Gripping Jaw Patents (Class 901/31)
  • Patent number: 9039057
    Abstract: A jointed mechanism including a segment coupled to a joint; and an elongated component coupled to the segment, where applying a pulling force to the elongated component rotates the segment around the joint, elastically deforming the elongated component; wherein the elastic deformation generates an elongated component elastic force sufficient to rotate the segment, in an opposite direction, in absence of the pulling force.
    Type: Grant
    Filed: September 21, 2010
    Date of Patent: May 26, 2015
    Assignee: Ariel-University Research and Development Company Ltd.
    Inventors: Nir Schvalb, Boaz Ben Moshe, Alon Vardimon, Barak Shamur
  • Publication number: 20150142171
    Abstract: Disclosed are methods adapted to calibrate a robot gripper to a camera. The method includes providing a robot with a coupled moveable gripper, providing one or more cameras, providing a target scene having one or more fixed target points, moving the gripper and capturing images of the target scene at two or more imaging locations, recording positions in the gripper coordinate system for each of the imaging locations, recording images in a camera coordinate system, and processing the images and positions to determine a gripper-to-camera transformation between the gripper coordinate system and the camera coordinate system. The transformation may be accomplished by nonlinear least-squares minimization, such as the Levenberg-Marquardt method. Robot calibration apparatus for carrying out the method are disclosed, as are other aspects.
    Type: Application
    Filed: August 10, 2012
    Publication date: May 21, 2015
    Applicant: SIEMENS HEALTHCARE DIAGNOSTICS INC.
    Inventors: Gang Li, Yakup Genc, Siddharth Chhatpar, Daniel Sacco, Sandeep Naik, Alexander Gelbman, Roy Barr
  • Publication number: 20150136587
    Abstract: A supply of metal parts are electroplated by progressively transferring the parts with a computer controlled robot into a series of open top tanks containing solutions. The tanks have submerged metal fixtures which temporarily support the parts, and each fixture in the electroplating tank is individually connected to a direct current power source through a corresponding timer switch controlled by the computer so that each part is plated for a precise time period independently of the time the part remains in the plating solution. Each fixture is coated with an insulation material and has a base with metal contact with a removable fixture member having limited metal line contact with the supporting part. A plurality of electroplating lines each include the above components, and common tanks in the lines receive an electroplating solution recirculated through a common filter and service tank where the solution is heated and controlled.
    Type: Application
    Filed: January 29, 2015
    Publication date: May 21, 2015
    Inventor: John J. Buschur
  • Publication number: 20150127158
    Abstract: A robot includes a robot arm, a force sensor, and a control unit configured to control the operation of the robot art. The control unit initializes the force sensor while the robot arm is moving at uniform speed. It is preferable that the control unit initializes the force sensor while the robot arm is moving at the uniform speed and the amplitude of a detection value of the force sensor is smaller than a threshold.
    Type: Application
    Filed: October 31, 2014
    Publication date: May 7, 2015
    Inventor: Yasuhiro SHIMODAIRA
  • Patent number: 9026250
    Abstract: A robotic arm is mounted on a personal mobility device, such as a wheelchair, scooter or the like, and is controlled with a user input interface, also mounted on the personal mobility device. The user input interface has a grip operable by the user to move in a plurality of orthogonal directions, both spatially and angularly, having articulating arms supporting a housing with a pivot member.
    Type: Grant
    Filed: August 17, 2011
    Date of Patent: May 5, 2015
    Assignee: Harris Corporation
    Inventors: Matthew D. Summer, Paul M. Bosscher, Laurance H. Davis, III
  • Publication number: 20150118003
    Abstract: A system for turning over a vehicle frame defining openings and having a longitudinal center axis includes first and second robots each having an end effector. Each end effector has a pair of oppositely-positioned locator pins, at least one of which is selectively moveable toward the other. A controller is used to control the positioning of the frame via the robots and end effector by executing method instructions to cause the robots to align the locator pins of the end effectors with the openings of the frame, and to insert the aligned locator pins into the openings toward the center axis from outside of the vehicle frame. The robots lift the frame from a first conveyor, with weight of the vehicle frame born by the locator pins during the lift. The robots also rotate the frame about the center axis and lower the vehicle frame onto a second conveyor.
