CA2052681A1 - End effectors - Google Patents
End effectorsInfo
- Publication number
- CA2052681A1 CA2052681A1 CA 2052681 CA2052681A CA2052681A1 CA 2052681 A1 CA2052681 A1 CA 2052681A1 CA 2052681 CA2052681 CA 2052681 CA 2052681 A CA2052681 A CA 2052681A CA 2052681 A1 CA2052681 A1 CA 2052681A1
- Authority
- CA
- Canada
- Prior art keywords
- clamping
- article
- jaw
- jaws
- interface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Landscapes
- Manipulator (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
Abstract
Title: "End Effectors" Inventors: Francis H.A. Mee Henry Liu A dual function end effector for use in association with an H-shaped interface which has oppositely disposed U-shaped coupling recesses and a micro-interface which has a pair of oppositely disposed V-shaped clamping faces. The end effector comprises; a pair of gripping jaws each having a tooth proximate the distal end thereof. The gripping jaws are mounted, with the teeth disposed opposite one another, for movement toward and away from one another. Each tooth is proportioned to fit within one of the U-shaped recesses in a close fitting relationship to operably engage the micro-interface. Clamping jaws are also provided on each gripper. One of the clamping jaws is mounted for movement with respect to the other between an open position in which the clamping jaws are spaced a sufficient distance to accommodate the edge portion of the interface therebetween in a free fitting relationship and a closed position in which the jaws may clamp an edge portion of the interface therebetween.
Description
2~2~1 This invention relates to end effectors. In particular, this invention relates to a dual function end effector for use in association with an H-shaped interface and an interface that has oppositely disposed V-shaped clamping faces.
Back~round of Invention End effectors such as those disclosed in United States Patent No. 4,413,538, dated November 8, 1983, "Universal Service Tool", Robert D. Norman, that are designed to be used in association with an H-shaped interface which has oppositely disposed U-shaped coupling recesses are well known. These end effectors have a pair of oppositely disposed gripping jaws, each formed with a tooth that is proportioned to fit in a close-fitting relationship within a U-shaped 10 coupling recess. A mechanism is provided for moving the jaws toward one another to engage the H-shaped interface and away from one another to release the interface. These known jaws are only designed for use in association with an H-shaped interface.
The limitations of an H-shaped interface are well known and the need to provide an interface which is smaller than the conventional H-shaped interface and is suitable for use with 15 small replacement units is well known in the aerospace industry.
An interface that is designed so that it may be proportioned so as to be small enough for use in association with small replaceable units is described in our copending United States application No. 07/592,630, filed October 4, 1990, entitled INTERFACE FO~ ORBITAL
REPLACEMl~NT UNITS, which is briefly described hereinafter.
It is an object of the present invention to provide a dual function end effector for use in assodation with an H-shaped interface and a micro-interface which has oppositely disposed V-shaped clamping faces.
It is a further object of the present invention to provide a dual function end effector which is capable of clamping the gripping jaws to an H-shaped interface when the gripping jaws are 25 operably located in the U-shaped coupling recesses of an H-shaped interface.
According to the present invention there is provided a dual function end effec~or, comprising, a pair of griMing jaw assemblies, each gripping jaw assembly comprising, a) an arm having a distal end b) for each arm, a tooth proximate the distal end thereof, and 30 c) mounting means for mounting the arrns with the teeth disposed opposite one another for movement towards and away from one another, for holding an article therebetween, and wherein d) for an article substantially in the form of an H-shaped interface, the teeth are shaped externally to be guided into, and hold laterally that article when it is disposed therebetween, e~ for an article substantially shaped as a micro-interface having corners, the teeth ha~e inner faces formed as V-shaped notches to guide, therein and hold laterally, corners of that article when it is disposed therebetween, and f) means are provided for holding an article against vertical movement when held in either manner of d) and e) In some embodiments of the present invention, for d), the means for holding the article against vertical movement comprises a pair of clamping jaws on each arm, one of the clamping jaws of each pair being mounted for movement, with respect to the other clamping jaw of that pair, from an open position, in which the clamping jaws are open, to guide and receive the article therebetween in a free fitting relationship, to a closed, seated position in which the jaws clamp the article.
Means may be provided for urging the moveable clamping jaw toward said open position.
