Frames Patents (Class 294/65)
  • 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: 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: 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: 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: 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: 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: 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: 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: 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: 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: 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: 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: 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: 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: 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: 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
  • Patent number: 10120215
    Abstract: Embodiments of the present application provide an apparatus for carrying a substrate by an off-line vacuum suction and a method for transporting a substrate. The apparatus includes a carrying frame provided with a clamper, a vacuum suction device and a detaching device arranged on the carrying frame, wherein the vacuum suction device is arranged to suck and fix a substrate and is connectable to and detachable from a vacuum pipeline and the detaching device is arranged to detach the vacuum suction device and the vacuum pipeline from each other while keeping the vacuum suction device to continuously suck the substrate to be transported. The apparatus and the method can improve fixing of the substrate and achieve off-line suction to the substrate.
    Type: Grant
    Filed: October 15, 2015
    Date of Patent: November 6, 2018
    Assignees: BOE TECHNOLOGY GROUP CO., LTD., HEFEI BOE OPTOELECTRONICS TECHNOLOGY CO., LTD.
    Inventors: Xu Shi, Zhilong Xu, Jun Liu, Xiaojun Wang, Dongqing Li, Shutong Huang, Wei Chen, Lei Zhang
  • Patent number: 10118804
    Abstract: Device (1) for carrying an object (2) having a smooth surface, which device comprises a first frame (3) that is arranged to be able to manipulate the device and the object to be carried, as well as a second frame (5) onto which a number of suction cups (6) is attached. The second frame is planar rotatably with respect to the first frame. Furthermore a number of vacuum sources (8, 9) is provided for evacuating the suction cups. The vacuum sources and suction cups are interconnected by means of at least one spiral-shaped hose assembly (10) of which the hoses (11), each being connected to a vacuum source (8) and a suction cup (6), are in the same spiral plane (14).
    Type: Grant
    Filed: April 11, 2016
    Date of Patent: November 6, 2018
    Assignee: Vacuum Lifting Holland Beheer B.V.
    Inventor: Steven Van Den Brink
  • Patent number: 10099385
    Abstract: Systems and methods are provided for carrying plies of material. One embodiment is an apparatus that includes an end effector of a robot. The apparatus includes a frame, and a fixed cup assembly that is attached to the frame. The fixed cup assembly includes a suction cup for holding a ply, a pneumatic line, and a shaft that is coupled with the suction cup and that houses the pneumatic line, the shaft enabling the suction cup to translate vertically. The apparatus also includes floating cup assemblies. Each floating cup assembly includes a Bernoulli cup, a pneumatic line applying positively pressurized gas to the Bernoulli cup, a shaft that is coupled with the Bernoulli cup and that houses the pneumatic line, the shaft enabling the Bernoulli cup to translate vertically, and a bearing that enables the Bernoulli cup to pivot about an end of the shaft to conform with a surface.
    Type: Grant
    Filed: February 6, 2017
    Date of Patent: October 16, 2018
    Assignee: The Boeing Company
    Inventors: Goce Petrovski, Andrew Klimovski
  • Patent number: 10053305
    Abstract: According to one embodiment, an article handling apparatus includes a gripper, a supporting portion, a sensor, and controller. The gripper grips an article. The supporting portion supports an article from below. The sensor recognizes a plurality of articles to generate a recognition result. The controller calculates a position of a first article located highest among the plurality of articles based on the recognition result, calculates a position of a second article located second highest in a region determined based on the position of the first article, controls movement of the gripper based on the position of the first article, and controls the movement of the supporting portion based on the position of the second article.
    Type: Grant
    Filed: March 10, 2016
    Date of Patent: August 21, 2018
    Assignee: KABUSHIKI KAISHA TOSHIBA
    Inventors: Haruna Eto, Akihito Ogawa, Takafumi Sonoura, Hideichi Nakamoto, Junya Tanaka, Rie Katsuki
  • Patent number: 10046464
    Abstract: A device for picking articles includes a supporting unit and a plurality of gripper heads equipped with respective mechanisms for gripping an article and movable relative to the supporting unit along a picking direction. The gripper heads are divided into at least first gripper heads and second gripper heads. The device includes at least a first picking unit, applied to the supporting unit and on which the first gripper heads are positioned in mutually aligned configuration along a first alignment direction, and a second picking unit, applied to the supporting unit and on which the second gripper heads are positioned in mutually aligned configuration along a second alignment direction transversal to the first alignment direction.
    Type: Grant
    Filed: March 31, 2017
    Date of Patent: August 14, 2018
    Assignee: CT PACK S.R.L.
    Inventors: Daniele Davi, Michele Pallara
  • Patent number: 10040202
    Abstract: A gripping device for a part stacking system that according to one embodiment includes a plurality of supporting arms and a plurality of gripping elements attached to the supporting arms, at least some of the gripping elements being movable with respect to the respective supporting arm. Each supporting arm comprises at least one guiderail and each movable gripping element comprises a carriage movable in the corresponding guiderail. The static friction force between each carriage and the respective guiderail is such that the movable gripping elements are kept immobile with respect to the supporting arms by the static friction force during the part stacking process, and the movable gripping elements are positioned with respect to the respective supporting arm overcoming the static friction force.
