Frames Patents (Class 294/65)
  • Patent number: 11518626
    Abstract: A transfer device for transferring eggs from a conveyor belt to egg packaging, the transfer device includes a frame with at least one mounting plate of a mounting element, on which mounting plate a plurality of suction lifting elements that can be connected to a suction apparatus are mounted. The suction lifting elements are mounted on the mounting plate so as to be movable in the plane of the mounting plate by motorized or hydraulic means between a suction position and a release position.
    Type: Grant
    Filed: June 5, 2018
    Date of Patent: December 6, 2022
    Inventor: Gerd Bergmeier
  • Patent number: 11492215
    Abstract: Systems, methods, and computer-readable media are disclosed for concentric suction cup tools with parallel pistons. In one embodiment, an example picking assembly may include a first piston subassembly with a first air cylinder, a first sliding rail that slides relative to the first air cylinder, and a first suction cup. The example picking assembly may include a second piston subassembly comprising a second air cylinder, a second sliding rail that slides relative to the second air cylinder, and a second suction cup, where the first and second piston subassemblies may be configured to independently actuate from a retracted position to an extended position. The example picking assembly may include a first guide plate with a first aperture for the first piston subassembly and a second aperture for the second piston subassembly, a shell that forms a housing for the picking assembly, and an airflow coupler.
    Type: Grant
    Filed: May 14, 2020
    Date of Patent: November 8, 2022
    Assignee: Amazon Technologies, Inc.
    Inventors: Felipe De Arruda Camargo Polido, Timothy G. Dietz, Michael Bruehwiler, Kevin Sweeney
  • Patent number: 11447338
    Abstract: A gripping device (10) for sheet-shaped elements (L) comprising: at least one longitudinal bar (20) adjustable in length and provided with a plurality of suction gripping members (30) connected along a longitudinal axis (A) of the longitudinal bar (20).
    Type: Grant
    Filed: February 28, 2020
    Date of Patent: September 20, 2022
    Assignee: RAIMONDI S.P.A.
    Inventor: Riccardo Sighinolfi
  • Patent number: 11420830
    Abstract: A vacuum lifter apparatus for lifting sheet material articles, comprises an upper chassis joined to a substantially planar lower suction plate and an airflow suction system for conveying vacuum air pressure to the suction plate. The suction plate comprises a plurality of suction plate modules, each comprising a housing with a substantially hollow interior and each of the housings being located laterally adjacent at least one other of the housings. Each of the housings comprises a lower plate, an upper plate and at least one side plate, each housing being affixed to the laterally adjacent housing along a seam between adjoining pairs of side plates. The upper plates each comprise at least one opening and the lower plates are each perforated with a plurality of orifices through which, in use, air is drawn along airflow paths through the interior and out of the opening by the airflow suction system.
    Type: Grant
    Filed: August 10, 2018
    Date of Patent: August 23, 2022
    Assignee: Kongsberg Precision Cutting Systems Belgium BV
    Inventor: Colin Maxwell Wade
  • Patent number: 11383392
    Abstract: A support frame for a handling device comprising a base body and at least two structural elements extending away from the base body, at least two structural elements being constructed similarly to each other in that they have at east the following common characteristics: a radial beam which is elongated and has a first end and a second end, the second end having a connecting section for connection to a pneumatically actuatable gripping element, a lattice wing which is integrally connected with the radial beam and runs between the first end of the radial beam and the second end of the radial beam, the lattice wing extending flatly away from the radial beam, wherein for each of the at least two structural elements the first end of the radial beam is integrally connected with the base body in a manner that the radial beam extends away from the base body.
    Type: Grant
    Filed: September 4, 2020
    Date of Patent: July 12, 2022
    Assignee: J.Schmalz GmbH
    Inventors: Thomas Lorenz, Kevin Huber, Peter Gröning
  • Patent number: 11325265
    Abstract: Provided herein is an apparatus and system to increase the capacity for grasping or engagement of an object using an accessory tool. Methods of increasing the capacity of a tool can include: engaging an accessory tool with a tool, where the tool includes a first vacuum cup and the accessory tool includes one or more second vacuum cups; securing the tool to the accessory tool with a securing mechanism; drawing a vacuum through the first vacuum cup, where the vacuum is drawn through the one or more second vacuum cups in response to drawing a vacuum through the first vacuum cup while the accessory tool is engaged with the tool; and grasping an object with the second one or more vacuum cups in response to vacuum drawn through the one or more second vacuum cups and the one or more second vacuum cups engaging a surface of the object.
    Type: Grant
    Filed: June 29, 2020
    Date of Patent: May 10, 2022
    Assignee: OMNICELL, INC.
    Inventor: William A. Meyer
  • Patent number: 11325267
    Abstract: A vacuum system (10) and method (100) used for creating a dynamically controlled vacuum system (10) for lifting processes (Wc) are disclosed. The compressed air used for an ejector (3) is varied by calculating the required vacuum levels (V?) during the lifting process (Wc). This reduces the air consumption.
