公开(公告)号：US06572164B2

公开(公告)日：2003-06-03

申请号：US09884995

申请日：2001-06-21

申请人： Takao Murakami ,  Yoshitsugu Sawada

发明人： Takao Murakami ,  Yoshitsugu Sawada

IPC分类号： B25J1508

CPC分类号： B25J15/0004 ,  B23Q7/043 ,  Y10S294/902

摘要： A positional displacement absorbing structure for absorbing the positional displacement of an article 21 clamped by a pair of robot arms 22, 22 is provided. The pair of the robot arms include recesses 32, 33 on their faces 31, 31 opposed to the article. The article 21 includes projections 25, 26 on its side faces 24, 24 opposed to the pair of the robot arms 22, 22. The projections 25, 26 are adapted to be respectively engaged in the recesses 32, 33. Each of the projections 25, 26 is formed with a pair of inclined faces 27, 27, 28, 28 with which circumferential edges 34, 35 of the recesses 32, 33 are adapted to slidably contact.

公开(公告)号：US06530616B1

公开(公告)日：2003-03-11

申请号：US09875656

申请日：2001-06-06

申请人： Bruce D. McIntosh ,  Kenneth A. Steele

发明人： Bruce D. McIntosh ,  Kenneth A. Steele

IPC分类号： B25J1508

CPC分类号： B25B5/087 ,  B25B5/16 ,  B25J15/0226 ,  Y10S294/907

摘要： A parts gripper having a continuity switch to determine the presence of a part or workpiece held between the jaws of a parts gripper comprising a parts gripper having a yoke, a pair of jaw members, a pivot pin, a cover plate, a side impact plate, and an electrical lead conductively connected to the first attachment portion of the pivot pin. The pivot pin is conductively connected to the jaw members and connects the jaw members to the yoke of the gripper body. The pivot pin includes a shaft, a neck portion, a stepped portion, and a first attachment portion. The shaft connects the jaw members to the yoke. The cover plate has a keyed through-hole for mating with the neck portion of the pivot pin. The side impact plate has a slot for mating with the stepped portion of the pivot pin to prevent the pivot pin from rotating.

摘要翻译： 具有连续性开关的部件夹持器，用于确定保持在部件夹持器的夹爪之间的部件或工件的存在，其包括具有轭的零件夹持器，一对夹爪构件，枢轴销，盖板，侧面冲击板 以及导电地连接到枢轴销的第一附接部分的电引线。 枢轴销与钳口构件导电连接，并将钳口构件连接到夹持器本体的轭。 枢轴销包括轴，颈部，阶梯部和第一附接部。 轴将钳口构件连接到轭。 盖板具有用于与枢轴销的颈部配合的带键的通孔。 侧面冲击板具有用于与枢转销的台阶部分配合的槽，以防止枢转销旋转。

公开(公告)号：US06467826B2

公开(公告)日：2002-10-22

申请号：US09733260

申请日：2000-12-08

申请人： Karl-Otto Strömberg ,  Hans Hellman ,  Dan Holm ,  Peter Fröberg

发明人： Karl-Otto Strömberg ,  Hans Hellman ,  Dan Holm ,  Peter Fröberg

IPC分类号： B25J1508

CPC分类号： B21J15/10 ,  B23Q1/01 ,  Y10S294/902

摘要： An essentially C-shaped tool holder (10), preferably having a long inner edge, which holder at its free shank ends can carry a tool such as a riveting, glueing or welding unit. The holder (10) comprises a truss or frame work which includes an outer and an inner C-shaped frame (11, 23) and a plurality of slewing brackets (27-32) connected to the C-shaped frames. The frames (11, 23) and the slewing brackets (27-32) are arranged to form a number of connected triangular sections, defined by connection points 18-22, 37) which are designed as intersections or joints. The outer C-shaped frame (11) is arranged to support only thrust forces; the inner frame (23) is arranged to support thrust and tensile forces, and the slewing brackets (27-32) are arranged substantially to support tensile forces.