    Type: Application
    Filed: October 30, 2013
    Publication date: April 30, 2015
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Christopher E. Bacalia, John M. Lux, Andrew J. Buckland, Theodore R. Burton, Douglas M. Linn
  • Publication number: 20150111198
    Abstract: A medical analysis method uses a medical analysis machine provided with a poly-articulated robot (70) comprising joints defining at least six axes of rotation (A1, A2, A3, A4, A5, A6) and adapted for spacing and/or orienting a terminal member (66) according to six degrees of freedom, the terminal member bearing a grasping member (78) adapted for grasping a container (16). The medical analysis method comprises at least the succession of steps consisting of providing a container (16) containing a sample to be treated stemming from a human being or an animal, transferring said container (16) towards at least one treatment station of the medical analysis machine (100) by means of the poly-articulated robot, treating the sample in a treatment station, transferring the container towards a station for capturing images, and displaying the treatment results through a user interface.
    Type: Application
    Filed: March 8, 2013
    Publication date: April 23, 2015
    Inventors: Jean-Michel Brisebat, Sébastien Bernay, Cédric Gagnepain, Daniel Seydoux
  • Patent number: 9004560
    Abstract: A robot hand includes a pair of bits and holds a microtube by causing the pair of bits to perform an opening-closing operation. The pair of bits has a lug that comes into contact with an outer peripheral surface of a container body or a cap portion of the microtube, and a rectangular recess in which parts of the cap portion and a flange of the microtube are inserted while the lug is in contact with an outer peripheral surface of the microtube. The rectangular recess includes surfaces between which the cap portion and the flange are disposed. The pair of bits is closed while a corner of the rectangular recess is in contact with the outer peripheral surface of the container body to retain the microtube in an orientation different from that in the state in which the cap portion is inserted in the rectangular recess.
    Type: Grant
    Filed: December 17, 2013
    Date of Patent: April 14, 2015
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Makoto Umeno
  • 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: 8996175
    Abstract: Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: March 31, 2015
    Assignee: Rethink Robotics, Inc.
    Inventors: Bruce Blumberg, Rodney Brooks, Christopher J. Buehler, Noelle Dye, Gerry Ens, Natan Linder, Michael Siracusa, Michael Sussman, Matthew M. Williamson
  • Patent number: 8996167
    Abstract: In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions. In some embodiments, the user interface includes a wrist cuff that, when grasped by the user, switches the robot into zero-force gravity-compensated mode.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: March 31, 2015
    Assignee: Rethink Robotics, Inc.
    Inventors: Natan Linder, Rodney Brooks, Michael Sussman, Bruce Blumberg, Noelle Dye, Michael Caine, Elaine Y. Chen
  • Patent number: 8996174
    Abstract: In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: March 31, 2015
    Assignee: Rethink Robotics, Inc.
    Inventors: Rodney Brooks, Bruce Blumberg, Noelle Dye, Paula Long
  • Patent number: 8991885
    Abstract: A compliant underactuated grasper includes a base and a plurality of fingers. At least one of the plurality of fingers includes: a proximal phalanx; a proximal joint connecting the proximal phalanx to the base; a distal phalanx; a distal joint connecting the distal phalanx to the proximal phalanx; and a member for moving the phalanges. At least one of the proximal joint and the distal joint includes a flexure joint having a first compliance in a first direction and a second compliance in a second direction, the second compliance being stiffer than the first compliance. The distal phalanx includes: a rounded end face; and a lifting portion including a lifting edge adjacent the rounded end face. The member acts in parallel to the first direction. The grasper further includes at least one actuator associated with the member. The grasper has fewer actuators than degrees of freedom.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: March 31, 2015
    Assignee: iRobot Corporation
    Inventors: Mark Claffee, Nicholas Roy Corson
  • Patent number: 8983659
    Abstract: A robot system according to the embodiments includes a robot that includes a hand including a gripping mechanism that grips a thin plate-shaped work and an arm that moves the hand, and a robot control apparatus that controls the robot. The robot control apparatus, when causing the robot to transfer the work at a predetermined work transfer position by controlling the robot, performs a presence/absence confirmation of the work by operating the gripping mechanism while causing the hand to retract after the hand reaches the work transfer position.
