Grapple Patents (Class 294/86.4)
  • Patent number: 11400582
    Abstract: A robotic handling apparatus includes a first arm member configured to pivot about a first pivot axis and a first drive unit configured to bring the first arm member into motion about the first pivot axis. A second arm member is configured to pivot about a second pivot axis, the second arm member being connected to the first arm member and having a distal end portion. A second drive unit is configured to bring the second arm member into motion about the second pivot axis. A third arm member is configured to pivot about a third pivot axis. A carrier unit is connected to the distal end portion of the second arm member and the distal end of the third arm member to define a distance.
    Type: Grant
    Filed: November 14, 2018
    Date of Patent: August 2, 2022
    Assignee: YASKAWA AMERICA, INC.
    Inventor: John Charles Rogers
  • Patent number: 11376749
    Abstract: The invention relates to a gripping finger (1) for an adaptive gripping device (10), comprising a first strip element (2) and a second strip element (3), which are flexible, and a plurality of spacing elements (7, 13, 16), which are arranged between the first strip element (2) and the second strip element (3). A first end (8) of each of the spacing elements (7, 13, 16) is movably connected to the first strip element (2) and an opposite second end (9) of each of the spacing elements (7, 13, 16) is movably connected to the second strip element (3). At least one of the spacing elements (7, 13, 16) is designed as a curved spacing element (13), the curved spacing element (13) having a predefined curvature.
    Type: Grant
    Filed: October 30, 2018
    Date of Patent: July 5, 2022
    Assignee: Siemens Aktiengesellschaft
    Inventor: Matthias Dürr
  • Patent number: 11305437
    Abstract: A robot hand according to an embodiment of the present technology includes a finger unit and a guide member. The finger unit is capable of holding a flexible linear member such that the linear member is slidable in a longitudinal direction of the linear member, the linear member being a linear member whose one end is fixed. The guide member is mounted on the finger unit, and includes a guide section that guides the linear member to a predetermined position.
    Type: Grant
    Filed: August 20, 2018
    Date of Patent: April 19, 2022
    Assignee: Sony Corporation
    Inventors: Yosuke Matsuzaki, Takekazu Kakinuma
  • Patent number: 11286110
    Abstract: A grabber assembly has a beam assembly with a bracket. A grabber gear assembly is coupled with the bracket. The grabber gear assembly has a pair of gear mechanisms coupled with the bracket. Each gear mechanism has a shaft and a pair of thrust bearings, one at each end of the shaft. A grabber arm mounting pad is coupled with each shaft. A gear section is coupled with each shaft. The gear sections of each shaft mesh with one another to drive the grabber arm mounting pads. An actuating driver is coupled with one of the shafts to drive the grabber gear assembly and move the arms between an open and grasping position.
    Type: Grant
    Filed: September 28, 2020
    Date of Patent: March 29, 2022
    Assignee: The Heil Co.
    Inventor: Henry Michael Hund, Jr.
  • Patent number: 11267135
    Abstract: An item with fibers may be picked up and placed using a tool head with hooks that engage the fibers. The tool head may comprise at least one hook portion and at least one contact surface adjacent to the hook portion. The hooks that engage the fibers may extend from the hook portion. The tool head may be actuatable between at least a first configuration that permits the hooks to engage the fibers and a second configuration that does not permit the hooks to engage the fibers. An item may be picked up at a starting location with a tool head in the first configuration and placed at a placement location by moving the tool head and then actuating the tool head to the second configuration.
    Type: Grant
    Filed: October 19, 2020
    Date of Patent: March 8, 2022
    Assignee: NIKE, Inc.
    Inventors: Feng-Ming Ou, Yu-Hsi Hsing, Chia-Chi Yang
  • Patent number: 11247346
    Abstract: A gripping mechanism includes a holder, a gripping roller, and a lever. The gripping roller is housed within the holder and grips an object between the roller and an inner surface of the holder. The lever releases gripping of the object by pushing the gripping roller upward. Preferably, the holder includes two plate sections which support a weight of the gripping roller. An opening is located between the two plate sections. The opening receives insertion of the object. One of the two plate sections is inclined relative to a vertical direction.
    Type: Grant
    Filed: February 24, 2020
    Date of Patent: February 15, 2022
    Assignee: KYOCERA Document Solutions Inc.
