End effector for mobile remotely controlled robot

• US 20100095799A1
• Filed: 10/21/2008
• Published: 04/22/2010
• 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.
• Granted Patent: US 8,414,043 B2
• Time in Patent Office: Days
• US Class Current: 74/490.01
• 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:

first and second fingers;

each finger fixed to a 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 gripper finger is fixed to its associated worm gear segment by a pivot pin on each said worm gear segment.

5. The end effector of claim 3 in which each said pivot pin extends from both sides of its associated gear segment and each said gripper finger has at its proximal end a yoke with upper and lower spaced arms for fixedly engaging the associated said pivot pin on either side of its 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 60°

.

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

9. The end effector of claim 8 in which said drive subsystem includes a drive gear, 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 the other end of said gear reducer drives said drive gear.

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

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

first and second fingers;

each finger fixed to a 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 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 the other end of said gear reducer drives said drive gear of said worm.