Sensor Controlled Device Patents (Class 294/907)
  • Patent number: 10822218
    Abstract: A storage system for storing objects of plastic material processed in a bottling line (45) comprises: a plurality of drawers (4) configured to contain groups of objects (5); a frame (2) which defines a plurality of compartments (3) configured to house the drawers (4); a conveyor (8) movable in the storage system (1) itself and configured to access the compartments (3) in such a way as to withdraw and place drawers (4) from and into the compartments (4); a loading bay (11) having one or more loading compartments for receiving corresponding drawers (4) and having a loading manipulator (28) configured to place in the drawers (4) the loose objects (5) received from an infeed conveyor (29); an unloading bay (12) having at least one unloading compartment for receiving a corresponding drawer (4) and having an unloading manipulator (41) configured to place onto an outfeed conveyor (43, 44) the loose objects (5) stored in the drawer (4).
    Type: Grant
    Filed: December 13, 2018
    Date of Patent: November 3, 2020
    Assignee: SACMI COOPERATIVA MECCANICI IMOLA SOCIETA' COOPERATIVA
    Inventor: Daniele Marastoni
  • Patent number: 10661434
    Abstract: A support device, in particular an assembly support device for stabilizing a body part of a person includes a plurality of hinged-together elements designed to at least partially envelop a body part of a person, so that the plurality of hinged-together elements collectively form a flexible shell for the body part of the person. The flexible shell is designed to transfer a portion of a load acting on the body part of the person in order to stabilize the body part of the person. A vehicle, to which is secured an assembly support device, as well as a method for stabilizing a body part of a person during the assembly of a vehicle are also described.
    Type: Grant
    Filed: January 26, 2016
    Date of Patent: May 26, 2020
    Assignee: Airbus Operations GmbH
    Inventors: Robert Alexander Goehlich, Sven Chromik, Robert Weidner, Zhejun Yao, Jens Wulfsberg
  • Patent number: 10631400
    Abstract: A strain gauge driving piezoelectric device is disclosed. A piezoelectric element is arranged between a plurality of layers of first strain gauges correspondingly spaced from each other and a plurality of layers of second strain gauges correspondingly spaced from each other. The first strain gauges and the second strain gauges are arranged on different layers of the flexible circuit board. The first strain gauges and the second strain gauges generate a driving voltage according to variations of resistance values of the first strain gauges and the second strain gauges when a stress is applied to the flexible circuit board, and the driving voltage induces the piezoelectric effect of the piezoelectric element and then drives the piezoelectric element to generate an output voltage for haptic feedback.
    Type: Grant
    Filed: March 13, 2019
    Date of Patent: April 21, 2020
    Assignees: Interface Technology (Chengdu) Co., Ltd., Interface Optoelectronics (Shenzhen) Co., Ltd., General Interface Solution Limited
    Inventors: Pei-Jung Tsai, Yu-Chieh Tu
  • Patent number: 10566230
    Abstract: A wafer transfer system can include a wafer gripper for picking and placing semiconductor devices. In an embodiment, the wafer gripper can include a first portion, a second portion and a laminate between the first and second portion. In one embodiment, the first portion can comprise glass or tempered glass, where the first portion having at least one vacuum hole and is configured to receive the semiconductor device. In an embodiment, the second portion can include glass or tempered glass, the second portion having configured to use low air pressure from a closed vacuum to vacuum a wafer. In an embodiment, the laminate can bond the first portion to the second portion.
    Type: Grant
    Filed: April 1, 2016
    Date of Patent: February 18, 2020
    Assignee: SunPower Corporation
    Inventors: Emmanuel Chua Abas, Vergil Rodriguez Sandoval
  • Patent number: 10196211
    Abstract: A storage system for storing objects of plastic material processed in a bottling line (45) comprises: a plurality of drawers (4) configured to contain groups of objects (5); a frame (2) which defines a plurality of compartments (3) configured to house the drawers (4); a conveyor (8) movable in the storage system (1) itself and configured to access the compartments (3) in such a way as to withdraw and place drawers (4) from and into the compartments (4); a loading bay (11) having one or more loading compartments for receiving corresponding drawers (4) and having a loading manipulator (28) configured to place in the drawers (4) the loose objects (5) received from an infeed conveyor (29); an unloading bay (12) having at least one unloading compartment for receiving a corresponding drawer (4) and having an unloading manipulator (41) configured to place onto an outfeed conveyor (43, 44) the loose objects (5) stored in the drawer (4).
