Abstract: An industrial robot gripper assembly includes a pair of spaced apart gripper arms, each of which carries a plurality of workpiece receiving devices. The gripper arms are movable toward and away from each other and at least one of the workpiece receiving devices on each of the gripper arms is movable along an arcuate path so as to bring the receiving devices into appropriate receiving positions for gripping engagement with a workpiece.

Abstract: A device for balancing of positional and spatial tolerances, for example, for a gripper of an industrial robot at the end of the work arm of the indistrial robot, is furnished, where plates are held at a distance (h) for an intermediately disposed movable plate (4a). The movable plate (4a), provided with an attachment for a flange (6) of a gripper, or the like, protrudes with lateral play of motion through an opening of a fixed plate (2b), disposed toward the gripper, whereby the movable plate (4a) is guided via conical centerings in a fixed-point position. In order to be able to balance even larger positional deviations in a horizontal plane with a very small expenditure of force, it is disclosed that a pressure-medium bellows cylinder (7), connected to a pressure-medium system, is disposed between the movable plate (4a) and a centering element support (8), disposed remote from the gripper.

Abstract: A fixed plate (2) is mounted to an end of a robot or working arm (1) by means of screws (3). The fixed plate (2) has an extraordinary multi-cornered, canted, central opening (2c). A connection plate (4) for a gripper (5) is disposed in this central opening by leaving available a slot X for motion. The fixed plate (2) and the connection plate (4) are provided with bores (2a) and (4a) having conical openings (2b) and (4b) for centering cones (6b) of tapered countersunk pins (6) and (6.1). The diameter of the bores (2b) and (4a) is larger by a factor of two times the size of the available slot for motion as compared to the diameter of the tapered countersunk pins (6).