# US 12,109,687 B2 · Mechanical device for grasping objects > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,109,687 B2 - Document ID: US12109687B2 - Status: Granted - Kind: B2 - Application number: 17/219,920 - Filed: 2021-04-01 - Published: 2022-10-06 - Granted: 2024-10-08 - Earliest claimed: 2021-04-01 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Bradley Sochacki; Evan Lovell Hardy - Web page: https://patentgrep.com/patent/US12109687B2 ## CPC - B25J 15/083: {with means for locking the fingers in an open or closed position} - B25J 15/0033: {with gripping surfaces having special shapes} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A mechanical device includes opposed frame members and an actuator assembly. The opposed frame members are slidably coupled to each other in a longitudinal direction. The opposed frame members are biased away from each other. The actuator assembly is mounted to the opposed frame members and includes an actuator and a locking member. The actuator includes an engagement pad and at least one lateral protrusion. The actuator being slidably disposed relative to one of the opposed frame members along the longitudinal direction. The locking member is kinematically coupled to the actuator and slidably disposed relative to the other opposed frame member. The locking member includes an inclined surface adapted to engage the at least one lateral protrusion. ## Claims ### Claim 1 A mechanical device for grasping an object, the mechanical device comprising: opposed frame members slidably coupled to each other in a longitudinal direction, the opposed frame members further being biased away from each other; an actuator assembly mounted to the opposed frame members, the actuator assembly comprising: an actuator comprising an engagement pad, a body and at least one lateral protrusion extending laterally from the body, the actuator being slidably disposed relative to one of the opposed frame members along the longitudinal direction; and a locking member kinematically coupled to the actuator and slidably disposed relative to the other opposed frame member, the locking member comprising an inclined surface adapted to engage the at least one lateral protrusion. ### Claim 2 (depends on 1) The mechanical device according to claim 1, further comprising a first biasing device engaging the opposed frame members. ### Claim 3 (depends on 2) The mechanical device according to claim 2, wherein one of the opposed frame members includes an opening that receives the first biasing device and a portion of the other frame member. ### Claim 4 (depends on 2) The mechanical device according to claim 2, further comprising a second biasing device engaging the one opposed frame member and the locking member and biasing the locking member away from the one opposed frame member. ### Claim 5 (depends on 4) The mechanical device according to claim 4, wherein the first and second biasing devices are springs. ### Claim 6 (depends on 1) The mechanical device according to claim 1, wherein each of the opposed frame members includes a finger extending from an end thereof and adapted to hold the object, and wherein the fingers extend toward each other. ### Claim 7 (depends on 1) The mechanical device according to claim 1, wherein each of the opposed frame members are C-shaped. ### Claim 8 (depends on 1) The mechanical device according to claim 1, further comprising a gripping pad coupled to the engagement pad of the actuator and adapted to facilitate grasping of the object. ### Claim 9 (depends on 1) The mechanical device according to claim 1, further comprising a fastener extending through the actuator and the other opposed frame member to secure the actuator and the other opposed frame member to each other. ### Claim 10 A mechanical device for grasping an object, the mechanical device comprising: opposed frame members slidably coupled to each other in a longitudinal direction, the opposed frame members further being biased away from each other; an actuator assembly mounted to the opposed frame members, the actuator assembly comprising: an actuator being slidably disposed relative to one of the opposed frame members along the longitudinal direction and comprising an engagement pad; and a locking member coupled to the actuator, the locking member being biased away from the one opposed frame member and slidably disposed relative to the other opposed frame member, wherein one of the actuator and the locking member comprises at least one lateral protrusion and the other of the actuator and the locking member comprises at least one recess having an inclined surface adapted to engage the at least one lateral protrusion, the locking member adapted to move in a vertical direction when the inclined surface engages the at least one lateral protrusion. ### Claim 11 (depends on 10) The mechanical device according to claim 10, further comprising a first biasing device engaging the opposed frame members and biasing the opposed frame members away from each other. ### Claim 12 (depends on 11) The mechanical device according to claim 11, further comprising a second biasing device engaging the one opposed frame member and the locking member and biasing the locking member away from the one opposed frame member. ### Claim 13 A mechanical device for grasping an object, the mechanical device comprising: first and second opposed frame members slidably coupled to each other in a longitudinal direction, the first and second frame members further being biased away from each other; an actuator assembly mounted to the first and second frame members, the actuator assembly comprising: an actuator being slidably disposed relative to the first frame member along the longitudinal direction and comprising a body, an engagement pad and a plurality of protrusions, a first protrusion of the plurality of protrusions extending laterally from a first side of the body and a second protrusion of the plurality of protrusions extending laterally from a second side of the body that opposes the first side of the body; and a locking member moveably coupled to the actuator in a vertical direction and comprising a plurality of first side arms and a plurality of second side arms, each of the first and second side arms includes a recess having an inclined surface adapted to engage a respective first and second protrusion of the plurality of the protrusions. ### Claim 14 (depends on 13) The mechanical device according to claim 13, wherein the first frame member comprises: a first beam member having a first elongated opening extending in the longitudinal direction and adapted to receive the first protrusion; and a second beam member cooperating with the first beam member to house the body of the actuator, the second beam member having a second elongated opening extending in the longitudinal direction and adapted to receive the second protrusion. ### Claim 15 (depends on 13) The mechanical device according to claim 13, further comprising: an upper plate; a first fastener extending through the upper plate and at least partially through a first attachment member connecting the first side arms to each other; a second fastener extending through the upper plate and at least partially through a second attachment member connecting the second side arms to each other; a biasing device engaging the first frame member and the locking member and biasing the locking member away from the first frame member; and a third fastener extending through the upper plate, the body of the actuator, the biasing device, and the locking member. ### Claim 16 (depends on 15) The mechanical device according to claim 15, wherein the body includes an elongated slot extending in the longitudinal direction, and wherein the third fastener extends through the elongated slot. ### Claim 17 (depends on 13) The mechanical device according to claim 13, wherein the locking member is C-shaped. ### Claim 18 (depends on 13) The mechanical device according to claim 13, further comprising a biasing device engaging the first and second frame members. ### Claim 19 (depends on 13) The mechanical device according to claim 13, further comprising a biasing device engaging the first frame member and the locking member. ### Claim 20 (depends on 13) The mechanical device according to claim 13, wherein the first and second protrusions of the actuator are configured to be received in gaps between two sets of opposing first and second side arms to inhibit the actuator and the second frame member from moving in the longitudinal direction.