Pivoted Jaws Patents (Class 294/106)
  • Patent number: 10821233
    Abstract: An apparatus and method for gripping a syringe utilizes four gripping members advanceable in different corresponding directions toward a predetermined axis to supportably engage a barrel of a syringe at corresponding circumferentially offset locations. A first motor may be utilized for co-driven advancement of the gripping members in tandem in the different corresponding directions toward the predetermined axis, and for retraction of the gripping members. The gripping members may include corresponding rollers, wherein a single one of the rollers may be rotated in an automated manner during supportive engagement of a syringe by the gripping members. A second motor may be utilized for driven rotation of the single roller. The disclosed embodiments may be utilized for supportive engagement of syringes having a range of syringe diameters.
    Type: Grant
    Filed: December 22, 2016
    Date of Patent: November 3, 2020
    Assignee: BAXTER CORPORATION ENGLEWOOD
    Inventors: James Robert Hutchison, Joshua Nathan Aumiller, Michael Dickson Olichney, Yuriy Konstantinovich Umanskiy, Brian William Ward, Robert Mitchell Clark
  • Patent number: 10821601
    Abstract: A kinematic chain comprises a first pulley, arranged to rotate about a rotation axis x, and a second pulley arranged to rotate about a rotation axis y. The kinematic chain comprises then at least one connecting element comprising at least one passage having at least one rotating element, said or each connecting element also comprising at least one interface arranged to connect the connecting element to an adjacent connecting element or to a pulley, generating a rotational constraint about a rotation axis z. The kinematic chain also comprises a transmission element arranged to develop along a determined path for transmitting a rotational motion between the first pulley and the second pulley. The transmission element is adapted to be, in use, fixedly in contact with said or each rotating element by a constraint of rolling friction, in order to allow a modelling the determined path according to a predetermined geometry.
    Type: Grant
    Filed: May 29, 2017
    Date of Patent: November 3, 2020
    Assignees: SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA, IUVO S.R.L.
    Inventors: Andrea Baldoni, Francesco Giovacchini, Nicola Vitiello
  • Patent number: 10814478
    Abstract: A joint module has a base, a motion mechanism, a linear driving mechanism, a driving motor assembly, and a transmission. The motion mechanism, the linear driving mechanism, and the driving motor assembly are disposed on the base. The transmission is disposed between the linear driving mechanism and the driving motor assembly. A first transmitting assembly and a second transmitting assembly of the motion mechanism are disposed on the base in parallel. A first linear driving assembly and a second linear driving assembly of the linear driving mechanism are non-coaxial and are disposed on the base in parallel. A first wheel transmitting assembly of the transmission is connected to the driving motor assembly and the first linear driving assembly. A second wheel transmitting assembly of the transmission is connected to the driving motor assembly and the second linear driving assembly.
    Type: Grant
    Filed: December 15, 2017
    Date of Patent: October 27, 2020
    Assignee: National Cheng Kung University
    Inventor: Chao-Chieh Lan
  • Patent number: 10799372
    Abstract: The present invention provides a prosthetic finger. The prosthetic finger includes a finger mounting rack, a worm gear, a rotating shaft, a base joint rack, a finger base knuckle, a finger proximal knuckle, a finger distal knuckle, a tension spring, and a transmission rope, a grommet, a motor reducer assembly, a first bevel gear, a worm, a second bevel gear. The prosthetic finger can ensure that the connection of all the parts is reliable, the rotation of the worm gear is smooth, the tension spring is protected, and the transmission rope is not easy to fall off, so that the working reliability of the whole prosthetic finger can be improved and the possibility of failure can be reduced on the whole.
    Type: Grant
    Filed: May 14, 2018
    Date of Patent: October 13, 2020
    Assignee: ZORPIA ROBOT CO. LTD
    Inventor: Jinshi Bai
  • Patent number: 10786909
    Abstract: A swing mechanism according to the present invention includes: a first swing member that swings about a first swing shaft; a second swing member that is provided in the first swing member and that swings about a second swing shaft; a traction pulley that is supported by the second swing member and that rotates about a rotational shaft; a fixed pulley that rotates about the second swing shaft; and a wire that is looped around the fixed pulley and the traction pulley. On both sides of the traction pulley, tensions are generated in the same directions by a traction force applied to the other end of the wire. The traction pulley is disposed at a position at which the tensions in the wire acting on the rotational shaft brings about a moment for causing the second swing member to swing.
