An omnidirectional multi-finger asynchronous gripper for a casting robot, includes a connecting seat, an arc-shaped support, a mounting seat, longitudinal clamping devices, transverse adjusting devices and transverse clamping devices. The omnidirectional multi-finger asynchronous gripper is mounted to a tail end of the casting robot through the connecting seat; each longitudinal clamping device can independently and longitudinally clamp a casting or a mold core, is adjustable in spacing through the transverse adjusting devices, can automatically adapt to castings or mold cores with different outlines and can realize effective fitting-type adaptive clamping of specially-shaped castings and mold cores; and the transverse clamping devices are used for transversely and independently clamping the casting or mold core and a clamping position or angle can be adjusted through a swinging angle adjuster.

A chuck mechanism operates a piston in a cylinder tube by using action of compressed air and opens and closes, by using a rod coupled to the piston, a pair of fingers, thereby gripping work W. The locking mechanism locks the fingers at work grip positions. The locking mechanism includes a first locking member, a second locking member, and a drive device. The first locking member is displaced when the pair of fingers are opened or closed. The second locking member retains the first locking member so as to lock the fingers at the work grip positions. The drive device relatively displaces the first locking member and the second locking member to locking positions and non-locking positions.

The present invention provides a holding mechanism capable of well preventing misalignment of a workpiece even if the outer diameter of the workpiece is changed when the workpiece is supported at three points by a flat face and a V-shaped groove. Additionally, the present invention provides a holding mechanism of a transfer device capable of stably detecting a chucking error of holding claws for a workpiece.

The present invention recites a scissor arm for an unmanned robotic system such as a UAV, also known as a drone. This arm would typically be installed on the underside of a UAV with hover capability. The arm is designed to simultaneously vertically lower and horizontally extend a payload, permitting a person to interact with the payload without risk of injury by the UAV's propellers. This arm is practical for applications such as a routine police traffic stop, wherein an officer can safely remain in their vehicle and interact with the driver via a drone equipped with communication equipment and such an arm. The drone's arm can present the driver with a box for gathering documents from the driver without risk of injuring the driver or damaging the driver's vehicle. This is accomplished by two inventive L-shaped trusses that offset the arm's payload horizontally as the arm is extended downward.

An omnidirectional multi-finger asynchronous gripper for a casting robot, includes a connecting seat, an arc-shaped support, a mounting seat, longitudinal clamping devices, transverse adjusting devices and transverse clamping devices. The omnidirectional multi-finger asynchronous gripper is mounted to a tail end of the casting robot through the connecting seat; each longitudinal clamping device can independently and longitudinally clamp a casting or a mold core, is adjustable in spacing through the transverse adjusting devices, can automatically adapt to castings or mold cores with different outlines and can realize effective fitting-type adaptive clamping of specially-shaped castings and mold cores; and the transverse clamping devices are used for transversely and independently clamping the casting or mold core and a clamping position or angle can be adjusted through a swinging angle adjuster.

A gripping device with linear actuation for a robotic arm for seizing and gripping Petri dishes and other light items. The gripping device has a support and first and second gripping arms slidably retained relative to the support by guide rods. A motorized drive mechanism actuates the gripping arms through an operating member that acts only on the first gripping arm. Through an interconnection mechanism, movement of the first gripping arm actuates a simultaneous and dependent opposite movement of the second gripping arm so that the gripping arms are movable between a slack position and a clamping position. The operating member acts on the first gripping arm through a resiliently compressible member, the distortion of which is measured to provide a clamping limitation mechanism.

A chuck apparatus grips a workpiece by a gripping section having a pair of chuck members. The chuck apparatus is equipped with a cover member and pressing members. The cover member includes insertion holes through which fingers of the chuck members are inserted, and seal members that surround the insertion holes and abut against the fingers. The cover member is attached to a body so as to cover base portions of the chuck members, and is elastically deformable so as to follow displacement of the chuck members. The pressing members press the seal members against the fingers.

An air chuck includes: a finger support part including a pair of fingers; a chuck main body part including an operation mechanism operable to open and close the pair of fingers; and linking mechanisms that detachably link the finger support part to the chuck main body part. The linking mechanisms each include: a linking shaft that extends from the finger support part; a shaft insertion hole formed in a body of the chuck main body part; a catch body that becomes elastically caught on a catch surface of the linking shaft when the linking shaft is inserted into the shaft insertion hole; and a delinking member that is manually operated so as to release the catch body caught on the catch surface when the finger support part is detached from the chuck main body part.

A gripper which has a friction estimation module configured to estimate static and/or dynamic friction forces acting on gripping jaws is provided. The static friction force is calculated on the basis of constraining reactions whereto the gripping jaws are subjected, the constraining reactions being calculated at least as a function of an actuation force exerted on the gripping jaws, a coefficient of friction of gripper materials and/or lubricant used being known. The dynamic friction force is calculated on the basis of speed of the gripping jaws, width of sliding surfaces and distance between the sliding surfaces of the gripping jaws, the viscosity of the lubricant used being known.

An air chuck includes: a finger support part including a pair of fingers and a pair of lock shafts; a chuck main body part including an operation mechanism operable to open and close the fingers; and linking mechanisms that detachably link the finger support part to the chuck main body part. Each of the linking mechanisms causes the corresponding lock shaft to shift to a non-lock position so as to render the pair of fingers capable of being opened and closed when the finger support part is linked to the chuck main body part. Each of the linking mechanisms causes the corresponding lock shaft to shift to a lock position and locks the pair of fingers so as to render the pair of fingers incapable of being opened and closed when the finger support part is detached from the chuck main body part.