US20060032192A1 - Transporter device - Google Patents

Transporter device Download PDF

Info

Publication number
US20060032192A1
US20060032192A1 US10917972 US91797204A US2006032192A1 US 20060032192 A1 US20060032192 A1 US 20060032192A1 US 10917972 US10917972 US 10917972 US 91797204 A US91797204 A US 91797204A US 2006032192 A1 US2006032192 A1 US 2006032192A1
Authority
US
Grant status
Application
Patent type
Prior art keywords
arms
transporter
body
transport
section
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US10917972
Inventor
Jesse McLeod
Original Assignee
Mcleod Jesse
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/12Gripping heads and other end effectors having finger members with flexible finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials

Abstract

A transport device is provided comprising an actuator, a body coupled to the actuator, and a plurality of arms.

Description

    BACKGROUND AND SUMMARY OF THE INVENTION
  • The present invention relates to transporters, such as conveyor systems, and in particular to gripper transporters used in the food industry.
  • Many types of products are transported by transporters, such as conveyor systems. For instance, in the food industry prepared food items, such as pizzas, entrees, and desserts, are assembled from various component pieces, including foodstuffs and packaging, which are transported by one or more transporters. Furthermore, the finished product and/or the component pieces are often transported on or by transporters between processing stations such as a packaging station.
  • The creation of the finished product from the component pieces often requires that the component pieces be brought together at certain times. Furthermore, such transport must be tailored to the piece being transported.
  • In one exemplary embodiment, a transport device is provided comprising an actuator a body coupled to the actuator having an abutment surface, and a plurality of arms coupled to the actuator that selectively extend from and retract into the body. The arms are spring loaded when within the body, and the arms provide a support surface for an item when extended outside the body.
  • An another embodiment, a method of transporting an item is provided including the steps of providing a transporter including an actuator; abutting the item with the transporter; activating the actuator to couple the transporter to the item; moving the transporter and the item coupled thereto; de-activating the actuator to uncouple the transporter from the item; and disengaging the transporter from the item.
  • In yet another embodiment of the present invention, a method of providing sanitary transport of a donut is provided including the steps of providing a transporter including an annular surface, abutting a top surface of the donut with the annular surface of the transporter, extending at least one arm from a position within the transporter to a position external to the transporter such that the at least one arm contacts the donut and hold the donut in contact with the annular surface, moving the transporter and donut about a facility, retracting the at least one arm from the external position to the internal position to release the donut from the transporter, and moving the transporter to disengage the transporter from the donut.
  • In another embodiment of the present invention, a transport device is provided comprising, an actuator, a body coupled to the actuator having an abutment surface, and a plurality of arms coupled to the actuator that selectively extend from and retract into the body. Extension of the arms from the body provides for grasping of an item between the arms and the abutment surface.
  • Additional features of the present invention will become apparent to those skilled in the art upon consideration of the following detailed description of the invention.
  • BRIEF DESCRIPTION OF THE DRAWINGS
  • FIG. 1 is a side elevation view of an exemplary transporter with portions cut away;
  • FIG. 2 is a side elevation view of the transporter of FIG. 1 preparing to engage a foodstuff with portions cut away;
  • FIG. 3 is a side elevation view of the transporter of FIG. 1 engaging the foodstuff with portions cut away;
  • FIG. 4 is a side elevation view of the transporter of FIG. 1 transporting the foodstuff with portions cut away;
  • FIG. 5 is a side elevation view of the transporter of FIG. 1 placing the foodstuffs in packaging with portions cut away;
  • FIG. 6 is a side elevation view of the transporter of FIG. 1 releasing the foodstuffs with portions cut away;
  • FIG. 7 is a side elevation view of the transport system of FIG. 1 retreating from the foodstuff with portions cut away;
  • FIG. 8 is a cross sectional view of a gripper shell of the system of FIG. 1;
  • FIGS. 9 a & b are a cross sectional and top views, respectively, of a shell adapter of the system of FIG. 1;
  • FIGS. 10 a & b are cross sectional and top views, respectively, of a piston attachment 18 of the system of FIG. 1;
  • FIGS. 11 a, b, & c are cross sectional, cross sectional side, and bottom views, respectively, of an arm coupler of the system of FIG. 1; and
