Handling: hand and hoist-line implements – Grapple – Slideable jaws
Patent
1992-09-02
1993-02-09
Stormer, Russell D.
Handling: hand and hoist-line implements
Grapple
Slideable jaws
901 41, 294907, B25J 1508
Patent
active
051848619
ABSTRACT:
A split rail gripper for robotic apparatus and including a pair of rails which are driven in mutually opposite directions by a rack and pinion gear mechanism. Each rail includes a set of rack gear teeth which engage respective pinion gears and where the top rail engaging one of the pinion gears is driven by a harmonic gear reduction drive and motor unit coupled to an drive screw. The other pinion gear is driven by the top pinion gear engaging a set of rack gear teeth included in the bottom rail. As the top rail is driven in or out, the upper pinion gear is rotated, causing the other pinion gear, in turn, to rotate in the opposite direction. This causes the bottom rail to move in an opposite linear direction relative to the top rail. An outwardly extending gripper finger assembly is attached to respective ends of the rails, with each gripper finger including an arrangement of vertically and horizontally mounted roller members which operate to automatically center and engage an H-plate type interface secured to the object being grasped. The gripper assembly also includes a base plate attached to an interface plate of a robotic tool changer mechanism. A retractable rotary tool driver and tool is also centrally mounted on the base plate.
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Clohan, Jr. Paul S.
Marchant R. Dennis
Miller Guy M.
Pape Joseph D.
Stormer Russell D.
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