Gripper for a programmable manipulator

• Main Author: WILLIAMS; ANTHONY M
• Format: Patent
• Language: English
• Published: 24.02.1987
• Edition: 4
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

A gripper system for a programmable manipulator includes a gripper arm (10) and an assembly station for holding a finger element (2) releaseably for mounting on the arm. The finger element (2) is held by latches (21, 22) against a tray (20) of the station which can be displaced with respect to a rack plate (1) of the station. The arm is conditioned to move on a predetermined path with respect to the station so that cooperative parts (3, 11) of the arm and a finger element, held at the station, become inter-engaged. When the finger element and the arm are inter-engaged movement of the arm relative to the station causes the finger element to be released. The gripper comprises an arm and a finger element dedicated to a specific handling task. The arm and the finger element have cooperable parts which are inter-engageable to mount the finger element detachably on the arm.