公开(公告)号：EP3578323B1

公开(公告)日：2020-08-12

申请号：EP18176123.0

申请日：2018-06-05

申请人： C.R.F. Società Consortile per Azioni

发明人： ZANELLA, Alessandro ,  ZOPPI, Matteo ,  ORZELLI, Francesco ,  PIETRONAVE, Giorgio

IPC分类号： B25J15/00 ,  B25J15/06

公开(公告)号：EP3900884A1

公开(公告)日：2021-10-27

申请号：EP20170332.9

申请日：2020-04-20

申请人： C.R.F. Società Consortile per Azioni

发明人： ZANELLA, Alessandro ,  JILICH, Michal ,  PIETRONAVE, Giorgio ,  ZOPPI, Matteo

IPC分类号： B25J9/10 ,  B25J15/00

摘要： A gripping device (1), usable for example on a robot, for handling items or components (P) of variable shape and size, comprises a support structure (2), a plurality of gripping arms (3), each including a first proximal arm portion (3A) and at least one second distal arm portion (3B), and a plurality of actuator devices (4), each for commanding an articulation movement of the first proximal arm portion (3A). The device (1) further comprises at least one tendon (5) associated with each gripping arm (3) and guided in a freely slidable manner along the first and second arm portion (3A, 3B) through a succession of guiding elements (6, 320). The guiding elements (6) associated with the first proximal arm portion (3A) are carried by an inner yielding panel (7) so that when the inner yielding panel (7) on the inner side of the first proximal arm portion (3A) engages against an item or component (P) to be gripped following a command given by the respective actuator device (4), the guiding elements (6) of the tendon (5) carried by the inner yielding panel (7) cause a tensioning of the tendon (5), which results in an articulation and/or inflection movement of the second distal arm portion (3B) with respect to the first proximal arm portion (3A).