    Inventors: Koji Izumi, Hayato Mori, Masaru Takagi, Tomohiko Yamakawa
  • Patent number: 11243632
    Abstract: A piezoelectric device includes a first region for receiving a pressing operation and a second region located outside of the first region. A piezoelectric element outputs a stronger potential when a pressing operation is applied to the first region than when the pressing operation is applied to the second region.
    Type: Grant
    Filed: March 18, 2019
    Date of Patent: February 8, 2022
    Assignee: MURATA MANUFACTURING CO., LTD.
    Inventors: Shozo Otera, Takashi Kihara, Yoshihiro Yamaguchi
  • Patent number: 11230010
    Abstract: A robot system that performs work of coupling a flexible cable to a connector provided on a board, includes a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided, a control unit that controls the robot to perform a conveyance action to grip the cable using the gripping unit and convey the cable onto the board, and an insertion action to insert the cable into the connector by force control based on a detection result in the force detection unit, an insertion speed entry part in which an insertion speed of the cable into the connector at the insertion action is entered, and a determination unit that can determine force control information necessary for the force control in the insertion action according to the insertion speed.
    Type: Grant
    Filed: December 6, 2019
    Date of Patent: January 25, 2022
    Inventor: Junya Ueda
  • Patent number: 11192311
    Abstract: A method of manufacturing a spoke (12) for a non-pneumatic tire is provided that involves providing a first form (14) and a second form (16), where first and second components (18, 20) of the spoke are placed on the first form (14). A third component (22) of the spoke is placed on the second form (16). The first and second components are transferred to the second form (16). The first component, the second component, and the third component are transferred from the second form to a mold (48). Further, the first component, the second component, and the third component have heat and pressure applied thereto for curing.
    Type: Grant
    Filed: December 20, 2018
    Date of Patent: December 7, 2021
    Assignee: COMPAGNIE GENERALE DES ETABLISSEMENTS MICHELIN
    Inventors: Brian D Wilson, Eric Rivers, Robert Gaut, David C Lung
  • Patent number: 11167421
    Abstract: A robotic kitchen assistant for frying includes a robotic arm, a fryer basket, and a robotic arm adapter assembly allowing the robotic arm to pick up and manipulate the fryer basket. The robotic arm adapter includes opposing gripping members to engage the fryer basket. A utensil adapter assembly is mounted to the handle of the fryer basket, and the opposing gripper members are actuated to capture a three-dimensional (3D) feature of the utensil adapter assembly. The robotic arm adapter assembly can include an agitator mechanism to shake the fryer basket or another utensil as desired. Related methods are also described.
    Type: Grant
    Filed: August 7, 2019
    Date of Patent: November 9, 2021
    Assignee: Miso Robotics, Inc.
    Inventors: Ryan Sinnet, Robert Anderson, William Werst
  • Patent number: 11123878
    Abstract: A MEMS manipulation device has first and second manipulation arms carrying respective mutually facing gripping elements. At least the first manipulation arm is formed by a driving arm and by an articulated arm hinged together through an articulation structure. The first driving arm includes a first beam element and a first piezoelectric region on the first beam element. The first articulation structure includes a first connecting element not deformable in the thickness direction, as well as a first hinge structure interposed between the first driving arm, the first articulated arm, and the first connecting element.
    Type: Grant
    Filed: February 1, 2019
    Date of Patent: September 21, 2021
    Assignee: STMICROELECTRONICS S.R.L.
    Inventors: Domenico Giusti, Lorenzo Tentori
  • Patent number: 11104002
    Abstract: A plurality of robot arms are each provided with indication devices that have indicators which indicate operability states of at least one other robot arm different from the robot arm on which the indication device is provided. Alternatively or in addition, the indication devices have indicators which indicate operability states of a respective robot arm upon which the indication devices are provided. Robot control devices which control operations of the robot arms communicate through a local area network (LAN) to share information regarding the states of the robot arms. Indication drive signals for the indication devices are generated based on states of servo control signals and/or brake control signals for the robot arms.
    Type: Grant
    Filed: July 27, 2018
    Date of Patent: August 31, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventor: Shinsuke Iizuka
  • Patent number: 11090816
    Abstract: A robot configured to use a gripper to grasp one or more tools is disclosed. In various embodiments, the robot comprises a robotic arm having a gripper disposed at a free moving end of the robotic arm, and a set of two or more tools configured to grasped or otherwise engaged by the gripper. Each tool in the set of two or more tools may be disposed in a corresponding tool holder, optionally attached to the robot or situated near the robot. The robot is configured to use the gripper to retrieve a selected tool from its tool holder to perform a task; use the tool to perform the task; and return the tool to its tool holder.
