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Outline
Indent Level
Color Curly Brackets (indicating CPC extensions to IPC) References Date Revised

CPC
COOPERATIVE PATENT CLASSIFICATION
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MANIPULATORS ; CHAMBERS PROVIDED WITH MANIPULATION DEVICES (
{
manipulators specially adapted for use in surgery A61B 19/22 ; 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
}
)
NOTE
-
In this subclass, the following term is used with the meaning indicated :

- "manipulator" covers handling tools, devices, or machines
having a gripping or work head capable of bodily
movement in space and of change of orientation, such bodily
movement and change of orientation being controlled,
at will, by means remote from the head.

WARNING
-
The following IPC groups are not used in the CPC scheme. Subject matter covered by these groups is classified in the following CPC groups:

B25J9/18 covered by B25J 9/16
B25J9/22 " " B25J 9/1656 , G05B 19/42

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Manipulators positioned in space by hand ( of master-slave type B25J 3/00 ; micromanipulators B25J 7/00 )
.
articulated or flexible
.
rigid, e.g. shelf-reachers
{
( without grippers A47F 13/06 )
}
.
of the lazy-tongs type
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.
movably mounted in a wall
. .
Sleeve and pivot mountings therefor
.
having means for attachment to a support stand
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Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
.
involving a parallelogram coupling of the master and slave units ( pantographic instruments B43L 13/00 )
.
involving servo mechanisms ( servo-actuated heads B25J 15/02 )
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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
}
.
{
mounted on endless tracks or belts
}
.
{
mounted on wheels
}
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.
travelling along a guideway
. .
wherein the guideway is also moved, e.g. travelling crane bridge type
.
Manipulators combined with a control cab for the operator
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 )
}
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Programme-controlled manipulators
.
{
Home robots, i.e. small robots for domestic use
}
.
{
Exoskeletons, i.e. resembling a human figure
}
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.
{
Constructional details, e.g. manipulator supports, bases
}
. .
{
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
}
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B25J 9/003
.
{
having parallel kinematics
}
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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
}
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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
}
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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
}
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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
}
.
{
with master teach-in means
}
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.
{
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
}
.
{
co-operating with conveyer means
}
.
{
co-operating with a working support, e.g. work-table
}
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.
characterised by movement of the arms, e.g. cartesian coordinate type ( B25J 9/06 takes precedence )
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. .
{
Cartesian coordinate type
}
. . .
{
Gantry-type
}
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. .
by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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. . .
{
Cylindrical coordinate type
}
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. . . .
{
comprising an articulated arm
}
B25J 9/043
. . . . .
{
double SCARAR arms
}
B25J 9/044
. . . . .
{
with forearm providing vertical linear movement
}
. . .
{
Polar coordinate type
}
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. . .
{
Revolute coordinate type
}
. . . .
{
the pivoting axis of the first arm being offset to the vertical axis
}
. . .
{
Pendulum type
}
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.
characterised by multi-articulated arms
B25J 9/065
. .
{
Snake robots
}
.
characterised by modular constructions
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.
characterised by positioning means for manipulator elements
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. .
{
comprising adjusting means
}
. . .
{
using limit-switches, -stops
}
. . .
{
using additional, e.g. micro adjustment of the end effector
}
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. .
{
Gears specially adapted therefor, e.g. reduction gears ( gearings in general F16H )
}
. . .
{
Harmonic drives ( in general: F16H 49/001 )
}
. . .
{
with backlash-preventing means
}
. . .
{
Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
}
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. .
{
with cables, chains or ribbons
}
. . .
{
comprising tensioning means
}
. .
{
using eccentric means ( B25J 9/109 takes precedence )
}
. .
{
by gravity
}
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. .
{
with articulated links
}
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. . .
{
with parallelograms
}
. . . .
{
of the froglegs type
}
