Abstract:
Articulating gripper tooling for gripping an object, the articulating gripper tooling comprising: an articulating finger jaw including a slot; a gripping element including a shaft and at least one finger attached to the shaft, the shaft having a longitudinal axis; and a locking pin disposed through the slot and coupling the shaft to the articulating finger jaw; wherein the gripping element is free to rotate a predetermined amount about the longitudinal axis of the shaft, limited by the locking pin contacting a surface of the articulating finger jaw and/or an adjustment element.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    This is a non-provisional application based upon U.S. provisional patent application Ser. No. 62/173,707, entitled “ARTICULATING GRIPPER TOOLING”, filed Jun. 10, 2015, which is incorporated herein by reference. 
     
    
     BACKGROUND OF THE INVENTION 
       [0002]    1. Field of the Invention 
         [0003]    The present invention relates to mechanical grippers, and, more particularly, to the jaw tooling for such grippers. 
         [0004]    2. Description of the Related Art 
         [0005]    Grippers are mechanical devices with one or more jaws that are moved toward and away from one another by an electric motor, fluid powered piston, or other motion. In many cases, tooling attached to the jaws of the gripper is responsible for transferring the force of the gripper to a workpiece such that the workpiece may then be held, moved, or rotated. This tooling may need to be able to grasp workpieces that differ from one another in size, shape, draft, material, mass, and more. 
         [0006]    Typically, gripper jaw tooling is designed to match the contour of the workpiece; in this way, the tooling will mate with the workpiece when the gripper applies force to grasp the piece resulting in maximized force transmission to the part. Designing and manufacturing tooling to match workpieces of differing size, shape, draft, material, mass, etc. can prove not only costly, but far less effective at maximizing the grip force applied to the workpiece. 
         [0007]    What is needed in the art is a gripper tooling assembly that can be used with maximum efficiency on workpieces of differing size, shape, draft, material, mass, etc. 
       SUMMARY OF THE INVENTION 
       [0008]    The present invention provides an improved gripper jaw tooling incorporating features with minimal increase in size or complexity that allow the tooling to adapt to workpieces that differ from one another in size, shape, draft, material, mass, and more. 
         [0009]    The present invention also provides gripper jaw tooling that articulates or pivots as it makes contact with the workpiece. This allows the tooling to mate with the shape or draft of the surfaces of the workpiece that the gripper jaw tooling is acting upon. 
         [0010]    The present invention in one form is directed to gripper jaw tooling with articulating limits determined by the configuration of the mounting block or articulating finger jaw. The articulating section of the gripper jaw tooling (or finger) concludes with a shaft. The articulating section pivots about the longitudinal axis of the shaft within the mounting block or articulating finger jaw. The mounting block includes details for rotational limiting and provisions for attachment to the jaws of the gripper. 
         [0011]    The present invention in another form is directed to gripper jaw tooling with adjustable articulation angle limits in the mounting block or articulating finger jaw to fine tune the limits as needs change. The articulating section of the gripper jaw tooling (or finger) concludes with a shaft. The articulating section pivots about the longitudinal axis of the shaft within the mounting block or articulating finger jaw. The mounting block includes adjustment members for rotational limiting and provisions for attachment to the jaws of the gripper. 
         [0012]    The present invention in any form provides an optional quick-change feature for ease of maintenance. This feature allows the wear items of the tooling system to be easily detached from one another for cleaning, repair, or replacement. 
         [0013]    An advantage of the present invention is the ability for the gripper jaw tooling to adapt to workpieces of differing size, shape, draft, material, mass, etc., thereby obviating the need for custom gripper jaw tooling to complement varying workpieces. 
         [0014]    Another advantage of the present invention is the articulating section of the gripper jaw tooling can be constrained a predetermined amount, thereby providing a secure attachment of the workpiece. 
         [0015]    Yet another advantage of the present invention is the articulating section of the gripper jaw tooling can be constrained a predetermined amount by adjusting one or more adjustment members in the mounting block or articulating finger jaw, thereby varying the articulation amount and providing a secure attachment of the workpiece. 