摘要翻译： 基本上为C形的工具架（10），优选地具有长的内边缘，在其自由柄端部处的该保持件可承载诸如铆接，胶合或焊接单元的工具。 保持器（10）包括桁架或框架工件，其包括外部和内部C形框架（11,23）和连接到C形框架的多个回转支架（27-32）。 框架（11,23）和回转支架（27-32）被布置成形成由连接点18-22,37限定的多个连接的三角形部分，连接点被设计为交叉点或关节。 外C形框架（11）布置成仅支撑推力; 内框架（23）被布置成支撑推力和拉力，并且回转托架（27-32）基本上被布置成支撑张力。

公开(公告)号：US06234550B1

公开(公告)日：2001-05-22

申请号：US09274420

申请日：1999-03-22

申请人： Karl-Wilhelm Stoltenhoff ,  Uwe Schatz ,  Christian Von Schneidemesser

发明人： Karl-Wilhelm Stoltenhoff ,  Uwe Schatz ,  Christian Von Schneidemesser

IPC分类号： B25J1508

CPC分类号： B65G1/0435 ,  Y10S294/902

摘要： Apparatus for retrieving and depositing a load, in particular to and from racks, includes a pair of elongated guides in parallel relationship and a grabbing device having at least two grippers movably guided in the elongated guides for traveling in a horizontal plane in an operating direction from a ready position into an operative position in which the grippers are positioned on both sides of the load substantially parallel to the sides of the load. Each of the grippers has at least one plate-shaped gripping area, with the gripping area of one gripper confronting the gripping area of the other gripper, and with the gripping areas of the grippers extending parallel to one another. Operatively connected to the elongated guides is a force-applying unit for moving the guides in synchronism relative to one another to thereby urge the grippers against the sides of the load.

摘要翻译： 用于检索和沉积负载，特别是与架子一起的装置包括平行关系的一对细长引导件，以及具有至少两个夹持器的抓取装置，所述至少两个夹持器在细长引导件中可移动地被引导以在水平面中沿着操作方向行进 准备位置进入操作位置，其中夹具位于基本上平行于负载的侧面的负载的两侧。 每个夹持器具有至少一个板状夹持区域，一个夹持器的夹持区域面对另一个夹持器的抓握区域，并且夹持器的夹持区域彼此平行延伸。 操作地连接到细长引导件的是力施加单元，用于相对于彼此同步地移动引导件，从而将夹具推压抵靠负载的侧面。

公开(公告)号：US06186570B1

公开(公告)日：2001-02-13

申请号：US09333393

申请日：1999-06-15

申请人： Albrecht T. Trenner ,  Christian Wullschleger

发明人： Albrecht T. Trenner ,  Christian Wullschleger

IPC分类号： B25J1508

CPC分类号： B25J15/028 ,  B25J15/0273

摘要： The gripping device includes two gripper jaws operative to hold gripping elements thereon, a drive operative to move the gripper jaws, a housing for the gripper jaws, and at least one channel having channel walls. The gripper jaws are arranged in the channel such that they can move parallel to each other.

摘要翻译： 夹持装置包括两个夹爪，其操作用于将夹持元件保持在其上，用于移动夹爪的驱动器，用于夹爪的壳体以及具有通道壁的至少一个通道。 夹具夹爪布置在通道中，使得它们可以彼此平行地移动。

公开(公告)号：US06394521B1

公开(公告)日：2002-05-28

申请号：US09522740

申请日：2000-03-10

申请人： Millo Bertini

发明人： Millo Bertini

IPC分类号： B25J1508

CPC分类号： B25J15/0273 ,  B25J15/026

摘要： A gripper having a housing containing a piston and cylinder assembly and a pair of pinion gears rotatably journalled therein to oscillate in opposite directions. The housing is provided with a cruciform shaped guide way for accommodating a pair of finger carriers having a complementary cruciform shaped cross section slidably disposed within the guide way. A toggle arrangement including a cross-link connected to the piston and opposed connecting links interconnects the piston rod to the corresponding pinion gears so that, as the connecting links distend and extend upon the actuating of the piston, it results in reciprocation of the finger carriers to impart an enhanced closing force on the finger carriers in moving toward the closed position. Guide pins connected to the cross link and riding in slots on a cover plate enhance repeatability.

