Jaw Structure Patents (Class 901/39)
  • Publication number: 20150115636
    Abstract: A gripping apparatus includes a plurality of holding sections. Each of the plurality of holding sections includes a flexible film-like member. The plurality of holding sections are capable of gripping a plurality of different kinds of objects to be gripped having different softness indexes in a range of 3 mm3/gf to 10 mm3/gf.
    Type: Application
    Filed: October 24, 2014
    Publication date: April 30, 2015
    Inventor: Masahiro SHIOMI
  • Patent number: 8998561
    Abstract: According to one embodiment, a gripping device grips a rim of a workpiece by opening and closing gripping plates. The device includes a gripping unit, a hoisting and lowering unit and a motion control unit. The gripping unit includes a first and a second gripping plate. The first gripping plate has a first gripper to contact the rim. The second gripping plate has a second gripper to contact the rim. At least one of the first and second gripping plates is moved and the first and second gripper are spaced from each other. The hoisting and lowering unit is configured to hoist and lower the gripping unit. The motion control unit is configured to control open/close operations and hoisting and lowering operations. The motion control unit mechanically controls first first hoisting and lowering operations, controls second the open/close operations, and controls third second hoisting and lowering operations.
    Type: Grant
    Filed: June 29, 2011
    Date of Patent: April 7, 2015
    Assignee: Shibaura Mechatronics Corporation
    Inventor: Masaaki Furuya
  • Patent number: 8991884
    Abstract: A robotic finger assembly can include a base for mounting the finger to a robotic hand, with the base having a motor, and at least three links. The links of the robotic hand are connected to each other and to the base by a series of joints. A joint shaft and a pivot shaft, where the pivot shaft can freely move within its respective joint shaft, is connected to a preceding link. The motor is activated for opening or closing the finger. The finger closes on an object with a distributed force across the links. Grasping also can mean engaging an object like a human hand, by closing the first finger link until it engages the object, then closing the second finger link until it engages the object, then closing the third link until it engages the object. A robotic hand assembly is also disclosed.
    Type: Grant
    Filed: March 21, 2012
    Date of Patent: March 31, 2015
    Assignee: RE2, Inc.
    Inventor: Mark J. DeLouis
  • 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
  • Publication number: 20150076131
    Abstract: A robot according to an embodiment includes a flange, a wrist arm, a forearm, a feeder, and a power cable. The flange configured so that a welding torch is attached thereto and configured to rotate about a T axis. The wrist arm configured to rotate about a B axis substantially perpendicular to the T axis and configured to support the flange. The forearm configured to support the wrist arm. The feeder attached to a position between a base end and a tip end of the forearm and configured to feed a welding wire. The power cable is a supply route of electricity to the welding torch and is provided separately from a feeding route of the welding wire.
    Type: Application
    Filed: September 18, 2014
    Publication date: March 19, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Atsushi TERADA, Kazuhiro YASUTOMI
  • Patent number: 8979155
    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.
    Type: Grant
    Filed: March 22, 2013
    Date of Patent: March 17, 2015
    Assignee: MPI Incorporated
    Inventors: Keith Hedrick, Aaron Phipps, Matthew Dina, Daniel Sapio
  • Patent number: 8973958
    Abstract: A mechanical gripper being adapted to automatically perform a stable pinch grasp and an encompassing grasp and a method of determining a system geometry thereof. The gripper comprising at least one mechanical finger comprising. The at least one mechanical finger comprising a first phalanx and a second phalanx that are pivotally connected. When a load is applied on a stable pinch grasp region, an actuation mechanism is adapted to allow the second phalanx to translate and allow its contact surface to maintain a constant orientation in order to automatically perform a pinch grasp, when a load is applied on the first phalanx or below the stable pinch grasp region, the actuation mechanism is adapted to allow the second phalanx to pivot and automatically perform an encompassing grasp.
    Type: Grant
    Filed: November 23, 2012
    Date of Patent: March 10, 2015
    Assignee: Robotic Inc.
