An end effector for transferring a tray is described. The end effector includes an end effector base attached to a vertical drive column of a tray engine. The end effector further includes a slide having multiple arms that are attached to the end effector base to support the tray, when present. The arms of the slide enable the tray to slide along a length of the end effector base. The arms face each other and extend along the length of the end effector base.

A gripping mechanism includes: two gripping pieces pivoted relative to each other about a pivot axis; a base supporting at least one of the gripping pieces; a pulley rotatably supported about a rotation axis parallel to the pivot axis; a wire wound around the pulley, causing tensile forces that move the rotation axis in one direction to act, and transmitting a pressing force; and a force-receiving portion receiving the pressing force. The pulley is disposed so that a resultant force of the tensile forces of the wire acting on the rotation axis generates a moment causing the gripping pieces to be pivoted in a direction causing the gripping pieces to be closed. The force-receiving portion is disposed so that the pressing force applied from the wire generates a moment causing the gripping pieces to be pivoted in a direction causing the gripping pieces to be opened.

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.

A workpiece gripping hand includes a first movable member and a second movable member which cooperate with each other to grip an object, a first drive unit which linearly moves the first movable member, a support unit which rotatably supports the second movable member, a link member which is linked to the first movable member and the second movable member, and which rotates the second movable member by transmitting a linear motion of the first movable member to the second movable member, and a second drive unit which moves the support unit to change a position of a center of rotation of the second movable member.

A robotic constructing system based on a cable-driven robot for constructing a structure formed by objects such as bricks is provided. The process of laying the bricks is performed by the cable-driven robot autonomously. The bricks are provided to the robotic constructing system by an external conveyor and a robot arm of the robotic constructing system is configured to pick up the bricks. The robot arm is then configured to place the bricks in a position to receive an adhesive from an adhesive dispenser of the robotic constructing system and further to load the bricks onto a linear rail. The linear rail can be configured to place the bricks within the proximity of the cable-driven robot. The cable-driven robot can be configured to pick up the bricks and lay the bricks in the designated position of a three-dimensional space.

An embodiment of the present invention to provide an electric gripping device that improves a coupling relationship between a two-fingered clamper module using a four-joint link and the actuator module to facilitate assembling and disassembling of the actuator module and the clamper module and minimizes a length of the electric gripper to easily secure a robot's work space or work direction when being connected to the robot.

A processing apparatus includes a table base to which a jig table is removably secured, a cutting unit, a moving assembly for moving the table base between a processing area and a mounting/dismounting area, and a delivery assembly for delivering the jig table from a temporary rest area onto the table base while applying a negative pressure to a second suction channel of the jig table. The delivery assembly includes a pair of grippers for gripping both sides of the jig table, a suction pipe connected to the second suction channel of the jig table that is gripped by the grippers, and a lifting and lowering unit for positioning the suction pipe selectively in an operative position where the suction pipe is connected to the second suction channel and a lifted position where the suction pipe is spaced from the second suction channel.

The disclosure relates to a mechanical hand of a dual-driven special-shaped super-flexible elastic framework. The mechanical hand includes a top plate and a base plate. The top plate and the base plate are fixed into a whole through two groups of guide connection rods. Two lead screw shaft servo motors are disposed on the top plate at an interval. Lead screws of the two lead screw shaft servo motors are respectively connected to a hollow finger front section driving plate and a finger root portion driving plate. Tail ends of the two lead screws are respectively supported on the base plate through two mounted bearings. The mechanical hand further includes flexible fingers. A tip portion of each of the flexible fingers is fixed on the hollow finger front section driving plate. A special-shaped super-flexible leaf spring of the flexible finger is connected to the base plate through a finger root hinge seat. A curved rod of the flexible finger is connected to the finger root portion driving plate through a curved rod hinge seat. The two lead screw shaft servo motors convert rotation movements into linear movements through lead screw nut mechanisms, and different portions of the flexible finger are respectively driven to move. Objects of different sizes and states are reliably grasped. A grasping range is wide. A flexible self-adaption effect is achieved.

The disclosure relates to a mechanical hand of a dual-driven special-shaped super-flexible elastic framework. The mechanical hand includes a top plate and a base plate. The top plate and the base plate are fixed into a whole through two groups of guide connection rods. Two lead screw shaft servo motors are disposed on the top plate at an interval. Lead screws of the two lead screw shaft servo motors are respectively connected to a hollow finger front section driving plate and a finger root portion driving plate. Tail ends of the two lead screws are respectively supported on the base plate through two mounted bearings. The mechanical hand further includes flexible fingers. A tip portion of each of the flexible fingers is fixed on the hollow finger front section driving plate. A special-shaped super-flexible leaf spring of the flexible finger is connected to the base plate through a finger root hinge seat. A curved rod of the flexible finger is connected to the finger root portion driving plate through a curved rod hinge seat. The two lead screw shaft servo motors convert rotation movements into linear movements through lead screw nut mechanisms, and different portions of the flexible finger are respectively driven to move. Objects of different sizes and states are reliably grasped. A grasping range is wide. A flexible self-adaption effect is achieved.

A retrieval device for retrieving items within a confined space with limited access, said device comprising: (a) an elongated body having a front and rear and a longitudinal axis; (b) a clamping mechanism comprising at least a set of jaws disposed at said front, said jaws being configured to actuate between closed and open positions, said clamping mechanism also comprising at least one actuating member connected to said jaws and at least partially disposed in said body; (c) an actuator laterally offset from said axis and beside said at least one actuating member, said actuator operatively connected to said at least one actuating member to actuate said jaws between said closed and opened positions; and (d) at least one camera disposed proximate said motor and offset from said axis, said at least one camera having a field of view of at least a portion of said jaws.