    Type: Grant
    Filed: November 15, 2019
    Date of Patent: May 10, 2022
    Assignee: PIAB Aktiebolag
    Inventors: Daniel Söderman, Simon Ahlin Högfeldt, Gustaf Wigren
  • Patent number: 11278008
    Abstract: A transfer machine, the setter trays being placed with set eggs on a carrying mechanism. The carrying mechanism positions the setter trays under a transfer mechanism that includes a series of egg pick-ups. By moving the transfer mechanism down towards the eggs, the egg pick-ups can pick up the eggs and lift them out of the setter trays.
    Type: Grant
    Filed: June 25, 2018
    Date of Patent: March 22, 2022
    Assignee: VERVAEKE-BELAVI
    Inventor: Steven Vervaeke
  • Patent number: 11279556
    Abstract: A method and an associated robot for retrieval of a target article from an article stack are disclosed. The article stack comprising the target article and a first non-target article being positioned on top of the target article, the target article being arranged in the article stack with a lower target article face being at a first vertical stack position. The method comprises: identifying the target article; positioning a platform having a platform surface in a first vertical platform position wherein the platform surface is at the first vertical stack position or below the first vertical stack position; repositioning the target article and the first non-target article in a first horizontal direction onto the platform; and repositioning the first non-target article opposite the first horizontal direction off the platform.
    Type: Grant
    Filed: August 24, 2018
    Date of Patent: March 22, 2022
    Assignee: MOVEBOT APS
    Inventors: Thomas Martin Klinge, Kristian Kassow
  • Patent number: 11279504
    Abstract: A robot system has a manipulator that conveys a conveying object to a conveyance destination having a bottom surface and a wall surface connected to the bottom surface. The system includes: a first process in which the manipulator puts a first conveying object on the bottom surface of the conveyance destination; a second process in which the manipulator conveys a second conveying object to a position that does not come into contact with the first conveying object on the bottom surface of the conveyance destination; and a third process in which the manipulator moves the second conveying object in the direction of the first conveying object from the position that does not come into contact with the first conveying object, and moves the first conveying object by further moving the second conveying object after coming into contact with the first conveying object.
    Type: Grant
    Filed: August 29, 2019
    Date of Patent: March 22, 2022
    Assignee: HITACHI TRANSPORT SYSTEM, LTD.
    Inventors: Nobutaka Kimura, Fumiko Beniyama, Yasuki Shimazu, Yoshihiro Nishida, Takao Ueki
  • Patent number: 11267136
    Abstract: A system (100) for handling sheets of flexible material comprises: a plurality of releasable connectors (20) supported on a main carrier (110). The releasable connectors (20) are individually addressable so that when actuated a connector lifts or releases a sheet of flexible material. One or more end adjustment means is provided to vary at least one of: the orientation and/or the location of the connectors (20), with respect to a surface defined in three dimensions, such that in use the sheet of flexible material is placed in a precise user selected position on the three dimensional surface without the material creasing or wrinkling. An advantage of the present invention is that previously actuators were able to orient grippers to be normal to the surface of a cylinder; whereas the provision of parallel, flexible strips enables active surfaces to be positioned normal to the surface of complex surface, such as that defined by a cone.
    Type: Grant
    Filed: October 31, 2016
    Date of Patent: March 8, 2022
    Inventors: John Cox, Tim Garton, John Wright
  • Patent number: 11260542
    Abstract: A vacuum cup assembly and a method of lifting an object are provided. The vacuum cup assembly includes a cup structure defining an opening at a proximal end, a recess at a distal end, and a cavity region between the proximal and distal ends, where the cavity region includes at least one cavity. The opening is in fluid communication with the recess and with the cavity region. Inner structures are disposed in the cavity region. The inner structures are configured to hold the cup structure in a gripping position when a negative pressure is applied to the cavity region through the opening in the cup structure. The cup structure is configured to be in a resting position without the negative pressure being applied to the cavity region. The vacuum cup assembly has a first shape in the resting position and a second shape in the gripping position.
    Type: Grant
    Filed: October 31, 2019
    Date of Patent: March 1, 2022
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: HyungMin Chae, Wonhee M. Kim, Dooil Hwang
  • Patent number: 11253995
    Abstract: An end effector for use in the packaging industry has compression wedges that bookend subgroups of carrier assemblies on the end effector. The compression wedges are attached to the frame of the end effector via wedge blocks, which may be fixed to the frame or slidingly engaged with the frame.
