Abstract:
A clamping assembly for use in gripping an object. The clamping assembly includes a pair of opposed jaws, with each jaw having a pivot end pivotally attached to a frame structure, a clamp end opposite the pivot end, and a socket located between the clamp end and the pivot end. The clamping assembly further includes first and second balls rotatably mounted in the sockets of the opposed jaws, and a gear assembly connected to both of the first and second balls that includes a primary gear mechanically associated with a power source. Rotation of the primary gear by the power source results in actuation of the clamping assembly.

Description:
BACKGROUND OF THE INVENTION 
     The present invention pertains to clamping assemblies, specifically clamping assemblies used in manufacturing and material handling. While transporting large objects a clamping assembly may be desired. In the prior art, several references disclose apparatuses and methods for gripping, grabbing, supporting, sensing and transporting objects of varying size and weight. 
     U.S. Pat. No. 4,432,691, which is herein incorporated by reference for all that it discloses, discloses a self-contained power-operated manipulator for piping and the like and is capable of coordinated movements which approximate those of the human arm and hand. 
     U.S. Pat. No. 5,184,861, which is herein incorporated by reference for all that it discloses, discloses a split rail gripper for robotic apparatus and including a pair of rails which are driven in mutually opposite directions by a rack and pinion gear mechanism. Each rail includes a set of rack gear teeth which engage respective pinion gears and where the top rail engaging one of the pinion gears is driven by a harmonic gear reduction drive and motor unit coupled to a drive screw. The other pinion gear is driven by the top pinion gear engaging a set of rack gear teeth included in the bottom rail. As the top rail is driven in or out, the upper pinion gear is rotated, causing the other pinion gear, in turn, to rotate in the opposite direction. This causes the bottom rail to move in an opposite linear direction relative to the top rail. An outwardly extending gripper finger assembly is attached to respective ends of the rails, with each gripper finger including an arrangement of vertically and horizontally mounted roller members which operate to automatically center and engage an H-plate type interface secured to the object being grasped. The gripper assembly also includes a base plate attached to an interface plate of a robotic tool changer mechanism. A retractable rotary tool driver and tool is also centrally mounted on the base plate. 
     U.S. Pat. No. 6,820,849, which is herein incorporated by reference for all that it discloses, discloses a clamping device including a fixed jaw attached to one end of a threaded shaft and an adjustable jaw which is movably mounted on the threaded shaft. 
     U.S. Pat. No. 4,604,724, which is herein incorporated by reference for all that it discloses, discloses an automated apparatus for handling elongated well elements such as pipes. An automatic tong is provided for screwing and unscrewing pipes from a string of elongated well elements. A manipulator grips and delivers a pipe to an operation position in axial alignment with the well bore. A control system includes position sensors for sensing the position of a well pipe. The control unit also includes a programmed logical control unit through which the sensors are connected to a drive system. 
     U.S. Pat. No. 4,531,875, which is herein incorporated by reference for all that is discloses, discloses an automated pipe handling system for providing increased safety and to minimize the number of workmen required in the coupling and uncoupling of pipe stands. The system includes a programmable controller for monitoring and/or controlling devices which remove and add pipe stands to a drill column. A number of transducers are operatively connected to the controlled devices for communication with the programmable controller for use in verifying that the controlled devices have properly performed their programmed tasks. The controlled devices include upper and lower arm assemblies for use in engaging and moving the uncoupled pipe stands to a storage position. The controlled devices further include a finger board assembly and a set-back assembly. The finger board assembly moves and retains the upper portions of the pipe stands while a drill rig floor of a derrick supports their lower portions. The set-back assembly is used to hold the lower portions of the pipe stands and to move the pipe stands to the predetermined storage positions on the drill rig floor. 
     U.S. Pat. No. 6,846,331, which is herein incorporated by reference for all that it discloses, discloses a gripper device comprising at least two portions which are coupled together and which may be moved towards one another to effect a gripping action and away from one another to effect a release action. An electrical motor is arranged to effect such movement, and a battery is connected to supply electrical current to the motor. A capacitor device is also connected to be capable of supplying electrical current to the electrical motor. A control device is arranged to cause the capacitor device to supply electrical current to the electrical motor after supply of electrical current to the electrical motor by the battery, to increase the strength of the gripping action. 
