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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} )
Definition statement
This subclass/group 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. The group B25J 21/00 moreover covers chambers provided with manipulation devices.

Most of the manipulators classified in B25J are industrial robots.

The International Organization for Standardization gives the following definition of an industrial robot in ISO 8373:

an automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications.

This definition is used by the International Federation of Robotics, the European Robotics Research Network (EURON) and many national standards committees.

Here is a list of other types of manipulators or robots classified in B25J, i.e. manipulators which are usually not industrial robots:

Manipulators positioned in space by hand
Manipulators not otherwise provided for
Master-slave manipulators
Manipulators mounted on wheels or on carriages
Micromanipulators
Service robots
Exoskeletons
Manipulators moved by gravity
Manipulators comprising mechanical "programming" means, e.g. cams
Cellular, reconfigurable manipulators, e.g. cebot
References relevant to classification in this subclass
This subclass/group does not cover:

Examples of places where the subject matter of this subclass is covered when specially adapted, used for particular purpose, or incorporated in a larger system:

Manipulators for surgery
A61B19/00M
Spray heads moved by robots or articulated arms
Manipulators for transferring metal sheets from / to a press
Manipulators in machines for forging, hammering, pressing riveting
Manipulators for moving laser head in more than two directions
B23K26/10B
Manipulators for moving workpieces between mould parts
Manipulators in machines for gluing by wetting
Manipulators for handling sheets
Manipulators for stacking or de-stacking articles
Manipulators with gripping or holding means for transferring the packages from one station to another
Micro-manipulators for assembling MEMS
B81B7/00M
Manipulators for underwater operations
Automatic analysis systems comprising robots
Manipulators integrated in shielded cells
Manipulators for transferring wafers
Pick and place apparatus for mounting of components
Manipulators positioned in space by hand ( of master-slave type B25J 3/00 ; micromanipulators B25J 7/00)
Definition statement
This subclass/group covers:

Manipulators which are not computer controlled but controlled directly by the hand of a user.

Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Manual manipulators
3C007/BS29
Structures and purposes of manual manipulators
3C007/XF00
articulated or flexible
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 1/02

US 5647622

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Manual manipulators having a joint
3C007/XF01
Flexible manual manipulators
3C007/XF02
rigid, e.g. shelf-reachers { ( without grippers A47F 13/06) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 1/04

US 2010102583

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Devices for picking apples or like fruits
Reaching devices in a shop
Pliers; Other hand-help gripping tools with jaws on pivoted limbs
Hand-held gripping tools other than those covered by group B25B 7/00
Hand implements for removing undesirable matter, e.g. litter pickers

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Tool hands
3C007/XF05
Support hands
3C007/XF06
of the lazy-tongs type
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 1/06

DE 8901596 U

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movably mounted in a wall
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 1/08

FR 2542658

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Shielded cells or rooms in structural combination with remotely controlled apparatus, e.g. with manipulators
Special rules of classification within this group

Manipulators of master-slave type should additionally be classified in B25J 3/02.

Synonyms and Keywords

In patent documents the following expression/word "telemanipulator" is often used.

Sleeve and pivot mountings therefor
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 1/10

FR 1266572

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having means for attachment to a support stand
Definition statement
This subclass/group covers:

Manipulators which are moved in space by hand and which are attached to the ground or the ceiling.

DE 102008013729

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Manual manipulator containing mounting device to support structure
3C007/XF03
Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Definition statement
This subclass/group covers:

Manipulators consisting of a master unit for inputting the movements of a user and a remote slave unit, connected to the master unit, for performing movements corresponding to the input movements.

involving a parallelogram coupling of the master and slave units ( pantographic instruments B43L 13/00)
Definition statement
This subclass/group covers:

Master-slave manipulators having a mechanical connection between the master unit and the slave unit (e.g. connection by shafts, rods, wires, etc).

WO 9718927

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References relevant to classification in this group
This subclass/group does not cover:
Manual master-slave manipulators mounted in a wall
Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Control bar connected mechanically to subordinated part
3C007/JT01
Connected by wires
3C007/JT02
Containing parallelogram mechanism
3C007/JT03
involving servo mechanisms ( servo-actuated heads B25J 15/02)
Definition statement
This subclass/group covers:

Master-slave manipulators having an electrical connection between the master unit and the slave unit (i.e. the movements of the master unit are transformed into electrical signals for controlling actuators of the slave unit).

US 6197017

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References relevant to classification in this group
This subclass/group does not cover:
Master part in the form of hand-grip control means
Control systems of master-slave manipulators
Informative references
Attention is drawn to the following places, which may be of interest for search:
Manipulators specially adapted for use in surgery
A61B19/00M

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Control bars electrically connected to slave parts
3C007/JT04
Having reaction force sensing functions
3C007/JT05
Correspondence relationships between main parts and slave parts changeable
3C007/JT06
Having additional setting functions
3C007/JT07
Providing manipulators per se as control bars
3C007/JT09
Realization or copying human motions
3C007/JT10
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} )
Definition statement
This subclass/group covers:

Mobile manipulators, meant to work at different locations.

Informative references
Attention is drawn to the following places, which may be of interest for search:
Walking robots
{mounted on endless tracks or belts}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 5/005

US 2009095096

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Endless track vehicles

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Crawlers
3C007/WA17
Synonyms and Keywords

In patent documents the following expressions/words (DE)"raupenkette", "gleiskette" and (FR)"chenilles" are often used as synonyms.

