WebCPC CPC COOPERATIVE PATENT CLASSIFICATION

B25J　MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B 19/00M; manipulators used in cleaning hollow articles B08B 9/04}; manipulators associated with rolling mills B21B 39/20; manipulators associated with forging machines B21J 13/10; {manipulators associated with picking-up and placing mechanisms B23P 19/007}; means for holding wheels or parts thereof B60B 30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D 57/02, B62D 57/032; devices for picking-up and depositing articles or materials between conveyers B65G 47/90, B65G 47/91; manipulators with gripping or holding means for transferring packages B65H 67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D 5/00; walking equipment adapted for nuclear steam-generators F22B 37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H01L 21/68})

B25J 1/00 Manipulators positioned in space by hand (of master-slave type B25J 3/00; micromanipulators B25J 7/00)

B25J 1/02 ・articulated or flexible

B25J 1/04 ・rigid, e.g. shelf-reachers {(without grippers A47F 13/06)}

B25J 1/06 ・of the lazy-tongs type

B25J 1/08 ・movably mounted in a wall

B25J 1/10 ・・Sleeve and pivot mountings therefor

B25J 1/12 ・having means for attachment to a support stand

B25J 3/00 Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

B25J 3/02 ・involving a parallelogram coupling of the master and slave units (pantographic instruments B43L 13/00)

B25J 3/04 ・involving servo mechanisms (servo-actuated heads B25J 15/02)

B25J 5/00 Manipulators mounted on wheels or on carriages (B25J 1/00 takes precedence; programme-controlled manipulators B25J 9/00; {vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D 1/24; control of position of vehicles G05D 1/00})

B25J 5/002 ・{mounted on an air cushion}

B25J 5/005 ・{mounted on endless tracks or belts}

B25J 5/007 ・{mounted on wheels}

B25J 5/02 ・travelling along a guideway

B25J 5/04 ・・wherein the guideway is also moved, e.g. travelling crane bridge type

B25J 5/06 ・Manipulators combined with a control cab for the operator

B25J 7/00 Micromanipulators {(specimen supports for investigating or analysing materials G01N 23/2204; associated with microscopes G02B 21/32; means for supporting or positioning the objects or the material in discharge tubes H01J 37/20)}

B25J 9/00 Programme-controlled manipulators

B25J 9/0003 ・{Home robots, i.e. small robots for domestic use}

B25J 9/0006 ・{Exoskeletons, i.e. resembling a human figure}

B25J 9/0009 ・{Constructional details, e.g. manipulator supports, bases}

B25J 9/0012 ・・{making use of synthetic construction materials, e.g. plastics, composites}

B25J 9/0015 ・・{Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion}

B25J 9/0018 ・・{Bases fixed on ceiling, i.e. upside down manipulators}

B25J 9/0021 ・・{All motors in base}

B25J 9/0024 ・・{Wrist motors at rear part of the upper arm}

B25J 9/0027 ・・{Means for extending the operation range}

B25J 9/003 ・{having parallel kinematics}

B25J 9/0033 ・・{with kinematics chains having a prismatic joint at the base}

B25J 9/0036 ・・・{with kinematics chains of the type prismatic-rotary-rotary}

B25J 9/0039 ・・・{with kinematics chains of the type prismatic-spherical-spherical}

B25J 9/0042 ・・・{with kinematics chains of the type prismatic-universal-universal}

B25J 9/0045 ・・{with kinematics chains having a rotary joint at the base}

B25J 9/0048 ・・・{with kinematics chains of the type rotary-rotary-rotary}

B25J 9/0051 ・・・{with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators}

B25J 9/0054 ・・{with kinematics chains having a spherical joint at the base}

B25J 9/0057 ・・・{with kinematics chains of the type spherical-prismatic-spherical}

B25J 9/006 ・・・{with kinematics chains of the type spherical-prismatic-universal}

B25J 9/0063 ・・{with kinematics chains having an universal joint at the base}

B25J 9/0066 ・・・{with kinematics chains of the type universal-prismatic-spherical}

B25J 9/0069 ・・・{with kinematics chains of the type universal-prismatic-universal}

B25J 9/0072 ・・{of the hybrid type, i.e. having different kinematics chains}

B25J 9/0075 ・・{Truss}

B25J 9/0078 ・・{actuated by cables}

B25J 9/0081 ・{with master teach-in means}

B25J 9/0084 ・{comprising a plurality of manipulators}

B25J 9/0087 ・・{Dual arms (double SCARA arms B25J 9/043)}

B25J 9/009 ・・{being mechanically linked with one another at their distal ends}

B25J 9/0093 ・{co-operating with conveyer means}

B25J 9/0096 ・{co-operating with a working support, e.g. work-table}

B25J 9/02 ・characterised by movement of the arms, e.g. cartesian coordinate type (B25J 9/06 takes precedence)

