A nozzle replacement table unit includes a nozzle container configured to accommodate multiple nozzles for replacement, a pedestal to which the nozzle container is detachably attached, a fixing mechanism configured to fix the nozzle container to the pedestal, and an operation section configured to release fixing by the fixing mechanism. The operation section is provided in the nozzle container.

An end effector includes a hole plate includes a plurality of holes, a plurality of pins that respectively penetrate the plurality of holes and are hung on the hole plate to be movable upward, and a force applying part that applies an inward force to an outer pin of the plurality of pins.

A tool changer 30 with a master half 32 and tool half 34. Mating member 60, 138 enables the master half 32 and tool half to mesh with one another. A securing mechanism has a clasp 70 and a cam 72. The clasps 70 move between a release position and a grasping position. In the grasping position, the master 32 and tool halves 34 are secured together with one another. The cam 72 moves the clasps 70 between the release and grasping positions. From a release position, the master half 32 engages the tool half 34. The master half 32 moves horizontally with respect to the tool half 34. This, in turn, moves the cam 72 from its release position to its grasping position. In the grasping position, the clasps 70 grasp the tool half 34, the cam locks 72 in its grasping position and the master 32 and tool 34 halves secure with one another.

A system and method utilizing a robotic arm to prepare a food product such as a meat for cooking and then subsequently assembling a sandwich from the cooked meat is disclosed. In addition, the robotic arm may also be used to wrap the assembled sandwich in a wrapper. The system may utilize a wire basket with a basket adapter, or handle, to allow the robotic arm to easily maneuver the basket and also utilize a wrapping assist device to wrap a wrapper around the assembled sandwich.

A robotic arm includes an arm with a plurality of degrees of freedom and a gripper configured to manipulate a plurality of tools. The gripper includes a pair of claws. Each claw of the pair includes a first portion of a connector that is configured to connect to a second portion of the connector integrated on each of the plurality of tools.

A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non-geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.

Object manipulation space optimization is a challenging task and used in applications such as heat treatment operation and transport packaging. Traditionally manual intervention is involved to grasp and place the objects for ensuring multi object stacking with zero gap between adjacent objects. This leads to higher cost infrastructure and low productivity. Further, conventional gripper devices fail to optimize object manipulation space and are unable to handle objects of different cross sections with larger lengths. The present disclosure provides a gripper apparatus addressing a single gripper design comprising an adaptor holding unit with a provision for different modular object holding units which are varied in accordance with size, shape and length of the object to be grasped and placed by the gripper apparatus. The modular object holding unit comprises a plurality of fingers which are actuated for grasping and stacking one or more objects such that object manipulation space is optimized.

A gripper for a handling assembly grasps an object. The gripper includes: a coupler for mounting to the object; and a base body mountable to the handling assembly. The base body includes: a housing; a clamping bracket at an outside of the housing; and a clamping mechanism in the housing, connected to the clamping bracket. The clamping bracket has latched and unlatched states. In the latched state, the clamping bracket is drawn close to the housing. In the unlatched state, the clamping bracket is pushed away from the housing to receive the coupler between the clamping bracket and the housing. The clamping mechanism is activated by pneumatic/hydraulic driving to force the clamping bracket to change from the latched to the unlatched state, and deactivated such that the clamping bracket returns to the latched state, thereby clamping the coupler to the housing.

A tool interchange for a submersible remote operated vehicle (ROV) arm includes a first interchange body that affixes to an ROV arm. A second interchange body is carried by the first interchange body to rotate on a rotation axis. The second interchange body includes a tool mount actuable between gripping an ROV tool to the second interchange body and releasing the ROV tool from the second interchange body. An inductive power coupling part is provided in the tool mount. The inductive power coupling part is presented outwardly in the tool mount opposite the first interchange body, resides on the rotation axis and is fixed with respect to the first interchange body while the second interchange body rotates. The inductive power coupling part is adapted to inductively communicate power with a corresponding inductor power coupling part of the ROV tool when the ROV tool is docked in the tool mount.

A tool interchange for a submersible remote operated vehicle (ROV) arm includes a first interchange body that affixes to an ROV arm. A second interchange body is carried by the first interchange body to rotate on a rotation axis. The second interchange body includes a tool mount actuable between gripping an ROV tool to the second interchange body and releasing the ROV tool from the second interchange body. An inductive power coupling part is provided in the tool mount. The inductive power coupling part is presented outwardly in the tool mount opposite the first interchange body, resides on the rotation axis and is fixed with respect to the first interchange body while the second interchange body rotates. The inductive power coupling part is adapted to inductively communicate power with a corresponding inductor power coupling part of the ROV tool when the ROV tool is docked in the tool mount.