US3675962A - Gripping - Google Patents

Gripping Download PDF

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Publication number
US3675962A
US3675962A US43539A US3675962DA US3675962A US 3675962 A US3675962 A US 3675962A US 43539 A US43539 A US 43539A US 3675962D A US3675962D A US 3675962DA US 3675962 A US3675962 A US 3675962A
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US
United States
Prior art keywords
wall means
flexible
fluent material
members
elastic
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.)
Expired - Lifetime
Application number
US43539A
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English (en)
Inventor
David Cumming Simpson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Research Development Corp UK
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Nat Res Dev
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Filing date
Publication date
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Publication of US3675962A publication Critical patent/US3675962A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G7/00—Devices for assisting manual moving or tilting heavy loads
    • B65G7/12—Load carriers, e.g. hooks, slings, harness, gloves, modified for load carrying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/46—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces by inflatable elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/902—Gripping element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device

Definitions

  • ABSTRACT Use of an object-engaging device in the form of a deformable non-stretch container enclosing a sealed volume of fluent granular material is proposed for at least one of a plurality of force applying members in a gripping apparatus.
  • the container is preferably of a double-walled construction with two flexible walls of which one is elastic, and the inner part is preferably sub-divided.
  • Incorporation of a pressure transducer to indicate applied force conveniently involves the use of electrically conductive granular material to act as a variable resistor.
  • This invention relates to the gripping of objects and has been developed for use with terminal devices for artificial limbs.
  • the invention can also be used in mechanical handling equipment and has a more particular, but not exclusive, application to the handling of irregularly shaped or fragile articles, such as glassware, and to remote manipulation equipment such as employed in radio-active and other hazardous environments.
  • an object-gripping apparatus comprises a plurality of members adapted for application of force therebetween to grip an object, at least one of said members being provided with a deformable object-engaging device in the form of a substantially non-stretch flexible container enclosing a sealed volume of fluent granular material.
  • an object to be gripped is normally located between the members and force applied to cause the members to converge towards the object, the arrangement being such that any member having a container as aforesaid engages the object by way of its container.
  • This force causes deformation of each engaged container, by flow of the granular material therein, to conform to the shape of the object in the relevant zone of engagement. This deformation is accompanied by a reduction in volume of each container until the granular material packs to effectively act as a rigid body.
  • Each gripping member concerned can be provided with a container but this is clearly not essential since each container will deform individually under the action of a component of force applied therethrough by its member to the object and other members acting as reaction members. Also, while the above discussion of use assumes involvement of an apparatus acting in the manner of a vice, clamp or claw, say, with powered convergence towards an object to grip the same and divergence away from an object for release, this is not necessarily the case. An outwardly acting gripping action within a hollowed or recessed body is equally possible with the present invention, although the former type of action will be more common as with prior gripping devices.
  • the granular material to be used in application of the invention is selected on the basis of compactability under pressure and fluidity when not under pressure.
  • Sand and talcum are examples of materials which have been found satisfactory in this context during initial development of the invention.
  • the container in question need not be wholly flexible and indeed will not normally be so by virtue of attachment to its associated member.
  • the container will be flexible at least in a region remote from its member where it is to engage an object.
  • the container may comprise a single wall, or a number of walls defining inner and outer container parts of which only the former need be sealed.
  • the wall of either part, but not both may be of elastic material whereby the overall container is substantially restored to a predetermined shape when not engaged with an object.
  • This last feature is desirable in practice since the elastic wall will tend to restore the container to a shape having the smallest surface area for its enclosed volume, that is to say it will normally adopt an arcuately curved surface shaping approaching spherical shaping, whereby any deformation under pressure in use will be associated with a reduction in volume.
  • the elastic wall should not be stressed to the extent hat the enclosed granular material is packed to nonfluency in the absence of other forces.
  • the outer covering of the container may, whether elastic or not, be preferably chosen to have a high coefficient of friction.
  • the container may be sub-divided, either by the provision of a plurality of inner containers within a common outer container or by the provision of a plurality of separate containers in close proximity on the same member, to facilitate the flow and redistribution of the enclosed granular material.
  • a pressure transducer may be incorporated in the container to indicate the pressure therein and so indicate initial engagement of the container with an object and/or the degree of force exerted on the object through the container.
