Patent Description:
An example of a robotic end effector having a pair of gripping fingers which are suitable for engaging, retaining and releasing a plurality of tools and components, and has disposed therein a quick release locking mechanism is described in <CIT>. A quick release finger locking mechanism is disposed in each of the pair of fingers which maintains system accuracy and integrity by providing a positive pressure force between the end effector finger and the mating locking plates provided on the tools adapted to cooperate with the end effector. In one embodiment the mating locking plate intrudes into the fingers of the end effector and an alternative embodiment the end effector finger engaging mechanisms grasp and lock on ledges provided on the cooperating mating locking plates. Another example of a robotic gripping system is described in <CIT> The '<NUM> patent describes techniques for sharing a set of jaws between a robotic machine-tending arm and a CNC vise. Thus, a robotic machine-tending system can be rapidly configured to process a wide variety of part types, automatically change tooling for both the robot and processing machine (i.e., depending on the part shape to be held), and perform a transfer between first and second operations without a regrip step. These capabilities reduce costs of introducing a new part to the system for tending, lower time and cost to set up each part to be tended, and provide an ability to process a part through multiple operations. Technology described in the '<NUM> patent is also known commercially as MultiGrip™ technology, which is available from the applicant of the present patent application: VersaBuilt, Inc. of Boise, Idaho.

An embodiment of an EOAT and jaws described in the '<NUM> include pairs of forks on the EOAT that fit within corresponding apertures of the jaws. The jaws may be retained on the EOAT while a clamping force is applied via the forks. If the EOAT is opened, however, then there may be insufficient friction between the forks of the EOAT and the apertures of the jaws to retain the jaws on the EOAT. Accordingly, the jaws may slip or fall off the EOAT due to gravity.

Likewise, the pair of forks and apertures described in the '<NUM> patent have a relatively long length and wide spacing such that the jaws are relatively bulky. The bulk is suitable for some applications because a recessed central, cylindrical (i.e., bulky) portion of the jaws acts as a datum to confront a flat side of a workpiece. In other applications, however, the embodiments of the EOAT described in the '<NUM> patent are not readily capable of coupling with part-gripping fingers, which are sometimes too narrow to accommodate long, spaced-apart apertures.

Disclosed is an EOAT that can hold jaws in any orientation, in a clamped or unclamped state, such that sharable jaws are retained by the EOAT over the forces of gravity and normal acceleration by a robot.

In some embodiments, the disclosed EOAT has a compact, low-profile design. In other words, it does not extend relatively deep into the tool that is being carried by the robotic arm via the EOAT. Accordingly, these embodiments are capable of engaging and releasing either the aforementioned shared jaws or a part-gripping jaw having fingers configured to pick parts but not sharable with a vise.

In other embodiments, this disclosure describes techniques for storing jaws on low cost jaw holders, which allow a robot to engage and disengage jaws from the jaw holders. In some other embodiments, jaws can be engaged or disengaged to the EOAT, vise, or jaw holders by a person.

A disclosed apparatus includes an EOAT including an interface for engaging and disengaging jaws, jaw holders configured to hold jaws, and a vise including an interface for engaging and disengaging jaws. Jaws may be configured as part gripping jaws that can be engaged by the EOAT, jaw holder or vise or jaws may be configured as part gripping jaws with fingers that can be engaged with the EOAT or jaw holder.

The EOAT can be configured using commonly available grippers such as the Schunk DPG-plus <NUM> with novel EOAT gripper fingers. The EOAT gripper fingers include an EOAT interface allowing the EOAT to engage and disengage part gripping jaws and part gripping jaws with fingers.

The vise can be configured using commonly available vises such as the Schunk KSP-<NUM> plus vise. The vise includes two jaws configured with a jaw engagement profiles. The jaw engagement profiles allow the vise to secure the part gripping jaws and optionally a part in the part gripping jaws when the vise is clamped. The vise is configured to rigidly and securely clamp the part gripping jaws and part for processing in a machine.

The part gripping jaws include a first side with an EOAT interface and a second side with a vise interface. The part gripping jaws are coupled together using cross pins, circlips and springs. The part gripping jaws can be configured for OD (outer diameter) clamping or ID (inner diameter) clamping. The springs and circlips are configured to normally push the OD part gripping jaws away from one another and to push the ID part gripping jaws towards one another. The spring force is beneficial to secure the jaws when the jaws are placed on the jaw holder or engaged with the EOAT when there is no clamping force.

