Patent Description:
Sheet metal grippers with competing gripping force with double jaw/single jaw opening options for press shop automation are relatively less compact and sturdy. This limits the speed of the pressing operation that significantly challenges how fast the sheets can be maneuvered from successive forming stations. The heavier the weight of gripper, the more it hinders the end of the robot. This compels the robot to move slower due to an increase in applied moment. Accordingly, it is desired to lessen the weight of the gripper while achieving all gripper characteristics.

Accordingly, the present disclosure provides a modular sheet metal gripper that bridges the bottlenecks of weight aspects with compact size while ensuring competing gripping characteristics. The present gripper is formed from aluminum and steel. The pneumatic actuator sweeps definite air volume for quick actuation. The pair of opposite facing jaws provides a unique cam profile as well as respected pivot points. This prevents the non-gripping end of each jaw from protruding from the top and bottom plane of the gripper body. This enables the use of the grippers in narrow or confined space and direct base mount requirements. The footprint of this gripper is relatively compact compared to currently available grippers, while achieving competing gripping force. The gripper actuation speed is relatively fast.

The jaws of typical grippers are removable and replaceable with different jaws to accommodate to different styles of jaw configuration. For example, jaws having different cam slot shapes may be substituted to partial jaw opening of a bottom jaw.

In a typical production line, grippers are mounted in narrow spaces or confined spaces that limits the jaw opening. The gripper requires jaw opening adjustments. The present gripper has jaw opening angle adjustability arrangements. This facilitates the desired jaw opening by a striker and adjustable bumper that is mounted to the gripper body. Also, an adjustable sheet stopper, designed with a pair of curvature slots, allows adjustable variable stopper plate position. Also this invention includes part presence sensor brackets, jaw open/close position/double blank sensing brackets, magnetic sensor bracket and adjustable sheet stopper are designed with compatible mounting option on both side of the gripper and enable adjusted variable positions. Prior art in this technical field is disclosed in documents <CIT>, <CIT>, <CIT>, <CIT>.

A gripper according to the invention is defined by the features according to claim <NUM>. The gripper comprises an aluminum body with a gripping portion and a cylindrical portion. The gripping portions comprises a pair of side walls along with a center wall having an open cutout that is in-line with a cylinder axis and perpendicular to the structure from the front end of the gripper body to facilitate easy assembly of gripper parts. The gripping portion comprises a front end opened groove on peripheral sides of the body. This accommodates side plates that includes elongated blind or through-slots that guide flat surfaces of a cam pin on both end. Contour wall in the gripper portion supports and guides the clevis portion of the piston rod that is coupled to the cam pin. A piston assembly, that includes a piston rod, piston, seals and bumpers are positioned inside a bore of the cylindrical portion. This gripper has a pair of jaws that are coupled to the gripper body through two independent pivot pins that extend between the center wall and side wall and are positioned away from the cylinder axis. The pair of gripper jaws includes a cam slot. The cam slot receives a cam bushing that is fastened to the cam pin attached to the piston rod. As the piston rod is moved in a reciprocal manner, by pneumatic or hydraulic power, the cam pin, with the cam bushings, slides through the cam slots causing the gripper jaws to open and close. The cam slots are designed with a particular shape that affects opening and closing of the gripper jaws. This further causes the gripper jaws to become self-locked in the closed position. The self-locking feature prevents the gripper from failing in the event of fluid flow interruption to the cylinder. Also, the pair of opposite facing jaws provides a unique cam profile, as well as, respected pivot points that prevent the non-gripping end of each jaw from protruding from the bottom plane of the gripper body. An axial bore is formed in a wall to define the body of the cylindrical portion. The axial bore enables fluid flow for piston activation. A plug seals the axial end of the bore at the exterior of the cylindrical portion.

