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US 10,207,313 B2Granted
Gripping device for mechanical fasteners
AssigneeKUKA Systems Aerospace
InventorPatrice Riotte
Life of this patent
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Abstract
A gripping device for mechanical fasteners, such as rivets, screws, bolts, and similar fasteners, and a robot effector employing such a device. The device includes a housing and a pair of jaws arranged on a holder. The pair of jaws is adapted to grip a mechanical fastener therebetween. The holder is rotatable inside of the housing and the jaws allow a self-centering of a gripped mechanical fastener.
Claims12
A robot end effector for installing mechanical fasteners, the robot end effector comprising:
- a frame;
- a gripping device supported on the frame, the gripping device comprising:
- a housing, and
- a pair of jaws arranged on a holder, the pair of jaws adapted to grip a mechanical fastener therebetween,
- wherein the holder is arranged rotatable inside of the housing and wherein the jaws are shaped to facilitate a self-centering of a gripped mechanical fastener,
- wherein each jaw is pivotally arranged on a free end of a respective lever arm, and wherein the respective lever arms are pivotally supported by the holder;
- and
- a feeder mechanism supported on the frame for feeding mechanical fasteners, to the gripping device;
- wherein the gripping device is rotatably movable on the frame between a first position where the gripping device grips a mechanical fastener from the feeder mechanism, and a second position where the gripping device provides a gripped mechanical fastener to an installation mechanism.
6 more elements
Dependencies are inferred from the claim text.