    Type: Grant
    Filed: November 6, 2019
    Date of Patent: August 17, 2021
    Assignee: Dexterity, Inc.
    Inventors: Samir Menon, Zhouwen Sun, Robert Hegdahl
  • Patent number: 11040446
    Abstract: According to one embodiment, a transporter includes a holder, a moving mechanism, a sensor, an operation controller, and a parameter estimator. The holder is configured to hold an object. The moving mechanism is configured to move the holder. The sensor is provided at the holder or the moving mechanism. The operation controller is configured to execute a test operation of moving the holder in a state in which the object is held by the holder. The parameter estimator is configured to estimate at least one parameter relating to the object based on a result of detection acquired by the sensor during the test operation.
    Type: Grant
    Filed: August 21, 2018
    Date of Patent: June 22, 2021
    Assignees: Kabushiki Kaisha Toshiba, Toshiba Infrastructure Systems & Solutions Corporation
    Inventor: Hideichi Nakamoto
  • Patent number: 10967516
    Abstract: A pair of claws and included in a gripper of a robot have specific shapes and for bending or flexing a specific part of a workpiece in a thickness direction when approaching each other to clamp the workpiece. The pair of claws and are made to approach each other and clamp the workpiece in a state where the specific part is protruded to the outside while making the workpiece and also the specific part undergo an elastic deformation so as to bend or flex in the thickness direction within a range of a transverse-direction dimension of the slot. The specific part of the workpiece is inserted into the slot along an insertion direction perpendicular to a tip end surface by a compliance control based on an output of a force sensor.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: April 6, 2021
    Assignee: OMRON Corporation
    Inventors: Yosuke Iwai, Masahiro Murai
  • Patent number: 10949046
    Abstract: A pressure sensor including: a first conductor; a second conductor spaced apart from the first conductor, and positioned so as to form a capacitance with the first conductor; and an elastic member positioned between the first conductor and the second conductor, in which the capacitance varies according to a pressure applied to one or more of the first conductor and the second conductor, and the first conductor has a shape different from that of the second conductor.
    Type: Grant
    Filed: March 20, 2017
    Date of Patent: March 16, 2021
    Inventors: Kyung Su Lee, Jun Young Ko, Yeon Tae Kim, Eun Sol Seo, Jin Young Jeon, In Young Han
  • Patent number: 10933535
    Abstract: A gripper and a robot are provided. The gripper may include a shell and at least two finger assemblies. The finger assemblies are utilized to grasp an object on two opposite sides of the object. Each finger assembly may include a connecting rod, a pad portion and a layer of synthetic fibrillar adhesive. The connecting rod may be movably connected to the shell. The pad portion may be connected to the connecting rod, and the connecting rod may move the pad portion towards the object under a driving force. The layer of synthetic fibrillar adhesive may be attached to the pad portion. Microfibers of the layer of synthetic fibrillar adhesive may be inclined away from the shell.
    Type: Grant
    Filed: August 20, 2019
    Date of Patent: March 2, 2021
    Assignee: Flexiv Ltd.
    Inventors: Hao Jiang, Shiquan Wang
  • Patent number: 10907625
    Abstract: The invention provides an actuator having a wedge shaped member arranged to move in substantially linear reciprocating motion. A drive member is operatively coupled to the wedge shaped member. The wedge shaped member is arranged to deflect the drive member as the wedge shaped member moves. A shape memory material has a first end electrically connected to a first electrical connection terminal and fixed with respect to the first electrical connection terminal, and a second end electrically connected to the wedge shaped member and fixed with respect to the wedge shaped member. The wedge shaped member is electrically connected to a second electrical connection terminal. The actuator may be used in a pump having a pumping chamber with a membrane the displacement of which changes the pumping chamber volume. The drive member of the actuator is operatively coupled to the pumping chamber membrane. The pump may be used in an infusion system for the infusion of a liquid therapeutic product.
    Type: Grant
    Filed: December 12, 2016
    Date of Patent: February 2, 2021
    Assignee: VICENTRA B.V.