    Inventors: Louis-Alexis Allen Demers, Simon Lefrançois, Jean-Philippe Jobin
  • Patent number: 8936291
    Abstract: This robot hand includes a first finger portion and a second finger portion being relatively movable in a direction in which an object to be grasped is grasped and bar-shaped claw members fixed to the first finger portion and the second finger portion. A plurality of claw members are fixed in parallel to at least either the first finger portion or the second finger portion.
    Type: Grant
    Filed: February 6, 2013
    Date of Patent: January 20, 2015
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Yuya Yasuda, Shinji Murai, Toshimitsu Irie, Fuminori Kutsukake
  • Patent number: 8936289
    Abstract: A plurality of interconnected phalanges form robotic fingers configured to grasp an object. The phalanges interact with a resilient compliant element for adjustable resilient cushioning of movement of the phalanges.
    Type: Grant
    Filed: March 22, 2012
    Date of Patent: January 20, 2015
    Assignee: Telefactor Robotics LLC
    Inventors: Matthew V. Kozlowski, Stuart D. Harshbarger, Matthew S. Johannes
  • 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: 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: 20140363264
    Abstract: A gripper assembly is provided for use in an autonomous mobile robot for grabbing and holding an object to be transported by the robot. The gripper assembly includes two rotatable shafts and two counter-rotating flippers, each fixedly connected to a different one of the rotatable shafts for engaging the object on opposite sides thereof. The gripper assembly also includes two drive elements, each engaging a different one of the rotatable shafts. Two drive arms engage the two drive elements to transfer torque and rotation from each drive arm to a respective drive element and rotatable shaft to open or close a respective flipper around the object. Each drive element can be disengaged from a respective drive arm and then rotated in order to adjust a radial position of a respective rotatable shaft and flipper relative to the drive arm so that objects of different sizes can be accommodated.
    Type: Application
    Filed: June 10, 2014
    Publication date: December 11, 2014
    Applicant: HARVEST AUTOMATION, INC.
    Inventors: Jon Gowa, Nathan Watts
  • 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: 8899647
    Abstract: A robot hand moved by a robot to grip an object to be gripped includes a plurality of bar-like placing sections on which the object to be gripped is placed, a plurality of plate-like pressing sections paired with the plurality of placing sections and configured to press side surfaces of the object to be gripped, a space adjusting section configured to move the plurality of pressing sections to bring the pressing sections into contact with a plurality of contact sections, a first strain gauge configured to detect a distance between the placing section and the pressing section and an angle of the pressing section with respect to the placing section, and a second strain gauge configured to detect a distance between the placing section and the pressing section and an angle of the pressing section with respect to the placing section.
    Type: Grant
    Filed: February 5, 2013
    Date of Patent: December 2, 2014
    Assignee: Seiko Epson Corporation
    Inventor: Masahiro Shiomi
  • Publication number: 20140334907
    Abstract: A system for remote object handling including a public safety vehicle having a front portion. An articulated arm has a first end and a second end distinct from the first end, the arm being coupled to the front portion at the first end, and has at least one pivot disposed between the first end and the second end. A gripping element is removably coupled to the second end, wherein the gripping element is one of a pincer device, a hand device having at least three fingers or a shovel. A video camera is also coupled to the second end. An arm control is disposed within the vehicle and is operable to control the operation of the arm, the manipulator and the video camera, and a video interface is coupled to the video camera which is operable to display output from the video camera.
    Type: Application
    Filed: July 8, 2014
    Publication date: November 13, 2014
    Inventor: Robert L. Piccioni
  • Patent number: 8857876
    Abstract: Fingers for holding a target project from shift members, and shift in accordance with the movement of the shift members shifted in predetermined axial directions by a shift mechanism to hold the target. Sliding members for shifting the shift members in the predetermined axial directions project from the shift members, and guide the shift members by sliding. According to this structure, a robot hand becomes smaller in size by decreasing the clearances between the fingers (moving the shift members closer to each other). Thus, the robot hand can hold a small target object within a small work space even though the robot hand conducts a parallel shift of the fingers.
