Handling: hand and hoist-line implements – Grapple – Pivoted jaws
Patent
1982-08-24
1984-06-26
Cherry, Johnny D.
Handling: hand and hoist-line implements
Grapple
Pivoted jaws
294 86R, 294 88, 414730, 414735, 414739, B25J 1502
Patent
active
044562934
ABSTRACT:
The gripping apparatus described comprises a four-bar linkage arrangement for so controlling movement of the two pairs of parallel beams and fingers operatively connected thereto as to cause the gripping surfaces of the fingers to concurrently move in rectilinearly aligned paths and remain parallel throughout their excursion during gripping and releasing of an article and apply a constant gripping force to the article irrespective of the extent to which the fingers are moved toward each other into gripping contact. The beams are pivotally connected directly at their one ends, and also intermediate their ends via links, to a fixed member; and the beams at their opposite ends have a pin-in-slot connection with the fixed member. When force is applied to the links to operatively cause the fingers to grip the article, the links will rock and the arc described by each beam will be accurately cancelled by the arc generated by each link.
REFERENCES:
patent: 3154339 (1964-10-01), Kaplan
patent: 3904234 (1975-09-01), Hill et al.
patent: 3948093 (1976-04-01), Folchi et al.
patent: 4132318 (1979-01-01), Wang et al.
patent: 4368913 (1983-01-01), Brockmann et al.
patent: 4423998 (1984-01-01), Inaba et al.
Proceedings of 5th International Symposium on Industrial Robots, 9/22-24/75, p. 335.
Cherry Johnny D.
International Business Machines - Corporation
Otto, Jr. Henry E.
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