. .
{
with muscles or tendons
}
. .
{
Bearings specially adapted therefor ( bearings in general F16C )
}
. .
{
positioning by means of shape-memory materials ( shape memory actuators F03G 7/06 )
}
. .
{
comprising mechanical programming means, e.g. cams
}
. .
{
chemically actuated
}
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. .
electric
. . .
{
Linear actuators
}
. . .
{
Rotary actuators
}
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. .
fluid
. . .
{
comprising inflatable bodies
}
. . .
{
Linear actuators
}
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. . .
{
Rotary actuators
}
. . . .
{
of the oscillating vane-type ( in general F15B 15/12 )
}
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.
Programme controls ( programme controls in general G05B 19/00 , e.g. numerical pogramme controls G05B 19/18 ;
{
recording or playback systems G05B 19/42
}
)
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. .
{
characterised by the control system, structure, architecture
}
. . .
{
Simulation of manipulator lay-out, design, modelling of manipulator
}
. . .
{
Calculation of inertia, jacobian matrixes and inverses
}
. . .
{
Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
}
. .
{
characterised by the hand, wrist, grip control
}
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. .
{
characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
}
. . .
{
Cellular, reconfigurable manipulator, e.g. cebot
}
. . .
{
Mobile manipulator, movable base with manipulator arm mounted on it
}
. . .
{
Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
}
. . .
{
Truss-manipulator for snake-like motion
}
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. .
{
characterised by the control loop
}
. . .
{
learning, adaptive, model based, rule based expert control
}
. . .
{
compliant, force, torque control, e.g. combined with position control
}
. . .
{
flexible-arm control
}
. . .
{
compensation for arm bending/inertia, pay load weight/inertia
}
. . .
{
compensation for backlash, friction, compliance, elasticity in the joints
}
. . .
{
redundant control
}
. . .
{
variable structure system, sliding mode control
}
. . .
{
non-linear control combined or not with linear control
}
. . .
{
acceleration, rate control
}
. . .
{
parameters identification, estimation, stiffness, accuracy, error analysis
}
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. .
{
characterised by programming, planning systems for manipulators
}
. . .
{
characterised by programming language
}
. . .
{
characterised by task planning, object-oriented languages
}
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. . .
{
characterised by motion, path, trajectory planning
}
. . . .
{
Avoiding collision or forbidden zones
}
. . .
{
characterised by special application, e.g. multi-arm co-operation, assembly, grasping
}
. . .
{
characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
}
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. .
{
characterised by safety, monitoring, diagnostic
}
. . .
{
Avoiding collision or forbidden zones
}
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. .
{
characterised by the tasks executed
}
. . .
{
Dual arm manipulator; Coordination of several manipulators
}
. . .
{
Tracking a line or surface by means of sensors
}
. . .
{
Assembly, peg and hole, palletising, straight line, weaving pattern movement
}
. . .
{
Teleoperation
}
. . .
{
Calibration of manipulator
}
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. .
{
characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
}
. . .
{
Vision controlled systems
}
. .
fluidic
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Manipulators not otherwise provided for
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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
}
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B25J 11/002
.
{
Manipulators for defensive or military tasks
}
B25J 11/0025
. .
{
handling explosives, bombs or hazardous objects
}
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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
}
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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
}
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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
}
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Controls for manipulators ( programme controls B25J 9/16 ; control in general G05 )
.
{
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
}
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.
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
}
.
Foot-operated control means
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.
Control stands, e.g. consoles, switch-boards
. .
{
comprising joy-sticks
}
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.
by means of sensing devices, e.g. viewing or touching devices
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. .
{
Touching devices, e.g. pressure-sensitive
}
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. . .
{
Grasping-force detectors ( in general G01L 5/16 , G01L 5/22 )
}
. . . .
{
fitted with slippage detectors
}
. . .
{
Tactile sensors ( in general G01L 5/16 , G01L 5/22 )
}
. .
{
Force or torque sensors ( B25J 13/082 , B25J 13/084 take precedence )
}
. .
{
Proximity sensors
}
. .
{
for sensing other physical parameters, e.g. electrical or chemical properties