The gripper has an external angle adjustability arrangement that facilitates desired jaw opening. It is assisted by a striker that is coupled to the jaw by a dowel pin, at any one of the designated holes at one end, and at the other end, it directly mounts to an extended pivot pin placed between open cutouts in the center wall of the gripping portion. The striker strikes against a threaded bumper that is fastened to a triangle shaped bracket. The bracket is directly mounted to a slot provided at the top of the center wall in the gripping portions of the body. The threaded bumper may be adjusted by screws that limit or control the desired opening angle of the jaw with respect to its pivot. Also, jaws are provided with engraved indicia with numerical values for easy angle adjustments.

The adjustable sheet stopper, with a pair of curved slots, enables variable stopper plate positioning. A pair of sheet stoppers is directly fastened to both peripheral sides of the gripper body by at least one threaded screw. The plates can be interchangeable on any side of the gripper body. The plates can be reversible and fastened to the gripper body to obtain the next range of adjustability. Also, the stopper plate is provided with a centered elongated slot to enable the movable member to provide a sensing option.

The disclosure also contemplates different sensor mounting brackets designed from an aluminum housing with appropriate sensor mounting features. Brackets are designed in manner that can directly fastened to any peripheral side of the gripper body by at least one threaded screw. These plates can be adjustable or fixed at any position depending upon the sensing requirements.

The drawings described are for illustrative purposes only of selected embodiments and of some configurations not being part of the invention, but do not show all possible implementations, and are not intended to limit the scope of the present disclosure.

Example embodiments and some configurations not being part of the invention will now be described more fully with reference to the accompanying drawings.

Turning to the figures, a gripper is illustrated and designated with the reference numeral <NUM>. A tooling mount <NUM> secures the gripper <NUM> onto the end effector tool <NUM>.

The tool mount <NUM> includes a ball <NUM>, a collar <NUM> and a threaded block <NUM>. The ball <NUM> is attached with the end effector tool <NUM>. The ball <NUM> is secured with the collar <NUM>. A mounting key <NUM> passes between the blocks <NUM>, <NUM> and is secured by a fastener <NUM>. The mounting key <NUM> has an extended portion <NUM>. The extended portion <NUM> projects into a groove <NUM> in the gripper <NUM>, as will be explained later.

The gripper <NUM> includes a body <NUM>. The body <NUM> is generally of a one piece aluminum or other lightweight metal construction. The body <NUM> includes a cylindrical section <NUM>, and a trident section <NUM>. The cylindrical sections <NUM> acts as a housing for a powering assembly <NUM>, here illustrated as a piston assembly. The piston assembly includes a piston rod <NUM>, a rod seal <NUM>, a rubber cushion <NUM> and a piston <NUM> with an outer seal <NUM>. The cylindrical portion <NUM> includes a cylindrical bore <NUM> to receive the piston assembly. The end of the cylinder bore <NUM> is closed by a bore plug <NUM> with an O-ring seal <NUM>. A retaining spring clip <NUM>, via contact of the clip <NUM> with an inner circumferential groove <NUM>, secures the bore plug <NUM> and seal <NUM> in the cylindrical bore <NUM>.

The outer circumferential surface <NUM>, of the cylindrical section <NUM>, includes a circumferential groove <NUM>. The circumferential groove <NUM> receives the extending portion <NUM> of the mounting key <NUM>. The extending portion <NUM> positions and maintains the tooling mount <NUM> with the cylindrical portion <NUM> of the body <NUM>.

The cylinder wall <NUM> of the cylindrical section <NUM> includes an axial bore <NUM>. The axial bore <NUM> includes an outlet <NUM>. The outlet <NUM> enables fluid to enter into the cylindrical bore <NUM>. The axial bore <NUM> is drilled through the cylinder wall <NUM> of the cylindrical section <NUM>. The axial bore <NUM> is closed off by a plug <NUM>. The plug <NUM> is inserted into the exterior end surface <NUM> of the cylinder wall <NUM>. The interior end of the bore <NUM> couples with bore <NUM>. The bore <NUM> receives a fluid conduit <NUM>. A second bore <NUM> receives a fluid conduit <NUM>. The second bore <NUM> is also formed in a web <NUM> of the trident section <NUM>. The bore <NUM> is coupled with a fluid outlet <NUM>. The fluid outlet <NUM> enables fluid to enter into the cylindrical bore <NUM>.