The moveable jaws may be arranged to be driven by engagement with an edge-shaped interface on the article as the gripping jaws are being closed.
~iach moveable jaw may have a striking shoulder arranged to make contact with the article before the gripping jaws are seated.
The dual end effector may further comprise for d);
a) a clamping shoulder at the distal end of each gripping jaw, said clamping shoulder projecting laterally from the tooth of the gripping jaw on which it is located, b) a clamping jaw mounted on each gripping jaw, each clamping jaw having a clamping face disposed opposite one of the clamping shoulders, each clamping jaw being movable between a first position in which its clamping face is spaced to receive an H-shaped interface therebetween in a free fitting relationship and a second position to clamp the H-shaped interface against its associated clamping shoulder.
The clamping jaws may be urged toward the first position and moved toward the second position in response to movement of the gripping jaws by engagement with an interface.
The end effector may further comprise for d);
. ' --` 2~2~8.~
a) a pair of clamping shoulders projecting laterally from the distal end of each gripping jaw and arranged one on either side of the tooth of their associated jaw so as to underlie the marginal edge portion of a gripping recess when the associated tooth is in an article, b) a pair of clamping jaws pivotally mounted on each gripping jaw, one on ei~er side o~ the tooth of the gripping jaw so as to overlie each clamping shoulder and cooperating therewith to releasably clamp the article therebetween in use.
Each clamping jaw may be formed with a striker shoulder which is arranged to be struck by the article, after the tooth of the associated jaw enters the article, and then cause the clamping jaws to pivot from the first position to the second position.
The invention will be more clearly understood after reference to the following detailed specification read in conjunction with the drawings wherein;
Figure 1 is a pictorial view of the gripping and clamping jaws of an end effector constructed in a accordance with an embodiment of the present invention showing the manner in which it grips an H-shaped interface, Figure 2 is a side view of a portion of the end effector of Figure 1 showing the clampmg jaw in an open position, Figure 3 is a sectional side view of an end effector constructed in accordance with a further embodiment of the present invention showing the manner in which it approaches a micro-interface, Figure 4 is a plan view of the structure of Figure 3, and Figure 5 is a front elevation of an end effector of the type with which the gripping and clamping structure illustrated in the embodiment illustrated in Figures 1 and 2 or the embodiment illustrated in Figures 3 and 4 may be employed.
With reference to Figure S of the drawings, the reference numeral 10 refers generally to an end effector which has a pair of gripping jaw assemblies 12 which are pivotally attached to the link arms 14. The link arms 14 are connected to lever arms 16. The lever arms 16 have slots 18 at their inner ends. Pins 20 extend into the slots 18 and are mounted on an arm 22. The arm 22 is mounted to reciprocate in a cylinder 24 so that when the arm 22 is e~tended the gripping jaw assemblies will assume the position shown in solid lines in Figure 5. When the cylinder 24 is activated to retract the arm 22, the lever arms 16 will pivot and will draw the link mechanism 14 and gApping jaw assemblies 12 inwardly to the position shown in broken lines. Thus the pivotal attachment of the gripping jaw assemblies 12 to the link arms 14 forms a mounting means for movement of the jaw assemblies towards and away from one another.
The structure of gripping jaw assemblies 12 is designed to grip and clamp an H-shaped S interface which is shown more clearly in Figures 1 and 2 of the drawings to which reference is now made. As shown in Figure 1 of the drawings, an H-shapecl interface 30 is formed with U-shaped coupling recesses 32 which are disposed opposite on another. The U-shaped recesses 32 have marginal edge portions 34 extending along opposite side edges thereof.
In this specification, an article substantially in the form of an H-shaped interface is defined as a body having pairs of arms extending outwardly from opposite sides thereof.
The gripping jaw assemblies 12 each have an arm with a distal end 26 and a proximal end 28 ~Figure 5). A tooth 36 is located proximate the distal end of each arm and projects inwardly therefrom. The teeth 36 are arranged opposite one another and as previously described with refe~ence to Figure 5, jaw assemblies 12, and thus the teeth 36, are mounted for movement toward and away from one another. Each tooth is proportioned to fit within one of the U-shaped recesses 32 in a close fitting relationship to operably engage the H-shaped interface and to hold it laterally in a manner which will permit the application of torque to the H-shaped interface and permit ~he reaction of torque by the "H" interface.
