Slideable Jaws Patents (Class 294/119.1)
  • Patent number: 10786908
    Abstract: An adapter which allows an object to be pulled into a chamber after being gripped by a gripper module with a drive, said chamber being formed by an outer shell is provided. The outer shell is designed to at least partly cover the object and is sufficiently large so as to shield the object. The adapter can be understood as a gripper base system to which the gripper module is adapted. The drive pulls the entire gripper module including the object into the gripper base system. The adapter provides a safety gripper system with an object housing for a safe human/robot interaction. The outer shell protects persons from sharp-edged objects which are gripped by the gripper module and which could otherwise lead to an injury of the persons located in the working area.
    Type: Grant
    Filed: July 29, 2016
    Date of Patent: September 29, 2020
    Assignee: Siemens Aktiengesellschaft
    Inventor: Detlef Gerhard
  • Patent number: 10723019
    Abstract: In accordance with an embodiment, the invention provides an end effector for use with a programmable motion device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable with respect to an end effector support structure for supporting the at least one of the pair of mutually opposing surfaces.
    Type: Grant
    Filed: August 1, 2018
    Date of Patent: July 28, 2020
    Assignee: Berkshire Grey, Inc.
    Inventors: Thomas Wagner, Kevin Ahearn, John Richard Amend, Jr., Benjamin Cohen, Michael Dawson-Haggerty, William Hartman Fort, Christopher Geyer, Jennifer Eileen King, Thomas Koletschka, Michael Cap Koval, Kyle Maroney, Matthew T. Mason, William Chu-Hyon McMahan, Gene Temple Price, Joseph Romano, Daniel Smith, Siddhartha Srinivasa, Prasanna Velagapudi, Thomas Allen
  • Patent number: 10703584
    Abstract: A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location; obtaining additional data as the object is transferred to a task location, wherein the additional data includes information regarding one or more edges and/or one or more surfaces separate from portions of the object captured in the first data; and creating registration data representative of the object based on the additional data.
    Type: Grant
    Filed: August 13, 2019
    Date of Patent: July 7, 2020
    Assignee: MUJIN, Inc.
    Inventors: Rosen Nikolaev Diankov, Huan Liu, Xutao Ye, Jose Jeronimo Moreira Rodrigues, Yoshiki Kanemoto, Jinze Yu, Russell Islam
  • Patent number: 10676324
    Abstract: A common connection apparatus for coupling a power tool to an extensible arm and a power supply, the apparatus including a tool support base designed to support a tool, and a power supply support base designed to be affixed to the end of the extensible arm. The tool support base and the power supply support base each include a plurality of power connectors, positioned for engagement when the bases are aligned. The tool support base also has an alignment stab, which is received within a channel of the power supply support base. A plurality of pins are further positioned on the tool support base, to be received in apertures of the power supply support base. By this configuration, the bases may be aligned and engaged, facilitating the transmission of power from the machinery to which the arm is affixed, to the tool.
    Type: Grant
    Filed: January 11, 2018
    Date of Patent: June 9, 2020
    Inventor: Thomas A Weeks
  • Patent number: 10654176
    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 19, 2020
    Assignee: Amazon Technologies, Inc.
    Inventors: Jude Royston Jonas, Ennio Claretti, Justin Thomas Juranovits, Andrew D. Marchese
  • Patent number: 10639800
    Abstract: In one embodiment, an end effector for a robotic manipulator has a base that is configured to attach to the end of a robotic arm, a first fork, and a second fork. The end first fork includes a first pair of prongs that extend from the base along a first direction and that are spaced from one another so as to receive a first storage container therebetween. The second fork includes a second pair of prongs that extend from the base along a second direction that is angularly offset from the first direction and that are spaced from one another so as to receive a second storage container therebetween. The first and second forks can be used to stack or unstack the first and second containers.
    Type: Grant
    Filed: July 11, 2018
    Date of Patent: May 5, 2020
    Assignee: Amazon Technologies, Inc.
    Inventors: Vahideh Kamranzadeh, Todd McIntosh, Seshachalamgupta Motamarri, Tyson Wittrock
  • Patent number: 10618183
    Abstract: A robot arm and a transfer robot are disclosed. In one embodiment, a robot arm includes an arm body and a plurality of adjustment units. The arm body has a first carrying surface and defines a length direction along which a length of the arm body is in and a width direction along which a width of the arm body is in. The adjustment units is disposed on at least one side of the arm body in the width direction. Each adjustment unit includes: a connection member fixed to the arm body, and an adjustment member movably connected to the connection member and having a second carrying surface that is parallel to the first carrying surface. The adjustment member is movable relative to the connection member in the width direction so that the second carrying surface is adjustable in the width direction.
