Dual axis gripper

Details Dual axis gripper Dual axis gripper

1984-12-11

1986-12-02

Cherry, Johnny D.

Handling: hand and hoist-line implements

Hook, hoistline, or grab type

Locking device

294 864, 2941031, 294902, 414736, 414741, 901 14, 901 31, 901 39, B25J 1500

Patent

active

046260137

ABSTRACT:
A dual axis gripper for use with a robot arm having a rotatable wrist is provided with a first and second gripper. A bracket couples the first gripper to the robot arm in line with an axis about which one form of robot wrist rotation occurs. The bracket also couples a second gripper to the robot arm perpendicular to the first axis of rotation. The wrist rotation also includes rotation about a horizontal axis perpendicular to the first axis of rotation. Both the grippers are provided with a fixed jaw and a linearly actuated movable jaw so that both grippers form compliant type grippers. By rotating the grippers through the first axis of rotation and about the second axis of rotation, the two grippers may interchange positions and are capable of moving parts between any locations within a defined work envelope adjacent the end of the robot arm.

REFERENCES:
patent: 2811267 (1957-10-01), Bock
patent: 3029489 (1962-04-01), Nelson
patent: 3572519 (1971-03-01), Tezuka
patent: 3682327 (1972-08-01), Winne
patent: 3777902 (1973-12-01), Potter
patent: 4093081 (1978-06-01), Yver
patent: 4336926 (1982-06-01), Inagaki et al.
patent: 4425073 (1984-01-01), Matteson

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