         [0016]    Still another advantage of the present invention is the capability to easily disassemble the gripper jaw tooling in order to easily repair, replace, or clean the various components thereof. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0017]    The above-mentioned and other features and advantages of this invention, and the manner of attaining them, will become more apparent and the invention will be better understood by reference to the following description of embodiments of the invention taken in conjunction with the accompanying drawings, wherein: 
           [0018]      FIG. 1  is an isometric view and exploded view detail of an embodiment of gripper jaw tooling of the present invention; 
           [0019]      FIG. 2  is a top view of the gripper jaw tooling of  FIG. 1 ; 
           [0020]      FIG. 2A  is an isometric view of an alternate embodiment of the gripper jaw tooling of  FIG. 1 ; 
           [0021]      FIG. 3  is an isometric view and exploded view detail of an alternate embodiment of gripper jaw tooling of the present invention; 
           [0022]      FIG. 4  is a top view of the gripper jaw tooling of  FIG. 3 ; and 
           [0023]      FIG. 4A  is an isometric view of an alternate embodiment of the gripper jaw tooling of  FIG. 3 . 
       
    
    
       [0024]    Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate embodiments of the invention, and such exemplifications are not to be construed as limiting the scope of the invention in any manner. 
       DETAILED DESCRIPTION OF THE INVENTION 
       [0025]    Referring now to  FIG. 1 , there is shown an embodiment of a gripping device  10  according to the present invention. Gripping device  10  includes main body  12 , gripper jaw  14 , and articulating gripper tooling assembly  20 . Although not illustrated, gripping device  10  includes at least one additional gripper jaw  14  and articulating gripper tooling assembly  20  in order to provide a way of gripping a workpiece. 
         [0026]    Articulating gripper tooling assembly  20  includes mounting block  22 , locking pin  24 , mounting block attachment members  26 , and gripping element  28 . Gripping element  28  includes finger  30 , finger extension  32 , and finger shaft  34  with through-hole  36 . Mounting block  22  includes through-hole  38 , slot  40 , and attachment member through-holes  42 . 
         [0027]    Gripping element  28  is rotatably attached to mounting block  22  by inserting finger shaft  34  into through-hole  38 , and securing with locking pin  24  inside slot  40  and through finger shaft through-hole  36 . Locking pin  24  may be a quick-release pin. Mounting block  22 , with or without gripping element  28  rotatably attached, is attached to jaw  14  by attachment members  26  and through-holes  46 . 
         [0028]    Now referring to  FIG. 2  with continued referral to  FIG. 1 , the operation of articulating gripper tooling assembly  20  is described. Section A-A illustrates the bi-directional rotational direction (“articulation”) of gripping element  28  with respect to mounting block  22 . The bi-directional rotation is limited as shown in Detail B. Mounting block  22  includes at least two reliefs  44  and  48  with resulting respective relief shelves  46  and  50  at the bottom of slot  40 . When attached to mounting block  22  by locking pin  24 , gripping element  28  is free to rotate in a clockwise direction until locking pin  24  contacts relief shelf  46 , thereby preventing additional clockwise rotation. Similarly, gripping element  28  is free to rotate in a counterclockwise direction until locking pin  24  contacts relief shelf  50 , thereby preventing additional counterclockwise rotation. 
         [0029]    In one embodiment, the articulating angle C of gripping element  28  with respect to mounting block  22  is limited to 15 degrees in the clockwise direction, and the articulating angle D of gripping element  28  with respect to mounting block  22  is limited to 5 degrees in the counterclockwise direction as viewed in Detail B. 
         [0030]    The vertical distance from the longitudinal axis of through-hole  38  to either the outer edge of relief surface  46  or the outer edge of relief surface  50  alters the rotating (articulating) angle in the respective direction of rotation. More specifically, increasing the vertical distance from the longitudinal axis of through-hole  38  to either the outer edge of relief shelf  46  or the outer edge of relief shelf  50  will increase the angle that the gripping element  28  will be free to articulate. Likewise, decreasing the vertical distance from the longitudinal axis of through-hole  38  to either the outer edge of relief shelf  46  or the outer edge of relief shelf  50  will decrease the angle that the gripping element  28  will be free to articulate. 
