Force-controlled gripper with adaptive accommodation
First Claim
Patent Images
1. A gripper device for gripping an object, comprising:
- motor means having a driving shaft rotatable in one and an opposite direction, said driving shaft carrying an output drive member;
a plurality of gripper assemblies adapted to be driven by said output drive member, each gripper assembly including a rotatable driven shaft having a lever fixed to and projecting transversely from said driven shaft and having gripper finger means projecting transversely at the distal portion of said lever;
coupling means between each said gripper assembly driven shaft and said output drive member; and
means for changing the torque transmitted from said output drive member through said coupling means to said gripper assembly driven shafts from a relatively low value at least until all of said gripper finger means have contacted said object, and thereafter to a relatively higher value at least adequate to permit handling the object without slipping.
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Accused Products
Abstract
In a gripper device including a power frame of a motor 10, shaft 12, sun gear 14, planetary gear 16, gripper assembly shaft 18, gripper lever 20, gripper finger 22, a clutch 24 is interposed in the power train to each gripper finger and is controlled to provide a low force coupling transmittal when the fingers are moved in a position to contact the object 26 to be gripped, and after all fingers have contacted the object, the clutch provides for the transmittal of a relatively higher force adequate to permit handling the object without slipping.
67 Citations
8 Claims
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1. A gripper device for gripping an object, comprising:
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motor means having a driving shaft rotatable in one and an opposite direction, said driving shaft carrying an output drive member; a plurality of gripper assemblies adapted to be driven by said output drive member, each gripper assembly including a rotatable driven shaft having a lever fixed to and projecting transversely from said driven shaft and having gripper finger means projecting transversely at the distal portion of said lever; coupling means between each said gripper assembly driven shaft and said output drive member; and means for changing the torque transmitted from said output drive member through said coupling means to said gripper assembly driven shafts from a relatively low value at least until all of said gripper finger means have contacted said object, and thereafter to a relatively higher value at least adequate to permit handling the object without slipping. - View Dependent Claims (2, 3)
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4. A gripper device for gripping an object, comprising:
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power train means for transmitting power from motor means to a plurality of gripper assemblies; said motor means driving a driving shaft rotatable in one and an opposite direction, said driving shaft carrying an output drive member; each gripper assembly including a rotatable driven shaft having a lever fixed to and projecting transversely from said driven shaft and having gripper finger means projecting transversely at the distal portion of said lever; clutch means in said power train means for controlling the coupling between said output drive member and said gripper assembly shafts; and means controlling said clutch means for changing the torque transmitted from said output drive member through said clutch means to said gripper assembly shafts from a relatively low value at least until all of said gripper finger means have contacted said object, and thereafter to a relatively higher value at least adequate to permit handling the object without slipping. - View Dependent Claims (5, 6, 7, 8)
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Specification