| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 101 | GRIPPER ATTACHMENT FOR ROBOT | US13335385 | 2011-12-22 | US20120286533A1 | 2012-11-15 | Michael Mettler; Dylan Dyke; Monty Bulzomi; Kevin Landsverk; Jeremiah Neubert |
| A robot gripper attachment for use with conventional robotic platforms, the gripper having opposed claw members, each claw member in turn having a plurality of elongate projections. An inward facing surface of each projection is chamfered, defining an interior gripping surface. This gripping surface may be further provided with a friction material for increased grip. One or more cameras and sensors may be utilized to aid operation by providing the operator with information about depth, distance, and positioning. | ||||||
| 102 | 압전 액추에이터를 갖는 와이어 클램프와 압전 액추에이터에 예비부하력을 인가하기 위한 방법 및 장치 | KR1020140157877 | 2014-11-13 | KR101804233B1 | 2018-01-10 | 쟝유에; 첸총하오; 린정위 |
| 클램프몸체; 상기클램프몸체에결합된한 쌍의아암들; 및제 1 단부와제 2 단부사이에서연장되는길이방향축을구비한압전액추에이터로서, 상기제 1 단부에서상기한 쌍의아암들에결합되고상기제 2 단부에서상기클램프몸체에결합되는, 상기압전액추에이터를포함하는와이어클램프가개시된다. 상기액추에이터의제 2 단부는상기길이방향축을따라서예비부하력을인가하기위해예비부하기구에의해서상기클램프몸체에결합되고, 상기예비부하기구는정합경사면위에서활주할수 있는경사면을구비한적어도하나의쐐기를포함한다. 또한와이어클램프의압전액추에이터에예비부하력을인가하기위한방법뿐 아니라, 와이어클램프의압전액추에이터에예비부하력을인가하기위한지그가개시된다. | ||||||
| 103 | 별도의 가이드 레일을 포함하는 그리핑 장치 | KR1020167015807 | 2014-11-15 | KR1020160086911A | 2016-07-20 | 짐머군터; 짐머마르틴 |
| 본발명은그리퍼부재들을지지하는가동적캐리지들을포함하는그리핑장치에관한것으로, 캐리지들은그리퍼부재들의그립방향으로잇달아배치되되, 기본몸체내에배치되며그리퍼부재들쪽으로적어도국부적으로개방된공통적인가이드홈 내에서그립방향에대해평행하게구동가능한방식으로배치되며, 그립방향을가로지르는방향으로모든측면에서지지되면서위치한다. 이때, 개방된가이드홈은서로마주하는 2개의가이드홈 벽을포함한다. 각각의가이드홈 벽에는캐리지가이드레일이고정된다. 본발명을이용하면, 파지력은크면서간단하고설치공간절약적인구성을가지며지속적으로유지보수가필요없는제동장치및/또는파지장치가개발된다. | ||||||
| 104 | 숟가락 및 젓가락과 그 제조방법 | KR1020060067170 | 2006-07-19 | KR1020080007925A | 2008-01-23 | 장도훈 |
| A spoon and chopsticks and a manufacturing method for the same are provided to form a handle portion thick to be gripped easily and to simplify the manufacturing method. A manufacturing method of a spoon and chopsticks includes: a first step of forming a disk(11) in which a bowl portion(11a), a neck portion(11b) and a handle portion(11c) are integrally formed; a second step of rolling the disk to form the bowl portion to be thin; a third step of pressing to make the bowl portion of the disk circular or oval; a fourth step of pressing to make a bowl be formed on the bowl portion of the disk; and a fifth step of coupling a handle reinforcing portion(12) to the handle portion to increase the gripping area. In the first step, the bowl portion is formed to be rectangular. | ||||||
| 105 | ROBOT GRIPPER | US15756185 | 2016-08-18 | US20180281202A1 | 2018-10-04 | Sven Brudniok; Wolfgang Schober |
| The invention relates to a robot gripper comprising: a main gripper body that has a connection flange designed to secure the rotational gripper to a tool flange of a robotic arm; also a base element that is mounted on said main gripper body such that it can rotate about a first rotational axis by means of a first rotational joint able to be adjusted automatically by a first drive motor; and a first gripper finger mounted such that it can rotate about a second rotational axis aligned parallel to the first rotational axis, relative to the base element, by means of a second rotational joint which can be adjusted automatically by a second drive motor; as well as at least one additional gripper finger, said second rotational joint being designed to adjust the first gripper finger individually, using the second drive motor, independently of said at least one additional gripper finger. | ||||||
| 106 | DEVICE FOR AUTOMATED HANDLING OF BEVEL GEAR COMPONENTS | US15898382 | 2018-02-16 | US20180229376A1 | 2018-08-16 | David Augustin; Christian Brieden; Jürgen Gsell; Bernd Von der Mark |
| A device having at least two grippers (102) for the form-fitting gripping of a bevel gear (1) having a cone face, a heel region, and an axis of rotation (RA). The at least two grippers (102) can be infed radially in relation to the axis of rotation (RA), and each of the grippers (102) has at least one inner region (104) for interacting with the cone face, and a counter holder (103) for interacting with the heel region. Each gripper (102) can have a holder (101) having a changeable angle of attack on an inner region (104) of the holder, and the holder (101) can be movably mounted on the gripper (102) so that it adapts its effective angle of attack in relation to the inclination of the cone face of the bevel gear (1) during radial infeed in the direction of the bevel gear (1). | ||||||