    Type: Grant
    Filed: May 20, 2020
    Date of Patent: February 22, 2022
    Inventor: Clifford Ronald John Odell
  • Patent number: 11247873
    Abstract: A material lifter comprising a vacuum pump, a frame containing the vacuum pump, an arm located on each of two opposing sides of the frame, each arm including—an upper end—pivotally connected to the frame, a cylinder located on each of the two opposing sides of the frame including an end connected to the frame and an end connected to a respective arm, a vacuum pad located on each of the two opposing sides of the frame—and removably connected to a respective arm, the vacuum pads being moveable along the arm to a first location and a first orientation and a second different location and a second different orientation, wherein as the cylinders extend and retract the arms pivot toward and away from one another between a first position and a second different position and the vacuum pads remain in a same orientation during the pivot.
    Type: Grant
    Filed: September 5, 2019
    Date of Patent: February 15, 2022
    Assignees: Vacuworx Global, LLC, Bakker Special Grabs B.V.
    Inventors: William J. Solomon, Justin Hendricks, Federico Gusella, Rob Slikker
  • Patent number: 11224951
    Abstract: Methods and apparatuses for providing a clamp-up are provided. An apparatus for forming a clamp-up comprises an end effector. The end effector is positioned at a first side of a panel joint and applies a first clamp-up force to a first panel of a panel joint and an equal and opposite second clamp-up force to a second panel of the panel joint to provide the clamp-up.
    Type: Grant
    Filed: December 21, 2018
    Date of Patent: January 18, 2022
    Assignee: The Boeing Company
    Inventors: Harinder S. Oberoi, Kevin Marion Barrick, Charles Yuanxin Hu
  • Patent number: 11213958
    Abstract: A transferring system for transferring an object disposed in a storage area includes telescopic units, sucking disc units respectively connected to the telescopic units, and a control unit. The control unit calculates an area related to an object according to an image obtained by an imaging unit, and calculates a value of N based on the area. The value of N is a number of the sucking disc units used for picking up the object and is equal to or greater than one. The control unit determines N positions on the object, controls N telescopic units to move N sucking disc units toward the N positions, and controls the N sucking disc units to adhere respectively to the N positions so as to pick up the object from the storage area.
    Type: Grant
    Filed: December 2, 2020
    Date of Patent: January 4, 2022
    Assignee: SOLOMON TECHNOLOGY CORPORATION
    Inventors: Cheng-Lung Chen, Yu-Yen Liu, Xuan Loc Nguyen, Tsung-Cheng Lai
  • Patent number: 11207786
    Abstract: An end-of-arm-tool attachment deploys gripper arms to help stabilize picked items. The arms rotate around the lower body of the tool and, depending on the size of the item, will either support the item from below or help reduce swinging by applying pressure to the sides/top. When not in use, the arms are stowed on the upper body of the tool to minimize potential for collision and to provide a smaller profile for maneuverability.
    Type: Grant
    Filed: November 27, 2018
    Date of Patent: December 28, 2021
    Assignee: Amazon Technologies, Inc.
    Inventors: Felipe De Arruda Camargo Polido, Noah Wieckowski, Scott Hopkinson
  • Patent number: 11078051
    Abstract: A seal for a vacuum lifter and method of manufacture wherein the seal has a continuous unbroken outer fluid resistant skin of elastomer which forms a boundary around a homogeneous cellular structure with no interior seams or joints.
    Type: Grant
    Filed: August 12, 2019
    Date of Patent: August 3, 2021
    Assignee: Vacuworx Global, LLC
    Inventors: Robert Denton, James Ray Podesta, William J. Solomon
  • Patent number: 11059186
    Abstract: A vacuum gripper comprising a base body having a suction side and an upper side, the suction side having a plurality of suction points and in each case a fixed number of suction points being combined to form a suction point group, a number of suction chambers (SC) corresponding to the number of suction point groups, each SC being assigned a suction point group, a distributor chamber (DC), the DC having at least a number of DC openings corresponding to the number of SC and a DC opening being flow-connected to a respective SC opening of a SC assigned thereto, and a plurality of valves, a valve being assigned to each suction point group and each valve having a valve channel. The respective valve is designed as a valve module having its own valve housing and the valve housing can be arranged on the upper side of the base body.
    Type: Grant
    Filed: April 3, 2020
    Date of Patent: July 13, 2021
    Assignee: J.Schmalz GmbH
    Inventors: Fabian Schneider, Daniel Bienger
  • Patent number: 11049759
    Abstract: The present invention relates to a micro LED transfer head transferring micro LEDs from a first substrate to a second substrate. According to the present invention, vacuum pressure of a grip region where the micro LEDs are gripped is uniformized, so that the micro LED transfer head transfers the micro LEDs efficiently. In addition, the vacuum pressure is distributed over a grip surface where the micro LEDs are gripped, thereby improving efficiency of transferring the micro LEDs.
    Type: Grant
    Filed: June 20, 2019
    Date of Patent: June 29, 2021
    Assignee: POINT ENGINEERING CO., LTD.