  • FIGS. 12 a, b, & c are front flat, side flat, and side shaped views of an arm of the system of FIG. 1.
  • DETAILED DESCRIPTION OF THE DRAWINGS
  • In automated or semi-automated assembly systems, a number of transporters and conveyors are typically present. The transporters and conveyors provide consistency of part placement and process repeatability. Thus, a particular transporter is programmed to know where to go to retrieve a certain piece and knows to move the piece to a second location where it may be processed or otherwise subjected to another transporter. Such a system is described in U.S. patent application Ser. No. 10/678,708 titled A Transport System assigned to Raque Food Systems, Inc. that is expressly incorporated herein.
  • A transporter 10 is described herein that provides a gripping strength sufficient to grab and hold a baked product, such as a donut, but not crush the product during the gripping. Accordingly, transporter 10 includes a cylinder 12 and shell 14 coupled to cylinder 12 by adapter 16. Transporter 10 further includes piston attachment 18 that couples a piston 24 of cylinder 12 to at least two, preferably four, arms 22 via arm coupler 20.
  • Cylinder 12 is preferably a pneumatic cylinder having a piston 24 therein. Cylinder 12 has one or more air supply lines (not pictured) coupled thereto. Cylinder 12 is also coupled to an arm (not pictured) that provides for movement of the cylinder 12 vertically and horizontally about a facility. The arm is preferably a mechanical arm that is computer controlled. First end 40 of cylinder 12 includes a threaded portion to engage adapter 16. Piston 24 is movable relative to cylinder 12 so as to have a retracted position (FIGS. 1, 2, 6, 7) and an extended position (FIGS. 3-5). End 37 of piston 24 is threaded to engage piston attachment 18.
  • Adapter 16, shown in FIGS. 9 a, 9 b, is an annular structure having a threaded bore 38 defined therein sized and shaped to threadably receive first end 40 of cylinder 12 therein. An outer diameter of adapter 16 is threaded, sized, and shaped to be threadably received in a first section 42 of a multi-diametered bore 28 defined within shell 14. The outside of adapter 16 also includes wrench flats 29 to assist in theadably engaging adapter 16 to shell 14 and to cylinder 12.
  • Shell 14, shown in FIG. 8, is a substantially cylindrical body 26 having multi-diametered bore/aperture 28 therein. Body 26 includes a proximal end 30 and a distal end 32. Distal end 32 includes a contact surface 34. Contact surface 34 is annular and circumscribes body 26. Also, contact surface 34 extends perpendicularly to a longitudinal axis 36 of transporter 10. Embodiments are envisioned having a non-annular contact surface 34 where one or more contact surfaces 34 extend from body 26 to correlate to arms 22. The portion of body 26 below contact surface 34 has an outer diameter that is small enough to fit within the “hole” of a donut 82 or within a cavity of the item to be transported.
  • Bore 28 includes three sections 42, 44, 46. First section 42 is at proximal end 30 and is the largest of the three sections 42, 44, 46. As previously described, first section 42 is threaded, sized, and shaped to threadably receive adapter 16 therein. The diameter of second section 44 is smaller than the diameter of first section 42 but larger than the diameter of third section 46. The diameter of second section 44 is sized to slidably receive arm coupler 20 therein.
  • Arm coupler 20, shown in FIGS. 11 a, b, & c, is an annular member having a first end 48 and a second end 50. First end 48 has an outer diameter slightly smaller than the diameter of second section 44 of bore 28 of shell 14. Second end 50 has a diameter slightly smaller than third section 46 of bore 28 of shell 14. In between first end 48 and second end 50 is a transition portion 53 that tapers on some sides (see FIGS. 11 b & c) and includes wrench flats 52 on other sides (see FIGS. 11 a & c). Internally, arm coupler 20 includes bore 54 therein. Bore 54 includes three sections 56, 58, 60 decreasing in diameter from first end 48 to second end 50. First section 56 is threaded and of a diameter slightly larger than a first section 62 of piston attachment 18. Second section 58 is of a diameter slightly larger than a second section 64 of piston attachment 18. Third section 60 is of a diameter slightly larger than a third section 66 of piston attachment 18. Accordingly, piston attachment 18 is sized and shaped to be received in bore 54 of arm coupler 20. A shoulder 78 is provided between second and third sections 58, 60.