    Type: Grant
    Filed: May 18, 2017
    Date of Patent: February 5, 2019
    Assignee: SACMI COOPERATIVA MECCANICI IMOLA SOCIETA' COOPERATIVA
    Inventor: Daniele Marastoni
  • Patent number: 9790027
    Abstract: A storage system for storing objects of plastic material processed in a bottling line (45) comprises: a plurality of drawers (4) configured to contain groups of objects (5); a frame (2) which defines a plurality of compartments (3) configured to house the drawers (4); a conveyor (8) movable in the storage system (1) itself and configured to access the compartments (3) in such a way as to withdraw and place drawers (4) from and into the compartments (4); a loading bay (11) having one or more loading compartments for receiving corresponding drawers (4) and having a loading manipulator (28) configured to place in the drawers (4) the loose objects (5) received from an infeed conveyor (29); an unloading bay (12) having at least one unloading compartment for receiving a corresponding drawer (4) and having an unloading manipulator (41) configured to place onto an outfeed conveyor (43, 44) the loose objects (5) stored in the drawer (4).
    Type: Grant
    Filed: May 31, 2013
    Date of Patent: October 17, 2017
    Assignee: SACMI COOPERATIVA MECCANICI IMOLA SOCIETA' COOPERATIVA
    Inventor: Daniele Marastoni
  • Patent number: 9016743
    Abstract: According to one embodiment, A chucking apparatus includes an arm that is configured to hold a test tube, an opening/closing mechanism that opens/closes the arm, a motor that drives the opening/closing mechanism, and a supplying unit configured to supply electric power to the motor at two different supply voltages.
    Type: Grant
    Filed: October 30, 2013
    Date of Patent: April 28, 2015
    Assignee: Aoi Seiki Co., Ltd.
    Inventor: Teruaki Itoh
  • Patent number: 9016742
    Abstract: A robot hand includes a finger unit that is in contact with an object. The finger unit includes: a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member; and a second member that covers a surface of the first member.
    Type: Grant
    Filed: September 25, 2013
    Date of Patent: April 28, 2015
    Assignee: Seiko Epson Corporation
    Inventors: Takashi Nammoto, Kazuhiro Kosuge, Kosuke Hara, Kengo Yamaguchi
  • Patent number: 9004559
    Abstract: A compliant underactuated grasper includes a palm base and two fingers. Each of the fingers comprises: a proximal phalanx; a distal phalanx; a compliant flexure joint connecting the distal phalanx to the proximal phalanx; and a pin joint connecting the proximal phalanx to the palm base, the pin joint constraining angular movement of the proximal phalanx relative to the palm base to rotation about a pin pivot axis. The grasper further includes at least one actuator to move the fingers. The grasper has fewer actuators than degrees of freedom.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: April 14, 2015
    Assignee: iRobot Corporation
    Inventors: Mark Claffee, Nicholas Roy Corson
  • Patent number: 8936290
    Abstract: A robotic device is described herein. The robotic device includes a frame that comprises a plurality of receiving regions that are configured to receive a respective plurality of modular robotic extensions. The modular robotic extensions are removably attachable to the frame at the respective receiving regions by way of respective mechanical fuses. Each mechanical fuse is configured to trip when a respective modular robotic extension experiences a predefined load condition, such that the respective modular robotic extension detaches from the frame when the load condition is met.
    Type: Grant
    Filed: July 25, 2013
    Date of Patent: January 20, 2015
    Assignee: Sandia Corporation
    Inventors: Curt Michael Salisbury, Morgan Quigley
  • Patent number: 8919844
    Abstract: A gripper assembly includes an actuator, at least one gripper jaw, a sensor member and at least one position sensing device. The actuator has a first actuator portion, a second actuator portion, and a fixed portion. The first actuator portion and the second actuator portion are moveable in unison between a first position and a second position. The at least one gripper jaw is disposed forward of the fixed portion of the actuator and is moveable with respect to the fixed portion of the actuator in response to movement of the first actuator portion. The sensor member is disposed rearward of the fixed portion of the actuator and is coupled to the second actuator portion for movement therewith. The position sensing device is disposed rearward of the fixed portion of the actuator and is operable to detect proximity of the sensor member.
    Type: Grant
    Filed: May 17, 2013
    Date of Patent: December 30, 2014
    Assignee: Norgren Automation Solutions, LLC
    Inventors: Shawn Paul Mascorro, Richard Hamann, Mark A. Holcomb
  • Patent number: 8910985
    Abstract: A gripper apparatus for removing and replacing objects such as containers or vials in an array of containers has a gripper head which extends downward from a support arm, a planetary gear assembly mounted in the gripper head including at least three planet gears, and at least one gripping grip extending downward from each planet gear and projecting beyond a lower end of the gripper head. A drive motor drives the planetary gear assembly to rotate the planet gears in opposite directions, moving the grips inward and outward along predetermined paths to grip and carry an object and release the object when in a desired location.
    Type: Grant
    Filed: May 13, 2013
    Date of Patent: December 16, 2014
    Assignee: Brooks Automation, Inc.
