US3720433A - Manipulator apparatus for gripping submerged objects - Google Patents
Manipulator apparatus for gripping submerged objects Download PDFInfo
- Publication number
- US3720433A US3720433A US00076345A US3720433DA US3720433A US 3720433 A US3720433 A US 3720433A US 00076345 A US00076345 A US 00076345A US 3720433D A US3720433D A US 3720433DA US 3720433 A US3720433 A US 3720433A
- Authority
- US
- United States
- Prior art keywords
- suction
- body member
- cells
- valve
- hydraulic circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0237—Multiple lifting units; More than one suction area
- B66C1/0243—Separate cups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0212—Circular shape
Definitions
- a resilient, plate-like body member is secured to an articulated manipulator frame in position to be moved by the frame into a pressurized, gripping contact with the object to be manipulated.
- the body member carries a plurality of closely spaced suction cups which directly engage and grip the object and, to augment the gripping action as well as permit release of the suction grip of the cups, the body member is provided interiorly with a main hydraulic circuit extending in network fashion into relatively close proximity with each suction cup.
- a separate hydraulic conduit communicates the central portion of each cup with the hydraulic circuit and the circuit leads to a valve movable from a closed to an open position in which the hydraulic circuit as well as the cups which it serves are exposed to the sea water environment.
- the suction grip is achieved by pressing the body member into engagement with the object, Release of the object is achieved by opening the valve to admit environmental water which relieves the suction grip.
- a pump also may be coupled to the main hydraulic circuit through the valve to increase the gripping action.
- the resilient body member can be made to conform by using a plurality of cells that can be expanded or contracted by pressurized fluid to produce a desired bend.
- the cups each may be provided with an automatic valve having a balanced piston actuated by a pin only when the cup engages the object.
- the present invention relates to manipulators for the handling and recovering of objects from the sea bottom and, in particular, to suction-type gripper members for securely engaging and manipulating these objects.
- Manned and unmanned deep-sea submersibles presently are used for a variety of purposes included among which is the task of handling and recovering objects resting on the sea bottom.
- the submersibles are provided with manipulators which project outwardly and are provided with gripping arms frequently having the shape and articulation of a crabs claw.
- manipulators which project outwardly and are provided with gripping arms frequently having the shape and articulation of a crabs claw.
- Another object is to provide a manipulator of the type described in the foregoing object, the manipulator employing the water pressure of the sea-water environment to achieve the release.
- Still another object is to provide a suction-type liner member for use with existing submersible manipulators.
- a further object is to provide a novel manipulator utilizing a frame-supported resilient member to carry the suction cups, the resilient member being provided with means for varying its curvature in conformity with the curvature of the object to be gripped.
- Yet another specific object is to provide a special suction cup for use with the manipulators.
- a resilient, plate-like body member capable of being attached to a manipulator frame as a liner or of being secured as an independent plate member having its own reinforcement for achieving the strength and rigidity necessary to produce the gripping force.
- the resilient body member carries a plurality of closely spaced suction cups each of which has its central portion communicated with a main hydraulic circuit that leads to a valve which may be within the submersible or, if desired, can be remotely controlled from the submersible.
- a suction pump or other suitable low-pressure means communicates with the main hydraulic circuit through the valve.
- the manipulator When the manipulator is to be engaged with the object, its articulated frame can be moved to press the suction cups of the body member into tight contact with the object, the water in the suction cups then escaping from the sides of the cups and also escaping through holes or passages provided in the body member.
- the valve may be closed, although preferably the suction grip is improved by opening the valve and subjecting the suction cups to the low pressure produced by the vacuum pump or other low pressure means.
- the valve When release of the object is desired, the valve is opened to admit sea water the pressure of which then is applied to the suction cups through the main hydraulic lines to relieve the suction. Opening of the valve to the sea water, of course, closes the pump circuit.
- the body member is provided with its own reinforcement so as to function as an independent gripper rather than as a liner for existing manipulator frame.
- the means for producing the conformity most suitably includes a plurality of cells each coupled to a pressure line which exerts high or low pressures to expand or contract the cells.
- the cells are disposed near one or the other face of the body member of the plate-like body member so that the expansion or contraction reduces or expands this particular face to provide the desired curvature.
- Other features of the invention such as a suction cup mechanism for preventing loss of suction when one of the cups is not engaged with the object, will be described subsequently.
- FIG. 1 diagrammatically illustrates a manipulator frame suitable for use in the present invention, the frame carrying a suction-type gripper member;
- FIG. 2 is a diagrammatic illustration of one type of the suction-type gripper member suitable for use preferably as a liner to cover the clamping surfaces of the existing manipulators;
- FIG. 2a is a top plan view of the gripper member shown in FIG. 2;
- FIG. 3 is a cross section of FIG. 2 taken along lines 3-3 of FIG. 2;
- FIG. 4 is another diagrammatic illustration of a suction-type gripper member especially adapted for use with a manipulator frame of the type shown in FIG. I, this member utilizing expandable cells to permit the gripper member to conform to a curvature of the object to be gripped;
- FIG. 5 is a view similar to FIG. 4 showing the cells in their expanded state
- FIG. 6 is a view similar to FIG. 4 showing another cellular arrangement capable of producing a desired curvature
- FIG. 7 is a view similar to FIG. 6 showing the cells of FIG. 6 in a contracted state
- FIG. 8 is a sectional view also in diagrammatic form showing a special type of suction cup.
- the manipulator of FIG. 1 includes an elongate arm or column 1 which, as will be appreciated, extends outwardly from the skin or hull of a submersible, the column telescopically supporting a frame member 2 which can be of any configuration although, as shown, it includes primary support arms 3 and 4 coupled through joints to shorter support arms 6 and 7 which, in turn, carry a gripper member generally identified in FIG. 1 by numeral 8.
- the whole arrangement is articulated to the extent that reciprocation of members 3 and 4 relative to column 1 causes the gripper member to close about an object to be manipulated or to open and release it.
- the illustrated manipulator is intended to be exemplary only and, of course, a wide variety of configurations may be used depending upon the primary purpose which the manipulator is intended to fulfill.
- the present invention principally is concerned with improving the frictional engagement of gripper member 8 and, as has been stated, the improvement essentially resides in the use of suction devices and the control of the suction of these devices.
- the gripper member used for the manipulator either can be employed as a liner or existing grippers or as an independent member attached to a frame such as frame 2 of FIG. 1.
- the gripper member can be formed in the manner illustrated in FIGS. 2, 2a and 3 in which it will be seen that the member includes a resilient ,plate-lilte body member 11 which can be secured along one face such as face 12, to the gripping surfaces of existing manipulators.
- body member 11 carries a plurality of closely spaced suction cups 14 which function in the usual manner to grip any object against which they are firmly pressed.
- body member 11 is formed with a hydraulic circuit extending as a passage 16 throughout the length of the frame.
- the circuit is formed as a network to the extent that, in addition to the longitudinal passages, the circuit includes transverse passages 17 which intercommunicate with passage 16 as shown in FIG. 20.
- valve 19 controls the fluid flow within hydraulic CII" cuit 16 and, as shown, this valve is coupled to the resilient liner or plate by a conduit 20.
- valve 19 either can be mounted interiorly of the submersible or, if desired, it can be mounted exteriorly with suitable provision for remote control.
- valve 19 is a three-way valve adapted to communicate circuit 16 either with sea water through an inlet 21 or with a low pressure means, such as a vacuum pump 22 coupled to the valve by a conduit 23.
- the pump could be replaced by a low pressure tank such as an atmospheric chamber or by an evacuating piston.
- a low pressure tank such as an atmospheric chamber or by an evacuating piston.
- Operation of the apparatus illustrated in FIGS. 1-3 commences by moving the submersible which carries column 1 into proximity with the object to be manipulated or recovered.
- Frame 2 of the manipulator then is driven in any appropriate manner to produce a closing movement of gripper member 8 about the object.
- resilient plate 11 is employed as a liner for gripper member 8
- the closing movement of gripper causes suction cups 14 to press against the object to produce a firm suction grip.
- valve 19 is closed both to sea water and the pump.
- plate 11 can be provided with openings or passages 24 in the manner shown in FIGS. 20 and 3.
- FIGS. 4 and 5 provide another embodiment incorporating two additional, although related, features.
- body member 11 of this embodiment is formed with a flexible reinforcement member 26 which may be a loose metallic cloth, a chain mat or an arrangement of rigid interlocked plates.
- a reinforcement of plate member 11 permits the plate to be used as an independent gripper member as contrasted with its use as a liner.
- FIG. 1 the embodiment of FIG. 4, instead of being used as a liner for a metal gripping member such as gripping member 8, in effect is substituted in its entirety for the gripping member so that it is attached directly to legs 6 and 7 of the manipulator frame. Most suitably, these legs of the frame are attached directly to reinforcing member 26.
- FIGS. 4 and 5 also show a series of longitudinally spaced cells 27 intercommunicated by a passage 28 one end of which is communicated with a source of fluid pressure which, in practice, can be provided by pump 22, although, if desired, a separate pump or equivalent mechanism can be utilized.
- the purpose of the cellular structure is to provide a gripper member capable of conforming to the curvature of an object to be gripped.
- a desired curvature can be produced by applying fluid pressure to fill and expand cells 27 as the suction cups are being evacuated through hydraulic circuit 16 and, since cells 27 are disposed in relatively close proximity to outer face 12 of resilient body member 11, expansion of the cells, as shown in FIG. 5, increases the length of this outer face and produces the curvature shown in FIG. 5.
- FIGS. 6 and 7 is an alternative stricture employing the same principles as those described with respect to FIGS. 4 and 5.
- cells 27 are disposed in proximity to face 13 of resilient body member 11 and instead of employing a separate passage 28, the structure employs the suction of pump 22 acting through hydraulic circuit 16 to cause the cells to contract in the manner shown in FIG. 7.
- the suction cups may be provided with an automatic valve having a balanced piston 3] spring pressed into a seating engagement with a valve seat provided by a cylinder 32.
- Cylinder 32 is coupled to hydraulic circuit 16 by a conduit 33.
- the piston is provided with an extension pin 34 projecting outwardly through the central portion of each cup 14 a sufficient distance to cause the pin to engage the object as the cup is moved into contact with it. Consequently, as long as the cup does not engage the object, the piston remains seated to prevent suction loss through the cup.
- the piston is physically forced rearwardly to communicate the cup with the low pressure of the pump.
- the advantages of the present invention should be apparent. First, it permits the achievement of a firm suction grip to essentially eliminate slippage. Secondly, it provides a simple but effective manner of relieving the gripping pressure when it is desired to release the object. Other distinct advantages are provided by the ability of the gripper to conform to curvatures or irregularities, as well as the ability of the gripper mem bers to prevent loss of suction pressure when they are not physically engaged with the object.