    Type: Grant
    Filed: February 10, 2014
    Date of Patent: October 14, 2014
    Assignee: Seiko Epson Corporation
    Inventors: Yoshihisa Saka, Kazuto Yoshimura, Yoshinobu Goto
  • Patent number: 8855814
    Abstract: A robot and a control method thereof which execute grasp planning of hands of the robot separately from motion planning of arms of the robot so as to apply a result of the grasp planning of the hands of the robot to the motion planning of the arms of the robot, and thus more rapidly, naturally and stably grasp an object in a grasp manner suited to a desired working purpose and judge whether or not grasping is executable prior to the motion planning of the arms of the robot, thereby more stably grasping the object.
    Type: Grant
    Filed: December 21, 2011
    Date of Patent: October 7, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Myung Hee Kim, San Lim, Kyung Shik Roh, Young Bo Shim
  • Patent number: 8851541
    Abstract: A system is provided in which a robot may be used having a robotic arm with a camera and gripper assembly, that enables the use of tools while also allowing use of a gripper assembly located at the end of the robotic arm. Mounting rails may be secured to the gripper assembly to provide a system that is easily adaptable to allow the relatively fast exchange of different tools. Tools may be secured to the mounting rails to allow for both the use of the tools and the existing gripper assembly on the robotic arm. The accessories may be configured to allow enhanced viewing of the accessory through a camera mounted to the robotic arm.
    Type: Grant
    Filed: January 12, 2012
    Date of Patent: October 7, 2014
    Assignee: Stratom, Inc.
    Inventor: Christopher M. White
  • Publication number: 20140286742
    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.
    Type: Application
    Filed: March 22, 2013
    Publication date: September 25, 2014
    Applicant: MPI INCORPORATED
    Inventors: Keith HEDRICK, Aaron PHIPPS, Matthew DINA, Daniel SAPIO
  • Patent number: 8840160
    Abstract: A mechanical finger comprises at least two phalanges. The phalanges have tubular bodies made of a semi-rigid material. One phalange is adapted to be secured to a base. Another phalange is connected to an adjacent phalange for pivoting movement with respect to the adjacent phalange. A skeleton member in the tubular bodies of the phalanges moves to actuate the pivoting motion of the phalanges with respect to one another. The skeleton member is connected to a degree of actuation to cause the pivoting motion of the phalanges with respect to one another. An assembly is also provided. The assembly comprises at least two of the mechanical finger, a palm actuator comprising a base for connection of the base phalange of each mechanical finger, and at least one degree of actuation connected to the skeleton member. The degree of actuation causes a grasping movement of the mechanical fingers.
    Type: Grant
    Filed: June 11, 2010
    Date of Patent: September 23, 2014
    Assignee: Kinova
    Inventors: Louis Joseph Caron L'Ecuyer, Charles Deguire
  • Patent number: 8833826
    Abstract: Robotic hands and finger modules include an underactuated finger with multiple joints including a distal joint, an intermediate joint, and a proximal joint. A brake subsystem in communication with each of the joints selectively locks and unlocks the joints individually. A robotic hand can selectively lock the joints of a finger individually such that one or more joints are locked while one or more joints are unlocked. In addition, the finger module can drive a tendon coupled to the joints to flex the underactuated finger in a manner determined by which of the joints is locked and which of the joints is unlocked. A robotic hand can move an underactuated finger with its distal and proximal joints unlocked until the finger makes contact with an object, and lock the proximal joint, in response to contact made with the object, while the distal joint remains unlocked.
