Gripper Mechanism

Abstract

actuator means 20 26 20 27 64 13 A pr 2 02 6 A B S T R A C T 2 0 2 6 2 0 2 7 6 4 1 3 A p r 2 0 2 6 a c t u a t o r m e a n s A B S T R A C T 2 0 2 6 2 0 2 7 6 4 1 3 A p r 2 0 2 6 a c t u a t o r m e a n s 1 / 3 FIGURE 1 0 10 0 0 12 12A 14 (INSIDE) 20 18 12 12A 14 FIGURE 1 20 26 20 27 64 13 A pr 2 02 6 1 0 2 0 2 6 2 0 2 7 6 4 1 3 A p r 2 0 2 6 1 2 1 2 A 1 4 2 0 1 8 1 2 1 2 A 1 4 F I G U R E 1 1 0 1 3 A p r 2 0 2 6 2 0 2 6 2 0 2 7 6 4 1 2 1 2 A 1 4 2 0 1 8 1 2 1 2 A 1 4 F I G U R E 1

Description

PRIORITY CLAIM

[0001] The present application claims priority from Australian provisional Application No. 2025901252, filed on 11 April 2225. The contents of the priority application are hereby incorporated herein by reference. TECHNICAL FIELD

[0002] The present invention relates generally to the field of gripper mechanisms. More particularly, the present invention relates to a gripper mechanism for raising and lowering objects down vertical shafts. BACKGROUND

[0003] The present invention was motivated in part by a desire to convert legacy mines into providers of green energy, in particular through the repurposing of disused mine shafts.

[0004] Of particular importance when designing in shaft equipment for green energy solution is the minimisation of in shaft installation, the minimisation of shaft access requirements, the minimisation of maintenance exposure, maximisation of operating life, and compatibility of design with the realities of remote operations.

[0005] The applicant has previously filed a patent application for a gravitational battery system, which addressed some of these issues (International PCT patent application no. PCT / AU2024 / 050205).

[0006] One especially important component of a gravitational battery system is the gripper mechanism. Problems are encountered with prior art gripping mechanisms. For example, prior art gripping mechanisms are typically impractical, complex and requiring power, which presents the issue of providing electricity as the gripping mechanism ascends or descends the mineshaft without increasing the static weight of the mechanism. As the static weight of the 2026202764   13 Apr 2026 gripping mechanism is constant, it does not contribute to the ability of the system to store or release electricity through gravitational potential energy, and therefore there is a need to provide a reliable gripping mechanism that reduces complexity and / or does not require power.

[0007] Moreover, the applicant has developed further improvements that have been made to the gripper mechanism for use with gravitational battery systems. In particular the ‘compactness’ of the design of the gripper mechanism has been improved, which is a critically important feature of the battery system. This has been achieved by reducing the cross-sectional area of the gripper mechanism.

[0008] Prior art gripper mechanisms tend to have claws or grippers that extended around the outside of whatever object is to be picked up. However, where a gripper mechanism is designed to be used for raising and lowering weights down a mineshaft where lateral space is at a premium, an important development that has been made is for a gripper that does not require significant lateral clearance around the object for the claws to move through.

[0009] The present invention arose out of a desire to overcome or at least ameliorate some of the deficiencies of the prior art. The current invention engages with an aperture in the object, and the claws extend to hold the object in place by pushing outwards and upwards. DISCLOSURE OF THE INVENTION

[0010] In a first aspect, the present invention comprises a gripper mechanism, comprising a gripper frame having at least a gripping end, a plurality of gripper arms pivotably mounted at one end thereof at or proximal to the gripping end of the gripper frame, each gripper arm outwardly pivotable from a retracted position to an engaging position and inwardly pivotable back to the retracted position, a pivot actuator means operably connected to each of the plurality of gripper arms, and a linear drive means defining a linear path and operably connected to the pivot actuator means. The plurality of gripper arms are actuated to the engaging position by the pivot actuator means being driven along the linear path by the linear drive means. 2026202764   13 Apr 2026