    Type: Grant
    Filed: April 23, 2018
    Date of Patent: April 14, 2020
    Assignees: BOE TECHNOLOGY GROUP CO., LTD., CHONGQING BOE OPTOELECTRONICS TECHNOLOGY CO., LTD.
    Inventors: Kaiqiang Li, Yang Yu, Jinwei Zhu, Yi Ouyang, Wujie Nan, Wensong Wang, Penggen Ding
  • Patent number: 10604381
    Abstract: A passenger conveyor lifting device lifts a unit that includes a frame body constituting at least one lengthwise direction part of a main frame of a passenger conveyor, and a unit device supported by the frame body. The lifting device includes a lifting attachment fitting and a lifting rope. The lifting attachment fitting includes a pair of attachment bases attached detachably to respective upper surfaces of a pair of side frame portions constituting respective width direction end portions of the frame body, and a reinforcing member connecting the pair of attachment bases above the unit device disposed between the pair of side frame portions. The lifting rope lifts the unit while hooked to the respective side frame portions.
    Type: Grant
    Filed: July 9, 2014
    Date of Patent: March 31, 2020
    Assignee: MITSUBISHI ELECTRIC CORPORATION
    Inventor: Akihiko Inoue
  • Patent number: 10607879
    Abstract: A substrate processing apparatus including a frame and at least one substrate transport arm having at least one end effector, each end effector having a base portion, a first and second substrate support tines mounted to and dependent from the base portion where at least one of the first and second substrate support tines is movable relative to the base portion, each of the first and second substrate support tines having respective substrate contacts configured to contact and support a substrate held by the end effector between the respective contacts of the first and second substrate support tines at a substrate support seat dimension span between the substrate contacts of the first and second substrate support tines, and an end effector drive section configured to vary a distance between the first and second substrate support tines relative to each other on the fly.
    Type: Grant
    Filed: September 1, 2017
    Date of Patent: March 31, 2020
    Assignee: BROOKS AUTOMATION, INC.
    Inventors: Jeffrey A. Cavins, Leigh F. Sharrock, Kyle M. Letourneau, Stacey McKinney, Dave Jarzynka
  • Patent number: 10556338
    Abstract: Apparatuses including compliant tips and methods of manipulating items using the compliant tips are described herein. An example apparatus may include a robotic manipulator and a pair of end effectors. One end effector may include a pair of actuator-driven fingers that each include a compliant tip. The compliant tips may be used to scoop underneath items as part of item manipulation.
    Type: Grant
    Filed: July 31, 2017
    Date of Patent: February 11, 2020
    Assignee: Amazon Technologies, Inc.
    Inventors: Andrew D. Marchese, Matthew Michael Budnick, Ennio Claretti, Jude Royston Jonas
  • Patent number: 10549394
    Abstract: The present invention relates to a clamp device. The clamp device is provided with a driving force transmission mechanism, which transmits driving force from a drive unit to clamp arms. The driving force transmission mechanism converts the rectilinear movement of a piston rod of the drive unit into: a first operation, in which the clamp arms rotate while moving in directions toward or away from each other; and a second operation, in which the clamp arms move in parallel in directions toward or away from each other with gripping surfaces in a mutually parallel state.
    Type: Grant
    Filed: January 5, 2016
    Date of Patent: February 4, 2020
    Assignee: SMC CORPORATION
    Inventors: Chiaki Fukui, Kazuyoshi Takahashi, Takeshi Seo
  • Patent number: 10544634
    Abstract: The present invention relates to a tubular handling system for maneuvering tubulars onto or off of a rig and including a tubular grip adapted to engage a variety of tubular sizes.
    Type: Grant
    Filed: May 2, 2016
    Date of Patent: January 28, 2020
    Assignee: Veristic Technologies, Inc.
    Inventors: Aaron Chang, Brian Cunningham, Charles Vora
  • Patent number: 10525602
    Abstract: An automation component or clamping device includes a basic housing, at least one jaw movably guided in a jaw guide of the basic housing, and a piston movably guided in the basic housing, wherein the piston has a piston surface, wherein the piston is coupled in terms of movement to the jaw, and wherein a piston rod extending on the piston transversely with respect to the piston surface, wherein the centroid of the piston surface is spaced apart from the central longitudinal axis of the piston rod.