    Inventor: Robert K. Neeper
  • Patent number: 8899647
    Abstract: A robot hand moved by a robot to grip an object to be gripped includes a plurality of bar-like placing sections on which the object to be gripped is placed, a plurality of plate-like pressing sections paired with the plurality of placing sections and configured to press side surfaces of the object to be gripped, a space adjusting section configured to move the plurality of pressing sections to bring the pressing sections into contact with a plurality of contact sections, a first strain gauge configured to detect a distance between the placing section and the pressing section and an angle of the pressing section with respect to the placing section, and a second strain gauge configured to detect a distance between the placing section and the pressing section and an angle of the pressing section with respect to the placing section.
    Type: Grant
    Filed: February 5, 2013
    Date of Patent: December 2, 2014
    Assignee: Seiko Epson Corporation
    Inventor: Masahiro Shiomi
  • Patent number: 8870253
    Abstract: An improved apparatus and/or method for safely lifting a load along a lift axis are provided, through utilization of an automatic lockout arrangement operatively connected between the point of application of a lifting force and a motorized clamping arrangement for grasping the load. The automatic lockout arrangement precludes electrical power from being applied to open the system when the lifting force being applied to the automatic lockout arrangement has reached a predetermined lockout value.
    Type: Grant
    Filed: December 26, 2012
    Date of Patent: October 28, 2014
    Assignee: The Caldwell Group, Inc.
    Inventors: Dan Eugene Mongan, Skyler D. Halcom
  • Patent number: 8833826
    Abstract: Robotic hands and finger modules include an underactuated finger with multiple joints including a distal joint, an intermediate joint, and a proximal joint. A brake subsystem in communication with each of the joints selectively locks and unlocks the joints individually. A robotic hand can selectively lock the joints of a finger individually such that one or more joints are locked while one or more joints are unlocked. In addition, the finger module can drive a tendon coupled to the joints to flex the underactuated finger in a manner determined by which of the joints is locked and which of the joints is unlocked. A robotic hand can move an underactuated finger with its distal and proximal joints unlocked until the finger makes contact with an object, and lock the proximal joint, in response to contact made with the object, while the distal joint remains unlocked.
    Type: Grant
    Filed: March 21, 2012
    Date of Patent: September 16, 2014
    Assignee: SRI International
    Inventors: Pablo E. Garcia, Thomas P. Low, Harsha Prahlad, Daniel Aukes, Susan Kim, Roy D. Kornbluh
  • Patent number: 8820809
    Abstract: A robot hand according to embodiments includes a holding unit, a bottom end, an optical sensor, and a reflecting member. The holding unit holds a thin-plate-shaped workpiece. In the bottom end, its leading part is coupled to the holding unit and its tail part is rotatably coupled to an arm. The optical sensor is provided in the bottom end and has a projector and a photoreceiver. The reflecting member is provided in the holding unit. The reflecting member reflects light from the projector, makes it pass through the holding area of the workpiece, and makes it reach the photoreceiver to form an optical path.
    Type: Grant
    Filed: September 7, 2012
    Date of Patent: September 2, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Ryuji Ando, Kazunori Hino, Akihiro Furutani
  • Patent number: 8789568
    Abstract: Machines for manufacturing photovoltaic modules and methods for manufacturing photovoltaic modules can include tape handling components.
    Type: Grant
    Filed: August 5, 2011
    Date of Patent: July 29, 2014
    Assignee: First Solar, Inc.
    Inventor: Richard S. Malik, Jr.
  • Patent number: 8752873
    Abstract: The present invention relates to a gripper device for transporting a rack (3) for microscope slides (4), in particular in systems for preparing tissue samples for histological examinations, the gripper device having a gripping mechanism including a pair of gripping arms (2), whose ends are configured as gripping sections (7) for gripping the rack. In order to provide a gripper device which can be used in a versatile manner in automated stainers and coverslippers and contributes to reducing the cost of manufacture, it is proposed that the gripping sections (7) be provided with first profiles (17) for gripping the rack (3) in a vertical position and second profiles (18) for gripping the rack (3) in a horizontal position.
    Type: Grant
    Filed: May 11, 2012
    Date of Patent: June 17, 2014
    Assignee: Leica Biosystems Nussloch GmbH
    Inventor: Midhat Hajrovic
  • Patent number: 8733454
    Abstract: According to one or more aspects of the invention an interlock device is adapted for connection within a load path of a tubular support device to lock the tubular support device in a closed position in response to detecting a load suspended from the tubular support device. The interlock device includes a first member moveably connected to a second member and a biasing mechanism operationally connected to the first member and the second member providing a load setting resisting movement of the first member and the second member relative to one another. The first and the second member may be rotationally locked with one another to transmit rotation across the interlock device to the elevator.
