US20010024045A1 - Gripper with enhanced opening range - Google Patents
Gripper with enhanced opening range Download PDFInfo
- Publication number
- US20010024045A1 US20010024045A1 US09/808,266 US80826601A US2001024045A1 US 20010024045 A1 US20010024045 A1 US 20010024045A1 US 80826601 A US80826601 A US 80826601A US 2001024045 A1 US2001024045 A1 US 2001024045A1
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- US
- United States
- Prior art keywords
- piston
- housing
- gripper
- finger
- disposed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
Definitions
- This invention relates to grippers and more specifically to parallel type grippers for use with a machine tool or robotic machines.
- a feature of this improved gripper resides in providing a gripper of a given envelope size, i.e. housing, having a greater range of movement between an opened and closed position of the gripper fingers carried thereon. In other words, the range between the open and closed position is greater than that of a known unit of equal size.
- a gripper that includes a housing having a cylinder bore extending therethrough which is sealed on the opposite ends thereof.
- a piston is slidably disposed within said cylinder bore for reciprocating therein.
- the piston is activated to reciprocate in either direction by fluid pressure, e.g. compressed air.
- the piston is fluid activated in one direction and spring biased to shift the piston in the opposite direction.
- the housing is provided with a cruciform slot extending parallel to the axis of the cylindrical bore.
- a pair of cruciform finger carriers are reciprocally mounted within the cruciform slot to slide between an open and closed position.
- a suitable gripper finger is carried on each of the finger carriers which are arranged to grip a work piece therebetween.
- one of the finger carriers is provided with a rack disposed in meshing relationship to an idler gear rotatably journaled within the housing between the piston and the rack of the finger carrier.
- the piston is also provided with a rack disposed in meshing relationship with the idler gear.
- the other finger carrier is pinned to the piston at a point longitudinally spaced from the axis of rotation of the idler gear.
- the arrangement is such that the finger carriers and the fingers carried thereby are shifted between open and closed position in synchronization with the displacement or reciprocation of the piston whereby the range of movement between the open and closed position of the gripper fingers is enhanced from the known grippers of comparable size.
- FIG. 1 is a longitudinal sectional view of a gripper embodying the invention.
- FIG. 2 is a sectional view of the housing.
- FIG. 3 is a bottom view of FIG. 1.
- FIG. 4 is a longitudinal sectional view of a modified embodiment.
- a gripper 10 which includes a housing 11 having a cylinder chamber 12 therein. It will be understood that the cylinder chamber 12 is sealed at both ends by suitable end closures 13 and 14 . Slidably disposed within the chamber 12 is a piston 15 .
- the piston 15 is fluid actuated, e.g. by compressed air.
- An inlet-outlet port 16 , 17 is located in the housing 11 at a location on opposite ends of the piston 15 and which ports are disposed in communication to a suitable source of fluid supply and appropriate controls for directing fluid pressure to the respective ports in a well known manner. It will be understood that suitable piston seals 18 , 19 are located adjacent each end of the piston 15 .
- a pinion 20 Disposed within the housing 11 is a pinion 20 rotatably journaled therein.
- the piston 15 is provided with a series of teeth defining a rack 15 A disposed in meshing relationship with the idler pinion 20 .
- the housing 11 is provided with a longitudinally disposed cruciform slot 11 A, in which a pair of opposed finger carriers 21 , 22 are reciprocally mounted for movement between a closed and opened position.
- the respective finger carriers 21 , 22 are each provided with a complimentary cruciform shape adapted to be slidably received within slot 11 A.
- one of the finger carriers 21 is provided with a rack portion 21 A disposed in meshing relationship with the idler pinion 20 .
- the arrangement is such that the movement of finger carrier 21 is synchronized with the movement of the piston 15 .
- FIG. 3 illustrates a bottom view of the housing 11 looking upward into the cruciform slot 11 A.
- the upper end of the slot 11 A is provided with an elongated opening 11 B.
- the piston 15 is provided with a lateral extending pin 23 which extends through opening 11 B to connect with the other finger carrier 22 .
- the finger carrier 22 is fixedly connected to the piston 15 to move therewith toward or away from the other finger carrier 21 as the piston 15 is displaced in one direction or the other.
- the arrangement is such that the range of opening between the respective finger carriers 21 and 22 is enhanced for a given size housing; all other things being equal.