Each tooth 36 has an inner face 38 in which a V-shaped notch 40 is formed. The V-shaped notches 40 are proportioned to accommodate a V-shaped clamping face of a micro-interface as will be descAbed hereinafter.
The gripping jaw assemblies 12 also have clamping shoulders 42 which project laterally outwardly from the teeth 36 back to the distal end 26. Each shoulder 42 has a clamping face 44 formed thereon.
An inclined, H-shaped interface guiding, inner edge 46 extends toward the clamping face 44. A pair of clamping jaws 50 are pivotally mounted on each gripping jaw 12 remains in a pivot pin 48 for movement to and fro in the direction of the arrow A between a first position shown in Figure 2 of the drawings, and a second position shown in Figure 1 of the drawings. Each of the clamping jaws 50 has a clamping face 52 which is arranged to be disposed opposite the clamping face 44 of one of the shoulders 42. an H-shaped interface guiding, inclined facs 54 extends ~ ~ 5 ,~
inwardly from each of the clamping faces 52. The clamping face 52 and the end face 56 cooperate with one another to form a notch 58.
The clamping jaws 50 are normally urged to the first position shown in Figure 2 by means of a compression spring 60 which is compressed between the upper end 62 of the clamping jaw S and a shoulder 64 that is mounted on the gripping jaw 12.
In use when the gripping jaw assemblies are located in the first position which is shown in solid lines in Figure 5, the clamping jaws 50 will be located in the open position shown in Figure 2 because of the action of the compression spring 60. If the cylinder 24 is then powered in order to move the clamping jaws 12 toward one another toward the position shown in broken lines in Figure 5, the teeth 36 will be guided into the U-shaped coupling recesses of the H-shaped interface 30. This movement will continue until the oppositely disposed end faces 33 of the H-shaped interface strike the end face 56. Continued closing of the jaws 12 will cause the clamping jaws SO
to pivot from the position shown in Figure 2 to the position shown in Figure 1 in which the clamping face 44 of the shoulder 46 and the shoulder 44 and serves to form a U-shaped clamping notch. The clamping face 52 will bear against the marginal edge portions 34 of the H-shaped interface and will serve to clamp the interface to the gripping jaws against vertical movement in such a manner that an axial load or a bending moment may be applied to the H-shaped interface.
The end effector illustrated in Figures 1 and 2 may also be used to engage a micro-interface of the type generally identified by the reference numeral 70 in Figures 3 and 4. The micro-interface 70 has a waist portion 72 which has a pair of oppositely disposed V-shaped clamping faces 74 and 76. The V-shaped notches 40 of the teeth 36 are arranged to engage and hold laterally the V-shaped clamping ~aces 74 and 76 when used in association with a micro-interface. As shown the V-shaped notches 40 fit snugly in the waist portion 72 so that the upper and lower faces of the teeth 36 will hold the micro-interface against vertical movement.
A clamping jaw for an end effector constmcted in accordance with a further embodiment of present invention is illustrated in Figures 3 and 4 of the drawing. In this embodiment, the gripping jaw assemblies 12a each have a tooth 36a that projects inwardly therefrom. The tooth 36a has a V-shaped notch 40a formed on the interface thereof and an inclined upper edge portinn 35a. The teeth 36a have shoulders 84 projecting laterally outwardly therefrom. A clamping jaw SOa is provided and has a lug 80 which is slidably mounted on a shaft 78. A compression spring ~2~ ~
80 normally urges the clamping jaw SOa to the position shown in Figure 3. The shaft 78 is angularly inclined such that when the jaw 50 is deflected rearwardly by a contact with an interface, it will also move upwardly. The jaw 50a has a clamping face 86 formed thereon which underlies the shoulders 84 that project laterally outwardly from the tooth 36a. Movement of the jaw 54 rearwardly and upwardly causes movement of the clamping face 86 toward the shoulder 84 and this clamping action may be used to clamp the gApping jaws 12a with respect to an H-shaped interface when the tooth 36a is extended into a U-shaped recess of an H shaped interface in the manner previously described with reference to Figure 1 of the drawings.