    Type: Grant
    Filed: January 24, 2019
    Date of Patent: September 29, 2020
    Assignee: OLYMPUS CORPORATION
    Inventor: Noriaki Yamanaka
  • Patent number: 10773392
    Abstract: A gripping device comprises multiple flexures configured to couple predetermined linkages, a fixed linkage, and an input linkage disposed partially above the fixed linkage. The input linkage comprises a first end portion and a second end portion. Each end portion comprises an output linkage comprising a first end portion and a second end portion, a jaw disposed on the first end portion of the output linkage, and an initial damper linkage disposed below the fixed linkage. The initial damper linkage is coupled with the fixed linkage, the corresponding end portion of the input linkage, and the second end portion of the output linkage. At least one auxiliary damper linkage is disposed below the fixed linkage and adjacent to the initial damper linkage. The at least one auxiliary damper linkage is coupled to the fixed linkage and the second end portion of the output linkage.
    Type: Grant
    Filed: March 7, 2019
    Date of Patent: September 15, 2020
    Assignee: Multiply Labs Inc.
    Inventors: Lawrence Zachary Bright, Jeffrey Ackerman Curhan, Kameron C. Chan, Federico Parietti
  • Patent number: 10772740
    Abstract: A digit mechanism for an artificial hand comprises: a lower digit (44) arranged to be rotatably coupled to a palm unit (12) of the artificial hand; an upper digit (48) rotatably coupled to the lower digit (44); a lower digit rotation mechanism (34, 46, 52, 58) for applying a moment to the lower digit (44) to rotate the lower digit (44) relative to the palm unit (12); an upper digit rotation mechanism (50, 54, 56) for applying a moment to the upper digit (48) to rotate the upper digit (48) relative to the lower digit (44); and a force balancing mechanism (60, 58) for mechanically adjusting the magnitude of the moment applied by the lower digit rotation mechanism (34, 46, 52, 58) and/or the upper digit rotation mechanism (50, 54, 56) in accordance with the magnitude(s) of outside forces resisting rotation of the upper digit (48) and/or the lower digit (44) in order to preferentially apply movement to the digit experiencing lower resistance to movement; wherein the force balancing mechanism is arranged to increa
    Type: Grant
    Filed: April 29, 2016
    Date of Patent: September 15, 2020
    Assignee: HY5PRO AS
    Inventor: Josephus Martinus Maria Poirters
  • Patent number: 10766148
    Abstract: A hand mechanism includes three-dimensional cams and claw portions configured to open and close in association with a rotary motion of the three-dimensional cams and achieves a compact and multifunctional configuration. A rotor shaft is a hollow shaft provided with a hollow shaft hole, is assembled in communication with a through hole formed in a cam base portion of a cam pedestal member, and is provided with a functional part in the hollow shaft hole.
    Type: Grant
    Filed: November 16, 2018
    Date of Patent: September 8, 2020
    Assignee: SHINANO KENSHI KABUSHIKI KAISHA
    Inventors: Sadaaki Watanabe, Kimihiro Takehana, Yutaka Nagai
  • Patent number: 10744654
    Abstract: A gripper control device includes a controller, the controller is configured to conduct: a grasp quality evaluation process to obtain a grasp quality contribution degree for each of a plurality of contact positions at which fingers that support the object are in contact with the object; a finger-to-be-moved determination process configured to determine, as a finger-to-be-moved, the finger corresponding to one of the contact positions at which the grasp quality contribution degree is low; and a finger movement control process configured to send a control command to a finger driving apparatus, wherein the grasp quality contribution degree for each of the multiple contact positions is defined using at least one of the following elements: relative positions of the plurality of contact positions related to the object; and friction coefficients between the object and the fingers at the plurality of contact positions.
    Type: Grant
    Filed: June 27, 2018
    Date of Patent: August 18, 2020
    Assignee: FANUC CORPORATION
    Inventors: Weijia Li, Wenjie Chen, Hiroshi Nakagawa, Takafumi Kajiyama
  • Patent number: 10730704
    Abstract: A robotic transport device for small components comprising transport mechanism being suspended at two suspension elements, wherein the two suspension elements are distanced from each other in the direction of transport and wherein the two suspension elements are constructed in such a way that each of them is, independently from each other, be shifted in a direction vertical or substantially vertical to the direction of transport.
    Type: Grant
    Filed: April 16, 2019
    Date of Patent: August 4, 2020
    Assignee: Beckhoff Automation GmbH
    Inventor: Melvin Haas
  • Patent number: 10709584
    Abstract: An adaptive robotic finger prosthesis according to the inventive concepts includes a proximal phalanx body configured to be worn on a proximal phalanx portion of a cut finger, a middle phalanx body connected to the proximal phalanx body and configured to function as a middle phalanx portion of the cut finger, a distal phalanx body connected to the middle phalanx body and configured to function as a distal phalanx portion of the cut finger, a first proximal phalanx link disposed under the proximal phalanx body, a second proximal phalanx link disposed on the proximal phalanx body and joint-connected to the first proximal phalanx link, and a proximal phalanx elastic member provided at a joint between the first proximal phalanx link and the second proximal phalanx link to provide elastic force.