{mounted on wheels}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 5/007

EP 0008981

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Vacuum cleaners
Control of land vehicles

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Wheel-type autonomous robots
3C007/WA16
Special rules of classification within this group

Home robots should additionally be classified in B25J 9/0003.

travelling along a guideway
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 5/02

EP 0705665

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References relevant to classification in this group
This subclass/group does not cover:
Cartesian coordinate type manipulators
Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Robot base travelling along a track
3C007/CS01
Autonomous robot moving on a track
3C007/WA20
wherein the guideway is also moved, e.g. travelling crane bridge type
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 5/04

EP 0317491

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References relevant to classification in this group
This subclass/group does not cover:

The following group takes precedence:

Gantry type manipulators
Manipulators combined with a control cab for the operator
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 5/06

EP 0940366

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Special rules of classification within this subclass/group

The cab is not necessarily part of the manipulator but can be remote from the manipulator.

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) }
Definition statement
This subclass/group covers:

Manipulators performing tasks at a level of precision that can usually not be achieved by the unaided human hand.

EP 0906813

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Micro-structural devices or systems
Nano-structures
Piezo-electric devices

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Micromanipulators
3C007/BS30
Structure / purpose of micromanipulators
3C007/XG00
Programme-controlled manipulators
Definition statement
This subclass/group covers:

Manipulators performing a series of actions corresponding to a list of instructions.

{Home robots, i.e. small robots for domestic use}
Definition statement
This subclass/group covers:

Robots which operates semi- or fully autonomously to perform services useful to the well-being of humans and equipment, excluding manufacturing operations.

US 2005091684

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Vacuum cleaners
Control of land vehicles

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Robots for service
3C007/AS34
Robots for medical treatment
3C007/AS35
Robots for entertainment
3C007/AS36
Special rules of classification within this group

Home robots mounted on wheels or tracks should additionally be classified in B25J 5/00.

Synonyms and Keywords

In patent documents the following expressions/words "service robots", and "domestic robots" are often used as synonyms.

{Exoskeletons, i.e. resembling a human figure}
Definition statement
This subclass/group covers:

Powered mobile machines consisting primarily of a skeleton-like framework worn by a person and a power supply that supplies at least part of the activation-energy for limb movement.

US 6301526

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Orthopaedic devices specially adapted for correcting deformities of the limbs or for supporting them
Apparatus for passive stretching or bending of the lower limbs
Apparatus for passive stretching or bending of the upper limbs
Suspension devices for supporting the body of disabled persons in an upright walking or standing position
Walking robots
Input/output arrangements in interaction with the human body for transferring data to be processed
G06F3/00B8
{Constructional details, e.g. manipulator supports, bases}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/0009

WO 03031125

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{making use of synthetic construction materials, e.g. plastics, composites}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/0012

US 2010304097

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Material to form an arm
3C007/CU01
Glossary of terms
In this subclass/group, the following terms (or expressions) are used with the meaning indicated:
Synthetic materials
Man-made materials made of artifical chemicals as opposed to organic ones. They include plastics (polythene, polystyrene), synthetic fibres (nylon, acrylics, polyesters), synthetic resins and synthetic rubber
{with master teach-in means}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/0081

US 4283764

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly to follow a path

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Teaching auxiliary tool
3C007/JU07
Mount hand
3C007/JU08
Teaching by man power
3C007/LS02
Glossary of terms
In this subclass/group, the following terms (or expressions) are used with the meaning indicated:
master teach-in means
Devices manually moved in space by an operator for teaching the path of a manipulator.
{comprising a plurality of manipulators}
Definition statement
This subclass/group covers:

Both robotic installation comprising several manipulators and manipulators comprising two arms connected to a single basis.

FR 2874190

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References relevant to classification in this group
This subclass/group does not cover:
Humanoid robots having two arms (mostly in)
Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Double-arm manipulator
3C007/BS26
Control device related to peripheral device such as other robot
3C007/JS02
Cooperation among manipulators
3C007/LV02
{co-operating with conveyer means}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/0093

EP 0512126

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Programme-control systems consisting of manipulators and conveyer only

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Work object movable by conveyer
3C007/NS02
{co-operating with a working support, e.g. work-table}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/0096

WO 9104522

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Work object movable by rotation/oscillating base
3C007/NS03
characterised by movement of the arms, e.g. cartesian coordinate type (B25J 9/06 takes precedence )
Definition statement
This subclass/group covers:

The main types of industrial manipulators, each type corresponding to a specific kinematic chain.

{Cartesian coordinate type}
Definition statement
This subclass/group covers:

Manipulators consisting of prismatic joints connected in series and allowing movements along perpendicular axis.

US 6264419

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Movable work or tool support with a single sliding pair followed perpendicularly by a single sliding pair

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Cartesian coordinates robots with two degrees of freedom
3C007/BS02
Cartesian coordinates robots with three degrees of freedom
3C007/BS03
{Gantry-type}
Definition statement
This subclass/group covers:

Cartesian coordinate type manipulators having three prismatic joints, wherein one joint is formed by a carriage running on an overhead horizontal beam supported at its two ends by other beams.

GB2179322

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References relevant to classification in this group
This subclass/group does not cover:

Examples of places where the subject matter of this group is covered when specially adapted, used for particular purpose, or incorporated in a larger system:

Manipulators travelling along a guideway, wherein the guideway is also moved (details concerning the guideways/rails should also be classified here)
Informative references
Attention is drawn to the following places, which may be of interest for search:
Portals

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Gantry type robots
3C007/BS05
Synonyms and Keywords

In patent documents the following expressions/words (FR)"robot portique", and (DE)"portalroboter " are often used as synonyms.

by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
Definition statement
This subclass/group covers:

Manipulators having a kinematic chain (excluding the kinematic pairs of the head itself) including at least one revolute joint.