  • the granular material itself can serve as part of the transducer by use of material which is at least partly electrically conductive. Then the electrical resistance between suitable electrodes projecting into the container will vary with the degree of compaction, and hence denote pressure.
  • FIGS. 1 and 2 diagrammatically illustrate respective views of an embodiment of the invention in released and gripping dispositions relative to an object
  • FIG. 3 is a cross-section on the line Il of FIG. 1;
  • FIG. 4 diagrammatically illustrates another embodiment of the invention.
  • FIG. 1 there is shown an object 1 spaced from and located between two gripping assemblies 2.
  • the gripping assemblies each comprise a container 3, as discussed more generally above, attached to the end of a rigid support member or arm 4.
  • the more particular construction of the containers 3 in this instance is indicated by FIG. 3.
  • the overall container construction comprises an outer closed container wall 5 of a flexible, non-stretch material affording a relatively high coefficient of friction. Leather is a suitable material for this purpose.
  • Within the outer container are three inner closed container walls 6 of elastic material, the latter being a suitable rubber, say.
  • the inner containers each enclose sealed volumes of a fluent granular material 7 which is electrically conductive.
  • a mixture of talcum powder and carbon granules is suitable for this last purpose.
  • a pair of electrodes 8 project into the central inner container in mutually spaced disposition.
  • the arms 4 are coupled to respective relatively reciprocable components of a powered mechanism 9, such as a piston-andcylinder assembly or any other suitable means, whereby force can be applied to the arms 4 to cause mutual convergence and divergence-of the container 3.
  • a powered mechanism 9 such as a piston-andcylinder assembly or any other suitable means
  • the containers will tend to adopt an arcuately shaped surface with minimum surface area and maximum enclosed volume by the action of the elastic walls on the powder within the added confines of the non-stretch walls. Indeed, a similar situation will arise even without the use of elastic walls since the powder will tend to adopt an unstressed state throughout its volume when not under pressure by virtue of its fluid-like properties.
  • Removal of, or reversal of, the applied force to separate the containers from the object causes restoration to the disposition of FIG. 1, the elastic walls serving to enhance the natural tendency for such restoration in the container configuration.
  • Electrodes 8 within a powder which is at least partly conductive by virtue of the carbon granules provides a pressure transducer facility.
  • application of a predetermined voltage across the electrodes will give rise to a current signal output variable with the resistance through the powder between the electrodes, this being dependent upon the degree of compaction of the powder, and hence upon the pressure applied to the object.
  • This signal can also clearly be employed to indicate initial engagement with the object by virtue of a signal increase following a substantially uniform signal period.
  • FIG. 4 illustrates an embodiment of the invention more suited to use for an artificial limb terminal device or remote manipulator.
  • the force applying members are in the form of two fingers coupled at one end for relative pivotal movement to mutually converge or diverge under the action of a suitable powered assembly 11 itself mounted on the end of an arm 12.
  • the fingers 10 are bent or hooked in like manner at their other ends and are provided with containers 13, as discussed above, on their mutually facing portions.
  • the fingers 10 may also be provided with additional containers 14 on their mutually opposed, outwardly facing, free end portions whereby a hollowed object can be gripped by expansion of the fingers within the object hollow.
  • An object-gripping apparatus comprising:
  • At least one of said members having a deformable, objecten gaging device thereon, comprising:
  • first wall means completely surrounding said body of fluent material, said first wall means including a flexible, elastic portion;
  • non-stretch wall means completely surrounding said body of fluent material, said non-stretch wall means including a flexible portion;
  • the flexible, elastic portion of the first wall means being in extensive surface-to-surface engagement with the flexible portion of the non-stretch wall means to define a composite container, said fluent material normally substantially but loosely filling said composite container, the flexible, elastic portion of the first wall means being so elastic that when the composite container is deformed by engagement with an object, with insufficient force of engagement to compress the body of fluent material to complete non-fluency, the flexible, elastic portion of the first wall means substantially restores the composite container to a predetermined shape having the smallest surface area for the enclosed volume thereof, upon release of the object.
  • An object-gripping apparatus comprising:
  • At least one of said members having a deformable, objectengaging device thereon, comprising:
  • non-stretch wall means completely surrounding said body of fluent material, said non-stretch wall means including a flexible portion;
  • first-mentioned wall means being in extensive surfaceto-surface engagement with the second-mentioned wall means to define a composite container, said fluent material normally substantially but loosely filling said composite container;
  • the flexible, elastic wall means lying within the non-stretch wall means; wherein the flexible, elastic wall means is composed of electrically insulating material and further includes portions thereof defining compartment walls dividing said body of fluent material into a plurality of mutually segregated portions; at least one of said portions containing electrically conductive articles; and pressure transducer probe means leading from said one portion, through said wall means.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)
  • Prostheses (AREA)
US43539A 1969-06-13 1970-06-04 Gripping Expired - Lifetime US3675962A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB3016969 1969-06-13