[0011] In an embodiment, the linear drive means drives the pivot actuator means along a linear path extending upwardly from proximal to the gripping end, the linear path having a first and second end, the second end being closer to the plurality of gripper arms than the first end, and the plurality of gripper arms are actuated between the retracted and engaging positions by the pivot actuator means being driven along the linear path, such that driving the pivot actuator means downwards from the first end towards the second end actuates the plurality of gripper arms to downwardly and outwardly pivot towards the engaging position, and driving the pivot actuator means upwards from the second end towards the first end actuates the plurality of gripper arms to upwardly and inwardly pivot towards the retracted position.

[0012] In an embodiment, when in the retracted position, each gripper arm extends substantially upwardly and inwardly from the pivotable mount between said gripper arm and the gripper frame, the particular gripper arm being substantially within the gripper frame, and pivoting towards the engaging position comprises said gripper arm pivoting in an outwards and downwards extending arc, at least a portion of which extends substantially below the pivotable mount.

[0013] In an embodiment, the linear drive means comprises a threaded shaft that rotates about a longitudinal axis thereof, the threaded shaft defining the linear path, the pivot actuator means comprises at least an internally threaded drive nut that is threadedly engaged with the threaded shaft, and the pivot actuator means is inhibited from rotating, such that rotation of the threaded shaft drives the pivot actuator means along the threaded shaft.

[0014] In an embodiment, the linear path has a first and second end, the second end being closer to the plurality of gripper arms than the first end, and driving the drive nut in a direction from the first end towards the second end actuates the plurality of gripper arms to outwardly pivot towards the engaging position, and driving the drive nut in a direction from the second end towards the first end actuates the plurality of gripper arms to inwardly pivot towards the retracted position. 2026202764   13 Apr 2026

[0015] In an embodiment, the gripper frame comprises at least one drive guide that laterally abuts against a portion of the pivot actuator means, thereby inhibiting rotation thereof.

[0016] In an embodiment, the pivot actuator means and each of the plurality of gripper arms comprise abutting surfaces arranged to abut against one another when the gripper arms are in the engaging position.

[0017] In an embodiment, the pivot actuator means is operably connected to each of the plurality of arms by a plurality of linkage rods, each linkage rod having a first end pivotably connected to the pivot actuator means and a second end pivotably connected to a particular one of the plurality of arms at a point partway along a length thereof.

[0018] In an embodiment, the plurality of gripper arms are arranged to be substantially housed within the gripper frame when in the retracted position.

[0019] In an embodiment,, the gripper mechanism further comprises a protective skirt positioned at or proximal to the gripping end, a guard portion of the frame skirt extending to be at least flush with, if not extending past, an outermost surface of the plurality of gripper arms when the plurality of gripper arms are in the retracted position

[0020] Further or alternative embodiments of the invention may be disclosed herein or may otherwise become apparent to the person skilled in the art through the disclosure herein. These and other embodiments are considered to fall within the scope and object of the invention. DESCRIPTION OF FIGURES

[0021] Embodiments of the present invention will now be described in relation to figures, wherein: Figure 1 depicts an embodiment of a gripper mechanism of the present invention, comprising an assembled view on the left side and an exploded view on the right; 2026202764   13 Apr 2026 Figure 2 is a cross-sectional view of an embodiment of the same; Figure 3 is a detailed cross-sectional view of an embodiment of the same with the gripper arms pivoted to a retracted position; and Figure 4 is a detailed cross-sectional view of an embodiment of the same with the gripper arms pivoted to an engaging position. DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0022] In a first aspect and with reference to Figures 1 & 2, the present invention may lie in a gripper mechanism 10 having a gripper frame 12 with at least a gripping end 12A at a lower portion thereof, a plurality of gripper arms 14 that are pivotably mounted, at one end thereof, at or proximal to said gripping end via pivotable mount 16, a pivot actuator means 18 that is operably connected to each of the plurality of gripper arms, and a top-down linear drive means 20 that is arranged within the gripper frame 12 and is operably connected to the pivot actuator means 18.