    Type: Grant
    Filed: March 21, 2012
    Date of Patent: September 16, 2014
    Assignee: SRI International
    Inventors: Pablo E. Garcia, Thomas P. Low, Harsha Prahlad, Daniel Aukes, Susan Kim, Roy D. Kornbluh
  • Patent number: 8819938
    Abstract: A panel positioning apparatus is provided with an outer panel supporting device 20 adapted to support the outer panel 11 from a lower side of the outer panel 11 and an inner panel supporting device 30 adapted to support the inner panel 12 from an upper side of the inner panel 12. The outer panel supporting device 20 has a lower-surface contact section 23 adapted to abut against a lower surface of the outer panel 11. The inner panel supporting device 30 has an upper-surface contact section 344 adapted to expose below the inner panel 12 and to abut against an upper surface of a part of the outer panel 12 against which the lower-surface contact section 23 abuts. The outer panel 11 and the inner panel 12 are overlaid with each other, and a bending part 112A of the outer panel 11 is bent by pinching the outer panel 11 by the lower-surface contact section 23 and the upper-surface contact section 334.
    Type: Grant
    Filed: May 26, 2010
    Date of Patent: September 2, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Eisaku Hasegawa, Nobuhiro Kozasa, Shunsuke Ishii, Hitoshi Yoshimichi, Koki Sanada
  • Patent number: 8814241
    Abstract: A robot hand, which has an arbitrary object grasping function in the same manner as a human hand and a high precision and stable grasping function in the same manner as an industrial gripper and performs a pose similar to a human hand while having complete opposability without any increase in complexity or degree of freedom. The robot hand includes a base part, and a plurality of finger connection parts, and a plurality of finger modules connected to the plurality of finger connection parts. The finger connection parts connected to the base part are connected to adjacent finger connection parts by roll joints such that each pair the finger connection parts connected by the roll joints is driven together, and the finger connection parts adjacent to the finger connection parts connected to the base part are driven separately from the finger connection parts connected to the base part.
    Type: Grant
    Filed: September 12, 2011
    Date of Patent: August 26, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Yong Jae Kim, Duke Kimm, Sang Il Hong
  • Publication number: 20140232124
    Abstract: The robot hand includes a frame and finger units which are provided on the frame and grasp an object to be grasped. The finger units include a Scott Russell mechanism, a first parallel link mechanism, and a second parallel link mechanism.
    Type: Application
    Filed: May 1, 2014
    Publication date: August 21, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Yoichiro DAN, Go YAMAGUCHI
  • Patent number: 8807913
    Abstract: The present invention concerns a gripping head for packages of a wedge-like form. The invention also concerns a method of gripping a group of packages and transferring them into a box. The gripping head has side steering plates and pressure finger plates on two opposite sides. At one end of the gripping head a stop plate is arranged between the side steering plates and the pressure finger plates, while the opposite end is open. The side steering plates each has a number of steering plates and fingers of the pressure finger plates are placed on either side of the steering plates, which fingers are received in notches of the side steering plate. The fingers have folded lower ends. The side steering plates and the pressure finger plates are arranged mutually moveable bringing the folded lower ends of the fingers into and out of a position below the side steering plates.
    Type: Grant
    Filed: September 1, 2010
    Date of Patent: August 19, 2014
    Assignee: Tetra Laval Holdings & Finance SA
    Inventors: Tobias Billing, Jesper Stormberg
  • Patent number: 8794685
    Abstract: A robot hand includes a palm section provided between a plurality of finger sections. The palm section may be brought into contact with an object while the object is gripped by the finger sections. The robot hand also includes a contact member that is detachably mounted on the palm section. The contact member may be brought into contact with the object instead of the palm section. Accordingly, even if an object is too small to be contacted by the palm section, it is possible to stably grip the small object since the contact member can be brought into contact with the object gripped by the finger sections instead of the palm section.
    Type: Grant
    Filed: May 10, 2012
    Date of Patent: August 5, 2014
    Assignee: Seiko Epson Corporation
    Inventors: Kenjiro Murakami, Kazuto Yoshimura, Yoshinobu Goto
  • Patent number: 8789568
    Abstract: Machines for manufacturing photovoltaic modules and methods for manufacturing photovoltaic modules can include tape handling components.
