# Patent

## Title
Gripper with adjustable bumper stops

## Abstract

A gripper assembly including at least one gripper jaw and an actuator operative for moving the at least one gripper jaw. A support is fixed relative to the actuator for supporting the at least one gripper jaw. A stop member is removably affixable between the at least one gripper jaw and the support for limiting movement of the at least one gripper jaw.

## Background
REFERENCE TO RELATED APPLICATIONS
The application claims priority to U.S. Provisional Application No. 60/904,978 which was filed on Mar. 5, 2007.


BACKGROUND OF THE INVENTION
This invention generally relates to automated handling equipment. More particularly, this invention relates to an actuated gripper device having adjustable bumper stops for limiting the degree to which gripper jaws open.
Automated handling equipment is typically employed in industrial settings for transferring work pieces between work stations. Typically, the equipment includes a gripper that clamps the work pieces while moving them between the stations. Conventional grippers include an actuator that moves one or more gripper jaws between open and closed jaw positions. In some examples, the grippers move within tight spaces in the work stations. In this respect, the degree to which the gripper jaws open must be controlled in order to avoid contact with the surrounding work stations.
Typically, the automated handling equipment is adapted for a particular work station. When a different product is produced at the work station, or when the automated handling equipment is used at a different work station, it may be desirable to change the degree to which the jaws open to suit the particular work station or to suit a particular work piece size. In this regard, the grippers must be adjustable. Accordingly, there is a need for a gripper having an adjustable bumper stop for varying a degree to which a gripper jaw opens that can be easily adjusted without having to significantly disassemble the gripper. This invention addresses this need and provides enhanced capabilities while avoiding the shortcomings and drawbacks of the prior art.
SUMMARY OF THE INVENTION
An example gripper assembly includes at least one gripper jaw and an actuator that is operative for moving the at least one gripper jaw. A support is fixed relative to the actuator for supporting the at least one gripper jaw. A stop member is removably affixable between the at least one gripper jaw and the support for limiting movement of the at least one gripper jaw.
In one example, the stop member includes a body having a surface that extends between a first end and a second end and a bumper that partially covers the surface. For example, the first end includes a first mounting section for removably affixing the body in a first orientation on the gripper assembly, and the second end includes a second mounting section for removably affixing the body in a second orientation on the gripper assembly.



BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 illustrates example gripper assemblies in an example industrial setting.
FIG. 2 illustrates an example gripper assembly having a bumper stop in one possible location.
FIG. 3 illustrates the example bumper stop in another possible location.
FIG. 4 illustrates the example bumper stop in a stored location.
FIG. 5A illustrates an example rectangular bumper stop.
FIG. 5B illustrates a top view of the example rectangular bumper stop.
FIG. 6 illustrates an example cylindrical bumper stop.
FIG. 7 illustrates an example gripper assembly having a cover that supports a bumper stop.
FIG. 8 illustrates an example of the bumper stop supported between the cover and the support.
FIG. 9 illustrates an example of the bumper stop cantilevered from the support.
FIG. 10 illustrates a selected portion of the cover shown in FIG. 7 having an opening there through for identifying a location of the bumper stop.



DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
FIG. 1 schematically illustrates selected portions of several gripper assemblies 10 used in an example industrial setting to grip and move work pieces 12 (shown schematically). The gripper assemblies 10 may be used in a variety of different configurations than that shown. As an example, the gripper assemblies 10 are coupled to extended arms 14, which are secured to a rail 16. An adapter arm 18 is secured to the rail 16. An automated machine 20, such as a robot, moves the adapter arm 18, the extended arms 14, and the gripper assemblies 10 to desired positions to retrieve and deposit the work pieces 12, such as between work stations.
FIGS. 2-4 illustrate an example gripper assembly 10 having an adjustable bumper stop 40 for limiting opening of the gripper jaws 42a and 42b. In this example, the gripper assembly 10 includes an actuator 44, such as a pneumatic or hydraulic fluid-driven actuator, having a reciprocating piston (not shown) therein that linearly moves a piston rod 46. The actuator 44 includes ports 48a and 48b for receiving fluid from a fluid source to actuate the actuator 44. It is to be understood that other types of actuators may alternatively be used.
A distal end (relative to the actuator 44) of the piston rod 46 includes a cam head 50 having cam pins 52 (one shown) extending laterally therefrom relative to the direction of movement of the piston rod 46. In this example, each of the cam pins 52 includes a roller 54 that is received within a cam slot 56 of a respective gripper jaw 42a or 42b. 
The cam head 50 moves linearly within a support 58 attached to the actuator 44. In this example, the support 58 includes pivot bosses 60 (one shown) extending laterally therefrom for pivotally supporting the respective gripper jaws 42a and 42b. The support 58 includes a plurality of mount locations 62a, 62b, and 62c, such as recessed slots in the illustrated example, for securing the bumper stop 40. Although three mount locations 62a, 62b, and 62c are shown, it is to be understood that more or less than three may also be used. Given this description, one of ordinary skill in the art will recognize alternative gripper assembly configurations that will benefit from the examples disclosed herein.
The mount locations 62a, 62b, and 62c provide a variety of different possible locations for attaching the bumper stop 40 to the support 58. In the disclosed example, the location 62a corresponds to a 45° open position of the gripper jaws 42a and 42b (FIG. 3). The location 62b corresponds to a 22° open position of the gripper jaws 42a and 42b (FIG. 2). The location 62c corresponds to a storage position for the bumper stop 40 where the bumper stop 40 does not interact with the jaws 42a and 42b to limit opening (FIG. 4). Given this description, one of ordinary skill in the art will recognize that different mount locations than shown may be selected during a design stage to obtain different degrees of opening, for example. The opening of the jaws 42a and 42b can also be changed by using jaws having different shaped cam slots.
In operation, the actuator 44 moves the piston rod 46 forward in the illustrated figures to open the gripper jaws 42a and 42b. As the gripper jaws 42a and 42b open, at least one of the jaws 42a and 42b encounters the bumper stop 40, which limits further rotation of the gripper jaws 42a and 42b about their respective pivot bosses 60. By adjusting the location of the bumper stop 40 between the various mount locations 62a, 62b, or 62c, one can provide a desired degree of jaw opening. It is to be understood that a bumper stop 40 can be used for each respective jaw 42 and 42b or to stop only one of the jaws 42a or 42b since stopping one jaw would stop both in the example gripper configuration.
Referring to FIGS. 5A and 5B, the bumper stop 40 includes a body 64 having side surfaces 65a and 65b that extend between ends 66a and 66b. In this example, the bumper stop 40 includes pads 67a and 67b that partially cover the respective side surfaces 65a and 65b. The pads 67a and 67b are made of a resilient material, such as a polymer. In one example, the polymer is an elastomer that cushions impact of the jaws 42a and 42b. 
The pads 67a and 67b in the disclosed example have nominally equivalent thicknesses. However, in other examples, different thicknesses may be used to provide different degrees of jaw opening depending on the orientation of the bumper stop 40. That is, orienting the bumper stop 40 such that a relatively thicker one of the pads 67a or 67b impacts the jaws 42a or 42b to provide a smaller degree of jaw opening, while orienting a relatively thinner one of the pads 67a or 67b to impact the jaws 42a or 42b would provide a larger degree of jaw opening.
The pads 67a and 67b leave portions of the side surfaces 65a and 65b exposed at end 66a, end 66b, or both. The unexposed portion or portions of the ends 66a and 66b function as mounting sections (e.g., tabs) that are receivable into the recessed slots of the mount locations 62a, 62b, or 62c. In other words, although the figures show both ends 66a and 66b exposed to function as mounting sections, alternatively only one of the ends 66a or 66b may be exposed such that the bumper stop 40 includes only one mounting section. The mounting section or sections and the recessed slots provide a tight fit that securely attaches the bumper stop 40 to the support 58. The size of the exposed portions may vary, depending on the needs of a particular gripper assembly.
