Robotic gripper

Abstract

A robotic gripper is described having opposed fingers which are positively opened and closed through the use of a bushing, powered for a limited stroke up and down by fluid pressure, wherein the bushing is carried within a recess closely conforming thereto in the fingers, and an overlapping or over-gripping action of the fingers is provided by reason of slightly tapering opposed engaging surfaces carried by the grippers.

What is claimed is: 
     
       1. A robotic gripper having a cylinder within a housing containing a fluid actuator supplying a limited axial power stroke to a clevis bracket carried within a reduced portion of the housing comprising: a transverse cylindrical bushing carried within said clevis bracket;   said cylindrical bushing having a shaft extending from each end and being journated within said clevis bracket;   a pair of opposed fingers each pivotally mounted adjacent one end thereof within said housing on opposite sides of said bushing about spaced respective pivot points;   said fingers having opposed surfaces each having an arcuate recess therein substantially entirely conforming to and receiving said bushing; and   a relieved portion on each of said fingers carried within said housing extending from said arcuate recesses tapering outwardly to an extent that outward movement of said fingers is permitted through a full power stroke of said fluid actuator; and   said bushing and said pivot points being in substantial alignment when said fingers are approaching closed position with said opposed surfaces tapering outwardly permitting further forceful movement of the bushing beyond the pivot points providing overgripping and forceful engagement of the oppose tapering surfaces of the fingers;   whereby said relieved portions may act as stops to limit further opening of the fingers. .Iadd.   
     
     
       2.  A robotic gripper having a cylinder within a housing containing a fluid actuator supplying a limited axial power stroke to a clevis bracket carried within a reduced portion of the housing comprising: a transverse cylindrical bushing carried within said clevis bracket;   said cylindrical bushing having a shaft extending from each end and being journated within said clevis bracket;   a pair of opposed fingers each pivotally mounted adjacent one end thereof within said housing on opposite sides of said bushing about spaced respective pivot points;   said fingers having opposed surfaces each having an arcuate recess therein substantially entirely conforming to and receiving said bushing; and   a relieved portion on each of said fingers carried within said housing beginning along the edges of said arcuate recesses closest to said fluid actuator and continuing outwardly such that outward movement of said fingers is permitted through a full power stroke of said fluid actuator; and   said bushing and said pivot points being in substantial alignment when said fingers are approaching closed position; and   said spaced respective pivot points on opposite sides of the bushing being spaced past alignment with a midpoint of the bushing in a direction away from the relieved portion of each of said fingers when said fingers are in a closed position permitting further forceful movement of the bushing beyond the pivot points providing forceful engagement of opposed surfaces between the fingers;   whereby overgripping of the fingers is provided. .Iaddend.