1933 results about "Grippers" patented technology

A gripping tool includes first and second fingers coupled to a base member such that a distance between the first and second fingers is adjustable. First and second grippers are attached to the first and second fingers, respectively. The first and second grippers each have a compliant gripping surface and are each selectively expandable so as to reduce the distance and grip select portions of an item. A first actuator is operatively coupled to the first gripper and is configured to selectively expand the first gripper in a first direction. A second actuator is operatively coupled to the second gripper and is configured to selectively expand the second gripper in a second direction. At least one of the first and second actuators is configured to vary an expansion force of the respective first gripper in the first direction or the second gripper in the second direction.

Embodiments relate generally to a robotic fruit picking apparatus and a method of picking fruit. An example apparatus includes: a chassis; a robotic arm supported by the chassis and having an end effector, wherein the end effector includes a plurality of grippers and an extendable suction element; a vision system carried by the chassis and configured to identify pieces of fruit for picking; and a control system carried by the chassis and in communication with the vision system to control the robotic arm to pick identified pieces of fruit using the end effector. The control system may be configured to operate in a first mode to control the extendable suction element to extend the suction element towards a piece of fruit. The control system may be further configured to operate in a second mode following the first mode to retain contact with the piece of fruit by applying suction while freely allowing extension or retraction of the suction element based on movement of the piece of fruit.

The utility model discloses an industrial robot gripper, relates to the technical field of industrial robot grippers, and solves the problem that the industrial robot gripper clamps the upper end of goods to carry the goods, although the clamping force of the gripper of a clamping jaw is large, heavy goods which are carried for a long time have the risk of falling off. Comprising a mounting base, clamping arms and moving arms, a second moving groove is formed in the mounting base, the clamping arms are symmetrically and slidably connected into the second moving groove, first moving grooves are formed in the side walls of the clamping arms, and the moving arms are slidably connected into the first moving grooves; through cooperation between the arranged moving arms and the limiting supporting plate, when cargoes are clamped, the moving arms at the two ends can clamp and fasten the cargoes, the clamped cargoes can be supported through the limiting supporting plate, supporting of the cargoes is enhanced, and the risk that the cargoes slide and fall off is prevented.

The invention discloses microminiature needle body high-speed visual screening equipment and a screening method thereof, and belongs to the technical field of industrial automatic detection and sorting. The equipment comprises an equipment frame, a feeding module, a visual identification module, a grabbing module, a control module and a material receiving module. The feeding module is used for conveying to-be-screened needle bodies. The visual identification module performs image acquisition and model identification on the needle body; the grabbing module is provided with a plurality of grabbing clamping jaws, can move in the horizontal direction and the vertical direction under the driving of the control module, and grabs a plurality of needle bodies of the same model at the same time at a time. The material receiving module comprises a plurality of material receiving boxes and a transposition driving mechanism for driving the material receiving boxes to move so as to align the target material receiving box to the grabbing module. The equipment disclosed by the invention can be widely applied to high-efficiency sorting of micro-miniature needle bodies with the diameters ranging from 0.3 mm to 3mm and the lengths ranging from 3mm to 77mm, has high precision, high speed and high reliability, and is suitable for large-scale production and multi-variety and small-batch production requirements.

An adaptable spacer roping installation system includes a robot for positioning adjacent a palletizing surface, and a rope-positioning bar for positioning adjacent the palletizing surface. The robot is equipped with a tool head that allows receiving and dispensing a plurality of ropes from different dispensing positions along the tool head. The rope-positioning bar includes at least a same number of grippers than the number of dispensing positions along the tool head. The grippers is so positioned along the rope-positioning bar to allow grippers thereon gripping in unison the plurality of ropes dispensed by the tool head. The robot is movable from a first position, wherein the tool head is so positioned relative to the rope-positioning bar that each of the dispensing positions is registered and adjacent one of the grippers, to a second position, wherein the tool head is positioned distanced from the rope-positioning bar, parallel thereto, above the palletizing surface.