From the foregoing, it will be seen that the end effector that is described with reference to Figures 1 and 2 of the drawings and the end effector structure that is described with reference to Figures 3 and 4 of the drawings are both dual function end effectors capable of use in association with an H-shaped interface and a micro-interface. When used in association with an H-shaped interface both gripping jaw structures permit clamping of the H-shaped interface as well as gripping of the interface. When used in association with the micro-interface, the jaws of both embodiments are capable of gripping the interface in such a manner as to prevent torque to be applied thereto.
~rom the foregoing, it will be apparent that the present invention provides a simple and inexpensive dual function end effector.
Back~round of Invention End effectors such as those disclosed in United States Patent No. 4,413,538, dated November 8, 1983, "Universal Service Tool", Robert D. Norman, that are designed to be used in association with an H-shaped interface which has oppositely disposed U-shaped coupling recesses are well known. These end effectors have a pair of oppositely disposed gripping jaws, each formed with a tooth that is proportioned to fit in a close-fitting relationship within a U-shaped 10 coupling recess. A mechanism is provided for moving the jaws toward one another to engage the H-shaped interface and away from one another to release the interface. These known jaws are only designed for use in association with an H-shaped interface.
The limitations of an H-shaped interface are well known and the need to provide an interface which is smaller than the conventional H-shaped interface and is suitable for use with 15 small replacement units is well known in the aerospace industry.
An interface that is designed so that it may be proportioned so as to be small enough for use in association with small replaceable units is described in our copending United States application No. 07/592,630, filed October 4, 1990, entitled INTERFACE FO~ ORBITAL
REPLACEMl~NT UNITS, which is briefly described hereinafter.
It is an object of the present invention to provide a dual function end effector for use in assodation with an H-shaped interface and a micro-interface which has oppositely disposed V-shaped clamping faces.
It is a further object of the present invention to provide a dual function end effector which is capable of clamping the gripping jaws to an H-shaped interface when the gripping jaws are 25 operably located in the U-shaped coupling recesses of an H-shaped interface.
According to the present invention there is provided a dual function end effec~or, comprising, a pair of griMing jaw assemblies, each gripping jaw assembly comprising, a) an arm having a distal end b) for each arm, a tooth proximate the distal end thereof, and 30 c) mounting means for mounting the arrns with the teeth disposed opposite one another for movement towards and away from one another, for holding an article therebetween, and wherein d) for an article substantially in the form of an H-shaped interface, the teeth are shaped externally to be guided into, and hold laterally that article when it is disposed therebetween, e~ for an article substantially shaped as a micro-interface having corners, the teeth ha~e inner faces formed as V-shaped notches to guide, therein and hold laterally, corners of that article when it is disposed therebetween, and f) means are provided for holding an article against vertical movement when held in either manner of d) and e) In some embodiments of the present invention, for d), the means for holding the article against vertical movement comprises a pair of clamping jaws on each arm, one of the clamping jaws of each pair being mounted for movement, with respect to the other clamping jaw of that pair, from an open position, in which the clamping jaws are open, to guide and receive the article therebetween in a free fitting relationship, to a closed, seated position in which the jaws clamp the article.
Means may be provided for urging the moveable clamping jaw toward said open position.
The moveable jaws may be arranged to be driven by engagement with an edge-shaped interface on the article as the gripping jaws are being closed.
~iach moveable jaw may have a striking shoulder arranged to make contact with the article before the gripping jaws are seated.
The dual end effector may further comprise for d);
a) a clamping shoulder at the distal end of each gripping jaw, said clamping shoulder projecting laterally from the tooth of the gripping jaw on which it is located, b) a clamping jaw mounted on each gripping jaw, each clamping jaw having a clamping face disposed opposite one of the clamping shoulders, each clamping jaw being movable between a first position in which its clamping face is spaced to receive an H-shaped interface therebetween in a free fitting relationship and a second position to clamp the H-shaped interface against its associated clamping shoulder.
The clamping jaws may be urged toward the first position and moved toward the second position in response to movement of the gripping jaws by engagement with an interface.
The end effector may further comprise for d);
. ' --` 2~2~8.~
a) a pair of clamping shoulders projecting laterally from the distal end of each gripping jaw and arranged one on either side of the tooth of their associated jaw so as to underlie the marginal edge portion of a gripping recess when the associated tooth is in an article, b) a pair of clamping jaws pivotally mounted on each gripping jaw, one on ei~er side o~ the tooth of the gripping jaw so as to overlie each clamping shoulder and cooperating therewith to releasably clamp the article therebetween in use.
