| 摘要 |
<p>A gripping device including a main body (3), a first elongate actuator (1A), a second elongate actuator (1B), a first jaw (12A), a second jaw (12B), a first pin (9A), a second pin (9B), a pair of pulleys (16, 16B), and a cable (17). The elongate actuators (1A, 1B)are both disposed in respective actuator bores (2A, 2B) within the main body (3) and translate opposingly to each other. The jaws (12A, 12B) are both driven by a respective elongate actuator (1A, 1B). The pins (9A, 9B) both include respective pin bodies (22) defining a channel (21) and are configured to drive their respective jaw (12A, 12B) by a respective elongate actuator (1A, 1B) and are disposed through transverse holes (23A, 23B) formed in the respective elongate actuator (1A, 1B) and a respective pin slot (27)formed in the main body (3). The pulleys (16A, 16B) are attached to the main body. The cable (17) forms a closed loop around the pulleys (16A, 16B) through the channels (21) and is affixed to the first channel to inhibit relative movement between the first channel and the cable.</p> |
