US3963271A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Finger mechanisms of industrial robots
Assignee: Azbil Corp
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Filing: 1974-10-15
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Granted: 1976-06-15
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Expires: 1994-10-15
Abstract
Abstract In a finger mechanism of an industrial robot of the type comprising a plurality of fingers for clamping an article to be manipulated and mounting bars for connecting the fingers to a source of drive, cushion mechanisms are interposed between respective fingers and mounting bars so as to prevent the forces applied to the fingers from transmitting directly to the drive source.
Inventors
- 👤 Yoshide Sugino
- 👤 Nobuo Okonogi
- 👤 Shinsaku Nokagawa
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 15:21
CPC Classifications
B; B25; B25J; B25J15/00; B25J15/08; B25J15/10; B25J15/103; Y; Y10; Y10T; Y10T82/00; Y10T82/25; Y10T82/2514
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
173 words
In a finger mechanism of an industrial robot of the type comprising a plurality of fingers for clamping an article to be manipulated, a drive source for opening and closing said fingers, a mounting bar for supporting each of said fingers, and cushion mechanisms interposed between respective fingers and said mounting bar, thereby preventing undue forces applied to said fingers from transmitting directly to said mounting bar, the improvement wherein each cushion mechanism comprises a hollow cylindrical housing, a cylinder contained in said housing and extending in the axial direction thereof, a piston slidably contained in said cylinder, a piston rod connected to said piston and extending through one end of said cylinder, a nipple secured to said cylinder for admitting motive fluid into said cylinder, a first supporting member for yieldingly supporting the opposite end of said cylinder by said housing, a second supporting member arranged on said one end of said cylinder for supporting said piston rod, and means for mounting a finger on the outer end of said piston rod.
Claim 2
Dependent Claim
173 words
In a finger mechanism of an industrial robot of the type comprising a plurality of fingers for clamping an article to be manipulated, a drive source for opening and closing said fingers, a mounting bar for supporting each of said fingers, and cushion mechanisms interposed between respective fingers and said mounting bar, thereby preventing undue forces applied to said fingers from transmitting directly to said mounting bar, the improvement wherein each cushion mechanism comprises a hollow cylindrical housing, a cylinder contained in said housing and extending in the axial direction thereof, a piston slidably contained in said cylinder, a piston rod connected to said piston and extending through one end of said cylinder, a nipple secured to said cylinder for admitting motive fluid into said cylinder, a first supporting member for yieldingly supporting the opposite end of said cylinder by said housing, a second supporting member arranged on said one end of said cylinder for supporting said piston rod, and means for mounting a finger on the outer end of said piston rod.
Claim 3
Dependent Claim
50 words
The finger mechanism according to claim 1 wherein said second supporting member comprises a female block provided with a pair of tapered openings diverging in opposite directions and said cylinder is provided with a conical member on said one end, said conical member cooperating with one of said tapered openings.
Claim 4
Dependent Claim
41 words
The finger mechanism according to claim 2 wherein a tapered male block cooperating with the other tapered opening of said female block is secured to the outer end of said piston rod and said finger is mounted on said male block.
Claim 5
Dependent Claim
21 words
The finger mechanism according to claim 3 wherein said tapered male block is mounted on said piston rod through a ball.
Claim 6
Dependent Claim
20 words
The finger mechanism according to claim 3 wherein said tapered male block is connected to said housing through a bellow.
Claim 7
Dependent Claim
52 words
The finger mechanism according to claim 1 wherein said first supporting member comprises a ball socket projecting inwardly from one end of said housing, a head for closing said other end of said cylinder, said head being provided with a recess and a ball is held in said recess by said socket.
Claim 8
Dependent Claim
48 words
The finger mechanism according to claim 1 wherein said cylinder is provided with a pin near its end close to said first supporting member, and said pin extends through an opening provided through the wall of said housing for preventing relative rotation between said cylinder and said housing.
Claim 9
Dependent Claim
38 words
The finger mechanism according to claim 1 wherein one end of each cushion mechanism is secured to a mounting bar and the other end is secured to an auxiliary bar secured to a supporting member of a finger.
Claim 10
Dependent Claim
31 words
The finger mechanism according to claim 8 wherein said finger mechanism comprises at least three opposing fingers which are connected to a driving means for operating them to clamp an article.
Claim 11
Dependent Claim
31 words
The finger mechanism according to claim 1 wherein each of said mounting bars is connected to a supporting arm through a rack mechanism which moves said fingers in the vertical direction.
Claim 12
Dependent Claim
37 words
The finger mechanism according to claim 10 wherein said rack mechanism is pivotally mounted on a pivot pin provided at one end of said arm for swinging said arms in the horizontal direction about said pivot pin.
Claim 13
Dependent Claim
39 words
The finger mechanism according to claim 1 wherein there are provided four cushion mechanisms, two of said cushion mechanisms interconnecting one finger to one mounting bar and the remaining two interconnecting the other finger to the other mounting bar.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1979-06-15 | 1979-12-15 | 1980-06-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1983-06-15 | 1983-12-15 | 1984-06-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1987-06-15 | 1987-12-15 | 1988-06-15 | $7700.00 | Window Closed / Lapsed |