Embodiments include systems for determining one or more properties of an object. In an embodiment, a system includes a gripping element, a light source, a probe element including an optical fiber, a spectrometer, and a processor. The gripping element is configured to grasp the object. The light source is configured to illuminate the object. The probe element is operatively coupled to the gripping element. The optical fiber is configured to transmit reflected light from the object. The spectrometer configured to: (i) receive the transmitted reflected light from the optical fiber and (ii) generate spectral data based on the received transmitted reflected light. The processor is configured to: (i) receive the generated spectral data from the spectrometer and (ii) determine one or more properties of the object based on the received generated spectral data.

The utility model discloses a palletizing and carrying device which comprises a gripper assembly which comprises two grippers used for clamping pallets and two gripper driving units used for driving the two grippers to be opened or closed. The Z-direction moving assembly comprises a longitudinal beam connected with the gripper assembly and a longitudinal driving unit for driving the longitudinal beam to move in the Z-axis direction; the Y-direction moving assembly is used for driving the Z-direction moving assembly to move in the Y-axis direction and comprises a first fixing base connected with the longitudinal driving unit, a first horizontal driving unit for driving the first fixing base to move in the Y-axis direction and a horizontal connecting plate, and the first horizontal driving unit is fixed to the horizontal connecting plate; the X-direction moving assembly is used for driving the Y-direction moving assembly to move in the X-axis direction and comprises a second horizontal driving unit connected with the horizontal connecting plate; the X-direction moving assembly is fixed to the top of the support. The material bag conveying device can achieve automatic conveying of material bags, and is simple and compact in structure and convenient to maintain in the later period.

Rotational drives (100) may have at least two degrees of freedom. End-of-arm-tools (1122) may incorporate rotational drives (100). The end-of-arm-tools (1122) may include one or more linear adjustable assemblies (1124) and one or more rotational adjustable assemblies (1126). The end-of-arm-tools (1122) may include various tools, such as magnetic grippers.

Disclosed is a mobile robot manipulator system for handling railway inter box connectors for securement of shipping containers to the intermodal railcars, in a railway yard under an outdoor working environment, with a unique end-effector design incorporating at least two independently actuated and redundant grippers, supplemented by an additional aerial lift and aerial anchor to help stabilize the position of the movable base of the manipulator, a manipulator docking station to help protect the manipulator, end-effector, vision camera, and other sensitive equipment from damages against shock and under all weather conditions, and a sure grip methodology for safely transporting the railway inter box connector by the robot manipulator.

The invention discloses an intelligent tobacco leaf picking manipulator and a picking method.The manipulator comprises a mechanical arm, the tail end of the mechanical arm is provided with a binocular camera and an end effector, the end effector comprises a driving motor, a connecting module, a tobacco leaf cutting mechanical claw and an anti-scraping ball mechanical claw, and the two sets of mechanical claws are arranged in parallel up and down; the tobacco cutting mechanical grippers are arranged in parallel, are connected with an output shaft of the driving motor through a connecting module and are driven by the driving motor to perform opening and closing actions, two concentric circles surrounding a tobacco rod can be formed when the tobacco cutting mechanical grippers are closed, a cutting circle formed by the upper tobacco cutting mechanical grippers is larger than the periphery of the tobacco rod, and an anti-scraping circle formed by the lower anti-scraping ball mechanical grippers makes contact with the periphery of the tobacco rod. During working, the binocular camera positions the position of a tobacco stem and transmits the tobacco stem to the upper computer, the mechanical arm moves the end effector to the positioning position according to position information, the closed mechanical claw surrounds the tobacco stem, and when the anti-scraping ball mechanical claw moves upwards, the tobacco cutting mechanical claw cuts tobacco from bottom to top. The device has the advantages of high picking efficiency, low breakage rate, high adaptability and the like.

