Grab Supported And Moved By A Pivotably Mounted Member Patents (Class 414/738)
  • Patent number: 10406683
    Abstract: Provided is a robot and a control method thereof in which the motion of an arm 12 as a specified limb among a plurality of limbs 12 and 14 extended from a body 10 is controlled according to a specified trajectory. If a first interaction state, in which a hand 126, which is an end effector, interacts with a horizontal wood member L (j) of a ladder L in a first mode is implemented, then a control command is given to an actuator 41 that drives the hand 126 to cause the hand 126 to perform a grasping motion, thereby implementing a second interaction state, in which the hand 126 interacts with the horizontal wood member L (j) in a second manner. If the second interaction state is implemented, a control command is given to a brake 42 to maintain a motion halt state of the hand 126.
    Type: Grant
    Filed: March 20, 2017
    Date of Patent: September 10, 2019
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Hirofumi Higuchi
  • Patent number: 9790061
    Abstract: The present disclosure relates to a crane controller for a crane which includes a hoisting gear for lifting a load hanging on a cable, with an active heave compensation which by actuating the hoisting gear at least partly compensates the movement of the cable suspension point and/or of a load deposition point due to the heave, and an operator control which actuates the hoisting gear with reference to specifications of the operator, wherein the division of at least one kinematically constrained quantity of the hoisting gear is adjustable between heave compensation and operator control.
    Type: Grant
    Filed: March 7, 2013
    Date of Patent: October 17, 2017
    Assignee: Liebherr-Werk Nenzing GmbH
    Inventors: Klaus Schneider, Sebastian Kuechler, Oliver Sawodny, Johannes Karl Eberharter
  • Patent number: 9481091
    Abstract: A robot system for successively taking out bulk stacked workpieces of the same type, wherein a hand of a robot comprises: a base part attached to an arm, a cylinder device with a cylinder and a piston rod, and a gripping part attached to a front end part of the piston rod. The robot system further comprises a fluid pressure adjusting device which adjust a fluid pressure inside of the cylinder, a movement detecting device which detects a retracting movement of the piston rod, and a judgment device which judge if the hand is gripping a designated number of workpieces, based on a magnitude of fluid pressure inside the cylinder and detection results of the movement detecting device.
    Type: Grant
    Filed: March 11, 2015
    Date of Patent: November 1, 2016
    Assignee: Fanuc Corporation
    Inventor: Tadanori Suzuki
  • Publication number: 20150104284
    Abstract: Method for the manipulation of objects by means of at least two industrial robots, and associated industrial robot. An industrial robot and method for manipulating objects using at least two industrial robots. Each robot includes a manipulator arm having multiple links arranged one after another in series and connected by adjustable joints that are adjustable under the control of at least one control device. A first manipulator arm has a first end link, and at least one second manipulator arm has a second end link. The method includes gripping the object using the first manipulator arm such that the object is connected to the first end link, and coupling a link of the at least one second manipulator arm to a link of the first manipulator arm.
    Type: Application
    Filed: October 7, 2014
    Publication date: April 16, 2015
    Applicant: KUKA LABORATORIES GMBH
    Inventor: Martin Riedel
  • Publication number: 20150050111
    Abstract: A mobile manipulation system comprising: a base; at least one mobility component mounted to said base for rendering said base mobile; a platform; at least one robotic manipulator arm mounted to said platform; and an elevator mechanism movably supporting said platform on said base.
    Type: Application
    Filed: August 18, 2014
    Publication date: February 19, 2015
    Inventor: William T. Townsend
  • Publication number: 20150023771
    Abstract: A work vehicle has a boom assembly for a work implement that provides an improved sightline between the cabin and work implement. The boom assembly can be a dual function boom having a wishbone configuration with an elongated body supporting the work implement and at the other end having branch sections extending outwardly at acute angles with open space therebetween. A boom support arch can provide an elevated boom mount on which the boom can pivot about a boom pivot axis at pivots located on the branches of the boom. The boom support arch can have its own pivotal mounting connection to the work vehicle. Actuators, such as hydraulic cylinders, can be coupled to the boom and support arch to independently pivot the boom and the support arch with respect to each other and the work vehicle.
    Type: Application
    Filed: July 19, 2013
    Publication date: January 22, 2015
    Applicant: Deere & Company
    Inventors: Robert T. Carr, Timothy L. Jerew, Gary R. Fichtinger, Daniel F. Bihl
  • Patent number: 8855817
    Abstract: A method for operating a system including at least two robots for handling parts and a robot control unit arranged for control of said at least two robots. Each of the robots is arranged with a parts handler device including a rigid arm with one end connected to the end element of an arm of the robot by a first swivel arranged for radial movement of the rigid arm in relation to the end element. Each of the robots is also arranged with a gripper connected to the rigid arm by a second swivel arranged for free, passive rotation of the gripper in relation to the rigid arm. The method includes generating instructions for the at least two robots to pick and/or move and/or place a part and sending the instructions to each robot simultaneously.