    Type: Grant
    Filed: November 14, 2012
    Date of Patent: March 17, 2015
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Yoshiki Kimura
  • Patent number: 8983650
    Abstract: A work hanging apparatus includes a hanger line continuously conveying hangers each having a hook, a robot that has a hand with which a work having a hole is held and transfers the held work to a hanging location set in the hanger line, a controller controlling a movement of the hand to catch the hook of one of the hangers with the hole of the held work at the hanging location, a hole deviation detector that detects a positional deviation of the hole of the work, an attitude deviation detector that detects an attitudinal deviation of the hanger, and a corrector that corrects the movement of the hand according to the positional and attitudinal deviations.
    Type: Grant
    Filed: March 7, 2013
    Date of Patent: March 17, 2015
    Assignee: NHK Spring Co., Ltd.
    Inventors: Kotaro Nukui, Takashi Yajima
  • Patent number: 8979152
    Abstract: A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.
    Type: Grant
    Filed: August 11, 2014
    Date of Patent: March 17, 2015
    Assignee: Willow Garage, Inc.
    Inventors: Matei Ciocarlie, Scott Stanford
  • Patent number: 8965581
    Abstract: A robot apparatus includes a gripping unit configured to grip a first component, a force sensor configured to detect, as detection values, a force and a moment acting on the gripping unit, a storing unit having stored therein contact states of the first component and a second component and transition information in association with each other, a selecting unit configured to discriminate, on the basis of the detection values, a contact state of the first component and the second component and select, on the basis of a result of the discrimination, the transition state stored in the storing unit, and a control unit configured to control the gripping unit on the basis of the transition information selected by the selecting unit.
    Type: Grant
    Filed: January 31, 2013
    Date of Patent: February 24, 2015
    Assignee: Seiko Epson Corporation
    Inventors: Takashi Nammoto, Kazuhiro Kosuge, Kentaro Kamei
  • Patent number: 8964351
    Abstract: A robotic arm includes: an arm having one or more joints; an arm securing unit provided at at least one of the one or more joints and configured to secure, by electrostatic adhesion, a positional relationship between two parts coupled by each of the at least one of the one or more joints; and a control unit configured to turn on and off the electrostatic adhesion of the arm securing unit.
    Type: Grant
    Filed: August 13, 2013
    Date of Patent: February 24, 2015
    Assignee: Panasonic Intellectual Property Management Co., Ltd.
    Inventor: Takashi Horinouchi
  • Patent number: 8965576
    Abstract: In accordance with various embodiments, a user-guidable robot appendage provides haptic feedback to the user.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: February 24, 2015
    Assignee: Rethink Robotics, Inc.
    Inventors: Elaine Y. Chen, Rodney Brooks, Christopher J. Buehler, Matthew M. Williamson, Bruce Blumberg, Noelle Dye, Joseph M. Romano, William A. Goodwin
  • 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
  • Patent number: 8950795
    Abstract: A robotic finger includes a shape-memory alloy and a shape-memory polymer connected to and adjacent to the shape-memory alloy. Heating the shape-memory polymer causes it to soften, heating the shape-memory alloy causes the alloy to bend in the direction of the shape-memory polymer to press the shape-memory polymer against an object to be grasped, and cooling the shape-memory polymer causes it to stiffen and to retain its shape. An opposing member is positioned to cooperate with the finger to grasp an object positioned between the finger and the opposing member. A selectively controllable heat source is capable of applying heat to the finger.
