公开(公告)号：US12090640B2

公开(公告)日：2024-09-17

申请号：US16600468

申请日：2019-10-12

申请人： Truebird, Inc.

发明人： Michael Hazen Knuepfel ,  Andrew William Lynch ,  Darian Montague Ahler ,  Jordan Ross Adelson

IPC分类号： B25J15/04 ,  A23F5/08 ,  A23F5/26 ,  A47J31/00 ,  A47J31/42 ,  A47J31/44 ,  A47J31/52 ,  A47J36/32 ,  A47J43/046 ,  A47J43/06 ,  A47J44/00 ,  B25J9/00 ,  B25J9/02 ,  B25J9/16 ,  B25J11/00 ,  B25J15/06 ,  G07F17/00 ,  A47J43/27

CPC分类号： B25J15/0441 ,  A23F5/08 ,  A23F5/26 ,  A47J31/42 ,  A47J31/4496 ,  A47J31/52 ,  A47J31/521 ,  A47J36/321 ,  A47J43/06 ,  A47J44/00 ,  B25J9/0009 ,  B25J9/023 ,  B25J9/1612 ,  B25J11/0045 ,  B25J15/0608 ,  G07F17/0071 ,  G07F17/0078 ,  A47J31/007 ,  A47J43/0465 ,  A47J43/27 ,  B25J9/026 ,  G05B2219/39065

摘要： Provided is a robot, including: a controller; a plurality of actuators mechanically coupled to an end-effector mount; a first set of end-effectors magnetically coupled to the end-effector mount; and a sensor adjacent an interface between at least some of the first set of end effectors and the end-effector mount, wherein: the end effectors are magnetically coupled to the end-effector mount with magnetic couplings that decouple in response to less than 200 Newtons of force being applied to distal portions of respective end effectors in a direction opposing movement of respective end effectors driven by at least some of the actuators, and the sensor is configured to output a signal indicative of a given end effector decoupling and indicate which end effector in the first decoupled.

公开(公告)号：US20240149468A1

公开(公告)日：2024-05-09

申请号：US18549824

申请日：2021-12-15

申请人： TORAY ENGINEERING CO., LTD.

发明人： Hiroto TANAKA ,  Kenji HAMAKAWA ,  Tomonori KAWAMURA

IPC分类号： B25J15/04 ,  B25J15/06

CPC分类号： B25J15/0441 ,  B25J15/0616

摘要： A collet replacement mechanism for replacing a collet of a pickup tool that is configured to pick up chip components by suction using the collet comprises an attachment configured to hold the collet on a bottom surface thereof, an attachment holder disposed at a lower part of the pickup tool and configured to hold an upper part of the attachment by magnetic force, and an attachment storage unit having a guide that is configured to latch the attachment to store the attachment, the attachment being detachable from the attachment holder in a state of being latched to the guide.

公开(公告)号：US20240131730A1

公开(公告)日：2024-04-25

申请号：US18379063

申请日：2023-10-10

申请人： ADVANTEST CORPORATION

发明人： Patrick Sherman ,  Don Wagner ,  Moritoshi Akiya

IPC分类号： B25J15/04 ,  B25J15/06 ,  B65G47/91

CPC分类号： B25J15/0441 ,  B25J15/0683 ,  B65G47/91

摘要： Embodiments of the present invention provide a magnetically retained replaceable contact plate assembly. The magnetically retained replaceable contact plate assembly includes a contact chuck interface. The contact chuck is configured to physically mate with a device under test (DUT). The magnetically retained replaceable contact plate assembly also includes a DUT layout unit interface (DLU). The DLU is configured to couple to multiple magnetically retained replaceable contact plate assemblies and to a semiconductor handler unit. The DLU is configured to move DUTs within a test environment, and the magnetically retained replaceable contact plate assembly is configured to magnetically attach to said DLU.

公开(公告)号：US20240109203A1

公开(公告)日：2024-04-04

申请号：US18526248

申请日：2023-12-01

申请人： XYZ Robotics Global Inc.

发明人： Kuan-Ting Yu ,  Shao-Yu Chen

IPC分类号： B25J15/04

CPC分类号： B25J15/0441 ,  B25J15/0491

摘要： End effector tool changers for a robotic system are disclosed. The end effector tool changer is physically compact, mechanically robust, has high radial strength, prevents undesirable rotations, uses minimal sensory input, is suitable for a wide variety of tools, and operates quickly. The end effector tool changer includes a robotic arm attachment portion, including a first magnetic part and a plurality of first engagement parts, and a tool attachment portion, including a second magnetic part and a plurality of second engagement parts, where the plurality of first engagement parts is configured to engage with the plurality of second engagement parts, each of the plurality of first engagement parts and each of the plurality of second engagement parts are selected from the group consisting of a pin and a pin groove, and the first magnetic part spatially and magnetically corresponds to the second magnetic part.

