| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 1 | 磁流变液杆簇自适应手装置 | CN201610378109.8 | 2016-05-31 | CN106113068A | 2016-11-16 | 杨昊锟; 付宏; 张文增 |
| 磁流变液杆簇自适应手装置，属于机器人手技术领域，包括基座、多个滑动推杆、弹性薄膜、线圈、磁流变液和多个簧件。该装置用于机器人抓取物体，实现了自适应抓取功能。当装置接触物体时，利用多个滑动推杆的自由上下滑动达到包裹不同大小和形状物体的自适应效果；利用线圈通电产生磁场使磁流变液固化，使多个滑动推杆末端向中心弯曲聚拢，多点多向施加抓持力，可实现对物体的稳定抓持。该装置结构简单，可靠性好，适用范围广。 | ||||||
| 2 | Pick up and placement head for green sheet and spacer | US859778 | 1977-12-12 | US4185814A | 1980-01-29 | Albert H. Buchmann; Thomas J. Cochran; Walter W. Ficker; Alfred A. Stricker; Walter von Kaenel |
| A vacuum pick up and transfer head adapted for handling flimsy sheets of material such as spacer sheet and uncured ceramic sheet commonly referred to as green sheet. The vacuum transfer head is of generally rectangular configuration having a sheet contacting lip having vacuum slots formed through the periphery thereof to hold the sheets in place by vacuum pressure. The center of the sheet contacting face is recessed whereby, with a sheet in place and acting as a diaphragm, a central vacuum chamber is also defined. A series of check valves are provided to control application of vacuum and positive pressure to the green sheet for picking the sheet up, retaining it and stripping it. A plurality of probes are provided in the handling head, adapted to selectively project through the sheet contacting surface for detecting green sheet and/or spacer sheet utilized inbetween layers of green sheet. These probes also can act as positive strippers when the head enters a green sheet spacer tray in the process of removing a sheet of spacer or green sheet. | ||||||
| 3 | GRIPPING APPARATUS | US14807509 | 2015-07-23 | US20160029437A1 | 2016-01-28 | Yannis GROHMANN; Fabian ZACHARIAS |
| A gripping apparatus is disclosed for gripping and holding electrically conductive, textile materials. The gripping apparatus includes a gripping device which has a gripping face for gripping and holding the textile material. With the aid of an electrical contact device, electrodes can be brought into contact with the textile material in order to bring about a current flow in the textile material. | ||||||
| 4 | Object manipulator robot device | US09540300 | 2000-03-31 | US06431622B1 | 2002-08-13 | Yves Depeursinge; Pierre-Marcel Genequand; Mario El-Khoury; R{overscore (e)}my Hoehener; Jean-Bernard Michel |
| An object manipulator robot device includes a pick-up member made from a thermally conductive material and having at least one surface of contact with the object to be picked up, a system for cooling the pick-up member to freeze the interface between the member and the object, thereby fastening them together, including a local system for cooling the pick-up member directly and a peripheral system for cooling the local system, a system for heating the member to liquefy the interface, thereby releasing the object, and a control system for the cooling and heating systems. The local cooling system includes a pair of local cooling elements mounted on respective opposite sides of the pick-up member and the peripheral cooling system includes a pair of peripheral cooling elements connected to the local cooling elements by arms made from a material of high thermal conductivity, such as copper. | ||||||
| 5 | Transformable Adaptive Gripper System | US13882096 | 2011-10-21 | US20140292010A1 | 2014-10-02 | Robert Graupner; Klaus Drechsler; Stefan Schmitt; Jakob Wölling |
| An end effector that includes: a flexible container which contains a filler, wherein the filler is switchable between a flowable or deformable state and a rigid or dimensionally stable state, and one or more working elements for gripping, temperature regulation and/or compaction. | ||||||
| 6 | Apparatus and Method for Handling Humid Products | US11666591 | 2005-10-28 | US20080152473A1 | 2008-06-26 | Jan O. Buljo; Reidar Hovtun; Kjell Fenheim |
| The present invention concerns an apparatus for handling humid products. The apparatus includes a thermal face (1) with a cooled area (9) over at least a part of the face (1). At least one release element (2) is connected to the apparatus and includes at least one release shear. The release element (2) with the release shear is moveably provided in relation to the cooled area (9). Furthermore a method for handling humid products is described. | ||||||
| 7 | Freeze holding device and process | US153378 | 1993-11-16 | US5452932A | 1995-09-26 | David Griffin |