    Inventors: Timothy William Oakes, Joseph Cefai
  • Patent number: 10814497
    Abstract: A robot hand apparatus includes a holder having a bendable sucking surface that sucks an object; a magnetic elastic body arranged at the holder and formed of an elastic material containing magnetic particles; and a magnetic-field generator that is arranged at the holder and applies a magnetic field to the magnetic elastic body to change a coefficient of elasticity of the magnetic elastic body. When the magnetic-field generator applies a magnetic field to the magnetic elastic body, a flexible portion and a hardened portion having a bigger coefficient of elasticity than that of the flexible portion are formed in the magnetic elastic body. When the holder holds the object, in a state in which the sucking surface is bent at a position corresponding to the flexible portion, a region of the sucking surface between the position and a distal end of the holder sucks the object.
    Type: Grant
    Filed: July 18, 2018
    Date of Patent: October 27, 2020
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Takayuki Nagata, Yasunao Okazaki, Katsuhiko Asai, Kazuo Inoue
  • Patent number: 10796353
    Abstract: An order processing device acquires an order request of a mounting member that is attached to mounting device and that handles a component, and component related information including information related to a component of a specific shape to be handled by the mounting member or information of a component related member that relates to a member that stores the component. Next, the order processing device outputs design data of the mounting member designed based on the acquired component related information to a customer PC of a requester. Designing of the mounting member is performed on the side of the supplier of mounting device and the design data is delivered to the requester, and the mounting member is manufactured on the requester side based on the design data using technology possessed by the requester.
    Type: Grant
    Filed: November 25, 2014
    Date of Patent: October 6, 2020
    Assignee: FUJI CORPORATION
    Inventors: Noriaki Iwaki, Shinsuke Suhara
  • Patent number: 10767323
    Abstract: A lifting system for a concrete component comprises a void former incorporated into the component during casting and which provides within the component a void which receives a locking pin of a lifting anchor assembly which is locked within the void by rotation of a locking pin. The lifting anchor assembly has a visual indicator to indicate when the pin is in its locked condition within the void, and a pivotal lifting shackle of the assembly is prevented from movement into a position in which lifting can take place until the pin is in its locked condition. Preferably a base of the void former is configured to retain components of a jacking system by which a concrete slab used for road repair can be jacked into a level configuration with the remainder of the roadway when it has been positioned by use of the lifting system.
    Type: Grant
    Filed: August 6, 2015
    Date of Patent: September 8, 2020
    Assignee: Illinois Tool Works Inc.
    Inventors: Robert Urquhart Connell, Andrew Saul Barraclough, Alexander Charles Knott
  • Patent number: 10766214
    Abstract: A blank stand for receiving and/or temporarily storing at least one tire blank and to a logistics system for realizing a flow of material of tire blanks to tire manufacturing plants with at least one blank stand, wherein the blank stand and the further components of the logistics system are designed such that handling and transport functions are supported in different height levels relative to a floor level of the hall.
    Type: Grant
    Filed: December 5, 2019
    Date of Patent: September 8, 2020
    Assignee: HARBURG-FREUDENBERGER MASCHINENBAU GMBH
    Inventors: Rudiger Meincke, Margiciok Wojcieck
  • Patent number: 10687450
    Abstract: A component chuck device moves a pusher member downward when negative pressure is supplied, and holds a posture of a component by causing the pusher member to abut with an upper face of the component that is gripped in a gripping mechanism. Then, the component chuck device releases gripping of the component when supply of negative pressure is stopped, and a lead of the component is inserted into a hole of a substrate while holding the posture of the component by moving the pusher member downward while remaining abutted with the upper face of the component.
    Type: Grant
    Filed: September 29, 2015
    Date of Patent: June 16, 2020
    Assignee: FUJI CORPORATION
    Inventors: Junichi Yamamuro, Satoru Otsubo
  • Patent number: 10668631
    Abstract: A compensating device, which can be placed between a robot, e.g., used to grip and position workpieces, and a gripper moved by the robot to compensate position tolerances, includes respective interfaces for a manipulator and an end effector, with the compensating device positioned between the manipulator and the end effector and including a joint device aligned with a first axis Z between the interface segments, a first joint partner connected to the first interface segment, and a second joint partner connected to the second interface segment, one of the joint partners including a ball segment and the other including, for the ball segment, a receptacle segment that includes at least one ramp region so that the joint device forms a pivot or ball joint, the ball segment being capable of being displaced from a normal position in a transverse direction X-Y to the first axis Z into a compensating position.