    Type: Grant
    Filed: September 2, 2016
    Date of Patent: January 7, 2020
    Assignee: SCHUNK GMBH & CO. KG SPANN-UND GREIFTECHNIK
    Inventors: Benjamin Kirsten, Samuel Wuetherich, Michael Franz
  • Patent number: 10493634
    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: October 2, 2018
    Date of Patent: December 3, 2019
    Assignee: University of South Florida
    Inventors: Redwan Alqasemi, Paul Mitzlaff, Andoni Aguirrezabal, Lei Wu, Karl Rothe, Rajiv Dubey
  • Patent number: 10483151
    Abstract: According to one embodiment, a substrate transfer apparatus includes: a first gripping plate; a first claw that is supported by the first gripping plate, and has an abutment surface abutting on the outer peripheral surface of a substrate located above and below a surface of the first gripping plate; a second gripping plate arranged as overlapping with the first gripping plate; a second claw that is supported by the second gripping plate, and has an abutment surface abutting on the outer peripheral surface of the substrate located above and below the surface of the first gripping plate; and a gripping part configured to move the first gripping plate and the second gripping plate relative to each other such that the first claw and the second claw move close to and away from each other in a direction intersecting the outer peripheral surface of the substrate.
    Type: Grant
    Filed: March 29, 2017
    Date of Patent: November 19, 2019
    Assignee: SHIBAURA MECHATRONICS CORPORATION
    Inventor: Masaaki Furuya
  • Patent number: 10471602
    Abstract: A gripper includes a body frame mounted on a magazine transfer robot. A first guide assembly is mounted on the body frame. A first gripping unit is movable along the first guide assembly. A second gripping unit is movable along the first guide assembly. A driver is configured to move the first gripping unit in a first direction. The driver is configured to move the second gripping unit in a second direction opposite to the first direction. The first gripping unit includes a first finger unit and a second finger unit independently moveable with respect to the first finger unit. The second gripping unit is spaced apart from the first gripping unit. The second gripping unit includes a third finger unit and a fourth finger unit independently moveable with respect to the third finger unit.
    Type: Grant
    Filed: June 26, 2018
    Date of Patent: November 12, 2019
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Jong Seong Ko, Kwang-Jun Kim, Jung Jun Park, Hee Yun Choi
  • Patent number: 10456925
    Abstract: A gripper comprising an actuator and two fingers mounted parallel at a distance from each other on the actuator for movement perpendicularly to a longitudinal axis of the fingers, the fingers having a longitudinal body attached at one end to the actuator. The fingers having two longitudinal claws at the end opposite to the end attached to the actuator, the claws being spaced apart so that there is an elongated gap between the claws. At least one of the fingers having a groove for accommodating an optical fiber which extends partially into the elongated gap.
    Type: Grant
    Filed: October 28, 2016
    Date of Patent: October 29, 2019
    Assignee: Thermo Fisher Scientific Oy
    Inventors: Sami Paavilainen, Juha Savonsalmi
  • Patent number: 10434661
    Abstract: A workpiece container stores at least one workpiece having a bottom surface and a peripheral edge. In one embodiment, a workpiece support structure is located within the container enclosure, which forms multiple vertically stacked storage shelves within the enclosure. Each storage shelf includes, in one embodiment, a first tine and a second tine for supporting the workpiece in a substantially horizontal orientation. The bottom surface and peripheral edge of a workpiece seated on a storage shelf extends beyond the outer edge of both the first tine and the second tine. An end effector may engage these extended portions or “grip zones” of the workpiece.
    Type: Grant
    Filed: January 19, 2018
    Date of Patent: October 8, 2019
    Assignee: Brooks Automation, Inc.
    Inventor: Anthony C. Bonora
  • Patent number: 10377617
    Abstract: An opposable clamp arm of a load handling device such as a lift truck attachment. An upper clamp pad portion may have a generally planar plate as a main member and may have a load-gripping face layer. A lower clamp pad assembly has a plurality of separately replaceable wear-compensating load-contacting elements mounted interchangeably on a backing plate attached to a stabilizer member of the clamp arm. The load-contacting elements may be secured to the backing plate by retainer bars fastened to the backing plate with flanges of the retainer bars overlapping margins of the load contact elements.
    Type: Grant
    Filed: January 16, 2018
    Date of Patent: August 13, 2019
    Assignee: Cascade Corporation
    Inventors: Mark Schindlbeck, Richard R. Estep
  • Patent number: 10369701
    Abstract: A method of operating a package handling system includes: receiving first image data representative of a first surface image of a package surface; identifying a pair of intersecting edges for the package surface based on the first image; determining a minimum viable region based on the pair of edges, the minimum viable region for gripping and lifting the package; receiving second image data representative of the package after the lift; and creating registration data based on the third image data.
    Type: Grant
    Filed: March 1, 2019
    Date of Patent: August 6, 2019
    Assignee: MUJIN, Inc.
