End effector for mobile remotely controlled robot

• US 8,414,043 B2
• Filed: 10/21/2008
• Issued: 04/09/2013
• Est. Priority Date: 10/21/2008
• Status: Active Grant

• Current Assignee: Foster-Miller Incorporated (Thermo Fisher Scientific Incorporated)
• Original Assignee: Foster-Miller Incorporated (Thermo Fisher Scientific Incorporated)
• Inventors: Albin, Scott R., Fisk, Allan T.
• Primary Examiner(s): Kramer, Dean
• Assistant Examiner(s): VU, STEPHEN A
• Application Number:
  US12/288,500
• Publication Number:
  US 20100095799A1
• Time in Patent Office: 1,631 Days
• Field of Search: 294/106, 294/116, 744/900.3, 744/25, 744/34, 744/35, 744/37, 744/39, 74/22.A, 74/25, 901/1, 901/23, 901/25, 901 27- 29, 901/31
• US Class Current: 294/106
• CPC Class Codes: B25J 15/0213 actuated by gears
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

An end effector for a mobile, remotely controlled robot includes first and second fingers; each finger fixed to a gear segment for rotation therewith; and a drive subsystem driving the gear segments and the associated fingers between open and closed positions.

Claims

1. An end effector for a mobile, remotely controlled robot comprising:

a housing;

first and second fingers;

a first gear segment consisting of a sector of a first full gear within said housing;

a second gear segment consisting of a sector of a second full gear within said housing;

said first finger fixed to said first gear segment and said second finger fixed to said second gear segment for rotation therewith; and

a drive subsystem driving said gear segments and the associated fingers between open and closed positions.

2. The end effector of claim 1 in which the fingers are gripper fingers.

3. The end effector of claim 1 in which the gear segments are worm gear segments and the drive subsystem further includes a worm for driving the gear segments.

4. The end effector of claim 3 in which each said finger is fixed to said associated worm gear segment by a pivot pin on each said worm gear segment.

5. The end effector of claim 4 in which each said pivot pin extends from both sides of said associated gear segment and each said gripper finger has at a proximal end a yoke with upper and lower spaced arms for fixedly engaging the associated said pivot pin on either side of said gear segment.

6. The end effector of claim 3 in which said worm gear segments are the same size.

7. The end effector of claim 3 in which each said worm gear segment is a 60°

sector of a full gear.

8. The end effector of claim 3 in which said worm drives said worm gear segments equally, synchronously.

9. The end effector of claim 1 in which said drive subsystem includes a folded motor and gear reducer assembly.

10. The end effector of claim 9 in which said drive subsystem includes a drive gear, said motor and a gear reducer are in side by side relationship and a first gear on the motor drives a second gear on one end of said gear reducer and a third gear on another end of said gear reducer drives said drive gear.

11. An end effector for a mobile, remotely controlled robot comprising:

first and second fingers;

each of said fingers fixed to a respective worm gear segment for rotation therewith;

a worm for driving said worm gear segments and the associated fingers between open and closed positions;

a folded motor and gear reducer assembly driving said worm;

said worm including a drive gear, said motor and a gear reducer being in side by side relationship and a first gear on the motor drives a second gear on one end of said gear reducer and a third gear on another end of said gear reducer drives said drive gear of said worm.

12. An end effector for a mobile, remotely controlled robot comprising:

first and second fingers;

a first gear segment;

a second gear segment;

each of said fingers fixed to a respective gear segment for rotation therewith; and

a drive subsystem driving said gear segments and the associated fingers between open and closed positions, said drive subsystem including a folded motor and gear reducer assembly and a drive gear, wherein said motor and gear reducer are in side by side relationship and a first gear on the motor drives a second gear on one end of said gear reducer and a third gear on another end of said gear reducer drives said drive gear.

13. An end effector for a mobile, remotely controlled robot comprising:

first and second fingers;

the first finger fixed to a gear segment via a yoke for rotation therewith, said yoke including an upper spaced arm above and a lower spaced arm below said gear segment;

the second finger fixed to a second gear segment via a second yoke for rotation therewith, said second yoke including an upper spaced arm above and a lower spaced arm below said second gear segment; and

a drive subsystem driving said gear segments, said yokes, and the associated fingers between open and closed positions.

14. The end effector of claim 13 further including a housing, wherein the gear segments are within the housing, and the arms of the first and second yokes are external to the housing.