The trident section <NUM> has a pair of side walls <NUM>, <NUM> and center wall <NUM> connected via the web portion <NUM>. The web portion <NUM> includes the bores <NUM>, <NUM>, generally threaded, that receive the fluid conduits <NUM>, <NUM>. The side walls <NUM>, <NUM> and center wall <NUM>, in the trident section <NUM>, included open cutouts from the front end <NUM> of the body aligned with the cylinder axis <NUM>. The open cutouts are defined by guiding surfaces <NUM> in the center wall <NUM> and non-guiding surfaces 124a, 124b on the side wall <NUM>, <NUM>. The guiding surfaces <NUM> may receive clevis portion guiding faces <NUM> of the piston rod <NUM>.

The piston rod <NUM> reciprocates on the guiding surfaces <NUM> by the fluid power from the powering assembly <NUM> of the cylindrical section <NUM>. The clevis portion <NUM> of the piston rod <NUM> having through bore <NUM>, receives the cam pin <NUM>.

The cam pin <NUM> extends laterally outward, with respect to the cylinder bore axis <NUM>, to receive cam bushings <NUM>. The cam bushings <NUM> engage the through cam slot <NUM> of each of the pair of opposing jaw members <NUM>. The jaws <NUM> are rotated in response to fluid power in the cylindrical sections <NUM>. Both ends of the extended cam pin <NUM> include flat surfaces <NUM> that may slide in the elongated blind-slot <NUM> of side plate <NUM>. Also, flat surface <NUM> in the cam pin <NUM> prevents rotation of the cam pin <NUM>.

Also, cam pin <NUM> includes a threaded hole <NUM>, along its axis, on each side to receive the sensor flag <NUM> (this configuration not being part of the invention). The outer surface of the each side walls <NUM>, <NUM> may include grooves <NUM>, <NUM> that may receive a pair of side plate <NUM>. The side plates <NUM> are fixed by fasteners <NUM> to the threaded hole <NUM> through the holes <NUM> of the side plate <NUM>. The groove <NUM> outer surfaces of the side wall <NUM> and groove <NUM> outer surfaces of the side wall <NUM> includes pivot holes <NUM>, <NUM>, respectively. Both pivot holes <NUM>, <NUM> are opposite each other and symmetry to cylinder bore axis <NUM>. Both pivot holes <NUM>, <NUM> are away from the cylinder bore axis <NUM>. Both pivot holes <NUM>, <NUM> receive a pair of pivot pin <NUM> for the pair of opposable jaw members <NUM>. The pair of pivot pin <NUM> is arrested from axial movement by the pair of side plate <NUM>.

Jaw member <NUM> includes a body <NUM> with an adjacent arm <NUM>. The arm <NUM> include through hole <NUM> to receive the pivot pin <NUM>. Additionally, the arm <NUM> include a through cam slot <NUM> to receive the cam bushing <NUM>. The cam bushing <NUM> is inserted onto the cam pin <NUM> that is secured to the piston rod <NUM>. The through cam slots <NUM> have an overall flattened V-shape to enable movement of the jaw <NUM> from a griping to a non-griping position. The arm <NUM> includes a set of two blind holes <NUM> on the first portion <NUM> that receive striker dowel pin <NUM>. Arm <NUM> second portion <NUM> is engraved with angle marks <NUM> and decimal values for easy jaw opening angle adjustment. The body <NUM> includes a tip seat <NUM> and threaded hole <NUM> that receive clamping tips <NUM>. Also the clamping tips <NUM> clamp the part between the pair of jaws <NUM>. The clamping tips <NUM> are permanently locked in place by threaded fasteners <NUM>.

