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Heavy Duty Clamping Gripper Assembly for Robotic Devices

IP.com Disclosure Number: IPCOM000038788D
Original Publication Date: 1987-Mar-01
Included in the Prior Art Database: 2005-Feb-01
Document File: 2 page(s) / 75K

Publishing Venue

IBM

Related People

Majewski, FT: AUTHOR [+4]

Abstract

A technique is described whereby a heavy duty gripper assembly, as applied to robotic devices, is designed to provide a clamping force of up to three thousand pounds while the gripper assembly maintains a total weight of under twenty pounds. The gripper is unique in that the clamping force will maintain sufficient holding power to the product, even if the actuating air pressure falls to zero or if power fails. Also, the gripper has the ability of picking up various shapes and weights through the use of quick-changing gripper pads. The heavy duty clamping gripper assembly consists of two flat pneumatic cylinders 2 mounted onto base plate 1. Each cylinder 2 actuates a pair of gripper arms 3 by means of clevis 4 that is attached to the cylinder rod. Clevis 4 has two hardened shafts 6 pressed into two bearings 5.

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Heavy Duty Clamping Gripper Assembly for Robotic Devices

A technique is described whereby a heavy duty gripper assembly, as applied to robotic devices, is designed to provide a clamping force of up to three thousand pounds while the gripper assembly maintains a total weight of under twenty pounds. The gripper is unique in that the clamping force will maintain sufficient holding power to the product, even if the actuating air pressure falls to zero or if power fails. Also, the gripper has the ability of picking up various shapes and weights through the use of quick-changing gripper pads. The heavy duty clamping gripper assembly consists of two flat pneumatic cylinders 2 mounted onto base plate 1. Each cylinder 2 actuates a pair of gripper arms 3 by means of clevis 4 that is attached to the cylinder rod. Clevis 4 has two hardened shafts 6 pressed into two bearings 5. Each shaft 6 extends through only one arm 3 so as to enable each arm to act as an independent cam follower. The arms 3 are secured to base plate 1 by means of four pivot blocks 7. A slot is provided in each arm 3 at clevis 4 so that arm 3 is able to travel back and forth on shaft 6 during actuation, pivoting around pivot block 7. The slot limits the travel of arm 3. Clamping pad assemblies 8 are mounted on arms 3 and consist of interchangeable pads 9 fixed to swivel plate 10, so as to provide a self-centering feature for holding the product. Bumpers 11 are provided so as to assist in positioning the pr...