Each clamping jaw may be formed with a striker shoulder which is arranged to be struck by the article, after the tooth of the associated jaw enters the article, and then cause the clamping jaws to pivot from the first position to the second position.
The invention will be more clearly understood after reference to the following detailed specification read in conjunction with the drawings wherein;
Figure 1 is a pictorial view of the gripping and clamping jaws of an end effector constructed in a accordance with an embodiment of the present invention showing the manner in which it grips an H-shaped interface, Figure 2 is a side view of a portion of the end effector of Figure 1 showing the clampmg jaw in an open position, Figure 3 is a sectional side view of an end effector constructed in accordance with a further embodiment of the present invention showing the manner in which it approaches a micro-interface, Figure 4 is a plan view of the structure of Figure 3, and Figure 5 is a front elevation of an end effector of the type with which the gripping and clamping structure illustrated in the embodiment illustrated in Figures 1 and 2 or the embodiment illustrated in Figures 3 and 4 may be employed.
With reference to Figure S of the drawings, the reference numeral 10 refers generally to an end effector which has a pair of gripping jaw assemblies 12 which are pivotally attached to the link arms 14. The link arms 14 are connected to lever arms 16. The lever arms 16 have slots 18 at their inner ends. Pins 20 extend into the slots 18 and are mounted on an arm 22. The arm 22 is mounted to reciprocate in a cylinder 24 so that when the arm 22 is e~tended the gripping jaw assemblies will assume the position shown in solid lines in Figure 5. When the cylinder 24 is activated to retract the arm 22, the lever arms 16 will pivot and will draw the link mechanism 14 and gApping jaw assemblies 12 inwardly to the position shown in broken lines. Thus the pivotal attachment of the gripping jaw assemblies 12 to the link arms 14 forms a mounting means for movement of the jaw assemblies towards and away from one another.
The structure of gripping jaw assemblies 12 is designed to grip and clamp an H-shaped S interface which is shown more clearly in Figures 1 and 2 of the drawings to which reference is now made. As shown in Figure 1 of the drawings, an H-shapecl interface 30 is formed with U-shaped coupling recesses 32 which are disposed opposite on another. The U-shaped recesses 32 have marginal edge portions 34 extending along opposite side edges thereof.
In this specification, an article substantially in the form of an H-shaped interface is defined as a body having pairs of arms extending outwardly from opposite sides thereof.
The gripping jaw assemblies 12 each have an arm with a distal end 26 and a proximal end 28 ~Figure 5). A tooth 36 is located proximate the distal end of each arm and projects inwardly therefrom. The teeth 36 are arranged opposite one another and as previously described with refe~ence to Figure 5, jaw assemblies 12, and thus the teeth 36, are mounted for movement toward and away from one another. Each tooth is proportioned to fit within one of the U-shaped recesses 32 in a close fitting relationship to operably engage the H-shaped interface and to hold it laterally in a manner which will permit the application of torque to the H-shaped interface and permit ~he reaction of torque by the "H" interface.
Each tooth 36 has an inner face 38 in which a V-shaped notch 40 is formed. The V-shaped notches 40 are proportioned to accommodate a V-shaped clamping face of a micro-interface as will be descAbed hereinafter.
The gripping jaw assemblies 12 also have clamping shoulders 42 which project laterally outwardly from the teeth 36 back to the distal end 26. Each shoulder 42 has a clamping face 44 formed thereon.
An inclined, H-shaped interface guiding, inner edge 46 extends toward the clamping face 44. A pair of clamping jaws 50 are pivotally mounted on each gripping jaw 12 remains in a pivot pin 48 for movement to and fro in the direction of the arrow A between a first position shown in Figure 2 of the drawings, and a second position shown in Figure 1 of the drawings. Each of the clamping jaws 50 has a clamping face 52 which is arranged to be disposed opposite the clamping face 44 of one of the shoulders 42. an H-shaped interface guiding, inclined facs 54 extends ~ ~ 5 ,~
inwardly from each of the clamping faces 52. The clamping face 52 and the end face 56 cooperate with one another to form a notch 58.
The clamping jaws 50 are normally urged to the first position shown in Figure 2 by means of a compression spring 60 which is compressed between the upper end 62 of the clamping jaw S and a shoulder 64 that is mounted on the gripping jaw 12.