         [0031]    Referring now to  FIG. 2A , an alternative embodiment gripper device  10 ′ is shown with gripper tool assembly  20 ′. The only difference between  10 ′ and  10  is that gripper tooling assembly  20 ′ does not include a separate mounting block  22  with attachment members  26  or through-holes  42 ; gripping element  28  is rotatably coupled directly to articulating finger jaw  14 ′. All other features are the same. 
         [0032]    Referring now to  FIG. 3 , there is shown an alternate embodiment of a gripping device  110  according to the present invention. Gripping device  110  includes main body  112 , gripper jaw  114 , and articulating gripper tooling assembly  120 . Although not illustrated, gripping device  110  includes at least one additional gripper jaw  114  and articulating gripper tooling assembly  120  in order to provide a way of gripping a workpiece. 
         [0033]    Articulating gripper tooling assembly  120  includes mounting block  122 , locking pin  124 , mounting block attachment members  126 , and gripping element  128 . Gripping element  128  includes finger  130 , finger extension  132 , and finger shaft  134  with through-hole  136 . Mounting block  122  includes through-hole  138 , slot  140 , attachment member through-holes  142 , and adjustment member through-holes  156 . 
         [0034]    Gripping element  128  is rotatably attached to mounting block  122  by inserting finger shaft  134  into through-hole  138 , and securing with locking pin  124  inside slot  140  and through finger shaft through-hole  136 . Locking pin  124  may be a quick-release pin. Mounting block  122 , with or without gripping element  128  rotatably attached, is attached to jaw  114  by attachment members  126  and through-holes  146 . 
         [0035]    Now referring to  FIG. 4  with continued referral to  FIG. 3 , the operation of articulating gripper tooling assembly  120  is described. Section E-E illustrates the bi-directional rotational direction (“articulation”) of gripping element  128  with respect to mounting block  122 . The bi-directional rotation is limited as shown in Detail F. As previously noted, mounting block  122  includes adjustment member through-holes  156 , which may be threaded. First limit adjustment member  152  and second limit adjustment member  154 , which may also be threaded, are inserted into adjustment member through-holes  156 . When attached to mounting block  122  by locking pin  124 , gripping element  128  is free to rotate in a clockwise direction until locking pin  124  contacts first limit adjustment member  152 , thereby preventing additional clockwise rotation. Similarly, gripping element  128  is free to rotate in a counterclockwise direction until locking pin  124  contacts second limit adjustment member  154 , thereby preventing additional counterclockwise rotation. 
         [0036]    In one embodiment, the articulating angle G of gripping element  128  with respect to mounting block  122  is limited to 15 degrees in the clockwise direction, and the articulating angle H of gripping element  128  with respect to mounting block  122  is limited to 10 degrees in the counterclockwise direction as viewed in Detail F. 
         [0037]    The vertical distance from the longitudinal axis of through-hole  138  to either the end of first limit adjustment member  152  or the end of second limit adjustment member  154  alters the rotating (articulating) angle in the respective direction of rotation. More specifically, increasing the vertical distance from the longitudinal axis of through-hole  138  to either the end of first limit adjustment member  152  or the end of second limit adjustment member  154  will increase the angle that the gripping element  128  will be free to articulate. Likewise, decreasing the vertical distance from the longitudinal axis of through-hole  138  to either the end of first limit adjustment member  152  or the end of second limit adjustment member  154  will decrease the angle that the gripping element  128  will be free to articulate. 
         [0038]    Referring now to  FIG. 4A , an alternative embodiment gripper device  110 ′ is shown with gripper tool assembly  120 ′. The only difference between  110 ′ and  110  is that gripper tooling assembly  120 ′ does not include a separate mounting block  122  with attachment members  126  or through-holes  142 ; gripping element  128  is rotatably coupled directly to articulating finger jaw  114 ′. All other features are the same. 
         [0039]    While articulating gripper tooling has been described with respect to at least one embodiment, the present invention can be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains and which fall within the limits of the appended claims.