The invention discloses a fixing and adjusting device for automatic welding of a robot, and relates to the technical field of automatic welding of robots. The first transmission assembly and the second transmission assembly are combined with the first hydraulic cylinder and the angle adjusting assembly, flexible and accurate three-dimensional space positioning and posture adjusting capacity is provided for a welding structure, the multiple independently-driven robot clamping jaws are provided with floating pressure heads, a pressure sensor and a temperature sensor are integrated, and the welding precision is improved. The clamping state is monitored in real time, stable clamping is ensured, meanwhile, damage is avoided, three-dimensional deformation data of a workpiece are captured in real time through the laser contourgraph and the CCD camera, the controller integrates the data, a welding seam track, the pose of the robot and clamping force, displacement and temperature information fed back by the clamping jaw, and then the adjusting assembly can be driven to conduct pose compensation. Local thermal deformation caused by welding heat input is actively counteracted, and the welding precision, the joint quality and the process stability are improved.

A system that includes a workpiece and a robotic gripper apparatus. The workpiece includes a pair of opposed first retention features. Each first retention feature includes a first proximal end, a first distal end, and an outer periphery. The pair of opposed grippers are moveable between a first position in which the pair of opposed grippers engage the pair of opposed first retention features. Each gripper includes a mounting feature having a second proximal end, a second distal end, and an inner periphery. When the pair of opposed grippers are in the first position, a first portion of the inner periphery near the first proximal end engages a first portion of the outer periphery near the second proximal end and a second portion of the inner periphery near the first distal end is separated from a second portion of the outer periphery near the second distal end.

Embodiments generally relate to a robotic fruit picking device and method for picking fruit. An exemplary device includes a chassis, a robotic arm supported by the chassis and having an end effector, the end effector comprising a plurality of grippers and an extendable suction element, a vision system carried by the chassis and configured to identify fruits for picking, and a control system carried by the chassis and in communication with the vision system to control the robotic arm to pick the identified fruits using the end effector. The control system may be configured to operate in a first mode to control the extendable suction element to extend the suction element towards the fruit. The control system may be further configured to operate in a second mode after the first mode to maintain contact with the fruit by applying a suction force while allowing the suction element to freely extend or retract based on a movement of the fruit.

A method of operation of a mobile unit is described here. The method includes receiving a first signal to create a stack of totes on a conveying platform. Further, the method comprises receiving a second signal to lift the stack of totes in a vertical upward direction relative to the conveying platform. The method further comprises receiving a third signal to dispense a first tote from the stack of totes to a first location. The first tote is held at the conveying platform by a set of grippers of the mobile unit. Further, the method comprises receiving a fourth signal to travel to a second location to drop a second tote from the stack of totes. In some examples, the second tote corresponds to a current lowermost tote among the stack of totes and is held at the conveying platform by the set of grippers.

The invention provides a driving and sensing integrated soft claw, gripper and method, and belongs to the field of deep sea soft grippers. The problems that a traditional soft gripper sensor is prone to forming stress concentration and cannot achieve multi-point sensing are solved. The driving and sensing integrated soft claw comprises a sensing layer, an acoustic wave guide main flow channel extending in the length direction is arranged on the sensing layer, and an ultrasonic transducer is arranged on the side, close to the fixed end of the sensing layer, of the acoustic wave guide main flow channel. The end face of one side of the sensing layer is a grabbing face, and a plurality of evenly-arranged protrusions are arranged in the acoustic wave guide main flow channel corresponding to the end face. And the driving layer is arranged on the side, away from the grabbing face, of the sensing layer, a plurality of deformation cavities communicating with the acoustic wave guide main flow channel are formed in the driving layer, the driving layer is in a stretching state in a normal state, and when the deformation cavities are filled with liquid and pressurization continues, the deformation cavities are used for deforming to drive the sensing layer to bend. The manipulator is mainly used for grabbing actions.

