A gripper finger (1) for a gripper device having a monolithic elastic structure comprising an inside arm (2) having a first folding point (8) forming an angle C; an outside arm (3) having a second folding point (9), wherein the inside arm or the outside arm comprises a gripping surface for gripping an object; a base portion (4) having a first base end (10), from which the inside arm (2) is extending, and a second base end (11), from which the outside arm (3) is extending; a tip portion (6) where the end of the outside arm (3) and the end of the inside arm (2) are connected to each other; a support arm (5) extending from the first base end (10) to the second folding point (9); the gripper finger further comprises an angle E between a first part of the outside arm (3), arranged between the second base end (11) and the second folding point (9), and the support arm (5), wherein the angle E is at least 11.5 degrees.

A gripper finger (1) for a gripper device having a monolithic elastic structure comprising an inside arm (2) having a first folding point (8) forming an angle C; an outside arm (3) having a second folding point (9), wherein the inside arm or the outside arm comprises a gripping surface for gripping an object; a base portion (4) having a first base end (10), from which the inside arm (2) is extending, and a second base end (11), from which the outside arm (3) is extending; a tip portion (6) where the end of the outside arm (3) and the end of the inside arm (2) are connected to each other; a support arm (5) extending from the first base end (10) to the second folding point (9); the gripper finger further comprises an angle E between a first part of the outside arm (3), arranged between the second base end (11) and the second folding point (9), and the support arm (5), wherein the angle E is at least 11.5 degrees.

An extendable mechanical grabber is presented for grabbing objects at a distance. The grabber has two extension portions that slide relative to one another through a mechanical engagement. A trigger on the first extension portion is mounted in a handle. The trigger pulls a cable that passes to an activator on a grabber head mounted on the second extension portion. The cable passes from the trigger, through a pulley connected to the activator, through a second pulley mounted at on the second extension portion, and back to a terminal attachment on an end of the first extension portion opposite the handle.

An extendable mechanical grabber is presented for grabbing objects at a distance. The grabber has two extension portions that slide relative to one another through a mechanical engagement. A trigger on the first extension portion is mounted in a handle. The trigger pulls a cable that passes to an activator on a grabber head mounted on the second extension portion. The cable passes from the trigger, through a pulley connected to the activator, through a second pulley mounted at on the second extension portion, and back to a terminal attachment on an end of the first extension portion opposite the handle.

The invention relates to a gripper device for a robot gripper, wherein the gripper device comprises a mechanical actuation with at least two contact elements guided linearly and in parallel in a direction of actuation, at least one mechanically activatable and/or deactivatable functional portion for objects to be gripped, and a transmission with at least two levers for converting a mechanical actuation power, and wherein the at least two contact elements on the one hand and the at least two levers on the other hand are each articulated to each other with a degree of freedom f=2. The invention also relates to a gripper device for a robot gripper with a mechanical actuation with at least two contact elements guided linearly and in parallel in a direction of actuation, at least one mechanically activatable and/or deactivatable functional portion for objects to be gripped, and a transmission for converting a mechanical actuation power, in which the transmission comprises a shaft for transferring a rotary motion and/or a torque, and to a method for operating gripper devices of this kind, wherein a gripper device is initially selected, then picked up from a predetermined position, then used and subsequently deposited at a predetermined position.

The invention relates to a gripper device for a robot gripper, wherein the gripper device comprises a mechanical actuation with at least two contact elements guided linearly and in parallel in a direction of actuation, at least one mechanically activatable and/or deactivatable functional portion for objects to be gripped, and a transmission with at least two levers for converting a mechanical actuation power, and wherein the at least two contact elements on the one hand and the at least two levers on the other hand are each articulated to each other with a degree of freedom f=2. The invention also relates to a gripper device for a robot gripper with a mechanical actuation with at least two contact elements guided linearly and in parallel in a direction of actuation, at least one mechanically activatable and/or deactivatable functional portion for objects to be gripped, and a transmission for converting a mechanical actuation power, in which the transmission comprises a shaft for transferring a rotary motion and/or a torque, and to a method for operating gripper devices of this kind, wherein a gripper device is initially selected, then picked up from a predetermined position, then used and subsequently deposited at a predetermined position.

Provided is a robot gripper. The robot gripper comprises: at least two finger units which symmetrically face each other; finger tips which are provided at the terminal ends of the finger units and linked with the operation of the finger units; and a driving unit connected to the finger units so as to operate the finger units. When the finger units are operated, the finger tips pinch-grip an object by moving toward an inner area, which at least two of the finger units form by facing each other, while adapting to conflicts with constraints of the external environment. A force applied to the finger tips in order to enable the pinch grip can act in a direction that raises the object while being applied toward the inner area, or act in a direction lowering the object while being applied toward the inner area.

Provided is a robot gripper. The robot gripper comprises: at least two finger units which symmetrically face each other; finger tips which are provided at the terminal ends of the finger units and linked with the operation of the finger units; and a driving unit connected to the finger units so as to operate the finger units. When the finger units are operated, the finger tips pinch-grip an object by moving toward an inner area, which at least two of the finger units form by facing each other, while adapting to conflicts with constraints of the external environment. A force applied to the finger tips in order to enable the pinch grip can act in a direction that raises the object while being applied toward the inner area, or act in a direction lowering the object while being applied toward the inner area.

A movable object holding system for holding a movable object including a body portion 11 and a protruding portion protruding from the body portion, comprising a hand part 40 holding a movable object, the hand part 40 comprising plural guide portions limiting movement of the movable object in a first axis direction and a second axis direction that are perpendicular to each other and a pair of positioning portions 43e limiting movement of the movable object in a third axis direction that is perpendicular to the first and second axis directions, wherein the hand part 40 holds the movable object with the protruding portion of the movable object disposed in a space surrounded by the plural guide portions and touching the pair of the positioning portions 43e and with a part of the body portion of the movable object exposed out of the hand part 40.

A robot hand includes a first proximal end finger having a first protrusion at a distal end of the first proximal end finger, a first distal end finger that is connected to the first proximal end finger in a relatively rotatable manner and has a first cutout allowable the first protrusion to pass, a second proximal end finger having a second protrusion at a distal end of the second proximal end finger, a second distal end finger that is connected to the second proximal end finger in a relatively rotatable manner and has a second cutout allowable the second protrusion to pass, an opening and closing drive unit that relatively moves the second proximal end finger with respect to the first proximal end finger, a first rotation drive unit that relatively rotates the first distal end finger with respect to the first proximal end finger, a second rotation drive unit that relatively rotates the second distal end finger with respect to the second proximal end finger, and a controller that actuates the opening and closing drive unit, the first rotation drive unit, and the second rotation drive unit.