Manipulator gripper tool changing apparatus

Details Manipulator gripper tool changing apparatus Manipulator gripper tool changing apparatus

1984-03-16

1986-07-22

Wayner, William E.

Material or article handling

Vertically swinging load support

Grab

269281, 901 39, B25B 124

Patent

active

046016376

ABSTRACT:
A gripper pad or gripper tool changer for a multi-axis manipulator is provided which is capable of automatically attaching in locked position a selected pair of a plurality of gripper pads or tools to the fingers of a gripper. Each pair of gripper pads or tools are mounted in a holder mechanism which is attached to a surface within the work envelope of the manipulator. The pairs of gripper pads or tools are picked up from the holder and attached and locked to the gripper fingers by controlled movement of the manipulator. A pair of gripper pads or tools are returned to the holder by controlled maneuvering of the gripper into the holder such that unlocking means associated therewith provide unlocking of the gripper pads or tools from the gripper fingers so that the gripper pads or tools can be detached from the gripper fingers. Error detection of missing or displaced finger tools in a pickup operation is provided.

REFERENCES:
patent: 3565417 (1971-02-01), Degle
patent: 4046263 (1977-09-01), Cwycyshyn et al.
patent: 4227853 (1980-10-01), Woodford et al.
patent: 4448405 (1984-05-01), Cipolla
patent: 4488241 (1984-12-01), Hurchins et al.
IBM Technical Disclosure vol. 24, #6, 11/1981.

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