The end portion <NUM> of the arm <NUM>, in side elevation view, has an overall turtle shell shape. The first side <NUM> is arcuate and extends from the top portion <NUM> of the arms <NUM>. The body <NUM> side is chamfered and extends from the top portion <NUM> of the arms <NUM>. The second arcuate cutout portion <NUM> is curved and aligned with an end of the flattened V shape cam slot <NUM>. The pivot hole <NUM> receives bushing <NUM> on both portion <NUM> and <NUM>. Bushing <NUM> is positioned between side wall <NUM> or <NUM> and center wall <NUM> of the trident section <NUM>. The jaw <NUM> moves from a clamped to an unclamped position. During movement, the curved end <NUM> of the arm <NUM> of upper jaw member <NUM> of pair of jaw members does not break the plane of an end plane <NUM> of the body of the gripper. This enables a much smaller cutout in the die for the gripper entry to pick up the sheet metal parts.

In operation, depending upon the state of the piston assembly, fluid enters through port <NUM> along bore <NUM> and exits into cylinder <NUM>. The piston assembly moves forward to moves the pair of opposing jaws <NUM> into a non-clamping or retracted position. The pair of opposing jaws <NUM> is moved into a clamped position by fluid entering through port <NUM> through outlet <NUM> into cylinder <NUM>. This, in turn, moves the piston assembly in a second direction the pair of opposing jaws <NUM> into a clamped position. The fluid is controlled by a controller (not shown) to moves the pair of opposing jaws <NUM> into a clamped and non-clamped position. The pair of opposable jaw <NUM> is independently removable and replaceable by other jaw members (118a, 118b, 118c, 118d, 118e). The through cam slots <NUM> are defined by particular shape that effect opening and closing of the pair of opposing jaws <NUM>. This further causes the pair of opposing jaws <NUM> to become self-locked in the closed positions. The self-locking feature prevents the gripper from failing in the event of interrupted fluid flow to the cylinder <NUM>.

<FIG> depicts a number of different interchangeable jaws (118a, 118b, 118c, 118d, 118e) that can be assembled in the trident section <NUM> and coupled to the jaw powering assembly <NUM>. As depicted, each of the different jaws (118a, 118b, 118c, 118d, 118e) have a different tip seating (144a, 144b, 144c, 144d, 144e) designs and or work piece receive orientation that effects different movement characteristics. The modular gripper can be assembled to include gripper jaws (118a, 118b, 118c, 118d, 118e) with different tip (158a, 158b, 158c, 158d) designs that can be used for handling, transporting or transferring, different types of work pieces. Also as the modular gripper can be assembled with gripper jaws (118a, 118b, 118c, 118d, 118e) having similar cam slots (136a, 136b, 136c, 136d, 136e) configurations that affect the angle at which one or both jaws open or close, and which determine whether or not the jaws lock in an open and /or closed position. The tip <NUM> has a gripping end <NUM> that receives the gripping parts. A seating end <NUM> is coupled to tip seat <NUM> of the jaw member <NUM> directly by means of threaded fasteners <NUM>. The tip 158a has a threaded bar <NUM> to couple directly to the jaw member. Tips 158b, 158c, and 159d have a threaded hole <NUM> to receive fasteners <NUM> from the jaw member <NUM>. Also the tips 158c and 158d have sets of threaded holes <NUM> on the peripheral side of the tip to receive the part presence sensor bracket <NUM>.

A steel sheet stopper <NUM> has a pair of curved slots <NUM> that enable variable adjustability of the stopper plate position. Sheet stopper <NUM> directly fastens to both peripheral side of side wall <NUM>, <NUM> of the trident section <NUM> by two threaded screw <NUM>. These sheet stopper <NUM> can be interchangeable to any peripheral side of the trident section <NUM>. Also, it can be flipped about curved slot <NUM> axis to get the next range of adjustability. Sheet stopper <NUM> is provided with an elongated slot <NUM> at its center to allow any movable member that is provided, for the sensing arrangement, to be attached. The sheet stopper <NUM> is used along with bi-directional mounting sensing bracket <NUM>, 240a, 240b, 256d.

