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    Universal end effector for robotic applications
    33.
    发明授权
    Universal end effector for robotic applications 失效
    用于机器人应用的通用端部执行器

    公开(公告)号：US6015174A

    公开(公告)日：2000-01-18

    申请号：US90828

    申请日：1998-06-04

    Applicant: Camiel J. Raes ,  Joseph E. Stagnitto ,  James A. White

    Inventor： Camiel J. Raes ,  Joseph E. Stagnitto ,  James A. White

    IPC: B25J15/06 ,  B25J15/02 ,  B25J15/08 ,  B25J19/02

    CPC classification number: B25J15/0253 ,  B25J15/0273 ,  Y10S294/907

    Abstract: An end effector system adapted to be used for robotic tooling applications which allows the end effector to be used to acquire parts by vacuum pick-up or grasping. A vacuum type end effector is provided at the end of each of two robotic tooling fingers. Each vacuum type end effector includes a flexible bellows member on the end thereof such that it can be used for vacuum acquisition. Extending down from each finger to reside adjacent a respective bellows is a pinch member. Through robotic control of the movement of the fingers, finger gripping can be accomplished to grip an object between the two bellows using the pinch members for lateral support. As the part is captured between the two bellows, each bellows is compressed against its respective pinch member. In such manner, the bellows are at least partially collapsed such that a vacuum sensor located in the vacuum supply line to the bellows registers that a vacuum is present and, thus, a part has been acquired. That same vacuum sensor allows the robot to know when a part has been acquired by the bellows in the typical vacuum-type pick-up arrangement.

    Abstract translation: 适用于机器人工具应用的端部执行器系统，其允许端部执行器用于通过真空吸取或抓取来获取部件。 在两个机器人工具手指的每一端的末端设有真空型端部执行器。 每个真空型端部执行器在其端部上包括柔性波纹管构件，使得其可用于真空采集。 从每个手指向下延伸以邻近相应的波纹管驻留是捏合构件。 通过手指的运动的机器人控制，可以实现手指抓握，以使用夹紧构件在两个波纹管之间夹持物体用于横向支撑。 由于部件被捕获在两个波纹管之间，每个波纹管被压缩到其相应的夹紧构件。 以这种方式，波纹管至少部分地折叠，使得位于到波纹管的真空供应管线中的真空传感器记录存在真空并且因此已经获得部件。 相同的真空传感器允许机器人知道在典型的真空型拾取装置中何时通过波纹管获取部件。

    Self-aligning tool holder for use with robotic arms
    34.
    发明授权
    Self-aligning tool holder for use with robotic arms 失效
    自动对准刀架，用于机械臂

    公开(公告)号：US5947880A

    公开(公告)日：1999-09-07

    申请号：US69601

    申请日：1998-04-29

    Applicant: Joseph E. Stagnitto ,  Camiel J. Raes ,  James A. White

    Inventor： Joseph E. Stagnitto ,  Camiel J. Raes ,  James A. White

    IPC: B25J15/04 ,  B23Q3/155 ,  G05G23/02

    CPC classification number: B23Q3/15526 ,  Y10S483/901 ,  Y10T483/1731 ,  Y10T483/179 ,  Y10T483/18

    Abstract: A tool rack support system which includes leaf spring type flexures which allow the tool rack a measure of compliance in both the horizontal and vertical planes. The support system comprises preferably two flexure support assemblies with each assembly preferably including two cantilevered, horizontally oriented, planar flexures and two cantilevered, vertically oriented, substantially planar flexures which are ultimately supported from the distal end of the horizontally oriented, planar flexures. The vertically oriented, planar flexures give the support system a measure of compliance which allows the tool rack to be moved discretely in the horizontal plane as a result of a robotic arm acquiring or delivering a tool to the tool rack. The horizontally oriented, substantially planar flexures of the support system give the support assembly vertical compliancy to allow the tool rack to be moved discretely in the vertical direction as a result of a robotic arm acquiring or delivering a tool from the tool rack. Travel stops are provided to limit the amount of vertical travel which can be imparted to be horizontally oriented, planar flexures.

