×

Hand apparatus of a robot

  • US 4,595,333 A
  • Filed: 08/29/1983
  • Issued: 06/17/1986
  • Est. Priority Date: 08/29/1983
  • Status: Expired due to Fees
First Claim
Patent Images

1. A hand apparatus of a robot, comprising:

  • a wrist;

    a main frame;

    damper coupling means resiliently mounting said main frame on said wrist member;

    a pair of four-point-articulated link arms each pivotally mounted on said main frame;

    a pair of sub-frames each pivotally mounted on said respective link arms;

    a pair of finger means each pivotally mounted for movement in every direction on said respective link arms;

    a pair of hydraulic cylinder means each including a cylinder and a piston rod and defining a head end chamber and a rod end chamber therein, said cylinder being pivotally connected to said main frame and said piston rod being pivotally connected to said respective link arms; and

    means for selectively supplying pressurized fluid to said head end and to said rod end chambers;

    said damper coupling means comprises;

    a plurality of damper couplings each comprising a cylindrical member having end walls fixedly secured on said wrist member, an internally concave spherical bushing slidable mounted within said cylindrical member, a partly spherical ring member rotatably received within said internally concave spherical bushing, a holder member mounted in said spherical ring member, said holder member having two flanges sandwiching said spherical ring member therebetween, a first and a second spring each mounted between one of the flanges and one of the end walls of said cylindrical member, and a rod inserted in said holder member, said rod having one end coupled to said holder member and the other end pivotally coupled to said main frame.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×