- both finger carriers 21 , 22 are synchronized to the movement of the piston 15 ; one finger carrier 21 being synchronized by the action of the pinion 20 and the other finger carrier 22 by the direct connection afforded by the pin 23 .
- FIG. 4 illustrates another embodiment of this invention.
- the embodiment of FIG. 4 is identical to that herein described except that a spring 30 is acting on the piston 15 to morally return the respective finger carriers toward closed position when the fluid pressure acting on the other end of the piston is released.
- fluid pressure e.g. compressed air
- the respective finger carriers are moved toward the open position as shown in FIG. 4.
- the spring 30 biased between the other end of the piston 15 and the adjacent end seal is compressed.
- the spring 30 functions to shift the piston to the right, causing the respective finger carriers 21 and 22 to move toward their closed position.
- enhanced accuracy can be achieved by maintaining a close to zero tolerance between the sliding surfaces of the cruciform slot 11 A with the corresponding surfaces of the cruciform finger carriers 21 , 22 disposed in sliding relationship therewith.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A power gripper for a machine or robotic tool having a housing provided with a cylinder and piston for actuating a pair of finger carriers slidably mounted on the housing to reciprocate between open and closed positions wherein the range of opening is enhanced for a gripper of a given size. This is attained by the piston rod having a rack portion meshing with an idler pinion that is in meshing relationship with a rack formed on one of the finger carriers whereby the latter is synchronized relative to the movement of the piston. The other finger carrier is pinned to the piston to move therewith. In one form of the invention, a fluid pressure acting on the opposed ends of the piston effects the drive of the piston in either direction. In another form of the invention, a fluid pressure is imparted on one end of the piston only and which piston is spring biased to effect the drive of the piston in the opposite direction.
Description
- This application relates to provisional application Ser. No. 60/192,225 filed Mar. 27, 2000 for Gripper With Enhanced Opening Range.
- This invention relates to grippers and more specifically to parallel type grippers for use with a machine tool or robotic machines.
- Various constructions of mechanical grippers for use with machine tools and/or robotic tools for holding and/or locating a work piece are known. Such known grippers have been disclosed in various U.S. patents, e.g. U.S. Pat. Nos. 4,593,948; 4,741,568; 4,874,194; 5,125,708; 5,163,720; 5,529,359; 5,572,915; 5,976,581 and 6,003,431. While these known grippers are useful for their intended purposes, there still persists certain problems and/or deficiencies, e.g. increasing and/or enhancing the range of movement between the open and closed position of the gripper fingers for a given size gripper housing or envelope. In other words, that the range between the open and closed positions of the gripper fingers is greater than that of a known gripper of equal size.
- A feature of this improved gripper resides in providing a gripper of a given envelope size, i.e. housing, having a greater range of movement between an opened and closed position of the gripper fingers carried thereon. In other words, the range between the open and closed position is greater than that of a known unit of equal size.
- Another feature resides in the provision that the gripper disclosed herein is relatively simple and economical to fabricate.
- The foregoing features, objects and other advantages of this invention are attained by a gripper that includes a housing having a cylinder bore extending therethrough which is sealed on the opposite ends thereof. A piston is slidably disposed within said cylinder bore for reciprocating therein. In one form of the invention, the piston is activated to reciprocate in either direction by fluid pressure, e.g. compressed air. In another form of the invention, the piston is fluid activated in one direction and spring biased to shift the piston in the opposite direction.
- In either event, the housing is provided with a cruciform slot extending parallel to the axis of the cylindrical bore. A pair of cruciform finger carriers are reciprocally mounted within the cruciform slot to slide between an open and closed position. A suitable gripper finger is carried on each of the finger carriers which are arranged to grip a work piece therebetween.
- In accordance with this invention, one of the finger carriers is provided with a rack disposed in meshing relationship to an idler gear rotatably journaled within the housing between the piston and the rack of the finger carrier. The piston is also provided with a rack disposed in meshing relationship with the idler gear.
- The other finger carrier is pinned to the piston at a point longitudinally spaced from the axis of rotation of the idler gear. The arrangement is such that the finger carriers and the fingers carried thereby are shifted between open and closed position in synchronization with the displacement or reciprocation of the piston whereby the range of movement between the open and closed position of the gripper fingers is enhanced from the known grippers of comparable size.
