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특허 상세정보

Gripper system, in particular vacuum gripper system

특허상세정보
국가/구분 United States(US) Patent 등록
국제특허분류(IPC7판) B25J-015/06    B25J-019/02   
미국특허분류(USC) 294/065; 294/064.1; 294/907; 901/040; 901/046
출원번호 US-0292605 (1999-04-15)
우선권정보 DE-0017426 (1998-04-18)
발명자 / 주소
출원인 / 주소
대리인 / 주소
    Jones, Tullar & Cooper, P.C.
인용정보 피인용 횟수 : 39  인용 특허 : 20
초록

The present invention relates to a gripper system which can be secured to a hand of a robot and has at least two mutually independent gripper elements; each gripper element is provided with at least one force sensor for ascertaining a force in a predetermined direction. With this gripper system, it is possible to grasp components more reliably.

대표
청구항

1. A vacuum gripper system for grasping a workpiece, comprising: a first vacuum gripper element for grasping the workpiece; at least a second vacuum gripper element for grasping the workpiece, said at least a second vacuum gripper element being spaced apart from said first vacuum gripper element; a first force sensor provided in the first vacuum gripper element for determining a force acting on the first vacuum gripper element in a first predetermined direction; a second force sensor provided in said at least a second vacuum gripper element for det...

이 특허에 인용된 특허 (20)

  1. Goumas Peter G. (Cary NC) Wolfe Paul T. (Apex NC). Apparatus and method for handling articles in automated assembly processes. USP1987074680523.
  2. Birk John R. (Peace Dale RI) Kelley Robert B. (Kingston RI) Tella Richard P. (Ashaway RI). Apparatus for acquiring workpieces from a storage bin or the like. USP1981054266905.
  3. Oldfield Edwin L. (Bury St. Edmunds GB2). Automatic article handling methods and apparatus. USP1988094772170.
  4. Smith Scott R. ; Haddix Scott K. ; Grams Robert S. ; Holter Carl F.. Carrier feed vaccum gripper. USP1999115984623.
  5. Kirby Thomas P. (Boynton Beach FL) Becher Christopher L. (Boynton Beach FL) Rubin David H. (Boynton Beach FL). Circuit assembly device for programmably controlling placement force and method thereto. USP1994055308132.
  6. Iwata Kazuhide (Yokohama JPX). Control system for grasping force of a manipulator for grasping objects. USP1986114621331.
  7. Mimura Nobuharu (Aichi JPX) Kawase Masao (Aichi JPX) Kanamori Akihiko (Aichi JPX) Naruoka Shinji (Aichi JPX) Toyama Osamu (Aichi JPX). Finger module, finger module structure, and robot hand. USP1995085437490.
  8. Scheinman Victor D. (Woodside CA) Bejczy Antal K. (Pasadena CA) Primus Howard C. (La Crescenta CA). Grasp force sensor for robotic hands. USP1989044819978.
  9. Sugimoto Yasuo,JPX ; Fukuda Taro,JPX. Load retainer assembly and retaining apparatus. USP1999115988718.
  10. Goedecke Wolf-Dieter (Unterkirnach DEX) Cohanciuc Victor (Villingen-Schwenningen DEX). Manipulator with a suction gripper and method for handling and testing fluid-passing components. USP1993095244242.
  11. Pearson Thomas E. (Grosse Ile MI) Panyard James R. (Westland MI). Method and system for loading panels into shipping containers at a work station and end effector for use therein. USP1997055632590.
  12. Pearson Thomas E. (Grosse Ile MI). Method and system for loading rigid sheet material into shipping containers at a work station and end effector for use t. USP1995025387068.
  13. Thom Heinz (Berlin DEX) Neumann Alfred (Berlin DEX) Johansen Wolfgang (Berlin DEX) Zier Peter (Berlin DEX). Parallel gripper having a force measuring arrangement. USP1997035609381.
  14. Sugino Yoshihide (Chigasaki JPX) Tsumura Takashi (Atsugi JPX) Nakamura Junnosuke (Yokohama JPX) Yamaki Kazuyoshi (Chigasaki JPX). Robot machines. USP1985034505636.
  15. Clarke William F. (Sykesville MD) Handlesman Mark W. (Upper Darby PA). Robotic end effector. USP1987044657470.
  16. Harwood Alan R. (Hayes GB2) Ward Julie A. (Camberley GB2). Strain sensing arrangement. USP1986034577513.
  17. Herbermann Alfred F. ; Van't Land Jacob J. ; Filipiak Michael A.. Tool mount for moving elements. USP1998055746567.
  18. Tanaka Hirohisa (Kanagawa-ken JPX). Vacuum chuck apparatus. USP1997035609377.
  19. Hoffman Barry L. (Stevens PA). Vacuum gripping apparatus. USP1984074460208.
  20. Frosch ; Robert A. Administrator of the National Aeronautics and S pace ; Administration ; with respect to an invention of ; Zebus ; Pau l P. ; Packer ; Poley N. ; Haynie ; Cyrus C.. Variable contour securing system. USP1978054088312.