}
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. .
{
with position, velocity or acceleration sensors
}
. . .
{
Determining the position of the robot with reference to its environment
}
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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 )
}
.
{
with provision for adjusting the gripped object in the hand
}
.
{
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
}
.
{
End effectors other than grippers
}
.
{
Gripper surfaces directly activated by a fluid ( flexible fingers B25J 15/12 )
}
.
{
with movable, e.g. pivoting gripping jaw surfaces
}
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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
}
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.
{
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
}
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.
servo-actuated
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. .
{
comprising articulated grippers
}
. . .
{
actuated by gears
}
. . .
{
actuated by articulated links
}
. . .
{
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
}
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. .
{
comprising parallel grippers
}
. . .
{
actuated by gears
}
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. . .
{
actuated by articulated links
}
. . . .
{
comprising linear guide means
}
. . .
{
actuated by cams
}
B25J 15/0286
. . .
{
actuated by chains, cables or ribbons
}
B25J 15/0293
. . .
{
having fingers directly connected to actuator
}
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.
with provision for the remote detachment or exchange of the head or parts thereof
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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
}
. .
{
Exchangeable fingers
}
B25J 15/0483
. .
{
with head identification means
}
. .
{
comprising end-effector racks
}
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.
with vacuum or magnetic holding means
. .
{
with magnetic holding means
}
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. .
{
with vacuum
}
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B25J 15/0625
. . .
{
provided with a valve
}
B25J 15/0633
. . . .
{
Air-flow-actuated valves
}
B25J 15/0641
. . . .
{
Object-actuated valves
}
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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
}
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.
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
}
Collapse
. .
with three or more finger members
{
( B25J 15/0009 takes precedence )
}
. . .
{
for gripping the object in three contact points
}
. . .
{
moving in parallel relationship
}
. .
with flexible finger members
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Joints
Collapse
.
Wrist joints
Collapse
. .
{
Compliance devices
}
. . .
{
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
}
Collapse
. .
{
One-dimensional joints
}
. . .
{
mounted in series
}
Collapse
. .
{
Two-dimensional joints
}
. . .
{
comprising more than two actuating or connecting rods
}
. . .
{
Universal joints, e.g. Hooke, Cardan, ball joints
}
Collapse
. .
{
Three-dimensional joints
}
B25J 17/0291
. . .
{
having axes crossing at an oblique angle, i.e. other than 90 degrees
}
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Arms
.
{
comprising beam bending compensation means
}
B25J 18/005
.
{
having a curved shape
}
.
{
the end effector rotating around a fixed point
}
Collapse
.
extensible
. .
{
telescopic
}
. .
rotatable
.
flexible
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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 )
.
{
Braking devices ( brakes in general F16D )
}
Collapse
.
{
Balancing devices
}
. .
{
using fluidic devices
}
. .
{
using springs
}
. .
{
using counterweights
}
Collapse
.
{
Means for supplying energy to the end effector
}
Collapse
. .
{
arranged within the different robot elements
}
B25J 19/0033
. . .
{
with axial connectors in end effector flange
}
. . .
{
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
}
.
{
using batteries, e.g. as a back-up power source
}
.
{
Cooling means
}
.
{
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
}
Collapse
.
{
Means for protecting the manipulator from its environment or vice versa
}
. .
{
using an internal pressure system
}
. .
{
using gaiters
}
B25J 19/0087
. .
{
using an antibacterial coating
}
.
{
Shock absorbers ( in general F16F )
}
B25J 19/0095
.
{
Means or methods for testing manipulators
}
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.
Sensing devices
Collapse
. .
{
Optical sensing devices
}
. . .
{
using lasers
}
. . .
{
including video camera means
}
. . .
{
including optical fibres
}
. .
{
Acoustical sensing devices
}
. .
{
Electromagnetic sensing devices
}
. .
{
Piezoresistive or piezoelectric sensing devices
}
. .
Viewing devices
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.
Safety devices
. .
{
with audible signals ( audio controls B25J 13/003 )
}
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. .
{
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
}
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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
}
)
.
{
Clean rooms
}
.
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
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Last Modified: 10/10/2013