     BRIEF SUMMARY OF THE INVENTION 
     A clamping assembly for use in gripping, grabbing, supporting, sensing and transporting objects of varying size, shape and weight is disclosed. The clamping assembly has opposed jaws each with a ball and socket apparatus intermediate a clamp end and a pivot end attached to a frame structure. In one aspects of the invention, the frame structure may have a stabilizing member. The ball and socket apparatuses are connected by a gear assembly with a primary gear in mechanical communication with a power source wherein the jaws are actuated in accordance with the rotation of the primary gear. 
     The gear assembly may have a rod wherein the primary gear is intermediate oppositely threaded ends of the rod. The ends of the rod may be threadedly connected to the ball and socket apparatuses. The primary gear may be selected from the group consisting of spur gears, helical gears, crossed helical gears, bevel gears, spiral bevel gears, hypoid gears and zerol gears. 
     The primary gear may also be a pinion gear in mechanical communication with rack gears pivotally connected to the ball and socket apparatuses. As the pinion gear rotates the rack gears linearly extend out or retract in depending on the direction of rotation of the pinion gear. 
     The clamping assembly may have a sensor selected from the group consisting of torque sensors, pressure sensors, position sensors, strain sensors, optical sensors, sonic sensors, seismic sensors, acoustic sensors, inductive sensors, capacitive sensors, magnetic sensors, temperature sensors, vibrations sensors, sway sensors, smart sensors, and weight sensors. 
     The clamping assembly may move in a horizontal direction, a vertical direction or both directions with respect to the frame structure. The clamping assembly may also rotate axially or horizontally with respect to the frame structure. 
     The clamping assembly may have a control unit selected from the group consisting of integrated circuits, microprocessor chips and field-programmable gate array&#39;s (FPGA&#39;s). The control unit may receive operating instructions from an input device selected from the group consisting of controllers, remote controls, radio controls, sensors, memory and computers. The clamping assembly may also have memory. 
     The clamping assembly may include a closed loop control system. The closed loop control system may have control elements selected from the group consisting of sensors, control units, transmission mediums, power sources, actuators, indicators and computer memory. 
     The power source may be selected from the group consisting of motors, engines and hydraulics. The power source may be in mechanical communication with the primary gear by a mechanical device selected from the group consisting of gears, belts, bands, wheels, pulleys, chains, ropes, rods, shafts and combinations of the above. 
     The clamp end may have a gripping surface selected from the group consisting of elastomer coated surfaces, grooved surfaces, curved surfaces and rough surfaces. The pivot end of the jaw may be attached to the frame structure by a connection selected the group consisting of hinges, swivels, ball and sockets apparatuses and pivots. 
     In other aspects of the invention a lifting assembly may comprise a clamping assembly with opposed jaws each having a ball and socket apparatus intermediate a clamp end and a pivot end attached to a frame structure of the lifting assembly. The ball and socket apparatuses are connected by a gear assembly comprising a primary gear in mechanical communication with a power source. Wherein, the jaws are actuated in accordance with the rotation of the primary gear. 
     The lifting assembly may have a sensor selected from the group consisting of torque sensors, pressure sensors, position sensors, strain sensors, optical sensors, sonic sensors, seismic sensors, acoustic sensors, inductive sensors, capacitive sensors, magnetic sensors, temperature sensors, vibrations sensors, sway sensors, smart sensors, and weight sensors. 
     The lifting assembly may comprise at least a portion of a closed loop system. The at least portion of the closed loop system may have elements selected from the group consisting of sensors, control units, transmission mediums, power sources, actuators, indicators and memory. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective diagram of a lifting assembly with multiple clamping assemblies. 
         FIG. 2  is a perspective diagram of a mobile lifting assembly with multiple clamping assemblies. 
         FIG. 3  is a perspective cross-sectional diagram of a clamping assembly. 
         FIG. 4  is a perspective diagram of a clamping assembly. 
         FIG. 5  is a perspective diagram of a portion of a clamping assembly. 
         FIG. 6  is a perspective diagram of a clamping assembly. 
         FIG. 7  is a schematic diagram of a clamping assembly. 
         FIG. 8  is a perspective diagram of a clamping assembly. 
