Pivoted Jaws Patents (Class 294/106)
  • Patent number: 11312023
    Abstract: A coupling device is described herein having a body situated between a mounting member and a receiving member. The mounting member mounts to a portion of a machine and the receiving member receives a tool to couple the tool to the machine. The body includes a housing having a locking pin disposed therein. The locking pin includes a plurality of teeth radially positioned about an outer surface of the locking pin. A plurality of pawls disposed in the body engage with the plurality of teeth to lock a rotational position of the locking pin. A lever connected to the locking pin allows a user to rotate the locking pin. Upon rotation of the lever, components in the body cause the locking pin to rotate and translate towards the tool to impose a force on a portion of the tool to rigidly connect the tool to the machine.
    Type: Grant
    Filed: December 1, 2017
    Date of Patent: April 26, 2022
    Assignee: Think Surgical, Inc.
    Inventor: Mark Dixon
  • Patent number: 11298785
    Abstract: A method of servicing a pipe bundle or riser bundle employs a specially configured hoist having a rail that supports multiple lifts. A selected satellite pipe/conduit of the pipe bundle is both lifted and pulled horizontally in order to remove it from a plurality of supports that hold the satellite pipes together in spaced apart positions. During removal of a satellite pipe, the lifts elevate, then travel with and hold the pipe as it moves horizontally away from the bundle.
    Type: Grant
    Filed: April 27, 2020
    Date of Patent: April 12, 2022
    Assignee: Coastal Cargo Company, L.L.C.
    Inventor: Don M. Zemo, Jr.
  • Patent number: 11279046
    Abstract: A workpiece holding device includes a plurality of holding claws configured to hold a workpiece, and holding cylinders as claw opening/closing members configured to displace the holding claws in a direction closer to or away from a first workpiece. The holding cylinders are provided for the holding claws, respectively. Therefore, the plurality of holding claws can be opened/closed individually. The holding cylinders are held on a support disk as a holding member in a movable manner. That is, by moving the holding cylinders to arbitrary positions on the support disk, the holding cylinders are positioned fixedly.
    Type: Grant
    Filed: April 11, 2018
    Date of Patent: March 22, 2022
    Assignee: SMC CORPORATION
    Inventor: Takeshi Seo
  • Patent number: 11267139
    Abstract: A method of (and an associated device for) applying or measuring the force applied to a sample tube is disclosed. The method includes the steps of driving a plurality of gripping fingers from an open position to a gripping position against a tube, while measuring the movement of first and second coaxial gears driving the fingers before the fingers grip the tube, stopping the movement of the first coaxial gear when the fingers grip the tube, and allowing and measuring a further limited movement of the second coaxial gear after the fingers grip the tube.
    Type: Grant
    Filed: September 24, 2019
    Date of Patent: March 8, 2022
    Assignee: Scinomix
    Inventors: Edward E King, Nigel Malterer, Michael Chrisco
  • Patent number: 11259941
    Abstract: A prosthesis or an orthosis and method of operating the same. The prosthesis or orthosis comprising a moveable component, a motor operable to move the component, wherein the motor has at least one operating parameter, the application of which to the motor results in the component having at least one operating condition; and an electronic device operable to: determine at least one operating parameter of the motor and determine at least one instantaneous operating condition of the component from a predetermined operating profile of the motor and component and the determined at least one operating parameter of the motor, the predetermined operating profile of the motor and component being based on one or more operating parameter inputs to the motor and one or more resulting operating condition outputs of the component.
    Type: Grant
    Filed: August 26, 2019
    Date of Patent: March 1, 2022
    Assignee: Touch Bionics Limited
    Inventors: Hugh Gill, Sethu Vijayakumar, Ian Saunders
  • Patent number: 11254015
    Abstract: A lab automation robot is provided including a stationary base, a swiveling tower rotatably mounted to the stationary base about a first vertical axis, an arm vertically translatably mounted to the tower, an articulating forearm coupled to the arm at an elbow joint and pivotal relative thereto about a second vertical axis, and a wrist assembly including a multi-axis gripper operatively coupled to the forearm at a wrist joint and rotatable relative thereto about a third vertical axis. The gripper is further rotatable relative to at least the forearm about a first horizontal axis and about a second horizontal axis.
    Type: Grant
    Filed: September 9, 2020
    Date of Patent: February 22, 2022
    Assignee: Thermo CRS Ltd.
