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公开(公告)号：US20170288502A1
公开(公告)日：2017-10-05
申请号：US15470959
申请日：2017-03-28
申请人： PHD, Inc.
CPC分类号： H02K7/1823 , F01B1/01 , F01B31/28 , F01N5/04 , F03B1/00 , F03B1/04 , F03B13/00 , F05B2220/602 , F05B2240/2411 , H02J7/0068 , Y02B10/50 , Y02E10/223
摘要： A fluid energy harvester, including a housing having at least one port and an outlet, and the housing defining at least one fluid passageway therein. The fluid energy harvester also includes a converter disposed within the housing and configured to convert at least a portion of potential energy in an exhaust fluid, a generator operably coupled to the converter and configured to generate an electrical current from the converter, a charging controller electrically coupled to the generator, and a storage medium electrically coupled to the generator and configured to store the electrical current generated by the generator. The fluid energy harvester further includes a nozzle configured to control a flow of the exhaust fluid.
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公开(公告)号：US08905452B2
公开(公告)日：2014-12-09
申请号：US13650238
申请日：2012-10-12
申请人： PHD, Inc.
发明人： Matthew R. Williams , Lyle A. Null
IPC分类号： B25J15/02
CPC分类号： B25B1/02 , B25B1/06 , B25B1/18 , B25B1/20 , B25J15/026
摘要： A gripper for gripping a workpiece includes a jaw assembly having an actuator with a housing and an elongate member axially slidably movable within the housing. A force-multiplying mechanism is interconnected between the elongate member and the housing. The force-multiplying mechanism is configured to add a mechanical force to the jaw assembly and thereby increase a gripping force on the workpiece during operation of the gripper.
摘要翻译： 用于夹持工件的夹具包括具有带壳体的致动器和在壳体内可轴向滑动地移动的细长构件的钳口组件。 力乘法机构在细长构件和壳体之间互连。 力乘法机构被配置为向夹爪组件增加机械力，从而在夹持器的操作期间增加工件上的夹紧力。
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公开(公告)号：US11312022B2
公开(公告)日：2022-04-26
申请号：US16430724
申请日：2019-06-04
申请人： PHD, Inc.
发明人： Matthew R. Williams
摘要： A gripper tooling including a gripper, at least one slider, and at least one tooling member configured for gripping a workpiece. Each tooling member including a base slideably mounted to the at least one slider, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, an adducting tendon having a proximal end attached to the at least one slider and a distal end attached to the distal segment, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment. The at least one tooling member is configured for autonomously gripping the workpiece as the at least one jaw moves toward the workpiece and the at least one tooling member autonomously returns to an ungripped position as the at least one jaw moves away from the workpiece.
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公开(公告)号：US09796096B2
公开(公告)日：2017-10-24
申请号：US15266314
申请日：2016-09-15
申请人： PHD, Inc.
发明人： Matthew R. Williams
CPC分类号： B25J15/026 , B25J9/08 , B25J15/0028 , B25J15/0408
摘要： A gripper for a robot has a gripper mechanism with a jaw motion input, and a motor speed reducer combination including a speed reducer and a motor. The speed reducer has a motion output. The gripper mechanism has a first pattern of mounting features arranged about the jaw motion input. The speed reducer has a second pattern of mounting features arranged about the motion output. The first pattern of mounting features and the second pattern of mounting features are arranged so that the motor reducer combination may be mounted to the gripper mechanism in at least four indexed positions about the motion output and the jaw motion input.
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公开(公告)号：US20240141927A1
公开(公告)日：2024-05-02
申请号：US18494021
申请日：2023-10-25
申请人： PHD, Inc.
发明人： Matthew R. Williams
CPC分类号： F15B15/065 , F15B15/1447 , F15B15/18 , F15B2215/30
摘要： A drive system includes: a remote drive configured for being driven by an electrical motor; and an actuator spaced apart from and fluidically coupled with the remote drive and configured for being fluidically powered by the remote drive.
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公开(公告)号：US20210197398A1
公开(公告)日：2021-07-01
申请号：US17094957
申请日：2020-11-11
申请人： PHD, Inc.
发明人： Matthew R. Williams
摘要： A gripper including a base, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, at least one actuator disposed within the base, an adducting tendon having a proximal end attached to the at least one actuator and a distal end attached to the distal segment, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment. The at least one middle segment and the distal segment are configured for gripping the workpiece as the at least one actuator moves in a first direction and ungripping the workpiece as the at least one actuator moves in a second direction which is opposite to the first direction.
