An automatic picking fixture device: a fixture locked with a mechanical arm and includes a coupling orifice, a motor, a rotor, and a gear. The fixture includes four elongated orifices and two movable holders. The two movable holders have four through orifices corresponding to the gear, four passing orifices, and two toothed sections received in the four through orifices and meshing with and driving the gear. The four passing orifices of the fixture is configured to lock with the four pneumatic cylinders or four servo motors, and the four pneumatic cylinders or the four servo motors are configured to push four jaws outward or inward, the four jaws include four symmetrical clamping grooves configured to clamp at least one material. The four racks are fixed on the top of the fixture, and a respective rack has two rollers rolling along a respective elongated orifice.

The invention relates to a gripper for use in a slicing machine, in particular a high-performance slicing machine, said gripper being joined to the food product using an integral bonding process.

A mechanical hand is provided that can increase the operation stroke and also the gripping force of a pair of gripping members. The hand includes first and second sliders, a driving source, a rotating plate, a first clamping link. Of these components, the first and second sliders are provided on a hand body so as to be linearly movable in opening and closing directions and the driving source is provided in the hand body. The rotating plate is rotatably driven by the driving source. The first clamping link is linked with the rotating plate so as to be only rotatable on a first shaft, and is linked with the first slider so as to be only rotatable on a second shaft. Moreover, the second clamping link is linked with the rotating plate so as to be only rotatable on a third shaft, and is linked with the second slider so as be only rotatable on a fourth shaft. The first and second sliders move linearly in the opening and closing directions by making the driving source rotate the rotating plate.

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.

A gripper for industrial manipulators comprising a body, jaws constrained to the body and activable to hold and release a piece, an actuator of the jaws and a sensor configured to detect the presence of a piece between said jaws, is described. Advantageously, the sensor is not positioned between the jaws, in the space intended to accommodate the piece to be held, but is functionally interposed between the actuator and one of the jaws.

A method for detecting the presence of a piece between the jaws of an industrial manipulator gripper, the method providing a sensor to be used to detect the position of a jaw with respect to the actuator of the gripper.

Provided are a robot hand which may be detached by a simpler mechanism, and a robot including the robot hand. The robot hand includes: a gripping part configured to grip a target object; and a mounting part configured to mount the gripping part to a mounted part of a robot, wherein the gripping part may be further configured to operate in a first movement region to grip the target object, and a second movement region to be removed from the mounted part, and wherein the mounting part is engaged with the mounted part in the first movement region, and the mounting part is removed from the mounted part in the second movement region.

A gripper including: an orientation sensor configured to generate an orientation reading for a target object; a first grasping blade and a second grasping blade configured to secure the target object in conjunction with the first grasping blade and at an opposite end of the target object relative to the first grasping blade; a first position sensor, of the first grasping blade, configured to generate a first position reading of the first grasping blade relative to the target object; a second position sensor, of the second grasping blade, configured to generate a second position reading of the second grasping blade relative to the target object; and a blade actuator configured to secure the target object with the first grasping blade and the second grasping blade based on a valid orientation of the orientation reading and based on the first position reading and the second position reading indicating a stable condition.

An automatic picking fixture device: a fixture locked with a mechanical arm and includes a coupling orifice, a motor, a rotor, and a gear. The fixture includes four elongated orifices and two movable holders. The two movable holders have four through orifices corresponding to the gear, four passing orifices, and two toothed sections received in the four through orifices and meshing with and driving the gear. The four passing orifices of the fixture is configured to lock with the four pneumatic cylinders or four servo motors, and the four pneumatic cylinders or the four servo motors are configured to push four jaws outward or inward, the four jaws include four symmetrical clamping grooves configured to clamp at least one material. The four racks are fixed on the top of the fixture, and a respective rack has two rollers rolling along a respective elongated orifice.

A pulley pulling device for removing a harmonic damper pulley having at least two spoke portions from a crankshaft comprises a hub including at least two clevis portions. A plurality of legs are pivotably connected to respective ones of the clevis portions, with the legs each including a body portion and a foot portion protruding laterally therefrom. The body and foot portions are contoured and oriented relative to each other such that the foot portion is adapted to engage a corresponding one of the spoke portions and to selectively pivot relative thereto as achieves optimized contact therebetween.

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.