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Dual axis gripper

  • US 4,626,013 A
  • Filed: 12/11/1984
  • Issued: 12/02/1986
  • Est. Priority Date: 12/11/1984
  • Status: Expired due to Fees
First Claim
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1. A dual axis gripper for use with a robot arm for part manipulation, the arm having a first rotatable wrist arranged for rotation about a horizontal first axis passing perpendicularly through an end of the arm and a second rotatable wrist coupled to said first wrist and arranged for rotation about a second axis perpendicular to and passing through the horizontal first axis, the gripper comprising:

  • first and second gripper means; and

    bracket means for coupling said first gripper means to the robot arm colinear with the second axis and for coupling said second gripper means to the robot arm perpendicular to the second axis said first and second gripper means being conjointly rotatable about the first axis, said first gripper means being rotatable about the second axis such that a part held by said first gripper means is rotated about an axis passing through the part, and said second gripper means being rotatable about the second axis such that a part held by said second gripper means is rotated in a plane normal to the first axis and at a constant radial dimension from the first axis.

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