    Type: Grant
    Filed: August 5, 2011
    Date of Patent: July 29, 2014
    Assignee: First Solar, Inc.
    Inventor: Richard S. Malik, Jr.
  • Publication number: 20140191522
    Abstract: A mechanical finger comprises at least three phalanges, with a base phalanx pivotally connected at a proximal end to a base. At least one intermediate phalanx is pivotally connected at a proximal end to a distal end of the base phalanx. An end phalanx is pivotally connected at a proximal end to a distal end of a distal-most one of the at least one intermediate phalanx. The phalanges pivot about parallel pivot axes. A transmission linkage is between the base and the end phalanx. The transmission linkage has links and joints unconnected to any of the phalanges other than the end phalanx, the transmission linkage being configured so as not to constrain the degrees of freedom of the mechanical finger.
    Type: Application
    Filed: March 13, 2014
    Publication date: July 10, 2014
    Inventor: Lionel Birglen
  • Publication number: 20140175817
    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: Application
    Filed: March 3, 2014
    Publication date: June 26, 2014
    Applicant: Seiko Epson Corporation
    Inventors: Kenjiro MURAKAMI, Kazuto YOSHIMURA
  • Patent number: 8761930
    Abstract: Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.
    Type: Grant
    Filed: April 30, 2013
    Date of Patent: June 24, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Tom Nixon
  • Patent number: 8720964
    Abstract: A mechanical finger comprises at least three phalanges, with a base phalanx pivotally connected at a proximal end to a base. At least one intermediate phalanx is pivotally connected at a proximal end to a distal end of the base phalanx. An end phalanx is pivotally connected at a proximal end to a distal end of a distal-most one of the at least one intermediate phalanx. The phalanges pivot about parallel pivot axes. A transmission linkage is between the base and the end phalanx. The transmission linkage has links and joints unconnected to any of the phalanges other than the end phalanx, the transmission linkage being configured so as not to constrain the degrees of freedom of the mechanical finger.
    Type: Grant
    Filed: January 20, 2010
    Date of Patent: May 13, 2014
    Assignee: Polyvalor, Limited Partnership
    Inventor: Lionel Birglen
  • Patent number: 8690212
    Abstract: Embodiments are directed to a robot hand including a frame, a link member moving relative to the frame, a joint unit provided between the frame and the link member, a drive unit supplying power to the joint unit so as to rotate the link member, and a backlash removal unit supplying constant torque to the joint unit, even if a relative position of the link member to the frame is changed as the link member is rotated.
    Type: Grant
    Filed: October 27, 2011
    Date of Patent: April 8, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Youn Baek Lee, Yong Jae Kim, Jeong Hun Kim, Heum Yong Park
  • Patent number: 8690213
    Abstract: A robot hand and a robot according to an embodiment include a set of sliding parts, supporting units, a rotary unit, and a plurality of holding claws. The sliding parts slide in a direction to come close to or move away from each other. The supporting units are secured to the respective sliding parts. The rotary unit is attached to an end portion of at least one of the supporting units and rotates around an axis of rotation parallel to sliding shafts of the sliding parts. The holding claws are attached in directions orthogonal to the axis of rotation and different from one another.
    Type: Grant
    Filed: February 8, 2012
    Date of Patent: April 8, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Toshiyuki Harada, Kenichi Motonaga
  • Patent number: 8684432
    Abstract: Fingers for holding a target project from shift members, and shift in accordance with the movement of the shift members shifted in predetermined axial directions by a shift mechanism to hold the target. Sliding members for shifting the shift members in the predetermined axial directions project from the shift members, and guide the shift members by sliding. According to this structure, a robot hand becomes smaller in size by decreasing the clearances between the fingers (moving the shift members closer to each other). Thus, the robot hand can hold a small target object within a small work space even though the robot hand conducts a parallel shift of the fingers.
