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Means for Adjusting Parallelism of Robot Fingers

IP.com Disclosure Number: IPCOM000044819D
Original Publication Date: 1984-Oct-01
Included in the Prior Art Database: 2005-Feb-06
Document File: 1 page(s) / 11K

Publishing Venue

IBM

Related People

Leverett, TW: AUTHOR

Abstract

A gripper 1 for an object manipulator such as an industrial robot is provided with gripping fingers 2, each of which is articulated by a pair of parallel links 4 and 5 connected to suitable actuating mechanism not shown. The links 4 and 5 are supported so as to maintain the gripping faces of fingers 2 in substantial parallelism as the fingers 2 move toward and away from each other. To assure parallelism of links 4 and 5, link 5 is made adjustable by inclusion of a differential screw 7. Screw 7 includes a first threaded portion 8 having 24 threads per inch and second threaded portion 9 having 32 threads per inch. Nut 10 simultaneously rotates both threaded portions 8 and 9 to provide a differential length adjustment between link segments 11 and 12.

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Means for Adjusting Parallelism of Robot Fingers

A gripper 1 for an object manipulator such as an industrial robot is provided with gripping fingers 2, each of which is articulated by a pair of parallel links 4 and 5 connected to suitable actuating mechanism not shown. The links 4 and 5 are supported so as to maintain the gripping faces of fingers 2 in substantial parallelism as the fingers 2 move toward and away from each other. To assure parallelism of links 4 and 5, link 5 is made adjustable by inclusion of a differential screw 7. Screw 7 includes a first threaded portion 8 having 24 threads per inch and second threaded portion 9 having 32 threads per inch. Nut 10 simultaneously rotates both threaded portions 8 and 9 to provide a differential length adjustment between link segments 11 and 12. The length adjustment responds to rotation of nut 10 as a function of the difference in the pitch of the two threaded sections or by the equivalent of a single threaded section having a pitch of 96 threads per inch.

Disclosed anonymously

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