초록

An end effector for a mobile, remotely controlled robot includes first and second fingers; each finger fixed to a gear segment for rotation therewith; and a drive subsystem driving the gear segments and the associated fingers between open and closed positions.

대표청구항 ▼

1. An end effector for a mobile, remotely controlled robot comprising: a housing;first and second fingers;a first gear segment consisting of a sector of a first full gear within said housing;a second gear segment consisting of a sector of a second full gear within said housing;said first finger fixe

1. An end effector for a mobile, remotely controlled robot comprising: a housing;first and second fingers;a first gear segment consisting of a sector of a first full gear within said housing;a second gear segment consisting of a sector of a second full gear within said housing;said first finger fixed to said first gear segment and said second finger fixed to said second gear segment for rotation therewith; anda drive subsystem driving said gear segments and the associated fingers between open and closed positions. 2. The end effector of claim 1 in which the fingers are gripper fingers. 3. The end effector of claim 1 in which the gear segments are worm gear segments and the drive subsystem further includes a worm for driving the gear segments. 4. The end effector of claim 3 in which each said finger is fixed to said associated worm gear segment by a pivot pin on each said worm gear segment. 5. The end effector of claim 4 in which each said pivot pin extends from both sides of said associated gear segment and each said gripper finger has at a proximal end a yoke with upper and lower spaced arms for fixedly engaging the associated said pivot pin on either side of said gear segment. 6. The end effector of claim 3 in which said worm gear segments are the same size. 7. The end effector of claim 3 in which each said worm gear segment is a 60° sector of a full gear. 8. The end effector of claim 3 in which said worm drives said worm gear segments equally, synchronously. 9. The end effector of claim 1 in which said drive subsystem includes a folded motor and gear reducer assembly. 10. The end effector of claim 9 in which said drive subsystem includes a drive gear, said motor and a gear reducer are in side by side relationship and a first gear on the motor drives a second gear on one end of said gear reducer and a third gear on another end of said gear reducer drives said drive gear. 11. An end effector for a mobile, remotely controlled robot comprising: first and second fingers;each of said fingers fixed to a respective worm gear segment for rotation therewith;a worm for driving said worm gear segments and the associated fingers between open and closed positions;a folded motor and gear reducer assembly driving said worm; said worm including a drive gear, said motor and a gear reducer being in side by side relationship and a first gear on the motor drives a second gear on one end of said gear reducer and a third gear on another end of said gear reducer drives said drive gear of said worm. 12. An end effector for a mobile, remotely controlled robot comprising: first and second fingers;a first gear segment;a second gear segment;each of said fingers fixed to a respective gear segment for rotation therewith; anda drive subsystem driving said gear segments and the associated fingers between open and closed positions, said drive subsystem including a folded motor and gear reducer assembly and a drive gear, wherein said motor and gear reducer are in side by side relationship and a first gear on the motor drives a second gear on one end of said gear reducer and a third gear on another end of said gear reducer drives said drive gear. 13. An end effector for a mobile, remotely controlled robot comprising: first and second fingers;the first finger fixed to a gear segment via a yoke for rotation therewith, said yoke including an upper spaced arm above and a lower spaced arm below said gear segment;the second finger fixed to a second gear segment via a second yoke for rotation therewith, said second yoke including an upper spaced arm above and a lower spaced arm below said second gear segment; anda drive subsystem driving said gear segments, said yokes, and the associated fingers between open and closed positions. 14. The end effector of claim 13 further including a housing, wherein the gear segments are within the housing, and the arms of the first and second yokes are external to the housing.