An external angle adjuster <NUM> facilitates desired jaw opening. It includes a striker <NUM>. Triangle shaped bracket <NUM> and threaded bumper <NUM> on the modular gripper. The striker <NUM> has a pivot hole <NUM> on one end and a blind hole <NUM> on the other end. The pivot hole <NUM> receives the pivot pin <NUM> that extends between the cutout <NUM> on the top surface <NUM> of center wall <NUM> in trident section <NUM>. The blind hole <NUM>, with extended lip <NUM>, receives the dowel pin <NUM>, in the jaw elongated flat bar portion <NUM>. The dowel pin <NUM> will be coupled any one of the blind holes <NUM> on the flat bar portion <NUM> of the jaw member <NUM>. Two different blind holes <NUM> in the jaw member <NUM> define the different range of the jaw opening angle.

The triangle shaped bracket <NUM> has a threaded through hole <NUM> on one edge to receive threaded bumper <NUM>. The other edge includes through hole <NUM> that receives fastener <NUM> that fastens to center wall <NUM> of the trident section <NUM>. Center wall <NUM> includes a groove <NUM> with at least one threaded hole <NUM> on the top surface <NUM>. Triangle shaped bracket <NUM> plugs into groove <NUM> and is fastened by threaded screw <NUM>. The threaded hole <NUM> of triangle shaped bracket <NUM> receive the threaded bumper <NUM>. The bumper <NUM> has a soft tip <NUM> at one end and a hex socket <NUM> at the opposite end to receive a standard tool. The threaded bumper <NUM> is adjustable by rotation which limits or controls the desired opening angle of the jaw <NUM> with respect its pivot <NUM>. The threaded bumper <NUM> is locked into a desired position by screw nut <NUM>. The screw nut <NUM> can resist the impact of the striker <NUM> along with coupled jaw member <NUM>. Here, the jaw opening is easily adjustable by using the engraved angle marks <NUM> on the jaw member <NUM>.

A sensor bracket <NUM> with a web <NUM> includes a bore <NUM> to receive a sensor <NUM> is coupled with the tip <NUM>. The sensor <NUM> senses the presence of a part between the pair of opposing jaws <NUM>. When the sensor <NUM> is positioned in the bore <NUM>, it is secured by a threaded screw <NUM> onto the web <NUM>. Sensor bracket <NUM> will be fastened to the clamping tip <NUM> by threaded screws <NUM>. The clamping tips 158c and 158d have threaded hole <NUM> to receive the sensor bracket <NUM> and set of fasteners <NUM>. A wire <NUM> extends from the sensor <NUM>. The wire passes through below the center wall <NUM> of the trident section <NUM>. The wire <NUM> continues into a groove <NUM> in the cylindrical section <NUM>. The groove <NUM> surrounds the wire to protect and prevent movement of the wire <NUM> on the body cylindrical section <NUM>. The wire <NUM> is held across the center wall <NUM> of trident section <NUM> by wire hold <NUM> which is fastened to center wall <NUM> by set of threaded screws <NUM>. Additionally, the tool mount collar <NUM> surrounds the wire locking it in place on the body.

The gripper assembly includes bi-directional mounting sensing brackets <NUM>, 240a, 240b, <NUM>, <NUM> as well as a reversible sheet stopper <NUM>. Here bracket <NUM> is referred as optical/infrared sensor part presence bracket, bracket 240a and 240b is referred as inductive sensor jaw positions or double blank presence sensing bracket, <NUM> is referred to as inductive sensor adjustable jaw positions or double blank presence sensing bracket and <NUM> is referred to as magnetic sensor adjustable jaw positions or double blank presence sensing bracket. Whereas gripper assembled with bi-directional mounting sensing brackets <NUM>, 240a, 240b, <NUM>, <NUM> need to replace the side plate <NUM> in the gripper <NUM> with side plate 98a which has open elongated slot 104a allows to mount the sensor flag <NUM> or magnet <NUM> to cam pin <NUM> (this configuration not being part of the invention).