Publications (1)

Publication Number Publication Date
US3675962A true US3675962A (en) 1972-07-11

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Application Number Title Priority Date Filing Date
US43539A Expired - Lifetime US3675962A (en) 1969-06-13 1970-06-04 Gripping

Country Status (4)

Country Link
US (1) US3675962A (de)
AT (1) AT308961B (de)
DE (1) DE2028845A1 (de)
GB (1) GB1323673A (de)

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4192204A (en) * 1978-08-03 1980-03-11 Feldman Michael A Soft contact lens apparatus
USD296791S (en) 1985-10-17 1988-07-19 Kolack David H Contact lens manipulator
US4872803A (en) * 1983-11-30 1989-10-10 Fujitsu Limited Force controlling system
US5123804A (en) * 1990-06-15 1992-06-23 Tokyo Electron Sagami Limited Horizontal/vertical conversion handling apparatus
US5236295A (en) * 1990-06-15 1993-08-17 Tokyo Electron Sagami Limited Arm apparatus for conveying semiconductor wafer and processing system using same
US5871248A (en) * 1995-09-26 1999-02-16 University Of South Florida Robot gripper
WO2006082100A1 (de) * 2005-02-05 2006-08-10 Andreas Plaas-Link Universelle greif- und haltevorrichtung
US20120007375A1 (en) * 2009-01-31 2012-01-12 Abb Ag Gripper finger, gripper tool and method for adjusting a gripper tool
JP2012148380A (ja) * 2011-01-20 2012-08-09 Motoji Yamamoto ロボットハンド装置
CN102939189A (zh) * 2010-04-15 2013-02-20 康奈尔大学 夹持与释放设备及方法
US20130310980A1 (en) * 2011-01-26 2013-11-21 Toyota Jidosha Kabushiki Kaisha Gripping device, transfer device with same, and method for controlling gripping device
US20140103673A1 (en) * 2012-10-11 2014-04-17 Seiko Epson Corporation Robot hand, robot device and method of manufacturing robot hand
GB2510399A (en) * 2013-02-01 2014-08-06 Mover Holdings Ltd M A wheeled load moving device
US9517567B2 (en) * 2015-04-08 2016-12-13 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Grasping apparatus
CN106426187A (zh) * 2016-12-24 2017-02-22 宁波亿诺维信息技术有限公司 工业机器人控制方法
CN106426188A (zh) * 2016-12-24 2017-02-22 宁波亿诺维信息技术有限公司 一种程控工业机器人
CN106671085A (zh) * 2017-01-07 2017-05-17 宁波亿诺维信息技术有限公司 程控机器人以及控制方法
CN108501007A (zh) * 2018-03-30 2018-09-07 宁波高新区神台德机械设备有限公司 工业机器人夹持器及工业机器人
US10286565B1 (en) 2016-06-13 2019-05-14 Amazon Technologies, Inc. Skin replacement for robotic manipulator
US20190176342A1 (en) * 2016-07-07 2019-06-13 The Board Of Trustees Of The Leland Stanford Junior University Air-bladder enhanced with gecko-adhesive for grasping applications
US20190308331A1 (en) * 2018-04-06 2019-10-10 Aurora Flight Sciences Corporation Jamming Grippers with Stencil Moldings
JP2020001143A (ja) * 2018-06-29 2020-01-09 トヨタ車体株式会社 ワーク把持装置
US20200061844A1 (en) * 2018-08-22 2020-02-27 Flexiv Ltd. Robot and gripper with synthetic fibrillar adhesive
US10639855B2 (en) 2017-02-07 2020-05-05 General Electric Company Applicator systems for applying pressure to a structure
US20210402623A1 (en) * 2019-06-14 2021-12-30 Korea Institute Of Machinery & Materials Soft grip unit, grip device comprising same, and driving method of grip device

