Patent US4018409A successfully refreshed from Google Patents.
US4018409A
Expired / Lapsed
US
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Combined docking and grasping device
Assignee: National Aeronautics and Space Administration
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Filing: 1975-08-07
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Granted: 1977-04-19
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Expires: 1995-08-07
Abstract
Abstract A combined docking and grasping device for use with a manipulator arm on a docking vehicle and the like for mechanically connecting a docking vehicle with an orbital payload having a receptacle for receiving the device therein. The device includes a pair of opposing jaw members having opposing serrated surfaces for grasping an object and a triangular cam portion on an outer surface for insertion and interlocking with an orbital payload.
Inventors
- 👤 John L. Burch
- 👤 James D. Johnston
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 13:05
CPC Classifications
B; B64; B64G; B64G1/00; B64G1/22; B64G1/64; B64G1/646; B64G1/6462
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
211 words
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.
Claim 2
Dependent Claim
211 words
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.
Claim 3
Dependent Claim
25 words
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.
Claim 4
Dependent Claim
29 words
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.
Claim 5
Dependent Claim
31 words
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.
Claim 6
Dependent Claim
19 words
The apparatus of claim 1 wherein said receptacle includes an internal cavity formed therein receiving said jaw member therein.
Claim 7
Dependent Claim
18 words
The apparatus of claim 5 wherein said jaw members and said internal cavity are substantially rectangular in cross-section
Claim 8
Dependent Claim
37 words
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.
Claim 9
Dependent Claim
20 words
The apparatus of claim 1 wherein said interface surface is serrated for securely gripping an object between the jaw members.
Claim 10
Dependent Claim
74 words
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.
Claim 11
Dependent Claim
53 words
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.
Claim 12
Dependent Claim
30 words
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.
References Cited (Backward Citations)
US3268091A
Cited
US3401903A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1980-04-18 | 1980-10-18 | 1981-04-19 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1984-04-18 | 1984-10-18 | 1985-04-19 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1988-04-18 | 1988-10-18 | 1989-04-19 | $7700.00 | Window Closed / Lapsed |