US 12,296,477 B2
Gripper mechanism
Jiuhong Ruan, Jinan (CN); Xingyu Guo, Jinan (CN); Fuguang Yang, Jinan (CN); Haiyan Wang, Jinan (CN); Guodong Li, Jinan (CN); and Jiao Gao, Jinan (CN)
Assigned to SHANDONG JIAOTONG UNIVERSITY, Jinan (CN)
Appl. No. 18/575,234
Filed by SHANDONG JIAOTONG UNIVERSITY, Jinan (CN)
PCT Filed Oct. 24, 2023, PCT No. PCT/CN2023/126057
§ 371(c)(1), (2) Date Dec. 28, 2023,
PCT Pub. No. WO2024/198319, PCT Pub. Date Oct. 3, 2024.
Claims priority of application No. 202310296517.9 (CN), filed on Mar. 24, 2023.
Prior Publication US 2025/0128406 A1, Apr. 24, 2025
Int. Cl. B25J 9/10 (2006.01)
CPC B25J 9/109 (2013.01) 9 Claims
OG exemplary drawing
 
1. A gripper mechanism, comprising a motor, a cylinder barrel, a piston and a guide assembly, wherein the piston reciprocates in the cylinder barrel, and the piston comprises a piston body and a piston rod located in the piston body; both ends of the cylinder barrel are respectively provided with a first cylinder head and a second cylinder head which are used for limiting a maximum distance and a minimum distance between the piston body and a part to be gripped; the piston rod comprises a driving shaft, a cross slider coupling and a gripping head which are connected in turn, the gripping head partly protrudes from the cylinder barrel, and power output by the motor is transmitted to the gripping head through the driving shaft and the cross slider coupling in turn, so that the gripping head is screwed into or out of a connecting hole in the part to be gripped to grip and release the part to be gripped;
the cross slider coupling comprises:
a first sleeve, wherein a first through hole penetrates through a center of the first sleeve in an axial direction of the first sleeve, the first sleeve is provided with a first end face and a second end face respectively at both axial ends of the first sleeve, the first sleeve is connected with the driving shaft at the first through hole of the first end face, a first arc surface arranged in a first direction is formed in the second end face of the first sleeve, and a second through hole is further formed in the first sleeve;
a second sleeve, wherein a third through hole penetrates through a center of the second sleeve in an axial direction of the second sleeve, the second sleeve is provided with a third end face and a fourth end face respectively at both axial ends of the second sleeve, the second sleeve is connected with the gripping head at the third through hole of the third end face, a second arc surface arranged in a second direction is formed in the fourth end face of the second sleeve, and a fourth through hole is further formed in the second sleeve;
a cross slider, wherein the cross slider is provided with a third arc surface matched with the first arc surface on a side, facing the second end face, of the cross slider, so that relative rotation around the first direction and relative sliding in the first direction are able to be realized between the cross slider and the first sleeve; the cross slider is provided with a fourth arc surface matched with the second arc surface on a side, facing the fourth end face, of the cross slider, so that relative rotation around the second direction and relative sliding in the second direction are able to be realized between the cross slider and the second sleeve;
a first reset assembly, wherein the first reset assembly penetrates through an interior of the second through hole for providing restoring force for reset of the cross slider relative to the first sleeve after unloading;
a second reset assembly, wherein the second reset assembly penetrates through an interior of the fourth through hole for providing restoring force for reset of the cross slider relative to the second sleeve after unloading.