In the illustrated example, the bumper stop 40 is symmetrical relative to central orthogonal axes A and B such that the bumper stop 40 functions identically whether end 66a or end 66b is received into the recessed slots of the mount locations 62a, 62b, or 62c (for equivalent pad 67a and 67b thicknesses).
As can be appreciated, the body 64 in the illustrated example is rectangular, which provides the benefit of relatively planar faces for bonding or otherwise securing the pads 67a and 67b to the side surfaces 65a and 65b. Alternatively, the shape may be different. For example, FIG. 6 illustrates a bumper stop 40′ that is similar to the bumper stop 40 but includes a body 64′ that is cylindrical. In this example, a surface 65′ extends between ends 66a′ and 66b′, and a pad 67′ partially covers the surface 65′. As can be appreciated, circular openings would be used rather than recessed slots at the mount locations 62a, 62b, and 62c to mount the bumper stop 40′. Given this description, one of ordinary skill in the art will recognize alternative body shapes to meet their particular needs.
Optionally, as illustrated in FIG. 7, covers 70 are secured on each lateral side of the gripper assembly 10 using corresponding fasteners 72 (one shown) attached to the respective pivots 60 (one shown). Alternatively, the covers 70 may be attached to the actuator 44. Each of the covers 70 includes an inside surface 74 and an outside surface 76 relative to the support 58.
Referring also to FIG. 8, the inside surface 74 of the cover 70 includes cover mount locations 76a, 76b, and 76c that correspond to the mount locations 62a, 62b, and 62c of the support 58. Thus, when one end of the bumper stop 40, 40′ is received into one of the mount locations 62a, 62b, or 62c, and the cover 70 is subsequently attached onto the gripper assembly 10, the other end of the bumper stop 40, 40′ is received into the corresponding cover mount location 76a, 76b, or 76c of the cover 70. The bumper stop 40, 40′ is thereby supported on each end.
Alternatively, as shown in FIG. 9, the cover 70 may not include the mount locations 76a, 76b, and 76c. That is, the bumper stop 40, 40′ may be cantilevered from the mount locations 62a, 62b, 62c of the support 58 without being supported by the cover 70. Although the bumper stop 40, 40′ may fit tightly into the corresponding mount locations 62a, 62b, and 62c, the cover 70 prevents the bumper stop 40, 40′ from dislodging from the mount locations 62a, 62b, and 62c due to impact from the jaw 42, for example. The cover 70 may abut the bumper stop 40, 40′ to limit movement of the bumper stop 40, 40′ outwards from the mount locations 62a, 62b, and 62c to thereby prevent dislodging.
The bumper stop 40, 40′ provides the benefit of being able to easily and conveniently change the degree to which the gripper jaws 42a and 42b are able to open without having to disassemble a large number of components of the gripper assembly 10. For example, to move the bumper stop 40, 40′ from the mount location 62a to the mount location 62b, one of the fasteners 72 is removed to enable removal of the cover 70. The bumper stop 40, 40′ is then manually removed from the mount location 62a and placed within the mount location 62b before replacing the cover 70 and tightening the fastener 72. In examples where the gripper assembly 10 does not include covers 70, the bumper stop 40, 40′ can be removed from any of the mount locations 62a, 62b, or 62c and placed within another of the mount locations 62, 62b, or 62c without having to disassemble any components of the gripper assembly. Furthermore, since the bumper stops 40, 40′ may be attached to the support 58 without using fasteners, the bumper stops 40, 40′ can be quickly and easily adjusted.
Referring to FIG. 10, the cover 70 optionally includes one or more openings 82 that extend through the outer surface 76. In this example, the opening 82 corresponds to the cover mount location 76a. The opening 82 allows an operator to visually determine whether the bumper stop 40, 40′ is located at the mount location 62a by looking through the opening 82. Alternatively, the bumper stop 40, 40′ extends through the opening 82 to allow visual determination. Likewise, the cover 70 may include similar openings corresponding to the cover mount location 76b and 76c. 
Although a combination of features is shown in the illustrated examples, not all of them need to be combined to realize the benefits of various embodiments of this disclosure. In other words, a system designed according to an embodiment of this disclosure will not necessarily include all of the features shown in any one of the Figures or all of the portions schematically shown in the Figures. Moreover, selected features of one example embodiment may be combined with selected features of other example embodiments.
The preceding description is exemplary rather than limiting in nature. Variations and modifications to the disclosed examples may become apparent to those skilled in the art that do not necessarily depart from the essence of this disclosure. The scope of legal protection given to this disclosure can only be determined by studying the following claims.