[0023] In an embodiment and with reference to Figures 2-4, the plurality of gripper arms 14 may be pivotable between a retracted position 14A and an engaging position 14B in order to engage with and grip an object 22. The pivot actuator means 18 may be driven along a linear path 24 by the linear drive means 20, thereby actuating the plurality of gripper arms 14 to pivot between the retracted and engaging positions 14A,14B.

[0024] Figures 2-4 depict embodiments of the gripper mechanism 10 gripping and engaging with an object 22 having a cavity 22A with inward-extending flange 22B, with said inward-extending flange being gripped by the gripper arms 14 pivoting outwards. In an embodiment and as depicted in the aforementioned figures, the plurality of gripper arms 14 may pivot in a downwards and outwards direction from the retracted position 14A to the engaging position 14B, and may pivot in an upwards and inwards direction from the engaging position to the retracted position.

[0025] In an embodiment, the linear path 24 may extend upwardly from proximal to the gripping end 12A. The linear path 24 may have a first and 2026202764   13 Apr 2026 second path end 24A,24B. As depicted, the second path end 24B may be closer to the plurality of gripper arms 14 than the first path end 24A, and so may be substantially below said first path end 24A. In such an embodiment, the plurality of gripper arms 14 may be actuated by the pivot actuator means 18 being driven along the linear path 24, between the first and second path end 24A,24B, by the linear drive means 20. In a particular embodiment, the pivot actuator means 18 may be driven downwards along the linear path 24 towards the second path end 24B in order to actuate the gripper arms 14 to pivot downwards and outwards and thus towards the engaging position 14B. The pivot actuator means may conversely be driven upwards along the linear path 24, towards the first path end 24A, in order to actuate the gripper arms 14 to pivot upwards and inwards and thus back towards the retracted position 14A.

[0026] In an embodiment and with reference to Figure 3 in particular, when the gripper arms 14 are in the retracted position 14A, each gripper arm 14 may extend substantially upwardly and inwardly from the pivotable mount 16 that is between said gripper arm 14 and the gripper frame 12, such that the gripper arm is substantially within the gripper frame 12. In pivoting towards the engaging position 14B, each gripper arm 14 may pivot in an outwards and downwards extending arc, at least a portion of which extends substantially below the pivotable mount 16.

[0027] As the skilled person will appreciate, positioning the linear drive means 20 and pivot actuation means 18 within the gripper frame, and shaping the gripper arms 14 such that when in the retracted position 14A the gripper arms are substantially within the gripper frame 12, enables the linear drive means 20, pivot actuation means 18, and gripper arms 14 to be protected. The entire gripper mechanism 10 can sit on top of the object 22, and if the gripper mechanism 10 is not perfectly aligned with the opening into the object cavity 22A, the gripper frame 12 inhibits damage to the aforementioned components. This may be contrasted against prior art gripper mechanisms

[0028] In an embodiment, the object 22 may not be clamped between the gripper frame 12 and the gripper arms 14. In such an embodiment, in some arrangements and depending upon the thickness of the inward-extending flange 2026202764   13 Apr 2026 22B, the gripping end 12 of the frame may rest against an upper surface of the object 22 - but substantially all force is exerted on the object 22 through the plurality of gripper arms 14.

[0029] In an embodiment, the linear drive means 20 may comprise a threaded shaft that rotates about a longitudinal axis L thereof. The threaded shaft 20 may define the linear path 24, such that the longitudinal axis L is parallel to and aligned therewith. As the skilled person will appreciate, the linear path 24 may not extend for a full length of the threaded shaft 20. In one further embodiment, the pivot actuator means 18 may comprise, in part, an internally threaded drive nut 26 that is threadedly engaged with the threaded shaft 20. In such an embodiment, the pivot actuator means 18 may be inhibited from rotating, such that rotation of the threaded shaft 20 about longitudinal axis L drives the pivot actuator means therealong, and thus along the defined linear path 24.