- Manipulator apparatus for gripping submerged objects comprising:
- conduit means communicating said main circuit with the water environment of said apparatus, a valve disposed in said conduit means,
- said suction means being formed for exerting a suction grip on said object when pressed into engagement with it and said valve being openable to admit environmental water for relieving said suction grip to permit release of the object.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A resilient, plate-like body member is secured to an articulated manipulator frame in position to be moved by the frame into a pressurized, gripping contact with the object to be manipulated. The body member carries a plurality of closely spaced suction cups which directly engage and grip the object and, to augment the gripping action as well as permit release of the suction grip of the cups, the body member is provided interiorly with a main hydraulic circuit extending in network fashion into relatively close proximity with each suction cup. A separate hydraulic conduit communicates the central portion of each cup with the hydraulic circuit and the circuit leads to a valve movable from a closed to an open position in which the hydraulic circuit as well as the cups which it serves are exposed to the sea water environment. The suction grip is achieved by pressing the body member into engagement with the object. Release of the object is achieved by opening the valve to admit environmental water which relieves the suction grip. A pump also may be coupled to the main hydraulic circuit through the valve to increase the gripping action. To accommodate irregularly shaped objects, the resilient body member can be made to conform by using a plurality of cells that can be expanded or contracted by pressurized fluid to produce a desired bend. To avoid the loss of suction from cups not in contact with the object, the cups each may be provided with an automatic valve having a balanced piston actuated by a pin only when the cup engages the object.
Description
United States Patent [191 Rosfelder m lMarch 13, 1973 I MANIPULATOR APPARATUS FOR GRIPPING SUBMERGED OBJECTS [75 Inventor: Andre M. Rosfelder, La Jolla, Calif.
[73] Assignee: The United States of America, as represented by the Secretary of the Navy.
[22] Filed: Sept. 29, I970 [2]] Appl. No.: 76,345
Primary Examiner--Evon C. Blunk Assistant Examiner-Bruce H. Stoner, Jr. Att0rneyR. S. Sciascia and Paul N. Critchlow ABSTRACT A resilient, plate-like body member is secured to an articulated manipulator frame in position to be moved by the frame into a pressurized, gripping contact with the object to be manipulated. The body member carries a plurality of closely spaced suction cups which directly engage and grip the object and, to augment the gripping action as well as permit release of the suction grip of the cups, the body member is provided interiorly with a main hydraulic circuit extending in network fashion into relatively close proximity with each suction cup. A separate hydraulic conduit communicates the central portion of each cup with the hydraulic circuit and the circuit leads to a valve movable from a closed to an open position in which the hydraulic circuit as well as the cups which it serves are exposed to the sea water environment. The suction grip is achieved by pressing the body member into engagement with the object, Release of the object is achieved by opening the valve to admit environmental water which relieves the suction grip. A pump also may be coupled to the main hydraulic circuit through the valve to increase the gripping action. To accommodate irregularly shaped objects, the resilient body member can be made to conform by using a plurality of cells that can be expanded or contracted by pressurized fluid to produce a desired bend. To avoid the loss of suction from cups not in contact with the object, the cups each may be provided with an automatic valve having a balanced piston actuated by a pin only when the cup engages the object.
5 Claims, 9 Drawing Figures MANIPULATOII APPARATUS FOR GRIPPING SUBMERGED OBJECTS The invention described herein may be manufactured and used by or for the Government of the United States of America for governmental purposes without the payment of any royalties thereon or therefor.
BACKGROUND OF THE INVENTION The present invention relates to manipulators for the handling and recovering of objects from the sea bottom and, in particular, to suction-type gripper members for securely engaging and manipulating these objects.
Manned and unmanned deep-sea submersibles presently are used for a variety of purposes included among which is the task of handling and recovering objects resting on the sea bottom. To accomplish this task, the submersibles are provided with manipulators which project outwardly and are provided with gripping arms frequently having the shape and articulation of a crabs claw. Although considerable success has been experienced with these manipulators, it nevertheless has been found that the contact between their hard polished surfaces and the object results in slippage which renders the recovery task far more difficult and time-consuming. Improvement of the gripping action of course can be achieved by increasing the frictional engagement of the manipulator and it is known that one way of improving the friction is provided by the use of suction cups which nature has implemented in the octopus. However, due particularly to the high hydrostatic pressures experienced at the depths in which the submersibles operate, it becomes quite difficult to free the object after the suction grip has been applied.
It therefore is a primary object of the present invention to provide a manipulator adapted for deep sea submersibles, the manipulator having a suction-type gripping action and further being provided with means assuring rapid relief of the suction when release of the object is desired.
Another object is to provide a manipulator of the type described in the foregoing object, the manipulator employing the water pressure of the sea-water environment to achieve the release.
Still another object is to provide a suction-type liner member for use with existing submersible manipulators.
A further object is to provide a novel manipulator utilizing a frame-supported resilient member to carry the suction cups, the resilient member being provided with means for varying its curvature in conformity with the curvature of the object to be gripped.
Yet another specific object is to provide a special suction cup for use with the manipulators.
These and other objects are achieved by utilizing a resilient, plate-like body member capable of being attached to a manipulator frame as a liner or of being secured as an independent plate member having its own reinforcement for achieving the strength and rigidity necessary to produce the gripping force. The resilient body member carries a plurality of closely spaced suction cups each of which has its central portion communicated with a main hydraulic circuit that leads to a valve which may be within the submersible or, if desired, can be remotely controlled from the submersible. Preferably, although not necessarily, a suction pump or other suitable low-pressure means, communicates with the main hydraulic circuit through the valve. When the manipulator is to be engaged with the object, its articulated frame can be moved to press the suction cups of the body member into tight contact with the object, the water in the suction cups then escaping from the sides of the cups and also escaping through holes or passages provided in the body member. During this initial engagement, the valve may be closed, although preferably the suction grip is improved by opening the valve and subjecting the suction cups to the low pressure produced by the vacuum pump or other low pressure means. When release of the object is desired, the valve is opened to admit sea water the pressure of which then is applied to the suction cups through the main hydraulic lines to relieve the suction. Opening of the valve to the sea water, of course, closes the pump circuit.
In one embodiment the body member is provided with its own reinforcement so as to function as an independent gripper rather than as a liner for existing manipulator frame. However, resiliency is retained and means also are provided to permit the resilient body member to conform to the curvature of the object being gripped. The means for producing the conformity most suitably includes a plurality of cells each coupled to a pressure line which exerts high or low pressures to expand or contract the cells. The cells are disposed near one or the other face of the body member of the plate-like body member so that the expansion or contraction reduces or expands this particular face to provide the desired curvature. Other features of the invention, such as a suction cup mechanism for preventing loss of suction when one of the cups is not engaged with the object, will be described subsequently.
BRIEF DESCRIPTION OF THE DRAWINGS The invention is illustrated in the accompanying drawings of which FIG. 1 diagrammatically illustrates a manipulator frame suitable for use in the present invention, the frame carrying a suction-type gripper member;
FIG. 2 is a diagrammatic illustration of one type of the suction-type gripper member suitable for use preferably as a liner to cover the clamping surfaces of the existing manipulators;
FIG. 2a is a top plan view of the gripper member shown in FIG. 2;
FIG. 3 is a cross section of FIG. 2 taken along lines 3-3 of FIG. 2;
FIG. 4 is another diagrammatic illustration of a suction-type gripper member especially adapted for use with a manipulator frame of the type shown in FIG. I, this member utilizing expandable cells to permit the gripper member to conform to a curvature of the object to be gripped;
FIG. 5 is a view similar to FIG. 4 showing the cells in their expanded state;
FIG. 6 is a view similar to FIG. 4 showing another cellular arrangement capable of producing a desired curvature;
FIG. 7 is a view similar to FIG. 6 showing the cells of FIG. 6 in a contracted state", and
FIG. 8 is a sectional view also in diagrammatic form showing a special type of suction cup.
DETAILED DESCRIPTION OF THE INVENTION Referring to the drawings, the manipulator of FIG. 1 includes an elongate arm or column 1 which, as will be appreciated, extends outwardly from the skin or hull of a submersible, the column telescopically supporting a frame member 2 which can be of any configuration although, as shown, it includes primary support arms 3 and 4 coupled through joints to shorter support arms 6 and 7 which, in turn, carry a gripper member generally identified in FIG. 1 by numeral 8. The whole arrangement is articulated to the extent that reciprocation of members 3 and 4 relative to column 1 causes the gripper member to close about an object to be manipulated or to open and release it. As will be appreciated, the illustrated manipulator is intended to be exemplary only and, of course, a wide variety of configurations may be used depending upon the primary purpose which the manipulator is intended to fulfill.
The present invention principally is concerned with improving the frictional engagement of gripper member 8 and, as has been stated, the improvement essentially resides in the use of suction devices and the control of the suction of these devices. It also has been stated that the gripper member used for the manipulator either can be employed as a liner or existing grippers or as an independent member attached to a frame such as frame 2 of FIG. 1. When used as a liner, the gripper member can be formed in the manner illustrated in FIGS. 2, 2a and 3 in which it will be seen that the member includes a resilient ,plate-lilte body member 11 which can be secured along one face such as face 12, to the gripping surfaces of existing manipulators. The other face portion 13 of member 11 carries a plurality of closely spaced suction cups 14 which function in the usual manner to grip any object against which they are firmly pressed. lnteriorly, body member 11 is formed with a hydraulic circuit extending as a passage 16 throughout the length of the frame. Preferably, the circuit is formed as a network to the extent that, in addition to the longitudinal passages, the circuit includes transverse passages 17 which intercommunicate with passage 16 as shown in FIG. 20.
Each of the suction cups, in turn, is communicated with main hydraulic circuit 16 by a short passage or conduit 18 extending, as shown, from passage 16 exteriorly through the central portion of each of the cups. A valve 19 controls the fluid flow within hydraulic CII" cuit 16 and, as shown, this valve is coupled to the resilient liner or plate by a conduit 20. Obviously, valve 19 either can be mounted interiorly of the submersible or, if desired, it can be mounted exteriorly with suitable provision for remote control. In the illustrated form of the invention valve 19 is a three-way valve adapted to communicate circuit 16 either with sea water through an inlet 21 or with a low pressure means, such as a vacuum pump 22 coupled to the valve by a conduit 23. Depending upon the purposes for which the manipulator apparatus is designed, the pump could be replaced by a low pressure tank such as an atmospheric chamber or by an evacuating piston. Again, it will be understood that the apparatus of the present invention is illustrated in a simple, diagrammatic manner and that the physical location of the members, as well as the design of each member, becomes a matter of choice depending upon existing circumstances.
