Claw hand for industrial robot - has contra rotating support disc for claw arms with push rod drive

摘要

The robot claw arms(4, 5) consists of two adjacent support discs(2) held by a through bolt. The arms are interchangeable and can be adjusted for position round the discs. The drive mechanism consists of two parallel push rods that are fixed by a bolt(10) that fits through grooves(8, 9) in the discs. The bolt can move in and out along the grooves. The rods are connected to the disc by levers so that the disc turn in mutually opposed directions. The discs can be bevel gears with racks and pinion drive shafts instead of push rods. In this case there is a surrounding sleeve that rotates and can be coupled to the drive shaft or the main housing.