    Inventors: Rosen Diankov, Huan Liu, Xutao Ye, Jose Jeronimo Moreira Rodrigues, Yoshiki Kanemoto, Jinze Yu, Russell Islam
  • Patent number: 10354900
    Abstract: Disclosed is a substrate transfer apparatus including: a pair of hands facing with each other; an opening/closing mechanism configured to move the pair of hands symmetrically in an opening/closing direction; a driving unit configured to transmit a power to the opening/closing mechanism; and a controller configured to control an operation of the driving unit. The opening/closing mechanism includes: a rotating body configured to rotate depending on a moving amount of the pair of hands in the opening/closing direction, and a sensor configured to detect a rotating amount of the rotating body. The controller controls an operation of the driving unit based on a signal from the sensor.
    Type: Grant
    Filed: November 21, 2016
    Date of Patent: July 16, 2019
    Assignee: Ebara Corporation
    Inventors: Akihiro Yazawa, Kenichi Kobayashi, Takahiro Nanjo, Hiroyuki Takenaka
  • Patent number: 10286549
    Abstract: An adaptable end effector useful to accommodate a wide variety of components, component geometries and variations in component geometries. In one example, the end effector includes a movable arm and at least three fingers each having a gripping tool for engagement of the component with variable and/or programmable holding force preventing relative movement.
    Type: Grant
    Filed: December 14, 2016
    Date of Patent: May 14, 2019
    Assignee: Comau LLC
    Inventors: Velibor Kilibarda, Bryan Finzel, Michael R. Dugas
  • Patent number: 10259665
    Abstract: A container gripper has pivotable gripper arms and a blocking element that comprises a spring element with first and second regions that preloads the gripper arms into a closing position. The blocking element moves between a releasing position and a blocking position such that a closing force exerted in the blocking position exceeds that exerted in the releasing position. The spring elements interact with control surfaces of the gripper arms such that, when the blocking element is in the releasing position, the control surface takes effect against the first region, thereby causing the spring element to exert the first closing force and wherein, when the blocking element is in the blocking position, the control surface takes effect against the second region, thereby causing the spring element to exert the second closing force.
    Type: Grant
    Filed: March 23, 2016
    Date of Patent: April 16, 2019
    Assignee: KHS GmbH
    Inventors: Andreas Fahldieck, Nils Mallitzki
  • Patent number: 10213926
    Abstract: In a gripping device including carriages disposed on a base body so as to be movable relative to each other by a motor drive, the carriages being provided with gripping elements which are movable with the carriages between an opening and a closing position of the gripping elements, at least one of the gripping elements is supported on the respective carriage so as to be able to yield to a certain engagement pressure force which is adjustable in the range of 5 to 300 N in order to prevent excessive damage or injuries-causing engagement forces.
    Type: Grant
    Filed: December 15, 2017
    Date of Patent: February 26, 2019
    Inventors: Martin Zimmer, Guenther Zimmer
  • Patent number: 10207907
    Abstract: An asymmetrical gusseted clamp assembly configured to be coupled to a lift truck and comprising a frame, two clamp jaws and two actuators. The clamp jaws each have gussets of different size to allow the two actuators to be separated vertically by a central gap, which is defined on the sides by two frame vertical beams. The central gap is of significant width so that the operator of the lift truck has a useable widow through which to view. As the configuration of the asymmetrical gusseted clamp assembly changes from open to closed, at no time is a majority of the view through the central gap obscured by the clamp jaws.
    Type: Grant
    Filed: September 15, 2017
    Date of Patent: February 19, 2019
    Assignee: Rightline Equipment, Inc.
    Inventors: Jim D. Hamlik, Joel D. Hamlik
  • Patent number: 10201904
    Abstract: A device for gripping an object that includes a main body having a first and a second endplate, a baseplate, at least one guide rail, and a first jaw and a second jaw, each receiving the at least one guide rail. The device also includes a first pulley assembly and a second pulley assembly respectively attached to the baseplate and a chain loop respectively attached to the first pulley assembly and the second pulley assembly. The chain loop includes a first chain length and a second chain length and a first link and a second link that attaches the first chain length and the second chain length. Each of the first link and second link include at least one dowel pin. The chain loop is attached to the first jaw and the second jaw by the at least one dowel pin of each of the first link and second link.
    Type: Grant
    Filed: January 27, 2017
    Date of Patent: February 12, 2019
    Assignee: PHD, Inc.
    Inventors: Andrew J. Sipe, Matthew R. Williams
  • Patent number: 10182520
    Abstract: In an electronic component mounting system, a mounting management server acquires measurement information relating to a result obtained by measurement of a component which is stored in a reel, registers the acquired measured information in the device information in association with a reel ID, and outputs the measurement information corresponding to the reel to a mounting machine during a mounting process. The mounting process device receives the device information in which the measurement information that relates to the result obtained by measuring the component stored in the reel and that is associated with the reel ID is registered, when the measurement information is present in the device information of the component to be mounted, the mounting process device executes the mounting process of the component.
