Handling: hand and hoist-line implements – Grapple – Pivoted jaws
Reexamination Certificate
2000-02-01
2001-10-09
Kramer, Dean J. (Department: 2167)
Handling: hand and hoist-line implements
Grapple
Pivoted jaws
C294S115000, C901S036000
Reexamination Certificate
active
06299228
ABSTRACT:
FIELD OF THE INVENTION
The present invention relates to gripper apparatus for transfer robots and the like.
DESCRIPTION OF THE RELATED ART
Generally speaking, robots are now used as substitutes for human beings in many applications including those involving hazard working environments, repetition of simple mechanical operations, or operations requiring large amounts of power. Robots are currently used in almost all areas of human endeavor including those involving the military, astronomy, agriculture and marine exploration as well as in many industrial fields.
Industrial robots have been especially widely used in the fields of welding, fabrication, coating, inspecting, machine operations and transfer, and the like. In the case of transfer robots, i.e., robots used to transfer a workpiece from one location to another, gripper devices and apparatus have been developed which can easily pick up and transfer a workpiece based on the size, weight, and other features of the workpiece to be transferred.
The present invention can perhaps be best understood by reference to a specific example of the prior art. Referring to
FIGS. 6-8
,
FIG. 6
is a front elevational view of a conventional gripper apparatus for a transfer robot,
FIG. 7
is a longitudinal section view of the apparatus of FIG.
6
and
FIG. 8
is a sectional view taken generally along line VIII—VIII of FIG.
6
. As depicted therein, the conventional gripper apparatus is comprised of a housing
101
and a pair of grippers
103
for picking up a workpiece
120
to be transferred. The grippers
103
are arranged opposite to each other, and each is rotatably connected or assembled to the housing
101
.
As shown in in
FIG. 7
, within the housing
101
is provided a gripper driver
107
for rotating the grippers
103
. The gripper driver
107
includes a lead screw
109
rotatably disposed in, and extending in the vertical direction within, the housing
101
, a slider member
115
which moves up and down in response to the rotation of the lead screw
109
, a pair of slider links
119
, and a pair of gripper links
104
. One end of each slider link
119
is connected to the slider
115
while the other end thereof is connected to a respective gripper
103
through an associated gripper link
104
.
At each end portion of the lead screw
109
are installed support members
113
for supporting the lead screw
109
while enabling rotation thereof. Below the lower supporting member
113
, there is provided a first gear
111
which rotates together with the lead screw
109
at the lower end portion of the lead screw
109
. A pair of guide rails
117
are disposed in parallel in housing
101
, at locations adjacent to opposite sides of the lead screw
109
. The guide rails
117
are designed to guide vertical or elevational movement of the slider
115
.
At the center portion of the slider
115
is formed a female screw
116
which is coupled to the lead screw
109
so that the slider
115
moves up and down in response to forward and reverse rotation of the lead screw
109
.
Each gripper
103
is formed with a gripping groove
105
for gripping a handle
122
protruding from the top of the workpiece
120
to be transferred.
Adjacent to the lead screw
109
is installed a driving motor
121
for rotating the lead screw
109
in opposite, i.e., forward and reverse, directions. A second gear
123
, coupled to an output shaft (not shown) of the driving motor
121
, engages the first gear
111
of the lead screw
109
.
In the conventional gripper apparatus for a transfer robot illustrated, because the lead screw
109
is disposed to extend in the vertical direction inside the housing
101
, the overall height of the gripper apparatus is relatively large, and thus space is inefficiently used.
SUMMARY OF THE INVENTION
Accordingly, it is an object of the present invention to provide a gripper apparatus for a transfer robot or the like which is of a relatively small height and thus is vertically compact, thereby increasing the efficiency of space utilization.
To accomplish the object, the present invention provides a gripper apparatus for a transfer robot or the like comprising a pair of grippers disposed in parallel in a common plane, the grippers being rotatable about a rotational axis so as to move toward or away from each other to provide gripping release of a workpiece; a lead screw disposed in parallel with the rotational axes of the grippers, and rotatable in forward and reverse directions; a first slider coupled to the lead screw for reciprocal movement along the rotational axis of the lead screw responsive to rotation of the lead screw; converting means, disposed between said pair of grippers, for converting the reciprocal movement of the first slider into the rotational movement of the grippers; and driving means for rotating the lead screw in said forward and reverse directions.
Preferably, the converting means includes a pair of first slider links, each having first and second ends, the first ends of each of the slider links being rotatably coupled to the first slider; guide means for guiding the second ends of the first slider link such that the second ends of said first slider links move in a direction transverse to the rotational axis of the lead screw; and a pair of gripper links each having a first end connected to the second end of a respective one of the first slider links and a second end connected to a respective one of the grippers so as to rotate coaxially therewith.
Preferably, the guide means includes a guide rail extending in the transverse direction to the rotational axis of the lead screw, and disposed adjacent to the second ends of said first slider links; and a pair of second sliders slidable on said guide rail.
Advantageously, the converting means further comprises a pair of connection links each having a first end connected to a respective one of the second end of said first slider links and a second end connected to a respective one of the gripper links.
In a preferred implementation, the converting means further comprises a pair of second slider links having a first end connected to a respective one of the second end of the first slider links and a second end connected to a respective one of the connection links.
Preferably, the driving means and the lead screw are connected together by a pulley structure.
Further features and advantages of the present invention will be set forth in, or apparent from, the detailed description of preferred embodiments thereof which follows.
REFERENCES:
patent: 2355086 (1944-08-01), Lang
patent: 3370213 (1968-02-01), Rose
patent: 3534993 (1970-10-01), Le Vesque, Sr.
patent: 4185866 (1980-01-01), Wittwer
patent: 4368913 (1983-01-01), Brockmann et al.
patent: 4456293 (1984-06-01), Panissidi
patent: 4858979 (1989-08-01), Parma
patent: 5566466 (1996-10-01), Hearne
patent: 5620406 (1997-04-01), Bae
Kramer Dean J.
Larson & Taylor PLC
Samsung Electronics Co,. Ltd.
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