Method and apparatus for gripping objects

A gripping apparatus comprising:

• a housing;
• an elastomeric gripping element, wherein a first end of the gripping element is anchored to one end of said housing;
• a reciprocably movable end, said movable end attached to a second end of the gripping element;
• reciprocable means for imparting movement to the movable end relative to said housing, said reciprocable means connected to said movable end, wherein the movable end moves along a path defined by a first position and a second position;
• actuation means for reversibly imparting movement to said reciprocable means and the movable end;
• whereby when said movable end is in the first position said elastomeric gripping element is relaxed and when said movable end is in the second position said elastomeric gripping element is stretched.

A gripping apparatus comprising:

• a tubular housing;
• a gripper assembly comprising:
• an elastomeric gripping element,
• an anchor end, said anchor end bonded to a first end of the gripping element, and
• a reciprocably movable end, said movable end bonded to a second end of the gripping element;
• a reciprocable piston connected to said movable end, said piston movable along a path defined by a first position and a second position;
• and
• a hydraulic cylinder having a first and second hydraulic chamber, wherein when hydraulic pressure is applied to the first hydraulic chamber the piston moves to the second position thereby moving the movable end of the gripper assembly and stretching the elastomeric gripping element, and when hydraulic pressure is applied to the second hydraulic chamber the piston moves towards the first position thereby moving the movable end of the gripper assembly and easing the tension on the gripping element.

A gripping apparatus comprising:

• a housing;
• a gripper assembly comprising:
• an elastomeric gripping element,
• an anchor end, said anchor end bonded to a first end of the gripping element, and
• a reciprocably movable end, said movable end bonded to a second end of the gripping element;
• at least one hydraulic cylinder, each cylinder having a reciprocable piston, wherein said piston is connected to said movable end and is movable along a path defined by a first position and a second position;
• a first hydraulic chamber of each cylinder, wherein when hydraulic pressure is applied to the first hydraulic chamber the piston moves to the second position thereby moving the movable end of the gripper assembly and stretching the elastomeric gripping element;
• and
• a second hydraulic chamber of each hydraulic chamber, wherein when hydraulic pressure is applied to the second hydraulic chamber the piston moves toward the first position thereby moving the movable end of the gripper assembly and easing the tension on the gripping element.

A process for gripping an object comprising:

• (a) selecting the object to be gripped by a gripping apparatus, said gripping apparatus comprising:
• a housing;
• an elastomeric gripping element, wherein the gripping element is positioned within a through bore of said housing and a first end of the gripping element is anchored to one end of said housing;
• a reciprocably movable end, said movable end attached to a second end of the gripping element;
• and
• means for reciprocably moving said movable end between a first position and a second position;
• whereby when said movable end is in a first position said elastomeric gripping element is stretched and will not grip an object, and as said movable end moves towards the second position said elastomeric gripping element becomes relaxed and is passively biased against an object to grip the object;
• (b) moving the movable end of the gripping apparatus to the first position, thereby tensioning the elastomeric gripping element;
• (c) inserting the object into an interior of the gripping apparatus adjacent to a gripping surface of the gripping element while the gripping element is tensioned;
• and
• (d) moving the movable end toward the second position to bias the gripping surface against an exterior surface of the object to be gripped.

A process for gripping an object comprising:

• (a) selecting the object to be gripped with a gripping apparatus, said gripping apparatus comprising:
• a tubular housing;
• a gripper assembly comprising:
• an elastomeric gripping element,
• an anchor end, said anchor end bonded to a first end of the gripping element, and
• a reciprocably movable end, said movable end bonded to a second end of the gripping element;
• at least one hydraulic cylinder, each cylinder having a reciprocable piston, wherein said piston is connected to said movable end and is movable along a path defined by a first position and a second position;
• a first hydraulic chamber of each cylinder, wherein when hydraulic pressure is applied to the first hydraulic cylinder the piston moves to the second position thereby moving the movable end of the gripping assembly and tensioning the elastomeric gripping element;
• and
• a second hydraulic chamber of each cylinder, wherein when hydraulic pressure is applied to the second hydraulic cylinder the piston moves toward the first position thereby moving the movable end and easing the tension on the gripping element;
• (b) applying hydraulic pressure to the first hydraulic chamber to move the movable end to the second position, thereby tensioning the elastomeric gripper element;
• (c) inserting the object into a through bore of the gripping element while the gripping element is tensioned;
• and
• (d) releasing hydraulic pressure from the first hydraulic chamber easing the tension on the gripping element to bias the gripping element against the object to be gripped.