Gripper assembly with integrated heat shield

• US 6,039,375 A
• Filed: 01/28/1998
• Issued: 03/21/2000
• Est. Priority Date: 01/28/1998
• Status: Expired due to Fees

• Current Assignee: ABB Flexible Automation, Inc. (ABB Ltd.)
• Original Assignee: ABB Flexible Automation, Inc. (ABB Ltd.)
• Inventors: Bauman, Thomas C.
• Primary Examiner(s): Kramer, Dean J.
• Application Number:
  US09/014,199
• Time in Patent Office: 783 Days
• Field of Search: 294/1.1, 294/86.4, 294/88, 294/119.1, 414/741, 901/30, 901/31, 901/37, 269/25, 269/33
• US Class Current: 294/119.1
• CPC Class Codes: B25J 15/0253 comprising parallel grippers
• CPC Class Codes: B25J 19/0054 Cooling means

Abstract

A gripper assembly with an integrated heat shield. The integrated heat shield is in the form of a shell having one or more openings through which a gas may flow into and out of in order to create a cooling current flow. Two axially aligned and opposed cylinders, each having a main portion, are individually mounted to the shell and the shell substantially surrounds the main portion of each cylinder. Each cylinder has a piston and each piston has a piston rod. Each piston rod is coupled to a jaw and each jaw is supported by one or more guide rods slidably received in one or more sleeves mounted to the shell. The jaws are positioned substantially parallel to one another and operable to grasp and release objects of interest. Motion of the jaws is synchronized by a synchronization mechanism.

Claims

1. An end effector for use with an industrial robot and for grasping a heated object the end effector comprising:

a shell having an interior portion and at least one opening through which a gas may flow into and out of the interior portion of the shell;

two actuators individually mounted to the shell, the shell substantially surrounding and in spaced relation to the actuators;

a jaw coupled to each actuator; and

at least one guide coupled to each jaw, each guide coupled to the shell and for bearing the weight of the jaw coupled to each actuator;

wherein the shell is effective to maintain the actuators at a temperature that is at least about 500°

F. less than the temperature of the heated object grasped by the end effector, but not less than the ambient temperature.

2. An end effector as in claim 1, wherein the actuators are axially aligned and opposed to each other.

3. An end effector as in claim 1, wherein the shell is constructed from aluminum plates.

4. An end effector as in claim 1, wherein each jaw has one or more fingers for grasping the heated object.

5. An end effector as in claim 1, further comprising a synchronization mechanism coupled to each of the jaws.

6. An end effector as in claim 5, wherein the synchronization mechanism includes a lever arm coupled to the bottom of the shell and a first motion rod coupled to the lever arm and one of the jaws and a second motion rod coupled to the lever arm and the other one of the jaws.

7. An end effector for use with an industrial robot and for grasping a heated object, the end effector comprising:

a shell having an interior portion, a plurality of sleeves, and at least one opening through which a gas may flow into and out of the interior portion of the shell;

two actuators individually mounted to the shell, the shell substantially surrounding and in spaced relation to the actuators;

a jaw coupled to each actuator; and

at least two guides coupled to each jaw, each guide mounted in at least one of the sleeves in the shell, each guide for bearing the weight of the jaw coupled to each actuator;

wherein the shell is effective to maintain the actuators at a temperature that is less than the temperature of the heated object grasped by the end effector.

8. An end effector as in claim 7, wherein in each sleeve is coated with a friction reducing material.

9. An end effector for use with an industrial robot and for grasping heated objects, the end effector comprising:

two substantially identical grippers mounted substantially parallel and opposed to one another;

each gripper including;

a shell having an interior portion of at least one opening through which a gas may flow into and out of the interior portion of the shell;

two actuators individually mounted to the shell, the shell substantially surrounding and in spaced relation to the actuators;

a jaw coupled to each actuator;

at least one guide coupled to each jaw, each guide coupled to the shell and for bearing the weight of the jaw coupled to each actuator;

wherein the shell is effected to maintain the actuators at a temperature of about 400°

F. or less when the end effector grasps a heated object; and

wherein the at least one opening has a length extending through the shell along a longitudinal axis that is perpendicular to the at least one guide.

10. An end effector as in claim 9, wherein the two actuators are axially aligned and opposed to each other.

11. An end effector as in claim 9, wherein each jaw has one or more fingers for grasping the heated object.

12. An end effector as in claim 9, further comprising a synchronization mechanism coupled to each of the jaws.

13. An end effector as in claim 12, wherein the synchronization mechanism includes a lever arm coupled to the bottom of the shell and a first motion rod coupled to the lever arm and one of the jaws and a second motion rod coupled to the lever arm and the other one of the jaws.

