Grabbing mechanism

Abstract

Aspects of the disclosure relate to grabbing, holding and releasing an object including a pull stud. For instance, a grabbing mechanism may include a piston chamber having a piston configured to move within the piston chamber when the piston chamber is pressurized. The mechanism may also include a collet attached to the piston such that the collet and piston move together when the piston moves. The collet may include a groove. The mechanism may also include ball cage including a plurality of balls arranged at least partially within respective ball chambers of the ball cage. The ball cage may be arranged at least partially within the collet such that movement of the piston and collet causes the groove to align with the respective ball chambers. The plurality of balls may be configured to move into and out of the groove and to lock the pull stud within the mechanism.

1 . A system for grabbing an object including a pull stud, the system comprising:
 a grabbing mechanism including:   a piston chamber having a piston configured to move within the piston chamber when the piston chamber is pressurized;   a collet attached to the piston such that the collet and piston move together when the piston moves, the collet including a groove;   a ball cage including a plurality of balls arranged at least partially within respective ball chambers of the ball cage, the ball cage being arranged at least partially within the collet such that movement of the piston and collet causes the groove to align with the respective ball chambers, wherein the plurality of balls are configured to move into and out of the groove and to lock the pull stud within the grabbing mechanism; and   an ejector pin configured to contact the pull stud to eject the pull stud from the grabbing mechanism.   
     
     
         2 . The system of  claim 1 , wherein the grabbing mechanism further includes a spring configured to bias the piston in a first direction such that pressurization of the piston chamber causes the piston to overcome a force of the spring on the piston. 
     
     
         3 . The system of  claim 2 , wherein the spring is arranged around a portion of the ball cage such that the portion of the ball cage is within the spring. 
     
     
         4 . The system of  claim 1 , wherein the ejector pin pushes a head portion of the pull stud to eject the pull stud. 
     
     
         5 . The system of  claim 1 , wherein the ejector pin is arranged within an opening of the ball cage. 
     
     
         6 . The system of  claim 5 , wherein the ejector pin is configured to move within the opening of the ball cage. 
     
     
         7 . The system of  claim 1 , wherein the grabbing mechanism further includes a plunger including a plunger body and a plunger pin, the plunger pin being configured to mate with a depression in the ejector pin such that a force on the plunger body causes the plunger pin to move the ejector pin. 
     
     
         8 . The system of  claim 7 , wherein the grabbing mechanism further includes an ejection cylinder having an ejection chamber, wherein the plunger body is arranged within the ejection chamber, such that pressurization of the ejection cylinder causes the force on the plunger body. 
     
     
         9 . The system of  claim 8 , further comprising an air source configured to pressurize the ejection cylinder. 
     
     
         10 . The system of  claim 7 , further comprising a sensor configured to send a signal indicating a location of the plunger body. 
     
     
         11 . The system of  claim 10 , further comprising a computing device, wherein the sensor is configured to send the signal to the computing device, and wherein the computing device is configured to determine a position of the plunger body. 
     
     
         12 . The system of  claim 11 , wherein in response to receiving the signal, the computing device is configured to cause the piston chamber to be pressurized. 
     
     
         13 . The system of  claim 1 , further comprising a lifting mechanism including a crane. 
     
     
         14 . The system of  claim 1 , further comprising an air source configured to pressurize the piston chamber. 
     
     
         15 . The system of  claim 1 , further comprising the pull stud. 
     
     
         16 . The system of  claim 15 , wherein the pull stud includes a head portion configured to force the plurality of balls to move into the groove when the groove is aligned with the respective ball chambers. 
     
     
         17 . The system of  claim 15 , wherein the pull stud includes a neck portion configured to allow the plurality of balls to lock the pull stud in the grabbing mechanism. 
     
     
         18 . The system of  claim 15 , wherein the pull stud includes a shoulder portion arranged to limit movement of the pull stud within the ball cage. 
     
     
         19 . The system of  claim 18 , further comprising the object. 
     
     
         20 . The system of  claim 19 , wherein the object is a balloon including a top cap, and the pull stud is attached to the top cap.