Hydraulic End Effectors, Indian Manufacturer, Indian Supplier,Indian Exporters
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Hydraulic End Effectors
Hydraulic End Effectors


An end effectors for use with a robotic mechanism is disclosed which is capable of grasping cylindrical workpieces having a varying diameter off center and holding it with six degrees of freedom. The end effectors has a plurality of sets of fingers, each set having three fingers which radially approach and retract from the workpiece with a spacing of 120 degrees between the movement direction of the fingers. The movement of each of the fingers in a set is coplanar, and the planar movement of each set of fingers is parallel with each other. Each finger is actuated by its own hydraulic cylinder which causes it to independently engage the workpiece.

The setting of the bidirectional valve determines whether the fingers grasp the workpiece or release it. Only after all fingers have made contact with the workpiece does the pressure in the system increase to cause the fingers to grip it with a predetermined force. The pilot operated check valves prevent the fluid from flowing back through them, thus enabling the end effectors to support the workpiece without need for continual pump pressure. The bidirectional valve is then centered, so that the pump may be unloaded to save power. By reversing the bidirectional valve, the pilots of the check valves are actuated allowing flow reversal which retracts the fingers. It is an object of the present invention to provide an end effector for a robot which can accommodate different parts having a wide range of varying sizes and weights. It is another object of this invention to provide an end effector having a plurality of gripping fingers, each independently actuated so that all fingers must contact the part or workpiece before a gripping force is applied. It is still another object of this invention to provide an end effector capable of grasping parts off center within a predetermined range and hold the part in all six degrees of freedom. It is yet another object of this invention to provide an end effector which operates all fingers through one bidirectional solenoid valve. In the present invention, an end effector which can accommodate many different parts of varying size and weight is described. Though small in size and weight, the end effector has the ability to hold a part in six degrees of freedom even when grasping a part off center.

The fingers of each set are adapted to move radially towards and away from a common axis with a spacing of about 120 degrees apart. Each finger is individually actuated by a separate hydraulic cylinder which causes it to independently engage a part. A hydraulic pump generates a fluid flow which is diverted through a series of pilot operated check valves, one for each hydraulic cylinder, by a directional valve to move the fingers. Only after all fingers have made contact with the part does the pressure in the system increase to cause the fingers to grip the part with a predetermined force.



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Hydraulic End Effectors, Indian Manufacturer, Indian Supplier, Indian Exporters