    Type: Grant
    Filed: April 19, 2018
    Date of Patent: July 14, 2020
    Assignee: INDUSTRY-UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY ERICA CAMPUS
    Inventors: Youngjin Choi, Dukchan Yoon
  • Patent number: 10710247
    Abstract: Systems are provided for gripping or otherwise manipulating lettuce, sliced foodstuffs (e.g., sliced cheese, sliced tomato or other sliced vegetables), or other foodstuffs or other irregular objects or substances. These systems can facilitate the manipulation of groups of irregular objects, including distributing small amounts (e.g., individual instances) of such groups of objects. These systems operate to manipulate such objects by extending and retracting rods, wires, or otherwise-configured pins to contact and/or penetrate the object(s) to be manipulated. In some examples, the pins are retracted to individually dispense objects (e.g., slices of cheese) from a stack of objects. In some examples, the separation and angle of the pins can be controlled to, e.g., grip one or more irregular objects and subsequently to dispense some or all of the gripped object(s).
    Type: Grant
    Filed: November 8, 2018
    Date of Patent: July 14, 2020
    Assignee: SRI International
    Inventors: Gordon Kirkwood, Murphy Kitchell
  • Patent number: 10702994
    Abstract: Finger assemblies at the end of a robotic arm end effector includes talon that are retractable. Retraction may be accomplished by a vertical or horizontal barrel cam, a paddle and spin assembly, and/or a resilient plate.
    Type: Grant
    Filed: October 31, 2017
    Date of Patent: July 7, 2020
    Assignee: Amazon Technologies, Inc.
    Inventors: Jude Royston Jonas, Ennio Claretti, Justin Thomas Juranovits, Andrew D. Marchese
  • Patent number: 10695905
    Abstract: A robot control apparatus that controls operation of a robot that grips a target object includes an acquisition unit that obtains information about a position and orientation of the target object, a selection unit that selects one of a plurality of gripping modes based on a captured image of the target object, and a generation unit that generates, based on the obtained position and orientation and the selected gripping mode, gripping operation data that defines a gripping operation of the robot.
    Type: Grant
    Filed: October 20, 2016
    Date of Patent: June 30, 2020
    Assignee: Canon Kabushiki Kaisha
    Inventor: Tetsuri Sonoda
  • Patent number: 10688658
    Abstract: A method of controlling a holding apparatus configured to hold plural kinds of target objects by plural fingers in plural relative postures includes calculating, on a basis of information about holding force of the fingers in a relative posture for a target object, an amount of positional deviation of the target object held by the fingers, and correcting, on a basis of the amount of positional deviation calculated in the calculating, a position of the target object held by the fingers.
    Type: Grant
    Filed: September 1, 2017
    Date of Patent: June 23, 2020
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Shingo Amano, Isamu Okuma, Masamichi Ueno
  • Patent number: 10654690
    Abstract: An automatic locking mechanism can include one or more annular elements having teeth facing each other or facing away from each other. The automatic locking mechanism can include a rod disposed between the annular elements. The rod can have one or more pins configured to interface with the teeth of the annular elements. The pins and the teeth are also configured to rotate the rod when the annular elements move relative to the rod. The rotation of the rod can toggle a hook end of the rod in a hook receptacle, which can change states of the locking mechanism.
    Type: Grant
    Filed: April 11, 2019
    Date of Patent: May 19, 2020
    Inventor: Nhon Hoa Nguyen
  • Patent number: 10618180
    Abstract: A gripping device, in particular for loading/unloading apparatuses, includes: a main body; at least one first and a second articulated structure; at least one first and a second gripping head, respectively mounted on the first and second articulated; a first motorised member, mounted on the main body and active on the first articulated structure to modify the position of the first gripping head with respect to the main body; a second motorised member, mounted on the main body and active on the second articulated structure to modify the position of the second gripping head with respect to the main body. Each of the first the second articulated structures has: a first arm hinged to the main body; a second arm hinged to the main body; a rod, hinged to the first arm and to the second arm.
    Type: Grant
    Filed: March 23, 2018
    Date of Patent: April 14, 2020
    Assignee: All4one S.R.L.
    Inventor: Giovanni Viora
  • Patent number: 10618182
    Abstract: The proximal phalanx of an underactuated mechanical finger includes a cam fixed on a linkage. Upon actuation, the linkage rotates the cam, which then drives a cam follower, which then drives an extensible part in the distal phalanx to extend the length of the finger, and therefore compensate the finger's height loss that would otherwise occur in the absence of the extensible part.
