# US 11,998,944 B2 · Autonomous dispensing effector unit for a robotic arm > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,998,944 B2 - Document ID: US11998944B2 - Status: Granted - Kind: B2 - Application number: 17/630,376 - Filed: 2020-08-07 - Published: 2022-09-08 - Granted: 2024-06-04 - Earliest claimed: 2019-08-08 - Assignees: Aim Robotics ApS - Applicants: Aim Robotics Aps - Inventors: Mie Haraldsted Hickmott; Henrik Haraldsted; Karlis Akis - Web page: https://patentgrep.com/patent/US11998944B2 ## CPC - B05C 5/0225: {characterised by flow controlling means, e.g. valves, located proximate the outlet (B05C5/0258, B05C5/0275 take precedence; supply valves upstream the coating head B05C11/1036)} - B25J 15/0019: {End effectors other than grippers} - B05C 5/0216: {by relative movement of article and outlet according to a predetermined path} - B05C: APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL (spraying apparatus, atomising apparatus, nozzles B05B; plant for applying liquids or other fluent materials to objects by electrostatic spraying B05B5/08) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract The present invention relates to an autonomous dispensing effector unit for a robotic arm, comprising an effector body, a fluid container attached to the effector body, a dispensing actuator unit attached to the effector body, a controlling means for controlling the dispensing from the effector unit, and an interface to the controlling means providing power to the autonomous dispensing effector unit, wherein the dispensing actuator unit and/or the effector body is in fluid communication with the fluid container. ## Claims ### Claim 1 An autonomous dispensing effector unit for a robotic arm, comprising: an effector body, a fluid container attached to the effector body, the fluid container comprises an interior volume configured to hold a fluid to be dispensed, a dispensing actuator unit attached to the effector body, a controller configured to control dispensing from the effector unit, and an interface to the controller configured to provide power to the autonomous dispensing effector unit, wherein the dispensing actuator unit and/or the effector body is in fluid communication with the interior volume of the fluid container wherein the dispensing actuator unit further comprises a mechanical screw configured to dispense the fluid from the fluid container, the mechanical screw being in fluid communication with the interior volume. ### Claim 2 (depends on 1) An autonomous dispensing effector unit according to claim 1, further comprising a motor configured to drive the mechanical screw. ### Claim 3 (depends on 1) An autonomous dispensing effector unit according to claim 1, wherein the fluid container comprises an energy source detached from an energy source of the dispensing actuator unit. ### Claim 4 (depends on 1) An autonomous dispensing effector unit according to claim 1, wherein the fluid container is slidably arranged on the effector body. ### Claim 5 (depends on 1) An autonomous dispensing effector unit according to claim 1, wherein the dispensing effector unit comprises an electrical interface to the controller. ### Claim 6 (depends on 1) An autonomous dispensing effector unit according to claim 1, wherein pressure in the fluid container is obtained by an energy source different from an energy source driving the dispensing actuator unit. ### Claim 7 (depends on 6) An autonomous dispensing effector unit according to claim 6, wherein the energy source for the fluid container is a spring, pressurized air, a battery-driven motor or gas. ### Claim 8 (depends on 1) An autonomous dispensing effector unit according to claim 1, wherein the effector body is integrated into either the fluid container or the dispensing actuator unit. ### Claim 9 (depends on 1) An autonomous dispensing effector unit according to claim 1, wherein the fluid to be dispensed is a high viscous fluid. ### Claim 10 (depends on 1) An autonomous dispensing effector unit according to claim 1, wherein an interface from the effector body to the fluid container is a tongue and groove connection. ### Claim 11 (depends on 10) An autonomous dispensing effector unit according to claim 10, wherein the tongue and groove is dovetail shaped. ### Claim 12 (depends on 1) An autonomous dispensing effector unit according to claim 1, wherein the fluid container comprises a spring-loaded piston. ### Claim 13 (depends on 1) An autonomous dispensing effector unit according to claim 1, wherein the effector body comprises an effector flange arranged between the controller and the fluid dispensing actuator unit. ### Claim 14 (depends on 1) A method dispensing fluids in patterns according to the movement of the robotic arm to which it is mounted, using the autonomous dispensing effector unit of claim 1.