A grasping device of the embodiment includes claw holding parts, a cam, pins, a motor, and a rail holding part. The claw holding parts are supported by rails in a slidable manner. The cam includes grooves or curved holes having a spiral shape provided around the rotation center and a hole provided at the rotation center. The pins each have one end engaged with the claw holding parts side and the other end engaged with the grooves or the curved holes of the cam. The motor includes a shaft to be fixed to the hole of the cam. The rail holding part is configured to hold the rails and engage a positioning jig with an end portion of the shaft at the side fixed to the cam and including a hole part with an inner peripheral surface where the outer peripheral surface of the jig is contactable.

Provided is an apparatus for piston insertion, including an insertion robot having a plurality of robot arms connected by a plurality of articulated joints, a piston insertion module directly mounted on the insertion robot, gripping a piston assembly, and inserting the piston assembly into a cylinder bore of a cylinder block, and a controller controlling an operation of the insertion robot and an operation of the piston insertion module.

Various aspects of robotic grippers are disclosed herein. In one aspect, a robotic gripper may include three gripper fingers arranged on a mechanical end effector, the three gripper fingers configured to translate radially when actuated to contact and align with a gripper interface located on a part to enable manipulation of the part. In various embodiments, each gripper finger may include an elongated portion configured to contact an outer surface of the gripper interface when the gripper fingers are actuated. Each gripper finger may further include a hook portion configured to contact an inner surface of the gripper interface opposing the outer surface. In various embodiments, the hook portion may include a receptacle positioned to align with a complementary protrusion on the gripper interface.

A grasping device of the embodiment includes claw holding parts, a cam and pins. The claw holding parts are supported by rails in a slidable manner. The cam includes grooves or curved holes having a spiral shape provided around a rotation center and is formed of a sintered material. The pins each have one end engaged with the claw holding parts side and the other end engaged with the grooves or the curved holes of the cam.

A grip device is provided. A grip device according to an embodiment of the present disclosure includes: a first finger; a second finger facing the first finger; a first link part including a first guide slot and supporting the first finger; a second link part supporting the second finger and including a second guide slot, intersecting the first link part; a hinge configured to move inside the first guide slot and second guide slot and connecting the first link part and the second link part at an intersection point of the first link part and second link part; a first actuator configured to adjust a distance between the first finger and second finger by moving the first link part and/or the second link part; and a second actuator configured to move the hinge inside the first guide slot and second guide slot.

A chuck unit includes a first pressure chamber and a second pressure chamber disposed on both sides of a piston for driving fingers. A valve unit includes a first output air flow path connected to one of the first and second pressure chambers, a second output air flow path connected to the other thereof, a first solenoid valve connected to the first output air flow path, and a second solenoid valve connected to the second output air flow path. The first solenoid valve connects the first output air flow path to an air supply source when energized and opens the first output air flow path to atmosphere when de-energized, and the second solenoid valve opens the second output air flow path to atmosphere when energized and connects the second output air flow path to the air supply source when de-energized.

A system and method for gripping a cylindrical object. The system including: a housing; a plurality of gripping arms in the housing, the gripping arms in pairs each on an opposite side of a centerline plane from another; and a driving wedge in the housing and configured such that movement of the driving wedge moves each pair of gripping arms towards or away from each other while remaining equidistant from the centerline plane. The method including: opening the plurality of gripping arms against a bias by sliding a wedge in a first direction to slide the plurality of gripping arms apart while maintaining an equal predetermined distance from a part alignment position; placing a cylindrical body between the plurality of gripping arms; and closing the plurality of gripping arms by sliding the wedge in an opposite direction to allow the biasing force to close the gripping arms.

A gripper for industrial manipulators includes: at least two jaws one of which being movable allowing it to be opened and closed; and a gripper body. A first gripper body portion housing an actuator device and a second portion supporting the jaws and at least one pin element, defining a pivot axis of the movable jaw, or a pivot axis of at least one transmission element operatively interposed between the at least one movable jaw and the actuator device. The gripper arranged so that the pin element also acts as a locking pin to firmly lock together the first and second portions of the gripper body in assembled condition. The pin element having a circumferential groove which allows a snap coupling of the first portion and the second portion of the gripper body: an elastic element separating them and engaging the edge of one of the two in the groove.

A linear actuator having a housing, a shaft having a proximate end attached to the housing and a distal end which moves relative to the housing, a first attachment point on one of the housing or the distal end of the shaft, a second attachment point connected to the other of the housing or the distal end of the shaft by way of one or more springs, and a motor that is operatively engaged with the shaft to drive movement of the shaft. The linear actuator may be connected within any desired mechanism with at least two parts that move relative to one another, such as a mechanical gripper, by connecting one part to the first attachment point and the other part to the second attachment point.

A gripper for a handling assembly grasps an object. The gripper includes: a coupler for mounting to the object; and a base body mountable to the handling assembly. The base body includes: a housing; a clamping bracket at an outside of the housing; and a clamping mechanism in the housing, connected to the clamping bracket. The clamping bracket has latched and unlatched states. In the latched state, the clamping bracket is drawn close to the housing. In the unlatched state, the clamping bracket is pushed away from the housing to receive the coupler between the clamping bracket and the housing. The clamping mechanism is activated by pneumatic/hydraulic driving to force the clamping bracket to change from the latched to the unlatched state, and deactivated such that the clamping bracket returns to the latched state, thereby clamping the coupler to the housing.