Hand apparatus of a robot
A hand apparatus of a robot which is less likely to be damaged and can offer a reliable and effective gripping of a workpiece comprises a main frame 6 which is mounted to a wrist member 1 through a plurality of damper couplings 3. Pivotally mounted to the main frame are a pair of four-point-articula...
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| Format: | Patent |
| Sprache: | eng |
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| Zusammenfassung: | A hand apparatus of a robot which is less likely to be damaged and can offer a reliable and effective gripping of a workpiece comprises a main frame 6 which is mounted to a wrist member 1 through a plurality of damper couplings 3. Pivotally mounted to the main frame are a pair of four-point-articulated link arms 9,10 each having two arms 7,8 extending parallel to each other. A sub-frame 11,12 having a finger 14 mounted thereon for pivotal movement in every direction is pivotally mounted to the leading end of the respective link arms. A pair of hydraulic cylinders 13 are provided for moving the link arms in a gripping operation. |
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