摘要翻译： 具有壳体的夹持器包括活塞和气缸组件以及一对可旋转地安装在其中以相反方向摆动的小齿轮。 壳体设置有十字形引导方式，用于容纳具有可滑动地设置在引导方式内的互补十字形截面的一对手指托架。 包括连接到活塞和相对的连接链节的交叉连杆的肘节装置将活塞杆与相应的小齿轮相互连接，使得随着连接杆在活塞的致动时膨胀和延伸，其导致手指载体的往复运动 以在手指托架上朝向关闭位置移动时施加增强的关闭力。 连接到交叉连接器并且穿过盖板上的插槽的导销提高了重复性。

公开(公告)号：US06334641B1

公开(公告)日：2002-01-01

申请号：US09479899

申请日：2000-01-10

申请人： Tae Seok Oh

发明人： Tae Seok Oh

IPC分类号： B25J1508

CPC分类号： B25J15/028 ,  H05K13/0404

摘要： A gripper for a surface mounting apparatus is provided. The gripper includes a gripper holder having an air through hole formed in a central portion of the gripper holder, a gripper adapter positioned below the gripper holder to which one end of a tension spring is fixed, a gripper piston rod provided inside the gripper holder and configured to be upwardly and downwardly moved by air supplied through the air through hole, a pair of jaws provided inside the gripper adapter, the jaws being movably disposed with respect to each other, the other end of the tension spring being fixed to the pair of jaws, a gripper tooth adapter fixed at an upper portion of the jaws by way of a fixing device, a gripper tooth assembly attached to an upper portion of the gripper tooth adapter, the gripper tooth assembly being configured to hold an electronic component, a shaft provided between the pair of jaws and fixed to the gripper piston rod, and a roller coupled to the shaft. The gripper may further include a cam coupled to the shaft.

摘要翻译： 提供了一种用于表面安装装置的夹具。 夹持器包括具有形成在夹持器保持器的中心部分中的空气通孔的夹持器夹持器，位于夹持器保持器下方的夹持器适配器，拉伸弹簧的一端固定到该夹持器夹持器，设置在夹持器夹持器内部的夹持器活塞杆， 被构造成通过空气通孔供应的空气向上和向下移动，设置在夹持器适配器内部的一对夹钳，夹爪相对于彼此可移动地设置，拉伸弹簧的另一端固定到一对 夹爪，通过固定装置固定在钳口上部的夹持器齿适配器，附接到夹爪齿适配器的上部的夹爪齿组件，夹持器齿组件构造成夹持电子部件，轴 设置在所述一对夹爪之间并固定到所述夹持器活塞杆，以及联接到所述轴的辊。 夹持器还可以包括联接到轴的凸轮。

公开(公告)号：US06260902B1

公开(公告)日：2001-07-17

申请号：US09665703

申请日：2000-09-20

申请人： Sune Synnelius

发明人： Sune Synnelius

IPC分类号： B25J1508

CPC分类号： B66C1/427 ,  B25J15/0206 ,  B25J15/08 ,  Y10S294/902

摘要： A segmented gripper is provided, having two arms (2;3) which are operated for closing and opening movement in an operational plane. The arms are flexible in the way of a finger; i.e. the geometry is variable to adapt to the external shape of the article to be gripped. This is accomplished by providing a structure for the arms, wherein an outer row of pivotally connected links (6) is interconnected with an inner row of pivotally connected links (7), the interconnecting elements (8) being pivotally attached to the link connecting points of each row of links. The lengths of the interconnecting elements are successively decreasing towards the free end of each arm, so that the arm displays a claw-like configuration. The arms are pivotally attached on a support, so that when an actuating force is applied tangentially to the outer row of links, the arms are operated for a closing motion. When the exterior of an article is engaged by any of the inner links, continued tangential force causes the inner row of links to bend about the corresponding link connection point, the outer links peripherally overrunning the inner links by rotation of the interconnecting elements about the attachment points (9,10,11).

