A gripping device includes carriages or pivot arms carrying gripping elements. The carriages or pivot arms are mounted and guided in a base body and are drivable by at least one cylinder-piston unit. A switching module is mounted on the base body. The switching module includes at least one pressure medium connection and at least one electrical connection. At least one electrically controllable valve, which is switching a pressure medium, and at least one electronic controller for implementing external and internal control signals are arranged in the control module. The internal control signals originate from at least one sensor which detects at least one physical characteristic variable of the carriage(s) and/or the cylinder-piston unit at least in or on the base body. The gripping device can be adapted to at least one machine control system with a minimum interconnection and programming effort.

In a robot (1) for gripping and/or holding objects (2), in particular workpieces, tools or carrier parts, the robot comprising: at least one robot arm (3, 4, 5) which is supported on a support frame (19) and is movable in space in at least one translational and/or rotational degree of freedom, a gripping and/or holding device (6), on which the respective object (2) is supported in a positionally oriented manner and/or held in a rotational arrangement, at least one electric motor (9) provided in the gripping and/or holding device (6), by means of which a torque and/or a clamping force is generated which acts on the object (2), and a drive shaft (24) mounted in the robot arm (5), which is coupled in a driving manner to the gripping and/or holding device (6), preferably in such a way that the gripping and/or holding device (6) rotates about its own longitudinal axis (6′),
the gripping and/or holding device (6) arranged at the free end of the robot arm (5) should be freely movable in space, so that rotation about its own longitudinal axis (6′) can be carried out as often and as quickly as desired.

This is achieved in that an interface (31) is provided between a free end (10) of the robot arm (5) at the end and the gripping and/or holding device (6), which interface (31) is bridged by a coupler (25) fixed in a non-rotating arrangement to the robot arm (5) and by a flange (11) adapted thereto, which flange (11) is connected in a non-rotating arrangement to the gripping and/or holding device (6) and the drive shaft (24), in that a first inductively operated transceiver (12) is provided in the coupler (25), which transceiver (12) is connected to a power source (15) via an electrical line (14) fed to the robot arm (5), in that a second inductively operated transceiver (13) is provided in the flange (11), which is connected to the electric motor (9) in the gripping and/or holding device (6) via electrical lines (14), and in that an air gap (21) is provided between the coupler (25) and the flange (11) as a component of the interface (31).

An attaching-detaching mechanism (23, 63) of a gripping device includes: a tubular support member (44, 84) provided to a movable member (3, 4) to protrude in the guide hole (24, 64); engagement members (46, 86) respectively inserted in support holes (45, 85) of the support member (44, 84) so as to be radially movable; an operation portion (49, 89) inserted in a guide hole (24, 64); wedge portions (50, 90) provided on an inner peripheral wall of the operation portion (49, 89); a connecting rod (53, 93) provided to protrude from a claw member (22, 62) and configured to be insertable into a tubular hole (51, 91) of the support member (44, 84); and a lock portion (56, 96) provided on an outer peripheral wall of the connecting rod (53, 93).

The present disclosure relates to a grip jaw structure with characteristics as follows: a cam disk is driven by a rotary motor; two transmission shafts are driven through two slotted guideways in the cam disk; lubricants inside the slotted guideways adhere to a plurality of bearings in which the transmission shafts in the slotted guideways are inserted when the transmission shafts are shifted; sliders between which a workpiece is clamped are driven to be shifted by the transmission shafts along linear rails at the top of the framework for stresses sustained and dispersed by bearings.

A rotary gripper having two gripping jaws and an actuating mechanism displaceable along a displacement path and rotatable about a rotational axis. The gripping jaws are displaced and/or swiveled during displacement of the actuating mechanism and rotation of the actuating mechanism leads to joint rotation of the gripping jaws about the rotational axis. The rotary gripper has a magnet, a magnetic field sensor and a processing device. The magnet is attached to the actuating mechanism so that a magnetizing direction runs at an angle to the rotational axis. The magnetic field sensor is arranged to detect the magnetic field of the magnet and to detect components of the magnetic flux density of the magnetic field for at least two spatial directions. The processing device is set up, depending on the components of the magnetic flux density detected, to detect rotational information relating to a rotational angle of the joint rotation of the gripping jaws and gripping information relating to the gripping position.

A gripper may be provided that includes a motor, a jaw guide, a wedge head, a jaw, and a finger. The jaw guide is disposed on the motor and has a guide hole and a plurality of guide grooves. The wedge head is disposed in the guide hole and is able to perform up and down reciprocating movement by the motor. The jaw is disposed in the plurality of guide grooves respectively and is connected to the wedge head. When the wedge head moves in an up and down direction, the jaw is able to perform a reciprocating movement in a direction perpendicular to the up and down direction. The finger is disposed on the jaw. When the jaw moves in the direction perpendicular to the up and down direction, the finger moves together with the jaw, so that the movement of an object is limited.

A gripper may be provided that includes a motor, a jaw guide, a wedge head, a jaw, and a finger. The jaw guide is disposed on the motor and has a guide hole and a plurality of guide grooves. The wedge head is disposed in the guide hole and is able to perform up and down reciprocating movement by the motor. The jaw is disposed in the plurality of guide grooves respectively and is connected to the wedge head. When the wedge head moves in an up and down direction, the jaw is able to perform a reciprocating movement in a direction perpendicular to the up and down direction. The finger is disposed on the jaw. When the jaw moves in the direction perpendicular to the up and down direction, the finger moves together with the jaw, so that the movement of an object is limited.

The invention relates to an automation component or clamping device including a basic housing, at least one jaw movably guided in a jaw guide of the basic housing, and a piston movably guided in the basic housing, wherein the piston has a piston surface, wherein the piston is coupled in terms of movement to the jaw, and wherein a piston rod extending on the piston transversely with respect to the piston surface, wherein the centroid of the piston surface is spaced apart from the central longitudinal axis of the piston rod (22).

The disclosure provides a compact and low-cost gripper which allows an outside diameter of a piston to be increased. Provided is a gripper including a body case having, at one end, a cylinder part having a cylinder chamber which houses a piston so as to slide the piston along a central axis of the piston, and having, at the other end, a plurality of guide parts formed at regular intervals around the center axis and extending in a direction orthogonal to the center axis; a plurality of master jaws, on which top jaws can be removably mounted, guided by each of the guide parts; and a plunger having a plurality of interconnecting means which are respectively interconnected with each of the master jaws and slides along the central axis associated with a sliding operation of the piston.

A gripper assembly for gripping a portion of a container may include a spindle configured to rotate about a vertical axis. The assembly may also include an actuating plate disposed on or about the spindle. The actuating plate may be configured to actuate toward a central shaft in response to a force applied to a first cam follower. The assembly may also include a gripper configured to at least one of open and close in response to the actuating plate being actuated toward the central shaft and a locking cam configured to contact the first cam follower and in at least one position to limit movement of the actuating plate toward the central shaft.