[0030] In an embodiment, driving the drive nut 26 in a direction from the first path end 24A towards the second path end 24B may actuate the plurality of gripper arms 14 to outwardly pivot towards the engaging position 14B, while driving the drive nut 26 in the reverse direction may actuate the plurality of gripper arms 14 to inwardly pivot towards the retracted position 14A.

[0031] In an embodiment, the pivot actuator means 18 and each of the plurality of gripper arms 14 may comprise abutting surfaces 28. As depicted in Figure 4 in particular (and contrasting against Figure 3), the abutting surfaces 28 may be arrang14B, the respective abutting surfaces 28 abut against one another. The abutting surfaces 28 may enable the gripper arms 14 to be ‘locked’ or otherwise restricted to the engaging position 14B, thereby preventing or inhibiting the weight of the object 22 from urging the gripper arms 14 back towards the retracted position 14A and thereby potentially releasing the object 22. In a further embodiment, the abutting surfaces 28 do not abut against one another until the gripper arms 14 are substantially or essentially rotated into the engaging position 14B. 2026202764   13 Apr 2026

[0032] In an embodiment, the gripper frame 12 may comprise at least one drive guide 30. The at least one drive guide may laterally abut against a portion of the pivot actuator means 18, thereby inhibiting rotation thereof.

[0033] In an embodiment, the pivot actuator means 18 may be operably connected to each of the plurality of arms 14 by a plurality of linkage rods 32. In a further embodiment, each linkage rod 32 may have a first rod end 32A that is pivotably connected to the pivot actuator means 18, and a second rod end 32B that is pivotably connected to a respective one of the plurality of arms 14 at a point partway along a length thereof. In an embodiment wherein the plurality of gripper arms 14 are outwardly actuated by the pivot actuator means 18 being driven towards the second path end 24B, one or more of the pivot actuator means, the linkage rod 32, the gripper arms 14 and the linear path 24 may be shaped such that an angle 0 between the linear path 24 and the linkage rod 32 is less than 45o (when measured as depicted in Figure 3) when the gripper arms 14 are in the retracted position 14A. In a further embodiment, one or more of the pivot actuator means 18, the linkage rod 32, the gripper arms 14 and the linear path 24 may be shaped such that the angle 0 between the linear path 24 and the linkage rod 32 is 90o or less (when measured as depicted in Figures 1 or 3) when the gripper arms 14 are in the engaged position 14B. This may ensure that transfer of actuating force from the pivot actuator means 18 to the gripper arms 14 actuates the gripper arms to pivot in the correct direction.

[0034] In an embodiment and with particular reference to Figure 3, the plurality of gripper arms 14 may be arranged to be substantially housed within the gripper frame 12 when in the retracted position 14A. This may provide impact protection to the gripper arms 14 while the gripper mechanism 10 is being moved into position. In an embodiment that may be alternative to or in addition to the aforementioned embodiment, the gripper mechanism may further comprise a protective skirt 34 that is positioned at, or proximal to, the gripping end 12A of the gripper frame 12. In a further embodiment, a guard portion 34A of the frame skirt 34 may extend to be at least flush with - if not extending past - an outermost surface of the plurality of gripper arms 14 when they are in the retracted position 14A. 2026202764   13 Apr 2026

[0035] While the invention has been described with reference to preferred embodiments above, it will be appreciated by those skilled in the art that it is not limited to those embodiments, but may be embodied in many other forms, variations and modifications other than those specifically described. The invention includes all such variation and modifications. The invention also includes all of the steps, features, components and / or devices referred to or indicated in the specification, individually or collectively and any and all combinations or any two or more of the steps or features.

[0036] In this specification, unless the context clearly indicates otherwise, the word “comprising” is not intended to have the exclusive meaning of the word such as “consisting only of”, but rather has the non-exclusive meaning, in the sense of “including at least”. The same applies, with corresponding grammatical changes, to other forms of the word such as “comprise”, etc.