    Type: Grant
    Filed: December 19, 2007
    Date of Patent: October 7, 2014
    Assignee: ABB Research Ltd.
    Inventors: Ramon Casanelles, Francisco Cortés Grau
  • Patent number: 8840356
    Abstract: A workpiece transporting apparatus includes a hand, a rotating portion for rotatably holding the hand, an arm provided in the hand and having one end provided at the rotating portion, and a holding portion provided in the hand and provided to another end of the arm for holding a workpiece, in which a center portion of the holding portion is disposed with a predetermined interval from an axial line extended from a rotational center of the rotating portion toward another end of the arm.
    Type: Grant
    Filed: September 8, 2011
    Date of Patent: September 23, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Masayuki Kaneko, Taro Nakamura, Takayuki Hasegawa
  • Patent number: 8734083
    Abstract: Exemplary embodiments are directed to a tooling device which for connecting to a manipulator. The device includes a base unit and at least two manipulator modules each with a first and a second end. At least one degree of freedom in movement is provided between both ends of each manipulator module. The first end is connected with the base unit and a tool interface is provided at the second end. The tool interfaces are each moveable independently of the other relative to the base unit. At least one manipulator module is linearly moveable on its first end relative to the base unit.
    Type: Grant
    Filed: August 12, 2011
    Date of Patent: May 27, 2014
    Assignee: ABB AG
    Inventors: Bernard Negre, Gérard Pinchon, Gregor Stengel, Kuno Hug, Sven Soetebier, Wolfgang Waldi
  • Patent number: 8686680
    Abstract: Certain embodiments of a system for reducing backlash include a member geared for rotation in first and second directions. In various implementations, a first motor causes rotation in the first direction with an output biased to preclude space between mating gear components in the first direction, and a second motor, which is mechanically independent of the first motor, causes rotation in the second direction with an output biased to preclude space between mating gear components in the second direction.
    Type: Grant
    Filed: June 13, 2011
    Date of Patent: April 1, 2014
    Assignee: Rethink Robotics, Inc.
    Inventor: Patrick Deegan
  • Patent number: 8615907
    Abstract: A grapple device includes a torque tube, a pivot, a rod and cylinder, a pivot link, and a tooth. The torque tube has first and second torque pivot points and is adapted to be mounted on a bucket. The pivot is rotatably connected to the first torque pivot point at a pivot cross tube located at a second end of the pivot, and the pivot further comprises a pivot collar at a first end, and first and second pivot faces adjacent the pivot collar. The rod and cylinder are operatively connected to the second torque pivot point, includes a rod and a cylinder, and has a rod pivot at a first end of the rod.
    Type: Grant
    Filed: September 8, 2010
    Date of Patent: December 31, 2013
    Assignee: Agile Manufacturing, LLC
    Inventors: Timothy D. Miller, Michael L. Feilmeier
  • Patent number: 8528380
    Abstract: A bending apparatus which manufactures a bent metal member with high productivity and excellent dimensional has a first support mechanism, which supports a steel tube while feeding it, a heating mechanism, which heats all or a portion of the steel tube, a cooling mechanism, which forms a high temperature portion in part of the steel tube by cooling a portion of the heater steel tube, a second support mechanism, which imparts a bending moment to the high temperature portion and bends the steel tube to a desired shape by moving two-dimensionally or three-dimensionally while supporting at least a portion of the steel tube, and a deformation preventing mechanism, which prevents deformation of the steel tube. At least one of the second support mechanism and the deformation preventing mechanism has a chuck which has a tubular member with a circular, polygonal, or special transverse cross section for gripping the steel tube.
    Type: Grant
    Filed: November 21, 2011
    Date of Patent: September 10, 2013
    Assignees: Sumitomo Pipe & Tube Co., Ltd., Nippon Steel & Sumitomo Metal Corporation
    Inventors: Shinjiro Kuwayama, Atsushi Tomizawa, Saburo Inoue
  • Publication number: 20130183130
    Abstract: The invention aims to provide a device and a method for retrieving efficiently a capsule from a receptacle of a beverage production apparatus. In particular, the device allows retrieving a used capsule in safe conditions and without waiting time. The beverage production apparatus comprises a receptacle (1) with a cover (3) for receiving a capsule (2) containing beverage ingredient. The device comprises capsule extracting and guiding means consisting of a clamp (6) having members (6?, 6?) arranged on each lateral side of the cover (3) of the receptacle. The capsule (2) is provided with a rim (8) around its upper edge which is directed upwards when the capsule is inserted in the receptacle (1). At opening of the cover of the receptacle, the clamp (6) is activated in such a way to position its members under the rim (8) of the capsule which is lifted thanks to a spring (4) at the bottom of the capsule.