{Cylindrical coordinate type}
Definition statement
This subclass/group covers:

Manipulators having a kinematic chain including at least a revolute joint and arranged so that the working envelope of the manipulator is a cylinder. The kinematic chain usually includes a revolute joint having a vertical axis and two prismatic joints having respectively a vertical and a horizontal axis.

US4642212

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Cylindrical coordinates robots
3C007/BS06
{comprising an articulated arm}
Definition statement
This subclass/group covers:

Cylindrical coordinate type manipulators having at least two subsequent revolute pairs having parallel axes.

EP 1671755

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References relevant to classification in this group
This subclass/group does not cover:
Transfer devices for transferring semiconductors into an out of processing chambers
Apparatus specially adapted for handling semiconductor, the wafer being placed on a robot blade, or gripped for conveyance
Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Horizontally articulated robots
3C007/BS15
Synonyms and Keywords

In patent documents the following abbreviations are often used:

SCARA
Selective Compliance Assembly Robot Arm

In patent documents the following expression/word "horizontal articulated manipulator" is often used.

{Polar coordinate type}
Definition statement
This subclass/group covers:

Manipulators having a kinematic chain comprising two revolute joints and a prismatic joint arranged so that the working envelope of the manipulator is a part of a sphere.

US3784031

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Polar coordinates robots
3C007/BS07
Synonyms and Keywords

In patent documents the following expression/word "spherical" is often used.

{Revolute coordinate type}
Definition statement
This subclass/group covers:

Manipulators having a kinematic chain including at least two subsequent revolute joints having parallel horizontal axis.

The most common revolute coordinate type manipulators have six revolute joints: a first joint having a vertical axis between a basis and a carrousel, a second joint between the carrousel and a lower arm, a third joint between the lower arm and an upper arm, the second and third joint shaving parallel horizontal axis and three further joints for the wrist.

DE 3939836

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Vertically articulated robots
3C007/BS10
With five degrees of freedom
3C007/BS11
With six degrees of freedom
3C007/BS12
With seven degrees of freedom
3C007/BS13
With eight or more degrees of freedom
3C007/BS14
Glossary of terms
In this subclass/group, the following terms (or expressions) are used with the meaning indicated:
Anthropomorphic
Designates manipulators having a kinematic chain similar to a human arm, i.e. two revolute joints for the shoulder, two revolute joints for the elbow and three revolute joints for the wrist.
Synonyms and Keywords

In patent documents the following expressions/words "articulated type", and "jointed type" are often used as synonyms.

{the pivoting axis of the first arm being offset to the vertical axis}
Definition statement
This subclass/group covers:

Revolute coordinate type manipulators having the axis of the second revolute joint -between the carrousel and the lower arm - being offset from the vertical axis of the first revolute joint - between the basis and the carrousel -.

DE 29711523 U

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Vertically articulated robots
3C007/BS10
With five degrees of freedom
3C007/BS11
With six degrees of freedom
3C007/BS12
With seven degrees of freedom
3C007/BS13
With eight or more degrees of freedom
3C007/BS14
{Pendulum type}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/048

EP 0162392

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characterised by multi-articulated arms
Definition statement
This subclass/group covers:

Manipulator arms having multiple articulations placed in series.

EP0136719

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Snake-shaped robots
3C007/BS17
Special rules of classification within this group

Documents should additionally be classified in B25J 18/06 when the number of articulations is very high and the articulations very closed to each other, because the robot arm can be considered as flexible.

characterised by modular constructions
Definition statement
This subclass/group covers:

Manipulators which can be easily and quickly mounted / dismounted so that their components can be arranged in different possible configurations.

EP0441397

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characterised by positioning means for manipulator elements
Definition statement
This subclass/group covers:

Constructional elements allowing the manipulators to perform their movement.

{comprising adjusting means}
Definition statement
This subclass/group covers:

Constructional elements allowing to adjust the movement of the manipulators.

{using limit-switches, -stops}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/101.

US 20100178101

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Means for preventing, limiting or returning the movements of parts of a control mechanism

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Butting and stopping
3C007/CY13
Glossary of terms
In this subclass/group, the following terms (or expressions) are used with the meaning indicated:
Limit stop
A mechanical device for stopping the travel of a manipulator part along or around an axis.
Limit switch
An electromechanical device operated by the motion of a part of the manipulator to make or break an electrical connection.
{using additional, e.g. micro adjustment of the end effector}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1015

EP 0149806

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{Gears specially adapted therefor, e.g. reduction gears ( gearings in general F16H) }
Definition statement
This subclass/group covers:

Rotating elements for transmitting a torque specially adapted for manipulators.

{Harmonic drives ( in general: F16H 49/001) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1025

US 4518308

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Harmonic reduction gears
3C007/HT26
Special rules of classification within this subclass/group

Harmonic drives consist of three basic parts:

  • the circular spline which is a rigid ring with internal teeth, engaging the teeth of the flexspine across the major axis of the wave generator
  • the flexspine which is a non-rigid, thin cylindrical cup with external teeth on a slightly smaller pitch diamater than the circular spline; it fits over and is held in an elliptical shape by the wave generator; and
  • the wave generator which is a thin, raced ball bearing fitted onto an elliptical plug serving as a high effiency torque converter.