    Type: Grant
    Filed: December 4, 2017
    Date of Patent: April 14, 2020
    Inventors: Eric Y. Zheng, Wenzeng Zhang
  • Patent number: 10603800
    Abstract: A gripper assembly includes a four bar linkage and one or a pair of carriages the move longitudinally on rails. The linkage includes a means for maintaining the paddles in a mutually parallel orientation, which can be a link or a timing belt.
    Type: Grant
    Filed: March 13, 2018
    Date of Patent: March 31, 2020
    Assignee: Amazon Technologies, Inc.
    Inventors: Ennio Claretti, Ryan Frederick Anderson, Gregory Coleman, Michael James O'Connor
  • Patent number: 10575970
    Abstract: A parallel kinematically redundant device includes a base body portion and a movable portion. The movable portion includes first, second, and third joints. A first actuator is coupled to the first joint of the movable portion and to the base body portion. A second actuator is coupled in parallel with the first actuator between the second joint of the movable portion and the base body portion. A linking member is rotationally coupled to the third joint of the movable portion to provide an output for the first and second actuators. A housing is coupled to the base body portion and fits onto a user. A prosthetic joint device includes a base portion and a movable portion. An actuator is rotationally coupled to the movable portion and base portion. A compliant element is coupled in parallel with the actuator between the movable portion and base portion.
    Type: Grant
    Filed: December 15, 2016
    Date of Patent: March 3, 2020
    Assignee: Össur Iceland ehf
    Inventor: Matthew A. Holgate
  • Patent number: 10569426
    Abstract: A robot hand jig includes a grip including a first depression configured to engage with a first finger and a second depression configured to engage with a second finger. The first depression includes a first surface, a second surface perpendicular to the first surface, a third surface perpendicular to the second surface, and a fourth surface perpendicular to the first surface and the second surface. The second depression includes a fifth surface, a sixth surface perpendicular to the fifth surface, a seventh surface perpendicular to the sixth surface, and an eighth surface perpendicular to the fifth surface and the sixth surface.
    Type: Grant
    Filed: August 23, 2018
    Date of Patent: February 25, 2020
    Assignee: Seiko Epson Corporation
    Inventors: Daisuke Komatsu, Sota Yamamoto, Ryuichi Okada, Fumiaki Hasegawa
  • Patent number: 10569424
    Abstract: Various example embodiments described herein relates to a gripping device that includes a top plate, first side plate, a second side plate, a first arm, a second arm, and a driving pin. The first side plate and the second side plate are engaged to the top plate. The first arm is engaged to the first side plate and the second arm is engaged to the second side plate. The first arm defines a first cam slot, and the second arm defines a second cam slot and are constrained together, by the driving pin engaged to an actuation assembly. The driving pin is configured to move between a first position and a second position within the first cam slot and the second cam slot so as to drive movement of the first side plate and the second side plate between an open position and a closed position to grip a container.
    Type: Grant
    Filed: March 29, 2019
    Date of Patent: February 25, 2020
    Assignee: INTELLIGRATED HEADQUARTERS, LLC
    Inventors: Todd Eliot Green, Darius Scott
  • Patent number: 10568250
    Abstract: A component mounting device mounting a component on a substrate comprises a pair of opening/closing members opening and closing, and a plurality of adapters detachably attached to the opening/closing members; the adapters are attached to the opening/closing members depending on the component to be mounted so as to clamp the component by using the adapters; and the plurality of adapters includes first adapters each having a flat clamping surface clamping a body of the component and second adapters each having a holding groove holding an axial portion of the component.
    Type: Grant
    Filed: February 28, 2018
    Date of Patent: February 18, 2020
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Hideaki Watanabe, Dai Yokoyama, Shigeki Imafuku, Yosuke Nagasawa, Yew Song Danny Ng, Yet Ling Loh
  • Patent number: 10537998
    Abstract: A compact lightweight robotic end-effector has a large range of possible applied force. The end-effector includes one or more underactuated appendages, where each appendage is driven by a single motor connected to a driving cable wound throughout the appendage. The driving cable may be a flat cable or a cable with another non-circular cross section. The driving cable may be wrapped through a series of pulleys and/or bearings within the appendage to reduce frictional losses. The design of the pulley path may allow a desired mechanical response by the appendage, and the mechanical response may be optimized for a grasping process.
    Type: Grant
    Filed: May 25, 2018
    Date of Patent: January 21, 2020
    Assignee: SRI International
    Inventors: Curt Salisbury, Mike Stevens, Zachery Shivers
  • Patent number: 10526183
    Abstract: A holding device for holding a container, for example for holding a container in a transport device of a beverage filling plant is described. The holding device includes a fastening part and two gripping arms, which are pivotably connected to the fastening part and can be brought into a closed position in order to hold the container and can be brought into an open position in order to insert and remove the container. A preloaded elastic bow is disposed between the gripping arms, and the elastic bow can be brought into a first position, in which the gripping arms are in the open position, and into a second position, in which the gripping arms are in the closed position. The preload of the elastic bow in the first position holds the gripping arms in the open position and the preload of the elastic bow in the second position holds the gripping arms in the closed position.