    Inventors: Michael Paul Riff, Jonathan Wittchen, Gary Darnel, Stephen Wayne Johnson
  • Patent number: 11241801
    Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.
    Type: Grant
    Filed: December 31, 2018
    Date of Patent: February 8, 2022
    Assignee: Sarcos Corp.
    Inventors: Fraser M. Smith, Brian J. Maclean
  • Patent number: 11192263
    Abstract: A robot hand is provided and includes a robot hand control unit that has at least three gripping fingers on a base and controls the robot hand, a plurality of drive mechanisms that brings the three gripping fingers independently close to or separate from each other, a plurality of drive control units that individually controls each of a plurality of drive sources of the plurality of drive mechanisms, and a distribution control unit that is disposed on the base and distributes an instruction value from the robot hand control unit to the plurality of drive control units associated with the plurality of gripping fingers. At least one of the gripping fingers includes an integrally formed drive source and drive control unit.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: December 7, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventor: Masamichi Ueno
  • Patent number: 11185995
    Abstract: A robot gripper includes a first gripper finger and at least one second gripper finger, a gripper main body, a base element mounted for rotation about a first rotational axis relative to the gripper main body by a first rotary joint, and an intermediate element mounted for rotation relative to the base element by a second rotary joint. The gripper further includes a finger carrier carrying the first gripper finger and mounted for rotation relative to the intermediate element by a third rotary joint, namely about a third rotational axis, and a drive device that is separate from the first, second, and third rotary joints. The drive device is supported against the gripper main body and is configured to adjust the finger carrier relative to the second gripper finger with a drive force that is introduced into the finger carrier by the drive device.
    Type: Grant
    Filed: May 5, 2017
    Date of Patent: November 30, 2021
    Assignee: KUKA Deutschland GmbH
    Inventor: Sven Brudniok
  • Patent number: 11173615
    Abstract: Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.
    Type: Grant
    Filed: March 30, 2018
    Date of Patent: November 16, 2021
    Assignee: SOFT ROBOTICS, INC.
    Inventors: Michael Rosenstein, Jeff Curhan, Joshua Aaron Lessing, Ryan Knopf, Daniel Harburg, Mark Chiappetta
  • Patent number: 11148300
    Abstract: A robotic gripping device includes a base part attached to a tip of a wrist of a robot; finger parts, at least one of which is movably supported on the base part so that the finger parts can move toward and away from each other; and a driving mechanism that drives the finger parts. In at least one of the finger parts, flexibility of at least a gripping surface is switchable.
    Type: Grant
    Filed: September 6, 2019
    Date of Patent: October 19, 2021
    Assignee: FANUC CORPORATION
    Inventors: Shinsuke Sakakibara, Kazutaka Nakayama
  • Patent number: 11148295
    Abstract: Disclosed are various embodiments of a three-dimensional perception and object manipulation robot gripper configured for connection to and operation in conjunction with a robot arm. In some embodiments, the gripper comprises a palm, a plurality of motors or actuators operably connected to the palm, a mechanical manipulation system operably connected to the palm, a plurality of fingers operably connected to the motors or actuators and configured to manipulate one or more objects located within a workspace or target volume that can be accessed by the fingers. A depth camera system is also operably connected to the palm.
    Type: Grant
    Filed: April 5, 2019
    Date of Patent: October 19, 2021
    Assignee: Robotics Materials, Inc.
    Inventors: Nikolaus J. Correll, Austin K. Miller, Branden Romero
  • Patent number: 11141867
    Abstract: The invention discloses a robotic dexterous hand including a plurality of finger mechanisms, the finger mechanisms comprises: an actuator; a connecting element with one end fixed to the actuator; a plurality of fingers including a plurality of knuckles, the knuckle includes a fixed knuckle positioned at the other end of the connecting element, the fixed knuckles are arranged in parallel and jointly form a palm of the robotic dexterous hand; wherein the actuator drives the flexion of the fingers to perform the gripping of a target object. The fingers and the palm are built from the multiple knuckles having a same structure. Design is required merely for the structure of a single knuckle, the need for discretely designing the structure of the fingers and that of the palm is obviated, thus greatly reducing the types of components, at the same time, simplifying the structure, and favoring the production and management.
