Handling: hand and hoist-line implements – Grapple – Pivoted jaws
Patent
1981-01-21
1983-03-22
Cherry, Johnny D.
Handling: hand and hoist-line implements
Grapple
Pivoted jaws
3 127, 3 128, A61F 106, B25J 1500
Patent
active
043773052
DESCRIPTION:
BRIEF SUMMARY
CROSS REFERENCE TO RELATED APPLICATION
This application is a national phase application of PCT application PCT/AT80/00015 filed May 25, 1980 and based upon Austrian application Ser. No. A 3735/79 filed May 21, 1979 under The International Convention.
FIELD OF THE INVENTION
The invention relates to an artificial hand, which is provided with two clamping jaws or the like movable towards each other and away from each other for gripping of objects. Each clamping jaw is mounted to a hinge quadrangle and more particular to a hingeparallelogram.
OBJECT OF THE INVENTION
It is an object of the invention to form such a hand so that the object gripped (after the gripping) can be brought into as many different positions as possible.
SUMMARY OF THE INVENTION
This object is achieved with an artificial hand having a gripping plate, preferably provided with a groove, at each clamping jaw, the gripping plate being tiltable around an axis perpendicular to the plane of the jaw. The two hinge quadrangles can be tilted jointly around an axis which is parallel to the hinge axes of the hinge quadrangles or the two hinge quadrangles can be jointly tiltable by preferably 180.degree. around an axis directed perpendicularly to the hinge axis. The tiltable disposition of the gripper plate at the clamping jaws allows the gripped object to be brought into arbitrary positions within the tilting range in a plane parallel to the clamping jaws. If in addition the two hinge quadrangles jointly are tiltable around a joint axis directed parallel to the hinge axes of the hinge quadrangles, then the plane of the gripper plates is itself tiltable. In addition or instead of providing tiltability of the two hinge quadrangles around the axis directed parallel to the hinge axes, the two hinge quadrangles can also be jointly tiltable around an axis directed perpendicular to the hinge axes and it allows for movability to place a gripped object in additional spacial positions.
A constructive simplification of the construction of the gripping hand and additional advantageous relations for the control of the high clamping forces by only small parts is achieved, if the axis parallel to the hinge axes, around which axis the two hinge parallelograms are jointly tiltable, is also an ideal hinge axis belonging to both jointly. A ring can be disposed concentrically to this axis which carries an additional hinge axis of the hinge parallelograms and the parallelogram are guided rotatably on the ring, for example by circular bearings disposed concentrically to the ring.
In order to achieve a simply constructed drive for the clamping of an object there can be provided as an additional feature of the invention a pinion at the drive for the tilting together or apart of the of the two hinge quadrangles. The pinion can engage at the same time two toothed segments, one of which is attached to the guide of each hinge quadrangle.
A preferred further feature comprises in this case that a motor with a drive is provided along the axis, which drives via a gearwheel the pinion along the axis and in particular that the drive disposed along the axis is switchable such that as desired the pinion or the ring can be driven.
In another embodiment of the invention there is provided for a pure manual operation a manual drive such as a handwheel for tilting of the two clamping plates or for the joint rotation of the hinge quadrangles around the axis.
It is an advantage for the practical handling, if in a practical embodiment of the invention one of the gripper plates is drivable by a motor and preferably by a bevel gear drive, whereas the other gripper plate is displaced by an object clamped between the two gripper plates, for example engaging in grooves of the two gripper plates.
In a further embodiment of the invention in the free space between the clamping jaws or the hinge quadrangles carrying them there is provided an exchangeable bridge covering the drive parts, which bridge preferably is provided at its upper side with groove-like guide surfaces.
BRIEF DESCRIPTION O
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Cherry Johnny D.
Dubno Herbert
Otto Bock Orthopadische Industrie KG
Ross Karl F.
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