WO1982002872A1 - Assemblage de serrage - Google Patents

Assemblage de serrage Download PDF

Info

Publication number
WO1982002872A1
WO1982002872A1 PCT/US1981/000225 US8100225W WO8202872A1 WO 1982002872 A1 WO1982002872 A1 WO 1982002872A1 US 8100225 W US8100225 W US 8100225W WO 8202872 A1 WO8202872 A1 WO 8202872A1
Authority
WO
WIPO (PCT)
Prior art keywords
members
gripping
clamp assembly
article
frame
Prior art date
Application number
PCT/US1981/000225
Other languages
English (en)
Inventor
Tractor Co Caterpillar
Original Assignee
Huff Edward R
Warner Hubert H
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Huff Edward R, Warner Hubert H filed Critical Huff Edward R
Priority to EP19810901609 priority Critical patent/EP0072796A4/fr
Priority to PCT/US1981/000225 priority patent/WO1982002872A1/fr
Priority to JP50209381A priority patent/JPS58500112A/ja
Priority to CA000395480A priority patent/CA1177859A/fr
Publication of WO1982002872A1 publication Critical patent/WO1982002872A1/fr

Links

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
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/46—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces by inflatable elements

Definitions

  • This invention relates generally to a clamp assembly for controllably gripping an article and more particularly to such a clamp assembly having a pair of pressurizable gripping members.
  • a clamp assembly for controllably gripping an article.
  • the clamp assembly includes a pair of pressurizable gripping members, that are mounted on a pair of -opposed frame members, and movable between a position at which the frame members are spaced apart and a position at which they are substantially adjacent one another.
  • Clamp assemblies for use with automated material handling devices generally require a sensor or other data input to adapt the assembly to a configuration conducive for controllably gripping a randomly-presented article of indeterminate size or shape.
  • the present invention simply and effectively solves this problem by providing plural pressurizable gripping members having compliant article-contacting surfaces.
  • the gripping members are controllably pressurized to form the compliant surface at least partially about the article and apply a minimal, predetermined contact force on the article. The force applied is sufficient for safely lifting or moving the article, but is not of a magnitude to render damage to vulnerable features of the article.
  • rigid non-compliant gripping surfaces are avoided, thereby eliminating any risk of marring or otherwise damaging previously finished surfaces on the article.
  • Fig. 1 is an isometric view of an embodiment of the present invention with opposed members of the clamp assembly spaced apart.
  • Fig. 2 is an isometric view of an embodiment of the present invention with the opposed members adjacently disposed.
  • Fig..3 is an isometric view of an embodiment
  • Fig. 4 is to top plan view of an embodiment of the present invention with sections broken away to show details of the frame members.
  • Fig. 5 is a sectional view of the present invention, taken along ' the line V-V of Fig. 4.
  • the preferred embodiment of a clamp assembly for controllably gripping an article 10 is generally indicated by the reference numeral 12.
  • the clamp assembly 12 includes a first frame member 14 and a second frame member 16 opposedly mounted with respect to the first frame member.
  • each of the frame members have a semi-cylindrical rigid wall portion 18,20, a reinforcing brace 21,22 attached to the radially inner surface of the v/all portions 18,20, a flange 23,24 extending about the periphery of the wall portions 18,20, and a pair of support arms 26,28.
  • Each of the support arms include spaced upper and lower planar members and are respectively attached at a first end 30,32 to the semi-cylindrical wall portion 18,20.
  • support arms 26,28 also respectively have a second end 34,36 and a laterally-offset bore 38,40 projecting through each of the spaced planar members and being positioned intermediately of the respective first and second ends.
  • the clamp assembly 12 includes a first means 44 for moving the frame members 14,16 between a first position at which the frame members are spaced apart, as shown in Fig. 1, and a second position at which the frame members are adjacently disposed_with respect to one another, as shown in Fig. 2.
  • the means 44 for moving the frame members is attached to the second ends 34,36 of the support arms 26,28 and includes a pair of links 46,48 respectively pivotally connected at one end to the second links 34,36 and at an opposite end to one another and to a rod end 50 of a fluid actuated cylinder 52 by a pin 54.
  • the fluid operated cylinder 52 is mounted onto the end of a controllably movable arm 56 such as the movable arm of a robot, not shown.
  • the movable arm 56 includes a pair of spaced mounting brackets 58,60 having aligned bores extending through each of the brackets for receiving a pin 62.
  • the pin 62 also extends through the bores 38,40 of the support arms 26,28 pivotally interconnecting the support arms at a position intermediate of the respective first ends 30,32 and the second ends 34,36.
  • the clamp assembly 12 also includes a first gripping member 64 attached to the first frame member 14 and a second gripping member 66 attached to the second frame member 16.
  • the gripping members 64,66 respectively include a compliant article-contacting surface 67,68 and are constructed of a partially extensible impervious material such as neoprene rubber.