    Type: Grant
    Filed: March 22, 2017
    Date of Patent: January 7, 2020
    Assignee: KRONES AG
    Inventors: Bruno Landler, Matthias Kraus
  • Patent number: 10518985
    Abstract: A control system and method for a vacuum attachment system has a programmable controller that interprets feedback from vacuum level sensors and battery sensors to responsively provide warnings and limit or alter machine functions to reduce risk exposure. Vacuum levels and vacuum level change over time are used to evaluate conditions such as vacuum generator function, excessive altitude, vacuum system condition and leakage due to incompatibility of attachment device and load. Warnings are engaged if parameters or limits are not met. At designated/calculated thresholds and conditions the device can adjust its utilization of resources to ensure the safest condition. If conditions are detected that indicate a reduced ability to maintain the attachment, the programmable controller may limit functions such as preventing the operator from initiating another attachment.
    Type: Grant
    Filed: May 25, 2017
    Date of Patent: December 31, 2019
    Assignee: Wood's Powr-Grip Co., Inc.
    Inventors: Steven Jerald Strobel, Martin Andrew Peterson, Bryan Kirk Strobel
  • Patent number: 10485365
    Abstract: Locking tongs that are operable to lock in a closed position and unlock to an open position with the use of one hand. The tongs include a first arm and a second arm connected at a pivot point and extend out from each other in an open position. A tension spring positioned at the pivot point holds the first and second arm in the open position. A locking mechanism includes: (i) a locking member having an elongated body and forms a stop at an end, the locking member positioned on an inner portion of the first arm and extends towards the second arm, and (ii) a receiving aperture defined on the second arm sized and shaped to receive the stop of the locking member. The locking member engages the second arm when the stop passes through the receiving aperture and thereby holds the pair of tongs in a closed position.
    Type: Grant
    Filed: February 12, 2019
    Date of Patent: November 26, 2019
    Assignee: Big Sky Product Innovation, LLC
    Inventor: Eric John van Dalen
  • Patent number: 10433860
    Abstract: A transmission adapter for a medical instrument with a shaft, a transmission device movable in the shaft, and a manipulating device with a first part, which can be coupled mechanically rigidly to a proximal end of the shaft, and a second part, which is movable relative to the first part, includes a first coupling element for releasable mechanical coupling to the second part of the manipulating device, and a second coupling element for releasable mechanical coupling to a proximal end of the transmission device.
    Type: Grant
    Filed: September 7, 2017
    Date of Patent: October 8, 2019
    Assignee: Karl Storz SE & Co. KG
    Inventors: Jochen Stefan, Daniel Kärcher
  • Patent number: 10427918
    Abstract: A clamping assembly is disclosed including a plurality of tines each pivotally coupled to a spreader having first ends above the spreader and second ends below the spreader. The first ends are coupled to lines joined at a common coupler and the second ends include hooked portions. The tines may have a planar shape and fit within radial slots defined by the spreader. The second ends may include slanted lower surfaces that slope upward with distance inward toward a center of the clamping assembly. In use the tines are lowered over an object. Tension applied to the lines causes pivoting of the tines effective to exert a clamping force on the object.
    Type: Grant
    Filed: November 29, 2013
    Date of Patent: October 1, 2019
    Inventor: Albert Allpress
  • Patent number: 10426636
    Abstract: An artificial finger for prosthetics and gripping technology, with a base, a first finger member mounted on the base in articulated manner, at least one secondary member mounted on the first finger member in articulated manner, and a drive for adjusting the secondary member relative to the first finger member and the first finger member relative to the base. At least one reset element is provided for resetting the first finger member and the secondary member, and the first finger member is acted upon with a resetting force which differs from the secondary member.
    Type: Grant
    Filed: April 29, 2014
    Date of Patent: October 1, 2019
    Assignee: OTTO BOCK HEALTHCARE PRODUCTS GMBH
    Inventors: Clemens Mandl, Leopold Oecker, Richard Skiera, Johannis Willem Van Vliet, Ronald Naderer, Paolo Ferrara, Florian Schausberger
  • Patent number: 10413431
    Abstract: A rehabilitation system with stiffness measurement on a body part to be rehabilitated is disclosed. The rehabilitation system includes a rehabilitation unit and a processor. The rehabilitation unit includes an exoskeleton brace holding a rehabilitation part of user and traction lines driving the exoskeleton brace for moving. When the exoskeleton brace moves, the processor analyzes tensions of the traction lines to obtain stiffness information relating to the rehabilitation part of user.