    Type: Grant
    Filed: June 8, 2016
    Date of Patent: June 2, 2020
    Assignee: Robert Bosch GmbH
    Inventor: Andreas Rueb
  • Patent number: 10625430
    Abstract: A robot gripper includes: i) a gripper body mounted at a front end of an arm of a robot, ii) a pair of mounting brackets installed on respective sides of the gripper body and configured to reciprocate in a direction toward each other or in a direction away from each other, and iii) finger members facing each other and fixedly installed on the pair of mounting brackets. In particular, the finger members include gripping recesses to grip portions of the screw part having different sizes and formed on ends of the screw part.
    Type: Grant
    Filed: November 15, 2018
    Date of Patent: April 21, 2020
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventor: Yongcheol Lee
  • Patent number: 10583567
    Abstract: A bundle gripping tool has a support ring sector 12a extending from a handle 11 and a jaw 12b pivotally mounted to the handle opposing the support ring sector 12a. The jaw is rotatable from an open position to a closed position wherein the jaw 12b and support ring sector 12a form a circular support ring 12 concentric to a bundle axis 14. The jaw exposes a first open sector accessing a central aperture in the open position. A snare ring 22 is supported on the jaw 12b in the open position and rotatable on the support ring 12 in the closed position and has a second open sector 34 wherein in an unrotated position of the snare ring at least partially aligns the second open sector with the first open sector exposing the central aperture.
    Type: Grant
    Filed: March 25, 2019
    Date of Patent: March 10, 2020
    Inventors: Ty A. Larsen, Lars Blacken, Keith Cutler
  • Patent number: 10549432
    Abstract: A component mounting apparatus for mounting a component on a substrate includes a pair of chuck claws that sandwich and grip the component; and adapters that are detachably mounted on the chuck claws and grip the component in place of the chuck claws. The adapters are mounted on the chuck claws in accordance with the component that is an object to be mounted and the component is gripped by using the adapters.
    Type: Grant
    Filed: August 4, 2016
    Date of Patent: February 4, 2020
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Dai Yokoyama, Hideaki Watanabe, Shigeki Imafuku, Yosuke Nagasawa, Kian Hong Lam
  • Patent number: 10456929
    Abstract: A soft robotic bending actuator has a stiff layer bonded to a softer layer where the softer layer is a cellular solid with interconnected voids. The softer layer contracts under a negative pressure differential between the internal pressure of the actuator and its environment applied along its axial direction. The contraction results in a bending motion; i.e., an increased curvature away from the stiff layer.
    Type: Grant
    Filed: August 13, 2018
    Date of Patent: October 29, 2019
    Assignee: SCHLUMBERGER TECHNOLOGY CORPORATION
    Inventors: James Miller, Nathaniel Wicks
  • Patent number: 10435252
    Abstract: An operating device for placing or retrieving bottle-like piece goods onto or from storage places of a picking device is provided. The operating device includes a gripping jaw assembly having two profile-rod shaped gripping jaws with opposite lying inner surfaces extending in a first horizontal direction corresponding to a direction for placing and retrieving piece goods. The gripping jaws are configured so that the distance of the inner surfaces from each other tapers in the downward direction at least in sections and the bottle-like piece goods can be lifted from below. The operating device also includes an actuation unit coupled to the gripping jaw assembly for moving the gripping jaw assembly in the first horizontal direction.
    Type: Grant
    Filed: October 8, 2018
    Date of Patent: October 8, 2019
    Assignee: BECTON DICKINSON ROWA GERMANY GMBH
    Inventor: Christoph Hellenbrand
  • Patent number: 10422094
    Abstract: A concrete block construction method, including: manufacturing a plurality of concrete blocks each having a vertical guide hole formed in a vertical direction; preparing a guide member for installing the concrete blocks; forming a lower concrete block structure by installing at least one of the concrete blocks; placing the concrete block subject to be installed on the lower concrete block structure by inserting the installation guide pole into the vertical guide hole of the concrete block subject to be installed; and separating and recovering the guide member for installing the concrete block from the concrete block subject to be installed, after placing the concrete block subject to be installed.