    Type: Grant
    Filed: June 18, 2013
    Date of Patent: January 15, 2019
    Assignee: FUJI CORPORATION
    Inventor: Mitsuhiko Shibata
  • Patent number: 10179412
    Abstract: A workpiece conveying system is provided, which includes a workpiece including a workpiece main body, a cylindrical gripping part protruding from the workpiece main body, and an engaging plate attached to a tip-end surface of the gripping part, a chuck device including three jaws configured to grip the gripping part in radial directions of the gripping part, and a robot to which the chuck device is attached. The engaging plate includes an overhang part protruding from the gripping part along the tip-end surface of the gripping part, and an engaging slot, into which one of the three jaws fits, is formed in the overhang part.
    Type: Grant
    Filed: May 16, 2016
    Date of Patent: January 15, 2019
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Hideshi Yamane, Jun Takebayashi, Shuhei Kuraoka, Tatsuhiro Uto, Shinichi Fujisawa, Mitsunobu Oka, Hiroyuki Mizumoto
  • Patent number: 10179710
    Abstract: Examples of an alignment assembly for loading a shipping container are disclosed. In one example implementation according to aspects of the present disclosure, the alignment assembly includes a base rotatably disposed on a pole and an alignment bracket moveably connected to the base. The alignment bracket may include a main support member connected to an alignment member. The alignment bracket is configured to permit the alignment member to be disposed substantially co-planer with a sidewall of the shipping container.
    Type: Grant
    Filed: February 15, 2017
    Date of Patent: January 15, 2019
    Assignee: GPCP IP Holdings LLC
    Inventor: William Michael Cooper
  • Patent number: 10105853
    Abstract: A flexible end-effector for a robot includes a frame and a clamp assembly movably coupled to the frame. As such, the clamp assembly is movable relative to the frame along a first direction, wherein the clamp assembly includes a locator and a clamp movably coupled to the locator. The clamp assembly also includes pneumatic actuator coupled to the clamp to move the clamp between an open position and a closed position. The flexible end-effector further includes linear motion slides coupled between the clamp assembly and the frame to allow the clamp assembly to move linearly relative to the frame along the first direction. Further, the flexible end-effector includes a servomotor assembly coupled to the linear motion slide to actuate the linear motion slide. The servomotor assembly includes a servomotor and a motor controller integrated with the servomotor.
    Type: Grant
    Filed: October 5, 2017
    Date of Patent: October 23, 2018
    Assignee: GM Global Technology Operations LLC
    Inventors: Dooil Hwang, Jinglin Li
  • Patent number: 10105854
    Abstract: A gripper-mounting mechanism includes an outer shell, a motor unit, a first transmission unit, and a plurality of second transmission units. The outer shell includes spaced-apart first and second walls, and a receiving wall that extends from the second wall toward the first wall and that defines a receiving channel adapted to receive an end effector therein through an opening of the second wall. The first transmission unit includes a transmission gear unit driven by the motor unit. The second transmission units surround the receiving wall. Each of the second transmission units includes a grip member driven movably by the transmission gear unit. The grip members are movable relative to the outer shell toward or away from each other.
    Type: Grant
    Filed: April 20, 2017
    Date of Patent: October 23, 2018
    Assignee: Hiwin Technologies Corp.
    Inventor: Chen-Ming Wong
  • Patent number: 10099384
    Abstract: An industrial wedge-type gripper mechanism for gripping or releasing objects that has a housing with a piston of a pneumatic cylinder moveable in the housing in longitudinal direction of the housing and a plurality of gripper jaw holders that slide in the housing in a radial or transverse direction and that support the gripper jaws. The gripper jaw holders have inclined slots, and the piston of the pneumatic cylinder is associated with a member that supports rolling bearings rolling and sliding in the inclined slots so that with reciprocations of the piston the rolling bearings exert a camming or wedging action on the walls of the inclined slots and thus cause the gripper jaw holders and thus the gripper jaws to perform gripping or releasing action on the objects.
    Type: Grant
    Filed: September 30, 2017
    Date of Patent: October 16, 2018
    Assignee: Quartet Medtronics Inc
    Inventors: Boris Kesil, Elik Gershenzon
  • Patent number: 10046465
    Abstract: An attaching and detaching device that detachably attaches two structures includes a base fixed to one structure of the two structures and formed in a tabular shape, one or more engaging members supported by the base movably along a surface direction of the base and configured to engage with the other structure, an urging member configured to urge the engaging member toward an engaging direction in which the engaging member engages with the other structure, and a releasing mechanism including an operation lever configured to perform operation for moving the engaging member in a direction opposite to the engaging direction and releasing an attached state in which the two structures are attached to each other.