    Type: Application
    Filed: August 19, 2011
    Publication date: July 18, 2013
    Applicant: NESTEC S.A.
    Inventor: Stefan Etter
  • Patent number: 8418830
    Abstract: At present, the removal the sticks from the mineral feeding lines, as a result of the mineral extraction, is carried out manually or using mechanical equipment, which means a loss of efficiency of the grinding and crushing system, high exposure to the risks associated to the removal of foreign elements of grinding material, this method does not guarantee problems from this cause in the subsequent stages in the grinding and crushing process. Due to the above, a robot system and method have been developed for the removal of sticks from the conveyor belts. The robotic system is composed mainly of an anthropomorphous robotic manipulator of at least 5 degrees of freedom, and a gripping mechanism which is supported by a vision system allowing, in a sequential and programmed way, to remove the sticks. In this regard, most of the problems associated to the safety of the personnel and the productivity of the current manual and/or mechanical process are eliminated.
    Type: Grant
    Filed: November 13, 2006
    Date of Patent: April 16, 2013
    Assignee: MI Robotic Solutions (MIRS)
    Inventor: Hugo Salamanca
  • Patent number: 8413790
    Abstract: The invention relates to a method for synchronizing, and a transfer device for synchronizing, a movement pattern between two units in a packaging line, wherein one unit is intermittently operated and the second unit is continuously operated. The invention is particularly intended for a transfer device between an intermittently operated filler unit and a continuously operated cartoning machine. The transfer device is provided with a frame (13) arranged to support tube pickers-/placers (28) and is arranged to perform a simultaneous pivoting movement about a first and a second shaft (16, 31), and for rotation about a third shaft (48) at right angles to the second shaft (31). The frame is further provided with means for adjusting the spacing between the tubes and means for compensating for differences in vertical position during the rotating movement in the case where the containers picked from the part circular conveyor of the filling unit.
    Type: Grant
    Filed: April 23, 2009
    Date of Patent: April 9, 2013
    Assignee: Norden Machinery AB
    Inventor: Jan Nilsson
  • Publication number: 20130047908
    Abstract: A system includes a turbine lift. The turbine lift includes a mounting base configured to mount to a non-stable structure. The turbine lift also includes an arm coupled to the mounting base. The turbine lift further includes a stabilizing head coupled to the arm, wherein the stabilizing head is configured to connect with a turbine engine, and the stabilizing head is configured to stabilize the turbine engine while moving the turbine engine.
    Type: Application
    Filed: August 29, 2011
    Publication date: February 28, 2013
    Applicant: General Electric Company
    Inventors: Robert Allen Baten, Edward John Halusic, III, Doyle Jackson Marrs, JR.
  • Patent number: 8286448
    Abstract: A protected hollow glassware take-out device having a support equipped with drive means; a first arm fitted in rotary manner to and projecting from the support, and which is connected to and rotated by the drive means with respect to the support; a second arm, equipped with grippers, which is fitted in rotary manner to and projects from the first arm; and means for rotating the second arm synchronously with respect to the first, and in turn having a shaft, which is coaxial with a rotation member of the first arm, and is secured at one end to the support, and at the opposite end to the first arm; and a kinematic mechanism carried by the first arm and connecting the shaft to a rotation member of the second arm; controlled-yielding angular connecting means being located between the shaft and the support; and the rotation member of the first arm being connected to the first arm indirectly via torque transmission means with a predetermined break load.
    Type: Grant
    Filed: March 3, 2010
    Date of Patent: October 16, 2012
    Assignee: Bottero S.p.A.
    Inventors: Zdenko Kuz, Gianclaudio Borsarelli, Maurizio Barolo
  • Patent number: 8226072
    Abstract: If the rotation angle in a rotation direction allowed by a joint portion detected by the angle sensor is no more than a predetermined lower limit or no less than a predetermined upper limit, the controller maintains the released state of the brake mechanism so that the rotation of the workpiece in the direction is not restricted.
    Type: Grant
    Filed: April 22, 2009
    Date of Patent: July 24, 2012
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventor: Hideyuki Murayama
  • Publication number: 20120099957
    Abstract: An apparatus such as an attachment for a skid steer used to remove and transport curb segments may include a fork configured to drive into the ground behind the curb. The apparatus also may include a curb restrainer configured to engage the upper side of the curb. Each of the forks may be tapered to slide into the ground more easily, and each bearing surface may be removably attached to the apparatus for easy repair or replacement. Additionally, the curb restrainer may both translate and rotate to adjust for various curb thicknesses in order to position the restrainer against the top of the curb, preferably in the curve of the curb. By limiting the amount of the apparatus that penetrates the ground, the apparatus provides a method of removing curbs that is quick and efficient, resulting in minimal disturbance to the ground and easier preparation for pouring a new curb.
