Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be configured to move (together or separately) to adjust the spacing between the actuators. Some aspects involve techniques for extending and/or retracting a vacuum cup present on the EOAT. Further embodiments, which may be used separately or in conjunction with the previously-described embodiments, apply a secondary inner grip pad to provide a secondary gripping mode for the EOAT. These embodiments may be particularly advantageous when the actuators are soft robotic actuators and the inner grip pad is a relatively more rigid structure than the actuators.

In a gripping device including carriages disposed on a base body so as to be movable relative to each other by a motor drive, the carriages being provided with gripping elements which are movable with the carriages between an opening and a closing position of the gripping elements, at least one of the gripping elements is supported on the respective carriage so as to be able to yield to a certain engagement pressure force which is adjustable in the range of 5 to 300 N in order to prevent excessive damage or injuries-causing engagement forces.

A controller for a commissioning device for storing piece goods such as medicinal packages is provided. The controller includes a delivery table that extends in a first direction, two elongated clamping jaws disposed above the delivery table, the jaws having clamping surfaces that face one another, and a clamping jaw guide apparatus with a frame structure, at least one first and one second guide which are separated from one another in the first direction and extend in a second direction, and at least four clamping jaw carriages which are coupled to the guides and driven in the second direction. Two clamping jaw carriages each are associated with a guide and at least two clamping jaw carriages separated from one another in the first direction are coupled to one clamping jaw, respectively.

There is provided a robot hand that grips and positions a work with a certain gripping force, and that rapidly conveys the work to execute assembling after gripping the work.

A gripper-mounting mechanism includes an outer shell, a motor unit, a first transmission unit, and a plurality of second transmission units. The outer shell includes spaced-apart first and second walls, and a receiving wall that extends from the second wall toward the first wall and that defines a receiving channel adapted to receive an end effector therein through an opening of the second wall. The first transmission unit includes a transmission gear unit driven by the motor unit. The second transmission units surround the receiving wall. Each of the second transmission units includes a grip member driven movably by the transmission gear unit. The grip members are movable relative to the outer shell toward or away from each other.

A gripper-mounting mechanism includes an outer shell, a motor unit, a first transmission unit, and a plurality of second transmission units. The outer shell includes spaced-apart first and second walls, and a receiving wall that extends from the second wall toward the first wall and that defines a receiving channel adapted to receive an end effector therein through an opening of the second wall. The first transmission unit includes a transmission gear unit driven by the motor unit. The second transmission units surround the receiving wall. Each of the second transmission units includes a grip member driven movably by the transmission gear unit. The grip members are movable relative to the outer shell toward or away from each other.

An automatic or semi-automatic preparation system process is provided for forming a medicament solution from a vial containing one of a liquid and a non-liquid material.

In one aspect, the present disclosure provides a robot gripper with a closing mechanism that while providing a desirable closing speed avoids exerting a force on the rigid object which is greater than the holding force required to hold the rigid object in the gripper. In another aspect, the present invention provides a robot gripper capable of detecting a slip or loss of an object held by the gripper. In an alternative aspect, the present invention provides a robot gripper capable of being hand guided. In another aspect, the invention provides a robot gripper brake drive circuit with faster operation. In one other aspect, the invention provides a connector for connecting a robot end effector to a robot arm with an adjustable cable.

Provided are a gripper and a robot. The gripper includes a case, a plurality of gripping assemblies respectively assembled to the case, and a driving assembly configured to move the plurality of gripping assemblies. Each gripping assembly is provided with a fingertip at an end portion, and fingertips of the gripper are configured to cooperate with each other for grasping. Each gripping assembly further includes a gear set and a gear carrier rotatably connected to the case. The gear set includes a fixed gear, an intermediate gear and a fingertip gear engaged in sequence. The fixed gear is fixedly connected to the case, and the fingertip gear is fixedly connected to the fingertip. The intermediate gear and the fingertip gear are mounted to the gear carrier and respectively rotatably connected to the gear carrier. The driving assembly is configured to rotate the gear carrier.

According to one embodiment, a holding mechanism includes a first holding part, a second holding part, a first guide, a second guide, a third guide, a fourth guide, and a driving mechanism. The second holding part faces the first holding part in a first direction. The first guide is connected to the first holding part and capable of moving the first holding part in the first direction. The second guide is connected to the second holding part and capable of moving the second holding part in the first direction. The third guide is capable of moving the first guide in the first direction. The fourth guide is capable of moving the second guide in the first direction, and aligned with the third guide in the first direction. The drive mechanism changes a distance between the first holding part and the second holding part.