摘要翻译： 设置有分段夹持器，具有两个臂（2; 3），用于在操作平面中关闭和打开移动。 手臂在手指的方式是灵活的; 即几何形状是可变的以适应被夹持物品的外部形状。 这是通过提供一种用于臂的结构来实现的，其中一排可枢转地连接的链节（6）与内排的可枢转地连接的链节（7）互连，互连元件（8）可枢转地附接到链节连接点 的每行链接。 互连元件的长度朝向每个臂的自由端逐渐减小，使得臂显示爪形构造。 臂被枢转地附接在支撑件上，使得当致动力被切向地施加到外排的连杆时，臂被操作以关闭运动。 当物品的外部由任何内部链节接合时，连续的切向力使内部链条在相应的链接连接点处弯曲，外部链接通过相互连接的元件围绕附件的旋转而周边地超越内部链接 分（9,10,11）。

公开(公告)号：US06254156B1

公开(公告)日：2001-07-03

申请号：US09365314

申请日：1999-07-30

申请人： John P. Sherwin ,  David R. Voves

发明人： John P. Sherwin ,  David R. Voves

IPC分类号： B25J1508

CPC分类号： B25J15/02 ,  B65G47/907

摘要： An end effector for handling stacks of plastic cups, dishes, and similar items. The end effector includes a bracket for coupling the end effector to the end of a robot arm. A main plate or body with a top side, a bottom side, and a plurality of apertures is connected to the bracket and supports the major components of the end effector. The end effector includes at least one bay positioned in the bottom side of the main body. Within each bay is a multiple-piece blade support block that helps guide the blades located within the bay. One or more roller blocks are positioned at predetermined points along the length of the bay, preferably between two pieces of the blade support block. Each roller block has an arcuate track that holds a roller assembly. Each roller assembly has a link which extends through one of the apertures in the main body. Each roller assembly is also coupled to a curved blade. One or more linear actuators are positioned on the top side of the main body. The driven rod of each actuator is coupled to one or more of the roller assembly links. When the actuators are activated, the roller assemblies move in their tracks and the blades slide between an open position and a closed position.

摘要翻译： 用于处理塑料杯，盘子和类似物品的堆叠的末端执行器。 末端执行器包括用于将末端执行器联接到机器人手臂的端部的支架。 具有顶侧，底侧和多个孔的主板或主体连接到支架并支撑端部执行器的主要部件。 末端执行器包括位于主体的底侧中的至少一个间隔。 每个托架内都有一个多片刀片支撑块，可帮助引导位于托架内的刀片。 一个或多个辊块位于沿着隔间的长度的预定点处，优选地位于两片叶片支撑块之间。 每个滚子组件具有保持滚子组件的弧形轨道。 每个辊组件具有延伸穿过主体中的一个孔的连杆。 每个辊组件也联接到弯曲的叶片。 一个或多个线性致动器定位在主体的顶侧上。 每个致动器的从动杆联接到一个或多个辊组件连杆。 当致动器被激活时，辊组件在其轨道中移动，并且叶片在打开位置和关闭位置之间滑动。

公开(公告)号：US06224123B1

公开(公告)日：2001-05-01

申请号：US08985871

申请日：1997-12-05

申请人： André Übele ,  Michael Franz

发明人： André Übele ,  Michael Franz

IPC分类号： B25J1508

CPC分类号： B25J15/0253

摘要： The present invention relates to a gripper apparatus with a housing body having with at least two fixed control rods and at least two gripper fingers which are movable in synchronization in the opening, or respectively closing position, wherein the control rods engage surfaces of the gripper fingers forming cylinder chambers; In order to improve the gripper apparatus in such a way that a more compact structure is obtained, it is distinguished by a center section fixed on the housing, from which respectively one fixed control rod extends in the stroke direction in opposite directions and engages the surface of a respective gripper finger.

摘要翻译： 本发明涉及一种夹具装置，其具有壳体，该壳体具有至少两个固定的控制杆和至少两个夹持器指状物，所述至少两个夹持器指状物可在开口或分别关闭位置中同步移动，其中控制杆接合夹持器手指的表面 成型缸室; 为了改进夹具装置，使得获得更紧凑的结构，其特征在于固定在壳体上的中心部分，一个固定的控制杆从其分别沿相反的方向在行进方向上延伸并接合表面 相应的夹持器手指。