| 摘要 |
The invention relates to an anthropomorphous gripper comprising at least one thumb (1) and at least one articulated finger (2) having at least one phalange (3, 4, 5), which is provided with an opening which is exclusively controlled by a cable (5, 6), automatically closed by a return spring (8) and automatically locked by means (9, 10, 12) operating by weight of a seized object (11) which produces an orthogonal force (F1) acting on the phalange when it enters into contact therewith. Said gripper also comprises a self-clamping actuated by a part (13) which is provided with touch-sensitive surface (14) adherent with respect to the touch-sensitive adherent surfaces (15) of the phalanges (3, 4, 5), of each finger (2) and connected to a means (25) embodied in such a way that it moves aside said part (13) away from the thumb (1) when a tangential force (F2) produced by the weight of the seized object (11) acts thereon. The inventive gripper is essentially characterised in that: a) the means (9, 10, 12) are embodied in the form of a part (9) which slides on the axis (10) due to the action of the spring (8) and is held thereon and also embodied in the form of an interconnecting link (12); b) the means (25) consist of balls (25) which are arranged in conical cavities (26,27) in an opposed position with respect to parts (13) and (1). |