    Inventors: Bum Mo Ahn, Seung Ho Park, Sung Hyun Byun
  • Patent number: 11020862
    Abstract: A pick-and-place head for picking a plurality of work-pieces from at least one first location and for placing the plurality of work-pieces at least one second location is disclosed. The pick-and-place head exhibits a plurality of nozzles, wherein each nozzle is configured to engage one of the work-pieces by action of a vacuum. At least one nozzle has an individual vacuum supply and at least two further nozzles have a shared vacuum supply. A corresponding method is also disclosed, the method including the steps of approaching at least one of the plurality of work-pieces with a respective nozzle and then starting generation of a vacuum at each respective nozzle. The generation of vacuum in at least one nozzle is achieved by an individual vacuum supply, and generation of vacuum in at least two further nozzles is achieved by a shared vacuum supply of the at least two further nozzles.
    Type: Grant
    Filed: August 29, 2019
    Date of Patent: June 1, 2021
    Assignee: KLA-Tencor Corporation
    Inventor: Carl Truyens
  • Patent number: 11007654
    Abstract: An end manipulator for picking packages is provided. An example end manipulator includes a vacuum plate coupled to a machine where the vacuum plate includes a first set of vacuum cups. Further, the end manipulator includes a grasper plate movably coupled to the machine. The grasper plate moves between a retracted position and an extended position. In the retracted position, the grasper plate aligns with the vacuum plate such that the grasper plate abuts the vacuum plate. In the extended position, the grasper plate extends out from the vacuum plate. In some examples, when the grasper plate is in the retracted position, the end manipulator is configured to pick and place a first type of package. Further, in some examples, when the grasper plate is in extended position, the end manipulator is configured to pick and place a second type of package.
    Type: Grant
    Filed: June 21, 2019
    Date of Patent: May 18, 2021
    Assignee: Intelligrated Headquarters, LLC
    Inventor: Madhav Patil
  • Patent number: 10994559
    Abstract: A system to transport a medium comprises a medium carrier, a negative pressure device, a vacuum chamber and a flow control device. The medium carrier is to carry the medium on a first side. The negative pressure device is to generate a negative pressure that is below an ambient pressure. The vacuum chamber is disposed on a second side of the medium carrier opposite to the first side and fluidly coupled to the negative pressure device. The flow control device is to manipulate a fluid flow from the vacuum chamber towards the negative pressure device. The flow control device is operated in response to the medium carrier changing its operational state.
    Type: Grant
    Filed: December 18, 2017
    Date of Patent: May 4, 2021
    Assignee: Hewlett-Packard Development Company, L.P.
    Inventors: Antonella de Ceano, Pablo Arteaga, Martin Urrutia
  • Patent number: 10991968
    Abstract: A conveying device includes a flat plate member including a through-hole and a first conveying head that sucks a conveyance object via the through-hole in a state of holding the flat plate member and conveys the flat plate member and the conveyance object to an accommodation case. Moreover, the flat plate member has a shape that prevents an end of the conveyance object from abutting an inner side surface of the accommodation case during placement into the accommodation case.
    Type: Grant
    Filed: January 23, 2020
    Date of Patent: April 27, 2021
    Assignee: MURATA MANUFACTURING CO., LTD.
    Inventors: Hideyasu Kamigawa, Koichiro Fujiwake, Masayuki Sumita
  • Patent number: 10926403
    Abstract: A gripping tool includes at least one linear guide coupled to a mount and extending along a central axis oriented along a first direction. At least one carriage coupled to the linear guide is translatable relative to the mount along the first direction. A first plurality of arms are rotatably coupled to the mount. A second plurality of arms are rotatably coupled to the carriage. The tool includes bodies carrying suction cups. Each body: defines an axis, is rotatably connected to at least one of each of the first and second pluralities of arms, and combines with the respective at least one of the first plurality of arms, the at least one of the second plurality of arms, and the at least one carriage to define a linkage allowing the body to move relative to the mount along the first and a perpendicular radial direction while the central and body axes remain parallel.
    Type: Grant
    Filed: October 24, 2018
    Date of Patent: February 23, 2021
    Assignee: Amazon Technologies, Inc.
    Inventors: Arvin Asokan, Jon DeFant, Maxim Hoffman
  • Patent number: 10906752
    Abstract: Transport star-wheel arrangement for handling containers that utilizes star-wheel pockets and linear devices to adjust the star-wheel pockets in both the radial direction and a vertical direction.