The advantages include: no backlash, compactness and light weight, high gear ratios and high torque capability.

{with backlash-preventing means}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/103

JP 63023064

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Special devices for taking up backlash in toothed wheels
Arrangements for adjusting or for taking-up backlash not provided for elsewhere

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Back-lash prevention
3C007/HT31
Glossary of terms
In this subclass/group, the following terms (or expressions) are used with the meaning indicated:
Backlash
Amount of clearance between mated gear teeth.
Synonyms and Keywords

In patent documents the following expression/word "play" is often used.

{Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1035

EP 0218075

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Gearings for conveying or interconverting oscillating or reciprocating motions comprising a rack
F16H19/00B1
Racks

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Rack and pinion
3C007/HT22
{with cables, chains or ribbons}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/104

EP 0076947

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Gearings for conveying rotary motion by endless flexible members

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Flexible transmission member
3C007/HT01
Belt
3C007/HT02
Chain
3C007/HT03
Rope / Wire
3C007/HT04
{comprising tensioning means}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1045

US 2002148320

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Adjust tension
3C007/HT07
{using eccentric means (B25J 9/109 takes precedence ) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/105

EP 0638397

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{by gravity}
Definition statement
This subclass/group covers:

Manipulators having at least one part set in motion by the sole force of gravity acting on this part.

Illustrative example of subject matter classified in B25J 9/1055

US 2008028880

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{with articulated links}
Definition statement
This subclass/group covers:

Manipulators having rods or bar for transmitting the motion from an actuator to the working head.

WO 02085580

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{with parallelograms}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1065

EP 0396752

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Parallel link type
3C007/BS22
Special rules of classification within this subclass/group

A single parallelogram is sufficient for classification in this group.

{of the froglegs type}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/107

WO 2010143505

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Apparatus for conveying wafers into and out of processing chamber via a lock
Apparatus specially adapted for handling semiconductor, the wafers being placed on a robot blade, or gripped by a gripper for conveyance

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Frog-leg type
3C007/BS23
Pantograph mechanisms
5F031/GA44
{with muscles or tendons}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1075

US 2005121929

media44.jpg

Informative references
Attention is drawn to the following places, which may be of interest for search:
Fluid-actuated devices for displacing a member, the motor being of the muscle type

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Artificial muscles
3C007/HS21
Types of actuators; Elastic shrink-tubes or rubber bags
3H081/AA18
Special rules of classification within this group

Fluid activated muscles should additionally be classified in B25J 9/142.

Glossary of terms
In this subclass/group, the following terms (or expressions) are used with the meaning indicated:
Artificial muscle
Generic term used for materials or devices that can reversiby contract, expand, or rotate within one coponent due to an external stimulus (such as voltage, current, pressure or temperature). Conventional motors and pneumatic linear or rotary actuators do not qualify as artificial muscles because there is more than one component involved in the actuation.
{Bearings specially adapted therefor ( bearings in general F16C) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/108

EP 0300050

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{positioning by means of shape-memory materials ( shape memory actuators F03G 7/06) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1085

US 4932210

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Mechano-thermal actuator
3C007/HS06
{comprising mechanical programming means, e.g. cams}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/109

DE 2742103

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Cam mechanism
3C007/HT33
Glossary of terms
In this subclass/group, the following terms (or expressions) are used with the meaning indicated:
Mechanical programming means
Mechanical parts having a specific shape which allow to create a periodic movement so that the manipulator can execute a predetermined sequence of operations in a synchronized way.
{chemically actuated}
Definition statement
This subclass/group covers:

Manipulators provided with an actuator directly powered by a chemical reaction or comprising a chemically synthesized material (e.g. a polymer) able to produce mechanical energy when stimulated (e.g. by an electric current).

Illustrative example of subject matter classified in B25J 9/1095

US 2008169729

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Electro-chemical actuators

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Mechano-chemical actuator
3C007/HS07
Synonyms and Keywords

In patent documents the following expression/word "polymer actuator" is often used.

electric
Definition statement
This subclass/group covers:

Electric actuators specially adapted for manipulators.

{Linear actuators}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/123

DE 102006016195

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Linear motors

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Linear motors
3C007/HS26
Special rules of classification within this subclass/group

A manipulator having only one electric linear actuator would also be classified in this subgroup.

{Rotary actuators}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/126

FR 2617751

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Rotary solenoid
3C007/HS25
fluid
Definition statement
This subclass/group covers:

Pneumatic or hydraulic actuators specially adapted for manipulators.

{comprising inflatable bodies}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/142

US 4784042

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Fluid-actuated motor of the muscle type
Special rules of classification within this group

McKibben actuators should additionally be classified in B25J 9/1075.

Synonyms and Keywords

In patent documents the following expressions/words "fluidic muscle", "rubbertuator" and "McKibben actuator" are often used as synonyms.

{Linear actuators}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/144

US 4473249

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{Rotary actuators}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/146

US 2011094325

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{of the oscillating vane-type ( in general F15B 15/12) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/148

EP 0332506

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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} )
Definition statement
This subclass/group covers:

All the topics linked to the control of manipulators.

{characterised by the control system, structure, architecture}
Definition statement
This subclass/group covers:

Specific types of control systems.