    Type: Grant
    Filed: February 28, 2011
    Date of Patent: May 27, 2014
    Assignee: Frank's Casing Crew and Rental Tools, Inc.
    Inventors: Vernon Bouligny, Phillip M. Theriot, Reese Comeaux
  • Patent number: 8733810
    Abstract: A robot system capable of purposely withdrawing a workpiece into a hand, and capable of sequentially and effectively taking out the workpiece, even when workpieces are randomly located. A hand has a base part attached to the front end of a robot arm, at least two fingers pivotally attached to base part, and a roller device arranged at a front end of each finger. The roller device is a rotating belt device having a small motor arranged in the finger, a driving roller driven by the motor via a drive transmitting means, and a driven roller rotated with the driving roller via a belt.
    Type: Grant
    Filed: July 22, 2013
    Date of Patent: May 27, 2014
    Assignee: Fanuc Corporation
    Inventor: Masaru Oda
  • Patent number: 8696042
    Abstract: In an embodiment, the present invention discloses a EUV cleaner system and process for cleaning a EUV carrier. The euv cleaner system comprises separate dirty and cleaned environments, separate cleaning chambers for different components of the double container carrier, gripper arms for picking and placing different components using a same robot handler, gripper arms for holding different components at different locations, horizontal spin cleaning and drying for outer container, hot water and hot air (70C) cleaning process, vertical nozzles and rasterizing megasonic nozzles for cleaning inner container with hot air nozzles for drying, separate vacuum decontamination chambers for outgassing different components, for example, one for inner and one for outer container with high vacuum (e.g., <10?6 Torr) with purge gas, heaters and RGA sensors inside the vacuum chamber, purge gas assembling station, and purge gas loading and unloading station.
    Type: Grant
    Filed: June 23, 2012
    Date of Patent: April 15, 2014
    Assignee: DYNAMIC MICRO SYSTEM Semiconductor Equipment GmbH
    Inventor: Lutz Rebstock
  • Patent number: 8672378
    Abstract: Provided is a multi-fingered type hand device that facilitates arrangements of wirings connecting driving members which drive fingertips and the like of a robot with members which control the driving members. The multi-fingered type hand device 1 includes a wrist portion 10, a base portion 20, and a plurality of finger mechanisms 30, the wrist portion 10 having therein a wrist sensor 12, at least one of the plurality of finger mechanisms 30 having therein a fingertip sensor 321, the base portion 20 including a frame-shaped frame portion 21, a tactile sensor 25, a first substrate 23 that controls outputs of the wrist sensor 12, the fingertip sensor 321, and the tactile sensor 25, and a second substrate 24, the first substrate 23 and the second substrate 24 being disposed opposite to each other so as to sandwich the frame portion 21 from the upper and lower.
    Type: Grant
    Filed: October 31, 2012
    Date of Patent: March 18, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Yasuhiro Yamasaki, Hironori Waita, Satoki Matsumoto, Masayoshi Kokusho
  • Patent number: 8662552
    Abstract: A robotic finger that includes multiple phalanges, each phalange configured to be compliantly actuated. The robotic finger also includes compliant touch sensors that, in combination with the compliant actuation, provides the robotic finger with two levels of compliance. The two levels of compliance enable the robotic finger to gently conform to and manipulate objects.
    Type: Grant
    Filed: February 15, 2011
    Date of Patent: March 4, 2014
    Assignee: Massachusetts Institute of Technology
    Inventor: Eduardo R. Torres-Jara
  • Patent number: 8636311
    Abstract: The invention relates to a method and device for the contactless seizing of glass sheets, characterized in that: a) the device comprises at least one oscillatory, rectangular, plate-shaped oscillating plate (1) comprising an oscillation generator (8), b) each partial surface (9) comprises a central opening for receiving a suction tube (2) which is installed on the upper side and which is used to suction air, c) a circular recess which is connected to the central opening is provided on the lower side of each partial surface (9), d) the plate-shaped oscillating plate (1) is connected to a central damping joint (5) by four connecting supports (7) that are respectively fixed to the suction tube (2) of one partial surface (9) and is assembled in the center of the oscillating plate (1), e) the central damping joint (5) is connected to a central fixation (6), f) a distance sensor and an optical sensor are housed in at least one suction tube.
    Type: Grant
    Filed: February 18, 2010
    Date of Patent: January 28, 2014
    Assignee: Grenzebach Mashinenbau GmbH
    Inventor: Christian Herfert
  • Patent number: 8602472
    Abstract: A robotic claw includes a sleeve, a rod, a plurality of balls and a plunger. The sleeve comprises a mounting portion and a clamping portion. A mounting hole defined at an end of the mounting portion. A plurality of receiving through holes defined in the clamping portion, and an assembling hole communicating with the receiving through hole, and is defined at an end of the clamping portion. The balls are movably received in the receiving through holes correspondingly. The rod comprises an urging portion movably received in the sleeve to push the balls toward the receiving through holes. The plunger seals the assembling hole to prevent the balls from dropping out of the receiving through holes, and the balls can be mounted in the receiving through holes through the assembling hole.
