Abstract: A stepper motor control system includes: a stepper motor configured to actuate an actuator to engage an object; a power control module configured to: during a first period before compression of a compliance mechanism occurs, apply electrical pulses to stator coils of the stepper motor in a predetermined order and based on a first predetermined torque and a first predetermined speed, where compression of the compliance mechanism occurs when the actuator contacts the object; and during a second period after the compression of the compliance mechanism occurs, apply a predetermined number of extra pulses to the stator coils of the stepper motor in the predetermined order and based on a second predetermined torque and a second predetermined speed.

Abstract: A gripping device has a body with a stepper motor positioned within the body. A lead screw is driven by the stepper motor. A gripper is coupled with the lead screw for gripping and releasing a part. A compliance enables movement of the motor with respect to the body. A controller is electrically coupled with the motor to provide motion control and maintain a set of learned positions based on sensing when the motor is approaching its stall torque.

Abstract: A quick change robot system has a base plate to permanently mount to a work station. An alignment mechanism is on the base plate. An adapter plate is affixed to a robot base. The adapter plate includes a plurality of alignment mechanisms. A clamping device secures the base plate with the adapter plate. The clamping device is positioned about the base plate and adapter plate to clamp and preload the base plate and adapter plate with one another.

Abstract: A multiple mounting robotic tooling assembly (10) includes a base mount (12) for mounting with a robot. The base mount (12) includes a plurality of receptacles (32), each for receiving a tool stem. One or more tool stems (14) each coupled with one of the plurality of receptacles (32) to mount a tool to the base. One or more tool mounts (16) each couples with one of the one or more stems (14). The one or more tool mounts (16) receive a tool for conducting an operation.

Abstract: A tool changer 30 with a master half 32 and tool half 34. A securing mechanism has a clasp 70 and a cam 72. The clasps 70 move between a release position and a grasping position. In the grasping position, the master 32 and tool halves 34 are secured together with one another. The cam 72 moves the clasps 70 between the release and grasping positions. From a release position, the master half 32 engages the tool half 34. The master half 32 moves laterally with respect to the tool half 34. This, in turn, moves the cam 72, and thus the clasps, from their release positions to their grasping positions. In the grasping position, the clasps 70 grasp the tool half 34, the cam locks 72 in its grasping position and the master 32 and tool 34 halves secure with one another.

Abstract: A gripper has a body with an actuation member and at least one jaw coupled to the body and the actuation member to move the at least jaw between a first and second position. A gripper tip on the at least one jaw. A sensor assembly includes a housing with a sensor mounted into the housing. The housing is secured in the gripper tip and secures the gripper tip to the at least one jaw.

Abstract: A tool changer 30 with a master half 32 and tool half 34. Mating member 60, 138 enables the master half 32 and tool half to mesh with one another. A securing mechanism has a clasp 70 and a cam 72. The clasps 70 move between a release position and a grasping position. In the grasping position, the master 32 and tool halves 34 are secured together with one another. The cam 72 moves the clasps 70 between the release and grasping positions. From a release position, the master half 32 engages the tool half 34. The master half 32 moves horizontally with respect to the tool half 34. This, in turn, moves the cam 72 from its release position to its grasping position. In the grasping position, the clasps 70 grasp the tool half 34, the cam locks 72 in its grasping position and the master 32 and tool 34 halves secure with one another.

Abstract: A tool changer 30 with a master half 32 and tool half 34. Mating member 60, 138 enables the master half 32 and tool half to mesh with one another. A securing mechanism has a clasp 70 and a cam 72. The clasps 70 move between a release position and a grasping position. In the grasping position, the master 32 and tool halves 34 are secured together with one another. The cam 72 moves the clasps 70 between the release and grasping positions. From a release position, the master half 32 engages the tool half 34. The master half 32 moves horizontally with respect to the tool half 34. This, in turn, moves the cam 72 from its release position to its grasping position. In the grasping position, the clasps 70 grasp the tool half 34, the cam locks 72 in its grasping position and the master 32 and tool 34 halves secure with one another.

Abstract: A gripper (10) has a body (16) with a cylinder section (18) with a fluid driven powering assembly (24) with a rod (28). At least one jaw member (34) is secured with the rod (28). The at least one jaw (34) clamps a workpiece. A target (42) is coupled with the rod (28). The target (42) is positioned externally of the cylinder section (18). A sensor assembly (14) senses the target. The sensor assembly receives the target and coupled with the gripper body cylinder portion (18).

Abstract: A tool changer 30 with a master half 32 and tool half 34. Mating member 60, 138 enables the master half 32 and tool half to mesh with one another. A securing mechanism has a clasp 70 and a cam 72. The clasps 70 move between a release position and a grasping position. In the grasping position, the master 32 and tool halves 34 are secured together with one another. The cam 72 moves the clasps 70 between the release and grasping positions. From a release position, the master half 32 engages the tool half 34. The master half 32 moves horizontally with respect to the tool half 34. This, in turn, moves the cam 72 from its release position to its grasping position. In the grasping position, the clasps 70 grasp the tool half 34, the cam locks 72 in its grasping position and the master 32 and tool 34 halves secure with one another.

Abstract: A holding system includes a force control module configured to generate a force signal to cause a holding device to perform at least one of a hold stroke and a release stroke. The hold stroke includes transitioning a gripping element of the holding device to a first position to grip an object. The release stroke includes transitioning the gripping element to a second position to release the object. The holding device is non-backdrivable. A stall detection module is configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly of the holding device and (ii) detect a first stall condition of an electric motor based on the sensor signal. A shut off module is configured to shut off current to the electric motor based on the detection of the first stall condition during or at an end of the release stroke.