    Type: Grant
    Filed: March 10, 2014
    Date of Patent: August 14, 2018
    Assignee: Seiko Epson Corporation
    Inventors: Yoshinobu Goto, Toshio Tanaka
  • Patent number: 10040245
    Abstract: In some examples, a method of forming a housing assembly comprises affixing a support frame onto a first panel cover of the housing assembly, wherein the support frame includes an integrated pattern of channel cavities, positioning a second panel cover of the housing assembly adjacent the support frame, and flowing a bonding material through a plurality of openings of the second panel cover and into the channel cavities of the integrated pattern of the support frame so as to form a secure bond between the first panel cover, the support frame, and the second panel cover of the housing assembly.
    Type: Grant
    Filed: June 2, 2016
    Date of Patent: August 7, 2018
    Assignee: Hewlett-Packard Development Company, L.P.
    Inventor: Mark David Senatori
  • Patent number: 10023441
    Abstract: A gripping device for handling reinforcement cages for tower segments of a wind turbine, comprising a gripper arm holding fixture and multiple gripper arms arranged radially on the gripper arm holding fixture. In particular, it is proposed that there is a coupling mechanism that can be connected with the reinforcement cage on each gripper arm, the length of the gripper arms can be telescopically motor-adjusted, the gripping device can be coupled with a lifting device that can be moved horizontally and vertically, and is adapted to move a reinforcement cage from apparatus for manufacturing reinforcement cages and/or to put a reinforcement cage down in a casing for creating a tower segment.
    Type: Grant
    Filed: October 14, 2013
    Date of Patent: July 17, 2018
    Assignee: WOBBEN PROPERTIES GMBH
    Inventor: Ingo Meyer
  • Patent number: 9975253
    Abstract: A gripper finger for grasping objects includes a gripper jaw and a gripper tip which extends with a gripper axis along a longitudinal direction. The gripper tip is detachably connected to the gripper jaw by a connecting element. The connecting element can be locked with a connecting socket extending in the longitudinal direction in the form of a plug-in connection in such a manner that in the locked state it is impossible for the gripper tip to tilt away in relation to the gripper axis and simultaneously the gripper tip is locked against the gripper jaw in relation to the longitudinal direction by a predefinable longitudinal locking force.
    Type: Grant
    Filed: March 17, 2014
    Date of Patent: May 22, 2018
    Assignee: F&P ROBOTICS AG
    Inventors: Charles De Castelbajac, Hansruedi Frueh, Norman Wijeyratne
  • Patent number: 9975252
    Abstract: A gripper has a body with a jaw support portion and powering portion. A powering assembly is positioned in the powering portion. A stationary jaw is secured to the jaw support portion. A movable jaw is pivotally secured to the jaw support portion about a pivot pin. A rod from the powering assembly connects in a slot on the movable jaw. The pivot pin is positioned on an opposite side of an axis of the rod on the clevis portion away from the stationary jaw. The non-clamping end of the movable jaw is incapable of extending below an end plane of the body of the stationary jaw side of the gripper.
    Type: Grant
    Filed: September 15, 2015
    Date of Patent: May 22, 2018
    Assignee: Delaware Capital Formation, Inc.
    Inventors: Anthony B. Zimmerman, Joshua Moses, Robert W. McArthur
  • Patent number: 9933345
    Abstract: The robot system includes a robot having an arm which is provided, on its tip, with two claws which are driven by a servo motor. According to this robot system, a relative position of the two claws is detected when the two claws apply a load of a predetermined force to a welded part welded to a workpiece. The deviation between the detected relative position and a predetermined reference relative position is calculated. The workpiece is determined to be of a good quality or poor quality by comparing the calculated deviation to a predetermined threshold value.
    Type: Grant
    Filed: March 30, 2015
    Date of Patent: April 3, 2018
    Assignee: FANUC CORPORATION
    Inventors: Hideyuki Watanabe, Masaru Oda
  • Patent number: 9933537
    Abstract: A method and apparatus for handling of sensor capsules and their inner components during deployment and retrieval of a seismic cable into the sea by a vessel where the seismic cable includes seismic node casings to contain the sensor capsules when the seismic cable is in the sea. The method includes the following steps: withdrawing a sensor capsule from a sensor capsule storage; withdrawing a battery unit from a battery unit storage; withdrawing a control unit from a docking station; combining the control unit and battery unit into a control/battery unit; inserting the control/battery unit into the sensor capsule and closing the sensor capsule; and loading the sensor capsule into a seismic node casing.
