FINGER MECHANISMS OF INDUSTRIAL HANDLING DEVICES

摘要

1481624 Gripper YAMATAKE-HONEYWELL CO Ltd 14 Oct 1974 44495/74 Heading B8H [Also in Division B3] A remote controlled handling mechanism, e.g. for placing a workpiece into a lathe chuck, comprises a gripper 11 having a plurality of fingers 30, 31 operated by a drive 33 and supported relative to mounting bars 21, 22 by extendible mechanisms 23, 24, 26, 27, which allow freedom of movement of the workpiece to align with the chuck axis as the workpiece is gripped by the chuck. Each mechanism 23, 24, 26, 27 comprises a housing 41 mounted to a mounting bar 21, 22, a cylinder 45 pivotally mounted to one end of the housing by a spring biased ball and socket 50, 54, a piston rod 48 having mounted thereon a male conical member 80, and a female support member 62 to receive the member 80. When the piston rod is extended e.g. by air pressure, the cylinder 45 is pivotable within the housing 41 to allow side movement of the fingers. The gripper 11 is mounted on an arm 13 pivotable in a horizontal plane by means of a vertical support 12. In an alternative embodiment (Fig. 5, not shown) the gripper has three fingers 30, 31, (120) driven by a drive (130) and mounted relative to an auxiliary bar (121). The extendible mechanisms 23, 24, 26, 27 are mounted between the mounting bar (141) and said auxiliary bar (121). The gripper is additionally pivotable in a vertical plane by a rack (145) and pinion (147) and swingable in a horizontal plane relative to the arm 13 by a pivot connection (155), (156).