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发明公开
CN109202950A 夹持装置、具有这种夹持装置的机器人和具有这种机器人的线放电加工机器单元 审中-实审

夹持装置、具有这种夹持装置的机器人和具有这种机器人的线放电加工机器单元
摘要：
本发明涉及夹持装置，该夹持装置被构造成机器人工具或机器人手，其具有通过接头旋转地联接到彼此的至少两个夹持指，该夹持指能够围绕由该接头限定的旋转轴线在至少夹持位置和释放位置之间枢转，其中，在夹持位置中在该夹持指之间的围绕旋转轴线的角度比在释放位置中更大，其中，该夹持指被构造成从物体的第一侧延伸穿过待由夹持装置夹持的物体中的通孔，其中，夹持指在其远侧端处具有端部件，该端部件被构造成在第二侧处在物体后方接合，该第二侧沿夹持指的长度轴线与第一侧相反，并且其中，接头被固定到接头支撑件，该接头支撑件从主体延伸，该主体包括致动器机构以用于在至少夹持位置和释放位置之间致动夹持指，使得接头被布置成距主体一距离。
摘要（英）：

The invention refers to a gripping device onfigured as a robot tool or a robot hand, having at least two gripper fingers rotationally coupled to each other by a joint, the gripper fingers being pivotable about a rotational axis defined by the joint between at least a gripping position and a release position, wherein an angle between the gripper fingers about the rotational axis is larger in the gripping position than in the release position, wherein, the gripper fingers are configured to reach through a through-hole in an object to be gripped by the gripping device from a first side of the object, wherein the gripper fingers have an end piece at a distal end thereof, the end piece being configured to engage behind the object at a second side opposite the first side along a length axis of the gripper fingers, and wherein the joint is fixed to a joint support, the joint support extending from a main body which comprises an actuator mechanism for actuating the gripper fingers between at least the gripping position and the release position, such that the joint is arranged in a distance from the main body.

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