    Abstract translation: 一种工具架支撑系统，其包括板簧类型的弯曲，其允许工具架在水平和垂直平面中均衡一致。 支撑系统优选地包括两个弯曲支撑组件，其中每个组件优选地包括两个悬臂，水平定向的平面弯曲部和两个悬臂，垂直取向的基本上平面的挠曲件，其最终从水平定向的平面弯曲件的远端支撑。 垂直定向的平面弯曲为支撑系统提供了一致性的测量，其允许工具架在水平面中离散地移动，这是由于机器人手臂获取或将工具递送到工具架。 支撑系统的水平定向的基本上平面的弯曲使得支撑组件垂直顺从，以允许工具架在垂直方向上离散地移动，这是由于机器臂从工具架获取或传送工具的结果。 提供行程挡块以限制可以赋予水平取向的平面弯曲的垂直行程的量。

    Apparatus and method having short linear motion for grasping objects
    35.
    发明授权
    Apparatus and method having short linear motion for grasping objects 失效
    具有用于抓握物体的短直线运动的装置和方法

    公开(公告)号：US5947539A

    公开(公告)日：1999-09-07

    申请号：US865796

    申请日：1997-05-30

    Applicant: Michael Long ,  Thomas W. Palone ,  James A. White

    Inventor： Michael Long ,  Thomas W. Palone ,  James A. White

    IPC: B25J15/00 ,  B25J15/02 ,  B25J15/04 ,  B25J15/06

    CPC classification number: B25J15/026 ,  B25J15/0028 ,  B25J15/04 ,  Y10S294/902

    Abstract: An apparatus having short range motion for gripping and releasing an object utilizes a programmable stepper motor for controlling various short stroke motions of the gripper. Gears associated with each of the at least one gripper jaws supported on a carrier shaft engage a common ring gear that is driven by drive means including the stepper motor which imparts synchronous motion of the grippers for opening and closing about the object.

    Abstract translation: 具有用于夹紧和释放物体的短距离运动的装置利用可编程步进电机来控制夹持器的各种短行程运动。 与支撑在承载轴上的至少一个夹持爪中的每一个相关联的齿轮接合由包括步进马达的驱动装置驱动的公共齿圈，所述驱动装置施加夹持器同步运动以围绕物体打开和关闭。

    Apparatus and method having short stroke arcuate motion for grasping objects
    36.
    发明授权
    Apparatus and method having short stroke arcuate motion for grasping objects 失效
    具有用于抓握物体的短行程弓形运动的装置和方法

    公开(公告)号：US5884951A

    公开(公告)日：1999-03-23

    申请号：US865794

    申请日：1997-05-30

    Applicant: Michael Long ,  Thomas W. Palone ,  James A. White

    Inventor： Michael Long ,  Thomas W. Palone ,  James A. White

    IPC: B25J15/02 ,  B25J15/06

    CPC classification number: B25J15/026 ,  B25J15/0206 ,  Y10S294/902

    Abstract: An apparatus and method having short stroke motion for gripping and releasing an object utilizes a programmable stepper motor for controlling various short stroke, generally arcuate motions of the gripper. Gears associated with each of the at least one gripper jaws supported on a carrier shaft engage a common ring gear that is driven by drive means including the stepper motor which imparts synchronous motion of the grippers for opening and closing about the object.

    Abstract translation: 具有用于夹紧和释放物体的短行程运动的装置和方法利用可编程步进电机来控制夹具的各种短行程，大体上弓形运动。 与支撑在承载轴上的至少一个夹持爪中的每一个相关联的齿轮接合由包括步进马达的驱动装置驱动的公共齿圈，所述驱动装置施加夹持器同步运动以围绕物体打开和关闭。

    Cam Actuated clamping tool
    37.
    发明授权
    Cam Actuated clamping tool 失效
    凸轮驱动夹紧工具

    公开(公告)号：US5645385A

    公开(公告)日：1997-07-08

    申请号：US561474

    申请日：1995-11-21

    Applicant: Michael Long ,  James A. White

    Inventor： Michael Long ,  James A. White

    IPC: B21J13/03 ,  B23Q1/00 ,  B23Q5/34 ,  B25B5/08 ,  F16B2/18 ,  F16B3/06 ,  F16B19/00

    CPC classification number: F16B2/185 ,  B21J13/03 ,  B23Q1/0063 ,  B23Q5/341 ,  B25B5/08

