Industrial robot gripping hand - has spring-mounted parallelogram gripping fingers yieldable perpendicular to clamping motion

摘要

The industrial robot gripping device has two gripping fingers moving against each other. The fingers are designed as a spring- mounted parallelogram which can yield only in direction perpendicular to the clamping motion of the fingers. The grippings claws (18,19) are fitted on individual elements (34,35), on which leaf springs (20-22) are fixed. This mounting allows rotational movement of the claws around axes (36,37) to ensure alignment of the workpiece (23) in the grip of the claws. The claws are fitted to elements (40,42) seated in bushes (41,43) and kept loaded by springs (44,45).