| 摘要 |
The hand device according to the invention for a robot is less susceptible to damage and leads to a reliable and effective gripping of a workpiece. The hand device has a main frame 6 which is connected to a hand joint 1 via a plurality of damping couplings 3. Connected to the main frame 6 is a pair of connecting arms 9, 10 with four-point articulation, each having two mutually parallel arms 7 and 8 in the manner of a parallelogram linkage. Connected to the front ends of the connecting arms 9 and 10 is in each case a lower frame 11 and 12, respectively, to which a finger 14 is attached via a ball joint 15. A pair of hydraulic cylinders 13 is provided for displacing the connecting arms 9 and 10 into a gripping position. <IMAGE>
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