    Type: Application
    Filed: October 20, 2010
    Publication date: April 26, 2012
    Inventors: Patrick A. BURNETT, William B. Michaels
  • Publication number: 20120099956
    Abstract: A device and a method for turning stacks of sheet-shaped material include a device for transporting the stacks into a pivot fork. The pivot fork is part of a turning unit and includes upper grippers, lower grippers and a stack stop. The pivot fork is open on one side to receive the stacks. The pivot fork is supported at its other end to pivot on a horizontal pivot shaft that extends in a direction transverse to a direction of introduction of the stacks and is disposed off-center relative to the pivot fork.
    Type: Application
    Filed: October 26, 2011
    Publication date: April 26, 2012
    Applicant: HEIDELBERGER DRUCKMASCHINEN AG
    Inventors: WOLFGANG DIEHR, UWE HARTSTOCK, RENÉ HEIDER, TOMASZ OLLEK
  • Patent number: 8069746
    Abstract: An auxiliary device for a mechanical arm includes a supporting base, two reciprocating engines, a rotational plate, and four suction members. The reciprocating engine includes a cylinder and a driving rod. The cylinder is configured for driving the driving rod linearly and reciprocating along its longitudinal axis. The cylinder is rotatably fixed to the supporting base, thereby defining a first rotational axis therebetween. The driving rod is rotatably fixed to the rotational plate, thereby defining a second rotational axis therebetween. The rotational plate is also directly and rotatably fixed to the supporting base to be rotatable about a third rotational axis defined therebetween. The three rotational axes are parallel. The four suction members are fixed to the rotational plate.
    Type: Grant
    Filed: August 8, 2008
    Date of Patent: December 6, 2011
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventors: Rong-Mou Bao, Ga-Lei Hu, Tao-Jun Huang, Jian-Long Xing, Chun-Nan Ou
  • Publication number: 20110211938
    Abstract: A robot (12) is used to pick parts from a bin (40 in FIG. 1). The robot has a compliant apparatus (42) and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool (s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices (FIG. 16, 17) which can be the picking tool to stir the parts in the bin.
    Type: Application
    Filed: August 29, 2008
    Publication date: September 1, 2011
    Applicant: ABB RESEARCH LTD.
    Inventors: William Eakins, Thomas A. Fuhlbrigge, Carlos Martinez, Heping Chen, Gregory Rossano
  • Publication number: 20110150619
    Abstract: The invention relates to a method for synchronizing, and a transfer device for synchronizing, a movement pattern between two units in a packaging line, wherein one unit is intermittently operated and the second unit is continuously operated. The invention is particularly intended for a transfer device between an intermittently operated filler unit and a continuously operated cartoning machine. The transfer device is provided with a frame (13) arranged to support tube pickers-/placers (28) and is arranged to perform a simultaneous pivoting movement about a first and a second shaft (16, 31), and for rotation about a third shaft (48) at right angles to the second shaft (31). The frame is further provided with means for adjusting the spacing between the tubes and means for compensating for differences in vertical position during the rotating movement in the case where the containers picked from the part circular conveyor of the filling unit.
    Type: Application
    Filed: April 23, 2009
    Publication date: June 23, 2011
    Applicant: NORDEN MACHINERY AB
    Inventor: Jan Nilsson
  • Publication number: 20110129323
    Abstract: A device for displacing and positioning an object in space has a base element, three motor/transmission units stationarily mounted on the base element, and three arms. Each arm has a first end connected to the driving axle of a motor/transmission unit via a connecting flange each with a single degree of freedom and a second end articulated to a common support element. At least one gripper for gripping the object is mounted on the support element. A control and/or regulation unit on the base handles planning of movement of the support element and regulation of the motor/transmission units.
    Type: Application
    Filed: January 28, 2011
    Publication date: June 2, 2011
    Inventor: Matthias Ehrat
  • Publication number: 20100329832
    Abstract: A housing including a base and cover has an open space that is open to the atmosphere and a closed space that is closed to the atmosphere. The open space contains a laser having a low operating temperature. The closed space contains a heat generating element and the like, which have higher operating temperatures than the laser. The heat generating element is in close contact with the base, which also serves as a heatsink, so that the heat generating element is cooled. Most parts of a motor, which is a heat generating member, are disposed in the closed space. A fan is diagonally disposed with respect to side surfaces of the heat generating element, which has a rectangular shape and flat side surfaces, so as to efficiently blow air toward the heat generating element disposed in the closed space.
