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US 11,142,410 B2Granted
Gripper apparatus
AssigneeCsi Industries B.V.
InventorHendrik Leusink
Life of this patent
Estimating the term…
Abstract
A gripper apparatus including a gripper frame and a gripper beak; an actuation mechanism for actuating the gripper beak; a clamping force generator biased to exert a clamping force on the gripper beak; a transmission mechanism including an input member that is vertically displaceable with respect to the gripper frame, wherein the transmission mechanism engages the actuation mechanism such that a high position of the input member corresponds to a closed position of the gripper beak while a downward displacement of the input member corresponds to a transition of the gripper beak to an open position; a vertically displaceable carrier coupling device that in a lower rest position presses down on the input member; and a latch mechanism, preferably of alternate push-push type, for holding the gripper beak in its open position.
Claims16
Gripper apparatus comprising:
- a gripper frame and a gripper beak including at least one moveable gripper jaw, the gripper beak having an open position and a closed position;
- a jaw actuation mechanism for selectively actuating the gripper beak to its open position or its closed position;
- a clamping force generator biased to exert a clamping force on the gripper beak urging the gripper beak towards its closed position;
- a transmission mechanism comprising an input member that is vertically displaceable with respect to the gripper frame, wherein the transmission mechanism engages the jaw actuation mechanism such that a high position of the input member corresponds to the closed position of the gripper beak while a downward displacement of the input member corresponds to a transition of the gripper beak to its open position;
- a carrier coupling device for coupling with a carrier device, which carrier coupling device, with respect to the gripper frame, is vertically displaceable between an upper lifting position and a lower rest position;
- and
- an alternate push-push latch mechanism coupled to a component of the transmission mechanism or to a component of the jaw actuation mechanism, the latch mechanism having a release state in which the transmission mechanism and the jaw actuation mechanism can move freely, and having a lock state in which the transmission mechanism and the jaw actuation mechanism are prevented from moving from the open position of the gripper beak to the closed position of the gripper beak, for holding the gripper beak in its open position.
4 more elements
Robot arm comprising a gripper apparatus comprising:
- a gripper frame and a gripper beak including at least one moveable gripper law, the gripper beak having an open position and a closed position;
- a jaw actuation mechanism for selectively actuating the gripper beak to its open position or its closed position;
- a clamping force generator biased to exert a clamping force on the gripper beak urging the gripper beak towards its closed position;
- a transmission mechanism comprising an input member that is vertically displaceable with respect to the gripper frame, wherein the transmission mechanism engages the law actuation mechanism such that a high position of the input member corresponds to the closed position of the gripper beak while a downward displacement of the input member corresponds to a transition of the gripper beak to its open position;
- a carrier coupling device for coupling with a carrier device, which carrier coupling device, with respect to the gripper frame, is vertically displaceable between an upper lifting position and a lower rest position;
- and
- a latch mechanism coupled to a component of the transmission mechanism or to a component of the jaw actuation mechanism, the latch mechanism having a release state in which the transmission mechanism and the law actuation mechanism can move freely, and having a lock state in which the transmission mechanism and the law actuation mechanism are prevented from moving from the open position of the gripper beak to the closed position of the gripper beak, for holding the gripper beak in its open position.
4 more elements
Palletiser comprising a gripper apparatus comprising:
- a gripper frame and a gripper beak including at least one moveable gripper law, the gripper beak having an open position and a closed position;
- a jaw actuation mechanism for selectively actuating the gripper beak to its open position or its closed position;
- a clamping force generator biased to exert a clamping force on the gripper beak urging the gripper beak towards its closed position;
- a transmission mechanism comprising an input member that is vertically displaceable with respect to the gripper frame, wherein the transmission mechanism engages the law actuation mechanism such that a high position of the input member corresponds to the closed position of the gripper beak while a downward displacement of the input member corresponds to a transition of the gripper beak to its open position;
- a carrier coupling device for coupling with a carrier device, which carrier coupling device, with respect to the gripper frame, is vertically displaceable between an upper lifting position and a lower rest position;
- and
- a latch mechanism coupled to a component of the transmission mechanism or to a component of the jaw actuation mechanism, the latch mechanism having a release state in which the transmission mechanism and the law actuation mechanism can move freely, and having a lock state in which the transmission mechanism and the law actuation mechanism are prevented from moving from the open position of the gripper beak to the closed position of the gripper beak, for holding the gripper beak in its open position.
4 more elements
Drone comprising a gripper apparatus comprising:
- a gripper frame and a gripper beak including at least one moveable gripper law, the gripper beak having an open position and a closed position;
- a jaw actuation mechanism for selectively actuating the gripper beak to its open position or its closed position;
- a clamping force generator biased to exert a clamping force on the gripper beak urging the gripper beak towards its closed position;
- a transmission mechanism comprising an input member that is vertically displaceable with respect to the gripper frame, wherein the transmission mechanism engages the law actuation mechanism such that a high position of the input member corresponds to the closed position of the gripper beak while a downward displacement of the input member corresponds to a transition of the gripper beak to its open position;
- a carrier coupling device for coupling with a carrier device, which carrier coupling device, with respect to the gripper frame, is vertically displaceable between an upper lifting position and a lower rest position;
- and
- a latch mechanism coupled to a component of the transmission mechanism or to a component of the jaw actuation mechanism, the latch mechanism having a release state in which the transmission mechanism and the law actuation mechanism can move freely, and having a lock state in which the transmission mechanism and the law actuation mechanism are prevented from moving from the open position of the gripper beak to the closed position of the gripper beak, for holding the gripper beak in its open position.
4 more elements
Dependencies are inferred from the claim text.