Operation of the apparatus illustrated in FIGS. 1-3 commences by moving the submersible which carries column 1 into proximity with the object to be manipulated or recovered. Frame 2 of the manipulator then is driven in any appropriate manner to produce a closing movement of gripper member 8 about the object. Assuming for present purposes that resilient plate 11 is employed as a liner for gripper member 8, the closing movement of gripper causes suction cups 14 to press against the object to produce a firm suction grip. During this operation, valve 19 is closed both to sea water and the pump. Obviously, water must escape from the interior of cups 14 as the cups are being pressed into engagement with the object and to facilitate the escape, plate 11 can be provided with openings or passages 24 in the manner shown in FIGS. 20 and 3. The escape of the water from cups 14 is facilitated since the water can pass through openings 24 which, as shown, extend through or perforate the gripper member. A firm grip can be produced without the use of a pump or other lower pressure means. However, the use of the pump augments the grip and this is recommended at least for certain applications. Its function is conventional to the extent that its use produces a low pressure side for cups 14. The low pressure combined with the high hydrostatic pressure of the water environment is capable of achieving a very firm gripping action. When the pump is used, the valve is rotated to communicate conduits 20 and 23 with the main hydraulic circuit.
The achievement of the gripping action is a significant feature of the present invention but it also presents some difficulty when it is desired to relieve the pressure and release the object from the manipulator. Thus, the manner in which the high hydrostatic pressure acting on the suction cups is overcome to achieve the release is an important feature of the invention. Briefly, release of the object is accomplished by rotating valve 19 so as to communicate hydraulic circuit 16 with the external sea water environment admitted through inlet 21. The sea water pressure then is transmitted through the hydraulic circuit and passages 18 to cups 14 to balance the hydrostatic pressure and permit the object to readily be released.
FIGS. 4 and 5 provide another embodiment incorporating two additional, although related, features. First, it is to be noted that body member 11 of this embodiment is formed with a flexible reinforcement member 26 which may be a loose metallic cloth, a chain mat or an arrangement of rigid interlocked plates. Such a reinforcement of plate member 11 permits the plate to be used as an independent gripper member as contrasted with its use as a liner. Thus, referring to FIG. 1, the embodiment of FIG. 4, instead of being used as a liner for a metal gripping member such as gripping member 8, in effect is substituted in its entirety for the gripping member so that it is attached directly to legs 6 and 7 of the manipulator frame. Most suitably, these legs of the frame are attached directly to reinforcing member 26.
FIGS. 4 and 5 also show a series of longitudinally spaced cells 27 intercommunicated by a passage 28 one end of which is communicated with a source of fluid pressure which, in practice, can be provided by pump 22, although, if desired, a separate pump or equivalent mechanism can be utilized. The purpose of the cellular structure is to provide a gripper member capable of conforming to the curvature of an object to be gripped. A desired curvature can be produced by applying fluid pressure to fill and expand cells 27 as the suction cups are being evacuated through hydraulic circuit 16 and, since cells 27 are disposed in relatively close proximity to outer face 12 of resilient body member 11, expansion of the cells, as shown in FIG. 5, increases the length of this outer face and produces the curvature shown in FIG. 5.
FIGS. 6 and 7 is an alternative stricture employing the same principles as those described with respect to FIGS. 4 and 5. However, in FIGS. 6 and 7, cells 27 are disposed in proximity to face 13 of resilient body member 11 and instead of employing a separate passage 28, the structure employs the suction of pump 22 acting through hydraulic circuit 16 to cause the cells to contract in the manner shown in FIG. 7.
It also may be desirable to avoid a loss of suction from the suction cups which, due to surface irregularities, are not in contact with the object. As shown in FIG. 8, the suction cups may be provided with an automatic valve having a balanced piston 3] spring pressed into a seating engagement with a valve seat provided by a cylinder 32. Cylinder 32, in turn, is coupled to hydraulic circuit 16 by a conduit 33. To permit piston 31 to be unseated, the piston is provided with an extension pin 34 projecting outwardly through the central portion of each cup 14 a sufficient distance to cause the pin to engage the object as the cup is moved into contact with it. Consequently, as long as the cup does not engage the object, the piston remains seated to prevent suction loss through the cup. Conversely, as the cup is forced into contact with the object, the piston is physically forced rearwardly to communicate the cup with the low pressure of the pump.
The advantages of the present invention should be apparent. First, it permits the achievement of a firm suction grip to essentially eliminate slippage. Secondly, it provides a simple but effective manner of relieving the gripping pressure when it is desired to release the object. Other distinct advantages are provided by the ability of the gripper to conform to curvatures or irregularities, as well as the ability of the gripper mem bers to prevent loss of suction pressure when they are not physically engaged with the object.
Obviously many modifications and variations of the present invention are possible in the light of the above teachings. it is therefore to be understood that within the scope of the appended claims the invention may be practiced otherwise than as specifically described.
I claim 1. Manipulator apparatus for gripping submerged objects comprising:
an articulated gripper arm frame member,
a resilient plate-like body member carried by said frame member,
a plurality of closely-spaced rubber-light suction means carried by said body member for directly engaging the object to be manipulated,
a main hydraulic circuit formed within the body member in proximity with each suction cup,
a separate hydraulic conduit communicating the central portion of each cup with said hydraulic circuit,
conduit means communicating said main circuit with the water environment of said apparatus, a valve disposed in said conduit means,
a plurality of longitudinally-spaced cells formed within the body member near one of its face surfaces, and
means for applying pressure to said cells whereby the shape of the cells is varied for producing a curvature of body member,
said suction means being formed for exerting a suction grip on said object when pressed into engagement with it and said valve being openable to admit environmental water for relieving said suction grip to permit release of the object.
2. The apparatus of claim 1 further including low pressure means communicated through said valve with said main hydraulic circuit for increasing the gripping force of said suction means.
3. The apparatus of claim 2 wherein said cell pressure means expands said cells.
4. The apparatus of claim 2 wherein said cell pressure means contracts said cells.
5. The apparatus of claim 2 wherein said cell pressure means is a pump and the pump communicates with said cells through said main hydraulic circuit.
Claims (5)
1. Manipulator apparatus for gripping submerged objects comprising: an articulated gripper arm frame member, a resilient plate-like body member carried by said frame member, a plurality of closely-spaced rubber-light suction means carried by said body member for directly engaging the object to be manipulated, a main hydraulic circuit formed within the body member in proximity with each suction cup, a separate hydraulic conduit communicating the central portion of each cup with said hydraulic circuit, conduit means communicating said main circuit with the water environment of said apparatus, a valve disposed in said conduit means, a plurality of longitudinally-spaced cells formed within the body member near one of its face surfaces, and means for applying pressure to said cells whereby the shape of the cells is varied for producing a curvature of body member, said suction means being formed for exerting a suction grip on said object when pressed into engagement with it and said valve being openable to admit environmental water for relieving said suction grip to permit release of the object.
1. Manipulator apparatus for gripping submerged objects comprising: an articulated gripper arm frame member, a resilient plate-like body member carried by said frame member, a plurality of closely-spaced rubber-light suction means carried by said body member for directly engaging the object to be manipulated, a main hydraulic circuit formed within the body member in proximity with each suction cup, a separate hydraulic conduit communicating the central portion of each cup with said hydraulic circuit, conduit means communicating said main circuit with the water environment of said apparatus, a valve disposed in said conduit means, a plurality of longitudinally-spaced cells formed within the body member near one of its face surfaces, and means for applying pressure to said cells whereby the shape of the cells is varied for producing a curvature of body member, said suction means being formed for exerting a suction grip on said object when pressed into engagement with it and said valve being openable to admit environmental water for relieving said suction grip to permit release of the object.
2. The apparatus of claim 1 further including low pressure means communicated through said valve with said main hydraulic circuit for increasing the gripping force of said suction means.
