Abstract: Grippers for a picking device for drug packages and methods for operating the picking device are provided. The gripper has a tray having an end portion with an arcuate front, the end portion forming a loading and unloading front. The gripper further includes a transport device arranged above the tray and configured for moving drug packages from a storage surface onto the tray, and at least one sensor arranged in the end portion of the tray and configured to determine a presence of a drug package in a detection area of the at least one sensor.

Abstract: A gripper for a picking device for storing small piece goods and a method for operating a picking device having a gripper are provided. The gripper simplifies dispensing and includes a drop table extending in first and second horizontal directions, and has at least one end portion having a dispensing end face, wherein the drop table and the end portion define an upper support surface. A transport device for moving small piece goods is arranged above the drop table and sensor device(s) are arranged in the at least one end portion having detection regions associated therewith, the sensor device being arranged along a vertical axis in such a way that the detection regions cover a vertically extending space in front of the dispensing end face.

Abstract: A method for automatically positioning a casing includes: placing the casing onto a shelf with the opening of the casing facing toward a robot arm; controlling a distance between two clamping portions of a clamping device to be larger than a distance between two lateral flat surfaces of the casing, making the support portions located towards the opening and lower than the top inner surface of the casing; using the robot arm to move the support portions through the opening into the casing, making the support portions extend over a gravity center of the casing, and lifting the casing; moving the casing until the casing is stopped against the sucker, and moving the support portions with respect to the casing until the top lateral surface is stopped against the clamping device; and moving the two clamping portions toward each other to clamp the casing.

Abstract: The present invention provides an apparatus for automated vertical placement of a small rod at a predetermined location, where the apparatus includes a parallel pneumatic gripper having a driver mechanism and a double-v shaped interlocking jaw assembly configured to receive, secure, and release a small rod in a substantially vertical position in response to corresponding signals generated by the driver mechanism. The present invention also provides a robotic system for automated gross retrieval and precise placement of a small rod. The present invention further provides a process for automated gross retrieval of at least one small rod and subsequent precise and substantially vertical placement thereof into a platform at a predetermined location and at a predetermined depth.

Abstract: A robotic, prosthetic or orthotic member includes a body formed of a solidified metallic powder. At least one working fluid cylinder is formed in the body. A piston is provided in the working fluid cylinder for pressurizing a fluid in the cylinder. At least one working fluid conduit receives the pressurized fluid from the cylinder. The body, working fluid cylinder and working fluid conduit have a unitary construction. A method of making a robotic member is also disclosed.

Abstract: The present invention provides an apparatus for automated vertical placement of a small rod at a predetermined location, where the apparatus includes a parallel pneumatic gripper having a driver mechanism and a double-v shaped interlocking jaw assembly configured to receive, secure, and release a small rod in a substantially vertical position in response to corresponding signals generated by the driver mechanism. The present invention also provides a robotic system for automated gross retrieval and precise placement of a small rod. The present invention further provides a process for automated gross retrieval of at least one small rod and subsequent precise and substantially vertical placement thereof into a platform at a predetermined location and at a predetermined depth.

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.

Abstract: A robotic, prosthetic or orthotic member includes a body formed of a solidified metallic powder. At least one working fluid cylinder is formed in the body. A piston is provided in the working fluid cylinder for pressurizing a fluid in the cylinder. At least one working fluid conduit receives the pressurized fluid from the cylinder. The body, working fluid cylinder and working fluid conduit have a unitary construction. A method of making a robotic member is also disclosed.

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.

Abstract: A gripping device comprising holders which exhibit a two-directional elasticity for picking up products with large dimensional tolerances. The gripping device may comprise two grippers disposed in opposed relationship with one another. At least one of the grippers may be movable towards the other. Each of the grippers may include a holder and a gripping jaw attached to the holder. The holder may be a C-shaped portion that exhibits a two-directional elasticity to allow horizontal as well as a vertical movement of the gripping jaw. At least one of the holders may be coupled to a linear actuator to move the gripper in at least a substantially horizontal direction.

Abstract: A grasping apparatus includes a robot and a grasping assembly. The grasping assembly is rotatably mounted to the robot and includes a cylinder, two grasping plates, two grasping blocks and two first resilient members. The cylinder is secured to the robot. The two grasping plates are rotatably attached to the cylinder. The cylinder is capable of driving the two grasping plates to rotate towards each other. Each grasping block is slidably attached to each grasping plate. Each first resilient member is secured between each grasping block and each of the two grasping plates. When the two grasping plates are rotated towards each other, the two grasping blocks are adapted to sandwich a product therebetween.