    Type: Grant
    Filed: June 3, 2011
    Date of Patent: December 10, 2013
    Assignees: Fu Tai Hua Industry (Shenzhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventors: Chi-Hsien Yeh, Zhong Qin, Jie Li
  • Patent number: 8573662
    Abstract: In some aspects, a magnetic workpiece handling device includes a housing, a housing bottom having an end face, a magnetic piston, and a fluid connection for delivering a working fluid into the housing for moving the piston between an operating position and a rest position. The working fluid is delivered at at least first and second working pressures, the first working pressure transferring the piston into the operating position near the housing bottom and the second working pressure transferring the piston into the rest position away from the housing bottom. The handling device includes a detection device to detect the presence of a workpiece and to determine a pressure of the working fluid. The piston has a vertically movable holding magnet that faces the housing bottom for holding the workpiece. The holding magnet controls a valve arrangement of the detection device.
    Type: Grant
    Filed: December 15, 2011
    Date of Patent: November 5, 2013
    Assignee: TRUMPF Werkzeugmaschinen GmbH + Co. KG
    Inventor: Walter Thiel
  • Patent number: 8556318
    Abstract: An electric-controlled operator includes, in part, a first group of grippers and a second group of grippers which are coupled to a base. Grippers in the first group of grippers are adapted to cooperatively grip an object and cooperatively release the object. Grippers in the second group of grippers are adapted to cooperatively grip an object and cooperatively release the object. When the first (or the second) group of grippers cooperatively grips an object, the second (or the first) group of grippers is in a state in which the object is released. The first and second groups of grippers are adapted to put in and take out objects from the same surface of the base thus eliminating the need for turning of the base during the operation.
    Type: Grant
    Filed: December 14, 2011
    Date of Patent: October 15, 2013
    Assignee: Semiconductor Manufacturing International (Beijing) Corporation
    Inventor: Lianghui Wu
  • Patent number: 8459711
    Abstract: A five-fingered hand device suitably applicable to a humanoid robot is provided. The device includes a hand body (2) which has a base (4) and five finger mechanisms (5) to (9), a drive unit (3) which drives the finger mechanisms, and a control unit (36) which controls bending and stretching of the finger mechanisms. The drive unit (3) has driven fluid pressure cylinders provided inside the hand body (2) and driving fluid pressure cylinders (37) provided outside the hand body (2), the driven fluid pressure cylinders being connected to the driving fluid pressure cylinders via fluid pressure transmission pipes (45).
    Type: Grant
    Filed: May 7, 2010
    Date of Patent: June 11, 2013
    Assignee: Honda Motor Co., Ltd.
    Inventors: Masato Hayakawa, Kazuyuki Takahashi, Hironori Waita, Hiroshi Gomi
  • Patent number: 8439414
    Abstract: A gripper apparatus for removing and replacing objects such as containers or vials in an array of containers has a gripper head which extends downward from a support arm, a planetary gear assembly mounted in the gripper head including at least three planet gears, and at least one gripping pin extending downward from each planet gear and projecting beyond a lower end of the gripper head. A drive motor drives the planetary gear assembly to rotate the planet gears in opposite directions, moving the pins inward and outward along predetermined paths to grip and carry an object and release the object when in a desired location.
    Type: Grant
    Filed: October 20, 2010
    Date of Patent: May 14, 2013
    Assignee: Brooks Automation, Inc.
    Inventor: Robert K. Neeper
  • Patent number: 8424938
    Abstract: A hoist device with leveling and disengagement mechanism mainly comprises a stand under traditional hoist, a plural number of branches on the stand extending radially outward, a plural number of driving modules on each branch of the stand and being able to connect to a hung object, a plural number of sensing modules on each driving module to sense the operation status for each driving module and continue to output corresponding sensing signal, a control circuit that can output control signals to control each driving module while each sensing module can sense the status of each driving module and feedback to the control circuit to correct the output control signals, allowing each driving module on the stand to level and disengage the hung object, and enabling the hoist to lift the hung object.
    Type: Grant
    Filed: October 13, 2011
    Date of Patent: April 23, 2013
    Assignee: Institute of Nuclear Energy Research
    Inventors: Lun-Hui Li, Pei-Hsiang Huang, Jhih-Jhong Huang
  • Patent number: 8317245
    Abstract: The present invention relates to a design and microfabrication method for microgrippers that are capable of grasping micro and nano objects of a large range of sizes and two-axis force sensing capabilities. Gripping motion is produced by one or more electrothermal actuators. Integrated force sensors along x and y directions enable the measurement of gripping forces as well as the forces applied at the end of microgripper arms along the normal direction, both with a resolution down to nanoNewton. The microfabrication method enables monolithic integration of the actuators and the force sensors.