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公开(公告)号：US10201904B2
公开(公告)日：2019-02-12
申请号：US15417678
申请日：2017-01-27
申请人： PHD, Inc.
摘要： A device for gripping an object that includes a main body having a first and a second endplate, a baseplate, at least one guide rail, and a first jaw and a second jaw, each receiving the at least one guide rail. The device also includes a first pulley assembly and a second pulley assembly respectively attached to the baseplate and a chain loop respectively attached to the first pulley assembly and the second pulley assembly. The chain loop includes a first chain length and a second chain length and a first link and a second link that attaches the first chain length and the second chain length. Each of the first link and second link include at least one dowel pin. The chain loop is attached to the first jaw and the second jaw by the at least one dowel pin of each of the first link and second link.
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公开(公告)号：US08894118B2
公开(公告)日：2014-11-25
申请号：US14049616
申请日：2013-10-09
申请人： PHD, Inc.
发明人： Lyle A. Null , Matthew R. Williams
CPC分类号： B25J15/0028 , B25J15/0293 , B25J15/086
摘要： A gripping device including a main body, a first elongate actuator, a second elongate actuator, a first jaw, a second jaw, a first pin, a second pin, a pair of pulleys, and a cable. The elongate actuators are both disposed in respective actuator bores within the main body and translate opposingly to each other. The jaws are both driven by a respective elongate actuator. The pins both include respective pin bodies defining a channel and are configured to drive their respective jaw by a respective elongate actuator and are disposed through transverse holes formed in the respective elongate actuator and a respective pin slot formed in the main body. The pulleys are attached to the main body. The cable forms a closed loop around the pulleys through the channels and is affixed to the first channel to inhibit relative movement between the first channel and the cable.
摘要翻译： 夹持装置，包括主体，第一细长致动器，第二细长致动器，第一钳口，第二钳口，第一销，第二销，一对滑轮和电缆。 细长致动器都设置在主体内的相应致动器孔中并且彼此相对地平移。 夹爪都由相应的细长致动器驱动。 销都包括限定通道的相应销体，并且构造成通过相应的细长致动器来驱动它们各自的钳口，并且通过形成在相应的细长致动器中的横向孔和形成在主体中的相应销槽设置。 皮带轮连接在主体上。 电缆通过通道形成围绕滑轮的闭环，并且固定到第一通道以阻止第一通道和电缆之间的相对运动。
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公开(公告)号：US11685056B2
公开(公告)日：2023-06-27
申请号：US17683756
申请日：2022-03-01
申请人： PHD, Inc.
发明人： Matthew R. Williams
CPC分类号： B25J15/0009 , B25J15/0233 , B25J15/0253 , B25J15/10
摘要： A gripper tooling includes: a gripper having a gripper body and an angular jaw; a rotor fixedly connected to the angular jaw; and a tooling member for gripping a workpiece, the tooling member including: a base pivotally connected to the rotor; a middle segment pivotally connected to the base; a distal segment pivotally connected to the middle segment; an adducting tendon having a proximal end attached to the rotor and a distal end attached to the distal segment, the rotor for rotating relative to the base and thereby for tensioning the adducting tendon; and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment such that the tooling member can autonomously grip the workpiece as the angular jaw rotates toward the workpiece and the tooling member autonomously returns to an ungripped position as the angular jaw rotates away from workpiece.
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公开(公告)号：US11648688B2
公开(公告)日：2023-05-16
申请号：US17681082
申请日：2022-02-25
申请人： PHD, Inc.
发明人： Matthew R. Williams
CPC分类号： B25J15/0009
摘要： A gripper for gripping a workpiece includes: a base; at least one middle segment pivotally connected to the base; a distal segment pivotally connected to the at least one middle segment; at least one actuator disposed within the base; an adducting tendon having a proximal end attached to the at least one actuator and a distal end attached to the distal segment, the at least one actuator being configured for linearly and nonrotationally moving the proximal end of the adducting tendon; and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment, wherein the middle segment and the distal segment are configured for gripping the workpiece as the at least one actuator moves in a first direction and ungripping the workpiece as the at least one actuator moves in a second direction which is opposite to the first direction.
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