Claims
- 1. A combined docking and grasping device for use with a manipulator arm on a docking vehicle for mechanically connecting together the docking vehicle with a docking payload having a receptacle for receiving said device therein, said manipulator arm including a mechanical wrist joint having a pair of rotatable axes providing said arm with movement about two perpendicular axes, said device comprising:
- a. a pair of jaw members movable towards each other and away from each other to a spread apart configuration;
- b. an elongated linkage assembly connecting each of said jaw members to said wrist joint;
- c. means carried adjacent said wrist joint for moving said elongated assembly causing said jaw members to move towards and away from each other;
- d. each of said jaw members having an interface surface enabling said jaw members to grip an object securely between said surfaces; and
- e. a cam portion formed on an upper surface of each of said jaw members for engaging a receiving portion formed within said receptacle when said jaw members are in a spread apart condition to interlock said docking vehicle and docking payload together;
- whereby said manipulator arm may be selectively utilized either as a docking device or as a general purpose grasping device to pick up an object.
- 2. The apparatus of claim 1 wherein said cam portion includes a triangular portion sloping upwardly from one end of said interface surface towards an apex.
- 3. The apparatus of claim 2 wherein said triangular portion extends downwardly from said apex to form an extended elongated portion terminating opposite said one end of said interface surface.
- 4. The apparatus of claim 2 wherein a roller bearing is carried at said apex of said triangular cam portion to aid said cam portion in being centered in said receiving portion.
- 5. The apparatus of claim 1 wherein said receptacle includes an internal cavity formed therein receiving said jaw member therein.
- 6. The apparatus of claim 5 wherein said jaw members and said internal cavity are substantially rectangular in cross-section
- 7. The apparatus of claim 2 wherein said receptacle includes a substantially V-shaped groove formed around the periphery of said internal cavity for receiving said triangular cam portion when said jaw members are in said spread apart condition.
- 8. The apparatus of claim 1 wherein said interface surface is serrated for securely gripping an object between the jaw members.
- 9. The apparatus of claim 1 wherein said elongated linkage assembly includes a pair of elongated members having a first end connected to a jaw member and a second end connected to said wrist joint, and wherein the apparatus includes means for moving said second ends of said elongated members towards and away from each other so as to enable said jaw members carried on said first ends to reach around progressively larger payloads accordingly.
- 10. The apparatus of claim 5 wherein said jaw member includes a first element connected to said elongated linkage assembly and a second element connected to said first element at a pivoted joint thereof whereby said first and second elements may be pivoted relative to each other so as to grip around an object.
- 11. The apparatus of claim 10 wherein said cam portion includes said pivoted joint which defines an apex receivable in a V-shaped groove formed in an interior surface of said cavity.
ORIGIN OF THE INVENTION
The invention described herein was made by employees of the United States Government and may be manufactured and used by or for the Government for governmental purposes without the payment of any royalties thereon or therefor.
US Referenced Citations (2)