公开(公告)号：US06260902B1

公开(公告)日：2001-07-17

申请号：US09665703

申请日：2000-09-20

Applicant: Sune Synnelius

Inventor： Sune Synnelius

IPC: B25J1508

CPC classification number: B66C1/427 ,  B25J15/0206 ,  B25J15/08 ,  Y10S294/902

Abstract: A segmented gripper is provided, having two arms (2;3) which are operated for closing and opening movement in an operational plane. The arms are flexible in the way of a finger; i.e. the geometry is variable to adapt to the external shape of the article to be gripped. This is accomplished by providing a structure for the arms, wherein an outer row of pivotally connected links (6) is interconnected with an inner row of pivotally connected links (7), the interconnecting elements (8) being pivotally attached to the link connecting points of each row of links. The lengths of the interconnecting elements are successively decreasing towards the free end of each arm, so that the arm displays a claw-like configuration. The arms are pivotally attached on a support, so that when an actuating force is applied tangentially to the outer row of links, the arms are operated for a closing motion. When the exterior of an article is engaged by any of the inner links, continued tangential force causes the inner row of links to bend about the corresponding link connection point, the outer links peripherally overrunning the inner links by rotation of the interconnecting elements about the attachment points (9,10,11).

Abstract translation: 设置有分段夹持器，具有两个臂（2; 3），用于在操作平面中关闭和打开移动。 手臂在手指的方式是灵活的; 即几何形状是可变的以适应被夹持物品的外部形状。 这是通过提供一种用于臂的结构来实现的，其中一排可枢转地连接的链节（6）与内排的可枢转地连接的链节（7）互连，互连元件（8）可枢转地附接到链节连接点 的每行链接。 互连元件的长度朝向每个臂的自由端逐渐减小，使得臂显示爪形构造。 臂被枢转地附接在支撑件上，使得当致动力被切向地施加到外排的连杆时，臂被操作以关闭运动。 当物品的外部由任何内部链节接合时，连续的切向力使内部链条在相应的链接连接点处弯曲，外部链接通过相互连接的元件围绕附件的旋转而周边地超越内部链接 分（9,10,11）。