  • Piston attachment 18 shown in FIGS. 10 a & b is a substantially cylindrical, multi-diametered, body. Piston attachment 18 includes first, second, third, and fourth sections 62, 64, 66, 68. First section 62 includes external wrench flats 70 and an internal piston bore 72. Wrench flats 70 extend only part of the length of first section 62 and provide parallel surfaces on opposite sides of piston attachment 18 suitable for being engaged by a wrench. The balance of the external of first section 62 not covered by wrench flats 70 is threaded to engage first section 56 of bore 54 of arm coupler 20. Piston bore 72 is also threaded to engage end 37 of piston 24. Second section 64 is sized and shaped to have a slightly smaller diameter than second section 58 of arm coupler 20. Third section 66 is of a diameter slightly less than third section 60 of arm coupler 20. Finally, fourth section 68 is of a decreasing diameter as the distance from third section 66 increases.
  • Arms 22 are originally flat thin metal pieces as shown in FIGS. 12 a & b that are bent to provide an attachment bend 74 and a grasp curl 76 as shown in FIG. 12 c. When assembled, arms 22 are placed within third section 60 of bore 54 of arm coupler 20 such that attachment bends 74 of respective arms 22 sit on shoulder 78. Arms are preferably evenly distributed around sides of bore 54 of arm coupler 20. Once so seated, piston attachment 18 is threadably engaged to arm coupler 20 to hold arms 22 in place to create an arm assembly 80. The bent resting state of arms 22 causes arms 22 to act similarly to springs. Thus, the deflection of arms 22 is a function of the spring constant and the force applied.
  • In assembly, bore 38 of adapter 16 threadably couples to first end 40 of cylinder 12. Then, piston bore 72 of piston attachment 18 of arm assembly 80 threadably couples to piston 24. Shell 14 is placed over arm assembly 80 to receive arm assembly 80 within bore 28. Finally, first section 42 of bore 28 is threadably coupled to adapter 16, and thus cylinder 12.
  • In use, piston 24 and arm assembly 80 selectively assume first positions and second positions. First position of piston 24 and assembly 80 is a retracted position shown in FIGS. 1, 2, 6, and 7. In first position, arm coupler 20 is spaced apart from third section 46 of bore 28 of shell 14. Grasp curls 72 of arms 22 are withdrawn into third section 46 of bore 28 of shell 14 and contracted. Second position of piston 24 and assembly 80 is an extended position shown in FIGS. 3-5. In the second position, arm coupler 20 is proximate, but not within, third section 46 of bore 28 of gripper shell 28. The second position allows grasp curls 72 of arms to extend down and out of bore 28 and to expand. Such extension allows arms 22 to be relatively unrestrained and assume a curled attitude for engaging donut 82 through the donut “hole” and supporting donut 82 from beneath.
  • FIGS. 1-7 show transporter 10 in various stages of transporting items such as a donut 82. FIG. 1 shows transporter 10 ready to approach donut 82. Transporter 10 is in a raised position with piston 24 in the first, retracted, position. FIG. 2 shows transporter 10 in a lowered position with piston 24 still retracted. Transporter 10 is lowered such that contact surfaces 34 abut donut 82. FIG. 3 shows piston 24 having moved to the second, extended, position. Placing piston 24 in the second position causes arms 22 to extend out of bore 28 and assume curved attitudes. The curved attitudes along with the positioning of transporter 10 proximate donut 82 causes grasp curls 76 of arms 22 to engage donut 82. Furthermore, grasp curls 76 secure donuts 82 between arms 22 and contact surface 34. FIG. 4 shows transporter 10 in the raised position with donut 82 coupled thereto. Transporter 10 then moves about a facility, such as a packaging facility, and aligns itself over a package 84. FIG. 5 shows transporter 10 in the lowered position over package 84 or another processing station. Donut 82 is lowered into package 84 and piston 24 is in the second, lowered, position such that transporter 10 still is holding on to donut 82. FIG. 6 shows transporter 10 still in the lowered position with piston 24 in the first, raised, position. Placing piston 24 in the first, raised, position causes arms 22 to retract into bore 28 of shell 14. Thus, donut 82 is released from the grasp of transporter 10. FIG. 7 shows transporter 10 in a raised position above package 84 with donut 82 remaining in package 84. Once in the raised position, transporter 10 travels throughout the facility to position itself above another donut 82.
  • It should be appreciated that the force exerted by arms 22 on donut 82 is of a magnitude that binds donut 82 between arms 22 and contact surfaces 34 but does not crush donuts 82. Alternatively, the force exerted by arms 22 is just greater than the weight of donut 82 such that the weight of donut 82 does not cause significant deflection of arms 22 and does not allow donut 82 to fall.
  • All parts of transporter 10 are preferably manufactured out of materials so as to preserve the sanitary conditions of food production, packaging, and distribution facilities where transporter 10 is located. Such a material, for example, is stainless steel.
  • While the invention is susceptible to various modifications and alternative forms, exemplary embodiments thereof have been shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that there is no intent to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (8)

