Hand apparatus of a robot
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.
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Abstract
A hand apparatus of a robot which is less likely to be damaged and can offer a reliable and effective gripping of a workpiece. The hand apparatus comprises a main frame which is mounted to a wrist member through a plurality of damper couplings. Pivotally mounted to the main frame are a pair of four-point-articulated link arms each having two arms extending parallel to each other. A sub-frame having a finger 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 are provided for moving the link arms in a gripping operation.
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Citations
4 Claims
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1. A hand apparatus of a robot, comprising:
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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 Dependent Claims (2, 3, 4)
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Specification