    Type: Grant
    Filed: March 20, 2015
    Date of Patent: September 17, 2019
    Assignee: NATIONAL TSING HUA UNIVERSITY
    Inventors: Shu-Wei Pu, Jen-Yuan Chang
  • Patent number: 10402503
    Abstract: The invention relates to a method for determining a grasp set of n gripping points for a common end effector of a robot, said end effector being used for grasping a plurality of parts, each part having its own geometry, the method comprises: (a) providing said plurality of parts in a CAD form; (b) meshing each of said parts; (c) determining for each of said parts all the possible grasps that are capable of holding the respective part by any k-contacts points end effector; (d) calculating a quality measure for each of said determined grasps; (e) calculating an allowable range for said calculated quality measures; (f) for each part, parametrizing each of its grasps that are found to be within said allowable range, by a feature vector; (g) performing a cross-part intersection between said grasps that are found to be within said allowable range, and determining those grasps that are intersected between parts; and (h) from among said intersected grasps, selecting a single grasp having a highest quality measure, sa
    Type: Grant
    Filed: September 11, 2013
    Date of Patent: September 3, 2019
    Assignee: BEN-GURION UNIVERSITY OF THE NEGEV & DEVELOPMENT AUTHORITY
    Inventors: Amir Shapiro, Avishai Sintov
  • Patent number: 10399211
    Abstract: A chuck apparatus includes a first rotating shaft provided with a first gripping member, a second rotating shaft provided with a second gripping member, and a power transmission mechanism configured to convert reciprocating movement of a piston unit into rotational movement of the first rotating shaft and the second rotating shaft. The first rotating shaft and the second rotating shaft are arranged side by side in a direction of displacement of the piston unit.
    Type: Grant
    Filed: May 26, 2016
    Date of Patent: September 3, 2019
    Assignee: SMC CORPORATION
    Inventors: Koji Hara, Kouichirou Kanda, Koichiro Ishibashi
  • Patent number: 10391559
    Abstract: A machine tool includes a workpiece spindle device which rotates a workpiece, a tool post which can move a tool in a first axis direction (X-axis direction) which is a radial direction of the workpiece and a second axis direction (Z-axis direction) which is an axial direction of the workpiece, and an articulated robot including a plurality of arms, a plurality of joints, and end effectors. The plurality of joints connect the plurality of arms in a rotatable manner around an axis parallel to a third axis (Y-axis) orthogonal to the first axis and the second axis, and the end effectors move in a plane parallel to a movement plane of the tool.
    Type: Grant
    Filed: May 24, 2017
    Date of Patent: August 27, 2019
    Assignee: OKUMA CORPORATION
    Inventor: Shoichi Morimura
  • Patent number: 10385634
    Abstract: A drill rod handler provides rods to be used to form a drill string in on-shore drilling operations. The drill rod handler includes side arms which are moveable to encourage drill rods to roll towards or away from a center line of the drill rod handler. A working arm is arranged to grasp a centrally located drill rod, and to raise it from a horizontal to a vertical configuration. The working arm may then slew to correctly position the drill rod at the correct location for use.
    Type: Grant
    Filed: April 10, 2015
    Date of Patent: August 20, 2019
    Assignee: Ormarc Engineering Pty Ltd
    Inventor: Scott Pover
  • Patent number: 10376277
    Abstract: A forceps comprising a first jaw and a second jaw arranged along a longitudinal axis of the forceps for relative movement toward and away from one another. The first and second forceps jaws have respective first and second jaw surfaces facing each other. The first and second jaw surfaces have a serrated surface texture at least on a distal part thereof. A serration direction of the serrated surface texture is at an angle which is non-perpendicular to the longitudinal axis, resulting in additional profile structure elements at a tip portion surface, allowing to handle and manipulate fine tissue materials such as membranes in an eye.
    Type: Grant
    Filed: February 18, 2016
    Date of Patent: August 13, 2019
    Assignee: Crea IP B.V.
    Inventors: Adriaantje Coliene Dam-Huisman, Ferenc Kuhn
  • Patent number: 10377045
    Abstract: A robotic hand includes a servo housing, a printed circuit board (PCB), a motor, a planetary gear transmission assembly and a plurality of claws rotatably connected to the servo housing. The motor is electrically connected to the PCB. An input end of the planetary gear transmission assembly is connected to an output shaft of the motor, and an output end of the planetary gear transmission assembly includes a helical gear shaft and a number of helical gears that are engaged with the helical gear shaft and the claws. The helical gears correspond to the claws respectively. One end of each of the claws is rotatably connected to the servo housing, and the claws are rotatable toward or away from one another when driven by the helical gears.
