Patent US4185866A successfully refreshed from Google Patents.
US4185866A
Expired / Lapsed
US
⏱️ 0.0 years remaining
External-internal gripper
Assignee: ABB Robotics Inc
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Filing: 1978-06-21
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Granted: 1980-01-29
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Expires: 1998-06-21
Abstract
Abstract A compact, internal-external gripper apparatus for use with an industrial robot utilizes a sliding block actuated toggle linkage to apply an input force to a pair of finger supports in a fully enclosed housing. Pressure is selectively supplied to each end of the sliding block to reciprocably move it along an internal way system with a unidirectional spring assist in the workpiece clamping position.
Inventors
- 👤 Christoph F. Wittwer
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-31 18:02
CPC Classifications
B; B25; B25J; B25J15/00; B25J15/02; B25J15/0206
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
146 words
An apparatus for grasping objects, comprising: (a) a gripper housing having an enclosed internal way system; (b) a pair of fingers pivotally supported in said housing, each of the fingers being on opposite sides of the way system with respect to the other; (c) an actuator block slidably fitted into said way system for axial movement therethrough, said block having two axial end portions adapted to receive an actuator input force; (d) a mechanical linkage pivotally connecting a portion of the actuator block disposed between said axial end portions to a portion of each of said fingers offset from the finger pivot for applying a gripper input force to each finger as the actuator block undergoes axial movement; and (e) means for selectively applying a compressive actuator input force to the axial end portions of the actuator block to slide said block in said way system.
Claim 2
Independent Claim
146 words
An apparatus for grasping objects, comprising: (a) a gripper housing having an enclosed internal way system; (b) a pair of fingers pivotally supported in said housing, each of the fingers being on opposite sides of the way system with respect to the other; (c) an actuator block slidably fitted into said way system for axial movement therethrough, said block having two axial end portions adapted to receive an actuator input force; (d) a mechanical linkage pivotally connecting a portion of the actuator block disposed between said axial end portions to a portion of each of said fingers offset from the finger pivot for applying a gripper input force to each finger as the actuator block undergoes axial movement; and (e) means for selectively applying a compressive actuator input force to the axial end portions of the actuator block to slide said block in said way system.
Claim 3
Dependent Claim
42 words
An apparatus as recited in claim 1 wherein said compressive actuator input force means includes a resilient biasing means bearing against one of the axial end portions tending to axially move the actuator block to a predetermined position within the way system.
Claim 4
Dependent Claim
31 words
An apparatus as recited in claim 1 wherein said compressive actuator input force means includes a fluid port within said way system for selectively applying fluid pressure to said actuator block.
Claim 5
Dependent Claim
59 words
An apparatus as recited in claim 1 wherein said compressive input force means includes fluid ports within said way system for selectively applying fluid pressure to each of the axial end portions of the actuator block, and a resilient biasing means bearing against one of said axial end portions tending to move the actuator block in a predetermined direction.
Claim 6
Dependent Claim
18 words
An apparatus as recited in claim 1 wherein said mechanical linkage is fully enclosed within the gripper housing.
Claim 7
Dependent Claim
16 words
An apparatus as recited in claim 1 wherein the way system has a substantially circular cross-section.
Claim 8
Dependent Claim
23 words
An apparatus as recited in claim 6 wherein the periphery of said way system is defined by the walls of said gripper housing.
Claim 9
Dependent Claim
28 words
An apparatus as recited in claim 1 wherein said mechanical linkage amplifies the actuator input force and applies said amplified force to said offset portion of said fingers.
Claim 10
Dependent Claim
41 words
An apparatus as recited in claim 1 wherein said way system has a substantially cylindrical configuration, and a portion of each of the fingers distal to said mechanical linkage, opposite the finger pivots, transverses an extension of the way system centerline.
Claim 11
Dependent Claim
26 words
An apparatus as recited in claim 9 wherein one of said distal finger portions passes through a slot in the distal portion of the other finger.
Claim 12
Independent Claim
185 words
An apparatus for grasping objects, comprising: (a) a gripper housing, having a cylindrical bore; (b) a pair of end caps, closing the ends of said bore; (c) a pair of elongate gripper fingers, supported on pivot joints in said housing, each of the fingers being on opposite sides of said bore with respect to the other; (d) a piston block, slidably received in said bore, said block having two opposite end portions forming expansible end chambers with said bore and said end caps; (e) a mechanical toggle linkage, pivotally connecting a portion of said piston block between said end portions to a portion of each of said gripper fingers offset from the finger pivot joints, for applying a gripper input force to each finger as said piston block undergoes axial movement; (f) a spring, disposed in said bore between one of said end portions and its corresponding end cap, said spring tending to bias said piston block in a predetermined direction; (g) a plurality of fluid ports, communicating with said expansible end chambers and a fluid source, to effect axial movement of said piston block.
Claim 13
Independent Claim
185 words
An apparatus for grasping objects, comprising: (a) a gripper housing, having a cylindrical bore; (b) a pair of end caps, closing the ends of said bore; (c) a pair of elongate gripper fingers, supported on pivot joints in said housing, each of the fingers being on opposite sides of said bore with respect to the other; (d) a piston block, slidably received in said bore, said block having two opposite end portions forming expansible end chambers with said bore and said end caps; (e) a mechanical toggle linkage, pivotally connecting a portion of said piston block between said end portions to a portion of each of said gripper fingers offset from the finger pivot joints, for applying a gripper input force to each finger as said piston block undergoes axial movement; (f) a spring, disposed in said bore between one of said end portions and its corresponding end cap, said spring tending to bias said piston block in a predetermined direction; (g) a plurality of fluid ports, communicating with said expansible end chambers and a fluid source, to effect axial movement of said piston block.
References Cited (Backward Citations)
US3790205A
Cited
US3945676A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1983-01-28 | 1983-07-30 | 1984-01-29 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1987-01-28 | 1987-07-30 | 1988-01-29 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1991-01-28 | 1991-07-30 | 1992-01-29 | $7700.00 | Window Closed / Lapsed |