{Simulation of manipulator lay-out, design, modelling of manipulator}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1605

US 2003018412

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{Calculation of inertia, jacobian matrixes and inverses}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1607

US 2006271241

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{Hardware, e.g. neural networks, fuzzy logic, interfaces, processor}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/161

US 5566275

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Computer systems based on biological models
Artificial life based on physical entities controlled by simulated intelligence so as to replicate life forms, e.g. robots replicating pets of humans in their appearance or behaviour
Using neural network models
{characterised by the hand, wrist, grip control}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1612

US 2010139437

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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}
Definition statement
This subclass/group covers:

Control systems dedicated to specific types of manipulators.

{Cellular, reconfigurable manipulator, e.g. cebot}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1617

AT 507947

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{Mobile manipulator, movable base with manipulator arm mounted on it}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/162

US 5542028

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{Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1623

EP 0109201

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Special rules of classification within this group

Parallel manipulators as such should additionally be classified in B25J 9/106, B25J 17/0216 or B25J 17/0266.

Glossary of terms
In this subclass/group, the following terms (or expressions) are used with the meaning indicated:
Parallel manipulator
A mechanical system that uses several computer-controlled serial chains to support a single platform, or end-effector.
{Truss-manipulator for snake-like motion}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1625

WO 2010143192

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{characterised by the control loop}
Definition statement
This subclass/group covers:

Specific types of control loops.

{learning, adaptive, model based, rule based expert control}
Definition statement
This subclass/group covers:

Systems which emulate the decision making ability of a human expert.

An expert system is divided into two sub-systems: the inference engine and the knowledge base. The knowledge base represents facts and rules or models. The inference engine applies the rules or models to the known facts to deduce new facts.

In a rule based expert system, the knowledge base is represented by an IF-THEN structure, that relates given information of fact in the IF part (so called antecedent, premise or condition) to some action in the THEN part (so called conclusion, consequence or action).

In a model based expert system, the knowledge base is represented by the design and function of the object to be controlled.

Illustrative example of subject matter classified in B25J 9/163

US 2011208356

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{compliant, force, torque control, e.g. combined with position control}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1633

EP 2314426

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{flexible-arm control}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1635

US 5049797

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{compensation for arm bending/inertia, pay load weight/inertia}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1638

US 2008297092

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{compensation for backlash, friction, compliance, elasticity in the joints}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1641

EP 1607193

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{redundant control}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1643

US 2010168919

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Glossary of terms
In this subclass/group, the following terms (or expressions) are used with the meaning indicated:
Redundant control
designates the control of a redundant manipulators, i.e. which have redundant joints (It does not mean that several control systems are used in parallel).
Synonyms and Keywords

In patent documents the following expression/word "avoiding singularities" is often used.

{variable structure system, sliding mode control}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1646

EP 0875341

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{non-linear control combined or not with linear control}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1648

EP 0128355

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{acceleration, rate control}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1651

EP 1702726

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{parameters identification, estimation, stiffness, accuracy, error analysis}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1653

US 5357424

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{characterised by programming, planning systems for manipulators}
Definition statement
This subclass/group covers:

Different types or robot programmes.

{characterised by programming language}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1658

US 5519814

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{characterised by task planning, object-oriented languages}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1661

US 2009210090

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{characterised by motion, path, trajectory planning}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1664

FR 2682905

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{Avoiding collision or forbidden zones}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1666

EP 1604790

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{characterised by special application, e.g. multi-arm co-operation, assembly, grasping}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1669

WO 2004114037

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{characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1671

EP 1759817

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{characterised by safety, monitoring, diagnostic}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1674

EP 1731978

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{Avoiding collision or forbidden zones}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1676

EP 1901150

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{characterised by the tasks executed}
Definition statement
This subclass/group covers:

Different control systems dedicated to a specific task of the manipulator.

{Dual arm manipulator; Coordination of several manipulators}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1682

EP 0607619

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Overall configuration relating to peripheral devices such as other robots
3C007/JS02
Cooperation of manipulators with each other
3C007/LV02
{Tracking a line or surface by means of sensors}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1684

EP 0361663

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{Assembly, peg and hole, palletising, straight line, weaving pattern movement}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1687

US 5619782

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Special rules of classification within this group

Compliant mechanisms per se should additionally be classified in B25J 17/0208.

{Teleoperation}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1689

WO 2007136803

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Special rules of classification within this group

Master / slave systems as such should additionally be classified in B25J 3/00.

Hand-grip control means as such should additionally be classified in B25J 13/02.

{Calibration of manipulator}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1692

EP 0223862

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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}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1694

WO 2010019310

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{Vision controlled systems}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/1697

US 7313464

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Image feed-back for automatic industrial control, e.g. robot with camera
Image analysis
Special rules of classification within this group

Details concerning the mounting of the vision system on the manipulator should be classified in B25J 19/021.

fluidic
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 9/20

US 4379335

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Manipulators not otherwise provided for
Definition statement
This subclass/group covers:

Special types of manipulators not covered by the other groups of B25J or manipulators for performing a specific tasks not covered by other subclasses.

Controls for manipulators ( programme controls B25J 9/16 ; control in general G05)
Definition statement
This subclass/group covers:

Hardware components involved in the motion control procedure of a manipulator.

This includes input means which allow a user/operator to give instructions to the manipulator (i.e. to control its motions in real-time or to teach such motions).

This also includes all types of sensors which measure a physical quantity of the manipulator (e.g. force or speed) or its environment and convert it into a signal for a motion control system of the manipulator.

{by means of an audio-responsive input ( audible safety signals B25J 19/061) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/003

DE 3327808

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Speech recognition

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Control of robot by voice input
3C007/WB19
Synonyms and Keywords

In patent documents the following expression/word "voice control" is often used.