B25J 9/023 ・・{Cartesian coordinate type}

B25J 9/026 ・・・{Gantry-type}

B25J 9/04 ・・by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type

B25J 9/041 ・・・{Cylindrical coordinate type}

B25J 9/042 ・・・・{comprising an articulated arm}

B25J 9/043 ・・・・・{double SCARAR arms}

B25J 9/044 ・・・・・{with forearm providing vertical linear movement}

B25J 9/045 ・・・{Polar coordinate type}

B25J 9/046 ・・・{Revolute coordinate type}

B25J 9/047 ・・・・{the pivoting axis of the first arm being offset to the vertical axis}

B25J 9/048 ・・・{Pendulum type}

B25J 9/06 ・characterised by multi-articulated arms

B25J 9/065 ・・{Snake robots}

B25J 9/08 ・characterised by modular constructions

B25J 9/10 ・characterised by positioning means for manipulator elements

B25J 9/1005 ・・{comprising adjusting means}

B25J 9/101 ・・・{using limit-switches, -stops}

B25J 9/1015 ・・・{using additional, e.g. micro adjustment of the end effector}

B25J 9/102 ・・{Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H)}

B25J 9/1025 ・・・{Harmonic drives (in general: F16H 49/001)}

B25J 9/103 ・・・{with backlash-preventing means}

B25J 9/1035 ・・・{Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base}

B25J 9/104 ・・{with cables, chains or ribbons}

B25J 9/1045 ・・・{comprising tensioning means}

B25J 9/105 ・・{using eccentric means (B25J 9/109 takes precedence)}

B25J 9/1055 ・・{by gravity}

B25J 9/106 ・・{with articulated links}

B25J 9/1065 ・・・{with parallelograms}

B25J 9/107 ・・・・{of the froglegs type}

B25J 9/1075 ・・{with muscles or tendons}

B25J 9/108 ・・{Bearings specially adapted therefor (bearings in general F16C)}

B25J 9/1085 ・・{positioning by means of shape-memory materials (shape memory actuators F03G 7/06)}

B25J 9/109 ・・{comprising mechanical programming means, e.g. cams}

B25J 9/1095 ・・{chemically actuated}

B25J 9/12 ・・electric

B25J 9/123 ・・・{Linear actuators}

B25J 9/126 ・・・{Rotary actuators}

B25J 9/14 ・・fluid

B25J 9/142 ・・・{comprising inflatable bodies}

B25J 9/144 ・・・{Linear actuators}

B25J 9/146 ・・・{Rotary actuators}

B25J 9/148 ・・・・{of the oscillating vane-type (in general F15B 15/12)}

B25J 9/16 ・Programme controls (programme controls in general G05B 19/00, e.g. numerical pogramme controls G05B 19/18; {recording or playback systems G05B 19/42})

B25J 9/1602 ・・{characterised by the control system, structure, architecture}

B25J 9/1605 ・・・{Simulation of manipulator lay-out, design, modelling of manipulator}

B25J 9/1607 ・・・{Calculation of inertia, jacobian matrixes and inverses}

B25J 9/161 ・・・{Hardware, e.g. neural networks, fuzzy logic, interfaces, processor}

B25J 9/1612 ・・{characterised by the hand, wrist, grip control}

B25J 9/1615 ・・{characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators}

B25J 9/1617 ・・・{Cellular, reconfigurable manipulator, e.g. cebot}

B25J 9/162 ・・・{Mobile manipulator, movable base with manipulator arm mounted on it}

B25J 9/1623 ・・・{Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base}

B25J 9/1625 ・・・{Truss-manipulator for snake-like motion}

B25J 9/1628 ・・{characterised by the control loop}

B25J 9/163 ・・・{learning, adaptive, model based, rule based expert control}

B25J 9/1633 ・・・{compliant, force, torque control, e.g. combined with position control}

B25J 9/1635 ・・・{flexible-arm control}

B25J 9/1638 ・・・{compensation for arm bending/inertia, pay load weight/inertia}

B25J 9/1641 ・・・{compensation for backlash, friction, compliance, elasticity in the joints}