    Type: Grant
    Filed: April 16, 2013
    Date of Patent: February 10, 2015
    Assignee: Raytheon Company
    Inventors: Frederick B. Koehler, Ward D. Lyman, Terry M. Sanderson
  • Publication number: 20150039126
    Abstract: A robot system according to an aspect of the present embodiment includes a robot (a first robot) and a controller. The robot has a robot hand (hand) equipped with one set of gripping claws that grips a tape member stuck on a workpiece to be processed. The controller instructs the robot to perform operation of peeling off the tape member while gripping the end of the tape member with the gripping claws.
    Type: Application
    Filed: October 17, 2014
    Publication date: February 5, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Takashi SHIINO, Keigo ISHIBASHI, Toshiaki IKEDA, Toshiyuki HARADA, Shoji KOYAKUMARU
  • Publication number: 20150028611
    Abstract: A workpiece mounting system which is highly versatile and can reduce a cycle time. A workpiece mounting system (1) mounts a sunroof member (3) to an inner panel (2A) of a body (2). The workpiece mounting system (1) is provided with a first robot (5), a second robot (6), and a control device (7) for controlling the first and second robots.
    Type: Application
    Filed: October 2, 2014
    Publication date: January 29, 2015
    Inventors: Kenichi Asamizu, Atsushi Osada, Yuichi Wakabayashi
  • Patent number: 8939487
    Abstract: A gripping device (4) is attached to a robot arm (2). The gripping device (4) consists of a housing (6) and two gripping finger sockets (9,10) which can be displaced linearly with respect thereto. Each gripping finger socket (9, 10) is provided with an electric or pneumatic coupling for various gripping fingers (17, 27, 37) that can be connected. A rotating drive (13) is present between the gripping finger sockets (9, 10) on which a tool can be placed for releasing or attaching a fastening apparatus, such as a bolt. With this relatively simple construction, weights of several hundred kilos can be lifted and positioned accurately, for example in a processing machine.
    Type: Grant
    Filed: June 7, 2011
    Date of Patent: January 27, 2015
    Assignee: Pex Rent B.V.
    Inventor: Abraham Gijsbert De Koning
  • Patent number: 8942845
    Abstract: A robot includes a gripping section and a main body section to which the pair of finger sections are attached, having one end sections of the pair of finger sections rotatably connected to each other around a first rotating shaft disposed at a position separate from the main body section, and adapted to open and close the pair of finger sections by swinging the other side of the pair of finger sections on a plane parallel to a mounting surface on which an object is mounted centered on the first rotating shaft to thereby grip the object, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and grip the object with the gripping section at at least three contact points.
    Type: Grant
    Filed: September 14, 2011
    Date of Patent: January 27, 2015
    Assignee: Seiko Epson Corporation
    Inventors: Yukihiro Yamaguchi, Tatsuya Hosoda, Kazuhiro Kosuge, Yasuhisa Hirata
  • Publication number: 20150025682
    Abstract: A robot controller includes an input unit that receives operation instruction information, a database that stores grasp pattern information, and a processing unit that performs control processing based on information from the input unit and information from the database, and the input unit receives first to N-th operation instructions as operation instruction information, the processing unit loads i-th grasp pattern information that enables execution of the i-th operation instruction and j-th grasp pattern information that enables execution of the j-th operation instruction as the next operation instruction to the i-th operation instruction from the database, and performs control processing based on the i-th grasp pattern information and the j-th grasp pattern information.
    Type: Application
    Filed: October 10, 2014
    Publication date: January 22, 2015
    Inventors: Kaori SATO, Hiroshi HASEGAWA
  • Publication number: 20150019003
    Abstract: A robot system according to an aspect of an embodiment includes a robot, a determination unit (work determination unit), a selection unit (chucking direction selection unit), and an instruction unit. The robot has a robot hand (hand) including three or more chuck jaws. The determination unit obtains information on a member formed including a substantially ring shape, and determines a state of the member. The selection unit selects whether to hold the member with the chuck jaws from an inner peripheral side or outer peripheral side based on the determination result of the determination unit. The instruction unit instructs the robot to perform operations of transporting the member while holding the member with the chuck jaws based on the selection result of the selection unit, and assembling a predetermined processed product using the member.