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) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/02

EP 0353841

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Manually-actuated control mechanisms movable by hand about orthogonal axes, e.g. joysticks
Foot-operated control means
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/04

US 6016385

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Control stands, e.g. consoles, switch-boards
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/06

EP 1405700

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Structure of operator panel
3C007/JU01
With human interface part
3C007/JU02
With display device
3C007/JU03
Operator panel type
3C007/JU11
Remote operation
3C007/JU12
Operable from multiple points
3C007/JU13
Portable type
3C007/JU14
Stationary type
3C007/JU15
Teaching device in combination with control device
3C007/JU17
{comprising joy-sticks}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/065

JP 3003787

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by means of sensing devices, e.g. viewing or touching devices
Definition statement
This subclass/group covers:

Different types of sensors which can be used in the control systems of manipulators.

{Touching devices, e.g. pressure-sensitive}
Definition statement
This subclass/group covers:

Contact sensors.

{Grasping-force detectors ( in general G01L 5/16 , G01L 5/22) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/082

US 4600357

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{fitted with slippage detectors}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/083

DE 3332147

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{Tactile sensors ( in general G01L 5/16 , G01L 5/22) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/084

WO 2009023334

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{Force or torque sensors (B25J 13/082 , B25J 13/084 take precedence ) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/085

DE 3810691

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{Proximity sensors}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/086

EP 0518836

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{for sensing other physical parameters, e.g. electrical or chemical properties}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/087

WO 2011077730

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{with position, velocity or acceleration sensors}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/088

US 2011098852

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{Determining the position of the robot with reference to its environment}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 13/089

DE 102005000732

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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) }
Definition statement
This subclass/group covers:

End effectors for manipulators designed to hold an object. It also includes other types of end effectors specially adapted for being mounted on manipulators.

{with provision for adjusting the gripped object in the hand}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0004

DE 9213010 U

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Special rules of classification within this subclass/group

In this subgroup, hand should be understood as head since this subgroup is drawn to reorienting the object with respect to the “hand/head”, while the object is gripped in “head/hand”.

Glossary of terms
In this subclass/group, the following terms (or expressions) are used with the meaning indicated:
Adjusting
Modifying the orientation of a work piece while being gripped
{comprising multi-articulated fingers, e.g. resembling a human hand}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0009

EP 1457294

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Hand prostheses
{End effectors other than grippers}
Definition statement
This subclass/group covers:

Any end-effector mounted on a manipulator and which is not a gripper.This includes welding tools, machining tools, spraying tools, screwing tools, medical or surgical tools/instruments, etc.

Illustrative example of subject matter classified in B25J 15/0019

EP 0520076

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{Gripper surfaces directly activated by a fluid ( flexible fingers B25J 15/12) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0023

SU 1047680

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Devices for picking up and depositing articles or materials with inflatable picking-up means

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Use of fluid pressure
3C007/EV12
Elastic membrane (with open spaces, closed spaces, filled spaces)
3C007/EV14
{with movable, e.g. pivoting gripping jaw surfaces}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0028

DE 4400354

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References relevant to classification in this group
This subclass/group does not cover:
Grippers with jaw surfaces comprising actuating means for moving the gripped objects
{multiple gripper units or multiple end effectors}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0052

EP 0094338

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servo-actuated
Definition statement
This subclass/group covers:

Grippers having actuators for moving holding elements, sensors and a feedback loop for correcting an error on the position, speed or force of the holding elements.

{comprising articulated grippers}
Definition statement
This subclass/group covers:

Grippers having pivoting fingers or jaws.

{actuated by gears}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0213

US 62217094

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{actuated by articulated links}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/022

US 4728137

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{actuated by cams}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0226

DE 29806798 U

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{comprising parallel grippers}
Definition statement
This subclass/group covers:

Grippers having fingers or jaws moving in translation.

{actuated by gears}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/026

GB 2119894

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{actuated by articulated links}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0266

EP 0293153

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{comprising linear guide means}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0273

FR 2816232

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{actuated by cams}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/028

DE 19604649

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with provision for the remote detachment or exchange of the head or parts thereof
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/04

EP 0288744

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Gripping device replacement
3C007/GS00
Conjunction means
3C007/GS01
Ball type
3C007/GS02
Gripping claw type
3C007/GS03
Plug-in type (screw, pin, pile)
3C007/GS04
Twist type/thread connection
3C007/GS05
Magnetic type
3C007/GS06
Joint for power feed / fluid supply
3C007/GS11
Control for hand replacement
3C007/GS19
{Exchangeable fingers}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0475

EP 1785238

media116.jpg

{comprising end-effector racks}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0491

EP 0120275

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Hand storage
3C007/GS15
Having moving means
3C007/GS16
Having gripper device extraction or junction facility
3C007/GS17
Special rules of classification within this subclass/group

Documents classified in this subgroup also disclose some information concerning the head, the head exchange mechanism or the head exchange process as such.

with vacuum or magnetic holding means
Definition statement
This subclass/group covers:

Grippers holding an object by suction or magnetic force.

Relationship between large subject matter areas

A document is classified in B25J 15/06 when it both discloses vacuum holding means and magnetic holding means (in different embodiments or combined in one embodiment).In this case, and provided that the inventive concept is independent of the very nature of the holding means, the document should be classified in B25J 15/06 only and not in the subgroups B25J 15/0608 and B25J 15/0616. If the inventive concept of a document directly concerns the design of vacuum holding means, respectively of magnetic holding means, the document should be classified in B25J 15/0616, respectively in B25J 15/0608.

