Gripper and gripping assembly
The present invention relates to a gripper assembly for gripping a product. The assembly comprises first and second mounting members; an actuator for causing relative movement between the first and second mounting members; and a plurality of gripper members spaced apart about a primary axis. At least one the gripper members comprise a resiliently deformable body comprising a distal end and first and second connection formations spaced from the distal end and from each other, the first and second connection formations being connected to the first and second mounting members respectively such that an axial component of movement between the first and second mounting members caused by the actuator in use imparts a rotation of the distal end of each gripper member in a direction towards and/or away from the primary axis.
1 . A gripper assembly for gripping a product, comprising:
first and second mounting members;
an actuator for causing relative movement between the first and second mounting members; and
a plurality of gripper members spaced apart about a primary axis, wherein at least one of the gripper members comprises a resiliently deformable body comprising a distal end and first and second connection formations spaced from the distal end and laterally spaced from each other, the first and second connection formations being connected to the first and second mounting members respectively such that an axial component of movement between the first and second mounting members caused by the actuator in use imparts a rotation of the distal end of each gripper member in a direction towards and/or away from the primary axis;
wherein one of the first or second connection formations is attached to the resiliently deformable body by a bridge formation of reduced width, and the bridge formation extends in the lateral direction.
2 . The gripper assembly according to claim 1 , wherein the distal end comprises an apex in plan.
3 . The gripper assembly according to claim 1 , wherein the body comprises a curved/arcuate side wall facing the primary axis.
4 . The gripper assembly according to claim 1 , wherein each gripper member comprises a resiliently deformable claw formation.
5 . The gripper assembly according to claim 1 , wherein the resiliently deformable body is substantially triangular, the first and second connection formations being provided at respective corners of the body.
6 . The gripper assembly according to claim 1 , wherein the first and second connection formations depend from the body in substantially perpendicular directions with respect to one another.
7 . The gripper assembly according to claim 1 , wherein the first and/or second connection formations comprise a hinge.
8 . The gripper assembly according to claim 1 , wherein the gripper member is provided as a moulded, continuous body comprising the resiliently deformable body and the first and second connection formations.
9 . The gripper assembly according to claim 1 , wherein the first and/or second connection formations are integrally formed with the resiliently deformable body.
10 . The gripper assembly according to claim 1 , wherein relative movement of the first and second connection portions imparts a translation on the body.
11 . The gripper assembly according to claim 1 , wherein the first and/or second connection formation comprises a loop.
12 . The gripper assembly according to claim 1 , wherein the first and second mounting members each comprise a corresponding connection formation for receiving the respective connection formation of each gripper member.
13 . The gripper assembly according to claim 12 , wherein the connection formations and/or corresponding connection formations are shaped to prevent rotation there-between.
14 . The gripper assembly according to claim 1 , wherein the gripper member is uniform in cross-section in at least one direction.
15 . The gripper assembly according to claim 1 , wherein the gripper distal end comprises a widened gripper end in a lateral direction relative to its direction of actuation.
16 . The gripper assembly according to claim 1 , wherein three or more gripper members are provided about the primary axis, each gripper member being arranged to rotate about an axis of rotation that is tangential to the primary axis and/or aligned with an edge of a polygon oriented about the primary axis when viewed in the direction of the primary axis.
17 . The gripper assembly according to claim 1 , wherein two or more gripper members share a common axis of rotation.
18 . The gripper assembly according to claim 1 , wherein the actuator comprises a linear pneumatic actuator.
19 . The gripper assembly according to claim 18 , further comprising a hub, the linear pneumatic actuator being provided within the hub.
20 . The gripper assembly according to claim 1 , wherein the first and/or second mounting members comprise a plurality of arms configured to engage a respective gripper.
21 . The gripper assembly according to claim 1 , wherein the first and/or second mounting members depend radially outwardly from the primary axis.
22 . The gripper assembly according to claim 1 , further comprising a robotic armature, wherein the actuator, mounting members and gripper members are mounted to the robotic armature.
23 . The gripper assembly according to claim 22 , wherein the gripper assembly is rotatable relative to the robotic armature.
24 . A gripper member for use in a gripper assembly, the gripper member comprising a resiliently deformable body comprising:
a distal end; and
first and second connection formations spaced from the distal end and laterally spaced from each other, the first and second connection formations being arranged to be connected to first and second mounting members of an actuation mechanism, wherein an axial component of movement between the first and second connection formations imparts a rotation of the distal end of the gripper member relative to the axis; wherein the first and/or second connection formation is attached to the resiliently deformable body by a bridge formation of reduced width, and the bridge formation extends in the lateral direction.
25 . The gripper member according to claim 24 , provided as a moulded, unitary, continuous and/or solid body comprising the connection formations.