| 107 | Bipedal isotropic lattice locomoting explorer: robotic platform for locomotion and manipulation of discrete lattice structures and lightweight space structures | US15633155 | 2017-06-26 | US10046820B2 | 2018-08-14 | Benjamin Jenett; Kenneth Cheung; Neil Gershenfeld |
| A robotic platform for traversing and manipulating a modular 3D lattice structure is described. The robot is designed specifically for its tasks within a structured environment, and is simplified in terms of its numbers of degrees of freedom (DOF). This allows for simpler controls and a reduction of mass and cost. Designing the robot relative to the environment in which it operates results in a specific type of robot called a “relative robot”. Depending on the task and environment, there can be a number of relative robots. This invention describes a bipedal robot which can locomote across a periodic lattice structure made of building block parts. The robot is able to handle, manipulate, and transport these blocks when there is more than one robot. Based on a general inchworm design, the robot has added functionality while retaining minimal complexity, and can perform numerous maneuvers for increased speed, reach, and placement. | ||||||
| 108 | APPARATUS AND METHOD FOR ACTIVE SHAPE CONTROL OF A MICRO PICK UP ARRAY | US15839691 | 2017-12-12 | US20180194014A1 | 2018-07-12 | Andreas Bibl; Paul A. Parks; Stephen P. Bathurst; Jon A. Williams; John A. Higginson; Shenshen Zhao |
| Structures and methods to actively control the shape of a micro pickup array (MPA) during micro device transfer are described. In an embodiment, a strain is applied to the MPA counteractive to strain arising during micro device transfer operations. For example, strain may be applied by a piezoelectric actuator element bonded to a back side of the base substrate to control a curvature of base substrate, and by extension the MPA. | ||||||
| 109 | ELECTRONIC EQUIPMENT ASSEMBLY APPARATUS AND ELECTRONIC EQUIPMENT ASSEMBLY METHOD | US15823651 | 2017-11-28 | US20180183200A1 | 2018-06-28 | IKUO KOBAYASHI; TAKAO OJIMA; MINORU YAMAMOTO |
| An electronic equipment assembly apparatus includes a cable holding tool, a work stage, and a robot unit. The cable holding tool holds the cable. The work stage holds the electronic equipment. The robot unit relatively moves the cable holding tool with respect to the electronic equipment held by the work stage. The cable holding tool includes a contactor and a width direction regulator. The contactor holds the cable by vacuum-sucking. The width direction regulator regulates a position in a width direction of the cable which comes into contact with the contactor. | ||||||
| 110 | Extraction tongs with replaceable jaw tips | US15374046 | 2016-12-09 | US09815128B1 | 2017-11-14 | Colten D. Jensen |
| Extraction tongs with replaceable jaw tips include jaw tips with mating gripping projections. Each extraction tong includes a plurality of inward extending teeth. A thickness of the extraction tong is reduced at a bottom to form a jaw tip extension. A substantially triangular projection extends outward from opposing sides of the jaw tip extension. A plurality of holes are formed through the jaw tip extension. Each jaw tip includes a tong slot, which is sized to receive the thickness of the jaw tip extension. A substantially triangular slot is formed in opposing walls of the tong slot to receive the two substantially triangular projections. A plurality of counterbore holes are formed in opposing sides of the jaw tip. A first lengthwise projection is formed on a gripping surface of the first jaw tip. A pair of second lengthwise projections are formed on a gripping surface of the second jaw tip. | ||||||
| 111 | Multifunctional engineering accessory with 6-bar mechanism | US15315716 | 2016-06-01 | US09770829B2 | 2017-09-26 | Jing Zhao; Bochen Song; Jiawei Wu |
| A multifunctional engineering accessory with 6-bar mechanism comprising: a 6-link rod clamping device, a shear-fork separation device, a shearing device and locking device. Motion and lock of the 6-link rod group are implemented through a swing hydraulic cylinder of the 6-link rod clamping device to implement extending and withdrawing processes of a clamping paw. The shear-fork separation device can separate an accessory holder to meet the lateral dimension requirement of the multifunctional accessory. The shearing device can implement shearing and crushing function of multifunctional accessory, and the motion location of the accessory holder is confirmed by locking device while at the same time it sustains counterforce generated when the multifunctional accessory is working. The hydraulic ram is the power supply of the whole device. The present disclosure combines shearing, crushing and clamping on one accessory, and the structure design is a novelty, the driven pattern is reasonable, and the manufacturing technology is simple and easy to operate. The device can implement the crushing and moving processes of ruins better, while at the same time improving the economic efficiency. | ||||||
