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Compact Gripper Module With Variable Force

IP.com Disclosure Number: IPCOM000039524D
Original Publication Date: 1987-Jun-01
Included in the Prior Art Database: 2005-Feb-01
Document File: 2 page(s) / 88K

Publishing Venue

IBM

Related People

Schaefer, JO: AUTHOR [+2]

Abstract

A gripper at the end of a manipulator arm of a robot has its jaws moved towards each other by a controlled force through designing cam profiles on non-gripping surfaces of the jaws to cause closing of the jaws in a non-linear force/deflection arrangement by an initial clamping force being reduced and an added clamping force being applied in the expected clamping zone. For example, the maximum clamping force could be applied during the final one-third of travel of the jaws. A gripper module 1 includes a pair of jaws 2 pivotally mounted on a pin 3 extending between parallel side plates 4 (Fig. 2) of the module 1. The solid line position of the jaws 2 in Figs. 1 and 2 shows the jaws 2 fully closed without clamping a part, such as a printed circuit board card. Each of the jaws 2 has its non-gripping surface 5 (Fig.

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Compact Gripper Module With Variable Force

A gripper at the end of a manipulator arm of a robot has its jaws moved towards each other by a controlled force through designing cam profiles on non-gripping surfaces of the jaws to cause closing of the jaws in a non-linear force/deflection arrangement by an initial clamping force being reduced and an added clamping force being applied in the expected clamping zone. For example, the maximum clamping force could be applied during the final one-third of travel of the jaws. A gripper module 1 includes a pair of jaws 2 pivotally mounted on a pin 3 extending between parallel side plates 4 (Fig. 2) of the module 1. The solid line position of the jaws 2 in Figs. 1 and 2 shows the jaws 2 fully closed without clamping a part, such as a printed circuit board card. Each of the jaws 2 has its non-gripping surface 5 (Fig. 1) formed with a cam profile for cooperation with a separate cam roller 6. The cam rollers 6 are rotatably supported on a slider 7, which is connected to a piston rod 8 (Fig. 3) of an air cylinder 9 for movement. The slider 7 has portions 10 (Fig. 2) extending from opposite sides thereof for disposition within channels 11 in the side plates 4.

(Image Omitted)

The jaws 2 are moved from the non-clamping position (phantom line position in Fig. 1) towards the clamping position by advancement of the slider 7 to the left in Fig. 1 by the air cylinder 9. The slider 7 will not advance to the position of Fig. 1 when the jaws 2 have a part clamped therebetween. A magnetic sensor 12 senses the presence of an edge 13 of the slider 7 if a part is clamped between the jaws 2 since the edge 13 will not have advanced to the position...