    Type: Grant
    Filed: June 19, 2013
    Date of Patent: April 1, 2014
    Assignee: Seiko Epson Corporation
    Inventors: Yoshihisa Saka, Kazuto Yoshimura, Yoshinobu Goto
  • Patent number: 8672378
    Abstract: Provided is a multi-fingered type hand device that facilitates arrangements of wirings connecting driving members which drive fingertips and the like of a robot with members which control the driving members. The multi-fingered type hand device 1 includes a wrist portion 10, a base portion 20, and a plurality of finger mechanisms 30, the wrist portion 10 having therein a wrist sensor 12, at least one of the plurality of finger mechanisms 30 having therein a fingertip sensor 321, the base portion 20 including a frame-shaped frame portion 21, a tactile sensor 25, a first substrate 23 that controls outputs of the wrist sensor 12, the fingertip sensor 321, and the tactile sensor 25, and a second substrate 24, the first substrate 23 and the second substrate 24 being disposed opposite to each other so as to sandwich the frame portion 21 from the upper and lower.
    Type: Grant
    Filed: October 31, 2012
    Date of Patent: March 18, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Yasuhiro Yamasaki, Hironori Waita, Satoki Matsumoto, Masayoshi Kokusho
  • Publication number: 20140060746
    Abstract: A foam affixing mechanism employed to affix foam to a workpiece, includes a robot arm, a foam supplying assembly and a clamping assembly. The foam supplying assembly is located adjacent to the robot arm to supply foam pieces. The clamping assembly is mounted on the robot arm. The clamping assembly includes a fixing frame, a driving member, a pair of fixing members, and a pair of clamping subassemblies. The driving member is mounted on the fixing frame, the pair of fixing members are fixed to the fixing frame. The clamping subassembly includes a first linking member rotatably connected to the driving member and a second linking member rotatably connected to the first linking member. The second linking member is rotatably connected to the fixing member by a middle portion thereof, the second linking member includes a clamping portion at an end. The present invention further discloses a clamping assembly.
    Type: Application
    Filed: May 24, 2013
    Publication date: March 6, 2014
    Applicant: HON HAI PRECISION INDUSTRY CO., LTD.
    Inventor: JIAN-QIANG LU
  • Patent number: 8641114
    Abstract: A robot hand which can be formed in the shape of a human hand and improves maintenance performance, and generates fingertip force is provided. A robot hand (1) of the present invention is provided with a hand section (3) and an arm section (5). The hand section (3) corresponds to the portion of a human hand which is forward from the wrist thereof. The arm section (5) is provided with a drive device (d5) including a plurality of motors and generates driving torque for driving each movable section of the hand section (3). The hand section (3) and the arm section (5) are configured in such a manner that a group (g36) of wrist-mounted pulleys which are first driving torque transmitting members coaxially arranged and a group (r5) of arm pulleys which are second driving torque transmitting members coaxially arranged transmit driving torque generated by the drive device (d5) to each movable section of the hand section (3) via gears meshing with each other.
    Type: Grant
    Filed: December 3, 2009
    Date of Patent: February 4, 2014
    Assignee: National University Corporation Nara Institute of Science and Technology
    Inventors: Yuichi Kurita, Atsutoshi Ikeda, Yasuhiro Ono, Tsukasa Ogasawara
  • Patent number: 8641115
    Abstract: The present invention relates to an under-actuated robotic finger with joint locking mechanisms, including: a base body; a first finger part coupled rotatably to the base body; a second finger part coupled rotatably to the first finger part; a first hinge part adapted to rotatably connect the base body and the first finger part; a second hinge part adapted to rotatably connect the first finger part and the second finger part; a first locking mechanism adapted to restrict the rotation of the first finger part; and a second locking mechanism adapted to restrict the rotation of the second finger part.