    Type: Grant
    Filed: August 2, 2018
    Date of Patent: February 2, 2021
    Assignee: KHS AG
    Inventors: Matthias Schopp, Alberto Garcia
  • Patent number: 10906170
    Abstract: A sorting system and a gripping tool thereof to be mounted on a handling device for handling pieces cut out from planar sheets are disclosed. The gripping tool includes: an engaging head interchangeably paired with an operating end of a displaceable handling device: an actuator mounted on the engaging head, including at least a first actuator unit; and attaching and coupling units having attaching and coupling devices, mounted on the engaging head. The attaching and coupling units are mounted on a frame including at least four rods articulated together through respective hinges arranged on a lying plane. The attaching and coupling devices are arranged on a plane parallel to the lying plane. The articulated frame being supported on the engaging head. The first actuator unit drives at least one of the rods of the articulated frame by rotation around at least one of the hinges on the lying plane.
    Type: Grant
    Filed: October 17, 2019
    Date of Patent: February 2, 2021
    Assignee: ASTES4 SA
    Inventor: Roberto Zaffaroni
  • Patent number: 10902377
    Abstract: A manipulator can includes a frame, a first deployable support element configured to extend or retract with respect to the frame when acted on by an actuator, a static support element fixedly connected with the frame and comprising a second set of retention elements, and any suitable number of additional deployable support elements. Each support element can further include a respective set of retention elements configured to retain an item. In use, a manipulator can be used to move items by identifying an item contact area of an item to be moved, selectively deploying or retracting the deployable support elements based on the item contact area, and then contacting and retaining the item with the retention elements of the selected support elements.
    Type: Grant
    Filed: January 24, 2018
    Date of Patent: January 26, 2021
    Assignee: Amazon Technologies, Inc.
    Inventors: Sean Murphy, Mark Stankiewicz, Matthew Wilkie
  • Patent number: 10889006
    Abstract: A suction device includes a base having a first end surface, at least three suction nozzles and a driving assembly. The at least three suction nozzles are disposed on the first end surface. A load bearing region is defined by the at least three suction nozzles. The driving assembly is configured to adjust the area of the load bearing region. The driving assembly is fixed to the base.
    Type: Grant
    Filed: December 26, 2017
    Date of Patent: January 12, 2021
    Assignees: HKC CORPORATION LIMITED, CHONGQING HKC OPTOELECTRONICS TECHNOLOGY CO., LTD.
    Inventor: Wei Wu
  • Patent number: 10822177
    Abstract: Various example embodiments described herein relate to a flipper table for manipulating an item from a first orientation to a second orientation. The flipper table includes a body rotatable about an axis. The body includes an end configured to be mechanically attached to an actuation unit. In this regard, upon an actuation of the actuation unit, the body is configured to manipulate the item. The body further defines a top surface configured to support the item positioned thereon. The body also defines at least one tab disposed on the flipper table and configured to extend relative to the top surface. Furthermore, the body of the flipper table defines one or more suction cups disposed on the top surface of the body where the one or more suction cups are configured to engage to a surface of the item positioned on the top surface.
    Type: Grant
    Filed: May 7, 2019
    Date of Patent: November 3, 2020
    Assignees: Intelligrated Headquarters, LLC, Carnegie Mellon University
    Inventors: Matthew R. Wicks, Gabriel Goldman, D. W. Wilson Hamilton
  • Patent number: 10781056
    Abstract: Various adaptive apparatus and systems for automated handling of components such as composite plies are provided. In one embodiment, a ply manipulation system is provided that comprises an automated machine having an arm, and a ply manipulation tool attached to the arm of the automated machine. The ply manipulation tool includes a first shuttle including a first gripper, a second shuttle including a second gripper, and an actuator. The ply manipulation system further comprises a processor that automatically controls the actuator to move the first and second shuttles linearly with respect to one another to adapt the first and second grippers to a ply shape. In another embodiment, the first and second shuttles include one or more clamping elements moveable to a position to be deployed outside a perimeter of the ply. Methods for removing a ply from a sheet of material using a ply manipulation tool also are provided.
    Type: Grant
    Filed: December 22, 2016
    Date of Patent: September 22, 2020
    Assignee: General Electric Company
    Inventors: Dragan Filipovic, Sultan Shair, Mathias Ernst Messmer, Stefaan Guido Van Nieuwenhove
  • Patent number: 10729015
    Abstract: A pre-press head may be operated by an operating method. The pre-press head includes an adsorption unit and a control unit. The adsorption unit includes at least two vacuum adsorption structures each including a gas path and at least one gas hole communicated with the gas path. The control unit is configured to control, according to a size of a to-be-adsorbed object, formation of vacuum environment of each vacuum adsorption structure. The adsorption unit is configured to adsorb the to-be-adsorbed object under the control of the control unit. The solution provided by the application adjusts adsorption functions of the vacuum adsorption structures according to a size of a to-be-adsorbed circuit board, so that the pre-press head can be applicable to circuit boards having different sizes.
    Type: Grant
    Filed: January 6, 2017
    Date of Patent: July 28, 2020
    Assignees: BOE TECHNOLOGY GROUP CO., LTD., HEFEI XINSHENG OPTOELECTRONICS TECHNOLOGY CO., LTD.
