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    GRIPPER ARRANGEMENT AND MANIPULATOR HAVING A GRIPPER ARRANGEMENT
    3.
    发明公开
    GRIPPER ARRANGEMENT AND MANIPULATOR HAVING A GRIPPER ARRANGEMENT 审中-公开

    公开(公告)号：US20230415358A1

    公开(公告)日：2023-12-28

    申请号：US18035560

    申请日：2021-11-17

    申请人： TRUMPF Maschinen Austria GmbH & Co. KG.

    发明人： Roberto VERONESE ,  Giovanni VIDOTTO

    IPC分类号： B25J15/06

    CPC分类号： B25J15/06

    摘要： A gripping arrangement for gripping, holding and placing down workpieces, and a manipulator having a gripping arrangement, includes a connection interface for attachment to a manipulator and a pincer gripper with two pincer arms movable relative to one another by a pincer drive. In their closed position, the arms define a clamping plane extending therebetween and a longitudinal pincer axis extending parallel to the arms and in the clamping plane. An adhesion gripper having at least one vacuum or magnetic gripping element includes a plane of adhesive action for holding a workpiece, and is displaceable along an adjustment axis toward the longitudinal pincer axis relative to the pincer gripper between working and stand-by zones by an adjustment drive. The clamping plane and the plane of adhesive action are orthogonal to one another and the plane of adhesive action extends orthogonally to the longitudinal pincer axis.

    System and method for automatic picking of products in a materials handling facility
    5.
    发明授权
    System and method for automatic picking of products in a materials handling facility 有权
    在物料搬运设施中自动采摘产品的系统和方法

    公开(公告)号：US09486926B2

    公开(公告)日：2016-11-08

    申请号：US14378300

    申请日：2012-02-21

    申请人： Yasushi Kawano

    发明人： Yasushi Kawano

    IPC分类号： B25J15/08 ,  B65G43/08 ,  G06Q10/08 ,  B65G1/137 ,  G06Q50/28 ,  B25J9/16 ,  B25J15/00 ,  B25J15/06

    CPC分类号： B25J15/08 ,  B25J9/1669 ,  B25J9/1679 ,  B25J15/0009 ,  B25J15/06 ,  B25J15/0616 ,  B65G1/1373 ,  B65G43/08 ,  G05B2219/35464 ,  G05B2219/40113 ,  G06Q10/087 ,  G06Q50/28

    摘要： Systems and computer-implemented methods are provided for automatically picking up items or products in a materials handling facility. In one embodiment, a system includes a first sensor; a conveyor; a robotic hand including multiple digits, each digit having one or more suction cups attached thereto; a memory; and one or more processors, which are all coupled together. The memory includes program instructions executable by the one or more processors to implement a pick process component configured to: (i) receive sensed information of an item or product delivered on the conveyor from the first sensor; (ii) generate a pick plan comprising processor-executable instructions to control the robotic hand to pick up the item or product; and (iii) control the robotic hand to pick up the item or product from the conveyor by executing the generated pick plan, while selectively activating the one or more suction cups.

    摘要翻译： 提供了系统和计算机实现的方法来自动拾取物料处理设备中的物品或产品。 在一个实施例中，系统包括第一传感器; 输送机 包括多位的机器人手，每个数字具有连接到其上的一个或多个吸盘; 记忆 以及一个或多个处理器，它们都被耦合在一起。 存储器包括可由一个或多个处理器执行的程序指令，以实现拾取处理组件，其被配置为：（i）从第一传感器接收在传送器上传送的物品或产品的感测信息; （ii）生成包括处理器可执行指令的拾取计划，以控制机器人手拾取物品或产品; 以及（iii）通过执行生成的拾取计划来控制机器人手从输送机拾取物品或产品，同时选择性地启动一个或多个吸盘。

    LIFTER CUPS
    8.
    发明申请
    LIFTER CUPS 有权
    起重机

    公开(公告)号：US20150314457A1

    公开(公告)日：2015-11-05

    申请号：US14695637

    申请日：2015-04-24

    申请人： William Moore ,  John Earle

    发明人： William Moore ,  John Earle

    IPC分类号： B25J15/06 ,  B21D43/00 ,  B25J11/00

    CPC分类号： B25J15/0683 ,  B21D37/08 ,  B21D43/003 ,  B21D43/05 ,  B21D43/18 ,  B21D45/02 ,  B25J11/00 ,  B25J15/06 ,  B25J15/0608 ,  F16B47/00 ,  F16B2001/0035 ,  Y10T29/49828

    摘要： Lifter cups are provided for engaging and lifting objects and include a mounting portion and a flexible engaging portion. The flexible engaging portion is configured to form a sealing disk for engaging the object. The sealing disk has channels diffusing fluid from the contact surface with the object. The channel walls have raised portions separated by concentric slits. For handling objects of magnetic material, a permanent magnet may be recessed into the flexible engaging portion. When the sealing disk engages with the surface of the object, the magnet exerts a magnetic force on the object sufficient to support holding the object for additional lateral support when lifting away from the center of gravity of the object. A transfer assembly and a method of configuring a lifter device for use in a stamping process for manufacturing a vehicle are also provided.

