| 摘要 |
<p>A gripper and wrist joint assembly for a robotic arm. The gripper comprises a pair of identical jaws (12) connected by a pivot (14) and including V-sections (34) for holding large objects and end-mounted pivotal tips (20) for holding small and flat sided objects. The jaws are opened and closed by rotation of a screw-threaded rod (40) having screw threaded connections with the jaws, the axis of the rod (40) being fixed and the pivot pin (14) being guided for linear displacement during adjustment of the jaws so that they are maintained central within the gripper housing (36). The wrist includes a pair of spiroid bevel gears (68, 69) driven by respective spiroid pinions (70, 71) and each meshing with an output bevel gear (76) carried on a shaft (77) equipped with an adjustment nut for urging the bevel gears (68, 69, 76) into firm engagement and enabling backlash to be eliminated.</p> |
