公开(公告)号：US4767143A

公开(公告)日：1988-08-30

申请号：US17449

申请日：1987-02-24

申请人： Leroy D. Michael ,  Michael W. Green

发明人： Leroy D. Michael ,  Michael W. Green

IPC分类号： B25J15/06 ,  B65G47/91 ,  B23Q1/04 ,  B66C1/02

CPC分类号： B65G47/914 ,  B25J15/0616

摘要： A robot hand for grasping objects having substantially planar faces includes a base and a plurality of arms extending from the base. A plurality of vacuum cups are supported on and radially movable along the arms. Pivotal drive means pivot the arms, radial drive means move the cups along the arms, and vacuum means apply a vacuum to the cups. The cups are readily positioned to permit lifting and transporting of objects such as plies and the like, including those objects having irregular planar shapes.

摘要翻译： 用于抓握具有基本上平面的物体的机器人手包括基部和从基部延伸的多个臂。 多个真空杯被支撑在臂上并且可沿着臂可径向移动。 枢转驱动装置枢转臂，径向驱动装置沿着手臂移动杯子，真空装置对杯子施加真空。 这些杯容易定位，以允许物体（例如帘布层等）的提升和运输，包括那些具有不规则平面形状的物体。