    Type: Grant
    Filed: July 25, 2017
    Date of Patent: September 24, 2019
    Inventor: Sang Gi Kim
  • Patent number: 10414053
    Abstract: A robotic gripper for rigidly grasping a section of a Marman ring of a satellite, the robotic gripper having an outboard jaw which interfaces to an outer diameter side of the Marman ring, a inboard jaw which interfaces to an inner diameter side of the Marman ring, and a palm which interfaces to a separation surface of the Marman ring. The jaws, when grasping the section of the Marman ring, execute a two-stage motion comprising a first movement toward the opposing jaw in a direction parallel to the palm, and a second movement of drawing the Marman ring down against the palm or other suitable surface in order to fully rigidize the grasp.
    Type: Grant
    Filed: March 9, 2017
    Date of Patent: September 17, 2019
    Assignee: U.S.A. as represented by the Administrator of the National Aeronautics and Space Administration
    Inventor: Matthew S. Ashmore
  • Patent number: 10406680
    Abstract: Provided is an industrial robot that includes: a second arm that is provided, at the distal end of a first arm pivotable about a first axis, in a pivotable manner about a second axis parallel to the first axis; and a wrist that is disposed at the distal end of the second arm and that has a plurality of wrist elements, and including the first wrist element provided in a rotatable manner about a longitudinal axis of the second arm. Motors and that drive the wrist elements, are accommodated in a space inside the first wrist element. The second arm is provided with a hollow portion that communicates with the space. A cable to be wired to the motors is wired into the hollow portion from the outside of the second arm and is relayed by a connector fixed to the wall section at the position of the through-hole.
    Type: Grant
    Filed: April 6, 2018
    Date of Patent: September 10, 2019
    Assignee: FANUC CORPORATION
    Inventors: Toshihiko Inoue, Tooru Nagai
  • Patent number: 10357879
    Abstract: A robot zero-point calibration device includes an axial position recording unit configured to record positional data of each axis of a robot in each of a plurality of postures when a first positioning point and a second positioning point are made to coincide with each other, the first positioning point being disposed at a predetermined coordinate on a base coordinate system of the robot, and the second positioning point being disposed at a predetermined coordinate on a flange coordinate system of the robot. The device also includes a positional offset calculating unit configured to calculate an offset amount of a zero point of each axis of the robot from a true zero point of the axis based on a plurality of sets of the positional data stored in the axial position recording unit.
    Type: Grant
    Filed: July 17, 2017
    Date of Patent: July 23, 2019
    Assignee: FANUC CORPORATION
    Inventor: Kokoro Hatanaka
  • Patent number: 10336558
    Abstract: This invention provides a transfer apparatus for loading/unloading a work into/from a processing apparatus, comprising: a main body being able to move in a horizontal direction; an arm portion pivotally provided with respect to the main body; a hand portion pivotally provided with respect to the arm portion, and configured to grip the work; and a control unit configured to horizontally swing the arm portion and move the main body in order for the hand portion to linearly move the work, when the hand portion facing the processing apparatus loads/unloads the work into/from the processing apparatus.
    Type: Grant
    Filed: September 21, 2015
    Date of Patent: July 2, 2019
    Assignee: HIRATA CORPORATION
    Inventors: Shinichi Matsunari, Akemichi Yamamoto
  • Patent number: 10231859
    Abstract: The present disclosure provides a brace system including an upper portion and a lower portion. The brace system may also include a first pulley rotatably coupling the upper portion to a first intermediate link positioned between the upper portion and the lower portion. The brace system may also include a second pulley rotatably coupling the first intermediate link to a second intermediate link positioned between the upper portion and the lower portion. The brace system may also include a third pulley rotatably coupling the second intermediate link to the lower portion. Further, the brace system may include at least one tension-bearing element substantially encircling each of the first pulley, the second pulley, and the third pulley.
    Type: Grant
    Filed: May 1, 2014
    Date of Patent: March 19, 2019
    Assignee: Boston Dynamics, Inc.
    Inventors: Christopher Everett Thorne, Steven D. Potter, Michael Patrick Murphy
  • Patent number: 10221012
    Abstract: A grabber assembly has a beam assembly with a bracket. A grabber gear assembly is coupled with the bracket. The grabber gear assembly has a pair of gear mechanisms coupled with the bracket. Each gear mechanism has a shaft and a pair of thrust bearings, one at each end of the shaft. A grabber arm mounting pad is coupled with each shaft. A gear section is coupled with each shaft. The gear sections of each shaft mesh with one another to drive the grabber arm mounting pads. An actuating driver is coupled with one of the shafts to drive the grabber gear assembly and move the arms between an open and grasping position.
