1
Robert S Grams, Scott K Haddix: Device for mechanically gripping and loading cylindrical objects. ABB Automation, Ryan Kromholz & Manion S C, April 16, 2002: US06371717 (47 worldwide citation)

A device for mechanically gripping, transporting, loading and unloading cylindrical containers of various sizes for attachment to a robotic arm. The containers may be bottles including drinking water bottles. The device includes a plurality of gripping mechanisms for gripping the containers. Support ...


2
Robert S Grams, Thomas Watson, Patrick Resch, Gilbert Dominguez: Robotic containerization and palletizing system. ABB Flexible Automation, Michael Best & Friedrich, June 17, 2003: US06579053 (25 worldwide citation)

A robotic containerization and palletizing system having a multiple-fingered end effector. The system includes a frame that defines one or more cells. Each cell has one gantry-type robot, which is mounted in a set of tracks on top of the frame. The robot is movable along two axes and has an arm to w ...


3
Scott R Smith, Scott K Haddix, Robert S Grams, Carl F Holter: Carrier feed vaccum gripper. ABB Flexible Automation, Nicholas A Godfrey & Kahn S C Kees, November 16, 1999: US05984623 (20 worldwide citation)

An end effector for use with a robot and capable of removing cases from a stack of cases and emptying the selected case of substantially flat, folded articles. The end effector includes a main body designed to be coupled to the robot. A case gripper is mounted on the bottom of the main body. A flatt ...


4
Robert S Grams, Dean R Molstad: Docking station. ABB Automation, Michael Best & Friedrich, September 10, 2002: US06447236 (14 worldwide citation)

A docking station for a robotic mail tray loading system includes a ground plate that is mounted to the floor of the building in which the robotic mail tray loading system is housed. The ground plate has first and second wheel-retaining recesses that preferably include ramped surfaces to accommodate ...


5
Robert S Grams, Thomas Watson, Patrick Resch, Gilbert Dominguez: Method of using a robotic containerization and palletizing system. ABB Flexible Automation, Michael Best & Friedrich, March 15, 2005: US06866471 (8 worldwide citation)

A robotic containerization and palletizing system having a multiple-fingered end effector. In one embodiment, the system carries out a method of loading a tray in a container where the method includes creating a cell with a plurality of bays; assigning each bay a location; moving trays through the c ...


6
Robert S Grams: Robotic end effector with counter-rotating fingers. ABB Automation, Michael Best & Friedrich, November 5, 2002: US06474047

An improved end effector for use with a robot includes a pair of carriages. Each carriage supports a pair of fingers and at least one actuator. Each actuator is interconnected with the associated pair of fingers to counter-rotate the fingers. One or both of the carriages is movable toward the other ...


7
Robert S Grams, Thomas C Bauman: Robotic end effector with counter-rotating fingers. ABB Automation, Micheal Best & Friedrich, May 13, 2003: US06560949

A method of handling an object using a robot end effector. The method includes providing a robot having an end effector supporting a pair of carriages, providing a pair of fingers for each carriage, moving the end effector over an object, grasping an object with the fingers, moving the object with t ...


8
Robert S Grams: Robotic end effector with counter-rotating fingers. ABB Automation, Michael Best & Friedrich, January 9, 2003: US20030005666-A1

A method of handling an object using a robot end effector. The method includes providing a robot having an end effector supporting a pair of carriages, providing a pair of fingers for each carriage, moving the end effector over an object, grasping an object with the fingers, moving the object with t ...


9
Robert S Grams, Thomas Watson, Patrick Resch, Gilbert Dominguez: Method of using a robotic containerization and palletizing system. ABB Flexible Automation, Michael Best & Friedrich, July 3, 2003: US20030123970-A1

A robotic containerization and palletizing system having a multiple-fingered end effector. The system includes a frame that defines one or more cells. Each cell has one gantry-type robot, which is mounted in a set of tracks on top of the frame. The robot is movable along two axes and has an arm to w ...