Electric gripper drive with a torsional compliance device
View Patent ↗An electric gripper has a housing with a motor. A gearhead is coupled with the motor. A controller is electrically coupled with the motor to control the gripper via the motor. A compliance device is coupled with the motor. The compliance device absorbs impact energy created by the device. A drive mechanism is coupled with the compliance device and with a jaw movable on the housing. Fingers are coupled with the jaw that opens and closes to grip a part.
1. A gripper comprising:
a housing;
a motor positioned in the housing;
a gearhead coupled with said motor;
a controller electrically coupled with the motor for controlling the gripper via the motor;
a compliance device coupled with said motor, the compliance device storing impact energy wherein the stored energy is converted into reverse torque to enhance gripper drive in a reverse direction;
a drive mechanism coupled with said compliance device;
at least one jaw coupled with said drive mechanism, said at least one jaw movable on said housing; and
fingers coupled with said at least one jaw for gripping a part.
2. The gripper according to claim 1 , wherein said compliance device further comprises a torsional coupling.
3. The gripper according to claim 1 , wherein said gearhead is a reduction ratio gearhead.
4. The gripper according to claim 1 , wherein said controller, during power failure, includes a circuit providing back electromotive force to ensure the fingers do not open dropping the gripped part.
5. The gripper according to claim 3 , wherein the gearhead has a reduction ratio from 15:1 to 400:1.
6. The gripper according to claim 1 , wherein said controller, while the motor is stationary, includes a circuit for substantially reducing current and thus power to the motor to prevent overheating while maintaining gripper portion.
7. A gripper comprising:
a housing, a channel defined by a pair of walls of said housing;
a brush motor coupled with and positioned in said housing;
a gearhead coupled with said motor;
a controller electrically coupled with said motor, said controller controlling said gripper via the motor and said controller positioned in said housing;
a torsional coupling coupled with said motor, said torsional coupling positioned in said housing; said torsional coupling storing impact energy wherein the stored energy is converted into reverse torque to enhance gripper drive in a reverse direction;
a drive mechanism coupled with said torsional coupling for driving a pair of jaws, said jaws move in said channel of said housing;
a pair of fingers, each finger coupled with one of said jaws for gripping a part.
8. The gripper according to claim 7 , wherein said controller, during power failure, includes a circuit providing back electromotive force to ensure the fingers do not open dropping the gripped item.
9. The gripper according to claim 7 , wherein the gearhead reduction ratio is between 15:1 to 400:1.
10. The gripper according to claim 7 , wherein said controller, while the motor is stationary, includes a circuit for substantially reducing current and thus power to the motor to prevent overheating while maintaining gripper portion.