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2458934A1 (de) * 1974-12-12 1976-06-16 Lundstroem Goeran Roboter zum ergreifen, bewegen und abliefern von gegenstaenden
DE2840188C3 (de) * 1978-09-15 1981-11-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Greiferbacke für Greifer von Handhabungssystemen
WO1982002872A1 (en) * 1981-02-24 1982-09-02 Huff Edward R Clamp assembly
FR2503011A1 (fr) * 1981-04-07 1982-10-08 Renault Dispositif de prehension et de transport de pieces et procede de parachevement de pieces a l'aide d'un tel dispositif
DE3210373A1 (de) * 1982-03-20 1984-03-29 Höh, geb. Wilhelm, Renate, 7513 Stutensee Fingeraehnliches bauteil
FR2841231B1 (fr) * 2002-06-20 2005-07-08 Imerys Toiture Dispositif comportant une menbrane elastique pour la prehension et la manipulation d'objets fragiles et lourds en milieu industriel
CN111059107B (zh) * 2018-10-17 2024-10-22 杨斌堂 自适应夹持摆动体
CN110394796B (zh) * 2019-08-26 2024-08-02 中南大学 一种气颗粒混合驱动变刚度软体机器人及其运行方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3318629A (en) * 1965-04-09 1967-05-09 Jr Richard W Brandt Tree-clamping jaws with deformable pads containing granular material
US3509583A (en) * 1965-09-09 1970-05-05 Bendix Corp Electro-mechanical hand having tactile sensing means

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3318629A (en) * 1965-04-09 1967-05-09 Jr Richard W Brandt Tree-clamping jaws with deformable pads containing granular material
US3509583A (en) * 1965-09-09 1970-05-05 Bendix Corp Electro-mechanical hand having tactile sensing means

