# US 5,342,254 A · End-of-arm tooling device

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- Number: US 5,342,254 A
- Document ID: US5342254A
- Status: Granted
- Kind: A
- Application number: 07/925,939
- Filed: 1992-08-05
- Granted: 1994-08-30
- Earliest claimed: 1992-08-05
- Assignees: General Motors Corporation
- Inventors: Daniel J. Sula
- Web page: https://patentgrep.com/patent/US5342254A

## CPC

- B25J 15/026: {actuated by gears}
- B25J 9/102: {Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H)}
- B25J 13/082: {Grasping-force detectors (in general G01L5/16, G01L5/22)}
- 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

An end-of-arm tooling device for a robot or like manipulator is provided which, in a preferred embodiment, includes a differential separating a first torsional input into first and second torsional outputs, and two jaws for interacting with a workpiece powered by a separate one of the first and second torsional outputs, and wherein, upon interaction with the workpiece at a predetermined torque level by one of the jaws, the jaw's motion will be stopped and torque will be continually transferred to the remaining jaw.

## Claims

### Claim 1

An end-of-arm tooling device for a robot for interacting with a workpiece comprising:
power means providing a first torsional input;
at least one input shaft powered by the power means;
a cross shaft connected to the input shaft, the cross shaft having rotatably attached thereto first and second bevel planet gears;
a first bevel output sun gear concentrically fitted over the input shaft meshed with the first and second bevel planet gears;
a second bevel output sun gear concentrically fitted over the input shaft meshed with the first and second bevel planet gears;
a first jaw means torsionally associated with the first bevel output sun gear to interact with the workpiece; and
a second jaw means torsionally associated with the second bevel output sun gear to interact with the workpiece.