Automatic grabbing device for handling articles and robot equipp

Details Automatic grabbing device for handling articles and robot equipp Automatic grabbing device for handling articles and robot equipp

1986-12-03

1988-07-19

Marbert, James B.

Handling: hand and hoist-line implements

Grapple

Load shifting

294 88, 294104, 294907, 901 30, 901 39, B25J 1502, B66F 918

Patent

active

047580364

ABSTRACT:
A grabbing device intended to be mounted on the end of the arm of a robot and comprising a plate equipped with a pair of claws mounted in facing relation on the plate, with one claw being slidably mounted on the plate and the other claw being pivotably mounted thereon. The fastening between the robot arm and the plate comprises first and second mutually parallel pivot axes (Y.sub.1, Y.sub.2), the pivot axes being perpendicular to the surface of the plate. The grabbing device of the present invention also includes a mechanism for pivoting the plate about at least one of the axes, a mechanism for blocking or releasing the plate relative to the other of the axes, and a sensor for measuring the pivoting angle of the plate about each of the axes (Y.sub.1, Y.sub.2). The grabbing device is particularly well suited for handling refractory bricks in a robotized apparatus for repairing a metallurigical convertor.

REFERENCES:
patent: 2370528 (1945-02-01), Fontaine
patent: 3586176 (1971-06-01), Rackman et al.
patent: 3604745 (1971-09-01), Sinclair
patent: 4254984 (1981-03-01), Abraham et al.
patent: 4318562 (1982-03-01), Tompkins
patent: 4533167 (1985-08-01), Johnson
IBM Tech. Disclosure Bulletin, vol. 27, No. 7B, Dec. 1984, pp. 4294-4295, New York, U.S., R. L. Kayton et al: "Gripper with Integral Part".
IBM Tech. Disclosure Bulletin, vol. 28, No. 7, Dec. 1984, pp. 2992-2997, New York, USA, "End Effector with Diagonal & Rototional Compliene Mech.".

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