Adaptive bundle gripping end effector with opening jaw

US10583567B1 · kind B1 · utility

Inventors

• Ty A. Larsen · Chicago, US
• Lars E. Blacken · Bothell, US
• Keith M. Cutler · Kirkland, US

Key dates

• Filing date: Mar 25, 2019
• Grant date: Mar 10, 2020
• Expiry date: Mar 25, 2039

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J9/126
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A bundle gripping tool has a support ring sector 12a extending from a handle 11 and a jaw 12b pivotally mounted to the handle opposing the support ring sector 12a. The jaw is rotatable from an open position to a closed position wherein the jaw 12b and support ring sector 12a form a circular support ring 12 concentric to a bundle axis 14. The jaw exposes a first open sector accessing a central aperture in the open position. A snare ring 22 is supported on the jaw 12b in the open position and rotatable on the support ring 12 in the closed position and has a second open sector 34 wherein in an unrotated position of the snare ring at least partially aligns the second open sector with the first open sector exposing the central aperture. A plurality of snare cables 40 are engaged between the support ring and the snare ring with a first set of attachment points and second set of attachment points relatively positioned whereby each of the plurality of snare cables partially encircles the bundle axis in the closed and rotated position and exposes the bundle axis in the unrotated and open position. An actuator 48 is configured to open and close the jaw and rotate the snare ring with the jaw …