    Type: Grant
    Filed: June 21, 2007
    Date of Patent: November 27, 2012
    Inventors: Yu Sun, Keekyoung Kim
  • Patent number: 8276960
    Abstract: A device, method and computer readable-storage for mechanically handling impact-sensitive sheets of various formats ready for dispatch is described. The device has the following features: a) a control device in the form of a multi-axis robotic arm connected to a gripper device and means for mechanically gripping the sheets; b) the gripper device is hinged onto and suspended from the control device at a gentle incline by means of an adjustable damping device; c) the gripper device has sliding sections for the relative displacement of the means for mechanically gripping the sheets; d) the gripper device has means for determining the geometric dimensions of the sheets to be seized and for determining their set-down position; e) the gripper device has means for determining the exact positional co-ordinates of the set-down position; and f) the gripper device has means for gently feeding and depositing the sheets in the set-down position.
    Type: Grant
    Filed: May 6, 2008
    Date of Patent: October 2, 2012
    Assignee: Grenzebach Maschinenbau GmbH
    Inventors: Roland Franz, Kornelia Franz, legal representative
  • Patent number: 8267451
    Abstract: Container gripper comprising a main frame (2) and movable supporting members (7) for gripper fingers (8-9) movable between an open position and a closed position. The container gripper is provided with a finger displacement detecting sensor (20, 21) which is responsive to the instantaneous position of the gripper fingers (8, 9). The finger detecting sensor may consist of a Hall effect assembly (20) formed by a magnet (10) and a Hall effect sensor (4) or of an optical encoder (21).
    Type: Grant
    Filed: December 4, 2006
    Date of Patent: September 18, 2012
    Assignee: INPECO IP, Ltd.
    Inventor: Gianandrea Pedrazzini
  • Patent number: 8267367
    Abstract: The present invention relates to a vacuum pad device used in a vacuum transport system. The pad device includes a housing, a pad unit connected to the housing through a ball joint such that the pad unit is rotatable, and a piston arranged in the housing and controlling the rotation of the pad unit. The pad unit is bonded to an object at a desirable rotation angle, and controlled such that the rotation angle is fixed by the movement of a piston operating via compressed air. Consequently, the object can be transported in an accurate and safe manner. Preferably, the vacuum pad device of the present invention further includes a vacuum pump arranged in the housing unit the piston.
    Type: Grant
    Filed: March 16, 2009
    Date of Patent: September 18, 2012
    Assignee: Korea Pneumatic System Co., Ltd.
    Inventor: Ho-Young Cho
  • Patent number: 8267450
    Abstract: An elevator for gripping and lifting a riser joint or several interconnected riser joints of a completion and work over riser. A body includes a through bore for receiving a production pipe of a riser joint. The through bore is accessible via a longitudinal opening in the body. The body includes at least one locking device including a hydraulic cylinder. A piston rod of the hydraulic cylinder is moveable to and fro between an unlocking position, in which the piston rod allows a production pipe of a riser joint to pass into or out of the through bore via the longitudinal opening, and a locking position, in which the piston rod prevents a production pipe received in the through bore from passing out of the through bore via the longitudinal opening.
    Type: Grant
    Filed: November 21, 2008
    Date of Patent: September 18, 2012
    Assignee: Vetco Gray Scandinavia AS
    Inventors: Jon Olav Aarhus, Oystein Windsland
  • Patent number: 8251417
    Abstract: A detection frame for a lifting device is provided. The frame supports a detection system whilst the frame is attached to a lifting device, the lifting device used for lifting freight, the frame comprising attachment brackets for attaching the frame to the lifting device; at least one platform for mounting the detection system to the frame, such that the frame is in spaced relation to the freight whilst mounted to the lifting device.
    Type: Grant
    Filed: July 2, 2007
    Date of Patent: August 28, 2012
    Assignee: NSL Engineering Pte Ltd.
    Inventor: Robert Arthur Mills
  • Patent number: 8226142
    Abstract: A workpiece gripping integrity device and method are provided having a charge-transfer sensing device configured to detect a change in charge associated with a gripper arm assembly based on a grip condition thereof. The charge-transfer sensing device can be configured to detect a change in capacitance between the gripper arm assembly and ground, wherein the change in capacitance is based on a grip condition of the gripper arm assembly associated with a plurality of grippers contacting the workpiece.
    Type: Grant
    Filed: July 23, 2008
    Date of Patent: July 24, 2012
    Assignee: Axcelis Technologies, Inc.