The invention discloses a mechanical arm gripper and an automobile door frame grabbing method.The mechanical arm gripper comprises a frame piece and a driving piece, the driving piece is connected with a positioning unit, the driving piece is used for driving the positioning unit to move in the X direction or move on the X-Y plane, the driving piece is further connected with a plurality of clamping units capable of moving in the X direction, and in the first state, the clamping units are clamped in the X direction; in the first state, the materials are at least partially located in the space under the frame piece, the materials are integrally suspended, and in the second state, the materials are disengaged from the clamping jaw and located at the station. Through cooperation of the driving part, the positioning unit and the clamping unit, the automobile door frame can be conveyed in the mode that the automobile door frame is positioned firstly and then clamped, the positioning unit moves in the X direction or in the X-Y plane, and the clamping unit moves in the X direction, so that the automobile door frame conveying device can adapt to automobile door frames of different sizes and shapes; and compared with the mode that different types of mechanical arm grippers are replaced, the operation space is saved, and the production and manufacturing cost can also be reduced.

A multifunctional gripper relates to the technical field of mechanical grippers and comprises a fixing frame, a bag suction sucker arranged in the middle of the lower portion of the fixing frame and carton suction suckers arranged on two sides of the lower portion of the fixing frame, a swing frame is arranged on one side of the fixing frame, and the carton suction sucker on one side of the fixing frame is arranged on the swing frame. Compared with the prior art, the manipulator has the advantage of being capable of meeting various grabbing requirements.

The utility model relates to the technical field of garbage collection, in particular to a self-loading and unloading garbage truck which comprises a mounting plate, a clamping plate is fixedly mounted on the mounting plate, a mounting groove is formed in the clamping plate, an electric push rod is fixedly mounted on the inner wall of the mounting groove, and a connecting plate is fixedly mounted at the output end of the electric push rod. A connecting column is fixedly installed on the connecting plate, and a rotating rod is rotationally installed on the connecting column. The driving gear and the driven gear are driven to rotate through the electric push rod, the connecting column, the rotating rod and the like, when the driving gear and the driven gear rotate, the two grippers rotate oppositely, then the garbage can is clamped, and after the garbage can is clamped by the grippers, garbage in the garbage can can be poured into the garbage truck in cooperation with a dumping device of the garbage truck. Manual carrying is replaced by clamping the garbage cans through the grabhooks, time and labor are saved, the situation that the garbage cans roll over due to the fact that the garbage cans are too heavy is avoided, and the dumping efficiency of the garbage cans is improved.

Rotational drives may have at least two degrees of freedom. End-of-arm-tools may incorporate rotational drives. The end-of-arm-tools may include one or more linear adjustable assemblies and one or more rotational adjustable assemblies. The end-of-arm-tools may include various tools, such as magnetic grippers.

A prosthetic aortic valve that uses actuating arms and grippers to attach to leaflets, reducing device migration and sizing issues. It involves excising diseased leaflets prior to implantation, ensuring blood flow to coronary arteries, and offers optical visualization. The valve features replaceable leaflets and a streamlined frame. Innovative left atrial appendage devices, embolic protection devices, intra-cardiac echocardiography devices, and steerable catheter devices are introduced. Provided herein are atraumatic, cinchable mitral valve annular repair devices, noninvasive methods that modify body calcium with electromagnetic energy, and systems for optical visualization in vascular interventions by displacing blood with clear fluid.

Top loading type packaging equipment comprises a rack, and a paper blank warehouse, a paper blank grabbing mechanism, a paper blank boxing mechanism, a paper box conveying mechanism, a material conveying mechanism, a material grabbing mechanism, an inner tongue folding mechanism, a paper box sealing mechanism and a paper box output mechanism are arranged in the rack. The device is characterized in that the paper blank library comprises a plurality of paper blank conveying mechanisms; the paper blank box forming mechanism comprises a two-shaft linear sliding table, a mounting frame is connected to the lower end of the sliding table, and a plurality of paperboard grippers are evenly distributed on the mounting frame; a glue spraying mechanism is mounted on the rack and located in front of the paper blank grabbing mechanism, the glue spraying mechanism comprises a plurality of pairs of first glue spraying guns, and each pair of first glue spraying guns corresponds to inner tongues at the two ends of the to-be-formed paper blank respectively; a paper box forming mechanism is arranged on the rack and located in front of the glue spraying mechanism, the paper box forming mechanism comprises a plurality of forming assemblies, and the number of the forming assemblies is equal to the number of the paperboard grippers and the paperboard grippers are in one-to-one correspondence. The equipment can simultaneously realize forming, loading and box sealing of a plurality of pieces of ground paper, is high in production efficiency, and is convenient to replace different specifications.