    Type: Application
    Filed: September 2, 2010
    Publication date: December 30, 2010
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Mikio OSHIMA, Mitsuhiro Matsuzaki, Hiroyuki Maezawa
  • Patent number: 7779716
    Abstract: A quick disconnect tooling apparatus for releasably latching an end effector tool to a manipulator. The present invention provides a base module connectable to a manipulator, and a tool module connectable to the end effector tool. A power source coupling has a first portion coupled to the base module, and a second portion coupled to the tool module, wherein the first and second portions of the power source coupling may cooperatively engage one another to allow for the passing of power between the manipulator and the end effector tool.
    Type: Grant
    Filed: October 21, 2005
    Date of Patent: August 24, 2010
    Assignee: ATI Industrial Automation, Inc.
    Inventors: Jeffery J. Dellach, Kenneth P. Dellach, Donald van Zile, III, Henry J. Brohl, III, Michael L. Gloden
  • Publication number: 20100158655
    Abstract: A manipulator includes a support arm, a grasping member, and a connecting assembly. The connecting assembly connects the support arm with the grasping member. A base is fixed to the support arm, and the holder is fixed to the base. The holder defines an assembling hole, and a perimeter of the assembling hole increases along a direction towards the base. The connecting member has a first assembling portion received in the assembling hole of the holder. The elastic member is positioned between the base and the connecting member, thus producing an elastic force to drive the connecting member to resist the holder.
    Type: Application
    Filed: July 10, 2009
    Publication date: June 24, 2010
    Applicants: HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO, LTD., HON HAI PRECISION INDUSTRY CO., LTD.
    Inventors: DA-WEI LIU, HAI-YUAN LI
  • Patent number: 7735530
    Abstract: A rotary dangle head having continuous rotation includes a rotator, a continuous rotary hydraulic union and a dangle head. The rotator includes a support base, a slewing ring, a mounting plate and a ring rotator. The slewing ring includes an outer bearing ring and an inner bearing ring. The dangle head includes a retention bracket and a processing head. The processing head is pivotally retained by the retention bracket. The outer bearing ring is attached to a bottom of the support base. The inner bearing ring is attached to a top of the mounting plate. The ring rotator drives the outer bearing ring. The retention plate is attached to a bottom of the mounting plate. The continuous rotary hydraulic union is connected to hydraulically driven components mounted to the processing head.
    Type: Grant
    Filed: October 20, 2006
    Date of Patent: June 15, 2010
    Assignee: Puma, LLC
    Inventors: Gary D. Riha, Donald A. Dubey
  • Publication number: 20090304487
    Abstract: An apparatus for manipulating and lifting an object can include a frame and an arm, at least one first device configured to lift the arm, and a second device configured to lower the arm. The frame and arm can be configured such that the object is secured to the arm so that the object is lifted when the arm is lifted or raised.
    Type: Application
    Filed: April 9, 2009
    Publication date: December 10, 2009
    Inventor: Almada Gonzalo
  • Publication number: 20090074552
    Abstract: A boom assembly comprising: a base anchored to a structure/ground. A boom is rotatably mounted to the base at a connected end so as to be rotatable about a generally vertical axis, the boom having a device to support loads at a free end. An orientation clutch is provided between the base and the boom. The orientation clutch has a mechanism for locking a rotation of the boom with respect to the generally vertical axis so as to selectively adjust an orientation of the boom. The orientation clutch has a release configuration to allow the boom to self-adjust its orientation to align with a load pulled by the device.
    Type: Application
    Filed: August 18, 2008
    Publication date: March 19, 2009
    Inventor: Jean DESPRES
  • Publication number: 20080181757
    Abstract: A robotic arm-end gripping device having a belt-driven drive train is provided. The gripping device includes a set of opposing gripping arms, a variable speed motor, a motor controller adapted to control the operation of the variable speed motor, a drive train driven by the variable speed motor, the drive train comprising a drive belt, a plurality of sheaves, and a plurality of belt clamps mounted to the drive belt and operatively connected to the opposing gripping arms, and a robot arm-end interface. The gripping device may include a fail-safe method and apparatus for prevent the dropping of the gripped article. The belt drive and associated controls provide smooth and rapid operation. The gripping device may be adapted to any arm-end tooling.
    Type: Application
    Filed: November 7, 2007
    Publication date: July 31, 2008
    Applicant: APPLIED ROBOTICS, INC
    Inventors: Scott A. Wheeler, Michael F. Bowman
  • Patent number: 7299533
    Abstract: A method for processing a gear set through a lapping operation that includes: providing a lapping machine tool having a first spindle and a second spindle, the second spindle being rotatable about an axis that is generally perpendicular to a rotational axis of the first spindle, the lapping machine tool having a loading zone for loading the first and second spindles; providing a robot with an end effector; loading a first gear set to a first end of the end effector, the first gear set having a ring gear and a pinion gear; moving the first end of the end effector into the loading zone; and loading the first gear set to the lapping machine tool without removing the end effector from the loading zone such that the ring gear is loaded onto the first spindle and the pinion gear is loaded onto the second spindle. An end effector is also provided.
