US4543032A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Robot manipulator with automatically changeable finger tools
Assignee: International Business Machines Corp
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Filing: 1983-03-02
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Granted: 1985-09-24
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Expires: 2003-03-02
Abstract
Abstract Changeable finger tools for the gripper of an object manipulator are held in place by a self-releasing detent supplemented by frictional forces produced by the gripper. The retention technique enables fast, efficient automatic changing of the finger tools.
Inventors
- 👤 Theodore W. Leverett
- 👤 Bela Musits
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 15:39
CPC Classifications
B; B25; B25J; B25J15/00; B25J15/04; B25J15/0475; Y; Y10; Y10S; Y10S294/00; Y10S294/902; Y10S483/00; Y10S483/901
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
151 words
An object manipulator, comprising a gripper having at least two relatively movable fingers mounted in opposition for mutual force engagement and control means for controlling the movement of said fingers, wherein the improvement comprises: at least one of said fingers having a pedestal for receiving a tool, said pedestal and tool comprising track means therebetween for permitting relating movement therebetween along a first axis of said finger, the track means positively resisting relative movement therebetween along two axes normal to said first axis, spring-biased detent means provided on said pedestal and the tool for yieldably retaining the tool against displacement along said first axis only in the absence of substantial loading along said first axis, and said control means comprises means for selectively controlling the mutual force engagement between said fingers to provide a frictional force between said pedestal and the tool for resisting relative movement therebetween along said first axis.
Claim 2
Dependent Claim
151 words
An object manipulator, comprising a gripper having at least two relatively movable fingers mounted in opposition for mutual force engagement and control means for controlling the movement of said fingers, wherein the improvement comprises: at least one of said fingers having a pedestal for receiving a tool, said pedestal and tool comprising track means therebetween for permitting relating movement therebetween along a first axis of said finger, the track means positively resisting relative movement therebetween along two axes normal to said first axis, spring-biased detent means provided on said pedestal and the tool for yieldably retaining the tool against displacement along said first axis only in the absence of substantial loading along said first axis, and said control means comprises means for selectively controlling the mutual force engagement between said fingers to provide a frictional force between said pedestal and the tool for resisting relative movement therebetween along said first axis.
Claim 3
Dependent Claim
32 words
An object manipulator, as defined in claim 1, wherein said detent means comprises bi-directional camming surfaces for yieldably resisting installation of the tool onto and removal of the tool from said pedestal.
Claim 4
Dependent Claim
31 words
An object manipulator, as defined in claim 1, wherein said detent means comprises cooperative camming surfaces for locating the tool on said pedestal in a predetermined position along said first axis.
Claim 5
Dependent Claim
42 words
An object manipulator, as defined in claim 1, wherein said detent means comprises a spring-loaded ball carried by one of said pedestal and the tool, and a recess for receiving said ball carried by the other of said pedestal and the tool.
Claim 6
Dependent Claim
20 words
An object manipulator, as defined in claim 1, wherein said control means includes feedback means responsive to said mutual force.
Claim 7
Dependent Claim
19 words
An object manipulator, as defined in claim 1, wherein each of said fingers has a pedestal for receiving tools.
Claim 8
Dependent Claim
30 words
An object manipulator, as defined in claim 1, wherein said track means includes a limit stop for positively resisting movement of the tool in one direction along said first axis.
Claim 9
Dependent Claim
32 words
An object manipulator, as defined in claim 1, further comprising arm means for supporting said gripper, and including articulated wrist means by which said gripper is orientable about a plurality of axes.
Claim 10
Dependent Claim
83 words
An object manipulator, as defined in claim 1, and further comprising an arm for supporting said gripper for multi-directional movement and wherein the improvement further comprises at least one tool holder, mounted within the range of movement within said gripper, and including an open recess for holding a tool in a substantially fixed position, the tool being restrained against movement along said first axis by edges of said recess while being removable from said recess by movement normal to said first axis, and
Claim 11
Dependent Claim
77 words
said control means further comprising means for moving said arm to move said pedestal sequentially along said first axis to insert said pedestal into the tool, and then to move said pedestal along said second axis to remove the tool from said recess, and further, for moving said pedestal along said second axis to deposit the tool in said recess, and subsequently to move said pedestal along said first axis to remove the tool from said pedestal.
Claim 12
Dependent Claim
77 words
said control means further comprising means for moving said arm to move said pedestal sequentially along said first axis to insert said pedestal into the tool, and then to move said pedestal along said second axis to remove the tool from said recess, and further, for moving said pedestal along said second axis to deposit the tool in said recess, and subsequently to move said pedestal along said first axis to remove the tool from said pedestal.
Claim 13
Dependent Claim
22 words
An object manipulator, as defined in claim 9, wherein at least two separate tool holders are provided, each for receiving different tools.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1988-09-23 | 1989-03-25 | 1989-09-24 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1992-09-23 | 1993-03-25 | 1993-09-24 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1996-09-23 | 1997-03-25 | 1997-09-24 | $7700.00 | Window Closed / Lapsed |