  • the gripping members 64,66 are attached to the frame members 14,16 by a plurality of metallic retainer strips 69 and cap screws 70 extending serially through the retainer strips 69, the gripping members 64,66, and the peripheral flanges 23,24.
  • the construction effectively clamps the compliant material of the gripping members 64,66 to the respective frame members 14,16 forming a substantially air-tight seal about the peripheral flanges 23,24.
  • a pair of pressurizable chambers 72,74 are thus defined by the wall portions 18,20 of the frame members 14,16 and the gripping members 64,66.
  • the compliant, article-contacting surfaces 67,68 of the gripping members 64,66 may have a textured pattern to improve contact and reduce slippage between the members 64,66 and an article 10.
  • a second means 76 for controllably pressurizing the gripping members includes a pair of ports 78,80 formed respectively in the wall portions 18,20 of the frame members 14,16, and supply lines 82,84 connected respectively at one end to the ports 78,80 and at a second end, not shown, to a controllable source of pressurized fluid.
  • the controllable source of pressurized fluid includes a conventional directional flow control valve and an adjustable pressure regulator connected to an air compressor or shop air system.
  • the controllable source of pressurized fluid includes a conventional directional flow control valve and an adjustable pressure regulator connected to an air compressor or shop air system.
  • one of the gripping members 64,66 may be pre-pressurized or otherwise filled with a fluid or foam material, with the other one of the gripping members 64,66 being pressurizable by the second means 76.
  • the opposed frame members 14,16 of the clamp assembly 12 are moved to a first position at which the frame members are spaced apart by extending the rod end 50 of the fluid actuated cylinder 52.
  • This action will cause the links 46,48 to pivot about the pin 54 and bring the second end 34,36 of the support arms 26,28 closer together.
  • the support arms 26,28 are pivotally interconnected at a position intermediate the respective first ends, 30,32 and the second ends 34,36, the arms 26,28 will pivot about the pin 62 and the attached frame members 14,16 will be spaced apart at a first position in response to bringing the second ends 26,28 closer together.
  • the fluid-actuated cylinder is then actuated to retract the rod end 50 and, by the above-described pivot connections, move the second ends 34,36 of the support arms apart.
  • the attached frame members 14,16 are moved to a second position at which the frame members are adjacently disposed as shown in Fig. 2.
  • the directional control valve is shifted to direct a flow of pressurized air into the chambers 72,74 and pressurize the gripping members 64,66. Under pressure, the compliant, article-contacting surfaces 67,68 of the gripping members 64,66 are substantially formed to the shape of the article 12, and a generally uniform contact force is distributed over a broad area of the article 10.
  • the movable arm is maneuvered as desired, to transfer the article 10 to a new position.
  • the article 10 may be placed on a machine tool for subsequent machining operations.
  • the directional control valve is shifted and pressure is released from the chambers 72,74 of the gripping members 64,66.
  • the rod end 50 is again extended, and the frame members 14,16 are spaced apart in the aforementioned manner.
  • _the compliant surfaces 67,68 of the gripping members 64,66 is adaptable to receiving and conforming to a wide range of diversly sized and shaped articles.
  • the present invention has been found to be particularly useful in handling a " variety of stepped shafts having four or more different diameters at various positions on a single shaft.
  • shafts having a diameter ranging from about .01 m to .15 m (0.5 in. to 6.0 in.) and weighing in a range from about .45 kg to 40 kg (1 lb to 90 lb) could be efficiently and safely handled by the clamp * assembly of the present invention.
  • pressurizing the gripping members 64,66 to a pressure in the range of about 70 kPa to 210 kPa (10 psi to 30 psi) is sufficient to form the compliant surfaces 67,68 substantially about a shaft in the above range and provide the necessary contact force for lifting and transferring the shaft.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Un assemblage de serrage (12) permet de saisir de maniere controlee un article (10). Des dispositifs de manipulation automatises de materiau doivent en general faire appel a des dispositifs detecteurs et de commande pour adapter le dispositif aux articles de dimensions et de formes variables. De meme, l'application d'une force de contact excessive entre le dispositif de serrage et l'article peut endommager les surfaces vulnerables et alterer les caracteristiques de l'article manipule. La presente invention resout ce probleme en mettant au point un assemblage de serrage (12) ayant des organes de prehension opposes, pressurisables (64, 66). Les organes de prehension (64, 66) ont chacun une surface deformable de contact avec l'article (67, 68) qui se forment autour de l'article (10) par pressurisation des organes de prehension (64, 66). L'invention presente un interet particulier dans la manipulation d'une grande variete d'arbres de diametre echelonne, de dimensions differentes.
PCT/US1981/000225 1981-02-24 1981-02-24 Assemblage de serrage WO1982002872A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP19810901609 EP0072796A4 (fr) 1981-02-24 1981-02-24 Assemblage de serrage.
PCT/US1981/000225 WO1982002872A1 (fr) 1981-02-24 1981-02-24 Assemblage de serrage
JP50209381A JPS58500112A (ja) 1981-02-24 1981-02-24 クランプ組立体
CA000395480A CA1177859A (fr) 1981-02-24 1982-02-03 Dispositif de serrage