The invention relates to the technical field of photovoltaic frame punching and riveting, in particular to a horizontal punching type photovoltaic frame automatic punching and riveting device which comprises a punching table and further comprises a horizontal punching mechanism, the horizontal punching mechanism comprises a fixing plate fixedly installed on the punching table, and a punching plate is installed on the punching table in a sliding mode; two first grippers are mounted on each of the two mounting plates; the punching and riveting mechanism comprises a punching and riveting table arranged on one side of the punching table, and a pressing head is arranged on a pressing and riveting frame; the rotating clip discharging assembly comprises two rotating frames installed on one side of the punching and riveting table, and material pushing pieces are arranged in the rotating frames; a second feeding assembly used for conveying materials is arranged between the horizontal punching mechanism and the punching and riveting mechanism. According to the photovoltaic frame punching machine, horizontal punching is conducted on a photovoltaic frame through the fixing plate and the punching plate, feeding and discharging are conducted at the same time through the first feeding assembly, connection of the second feeding assembly is utilized, the photovoltaic frame obtained after punching is completed is conveyed to the punching and riveting procedure, material overturning is completed in the conveying process, and the machining efficiency is improved.

A quick-change type mechanical arm comprises a mechanical arm body, a quick-change device and a tail end gripper. Wherein the mechanical arm comprises at least one cantilever; one end of the lifting arm is connected with the lower part of the cantilever; one end of the swing arm is movably connected with the other end of the lifting arm; the quick-change device is arranged at the other end of the swing arm and comprises a quick-change male disc, a quick-change female disc and a locking mechanism; and the tail end gripper is connected to a quick-change mother disc of the quick-change device. Through the quick-change design, the replacement convenience of switching of the mechanical arm body and the multiple sets of front-end grippers under the complex working conditions of different workpieces is achieved, and the product replacement rhythm is improved; equipment gripper innovation is optimized, the number of mechanical arm bodies is reduced, and the space of a production site is saved; and the tail end executing gripper + is flexibly butted, so that the cost of the equipment is reduced. The clamping device is suitable for clamping, moving, positioning and installing parts of line bodies, warehouse logistics, automobile assembly and the like.

A double-shear secured vehicle seating assembly includes an operator seat (e.g., for a pilot or operator of a rotorcraft or like vehicle) and a seat frame structure via which the operator seat is secured to floor tracks in the cabin floor. Floor track grippers attached to the underside of the seat frame structure “grip” the floor tracks by extending down and around an upper portion of the floor track. The floor track grippers are further united with the floor tracks by locking pins that extend through holes in the grippers as well as the floor track itself, which includes a rail and a plurality of evenly spaced holes extending through the rail. The locking pin fully pierces the floor track gripper on a first side, fully piercing the aligned hole in the rail, and at least partially piercing the floor track gripper on the opposing side, creating the double-shear condition.

A handling device for handling products that are conveyed by a transport device, the handling device including at least one handling unit having a plurality of movably supported movement carriages, and a plurality of handling elements that are embodied as vacuum grippers. The plurality of handling elements move relative to the movement carriages in each case at least substantially parallel to a product support surface of the transport device.