    Abstract: A clamping device for clamping a punch block to a jaw of a punch press assembly where the action of clamping does not disturb the alignment between the punch block and the die. The device includes a pair of cams residing in a stacked relationship with each of the cams having a tapered aperture therethrough. A bolt passes through the tapered apertures of both cams and through a bore in the jaw to engage a threaded orifice in the punch block. Each of the cams has a generally cylindrical cam surface with a flat formed therein. Once the punch block is properly aligned with the die, the bolt is lightly tightened with the flats of the two cams in planar abutment with one another such that the cylindrical axes of the cams are separated by a first distance. The cams are then rotated with the lower one of the cams rolling on the surface of the jaw. Rotation of the cams moves the flats out of abutment with one another such that the axes of the cams become separated by a second distance which is greater than the first distance causing the upper one of the cams to bear against the head of the bolt thereby placing the bolt in tension while imparting no substantial force perpendicular to a longitudinal axis of the bolt.

    Abstract translation: 一种夹紧装置，用于将冲压块夹持到冲压组件的夹爪上，其中夹紧的作用不会妨碍冲模块和模具之间的对准。 该装置包括与每个凸轮成堆叠关系的一对凸轮，其具有穿过其的锥形孔。 螺栓穿过两个凸轮的锥形孔并穿过钳口中的孔，以与穿孔块中的螺纹孔接合。 每个凸轮具有形成在其中的平坦的大致圆柱形的凸轮表面。 一旦冲模块与模具正确对准，则螺栓被两个凸轮的平面轻轻地紧固，这两个凸轮的平面彼此平坦地邻接，使得凸轮的圆柱轴线分开第一距离。 然后，凸轮随着在颚的表面上滚动的下凸轮旋转。 凸轮的旋转使平面彼此抵接，使得凸轮的轴线分开第二距离，第二距离大于第一距离，从而使上部凸轮抵靠在螺栓的头部上，从而放置 螺栓处于张紧状态，同时不产生垂直于螺栓的纵向轴线的相当大的力。

    Packaging equipment
    38.
    发明授权
    Packaging equipment 失效
    包装设备

    公开(公告)号：US5636501A

    公开(公告)日：1997-06-10

    申请号：US623288

    申请日：1996-03-28

    Applicant: Michael Long ,  James A. White

    Inventor： Michael Long ,  James A. White

    IPC: B65B9/02 ,  B65B47/00

    CPC classification number: B65B9/02

    Abstract: Equipment (10) for packaging a plurality of articles (1) has a rotatable drum (12) for supporting the articles (1) in one of a plurality of spaced through openings (14) along the circumferential portion (22) of the drum (12). First and second sources (30,32) of first and second webs (16,18), respectively, supplies the webs sequentially under continuous tension towards one of the plurality of through openings (14). By passing the webs (16,18) through respective serpentine paths (28,30) prior to delivery to one of the plurality of through openings (14) provide the desired continuous tensioning level on the webs (16,18). An article dispenser (40) is provided to dispense one of the plurality of articles (1) into one of the plurality of through openings (14) when one of the first and second webs (16,18) generally covers the through opening (14) forming a seat for article 1. Thereafter, and in sequence, the other of the first and second webs (16,18) overwraps the article (1) seated in the through opening (14). A sealing means (46) is provided to sea the webs (16,18) about the article forming a packaged article. A punch means (150) cooperating with the drum (12) is employed to relieve the packaged articles in sequence from the through openings (14).

    Abstract translation: 用于包装多个物品（1）的设备（10）具有可旋转滚筒（12），用于沿着滚筒的圆周部分（22）将物品（1）支撑在多个间隔开的开口（14）中的一个中， 12）。 第一和第二纤维网（16,18）的第一和第二源（30,32）分别在连续的张力下顺序地向多个通孔（14）中的一个提供。 通过在输送到多个通孔（14）中的一个通过开口（14）之前通过相应的蛇形路径（28,30）通过相应的蛇形路径（28,30），在腹板（16,18）上提供期望的连续张紧水平。 当所述第一和第二腹板（16,18）中的一个通常覆盖所述通孔（14）时，设置物品分配器（40）以将所述多个物品（1）中的一个分配到所述多个通孔（14）中的一个中， ）形成用于物品1的座位。此后，并且顺序地，第一和第二纤维网（16,18）中的另一个覆盖安置在通孔（14）中的物品（1）。 提供密封装置（46）以围绕形成包装物品的制品在腹板（16,18）周围。 采用与滚筒（12）配合的打孔装置（150），以便从穿通开口（14）依次释放包装的物品。

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