    Type: Grant
    Filed: January 16, 2014
    Date of Patent: April 3, 2018
    Assignee: MAGSEIS AS
    Inventors: Jan B. Gateman, Nils P. Gateman
  • Patent number: 9919431
    Abstract: A charge feeding system includes: a frame extending in a direction parallel to a direction of gravity; a plurality of grippers which are attached to the frame, spaced apart from one another in the extension direction of the frame, and independently open and close to grip charges loaded in a charge loading unit; a tray configured to pass through locations where the grippers are disposed along the extension direction of the frame, and transfer the charges between the grippers; and a controller configured to control opening and closing of the grippers and movement of the tray.
    Type: Grant
    Filed: November 12, 2015
    Date of Patent: March 20, 2018
    Assignee: HANWHA LAND SYSTEMS CO., LTD.
    Inventors: Jaeyi Oh, Sehoon Cho, Jinkook Lim, Seungryul Oh
  • Patent number: 9903656
    Abstract: A support tooling for supporting at least one metal part that is to be subjected to heat treatment or shaped while hot, the tooling including: a stationary support structure presenting a determined shape that corresponds to the general shape of each metal part that is to be supported; first holder elements arranged on one side of each part; second holder elements arranged on the other side of each part; and at least one spring type resilient element placed between the support structure and each first or second holder element so as to hold the part throughout the duration of heat treatment. The support structure, the first and second holder elements and the resilient element(s) are made of thermostructural composite material.
    Type: Grant
    Filed: March 22, 2013
    Date of Patent: February 27, 2018
    Assignee: AIRBUS SAFRAN LAUNCHERS SAS
    Inventors: Frédéric Guichard, Jean-Pierre Maumus
  • Patent number: 9882333
    Abstract: An apparatus for an assembly process, where in a flexible object is moved by a manipulator to be engaged with a connector, including: a body provided in the manipulator and moved toward the connector; a driving part provided inside of the body; a moving part provided under the body and moved up and down by the driving part to press and grip a flexible object; and a fixing part with one end provided under the body, the other end positioned under the moving part, and a top surface including a support plate to be mounted with the flexible object.
    Type: Grant
    Filed: February 23, 2016
    Date of Patent: January 30, 2018
    Assignee: Daegu Gyeongbuk Institute of Science and Technology
    Inventors: Sang-Mun Lee, Jinung An, Dae-han Hong, Jeong Hwan Kwak, Jung-Hyun Choi
  • Patent number: 9869141
    Abstract: In some embodiments, an apparatus and a system, as well as a method and an article, may operate to select a longitudinal axis within a borehole, and to move a down hole housing using at least one set of rollers attached to the housing to contact a surface of the borehole, so that simultaneous movement with two rotational degrees of freedom is enabled within the borehole. The centerline of the housing can be substantially aligned with a selected longitudinal axis while the housing moves along the selected longitudinal axis. Additional apparatus, systems, and methods are disclosed.
    Type: Grant
    Filed: July 26, 2012
    Date of Patent: January 16, 2018
    Assignee: Halliburton Energy Services, Inc.
    Inventor: Chung Chang
  • Patent number: 9855115
    Abstract: An automated orthodontic bracket positioning system including a computer system for constructing the digital 3D dental model, a bite record device for acquiring the patient's intra-oral coordinate record, and an automatic bracket positioning device for bonding orthodontic brackets on the patient's tooth surfaces or surfaces of dental cast. The computer system estimates a predicted position of each orthodontic bracket on patient's tooth surface or a surface of the gypsum dental cast by using the digital 3D dental model to control the automatic bracket positioning device to position the brackets on the patient's tooth surface or surfaces of the dental cast according to the predicted position.
    Type: Grant
    Filed: July 1, 2015
    Date of Patent: January 2, 2018
    Inventor: Weng Kie Tam
  • Patent number: 9844884
    Abstract: A mechanical hand is provided that can increase the operation stroke and also the gripping force of a pair of gripping members. The hand includes first and second sliders, a driving source, a rotating plate, a first clamping link. Of these components, the first and second sliders are provided on a hand body so as to be linearly movable in opening and closing directions and the driving source is provided in the hand body. The rotating plate is rotatably driven by the driving source. The first clamping link is linked with the rotating plate so as to be only rotatable on a first shaft, and is linked with the first slider so as to be only rotatable on a second shaft. Moreover, the second clamping link is linked with the rotating plate so as to be only rotatable on a third shaft, and is linked with the second slider so as be only rotatable on a fourth shaft. The first and second sliders move linearly in the opening and closing directions by making the driving source rotate the rotating plate.