The utility model relates to the technical field of pile grippers, in particular to a pile gripper mounted on a self-elevating platform, which comprises a guide sleeve, an upright post slidably arranged in the guide sleeve, a lifting component arranged between the guide sleeve and the upright post and used for driving the guide sleeve and the upright post to move relatively, a hoop component arranged on the upright post, and a hoop component arranged on the hoop component. The hoop assembly is used for embracing a pile, an adjusting seat is arranged on one side of the guide sleeve, a fixing seat is arranged on the side, away from the guide sleeve, of the adjusting seat, a plurality of telescopic frames are arranged between the adjusting seat and the fixing seat, each telescopic frame comprises a telescopic shaft, a set of telescopic arms and a telescopic seat, and the telescopic shafts are rotationally connected with the adjusting seats. One end of the telescopic arm is rotationally connected with the telescopic shaft, the other end of the telescopic arm is movably connected with the telescopic seat, and the telescopic seat is fixedly connected with the fixed seat. The pile sinking device has the effects of conveniently adjusting the positions of the arm claws and reducing the pile sinking operation cost of the pile body.

According to the three-degree-of-freedom humanoid finger structure, a first servo electric cylinder, a second servo electric cylinder and a third servo electric cylinder are hinged to a base, a rocker arm is hinged to the upper portion of the base, and meanwhile the rear end of a first knuckle left side connecting rod and the rear end of a first knuckle right side connecting rod are hinged to the rocker arm in a bilateral symmetry mode; the three servo electric cylinders are arranged on the base, abrasion to a circuit caused by knuckle movement is avoided, the integration level is high, finger movement does not depend on external structural parts, the multi-finger clamping jaw can be combined at will, the fingers can be integrally changed after being damaged, the on-site maintenance difficulty is reduced, the machining technology is simple, and the multi-finger clamping jaw is suitable for mass production.

The invention provides a loading and unloading machine prototype and a loading and unloading machine test simulation device.A loading and unloading machine is suitable for being tested in the loading and unloading machine test simulation device, the loading and unloading machine test simulation device comprises one or more simulation fuel assemblies and a simulation water tank, and each simulation fuel assembly comprises one or more positioning holes and assembly codes. The simulated water tank is used for containing liquid with a certain height, the loading and unloading machine comprises a gripping apparatus, the gripping apparatus comprises one or more positioning columns and one or more grippers, and the positioning columns are suitable for being matched with positioning holes in a simulated fuel assembly; a camera adapted to observe a component code of the one or more simulated fuel components; the negative pressure water tank comprises a first surface and a second surface opposite to the first surface, and the second surface is always located below the liquid level of the liquid in the simulation water tank; and a bracket. The assembly information of the fuel assembly can be accurately identified, and the space and the cost of a simulation test are saved.

The invention discloses a robot disordered grabbing method and system based on 3D vision, and relates to the field of vision grabbing, and the method comprises the steps: configuring a 3D vision collection module to execute incoming material area continuous collection, executing definition of a robot base coordinate system, a camera coordinate system and an incoming material station coordinate system, and setting a tray in-place consistency constraint. Deterministic mapping of a clamp and a strategy is formed under multiple types of incoming materials, the grabbing success rate is improved, deformation and falling risks are reduced, collision safety is improved with minimum safety gap constraint and path cost selection in an unordered environment, and operation stability is maintained through action time accounting and beat conformity judgment on the beat side. And traceability is realized by a sorting accuracy target and a task log write-in mechanism, and finally, shutdown waiting and secondary faults are reduced through alarm and separate disposal rules in a static incoming material and structure separation risk scene.

The present invention provides a self-control system for a mine pipe gripper and its control method, which relates to the technical field of mine pipe grippers. The system controls the pipe gripping process by means of vision, perception, and planning. The vision recognition part uses a mine visible light and depth camera for composite image acquisition to improve the accuracy of the coordinates of the pipe to be installed. The attitude perception part is responsible for spatially positioning the attitude of the pipe gripper. Finally, the hydraulic arm motion trajectory is planned by calculating the spatial coordinates of the pipe center and the spatial coordinates of the hydraulic arm center, and the inverse solution of the spatial coordinate system is carried out according to the DH algorithm, which is decomposed into the displacement and angle transformation amounts of the telescopic oil cylinder and the slewing motor, so as to achieve the purpose of the pipe gripper autonomously and accurately gripping the pipe; greatly solving the problems of manual operation of the existing mine pipe grippers, lack of intelligent perception, poor operation quality, and large potential safety hazards.