## Claims

1. A gripper assembly comprising:
at least one gripper jaw;
an actuator operative for moving the at least one gripper jaw;
a support fixed relative to the actuator for supporting the at least one gripper jaw, the support having a plurality of mount locations formed thereon; and
a stop member that is removably affixable to the support at one of the plurality of mount locations of the support for limiting movement of the at least one gripper jaw, each mount location corresponding to a discrete maximum degree of opening of the at least one gripper jaw.

2. A gripper assembly, comprising:
at least one gripper jaw;
an actuator operative for moving the at least one gripper jaw;
a support fixed relative to the actuator for supporting the at least one gripper jaw, the support having a plurality of mount locations formed thereon;
a stop member that is removably affixable to the support at one of the plurality of mount locations of the support for limiting movement of the at least one gripper jaw, each mount location corresponding to a discrete maximum degree of opening of the at least one gripper jaw;
wherein one of the stop member or the support includes an opening and the other of the stop member or the support includes a tab portion that is removably receivable within the opening.

3. The gripper assembly as recited in claim 2, wherein the opening comprises a recess.

4. The gripper assembly as recited in claim 2, wherein the stop member is cantilevered from the support.

5. The gripper assembly as recited in claim 2, wherein the stop member includes a first mounting section for affixing the stop member to the support in a first orientation and a second mounting section for affixing the stop member to the support in a second orientation.

6. The gripper assembly as recited in claim 2, wherein the at least one gripper jaw is moveable between a closed position and an open, stopped position, where the at least one gripper jaw abuts the stop member in the open, stopped position and is spaced apart from the stop member in the closed position.

7. The gripper assembly as recited in claim 2, further comprising:
a storage location formed on the support and configured such that the stop member is removably affixable to the support at the storage location, wherein the storage location is positioned such that the stop member does not interact with the at least one gripper jaw to limit movement when the stop member is affixed to the support at the storage location.

8. The gripper assembly as recited in claim 2, further comprising a cover removably affixable to one of the support or the actuator such that the at least one gripper jaw is located between the cover and the support, the cover having at least one opening for observing a location of the stop member.

9. The gripper assembly as recited in claim 2, further comprising a cover removably affixable to one of the support or the actuator, the cover having a plurality of cover mount locations that correspond to the mount locations of the support, wherein the support receives one end of the stop member at least partially into one of the plurality of mount locations and the cover received another end of the stop member at least partially into one of the plurality of cover mount locations to support the stop member.

10. The gripper assembly as recited in claim 2, wherein the stop member includes a metal body and a polymer bumper mounted on the metal body.

11. The gripper assembly as recited in claim 2, further comprising a cover removably affixable to one of the support or the actuator, wherein the support supports one end of the stop member and the cover supports another end of the stop member.

12. A gripper assembly comprising:
a support;
a gripper jaw pivotally mounted to the support;
an actuator connected to the support and operative for moving an at least one gripper jaw;
a first mount location defined by a first opening that is formed on the support;
a second mount location defined by a second opening that is formed on the support; and
a stop member having a first tab that is receivable within the first opening or the second opening to removably affix the stop member to the support at the first mount location or the second mount location, wherein the stop member is engageable with the gripper jaw to provide a first predetermined maximum degree of opening of the gripper jaw when the stop member is installed at the first mount location and to provide a second predetermined maximum degree of opening of the gripper jaw when the stop member is installed at the second mount location.

13. The gripper assembly as recited in claim 12 wherein the first opening and the second opening each comprise a recess.

14. The gripper assembly as recited in claim 12, further comprising:
a storage location formed on the support and configured such that the stop member is removably affixable to the support at the storage location, wherein the storage location is positioned such that the stop member does not interact with the at least one gripper jaw to limit movement when the stop member is affixed to the support at the storage location.

15. The gripper assembly as recited in claim 12, further comprising:
a cover that is removably affixable to one of the support or the actuator such that the at least one gripper jaw is located between the cover and the support;
the first mount location further defined by a third opening that is formed on the cover opposite the first opening;
the second mount location further defined by a fourth opening that is formed on the cover opposite the third opening; and
the stop member having a second tab that is receivable within the third opening or the fourth opening to removably affix the stop member to the cover at the first mount location or the second mount location.

16. The gripper assembly as recited in claim 12, wherein the stop member includes a metal body and a substantially rectangular polymer bumper mounted on the metal body, wherein the first mount location is configured to position the substantially rectangular polymer bumper of the stop member in a first angular orientation with respect to the support, and the second mount location is configured to position the substantially rectangular polymer bumper of the stop member in a second angular orientation with respect to the support.