Robotic gripper

A robotic gripper for grasping a target object, the robotic gripper being mechanically engageable with a robotic system that maneuvers and operates the robotic gripper, the robotic gripper comprising:

• a linear actuator;
• and
• a gripping assembly mechanically coupled to the linear actuator;
• wherein the gripping assembly includes a plurality of fingers, each finger having a first axial end and an oppositely disposed second axial end;
• wherein the gripping assembly is selectively adjustable between a first position and a second position, wherein in the first position, the fingers are inwardly biased towards the target object, and wherein in the second position, the fingers are outwardly biased away from the target object;
• wherein the linear actuator includes:
• a fluid cylinder having a first axial end, a second axial end disposed opposite the first axial end and an internal bore extending at least partially along the axial length thereof;
• a linearly movable rod situated within the internal bore of the fluid cylinder, the linearly movable rod having a first axial end and a second axial end disposed opposite the first axial end;
• a piston mechanically coupled to the linearly movable rod, the piston being situated at least partially within the internal bore of the fluid cylinder;
• and
• a first fluid connection and a second fluid connection, the first fluid connection and the second fluid connection being in fluid communication with the internal bore of the fluid cylinder and being connectable to a source of pressurized fluid;
• wherein the linearly movable rod is reciprocatingly movable within the internal bore of the fluid cylinder between a retracted position and an extended position, wherein when pressurized fluid is applied to the first fluid connection, the linearly movable rod moves axially in a direction towards the second axial end of the fluid cylinder to the extended position, and when pressurized fluid is applied to the second fluid connection, the linearly movable rod moves axially in a direction towards the first axial end of the fluid cylinder to the retracted position;
• wherein the gripping assembly further includes:
• a finger holder mechanically coupled to the fluid cylinder in proximity to the second axial end thereof, wherein the first axial ends of the plurality of fingers are affixed to the finger holder;
• and
• a finger closer, the finger closer being mechanically coupled to the second axial end of the linearly movable rod, the finger closer including a main body portion having a first axial end, a second axial end disposed opposite the first axial end and a plurality of openings formed axially through the thickness thereof;
• wherein the fingers extend from the finger holder through respective openings formed in the main body of the finger closer;
• wherein the finger closer is reciprocatingly slidable on the plurality of fingers extending through the openings formed therein;
• wherein the axial movement of the linearly movable rod and finger closer mechanically coupled thereto from the retracted position to the extended position biases the second axial ends of the fingers inwardly towards the target object;
• and
• wherein the axial movement of the linearly movable rod and finger closer mechanically coupled thereto from the extended position to the retracted position causes the second axial ends of the fingers to outwardly expand away from the target object.