Modular stamped parts transfer gripper

Abstract

A modular gripper assembly is provided. The gripper assembly includes a body, a pair of opposable jaw members, a single cam pin and a linkage structure. The body includes a yoke structure defined at one end thereof by a pair of spaced apart wall members and a fluid driven actuator at an opposite end. A stepped-in portion is also provided near the opposite end in which the stepped-in portion extends around the entire periphery of the body.

1 . A modular gripper assembly which comprises: 
 a body having a yoke structure defined at one end thereof by a pair of spaced apart wall members, a fluid driven actuator at an opposite end, and a stepped-in portion near the opposite end in which the stepped-in portion extends around the periphery of the body;    a pair of opposable jaw members, having tip ends which are aligned with one another, at least one of the pair of opposable jaw members being pivotal within a plane and each of the pair of opposable jaw members having through-slots therein and being independently removable and replaceable by other jaw members;    a single cam pin extending into the through-slots of each of the pair of opposable jaw members; and    a linkage structure driven by the fluid driven actuator and coupled to the single cam pin between the pair of opposable jaw members along a direction which is substantially perpendicular to the plane.    
     
     
         2 . The modular gripper assembly according to    claim 1   , wherein the fluid driven actuator includes a fluid inlet and a fluid outlet and the stepped-in portion of the body is between the fluid inlet and the fluid outlet.  
     
     
         3 . The modular gripper assembly according to    claim 2   , wherein the body has a generally rectangular cross sectional shape and the stepped-in portion has a generally circular cross sectional shape.  
     
     
         4 . The modular gripper assembly according to    claim 3   , further comprising a mounting bracket which is releasably securable to the body about the stepped-in portion.  
     
     
         5 . The modular gripper assembly according to    claim 4   , wherein the mounting bracket comprises a pair of coupled plate members.  
     
     
         6 . The modular gripper assembly according to    claim 5   , wherein the mounting bracket includes a through-opening having a partial spherical shaped bore, and a spherical collar positioned therein for receiving a support member.  
     
     
         7 . The modular gripper assembly according to    claim 1   , wherein the through-slots are configured to control pivotal movement of the opposed jaw members.  
     
     
         8 . The modular gripper assembly according to    claim 7   , wherein the through-slot in each pivotal jaw is configured to lock the pivotal jaws in a desired position.  
     
     
         9 . The modular gripper assembly according to    claim 1   , wherein the through-slots have opposite ends which are closed.  
     
     
         10 . The modular gripper assembly according to    claim 1   , wherein at least one of the pair of opposable jaw members includes an arcuate portion which extends between the tip seat and a main body portion thereof.  
     
     
         11 . The modular gripper assembly according to    claim 7   , wherein the through-slot in each pivotal jaw is configured to effect opening of the jaws as the fluid driven actuator is moved toward the end of the body having the yoke structure.  
     
     
         12 . The modular gripper assembly according to    claim 7   , wherein the through-slot in each pivotal jaw is configured to effect closing of the jaws as the fluid driven actuator is moved toward the end of the body having the yoke structure.