CPC Definition - Subclass B25J

Last Updated Version: 2024.01
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B 34/70; 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 conveyors 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 place 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

B25J 1/00

Manipulators not otherwise provided for

B25J 11/00

Master-slave manipulators

B25J 3/00

Manipulators mounted on wheels or on carriages

B25J 5/00, B25J 9/162

Micromanipulators

B25J 7/00

Service robots

B25J 9/0003

Exoskeletons

B25J 9/0006

Manipulators moved by gravity

B25J 9/1055

Manipulators comprising mechanical "programming" means, e.g. cams

B25J 9/109

Cellular, reconfigurable manipulators, e.g. cebot

B25J 9/1617

References
Application-oriented references

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

Manipulators for surgery

A61B 34/70

Spray heads moved by robots or articulated arms

B05B 13/0431

Manipulators for transferring metal sheets from / to a press

B21D 43/105

Manipulators in machines for forging, hammering, pressing riveting

B21J 13/10

Manipulators for moving laser head in more than two directions

B23K 26/0884

Manipulators for moving workpieces between mould parts

B29C 37/0007

Manipulators in machines for gluing by wetting

B65C 9/2226

Manipulators for handling sheets

B65G 49/067

Manipulators for stacking or de-stacking articles

B65G 61/00

Manipulators with gripping or holding means for transferring the packages from one station to another

B65H 67/065

Manipulators for underwater operations

E21B 41/04

Automatic analysis systems comprising robots

G01N 35/0099

Manipulators integrated in shielded cells

G21F 7/061

Manipulators for transferring wafers

H01L 21/67742, H01L 21/67766, H01L 21/68707

Pick and place apparatus for mounting of components

H05K 13/0404

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

This place covers:

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

articulated or flexible
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

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rigid, e.g. shelf-reachers {(without grippers A47F 13/06)}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

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References
Informative references

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

Devices for picking apples or like fruits

A01D 46/24

Reaching devices in a shop

A47F 13/06

Pliers; Other hand-held gripping tools with jaws on pivoted limbs

B25B 7/00

Hand-held gripping tools other than those covered by group B25B 7/00

B25B 9/00

Hand implements for removing undesirable matter, e.g. litter pickers

E01H 1/12

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 place 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 place covers:

Illustrative example of subject matter classified in B25J 1/08

FR 2542658

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References
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

G21F 7/06

Special rules of classification

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 place 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 place covers:

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

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Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Definition statement

This place 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 place covers:

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

Illustrative example of subject matter classified in this group:

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References
Limiting references

This place does not cover:

Manual master-slave manipulators mounted in a wall

B25J 1/08

involving servo mechanisms (servo-actuated heads B25J 15/02)
Definition statement

This place 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).

Illustrative example of subject matter classified in this group:

media7.jpg

References
Limiting references

This place does not cover:

Control systems of master-slave manipulators

B25J 9/1689

Master part in the form of hand-grip control means

B25J 13/02

Informative references

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

Manipulators specially adapted for use in surgery

A61B 34/70

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 place covers:

Mobile manipulators, meant to work at different locations.

References
Informative references

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

Walking robots

B62D 57/032

{mounted on endless tracks or belts}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media8.jpg

References
Informative references

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

Endless track vehicles

B62D 55/00

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • (DE)"raupenkette", "gleiskette" and (FR)"chenilles"
{mounted on wheels}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media9.jpg

References
Informative references

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

Vacuum cleaners

A47L

Control of position or course in two dimensions

G05D 1/43

Special rules of classification

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

travelling along a guideway
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media10.jpg

References
Limiting references

This place does not cover:

Cartesian coordinate type manipulators

B25J 9/023

wherein the guideway is also moved, e.g. travelling crane bridge type
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 5/04

EP 0317491

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References
Limiting references

This place does not cover:

The following group takes precedence:

Gantry type manipulators

B25J 9/026

Manipulators combined with a control cab for the operator
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 5/06

EP 0940366

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Special rules of classification

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 place covers:

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

Illustrative example of subject matter classified in this group:

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References
Informative references

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

Microstructural devices or systems

B81B

Nanostructures

B82B

Piezoelectric devices

H10N 30/00

Programme-controlled manipulators
Definition statement

This place 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 place covers:

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

Illustrative example of subject matter classified in this group:

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References
Informative references

