A chuck apparatus includes a pair of grip members driven by a piston via a pair of levers, and the levers are rotatably supported by a body via lever shafts. A lever shaft protrudes from the attachment surface of the body to the transport device, and positioning with respect to the transport device is performed by using the protruding portion.

A system for opening and/or closing a lid of a container containing medical equipment in a sterile processing department, the system comprises: a gripper for opening and/or closing the lid of the container, one or more motorized conveyor elements configured to receive said container at a first container position and convey said container along a longitudinal axis towards the gripper. The system is configured to align the container with the gripper by conveying the container from the first container position to a second container position using the one or more motorized conveyor elements, move a first gripper element and a second gripper element from a first gripper position to a second gripper position, whereby the first gripper element or the second gripper element contacts the container at a side surface of the container and moves the container to a third container position.

A workpiece supply-and-discharge device includes a fixed portion, and a swivel portion that swivels on a bed. The fixed portion is provided with a plurality of fixed rails having an arc shape and separated from each other. Movable rails enter or exit from gaps left between the fixed rails as reciprocating actuators operate. Workpiece gripping portions configured to grip a workpiece are provided with sliders. When the workpiece gripping portions carry the workpieces while swiveling integrally with the swivel portion, the sliders transfer from the movable rails to the fixed rails or from the fixed rails to the movable rails.

A joint structure for a robot including a four-link mechanism, in which an elastic member expands and its restoring force increases as a finger is bent, and a distance between a second straight line passing through a center of a second rotation shaft and a fixed point at which the other end of the elastic member is fixed to the third link is equal to or longer than a distance between a fourth straight line passing through a center of a first rotation shaft and a fixed point at which one end of the elastic member is fixed to the second link, the second straight line being perpendicular to a first straight line passing through centers of second and fourth rotation shafts, and the fourth straight line being perpendicular to a third straight line passing through centers of first and third rotation shafts.

An object gripping mechanism is provided for use with a robotic arm. A robotic arm and method of manufacturing an object gripping mechanism are also provided. The object gripping mechanism includes an attachment modular configured to connect the object gripping mechanism to the robotic arm. The object gripping mechanism also includes a plurality of retractable arms each pivotably connected with the attachment modular. The object gripping mechanism also includes one or more movement mechanisms collectively configured to pivot the plurality of retractable arms to a desired position. The object gripping mechanism further includes a drive mechanism positioned within each of the plurality of retractable arms and configured to pivot the object engagement feature using a gear and timing belt configuration.

A robot hand including a set of carpal bones, each of the carpal bones having at least one adjacent bone; and each carpal bone defining at least one socket. For each pair of adjacent carpal bones, at least one connector having a first and second end and wherein the first end and the second end are each in the form of a ball, and wherein the balls are joined by a connective element. Wherein the ball at the first end of the connector is fitted conformally into the socket of a first one of the pair of adjacent carpal bones and the ball at the second end of the connector is fitted conformally into the socket of a second one of the pair of adjacent bones, thereby joining the carpal bones together, but permitting limited relative movement.

A gripping device to grip and provide one or more utilities to a tool. The gripping device includes a body and fingers. One or more of the fingers are movable relative to the body for the gripping device to be movable between an open orientation and a closed orientation. In the open orientation, the fingers are spaced apart to be positioned on opposing sides of the tool. In the closed orientation, the fingers are movable to grip the tool. One or more of the fingers include utility connectors that extend through the finger. The utility connectors supply one or more utilities to the tool to operate the tool while being gripped by the fingers.

The present invention relates to a robot multi-degree-of-freedom damper. A clamping jaw supporting frame is installed on a bottom plate; a short stroke biaxial cylinder is installed on the clamping jaw supporting frame; an output end is connected with a pneumatic clamping jaw A; a clamping jaw finger A is connected with an output end of the pneumatic clamping jaw A; a long stroke biaxial cylinder is installed on the bottom plate; the output end of the long stroke biaxial cylinder is connected with a pneumatic clamping jaw B; a clamping jaw finger B is connected with the output end of the pneumatic clamping jaw B; a pneumatic clamping jaw C is installed on the clamping jaw supporting frame and positioned between the pneumatic clamping jaw A and the pneumatic clamping jaw B; a clamping jaw finger C is connected with the output end of the pneumatic clamping jaw C; the clamping jaw finger A and the pneumatic clamping jaw A are driven by the short stroke biaxial cylinder to move back and forth on the clamping jaw supporting frame; and the clamping jaw finger B and the pneumatic clamping jaw B are driven by the long stroke biaxial cylinder to move back and forth on the bottom plate. The present invention adopts the humanoid configuration design, can realize the automatic docking of the spring return type quick joints, and has unique appearance, novel structure, simple control and strong working reliability.

A gripper may be provided that includes a motor, a jaw guide, a wedge head, a jaw, and a finger. The jaw guide is disposed on the motor and has a guide hole and a plurality of guide grooves. The wedge head is disposed in the guide hole and is able to perform up and down reciprocating movement by the motor. The jaw is disposed in the plurality of guide grooves respectively and is connected to the wedge head. When the wedge head moves in an up and down direction, the jaw is able to perform a reciprocating movement in a direction perpendicular to the up and down direction. The finger is disposed on the jaw. When the jaw moves in the direction perpendicular to the up and down direction, the finger moves together with the jaw, so that the movement of an object is limited.

A gripper may be provided that includes a motor, a jaw guide, a wedge head, a jaw, and a finger. The jaw guide is disposed on the motor and has a guide hole and a plurality of guide grooves. The wedge head is disposed in the guide hole and is able to perform up and down reciprocating movement by the motor. The jaw is disposed in the plurality of guide grooves respectively and is connected to the wedge head. When the wedge head moves in an up and down direction, the jaw is able to perform a reciprocating movement in a direction perpendicular to the up and down direction. The finger is disposed on the jaw. When the jaw moves in the direction perpendicular to the up and down direction, the finger moves together with the jaw, so that the movement of an object is limited.