公开(公告)号：US4544193A

公开(公告)日：1985-10-01

申请号：US482600

申请日：1983-04-06

申请人： Jimmy L. Dunn ,  Lonnie D. Gilstrap ,  Ronny L. Land ,  Frank C. Romeo

发明人： Jimmy L. Dunn ,  Lonnie D. Gilstrap ,  Ronny L. Land ,  Frank C. Romeo

IPC分类号： B25J15/02

CPC分类号： B25J15/026

摘要： A robot gripper for grasping objects. The gripper has a pair of fingers slidably mounted on a hand so the fingers may be moved in opposite directions along parallel axes. Each finger has a rack attached, and each rack is, in turn, drivingly engaged by a pinion. The pinions are rotatably mounted in the hand, and each has a link pivotally connected to the outer perimeter of the pinion. The other ends of the links are attached together and to the piston rod of a fluid cylinder. As the piston rod is moved, the links rotate the pinions in opposite directions, driving the racks and fingers together or apart, to selectively grasp or release objects.

摘要翻译： 用于抓取物体的机器人抓爪。 夹具具有可滑动地安装在手上的一对手指，使得手指可以沿着平行的轴线沿相反方向移动。 每个手指具有附接的齿条，并且每个齿条又由小齿轮驱动地接合。 小齿轮可旋转地安装在手中，并且每个都具有枢转地连接到小齿轮的外周边的连杆。 连杆的另一端连接在一起并连接到流体缸的活塞杆上。 当活塞杆移动时，连杆以相反方向旋转小齿轮，将机架和手指一起或分开驱动，以选择性地抓住或释放物体。

公开(公告)号：US4520550A

公开(公告)日：1985-06-04

申请号：US498731

申请日：1983-05-27

申请人： Jimmy L. Dunn ,  George L. Mayo ,  Frank C. Romeo

发明人： Jimmy L. Dunn ,  George L. Mayo ,  Frank C. Romeo

IPC分类号： B23B31/113 ,  B23Q3/155 ,  B25J15/04 ,  B23Q3/157

CPC分类号： B23Q3/15553 ,  B23B31/113 ,  B25J15/0491 ,  Y10S483/901 ,  Y10T403/7007 ,  Y10T409/309464 ,  Y10T483/10 ,  Y10T483/1743 ,  Y10T483/1793

摘要： An apparatus and method for installing and removing a tool on a chuck connected to a robot arm. The chuck has a mandrel with two parallel flat sides and two protruding flanges. The tool has a tool coupling member which is supported and held against rotation by a support plate. The tool coupling member is cylindrical and has two lugs spaced apart to allow the flat sides of the mandrel to pass, but to lock over the flanges of the mandrel when the mandrel is rotated relative to the tool coupling member. A cam follower on the chuck follows a guide slot in the support plate to cause the mandrel to rotate relative to the tool coupling member. The cam follower also causes a key on the chuck to mate or disengage a key slot on the tool coupling member.

摘要翻译： 一种用于在连接到机器人手臂的卡盘上安装和移除工具的装置和方法。 卡盘具有具有两个平行的平坦侧面和两个突出凸缘的心轴。 工具具有工具联接构件，其被支撑板支撑并保持抵抗旋转。 工具联接构件是圆柱形的，并且具有间隔开的两个凸耳，以允许心轴的平坦侧面通过，但是当心轴相对于工具联接构件旋转时，锁定在心轴的凸缘上。 卡盘上的凸轮从动件跟随支撑板中的引导槽，以使心轴相对于工具联接构件旋转。 凸轮从动件还使卡盘上的钥匙配合或脱离工具联接构件上的键槽。