Robotic gripper for writing and object creation

Patent metadata

Field	Value
Publication number	US-11318610-B2
Application number	US-202016831459-A
Country	US
Kind code	B2
Filing date	Mar 26, 2020
Priority date	Jan 22, 2020
Publication date	May 3, 2022
Grant date	May 3, 2022

Abstract

This disclosure relates generally to a robotic gripper to hold a writing and object creation device for writing and object creation. The robotic gripper includes clamping unit, spring loaded slider unit and outer housing unit. The clamping unit include a finger collet with three or more flexible finger positions equispaced within 360 degrees with two areas of contact on each finger in front part for firm gripping. The spring loaded slider unit include a middle housing to transfer a force from the writing and object creation device to a force sensitive resistor (FSR). A micro actuator induces a required force to the writing and object creation device based on feedback from the force sensitive resistor. The middle housing includes a plunger shaft connected with a preload spring. The outer housing unit configured to hold a micro actuator, cotter pins, locator pins to the micro actuator, and a push pull key.

First claim

What is claimed is:

1. A robotic gripper ( 100 ) to hold a writing and object creation device ( 228 ) for writing and object creation, comprising:
(a) a clamping unit ( 124 ) configured to hold the writing and object creation device ( 228 ), wherein the clamping unit ( 124 ) comprises a finger collet ( 114 ) with three or more flexible finger positions equispaced within 360 degrees with one or more areas of contact ( 236 A-N) on each finger in front part to grip firmly, wherein each of the three or more flexible finger positions comprises the one or more areas of contact ( 236 A-N), wherein each of the one or more areas of contact ( 236 A-N) comprise a gripping mechanism to hold a corresponding portion of the writing and object creation device ( 228 ), wherein the one or more areas of contact ( 236 A-N) comprises a first set of areas of contact and a second set areas of contact and wherein each area of contact of the one or more contacts ( 236 A-N) comprises one or more serrations ( 302 ) to provide multiple line contacts for distributing a gripping force across multiple points to grip firmly such that an axial force on the writing and the object creation device ( 228 ) is suppressed;
(b) a spring loaded slider unit ( 126 ) comprises a middle housing ( 106 ) to transfer a force from the writing and object creation device ( 228 ) to a force sensitive resistor (FSR) ( 206 ), wherein the middle housing ( 106 ) comprises a plunger shaft ( 216 ) connected with a preload spring ( 218 ), wherein the plunger shaft ( 216 ) mounted to the finger collet ( 114 ) by a fastener ( 202 ); and
(c) an outer housing unit ( 128 ) comprises an outer housing ( 104 ) which is configured to hold a micro actuator ( 102 ), a plurality of cotter pins ( 118 A-B), a plurality of locator pins ( 122 A-B) to the micro actuator ( 102 ) and a push pull key ( 204 ), wherein the micro actuator ( 102 ) induces a required force to the writing and object creation device ( 228 ) based on feedback from the force sensitive resistor (FSR) ( 206 ).

2. The robotic gripper ( 100 ) as claimed in claim 1 , wherein the first set of areas of contact grips at anterior portion of the writing and object creation device ( 228 ) to form a first area of contact, wherein the second set of areas of contact grips at posterior side to form a second area of contact.

3. The robotic gripper ( 100 ) as claimed in claim 1 , wherein at end of the finger an entry feature ( 304 ) is provided for smooth entry and insertion for varying diameter range of the writing and object creation device ( 228 ).

4. The robotic gripper ( 100 ) as claimed in claim 1 , wherein a taper clamp ( 224 ) comprises a slot opening ( 404 ) for the finger collet ( 114 ) is coupled with an anti-rotation protrusion ( 308 ) to enable sliding between the taper clamp ( 224 ) and the finger collet ( 114 ) for preventing anti-rotation.

5. The robotic gripper ( 100 ) as claimed in claim 1 , wherein the taper clamp ( 224 ) comprise a concave internal tapered surface ( 402 ) is contacting with a taper surface ( 406 ) to enable collapsing or expansion of the fingers of the finger collet ( 114 ) to grip or release the writing and object creation device ( 228 ) respectively.

6. The robotic gripper ( 100 ) as claimed in claim 1 , wherein three or more additional flat screw ( 212 ) are equispaced in 360 degrees and passed through the plunger shaft ( 216 ) until each of the additional flat screw ( 212 ) touches surface of the writing and object creation device ( 228 ) to resist flexing of the writing and object creation device ( 228 ).

7. The robotic gripper ( 100 ) as claimed in claim 1 , wherein three or more additional rounded screw ( 210 ) are equispaced in 360 degrees and passed through the outer housing ( 104 ) until each of the additional rounded screw ( 210 ) touches surface of the writing and object creation device ( 228 ) to resist flexing of the writing and object creation device ( 228 ).

8. The robotic gripper ( 100 ) as claimed in claim 1 , wherein the plunger shaft ( 216 ) comprises a pop out spring ( 220 ) with an end plate ( 234 ) integral at one end of spring, wherein the pop out spring ( 220 ) comprises a force spring with free length and minimal solid length to enable seating of the writing and object creation device ( 228 ).

9. The robotic gripper ( 100 ) as claimed in claim 1 , wherein the plunger shaft ( 216 ) is coupled with the middle housing ( 106 ) by an anti-rotation diamond pin ( 226 ) to prevent a rotation, wherein the anti-rotation diamond pin ( 226 ) is in a close proximity to center axis of the robot gripper ( 100 ) to reduce overall size.

10. The robotic gripper ( 100 ) as claimed in claim 1 , wherein the plunger shaft ( 216 ) and the middle housing ( 106 ) are coupled to create a space for reducing abrupt shock loads while the writing or the objection creation operation is performed by the writing and object creation device ( 228 ).

11. The robotic gripper ( 100 ) as claimed in claim 1 , wherein a spring housing ( 214 ) sandwiched between the preload spring ( 218 ) and the force sensitive resistor (FSR) ( 206 ) to detect variation in axial force of the writing and object creation device ( 228 ) and providing feedback to the micro actuator ( 102 ).

12. The robotic gripper ( 100 ) as claimed in claim 1 , wherein the push pull key ( 204 ) mounted to the middle housing ( 106 ) and coupled with a key slot ( 232 ) of the outer housing ( 104 ) to ensure a sliding movement between the outer housing unit ( 128 ) and the middle housing ( 106 ).

13. The robotic gripper ( 100 ) as claimed in claim 1 , wherein the push pull key ( 204 ) is coupled between the middle housing ( 106 ) and the micro actuator ( 102 ) to induce a required force without moving a robotic arm ( 704 ) in perpendicular direction for the writing or the objection creation operation.

Assignees

• Tata Consultancy Services Ltd

Inventors

• Bangalore Srinivas Venkatesh Prasad
• Singhal Aniruddha

Classifications

• B25J9/1633 Primary

  compliant, force, torque control, e.g. combined with position control · CPC title

• B44D3/00

  Accessories or implements for use in connection with painting or artistic drawing, not otherwise provided for (hand tools for applying liquids, e.g. paints, to surfaces B05C17/00, implements for finishing work on buildings, other than painting, E04F21/00); Methods or devices for colour determination, selection, or synthesis, e.g. use of colour tables (colorimetry G01J3/00) · CPC title

• G06F3/13

  Digital output to plotter {; Cooperation and interconnection of the plotter with other functional units} · CPC title

• B25J19/02

  Sensing devices · CPC title

• B43L13/028

  Hand held or associated with the writing instrument · CPC title