The part gripping jaws with fingers are configured similarly to the part gripping jaws and include a first side with an EOAT interface and a second side with an abbreviated vise interface that is configured to be gripped by the jaw holder. The part gripping jaws with fingers include fingers configured to grip and release a part. The fingers are configured to be adjustable in width to handle a wide range of part sizes. The fingers are also configured with finger-tip mounting holes that are configured to accept custom fingertips for better gripping a wide variety of part shapes. Like the part gripping jaws, the part gripping jaws with fingers are coupled together using cross pins, circlips and springs and can be configured for OD (outer diameter) clamping or ID (inner diameter) clamping and the springs and circlips are configured to normally push the OD part gripping jaws with fingers away from one another and to push the ID part gripping jaws with fingers towards one another.

The jaw holder includes a jaw engagement profile similar to the vise jaw engagement profile. The jaw engagement profile is configured such that the spring force of the part gripping jaws secures the part gripping jaws or part gripping jaws with fingers onto the jaw holder.

Additional aspects and advantages will be apparent from the following detailed description of embodiments, which proceeds with reference to the accompanying drawings.

<FIG> shows a robotic gripping system <NUM> for moving a workpiece <NUM>, according to two embodiments.

In a first embodiment, robotic gripping system <NUM> includes a robot arm <NUM>, an EOAT <NUM> mounted to robot arm <NUM>, a set of jaws <NUM> (or simply, jaws <NUM>) for gripping workpiece <NUM>, an optional jaw holder <NUM> atop which jaws <NUM> are stowed, and a vise <NUM>. Jaws <NUM> are sharable between arm <NUM> and vise <NUM> because they include mechanical coupling interfaces on two perpendicular sides of jaws <NUM>. For example, a first interface <NUM> (<FIG>, e.g., ridges and dovetails) is for robotically mounting and moving jaws <NUM> atop intermediate jaws <NUM> on vise <NUM>, as described in the '<NUM> patent. A second, low-profile interface <NUM> (<FIG>) is for EOAT <NUM> and is a subject of subsequent paragraphs in this disclosure.

In a second embodiment, a set of part-gripping fingers <NUM> (or simply, fingers <NUM>) are included as a substitute for, or in addition to, jaws <NUM>.

Jaws <NUM> and fingers <NUM> provide for different part-gripping orientations relative to a grip axis. For example, jaws <NUM> grip workpiece <NUM> in a first orientation relative to a grip axis of jaws <NUM> whereas fingers <NUM> grip workpiece <NUM> in a second orientation (different from the first orientation) relative to a grip axis of fingers <NUM>. Specifically, in the first orientation, opposing first and second flat sides of workpiece <NUM> are, respectively, confronting and opposing a recessed datum <NUM> such that the flat sides are substantially parallel with a plane defined by datum <NUM>. Conversely, fingers <NUM> grip workpiece <NUM> in a transverse orientation, according to one embodiment. Skilled persons will appreciate, however, that finger <NUM> may grip another workpiece in the aforementioned first orientation.

Another distinction between jaws and fingers is that, in some applications or workpiece processing operations that need not employ sharable jaws, fingers <NUM> (i.e., non-shared jaws) are preferred. Accordingly, non-shared jaws need not include first interface <NUM> or may include a simplified interface suitable for stowing fingers <NUM> atop jaw holder <NUM>. Some further applications may employ both shared and non-shared jaws, as contemplated in system <NUM> of <FIG>.

Notwithstanding differences between jaws <NUM> and fingers <NUM>, datum <NUM> of jaws <NUM> is optional and may instead by an aperture such that modified jaws more closely resemble fingers. Therefore, for conciseness, the term jaws is used synonymously with the term fingers, unless contexts makes clear that the pertinent passages refer exclusively to sharable jaws.

<FIG> is a partly exploded view detailing components of EOAT <NUM>. For example, EOAT <NUM> includes a mounting plate <NUM>, gripper actuator <NUM>, and a set of EOAT-to-gripper interface bodies <NUM> that are actuatable along a gripping axis. Bolts <NUM> attach bodies <NUM> to gripper actuator <NUM>. Other bolts (not shown) attach mounting plate <NUM> to robot arm <NUM> and gripper actuator <NUM> to mounting plate <NUM>.

Gripper actuator <NUM> is of a centering type of linear actuator. A Schunk DPG-plus <NUM> gripper actuator <NUM> is shown as an example in <FIG>, but skilled persons will appreciate that any actuator capable of actuating interface bodies <NUM> (e.g., moving them toward and apart from each other) could be employed. For instance, in another embodiment (not shows), a gripper actuator <NUM> is of a single, side-actuating type of linear actuator incorporating two gripper fingers.