    Type: Grant
    Filed: May 24, 2006
    Date of Patent: November 27, 2007
    Assignee: American Axle & Manufacturing, Inc.
    Inventors: Daniel T Bickersteth, Robert G Greene, Kenneth J Gembel, II
  • Patent number: 7147424
    Abstract: A wafer carrier opener is provided. The wafer carrier opener may eliminate the use of two separate actuators by using a four-bar linkage mechanism. The wafer carrier opener includes a wafer carrier door receiver, a horizontally stationary member, and a link coupled between the wafer carrier door receiver and the horizontally stationary member so as to allow horizontal movement of the wafer carrier door receiver.
    Type: Grant
    Filed: June 30, 2001
    Date of Patent: December 12, 2006
    Assignee: Applied Materials, Inc.
    Inventor: William Tyler Weaver
  • Patent number: 7121198
    Abstract: The screen-printing machine (10) comprises: a print station (12); at least one support surface (40A, 40B) for supporting the objects away from the print station (12); and at least one transfer device (18, 20) for transferring an object, which transfer device comprises a manipulator arm (54) equipped with an end clamp (56), the arm (54) being hinged relative to the support surface (40A, 40B) about a pivot axis (Z1-Z1) and the clamp (56) being hinged relative to the arm (54) about a tilt axis. The pivot axis (Z1-Z1) of the arm (54) defines with the normal to the support surface (40A, 40B) a non-zero angle of inclination that is less than 45°. Application to printing flasks.
    Type: Grant
    Filed: December 14, 2004
    Date of Patent: October 17, 2006
    Assignee: Machines Dubuit
    Inventor: Francois Dumenil
  • Patent number: 7066076
    Abstract: A rotor assembly for rotating and actuating a working implement, comprising a load-bearing shaft adapted to be mounted to a boom member displacing the rotor assembly. Actuation means are secured to the load-bearing shaft. A drive assembly is rotatably mounted about the load-bearing shaft and is coupled to the actuation means. The drive assembly is adapted to be connected to a working implement so as to transmit actuation from the actuation means to the working implement to drive the working implement about the load-bearing shaft. A collector assembly is rotatably mounted to the load-bearing shaft and is adapted to receive a pressure supply therefrom. The collector assembly is provided with connector means adapted to provide the working implement with the pressure supply.
    Type: Grant
    Filed: July 17, 2002
    Date of Patent: June 27, 2006
    Assignee: Rotobec Inc.
    Inventors: Michel Roy, Mario Dubreuil, Sylvain Talbot, Denis Goudreau
  • Patent number: 6719036
    Abstract: A fugitive pattern of an article to be investment cast wherein the pattern includes a plurality of locator embossments disposed in an array to provide a datum reference system by which the pattern can be held and positioned by a manipulator, such as for example a gripper device to a computer controlled robotic device, for assembly with another component of the pattern assembly. The datum embossments are located on a portion of the pattern that will be removed from the final metallic casting made to replicate the pattern. The casting includes integral cast datum embossments thereon by which the casting can be held and positioned.
    Type: Grant
    Filed: November 25, 2002
    Date of Patent: April 13, 2004
    Assignee: Howmet Research Corporation
    Inventor: Michael W. Mertins
  • Patent number: 6592323
    Abstract: A plate member carrier is constructed to include a suction device adapted to suck and transfer the workpiece, a first four-bar linkage adapted to keep the suction device in horizontal, a second four-bar linkage adapted to prohibit the suction device from transverse displacement, and a cam adapted to control vertical movement of the suction device subject to a simple harmonic motion curve.
    Type: Grant
    Filed: February 12, 2002
    Date of Patent: July 15, 2003
    Inventor: Tsung-Chang Hsieh
  • Publication number: 20020192058
    Abstract: An articulated-arm transport system, provided in particular for the automation of press lines and large-component transfer presses, is distinguished by a design which permits components or workpieces to be inserted or removed even when there is a small clearance between an upper and lower tool.
    Type: Application
    Filed: May 1, 2002
    Publication date: December 19, 2002
    Inventors: Erich Harsch, Rainer Reichenbach
  • Patent number: 6471504
    Abstract: A first base-side pulley is disposed at the base portion of a first arm portion; a first distal-side pulley is disposed at the distal portion of the first arm portion; a second base-side pulley is disposed at the base portion of a second arm portion; a second distal-side pulley is disposed at the distal portion of the second arm portion; the first base-side pulley is fixed to the support base; the chuck is fixed to the second distal-side pulley; the first distal-side pulley and the second base-side pulley are connected to each other via a connection shaft; the first base-side pulley and the first distal-side pulley are connected to each other via a first rotation transmission section; and the second base side pulley and the second distal-side pulley are connected to each other via a second rotation transmission section. Thus, an articulated robot arm having first and second arm portions is constructed.