    Type: Grant
    Filed: October 28, 2016
    Date of Patent: October 12, 2021
    Inventor: Zhi-Kang Wang
  • Patent number: 11117268
    Abstract: A robot hand including a set of carpal bones, each of the carpal bones having at least one adjacent bone; and each carpal bone defining at least one socket. For each pair of adjacent carpal bones, at least one connector having a first and second end and wherein the first end and the second end are each in the form of a ball, and wherein the balls are joined by a connective element. Wherein the ball at the first end of the connector is fitted conformally into the socket of a first one of the pair of adjacent carpal bones and the ball at the second end of the connector is fitted conformally into the socket of a second one of the pair of adjacent bones, thereby joining the carpal bones together, but permitting limited relative movement.
    Type: Grant
    Filed: June 26, 2019
    Date of Patent: September 14, 2021
    Inventor: Timothy R. Beevers
  • Patent number: 11104010
    Abstract: A workpiece gripping hand includes a first movable member and a second movable member which cooperate with each other to grip an object, a first drive unit which linearly moves the first movable member, a support unit which rotatably supports the second movable member, a link member which is linked to the first movable member and the second movable member, and which rotates the second movable member by transmitting a linear motion of the first movable member to the second movable member, and a second drive unit which moves the support unit to change a position of a center of rotation of the second movable member.
    Type: Grant
    Filed: November 13, 2019
    Date of Patent: August 31, 2021
    Assignee: FANUC CORPORATION
    Inventor: Yoshiaki Dohi
  • Patent number: 11058499
    Abstract: A robotic surgical system comprising a supporting column, a plurality of manipulator arms, a control device and a boom. The boom is connected at one end to the supporting column and at the other end includes a plurality of coupling devices for coupling the manipulator arms to the booms Depending on the position of the respective manipulator arm on the boom, some manipulator arms may be connected via first coupling devices with first coupling mechanisms to the boom, and other arms may be connected via second coupling devices to the boom. The first coupling mechanism comprises a first pivot joint. The second coupling mechanism comprises a second pivot joint, a third pivot joint and a linkage part connecting the pivot joints. The axes of rotation of the second and third pivot joints are spaced apart by the linkage part and lie parallel to each other.
    Type: Grant
    Filed: August 9, 2018
    Date of Patent: July 13, 2021
    Assignee: avateramedical GmbH
    Inventors: Leander Hille, Tobias Luksch, Ricardo A. Tauro, Christian Trommer
  • Patent number: 11054322
    Abstract: A tool for fixing a tension clamp including a pair of levers pivotable about parallel axes and carrying at their ends plier jaws that can be moved toward each other and act on the clamp. To monitor the forces occurring during the locking of a buckle and a clamping band of the tension clamp, use is made of a device that has a housing fixed with respect to the tool and power transmission arms. Each power transmission arm is at one end elastically articulated to the housing, has at the other end a contact surface for a force sensor (18) attached to the housing and has, between its ends, a bore, in which the axis of the relevant tool lever is supported. A force/time or force/path curve obtained from the sensor signals is used as a measure of the quality of the locking between the buckle and the clamping band.
    Type: Grant
    Filed: March 14, 2017
    Date of Patent: July 6, 2021
    Assignee: Oetiker Schweiz AG
    Inventor: Peter Steiner
  • Patent number: 11034029
    Abstract: A joint structure for a robot including a four-link mechanism, in which an elastic member expands and its restoring force increases as a finger is bent, and a distance between a second straight line passing through a center of a second rotation shaft and a fixed point at which the other end of the elastic member is fixed to the third link is equal to or longer than a distance between a fourth straight line passing through a center of a first rotation shaft and a fixed point at which one end of the elastic member is fixed to the second link, the second straight line being perpendicular to a first straight line passing through centers of second and fourth rotation shafts, and the fourth straight line being perpendicular to a third straight line passing through centers of first and third rotation shafts.
    Type: Grant
    Filed: October 17, 2018
    Date of Patent: June 15, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Hiroyuki Kondo
  • Patent number: 11027930
    Abstract: A side-loading robotic arm for use with rear or mid-body mounted refuse containers. The robotic arm is configured for disposition forward of a container, but may be disposed behind or otherwise oriented relative to the container. The robotic arm includes a tipping arm pivotingly attached to and carried by a carriage body disposed on lateral rails. The tipping arm has a generally right-angle configuration. A lifting arm is pivotingly attached to the tipping arm distal from the carriage body. A pair of gripper arms is disposed on the lifting arm distal from the tipping arm. The right-angle configuration of the tipping arm facilitates pivoting and inversion of bins to be emptied into the refuse containers. The fixed shape of the tipping arm eliminates a mechanical movement operation of the prior art and minimizes potential mechanical interference with other parts of the robotic arm.