    Type: Grant
    Filed: May 26, 2017
    Date of Patent: March 5, 2019
    Assignee: The Heil Co.
    Inventor: Henry Michael Hund, Jr.
  • Patent number: 10179405
    Abstract: A piezoelectric drive device includes a vibrating plate and multiple piezoelectric drive units that are disposed in the vibrating plate, and that respectively have a contact portion which can come into contact with a driven body.
    Type: Grant
    Filed: February 17, 2016
    Date of Patent: January 15, 2019
    Assignee: Seiko Epson Corporation
    Inventor: Osamu Miyazawa
  • Patent number: 10173318
    Abstract: In a method according to the invention for controlling a peripheral component (1) of a robot system (2), a power output, in particular a force, of the peripheral component is adjusted on the basis of an ascertained force (F1; m3g+m3d(x3)2/dt2), said force acting dependent on at least one robot pose, in particular a robot path (x3(t)).
    Type: Grant
    Filed: October 31, 2011
    Date of Patent: January 8, 2019
    Assignee: KUKA Deutschland GmbH
    Inventor: Johannes Kurth
  • Patent number: 9993927
    Abstract: Disclosed herein is a tool-inclining system, which is characterized in that it is provided with a structure that is simple, compact, and able to operate according to an altogether reliable mode of operation. The system comprises: a base for securing said system to a structure that is to carry said tool, such as a robot arm; a support on which said tool is to be fixed, said support being configured in such a way that said tool fixed to said support defines a working axis (S); a connection member for connection of said support to said base, said member allowing a given angular movement of said support so that said working axis displaces, starting from a neutral position, according to a tilting movement; and fluid countering means or elastic countering means, which act on said support so as to exert an action that counters said tilting movement.
    Type: Grant
    Filed: March 10, 2016
    Date of Patent: June 12, 2018
    Assignee: Robotools S.r.l.
    Inventor: Elio Strobietto
  • Patent number: 9963230
    Abstract: A drone which can be piloted by a user. The drone has at least one or both of a depending head and an outwardly extending elongate handle. A cleaning sheet may be removably disposed on the head, to clean a target surface, such as a floor or countertop. A duster may be removably disposed on the handle, to clean a target surface, such as an elevated surface or clean personal items.
    Type: Grant
    Filed: January 11, 2016
    Date of Patent: May 8, 2018
    Assignee: The Procter & Gamble Company
    Inventors: Michelle Lynn Borman, Glenn Allen Bradbury, Su Yon Chang, Larry L. Huston
  • Patent number: 9943966
    Abstract: A processing machine system includes a processing machine having a machining table, a robot that removes chips produced from processing of the work, a chip collecting hand attached to a distal end portion of the robot to collect the chips, and a robot control unit. The robot control unit acquires a deposition amount of the chips deposited on the machining table, decides whether it is necessary to collect the chips on the basis of the acquired deposition amount. When the chip collection is necessary, the robot control unit operates the robot so as to collect the chips with the chip collecting hand, after the processing is finished.
    Type: Grant
    Filed: March 10, 2016
    Date of Patent: April 17, 2018
    Assignee: FANUC CORPORATION
    Inventor: Toru Shirahata
  • Patent number: 9902568
    Abstract: A conveyance apparatus including a variable jig and a driving method thereof. The conveyance apparatus includes a transport unit including a transfer belt extending from a loading position to an unloading position of works, the transport unit being a movement path for the works, a variable jig module disposed with respect to a position, where the works stop, in the movement path to support the works, the variable jig module being a variable jig that varies a supporting base, based on shapes of the works, a sensing unit disposed outside the transfer belt with respect to the variable jig module to measure a movement or position of the works, an image processing unit configured to perform image processing on the works transported through the transfer belt, and a controller electrically connected to the variable jig module to control an operation of the variable jig module.
    Type: Grant
    Filed: December 22, 2016
    Date of Patent: February 27, 2018
    Assignee: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE
    Inventors: Yong Kwi Lee, Hyun Jong Kim, Jun Hee Park, Young Ae Jeon
  • Patent number: 9855663
    Abstract: A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.
    Type: Grant
    Filed: June 17, 2016
    Date of Patent: January 2, 2018
    Assignee: X Development LLC
    Inventors: Marc Strauss, David Youmans, Scott Stanford
  • Patent number: 9806457
    Abstract: An articulated robot comprises an arm which changes a direction at a joint, and a tube coupling to which a wire body is connected and which is attached to the arm. The arm includes a frame which has a hollow interior. The frame has a concave part which is depressed toward the interior. The tube coupling is arranged inside the concave part.
