Robotic gripper mechanism

Citation

(2003), "Robotic gripper mechanism", Assembly Automation, Vol. 23 No. 1. https://doi.org/10.1108/aa.2003.03323aad.010

Robotic gripper mechanism

Robotic gripper mechanism

Keywords: Grippers, Robotics

Applicant: Lockheed Martin Corporation, USAPatent number: US6,412,844Publication date: 2 July 2002Title: Robotic gripper mechanism

This patent describes a thin robotic gripper designed for picking up, transporting and dropping selected objects, in environments where the gripper must pass through tight areas in order to reach the object.

The invention comprises a movable housing, a gripper arm that extends from the housing, and a finger assembly mounted at the distal end of the gripper arm. The finger assembly is normally biased to a retracted position, but can be moved to an extended operative position by a drive member. This drive member operates on a slide in the arm through suitable intermediary components and is preferably a pneumatic cylinder. The components between the drive member and the slide may be a mechanical linkage that mechanically attaches the drive member to the slide. Ideally, the finger assembly contains a bias spring to keep it in its retracted position, and can be rotated about a pivot between its retracted and extended position. The finger assembly has at least one finger sized and may be shaped to fit under an object to be lifted, fit in a corresponding receptacle in a side of the object, or fit into a receptacle extending from the top of the object. The invention also includes a mechanism for permitting retraction of the arm when an obstacle is encountered during vertical downward movement of the gripper mechanism so as to protect the arm and the finger assembly from damage.