    Type: Grant
    Filed: June 9, 2017
    Date of Patent: August 7, 2018
    Assignee: FAGOR ARRASATE, S. COOP.
    Inventors: Carlos Alonso Ramila, Daniel Navero Rueda
  • Patent number: 10011514
    Abstract: Apparatus (54) for positioning performed glass sheets for further forming includes positioners (55) that are moved slower than the speed of glass sheet conveyance to provide rotational adjustment of a glass sheet into alignment above a forming mold (52) under the operation of a controller (78). The forming mold (52) is moved upwardly for the forming in a pressing manner against a downwardly facing upper mold (58).
    Type: Grant
    Filed: September 18, 2014
    Date of Patent: July 3, 2018
    Assignee: GLASSTECH, INC.
    Inventors: David B. Nitschke, Dean M. Nitschke, Daniel P. Lechner
  • Patent number: 9962828
    Abstract: An end-of-arm tool is described and includes an outer sheet and an inner sheet. The end-of-arm tool may be reinforced with a backing plate attached to the inner sheet and a front plate attached to the outer sheet. The end-of-arm tool may also include spacers to provide structure and rigidity to the end-of-arm tool at passages configured for the installation of workpiece interface tools, for example, spring plungers.
    Type: Grant
    Filed: July 31, 2015
    Date of Patent: May 8, 2018
    Assignee: Corning Incorporated
    Inventors: Devin Joe Barber, Nils Paul Fornell, Tzu-Hen Hsu, Brian Keith Markham, Andrew Nathan Nassau
  • Patent number: 9961816
    Abstract: A mounting device, which receives electronic circuit components from component supply devices, and mounts the components onto a substrate which is carried into a work region by a substrate conveyance device. The mounting device includes (a) a plurality of articulated robots, which include an arm section that includes a plurality of link members, which are connected so as to be relatively rotatable with respect to one another at a plurality of joints, and a hand that is attached to a free end section of the arm section so as to be relatively rotatable, and (b) a robot guide rail that supports base end sections of the articulated robots in a manner in which the articulated robots are capable of moving in a direction that is parallel to a conveyance direction, and the hand holds a rotating head, which holds a plurality of suction nozzles.
    Type: Grant
    Filed: June 7, 2013
    Date of Patent: May 1, 2018
    Assignee: FUJI MACHINE MFG. CO., LTD.
    Inventors: Masatoshi Fujita, Seigo Kodama
  • Patent number: 9807984
    Abstract: An egg transfer system is provided. Such an egg transfer system includes a controller configured to receive a classification signal indicative of an egg classification status for each of a plurality of eggs carried by a flat. A transfer head assembly is in communication with the controller and is configured to remove a plurality of eggs from the flat. The eggs are grouped into at least a first and second subset based on the egg classification status. The controller is configured to direct the transfer head assembly to selectively release the first and second subsets separately based on the respective egg classification status of the eggs. An associated method is also provided.
    Type: Grant
    Filed: April 6, 2016
    Date of Patent: November 7, 2017
    Assignee: Zoetis Services LLC
    Inventors: John H. Hebrank, Daniel Scott Rees, Michael Glenn Schnupper, Paul Archie Steen
  • Patent number: 9808937
    Abstract: A film suction mechanism is provided which can prevent a film-like member from warping or sagging for reliable suction, handing over, or the like of the film-like member. A film suction mechanism of the present invention is a film suction mechanism for processing or transferring a flexible film-like member. The film suction mechanism includes a suction unit having a function of attaching the film-like member thereto by suction and an air nozzle having a function of blowing pressurized air onto a first surface of the film-like member. The suction unit includes a plurality of suction pads. The suction unit is capable of attaching a second surface of the film-like member thereto by suction while the pressurized air is blown onto the first surface of the film-like member.
    Type: Grant
    Filed: April 29, 2015
    Date of Patent: November 7, 2017
    Assignee: Semiconductor Energy Laboratory Co., Ltd.
    Inventors: Kayo Kumakura, Satoru Idojiri, Masakatsu Ohno, Koichi Takeshima, Yoshiharu Hirakata, Kohei Yokoyama
  • Patent number: 9802317
    Abstract: Methods and systems for remote perception assistance to facilitate robotic object manipulation are provided herein. From a model of objects in an environment of a robotic manipulator, a virtual boundary line separating two adjacent identified virtual objects may be identified. The robotic manipulator may be configured to perform a task involving a manipulation of at least one object in the environment represented by the identified virtual objects. Based on the identifying, a request for remote assistance with verifying the virtual boundary line may be sent to a remote assistor device. A response to the request, including a modification to the virtual boundary line, may then be received from the remote assistor device. The robotic manipulator may then be caused to perform the task based on the modification to the virtual boundary line.