    Type: Grant
    Filed: February 3, 2000
    Date of Patent: October 29, 2002
    Assignee: Nissei Plastic Industrial Co., Ltd.
    Inventor: Atsuo Matsui
  • Publication number: 20020110448
    Abstract: A system can re-orient a series of objects, such as containers, including pouches, from a first orientation that is one of several possible orientations, to a pre-selected second orientation. The system includes an orientation apparatus that can move a series of objects from their first orientation to the pre-selected second orientation by a movement sequence. The system includes a sensor system, such as a vision system, for detecting which of said several orientations is the first orientation. The orientation apparatus responds to a signal from said sensor, and performs a pre-determined movement sequence based on the detected first orientation.
    Type: Application
    Filed: February 12, 2001
    Publication date: August 15, 2002
    Inventors: Petar Baclija, Michael Elent, Peter Guttinger
  • Patent number: 6357994
    Abstract: This invention relates to a multi-purpose end effector for a robotic arm that moves a workpiece through an automated, multi-station, manufacturing operation. The end effector is particularly useful in a gear manufacturing operation in which a gear piece is annealed, ground and tested to ensure it meets desired specifications. The relatively lightweight and compact end effector securely grips the workpiece during multi-directional movements, and provides a degree of softness when loading the normally non-rotating workpiece onto a continuously rotating chuck or tool. The end effector is secured to the robotic arm by a cross-member equipped with three different gripping implements. A central gripping device extends from the middle of the cross-member, a loading arm extends from one end of the cross-member, and an unloading arm extends from the other end. Each gripping implement includes pneumatically controlled gripping fingers for holding the gear pieces.
    Type: Grant
    Filed: October 1, 1999
    Date of Patent: March 19, 2002
    Assignee: ABB Flexible Automation, Inc.
    Inventor: Douglas L. St. Onge
  • Publication number: 20010055525
    Abstract: A robot vehicle for hot-line job for transmission and distribution lines which comprises an insulating boom formed of an insulating material at a tip end stage of multiple stage booms, a base end of which is supported on an elevated work vehicle to be capable of swinging, pivoting up and down, and extending and contracting, and a frame provided on the tip end of the insulating boom, the frame mounting thereon double arm manipulators of multishaft construction for performing a distribution work, a slide device for sliding independently these right and left double arm manipulators front to rear, and lifting arms of multishaft construction having a function of lifting a heavy article, so as to allow an operator to perform remote control. An electric actuator is used for driving the double arm manipulators and the slide device, and hydraulic manipulators for driving the lifting arms.
    Type: Application
    Filed: June 13, 2001
    Publication date: December 27, 2001
    Applicant: Kabushiki Kaisha Yaskawa Denki
    Inventors: Hirofumi Inokuchi, Toshihide Tomiyama, Yoshihiro Yurita, Shinji Murai, Yusuke Hirano, Shinji Harada, Kengo Tsuruta, Youichi Motomura, Kazutoshi Imai, Yoshiaki Haga, Yoshikatsu Nakamura, Yukio Hashiguchi, Mitsuhiro Matsuzaki, Hiromichi Yamada, Akihiko Mishima, Yoshinaga Maruyama, Kyoji Yano, Moriyuki Nakashima, Osamu Yamashita
  • Patent number: 6152677
    Abstract: A substrate transfer apparatus capable of preventing contaminants from sticking to a substrate again when the substrate is unloaded, wherein a first support member and a second support member are provided on an arm, the first support member supporting the substrate when the substrate is loaded into a processing machine and the second support member supporting the substrate when the substrate is unloaded from the processing machine.
    Type: Grant
    Filed: May 12, 1998
    Date of Patent: November 28, 2000
    Assignee: Tokyo Electron Limited
    Inventors: Kiyohisa Tateyama, Hideyuki Takamori
  • Patent number: 5833429
    Abstract: Vehicle mounted container handling devices including a rotating swivel mount and an articulated arm connected to the swivel mount are disclosed. The swivel mount includes a housing operable to rotate about a shaft in a first plane. The articulated arm is attached at one end to the housing and disposed to pivot in a second plane which intersects the first plane. A grasping device is pivotally connected to the free end of the articulated arm for pivoting in the second plane. In operation, with the grasping device opened, the articulated arm is extended to reach out toward a container of interest. The swivel mount is operated to pivot the articulated arm as required for the grasping device to engage the container. The articulated arm is operated further to lift and dump the container in the vehicle above the swivel mount addressing a variety of dumping locations.
    Type: Grant
    Filed: January 21, 1997
    Date of Patent: November 10, 1998
    Assignee: McNeilus Truck and Manufacturing, Inc.