Abstract: A gripping device includes a gripping-device body mounted to an end of a working arm; two gripping members pivotably supported by this body in an opening-closing direction; and a driver that drives the gripping members to open and close them. At least one of the gripping members includes one of various kinds of detachable sections each including a gripping segment; a holding section pivotably connected to the gripping-device body about a central pivot shaft and selectively holding the detachable section in a detachable manner; and a coupling member for detachable coupling. The detachable section has a restrained segment having a detachable-section through-hole extending parallel to the central pivot shaft. The holding section has an opening-closing-direction restraining segment that restrains the restrained segment in the opening-closing direction and a holding wall to which the restrained segment is fastened with the coupling member from a direction parallel to the detachable-section through-hole.

Abstract: A robotic gripping apparatus includes one or more constraining plates each having a plurality of holes formed therethrough and a plurality of elongate members. The elongate members are independently movable relative to one another. Each elongate member extends through a respective hole or set of aligning holes in the constraining plate(s). A distal end portion of one or more of the elongate members is capable of exerting a force for drawing an object against the distal end portion to thereby hold or grip the object.

Abstract: A fluid pressure transmission device is equipped with a plurality of driving fluid pressure cylinders 371, 372, a plurality of driven fluid pressure cylinders 23, 24 with cylinder chambers 23a, 24a thereof being communicated with cylinder chambers 3711, 3712 of the main driving fluid pressure cylinders 371, 372 via fluid pressure transmission pipes 381, 382, and a sub driving fluid pressure cylinder 41 which is divided into two cylinder chambers 41a, 41b by a piston 412, and the fluid pressure generated by the main driving fluid pressure cylinders 371, 372 is transmitted to the driven fluid pressure cylinders 23, 24. Pistons 3711, 3712 are driven by the main motor 40, and the piston 412 is driven by the assistant motor 43. The fluid pressure transmission pipes 381, 382 and the cylinder chambers 41a, 41b of the sub driving fluid pressure cylinder are connected via connecting pipes 421, 422.

Abstract: The present disclosure provides for a surgical instrument which includes a housing and an endoscopic portion extending distally from the housing and defining a first longitudinal axis. The surgical instrument also includes an end effector disposed adjacent a distal portion of the endoscopic portion. The end effector includes an anvil assembly and a cartridge assembly. The anvil assembly is pivotally coupled to the cartridge assembly to be movable from a first actuation position to at least one other second actuation position. The surgical instrument further includes a firing rod having a shaft defining a second longitudinal axis, the shaft having a cam member which is in mechanical cooperation with the anvil assembly and is configured to move the anvil assembly from the first actuation position to the at least one other second actuation position upon rotation of the firing rod about the second longitudinal axis.

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).

Abstract: A grasping apparatus includes a robot and a grasping assembly. The grasping assembly is rotatably mounted to the robot and includes a cylinder, two grasping plates, two grasping blocks and two first resilient members. The cylinder is secured to the robot. The two grasping plates are rotatably attached to the cylinder. The cylinder is capable of driving the two grasping plates to rotate towards each other. Each grasping block is slidably attached to each grasping plate. Each first resilient member is secured between each grasping block and each of the two grasping plates. When the two grasping plates are rotated towards each other, the two grasping blocks are adapted to sandwich a product therebetween.

Abstract: A harsh environment robot end effector includes an end effector frame connectable to a material handling robot, one or more pickup arms rotatingly coupled to the frame, and pickup arm airbag actuator air bags for opening and closing the pickup arms. One or more positioning palms may be provided, which are rotatingly coupled to the end effector frame and provided with actuator air bags for opening and closing. One or more adjustable pushdowns having airbags attached to their heads are provided to grip a load between the pushdown and pickup arm. A mechanical synchronizer may be provided to couple the pickup arms.

Abstract: A robot teach tool is provided that enables automatic teaching of pick and place positions for a robot. The automated robot teach tool obviates the need for manual operation of the robot during the teaching. The result is an automated process that is much faster, more accurate, more repeatable and less taxing on a robot operator.

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.

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).

