公开(公告)号：US20220388183A1

公开(公告)日：2022-12-08

申请号：US17773335

申请日：2020-11-13

申请人： Deutsches Zentrum für Luft-und Raumfahrt e.V.

发明人： Roman WEITSCHAT ,  Martin GÖRNER

IPC分类号： B25J15/08 ,  B25J15/06 ,  B25J15/04

摘要： 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.