    Type: Grant
    Filed: March 21, 2016
    Date of Patent: October 31, 2017
    Assignee: FANUC CORPORATION
    Inventors: Hideyuki Watanabe, Satoshi Kinoshita
  • Patent number: 9757857
    Abstract: A piezoelectric driving device includes: a piezoelectric vibrating body which includes a plurality of piezoelectric elements each formed of a first electrode, a second electrode, and a piezoelectric body positioned between the first electrode and the second electrode, and is disposed at least one surface of the first surface and the second surface of the vibrating plate, wherein the plurality of piezoelectric elements are connected in series.
    Type: Grant
    Filed: August 12, 2015
    Date of Patent: September 12, 2017
    Assignee: Seiko Epson Corporation
    Inventor: Osamu Miyazawa
  • Patent number: 9758341
    Abstract: A bobbin changing device for feeding bobbins to and/or removing bobbins from a processing device which can wind a strand-form material onto a bobbin and/or from a bobbin, wherein the bobbin changing device has at least one conveyor device, wherein the bobbin changing device has a swivel fork which is suited for feeding bobbins to and/or removing bobbins from such a processing device and for feeding bobbins to and/or removing bobbins from the conveyor device.
    Type: Grant
    Filed: January 10, 2013
    Date of Patent: September 12, 2017
    Assignee: Maschinenfabrik NIEHOFF GmbH & Co. KG
    Inventor: Steffen Troitzsch
  • Patent number: 9704126
    Abstract: Robotic inventory handlers can include two or more gripping elements connected with a lifting assembly. The gripping elements can be subjected to outward lateral force when in contact with inventory items such that the anisotropically adhesive surface engages an inventory item with an adhesive force. Inventory systems can employ robotic inventory handlers as described to lift and displace inventory items using the adhesive force.
    Type: Grant
    Filed: August 22, 2016
    Date of Patent: July 11, 2017
    Assignee: Amazon Technologies, Inc.
    Inventor: Parris S. Wellman
  • Patent number: 9701490
    Abstract: The problem of the lag time in picking and dropping mixed load products during a palletization process is solved by using a tool having i) a gripping member that can be partially closed in a first fast movement while it is moved by a robot towards a product and then closed onto the product in a second shorter movement and ii) a product abutting plate that is movable in unison with the tool in opposite direction thereof as the tool is moved by a robot towards and away the mixed load pallet.
    Type: Grant
    Filed: May 5, 2015
    Date of Patent: July 11, 2017
    Assignee: Symbotic Canada ULC.
    Inventors: Sylvain-Paul Morency, Marc Ducharme, Robert Jodoin, Regis Metivier, Jean-François Forget, Maxime Lamy-Poirier, Eric Lajoie
  • Patent number: 9606041
    Abstract: Provided is a novel particle adsorption probe (1000) for picking up a particle by adsorbing the particle. The particle adsorption probe (1000) can selectively pick up a particle having a specific particle diameter from a group of particles having a wide particle diameter distribution without requiring the application of a physical stress in picking up the particle and without contaminating a foreign matter surface in picking up the particle, and allows the particle to be analytically evaluated in an analysis apparatus directly after picking up the particle. The particle adsorption probe (1000) of the present invention includes a carbon nanotube aggregate (100) including a plurality of carbon nanotubes (10).
    Type: Grant
    Filed: April 9, 2013
    Date of Patent: March 28, 2017
    Assignee: NITTO DENKO CORPORATION
    Inventors: Youhei Maeno, Akiko Toyokawa
  • Patent number: 9597803
    Abstract: Provided is a small-sized robot device having high versatility without decreasing the work efficiency. The robot device includes: an arm; a hand or a tweezer tool that includes a stereo camera for measuring a three-dimensional position of a workpiece, the hand or the tweezer tool performing a work with respect to the workpiece whose three-dimensional position has been measured by the stereo camera; and a connection portion or a hand provided at a distal end of the arm, the connection portion or the hand releasably connecting the hand or the tweezer tool to the arm.
    Type: Grant
    Filed: July 26, 2013
    Date of Patent: March 21, 2017
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Toshihiko Mimura, Takashi Arai