| 112 | Robotic finger and hand | US15359348 | 2016-11-22 | US09662794B1 | 2017-05-30 | Marc Strauss; Michael Patrick Murphy |
| A robotic finger is provided. The robotic finger includes a first member that has a plurality of rigid sections that are rotatably connected end-to-end through respective first joints. The robotic finger also includes a second member that has a plurality of flexible sections that are connected end-to-end at respective second joints. The robotic finger also includes a plurality of linkages connecting the first member and the second member so as to align the plurality of flexible sections with the plurality of rigid sections side-by-side, and a respective linkage connects a respective first joint of the first member to a respective second joint of the second member. The robotic finger further includes a fingertip section that connects a distal end the first member to a distal end of the second member. | ||||||
| 113 | DEVICE FOR THE TREATMENT OF INDIVIDUAL SAUSAGES | US15269109 | 2016-09-19 | US20170081133A1 | 2017-03-23 | Manfred SINGER; Dieter KOLLER |
| A device for treating individual sausages, including: a sorting device having an endless conveyor belt traveling around a triangular geometry and having rails or carrier bars, on which belt the sausages, which are loosely deposited onto an ascending run of the belt, are distributed individually into the rails or carrier bars; an endless first conveying device with individual rails or carrier bars to accept the sorted sausages, wherein each individual rail or carrier bar accommodates one sausage; a grouping device, in which the sausages delivered by the first conveying device are combined into groups; a second conveying device with receiving sections, each of which accommodates the sausages of one group, and into which the sausages, lying side by side, are transferred from the grouping device; and a transfer device having a gripper device for gripping a sausage group and for transferring and depositing the sausage group into a receiving container. | ||||||
| 114 | Covering material and covering structure for robot grasping unit | US15034737 | 2014-11-25 | US09550298B2 | 2017-01-24 | Yuki Murota; Takeshi Yamada |
| An object is to provide a covering material and a covering structure of a robot gripping portion capable of providing proper gripping performance depending on various objects to be gripped so as to grip the objects and is solved by a covering material disposed on a surface of a base material 11 having a function of gripping an object, including an inner layer 121 made up of an elastic body and an outer layer 122 made up of an elastic body coming into contact with the object when gripping the object on a surface of the inner layer 121, the inner layer 121 being made up of the elastic body having a tackiness and having a hardness lower than the outer layer 122, the outer layer 122 having one or more penetrating portions 13 penetrating to the inner layer 121 such that when a stress acts at the time of gripping of the object, a portion of the inner layer 122 enters the penetrating portion 13 or protrudes from the penetrating portion 13 depending on a magnitude of the stress. | ||||||
| 115 | Gripper with conformal spring fingers | US14839101 | 2015-08-28 | US09505135B1 | 2016-11-29 | Charles Randall Malstrom; Richard Earl Hudson |
| A gripper section for use with a clamp arm for use with automated machinery. The gripper section includes a plurality of beam members which extend from a base, with each beam member of the plurality of beam members having a fixed end and a free end. The gripper section also includes a plurality of gripper surfaces proximate to the free ends, with each gripper surface attached to a respective beam member of the plurality of beam member. Each gripper surface of the plurality of gripper surfaces and its respective beam member move independently of the other plurality of gripper surfaces and plurality of beam members. Wherein the plurality of gripper surfaces and the plurality of beam members conform to the shape of an object/part to be manipulated by the gripper section. | ||||||
| 116 | COVERING MATERIAL AND COVERING STRUCTURE FOR ROBOT GRASPING UNIT | US15034737 | 2014-11-25 | US20160279805A1 | 2016-09-29 | Yuki MUROTA; Takeshi YAMADA |
