The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 22, 1986
Filed:
Mar. 16, 1984
Henry E Aviles, Tucson, AZ (US);
Jane A Gregory, Boynton Beach, FL (US);
International Business Machines Corporation, Armonk, NY (US);
Abstract
A gripper pad or gripper tool changer for a multi-axis manipulator is provided which is capable of automatically attaching in locked position a selected pair of a plurality of gripper pads or tools to the fingers of a gripper. Each pair of gripper pads or tools are mounted in a holder mechanism which is attached to a surface within the work envelope of the manipulator. The pairs of gripper pads or tools are picked up from the holder and attached and locked to the gripper fingers by controlled movement of the manipulator. A pair of gripper pads or tools are returned to the holder by controlled maneuvering of the gripper into the holder such that unlocking means associated therewith provide unlocking of the gripper pads or tools from the gripper fingers so that the gripper pads or tools can be detached from the gripper fingers. Error detection of missing or displaced finger tools in a pickup operation is provided.