EOAT-to-gripper interface bodies <NUM> include a first body <NUM> and a second body <NUM>, which are essentially mirror images of each other in the present embodiment. For conciseness, therefore, only jaw interface <NUM> of body <NUM> are described because identical features appear on body <NUM>. As indicated in the preceding paragraph, other embodiments may include a single (i.e., non-centering) interface having no mirror-image counterpart.

Jaw interface <NUM> include a Z-locating pocket <NUM> in the form of a laterally extending channel that guides jaws <NUM> or fingers <NUM> into Z-axis (i.e.. , vertical) alignment, an alignment pin <NUM> projecting from a central contact surface pad <NUM>, and spaced-apart female dovetails <NUM> to apply grip and release forces in an X-axis (along a gripping axis) direction. Each one of female dovetails <NUM> includes an ID dovetail edge <NUM> and an OD dovetail edge <NUM>. Other shapes for joint, pin, and pocket are possible.

Skilled persons will appreciate that, in some embodiments, female dovetails <NUM> could be substituted with male dovetails. Also, such dovetails need not form a complete joint in the sense that the term "dovetail" might be understood for joinery techniques. Specifically, one side of a female dovetail need not contact a confronting joint surface, as explained in the gripping applications described below, so a complete joinery dovetail need not be formed. Accordingly, this disclosure adopts the generic term "lateral restraint dovetail joint surface" to generically refer to angled surfaces (male or female) of the types shown in the accompanying figures that are configured to slidably confront oppositely angled surfaces when a lateral grip force is applied such that the two supplementary angled surfaces act to pull inward toward each other in response to the sliding forces.

<FIG> and <FIG> show jaws <NUM> in greater detail. Jaws <NUM> include a first jaw body <NUM> and a second jaw body <NUM>, which are generally mirror images in <FIG>. Accordingly, although the following description is of first jaw body <NUM>, it applies to second jaw body <NUM>.

As indicated previously, datum <NUM> is recessed in a surface <NUM>. A sidewall <NUM> between datum <NUM> and surface <NUM> provides a part-gripping profile surface <NUM> to confront and engage a complementary OD surface profiled portion of workpiece <NUM> (<FIG>) as a grip force is applied to jaws <NUM> via interface <NUM> or interface <NUM> (<FIG>).

EOAT interface <NUM> of jaws <NUM> includes a Z-locating boss <NUM> sized to fit within Z-locating pocket <NUM> of jaw interface <NUM> (<FIG>), an alignment window <NUM> for receiving pin <NUM> (<FIG>) and defining a face <NUM> that catches pin <NUM>. As shown and described later with reference to <FIG>, alignment window <NUM> catches pin <NUM> to limit lateral expansion of first body <NUM> and second body <NUM> during EOAT <NUM> engagement of jaws <NUM>, i.e., while coupling two spaced-apart male dovetails <NUM> sized to fit in corresponding female dovetails <NUM>. Because jaws <NUM> are intended for OD clamping, male dovetails <NUM> each include an outward-facing OD edge <NUM> and need not include inward facing ID edges (c. , edge <NUM> of <FIG> and edge <NUM> of <FIG>).

Skilled persons will appreciate that locations of alignment pin <NUM> and alignment window <NUM> could be reversed such that an alignment pin is located on jaws <NUM> and an alignment window is located on EOAT interface <NUM>. These terms are generically referred to as matable alignment structures. Likewise, Z-locating pocket <NUM> and Z-locating boss <NUM> are reversible. These terms are generically referred to as matable Z-locating structures.

<FIG> shows additional details of interface <NUM>, which is a subject of the '<NUM> patent. For example, intermediate-jaw dovetail edges <NUM> are sloped and complementary to surfaces of intermediate jaws <NUM> (<FIG>), thereby acting as a Z-axis restraint and as a means to transfer clamping forces applied in an X-axis direction. Gear-like ridges <NUM> restrain Y-axis movement when mated with grooves of jaws <NUM>. Additional details of interface <NUM> may be found in the '<NUM> patent.

<FIG> also shows a spring-actuated tensioner that applies a spring force to jaws <NUM> so as to maintain a securing force to edges <NUM> (i.e., to keep jaws <NUM> secured on EOAT <NUM>) or to intermediate-jaw dovetail edges <NUM> (i.e., to keep jaws <NUM> secured on intermediate jaws <NUM>, <FIG>).