[0037] Other definitions for selected terms used herein may be found within the detailed description of the invention and apply throughout. Unless otherwise defined, all other scientific and technical terms used herein have the same meaning as commonly understood to one of ordinary skill in the art to which the invention belongs.

[0038] Any promises made in the present document should be understood to relate to some embodiments of the invention, and are not intended to be promises made about the invention in all embodiments. Where there are promises that are deemed to apply to all embodiments of the invention, the applicant / patentee reserves the right to later delete them from the description and they do not rely on these promises for the acceptance or subsequent grant of a patent in any country.

Claims

1. A gripper mechanism, comprising:a gripper frame having at least a gripping end at a lowermost portion thereof;a plurality of gripper arms pivotably mounted, at one end thereof, at or proximal to the gripping end of the gripper frame, each gripper arm downwardly and outwardly pivotable from a retracted position substantially within the gripper frame to an engaging position protruding from the gripping end, and upwardly and inwardly pivotable back to the retracted position;a pivot actuator means operably connected to each of the plurality of gripper arms; anda top-down linear drive means operably connected to the pivot actuator means, the linear drive means being arranged within the gripper frame;wherein the linear drive means drives the pivot actuator means along a linear path extending upwardly from proximal to the gripping end, the linear path having a first and second end, the second end being closer to the plurality of gripper arms than the first end; andthe plurality of gripper arms are actuated between the retracted and engaging positions by the pivot actuator means being driven along the linear path, such that:driving the pivot actuator means downwards from the first end towards the second end actuates the plurality of gripper arms to downwardly and outwardly pivot towards the engaging position; anddriving the pivot actuator means upwards from the second end towards the first end actuates the plurality of gripper arms to upwardly and inwardly pivot towards the retracted position.

2. The gripper mechanism of claim 1, wherein, for each of the plurality of gripper arms:when in the retracted position, the gripper arm extends substantially upwardly and inwardly from the pivotable mount between2026202764   13 Apr 2026said gripper arm and the gripper frame, the gripper arm being substantially within the gripper frame; andpivoting towards the engaging position comprises said gripper arm pivoting in an outwards and downwards extending arc, at least a portion of which extends substantially below the pivotable mount.

3. The gripper mechanism of claim 1 or 2, wherein:the linear drive means comprises a threaded shaft that rotates about a longitudinal axis thereof, the threaded shaft defining the linear path;the pivot actuator means comprises at least an internally threaded drive nut that is threadedly engaged with the threaded shaft; andthe pivot actuator means is inhibited from rotating, such that rotation of the threaded shaft drives the pivot actuator means along the threaded shaft.

4. The gripper mechanism of claim 3, wherein driving the drive nut in a direction from the first end towards the second end actuates the plurality of gripper arms to outwardly pivot towards the engaging position; anddriving the drive nut in a direction from the second end towards the first end actuates the plurality of gripper arms to inwardly pivot towards the retracted position.

5. The gripper mechanism of claim 3 or 4, wherein the gripper frame comprises at least one drive guide that laterally abuts against a portion of the pivot actuator means, thereby inhibiting rotation thereof.

6. The gripper mechanism of any one of claims 1-5, wherein the pivot actuator means and each of the plurality of gripper arms comprise abutting surfaces arranged to abut against one another when the gripper arms are in the engaging position.

7. The gripper mechanism of any one of claims 1-6, wherein the pivot actuator means is operably connected to each of the plurality of arms by a plurality of linkage rods, each linkage rod having a first end pivotably connected to the pivot actuator means and a second end pivotably2026202764   13 Apr 2026connected to a particular one of the plurality of arms at a point partway along a length thereof.

8. The gripper mechanism of any one of claims 1-7, wherein the plurality of gripper arms are arranged to be substantially housed within the gripper frame when in the retracted position.

9. The gripper mechanism of any one of claims 1-8, further comprising a protective skirt positioned at or proximal to the gripping end, a guard portion of the frame skirt extending to be at least flush with, if not extending past, an outermost surface of the plurality of gripper arms when the plurality of gripper arms are in the retracted position.

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