{with magnetic holding means}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0608

DE 102009015345

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Magnetic work holders
Devices for picking-up and depositing articles incorporating electrostatic or magnetic grippers
Load-engaging elements by magnetic means attached to lifting or lowering gear of cranes
{with vacuum}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/0616

US 2008202602

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Vacuum work holders
Devices for picking-up and depositing articles incorporating pneumatic, e.g. suction, grippers
Separating articles from piles using suction grippers
Load-engaging elements with suction means attached to lifting or lowering gear of cranes
Suction cups for attaching purposes

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Vacuum absorption
3C007/FS01
Structure of absorption part
3C007/FT00
Purpose of absorption device
3C007/FU00
Synonyms and Keywords

In patent documents the following expressions/words (EN)"vacuum", "suction", "sucking", (FR)"vide", "dépression", "aspir+", (DE)"saug+", and "vakuum" are often used as synonyms.

In patent documents the following expressions/words (EN) "cup", "pad", (DE) "napf", and (FR)"ventouse" are often used as synonyms.

having finger members (B25J 15/02 , B25J 15/04 take precedence )
Definition statement
This subclass/group covers:

Grippers having a plurality of finger members not covered by B25J 15/02.

with three or more finger members { (B25J 15/0009 takes precedence ) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/10

US 2003102640

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{for gripping the object in three contact points}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/103

FR 2551389

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{moving in parallel relationship}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/106

US 5011207

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Vices having a plurality of parts with linear movement
with flexible finger members
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 15/12

DE 102004034537

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Devices for picking-up and depositing articles with inflatable picking-up means

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Wholly flexible finger member
3C007/ES10
Special rules of classification within this group

Fingers directly actuated by a fluid should additionally be classified in B25J 15/0023.

Joints
Definition statement
This subclass/group covers:

Devices for linking two parts of a manipulator while allowing a freedom of movement between these two parts.

Wrist joints
Definition statement
This subclass/group covers:

Joints specially adapted for linking an end effector to the manipulator.

{Compliance devices}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 17/0208

US 5207554

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Machines for aligning articles to be assembled
B23P19/00C
Machines for connecting objects by press fit
Special rules of classification within this group

Passive compliant mechanisms avoiding breaking of a robot arm when this robot hurts an obstacle should also additionally classified in B25J 19/063.

{comprising a stewart mechanism}
Definition statement
This subclass/group covers:

Exclusively parallel kinematics manipulators having 6 linear actuators linked to a base and a moving platform by means of universal or ball joints and allowing 6 degrees of freedom for the platform.

Illustrative example of subject matter classified in B25J 17/0216

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References relevant to classification in this group
This subclass/group does not cover:
Other type of 3D parallel kinematics manipulators
2D parallel kinematics manipulators
Control of parallel manipulators
Informative references
Attention is drawn to the following places, which may be of interest for search:
Machine tools having parallel kinematics
Gearings comprising primarily only links or levers, with movements in three dimensions

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Parallel link type manipulator
3C007/BS24
Synonyms and Keywords

In patent documents the following expressions/words "parallel manipulators", "parallel robots" and "parallel kinematics" are often used as synonyms.

{One-dimensional joints}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 17/0241

DE 202011004164 U

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{mounted in series}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 17/025

WO 2011003451

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Special rules of classification within this group

Manipulators having a high numbers of joints mounted in series should additionally be classified in B25J 9/06.

{Two-dimensional joints}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 17/0258

EP 0309329

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{comprising more than two actuating or connecting rods}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 17/0266

WO 0035640

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References relevant to classification in this group
This subclass/group does not cover:
Stewart mechanism (6 linears actuators linked to the base and the platform by universal joints and allowing 6 degrees of freedom for the platform)
2D parallel manipulators (movements in one plane only)
Control of parallel manipulators
Informative references
Attention is drawn to the following places, which may be of interest for search:
Machine tools having parallel kinematics
Gearings comprising primarily only links or levers, with movements in three dimensions

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Parallel link type manipulator
3C007/BS24
Synonyms and Keywords

In patent documents the following expressions/words "parallel manipulators", "parallel robots" and "parallel kinematics" are often used as synonyms.

{Universal joints, e.g. Hooke, Cardan, ball joints}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 17/0275

WO 2007063006

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{Three-dimensional joints}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 17/0283

EP 0479739

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Arms
Definition statement
This subclass/group covers:

Main elongated parts of manipulators.

{comprising beam bending compensation means}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 18/002

US 4606691

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Accessories fitted to machine tools; Weight and flexion compensation
Special rules of classification within this group

Control aspects should additionally be classified in B25J 9/1638.

{the end effector rotating around a fixed point}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 18/007

EP 0115728

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Synonyms and Keywords

In patent documents the following expression/word "spherical robot" is often used.

extensible
Definition statement
This subclass/group covers:

This group covers manipulator arms having a variable length.

{telescopic}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 18/025

EP 0362680

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Telescopic jib-cranes

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Expandable and contractible
3C007/CU023C007/CV02
Telescopic type
3C007/CU033C007/CW02
rotatable
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 18/04

WO 9639944

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Special rules of classification within this group

SCARA robots should additionally be classified in B25J 9/042.

flexible
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 18/06

EP2335884

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Snake-shaped robots
3C007/BS17
Special rules of classification within this group

Manipulator arms being flexible by means of a large number of articulations must additionally be classified in B25J 9/06.

