| 摘要 |
A gripping means or working hand of a manipulator arm comprises fingers or jaws (18a, 18b) and driving means therefor. The driving means are housed in a housing (1) and comprises at least a pair of preferably hydraulically operated rotor means (2a, 2b). Two powered rotor means are mechanically connected to each other, preferably by means of toothed wheel segments so as to move synchronously. Each rotor means is connected direct to a corresponding finger or jaw (18a, 18b) through an articulated arm (16a, 16b), which at the one end is attached to the shaft (4) of the rotor means (2a) for rotation therewith and at the other end is pivotally connected to the finger. Each powered articulated arm (16a, 16b) cooperates with a corresponding non-powered arm (19a, 19b) which is pivotally connected to the housing (1) holding the operating means as well as to the respective finger. This interconnected arrangement of articulated sets of arms implies a pure translatoric movement of the fingers during rotation of the operating means. The direct link connection between the driving means (2a, 2b) and the fingers (18a, 18b) reduces the number of moving parts involved in the transfer of movement from the driving means to the fingers and increases the accuracy with which the operating of the manipulator can be carried out. |
