Handling: hand and hoist-line implements – Grapple – Pivoted jaws
Reexamination Certificate
2000-09-20
2001-07-17
Cherry, Johnny D. (Department: 3652)
Handling: hand and hoist-line implements
Grapple
Pivoted jaws
C294S082230, C294S902000, C901S039000
Reexamination Certificate
active
06260902
ABSTRACT:
TECHNICAL FIELD
The present invention relates to a gripper for gripping, holding and transferring articles of varying shapes. More specifically, the invention relates to a gripper having segmented and flexible arms for accommodating to the outer shape of the article to be gripped between the arms of the gripper.
A problem related to lifting and transferring operations is the varying size of articles to be handled by a specific gripper. This is often solved by exchanging the gripper tool of e.g. an industrial robot. Another problem is the limited ability of some soft, fragile articles, like for instance a bag of powder, to resist concentrated loads applied by a on-linked universal gripper tool. The present invention provides a solution to this problem, meeting the object of invention as stated below.
OBJECT OF INVENTION
The present invention has for its object to provide a segmented gripper with one or more flexible arms, having the ability to accommodate to the outer shape of an article, so as to be operable for handling articles of different form and shape. In the case of handling soft articles, like e.g. the bag of powder, the applied load will not be concentrated but distributed over the surface thereby limiting in comparison with a non-linked gripper the requirement for the article to resist concentrated loads.
This object is met in a gripper according to the invention.
SUMMARY OF THE INVENTION
The present invention provides a gripper having two arms that are operated for closing and opening movements in an operational plane, The arms arc flexible in the way of a finger; i.e. the geometry is variable to adapt to the external shape of the article to be gripped. This is accomplished by providing a structure for the arms, wherein an outer row of pivotally connected links is interconnected with an inner row of pivotally connected links, the interconnecting elements being pivotally attached to the link connecting points of each row of links. The length of the interconnecting elements is successively decreasing towards the free end of the arm, so that each arm displays a claw-like configuration. The arms are pivotally attached to a support plate, so that when an actuating force is applied tangentially to the outer row of links, the arms are operated for a closing motion. When the exterior of an article is engaged by any of the inner links, continued tangential force causes the inner row of links to bend about the corresponding link connection point, the outer links peripherally overrunning the inner links by rotation of the interconnecting elements about the attachment points.
REFERENCES:
patent: 2875913 (1959-03-01), Gohrke et al.
patent: 3927424 (1975-12-01), Itoh
patent: 4367891 (1983-01-01), Wauer et al.
patent: 4401407 (1983-08-01), Breckenridge
patent: 4834443 (1989-05-01), Crowder et al.
patent: 4984951 (1991-01-01), Jameson
patent: 5108140 (1992-04-01), Bartholet
patent: 59-69288 (1984-04-01), None
patent: 772846 (1980-10-01), None
patent: 1271745 (1986-11-01), None
Cherry Johnny D.
Young & Thompson
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