    Inventors: Honglin Niu, Ronghua Fan, Peng Sui, Guangxiang Wang, Meiyan Tao
  • Patent number: 10639804
    Abstract: An apparatus for clamping a robotically controlled tool to a workpiece comprises a tool support mountable on a robotic arm and configured to support the tool, a plurality of clamping modules, each of which includes at least one vacuum cup arranged to clamp the tool support to the workpiece, and an adjustment mechanism configured to adjust the position of the tool support relative to the workpiece.
    Type: Grant
    Filed: March 1, 2018
    Date of Patent: May 5, 2020
    Inventors: Sébastien Boria, Fabien Albert, Pierre Lepine, Luca Lattanzi, Cristina Cristalli, Enrico Concettoni
  • Patent number: 10576630
    Abstract: A system and method of operation of a robotic system including: receiving a sensor reading associated with a target object; generating a base plan for performing a task on the target object, wherein generating the base plan includes determining a grip point and one or more grip patterns associated with the grip point for gripping the target object based on a location of the grip point relative to a designated area, a task location, and another target object; implementing the base plan for performing the task by operating an actuation unit and one or more suction grippers according to a grip pattern rank, to generate an established grip on the target object, wherein the established grip is at a grip pattern location associated with the grip patterns; measuring the established grip; comparing the established grip to a force threshold; and re-gripping the target object based on the established grip falling below the force threshold.
    Type: Grant
    Filed: May 31, 2019
    Date of Patent: March 3, 2020
    Assignee: Mujin, Inc.
    Inventors: Rosen Diankov, Denys Kanunikov
  • Patent number: 10562718
    Abstract: A variable spacing device includes a support member, a driving member, a number of movable graspers, a limiting block, and a pushing block. The movable graspers are slidably mounted in a line on the support member. Each movable grasper grasps a workpiece. The limiting block is mounted on the support member and arranged in parallel with the pushing member. The limiting block defines first sliding grooves having a length gradually decreasing along a same direction. The pushing block defines second sliding grooves having a length gradually increasing along a same direction. Each movable grasper moves within a corresponding one of the first sliding grooves and a corresponding one of the second sliding grooves. Two sidewalls of each first sliding groove and two sidewalls of each second sliding groove resist movement of the corresponding movable grasper.
    Type: Grant
    Filed: April 1, 2019
    Date of Patent: February 18, 2020
    Assignees: Fu Tai Hua Industry (Shenzhen) Co., Ltd., HON HAI PRECISION INDUSTRY CO., LTD.
    Inventors: Wei-Da Yang, Li-Quan Zhang, Qing Cai, Jun-Gang Li
  • Patent number: 10568248
    Abstract: In a suction nozzle held on a mounting head of a component mounting machine, a nozzle section that sucks a component is swingably provided on a nozzle holder section of the suction nozzle, and an orientation of the nozzle section is changed by 90° to a downward orientation or a lateral orientation by swinging the nozzle section. The component is sucked by the nozzle section from above in a state in which the orientation of the nozzle section of the suction nozzle is downward in a component suction operation, and the component is mounted on an object such as a circuit board in a state in which the orientation of the component sucked by the nozzle section is set to the lateral orientation by the nozzle section the orientation of which is changed by 90° to the lateral orientation by swinging the nozzle section in the component mounting operation.
    Type: Grant
    Filed: October 11, 2013
    Date of Patent: February 18, 2020
    Assignee: FUJI CORPORATION
    Inventor: Futoshi Matsuda
  • Patent number: 10532468
    Abstract: Systems, methods, and apparatus for a vacuum tool having a switchable plate, such that a common vacuum tool may be adapted with different plates. A switchable plate may form the entirety of the vacuum tool's material contacting surface or a switchable plate may form a portion of the material contacting surface. The vacuum tool is effective for picking and placing one or more manufacturing parts utilizing a vacuum force.
    Type: Grant
    Filed: February 27, 2018
    Date of Patent: January 14, 2020
    Assignee: NIKE, Inc.
    Inventors: Patrick Conall Regan, Kuo-Hung Lee, Chih-Chi Chang
  • Patent number: 10457499
    Abstract: The present invention relates to handling devices for handling foodstuffs, which may include a suction cup and a docking piece supporting the suction cup. The suction cup may be removably attached to the docking piece. The docking piece may include a drive nozzle inserted into the suction cup, and attached to the docking piece, for ejecting a fluid from the drive nozzle inside of the suction cup. The suction cup may include a drive opening for receiving the drive nozzle of the docking piece, and an outlet nozzle having at least one constriction. The outlet nozzle is aligned with the drive nozzle so that the drive nozzle and the outlet nozzle cooperate to form an ejector. The ejector then applies a suction force to the surface of the foodstuff which is to be handled.
