Gripper mechanism
AssigneeIrm LLC
InventorsRobert Charles Downs, Mark Richard Weselak
Life of this patent
Estimating the term…
Abstract
A gripper apparatus for grasping an object such as a specimen holder. The gripper apparatus comprises two arms. In one embodiment the arms are pivotable, and in a second embodiment, each arm includes a pivotable member. The arms are moveably coupled to each other and are structured to grasp the object therebetween.
Claims59
A grasping mechanism, comprising moveably coupled aims that are structured to grasp an object, wherein at least one arm comprises a pivot member having a support surface to support the object and a height adjusting surface that pushes the object into contact with the support surface when the arms grasp the object.
The grasping mechanism of claim 21, wherein the controller further controls movement of the boom.
The grasping mechanism of claim 21, further comprising at least one sensor that communicates with the controller to determine a location of the gripper mechanism relative to the object.
A gripper apparatus, comprising
- a grasping mechanism comprising moveably coupled anus that are structured to grasp an object, wherein at least one arm comprises a pivot member that pivots, separately from movement of the arm, to align with the object when the antis grasp the object;
- a boom moveably connected to a base, wherein the grasping mechanism is moveably connected to the boom;
- a controller coupled to the grasping mechanism, which controller controls movement of the grasping mechanism;
- and,
- at least one sensor that communicates with the controller to determine a location of the grasping mechanism relative to the object.
The gripper apparatus of claim 21, wherein each arm comprises the pivot member.
The gripper apparatus of claim 21, wherein the boom moves vertically and horizontally.
A gripper apparatus, comprising:
- a grasping mechanism comprising moveably coupled arms that are structured to grasp an object, wherein at least one arm comprises a pivot member having a support surface to support the object and a height adjusting surface that pushes the object into contact with the support surface when the arms grasp the object to determine an x-axis position and a z-axis position of the object, and wherein one or more of the arms comprise a stop;
- a controller coupled to the grasping mechanism, which controller controls movement of the grasping mechanism;
- and,
- at least one push surface against which the grasping mechanism pushes the object into contact with the stop to determine a y-axis position of the object.
A method of determining three translational axis positions of an object, the method comprising:
- providing a gripper apparatus that comprises a controller coupled grasping mechanism comprising moveably coupled arms that are structured to grasp an object, wherein at least one arm comprises a pivot member having a support surface and a height adjusting surface and wherein one or more of the arms comprise a stop;
- providing at least one push surface;
- grasping at least a section of the object with the arms such that the height adjusting surface pushes the object into contact with the support surface to determine an x-axis position and a z-axis position of the object;
- and,
- pushing the object against the push surface and into contact with the stop, using the gripper apparatus, to determine a y-axis position of the object, thereby determining the three translational axis positions of the object.
A gripper apparatus, comprising:
- a grasping mechanism comprising moveably coupled arms that are structured to grasp an object, wherein at least one arm comprises a pivot member that pivots, separately from movement of the arm, to align with the object when the antis grasp the object;
- a boom moveably connected to a base, wherein the grasping mechanism is moveably connected to a boom;
- and,
- a deflectable member that deflectively couples the grasping mechanism to the boom, which deflectable member deflects when the grasping mechanism contacts an item with a force greater than a preset force.
Dependencies are inferred from the claim text.