         FIG. 9  is a perspective diagram of a frame structure with multiple clamping assemblies. 
         FIG. 10  is a perspective diagram of two clamping assemblies adapted to move horizontally along the frame structure. 
         FIG. 11  is an orthogonal diagram of two clamping assemblies adapted to rotate with respect to the frame structure. 
         FIG. 12  is a perspective diagram of a clamping assembly comprising a positioning sensor. 
         FIG. 13  is a perspective diagram of a clamping assembly with multiple sensors. 
         FIG. 14  is a perspective diagram of a clamping assembly with an indicator. 
     
    
    
     DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Referring now to the drawings,  FIG. 1  is a perspective diagram of a lifting assembly  100  comprising clamping assemblies  101 . The clamping assemblies  101  may be attached to a frame structure  109  along a common axis  111 . The lifting assembly  100  may comprise two beams  103 ,  104  affixed parallel to each other and a third beam  105  perpendicular to the parallel beams  103 ,  104 . The third beam  105  may be able to move along the parallel beams  103 ,  104  along an x-axis. The third beam  105  may comprise a gliding assembly  106  which may comprise cables  107 ,  108  attached to the frame structure  109  of the clamping assemblies  101 . The gliding assembly  106  may be able to move along the third beam  105  along a y-axis as well as adjust the length of the cables  107 ,  108  attached to the frame structure  109  along a z-axis. Such an arrangement may allow the position, angle and the height of the frame structure  109  to be adjusted. This may be used for moving objects  110  from a horizontal position to a vertical position as diagramed in  FIG. 1 . This may be useful for a storage facility. 
     The third beam  105  and gliding assembly  106  may comprise an anti-sway mechanism (not shown) adapted to control any swinging movements of the frame structure  109 . The anti-sway mechanism may prevent the frame structure  109  from swinging by gradually starting and stopping any movement of the gliding assembly  106  or third beam  105 . 
     The lifting assembly  100  may comprise one or more sensors  112  selected from the group consisting of torque sensors, pressure sensors, position sensors, strain sensors, optical sensors, sonic sensors, seismic sensors, acoustic sensors, inductive sensors, capacitive sensors, magnetic sensors, temperature sensors, vibrations sensors, sway sensors, smart sensors, and weight sensors. 
     The lifting assembly  100  may comprise at least a portion of a closed loop control system  150 . The closed loop system  150  may comprise control elements selected from the group consisting of sensors  112 , control units  113 , transmission mediums (not shown), power sources  114 , actuators (not shown), indicators  1400 ,  1401  (see  FIG. 14 ), and computer memory  115 . 
     The closed loop system  150  may perform the following method. A sensor  112  may detect the position of a desired object  110  relative to the clamping assemblies  101 . The control unit  113  may send a signal through a transmission medium (not shown) to an actuator (not shown) to move the frame structure  109  and position the clamping assemblies  101  over the object  110 . When the clamping assemblies  101  are in position the control unit  113  may actuate the power source  114  to open the clamping assemblies  101  and to the actuators to lower the frame structure  109  until the clamping assemblies  101  surround the object  110 . The control unit  113  may send another signal to the power source  114  to close the clamping assemblies  101 . If a good grip is not made, the control unit  113  may send signals to open the clamping assemblies  101  and make another attempt to grip the object  110 . This method may be continued until a good grip is made. If a good grip is made the lifting assembly  100  may move the frame structure  109  with attached clamping assemblies  101  to a specified location for releasing the object  110 . The closed loop system  150  may continue this method  110  until an assigned task is finished and/or the sensor  112  does not detect any more objects  110  to be moved. 
     If an RFID is included on the object, the lifting assembly  100  may query the RFID and remember where the lifting assembly  100  stored the object  110 . This may be useful in a storage facility where an operator may request the lifting assembly  100  to transport an object  110  to a certain location. The operator may input a task including the RFID code to designate which object  110  should be moved and a location code to designate where the object  110  should be moved to. The lifting assembly  100  may then independently carry out the operations to fulfill the task. 
       FIG. 2  is a perspective view of another lifting assembly  160  comprising two clamping assemblies  101 . The lifting assembly  160  comprises a mobile base  170  and an adjustable arm  172 . In this embodiment the lifting assembly  160  may grip objects  110  of varying size, shape, and weight and transport them from one location to another location. 