    Type: Grant
    Filed: August 21, 2015
    Date of Patent: October 29, 2019
    Assignee: Piab Aktiebolag
    Inventor: Peter Tell
  • Patent number: 10407195
    Abstract: A pickup and delivery station for products includes a movement arm that is articulated with respect to a fixed frame and supports, at its free end, at least one respective grip component for a product. The free end of the arm includes at least one track for two carriages for supporting at least one respective shaft that supports the grip component. A linear actuator, which is substantially parallel to the direction of the track, is associated with one of the carriages for its movement along the track, from a configuration of separation from the other carriage to a configuration of proximity thereto. The shaft of a respective grip component is coupled to a second linear actuator that is perpendicular to the first one for the offset of the respective grip component with respect to the contiguous ones.
    Type: Grant
    Filed: August 5, 2014
    Date of Patent: September 10, 2019
    Assignee: GIMA S.P.A.
    Inventors: Fabio Sassi, Matteo Cinesi
  • Patent number: 10407262
    Abstract: A positional adjustment apparatus for an attractor includes a positioning plate disposable at least adjacent to a surface of a mold, at least one drive operatively connected to the positioning plate to move the positioning plate and alter at least one of a first height, a first angle of tilt, a first lateral position, and a rotational position of the positioning plate with respect to the surface of the mold, at least one positioner disposed in an opening through the positing plate, the positioner hanging from and being moveable independently of the positioning plate, at least one attractor connected to the at least one positioner, and a joint disposed between the positioner and the positioning plate, the joint permitting the at least one positioner to change at least one of a second height, a second angle of tilt, and a second lateral position with respect to the positioning plate.
    Type: Grant
    Filed: December 9, 2014
    Date of Patent: September 10, 2019
    Assignee: SHORT BROTHERS PLC
    Inventors: Andrew Jess, Paul Frazer, Lynsey Rebbeck Nee Bowman
  • Patent number: 10370202
    Abstract: The invention describes a suction gripper for elastic slices sticking to each other, such as slices of food. The suction gripper has a suction cup, to which reduced pressure is applied in a controlled manner. The suction gripper is characterized by a tube, which projects at least into the plane of the suction opening of the suction cup, optionally projects over the plane of the suction opening, and to which pressured gas may be applied.
    Type: Grant
    Filed: August 30, 2017
    Date of Patent: August 6, 2019
    Assignee: Deutsches Institut fuer Lebensmitteltechnik e.V
    Inventor: Bernhard Hukelmann
  • Patent number: 10369706
    Abstract: Systems and methods are provided for enhancing picking and placement of plies of material. One embodiment is an apparatus that includes an end effector of a robot. The end effector includes a frame, and cup assemblies that are attached to the frame. The cup assemblies each include a shaft and a head. The end effector also includes Bernoulli cups attached to the heads of the cup assemblies, and grippers attached to heads of the cup assemblies.
    Type: Grant
    Filed: August 9, 2017
    Date of Patent: August 6, 2019
    Assignee: The Boeing Company
    Inventor: Goce Petrovski
  • Patent number: 10374161
    Abstract: Disclosed are a glass substrate separation device and a glass substrate separation method. A plurality of first vacuum adsorption devices is adsorbed on one end of the glass substrate to separate the one end of the glass substrate and an OLED with an opening with a certain distance, and a metal wire is driven to enter the opening, and abuts a lower surface of the glass substrate to move to the other end of the glass substrate to accomplish the separation between the glass substrate and the OLED; and then, a second vacuum adsorption device is adsorbed at an intermediate position of the glass substrate to remove the glass substrate from the OLED to realize a glass substrate removal process after a LLO in an OLED module production, thereby avoiding a damage to the OLED and a PI layer disposed on a surface layer of the OLED.
    Type: Grant
    Filed: September 7, 2018
    Date of Patent: August 6, 2019
    Assignee: WUHAN CHINA STAR OPTOELECTRONICS SEMICONDUCTOR DISPLAY TECHNOLOGY CO., LTD.
    Inventor: Shimin Chen
  • Patent number: 10351354
    Abstract: A lifting facility for a workpiece is provided in a drying furnace for drying the workpiece, and comprises: a drop lift that conveys the workpiece so as to raise and lower the workpiece between one of a carrying-in position at which the workpiece is carried in the drying furnace and a carrying-out position at which the workpiece is carried out from the drying furnace and a high-temperature zone which is formed above the carrying-in position and the carrying-out position and in which the workpiece is dried; and a strut that supports the drop lift so as to raise and lower the drop lift. The strut is extended to the high-temperature zone in the drying furnace.
    Type: Grant
    Filed: August 9, 2016
    Date of Patent: July 16, 2019
    Assignee: DAIFUKU CO., LTD.