3. The apparatus of claim 2 wherein said cell pressure means expands said cells.
4. The apparatus of claim 2 wherein said cell pressure means contracts said cells.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US7634570A | 1970-09-29 | 1970-09-29 |
Publications (1)
Publication Number | Publication Date |
---|---|
US3720433A true US3720433A (en) | 1973-03-13 |
Family
ID=22131407
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US00076345A Expired - Lifetime US3720433A (en) | 1970-09-29 | 1970-09-29 | Manipulator apparatus for gripping submerged objects |
Country Status (1)
Country | Link |
---|---|
US (1) | US3720433A (en) |
Cited By (99)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3858926A (en) * | 1973-07-23 | 1975-01-07 | Ludger Ottenhues | Vacuum lifting device |
US3865359A (en) * | 1972-05-01 | 1975-02-11 | Dbm Industries Ltd | Vacuum apparatus |
US3955843A (en) * | 1973-11-16 | 1976-05-11 | Ludger Ottenhues | Vacuum-lifting apparatus |
FR2376807A1 (en) * | 1977-01-05 | 1978-08-04 | Freudenberg Carl | Handling fixture for irregularly shaped containers - has vacuum cups whose bodies are filled with plastics foam and gaseous or liquid medium |
US4196882A (en) * | 1977-11-14 | 1980-04-08 | Rognon Robert Y | Double suction cup holder with vacuum control valve |
US4221356A (en) * | 1978-11-09 | 1980-09-09 | Fortune William S | Vacuum operated holding fixture |
DE3434329C1 (en) * | 1984-09-19 | 1986-04-30 | Horst Witte Entwicklungs- und Vertriebs KG, 2122 Bleckede | Vacuum clamping device for clamping workpieces on work benches, tables or the like |
US4650233A (en) * | 1984-11-13 | 1987-03-17 | Mania Elektronik Automatisation Entwicklung Und Geratebau Gmbh | Mechanically operable suction device for lifting and holding objects |
US4669915A (en) * | 1985-11-19 | 1987-06-02 | Shell Offshore Inc. | Manipulator apparatus with flexible membrane for gripping submerged objects |
US4674915A (en) * | 1985-11-19 | 1987-06-23 | Shell Offshore Inc. | Manipulator apparatus for gripping submerged objects |
EP0325280A1 (en) * | 1988-01-21 | 1989-07-26 | Dieter Dr.-Ing. Haffer | Flexible suction cup for delicate objects |
DE3923672A1 (en) * | 1988-10-28 | 1990-05-03 | Festo Kg | Suction lifting and handling equipment - has rows and columns of suction cups on supporting plate, to cover large area |
DE9016175U1 (en) * | 1990-11-28 | 1991-05-02 | Reis GmbH & Co. Maschinenfabrik, 8753 Obernburg | Suction cup |
DE3939349A1 (en) * | 1989-11-29 | 1991-06-06 | Krupp Gmbh | DEVICE FOR HANDLING PARTICULARLY FROM OBLIGATIVE MATERIALS |
GB2250264A (en) * | 1990-11-08 | 1992-06-03 | Smc Kk | Suction pad. |
DE4302440A1 (en) * | 1993-01-29 | 1994-08-11 | Mielenz Gmbh | Vacuum chuck |
US5464263A (en) * | 1994-08-17 | 1995-11-07 | Nishiguchi Hidetsugu | Vacuum adsorber |
US5472438A (en) * | 1993-07-22 | 1995-12-05 | Case Western Reserve University | Laproscopic vacuum delivery apparatus for a diaphragm daper |
US5484081A (en) * | 1994-08-11 | 1996-01-16 | Jahn; Todd C. H. | Releasable suction handle for beverage containers |
WO1996008438A1 (en) * | 1994-09-13 | 1996-03-21 | Paroc Oy Ab | Insulation element and apparatus for mounting the element |
FR2758316A1 (en) * | 1997-01-16 | 1998-07-17 | Cemmi Construction Etude De Ma | Lifting by suction of articles, e.g. fruit preserve bottles, distributed in horizontal layer |
US5791709A (en) * | 1995-09-13 | 1998-08-11 | Samsung Electronics Co., Ltd. | Semiconductor manufacturing apparatus having suctorial means for handling wafers |
US5836311A (en) * | 1995-09-20 | 1998-11-17 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US6032672A (en) * | 1996-02-20 | 2000-03-07 | Cardiothoracic Systems, Inc. | Surgical devices for imposing a negative pressure to stabilize cardiac tissue during surgery |
US6071295A (en) * | 1997-02-27 | 2000-06-06 | Medivas Opcab, Inc. | Device to hold an anastomotic site of coronary artery motionless and bloodless for the bypass operation |
US6139492A (en) * | 1994-08-31 | 2000-10-31 | Heartport, Inc. | Device and method for isolating a surgical site |
US6231585B1 (en) | 1997-11-20 | 2001-05-15 | Medivas, Llc | Device for stabilizing a treatment site and method of use |
US6231506B1 (en) | 1999-05-04 | 2001-05-15 | Cardiothoracic Systems, Inc. | Method and apparatus for creating a working opening through an incision |
US6283912B1 (en) | 1999-05-04 | 2001-09-04 | Cardiothoracic Systems, Inc. | Surgical retractor platform blade apparatus |
US6290644B1 (en) | 1996-02-20 | 2001-09-18 | Cardiothoracic Systems, Inc. | Surgical instruments and procedures for stabilizing a localized portion of a beating heart |
US6315717B1 (en) | 1996-02-20 | 2001-11-13 | Cardiothoracic Systems, Inc. | Surgical instruments for stabilizing the beating heart during coronary artery bypass graft surgery |
US6394951B1 (en) | 1996-02-20 | 2002-05-28 | Cardiothoracic Systems, Inc. | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft surgery |
US20020065451A1 (en) * | 1997-09-17 | 2002-05-30 | Spence Paul A. | Device to permit offpump beating heart coronary bypass surgery |
US6406424B1 (en) | 1999-09-16 | 2002-06-18 | Williamson, Iv Warren P. | Tissue stabilizer having an articulating lift element |
US6464629B1 (en) | 1998-09-15 | 2002-10-15 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US6494211B1 (en) | 1993-02-22 | 2002-12-17 | Hearport, Inc. | Device and methods for port-access multivessel coronary artery bypass surgery |
US20030009081A1 (en) * | 1999-07-08 | 2003-01-09 | Chase Medical, Lp | Device and method for isolating a surface of a beating heart during surgery |
US6511416B1 (en) | 1999-08-03 | 2003-01-28 | Cardiothoracic Systems, Inc. | Tissue stabilizer and methods of use |
US6565582B2 (en) | 1995-02-24 | 2003-05-20 | Hearport, Inc. | Devices and methods for performing a vascular anastomosis |
US20030094180A1 (en) * | 1995-04-10 | 2003-05-22 | Benetti Frederico J. | Method for coronary artery bypass |
US6626830B1 (en) | 1999-05-04 | 2003-09-30 | Cardiothoracic Systems, Inc. | Methods and devices for improved tissue stabilization |
US6676597B2 (en) | 2001-01-13 | 2004-01-13 | Medtronic, Inc. | Method and device for organ positioning |
EP1382559A1 (en) * | 2002-07-19 | 2004-01-21 | Villeroy & Boch AG | Handling apparatus with suction cups |
US6685632B1 (en) | 1999-05-04 | 2004-02-03 | Cardiothoracic Systems, Inc. | Surgical instruments for accessing and stabilizing a localized portion of a beating heart |
US6695539B2 (en) * | 2001-10-19 | 2004-02-24 | Shell Oil Company | Apparatus and methods for remote installation of devices for reducing drag and vortex induced vibration |
US20040092798A1 (en) * | 1997-09-17 | 2004-05-13 | Spence Paul A. | Device to permit offpump beating heart coronary bypass surgery |
US6758808B2 (en) | 2001-01-24 | 2004-07-06 | Cardiothoracic System, Inc. | Surgical instruments for stabilizing a localized portion of a beating heart |
US20040138522A1 (en) * | 2002-08-21 | 2004-07-15 | Haarstad Philip J. | Methods and apparatus providing suction-assisted tissue engagement through a minimally invasive incision |
US20050010197A1 (en) * | 2003-07-08 | 2005-01-13 | Liming Lau | Organ manipulator apparatus |
US6852075B1 (en) | 1996-02-20 | 2005-02-08 | Cardiothoracic Systems, Inc. | Surgical devices for imposing a negative pressure to stabilize cardiac tissue during surgery |
US6854412B1 (en) * | 2002-05-31 | 2005-02-15 | The United States Of America As Represented By The Secretary Of The Navy | Underwater vacuum attachment device |
US20050148825A1 (en) * | 1997-09-17 | 2005-07-07 | Spence Paul A. | Device to permit offpump beating heart coronary bypass surgery |
US20050148822A1 (en) * | 2003-12-30 | 2005-07-07 | Willis Geoffrey H. | Organ manipulator and positioner and methods of using the same |
US20050148824A1 (en) * | 2003-12-30 | 2005-07-07 | Morejohn Dwight P. | Transabdominal surgery system |
US6942265B1 (en) * | 2002-10-23 | 2005-09-13 | Kla-Tencor Technologies Corporation | Apparatus comprising a flexible vacuum seal pad structure capable of retaining non-planar substrates thereto |
US6988984B2 (en) | 2002-01-23 | 2006-01-24 | Parsons Matthew L | Device and method for the manipulation of organs |
US20060055190A1 (en) * | 2002-11-21 | 2006-03-16 | Bridgestone Corporation | Suckingly conveying apparatus |
US20060220403A1 (en) * | 2005-03-31 | 2006-10-05 | Korea Electronics Technology Institute | Micro gripper and method for manufacturing the same |
US7189201B2 (en) | 1995-09-20 | 2007-03-13 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US20070088203A1 (en) * | 2005-05-25 | 2007-04-19 | Liming Lau | Surgical assemblies and methods for visualizing and performing surgical procedures in reduced-access surgical sites |
US7338434B1 (en) | 2002-08-21 | 2008-03-04 | Medtronic, Inc. | Method and system for organ positioning and stabilization |
US7399272B2 (en) | 2004-03-24 | 2008-07-15 | Medtronic, Inc. | Methods and apparatus providing suction-assisted tissue engagement |
US20090162171A1 (en) * | 2007-12-25 | 2009-06-25 | Hon Hai Precision Industry Co., Ltd. | Vacuum suction device |
US20090163905A1 (en) * | 2007-12-21 | 2009-06-25 | Winkler Matthew J | Ablation device with internally cooled electrodes |
US20090256371A1 (en) * | 2008-04-10 | 2009-10-15 | Wayne Thomas Nankervis | Package Pick-Off and Delivery Device |
DE202008009987U1 (en) | 2008-07-24 | 2009-12-17 | Kuka Systems Gmbh | handling device |
NL2002470C2 (en) * | 2009-01-30 | 2010-08-02 | Sijnja Konstruktie B V | SUCTION CUP AND DEVICE EQUIPPED WITH SUCTION COVERS. |
US7794387B2 (en) | 2006-04-26 | 2010-09-14 | Medtronic, Inc. | Methods and devices for stabilizing tissue |
US7931590B2 (en) | 2002-10-29 | 2011-04-26 | Maquet Cardiovascular Llc | Tissue stabilizer and methods of using the same |
