Browse Prior Art Database

Smart Gripper

IP.com Disclosure Number: IPCOM000099565D
Original Publication Date: 1990-Feb-01
Included in the Prior Art Database: 2005-Mar-15
Document File: 4 page(s) / 73K

Publishing Venue

IBM

Related People

Schwieters, CR: AUTHOR [+2]

Abstract

The figures illustrate a three-active-state robot gripper used in performing an automated stacking process.

This text was extracted from an ASCII text file.
This is the abbreviated version, containing approximately 100% of the total text.

Smart Gripper

       The figures illustrate a three-active-state robot gripper
used in performing an automated stacking process.

      As the figures show, the gripper comprises the following:
           1.  Gripper
                 a.  2 sets of fingers 6.
                 b.  dual optical switch 7 (phototransistor).
                 c.  aperture cap 3.
                 d.  flag 4.
           2.  Pneumatic Cylinders 5.
           3.  Micro Processor and Software/Program.

      The three active states are shown in Fig. 5.  The "over-clamp"
condition shows a cylinder 5 and flag 4 combination positioned such
that both optical switches 7 are made.  The "clamp" condition shows
the cylinder 5 and flag 4 combination positioned such that only one
switch 7 is made (#2).  The "reset" condition shows the cylinder 5
and flag 4 combination positioned such that only one switch 7 is made
(#1).  If no switches 7 are made, an ERROR condition is detected;
this is an inactive state.  The status information is fed to a
microprocessor, and the gripper status is then determined based on
the optical switch settings.

      Figs. 1-3 show the gripper in its active conditions. Fig. 4
shows one set of finger tips.  The contour channel 8 and channel
guides 9 are depicted; these features perform physical centering of
the object to be picked up.