Handling: hand and hoist-line implements – Grapple – Slideable jaws
Reexamination Certificate
2000-03-10
2001-10-30
Walsh, Donald P. (Department: 3652)
Handling: hand and hoist-line implements
Grapple
Slideable jaws
C294S082230, C901S037000
Reexamination Certificate
active
06309003
ABSTRACT:
FIELD OF THE INVENTION
This invention is directed to a gripper assembly and more specifically to a power gripper having enhanced power transmission relative to the overall size or physical proportions of a gripper assembly.
BACKGROUND OF THE INVENTION
Heretofore, various mechanical grippers for use with robotic tools or machines are well known. Such known grippers have been disclosed in various U.S. Pat. Nos. e.g. 4,593,948; 4,741,568; 4,874,194; 5,125,708; 5,163,729; 5,529,359; 5,572,915; 5,976,581 and 6,003,431. While these known grippers have proven to be useful for their intended purposes, certain problems persist, e.g. to provide a gripper assembly with a greater gripping force, or improving the accuracy thereof, and/or to provide for a more rugged and durable gripper assembly relative to the overall size of the gripper assembly, i.e. in keeping within the physical parameters of the known gripper assemblies.
SUMMARY OF THE INVENTION
An object of this invention is to provide a power gripper assembly particularly useful for handling relatively heavy loads relative to the overall size of the gripper.
Another object is to provide a gripper assembly in which the bearing forces imparted to the movable finger carriers are not imposed upon the synchronizing mechanism.
Another object is to provide a gripper assembly with a rugged and stable support for slidably supporting the finger carriers relative to the housing of the gripper assembly to enhance the durability and accuracy of the gripper assembly.
Another object is to enhance the gripping force of the gripper assembly relative to the given size thereof.
Another object is to provide a gripper assembly in which the synchronization arrangement is independent of the finger carrier support shafts and free of any bearing or frictional forces imparted on the support shafts.
As will be apparent herein, the above objects, features and other advantages are obtained by a gripper assembly that includes a housing having formed therein a pair of opposed cylinder chambers, each having a piston reciprocally mounted therein, and each pair of said cylinders being oppositely disposed and having their respective piston connected to a corresponding finger carrier slidably supported at the opposite ends of the housing. Each of the respective finger carriers is slidably supported on the housing by means of a pair of diagonally disposed support shafts. The equalized movement of the respective finger carriers relative to the housing is achieved by a synchronizing rack and pinion arrangement which is independent of the support shafts and free of the bearing forces imparted on the support shafts. This is attained by a rack connected to each of the respective finger carriers which is freely movable relative to the housing with each of the respective racks oppositely disposed and in meshing relationship with pinion or pinion wire. The arrangement is such that when the pinion is rotated in one direction, the finger carriers are moved in a synchronous manner toward an open position and when the pinion is rotated in the opposite direction, the finger carriers are moved in a synchronous manner toward a closed position. The respective pair of cylinders are cross-ported so that a fluid medium, e.g. compressed air, is simultaneously introduced into each of the respective cylinder chambers on one side of the piston therein to drive the associated finger carriers in one direction as the fluid medium is being exhausted from the other side of the respective pistons, and whereby the flow of fluid medium is reversed to drive the pistons and associated finger carriers in the opposite direction.
In a modified form of the invention, each of the respective finger carriers is provided with a pair of synchronizing racks which are oppositely disposed and in meshing relationship to a pinion or pinion wire.
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Chin Paul T.
Fattibene Arthur T.
Fattibene Paul A.
Fattibene & Fattibene
Walsh Donald P.
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