The bracket <NUM> has a body <NUM> with an overall rectangular configuration. It includes counter bore slots <NUM>, <NUM> that enable lateral adjustment of the bracket <NUM> and secures to gripper by means of set of fasteners <NUM>. Also, the bracket <NUM> includes a sensor receiving set of threaded holes <NUM> that receives sensor <NUM> and fixed by threaded screws <NUM>. The slot <NUM> has a cut surface on each side of the bracket <NUM> called as first side <NUM> and a second side <NUM>. The sides <NUM>, <NUM> are the same, except they are mirror images of one another. The side <NUM> is focused to sensor <NUM> and side <NUM> is focused to the gripper <NUM>. Thus, when the bracket <NUM> is rearranged from one side of the body <NUM> to the other, the sides <NUM>, <NUM> exchange their focus, the side <NUM> is focused to gripper <NUM> and side <NUM> is focused towards the sensor <NUM>. And slots <NUM>, <NUM> enable the sensor <NUM> along with bracket <NUM> to laterally adjust in a proper location and fixed to desired positions by means of threaded screws <NUM>. Thus, the user can utilize the right hand side or the left hand side of the gripper <NUM> without the need for special sided brackets. The brackets <NUM> designed to receive sensor <NUM> to enable sensing the part presence in the gripper <NUM>.

The brackets 240a, 240b have a body <NUM> with an overall rectangular configuration. They include counter bore slots <NUM>, <NUM> that enable lateral adjustment of the bracket and secure to the gripper by means of the set of fasteners <NUM>. Also, the brackets 240a, 240b includes at least one through hole <NUM> at mid plane of the brackets that receives a sensor <NUM>. The brackets 240a, 240b are provided with multiple threaded holes <NUM> at different positions around the through hole <NUM> on the front side of the brackets. The threaded holes <NUM> enable the sensor <NUM> to be positioned in a proper orientation by the sensor mounting screw <NUM>. Also, the brackets are provided with a through channel <NUM> on the back side of the bracket and inline to the mid plane of the bracket. This enables the free movement of the sensor flag <NUM> that is attached to the cam pin <NUM> (this configuration not being part of the invention). Sensor flag <NUM> will travel in the provided channel <NUM>. Thus, when the brackets 240a, 240b are flipped from one side of the body <NUM> to the other, the multiple threaded hole <NUM> enable the sensor <NUM> to be positioned in a proper orientation. The brackets 240a are designed to receive two sensor <NUM> to enable sensing of the two position like jaw open and close, jaw open and double blank presence. The brackets 240b is designed to receive only one sensor <NUM>. It enables sensing any one desired sensing option like jaw open, jaw close, double blank presence. The brackets 240a, 240b may be positioned on the left or right side of the gripper to eliminate the need for designated side brackets sets.

The bracket <NUM> has a body <NUM> with an overall rectangular configuration. It includes counter bore slots <NUM>, <NUM> that enable lateral adjustment of the bracket and secure the gripper by means of set of fasteners <NUM>. The bracket is provided with guide channel <NUM> on its front side to receive bracket cover <NUM>, which is in rectangular shape. This enables horizontal adjustment of the bracket cover <NUM> along with attached sensor <NUM>. The bracket includes the arrow shaped cutout <NUM> on the guide channel <NUM> to accommodate the sensor <NUM> body. The cutout <NUM> includes elongated cutout <NUM> that allows the sensor <NUM> to move freely while position adjustment of the bracket cover and through hole <NUM> which receives and locates the another sensor <NUM> in one positions. Also, cutouts <NUM> are formed with narrow grooves <NUM> adjacent to guide channel <NUM> surface that allows the sensor wire <NUM> to extend out from the bracket <NUM>. The bracket includes a set of threaded holes <NUM> on the guide channel <NUM> to receive the fasteners <NUM> that fix the bracket cover <NUM> to the bracket. Also, cutout <NUM> include threaded hole <NUM> to receive the sensor <NUM> along with its fastener <NUM>.

