Material or article handling – Vertically swinging load support – Grab
Patent
1994-07-18
1996-12-31
Underwood, Donald W.
Material or article handling
Vertically swinging load support
Grab
901 37, 901 39, 294115, 294 88, B66C 110
Patent
active
055887945
ABSTRACT:
A gripper is provided for mounting to a distal end of a robotic arm for gripping a workpiece having a pair of spaced apart longitudinally extending contoured faces and at least two extending cylindrical bores, each cylindrical bore having an inner surface, the gripper including a base, a pair of spaced apart longitudinally extending stabilizing members each affixed to the base, each of the stabilizing members having an engagement surface adapted to abutting engage a respective contoured face of the workpiece, at least one pair of opposing clamping arms, each clamping arms being pivotal from a first position wherein the clamping arm is disposed adjacent a respective cylindrical bore to a second position wherein the clamping arm abuttingly engages the inner surface of a cylindrical bores, a pair of biasing cylinders means connected to one of said pair of clamping arms for moving said one clamping arm from said first position to said second position, a pair of spaced apart compliant devices affixed to the base for releasably connecting the base to the distal end of the robotic arm and a control system for selectively controlling the actuation of the biasing cylinders.
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Ford Motor Company
Malleck Joseph W.
May Roger L.
Underwood Donald W.
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