Cross pins <NUM> are passed through cross pin holes <NUM> and through cross pin pocket <NUM> to establish guide rails by which jaws <NUM> move inward (e.g., for OD clamping) and outward (e.g., for OD clamp releasing). Circlips <NUM> fasten cross pins <NUM> into place at a cross pin fixed groove <NUM>. Cross pin spring grooves <NUM> and springs <NUM> provide the aforementioned spring force, which is applied against an outer wall <NUM> of a cross pin pocket <NUM>; forcing the jaws apart.

The arrangement of springs <NUM> can be modified for ID clamping applications such that the spring force (i.e., force applied against dovetail edges) remains opposite from an applied clamping force; forcing the jaws together. Thus, as clamping force is released, spring force begin to exceed clamping force so that jaws (or fingers) do not slip free from the vise or EOAT interface. Similarly, spring force is not so great as to frustrate an ability to securely clamp a workpiece.

<FIG> and <FIG> show another set of jaw <NUM>, which is similar to jaws <NUM>. A difference, however, is that jaws <NUM> are for an ID clamping application. Thus, instead of including a recessed datum, jaws <NUM> include a raised part-gripping profile <NUM>. Also, because clamping force acts to separate jaws, faces <NUM>, dovetail edges <NUM>, and vise edges <NUM> (<FIG>) all face in an opposite direction compared to that of the corresponding components of jaws <NUM>. Furthermore, springs <NUM> are also configured to apply spring force to an inside surface <NUM> of cross pin pocket <NUM>; forcing the jaws together.

<FIG> and <FIG> show fingers <NUM> in greater detail. In general, fingers <NUM> are configured similarly to jaws <NUM> in that both embodiments include a similar interface <NUM>, but fingers <NUM> have a streamlined version of interface <NUM> (see e.g., <FIG>) suitable for stowing fingers <NUM> on holder <NUM> (<FIG>). For example, fingers <NUM> includes a relatively short OD vise dovetail <NUM> and a ridge <NUM>.

Fingers <NUM> also include an inner face <NUM> having a t-slot groove <NUM> configured to accept adjustable finger segments <NUM>, which are generally symmetrical in the present embodiment. Each one of segments <NUM> includes a male-T connector <NUM> (which may be female when reversed), a bolt hole <NUM> configured to accept a set bolt <NUM> and nut <NUM>. Nut <NUM> is configured to slide into t-slot groove <NUM> so that adjustable finger segments <NUM> can be adjusted into position and then locked into place by securing bolt <NUM> against nut <NUM>. Adjustable finger segments <NUM> are configured with a fingertip mounting slot <NUM> and a fingertip mounting aperture <NUM> for securing fingertips <NUM>. Fingertips <NUM> include a boss with receptacle <NUM> that is configured to mate into fingertip mounting slots <NUM> and align boss with receptacle <NUM> with fingertip mounting aperture <NUM>. One side of fingertip mounting aperture <NUM> is configured as a clearance hole for a shoulder bolt <NUM> and the other end of the fingertip mounting aperture <NUM> is threaded to accept shoulder bolt <NUM> threads; fingertip mounting slot <NUM> acting as the mating surface for the shoulder of shoulder bolt <NUM>.

The relationship between the boss with receptacle <NUM> and fingertip mounting slot <NUM> is configured to create a small gap <NUM> between fingertips <NUM> and adjustable finger segments <NUM> that allows fingertips <NUM> to rock back and forth a small amount. Allowing one or both of fingertips <NUM> to rock back and forth allows fingers <NUM> to accommodate some flex in fingers <NUM> and parts that are not perfectly parallel. Fingertip leveling holes <NUM> accept optional set screws <NUM>, allowing set screws <NUM> to be adjusted into contact with fingertips <NUM> limiting the fingertip rocking travel or locking fingertips <NUM> into an angle with respect to adjustable finger segments <NUM>.

<FIG> shows a spring tensioner <NUM> that is a streamlined variant of that shown in <FIG>. Tensioner <NUM> includes a single cross pin <NUM>, cross pin fixed grooves <NUM>, cross pin spring groove <NUM>, circlips (not shown), cross pin holes (not shown), cross pin pocket <NUM>, inside pocket wall <NUM>, outside pocket wall <NUM>, and spring <NUM>.

ID part gripping jaws with fingers (not shown) are similar to the OD part gripping jaws with fingers <NUM> except for having the same changes that ID part gripping jaws <NUM> have vis-à-vis OD part gripping jaws <NUM> to configure the ID part gripping jaws with fingers for ID clamping.

