the body, a door latch of the body, and/or adjacent an ear of the body.
    Type: Grant
    Filed: November 3, 2016
    Date of Patent: October 17, 2017
    Assignee: FORUM US, INC
    Inventors: Frederik Stoldt, Andre Vierke
  • Patent number: 9781960
    Abstract: A support device for improving the haptics and/or gripping impression of humanoid or android type hands includes an active surface that interacts with parts (16, 18, 22) of the respective hand to carry out a movement and that has individual stem-like projections. Each projection has a free end face such that the projections at least partially improve the adhesion of at least parts of the hand or a hand protector (10) to surfaces, particularly smooth or delicate surfaces, that are touched. The respective free end faces (26) of the projections (24) are designed such that their adhesion results from acting van der Waals forces between the free end faces (26) and the touched surface.
    Type: Grant
    Filed: October 5, 2010
    Date of Patent: October 10, 2017
    Inventor: Jan Tuma
  • Patent number: 9782902
    Abstract: Disclosed is a gripper for robot hand capable of adaptive grasp, including a finger unit having one or more finger which includes a first link of which one end is rotatably fixed to a casing; a second link of which one end is jointly coupled with the other end of the first link; a third link of which one end is rotatably fixed to the casing, which is operated by receiving a driving force from the outside; a fourth link of which one end is jointly coupled with the other end of the third link; and a gripping member jointly coupled with the other end of the second link and the other end of the fourth link.
    Type: Grant
    Filed: June 29, 2016
    Date of Patent: October 10, 2017
    Assignee: ROBOTIS CO., LTD.
    Inventors: Byoung Soo Kim, Jung Ho Lee
  • Patent number: 9776835
    Abstract: A lifting hook, its safety latch and a locking and releasing device of the safety latch are disclosed. The lifting hook includes a hook body having a hook stem and tip. The safety latch is pivotably fastened close to the stem so as to move the safety latch between an open position and a closed position, the safety latch being in its open position substantially against the inside of the hook body in a position that leaves a hook jaw free, while in the closed position a latch end extends across the hook jaw to the hook tip, closing the jaw on the inside thereof. The locking and releasing device of the safety latch includes a locking element that engages the inner surface area of the hook jaw at a distance below the fastening end of the safety latch, and a releasing lever that when turned, releases the locking element.
    Type: Grant
    Filed: March 10, 2015
    Date of Patent: October 3, 2017
    Inventors: Amar Choudhari, Nilesh Dharmadhikari, Amit Rakshe, Gaurav Rana, Olli Kuismanen, Jack Hoover
  • Patent number: 9776333
    Abstract: A hand member forms a hand of a robot arm for transferring a semiconductor wafer. The hand member is a U-shaped member on which the semiconductor wafer is placed. The hand member includes at least one fitting portion on which a frictional holding member for holding the semiconductor wafer is fitted sideways, on each of an inner edge and an outer edge.
    Type: Grant
    Filed: October 28, 2016
    Date of Patent: October 3, 2017
    Inventors: Tetsuya Sakai, Hideki Sakaue
  • Patent number: 9771698
    Abstract: The present invention relates to a hand or motorized push shovel/plow with directional left or right side disbursement of snow, granular material, thicker liquids and other such desired materials with ease and comfort. The shovel allows a user to direct a shoveled load to a first or a second side of the shovel while moving the shovel in a substantially straight direction and generally comprises a handle, a shaft extending from the handle to a base shovel blade, and a steering mechanism secured along a portion of the shaft or handle and in steering communication with a directional shovel blade that is in a relational arrangement on top of the base shovel blade. The steering mechanism allows a user to angle the directional blade in a left or right direction.
    Type: Grant
    Filed: March 26, 2015
    Date of Patent: September 26, 2017
    Inventor: Sitara R Khan