Compound toggle robotic gripper

摘要

A compound toggle robotic gripper mechanism employs a pair of spaced, opposed gripping jaws, each pivotally mounted to a base and interconnected to an actuator, such as a hydraulic cylinder-piston assembly, by a compound toggle mechanism. The compound toggle mechanism preferably includes a first toggle interconnecting the actuator and second and third toggles. The second and third toggles interconnect the actuator through the first toggle to each of the spaced, opposed gripping jaws respectively so that extension of the actuator rod urges the first, second and third toggles from their released positions simultaneously into a locking position as the gripping jaws are moved into gripping engagement of a workpiece or tool.