| A gripping device for grasping and releasing articles by freezing and thawing water between a gripping surface and the article. The device includes a base plate, a mesh like gripping surface, a water passage to the gripping surface, a freezing element for freezing the water and bonding the gripping surface to the article and a thawing element for melting the frozen bond for releasing the article. The cooling and thawing elements use semi-circular tubing extending from the base plate and adjacent the gripping surface, through which are introduced a coolant for freezing the water and a heated liquid for thawing. Upon movement of the water via an atomizer to the gripping surface, coolant is introduced into the tubing to freeze the same. Upon freezing, the article and gripping surface become bonded. To release the article, the heated fluid is moved through the tubing so as to thaw the frozen bond. | ||||||
| 8 | Dispositif pour robot de manipulation d'objets et procédé appliqué à ce dispositif | EP00400884.3 | 2000-03-30 | EP1043114A1 | 2000-10-11 | Depeursinge, Yves; Genequand, Pierre-Marcel; El-Khoury, Mario; Hoehener, Rémy; Michel, Jean-Bernard |
Ce dispositif, comprenant:
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| 9 | Vakuumkopf für flache, dünne Werkstücke | EP78101642.3 | 1978-12-12 | EP0002516A1 | 1979-06-27 | Buchmann, Albert Henry; Cochran, Thomas John; Ficker, Walter William; Stricker, Alfred Alois; von Kaenel, Walter |
Der Vakuumkopf (10) für flache, dünne Werkstücke, z. B. Platten, Folienelemente und dergl., weist eine an seiner Unterseite peripher verlaufende Anlagefläche (24) auf, die über Drosselbohrungen mit einer als Vakuumkammer dienenden Hauptkammer verbunden ist. Die Anlagefläche (24) schließt einen zentralen Bereich ein, der etwas zurückgesetzt ist und somit eine abgeschlossende Kammer bildet, wenn an der Anlagefläche (24) ein ebenes Werkstück unter Vakuum anliegt. Aus der Anlagefläche (24) ragen bewegliche Fühlstifte heraus, die zur Identifizierung des Werkstücks jeweils nur von denjenigen Werkstücken betätigt werden, welche an den zugeordneten Positionen kein Loch aufweisen. |
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| 10 | Apparatus and method for handling the moist product | JP2007538847 | 2005-10-28 | JP2008517623A | 2008-05-29 | フェンハイム，キエル; オー． ブルヨ，ヤン; ホブトゥン，レイダール |
| The present invention concerns an apparatus for handling humid products. The apparatus includes a thermal face ( 1 ) with a cooled area ( 9 ) over at least a part of the face ( 1 ). At least one release element ( 2 ) is connected to the apparatus and includes at least one release shear. The release element ( 2 ) with the release shear is moveably provided in relation to the cooled area ( 9 ). Furthermore a method for handling humid products is described. | ||||||
| 11 | JPS5545456B2 - | JP14056078 | 1978-11-16 | JPS5545456B2 | 1980-11-18 | |
| A vacuum pick up and transfer head adapted for handling flimsy sheets of material such as spacer sheet and uncured ceramic sheet commonly referred to as green sheet. The vacuum transfer head is of generally rectangular configuration having a sheet contacting lip having vacuum slots formed through the periphery thereof to hold the sheets in place by vacuum pressure. The center of the sheet contacting face is recessed whereby, with a sheet in place and acting as a diaphragm, a central vacuum chamber is also defined. A series of check valves are provided to control application of vacuum and positive pressure to the green sheet for picking the sheet up, retaining it and stripping it. A plurality of probes are provided in the handling head, adapted to selectively project through the sheet contacting surface for detecting green sheet and/or spacer sheet utilized inbetween layers of green sheet. These probes also can act as positive strippers when the head enters a green sheet spacer tray in the process of removing a sheet of spacer or green sheet. | ||||||
| 12 | Vacuummtype pickup and transfer head | JP14056078 | 1978-11-16 | JPS5483273A | 1979-07-03 | ARUBAATO HENRII BUUKUMAN; TOOMASU JIYON KOKURAN; UORUTAA UIRIAMU FUITSUKAA; ARUFURETSUDO AROISU SUTORITSUK; UORUTAA FUON KAANERU |