| An object is to provide a covering material and a covering structure of a robot gripping portion capable of providing proper gripping performance depending on various objects to be gripped so as to grip the objects and is solved by a covering material disposed on a surface of a base material 11 having a function of gripping an object, including an inner layer 121 made up of an elastic body and an outer layer 122 made up of an elastic body coming into contact with the object when gripping the object on a surface of the inner layer 121, the inner layer 121 being made up of the elastic body having a tackiness and having a hardness lower than the outer layer 122, the outer layer 122 having one or more penetrating portions 13 penetrating to the inner layer 121 such that when a stress acts at the time of gripping of the object, a portion of the inner layer 122 enters the penetrating portion 13 or protrudes from the penetrating portion 13 depending on a magnitude of the stress. | ||||||
| 117 | Wire clamp with piezoelectric actuator and method and apparatus for applying a preload force to the piezoelectric actuator | US14079840 | 2013-11-14 | US09446524B2 | 2016-09-20 | Yue Zhang; Chong Hao Chen; Zheng Yu Lin |
| A wire clamp includes a clamp body; a pair of arms coupled to the clamp body; and a piezoelectric actuator having a longitudinal axis extending between a first end and a second end, the actuator being coupled to the pair of arms at the first end and to the clamp body at the second end. The second end of the actuator is coupled to the clamp body by a preload mechanism for applying a preload force along the longitudinal axis, and the preload mechanism comprises at least one wedge having an inclined surface which is slidable over a mating inclined surface. | ||||||
| 118 | Article supporting device | US14639510 | 2015-03-05 | US09362152B2 | 2016-06-07 | Yoshinari Wada; Tomotaka Kinugawa |
| Each of a pair of support members includes a lightweight-article support portion that is inserted into an insertion space of a lightweight article and supports a support-target portion of the lightweight article from below and a heavyweight-article support portion that is inserted into an insertion space of a heavyweight article and supports a support-target portion of the heavyweight article from below. The heavyweight-article support portion is formed to be thick in the vertical direction compared with the lightweight-article support portion. The lightweight-article support portion is provided at a position that is located in the insertion space of the heavyweight article when the heavyweight-article support portion is inserted into the insertion space of the heavyweight article, and formed integrally with the heavyweight-article support portion. | ||||||
| 119 | HOLDING DEVICE | US14727948 | 2015-06-02 | US20150367517A1 | 2015-12-24 | Thomas Eisele; Harald Kuolt; Marcus Eberle; Walter Dunkmann; Aline Defranceski; Florian Fritz; Hermann Reinisch |
| The invention relates to a holding device (10) having a plurality of gripping devices (18) which are arranged displaceable relative to each other on a support structure (12) in such manner that by their displacement gripping devices (18) are adjustable to a free-form surface. The support structure (12) comprises a plurality of mutually associated movable support elements (22) on which are arranged gripping devices (18), wherein a plurality of support elements (22) are arranged in a row and are connected to form a carrying chain (24) such that the carrying chain (24) is form-adjustable by the movement of the support elements (22) relative to each other. | ||||||
| 120 | METHOD FOR HANDLING FLEXIBLE MAT-LIKE WORKPIECES | US14727959 | 2015-06-02 | US20150352796A1 | 2015-12-10 | Thomas Eisele; Harald Kuolt; Marcus Eberle; Walter Dunkmann; Aline Defranceski; Florian Fritz; Hermann Reinisch |
| A method for the handling of flexible and/or mat-like workpieces (30, 30a) with a holding device (10) comprising the steps of: picking up the workpiece (30, 30a) from an initial configuration with activated gripping devices (18); and displacing the gripping devices (18) relative to each other to deform the workpiece (30, 30a) into a desired freeform, further wherein the holding force before or during the displacement of the gripping devices (18) is reduced on each gripping device (18) so that the first sections (34) of the workpiece (30, 30a) during its deformation slide along the contact surface (20) and the second sections (36) of the workpiece (30, 30a) are fixed by the gripping devices (18) on the bearing surface (20). | ||||||
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