Pneumatic, tactile gripper generating a gripping force controlled by the weight of the handled object
US4730862A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jan 20, 1987 |
| Grant date | Mar 15, 1988 |
| Priority date | — |
| Expiry date | Jan 20, 2007 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J15/02
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The invention relates to a pneumatic gripper comprising at least one movable finger of which the clamping force is controlled by the weight of the object handled. Each movable finger includes a pneumatic actuator (1) of which the movable member (2) is solidly joined to a flexible blade (4). A stop member (4) is fastened to the free portion of this blade (4) and will touch the object to be seized. Two potentiometers (9, 11) are located on the sides of this blade (4) and their respective outlets (9b, 11b) are connected to an actuation chamber of the actuator so as to achieve a pressure difference between these chambers (1a, 1b) and hence a clamping force directly related to the blade bending. Each finger furthermore includes proximity sensors (7) for the object to be seized, whereby this object can be approached rapidly without danger of tipping it over when making contact with it.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.