In use when the gripping jaw assemblies are located in the first position which is shown in solid lines in Figure 5, the clamping jaws 50 will be located in the open position shown in Figure 2 because of the action of the compression spring 60. If the cylinder 24 is then powered in order to move the clamping jaws 12 toward one another toward the position shown in broken lines in Figure 5, the teeth 36 will be guided into the U-shaped coupling recesses of the H-shaped interface 30. This movement will continue until the oppositely disposed end faces 33 of the H-shaped interface strike the end face 56. Continued closing of the jaws 12 will cause the clamping jaws SO
to pivot from the position shown in Figure 2 to the position shown in Figure 1 in which the clamping face 44 of the shoulder 46 and the shoulder 44 and serves to form a U-shaped clamping notch. The clamping face 52 will bear against the marginal edge portions 34 of the H-shaped interface and will serve to clamp the interface to the gripping jaws against vertical movement in such a manner that an axial load or a bending moment may be applied to the H-shaped interface.
The end effector illustrated in Figures 1 and 2 may also be used to engage a micro-interface of the type generally identified by the reference numeral 70 in Figures 3 and 4. The micro-interface 70 has a waist portion 72 which has a pair of oppositely disposed V-shaped clamping faces 74 and 76. The V-shaped notches 40 of the teeth 36 are arranged to engage and hold laterally the V-shaped clamping ~aces 74 and 76 when used in association with a micro-interface. As shown the V-shaped notches 40 fit snugly in the waist portion 72 so that the upper and lower faces of the teeth 36 will hold the micro-interface against vertical movement.
A clamping jaw for an end effector constmcted in accordance with a further embodiment of present invention is illustrated in Figures 3 and 4 of the drawing. In this embodiment, the gripping jaw assemblies 12a each have a tooth 36a that projects inwardly therefrom. The tooth 36a has a V-shaped notch 40a formed on the interface thereof and an inclined upper edge portinn 35a. The teeth 36a have shoulders 84 projecting laterally outwardly therefrom. A clamping jaw SOa is provided and has a lug 80 which is slidably mounted on a shaft 78. A compression spring ~2~ ~
80 normally urges the clamping jaw SOa to the position shown in Figure 3. The shaft 78 is angularly inclined such that when the jaw 50 is deflected rearwardly by a contact with an interface, it will also move upwardly. The jaw 50a has a clamping face 86 formed thereon which underlies the shoulders 84 that project laterally outwardly from the tooth 36a. Movement of the jaw 54 rearwardly and upwardly causes movement of the clamping face 86 toward the shoulder 84 and this clamping action may be used to clamp the gApping jaws 12a with respect to an H-shaped interface when the tooth 36a is extended into a U-shaped recess of an H shaped interface in the manner previously described with reference to Figure 1 of the drawings.
From the foregoing, it will be seen that the end effector that is described with reference to Figures 1 and 2 of the drawings and the end effector structure that is described with reference to Figures 3 and 4 of the drawings are both dual function end effectors capable of use in association with an H-shaped interface and a micro-interface. When used in association with an H-shaped interface both gripping jaw structures permit clamping of the H-shaped interface as well as gripping of the interface. When used in association with the micro-interface, the jaws of both embodiments are capable of gripping the interface in such a manner as to prevent torque to be applied thereto.
~rom the foregoing, it will be apparent that the present invention provides a simple and inexpensive dual function end effector.
Claims (9)
1. A dual function end effector, comprising, a pair of gripping jaw assemblies, each gripping jaw assembly comprising, a) an arm having a distal end b) for each arm, a tooth proximate the distal end thereof, and c) mounting means for mounting the arms with the teeth disposed opposite one another for movement towards and away from one another, for holding an article therebetween, and wherein d) for an article substantially in the form of an H-shaped interface, the teeth are shaped externally to be guided into, and hold laterally that article when it is disposed therebetween, e) for an article substantially shaped as a micro-interface having corners, the teeth have inner faces formed as V-shaped notches to guide, therein and hold laterally, corners of that article when it is disposed therebetween, and f) means are provided for holding an article against vertical movement when held in either manner of d) and e)
2. An end effector as claimed in claim 1 wherein, a) for d) the means for holding the article against vertical movement comprises a pair of clamping jaws on each arm, one of the clamping jaws of each pair being mounted for movement with respect to the other clamping jaw of that pair, from an open position, in which the clamping jaws are open, to guide and receive the article therebetween in a free fitting relationship, to a closed, seated position in which the jaws clamp the article.