  1. 1-20. (canceled)
  2. 21. A transport device comprising;
    an actuator;
    a body coupled to the actuator having an abutment surface; and
    a plurality of arms coupled to the actuator that selectively extend from and retract into the body, extension of the arms from the body providing for grasping of an item between the arms and the abutment surface.
  3. 22. The transport of claim 21, wherein the arms are sized and shaped to enter a void in the item.
  4. 23. The transport of claim 21, wherein the arms are flexible such that the arms expand as the arms extend from the body and the arms contract as the arms retract into the body.
  5. 24. The transport of claim 23, wherein the expansion and contraction of the arms is governed by walls of an internal aperture of the body.
  6. 25. The transport of claim 21, wherein the actuator is a pneumatic cylinder.
  7. 26. The transport of claim 21, wherein the arms are springs.
  8. 27. The transport of claim 26, wherein the springs have a spring constant to allow the carrying of a baked good while substantially maintaining the shape and integrity of the baked good.
US10917972 2004-08-13 2004-08-13 Transporter device Abandoned US20060032192A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US10917972 US20060032192A1 (en) 2004-08-13 2004-08-13 Transporter device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US10917972 US20060032192A1 (en) 2004-08-13 2004-08-13 Transporter device

Publications (1)

Publication Number Publication Date
US20060032192A1 true true US20060032192A1 (en) 2006-02-16

Family

ID=35798661

Family Applications (1)

Application Number Title Priority Date Filing Date
US10917972 Abandoned US20060032192A1 (en) 2004-08-13 2004-08-13 Transporter device

Country Status (1)

Country Link
US (1) US20060032192A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2574403A3 (en) * 2011-09-29 2014-07-23 Hamilton Bonaduz AG Gripping device for sample containers
WO2018108255A1 (en) * 2016-12-13 2018-06-21 Abb Schweiz Ag A robot gripper and an industrial robot