    Type: Grant
    Filed: November 14, 2017
    Date of Patent: August 13, 2019
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Yong Fu, Hongyu Ding
  • Patent number: 10335270
    Abstract: Apparatus (40) for compressing a transcatheter cardiac stent-valve (10) comprises: a hollow channel (42) having an interior surface (50) shaped for progressively compressing the stent-valve in response to longitudinal advancement of the stent-valve within the channel; a driver (46) threadedly engaged on the exterior of the channel for generating a longitudinal driving force in response to rotation; a mover (44) having limbs (56) that project through slots (58) in the channel wall to transmit the driving force to the stent-valve within the channel; and a channel extension (48) removably attachable at the exit (54) to provide a generally cylindrical containment bore (66).
    Type: Grant
    Filed: May 3, 2012
    Date of Patent: July 2, 2019
    Assignee: SYMETIS SA
    Inventors: Jacques Essinger, Stephane Delaloye, Jean-Luc Hefti, Luc Mantanus, Michael Paris
  • Patent number: 10315314
    Abstract: An end effector has an end effector base portion connected to a robot arm, and an elastic component holding unit provided to the end effector base portion so as to hold an elastic component. The elastic component holding unit has a plurality of elastic component gripping members which releasably grip the elastic component, and a biasing unit for repulsively biasing each distal end portion of the plurality of elastic component gripping members from a releasing position for releasing the elastic component toward a gripping position for gripping the elastic component. An end effector capable of simplifying a fitting work of an elastic component such as the O ring can be provided.
    Type: Grant
    Filed: August 13, 2015
    Date of Patent: June 11, 2019
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Jun Takebayashi, Shuhei Kuraoka, Hiroyuki Mizumoto
  • Patent number: 10293492
    Abstract: Finger assemblies at the end of a robotic arm end effector includes talon that are retractable. Retraction may be accomplished by a vertical or horizontal barrel cam, a paddle and spin assembly, and/or a resilient plate.
    Type: Grant
    Filed: October 31, 2017
    Date of Patent: May 21, 2019
    Assignee: Amazon Technologies, Inc.
    Inventors: Jude Royston Jonas, Ennio Claretti, Justin Thomas Juranovits, Andrew D. Marchese
  • Patent number: 10294624
    Abstract: A vibratory apparatus providing increased vibration of members held for penetrating a material with the member, by holding the members directly against the vibrating unit using the jaws, thus providing a greater amount of vibration directly transferred to the members for penetrating the material therewith while losing less energy. The apparatus can hold cylindrically shaped members at three separate points of contact or gripping positions for improved, more stable and secure holding thereof. The apparatus can be used to force a variety of different types of members into and out of the material, with or without the use of adaptor attachment components.
    Type: Grant
    Filed: March 25, 2015
    Date of Patent: May 21, 2019
    Assignee: LES PRODUITS GILBERT INC.
    Inventor: Michel Audet
  • Patent number: 10279484
    Abstract: A mechanical finger has a base adapted to be connected to an actuator for being displaced in at least one degree of actuation, and has two or more phalanges. A first phalanx is rotationally connected at a proximal end to the base, and a second phalanx is rotationally connected at a proximal end to a distal end of the first phalanx. A transmission linkage providing at least one rotational degree of freedom (DOF) between the base and a distal-most one of the phalanges.
    Type: Grant
    Filed: September 11, 2015
    Date of Patent: May 7, 2019
    Assignee: POLYVALOR, LIMITED PARTNERSHIP
    Inventor: Lionel Birglen
  • Patent number: 10271966
    Abstract: A body-powered articulated prosthetic hand where each of the segments of the digits, the palmer plate, the thumb pivot plate and the wrist are individually sizeable. This allows for both a proportionately scalable hand as well as individual customization of geometric configurations tailored to specific use patterns. The hand is crushable since it has flexible and pivotable connections between digits along the length and width of the hand. It has a hollow member construction that imparts a strong lightweight design. It is modular so individual parts can be replaced for quick repair. From an aesthetics point, it is visually pleasing and can be offered in different colors, and with custom digit sleeves for specific applications. Fingers can be operated individually or in groups via pairs of cables which allow operation in either voluntary open or voluntary closed modes of control.
    Type: Grant
    Filed: March 16, 2016
    Date of Patent: April 30, 2019
    Inventor: Ryan William Glasgow
  • Patent number: 10265861
    Abstract: The invention relates to a gripping device, including a base part and gripping fingers for gripping gripping components, which gripping fingers are movably arranged on the base part, characterized in that a clamping device is additionally provided on the base part, which clamping device interacts with at least one holding segment provided on a clamping component in order to fasten the clamping component to the base part.