Abstract: The invention relates to a robot gripper having a fixing flange for detachably attaching it to a robot manipulator arm, and at least one actuator element which is supported in a frame, that actuates at least two gripper jaws indirectly or directly kinematically via at least one articulated unit. At least the fixing flange, the frame and the actuator element are manufactured integrally using a generative manufacturing method, and the actuator element is in the form of a bellows, enclosed an internal volume, which can be filled with a medium via at least one opening, and is capable of expanding, when filled with a medium, along a linear axis predetermined by the bellows design of the actuator element and of contracting, when the volume is emptied, in the opposite direction.

Abstract: A harsh environment robot end effector includes an end effector frame connectable to a material handling robot, one or more pickup arms rotatingly coupled to the frame, and pickup arm airbag actuator air bags for opening and closing the pickup arms. One or more positioning palms may be provided, which are rotatingly coupled to the end effector frame and provided with actuator air bags for opening and closing. One or more adjustable pushdowns having airbags attached to their heads are provided to grip a load between the pushdown and pickup arm. A mechanical synchronizer may be provided to couple the pickup arms.

Abstract: In order to produce a gripping device for a robot or for a gantry loader that can be employed in a flexible manner, it is proposed that the gripping device should comprise at least one linearly displaceable gripping jaw and at least one pivotal gripping connection. The gripping jaw may be linearly displaced along a longitudinal axis of the gripping device by means of a linear drive to grip and release a workpiece. The pivotal gripping connection can be pivotably rotated along a pivotal axis to likewise grip and release a workpiece. In an embodiment, the pivotable gripping connection can be arranged in a plurality of different positions with respect to the housing of the gripping device so that a plurality of different gripping orientations can be achieved.

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.

Abstract: The clamp comprises a balancing module that provides one degree of freedom between the mounting and the mobile subassembly that connects together the fixed and mobile arms and a main actuator, and this module has a device for moving this mobile subassembly relative to the mounting in this degree of freedom, for example in translation, the balancing system comprising a flexible device which is connected to the mobile subassembly and which applies a force, in said degree of freedom, to at least one member connected to the mounting, and, in addition, at least one balancing actuator for moving the mobile subassembly to a balanced position relative to the mounting. Particularly applicable to electrical resistance welding clamps.

Abstract: The present invention concerns an apparatus for gripping, holding and releasing objects (30) that can be penetrated. The apparatus includes at least two needles (1, 2) with a central axis in the longitudinal direction of the needle placed at a distance from each other. At least one drive unit is connected to the needles (1, 2) for driving these between an extended and a retracted position. At least one of the central axes of the needles forms a part of a circle when this needle is in an extended position. Furthermore it is described a method to grip, hold and release objects (30) that can be penetrated.

Abstract: The invention relates to a robot gripper having a fixing flange for detachably attaching it to a robot manipulator arm, and at least one actuator element which is supported in a frame, that actuates at least two gripper jaws indirectly or directly kinematically via at least one articulated unit. At least the fixing flange, the frame and the actuator element are manufactured integrally using a generative manufacturing method, and the actuator element is in the form of a bellows, enclosed an internal volume, which can be filled with a medium via at least one opening, and is capable of expanding, when filled with a medium, along a linear axis predetermined by the bellows design of the actuator element and of contracting, when the volume is emptied, in the opposite direction.

Abstract: A long travel gripper is provided which has first and second end caps, first, second and third guide rails, first and second jaws, and first and second piston assemblies. The first, second and third guide rails extend between the first and second end caps. The first and second jaws, each receive, and move rectilinearly along, the first, second and third guide rails. The first and second piston assemblies each include first and second piston rods and pistons, respectively.

Abstract: A workpiece-gripping chuck includes a converting mechanism provided in a body, which converts a driving force from a rotary driving source into a displacement in the axial direction. First and second pistons of the converting mechanism are displaced in the axial direction under a rotary action of a pinion gear. Further, the first and second pistons are displaced in the axial direction, respectively, by supplying a pressure fluid from a first or second port formed in the body. A workpiece may be positioned by means of a pair of gripping members under the driving action of the rotary driving source, and the workpiece is further gripped by the gripping members by applying a pressing force of the pressure fluid in addition to the driving force.

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.

Abstract: This invention is directed to a system for actuating manipulator jaws. This system employs a double sided rack, each side of which engages a pinion at a first end of a rotatably mounted lever. The second end of each lever comprises a jaw region. The present invention may be used with subsea manipulators mounted on remotely operated vehicles (“ROV's”).