| A vacuum pick up and transfer head adapted for handling flimsy sheets of material such as spacer sheet and uncured ceramic sheet commonly referred to as green sheet. The vacuum transfer head is of generally rectangular configuration having a sheet contacting lip having vacuum slots formed through the periphery thereof to hold the sheets in place by vacuum pressure. The center of the sheet contacting face is recessed whereby, with a sheet in place and acting as a diaphragm, a central vacuum chamber is also defined. A series of check valves are provided to control application of vacuum and positive pressure to the green sheet for picking the sheet up, retaining it and stripping it. A plurality of probes are provided in the handling head, adapted to selectively project through the sheet contacting surface for detecting green sheet and/or spacer sheet utilized inbetween layers of green sheet. These probes also can act as positive strippers when the head enters a green sheet spacer tray in the process of removing a sheet of spacer or green sheet. | ||||||
| 13 | WANDELBARES ANPASSUNGSFÄHIGES GREIFERSYSTEM | EP11772988.9 | 2011-10-21 | EP2632654A1 | 2013-09-04 | GRAUPNER, Robert; DRECHSLER, Klaus; SCHMITT, Stefan; WÖLLING, Jakob |
| The invention relates to an end effector comprising a flexible container (1) which contains a filler that can be transformed between a free-flowing or deformable state and a rigid or shape-maintaining state, said end effector further comprising one or more operating elements for gripping, adjusting the temperature, and/or compacting. | ||||||
| 14 | Dispositif pour robot de manipulation d'objets et procédé appliqué à ce dispositif | EP00400884.3 | 2000-03-30 | EP1043114B1 | 2003-10-01 | Depeursinge, Yves; Genequand, Pierre-Marcel; El-Khoury, Mario; Hoehener, Rémy; Michel, Jean-Bernard |
| 15 | Vakuumkopf für flache, dünne Werkstücke | EP78101642.3 | 1978-12-12 | EP0002516B1 | 1982-09-15 | Buchmann, Albert Henry; Cochran, Thomas John; Ficker, Walter William; Stricker, Alfred Alois; von Kaenel, Walter |
| 16 | Device and method for gripping, transferring and actively releasing objects | EP13002210.6 | 2013-04-26 | EP2671692B1 | 2015-08-12 | Safaric, Riko; Lukman, David |
| 17 | WANDELBARES ANPASSUNGSFÄHIGES GREIFERSYSTEM | EP11772988.9 | 2011-10-21 | EP2632654B1 | 2015-06-10 | GRAUPNER, Robert; DRECHSLER, Klaus; SCHMITT, Stefan; WÖLLING, Jakob |
| 18 | Device and method for gripping, transferring and actively releasing objects | EP13002210.6 | 2013-04-26 | EP2671692A1 | 2013-12-11 | Safaric Riko; Lukman David |
A device (1) and the method of the invention solve the problem of efficient gripping, transferring and actively releasing micro and nano objects, in which the gravitational force of an object is negligible in comparison with the van der Waals force between a surface and the object. The device (1) comprises a vacuum chamber (2), a manipulation device (7) with an arm, on which a one-finger gripper (8) with a tip (8b) is arranged, a table (10), cooling/heating bodies (9, 11) of the gripper and of the table, and a control unit. The method of the invention comprises gas suctioning from the vacuum chamber (2), water vapour supply to the vacuum chamber (2), bringing the tip (8b) of the gripper closer to the object to be transferred, cooling the tip to a temperature that lies in the diagram of the triple point of water close to the sublimation/deposition line at operating pressure (pd), transferring the object to a desired position, and heating the tip (8b) of the gripper to a temperature that lies in the diagram of the triple point of water to the right of the sublimation/deposition line at operating pressure (pd).
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| 19 | APPARATUS AND METHOD FOR HANDLING HUMID PRODUCTS | EP05799862.7 | 2005-10-28 | EP1812324A1 | 2007-08-01 | BULJO, Jan O.; HOVTUN, Reidar; FENHEIM, Kjell |
| The present invention concerns an apparatus for handling humid products. The apparatus includes a thermal face (1) with a cooled area (9) over at least a part of the face (1). At least one release element (2) is connected to the apparatus and includes at least one release shear. The release element (2) with the release shear is moveably provided in relation to the cooled area (9). Furthermore a method for handling humid products is described. | ||||||
| 20 | MR 유체를 이용한 그리퍼 및 그에 의한 물체 장악 제어 방법 | KR20160166692 | 2016-12-08 | KR20180066361A | 2018-06-19 | LEE HONG KI; BAEK DAE SUNG |
| 본발명은 MR 유체(Magneto Rheological fluid)를이용한그리퍼(gripper) 및그에의한물체장악제어방법에관한것으로서, 더욱상세하게는 MR 유체의성질을이용하여여러가지형태의물체, 또는형태가일정하지않은부정형물체등을효과적으로잡아서이동시킬수 있도록하기위한 MR 유체를이용한그리퍼및 그에의한물체장악제어방법에관한것이다. 본발명에의하면, 그립부에 MR 유체패키지(package)를구비하고이에자기장을가하는방식에의해, 다양한형태의물체에대하여, 그립부를해당물체의형태에최대한동일한형태로맞춤으로써물체를가장효과적으로하고, 안정되게이동시킬수 있도록하는그리퍼를제공한다. | ||||||
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