    Inventors: Garwin B. McNeilus, Ronald E. Christenson
  • Patent number: 5820333
    Abstract: This invention discloses a twin gripping apparatus for loading components comprising of two grippers, each composed of two pairs of fingers, disposed at an angle of predetermined value so that the components are held and carried to and from a work station. The two pairs of fingers perform simultaneously a carrying motion to and from a work station by gripping the components positioned at each work station by means of hydraulic pressure from air cylinders, and rotating to and from an angle of predetermined value.
    Type: Grant
    Filed: February 26, 1996
    Date of Patent: October 13, 1998
    Assignee: Kia Motors Corporation
    Inventor: Sung-Ho Hong
  • Patent number: 5720589
    Abstract: Vehicle mounted container handling devices including a rotating swivel mount and an articulated arm connected to the swivel mount are disclosed. The swivel mount includes a housing operable to rotate about a shaft in a first plane. The articulated arm is attached at one end to the housing and disposed to pivot in a second plane which intersects the first plane. A grasping device is pivotally connected to the free end of the articulated arm for pivoting in the second plane. In operation, with the grasping device opened, the articulated arm is extended to reach out toward a container of interest. The swivel mount is operated to pivot the articulated arm as required for the grasping device to engage the container. The articulated arm is operated further to lift and dump the container in the vehicle above the swivel mount. The grasping device includes arms pivotally connected to a support member and moved by actuators pivotally connected between the arms and the support member.
    Type: Grant
    Filed: February 5, 1996
    Date of Patent: February 24, 1998
    Assignee: McNeilus Truck and Manufacturing, Inc.
    Inventors: Ronald E. Christenson, Garwin McNeilus
  • Patent number: 5662569
    Abstract: A stepping apparatus capable of large angle oscillation comprising an output shaft and a driving shaft arranged parallel to, and spaced apart from, each other wherein the output shaft is provided with a roller wheel plate, both sides of the wheel plate being pivoted with a plurality of alternately spaced rollers, a pair of plate cams being secured on the driving shaft for driving in combination with the rollers on both sides of the wheel plate, allowing the driving shaft to drive the output shaft for reverse angular rotation, standstill, forward angular rotation, indexing, and other stepping sequential operations.
    Type: Grant
    Filed: August 26, 1996
    Date of Patent: September 2, 1997
    Inventors: Chun-Hsien Liu, Ching-Huan Tseng
  • Patent number: 5584646
    Abstract: A mobile, self-propelled, multicapability apparatus useful for gripping, lifting, moving, rotating, and otherwise manipulating heavy articles. The inventive apparatus comprises: a base structure; a turret rotatably attached to the base structure; a first boom structure having a first end portion pivotably attached to the turret; a second boom structure having a first end portion pivotably connected to the distal end portion of the first boom structure; a first hydraulic assembly for pivoting the first boom structure with respect to the turret; a second hydraulic assembly for pivoting the second boom structure with respect to the first boom structure; a head assembly having a first end portion and a second end portion; and a third hydraulic assembly, connected to the second boom structure and to the first end portion of the head assembly, for pivoting the head assembly with respect to the distal end of the second boom structure.
    Type: Grant
    Filed: August 31, 1994
    Date of Patent: December 17, 1996
    Assignee: Wiseda Ltd.
    Inventors: Billy M. Lewis, Donald R. Smith, Darin R. Miller
  • Patent number: 5582503
    Abstract: A hand cart is adapted to lift an upright water bottle from a support surface of a first height, carry the bottle to a water dispenser of a second height, invert the bottle, and lower a mouth of the bottle into a receiving opening of the dispenser. A scissors/jackscrew mechanism pivotally connected between a pivot arm structure and an upright structure raises and lowers an outer portion of the pivot arm structure. A bottle holding mechanism pivotally connected to the outer portion of the pivot arm structure inverts the bottle. The bottle holding mechanism includes first and second bottle engaging pads pivotally connected to spaced first and second outer portions of the pivot arm structure, respectively, and engaging opposite sides of the bottle between circumferential ridges thereof. Velcro straps secure the bottle to the pads.
    Type: Grant
    Filed: April 5, 1996
    Date of Patent: December 10, 1996
    Inventor: Alfredo R. Sandoval
  • Patent number: 5564888
    Abstract: An improved pick and place machine works together with a part holding device to pick and lift a part out of a first station, shift to a second station, descend and release the part. An unique linkage system converts simple reciprocating motion from a fluid cylinder or the like into an inverted U-shape motion, providing a smooth, controlled acceleration, deceleration motion for the holding device. The machine has a carriage which is held upright by a sliding lever and which having a box shape, rum outside of a body enabling the part holding device to be mounted on the carriage.
    Type: Grant
    Filed: September 27, 1993
    Date of Patent: October 15, 1996
    Inventor: Carl V. Doan