    Type: Application
    Filed: October 3, 2014
    Publication date: January 15, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Hiroaki MURAKAMI, Ryosuke TSUTSUMI, Kenichi MOTONAGA, Yoshihisa NAGANO
  • Publication number: 20150019013
    Abstract: A displacement measuring cell may be used to measure linear and/or angular displacement. The displacement measuring cell may include movable and stationary electrodes in a conductive fluid. Electrical property measurements may be used to determine how far the movable electrode has moved relative to the stationary electrode. The displacement measuring cell may include pistons and/or flexible walls. The displacement measuring cell may be used in a touch-sensitive robotic gripper. The touch-sensitive robotic gripper may include a plurality of displacement measuring cells mechanically in series and/or parallel. The touch-sensitive robotic gripper may be include a processor and/or memory configured to identify objects based on displacement measurements and/or other measurements. The processor may determine how to manipulate the object based on its identity.
    Type: Application
    Filed: September 12, 2014
    Publication date: January 15, 2015
    Inventors: Jeffrey A. Rose, James Adam Rose, Stephen D. Rose, Raymond Cooper, Jeffrey John Sweda
  • Patent number: 8931817
    Abstract: An aspect of the invention provides a robot hand that performs an action for gripping an object between plural finger sections provided to be capable of changing a distance between the finger sections. Between the plural finger sections, a palm section movable along a direction in which a base side of the plural finger sections and a distal end side of the plural finger sections are connected is provided.
    Type: Grant
    Filed: March 5, 2013
    Date of Patent: January 13, 2015
    Assignee: Seiko Epson Corporation
    Inventors: Kenjiro Murakami, Kazuto Yoshimura
  • Patent number: 8920721
    Abstract: A machine for treatment and/or analysis of biological samples is provided. The machine includes a hinged arm to which a clamp for gripping a first biological sample holder is fixed. The clamp includes first and second arms able to move relative to each other along a gripping position between a first position of gripping the first biological sample holder, and a first position of releasing the biological sample holder. Each arm of the clamp includes a groove. When the first and second arms are in the first position of release, the first and second grooves are spaced away from each other along the gripping direction, and when the first and second arms are in the first gripping position, the first and second grooves are brought closer to each other along the gripping direction, so as to be able to receive lateral edges of and grip the first biological sample holder.
    Type: Grant
    Filed: June 5, 2009
    Date of Patent: December 30, 2014
    Assignee: Noviloire SA
    Inventors: Michel Philippon, Sébastien Bernay
  • Patent number: 8920107
    Abstract: A substrate support apparatus which can support a substrate having a center hole, comprises a support portion which can support the substrate. The support portion includes a support groove with a cross-sectional shape in which a groove width gradually increases in a counter-gravitational direction, and a width of the support groove between two end portions is larger than a width of the support groove at the center thereof.
    Type: Grant
    Filed: May 11, 2011
    Date of Patent: December 30, 2014
    Assignee: Canon Anelva Corporation
    Inventors: Tadashi Ikeda, Gen Goshokubo, Hiroshi Sone
  • Patent number: 8919714
    Abstract: A compliant tool holder is provided for use with robots, unmanned ground vehicles, and the like. The compliant tool holder is characterized in that it involves the use of means for compliance, such as springs, rubber, plastics, metals, composites, shock mounts, vibration mounts, or similar means for permitting compliant movement in three rotational and three translational degrees of freedom during end effector changes. The compliant tool holder reduces costs associated with automated tool change in the field, and allows for more rapid switching of end effectors, enabling a greater range of uses for robots and unmanned ground vehicles.
    Type: Grant
    Filed: October 13, 2011
    Date of Patent: December 30, 2014
    Assignee: RE2, Inc.