Citations (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US655336A (en) * 1899-07-20 1900-08-07 Otis Elevator Co Controller.
US2286571A (en) * 1938-04-22 1942-06-16 Willard L V Pollard Position-controlling apparatus
US3419238A (en) * 1967-06-21 1968-12-31 Air Force Usa Parallel platform linkages for shock isolation systems
US3817368A (en) * 1972-09-08 1974-06-18 American Chain & Cable Co Automatic loading system
US4197794A (en) * 1978-09-21 1980-04-15 Raque Glen F Pizza machine
US4407625A (en) * 1981-05-15 1983-10-04 Westinghouse Electric Corp. Multi-arm robot
US4435116A (en) * 1982-05-27 1984-03-06 Deberg Walter H Robotic manipulator
US4569627A (en) * 1983-03-10 1986-02-11 Simunovic Sergio N Robotic manipulator
US4651589A (en) * 1983-03-08 1987-03-24 Societe Bauduin Becart S.A. Polyarticulated retractile mechanism
US4676050A (en) * 1984-02-25 1987-06-30 Ostma Maschinenbau Gmbh Method and apparatus for transporting flexible packages, particularly flat bags, filled with pourable or flowable material to container filling stations
US4712971A (en) * 1985-02-13 1987-12-15 The Charles Stark Draper Laboratory, Inc. Control arm assembly
US4732525A (en) * 1985-05-10 1988-03-22 Neos Product Hb Robot
US4785179A (en) * 1983-10-11 1988-11-15 Kabushiki Kaisha Toshiba Radiation photographing and reading apparatus
US4976582A (en) * 1985-12-16 1990-12-11 Sogeva S.A. Device for the movement and positioning of an element in space
US5038915A (en) * 1989-03-02 1991-08-13 Hitech Systems S.R.L. Article synchronizing apparatus for wrapping or boxing machines
US5053687A (en) * 1988-03-21 1991-10-01 Inria Institut National De Recherche En Information Et En Automotique Articulated device, for use in particular in robotics
US5088912A (en) * 1990-06-01 1992-02-18 Raque Food Systems, Inc. Dough processing and conveyor system
US5141097A (en) * 1990-09-04 1992-08-25 La Poste Control device for a flow of objects in continuous file
US5195305A (en) * 1991-12-23 1993-03-23 The Wine Group, Inc. Liquid packaging placement and control device
US5279176A (en) * 1992-07-20 1994-01-18 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs
US5333514A (en) * 1992-04-24 1994-08-02 Toyoda Koki Kabushiki Kaisha Parallel robot
US5379571A (en) * 1993-09-08 1995-01-10 Moore Business Forms, Inc. Method and apparatus for packaging a stack of paper in a cardboard carton
US5588285A (en) * 1994-07-12 1996-12-31 Ostma Maschinenbau Gmbh System for loading packages into a box
US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
US5715729A (en) * 1994-11-29 1998-02-10 Toyoda Koki Kabushiki Kaisha Machine tool having parallel structure
US5768856A (en) * 1995-12-07 1998-06-23 Ostma Maschinenbau Gmbh Loading a plurality of packages into a box
US5771657A (en) * 1996-05-07 1998-06-30 Merck Medco Managed Care, Inc. Automatic prescription filling, sorting and packaging system
US6006500A (en) * 1992-09-30 1999-12-28 Southpac Trust International, Inc. Article packaging system
US6438925B1 (en) * 1908-12-09 2002-08-27 Sig Pack Systems Ag Apparatus for introducing groups of flat, stacked articles into packaging containers
US6543987B2 (en) * 2000-03-01 2003-04-08 Sig Pack Systems Ag Robot for handling products in a three-dimensional space
US6554336B2 (en) * 2000-06-08 2003-04-29 Sig Pack Systems Ag Method and apparatus for grasping items
US6564927B2 (en) * 2000-06-05 2003-05-20 Sig Pack Systems Ag Apparatus for charging packaging containers with items
US6578614B1 (en) * 1999-04-23 2003-06-17 Sig Pack Systems Ag Conveyor for combining two-component items
US6629593B2 (en) * 2000-05-11 2003-10-07 Rapistan Systems Advertising Corp. Conveyor induction system

