GB1469694A - Multiple prehension mechanism - Google Patents

Abstract

1469694 Gripper F R SKINNER 10 May 1974 [14 May 1973] 20781/74 Heading B8H A gripper with gripping fingers movable into different operational modes comprises a pair of spaced plates 121, 122 and three finger assemblies 112 mounted on respective supports 130, one of which is fixedly mounted to the plate 121 and the other two of which are pivotably mounted on the said plate 121 for movement about respective axes PA such that the finger assemblies are movable from a first or three jaw mode in which the finger assemblies are located in intersecting planes and a second or wrap mode in which the planes containing the respective fingers extend parallel to one another. The finger assemblies also provide a tip gripping mode and a spread or external gripping mode in either of the above mentioned modes. Each finger assembly is pivotably mounted about an axis CA on its respective support and is coupled by a link 152 to an adaptor 155 connected to a hydraulic actuator 114 which effects the gripping operation of the fingers. A motor 162 driving a shaft 161 and gears 160, 164, (165), Fig. 4 (not shown), 166 effects movement of the finger assemblies between their first and second operational modes. In an alternative embodiment Figs. 5, 7 and 10 (not shown) hydraulic actuators (215) connected to respective movable supports (266) effect the movement of the finger assemblies between their operational modes and tip assemblies (300) are pivotable mounted at the free ends of each finger. Each tip assembly has a point (305) at each corner and is biased by a plunger (302) such that only one of the points initially engages the load as the fingers are moved to grip the load. Further such movement of the fingers causing the tip assembly to pivot against the bias until two of the points engage the load.