    Type: Grant
    Filed: April 24, 2015
    Date of Patent: October 31, 2017
    Assignee: X Development LLC
    Inventors: Kevin William Watts, Ethan Rublee, Kyle Lutz, Hauke Malte Strasdat
  • Patent number: 9782901
    Abstract: A robotic arm suction cup capable of eliminating negative pressure is provided. A robotic arm is provided with a first suction cup and a second suction cup of unequal length. Each of the first and second suction cups is connected with a Y-shaped tube. An end of the Y-shaped tube is connected with a communication tube. The communication tube is connected with a vacuum pump. Another end of the Y-shaped tube is connected with a pressure detection tube. A distal end of the pressure detection tube is connected with a pressure detector. The first and second suction cups are not coplanar, and can effectively eliminate the negative pressure between the first and second suction cups and a playing card rapidly, so that the playing card can be separated from the first and second suction cups easily for the game to go on smoothly.
    Type: Grant
    Filed: January 24, 2017
    Date of Patent: October 10, 2017
    Assignee: BINGOTIMES DIGITAL TECHNOLOGY CO., LTD.
    Inventor: Chih-Tsung Lo
  • Patent number: 9770797
    Abstract: A tool positioning and holding mechanism includes a mounting frame, a feed member, a tool support, a positioning member, an elastic member, and a blocking member. The feed member is slidably mounted on the mounting frame. The tool support is fixed on the feed member and defines a receiving hole to receive the tool. The positioning member is pivotally coupled to the tool support and partially received in the tool support. The elastic member is located between the positioning member and the tool support. The blocking member is fixed on the mounting frame and includes a pushing portion configured to resist the positioning member. The feed member can move the positioning member to allow detachment of the positioning member from the pushing portion, and upon detachment of the positioning member, the positioning member is configured to rotate under an elastic force of the elastic member to position the tool.
    Type: Grant
    Filed: May 14, 2015
    Date of Patent: September 26, 2017
    Assignees: FU DING ELECTRICAL TECHNOLOGY (JIASHAN) CO., LTD., HON HAI PRECISION INDUSTRY CO., LTD.
    Inventors: Ming-Lu Yang, Yang-Mao Peng, Jian-Shi Jia, Jing-Shuang Sui, Zhen-Guang Xu, Jun Fu, Jie Li
  • Patent number: 9731913
    Abstract: An end effector for the packaging industry comprises has a frame, a bridge on top of the frame, a rack and pinion assembly, actuation rods, carrier assemblies, and vacuum ports. The rack and pinion assembly is configured to be operatively connected to a robot's rotatable shaft, and to the actuation rods. The actuation rods are fixedly connected to one or more of the carrier assemblies. As the robot's shaft rotates, the rack and pinion assembly is actuated, which actuates the actuation rods, which causes the carrier assemblies fixedly connected to the actuation rods to move longitudinally along the frame. Each carrier assembly includes a carrier block and at least one pick-up member. Each carrier block has at least one arm with a grabber to cooperate with an adjacent arm with grabbers of an adjacent carrier block(s) of the same subgroup.
    Type: Grant
    Filed: March 1, 2016
    Date of Patent: August 15, 2017
    Assignee: PROPACK PROCESSING AND PACKAGING SYSTEMS, INC.
    Inventor: Kevin George Crosby
  • Patent number: 9694533
    Abstract: The containers are thermoformed at a thermoforming station from blanks cut out from a sheet of thermoplastic material. Before thermoforming the containers, at least some blank zones in the sheet are heated, the hot blanks are cut out from the heated zones and the hot blanks are conveyed to the thermoforming station.
    Type: Grant
    Filed: March 11, 2011
    Date of Patent: July 4, 2017
    Assignee: ERCA
    Inventors: Timothy Cooper, Frédéric Moreau, Dominique Schwab
  • Patent number: 9656813
    Abstract: The invention relates to a system (10) for handling workpieces, with a handling device (12) which comprises at least one vacuum gripper (16) for drawing a workpiece in by suction, with at least one vacuum generator (26) that can be operated by the supply of compressed air for supplying the vacuum gripper (16) with vacuum, with at least one controllable control valve (28) by which the supply of compressed air to the vacuum generator (26) can be controlled, wherein the control valve (28) is associated with a control device (30) for the proper control of the control valve (28 as required.
    Type: Grant
    Filed: June 24, 2015
    Date of Patent: May 23, 2017
    Assignee: J. Schmalz GmbH
    Inventors: Walter Dunkmann, Thomas Holecek
  • Patent number: 9636761
    Abstract: A system, a method and a modular apparatus may use a wire loop to cut an object. The apparatus may have a wire loop connected to pulleys on a deck attached to a frame. The deck may move relative to the frame to direct the wire loop through the object. The apparatus may have arms that may hold the object being cut. The apparatus may be configured with different cutting decks to reduce the overall size of the apparatus and/or to facilitate cutting a particular object in a particular environment.
    Type: Grant
    Filed: July 25, 2013
    Date of Patent: May 2, 2017
    Assignee: MACTECH, INC.
    Inventors: Michael James Harper, Joel Kent Wittenbraker