    Type: Grant
    Filed: September 2, 2016
    Date of Patent: April 23, 2019
    Assignee: SCHUNK GMBH & CO. KG SPANN-UND GREIFTECHNIK
    Inventors: Ralf Becker, Jens Wolfarth
  • Patent number: 10265862
    Abstract: In one embodiment, a robotic end effector configured to mount to a robotic manipulator includes gripping elements configured to grasp objects, a drive mechanism configured to open and close the gripping elements, and a central controller configured to control operation of the drive mechanism and the gripper elements, the central controller hosting a control program that enables control of the end effector independent of the robotic manipulator.
    Type: Grant
    Filed: June 19, 2017
    Date of Patent: April 23, 2019
    Assignee: University of South Florida
    Inventors: Redwan Alqasemi, Paul Mitzlaff, Andoni Aguirrezabal, Lei Wu, Karl Rothe, Rajiv Dubey
  • Patent number: 10226865
    Abstract: A gripper includes: a base attached to a wrist tip of a robot, a first-surface suction unit provided on the base and capable of sucking a first surface of a box-shaped package in a first suction direction, and a second-surface support unit configured to contact and support a second surface of the package orthogonal to the first surface. The gripper further includes a moving mechanism configured to move the second-surface support unit along a plane parallel to the second surface between a position where the second-surface support unit is retracted toward a base end side of relative to a leading end of the first-surface suction unit in the first suction direction and a position where the second-surface support unit is placed forward from the leading end of the first-surface suction unit while the first-surface suction unit is sucking the first surface.
    Type: Grant
    Filed: February 21, 2018
    Date of Patent: March 12, 2019
    Assignee: FANUC CORPORATION
    Inventor: Kazutaka Nakayama
  • Patent number: 10226305
    Abstract: An end effector of a surgical tool includes a first jaw and a second jaw rotated by a driving pulley. A first driven pulley is attached to the first jaw and a second driven pulley is attached to the second jaw. A first end portion of a first cable is connected to a first radial side of the first driven pulley, a second end portion of the first cable is connected to a second radial side of the second driven pulley, and an intermediate portion of the first cable is connected to the driving pulley. A first end portion of a second cable is connected to a first radial side of the second driven pulley, a second end portion of the second cable is connected to a second radial side of the first driven pulley, and an intermediate portion of the second cable is connected to the driving pulley.
    Type: Grant
    Filed: November 5, 2014
    Date of Patent: March 12, 2019
    Assignee: Covidien LP
    Inventor: Chi Min Seow
  • Patent number: 10219869
    Abstract: An end effector of a surgical tool includes a first jaw and a second jaw rotated by a driving pulley. A first driven pulley is attached to the first jaw and a second driven pulley is attached to the second jaw. A first end portion of a first cable is connected to a first radial side of the first driven pulley, a second end portion of the first cable is connected to a second radial side of the second driven pulley, and an intermediate portion of the first cable is connected to the driving pulley. A first end portion of a second cable is connected to a first radial side of the second driven pulley, a second end portion of the second cable is connected to a second radial side of the first driven pulley, and an intermediate portion of the second cable is connected to the driving pulley.
    Type: Grant
    Filed: November 5, 2014
    Date of Patent: March 5, 2019
    Assignee: Covidien LP
    Inventor: Chi Min Seow
  • Patent number: 10195772
    Abstract: Unit (4) for molding preforms (2) that each have a body (15) and a neck (17) extending the body (15), this unit (4) including: a frame (19),—a mold holder (27) secured to the frame (19) and carrying at least one mold body (29) having the impression of the body (15) of the preform (2); mobile equipment (60) including a carriage (61) and a core holder (62) carrying at least one primary core (64A) and one secondary core (64B), the carriage (61) being mounted so as to be movable with respect to the frame (19) between a molding position and a demolding position, this core holder (62) being rotatable with respect to the carriage (61), in the demolding position of the latter, about a rotation axis parallel to the molding axis in order to transpose the cores (64A, 64B).
    Type: Grant
    Filed: January 19, 2015
    Date of Patent: February 5, 2019
    Assignee: SIDEL PARTICIPATIONS
    Inventors: Yves-Alban Duclos, Gilles Helix, Michel Norture
  • Patent number: 10195748
    Abstract: A humanoid robot capable of identifying an individual in a natural way is described. This humanoid robot shakes a hand of a person to acquire biological information of the person and identify the individual person. Particularly, a near infrared light emitting device and a near infrared sensor are installed in a hand of the humanoid robot to irradiate a hand of a human being with near infrared light emitted from the near infrared light emitting device and detect a vein pattern by the near infrared sensor. The individual person can be identified by recording and collating this vein pattern.
    Type: Grant
    Filed: August 31, 2015
    Date of Patent: February 5, 2019
    Assignee: INTERMAN Corporation
    Inventor: Shigeki Uetabira