초록 ▼

A six degree of freedom grabbing apparatus (20) allows normally open jaws (22) to be positioned in a desired location and orientation relative to a work platform (19), whereupon a single control locks the grabbing apparatus is the desired location and orientation. The jaws (22) are secured to the en

A six degree of freedom grabbing apparatus (20) allows normally open jaws (22) to be positioned in a desired location and orientation relative to a work platform (19), whereupon a single control locks the grabbing apparatus is the desired location and orientation. The jaws (22) are secured to the end of an arm (24). The arm (24) is attached to a shoulder joint (26). The shoulder joint allows the arm to rotate (37) and pitch (38). The shoulder joint is secured to a base unit (28), which base unit is slidably and pivotally connected to the work platform (19, 80), allowing the base unit (and hence the shoulder joint and arm) to move in the same plane, e.g., the x and y directions, as the work platform, and further allowing the base unit, shoulder joint and arm to yaw (39) relative to a given position on the platform. Six degrees of freedom are provided by the apparatus; jaw closing/opening; pitching, rotating, yawing, moving in the x direction, and moving in the y direction. A single locking force, enabled from a single locking control signal, closes the jaws, locks the arm to the shoulder joint, and locks the shoulder joint to the work platform, in that sequence. The invention includes a method of locking a plurality of locking mechanisms, such as a jaw, shoulder joint, and base unit, in a desired sequence using a single locking force.

대표청구항 ▼

A passive grabbing apparatus having locked and unlocked states, said unlocked state being one wherein the grabbing apparatus is freely positionable by positioning means external to the grabbing apparatus, said locked state being one wherein the grabbing apparatus is locked against movement and maint

A passive grabbing apparatus having locked and unlocked states, said unlocked state being one wherein the grabbing apparatus is freely positionable by positioning means external to the grabbing apparatus, said locked state being one wherein the grabbing apparatus is locked against movement and maintains a desired position and orientation, said grabbing apparatus comprising: a platform; a base unit slidably attached to said platform; a shoulder joint secured to said base unit, said shoulder joint being rotatable about a given position on said platform when said grabbing apparatus assumes its unlocked state; an arm having a central longitudinal axis and being attached at a first end to said shoulder joint, said arm being rotatable about said axis and pivotable relative to said shoulder joint when said grabbing apparatus assumes its unlocked state; closeable jaws secured to a second end of said arm, said closeable jaws assuming a normally open position when said grabbing apparatus assumes its unlocked state; locking means comprising first, second, and third locking devices for selectively causing said grabbing apparatus to assume its locked state upon application of a single locking force thereto, said single locking force being distributed to said first, second, and third locking devices, said locked state having said closeable jaws forced towards a closed position, said arm locked and prevented from turning and pivoting relative to said shoulder joint, said shoulder joint locked and prevented from rotating relative to said base unit, and said base unit locked and prevented from moving relative to said platform; means for applying said single locking force; and biasing means for causing said grabbing apparatus to assume its unlocked state upon removal of said single locking force, wherein each of said locking devices must overcome a force provided by said biasing means to cause said grabbing apparatus to change from an unlocked state to a locked state.