Patent ID: 6227586
Filing Date: 2001-05-08
Classification: B25B,B25J,Y10S

Abstract:
A modular gripper assembly which comprises:a body having a yoke structure defined at one end thereof by a pair of spaced apart wall members, and a fluid driven actuator at an opposite end, the fluid driven actuator including a piston that moves reciprocally along a linear path;a pair of elongate through-slots with one of said pair of elongated through-slots formed in each of the spaced apart wall members, said pair of elongate through-slots each having a central axis that extends linearly across the entire length thereof and is parallel to the linear path along which the piston of the fluid driven actuator moves;a pair of opposable jaw members, at least one of the pair of opposable jaw members being pivotal and each of the pair of opposable jaw members having through-slots therein and being independently removable and replaceable by other jaw members;a cam pin extending into the through-slots of each of the pair of opposable jaw members;a linkage structure coupled between the cam pin and the piston of the fluid driven actuator, which linkage structure causes the cam pin to move in a direction parallel to the linear path along which the piston moves; andelongate bushings which are provided in each of the pair of elongated through-slots, said elongate bushings receiving the opposite ends of the cam pin and being moved by the cam pin parallel to the linear path along which the piston moves, said each of the elongate bushings having a pair of flat opposed sides which face inner parallel side surfaces of the elongate though-slots.