       FIG. 3  is a perspective cross-sectional view of a clamping assembly  101 A comprising opposed jaws  301  each comprising a ball and socket apparatus  303  intermediate a clamp end  305  and a pivot end  307  attached to a frame structure  109 . The ball and socket apparatuses  303  are connected by a gear assembly  309  comprising a primary gear  310  in mechanical communication with a power source  114 . Wherein, the jaws  301  are actuated in accordance with the rotation of the primary gear  310 . 
     The gear assembly  309  may comprise a rod  312  comprising the primary gear  310  intermediate oppositely threaded ends  313 ,  314  threadedly connected to the ball and socket apparatuses  303 . The ball and socket apparatuses  303  may comprise a ball  315  pivotally mounted within a corresponding socket  317 . The balls  315  of the ball and socket apparatuses  303  may be any shape which may allow the balls  315  to pivot within their corresponding sockets  317 . The sockets  317  may extend through the corresponding jaws  301 . Each of the balls  315  may further comprise an internally threaded bore  319  adapted for connection to the oppositely threaded ends  313 ,  314  of the rod  312 . The rotation of the rod  312  may cause each of the balls  315  to move linearly in opposite directions along the rod  312 . There may be enough friction between the internally threaded bores  319  and the rod  312  to prevent a force generated from the weight of an object  110  held within the jaws  301  to move the balls  315  along the rod  312  and open the jaws  301 . This may be advantageous if there is a power failure. The primary gear  310  may be selected from the group consisting of spur gears, helical gears, crossed helical gears, bevel gears, spiral bevel gears, hypoid gears, and zerol gears. 
       FIG. 4  is a diagram of the clamping assembly  101 B with a motor  400  as the power source  114 . A shaft  401  on the motor  400  may comprise a second gear  402  in mechanical communication with the primary gear  310 . The second gear  402  may be a corresponding spur gear, helical gear, crossed helical gear, bevel gear, spiral bevel gear, hypoid gear or zerol gear. The second gear  402  may also be a worm gear (not shown). The worm gear (not shown) may provide the advantage of being able to turn the primary gear  310  but the primary gear  310  may not be able to turn the worm gear (not shown). This may add safety to the clamping assembly  101 B by preventing the jaws  301  from opening during a power failure. 
     The power source  114  may further be selected from the group consisting of motors, engines and hydraulics. The power source  114  may be in mechanical communication with the primary gear  310  by a mechanical device  403  selected from the group consisting of gears, belts, bands, wheels, pulleys, chains, ropes, rods, shafts, and combinations of the above.  FIG. 5  is a diagram of a clamping assembly  101 C comprising a hydraulic  500  as the power source  114 . A rack gear  501  may be attached to the end of the hydraulic piston  502 . The rack gear  501  may be positioned on the primary gear  310  such that the actuation of the hydraulic  500  moves the rack gear  501  along the primary gear  310  resulting in the opening or closing of the jaws  301  of the clamping assembly  101 C. 
     Referring now to  FIG. 6 , the clamp end  305 D of the clamping assembly  101 D may comprise a gripping surface  600  selected from the group consisting of elastomers coated surfaces, grooves, curved surfaces and rough surfaces. The pivot end  307 D of the jaws  301 D may be attached to the frame structure  109 D by a connection  601  selected the group consisting of hinges, swivels, ball and sockets apparatuses, and pivots. 
     Referring to the clamping assembly  101 E illustrated in  FIG. 7 , the primary gear  310  may further be a pinion gear  703  in mechanical communication with rack gears  700 ,  701  pivotally connected to opposing ball and socket apparatuses  303 E. As the pinion gear  703  is actuated by the power source  114  the rack gears  700 ,  701  placed on opposite sides of the pinion gear  703  may move linearly in opposing directions. This movement may cause the jaws  301 E to open or close depending on the direction of rotation of the pinion gear  703 . 