3. An end effector as claimed in claim 2 further comprising means urging the moveable clamping jaw toward said open position.
4. An end effector as claimed in claim 3 wherein the moveable jaws are arranged to be driven by engagement with an edge-shaped interface on the article as the gripping jaws are being closed.
5. An end effector as claimed in claim 4 wherein each moveable jaw has a striking shoulder arranged to make contact with the article before the gripping jaws are seated.
6. A dual function end effector as claimed in claim, further comprising for d);
a) a clamping shoulder at the distal end of each gripping jaw, said clamping shoulder projecting laterally from the tooth of the gripping jaw on which it is located, b) a clamping jaw mounted on each gripping jaw, each clamping jaw having a clamping face disposed opposite one of the clamping shoulders, each clamping jaw being moveable between a first position in which its clamping face is spaced to receive an H-shaped interface therebetween in a free fitting relationship and a second position [in which it is spaced from its associated clamping shoulder] to clamp the H-shaped interface against its associated clamping shoulder.
a) a clamping shoulder at the distal end of each gripping jaw, said clamping shoulder projecting laterally from the tooth of the gripping jaw on which it is located, b) a clamping jaw mounted on each gripping jaw, each clamping jaw having a clamping face disposed opposite one of the clamping shoulders, each clamping jaw being moveable between a first position in which its clamping face is spaced to receive an H-shaped interface therebetween in a free fitting relationship and a second position [in which it is spaced from its associated clamping shoulder] to clamp the H-shaped interface against its associated clamping shoulder.
7. A dual function end effector as claimed in claim 6 wherein the clamping jaws are urged toward the first position and moved toward the second position in response to movement of the gripping jaws by engagement with an interface.
8. An end effector as claimed in claim 1 further comprising for d);
a) a pair of clamping shoulders projecting laterally from the distal end of each gripping jaw and arranged one on either side of the tooth of their associated jaw so as to underlie the marginal edge portion of a gripping recess when the associated tooth is in an article, b) a pair of clamping jaws pivotally mounted on each gripping jaw, one on either side of the tooth of the gripping jaw so as to overlie each clamping shoulder and cooperating therewith to releasably clamp the article therebetween in use.
a) a pair of clamping shoulders projecting laterally from the distal end of each gripping jaw and arranged one on either side of the tooth of their associated jaw so as to underlie the marginal edge portion of a gripping recess when the associated tooth is in an article, b) a pair of clamping jaws pivotally mounted on each gripping jaw, one on either side of the tooth of the gripping jaw so as to overlie each clamping shoulder and cooperating therewith to releasably clamp the article therebetween in use.
9. An end effector as claimed in claim 8, wherein each clamping jaw is formed with a striker shoulder which is arranged to be struck by the article, after the tooth of the associated jaw enters the article and then cause the clamping jaws to pivot from the first position to the second position.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US59364890A | 1990-10-04 | 1990-10-04 | |
| US07/593,648 | 1990-10-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2052681A1 true CA2052681A1 (en) | 1992-04-05 |
Family
ID=24375565
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2052681 Abandoned CA2052681A1 (en) | 1990-10-04 | 1991-10-03 | End effectors |
| CA 2054150 Abandoned CA2054150A1 (en) | 1990-10-04 | 1991-10-24 | Threaded bore engaging, orbital replacement unit electrical connector assembly |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2054150 Abandoned CA2054150A1 (en) | 1990-10-04 | 1991-10-24 | Threaded bore engaging, orbital replacement unit electrical connector assembly |
Country Status (1)
| Country | Link |
|---|---|
| CA (2) | CA2052681A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590959B (en) * | 2018-11-28 | 2020-12-29 | 燕山大学 | An automatic docking station for a power transmission device |
| CN114104343B (en) * | 2021-12-28 | 2023-12-15 | 中国科学院长春光学精密机械与物理研究所 | A docking locking mechanism for space optical loads |
-
1991
- 1991-10-03 CA CA 2052681 patent/CA2052681A1/en not_active Abandoned
- 1991-10-24 CA CA 2054150 patent/CA2054150A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| CA2054150A1 (en) | 1992-04-05 |
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