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

Vacuum cleaners

A47L

Control of position or course in two dimensions

G05D 1/43

Special rules of classification

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

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • "service robots", and "domestic robots"
{Exoskeletons, i.e. resembling a human figure}
Definition statement

This place 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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References
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

A61F 5/0102

Apparatus for passive stretching or bending of the lower limbs

A61H 1/0237

Apparatus for passive stretching or bending of the upper limbs

A61H 1/0274

Suspension devices for supporting the body of disabled persons in an upright walking or standing position

A61H 3/00

Walking robots

B62D 57/032

Input/output arrangements in interaction with the human body for transferring data to be processed

G06F 3/015

{Constructional details, e.g. manipulator supports, bases}
Definition statement

This place 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 place covers:

Illustrative example of subject matter classified in this group:

media17.jpg

This group relates to, but is not limited to, providing a design solution that overcomes the heavy weight of robot structures that are expected to handle heavy payloads with high speeds through complex spatial trajectories at a long reach while preserving high positional accuracy and dynamic performance, by applying composite materials to robot structures.

Glossary of terms

In this place, the following terms or expressions are used with the meaning indicated:

Synthetic materials

Man-made materials made of artificial 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 place covers:

Illustrative example of subject matter classified in this group:

media18.jpg

References
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

G05B 19/423

Glossary of terms

In this place, 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 place covers:

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

Illustrative example of subject matter classified in this group:

media19.jpg

References
Limiting references

This place does not cover:

Humanoid robots having two arms (mostly in)

B62D 57/032

{co-operating with conveyor means}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media20.jpg

References
Informative references

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

Programme-control systems consisting of manipulators and conveyor only

G05B 19/4182

{co-operating with a working support, e.g. work-table}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media21.jpg

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

This place covers:

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

{Cartesian coordinate type}
Definition statement

This place covers:

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

Illustrative example of subject matter classified in this group:

media22.jpg

References
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

B23Q 1/621

{Gantry-type}
Definition statement

This place 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.

Illustrative example of subject matter classified in this group:

media23.jpg

References
Application-oriented references

Examples of places where the subject matter of this place is covered when specially adapted, used for a 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)

B25J 5/04

Informative references

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

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • (FR)"robot portique", and (DE)"portalroboter "
by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
Definition statement

This place 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 place 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.

Illustrative example of subject matter classified in this group:

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{comprising an articulated arm}
Definition statement

This place covers:

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

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References
Limiting references

This place does not cover:

Transfer devices for transferring semiconductors into an out of processing chambers

H01L 21/67742

Apparatus specially adapted for handling semiconductor, the wafer being placed on a robot blade, or gripped for conveyance

H01L 21/68707

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 place 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.

Illustrative example of subject matter classified in this group:

media26.jpg

Synonyms and Keywords

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

{Revolute coordinate type}
Definition statement

This place 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.

Illustrative example of subject matter classified in this group:

media27.jpg

Glossary of terms

In this place, 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 words/expressions are often used as synonyms:

  • "articulated type", and "jointed type"
{the pivoting axis of the first arm being offset to the vertical axis}
Definition statement

This place 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.

Illustrative example of subject matter classified in this group:

media28.jpg

{Pendulum type}
Definition statement

This place 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 place covers:

Manipulator arms having multiple articulations placed in series.

Illustrative example of subject matter classified in this group:

media30.jpg

Special rules of classification

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 place 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 place covers:

Constructional elements allowing the manipulators to perform their movement.

{comprising adjusting means}
Definition statement

This place covers:

Constructional elements allowing to adjust the movement of the manipulators.

{using limit-switches, -stops}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media32.jpg

References
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

G05G 5/04

Glossary of terms

In this place, 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. microadjustment of the end effector}
Definition statement

This place 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 place covers:

Rotating elements for transmitting a torque specially adapted for manipulators.

{Harmonic drives (in general: F16H 49/001)}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media34.jpg

Special rules of classification

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 diameter 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 efficiency 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 place covers:

Illustrative example of subject matter classified in this group:

media35.jpg

References
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

F16H 55/18

Arrangements for adjusting or for taking-up backlash not provided for elsewhere

F16H 57/12

Glossary of terms

In this place, 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 place covers:

Illustrative example of subject matter classified in this group:

media36.jpg

References
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

F16H 19/005, F16H 19/006

Racks

F16H 55/26

{with cables, chains or ribbons}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media37.jpg

References
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

F16H 7/00

{comprising tensioning means}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media38.jpg

{using eccentric means (B25J 9/109 takes precedence)}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/105

EP 0638397

media39.jpg

{by gravity}
Definition statement

This place 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 place 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 place covers:

Illustrative example of subject matter classified in this group:

media42.jpg

Special rules of classification

A single parallelogram is sufficient for classification in this group.