    Type: Grant
    Filed: February 26, 2014
    Date of Patent: December 19, 2017
    Assignee: THK CO., LTD.
    Inventor: Masaki Nagatsuka
  • Patent number: 9815207
    Abstract: Device for supporting and gripping containers (1,1a), comprising: a base (10;110;210) which defines an upper surface (15;115,215) supporting a container (1;1a); devices (20;120) for gripping the container (1,1a), associated with the base (10;110;210); devices (30) for actuating the devices (30) for gripping the container (1,1a); wherein the gripping devices (20;120) comprise at least one pair of sliders (21;121;221) inserted in the base (10;110;210) inside a respective seat (16;116;216) and translationally movable in both senses of different directions upon operation of the actuating devices (30), each jaw being associated with a respective slider (21;121;221).
    Type: Grant
    Filed: June 29, 2016
    Date of Patent: November 14, 2017
    Assignee: RONCHI MARIO S.P.A.
    Inventor: Cesare Ronchi
  • Patent number: 9808936
    Abstract: Two-phase gripper. The gripper reorients and grasps an object while being picked up. The gripper includes a parallel jaw gripper including a pair of opposed, two-phase fingers, each finger including a cavity covered by an elastic strip wherein the elastic strip includes a point contact. Closure of the jaws of the gripper on an object at a first relatively lower force results in contact with lower friction between the point contact on the elastic strip on the fingers and the object allowing the object to rotate under gravity as the gripper is raised. Thereafter, closure of the jaws of the gripper on the object at a second relatively higher force causes the elastic strip to receded into the cavity resulting in multi-point contact with higher friction between the fingers and the object to securely grasp the object. In a preferred embodiment, the cavity is a Y-shaped groove and the object is cylindrical or prismatic.
    Type: Grant
    Filed: July 1, 2016
    Date of Patent: November 7, 2017
    Assignees: Massachusetts Institute of Technology, Carnegie Mellon University
    Inventors: Nikhil Narsingh Chavan Dafle, Alberto Rodriguez Garcia, Matthew T. Mason
  • Patent number: 9770829
    Abstract: A multifunctional engineering accessory with 6-bar mechanism comprising: a 6-link rod clamping device, a shear-fork separation device, a shearing device and locking device. Motion and lock of the 6-link rod group are implemented through a swing hydraulic cylinder of the 6-link rod clamping device to implement extending and withdrawing processes of a clamping paw. The shear-fork separation device can separate an accessory holder to meet the lateral dimension requirement of the multifunctional accessory. The shearing device can implement shearing and crushing function of multifunctional accessory, and the motion location of the accessory holder is confirmed by locking device while at the same time it sustains counterforce generated when the multifunctional accessory is working. The hydraulic ram is the power supply of the whole device.
    Type: Grant
    Filed: June 1, 2016
    Date of Patent: September 26, 2017
    Assignee: Beijing University of Technology
    Inventors: Jing Zhao, Bochen Song, Jiawei Wu
  • Patent number: 9751739
    Abstract: A side lift spreader (1) for handling empty containers (6), and a method for adjusting a main frame (10) of an inverted side lift spreader. The inverted side lift spreader (1) comprises a main carriage (8) which is connectable to a lifting device (2) to be movable along a front side (39) of a mast (4) of the lifting device (2), the main frame (10) being carried by and sideways movable with respect to the main carriage (8), and main frame guiding means (27) for guiding a movement of the main frame (10) with respect to the main carriage (8). The main frame guiding means (27) comprises at least two links (30, 31, 32, 33), one first portion (52, 56, 60, 64) of each link (30, 31, 32, 33) being connected to the main frame (10) and one second portion (54, 58, 62, 66) of each link (30, 31, 32, 33) being connected to the main carriage (8).
    Type: Grant
    Filed: April 8, 2016
    Date of Patent: September 5, 2017
    Assignee: ELME SPREADER AB
    Inventor: Gösta Karlsson
  • Patent number: 9713872
    Abstract: Disclosed is a multi-input reduction gear having an input/output position feedback, including: a reduction gear body including an input unit and an output unit; an output feedback unit which is detachably provided in the reduction gear body and detects a position of the output unit; an input mediating unit which is detachably provided in the reduction gear body, is connected to a shaft of a power source, and transmits power to the input unit; and an input feedback unit which is stacked between and coupled to the reduction gear body and the input mediating unit and detects a position of the input unit.
    Type: Grant
    Filed: April 28, 2014
    Date of Patent: July 25, 2017
    Assignee: ROBOTIS CO., LTD.
    Inventors: Byoung Soo Kim, In Yong Ha, Jung Ho Lee