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
WOUS81/00225810224 1981-02-24
PCT/US1981/000225 WO1982002872A1 (fr) 1981-02-24 1981-02-24 Assemblage de serrage

Publications (1)

Publication Number Publication Date
WO1982002872A1 true WO1982002872A1 (fr) 1982-09-02

Family

ID=22161107

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1981/000225 WO1982002872A1 (fr) 1981-02-24 1981-02-24 Assemblage de serrage

Country Status (4)

Country Link
EP (1) EP0072796A4 (fr)
JP (1) JPS58500112A (fr)
CA (1) CA1177859A (fr)
WO (1) WO1982002872A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0229748A2 (fr) * 1986-01-16 1987-07-22 Waco Jonsereds AB Dispositif de changement d'outils sur des machines-outils
AU634439B1 (en) * 1991-07-24 1993-02-18 Anthony Paul Ahrens Gripping apparatus
GB2317157A (en) * 1996-09-12 1998-03-18 Univ Brunel Gripper mechanism using electrorheological fluid
FR2841231A1 (fr) * 2002-06-20 2003-12-26 Imerys Toiture Dispositif comportant une menbrane elastique pour la prehension et la manipulation d'objets fragiles et lourds en milieu industriel
FR2848199A1 (fr) * 2002-12-09 2004-06-11 Seia Dispositif de prehension d'objet conique
CN100369723C (zh) * 2004-12-31 2008-02-20 中国科学技术大学 具有可控刚度的柔顺表面的机器手爪
JP2012148380A (ja) * 2011-01-20 2012-08-09 Motoji Yamamoto ロボットハンド装置
CN103831837A (zh) * 2014-03-24 2014-06-04 中国科学院重庆绿色智能技术研究院 基于磁流变液的柔性夹持装置及夹持方法
GB2510399A (en) * 2013-02-01 2014-08-06 Mover Holdings Ltd M A wheeled load moving device
CN108501007A (zh) * 2018-03-30 2018-09-07 宁波高新区神台德机械设备有限公司 工业机器人夹持器及工业机器人
US11110616B2 (en) 2014-11-18 2021-09-07 Soft Robotics, Inc. Soft robotic actuator enhancements
US11731292B2 (en) 2014-09-17 2023-08-22 Soft Robotics, Inc. Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators
US11738893B2 (en) 2019-04-30 2023-08-29 Soft Robotics, Inc. Picking, placing, and scanning bagged clothing and other articles