公开(公告)号：US20240109202A1

公开(公告)日：2024-04-04

申请号：US18265168

申请日：2021-12-21

申请人： FANUC CORPORATION

发明人： Itsuki YAMADA ,  Yoshitake FURUYA

IPC分类号： B25J15/04 ,  B25J15/06 ,  B25J19/00

CPC分类号： B25J15/0441 ,  B25J15/0616 ,  B25J19/0075

摘要： An end effector attachment apparatus is an apparatus to be attached to an end effector of a robot. The end effector attachment apparatus includes a base plate, a mount plate on which the end effector is mounted, an attraction mechanism for attracting the mount plate to the base plate, and a bellows coupling the mount plate to the base plate. The front and rear edges of the bellows are sealed to the base plate and the mount plate to secure a sealed space inside the bellows.

公开(公告)号：US11865707B2

公开(公告)日：2024-01-09

申请号：US16940554

申请日：2020-07-28

申请人： Nimble Robotics, Inc.

发明人： Simon Kalouche

IPC分类号： B65G1/137 ,  B65G1/04 ,  B65G1/06 ,  B25J5/02 ,  B25J15/06 ,  B25J19/00 ,  B25J9/04 ,  B25J17/02 ,  B25J13/08 ,  B25J9/16 ,  B60M1/30 ,  B25J5/00 ,  B25J9/14 ,  B25J19/04 ,  B25J15/04 ,  B25J15/02 ,  B65G47/91 ,  B25J13/00 ,  B25J15/00 ,  B25J19/02

CPC分类号： B25J5/007 ,  B25J5/02 ,  B25J9/042 ,  B25J9/14 ,  B25J9/161 ,  B25J9/162 ,  B25J9/163 ,  B25J9/1612 ,  B25J9/1689 ,  B25J9/1697 ,  B25J13/00 ,  B25J13/006 ,  B25J13/08 ,  B25J13/089 ,  B25J15/0061 ,  B25J15/02 ,  B25J15/0441 ,  B25J15/0616 ,  B25J15/0625 ,  B25J17/02 ,  B25J19/005 ,  B25J19/0025 ,  B25J19/02 ,  B25J19/021 ,  B25J19/04 ,  B60M1/30 ,  B65G1/0464 ,  B65G1/0478 ,  B65G1/065 ,  B65G1/1373 ,  B65G1/1375 ,  B65G47/917 ,  B65G47/918 ,  B65G2203/041 ,  B65G2203/042 ,  B65G2209/04

摘要： A mobile manipulator robot for retrieving inventory items from a storage system. The robot includes a body, a wheel assembly, a sensor to locate a position of the robot within the storage system, an interface configured to send processor readable data to a remote processor and to an operator interface, and receive processor executable instructions from the remote processor and from the operator interface, an imaging device to capture images of the inventory items, a picking manipulator, first and second pneumatic gripping elements for grasping the inventory items, and a coupler configured to mate with a valve to access a pneumatic supply for operating at least one of the first or second pneumatic gripping elements. The robot is configured to transition the valve from a closed condition to an open condition and selectively place one of the first or the second pneumatic gripping elements in communication with the pneumatic supply.

公开(公告)号：US11865700B2

公开(公告)日：2024-01-09

申请号：US16523245

申请日：2019-07-26

申请人： Berkshire Grey Operating Company, Inc.

发明人： Thomas Wagner ,  John Richard Amend, Jr. ,  William Farmer ,  Andrew Gauthier ,  Victoria Hinchey ,  Kyle Maroney ,  Matthew T. Mason ,  Richard Musgrave ,  Samuel Naseef ,  Thomas Allen

IPC分类号： B25J15/04

CPC分类号： B25J15/0408 ,  B25J15/0441 ,  B25J15/0491 ,  G05B2219/39468

摘要： A method is disclosed of changing a tool on a programmable motion device. The method includes the steps of moving an attachment portion of an end effector of the programmable motion device in a continuous motion; while the attachment portion of the end effector moves in the continuous motion, engaging one of: the attachment portion of the end effector with the tool, or the tool attached to the attachment portion of the end effector with an exchange system, and continuing to move the attachment portion of the end effector in the continuous motion to change a connection status of the attachment portion of the end effector while the attachment portion of the end effector moves in the continuous motion.