{of the froglegs type}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media43.jpg

References
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

H01L 21/67739

Apparatus specially adapted for handling semiconductor, the wafers being placed on a robot blade, or gripped by a gripper for conveyance

H01L 21/68707

{with muscles or tendons}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media44.jpg

References
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

F15B 15/103

Special rules of classification

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

Glossary of terms

In this place, the following terms or expressions are used with the meaning indicated:

Artificial muscle

Generic term used for materials or devices that can reversibly contract, expand, or rotate within one component 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 place 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 place covers:

Illustrative example of subject matter classified in this group:

media46.jpg

{comprising mechanical programming means, e.g. cams}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media47.png

Glossary of terms

In this place, the following terms or expressions are used with the meaning indicated:

Mechanical programming means

Mechanical parts having a specific shape which create a periodic movement so that the manipulator can execute a predetermined sequence of operations in a synchronized way.

{chemically actuated}
Definition statement

This place 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 this group:

media48.jpg

References
Informative references

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

Electro-chemical actuators

F03G 7/012

Synonyms and Keywords

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

electric
Definition statement

This place covers:

Electric actuators specially adapted for manipulators.

{Linear actuators}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media49.jpg

References
Informative references

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

Linear motors

H02K 41/02

Special rules of classification

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

{Rotary actuators}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media50.jpg

fluid
Definition statement

This place covers:

Pneumatic or hydraulic actuators specially adapted for manipulators.

{comprising inflatable bodies}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/142

US 4784042

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References
Informative references

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

Fluid-actuated motor of the muscle type

F15B 15/103

Special rules of classification

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

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • "fluidic muscle", "rubbertuator" and "McKibben actuator"
{Linear actuators}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/144

US 4473249

media52.jpg

{Rotary actuators}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/146

US 2011094325

media53.jpg

{of the oscillating vane-type (in general F15B 15/12)}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/148

EP 0332506

media54.jpg

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 place covers:

All the topics linked to the control of manipulators.

{characterised by the control system, structure, architecture}
Definition statement

This place covers:

Specific types of control systems.

{Simulation of manipulator lay-out, design, modelling of manipulator}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1605

US 2003018412

media55.jpg

{Calculation of inertia, jacobian matrixes and inverses}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1607

US 2006271241

media56.jpg

{Hardware, e.g. neural networks, fuzzy logic, interfaces, processor}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/161

US 5566275

media57.jpg

References
Informative references

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

Computer systems based on biological models

G06N 3/00

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

G06N 3/008

Using neural network models

G06N 3/02

{characterised by the hand, wrist, grip control}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1612

US 2010139437

media58.png

{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 place covers:

Control systems dedicated to specific types of manipulators.

{Cellular, reconfigurable manipulator, e.g. cebot}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1617

AT 507947

media59.jpg

{Mobile manipulator, movable base with manipulator arm mounted on it}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/162

US 5542028

media60.png

{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 place covers:

Illustrative example of subject matter classified in B25J 9/1623

EP 0109201

media61.jpg

Special rules of classification

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

Glossary of terms

In this place, 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 place covers:

Illustrative example of subject matter classified in B25J 9/1625

WO 2010143192

media62.png

{characterised by the control loop}
Definition statement

This place covers:

Specific types of control loops.

{learning, adaptive, model based, rule based expert control}
Definition statement

This place 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

media63.png

{compliant, force, torque control, e.g. combined with position control}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1633

EP 2314426

media64.png

{flexible-arm control}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1635

US 5049797

media65.png

{compensation for arm bending/inertia, pay load weight/inertia}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1638

US 2008297092

media66.png

{compensation for backlash, friction, compliance, elasticity in the joints}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1641

EP 1607193

media67.png

{redundant control}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1643

US 2010168919

media68.jpg

Glossary of terms

In this place, 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 place covers:

Illustrative example of subject matter classified in B25J 9/1646

EP 0875341

media69.png

{non-linear control combined or not with linear control}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1648

EP 0128355

media70.png

{acceleration, rate control}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1651

EP 1702726

media71.png

{parameters identification, estimation, stiffness, accuracy, error analysis}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1653

US 5357424

media72.png

{characterised by programming, planning systems for manipulators}
Definition statement

This place covers:

Different types or robot programmes.

