US005310233A
United States Patent [19] [11] Patent Number: 5,310,233
Pollard et al. [45] Date of Patent: May 10,1994
[54] ROBOTIC END GRIPPER WITH A BAND MEMBER TO ENGAGE OBJECT
[75] Inventors: Roy E. Pollard, Maryville; Samuel C.
Robinson, Knoxville; William F.
Thompson, Oak Ridge; Scott A.
Couture, Knoxville; Bill J. Sutton,
Powell, all of Tenn.
[73] Assignee: Martin Marietta Energy Systems,
Inc., Oak Ridge, Tenn.
[21] Appl. No.: 872,152
[22] Filed: Apr. 22,1992
[51] Int. CI.' B25J 15/00
[52] U.S. CI 294/86.4; 294/103.1;
294/119.2; 294/131; 901/31; 901/39
[58] Field of Search 294/19.1, 31.2, 86.4,
294/86.41, 88, 100, 103.1, 111, 119.2, 131, 902; 81/64. 65; 269/130, 131; 414/23, 448, 449, 607, 618, 619, 729, 735, 741, 745.1, 745.4; 901/30,
31, 36-39
[56] References Cited
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1,828,106 10/1931 Ertola 294/31.2 X
2,718,166 9/1955 Hollenbeck 81/65
3,540,769 11/1970 Rosser .
3,970,342 7/1976 Cotton 294/86.4
4,280,785 7/1981 Albrecht 414/735
4.362,435 12/1982 Henrv 294/86.41 X
4,615,656 10/1986 Geraghty 294/86.41 X
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FOREIGN PATENT DOCUMENTS
2578183 9/1986 France 901/31
571369 9/1977 U.S.S.R. .
611775 5/1978 U.S.S.R. .
689824 5/1979 U.S.S.R. .
673420 7/1979 U.S.S.R 294/86.4
751794 7/1980 U.S.S.R 294/86.4
772844 10/1980 U.S.S.R. .
1184664 10/1985 U.S.S.R 901/31
1191283 11/1985 U.S.S.R. .
1298074 3/1987 U.S.S.R 901/36
1451002 1/1989 U.S.S.R. .
1553381 3/1990 U.S.S.R 901/39
Primary Examiner—Johnny D. Cherry
Attorney, Agent, or Firm—Martin J. Skinner; Joseph A.
Marasco; Harold W. Adams
[57] ABSTRACT
An end effector for use with robotic arms and like devices that utilizes a flexible band to draw an object against an anvil having a concave surface. One typical convex surface is created by a V-block, with an apex of the V being centrally located. If an object to be grasped is fragile, the contour of the concave surface closely matches the surface of the object. Typically the movement of the band is effected by a linear actuator, with the anvil remaining fixed relative to a support base. Several embodiments are described that utilize variations in drawing the band toward the anvil, with one of these embodiments described in detail in the form of a fabricated unit. One embodiment includes a cover element that can be moved over an object after the grasping thereof, with this cover potentially serving various functions. Movement of the cover can be effected with a second linear actuator.
19 Claims, 4 Drawing Sheets
