Patent ID: 8439414
Filing Date: 2013-05-14
Classification: B25J,B66C,Y10S

Abstract:
1. A gripper apparatus for removing and replacing objects in an array of objects, comprising: a support arm; a gripper head extending downward from the support arm and having a downwardly facing lower end; a planetary gear assembly mounted in the gripper head, the planetary gear assembly having a central axis of rotation and including at least three planet gears, each of said planet gears having a respective planet gear axis of rotation, and at least one gripping pin extending downward from each of said planet gears to project beyond the lower end of the gripper head; a reversible drive motor configured to operate the planetary gear assembly to rotate the planet gears about said planet gear axes of rotation and about the central axis; and the planetary gear assembly being configured to move the respective gripping pins along predetermined inward and outward paths dependent on a drive direction of the reversible drive motor, whereby the distance between the pins is varied for accommodating a range of different object sizes, the gripping pins being configured to grasp an object located between the gripping pins when urged against an outer surface of the object.