Cited By (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4192204A (en) * 1978-08-03 1980-03-11 Feldman Michael A Soft contact lens apparatus
US4872803A (en) * 1983-11-30 1989-10-10 Fujitsu Limited Force controlling system
USD296791S (en) 1985-10-17 1988-07-19 Kolack David H Contact lens manipulator
US5123804A (en) * 1990-06-15 1992-06-23 Tokyo Electron Sagami Limited Horizontal/vertical conversion handling apparatus
US5236295A (en) * 1990-06-15 1993-08-17 Tokyo Electron Sagami Limited Arm apparatus for conveying semiconductor wafer and processing system using same
US5871248A (en) * 1995-09-26 1999-02-16 University Of South Florida Robot gripper
WO2006082100A1 (de) * 2005-02-05 2006-08-10 Andreas Plaas-Link Universelle greif- und haltevorrichtung
US8240729B2 (en) * 2009-01-31 2012-08-14 Abb Ag Gripper finger, gripper tool and method for adjusting a gripper tool
US20120007375A1 (en) * 2009-01-31 2012-01-12 Abb Ag Gripper finger, gripper tool and method for adjusting a gripper tool
CN102939189A (zh) * 2010-04-15 2013-02-20 康奈尔大学 夹持与释放设备及方法
US20130106127A1 (en) * 2010-04-15 2013-05-02 Cornell University Gripping and releasing apparatus and method
US8882165B2 (en) * 2010-04-15 2014-11-11 Cornell University Gripping and releasing apparatus and method
CN102939189B (zh) * 2010-04-15 2015-08-05 康奈尔大学 夹持与释放设备及方法
US9120230B2 (en) 2010-04-15 2015-09-01 Cornell University Gripping and releasing apparatus and method
JP2012148380A (ja) * 2011-01-20 2012-08-09 Motoji Yamamoto ロボットハンド装置
US20130310980A1 (en) * 2011-01-26 2013-11-21 Toyota Jidosha Kabushiki Kaisha Gripping device, transfer device with same, and method for controlling gripping device
US9067324B2 (en) * 2011-01-26 2015-06-30 Toyota Jidosha Kabushiki Kaisha Gripping device, transfer device with same, and method for controlling gripping device
US20140103673A1 (en) * 2012-10-11 2014-04-17 Seiko Epson Corporation Robot hand, robot device and method of manufacturing robot hand
US9016742B2 (en) * 2012-10-11 2015-04-28 Seiko Epson Corporation Robot hand, robot device and method of manufacturing robot hand
GB2510399A (en) * 2013-02-01 2014-08-06 Mover Holdings Ltd M A wheeled load moving device
US9517567B2 (en) * 2015-04-08 2016-12-13 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Grasping apparatus
US10286565B1 (en) 2016-06-13 2019-05-14 Amazon Technologies, Inc. Skin replacement for robotic manipulator
US10647004B2 (en) * 2016-07-07 2020-05-12 The Board Of Trustees Of The Leland Stanford Junior University Air-bladder enhanced with gecko-adhesive for grasping applications
US20190176342A1 (en) * 2016-07-07 2019-06-13 The Board Of Trustees Of The Leland Stanford Junior University Air-bladder enhanced with gecko-adhesive for grasping applications
CN106426188A (zh) * 2016-12-24 2017-02-22 宁波亿诺维信息技术有限公司 一种程控工业机器人
CN106426187A (zh) * 2016-12-24 2017-02-22 宁波亿诺维信息技术有限公司 工业机器人控制方法
CN109129489A (zh) * 2017-01-07 2019-01-04 宁波亿诺维信息技术有限公司 程控工业搬运机器人以及控制方法
CN106671085A (zh) * 2017-01-07 2017-05-17 宁波亿诺维信息技术有限公司 程控机器人以及控制方法
CN106671085B (zh) * 2017-01-07 2019-07-19 上海好夫满信息技术有限公司 程控机器人以及控制方法
CN109129489B (zh) * 2017-01-07 2021-11-26 汇韩科技(常州)有限公司 程控工业搬运机器人以及控制方法
US11173674B2 (en) 2017-02-07 2021-11-16 General Electric Company Applicator systems for applying pressure to a structure
US10639855B2 (en) 2017-02-07 2020-05-05 General Electric Company Applicator systems for applying pressure to a structure
CN108501007A (zh) * 2018-03-30 2018-09-07 宁波高新区神台德机械设备有限公司 工业机器人夹持器及工业机器人
US10661446B2 (en) * 2018-04-06 2020-05-26 Aurora Flight Sciences Corporation Jamming grippers with stencil moldings
US20190308331A1 (en) * 2018-04-06 2019-10-10 Aurora Flight Sciences Corporation Jamming Grippers with Stencil Moldings
JP2020001143A (ja) * 2018-06-29 2020-01-09 トヨタ車体株式会社 ワーク把持装置
US20200061844A1 (en) * 2018-08-22 2020-02-27 Flexiv Ltd. Robot and gripper with synthetic fibrillar adhesive
US10933535B2 (en) * 2018-08-22 2021-03-02 Flexiv Ltd. Robot and gripper with synthetic fibrillar adhesive
US20210402623A1 (en) * 2019-06-14 2021-12-30 Korea Institute Of Machinery & Materials Soft grip unit, grip device comprising same, and driving method of grip device
US12128548B2 (en) * 2019-06-14 2024-10-29 Korea Institute Of Machinery & Materials Soft grip unit, grip device comprising same, and driving method of grip device

Also Published As

Publication number Publication date
DE2028845A1 (de) 1970-12-17
GB1323673A (en) 1973-07-18
AT308961B (de) 1973-07-25

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