WO2011047670A3 (en) * | 2009-10-21 | 2011-06-23 | Fooke Gmbh | Device for stiffening a workpiece by means of a clamping plate, and method for retaining and processing a workpiece with a clamping plate |
US20110286800A1 (en) * | 2005-01-17 | 2011-11-24 | Fairfield Industries Incorporated | Deployment method for ocean bottom seismometers |
US8083664B2 (en) | 2005-05-25 | 2011-12-27 | Maquet Cardiovascular Llc | Surgical stabilizers and methods for use in reduced-access surgical sites |
DE102010034720A1 (en) * | 2010-08-18 | 2012-02-23 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Surface gripper for e.g. storing of e.g. flexible object in e.g. robotics, has pressure supply terminal supplying low pressure in interstice between inner surfaces of air-permeable layer and air-permeable perforated layer of film element |
DE102011113685A1 (en) * | 2011-09-20 | 2013-03-21 | Manfred Bergunde | Suction element of transport, positioning or mounting system used in e.g. aircraft, has suction segments made to controllably access suction pipe or several suction lines, and connected to suction pumps |
US20130075554A1 (en) * | 2011-09-22 | 2013-03-28 | Yuan-Song Tsai | Suction Disc Device |
US8534730B2 (en) | 2010-08-18 | 2013-09-17 | Deutsches Zentrum Fur Luft- Und Raumfahrt E.V. (Dlr E.V.) | Areal gripper |
US8550525B2 (en) * | 2011-06-30 | 2013-10-08 | J.L. Souser & Associates, Inc. | Tool and process for handling pliant comestibles |
US20150053286A1 (en) * | 2013-08-22 | 2015-02-26 | Shenzhen Futaihong Precision Industry Co., Ltd. | Suction structure having plurality of suction assemblies |
US8998892B2 (en) | 2007-12-21 | 2015-04-07 | Atricure, Inc. | Ablation device with cooled electrodes and methods of use |
US9022998B2 (en) | 2010-02-26 | 2015-05-05 | Maquet Cardiovascular Llc | Blower instrument, apparatus and methods of using |
US9128672B1 (en) * | 2013-02-11 | 2015-09-08 | Google Inc. | Vacuum-sealed base for stabilizing a portable computing device on a surface |
US20150367517A1 (en) * | 2014-06-05 | 2015-12-24 | J. Schmalz Gmbh | Holding device |
US20160083120A1 (en) * | 2014-09-24 | 2016-03-24 | 9155-0020 Québec Inc. | Vacuum control system and method for a vacuum filling assembly |
US20160167404A1 (en) * | 2013-07-28 | 2016-06-16 | Hewlett-Packard Industrial Printing Ltd. | Media support |
US9390958B2 (en) * | 2014-08-14 | 2016-07-12 | Disco Corporation | Transfer unit including suction openings configured to receive suction pads or seal members therein |
WO2016193019A1 (en) * | 2015-06-03 | 2016-12-08 | Ipr - Intelligente Peripherien Für Roboter Gmbh | Robotic gripping mechanism and a robot comprising such a robotic gripping mechanism |
US20170057100A1 (en) * | 2015-08-25 | 2017-03-02 | The Boeing Company | Apparatus and methods for handling composite structures |
US9655605B2 (en) | 2010-06-14 | 2017-05-23 | Maquet Cardiovascular Llc | Surgical instruments, systems and methods of use |
NL2017189B1 (en) * | 2016-07-19 | 2018-01-24 | Boskalis Bv Baggermaatschappij | Assembly of an underwater concrete mattress and a handling tool therefore |
US9925670B2 (en) | 2014-06-05 | 2018-03-27 | J. Schmalz Gmbh | Method for handling flexible mat-like workpieces |
US10481134B2 (en) | 2017-07-05 | 2019-11-19 | Saudi Arabian Oil Company | Underwater vehicles with integrated surface cleaning and inspection |
EP3613541A1 (en) * | 2018-08-23 | 2020-02-26 | HP Scitex Ltd | Suction device |
US20210331331A1 (en) * | 2020-04-28 | 2021-10-28 | Joulin Cemma | Suction gripper head with a foam body |
US20220024058A1 (en) * | 2020-07-22 | 2022-01-27 | Berkshire Grey, Inc. | Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion |
US20220024056A1 (en) * | 2020-07-22 | 2022-01-27 | Berkshire Grey, Inc. | Systems and methods for object processing using a passively folding vacuum gripper |
DE102020213943A1 (en) | 2020-11-05 | 2022-05-05 | Volkswagen Aktiengesellschaft | Suction gripping device for sucking up an object |
US20220305673A1 (en) * | 2011-11-18 | 2022-09-29 | Nike, Inc. | Manufacturing tool |
US11865700B2 (en) | 2018-07-27 | 2024-01-09 | Berkshire Grey Operating Company, Inc. | Systems and methods for efficiently exchanging end effector tools |
US20240058972A1 (en) * | 2018-12-28 | 2024-02-22 | Boston Semi Equipment Llc | Tool-less pick tip assembly, housing, and apparatus, and associated method |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2704685A (en) * | 1949-08-24 | 1955-03-22 | Paul J Tyler | Device for planting seeds in seed beds |
FR1383167A (en) * | 1963-11-15 | 1964-12-24 | Continental Gummi Werke Ag | Apparatus for conveying tire treads |
US3165899A (en) * | 1963-09-11 | 1965-01-19 | Shell Oil Co | Underwater manipulator with suction support device |
US3602543A (en) * | 1968-12-18 | 1971-08-31 | Munck Int As | Arrangement in suction cup for vacuum lifting |
-
1970
- 1970-09-29 US US00076345A patent/US3720433A/en not_active Expired - Lifetime
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2704685A (en) * | 1949-08-24 | 1955-03-22 | Paul J Tyler | Device for planting seeds in seed beds |
US3165899A (en) * | 1963-09-11 | 1965-01-19 | Shell Oil Co | Underwater manipulator with suction support device |
FR1383167A (en) * | 1963-11-15 | 1964-12-24 | Continental Gummi Werke Ag | Apparatus for conveying tire treads |
US3602543A (en) * | 1968-12-18 | 1971-08-31 | Munck Int As | Arrangement in suction cup for vacuum lifting |
Cited By (243)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3865359A (en) * | 1972-05-01 | 1975-02-11 | Dbm Industries Ltd | Vacuum apparatus |
US3858926A (en) * | 1973-07-23 | 1975-01-07 | Ludger Ottenhues | Vacuum lifting device |
US3955843A (en) * | 1973-11-16 | 1976-05-11 | Ludger Ottenhues | Vacuum-lifting apparatus |
FR2376807A1 (en) * | 1977-01-05 | 1978-08-04 | Freudenberg Carl | Handling fixture for irregularly shaped containers - has vacuum cups whose bodies are filled with plastics foam and gaseous or liquid medium |
US4196882A (en) * | 1977-11-14 | 1980-04-08 | Rognon Robert Y | Double suction cup holder with vacuum control valve |
US4221356A (en) * | 1978-11-09 | 1980-09-09 | Fortune William S | Vacuum operated holding fixture |
DE3434329C1 (en) * | 1984-09-19 | 1986-04-30 | Horst Witte Entwicklungs- und Vertriebs KG, 2122 Bleckede | Vacuum clamping device for clamping workpieces on work benches, tables or the like |
US4650233A (en) * | 1984-11-13 | 1987-03-17 | Mania Elektronik Automatisation Entwicklung Und Geratebau Gmbh | Mechanically operable suction device for lifting and holding objects |
US4669915A (en) * | 1985-11-19 | 1987-06-02 | Shell Offshore Inc. | Manipulator apparatus with flexible membrane for gripping submerged objects |
US4674915A (en) * | 1985-11-19 | 1987-06-23 | Shell Offshore Inc. | Manipulator apparatus for gripping submerged objects |
EP0325280A1 (en) * | 1988-01-21 | 1989-07-26 | Dieter Dr.-Ing. Haffer | Flexible suction cup for delicate objects |
DE3923672A1 (en) * | 1988-10-28 | 1990-05-03 | Festo Kg | Suction lifting and handling equipment - has rows and columns of suction cups on supporting plate, to cover large area |
DE3939349A1 (en) * | 1989-11-29 | 1991-06-06 | Krupp Gmbh | DEVICE FOR HANDLING PARTICULARLY FROM OBLIGATIVE MATERIALS |
GB2250264B (en) * | 1990-11-08 | 1994-12-14 | Smc Kk | Suction pad |
GB2250264A (en) * | 1990-11-08 | 1992-06-03 | Smc Kk | Suction pad. |
DE9016175U1 (en) * | 1990-11-28 | 1991-05-02 | Reis GmbH & Co. Maschinenfabrik, 8753 Obernburg | Suction cup |
DE4302440A1 (en) * | 1993-01-29 | 1994-08-11 | Mielenz Gmbh | Vacuum chuck |
US5405123A (en) * | 1993-01-29 | 1995-04-11 | Mielenz Gmbh | Vacuum clamping plate |
US6494211B1 (en) | 1993-02-22 | 2002-12-17 | Hearport, Inc. | Device and methods for port-access multivessel coronary artery bypass surgery |
US5472438A (en) * | 1993-07-22 | 1995-12-05 | Case Western Reserve University | Laproscopic vacuum delivery apparatus for a diaphragm daper |
US5484081A (en) * | 1994-08-11 | 1996-01-16 | Jahn; Todd C. H. | Releasable suction handle for beverage containers |
US5464263A (en) * | 1994-08-17 | 1995-11-07 | Nishiguchi Hidetsugu | Vacuum adsorber |
US20040254425A1 (en) * | 1994-08-31 | 2004-12-16 | Vierra Mark A. | Device and method for isolating a surgical site |
US6482151B1 (en) | 1994-08-31 | 2002-11-19 | Heartport, Inc. | Method of performing a procedure on a coronary artery |
US6821247B2 (en) | 1994-08-31 | 2004-11-23 | Heartport, Inc. | Device and method for isolating a surgical site |
US7025722B2 (en) | 1994-08-31 | 2006-04-11 | Heartport, Inc. | Device and method for isolating a surgical site |
US6139492A (en) * | 1994-08-31 | 2000-10-31 | Heartport, Inc. | Device and method for isolating a surgical site |
US6149583A (en) * | 1994-08-31 | 2000-11-21 | Heartport, Inc. | Device and method for isolating a surgical site |
WO1996008438A1 (en) * | 1994-09-13 | 1996-03-21 | Paroc Oy Ab | Insulation element and apparatus for mounting the element |
US6565582B2 (en) | 1995-02-24 | 2003-05-20 | Hearport, Inc. | Devices and methods for performing a vascular anastomosis |
US6699257B2 (en) | 1995-02-24 | 2004-03-02 | Heartport, Inc | Devices and methods for performing a vascular anastomosis |
US20030094180A1 (en) * | 1995-04-10 | 2003-05-22 | Benetti Frederico J. | Method for coronary artery bypass |
US7219671B2 (en) | 1995-04-10 | 2007-05-22 | Cardiothoracic Systems, Inc. | Method for coronary artery bypass |
US5791709A (en) * | 1995-09-13 | 1998-08-11 | Samsung Electronics Co., Ltd. | Semiconductor manufacturing apparatus having suctorial means for handling wafers |