    Inventors: Nabil Michael Rizk, Frank F. Campagna, Aaron P. Nicely, Joseph J. Vasalani, III
  • Publication number: 20140375072
    Abstract: The present invention relates to a gripper device which has multiple holding points. The gripper device according to the present invention comprises: a frame comprising a rotating shaft which is arranged in parallel; a holding means fixed by a bracket to one holding point on the rotating shaft; and a driving means which rotates the rotating shaft and the holding means. The gripper device effectively responds to holding points which vary depending on the type of article held so that the articles can be stably held.
    Type: Application
    Filed: December 12, 2012
    Publication date: December 25, 2014
    Applicant: KOREA PNEUMATIC SYSTEM CO., LTD.
    Inventor: Ho-Young Cho
  • Publication number: 20140373662
    Abstract: A robot includes a robot arm, a robot hand, and a covering. The robot hand is disposed on the robot arm. The covering covers at least a part of the robot hand.
    Type: Application
    Filed: June 16, 2014
    Publication date: December 25, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Makoto UMENO
  • Patent number: 8915527
    Abstract: Before chuck 20 is opened, coil spring 22 is compressed, and coil spring 22 applies downward force to holding nails 24. Accordingly, when the chuck 20 is opened, resultant force that opens the chuck 20 and the restoring force of the coil spring 22 causes the holding nails 24 to automatically move in oblique downward directions. As a result, the holding nails 24 move to positions that are laterally close to the holding target workpiece 26a. At this time, when other workpieces 26b and 26c neighbor the holding target workpiece 26a, the holding nails 24 can move the neighboring workpieces 26b and 26c from the workpiece 26a so as to flick away the neighboring workpieces 26b and 26c.
    Type: Grant
    Filed: February 26, 2013
    Date of Patent: December 23, 2014
    Assignee: Fanuc Corporation
    Inventor: Hideyuki Watanabe
  • Publication number: 20140361197
    Abstract: A workpiece carrier comprises a first plate having a first outer diameter, a first inner diameter, and a first recess extending a first distance from the first inner diameter toward the first outer diameter. The workpiece carrier further comprises a second plate having a second outer diameter, a second inner diameter, and a second recess extending a second distance from the second inner diameter toward the second outer diameter. A plurality of mating features associated with the first plate and second plate are configured to selectively fix a position of a first workpiece between the first plate and second plate within the first recess and second recess.
    Type: Application
    Filed: June 11, 2013
    Publication date: December 11, 2014
    Inventors: William Davis Lee, Kevin J. Hoyt, David Shanner, Jason Beringer
  • Patent number: 8909376
    Abstract: Disclosed herein is a method of controlling a robot hand similar to a hand of a human being such that the robot hand naturally and safely grasps an object. The robot hand, including fingers and a palm, is capable of naturally and safely grasping an object, by the tip of each finger performing impedance control while following the optimal path on a Cartesian coordinate system, although the robot hand cannot reach a position ideal to grasp the object due to sensor errors or shape information of the object to be grasped is not correctly recognized. Also, the robot hand is capable of stably grasping the object even when moving or manipulating the object.
    Type: Grant
    Filed: October 27, 2009
    Date of Patent: December 9, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Kyung Won Moon, Hyun Kyu Kim, Jong Do Choi
  • Patent number: 8903550
    Abstract: A robot gripper is provided comprising two robot arms, upper contact parts, and lower contact parts disposed at the ends of each of the two robot arms. The upper and lower contact parts are in contact with a top and a bottom of an article when gripping the article, The upper and lower contact parts are semispherical shaped and have predetermined radii. Sensor units are mounted on the upper contact parts and the lower contact parts. The sensor units measure vertical or horizontal forces applied to the upper contact parts or the lower contact parts when gripping the article. A control unit configured to determine whether the center of gravity of the article is located at a center position between the ends of the arms using vertical and horizontal distances between the ends of the arms and vertical components of the forces measured by the sensor units when gripping the article is provided.