公开(公告)号：US20230356412A1

公开(公告)日：2023-11-09

申请号：US18351346

申请日：2023-07-12

申请人： Mid Atlantic Machinery

发明人： Joshua C. Mayse

IPC分类号： B25J15/06 ,  B25J15/00 ,  B25J15/04

CPC分类号： B25J15/0616 ,  B25J15/0061 ,  B25J15/0028 ,  B25J15/0441

摘要： A gripper head is for a robotic gripping system. The gripper head body has an attachment section and a tool section defining an attachment region for a tool. The attachment section is configured to attach the gripper head body to a mount of a robot. The gripper head body has a first port at the attachment section and a second port at the tool section. The gripper head body defines an internal channel mutually connecting the first port and the second port. The internal channel is configured to pass air between the first port at the attachment section and the second port at the tool section.

公开(公告)号：US20160052146A1

公开(公告)日：2016-02-25

申请号：US14749708

申请日：2015-06-25

申请人： ATI Industrial Automation, Inc.

发明人： William G. Berrocal ,  Mack Earl Manning

IPC分类号： B25J15/04 ,  B23Q3/155 ,  B23B31/30

CPC分类号： B25J15/0441 ,  B23B31/30 ,  B23Q3/1552 ,  B25J15/0416 ,  B25J15/0491

摘要： A robotic tool changer ensures inherently safe operation by separating power sources for the “couple” and “decouple” operations of its coupling mechanism. The power for the decouple operation is available only when an attached robotic tool is safely disposed in its tool stand. Once the robotic tool leaves the tool stand, there is no power supplied to the coupling mechanism of the robotic tool changer to decouple the robotic tool from a robot arm. Accordingly, it is impossible for the robotic tool to inadvertently become disengaged from the robot arm—even if software were to erroneously assert a DECOUPLE signal, or otherwise initiate a decouple operation. Furthermore, since the design is inherently safe, neither interlock circuits, the redundancy of such circuits, nor the extensive and complex monitoring circuits necessary to ensure their proper operation, are necessary.

摘要翻译： 机器人换刀器通过分离其联接机构的“耦合”和“去耦”操作的电源来确保本质安全的操作。 只有当连接的机器人工具安全地放置在其工具架上时，解耦操作的电源才可用。 一旦机器人工具离开工具架，则没有电源供给机器人工具更换器的联接机构，以将机器人工具与机器人手臂分离。 因此，机器人工具不可能无意中脱离机器人臂 - 即使软件错误地声明了DECOUPLE信号，或者以其他方式启动解耦操作。 此外，由于设计本质上是安全的，所以不需要互锁电路，这种电路的冗余以及确保其正常工作所必需的广泛和复杂的监控电路。

公开(公告)号：US20140360305A1

公开(公告)日：2014-12-11

申请号：US14299082

申请日：2014-06-09

申请人： The Johns Hopkins University

发明人： Kevin Olds ,  Russell H. Taylor

IPC分类号： B25J15/00 ,  B23B31/02

CPC分类号： B25J15/0019 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2017/00876 ,  B23B31/28 ,  B25J15/0441 ,  Y10S901/41 ,  Y10T74/20305 ,  Y10T279/23

摘要： The present invention is directed to a tool holder for use with a surgical robot. The tool holder includes, a rotor fixed to the tool shaft, and a stator fixed to the robot. The stator includes a magnet, and a bearing surface. The rotor includes a magnetic material that attaches securely to the tool shaft, such that the tool is in the center of the rotor. The rotor rotates against the bearing surface on the stator, allowing the tool to rotate about its axis. To exchange tools, the user exerts force on the tool until the holding force of the magnet is exceeded and the tool detaches from the stator. A new tool is introduced into the vicinity of the stator such that the magnet attracts the magnetic material on the rotor. The present invention eliminates the need to slide the tool through a shaft of the tool holder.

摘要翻译： 本发明涉及一种与外科手术机器人一起使用的刀架。 工具架包括固定在工具轴上的转子和固定在机器人上的定子。 定子包括磁体和支承面。 转子包括牢固地附接到工具轴的磁性材料，使得工具位于转子的中心。 转子抵靠定子上的支承表面旋转，允许工具绕其轴线旋转。 为了更换工具，用户对工具施加力，直到超过磁体的保持力，并且工具与定子分离。 将新工具引入定子附近，使得磁体吸引转子上的磁性材料。 本发明消除了将刀具滑过刀架的轴的需要。