US 12,103,180 B2
Robotic gripper
Renaud Sansfaçon, Québec (CA); Pierre-Luc Belzile, Levis (CA); Louis-Alexis Allen Demers, Levis (CA); Yan Drolet Mihelic, Québec (CA); Pascal Lapointe, Québec (CA); Jean-Philippe Jobin, Lévis (CA); and Bianca Lachance, Beaumont (CA)
Appl. No. 17/054,198
Filed by ROBOTIQ INC., Saint-Nicolas (CA)
PCT Filed May 13, 2019, PCT No. PCT/CA2019/050641
§ 371(c)(1), (2) Date Nov. 10, 2020,
PCT Pub. No. WO2019/218057, PCT Pub. Date Nov. 21, 2019.
Claims priority of provisional application 62/670,823, filed on May 13, 2018.
Prior Publication US 2021/0213607 A1, Jul. 15, 2021
Int. Cl. G06F 17/00 (2019.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/02 (2006.01); B25J 19/00 (2006.01); F16H 19/04 (2006.01); F16H 37/04 (2006.01); H02K 7/102 (2006.01); H02K 7/116 (2006.01); H02K 11/215 (2016.01); H02K 11/33 (2016.01); H02K 21/24 (2006.01); H02P 6/16 (2016.01); H02P 6/24 (2006.01); F16H 1/28 (2006.01)
CPC B25J 9/1612 (2013.01) [B25J 13/088 (2013.01); B25J 15/026 (2013.01); B25J 19/0004 (2013.01); F16H 19/04 (2013.01); F16H 37/04 (2013.01); H02K 7/102 (2013.01); H02K 7/116 (2013.01); H02K 11/215 (2016.01); H02K 11/33 (2016.01); H02K 21/24 (2013.01); H02P 6/16 (2013.01); H02P 6/24 (2013.01); F16H 1/28 (2013.01); F16H 2702/02 (2013.01); H02P 2207/05 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A robot gripper comprising:
a DC motor having a speed of rotation corresponding to an input voltage;
a reduction gear mechanism having an input connected to said DC motor and an output;
a gripper finger drive mechanism connected to said output of said reduction gear mechanism;
at least one finger connected to said gripper finger drive mechanism; and
a motor drive controller configured to provide a first fixed drive voltage to said DC motor to rotate at a first rotational speed causing said at least one finger to move at a second linear speed in a direction to pinch an object, said first fixed drive voltage causing said DC motor to apply a constant first torque to said input of said reduction gear mechanism when arrested, said constant first torque causing said at least one finger to apply a constant holding force to said object;
wherein, due to rotational inertia of said DC motor and said reduction gear mechanism, when said at least one finger decelerates from said second linear speed to zero as said at least one finger pinches said object when said object is rigid said at least one finger will apply a peak pinch force to said object that is no more than 60% greater than said constant holding force.