<FIG> show in succession how EOAT <NUM> engages jaws <NUM>. In other words, these figures show how interfaces <NUM> and <NUM> are mated.

<FIG> and <FIG> show how EOAT <NUM> initially approaches jaws <NUM> for engagement. Although not shown, jaws <NUM> could be held in position by jaw holder <NUM> or vise <NUM>. Z-locating boss <NUM> is aligned for engagement with Z-locating pocket <NUM> when jaws <NUM> are interfaced to gripper actuator <NUM>. Pin <NUM> is positioned to be inserted in window <NUM>. Thus, the center of EOAT <NUM> is approximately aligned with the center of jaws <NUM> so that alignment pins <NUM> are positioned to penetrate alignment windows <NUM> (<FIG>).

<FIG> and <FIG> show a first engagement step. EOAT <NUM> is in a closed position, and Z-locating boss <NUM> is partially engaged with Z-locating pocket <NUM>. Openings of female dovetails <NUM> are away from and edges <NUM> are misaligned with those of male dovetails <NUM> of jaws <NUM>. <FIG> shows alignment pins <NUM> in alignment windows <NUM>.

<FIG> and <FIG> show a second engagement step. In this step, EOAT <NUM> has moved into partial engagement with jaw <NUM> and with Z-locating boss <NUM> partially engaged with Z-locating pocket <NUM>. Thus, EOAT <NUM> has been signaled to open. In a partially open position, openings of female dovetails <NUM> are slightly away from and its edges <NUM> now aligned with edges <NUM> of male dovetails <NUM> of jaws <NUM>.

<FIG> also shows alignment pins <NUM> engaged with alignment faces <NUM>. In this step, when EOAT <NUM> is opened, alignment pins <NUM> contact corresponding faces <NUM> to limit the opening travel of EOAT <NUM>. The position of alignment pins <NUM> and alignment faces <NUM> are configured such that when alignment pins <NUM> contacts alignment faces <NUM>, male dovetails <NUM> become aligned and centered in openings of female dovetails <NUM>.

<FIG> shows a third engagement step. EOAT <NUM> is in the partially open and aligned position and moved towards jaws <NUM> so that male dovetails <NUM> are inside of female dovetails <NUM>. To reach this position, typically EOAT <NUM> would float (no opening force or closing force) to minimize friction between alignment pins <NUM> and alignment faces <NUM> as EOAT <NUM> is moved inwards towards jaws <NUM>. Edges <NUM> clear and confront edges <NUM>.

<FIG> shows a fourth engagement step. EOAT <NUM> is clamped towards the closed position and female dovetail edge <NUM> is engaged with the OD male dovetail edge <NUM> of the jaws <NUM>. In this position, the OD female dovetail edge <NUM> is applying a force to OD male dovetail edge <NUM> of jaws <NUM>, thereby urging jaws <NUM> together to provide a clamping force to hold workpiece <NUM>.

Skilled persons will appreciate that the steps are similar for engaging jaws <NUM> mounted on vise <NUM>, with the exception that in the fourth engagement step, after EOAT <NUM> is clamped in the closed position, vise <NUM> would be opened.

Skilled persons will also appreciate that with jaws <NUM> engaged in EOAT <NUM>, even when EOAT <NUM> is in an unclamped state, spring force pushes male dovetail edge <NUM> into female dovetail edge <NUM> to secure jaws <NUM> with EOAT <NUM> while Z-locating boss <NUM> in Z- locating pocket <NUM> also prevent jaws <NUM> from sliding down along face of female dovetails <NUM>. The force of springs <NUM> (<FIG>) pushing male dovetail <NUM> into female dovetail <NUM> combined with Z-locating boss <NUM> and Z-locating pocket <NUM> secure jaws <NUM> in three axes to EOAT <NUM> under gravity loads and typical robot acceleration forces when EOAT <NUM> is in an unclamped state. This same principle applies to jaws <NUM> configured for ID clamping.

The steps entailed in disengaging jaws <NUM> from EOAT <NUM> and onto either a jaw holder <NUM> or vise <NUM> are as follows.

The first step is to position EOAT <NUM> with jaws <NUM> over jaw holder <NUM> or vise <NUM> such that ridges <NUM> of jaws <NUM> are aligned with those of jaw holder <NUM> or vise <NUM> with EOAT <NUM> in a closed or OD clamped position and if engaging vise <NUM>, it is in the open position.