{characterised by programming language}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1658

US 5519814

media73.png

{characterised by task planning, object-oriented languages}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1661

US 2009210090

media74.png

{characterised by motion, path, trajectory planning}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1664

FR 2682905

media75.png

{Avoiding collision or forbidden zones}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1666

EP 1604790

media76.png

{characterised by special application, e.g. multi-arm co-operation, assembly, grasping}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1669

WO 2004114037

media77.png

{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 place covers:

Illustrative example of subject matter classified in B25J 9/1671

EP 1759817

media78.jpg

{characterised by safety, monitoring, diagnostic}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1674

EP 1731978

media79.png

{Avoiding collision or forbidden zones}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1676

EP 1901150

media80.jpg

{characterised by the tasks executed}
Definition statement

This place covers:

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

{Dual arm manipulator; Coordination of several manipulators}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media81.jpg

{Tracking a line or surface by means of sensors}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1684

EP 0361663

media82.jpg

{Assembly, peg and hole, palletising, straight line, weaving pattern movement}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1687

US 5619782

media83.jpg

Special rules of classification

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

{Teleoperation}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1689

WO 2007136803

media84.jpg

Special rules of classification

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 place covers:

Illustrative example of subject matter classified in B25J 9/1692

EP 0223862

media85.jpg

{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 place covers:

Illustrative example of subject matter classified in B25J 9/1694

WO 2010019310

media86.png

{Vision controlled systems}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/1697

US 7313464

media87.jpg

References
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

G06T 1/0014

Image analysis

G06T 7/00

Special rules of classification

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

fluidic
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 9/20

US 4379335

media88.png

Manipulators not otherwise provided for
Definition statement

This place 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 place 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 place covers:

Illustrative example of subject matter classified in this group:

media89.jpg

References
Informative references

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

Speech recognition

G10L 15/00

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 place covers:

Illustrative example of subject matter classified in B25J 13/02

EP 0353841

media90.jpg

References
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

G05G 9/047

Foot-operated control means
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 13/04

US 6016385

media91.jpg

Control stands, e.g. consoles, switchboards
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media92.jpg

{comprising joy-sticks}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 13/065

JP 3003787

media93.jpg

by means of sensing devices, e.g. viewing or touching devices
Definition statement

This place covers:

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

{Touching devices, e.g. pressure-sensitive}
Definition statement

This place covers:

Contact sensors.

{Grasping-force detectors (in general G01L 5/16, G01L 5/22)}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 13/082

US 4600357

media94.jpg

{fitted with slippage detectors}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 13/083

DE 3332147

media95.jpg

{Tactile sensors (in general G01L 5/16, G01L 5/22)}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 13/084

WO 2009023334

media96.jpg

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

This place covers:

Illustrative example of subject matter classified in B25J 13/085

DE 3810691

media97.jpg

{Proximity sensors}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 13/086

EP 0518836

media98.jpg

{for sensing other physical parameters, e.g. electrical or chemical properties}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 13/087

WO 2011077730

media99.jpg

{with position, velocity or acceleration sensors}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 13/088

US 2011098852

media100.jpg

{Determining the position of the robot with reference to its environment}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 13/089

DE 102005000732

media101.jpg

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 place 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 place covers:

Illustrative example of subject matter classified in B25J 15/0004

DE 9213010 U

media102.jpg

Special rules of classification

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 place, 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 place covers:

Illustrative example of subject matter classified in B25J 15/0009

EP 1457294

media103.jpg

References
Informative references

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

Hand prostheses

A61F 2/583

{End effectors other than grippers}
Definition statement

This place 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

media104.jpg

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

This place covers:

Illustrative example of subject matter classified in this group:

media105.jpg

References
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

B65G 47/908

{with movable, e.g. pivoting gripping jaw surfaces}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/0028

DE 4400354

media106.jpg

References
Limiting references

This place does not cover:

Grippers with jaw surfaces comprising actuating means for moving the gripped objects

B25J 15/0004

{multiple gripper units or multiple end effectors}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/0052

EP 0094338

media107.jpg

servo-actuated
Definition statement

This place 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 place covers:

Grippers having pivoting fingers or jaws.