    摘要翻译： 提升器杯用于接合和提升物体，并且包括安装部分和柔性接合部分。 柔性接合部构造成形成用于接合物体的密封盘。 密封盘具有从与物体的接触表面扩散流体的通道。 通道壁具有由同心狭缝分开的凸起部分。 为了处理磁性材料的物体，永磁体可以凹进到柔性接合部分中。 当密封盘与物体的表面接合时，磁体对物体施加足够的力量，以便在远离物体的重心离开时支撑保持物体以用于另外的侧向支撑。 还提供了一种传送组件和一种配置用于制造车辆的冲压过程中的升降机装置的方法。

    Robot control method, robot control device, robot, and robot system
    9.
    发明授权
    Robot control method, robot control device, robot, and robot system 有权
    机器人控制方法，机器人控制装置，机器人和机器人系统

    公开(公告)号：US09102059B2

    公开(公告)日：2015-08-11

    申请号：US14161990

    申请日：2014-01-23

    申请人： Seiko Epson Corporation

    发明人： Takashi Nammoto ,  Kazuhiro Kosuge ,  Kengo Yamaguchi ,  Yasuhisa Hirata

    IPC分类号： B25J9/16 ,  B25J15/06

    CPC分类号： B25J9/1653 ,  B25J9/1612 ,  B25J15/06 ,  G05B2219/39478 ,  G05B2219/39505 ,  G05B2219/39514 ,  G05B2219/39536 ,  G05B2219/39542

    摘要： A robot control method includes a first step of selecting a holding form in which a robot holds an object and a second step of determining whether the object can continue to be stably held when a predetermined external force is applied to the object in the selected holding form. In the second step, it is determined that the object can continue to be stably held when a force which should be generated by a contact portion to generate resistance to the predetermined external force is included in a friction cone of a force generated by driving the contact portion and enlarged by a suction force from the suction mechanism.

    摘要翻译： 机器人控制方法包括：第一步骤，选择机器人保持物体的保持形式;以及第二步骤，当以所选择的保持形式向对象施加预定的外力时，确定对象是否可以继续稳定地保持 。 在第二步骤中，当通过由接触部分产生的产生对预定外力的阻力的力被包括在通过驱动接触产生的力的摩擦锥中时，物体可以继续稳定地保持 并且通过来自抽吸机构的抽吸力而扩大。

    Multi-shaft linear motor and component transfer apparatus
    10.
    发明授权
    Multi-shaft linear motor and component transfer apparatus 有权
    多轴直线电机和部件传送装置

    公开(公告)号：US08878399B2

    公开(公告)日：2014-11-04

    申请号：US12812383

    申请日：2009-01-09

    申请人： Naoki Hanamura ,  Kiyotaka Sakai

    发明人： Naoki Hanamura ,  Kiyotaka Sakai

    IPC分类号： H02K41/02 ,  H02K11/00 ,  H02K41/03 ,  H05K13/04 ,  H02K5/04 ,  H02K16/00 ,  B25J15/06 ,  H02K1/28 ,  H02K1/18

    CPC分类号： H02K11/21 ,  B25J15/06 ,  H02K1/18 ,  H02K1/28 ,  H02K5/04 ,  H02K11/01 ,  H02K11/215 ,  H02K16/00 ,  H02K41/031 ,  H02K2213/12 ,  H05K13/0408 ,  H05K13/0409

    摘要： A multi-shaft linear motor formed by a plurality of single-shaft linear motors is disclosed. Each of the single-shaft linear motors is provided with a magnetic body and an armature. Each of the single-shaft linear motors includes a base plate. The base plate has a base surface defining the moving direction, wherein the stator is fixed onto the base surface along the moving direction, and the mover is attached onto the base surface in a movable manner reciprocating along the moving direction and in opposed relation to the stator. The single-shaft linear motors are stacked in a stacking direction perpendicular to the base surface in such a way that the single-shaft linear motors are individually detachable as a unit, the base plate thereof contains the stator and the mover.

    摘要翻译： 公开了由多个单轴线性电动机形成的多轴线性电动机。 每个单轴线性电动机都设有磁体和电枢。 单轴线性电动机中的每一个包括基板。 基板具有限定移动方向的基部表面，其中定子沿着移动方向固定在基座表面上，并且可动件以可移动方式附接到基座表面上，该移动方向沿着移动方向往复运动并且与 定子。 单轴线性电动机以垂直于基面的堆叠方向堆叠，使得单轴线性电动机能够单独地分离，其基板包含定子和动子。