- FIG. 1 is a longitudinal sectional view of a gripper embodying the invention.
- FIG. 2 is a sectional view of the housing.
- FIG. 3 is a bottom view of FIG. 1.
- FIG. 4 is a longitudinal sectional view of a modified embodiment.
- Referring to FIG. 1, there is disclosed a
gripper 10 which includes ahousing 11 having acylinder chamber 12 therein. It will be understood that thecylinder chamber 12 is sealed at both ends bysuitable end closures chamber 12 is apiston 15. In the illustrated embodiment of FIG. 1, thepiston 15 is fluid actuated, e.g. by compressed air. An inlet-outlet port 16, 17 is located in thehousing 11 at a location on opposite ends of thepiston 15 and which ports are disposed in communication to a suitable source of fluid supply and appropriate controls for directing fluid pressure to the respective ports in a well known manner. It will be understood thatsuitable piston seals piston 15. - Disposed within the
housing 11 is apinion 20 rotatably journaled therein. Thepiston 15 is provided with a series of teeth defining arack 15A disposed in meshing relationship with theidler pinion 20. As shown in FIG. 2, thehousing 11 is provided with a longitudinally disposed cruciform slot 11A, in which a pair ofopposed finger carriers respective finger carriers - As shown in FIG. 2, one of the
finger carriers 21 is provided with arack portion 21A disposed in meshing relationship with theidler pinion 20. The arrangement is such that the movement offinger carrier 21 is synchronized with the movement of thepiston 15. - FIG. 3 illustrates a bottom view of the
housing 11 looking upward into the cruciform slot 11A. The upper end of the slot 11A, as best seen in FIG. 2 and as seen in FIG. 3, is provided with an elongated opening 11B. - According to this invention, the
piston 15 is provided with a lateral extendingpin 23 which extends through opening 11B to connect with theother finger carrier 22. Thus, it will be apparent that thefinger carrier 22 is fixedly connected to thepiston 15 to move therewith toward or away from theother finger carrier 21 as thepiston 15 is displaced in one direction or the other. The arrangement is such that the range of opening between therespective finger carriers - In operation, when a fluid medium, e.g. compressed air, is introduced into
port 16, the fluid pressure acting onpiston 15 will force the piston to the left as viewed in FIG. 1, causing the finger carrier to the opened position. The air in the chamber on the other end of thepiston 15 is exhausted through port 17. As thepiston 15 is displaced toward the open position, i.e. shifted left as seen in FIG. 1, thefinger carrier 22 tied topiston 15 bypin 23 is shifted to the left. Thus, as viewed in FIG. 1, thefinger carriers - When air is introduced into port17, the action of the
piston 15 is reversed, i.e. shifted to the right as viewed in FIG. 1. In doing so, therespective finger carriers - Thus, both
finger carriers piston 15; onefinger carrier 21 being synchronized by the action of thepinion 20 and theother finger carrier 22 by the direct connection afforded by thepin 23. - FIG. 4 illustrates another embodiment of this invention. The embodiment of FIG. 4 is identical to that herein described except that a
spring 30 is acting on thepiston 15 to morally return the respective finger carriers toward closed position when the fluid pressure acting on the other end of the piston is released. In this form of the invention, fluid pressure, e.g. compressed air, is introduced intoport 16 to effect displacement of thepiston 15 to the left as viewed in FIG. 4. In doing so, the respective finger carriers are moved toward the open position as shown in FIG. 4. Also, thespring 30 biased between the other end of thepiston 15 and the adjacent end seal is compressed. As soon as the fluid pressure acting on the other end of thepiston 15 is released, thespring 30 functions to shift the piston to the right, causing therespective finger carriers - In the disclosed embodiments, enhanced accuracy can be achieved by maintaining a close to zero tolerance between the sliding surfaces of the cruciform slot11A with the corresponding surfaces of the
cruciform finger carriers - While the present invention has been described with respect to a particular embodiment, modifications and variations may be made without departing from the spirit and scope of this invention.
