Patent ID: 6299228
Filing Date: 2001-10-09
Classification: B25J,H01L

Abstract:
A gripper apparatus for a robot, said gripper apparatus comprising:a pair of grippers disposed in parallel in a common plane, said grippers being rotatable about a rotational axis so as to move toward and away from each other to provide gripping and release of a workpiece;a lead screw disposed in parallel with the rotational axes of said grippers and rotatable in forward and reverse directions;a first slider coupled to said lead screw for reciprocal movement along the rotational axis of said lead screw responsive to rotation of said lead screw;converting means, disposed between said pair of grippers, for converting the reciprocal movement of said first slider into the rotational movement of said grippers; anddriving means for rotating the lead screw in said forward and reverse directions,said converting means including:a pair of first slider links each having first and second ends, the first end of each of said slider links being rotatably coupled to the first slider;guide means for guiding the second end of each of said first slider links such that said second ends of said first slider links move in a direction transverse to the rotational axis of said lead screw; anda pair of gripper links, each having a first end connected to the second end of a respective one of the first slider links and a second end connected to a respective one of said grippers so as to rotate coaxially therewith;and said guide means including:a guide rail extending in said transverse direction to the rotational axis of said lead screw, and disposed adjacent to said second ends of said first slider links; anda pair of second sliders slidable on said guide rail.