B25J 9/1643 ・・・{redundant control}

B25J 9/1646 ・・・{variable structure system, sliding mode control}

B25J 9/1648 ・・・{non-linear control combined or not with linear control}

B25J 9/1651 ・・・{acceleration, rate control}

B25J 9/1653 ・・・{parameters identification, estimation, stiffness, accuracy, error analysis}

B25J 9/1656 ・・{characterised by programming, planning systems for manipulators}

B25J 9/1658 ・・・{characterised by programming language}

B25J 9/1661 ・・・{characterised by task planning, object-oriented languages}

B25J 9/1664 ・・・{characterised by motion, path, trajectory planning}

B25J 9/1666 ・・・・{Avoiding collision or forbidden zones}

B25J 9/1669 ・・・{characterised by special application, e.g. multi-arm co-operation, assembly, grasping}

B25J 9/1671 ・・・{characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems}

B25J 9/1674 ・・{characterised by safety, monitoring, diagnostic}

B25J 9/1676 ・・・{Avoiding collision or forbidden zones}

B25J 9/1679 ・・{characterised by the tasks executed}

B25J 9/1682 ・・・{Dual arm manipulator; Coordination of several manipulators}

B25J 9/1684 ・・・{Tracking a line or surface by means of sensors}

B25J 9/1687 ・・・{Assembly, peg and hole, palletising, straight line, weaving pattern movement}

B25J 9/1689 ・・・{Teleoperation}

B25J 9/1692 ・・・{Calibration of manipulator}

B25J 9/1694 ・・{characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion}

B25J 9/1697 ・・・{Vision controlled systems}

B25J 9/20 ・・fluidic

B25J 11/00 Manipulators not otherwise provided for

B25J 11/0005 ・{Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means}

B25J 11/001 ・・{with emotions simulating means}

B25J 11/0015 ・・{Face robots, animated artificial faces for imitating human expressions}

B25J 11/002 ・{Manipulators for defensive or military tasks}

B25J 11/0025 ・・{handling explosives, bombs or hazardous objects}

B25J 11/003 ・{Manipulators for entertainment}

B25J 11/0035 ・・{Dancing, executing a choreography}

B25J 11/004 ・・{Playing a music instrument}

B25J 11/0045 ・{Manipulators used in the food industry}

B25J 11/005 ・{Manipulators for mechanical processing tasks}

B25J 11/0055 ・・{Cutting}

B25J 11/006 ・・{Deburring or trimming}

B25J 11/0065 ・・{Polishing or grinding}

B25J 11/007 ・・{Riveting}

B25J 11/0075 ・{Manipulators for painting or coating}

B25J 11/008 ・{Manipulators for service tasks}

B25J 11/0085 ・・{Cleaning}

B25J 11/009 ・・{Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs}

B25J 11/0095 ・{Manipulators transporting wafers}

B25J 13/00 Controls for manipulators (programme controls B25J 9/16; control in general G05)

B25J 13/003 ・{by means of an audio-responsive input (audible safety signals B25J 19/061)}

B25J 13/006 ・{by means of a wireless system for controlling one or several manipulators}

B25J 13/02 ・Hand grip control means {(handles or pedals for crane control B66C 13/56; for measuring the force applied to control members G01L 5/22; hand-held casings for switching devices, e.g. joy-sticks H01H 9/0214)}

B25J 13/025 ・・{comprising haptic means}

B25J 13/04 ・Foot-operated control means

B25J 13/06 ・Control stands, e.g. consoles, switch-boards

B25J 13/065 ・・{comprising joy-sticks}

B25J 13/08 ・by means of sensing devices, e.g. viewing or touching devices

B25J 13/081 ・・{Touching devices, e.g. pressure-sensitive}

B25J 13/082 ・・・{Grasping-force detectors (in general G01L 5/16, G01L 5/22)}

B25J 13/083 ・・・・{fitted with slippage detectors}

B25J 13/084 ・・・{Tactile sensors (in general G01L 5/16, G01L 5/22)}

B25J 13/085 ・・{Force or torque sensors (B25J 13/082, B25J 13/084 take precedence)}

B25J 13/086 ・・{Proximity sensors}

B25J 13/087 ・・{for sensing other physical parameters, e.g. electrical or chemical properties}

B25J 13/088 ・・{with position, velocity or acceleration sensors}

B25J 13/089 ・・・{Determining the position of the robot with reference to its environment}