    Type: Grant
    Filed: March 18, 2013
    Date of Patent: December 2, 2014
    Assignee: Hyundai Motor Company
    Inventors: Seok Won Lee, Woo Sung Yang
  • Patent number: 8899648
    Abstract: An aspect of the invention provides a robot hand that performs an action for gripping an object between plural finger sections provided to be capable of changing a distance between the finger sections. Between the plural finger sections, a palm section movable along a direction in which a base side of the plural finger sections and a distal end side of the plural finger sections are connected is provided.
    Type: Grant
    Filed: March 5, 2013
    Date of Patent: December 2, 2014
    Assignee: Seiko Epson Corporation
    Inventors: Kenjiro Murakami, Kazuto Yoshimura
  • Patent number: 8896162
    Abstract: A robot for operating isolation switches while allowing an operator to remain outside of an arc flash zone can include a motor, bidirectional rotatable shaft, gear box, and magnet housings with magnets for engaging with metal. A first arm can be connected to the bidirectional rotatable shaft and can have a gripper. A second arm can connect to the bidirectional rotatable shaft, and can have a threadable member for depressing an interlock on the isolation switches. Stops can prevent the first arm from over-rotating. A magnetically securable controller portion can be in communication with a motor portion and remote switch operator. A remote control device can operate the remote switch operator to control and power the controller portion to operate the motor outside of the arc flash zone.
    Type: Grant
    Filed: September 28, 2011
    Date of Patent: November 25, 2014
    Inventor: Finley Lee Ledbetter
  • Patent number: 8897918
    Abstract: A robot hand has a plurality of fingers including a contact sensing finger that senses contact with an object. A base provided with the fingers detects a resultant reaction force that is the combination of reaction forces from the fingers. When no resultant reaction force is detected, the plurality of fingers are moved toward the object, and when the contact sensing finger comes into contact with the object, a force that drives the fingers is switched to a force corresponding to a grasp force. When the contact sensing finger has not come into contact with the object but a resultant reaction force is detected, the driving of the fingers is terminated and the position of the base is corrected by moving the base in a direction in which the resultant reaction force having acted thereon is not detected any more.
    Type: Grant
    Filed: May 9, 2012
    Date of Patent: November 25, 2014
    Assignee: Seiko Epson Corporation
    Inventors: Yoshinobu Goto, Kenjiro Murakami, Kazuto Yoshimura
  • Patent number: 8894113
    Abstract: A robot hand is provided. The robot hand includes a plurality of holding parts provided to be holdable of a plurality of workpieces, respectively, and a pneumatic drive for protruding one of the holding parts, when the holding part holds one of the workpieces, toward the workpiece with respect to one or more remaining holding parts by pneumatic pressure.
    Type: Grant
    Filed: January 17, 2014
    Date of Patent: November 25, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Toshiyuki Harada, Kenichi Motonaga, Keigo Ishibashi
  • Publication number: 20140335214
    Abstract: An apparatus for manipulating a food item, the apparatus having a chassis, an actuator, a first jaw, and a second jaw. The actuator is connected to the chassis and rotatable about a pivot. The first jaw is connected to the chassis and mechanically linked to the actuator. The first jaw is further adapted to move along a first arc. The second jaw is also connected to the chassis and mechanically linked to the actuator. The second jaw is also further adapted to move along a second arc. Rotation of the actuator about the pivot in a first direction brings together the first jaw and the second jaw, the first and second jaws moving along the first and second arcs, respectively. Rotation of the actuator in a second direction opposite the first direction brings apart the first jaw and the second jaw, the first and second jaws moving along the first and second arcs, respectively.
    Type: Application
    Filed: May 7, 2013
    Publication date: November 13, 2014
    Applicant: ABI, Auto-Bake Industries, Ltd.
