Robot gripping jaw operator

• US 4,697,838 A
• Filed: 06/10/1985
• Issued: 10/06/1987
• Est. Priority Date: 06/10/1985
• Status: Expired due to Fees

• Current Assignee: John F. Hartman
• Original Assignee: John F. Hartman
• Inventors: Hartman, John F.
• Primary Examiner(s): CHERRY, JOHNNY DAN
• Application Number:
  US06/742,924
• Time in Patent Office: 848 Days
• Field of Search: 294/88, 294/86.4, 294/86.41, 294/106, 294/115, 294/116, 414/732, 414/735, 414/738, 414/739, 414/744 A, 414/751, 414/753, 901/28-31, 901/35-39
• US Class Current: 294/202
• CPC Class Codes: B25J 15/0206 comprising articulated grippers
• CPC Class Codes: B25J 17/0208 Compliance devices
• CPC Class Codes: B25J 9/1015 using additional, e.g. microadjustment of the end effector

Abstract

A robot gripper jaw assembly includes a support plate having front and rear faces. Jaw mounts extend from the front face and cooperating jaws are pivotally mounted to the jaw mounts for gripping work. The support plate has an opening therein generally centrally disposed relative to the jaw mounts and a cylinder and piston assembly is secured to the support plate rear face in alignment with the opening. The piston of the cylinder and piston assembly extends through the opening and is engagable with the jaws so that forward and rearward movement of the piston causes cooperative pivoting of the jaws for closing and opening the jaws for gripping and releasing work. The support plate and the cylinder and piston assembly have a central rotational axis and the robot includes an assembly for simultaneously rotating the support plate and the cylinder and piston assembly on the rotational axis.

Claims

1. A robot gripper jaw assembly, comprising:

(a) support means comprising first and second spaced apart generally parallel plate means and each plate means including a front and a rear face;

(b) means extending between and secured to each of said plate means for maintaining said plate means spaced apart and generally parallel;

(c) jaw mounting means extending from said first plate means,

(d) a pair of cooperating jaw pivotally mounted to said mounting means for gripping work;

(e) said first plate means having a centrally disposed aperture therethrough;

(f) a cylinder and piston assembly comprising a first cylinder and a first piston aligned with said aperture and secured to and extending between said plate means;

(g) said first piston including a portion extending through said aperture and engageable with each of said jaws for pivoting said jaws;

(h) fluid supply means disposed in each plate means and communicating with said first cylinder for driving said first piston forwardly and rearwardly for causing pivoting of said jaws;

(i) said support means and said cylinder and piston assembly having a common rotational axis;

(j) means for simultaneously rotating said support means and said cylinder and piston assembly on said rotational axis;

(k) means for laterally shifting said support means and said cylinder and piston assembly relative to said rotational axis;

(l) a bracket including means for securing said bracket to a robot arm and first and second forwardly extending ears;

(m) said shifting means connected to said bracket and to said support means and cooperating with said bracket for shifting said support means;

(n) said shifting means extending betweens aid ears for causing said support means to shift therebetween;

(o) a second piston extending between said ears;

(p) a second cylinder displaceably mounted to said second piston and being connected to and carrying said support means; and

,

(q) means being associated with said second cylinder for causing movement thereof on said second piston and thereby lateral shifting of said support means.

2. The assembly as defined in claim 1, and wherein said jaw mounting means includes:

(a) first and second spaced jaw mounts extending forwardly from said first plate means front face;

(b) each of said jaw mounts being spaced equidistant from said aperture; and

,

(c) each of said jaws being pivotally secured at a first end to one of said mounts and each jaw including a remote distal portion and said jaws adapted for pivoting on spaced parallel axes so that the distal portion of each jaw cooperatively pivots with the other jaw for thereby gripping and releasing work in response to movement of said piston.

3. The assembly as defined in claim 2, wherein:

(a) each of said mounts having an aperture therethrough and said apertures disposed in spaced parallel relation;

(b) each of said jaws having an opening aligned with the aperture of the associated mount; and

,

(c) pin means extending through each of said apertures and the aligned openings for thereby pivotally securing said jaws to said mount.

4. The assembly as defined in claim 1, wherein:

(a) a flange being associated with a forward portion of said second pistion; and

,

(b) said flange being engageable with each of said jaws for causing pivoting of said jaws.

5. The assembly as defined in claim 4, wherein:

(a) a recess being disposed in each of said jaws and said recesses being algined; and

,

(b) said flange being positioned in said recesses for thereby keying said jaws to said piston.

6. The assembly as defined in claim 5, wherein:

(a) each of said jaws having an inner face and an outer face; and

,

(b) said recesses being disposed in the inner face of each of said jaws.

7. The assembly as defined in claim 5, wherein:

(a) said recesses being proximate said jaw mounting means for permitting maximum pivoting of each of said jaws.

8. The assembly as defined in claim 5, wherein:

(a) each of said recesses having a forward face and a rearward face;

(b) said flange being engaged with the rearward face of each recess during rearward movement of said second piston for thereby causing said jaws to pivot toward each other for gripping work; and

,

(c) said flange being engaged with the forward face of each recess during forward movement of said piston for thereby causing said jaws to pivot away frome ach other for releasing work.

9. The assembly as defined in claim 1, wherein:

(a) said fluid supply means including a fluid supply duct extending radially through each of said plate means.

10. The assembly as defined in claim 1, further comprising:

(a) means associated with said second plate means for securing said second plate means to a robot arm.

11. The assembly as defined in claim 1, wherein:

(a) means being associated with said bracket for preventing pivoting of said support means.