The second step would be to move jaws <NUM> down to engage alignment ridges <NUM> of jaws <NUM> with those of jaw holder <NUM> or vise <NUM>.

If disengaging jaws <NUM> to vise <NUM>, the third step is that vise <NUM> be closed, allowing vise OD dovetails to capture jaw OD dovetails <NUM>. If disengaging jaws <NUM> to a jaw holder <NUM>, the third step is skipped.

The fourth step is to open EOAT <NUM> opened. If engaging jaw holder <NUM>, this step allows jaws <NUM> to open against force of springs <NUM> so that jaws OD vise dovetails <NUM> engage jaw holder <NUM> OD jaw dovetails. The opening of EOAT <NUM> allows the bodies <NUM> (<FIG>) to open until alignment pins <NUM> come into contact with alignment faces <NUM> causing the opening of EOAT <NUM> female dovetails <NUM> to be aligned and centered with male dovetails <NUM>.

The fifth step is to float EOAT <NUM> and then to move IT away from jaws <NUM>.

The five steps mentioned above are similar for ID clamping of jaws <NUM> except that the movements of EOAT <NUM> and vise <NUM> from open to closed and from closed to open is opposite for jaws <NUM>. For example, during engagement, at step two, EOAT <NUM> is sent a closing signal for jaws <NUM>. As EOAT <NUM> closes, alignment pins <NUM> engage with alignment face <NUM> (<FIG>) causing edges <NUM> (<FIG>) to be aligned with edges <NUM>. In step four, EOAT <NUM> is opened allowing ID female dovetail edges <NUM> to engage with the ID male dovetail edges <NUM>.

A person may also engage or disengage by hand, jaws <NUM> onto EOAT <NUM>, vise <NUM> or jaw holder <NUM>. To engage jaws <NUM> configured for OD clamping with EOAT <NUM> or vise <NUM>, vise <NUM> or EOAT <NUM> is put into the open position; to engage jaws <NUM> configured for ID clamping with EOAT <NUM> or vise <NUM>, vise <NUM> or EOAT <NUM> is put into the closed position. Then, to engage jaws <NUM> configured for OD clamping with jaw holder <NUM> or vise <NUM>, the person pushes jaws <NUM> closed and the places jaws <NUM> over jaw holder <NUM> or vise <NUM> so as to align and engage jaw holder <NUM> or vise <NUM> angled ridges with jaw <NUM> angled ridges <NUM> and then release jaws <NUM> so as to allow the force of the springs <NUM> to engage the OD vise dovetail with OD jaw dovetail <NUM>. To disengage jaws <NUM> from jaw holder <NUM> or vise <NUM>, the operator pushes jaws <NUM> closed and then lifts jaws <NUM> away from jaw holder <NUM> or vise <NUM>.

Similarly, to engage jaws <NUM> with EOAT <NUM>, the person pushes jaws <NUM> together until the male dovetails are aligned with the female dovetails, aligns Z boss with the Z locating pocket, pushes the jaws so that the male dovetail is inside the female dovetail and then allows the jaws to open allowing the spring force to secure the male dovetail into the female dovetail.

Hand engaging and disengaging ID jaws <NUM> is similar except ID jaws <NUM> are pulled apart to engage or disengage. To engage or disengage OD jaws <NUM> or ID jaws <NUM> on jaw holder <NUM> is similar to engaging or disengaging with vise <NUM> with the exception that there is no opening or closing of the vise step.

Claim 1:
An end-of-arm-tool (EOAT) mechanical interface for operatively coupling a gripper actuator <NUM>. (<NUM>) to a part-gripping device, the EOAT mechanical interface comprising:
first and second EOAT-to-gripper interface bodies (<NUM>) moveable relative to each other along a gripping axis, each of the first and second EOAT-to-gripper interface bodies (<NUM>) being mountable to, respectively, first and second portions of the gripper actuator (<NUM>) that is configured to actuate the first and second EOAT-to-gripper interface bodies (<NUM>) along the gripping axis;
a lateral restraint dovetail joint surface configured to contact and slide relative to a confronting lateral restraint dovetail joint surface of the part-gripping device in response to actuation of the first and second EOAT-to-gripper interface bodies (<NUM>), thereby pulling the part-gripping device inward toward the EOAT mechanical interface; and
a matable alignment structure configured to limit a gripping axis distance that the gripper actuator opens when engaging the EOAT mechanical interface with the part-gripping device such that the lateral restraint dovetail joint surface becomes aligned for engagement with the confronting lateral restraint dovetail joint surface.