B25J 15/00 Gripping heads {and other end effectors (grippers used in machine tools B23Q 7/04; gripping members fitted on cranes B66C 1/42, B66C 1/44; gripping means used in the manufacture of semiconductors {H01L 21/68707}; gripping means used for mounting electrical components H05K 13/04)}

B25J 15/0004 ・{with provision for adjusting the gripped object in the hand}

B25J 15/0009 ・{comprising multi-articulated fingers, e.g. resembling a human hand}

B25J 15/0014 ・{having fork, comb or plate shaped means for engaging the lower surface on a object to be transported}

B25J 15/0019 ・{End effectors other than grippers}

B25J 15/0023 ・{Gripper surfaces directly activated by a fluid (flexible fingers B25J 15/12)}

B25J 15/0028 ・{with movable, e.g. pivoting gripping jaw surfaces}

B25J 15/0033 ・{with gripping surfaces having special shapes}

B25J 15/0038 ・・{Cylindrical gripping surfaces}

B25J 15/0042 ・・{V-shaped gripping surfaces}

B25J 15/0047 ・{for internally gripping hollow or recessed objects}

B25J 15/0052 ・{multiple gripper units or multiple end effectors}

B25J 15/0057 ・・{mounted on a turret}

B25J 15/0061 ・・{mounted on a modular gripping structure}

B25J 15/0066 ・・{with different types of end effectors, e.g. gripper and welding gun (B25J 15/0057 and B25J 15/0061 take precedence)}

B25J 15/0071 ・{with needles engaging into objects to be gripped}

B25J 15/0076 ・{with means, e.g. Pelletier elements, for freezing a fluid interface between the gripping head and an object to be gripped}

B25J 15/008 ・{with sticking, gluing or adhesive means}

B25J 15/0085 ・{with means for applying an electrostatic force on the object to be gripped}

B25J 15/009 ・{with pins for accurately positioning the object on the gripping head}

B25J 15/0095 ・{with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations}

B25J 15/02 ・servo-actuated

B25J 15/0206 ・・{comprising articulated grippers}

B25J 15/0213 ・・・{actuated by gears}

B25J 15/022 ・・・{actuated by articulated links}

B25J 15/0226 ・・・{actuated by cams}

B25J 15/0233 ・・・{actuated by chains, cables or ribbons}

B25J 15/024 ・・・{having fingers directly connected to actuator}

B25J 15/0246 ・・{actuated by an electromagnet}

B25J 15/0253 ・・{comprising parallel grippers}

B25J 15/026 ・・・{actuated by gears}

B25J 15/0266 ・・・{actuated by articulated links}

B25J 15/0273 ・・・・{comprising linear guide means}

B25J 15/028 ・・・{actuated by cams}

B25J 15/0286 ・・・{actuated by chains, cables or ribbons}

B25J 15/0293 ・・・{having fingers directly connected to actuator}

B25J 15/04 ・with provision for the remote detachment or exchange of the head or parts thereof

B25J 15/0408 ・・{Connections means}

B25J 15/0416 ・・・{having balls}

B25J 15/0425 ・・・{having cams}

B25J 15/0433 ・・・{having gripping members}

B25J 15/0441 ・・・{having vacuum or magnetic means}

B25J 15/045 ・・・{having screw means}

B25J 15/0458 ・・・{having a frustroconical member}

B25J 15/0466 ・・{with means for checking exchange completion}

B25J 15/0475 ・・{Exchangeable fingers}

B25J 15/0483 ・・{with head identification means}

B25J 15/0491 ・・{comprising end-effector racks}

B25J 15/06 ・with vacuum or magnetic holding means

B25J 15/0608 ・・{with magnetic holding means}

B25J 15/0616 ・・{with vacuum}

B25J 15/0625 ・・・{provided with a valve}

B25J 15/0633 ・・・・{Air-flow-actuated valves}

B25J 15/0641 ・・・・{Object-actuated valves}

B25J 15/065 ・・・{provided with separating means for releasing the gripped object after suction}

B25J 15/0658 ・・・・{Pneumatic type, e.g. air blast or overpressure}

B25J 15/0666 ・・・・{Other types, e.g. pins or springs}

B25J 15/0675 ・・・{of the ejector type}

B25J 15/0683 ・・・{Details of suction cup structure, e.g. grooves or ridges}

B25J 15/0691 ・・・{Suction pad made out of porous material, e.g. sponge or foam}

B25J 15/08 ・having finger members (B25J 15/02, B25J 15/04 take precedence)

