Browse Prior Art Database

Multi-Tasking Robotic Gripper

IP.com Disclosure Number: IPCOM000038970D
Original Publication Date: 1987-Apr-01
Included in the Prior Art Database: 2005-Feb-01
Document File: 2 page(s) / 79K

Publishing Venue

IBM

Related People

Frank, V: AUTHOR [+4]

Abstract

The multi-tasking robotic gripper 10 (Fig. 1) can be used when parts of various sizes need to be transported as part of an automated robotic assembly line. The gripper is composed of two parts: a tactile finger assembly 12 and a dual, independent vacuum head assembly 14 which is mounted underneath the tactile finger assembly 12. The tactile finger assembly 12 consists of two opposed fingers 16 which are controlled by parallel linkage arms 18 for precise gripping. Referring to Fig. 2, the dual vacuum head assembly 14 consists of a center vacuum pencil 20 which is spring compliant and retractable within the housing 22. It may either be extended down below the tactile fingers or retracted up out of the way for complete finger closure.

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Multi-Tasking Robotic Gripper

The multi-tasking robotic gripper 10 (Fig. 1) can be used when parts of various sizes need to be transported as part of an automated robotic assembly line. The gripper is composed of two parts: a tactile finger assembly 12 and a dual, independent vacuum head assembly 14 which is mounted underneath the tactile finger assembly 12. The tactile finger assembly 12 consists of two opposed fingers 16 which are controlled by parallel linkage arms 18 for precise gripping. Referring to Fig. 2, the dual vacuum head assembly 14 consists of a center vacuum pencil 20 which is spring compliant and retractable within the housing
22. It may either be extended down below the tactile fingers or retracted up out of the way for complete finger closure. The vacuum pencil 20 is retracted by the application of com

(Image Omitted)

pressed air through port 24. Vertical compliance spring 26 facilitates the gripping and transport of objects of varying heights. The second vacuum pickup 28 is a radially ported vacuum sleeve which operates independently of the center vacuum pencil. Vacuum port 30 is connected to vertical passageways 32 via circumferential passageway 34. This sleeve is press fit into housing 22. Applied vacuum is transferred evenly to the object that is gripped. O-rings 36 provide the seals for the two vacuum grippers. With this invention, a robotic arm (not shown) is capable of gripping and transporting a variety of differently shaped objects with...