US5836311A (en) * | 1995-09-20 | 1998-11-17 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US7189201B2 (en) | 1995-09-20 | 2007-03-13 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US6328688B1 (en) | 1995-09-20 | 2001-12-11 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US6755780B2 (en) | 1995-09-20 | 2004-06-29 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US6334843B1 (en) | 1995-09-20 | 2002-01-01 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US6336898B1 (en) | 1995-09-20 | 2002-01-08 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US7048683B2 (en) | 1995-09-20 | 2006-05-23 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US7445594B1 (en) | 1995-09-20 | 2008-11-04 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US6015378A (en) * | 1995-09-20 | 2000-01-18 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area tissue |
US6350229B1 (en) | 1995-09-20 | 2002-02-26 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US6364826B1 (en) | 1995-09-20 | 2002-04-02 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US6371906B1 (en) | 1995-09-20 | 2002-04-16 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US6394948B1 (en) | 1995-09-20 | 2002-05-28 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US5927284A (en) * | 1995-09-20 | 1999-07-27 | Medtronic, Inc | Method and apparatus for temporarily immobilizing a local area of tissue |
US6464630B1 (en) | 1995-09-20 | 2002-10-15 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US20060036128A1 (en) * | 1995-09-20 | 2006-02-16 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US7611455B2 (en) | 1995-09-20 | 2009-11-03 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US20110172568A1 (en) * | 1996-02-20 | 2011-07-14 | Taylor Charles S | Surgical Devices for Imposing a Negative Pressure to Stabilize the Cardiac Tissue During Surgery |
US7335158B2 (en) | 1996-02-20 | 2008-02-26 | Cardiothoracic Systems, Inc. | Surgical devices for imposing a negative pressure to stabilize the cardiac tissue during surgery |
US6032672A (en) * | 1996-02-20 | 2000-03-07 | Cardiothoracic Systems, Inc. | Surgical devices for imposing a negative pressure to stabilize cardiac tissue during surgery |
US20020111537A1 (en) * | 1996-02-20 | 2002-08-15 | Taylor Charles S. | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft surgery |
US6893391B2 (en) | 1996-02-20 | 2005-05-17 | Cardiothoracic Systems, Inc. | Surgical devices for imposing a negative pressure to stabilize cardiac tissue during surgery |
US20050038316A1 (en) * | 1996-02-20 | 2005-02-17 | Taylor Charles S. | Surgical devices for imposing a negative pressure to stabilize cardiac tissue during surgery |
US7585277B2 (en) | 1996-02-20 | 2009-09-08 | Maquet Cardiovascular Llc | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft surgery |
US6852075B1 (en) | 1996-02-20 | 2005-02-08 | Cardiothoracic Systems, Inc. | Surgical devices for imposing a negative pressure to stabilize cardiac tissue during surgery |
US6394951B1 (en) | 1996-02-20 | 2002-05-28 | Cardiothoracic Systems, Inc. | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft surgery |
US6346077B1 (en) | 1996-02-20 | 2002-02-12 | Cardiothoracic Systems, Inc. | Surgical instrument for stabilizing the beating heart during coronary artery bypass graft surgery |
US7056287B2 (en) | 1996-02-20 | 2006-06-06 | Cardiothoracic Systems, Inc. | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft surgery |
US7497824B2 (en) | 1996-02-20 | 2009-03-03 | Maquet Cardiovasculer, Llc | Surgical devices for imposing a negative pressure to stabilize cardiac tissue during surgery |
US6656113B2 (en) | 1996-02-20 | 2003-12-02 | Cardiothoracic System, Inc. | Surgical instruments and procedures for stabilizing a localized portion of a beating heart |
US6673013B2 (en) | 1996-02-20 | 2004-01-06 | Cardiothoracic Systems, Inc. | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft surgery |
US7485090B2 (en) | 1996-02-20 | 2009-02-03 | Maquet Cardiovascular Llc | Surgical devices for imposing a negative pressure to stabilize cardiac tissue during surgery |
US20070055108A1 (en) * | 1996-02-20 | 2007-03-08 | Taylor Charles S | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft surgery |
US20040230099A1 (en) * | 1996-02-20 | 2004-11-18 | Taylor Charles S. | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft surgery |
US8382654B2 (en) | 1996-02-20 | 2013-02-26 | Maquet Cardiovascular Llc | Surgical devices for imposing a negative pressure to stabilize the cardiac tissue during surgery |
US6290644B1 (en) | 1996-02-20 | 2001-09-18 | Cardiothoracic Systems, Inc. | Surgical instruments and procedures for stabilizing a localized portion of a beating heart |
US6315717B1 (en) | 1996-02-20 | 2001-11-13 | Cardiothoracic Systems, Inc. | Surgical instruments for stabilizing the beating heart during coronary artery bypass graft surgery |
US8277476B2 (en) | 1996-02-20 | 2012-10-02 | Maguet Cardiovascular LLC | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft |
US6701930B2 (en) | 1996-02-20 | 2004-03-09 | Cardiothoracic Systems, Inc. | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft surgery |
US6743169B1 (en) | 1996-02-20 | 2004-06-01 | Cardiothoracic Systems, Inc. | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft surgery |
US20080114201A1 (en) * | 1996-02-20 | 2008-05-15 | Taylor Charles S | Surgical devices for imposing a negative pressure to stabilize the cardiac tissue during surgery |
US20040087834A1 (en) * | 1996-02-20 | 2004-05-06 | Benetti Federico J. | Surgical instruments and procedures for stabilizing the beating heart during coronary artery bypass graft surgery |
US20070149844A1 (en) * | 1996-02-20 | 2007-06-28 | Benetti Federico J | Surgical devices for imposing a negative pressure to stabilize the cardiac tissue during surgery |
FR2758316A1 (en) * | 1997-01-16 | 1998-07-17 | Cemmi Construction Etude De Ma | Lifting by suction of articles, e.g. fruit preserve bottles, distributed in horizontal layer |
US6338710B1 (en) | 1997-02-27 | 2002-01-15 | Medivas, Llc | Device for stabilizing a treatment site and method of use |
US6071295A (en) * | 1997-02-27 | 2000-06-06 | Medivas Opcab, Inc. | Device to hold an anastomotic site of coronary artery motionless and bloodless for the bypass operation |
US7377895B2 (en) | 1997-09-17 | 2008-05-27 | Origin Medsystems, Inc. | Device to permit offpump beating heart coronary bypass surgery |
US20020065451A1 (en) * | 1997-09-17 | 2002-05-30 | Spence Paul A. | Device to permit offpump beating heart coronary bypass surgery |
US8317695B2 (en) | 1997-09-17 | 2012-11-27 | Maquet Cardiovascular Llc | Device to permit offpump beating heart coronary bypass surgery |
US20040092798A1 (en) * | 1997-09-17 | 2004-05-13 | Spence Paul A. | Device to permit offpump beating heart coronary bypass surgery |
US7404792B2 (en) | 1997-09-17 | 2008-07-29 | Origin Medsystems, Inc. | Device to permit offpump beating heart coronary bypass surgery |
US20040138533A1 (en) * | 1997-09-17 | 2004-07-15 | Spence Paul A. | Device to permit offpump beating heart coronary bypass surgery |
US7195591B2 (en) | 1997-09-17 | 2007-03-27 | Origin Medsystems, Inc. | Device to permit offpump beating heart coronary bypass surgery |
US6705988B2 (en) | 1997-09-17 | 2004-03-16 | Origin Medsystems, Inc. | Device to permit offpump beating heart coronary bypass surgery |
US20040225195A1 (en) * | 1997-09-17 | 2004-11-11 | Spence Paul A. | Device to permit offpump beating heart coronary bypass surgery |
US7476196B2 (en) | 1997-09-17 | 2009-01-13 | Maquet Cardiovascular, Llc | Device to permit offpump beating heart coronary bypass surgery |
US8753266B2 (en) | 1997-09-17 | 2014-06-17 | Maquet Cardiovascular Llc | Device to permit offpump beating heart coronary bypass surgery |
US20070179344A1 (en) * | 1997-09-17 | 2007-08-02 | Spence Paul A | Device to permit offpump beating heart coronary bypass surgery |
US7476199B2 (en) | 1997-09-17 | 2009-01-13 | Maquet Cardiovascular, Llc. | Device to permit offpump beating heart coronary bypass surgery |
US20090099411A1 (en) * | 1997-09-17 | 2009-04-16 | Spence Paul A | Device to permit offpump beating heart coronary bypass surgery |
US20090099412A1 (en) * | 1997-09-17 | 2009-04-16 | Spence Paul A | Device to Permit Offpump Beating Heart Coronary Bypass Surgery |
US6969349B1 (en) | 1997-09-17 | 2005-11-29 | Origin Medsystem, Inc. | Device to permit offpump beating heart coronary bypass surgery |
US6743170B1 (en) | 1997-09-17 | 2004-06-01 | Cardiothoracic Systems, Inc. | Device to permit offpump beating heart coronary bypass surgery |
US8162817B2 (en) | 1997-09-17 | 2012-04-24 | Maquet Cardiovascular Llc | Device to permit offpump beating heart coronary bypass surgery |
US20050148825A1 (en) * | 1997-09-17 | 2005-07-07 | Spence Paul A. | Device to permit offpump beating heart coronary bypass surgery |
US20020161285A1 (en) * | 1997-09-17 | 2002-10-31 | Spence Paul A. | Device to permit offpump beating heart coronary bypass surgery |
US6231585B1 (en) | 1997-11-20 | 2001-05-15 | Medivas, Llc | Device for stabilizing a treatment site and method of use |
US20070123747A1 (en) * | 1998-09-15 | 2007-05-31 | Eric Boone | Method and apparatus for temporarily immobilizing a local area of tissue |
US6464629B1 (en) | 1998-09-15 | 2002-10-15 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US6740028B2 (en) | 1998-09-15 | 2004-05-25 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US7201716B2 (en) | 1998-09-15 | 2007-04-10 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US20040167549A1 (en) * | 1998-09-15 | 2004-08-26 | Eric Boone | Method and apparatus for temporarily immobilizing a local area of tissue |
US9498198B2 (en) | 1999-05-04 | 2016-11-22 | Maquet Cardiovascular, Llc | Surgical instruments for accessing and stabilizing a localized portion of a beating heart |