    Inventors: Joseph D. Gillespie, Sor Kham, Robert E. Wayne
  • Patent number: 8210585
    Abstract: An electromagnetic lifter includes at least two polar expansions shaped for transporting a horizontal axis coil of hot-rolled steel. The polar expansions are connected through a ferromagnetic circuit and respective cores around which solenoids are arranged. A detection coil is arranged around each of the cores suitable to detect the change in the flux linked to the coil, and a control unit connected to the detection coils compares the values detected by each of them in order to authorize or not the transport. The relevant operating method includes a first check that the difference between the values detected by the two detection coils is below a preset threshold, and in the affirmative a second check that the overall decrease in the linked flux is below a second preset threshold, the issuance of an authorization signal to the transport being possible only in case of positive outcome of both checks.
    Type: Grant
    Filed: August 10, 2007
    Date of Patent: July 3, 2012
    Assignee: SGM Gantry S.p.A.
    Inventor: Danilo Molteni
  • Patent number: 8191947
    Abstract: This invention relates to a gripper for a manipulator robot comprising two members articulated at a first end, each member comprising a jaw support (8?) at a second end, and a jaw (10?) that will come into contact with an object, the jaw (10?) being approximately plane, a force sensor (26?) arranged between at least one jaw support (8?) and a jaw (10?) so as to apply a force during displacement of the jaw (10?), and a deformable parallelogram connection (14?) connecting the jaw (10?) to the jaw support (8?), the sensor (26?) being oriented such that a sensitive axis of the sensor is orthogonal to the plane of the jaw (10?).
    Type: Grant
    Filed: June 23, 2008
    Date of Patent: June 5, 2012
    Assignee: Commissariat a l'Energie Atomique
    Inventor: Tanguy Jouan De Kervanoael
  • Patent number: 8182010
    Abstract: Disclosed are a robot hand and a humanoid robot having the same. The robot hand includes a plurality of finger members and a base member to which one end of the finger members is rotatably coupled, respectively. The finger members are rotated through pneumatic pressure so that intervals between adjacent finger members are changed. If the finger members are not used, the intervals between the finger members are widened so that the finger members are prevented from being damaged when the finger members collide with walls or objects.
    Type: Grant
    Filed: November 20, 2009
    Date of Patent: May 22, 2012
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Ja Woo Lee, Yong Jae Kim, Kang Min Park
  • Patent number: 8172288
    Abstract: A gripper for holding two-dimensional components with a low degree of loading, has a clamping ring connected to a controllable robot arm with a baffle plate connected to the clamping ring by a funnel-shaped component and has a gripping face which communicates with a flow system which passes through the funnel-shaped component and the baffle plate. After an excess pressure has been applied to the gripper, a negative pressure is produced on the gripping face in order to attach by suction a wafer to be gripped. A rubberized bearing surface of a bearing ring integrated in the gripping face provides a slip-resistant movement of the wafer. A sensor detects the wafer hat is attached to the gripping face by suction.
    Type: Grant
    Filed: May 5, 2008
    Date of Patent: May 8, 2012
    Assignee: Jonas & Redmann Automationstechnik GmbH
    Inventors: Stefan Jonas, Lutz Redmann
  • Patent number: 8162364
    Abstract: A hooking device for moving systems of rolling cylinders includes a load-bearing lifting structure of a cylinder provided with a gripping structure and an upper hooking structure suitable for keeping the device in a raised position. The device also includes a non- load bearing tilt compensation structure. The tilt compensation structure includes a series of guides, where each guide is provided with at least one mass element. The at least one mass element is moveable along the guide.
    Type: Grant
    Filed: July 25, 2007
    Date of Patent: April 24, 2012
    Assignee: Tenova S.p.A.
    Inventors: Giovanni Boselli, Marco Cozzi, Erasmo Trenti, Riccardo Geroli
  • Patent number: 8157305
    Abstract: A force sensor is disposed on a base portion, a finger base on which a pair of fingers are opposed to each other is disposed on a measuring unit of the force sensor, a finger driving mechanism base is disposed on the base portion so as to not contact the force sensor, the finger base or the fingers, and finger driving mechanisms are disposed on the finger driving mechanism base so finger opening and closing driving force vectorsface each other within a plane on which the pair of the opposed fingers are moved to open or close so as to cancel each other, such that the fingers are driven so the resultant force is virtually zero. An actuator, is installed at a place other than the base portion, the force sensor, the finger base, or the fingers and the finger driving mechanism base, and drives the finger driving mechanism.
    Type: Grant
    Filed: June 24, 2009
    Date of Patent: April 17, 2012
    Assignee: Panasonic Corporation
    Inventors: Yasunao Okazaki, Masaki Yamamoto
  • Patent number: 8146973
    Abstract: An end effector assembly for a substrate transfer robot is described. The end effector assembly includes a robot wrist. At least one end effector is secured to the robot wrist. The end effector has a fixed end, a free end, a load-supporting surface and a tension member. The fixed end is coupled with the robot wrist. The free end is disposed opposite to the fixed end. The load-supporting surface is coupled between the fixed end and the free end. The tension member is coupled with the load-supporting surface between the fixed end and the free end.