    Type: Grant
    Filed: September 28, 2012
    Date of Patent: February 4, 2014
    Assignee: Korea Advanced Institute of Science and Technology
    Inventors: Kyungsoo Kim, Keunho Rew, Youngjune Shin
  • Publication number: 20140031977
    Abstract: A mobile robot has a predetermined size of large, medium, small or back-packable. The mobile robot includes a chassis, drive system components, power components, a main processor, a communication system and a power and data distribution system. The chassis has a predetermined size of large, medium, small or back-packable. Drive system components are operably attached to the chassis and power components are operably connected to the drive system components and the power and data distribution system. Each drive system component has a predetermined size that is compatible with the chassis. The main processor, the communication system and the power and data distribution system are all operably connected together and operably connected to the traction components and the power components. The main processor, the communication system, and the power and data distribution system are all compatible with the predetermined size of the chassis and at least one other size.
    Type: Application
    Filed: July 27, 2012
    Publication date: January 30, 2014
    Applicant: ENGINEERING SERVICES INC.
    Inventors: Andrew A. GOLDENBERG, Jun LIN
  • Publication number: 20140007730
    Abstract: A robotic finger assembly can include a base for mounting the finger to a robotic hand, with the base having a motor, and at least three links. The links of the robotic hand are connected to each other and to the base by a series of joints. A joint shaft and a pivot shaft, where the pivot shaft can freely move within its respective joint shaft, is connected to a preceding link. The motor is activated for opening or closing the finger. The finger closes on an object with a distributed force across the links. Grasping also can mean engaging an object like a human hand, by closing the first finger link until it engages the object, then closing the second finger link until it engages the object, then closing the third link until it engages the object. A robotic hand assembly is also disclosed.
    Type: Application
    Filed: March 21, 2012
    Publication date: January 9, 2014
    Applicant: RE2, INC.
    Inventor: Mark J. DeLouis
  • Patent number: 8622452
    Abstract: A recess has a proximal-end-side surface and a distal-end-side surface. When an intersection between a straight line included in the proximal-end-side surface and a straight line included in the distal-end-side surface is a base point, a line passing through the base point is a base line, a line between two claw portions, passing through an end point of the recess and orthogonal to the base line is an orthogonal line, the angle ? made between the base line, and the straight line included in the distal-end-side surface is greater than 0 degrees and less than 90 degrees, the angle ? made between the orthogonal line, and the straight line included in the proximal-end-side surface is greater than 0 degrees and less than 90 degrees, and the length d from the base point to the orthogonal line is greater than 0.
    Type: Grant
    Filed: December 20, 2011
    Date of Patent: January 7, 2014
    Assignee: Seiko Epson Corporation
    Inventors: Yukihiro Yamaguchi, Kazuhiro Kosuge, Yasuhisa Hirata, Kengo Yamaguchi, Aya Kaisumi
  • Patent number: 8622451
    Abstract: An endeffector for handling wafers at a relatively low temperature is disclosed along with an endeffector for handling wafers at a relatively high temperature. Both endeffectors include a base member and uniquely designed support members that are configured to only contact a wafer at the wafer's edge. Further, the support members have an arcuate shape that generally matches a radius of a semiconductor wafer. More specifically, each support member has a curved wafer contact surface that tapers from a maximum radius at a top surface to a minimum radius at a bottom surface. The endeffectors may also include a wafer detection system. The endeffector for handling wafers at relatively low temperatures may also include a pushing device that is used not only to position a wafer but to hold a wafer on the endeffector during acceleration or deceleration of the endeffector caused by a robot arm attached to the endeffector.
    Type: Grant
    Filed: January 24, 2012
    Date of Patent: January 7, 2014
    Assignee: Mattson Technology, Inc.
    Inventor: Paul Mantz
  • Publication number: 20130309057
    Abstract: This robot hand includes a first finger portion and a second finger portion being relatively movable in a direction in which an object to be grasped is grasped and bar-shaped claw members fixed to the first finger portion and the second finger portion. A plurality of claw members are fixed in parallel to at least either the first finger portion or the second finger portion.
    Type: Application
    Filed: February 6, 2013
    Publication date: November 21, 2013
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Yuya YASUDA, Shinji MURAI, Toshimitsu IRIE, Fuminori KUTSUKAKE
  • Publication number: 20130193704
    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: Application
    Filed: March 14, 2013
    Publication date: August 1, 2013
    Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS, INC.