{actuated by gears}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/0213

US 62217094

media108.jpg

{actuated by articulated links}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/022

US 4728137

media109.jpg

{actuated by cams}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/0226

DE 29806798 U

media110.jpg

{comprising parallel grippers}
Definition statement

This place covers:

Grippers having fingers or jaws moving in translation.

{actuated by gears}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/026

GB 2119894

media111.jpg

{actuated by articulated links}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/0266

EP 0293153

media112.jpg

{comprising linear guide means}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/0273

FR 2816232

media113.jpg

{actuated by cams}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/028

DE 19604649

media114.jpg

with provision for the remote detachment or exchange of the head or parts thereof
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media115.jpg

{Exchangeable fingers}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/0475

EP 1785238

media116.jpg

{comprising end-effector racks}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media117.jpg

Special rules of classification

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 place covers:

Grippers holding an object by suction or magnetic force.

Relationships with other classification places

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 place covers:

Illustrative example of subject matter classified in B25J 15/0608

DE 102009015345

media118.jpg

References
Informative references

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

Magnetic work holders

B25B 11/002

Devices for picking-up and depositing articles incorporating electrostatic or magnetic grippers

B65G 47/92

Load-engaging elements by magnetic means attached to lifting or lowering gear of cranes

B66C 1/04

{with vacuum}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media119.jpg

References
Informative references

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

Vacuum work holders

B25B 11/005

Devices for picking-up and depositing articles incorporating pneumatic, e.g. suction, grippers

B65G 47/91

Separating articles from piles using suction grippers

B65H 3/0808

Load-engaging elements with suction means attached to lifting or lowering gear of cranes

B66C 1/02

Suction cups for attaching purposes

F16B 47/00

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • (EN)"vacuum", "suction", "sucking", (FR)"vide", "dépression", "aspir+", (DE)"saug+", and "vakuum"
  • (EN) "cup", "pad", (DE) "napf", and (FR)"ventouse"
having finger members (B25J 15/02, B25J 15/04 take precedence)
Definition statement

This place 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 place covers:

Illustrative example of subject matter classified in B25J 15/10

US 2003102640

media120.png

{for gripping the object in three contact points}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/103

FR 2551389

media121.jpg

{moving in parallel relationship}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 15/106

US 5011207

media122.jpg

References
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

B25B 1/2421

with flexible finger members
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media123.jpg

References
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

B65G 47/908

Special rules of classification

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

Joints
Definition statement

This place covers:

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

Wrist joints
Definition statement

This place covers:

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

{Compliance devices}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 17/0208

US 5207554

media124.jpg

References
Informative references

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

Machines for connecting objects by press fit

B23P 19/02

Machines for aligning articles to be assembled

B23P 19/10

Special rules of classification

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 place 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 this group:

media125.jpg

References
Limiting references

This place does not cover:

2D parallel kinematics manipulators

B25J 9/106

Control of parallel manipulators

B25J 9/1623

Other type of 3D parallel kinematics manipulators

B25J 17/0266

Informative references

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

Machine tools having parallel kinematics

B23Q 1/5462

Gearings comprising primarily only links or levers, with movements in three dimensions

F16H 21/46

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • "parallel manipulators", "parallel robots" and "parallel kinematics"
{One-dimensional joints}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 17/0241

DE 202011004164 U

media126.jpg

{mounted in series}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 17/025

WO 2011003451

media127.jpg

Special rules of classification

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

{Two-dimensional joints}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 17/0258

EP 0309329

media128.jpg

{comprising more than two actuating or connecting rods}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media129.jpg

References
Limiting references

This place does not cover:

2D parallel manipulators (movements in one plane only)

B25J 9/106

Control of parallel manipulators

B25J 9/1623

Stewart mechanism (6 linears actuators linked to the base and the platform by universal joints and allowing 6 degrees of freedom for the platform)

B25J 17/0216

Informative references

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

Machine tools having parallel kinematics

B23Q 1/5462

Gearings comprising primarily only links or levers, with movements in three dimensions

F16H 21/46

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • "parallel manipulators", "parallel robots" and "parallel kinematics"
{Universal joints, e.g. Hooke, Cardan, ball joints}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 17/0275

WO 2007063006

media130.jpg

{Three-dimensional joints}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 17/0283

EP 0479739

media131.jpg

Arms
Definition statement

This place covers:

Main elongated parts of manipulators.

{comprising beam bending compensation means}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 18/002

US 4606691

media132.jpg

References
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

B23Q 11/001

Special rules of classification

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

{the end effector rotating around a fixed point}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 18/007

EP 0115728

media133.jpg

Synonyms and Keywords

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

extensible
Definition statement

This place covers:

This group covers manipulator arms having a variable length.