Abstract: Communication system of a group robot system is made hierarchical, having a base station as an uppermost layer and a plurality of layers formed by a plurality of sensing robots, and the plurality of sensing robots are controlled such that a sensing robot belonging to an upper layer of the hierarchical structure has higher sensing resolution than a sensing robot belonging to a lower layer of the hierarchical structure. Thus, a group robot system capable of efficiently searching for an object can be obtained.

Abstract: The invention relates to a pneumatic gripper assembly structure which comprised a supporting body (11, 111) composed of at least two wall elements or symmetrical half-shells (15, 115), realized and finished individually using a forming process and then put together to form a single body capable of receiving, supporting and guiding other structural and functional components of the gripper assembly. The complementary wall elements or half-bodies are produced using die-casting, sintering or forging techniques with material compatible for such processes and provides a housing for jaws and a drive piston of the gripper.

Abstract: A laminated-type multi-joint portion drive mechanism includes a bone member having at least two elastic deformation portions, a laminated-type pneumatic tube member having at least twoline-tubes which are stacked on the bone member and which are connected to a pneumatic drive source, and a planar-type joint-portion deformation member which is stacked on the laminated-type pneumatic tube member and has pneumatic operation chambers which are placed at joint portions confronting the deformation portions, respectively, and which are connected to the tubes, wherein when pneumatic pressure is applied to one of the pneumatic operation chambers, the joint portion corresponding to the pneumatic operation chamber to which the pneumatic pressure is applied is deformable.

Abstract: A slide gripper assembly is provided having a slide assembly coupled to a gripper assembly. The slide assembly extends and retracts the gripper assembly. A bracket assembly is coupled to the slide and gripper assemblies to move the gripper assembly relative to the slide assembly. The Bracket assembly may comprise an at least partially-spherical head which may be coupled to the gripper assembly to allow movement of the same relative to the slide assembly.

Abstract: A hand device for working robot which can be downsized is provided. The device consists of a robot hand 10, a link means 40 and a workpiece drop prevention means. The robot hand 10 includes a hand base 20, a pair of fingers 21, 21 protruding from the hand base 20 and a movable core 25 provided with a cylinder 24. The link means 40 includes a lever and a connecting pad 43 for connecting the lever and the movable core 25. A workpiece drop prevention means 60 includes a protrusion stick 50 which is supported by a supporting rail 51, a coil spring and an air cylinder for recess 53.

Abstract: Communication system of a group robot system is made hierarchical, having a base station as an uppermost layer and a plurality of layers formed by a plurality of sensing robots, and the plurality of sensing robots are controlled such that a sensing robot belonging to an upper layer of the hierarchical structure has higher sensing resolution than a sensing robot belonging to a lower layer of the hierarchical structure. Thus, a group robot system capable of efficiently searching for an object can be obtained.

Abstract: A robot system includes a plurality of segments 3, joints 4 for linking the segments together, drive units 5 for actuating the joints, and a controller 8 for controlling the drive units. Further, the robot system has bladders 2 filled with a fluid being of lower specific gravity than the outside environment. A center of buoyancy differs from a center of gravity, and the robot system has a specific gravity of greater than 1 relative the outside environment.

Abstract: A fluid power operate gripper has a housing, in which a drive space is located, which contains at least two drive pistons connected or able to be connected with a respective gripping element. The drive pistons divide up the drive space into a plurality of actuating chambers, which are subject to an actuating fluid under the control of control means in a controlled mutually matching manner. Since the drive pistons are not mechanically coupled kinematically variable operation is made possible in this manner.

Abstract: A linear slide gripper assembly is provided having a linear slide assembly coupled to a gripper assembly. The linear slide assembly has extension and retraction ports in fluid communication with a fluid source to move the gripper assembly between extended and retracted positions. The gripper assembly is in fluid communication with the linear slide assembly to selectively actuate.

Abstract: In a gripper device for manually operated or automatic handling devices, having a gripper housing, at least one base jaw displaceably seated in the gripper housing, and a drive for the base jaw, wherein the drive comprises a hydraulically or pneumatically chargeable piston displaceably seated in a cylinder and a spline hook gear, an optimal sealing of the base jaw in the gripper housing is achieved in that the base jaw has a sealed, for example circular or polygonal, cross section at least in the section extending from the gripper housing when the gripper device is opened.