    Inventors: Kazuo Ueda, Kiyotoku Sone, Jun Kimura
  • Patent number: 10300611
    Abstract: An end effector is configured to grasp articles that have deviated from their original shape. The end effector can return the article to its expected condition. The end effector can include a main platform, a first sub-platform and a second sub-platform. A first suction cup extends vertically below the main platform. Each of the sub-platforms includes one or more suction cups, respectively, that protrude vertically below the sub-platforms. Each sub-platform is connected to the main platform via a bellows actuator that can be extended and retracted via positive and negative pressures. The main platform can include fittings to allow the end effector to be attached to a wide variety of robotic arms, such as a delta robot.
    Type: Grant
    Filed: August 3, 2017
    Date of Patent: May 28, 2019
    Assignee: MGS Machine Corporation
    Inventor: Eric J. Berns
  • Patent number: 10269108
    Abstract: A method of improved quality inspection includes (i) receiving a first command to capture a first image of a surface of a product, (ii) positioning, by actuating a plurality of rotatable joints, a camera at a first position that is substantially adjacent to the surface of the product, and capturing the first image of the surface of the product. The method further includes, after capturing the first image: (i) processing the first image to identify a defect in the first image and a relative location of the defect in the first image, and (ii) determining a second position of the camera in accordance with the first position of the camera and the relative location of the defect in the first image, and (iii) repositioning, by actuating the plurality of rotatable joints, the camera from the first position to the second position. The method further includes capturing the second image.
    Type: Grant
    Filed: September 1, 2017
    Date of Patent: April 23, 2019
    Assignee: MIDEA GROUP CO., LTD.
    Inventors: Dongyan Wang, Haisong Gu, Tao Liu
  • Patent number: 10265865
    Abstract: A gripper device and method is provided. The method includes capturing, using an electronic device, information of an object that is indicative of holding position; determining, using the information, by a hardware processor, an optimal holding orientation and an optimal movement of at least one of (i) a plurality of fingers, or (ii) a plurality of suction cups of a gripper device; identifying the at least one of (i) the plurality of fingers, and (ii) the plurality of suction cups as one or more grasping components based on the information, the optimal holding orientation and the optimal movement; and enabling, using an actuator, the one or more identified grasping components to grasp the object based on the information, the optimal holding orientation and the optimal movement.
    Type: Grant
    Filed: January 30, 2017
    Date of Patent: April 23, 2019
    Assignee: Tata Consultancy Services Limited
    Inventors: Venkat Raju Chinatalapalli Patta, Swagat Kumar
  • Patent number: 10207830
    Abstract: A food product handling device is provided. The food product handling device can include a movable loading head having a plurality of rails and a vacuum system operatively associated with the head. In addition, a plurality of suction devices carried by the head and configured to pick up and transport a food product as the head is moved can be provided. A plurality of mounting blocks can be slidably coupled to the rails where at least one suction device is coupled to each mounting block. An actuating device can be operatively associated with the mounting blocks such that each mounting block is configured to slide between a first position and a second position.
    Type: Grant
    Filed: June 6, 2014
    Date of Patent: February 19, 2019
    Assignee: F.R. Drake Company
    Inventors: Andre Richards, Thomas Ivy, Keith Wayne Hopkins, George Reed
  • Patent number: 10195747
    Abstract: An end effector is provided that includes a vacuum source and a plurality of gripping surfaces with each gripping surface including a plurality of vacuum zones having a non-smooth portion for distributing a vacuum, and a plurality of openings defined over the non-smooth portion for distributing the vacuum on the gripping surface using the vacuum source. The plurality of gripping surfaces is generally arranged in a polygonal shape. The plurality of vacuum zones are generally configured to grip cut-outs having a plurality of shapes. Methods are also provided for removing a cut-out from a sheet of material using an end effector having a plurality of gripping surfaces.
    Type: Grant
    Filed: August 3, 2017
    Date of Patent: February 5, 2019
    Assignee: General Electric Company
    Inventors: Anja Lena Nieratschker, Sultan Shair, Martin Petersen, Stefaan Guido Van Nieuwenhove
  • Patent number: 10138079
    Abstract: The apparatus for handling layers of palletized products includes a gripping head associable to a transfer machine adapted to displace the gripping head at least along a substantially vertical direction, the gripping head being provided with: a support framework associable to the transfer machine, a substantially horizontal suction plane associated to the support framework and adapted to suction a layer (S) of palletized products (P), and a fall-prevention plane associated to the support framework and mobile between a rest configuration, wherein the space underlying the suction plane is clear and the suction plane is free to be arranged at contact with the upper surface of the layer (S) of products (P), and an operating configuration wherein the fall-prevention plane is arranged below the suction plane and the layer (S) of suctioned products (P).
    Type: Grant
    Filed: April 22, 2011
    Date of Patent: November 27, 2018
    Assignee: BEMA S.R.L.
    Inventor: Emilio Murarotto