    Type: Grant
    Filed: March 13, 2008
    Date of Patent: April 3, 2012
    Assignee: Applied Materials, Inc.
    Inventor: John Roberts
  • Patent number: 8104810
    Abstract: A gripper assembly includes at least one movable gripper jaw and a sensor member coupled for movement with the at least one gripper jaw. The sensor member includes a slot. A sensor is located at least partially within the slot and includes at least one inductor for inductively detecting a proximity of the sensor member.
    Type: Grant
    Filed: November 1, 2007
    Date of Patent: January 31, 2012
    Assignee: Norgren Automotive Solutions, Inc.
    Inventors: Mark Holcomb, Conrad Waldorf, John Charlton
  • Patent number: 8104809
    Abstract: A manually activated suction lifting device has a handle which rotates up to complete an active suction. The first stage of the suction is created by pushing firmly down on the convex top of the device. Upon creation of the final suction with the handle locked up, an alarm button is drawn into the housing, hiding an alarm ring. If the suction fails, then a vent tube transmits the lost vacuum to an alarm chamber, thereby allowing a spring to bias the alarm button outbound, exposing the alarm ring to a worker so he can grab the workpiece and prevent damage.
    Type: Grant
    Filed: November 4, 2008
    Date of Patent: January 31, 2012
    Inventor: Kent R. Mayhugh
  • Patent number: 8100414
    Abstract: A piston is displaced by a pressure fluid supplied to a chuck body, whereupon a pair of first and second fingers that constitute a gripping member are operated to open and close along a base body. Further, a shaft-shaped bobbin is inserted through the interior of the first and second fingers, and a coil is wound around a small diameter portion of the bobbin. Accompanying opening/closing operations of the first and second fingers, an opening/closing amount thereof is detected based on a change in impedance of the coil.
    Type: Grant
    Filed: January 15, 2008
    Date of Patent: January 24, 2012
    Assignee: SMC Kabushiki Kaisha
    Inventors: Hideaki Minbuta, Katsuhiko Kato
  • Patent number: 8091938
    Abstract: A pneumatic linear gripper, including a gripper body (11) with a chamber (15), a piston (12) moving alternately in the chamber (15) and a pair of jaws (13) sliding associated and movable in opposite directions with piston via a translation device (20). The gripper body (11) is formed of two elements (14), or semi-shells, joined face to face to define at the same time the chamber (15) for the piston (12) and the sliding guides (16) for the jaws (13). The piston (12) is composed of a first component (21), made of a plastic material, bearing seals and a second component (22), made of metal, associated with the first and united, in particular integral, with the translation device (20) of the jaws in opposite directions.
    Type: Grant
    Filed: April 13, 2009
    Date of Patent: January 10, 2012
    Assignee: Gimatic S.p.A.
    Inventor: Giuseppe Maffeis
  • Patent number: 8070203
    Abstract: A method for operating vacuum-operated hoists with at least one elastically deformable vacuum-operated lifting mechanism, with a controllable vacuum generator, and with at least one motorized lifting drive is disclosed. A load detection device is used in order to detect the weight of a load picked up by the hoist. The load detection device generates a protection signal directly after detection of a load exceeding a predetermined tare weight of the hoist if the vacuum is insufficient to lift the load. The protection signal indirectly or directly deactivates the lifting drive with the aid of a switch-off control and/or prevents further lifting of the load if an insufficient vacuum or no vacuum is present when an increased load is detected and lifting begins.
    Type: Grant
    Filed: September 21, 2006
    Date of Patent: December 6, 2011
    Inventor: Franz Schaumberger
  • Patent number: 8070201
    Abstract: An arrangement for handling packaging units, such as bottles, crates and the like with the aid of a robot, wherein the arrangement includes a mounting part (10) which is adapted for fixation to a robot arm, a tool carrier (20) which is adapted to carry one or more handling tools (30) such as a number of bottle grippers or the like, and a number of couplings each comprising a first engagement member (13) affixed to the mounting part, and a second engagement member (24) affixed to the tool carrier, wherein the second engagement member is restrictively displaceable axially relative to the first engagement member, so that the second engagement member will take a latching position relative to the first engagement member under the effect of gravity on the tool carrier in engagement with the first engagement member, wherein the working state of the tool carrier relative to the mounting part is defined when all second engagement members are in their respective latching positions.
    Type: Grant
    Filed: November 27, 2006
    Date of Patent: December 6, 2011
    Inventor: Lars Erik Trygg