12. The assembly as defined in claim 1, wherein:

(a) at least a first support rod extending between said ears generally parallel to said second piston; and

,

(b) said support rod engaged with said second cylinder for preventing pivoting of said support plate.

13. The assembly as defined in claim 12, wherein:

(a) first and second support rods extending between said ears in spaced parallel relation and parallel to said second piston; and

,

(b) each of said support rods engaged with said second cylinder for preventing pivoting thereof.

14. The assembly as defined in claim 13, wherein:

(a) said support rods being equidistnat said second piston.

15. The assembly of claim 1, wherein:

(a) each of said plate means being circular and of equal radial dimension; and

,

(b) said first cylinder having a diameter less than that of said plate means.

16. The assembly of claim 15, wherein:

(a) said maintaining means being disposed radially outwardly of said cylinder and piston assembly.

17. A robot gripper jaw assembly, comprising:

(a) support means comprising first and second spaced apart generally parallel palte means and each plate means including a front and a rear face;

(b) means extending between and secured to each of said plate means for maintaining said plate means spaced apart and generally parallel;

(c) jaw mounting means extending from said first plate means;

(d) a pair of cooperating jaw pivotally mounted to said mounting means for gripping work;

(e) said first plate means having a centrally disposed aperture therethrough;

(f) a cylinder and piston assembly comprising a first cylinder and a first piston aligned with said aperture and secured to and extending between said plate means;

(g) said first piston including a portion extending through said aperture and engageable with each of said jaws;

(h) fluid supply means disposed in each plate means and communicating with said first cylinder for driving said first piston forwardly and rearwardly for thereby causing pivoting of said jaws;

(i) said support means and said cylinder and piston assembly having a common rotational axis;

(j) means for simultaneously rotating said support means and said cylinder and piston assembly on said axis;

(k) means for angularly pivoting said support means and said cylinder and piston assembly relative to said common rotational axis;

(l) pivot drive means including means for securing said pivot drive means to a robot arm;

(m) said pivoting means being connected to and cooperating with said pivot drive means for causing pivoting of said support means;

(n) a mount extending from said pivot drive means;

(o) means pivotally connecting said support means to said mount;

(p) said pivot drive means including a forwardly and rearwardly movable portion engaged with said support means and spaced from said connecting means so that forward and rearward movement of said movable portion causes pivoting of said support means about said connecting means;

(q) a guideway being secured to said second plate means rear face;

(r) said connecting means pivotally connecting said guideway to said mount so that pivoting of said guideway causs associated pivoting of said support means; and

,

(s) guide means extending along said guideway and being engaged with said movable portion for permitting extended movement of said movable portion.

18. The assembly as defined in claim 17, wherein:

(a) said guide means including a slot; and

,

(b) said movable portion including a sliding portion received in and slideable in said slot for thereby permitting pivoting of said guideway about said connecting means.

19. The assembly as defined in claim 18, wherein:

(a) said movable portion being disposed proximate and parallel to said mount.

20. The assembly as defined in claim 18, and wherein said mount includes:

(a) a forward aperture;

(b) said guideway including an opening aligned with said forward aperture;

(c) pin means extending through said forward aperture and said opening for pivotally connecting said support means to said mount and for thereby defining a pivot axis; and

,

(d) said slot extending transverse to said pivot axis.

21. The assembly as defined in claim 17, wherein:

(a) stop means extending from said pivot drive means and being engageable with said guideway for controlling pivoting of said support means.

22. The assembly as defined in claim 17, and wherein said pivot drive means includes:

(a) a cylinder and piston assembly and the piston of said cylinder and piston assembly having a portion operably associated with said means so that movement of said piston causes pivoting of said support means.

23. The assembly as defined in claim 17, and wherein said jaw mounting means includes:

(a) first and second spaced jaw mounts extending forwardly from said first plate means front face;

(b) each of said jaw mounts being spaced equidistant from said aperture; and

,

(c) each of said jaws being pivotally secured at a first end to one of said mounts and each jaw including a remote distal portion and said jaws adapted for pivoting on spaced parallel axes so that the distal portion of each jaw cooperatively pivots withthe other jaw for thereby gripping and releasing work in response to movement of said second piston.

24. The assembly as defined in claim 23, wherein:

(a) each of said mounts having an aperture therethrough and said apertures disposed in spaced parallel relation;

(b) each of said jaws having an opening aligned with the aperture of the associated mount; and

,

(c) pin means extending through each of said apertures and the aligned openings for thereby pivotally securing said jaws to said mount.

25. The assembly as defined in claim 17, wherein:

(a) a flange being associated with a forward portion of said second pistion; and

,

(b) said flange being engageable with each of said jaws for causing pivoting of said jaws.

26. The assembly as defined in claim 25, wherein:

(a) a recess being disposed in each of said jaws and said recesses being aligned; and

,

(b) said flange being positioned in said recesses for thereby keying said jaws to said second pistion.

27. The assembly as defined in claim 26, wherein:

(a) each of said jaws having an inner face and an outer face; and

,

(b) said recesses being disposed in the inner face of each of said jaws.

28. The assembly as defined in claim 27, wherein:

(a) said recesses being proximate said jaw mounting means for permitting maximum pivoting of each of said jaws.

29. The assembly as defined in claim 27, wherein:

(a) each of said recesses having a forward face and a rearward face;

(b) said flange being engaged with the rearward face of each recess during rearward movement of said second piston for thereby causing said jaws to pivot toward each other for gripping work; and

,

(c) said flange being engaged with the forward face of each recess during forward movement of said second piston for thereby causing said jaws to pivot away from each other for releasing work.

30. The assembly as defined in claim 17, wherein:

(a) said fluid supply means including a fluid supply duct extending radially through each of said plate means.