Vacuum adsorption hand

A composite hand mechanism for use with a material handling apparatus having an arm with a wrist portion, said mechanism comprising:

• a frame;
• means for connecting said frame to the wrist portion;
• adsorbing means on a central portion of said frame for adsorbing a surface of an article to be handled by vacuum force;
• and
• a plurality of grasping means arranged on said frame adjacent sides of said adsorbing means for grasping side surfaces of the article therebetween, each of said grasping means including
• a first member,
• hinge pin means for pivotably connecting said first member to said frame,
• means for pivotably moving said first member with respect to said frame with adjustable force;
• a second member adapted to grasp the side surfaces of the article,
• actuating means for causing vertical movement of said second member and having a driven means and a driving means for driving said driven means, and
• rack and pinion means disposed between said members for translating motion of said driven means to said second member, said rack and pinion means moving said second member twice a distance said driving means drives said driven member.