     In some embodiments of the present invention, the frame structure  109 F may comprises a single clamping assembly  101 F as diagramed in  FIG. 8 . The clamping assembly  101 F may comprise an antenna  803  in communication with a remote operator. This may allow the clamping assembly  101 F to be controlled wirelessly from a remote location. The frame structure  109 F of the clamping assembly  101 F may comprise a stabilizing member  800 . The stabilizing member  800  may add one or more points of contact  801  between the clamping assembly  101 F and the clamped object  110 F. The stabilizing member  800  may further help in centering the object  110 F to be clamped. Because of the added points of contact  801 , the position of the object  110 F may be known to a more precise degree. This may be useful in an application where the clamping assembly  101 F transports objects  110 F from a holding location (not shown) to a machine  1402 , such as the lathe  1403  diagramed in  FIG. 14 . In some aspect of the invention, the stabilizing member  800  may be adjustable manually or electrically through use of a motor and gearing (not shown). 
       FIG. 9  is a perspective diagram of a frame structure  109 G with multiple clamping assemblies  101 G. The multiple clamping assemblies  101 G may be mounted parallel to one another along the frame structure  109 G. The parallel mounted clamping assemblies  101 G may be able to grip objects  110 G of varying widths or diameters simultaneously. The clamping assemblies  101 G may further be mounted along a common axis  111  as diagramed in  FIG. 1 . With this orientation the clamping assemblies  101 G may be able to grip irregular objects  110 G with varying widths or diameters (see  FIG. 13 ). 
     Referring now to  FIG. 10 , the clamping assemblies  101 H are adapted to move in a horizontal direction  1000  along the frame structure  109 H. Alternatively, the clamping assemblies  101 I may be able to move in a vertical direction  1100 , a horizontal direction  1000 , or both directions  1000 ,  1100  with respect to the frame structure  109 I, as diagramed in  FIG. 11 . The ability to move in a horizontal direction  1000  and vertical direction  1100  along the frame structure  109 I may add versatility to the clamping assemblies  101 I by accommodating the gripping of objects  110 I of varying sizes, shapes, and lengths.  FIG. 11  further diagrams shows that the clamping assemblies  101 I may rotate with respect to the frame structure  109 I. This may add more versatility to the clamping assemblies  101 I by allowing the clamping assemblies  101 I to grip an object  110 I positioned at an angle with respect to the frame structure  109 I or an object  110 I comprising a bend. 
     Referring to  FIG. 12 , the clamping assembly  101 J may comprise a sensor  112 J selected from the group consisting of torque sensors, pressure sensors, position sensors, strain sensors, optical sensors, sonic sensors, seismic sensors, acoustic sensors, inductive sensors, capacitive sensors, magnetic sensors, temperature sensors, vibrations sensors, sway sensors, smart sensors, and weight sensors. The sensor  112 J may be attached on the jaws  301 J, the power source  114 J, or the frame structure  109 J. A torque sensor (not shown) may be used to determine if the clamping assembly  101 J has a sufficient grip on the clamped object  110 J. 
     A smart sensor may be used to determine if a good grip has been made. A smart sensor (not shown) may be made of a smart material that changes either its mechanical, electrical, or magnetic properties due to some change in its external environment. For example, a smart sensor may measure the amount of stress along the jaws  301 J. The measured value of stress may then be analyzed with known values to determine the amount of force the jaws  301 J are applying around the clamped object  110 J. A smart sensor may also be useful in determining the position of the object  110 J when held within the jaws  301 J. If the object  110 J is not held in a proper position within the jaws  301 J, the sensors  112 J may measure a larger amount of stress along the jaws  301 J than would be expected which may signal that a bad grip has been made. 
     In other representative embodiments, a pressure sensor may also be used to find the amount of force applied to the clamped object  110 J. An optical sensor may be used to determine the distance  1202  of the object  110 J relative to the clamping assembly  101 J. A laser (not shown) may send out a beam of light  1201  and an optical sensor may receive the reflected light which may then be processed to determine the distance  1202  the object  110 J is relative to the clamping assembly  101 J. Acoustic, sonic and seismic sensor may be used to determine the relative position of the clamping assembly  101 J with respect to the object  110 J by sending a signal out and processing the reflections. Inductive and capacitive sensors may be used to determine if the object  110 J is positioned within the jaws  301 J far enough to get a good grip by measuring the change in capacitance or inductance that may result when the object  110 J to be clamped is within the jaws  301 J. A sensor  112 J may be used in accordance with the jaws  301 J to determine the width of the object  110 J. It is believed that a variety of sensors  112 J may be used in a variety of ways and the above reference to certain uses for certain sensors is not meant to limit their scope relating to the present invention. 
