Apparatus for manipulating a workpiece or the like

• US 4,466,768 A
• Filed: 03/19/1982
• Issued: 08/21/1984
• Est. Priority Date: 03/19/1982
• Status: Expired due to Fees

• Current Assignee: The Board of Regents for Education for the State of Rhode Island
• Original Assignee: The Board of Regents for Education for the State of Rhode Island
• Inventors: Palm, William J., Datseris, Philip S., Sayder, Ali C.
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): Siemens, Terrance L.
• Application Number:
  US06/359,885
• Time in Patent Office: 886 Days
• Field of Search: 198/375, 198/486, 198/394, 294/67 BB, 294/21, 294/86 R, 294/DIG. 2, 414/483, 414/729-731, 414/757, 414/783, 414/619, 414/672, 414/785
• US Class Current: 414/729
• CPC Class Codes: B25J 15/0004 with provision for adjusting the gripped object in the hand
• CPC Class Codes: Y10S 294/902 Gripping element

Abstract

An apparatus for manipulating a workpiece or the like comprising a pair ofinger assemblies mounted on a common support. The finger assemblies have belts with contact surfaces arranged in a confronting relationship. A first operating mechanism is provided for moving the finger assemblies along a first axis towards each other to grip a workpiece between the belt contact surfaces. A second operating mechanism is provided for rotating the belts about the first axis in order to impart a corresponding rotation to the workpiece gripped therebetween. A third operating mechanism is provided for moving the belts in either the same or opposite directions in order to impart either translational movement to the workpiece along a second axis perpendicular to the first axis or rotational movement to the workpiece about the second axis. The first, second and third operating mechanisms are operable independently of each other, and the first operating mechanism is operable additionally to move the finger assemblies together in the same direction along the first axis to impart corresponding translational movement to the workpiece and also to move the finger assemblies along the first axis away from each other to release the workpiece from between the contact surfaces.

Claims

1. Apparatus for manipulating an element such as for example a workpiece being subjected to a manufacturing process, said apparatus comprising:

a first contact member including a pair of finger assemblies having contact members arranged in a confronting relationship,

first operating means for moving said finger assemblies along an axis towards each other to grip an element between said contact members and away from each other to release the element;

second operating means for rotating said contact members about said axis in order to impart a corresponding rotation to an element gripped therebetween;

third operating means for moving said contact members relative to one another in either the same or opposite parallel directions transverse to said axis, whereupon movement of said contact members in the same direction will impart translational movement to an element gripped therebetween in a direction transverse to said axis, and movement of said contact members in opposite directions will impart rotational movement to an element gripped therebetween about a second axis transverse to said first mentioned axis; and

a second contact member arranged adjacent to the first-mentioned contact members of each finger assembly, each second contact member being movable relative to the element contacting surfaces of its respective first-mentioned contact member between an inoperative position behind the plane of said contacting surface and an operative position in front of the plane of said contacting surface, and fourth operating means for reciprocating said second contact members between said operative and inoperative positions, whereupon where an element is gripped between said operatively positioned second contact members, said second operating means may be employed to rotate said first-mentioned contact members about said first-mentioned axis.

2. The apparatus of claim 1 wherein said contact members comprise endless belts.

3. The apparatus of claim 1 wherein each of said finger assemblies carries a platform rotatable about said first-mentioned axis by said second operating means, and wherein said contact members are carried on said platforms for rotation therewith.

4. The apparatus of either claims 1, 2 or 3 wherein said first, second and third operating means are independently operable.

5. The apparatus of claim 1 wherein said second contact members partially surround said first-mentioned contact members.

6. The apparatus of claim 1 wherein said first operating means is operable additionally to move said finger assemblies simultaneously in either direction along said axis in order to impart corresponding translational movement to an element gripped between said contact members.

7. The apparatus of claim 1 further comprising a selection member carried by each finger assembly, each selection member being movable in a direction transverse to said axis between an inoperative position behind the plane of the contact surface of its respective finger assembly'"'"'s contact member, and an operative position in front of said plane and beyond the end of its respective finger assembly, and fifth operating means for moving said selection members between said operative and inoperative positions.

8. The apparatus of claim 1 wherein said finger assemblies are mounted on a common movable support.

9. Apparatus for manipulating an element, comprising:

a pair of finger assemblies mounted on a common support, said finger assemblies having belts with contact surfaces arranged in a confronting relationship;

first operating means for moving said finger assemblies along a first axis towards each other to grip an element between the contact surfaces of said belts;

second operating means for rotating said belts about said first axis in order to impart a corresponding rotation said element;

third operating means for moving said belts relative to one another in either the same or opposite directions in order to impart either translational movement to said element along a second axis perpendicular to said first axis or rotational movement about said second axis;

said first, second and third operating means being operable independently of each other, and said first operating means being additionally operable to move said finger assemblies together in the same direction along said first axis to impart translational movement to said element along said first axis, and to move said finger assemblies along said first axis away from each other to release said element from between said contact surfaces.