Claims (10)
1. A gripper comprising:
a housing;
a cylindrical bore disposed within said housing;
a piston reciprocally mounted within said bore;
said piston having a rack portion;
an idler pinion rotatably mounted within said housing and in meshing relationship with said rack portion;
a longitudinal slot formed in said housing;
said slot being disposed in parallel relative to said cylinder bore;
a pair of finger carriers slidably disposed in said slot for movement toward and away from one another;
one of said finger carriers having a rack in meshing relationship with said idler pinion;
and a connector connecting the other of said finger carriers to said piston whereby the displacement of said piston effects the translation of said finger carriers toward and away from one another.
2. A gripper as defined in wherein said slot is cruciform in cross-section;
claim 1
and each of said finger carriers has a complimentary cruciform cross-section slidably disposed within said cruciform slot.
3. A gripper as defined in and including means for introducing a fluid pressure on the opposed ends of said piston for effecting the displacement of said piston within said cylinder bore.
claim 1
4. A gripper as defined in and including a means for introducing a fluid pressure on one end of said piston;
claim 1
and a spring biasing the other end of said piston.
5. A gripper comprising:
a housing;
a cylindrical bore extending through said housing;
opposed end closures sealing the ends of said cylindrical bore;
a piston slidably disposed within said cylindrical bore;
said piston having a rack portion;
a cruciform slot extending parallel the axis of said cylindrical bore;
an idler pinion disposed within said housing between said cylindrical bore and said cruciform slot;
said idler pinion being disposed in meshing relationship with said piston rack portion;
a pair of finger carriers slidably disposed within said cruciform slot;
one of said finger carriers having a rack disposed in meshing relationship with said idler pinion;
and a pin connecting the other of said pair of finger carriers to said piston whereby the reciprocation of said piston within said cylindrical bore effects the displacement of said finger carriers toward and away from one another to define a closed and open position.
6. A gripper comprising:
a housing of a predetermined size;
a cylindrical bore disposed within said housing;
a piston having a rack portion reciprocally disposed within said cylinder bore;
an idler pinion in meshing relationship with said rack portion;
a pair of finger carriers reciprocally mounted on said housing for movement between an open and closed position wherein one of said finger carriers is in meshing relationship with said idler pinion and the other finger carrier is fixedly connected to said piston.
7. A gripper as defined in wherein said one of said finger carriers is synchronized to move in a direction opposite to the movement of said piston and said other finger carrier is arranged to shift in unison with said piston.
claim 6
8. A gripper comprising:
a housing;
a cylindrical bore disposed in said housing;
a piston reciprocally disposed within said cylinder;
a pair of finger carriers mounted in said housing for movement between open and closed position;
each of said pair of finger carriers being operatively connected to said piston,
whereby one of said finger carriers is synchronized to move in a direction opposite to that of said piston while the other finger carrier is arranged to move in unison with said piston when said piston is actuated.
9. A gripper as defined in and including means for introducing a fluid pressure on each end of said piston to effect the reciprocation of said piston within said cylinder bore.
claim 8
10. A gripper as defined in and including a means for introducing a fluid pressure only on one end of said piston to reciprocate said piston in one direction;
claim 8
and a spring biasing the other end of said piston for shifting said piston in the opposite direction.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/808,266 US6428071B2 (en) | 2000-03-27 | 2001-03-14 | Gripper with enhanced opening range |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US19222500P | 2000-03-27 | 2000-03-27 | |
US09/808,266 US6428071B2 (en) | 2000-03-27 | 2001-03-14 | Gripper with enhanced opening range |
Publications (2)
Publication Number | Publication Date |
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US20010024045A1 true US20010024045A1 (en) | 2001-09-27 |
US6428071B2 US6428071B2 (en) | 2002-08-06 |
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US09/808,266 Expired - Lifetime US6428071B2 (en) | 2000-03-27 | 2001-03-14 | Gripper with enhanced opening range |
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US20210378702A1 (en) * | 2020-06-05 | 2021-12-09 | National University Corporation Okayama University | Puncture needle gripping device and puncture robot having puncture needle gripping device |
CN112192590A (en) * | 2020-08-28 | 2021-01-08 | 南京禹智智能科技有限公司 | Industrial robot clamping component |
WO2022041868A1 (en) * | 2020-08-28 | 2022-03-03 | 南京禹智智能科技有限公司 | Industrial robotic clamping component |
KR102682658B1 (en) * | 2023-10-30 | 2024-07-11 | 주식회사 지에스아이 | Gripper apparatus for gripping a substrate |
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