Abstract: A gripper having a grip tip for parts having different shapes is provided for a surface mount device. The gripper includes a piston installed inside of a through hole formed in a holder, and lifted or lowered by air flown in/out through the through hole, a moving unit connected to fixed blocks of the holder by a connection device configured to increase or decrease an interval according to the lifting or lowering operation of the piston, and multiple grip tips configured to support at least three points of a parts having a different shape.

Abstract: A robot system includes a plurality of segments 3, joints 4 for linking the segments together, drive units 5 for actuating the joints, and a controller 8 for controlling the drive units. Further, the robot system has bladders 2 filled with a fluid being of lower specific gravity than the outside environment. A center of buoyancy differs from a center of gravity, and the robot system has a specific gravity of greater than 1 relative to the outside environment.

Abstract: A robot-related information held at a robot user ad data held at a robot manufacturer as well as to enhance the user's sense of attachment to the robot. Each of personal terminal devices (31A to 31D) has both a function to send information on a robot 1 to a telecommunication line (39) and a function to receive answer information sent from a server (38) to the robot user via the telecommunication line, and the server (38) generates answer information on the basis of robot-related information sent from the personal terminal devices (31A to 31D) via the telecommunication line and reference information previously stored in an information storage device and corresponding to the robot-related information and sends the answer information to the personal terminal devices (31A to 31D) via the telecommunication line. The answer information is a diagnostic report on the robot.

Abstract: A chuck body has a first surface for fixing to a support body and a second surface opposite to the first surface, and the second surface of the chuck body is provided with a pair of chuck members for chucking a workpiece and a guide rail for guiding an open and close operation of these chuck members. Further, a plurality of stationary holes for fixing the chuck body to the support body is formed at a position overlapping with the chuck members of the guide rail so as to communicate with the first surface, and each of the chuck members is provided with a work hole for inserting a screw into these stationary holes.

Abstract: A parts gripper having a continuity switch to determine the presence of a part or workpiece held between the jaws of a parts gripper comprising a parts gripper having a yoke, a pair of jaw members, a pivot pin, a cover plate, a side impact plate, and an electrical lead conductively connected to the first attachment portion of the pivot pin. The pivot pin is conductively connected to the jaw members and connects the jaw members to the yoke of the gripper body. The pivot pin includes a shaft, a neck portion, a stepped portion, and a first attachment portion. The shaft connects the jaw members to the yoke. The cover plate has a keyed through-hole for mating with the neck portion of the pivot pin. The side impact plate has a slot for mating with the stepped portion of the pivot pin to prevent the pivot pin from rotating.

Abstract: A fluid pressure actuated gripper employed in automated workpiece handling systems. The gripper clampingly grips and transfers workpieces from one station to another. A pair of jaw members are positioned in the gripper device which has a pressure-actuated mechanism, a base plate and removable side plate members. A pair of axially offset cam pin members attached to the end of a piston rod and actuated by the pressure-actuated mechanism is used to open and close the gripper jaw members. Pivot pins or shafts pivotably connect the jaw members to the side plate members.

Abstract: Apparatus for grasping a load from above or from the side, in particular for use in a manipulator, includes two parallel elongate beams, and two carriers extending in a direction of the elongate beams, with each of the carriers supported by a corresponding one of the elongate beams and guided for displacement longitudinally in the direction of the elongate beams. The carriers are disposed in spaced-apart relationship, when viewed in a longitudinal direction of the carriers, and are movable relative to one another at least over a portion of a longitudinal extension of the carriers. Two confronting grippers are secured to the ends of the carriers and positioned on the outside of the carriers, when viewed in a direction transversely to the carriers and when the carriers are completely moved apart. A primary fluid-operated system is provided for moving the carriers in opposition to one another.

Abstract: The present invention is directed to a wafer clamping mechanism responsive to fluid pressure to retain wafers on a surface with minimal clamping force. The clamping mechanism houses simple operative elements within a housing proximate the wafer and can utilize existing fluid pressure sources to energize the clamping mechanism. In a first embodiment, the clamping mechanism includes a piston and cylinder to urge a clamping arm against the wafer in response to fluid pressure. In a second embodiment, the clamping mechanism includes a bellows arrangement for urging the clamping finger against the wafer in response to a fluid pressure source. In a third embodiment, the clamping mechanism includes a bladder arrangement wherein a bladder is expanded using fluid pressure to urge the clamping arm against the wafer in response to a fluid pressure source.