     Referring to  FIG. 13 , the clamping assembly  101 K may comprise a control unit  113 K selected from the group consisting of integrated circuits, microprocessor chips and field programmable gate arrays (FPGA&#39;s). The clamping assembly  101 K may comprise a portion of a closed loop control system. The closed loop control system may include control elements selected from the group consisting of sensors  112 K, control units  113 K, transmission mediums (not shown), power sources  114 K, actuators (not shown), indicators  1400 ,  1401  (see  FIG. 14 ), and computer memory  115 K. 
     A sensor  112 K in electrical communication with the control unit  113 K may determine the position of the clamping assembly  101 K with respect to the object  110 K to be clamped. The sensors  112 K may also determine the length of the object  110 K with a laser  1300  or camera (not shown) mounted on each side of the frame structure  109 K scanning until the object  110 K is reached. The control unit  113 K may then be able to take the data received from the sensors  112 K and determine the objects  110 K length. Once the length of the object  110 K is known, the clamping assemblies  101 K may be moved along the frame structure  109 K into a position that may provide the preferred grip. The control unit  113 K may then communicate with the clamping assembly  101 K to actuate the power source  114 K in order to open and close the jaws  301 K. When the jaws  301 K are closed the control unit  113 K may determine through the sensors  112 K whether a good or bad grip has been made. If a good grip is indicated, the control unit  113 K may then transmit a signal to actuate the power source  114 K and open the jaws  301 K. After the jaws  301 K are open the control unit  113 K may then send a second signal to actuate the power source  114 K and attempt to grip the object  110 K a second time. This process may continue until a good grip has been made. The sensors  112 K may send a signal to the control unit  113 K when the clamping assembly  101 K is at the drop off location. The control unit  113 K may then send a signal to the power source  114 K to open the jaws  301 K and release the object  110 K. 
     The control unit  113 K may receive operating instructions from an input device (not shown) selected from the group consisting of controllers, remote controls, radio controls, sensors, memory, and computers. The operating instructions may be converted into signals to turn on and off the power source  114 K of the clamping assembly  101 K. The operating instructions may be converted into signals to adjust the position and angle of the clamping assembly  101 K with respect to the frame structure  109 K. For example, in embodiments where the frame structure  109 K comprises two clamping assemblies  101 K, if one clamping assembly  101 K is failing, a signal may be sent to the other clamping assembly  101 K to increase its grip. Further, if a sensor  112 K on the clamping assembly  110 K measures a sudden increase in weight or torque, the control unit  113 K may respond by increasing the grip on the object  110 K held within the jaws  301 K. 
     As diagramed in  FIG. 14 , the clamping assemblies  101 L may comprise computer memory  115 L for use with computerized control unit  113 L. The computer memory  115 L may store operating instructions for routine tasks. The computer memory  115 L may also store values for the control unit  113 L to compare with real time values obtained by sensors  112 L to determine when the clamping assemblies  101 L have a good or bad grip, or when the clamping assemblies  101 L are in the correct position. When a bad grip is made or the clamping assemblies are out of position, it may be read as an error and a signal may be sent from the control unit  113 L to an indicator  1400 . The indicator  1400  may be a light source or an acoustic source. Indicators  1400 ,  1401  may be used to indicate a good or bad grip or warn an operator or others nearby of danger such as a power failure or a slipping object. In other aspects of the invention, the indicators  1400 ,  1401  may be video monitoring devices (not shown). The video monitoring devices (not shown) may send real time images over a network regarding the position and the surroundings of the clamping assemblies  101 L. This may allow an operator, such as an IntelliLift™ operator, to control numerous lifting assemblies  100 L over the network from a single location. This may be advantageous because of the reduction of man hours required to operate the lifting assembly  100 L. Further, having a remote operator may reduce the need for men to handle hazardous materials such as corrosive or hot material. 
     Whereas the present invention has been described in particular relation to the drawings attached hereto, it should be understood that other and further modifications apart from those shown or suggested herein, may be made within the scope and spirit of the present invention.