14. An end effector for use with an industrial robot and for grasping heated objects, the end effector comprising:

two substantially identical grippers mounted substantially parallel and opposed to one another;

each gripper including;

a shell having an interior portion and at least one opening through which a gas may flow into and out of the interior portion of the shell;

two actuators individually mounted to the shell, the shell substantially surrounding and in spaced relation to the actuators;

a jaw coupled to each actuator;

at least one guide coupled to each jaw, each guide coupled to the shell and for bearing the weight of the jaw coupled to each actuator;

wherein the shell is effected to maintain the actuators at a temperature of about 400°

F. or less when the end effector grasps a heated object;

wherein each jaw has one or more fingers for grasping the heated object; and

wherein the shell includes a plurality of sleeves and at least two guides coupled to each jaw, each guide mounted in at least one of the sleeves in the shell.

15. An end effector for use with an industrial robot and for grasping heated objects, the end effector comprising:

two substantially identical grippers mounted substantially parallel and opposed to one another;

each gripper including;

a shell having an interior portion and at least one opening through which a gas may flow into and out of the interior portion of the shell;

two actuators individually mounted to the shell the shell substantially surrounding and in spaced relation to the actuators;

a jaw coupled to each actuator;

at least one guide coupled to each jaw, each guide coupled to the shell and for bearing the weight of the jaw coupled to each actuator;

wherein the shell is effected to maintain the actuators at a temperature of about 400°

F. or less when the end effector grasps a heated object;

wherein each jaw has one or more fingers for grasping the heated object;

wherein the shell includes a plurality of sleeves and at least two guides coupled to each jaw, each guide mounted in at least one of the sleeves in the shell; and

wherein each sleeve is coated with a friction reducing material.

16. An end effector for use with an industrial robot and for grasping a heated object, the end effector comprising:

a shell having an interior portion, at least one opening through which a gas may flow into and out of the interior portion of the shell, and a plurality of sleeves, the shell operable to maintain the temperature of the interior portion at least about 500°

F. less than the temperature of the heated object grasped by the end effector;

two axially aligned and opposed cylinders, each cylinder having a main portion and individually mounted to the shell, the shell substantially surrounding and in spaced relation to the main portion of each cylinder;

a piston disposed in each cylinder, each piston having a piston rod;

a jaw coupled to each piston rod; and

a pair of diagonally-positioned guide rods coupled to each jaw, each rod in each pair of guide rods slidably received by at least one of the plurality of sleeves.

17. An end effector as in claim 16, wherein each jaw has one or more fingers for grasping the heated object.

18. An end effector as in claim 16, wherein in each sleeve is coated with a friction reducing material.

19. An end effector as in claim 16, further comprising a synchronization mechanism coupled to each of the jaws.

20. An end effector as in claim 19, wherein the synchronization mechanism includes a lever arm coupled to the bottom of the shell and a first motion rod coupled to the lever arm and one of the jaws and a second motion rod coupled to the lever arm and the other one of the jaws.

21. An end effector for use with an industrial robot and for grasping a heated object, the end effector comprising:

a frame having a plurality of sleeves;

two actuators mounted to the frame;

a jaw coupled to each actuator;

at least one guide coupled to each jaw, each guide positioned within at least one of the plurality of sleeves of the frame and for bearing the weight of the jaw coupled to each actuator; and

a synchronization mechanism having a lever arm coupled to the bottom of the frame, a first motion rod coupled to the lever arm and one of the jaws, and a second motion rod coupled to the lever arm and the other one of the jaws.

22. An end effector as in claim 21, wherein the actuators are axially aligned and opposed to each other.

23. An end effector as in claim 21, wherein each jaw has one or more fingers for grasping a heated object.

24. An end effector as in claim 21, wherein each sleeve is coated with a friction reducing material.

25. An end effector for grasping a heated object, the end effector comprising:

a shell having an interior portion and at least one opening through which a gas may flow into and out of the interior portion of the shell;

at least one actuator mounted to the shell, the shell substantially surrounding and in spaced relation to the actuator;

a jaw coupled to the at least one actuator;

at least one guide coupled to the at least one jaw, the at least one guide coupled to the shell and for bearing the weight of the jaw coupled to the actuator;

wherein the shell is effected to maintain the actuator at a temperature of about 400°

F. or less when the end effector grasps a heated object; and

wherein the at least one opening has a length extending through the shell along a longitudinal axis that is perpendicular to the at least one guide.