Gripper device

• US 6,846,331 B2
• Filed: 07/17/2002
• Issued: 01/25/2005
• Est. Priority Date: 07/17/2001
• Status: Expired due to Term

• Current Assignee: Hugh Steeper Limited (Steeper Holdings Ltd.)
• Original Assignee: Hugh Steeper Limited (Steeper Holdings Ltd.)
• Inventors: Senoir, Martin
• Primary Examiner(s): STEWART, ALVIN J
• Application Number:
  US10/196,417
• Publication Number:
  US 20030036805A1
• Time in Patent Office: 923 Days
• Field of Search: 623 57- 65, 294 15- 16, 294 25- 26, 294/902, 901 19- 24, 901 30- 39
• US Class Current: 623/57
• CPC Class Codes: A61F 2/58 Elbows; Wrists ; Other joints; Hands
• CPC Class Codes: A61F 2/588 Hands having holding devices shaped differently from human fingers, e.g. claws, hooks, tubes
• CPC Class Codes: A61F 2002/507 Roller bearings
• CPC Class Codes: A61F 2002/587 Thumbs
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2002/7635 for measuring force, pressure or mechanical tension
• CPC Class Codes: B25J 15/0206 comprising articulated grippers
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control

Abstract

A gripper device comprising at least two portions which are coupled together and which can be moved towards one another to effect a gripping action and away from one another to effect a release action. An electrical motor is arranged to effect such movement, and a battery is connected to supply electrical current to the motor. A capacitor device is also connected to be capable of supplying electrical current to the electrical motor. A control device is arranged to cause the capacitor device to supply electrical current to the electrical motor after supply of electrical current to the electrical motor by the battery, to increase the strength of the gripping action.

Claims

1. A gripper device comprising at least two portions which are coupled together and which can be moved towards one another to effect a gripping action and away from one another to effect a release action, an electrical motor arranged to effect such movement, and a battery connected to supply electrical current to the motor, wherein the gripper device further comprises a capacitor device also connected to be capable of supplying electrical current to the electrical motor, and a control device arranged to cause the capacitor device to supply electrical current to the electrical motor after an initial supply of electrical current to the electrical motor by the battery to increase the strength of the gripping action.

2. A gripper device according to claim 1, wherein the gripper device further comprises a sensor device having an output and arranged to issue a sensor signal at its output when the said two portions are exerting a force beyond a predetermined threshold during a gripping action whilst the battery is supplying electrical current to the electrical motor, and the control device has an input connected to the output of the sensor device and is arranged to cause the capacitor device to supply electrical current to the electrical motor upon receipt of a sensor signal.

3. A gripper device according to claim 2, wherein the sensor device is such as to detect a rise in the electrical current supplied by the battery to the electrical motor.

4. A gripper device according to claim 2, wherein the sensor device comprises at least one pressure sensor arranged to provide a sensor signal when the said two portions come into contact with an article which is to be gripped.

5. A gripper device according to claim 1, wherein the gripper device is provided with an end-of-movement detector device to detect when the said two parts cease to move relative to one another owing to the gripping action being completed with the article which is being gripped resisting further relative movement of the said two portions towards one another.

6. A gripper device according to claim 5, wherein the control device is connected to the end-of-movement detector device and is so constructed and connected that the control device stops the supply of electrical current from both the battery and the capacitor device upon receipt of a signal from the end-of-movement detector device.

7. A gripper device according to claim 1, wherein a selector device is provided on the control device to select current reversal to effect a release action.

8. A gripper device according to claim 1, wherein at least one input is provided as part of the control device to enable the user to control the gripper device.

9. A gripper device according to claim 1, wherein the gripper device forms part of a hand prosthesis.

10. A gripper device according to claim 1, wherein the capacitor device comprises at least one double layer capacitor.

11. A gripper device according to claim 1, wherein the capacitor device comprises at least one supercapacitor.

12. A gripper device according to claim 1, wherein the capacitor device comprises at least one electrochemical capacitor.

13. A gripper device according to claim 1, wherein the capacitor device comprises at least one capacitor having a capacitance equal to or greater than 0.1 F.

14. A gripper device according to claim 1, wherein the battery is connected to charge the capacitor device.