    Type: Grant
    Filed: December 4, 2019
    Date of Patent: June 8, 2021
    Inventor: Anthony Stephen Kouri
  • Patent number: 11014250
    Abstract: A gripping device includes a rotating member having a pinion and rotating about a center axis of the pinion, a drive piezoelectric unit having a vibrating portion that vibrates with expansion and contraction of a piezoelectric material, and a convex portion provided in the vibrating portion, being in contact with the rotating member, and transmitting vibration of the vibrating portion to the rotating member, a rack meshing with the pinion and moving with rotation of the pinion, and a gripping part coupled to the rack, wherein a contact portion in which the convex portion and the rotating member are in contact is located outside of an outer circumference of the pinion in a plan view from a direction of a rotation axis of the rotating member.
    Type: Grant
    Filed: May 17, 2019
    Date of Patent: May 25, 2021
    Inventors: Tomohisa Iwazaki, Yutaka Arakawa
  • Patent number: 11000957
    Abstract: The disclosure relates to a mechanical hand of a dual-driven special-shaped super-flexible elastic framework. The mechanical hand includes a top plate and a base plate. The top plate and the base plate are fixed into a whole through two groups of guide connection rods. Two lead screw shaft servo motors are disposed on the top plate at an interval. Lead screws of the two lead screw shaft servo motors are respectively connected to a hollow finger front section driving plate and a finger root portion driving plate. Tail ends of the two lead screws are respectively supported on the base plate through two mounted bearings. The mechanical hand further includes flexible fingers. A tip portion of each of the flexible fingers is fixed on the hollow finger front section driving plate. A special-shaped super-flexible leaf spring of the flexible finger is connected to the base plate through a finger root hinge seat.
    Type: Grant
    Filed: December 10, 2020
    Date of Patent: May 11, 2021
    Assignee: JIANGNAN UNIVERSITY
    Inventors: Jun Zhang, Dingfeng Xu, Qiang Wang, Bing Lv
  • Patent number: 10981282
    Abstract: An attaching-detaching mechanism (23, 63) of a gripping device includes: a tubular support member (44, 84) provided to a movable member (3, 4) to protrude in the guide hole (24, 64); engagement members (46, 86) respectively inserted in support holes (45, 85) of the support member (44, 84) so as to be radially movable; an operation portion (49, 89) inserted in a guide hole (24, 64); wedge portions (50, 90) provided on an inner peripheral wall of the operation portion (49, 89); a connecting rod (53, 93) provided to protrude from a claw member (22, 62) and configured to be insertable into a tubular hole (51, 91) of the support member (44, 84); and a lock portion (56, 96) provided on an outer peripheral wall of the connecting rod (53, 93).
    Type: Grant
    Filed: May 29, 2018
    Date of Patent: April 20, 2021
    Assignee: KOSMEK LTD.
    Inventor: Yosuke Haruna
  • Patent number: 10976032
    Abstract: The invention relates to a luminaire comprising a removable LED chip as an illuminant, a tool for transporting and replacing the removable LED chip, and a combination kit encompassing the luminaire and the tool for transporting and replacing the removable LED chip.
    Type: Grant
    Filed: November 9, 2015
    Date of Patent: April 13, 2021
    Assignee: SLS Superlight Solutions UG
    Inventors: Michael Gilbert, Peter Gilbert, Olaf Heinrich König
  • Patent number: 10893957
    Abstract: A mechanical grasping device where each of the segments of the finger assemblies, are individually sizeable. This allows for both a proportionately scalable grasping device as well as individual customization of geometric configurations tailored to specific use patterns. The mechanical grasping device is crushable since it has flexible and pivotable connections between digits along its length and width. 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. Finger assemblies can be operated individually or in groups via pairs of cables which allow operation in either voluntary open or voluntary closed modes of control. The flexible construction allows gripping of irregularly shaped objects and deforms before failing giving indication of overload prior to failure.
    Type: Grant
    Filed: May 3, 2018
    Date of Patent: January 19, 2021
    Inventor: Ryan William Glasgow
  • 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: 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: 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: 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