    Inventors: GM GLOBAL TECHNOLOGY OPERATIONS, INC., The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration
  • Patent number: 8491251
    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.
    Type: Grant
    Filed: May 19, 2010
    Date of Patent: July 23, 2013
    Assignee: Kobelco Construction Machinery Co., Ltd.
    Inventors: Daisuke Muraoka, Takanori Yamasaki
  • Patent number: 8491026
    Abstract: A modification to a robot end of arm tool to improve the retention of pail goods during transport by the tool includes affixing to the lower surface of a of rigid, planar, substrate, one or more pail lifting apparatus, each apparatus including a plurality of pail engaging fingers and a spacer block mounted to the substrate between the plurality of fingers. Each finger includes a flipper arm that is selectively, hydraulically controllable to move from a vertical to a horizontal position. When the flipper arm is in the horizontal position, it is able to physically engage the outer surface or ledge of an associated pail to provide support to the pail. The spacer block, located above the lid of the associated pail, when the pail is engaged by the plurality of fingers, restricts vertical movement of the pail during transport. The combination of fingers and a spacer block form one pail lifting apparatus. Multiple such apparatus may be affixed to the tool substrate.
    Type: Grant
    Filed: January 31, 2011
    Date of Patent: July 23, 2013
    Assignee: The Sherwin-Williams Company
    Inventors: Kevin P. McGill, Joseph E. Evard, Jr., Ryan T. Timmsen, Richard J. Trumble, Jr., Dale R. Timothy, Sr., Richard E. Green, Timothy A. Byars, Richard L. Bannon
  • Patent number: 8485576
    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.
    Type: Grant
    Filed: June 23, 2008
    Date of Patent: July 16, 2013
    Inventors: Robert Melville, Andrew Stillinger
  • Patent number: 8459521
    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.
    Type: Grant
    Filed: August 26, 2010
    Date of Patent: June 11, 2013
    Assignee: Covidien LP
    Inventors: Michael Zemlok, David C. Racenet
  • Patent number: 8460394
    Abstract: A gripping mechanism for gripping an object includes a base, a first gripping module, a second gripping module, and a driving device. The first gripping module is disposed on the base and has at least one receiving slot. The second gripping module is movably disposed in the receiving slot. The driving device is disposed on the base and connected to the first gripping module and the second gripping module. The driving device is operable to drive the first gripping module to switch between an opened state and a closed state, or drive the second gripping module to move relative to the first gripping module to enable the gripping mechanism to grip or release the object.
    Type: Grant
    Filed: July 28, 2010
    Date of Patent: June 11, 2013
    Assignee: National Taiwan University of Science and Technology
    Inventors: Wei-Chen Lee, Chih-Wei Wu
  • Patent number: 8454068
    Abstract: A chuck hand 1 includes a pressing mechanism 14 having a pusher 25 which presses a semiconductor process wafer 3 in the direction of a front guide 12 to thereby grip the semiconductor process wafer 3. The pressing mechanism 14 further has a pusher supporting body 22 and a buffering member 28. The pusher supporting body 22 is configured such that it can advance and retract. The pusher supporting body 22 is disposed in the pusher 25 such that it can slide back and forth. A gap 26a is defined forward relative to the pusher supporting body 22. The buffering member 28, which has a low bounce and is elastically deformable, is interposingly placed in the gap 26a. When the pusher supporting body 22 moves forward, it pushes the pusher 25 through the buffering member 28 whereby the pusher 25 is moved forward. The pusher 25 is abutted and pressed against the semiconductor process wafer 3.
    Type: Grant
    Filed: November 22, 2010
    Date of Patent: June 4, 2013
    Assignee: Kawasaki Jukogyo Kabushiki Kaisha
    Inventors: Yasuhiko Hashimoto, Tośhiaki Yoshida