US20070156027A1 (en) * | 1999-05-04 | 2007-07-05 | Hu Lawrence W | Surgical retractor platform blade apparatus |
US6231506B1 (en) | 1999-05-04 | 2001-05-15 | Cardiothoracic Systems, Inc. | Method and apparatus for creating a working opening through an incision |
US20040030223A1 (en) * | 1999-05-04 | 2004-02-12 | Calafiore Antonio M. | Method and devices for improved tissue stabilization |
US20100210916A1 (en) * | 1999-05-04 | 2010-08-19 | Hu Lawrence W | Surgical Instruments for Accessing and Stabilizing a Localized Portion of a Beating Heart |
US7736307B2 (en) | 1999-05-04 | 2010-06-15 | Maquet Cardiovascular Llc | Surgical instruments for accessing and stabilizing a localized portion of a beating heart |
US6685632B1 (en) | 1999-05-04 | 2004-02-03 | Cardiothoracic Systems, Inc. | Surgical instruments for accessing and stabilizing a localized portion of a beating heart |
US20020004628A1 (en) * | 1999-05-04 | 2002-01-10 | Hu Lawrence W. | Surgical retractor platform blade apparatus |
US20040143168A1 (en) * | 1999-05-04 | 2004-07-22 | Hu Lawrence W. | Surgical instruments for accessing and stabilizing a localized portion of a beating heart |
US6331158B1 (en) | 1999-05-04 | 2001-12-18 | Cardiothoracic Systems, Inc. | Surgical retractor apparatus for operating on the heart through an incision |
US6652454B2 (en) | 1999-05-04 | 2003-11-25 | Lawrence W. Hu | Method and apparatus for creating a working opening through an incision |
US7220228B2 (en) | 1999-05-04 | 2007-05-22 | Cardiothoracic System, Inc. | Surgical retractor blade and system |
US20040092799A1 (en) * | 1999-05-04 | 2004-05-13 | Hu Lawrence W. | Method and apparatus for creating a working opening through an incision |
US6626830B1 (en) | 1999-05-04 | 2003-09-30 | Cardiothoracic Systems, Inc. | Methods and devices for improved tissue stabilization |
US6283912B1 (en) | 1999-05-04 | 2001-09-04 | Cardiothoracic Systems, Inc. | Surgical retractor platform blade apparatus |
US7238155B2 (en) | 1999-05-04 | 2007-07-03 | Cardiothoracic Systems, Inc. | Method and apparatus for creating a working opening through an incision |
US6740029B2 (en) | 1999-07-08 | 2004-05-25 | Chase Medical, L.P. | Device and method for isolating a surface of a beating heart during surgery |
US20030009081A1 (en) * | 1999-07-08 | 2003-01-09 | Chase Medical, Lp | Device and method for isolating a surface of a beating heart during surgery |
US6511416B1 (en) | 1999-08-03 | 2003-01-28 | Cardiothoracic Systems, Inc. | Tissue stabilizer and methods of use |
US20090137865A1 (en) * | 1999-08-03 | 2009-05-28 | Green Ii Harry Leonard | Tissue Stabilizer and Methods of Use |
US7503891B2 (en) | 1999-08-03 | 2009-03-17 | Maquet Cardiovascular, Llc | Tissue stabilizer and methods of use |
US6406424B1 (en) | 1999-09-16 | 2002-06-18 | Williamson, Iv Warren P. | Tissue stabilizer having an articulating lift element |
US7326177B2 (en) | 1999-09-16 | 2008-02-05 | Cardiothoracic Systems, Inc. | Tissue stabilizer having an articulating lift element |
US20020165434A1 (en) * | 1999-09-16 | 2002-11-07 | Williamson Warren P. | Tissue stabilizer having an articulating lift element |
US6676597B2 (en) | 2001-01-13 | 2004-01-13 | Medtronic, Inc. | Method and device for organ positioning |
US20040082830A1 (en) * | 2001-01-13 | 2004-04-29 | Guenst Gary W. | Device for organ positioning |
US7438680B2 (en) | 2001-01-13 | 2008-10-21 | Medtronic, Inc. | Method and device for organ positioning |
US7326173B2 (en) | 2001-01-13 | 2008-02-05 | Medtronic, Inc. | Device for organ positioning |
US6758808B2 (en) | 2001-01-24 | 2004-07-06 | Cardiothoracic System, Inc. | Surgical instruments for stabilizing a localized portion of a beating heart |
US7578038B2 (en) * | 2001-10-19 | 2009-08-25 | Shell Oil Company | Apparatus and methods for remote installation of devices for reducing drag and vortex induced vibration |
US6695539B2 (en) * | 2001-10-19 | 2004-02-24 | Shell Oil Company | Apparatus and methods for remote installation of devices for reducing drag and vortex induced vibration |
US20050175415A1 (en) * | 2001-10-19 | 2005-08-11 | Mcmillan David W. | Apparatus and methods for remote installation of devices for reducing drag and vortex induced vibration |
US6988984B2 (en) | 2002-01-23 | 2006-01-24 | Parsons Matthew L | Device and method for the manipulation of organs |
US6854412B1 (en) * | 2002-05-31 | 2005-02-15 | The United States Of America As Represented By The Secretary Of The Navy | Underwater vacuum attachment device |
EP1382559A1 (en) * | 2002-07-19 | 2004-01-21 | Villeroy & Boch AG | Handling apparatus with suction cups |
DE10232819B4 (en) * | 2002-07-19 | 2005-01-20 | Villeroy & Boch Ag | manipulation device |
DE10232819A1 (en) * | 2002-07-19 | 2004-02-05 | Villeroy & Boch Ag | manipulation device |
US7494460B2 (en) | 2002-08-21 | 2009-02-24 | Medtronic, Inc. | Methods and apparatus providing suction-assisted tissue engagement through a minimally invasive incision |
US7338434B1 (en) | 2002-08-21 | 2008-03-04 | Medtronic, Inc. | Method and system for organ positioning and stabilization |
US20090082620A1 (en) * | 2002-08-21 | 2009-03-26 | Medtronic, Inc. | Methods and Apparatus Providing Suction-Assisted Tissue Engagement Through a Minimally Invasive Incision |
US8449449B2 (en) | 2002-08-21 | 2013-05-28 | Medtronic, Inc. | Methods and apparatus providing suction-assisted tissue engagement through a minimally invasive incision |
US20040138522A1 (en) * | 2002-08-21 | 2004-07-15 | Haarstad Philip J. | Methods and apparatus providing suction-assisted tissue engagement through a minimally invasive incision |
US8734320B2 (en) | 2002-08-21 | 2014-05-27 | Medtronic, Inc. | Methods and apparatus providing suction-assisted tissue engagement through a minimally invasive incision |
US6942265B1 (en) * | 2002-10-23 | 2005-09-13 | Kla-Tencor Technologies Corporation | Apparatus comprising a flexible vacuum seal pad structure capable of retaining non-planar substrates thereto |
US7931590B2 (en) | 2002-10-29 | 2011-04-26 | Maquet Cardiovascular Llc | Tissue stabilizer and methods of using the same |
US7717482B2 (en) * | 2002-11-21 | 2010-05-18 | Bridgestone Corporation | Suckingly conveying apparatus |
US20060055190A1 (en) * | 2002-11-21 | 2006-03-16 | Bridgestone Corporation | Suckingly conveying apparatus |
US20090299131A1 (en) * | 2003-07-08 | 2009-12-03 | Green Ii Harry Leonard | Organ Manipulator Apparatus |
US7479104B2 (en) | 2003-07-08 | 2009-01-20 | Maquet Cardiovascular, Llc | Organ manipulator apparatus |
US8641598B2 (en) | 2003-07-08 | 2014-02-04 | Maquet Cardiovascular Llc | Organ manipulator apparatus |
US10383612B2 (en) | 2003-07-08 | 2019-08-20 | Maquet Cardiovascular Llc | Organ manipulator apparatus |
US20050010197A1 (en) * | 2003-07-08 | 2005-01-13 | Liming Lau | Organ manipulator apparatus |
US9402608B2 (en) | 2003-07-08 | 2016-08-02 | Maquet Cardiovascular Llc | Organ manipulator apparatus |
US20050148824A1 (en) * | 2003-12-30 | 2005-07-07 | Morejohn Dwight P. | Transabdominal surgery system |
US20050148822A1 (en) * | 2003-12-30 | 2005-07-07 | Willis Geoffrey H. | Organ manipulator and positioner and methods of using the same |
US7179224B2 (en) | 2003-12-30 | 2007-02-20 | Cardiothoracic Systems, Inc. | Organ manipulator and positioner and methods of using the same |
US7399272B2 (en) | 2004-03-24 | 2008-07-15 | Medtronic, Inc. | Methods and apparatus providing suction-assisted tissue engagement |
US10598808B2 (en) | 2005-01-17 | 2020-03-24 | Magseis Ff Llc | Method and system for deployment of ocean bottom seismometers |
US10591624B2 (en) | 2005-01-17 | 2020-03-17 | Magseis Ff Llc | Method and system for deployment of ocean bottom seismometers |
US20110286800A1 (en) * | 2005-01-17 | 2011-11-24 | Fairfield Industries Incorporated | Deployment method for ocean bottom seismometers |
US9630691B2 (en) | 2005-01-17 | 2017-04-25 | Fairfield Industries, Inc. | Method and system for deployment of ocean bottom seismometers |
US10502853B2 (en) | 2005-01-17 | 2019-12-10 | Magseis Ff Llc | Method and system for deployment of ocean bottom seismometers |
US11131785B2 (en) | 2005-01-17 | 2021-09-28 | Magseis Ff Llc | Method and system for deployment of ocean bottom seismometers |
US8632274B2 (en) * | 2005-01-17 | 2014-01-21 | Fairchild Industries, Inc. | Deployment method for ocean bottom seismometers |
US7770951B2 (en) * | 2005-03-31 | 2010-08-10 | Korea Electronics Technology Institute | Micro gripper and method for manufacturing the same |
US20060220403A1 (en) * | 2005-03-31 | 2006-10-05 | Korea Electronics Technology Institute | Micro gripper and method for manufacturing the same |
US8083664B2 (en) | 2005-05-25 | 2011-12-27 | Maquet Cardiovascular Llc | Surgical stabilizers and methods for use in reduced-access surgical sites |
US20070088203A1 (en) * | 2005-05-25 | 2007-04-19 | Liming Lau | Surgical assemblies and methods for visualizing and performing surgical procedures in reduced-access surgical sites |
US8025620B2 (en) | 2006-04-26 | 2011-09-27 | Medtronic, Inc. | Methods and devices for stabilizing tissue |
US7794387B2 (en) | 2006-04-26 | 2010-09-14 | Medtronic, Inc. | Methods and devices for stabilizing tissue |
US8353907B2 (en) | 2007-12-21 | 2013-01-15 | Atricure, Inc. | Ablation device with internally cooled electrodes |
US8915878B2 (en) | 2007-12-21 | 2014-12-23 | Atricure, Inc. | Ablation device with internally cooled electrodes |
US8998892B2 (en) | 2007-12-21 | 2015-04-07 | Atricure, Inc. | Ablation device with cooled electrodes and methods of use |
US20090163905A1 (en) * | 2007-12-21 | 2009-06-25 | Winkler Matthew J | Ablation device with internally cooled electrodes |
US20090162171A1 (en) * | 2007-12-25 | 2009-06-25 | Hon Hai Precision Industry Co., Ltd. | Vacuum suction device |
