Gripping mechanisms, apparatus, and methods
First Claim
1. A grasping mechanism, comprising movably coupled arms that are structured to grasp an object, wherein the arms are movably coupled to each other such that the arms can move towards or away from each other along a first axis, and further wherein the arms are attached to a body that comprises a resilient coupling which allows the arms to move in a direction substantially perpendicular to the first axis.
3 Assignments
0 Petitions
Accused Products
Abstract
The present invention provides grasping mechanisms, gripper apparatus/systems, and related methods. Grasping mechanisms that include stops, support surfaces, and height adjusting surfaces to determine three translational axis positions of a grasped object are provided. In addition, grasping mechanisms that are resiliently coupled to other gripper apparatus components are also provided.
78 Citations
55 Claims
- 1. A grasping mechanism, comprising movably coupled arms that are structured to grasp an object, wherein the arms are movably coupled to each other such that the arms can move towards or away from each other along a first axis, and further wherein the arms are attached to a body that comprises a resilient coupling which allows the arms to move in a direction substantially perpendicular to the first axis.
-
36. A gripper apparatus, comprising:
-
at least one robot comprising a boom;
at least one grasping mechanism comprising movably coupled arms that are structured to grasp an object, wherein the grasping mechanism is resiliently coupled to the boom by a resilient coupling; and
,at least one controller operably connected to at least the grasping mechanism, which controller controls movement of the grasping mechanism. - View Dependent Claims (37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52)
-
-
53. A gripper apparatus, comprising:
-
a grasping mechanism comprising movably coupled arms that are structured to grasp an object, wherein at least one arm comprises a stop and a pivot member having;
a) a support surface to support the object; and
b) a height adjusting surface that pushes the object into contact with the support surface;
such that when the arms grasp the object the support surface and the height adjusting surface determine at least a z-axis position of the object;
a deflectable member that defectively couples the grasping mechanism to a boom;
a controller coupled to the grasping mechanism, which controller controls movement of the grasping mechanism; and
,at least one push surface against which the gripper apparatus pushes the object into contact with the stop to determine a y-axis position of the object.
-
-
54. A method of grasping an object, the method comprising:
-
providing a gripper apparatus that comprises a controller coupled grasping mechanism having movably coupled arms that are structured to grasp an object, wherein at least one arm comprises a stop, and wherein at least two grasping mechanism components are resiliently coupled to each other by a resilient coupling;
contacting the object such that the object is pushed against a push surface by the stop, whereby the resilient coupling allows the arms to reversibly recede from an initial position; and
,grasping at least a section of the object with the arms, after which the arms advance at least substantially back to the initial position. - View Dependent Claims (55)
-
Specification