Apparatus and method having short linear motion for grasping objects
First Claim
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1. An apparatus having short range motion for gripping and releasing an object, said apparatus comprising:
- a frame;
a pair of cooperating jaw members for engaging and gripping an object, said jaw members being supported on corresponding carriers, each of said corresponding carriers having a threaded end portion, said carriers being mounted for translational movement in said frame;
drive means operably associated with said jaw members for actuating said jaw members to move for opening and closing about said object, said drive means comprising a stepper motor having an output shaft having a first threaded end and a second, oppositely threaded end, wherein said first threaded end threadably connects with the threaded end portion of said carrier supporting one said jaw member and said second, oppositely threaded end threadably connects with the threaded end portion of the carrier supporting said other jaw member.
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Abstract
An apparatus having short range motion for gripping and releasing an object utilizes a programmable stepper motor for controlling various short stroke motions of the gripper. Gears associated with each of the at least one gripper jaws supported on a carrier shaft engage a common ring gear that is driven by drive means including the stepper motor which imparts synchronous motion of the grippers for opening and closing about the object.
46 Citations
11 Claims
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1. An apparatus having short range motion for gripping and releasing an object, said apparatus comprising:
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a frame; a pair of cooperating jaw members for engaging and gripping an object, said jaw members being supported on corresponding carriers, each of said corresponding carriers having a threaded end portion, said carriers being mounted for translational movement in said frame; drive means operably associated with said jaw members for actuating said jaw members to move for opening and closing about said object, said drive means comprising a stepper motor having an output shaft having a first threaded end and a second, oppositely threaded end, wherein said first threaded end threadably connects with the threaded end portion of said carrier supporting one said jaw member and said second, oppositely threaded end threadably connects with the threaded end portion of the carrier supporting said other jaw member. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. Method of gripping an object with short stroke motion, comprising the steps of:
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providing an object; providing a short stroke motion apparatus for gripping and releasing said object, said apparatus comprising a frame;
a pair of cooperating jaw members for engaging and gripping an object, said jaw members being supported on corresponding carriers, each of said corresponding carriers having a threaded end portion, said carriers being mounted for translational movement in said frame;
drive means operably associated with said jaw members for actuating said jaw members to move for opening and closing about said object, said drive means comprising a stepper motor having an output shaft having a first threaded end and a second, oppositely threaded end, wherein said first threaded end threadably connects with the threaded end portion of said carrier supporting one said jaw member and said second, oppositely threaded end threadably connects with the threaded end portion of the carrier supporting said other jaw member;moving said cooperating jaw members within reach of said object; engaging said object with said cooperating jaw members; and
,securely grasping said object with said cooperating jaw members. - View Dependent Claims (11)
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Specification