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107110130B (zh) * 2014-11-18 2019-11-01 软机器人公司 软机器人的改进
CN107932529B (zh) * 2017-10-12 2020-06-02 义乌市云飞拉链有限公司 一种多功能机械手

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3219382A (en) * 1962-03-15 1965-11-23 Lesieur & Ses Fils Sa Handling device for soft objects
US3574386A (en) * 1968-06-17 1971-04-13 James D Frost Grasping fingers
US3716264A (en) * 1971-03-08 1973-02-13 Aircraft Mechanics Inflatable grippers for brick making machines or the like
DE2421192A1 (de) * 1973-05-03 1974-11-14 Soprec Societe De Prefabricati Vorrichtung zur handhabung von bauplatten, insbesondere von gipsplatten, nach verlassen der herstellungsform

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR553283A (fr) * 1921-06-27 1923-05-19 Perfectionnements apportés aux appareils de manutention, notamment à ceux à utiliser pour manutentionner des objets fragiles et de petites dimensions
GB1323673A (en) * 1969-06-13 1973-07-18 Nat Res Dev Gripping
US3714870A (en) * 1970-12-14 1973-02-06 L Blatt Dual grip actuating unit with travel cylinder assembly

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3219382A (en) * 1962-03-15 1965-11-23 Lesieur & Ses Fils Sa Handling device for soft objects
US3574386A (en) * 1968-06-17 1971-04-13 James D Frost Grasping fingers
US3716264A (en) * 1971-03-08 1973-02-13 Aircraft Mechanics Inflatable grippers for brick making machines or the like
DE2421192A1 (de) * 1973-05-03 1974-11-14 Soprec Societe De Prefabricati Vorrichtung zur handhabung von bauplatten, insbesondere von gipsplatten, nach verlassen der herstellungsform

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP0072796A4 *

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0229748A2 (fr) * 1986-01-16 1987-07-22 Waco Jonsereds AB Dispositif de changement d'outils sur des machines-outils
EP0229748A3 (en) * 1986-01-16 1990-08-16 Waco Jonsereds Ab Apparatus for changing tools in machine tools
AU634439B1 (en) * 1991-07-24 1993-02-18 Anthony Paul Ahrens Gripping apparatus
GB2317157A (en) * 1996-09-12 1998-03-18 Univ Brunel Gripper mechanism using electrorheological fluid
GB2317157B (en) * 1996-09-12 2000-09-06 Univ Brunel Gripper mechanism
FR2841231A1 (fr) * 2002-06-20 2003-12-26 Imerys Toiture Dispositif comportant une menbrane elastique pour la prehension et la manipulation d'objets fragiles et lourds en milieu industriel
EP1375408A1 (fr) * 2002-06-20 2004-01-02 Imerys Toiture Dispositif comportant une membrane élastique pour la préhension et la manipulation d'objets fragiles et lourds en milieu industriel
FR2848199A1 (fr) * 2002-12-09 2004-06-11 Seia Dispositif de prehension d'objet conique
CN100369723C (zh) * 2004-12-31 2008-02-20 中国科学技术大学 具有可控刚度的柔顺表面的机器手爪
JP2012148380A (ja) * 2011-01-20 2012-08-09 Motoji Yamamoto ロボットハンド装置
GB2510399A (en) * 2013-02-01 2014-08-06 Mover Holdings Ltd M A wheeled load moving device
CN103831837A (zh) * 2014-03-24 2014-06-04 中国科学院重庆绿色智能技术研究院 基于磁流变液的柔性夹持装置及夹持方法
US11731292B2 (en) 2014-09-17 2023-08-22 Soft Robotics, Inc. Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators
US11110616B2 (en) 2014-11-18 2021-09-07 Soft Robotics, Inc. Soft robotic actuator enhancements
CN108501007A (zh) * 2018-03-30 2018-09-07 宁波高新区神台德机械设备有限公司 工业机器人夹持器及工业机器人
US11738893B2 (en) 2019-04-30 2023-08-29 Soft Robotics, Inc. Picking, placing, and scanning bagged clothing and other articles

Also Published As

Publication number Publication date
JPS58500112A (ja) 1983-01-20
EP0072796A4 (fr) 1983-07-04
CA1177859A (fr) 1984-11-13
EP0072796A1 (fr) 1983-03-02

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