COMPACT ROBOTIC GRIPPER

摘要

Robot gripping system (200, 200′) includes a motor (202) mounted to a chassis (201). An elongated worm shaft (204) is rotatably mounted to the chassis along a worm axis (211) parallel to a motor rotation axis (209). A drive coupling (210) rotates the elongated worm shaft responsive to rotation of a motor drive shaft. First and second worm gears (205a, 205b) are disposed on the elongated worm shaft. First and second sector gears (206a, 206b) engage the first and second worm gear and rotate respectively about a first and second sector gear axis of rotation transverse to the worm axis. First and second robot gripper fingers (208a, 208b) are coupled to the first and second sector gears such that the fingers rotate about a proximal end (228a, 228b).

主权项

1. A robotic gripping system, comprising:
a chassis; a motor mounted to the chassis, the motor comprising a rotor configured to rotate around a motor axis; a drive shaft coupled to the rotor and configured to rotate, responsive to rotation of the rotor, about a drive axis which is parallel to the motor axis; an elongated worm shaft rotatably mounted to the chassis along a worm axis which is parallel to the drive axis; a drive coupling arranged to cause rotation of the elongated worm shaft about the worm axis in response to rotation of the drive shaft; a first worm gear disposed on the elongated worm shaft; a first sector gear which engages the first worm gear is rotatably mounted to the chassis and configured to rotate about a first sector gear axis of rotation transverse to the worm axis; a first robot gripper finger coupled at a first proximal end to the first sector gear and configured to rotate with the first sector gear.