Abstract: A holding system includes a force control module configured to generate a force signal to cause a holding device to perform at least one of a hold stroke and a release stroke. The hold stroke includes transitioning a gripping element of the holding device to a first position to grip an object. The release stroke includes transitioning the gripping element to a second position to release the object. The holding device is non-backdrivable. A stall detection module is configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly of the holding device and (ii) detect a first stall condition of an electric motor based on the sensor signal. A shut off module is configured to shut off current to the electric motor based on the detection of the first stall condition during or at an end of the release stroke.

Abstract: A holding system includes a force control module configured to generate a force signal to cause a holding device to perform at least one of a hold stroke and a release stroke. The hold stroke includes transitioning a gripping element of the holding device to a first position to grip an object. The release stroke includes transitioning the gripping element to a second position to release the object. The holding device is non-backdrivable. A stall detection module is configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly of the holding device and (ii) detect a first stall condition of an electric motor based on the sensor signal. A shut off module is configured to shut off current to the electric motor based on the detection of the first stall condition during or at an end of the release stroke.

Abstract: An electrical gripper has a housing and a solenoid plunger. A pair of jaws are movably mounted with the housing. The jaws are movable towards and away from each other. The jaws are coupled with the solenoid plunger to provide movement to the jaws. A first mechanism is associated with the solenoid plunger to lock the solenoid plunger in a first position when power is terminated to the solenoid plunger. A second mechanism is associated with the solenoid plunger to lock the solenoid plunger in a second position when power is terminated to the solenoid plunger. Thus, the jaws are actively locked in an open or close position when power is terminated to the solenoid plunger.

Abstract: A holding system includes a force control module configured to generate a force signal to cause a holding device to perform at least one of a hold stroke and a release stroke. The hold stroke includes transitioning a gripping element of the holding device to a first position to grip an object. The release stroke includes transitioning the gripping element to a second position to release the object. The holding device is non-backdrivable. A stall detection module is configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly of the holding device and (ii) detect a first stall condition of an electric motor based on the sensor signal. A shut off module is configured to shut off current to the electric motor based on the detection of the first stall condition during or at an end of the release stroke.

Abstract: An electrical gripper has a housing and a solenoid plunger. A pair of jaws are movably mounted with the housing. The jaws are movable towards and away from each other. The jaws are coupled with the solenoid plunger to provide movement to the jaws. A first mechanism is associated with the solenoid plunger to lock the solenoid plunger in a first position when power is terminated to the solenoid plunger. A second mechanism is associated with the solenoid plunger to lock the solenoid plunger in a second position when power is terminated to the solenoid plunger. Thus, the jaws are actively locked in an open or close position when power is terminated to the solenoid plunger.

Abstract: An electrical gripper has a housing and a solenoid plunger. A pair of jaws are movably mounted with the housing. The jaws are movable towards and away from each other. The jaws are coupled with the solenoid plunger to provide movement to the jaws. A first mechanism is associated with the solenoid plunger to lock the solenoid plunger in a first position when power is terminated to the solenoid plunger. A second mechanism is associated with the solenoid plunger to lock the solenoid plunger in a second position when power is terminated to the solenoid plunger. Thus, the jaws are actively locked in an open or close position when power is terminated to the solenoid plunger.

Abstract: An electrical gripper has a housing and a solenoid plunger. A pair of jaws are movably mounted with the housing. The jaws are movable towards and away from each other. The jaws are coupled with the solenoid plunger to provide movement to the jaws. A first mechanism is associated with the solenoid plunger to lock the solenoid plunger in a first position when power is terminated to the solenoid plunger. A second mechanism is associated with the solenoid plunger to lock the solenoid plunger in a second position when power is terminated to the solenoid plunger. Thus, the jaws are actively locked in an open or close position when power is terminated to the solenoid plunger.

Abstract: A printing unit (10) includes a frame (22), first and second brackets (50, 54), and upper and lower plate cylinders (14, 18). The first bracket (50) is supported on the frame (22) for movement relative to the frame (22). The upper plate cylinder (14) has an end supported to move with the first bracket (50). The second bracket (54) also is supported on the frame (22) for movement relative to the frame (22), and the lower plate cylinder (18) has an end supported to move with the second bracket (54). The printing unit (10) also includes a skewing mechanism and a throw-off mechanism. The skewing mechanism moves the brackets (50, 54) transversely relative to the frame (22) independently of each other. The throw-off mechanism moves the brackets (50, 54) pivotally relative to the frame (22).

Abstract: A printing unit (10) includes a blanket cylinder (20), a bearing assembly (56) and a door assembly (72). The blanket cylinder (20) carries a tubular printing blanket (36). The bearing assembly (56) includes a bearing housing (58) fixed to the stub shaft (50) on the end of the blanket cylinder (20). The door assembly (72) includes a door (82) which is supported for pivotal movement on a frame wall (22) of the printing unit (10). The door (82) has a closed position in which it extends across an opening (76) in the frame wall (22), and an open position in which it does not extend across the opening (76) in the frame wall (22). A clamping assembly clamps the bearing housing (58) on the door (82) when the blanket cylinder (20) rotates during a printing operation. The clamping assembly includes a first clamp (100) which fixed to the door (82) and a second clamp (102) which is supported on the door (82) for movement relative to the first clamp (100).