A work machine unit includes: a support member assembled to an end effector connection part of an operating machine; a work machine part assembled to one end of the support member; and a linear guide disposed at another end of the support member across its connection to the end effector connection part from the support member, arranged in parallel to an axial direction of the work machine part, and configured to abut against a work object or its peripheral structural object. Further, the linear guide is passed through a through-hole formed in the support member, and the support member is configured to move in the axial direction of the work machine part as guided by the linear guide.

A part manipulator includes a robot arm movable between a pick station and a place station. The part manipulator includes an end effector coupled to a distal end of the robot arm. The end effector includes a part support fixture and a pin gripper adjacent the part support fixture. The pin gripper includes a pin member and a pin actuator operated to move the pin member between a retracted position and an extended position. A distal end of the pin member extends from the part support fixture in the extended position to engage and hold a part against the part support fixture in the extended position. The pin member is configured to pick up the part in the extended position at the pick station. The pin actuator is configured to release the part at the place station when the pin member is moved to the retracted position.

This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.

A method of manufacturing a component and a component manufacturing apparatus attach an attached part in a predetermined posture decided in advance to a ring-shaped channel formed in an outer circumference of a component main body. While being held by holding portions, a ring-shaped seal body is placed in contact with a tapered portion and has its diameter expanded to at least the outer diameter of the component main body. The seal body elastically deforms from the expanded-diameter state so that its diameter reduces and is attached to the attachment channel in the outer circumferential surface of the component main body while being guided by the holding portions.

A system for securing, holding and aligning an object in a rigid subassembly include a conformable gripper ball. The gripper ball having the capability to conform to an object and then hold the object after contact. The conformability of the gripper ball is changed with air pressure to allow the gripper ball to hold the object. The gripper ball is mounted onto a rigid frame, which can then be docked into a loading station of a printer that prints on 3-D objects. With the addition of a vision system, the gripper assembly could be used with alignment markings on the loading station to allow manual alignment of the object to the rigid subassembly prior to loading into the printer.

A system for securing, holding and aligning an object in a rigid subassembly include a conformable gripper ball. The gripper ball having the capability to conform to an object and then hold the object after contact. The conformability of the gripper ball is changed with air pressure to allow the gripper ball to hold the object. The gripper ball is mounted onto a rigid frame, which can then be docked into a loading station of a printer that prints on 3-D objects. With the addition of a vision system, the gripper assembly could be used with alignment markings on the loading station to allow manual alignment of the object to the rigid subassembly prior to loading into the printer.

This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.

A teaching apparatus for robot includes a force sensor disposed between an arm of a robot and an end effector, and a guide part attached to the end effector. An object includes a recessed part. The recessed part has a reference surface, with which target surface of the end part of the guide part are brought into surface-contact so as to determine a position and a posture of the robot. A robot control device performs a control for bringing the target surface of the guide part into surface-contact with the reference surface of the recessed part so as to determine a teaching position of the robot, based on the direction of a force applied to the end effector.

An apparatus for clamping a robotically controlled tool to a workpiece comprises a tool support mountable on a robotic arm and configured to support the tool, a plurality of clamping modules, each of which includes at least one vacuum cup arranged to clamp the tool support to the workpiece, and an adjustment mechanism configured to adjust the position of the tool support relative to the workpiece.

A robot hand includes: a first movable member including a first pushing surface pushed against a first surface of a workpiece and a second pushing surface pushed against a second surface of the workpiece, intersecting the first surface, supported in a manner capable of moving in a first direction perpendicular to the first pushing surface, a second movable member supported by the first movable member in a manner capable of relatively moving in a second direction intersecting a movement direction of the first movable member, a third pushing surface pushed against a third surface facing the second surface, an actuator for pressing the first and the second movable members in the first direction, and a pressing force conversion mechanism converting a part of the pressing force generated by the actuator into a pressing force in a direction of moving the second movable member relative to the first movable member.