Also bracket <NUM> includes closed channel <NUM> on the back side of the bracket that is inline to the mid plane of the bracket to enable free movement of the sensor flag <NUM> attached to the cam pin <NUM> (this configuration not being part of the invention). Sensor flag <NUM> travels in the closed channel <NUM>. The bracket <NUM> is designed in a such way that can be flipped from one side of gripper to the other. This enables the bracket to be positioned on the left or right side of the gripper to eliminate the need for designated side brackets sets. The bracket cover <NUM> has a set of elongated through slot <NUM> on the front side <NUM> of the cover that enable fixing of the cover to bracket <NUM> in variable positions using fasteners <NUM>. The bracket cover <NUM> includes guiding surfaces <NUM> that will guide precisely on the bracket <NUM> guide channel <NUM> while sensing adjustment. The bracket cover includes arrow shaped cutout <NUM> on its back side <NUM> to locate the sensor <NUM> in place in a given direction. The bracket <NUM> and cover <NUM> are designed to receive two sensors <NUM> to enable sensing the two position like jaw open and close, jaw open and double blank presence with precise adjustment in any given jaw opening angle.

Turning to <FIG>, showing a configuration not being part of the invention, the bracket <NUM> has a body <NUM> with an overall rectangular configuration. It includes a set of counter bore holes <NUM> to receive fasteners <NUM> to fix the bracket to the gripper <NUM> in defined positions. The bracket <NUM> includes a set of two identical groove <NUM> between mid-planes of the bracket on the front side of the bracket. The set of groove <NUM> receives at least one sensor <NUM> that is placed in a desired position with inbuilt screw tightening. The number of sensors <NUM> used in the bracket depends on the numbering sensing requirements like jaw open, jaw close and double blank presence sensing. The groove <NUM> enables the sensor <NUM> to adjust very precisely to sense the cam pin <NUM> location. The body <NUM> includes closed elongated slot <NUM> on the back side of the bracket inline to the mid plane of the bracket to allow the free movement of the magnet <NUM> along with rubber washer <NUM> which is place behind the magnet. The magnet <NUM> and washer <NUM> are coupled directly to the cam pin <NUM> by means of the threaded fastener <NUM>. The bracket <NUM> is designed to receive multiple sensor <NUM> to enable sensing different position and is used on any side of the gripper. The bracket <NUM> may be positioned on the left or right side of the gripper to eliminate the need for designated side brackets sets.

All the bi-directional mounting sensing brackets <NUM>, 240a, 240b, <NUM>, <NUM> are designed to be used along, with or without, sheet stopper <NUM>. All the brackets may be secured to either the side walls <NUM>, <NUM> of the gripper body <NUM>.

Claim 1:
A modular gripper assembly comprising:
a one piece body (<NUM>) having a trident section (<NUM>) and cylindrical section (<NUM>), the trident section (<NUM>) comprising a trident structure that includes, at one end, a pair of side walls (<NUM>, <NUM>) along with a center wall (<NUM>), and the cylindrical section (<NUM>) including a fluid driven powering assembly (<NUM>);
a pair of opposing jaw member (<NUM>) pivotally secured to the trident section (<NUM>) about separate pivot pins (<NUM>);
a cam assembly operatively connected to a piston rod (<NUM>) of the fluid driven powering assembly (<NUM>), the cam assembly extending laterally outward with respect to a cylinder bore axis (<NUM>) to receive a cam bush (<NUM>) that engages with a through slot (<NUM>) on each of the pair of opposing jaw members (<NUM>), the jaw members (<NUM>) rotating with respect to one another in response to fluid power in the cylindrical section (<NUM>); and
a pair of side plate members (<NUM>) respectively connected to the side walls (<NUM>, <NUM>), each side plate member (<NUM>) having an elongated blind slot (<NUM>) that receives an end of the cam assembly, the ends respectively travelling in the blind slots (<NUM>).