Patent Citations (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US655336A (en) * 1899-07-20 1900-08-07 Otis Elevator Co Controller.
US6438925B1 (en) * 1908-12-09 2002-08-27 Sig Pack Systems Ag Apparatus for introducing groups of flat, stacked articles into packaging containers
US2286571A (en) * 1938-04-22 1942-06-16 Willard L V Pollard Position-controlling apparatus
US3419238A (en) * 1967-06-21 1968-12-31 Air Force Usa Parallel platform linkages for shock isolation systems
US3817368A (en) * 1972-09-08 1974-06-18 American Chain & Cable Co Automatic loading system
US4197794A (en) * 1978-09-21 1980-04-15 Raque Glen F Pizza machine
US4407625A (en) * 1981-05-15 1983-10-04 Westinghouse Electric Corp. Multi-arm robot
US4435116A (en) * 1982-05-27 1984-03-06 Deberg Walter H Robotic manipulator
US4651589A (en) * 1983-03-08 1987-03-24 Societe Bauduin Becart S.A. Polyarticulated retractile mechanism
US4569627A (en) * 1983-03-10 1986-02-11 Simunovic Sergio N Robotic manipulator
US4785179A (en) * 1983-10-11 1988-11-15 Kabushiki Kaisha Toshiba Radiation photographing and reading apparatus
US4676050A (en) * 1984-02-25 1987-06-30 Ostma Maschinenbau Gmbh Method and apparatus for transporting flexible packages, particularly flat bags, filled with pourable or flowable material to container filling stations
US4712971A (en) * 1985-02-13 1987-12-15 The Charles Stark Draper Laboratory, Inc. Control arm assembly
US4732525A (en) * 1985-05-10 1988-03-22 Neos Product Hb Robot
US4976582A (en) * 1985-12-16 1990-12-11 Sogeva S.A. Device for the movement and positioning of an element in space
US5053687A (en) * 1988-03-21 1991-10-01 Inria Institut National De Recherche En Information Et En Automotique Articulated device, for use in particular in robotics
US5038915A (en) * 1989-03-02 1991-08-13 Hitech Systems S.R.L. Article synchronizing apparatus for wrapping or boxing machines
US5088912A (en) * 1990-06-01 1992-02-18 Raque Food Systems, Inc. Dough processing and conveyor system
US5141097A (en) * 1990-09-04 1992-08-25 La Poste Control device for a flow of objects in continuous file
US5195305A (en) * 1991-12-23 1993-03-23 The Wine Group, Inc. Liquid packaging placement and control device
US5333514A (en) * 1992-04-24 1994-08-02 Toyoda Koki Kabushiki Kaisha Parallel robot
US5301566A (en) * 1992-07-20 1994-04-12 The United States Of America As Represented By The Administrator Of The National Aeronautics & Space Administration Simplified and symmetrical five-bar linkage driver for manipulating a Six-Degree-of-Freedom Parallel "minimanipulator" with three inextensible limbs
US5279176A (en) * 1992-07-20 1994-01-18 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs
US6006500A (en) * 1992-09-30 1999-12-28 Southpac Trust International, Inc. Article packaging system
US5379571A (en) * 1993-09-08 1995-01-10 Moore Business Forms, Inc. Method and apparatus for packaging a stack of paper in a cardboard carton
US5588285A (en) * 1994-07-12 1996-12-31 Ostma Maschinenbau Gmbh System for loading packages into a box
US5715729A (en) * 1994-11-29 1998-02-10 Toyoda Koki Kabushiki Kaisha Machine tool having parallel structure
US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
US5768856A (en) * 1995-12-07 1998-06-23 Ostma Maschinenbau Gmbh Loading a plurality of packages into a box
US5771657A (en) * 1996-05-07 1998-06-30 Merck Medco Managed Care, Inc. Automatic prescription filling, sorting and packaging system
US6578614B1 (en) * 1999-04-23 2003-06-17 Sig Pack Systems Ag Conveyor for combining two-component items
US6543987B2 (en) * 2000-03-01 2003-04-08 Sig Pack Systems Ag Robot for handling products in a three-dimensional space
US6629593B2 (en) * 2000-05-11 2003-10-07 Rapistan Systems Advertising Corp. Conveyor induction system
US6564927B2 (en) * 2000-06-05 2003-05-20 Sig Pack Systems Ag Apparatus for charging packaging containers with items
US6554336B2 (en) * 2000-06-08 2003-04-29 Sig Pack Systems Ag Method and apparatus for grasping items

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2574403A3 (en) * 2011-09-29 2014-07-23 Hamilton Bonaduz AG Gripping device for sample containers
WO2018108255A1 (en) * 2016-12-13 2018-06-21 Abb Schweiz Ag A robot gripper and an industrial robot

Similar Documents

Publication Publication Date Title
US7024908B2 (en) Fatigue enhancement of material surrounding openings in workpieces
US4773523A (en) Method for automated handling of materials such as automotive parts and system utilizing same
US3125370A (en) Self-centering article crimpers
US6860531B2 (en) Gripping and vacuum end effector for transferring articles
US4340249A (en) Jar stabilizer for pick-up assembly
US5433426A (en) Apparatus for removing a non-magnetic sheet from a stack of sheets
US6371717B1 (en) Device for mechanically gripping and loading cylindrical objects
US4679297A (en) Method for changing the tooling in a robot-based system and system utilizing same
US4852928A (en) Robotic end effectors
US6364331B1 (en) Method and apparatus for transferring wafer cassettes in microelectronic manufacturing environment
US6019211A (en) Conveyor and workstation
US6010171A (en) Apparatus for lifting objects having a hollow cylindrical core with remote power-actuated release
US5024575A (en) Lightweight gripper for robotic transfer operations
US4604797A (en) Method for automatically attaching sub-assembly to main assembly and system thereof using industrial robots
EP1293307A2 (en) Method and apparatus for operating a clamp in automatic manipulators
US5387068A (en) Method and system for loading rigid sheet material into shipping containers at a work station and end effector for use therein
US20020071756A1 (en) Dual wafer edge gripping end effector and method therefor
US6003917A (en) Clamping apparatus
US5628539A (en) Robotic gripping device
US3899913A (en) Sheet wrapper
US4359241A (en) Drum holder
US7390040B2 (en) End effector with multiple pick-up members
US6309001B1 (en) Article piercing end effector
US7316147B2 (en) Apparatuses for crimping and loading of intraluminal medical devices
US2841300A (en) Method of and means for handling coils of wire