US7845697B2 (en) * | 2007-12-25 | 2010-12-07 | Hon Hai Precision Industry Co., Ltd. | Vacuum suction device |
US20090256371A1 (en) * | 2008-04-10 | 2009-10-15 | Wayne Thomas Nankervis | Package Pick-Off and Delivery Device |
US7841633B2 (en) * | 2008-04-10 | 2010-11-30 | Curwood, Inc. | Package pick-off and delivery device |
DE202008009987U1 (en) | 2008-07-24 | 2009-12-17 | Kuka Systems Gmbh | handling device |
EP2213607A1 (en) | 2009-01-30 | 2010-08-04 | Sijnja Konstruktie B.V. | Suction cup and device provided with suction cups |
NL2002470C2 (en) * | 2009-01-30 | 2010-08-02 | Sijnja Konstruktie B V | SUCTION CUP AND DEVICE EQUIPPED WITH SUCTION COVERS. |
WO2011047670A3 (en) * | 2009-10-21 | 2011-06-23 | Fooke Gmbh | Device for stiffening a workpiece by means of a clamping plate, and method for retaining and processing a workpiece with a clamping plate |
US8894054B2 (en) * | 2009-10-21 | 2014-11-25 | Fooke Gmbh | Device and method for stiffening and holding a workpiece for machining |
US20120291252A1 (en) * | 2009-10-21 | 2012-11-22 | Fooke Gmbh | Device and method for stiffening and holding a workpiece for machining |
US9662434B2 (en) | 2010-02-26 | 2017-05-30 | Maquet Cardiovascular Llc | Blower instrument, apparatus and methods of using |
US9022998B2 (en) | 2010-02-26 | 2015-05-05 | Maquet Cardiovascular Llc | Blower instrument, apparatus and methods of using |
US9655605B2 (en) | 2010-06-14 | 2017-05-23 | Maquet Cardiovascular Llc | Surgical instruments, systems and methods of use |
US11284872B2 (en) | 2010-06-14 | 2022-03-29 | Maquet Cardiovascular Llc | Surgical instruments, systems and methods of use |
US12004732B2 (en) | 2010-06-14 | 2024-06-11 | Maquet Cardiovascular Llc | Surgical instruments, systems and methods of use |
US10398422B2 (en) | 2010-06-14 | 2019-09-03 | Maquet Cardiovascular Llc | Surgical instruments, systems and methods of use |
DE102010034720A1 (en) * | 2010-08-18 | 2012-02-23 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Surface gripper for e.g. storing of e.g. flexible object in e.g. robotics, has pressure supply terminal supplying low pressure in interstice between inner surfaces of air-permeable layer and air-permeable perforated layer of film element |
DE102010034720B4 (en) * | 2010-08-18 | 2013-11-14 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | grippers |
US8534730B2 (en) | 2010-08-18 | 2013-09-17 | Deutsches Zentrum Fur Luft- Und Raumfahrt E.V. (Dlr E.V.) | Areal gripper |
US8550525B2 (en) * | 2011-06-30 | 2013-10-08 | J.L. Souser & Associates, Inc. | Tool and process for handling pliant comestibles |
DE102011113685B4 (en) * | 2011-09-20 | 2015-02-19 | Manfred Bergunde | Suction element for adhesion to uneven surfaces or the suction surface incompletely covering surfaces |
DE102011113685A1 (en) * | 2011-09-20 | 2013-03-21 | Manfred Bergunde | Suction element of transport, positioning or mounting system used in e.g. aircraft, has suction segments made to controllably access suction pipe or several suction lines, and connected to suction pumps |
US20130075554A1 (en) * | 2011-09-22 | 2013-03-28 | Yuan-Song Tsai | Suction Disc Device |
US11911893B2 (en) * | 2011-11-18 | 2024-02-27 | Nike, Inc. | Manufacturing tool |
US20220305673A1 (en) * | 2011-11-18 | 2022-09-29 | Nike, Inc. | Manufacturing tool |
US9128672B1 (en) * | 2013-02-11 | 2015-09-08 | Google Inc. | Vacuum-sealed base for stabilizing a portable computing device on a surface |
US20160167404A1 (en) * | 2013-07-28 | 2016-06-16 | Hewlett-Packard Industrial Printing Ltd. | Media support |
US10549555B2 (en) | 2013-07-28 | 2020-02-04 | Hp Scitex Ltd. | Media support |
US10828916B2 (en) | 2013-07-28 | 2020-11-10 | Hp Scitex Ltd. | Media support |
US10022987B2 (en) | 2013-07-28 | 2018-07-17 | Hp Scitex Ltd. | Media support |
US10105967B2 (en) * | 2013-07-28 | 2018-10-23 | Hp Scitex Ltd. | Media support |
US10252550B2 (en) | 2013-07-28 | 2019-04-09 | Hp Scitex Ltd. | Media support |
US10259237B2 (en) | 2013-07-28 | 2019-04-16 | Hp Scitex Ltd. | Media support |
US10300715B2 (en) | 2013-07-28 | 2019-05-28 | Hp Scitex Ltd. | Media support |
US20150053286A1 (en) * | 2013-08-22 | 2015-02-26 | Shenzhen Futaihong Precision Industry Co., Ltd. | Suction structure having plurality of suction assemblies |
CN105313039A (en) * | 2014-06-05 | 2016-02-10 | J.施迈茨有限公司 | Gripping or holding device |
US9555550B2 (en) * | 2014-06-05 | 2017-01-31 | J. Schmalz Gmbh | Holding device for gripping workpieces with complex shapes or deformable surfaces |
US9925670B2 (en) | 2014-06-05 | 2018-03-27 | J. Schmalz Gmbh | Method for handling flexible mat-like workpieces |
US20150367517A1 (en) * | 2014-06-05 | 2015-12-24 | J. Schmalz Gmbh | Holding device |
US9390958B2 (en) * | 2014-08-14 | 2016-07-12 | Disco Corporation | Transfer unit including suction openings configured to receive suction pads or seal members therein |
US20160083120A1 (en) * | 2014-09-24 | 2016-03-24 | 9155-0020 Québec Inc. | Vacuum control system and method for a vacuum filling assembly |
WO2016193019A1 (en) * | 2015-06-03 | 2016-12-08 | Ipr - Intelligente Peripherien Für Roboter Gmbh | Robotic gripping mechanism and a robot comprising such a robotic gripping mechanism |
US9993925B2 (en) * | 2015-08-25 | 2018-06-12 | The Boeing Company | End effector apparatus and methods for handling composite structures |
US20170057100A1 (en) * | 2015-08-25 | 2017-03-02 | The Boeing Company | Apparatus and methods for handling composite structures |
EP3272942A1 (en) * | 2016-07-19 | 2018-01-24 | Baggermaatschappij Boskalis B.V. | Assembly of an underwater concrete mattress and a handling tool therefore as well as the related method of use |
NL2017189B1 (en) * | 2016-07-19 | 2018-01-24 | Boskalis Bv Baggermaatschappij | Assembly of an underwater concrete mattress and a handling tool therefore |
US11209402B2 (en) | 2017-07-05 | 2021-12-28 | Saudi Arabian Oil Company | Underwater vehicles with integrated surface cleaning and inspection |
US10481134B2 (en) | 2017-07-05 | 2019-11-19 | Saudi Arabian Oil Company | Underwater vehicles with integrated surface cleaning and inspection |
US11865700B2 (en) | 2018-07-27 | 2024-01-09 | Berkshire Grey Operating Company, Inc. | Systems and methods for efficiently exchanging end effector tools |
US10906335B2 (en) | 2018-08-23 | 2021-02-02 | Hp Scitex Ltd. | Suction device |
US11273651B2 (en) | 2018-08-23 | 2022-03-15 | Hp Scitex Ltd. | Suction device |
EP3613541A1 (en) * | 2018-08-23 | 2020-02-26 | HP Scitex Ltd | Suction device |
US20240058972A1 (en) * | 2018-12-28 | 2024-02-22 | Boston Semi Equipment Llc | Tool-less pick tip assembly, housing, and apparatus, and associated method |
US20210331331A1 (en) * | 2020-04-28 | 2021-10-28 | Joulin Cemma | Suction gripper head with a foam body |
US12017344B2 (en) * | 2020-04-28 | 2024-06-25 | Piab Aktiebolag | Suction gripper head with a foam body |
US20220024056A1 (en) * | 2020-07-22 | 2022-01-27 | Berkshire Grey, Inc. | Systems and methods for object processing using a passively folding vacuum gripper |
US11938618B2 (en) * | 2020-07-22 | 2024-03-26 | Berkshire Grey Operating Company, Inc. | Systems and methods for object processing using a passively folding vacuum gripper |
US11945103B2 (en) * | 2020-07-22 | 2024-04-02 | Berkshire Grey Operating Company, Inc. | Systems and methods for object processing using a passively collapsing vacuum gripper |
US11964386B2 (en) * | 2020-07-22 | 2024-04-23 | Berkshire Grey Operating Company, Inc. | Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion |
US20220024057A1 (en) * | 2020-07-22 | 2022-01-27 | Berkshire Grey, Inc. | Systems and methods for object processing using a passively collapsing vacuum gripper |
US20220024058A1 (en) * | 2020-07-22 | 2022-01-27 | Berkshire Grey, Inc. | Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion |
DE102020213943B4 (en) | 2020-11-05 | 2023-09-28 | Volkswagen Aktiengesellschaft | Suction gripping device for sucking an object |
DE102020213943A1 (en) | 2020-11-05 | 2022-05-05 | Volkswagen Aktiengesellschaft | Suction gripping device for sucking up an object |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US3720433A (en) | Manipulator apparatus for gripping submerged objects | |
US2578220A (en) | Handling apparatus | |
US3974794A (en) | Vacuum actuated ship mooring devices | |
US2908472A (en) | Automatic compensating device | |
US3512493A (en) | Adjustable buoyancy lift device | |
US4674915A (en) | Manipulator apparatus for gripping submerged objects | |
GB1426240A (en) | Apparatus for lifting a pipeline | |
GB1186244A (en) | Double-Acting Hydraulic Cable Pulling System. | |
US3853345A (en) | Suction gripping device | |
EP0017684B1 (en) | Hydraulic cylinder for a propulsion unit of an inboard or outboard motor | |
FR2421838A1 (en) | PERFECTED WINCH MECHANISM | |
US5221161A (en) | Ballast tank for buoyancy compensation | |
US3177689A (en) | Method and apparatus for forming workpieces | |
US4078509A (en) | Salvage apparatus and method | |
CN207592815U (en) | A kind of turning tool | |
US3863584A (en) | Combined hydraulically operated snorkel induction mast and head valve | |
US10287831B2 (en) | Lifting device for picking up a member from the bottom of the sea | |
CN108343656A (en) | A kind of adaptive clamping device in deep-sea and its adaptive clamping means | |
US3704679A (en) | Underwater connecting device | |
US3770080A (en) | Device for generating acoustic waves by implosion | |
US3972555A (en) | Tong type recovery tool | |
CN209037807U (en) | A kind of depth under water controller and the Floating vest using the depth under water controller | |
GB2016980A (en) | Apparatus for operating hydraulic rams | |
US3587506A (en) | Methods and apparatus for manipulating submerged or unsubmerged objects | |
US2844116A (en) | Ship salvaging apparatus |