B25J 15/083 ・・{with means for locking the fingers in an open or closed position}

B25J 15/086 ・・{with means for synchronizing the movements of the fingers}

B25J 15/10 ・・with three or more finger members {(B25J 15/0009 takes precedence)}

B25J 15/103 ・・・{for gripping the object in three contact points}

B25J 15/106 ・・・{moving in parallel relationship}

B25J 15/12 ・・with flexible finger members

B25J 17/00 Joints

B25J 17/02 ・Wrist joints

B25J 17/0208 ・・{Compliance devices}

B25J 17/0216 ・・・{comprising a stewart mechanism}

B25J 17/0225 ・・・{with axial compliance, i.e. parallel to the longitudinal wrist axis}

B25J 17/0233 ・・・{with radial compliance, i.e. perpendicular to the longitudinal wrist axis}

B25J 17/0241 ・・{One-dimensional joints}

B25J 17/025 ・・・{mounted in series}

B25J 17/0258 ・・{Two-dimensional joints}

B25J 17/0266 ・・・{comprising more than two actuating or connecting rods}

B25J 17/0275 ・・・{Universal joints, e.g. Hooke, Cardan, ball joints}

B25J 17/0283 ・・{Three-dimensional joints}

B25J 17/0291 ・・・{having axes crossing at an oblique angle, i.e. other than 90 degrees} B25J 18/00 Arms

B25J 18/002 ・{comprising beam bending compensation means}

B25J 18/005 ・{having a curved shape}

B25J 18/007 ・{the end effector rotating around a fixed point}

B25J 18/02 ・extensible

B25J 18/025 ・・{telescopic}

B25J 18/04 ・・rotatable

B25J 18/06 ・flexible

B25J 19/00 Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F)

B25J 19/0004 ・{Braking devices (brakes in general F16D)}

B25J 19/0008 ・{Balancing devices}

B25J 19/0012 ・・{using fluidic devices}

B25J 19/0016 ・・{using springs}

B25J 19/002 ・・{using counterweights}

B25J 19/0025 ・{Means for supplying energy to the end effector}

B25J 19/0029 ・・{arranged within the different robot elements}

B25J 19/0033 ・・・{with axial connectors in end effector flange}

B25J 19/0037 ・・・{comprising a light beam pathway, e.g. laser}

B25J 19/0041 ・・・{having rotary connection means}

B25J 19/0045 ・・{Contactless power transmission, e.g. by magnetic induction}

B25J 19/005 ・{using batteries, e.g. as a back-up power source}

B25J 19/0054 ・{Cooling means}

B25J 19/0058 ・{Means for cleaning manipulators, e.g. dust removing means}

B25J 19/0062 ・{Lubrication means}

B25J 19/0066 ・{Means or methods for maintaining or repairing manipulators}

B25J 19/007 ・{Means or methods for designing or fabricating manipulators}

B25J 19/0075 ・{Means for protecting the manipulator from its environment or vice versa}

B25J 19/0079 ・・{using an internal pressure system}

B25J 19/0083 ・・{using gaiters}

B25J 19/0087 ・・{using an antibacterial coating}

B25J 19/0091 ・{Shock absorbers (in general F16F)}

B25J 19/0095 ・{Means or methods for testing manipulators}

B25J 19/02 ・Sensing devices

B25J 19/021 ・・{Optical sensing devices}

B25J 19/022 ・・・{using lasers}

B25J 19/023 ・・・{including video camera means}

B25J 19/025 ・・・{including optical fibres}

B25J 19/026 ・・{Acoustical sensing devices}

B25J 19/027 ・・{Electromagnetic sensing devices}

B25J 19/028 ・・{Piezoresistive or piezoelectric sensing devices}

B25J 19/04 ・・Viewing devices

B25J 19/06 ・Safety devices

B25J 19/061 ・・{with audible signals (audio controls B25J 13/003)}

B25J 19/063 ・・{working only upon contact with an outside object}

B25J 19/065 ・・・{Mechanical fuse}

B25J 19/066 ・・{Redundant equipment}

B25J 19/068 ・・{Actuating means with variable stiffness}

B25J 21/00 Chambers provided with manipulation devices (constructional features of the mounting of the manipulator in the wall B25J 1/08; {glove-boxes for nuclear applications G21F 7/04})

B25J 21/005 ・{Clean rooms}

B25J 21/02 ・Glove-boxes, i.e. chambers in which manipulations are performed by the human hands in gloves built into the chamber walls {(glove- boxes for removal of dirt B08B 15/026; glove-boxes shielded against radiation G21F 7/04)}; Gloves therefor