    Inventors: Alex Kuperman, Jean-Marc Fauteux, Oleksandr Klymenko
  • Patent number: 8874265
    Abstract: Method and System of removing material from a debris pile which includes blocks of material. The debris pile is characterized to create a static equilibrium diagram illustrating one or more forces acting on each of the plurality of blocks of material. The blocks are ranked according to a number of touch points that each block of material touches another block of material. A block having a least number of touch points is identified. The block is removed from the static equilibrium diagram. It is determined if the block is removable by a robot. It is determined if the pile of debris would be in static equilibrium after removal of the block. The robot is directed to remove the block. Also included is a computer program product.
    Type: Grant
    Filed: August 27, 2012
    Date of Patent: October 28, 2014
    Assignee: International Business Machines Corporation
    Inventor: Sarbajit K. Rakshit
  • Patent number: 8863685
    Abstract: A camera is used to take an image of an end surface of a honeycomb structure gripped by a hand. Based on the image, an initial rotation angle of the honeycomb structure around a vertical axis at a reference position where the image has been taken is recognized. An arm turning section is driven to convey the honeycomb structure gripped by the hand from the reference position to above a plugging mask. A rotation angle required to adjust the rotation angle of the honeycomb structure on the plugging mask to a desired final rotation angle is acquired based on the initial rotation angle recognized at the reference position and a rotation angle of the honeycomb structure around the vertical axis associated with the driving of the arm turning section from the reference position to above the plugging mask. The honeycomb structure is rotated based on the required rotation angle.
    Type: Grant
    Filed: November 8, 2011
    Date of Patent: October 21, 2014
    Assignee: Sumitomo Chemical Company, Limited
    Inventors: Masaharu Mori, Ying Gong
  • Patent number: 8863374
    Abstract: A production plant, particularly for suitcases and trunks, such suitcases and trunks comprising at least two half-shells mutually associated so as to form at least one internal containment compartment. The plant comprises: at least one station for loading at least one half-shell; at least one work island which has at least one dispenser of perimetric gasket seals; at least one storage area for the half-shells; at least one center for mating the half-shells, so as to form substantially the finished product, such as a suitcase and a trunk; at least one station for unloading the finished product.
    Type: Grant
    Filed: March 31, 2010
    Date of Patent: October 21, 2014
    Assignee: G.T. Line S.r.l.
    Inventor: Massimo Tonelli
  • Publication number: 20140306473
    Abstract: A robotic finger includes a shape-memory alloy and a shape-memory polymer connected to and adjacent to the shape-memory alloy. Heating the shape-memory polymer causes it to soften, heating the shape-memory alloy causes the alloy to bend in the direction of the shape-memory polymer to press the shape-memory polymer against an object to be grasped, and cooling the shape-memory polymer causes it to stiffen and to retain its shape. An opposing member is positioned to cooperate with the finger to grasp an object positioned between the finger and the opposing member. A selectively controllable heat source is capable of applying heat to the finger.
    Type: Application
    Filed: April 16, 2013
    Publication date: October 16, 2014
    Applicant: RAYTHEON COMPANY
    Inventors: Frederick B. Koehler, Ward D. Lyman, Terry M. Sanderson
  • Patent number: 8857874
    Abstract: A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: October 14, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Chris A. Ihrke, Lyndon Bridgwater, Myron A. Diftler, Douglas Martin Linn, Robert J. Platt, Jr., Brian Hargrave, Scott R. Askew, Michael C. Valvo
  • Patent number: 8857875
    Abstract: A robot includes a robot arm. A robot hand is disposed at a distal end of the robot arm and grips an object. The robot hand includes an air chuck device including a pair of pistons and an air cylinder. The air cylinder opens and closes the pistons in parallel to one another. A pair of first gripping members are disposed at a first side of the pistons and move close to and apart from one another within a first movable range on a movable plane. A pair of second gripping members are disposed at a second side of the pistons and move close to and apart from one another within a second movable range different from the first movable range on the movable plane. The robot hand pivots relative to the distal end of the robot arm about a pivot axis approximately perpendicular to the movable plane.
    Type: Grant
    Filed: June 4, 2012
    Date of Patent: October 14, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Takashi Suyama, Makoto Umeno
  • 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