Patent ID: 6170895
Filing Date: 2001-01-09
Classification: B25J,Y10S

Abstract:
A fluid actuated, articulated grasping apparatus comprising:a fluid cylinder having a fluid conduit means for admitting fluid into a first side of the fluid cylinder;an actuating rod axially positioned within the fluid cylinder, an attachment portion at a proximal end of the actuating rod extending outwardly from an end wall of the fluid cylinder and held thereon by an engaging fluid inlet and securement means;a piston, adapted for fluid forced linear motion within the fluid cylinder, the position providing an axial aperture for tight-fitting sliding engagement along the actuating rod;a plurality of radially oriented grasping means, each of the grasping means providing a cam portion and a finger portion, the cam portion being pivotally joined with a distal end of the actuating rod and pivotally and slidingly joined with the piston in such manner that as the piston moves along the actuating rod away from the end wall of the fluid cylinder the finger portions of the plurality of grasping means converge, and conversely, when the piston moves toward the end wall of the fluid cylinder, the finger portions of the grasping means diverge;a spring biasing means fitted about the actuating rod and adapted for urging the piston toward the end wall of the fluid cylinder;such that fluid injected into the fluid cylinder through the fluid conduit means moves the piston away from the end wall of the fluid cylinder and compresses the spring biasing means, while when fluid is allowed to exit the fluid cylinder through the fluid conduit means, the spring biasing means forces the piston toward the end wall of the fluid cylinder.