이 특허를 인용한 특허 피인용횟수: 39

  1. Kniss,Jason M. Adjustable mount for vacuum cup with offset mounting post and swivel. USP2007107281739.
  2. Devengenzo, Roman. Analog control switch for end-effector. USP2018039919424.
  3. Jacob,Jason E.; Brashears,Jeff; Hunt,Jeffery T.. Apparatus and method for removing a part from mold. USP2007107276200.
  4. Tateyama, Kiyohisa; Takamori, Hideyuki. Apparatus for and method of transferring substrates. USP2005016837672.
  5. Tateyama, Kiyohisa; Takamori, Hideyuki. Apparatus for and method of transferring substrates. USP2005116962477.
  6. Jendrichowski, Klaus. Apparatus for the removal of bottles or containers from a bottle or container cleaning arrangement in a bottle or container filling plant. USP2014048694151.
  7. Perlman, Maurice; Attee, Keith S. Auto-release vacuum device. USP2009067540309.
  8. Perlman, Maurice; Attee, Keith S.. Auto-release vacuum device. USP2012068201589.
  9. Perlman, Maurice; Attee, Keith S.. Auto-release vacuum device. USP2013078479781.
  10. Perlman, Maurice; Attee, Keith S.. Auto-release vacuum device. USP2017129833910.
  11. Perlman, Maurice; Attee, Keith S.. Auto-release vacuum device. USP2015089095983.
  12. Perlman, Maurice; Attee, Keith S.. Auto-release vacuum device. USP2010037681603.
  13. McCollum, Joshua; Simone, Thomas S.; Girtman, Michael. Autonomous truck loader and unloader. USP20180710029374.
  14. McCollum, Joshua; Simone, Thomas S.; Girtman, Michael. Autonomous truck loader and unloader. USP2017049623569.
  15. Kniss, Jason M.; Perlman, Maurice; Geary, James; Trujillo, Orlando; Michels, Gary R.; Mruzik, Jeffery J.. Electric suction cup. USP2015089108319.
  16. Morel, Michel; Roudier, Fabrice. Gripping device adapted to be mounted on the arm of a robot. USP2004026685247.
  17. Eto, Haruna; Nakamoto, Hideichi; Ogawa, Akihito; Sonoura, Takafumi; Tanaka, Junya; Watabe, Kazuo. Gripping device and method for taking out an article. USP2017099757858.
  18. Fisher, Trent P.. Hybrid robotic gripper. USP2013048418341.
  19. Hupp, Evan Lee. Lifting device for a vacuum transfer system. USP2009127631912.
  20. Kniss, Jason M. Material handling device with level indicator. USP2010097798546.
  21. Prindiville, Michael. Multi-port vacuum lifting attachment with remote controlling release. USP2017039586793.
  22. Davis, Curt Matthew. Optical robotic sorting method and apparatus. USP2015059035210.
  23. Wintergerst, Bernd. Package pick-up device having pivoting retaining elements. USP20190110183771.
  24. Schaaf, Walter; Eisele, Thomas; Guenther, Rolf; Stahl, Tobias. Pneumatically actuated area vacuum gripper. USP2012098267386.
  25. Lin, Yhu-Tin; Wells, James W.; Menassa, Roland J.. Reconfigurable robotic end-effectors for material handling. USP2011077971916.
  26. Girtman, Michael L.; Beilsmith, Tim; Wicks, Matthew. Robotic carton unloader. USP2016049315345.
  27. Girtman, Michael L.; Neville, Brian E.; Wicks, Matthew. Robotic carton unloader. USP2016119493316.
  28. Girtman, Michael L.; Neville, Brian E.; Wicks, Matthew. Robotic carton unloader. USP2016119487361.
  29. Girtman, Michael L.; Wicks, Matthew. Robotic carton unloader. USP2017019555982.
  30. Girtman, Michael L.; Wicks, Matthew. Robotic carton unloader. USP20181110124967.
  31. Girtman, Michael; Wicks, Matthew. Robotic carton unloader. USP2018059969573.
  32. Fisher, Trent P.; Westbeld, John M; Miller, Robert M.; Heinz, Jason R.. Robotic end of arm tool method and apparatus. USP2009117611180.
  33. Fukano, Yoshihiro; Sugano, Koji; Obata, Yasuhiko; Sasaki, Akira. Suction apparatus equipped with ejector. USP2013098523255.
  34. Courson, Billy; Shelburne, John; Mittleman, John. Underwater vacuum attachment device. USP2005026854412.
  35. Hjornet, Preben. Uniform lighting and gripper positioning system for robotic picking operations. USP2012108290624.
  36. Perlman,Maurice; Attee,Keith S. Vacuum cup. USP2007127309089.
  37. Perlman, Maurice; Attee, Keith S.. Vacuum cup with relief port and method of moving and releasing an object. USP2010057712807.
  38. Hjørnet, Preben K.. Vacuum gripping apparatus. USP2013108560121.
  39. Cho, Ho-Young. Vacuum pad device. USP2012098267367.