{telescopic}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media134.jpg

References
Informative references

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

Telescopic jib-cranes

B66C 23/701

rotatable
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 18/04

WO 9639944

media135.png

Special rules of classification

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

flexible
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media136.jpg

Special rules of classification

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 place 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 place covers:

Illustrative example of subject matter classified in this group:

media137.jpg

{Balancing devices}
Definition statement

This place covers:

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

{using fluidic devices}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media138.jpg

{using springs}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media139.jpg

References
Informative references

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

Springs; shock-absorbers; means for damping vibration

F16F

{using counterweights}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media140.jpg

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • (DE)"gegengewicht", "ausgleichgewicht" and (FR)"contrepoids"
{Means for supplying energy to the end effector}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media141.jpg

References
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

B66C 13/12

Supports for pipes, cables or protective tubing

F16L 3/00

Arrangements of electric cables or lines between relatively-movable parts

H02G 11/00

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • (EN) "cable", "line", "pipe", "hose", "umbilical member", (DE) "energieversorgung", "kabel", "schlauch", (FR) "alimentation en énergie",
{arranged within the different robot elements}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media142.jpg

{comprising a light beam pathway, e.g. laser}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 19/0037

US 4667081

media143.jpg

References
Informative references

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

Robots for moving a laser beam

B23K 26/0884

{using batteries, e.g. as a back-up power source}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media144.jpg

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • "energy cell", "accumulator" and "power source"
{Cooling means}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media145.jpg

{Means for cleaning manipulators, e.g. dust removing means}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 19/0058

EP 2149435

media146.png

References
Limiting references

This place does not cover:

Means for preventing dust from entering/escaping manipulators

B25J 19/0075

{Means for protecting the manipulator from its environment or vice versa}
Definition statement

This place 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.

References
Informative references

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

Protective coverings for parts of machine tools

B23Q 11/08

{using an internal pressure system}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media147.jpg

{using gaiters}
Definition statement

This place covers:

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

US 4762455

media148.jpg

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • (EN)"bellow", "(protective) boot", (FR)"soufflet", "manchon (protecteur)" (DE)"schutzbalg" and "faltenbalg"
{Shock absorbers (in general F16F)}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media149.jpg

Sensing devices
Definition statement

This place covers:

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

References
Limiting references

This place does not cover:

Sensors specifically used for controlling manipulators

B25J 13/08

{Optical sensing devices}
Definition statement

This place covers:

Sensors having optical components.

{using lasers}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 19/022

EP 0339560

media150.jpg

{including video camera means}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 19/023

US 2010298978

media151.jpg

{including optical fibres}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 19/025

FR 2664525

media152.jpg

{Acoustical sensing devices}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 19/026

DE 3409767

media153.jpg

Special rules of classification

This group includes robots with ultrasonic sensors.

{Electromagnetic sensing devices}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 19/027

FR 2663105

media154.jpg

{Piezoresistive or piezoelectric sensing devices}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 19/028

US 5511931

media155.jpg

Viewing devices
Definition statement

This place covers:

Sensors for capturing an image.

Safety devices
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 19/06

US 2009295580

media156.jpg

References
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

F16P 1/00

Safety devices acting in conjunction with the control or operation of the machine

F16P 3/00

{with audible signals (audio controls B25J 13/003)}
Definition statement

This place covers:

Illustrative example of subject matter classified in this group:

media157.jpg

Robot 3 itself, or its vicinity, is equipped with alarm 29 so that it can warn for operator 4 who operates/works with robot 3.

{working only upon contact with an outside object}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 19/063

US 6129476

media158.jpg

Special rules of classification

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 place covers:

Closed spaces containing manipulation means.

{Clean rooms}
Definition statement

This place covers:

Illustrative example of subject matter classified in B25J 21/005

EP 1557245

media159.jpg

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 place covers:

Illustrative example of subject matter classified in B25J 21/02

DE 102008001411

media160.jpg

References
Informative references

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

Baby incubators

A61G 11/00

Microbiological incubators

C12M 1/005

Apparatus providing an anaerobic atmosphere

C12M 1/045

Synonyms and Keywords

In patent documents, the following words/expressions are often used as synonyms:

  • (EN)"isolator", (FR)"boîte à gants" and (DE)"handschuhkasten"