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)
Definition statement
This subclass/group covers:

This group covers all accessories for manipulators, i.e. components of manipulators not directly intended for structure, actuation or control functions.

{Braking devices ( brakes in general F16D) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/0004

EP 0109252

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Locking mechanism in joint
3C007/CX05
Brakes
3C007/HT40
{Balancing devices}
Definition statement
This subclass/group covers:

Accessories allowing to partially compensate the load applied on the manipulator.

Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Load balance mechanism
3C007/CY21
{using fluidic devices}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/0012

EP 2301727

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Load balance mechanism by fluid pressure
3C007/CY24
{using springs}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/0016

GB 2114536

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Springs; shock-absorbers; means for damping vibration

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Load-balancing by springs
3C007/CY23
{using counterweights}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/002

EP 0392926

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Load balance mechanism; providing balance weight
3C007/CY22
Synonyms and Keywords

In patent documents the following expressions/words (DE)"gegengewicht", "ausgleichgewicht" and (FR)"contrepoids" are often used as synonyms.

{Means for supplying energy to the end effector}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/0025

DE 20022990 U

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of a crane
Supports for pipes, cables or protective tubing
Arrangements of electric cables or lines between relatively-movable parts

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Cable disposition along external main body surface
3C007/CY07
Synonyms and Keywords

In patent documents the following expressions/words (EN) "cable", "line", "pipe", "hose", "umbilical member", (DE) "energieversorgung", "kabel", "schlauch", (FR) "alimentation en énergie", are often used as synonyms.

{arranged within the different robot elements}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/0029

EP 1852225

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Cable penetrating into rotation axis
3C007/CY04
Rotary connection means
3C007/CY05
Cable wound helically
3C007/CY09
Cable folded in U-shape
3C007/CY10
{comprising a light beam pathway, e.g. laser}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/0037

US 4667081

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Robots for moving a laser beam
B23K26/10B
{using batteries, e.g. as a back-up power source}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/005

EP 1526626

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Battery
3C007/HS09
Synonyms and Keywords

In patent documents the following expressions/words "energy cell", "accumulator" and "power source" are often used as synonyms.

{Cooling means}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/0054

DE 29711523 U

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Heat radiation / cooling
3C007/CY34
{Means for cleaning manipulators, e.g. dust removing means}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/0058

EP 2149435

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References relevant to classification in this group
This subclass/group does not cover:
Means for preventing dust from entering/escaping manipulators
{Means for protecting the manipulator from its environment or vice versa}
Definition statement
This subclass/group covers:

Means for avoiding the intrusion of foreign matter, e.g. dust, inside the manipulator or for avoiding the release of harmful matter, e.g. grease particles, from the manipulator into its environment.

Informative references
Attention is drawn to the following places, which may be of interest for search:
Protective coverings for parts of machine tools

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Dust proof; provide cover
3C007/CY29
{using an internal pressure system}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/0079

EP 0447881

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Dust proof by pressurizing the body
3C007/CY28
{using gaiters}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in - B25J 19/0083

US 4762455

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Synonyms and Keywords

In patent documents the following expressions/words (EN)"bellow", "(protective) boot", (FR)"soufflet", "manchon (protecteur)" (DE)"schutzbalg" and "faltenbalg" are often used as synonyms.

{Shock absorbers ( in general F16F) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/0091

EP 0683019

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Cushioning
3C007/CY32
Sensing devices
Definition statement
This subclass/group covers:

Sensors fitted on manipulators and not directly used in the control systems of the manipulators.

References relevant to classification in this group
This subclass/group does not cover:
Sensors specifically used for controlling manipulators
{Optical sensing devices}
Definition statement
This subclass/group covers:

Sensors having optical components.

{using lasers}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/022

EP 0339560

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{including video camera means}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/023

US 2010298978

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{including optical fibres}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/025

FR 2664525

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{Acoustical sensing devices}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/026

DE 3409767

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Special rules of classification within this group

This group includes robots with ultrasonic sensors.

{Electromagnetic sensing devices}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/027

FR 2663105

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{Piezoresistive or piezoelectric sensing devices}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/028

US 5511931

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Viewing devices
Definition statement
This subclass/group covers:

Sensors for capturing an image.

Safety devices
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/06

US 2009295580

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Safety devices independent of the control and operation of the machine
Safety devices acting in conjunction with the control or operation of the machine
{with audible signals ( audio controls B25J 13/003) }
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/061

JP 2010120139

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Informative references
Attention is drawn to the following places, which may be of interest for search:

Attention is drawn to the following Fterms (Japanese classification scheme), which may be of interest for search:

Safety means with alarm
3C007/MS28
{working only upon contact with an outside object}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 19/063

US 6129476

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Special rules of classification within this group

Devices comprising a compliant mechanism should additionally be classified in B25J 17/0208.

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} )
Definition statement
This subclass/group covers:

Closed spaces containing manipulation means.

{Clean rooms}
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 21/005

EP 1557245

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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
Definition statement
This subclass/group covers:

Illustrative example of subject matter classified in B25J 21/02

DE 102008001411

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Informative references
Attention is drawn to the following places, which may be of interest for search:
Baby incubators
Microbiological incubators
Apparatus providing an anaerobic atmosphere
Synonyms and Keywords

In patent documents the following expressions/words (EN)"isolator", (FR)"boîte à gants" and (DE)"handschuhkasten" are often used as synonyms.

This page is owned by Office of Patent Classification.
Last Modified: 10/11/2013