公开(公告)号：US20230182313A1

公开(公告)日：2023-06-15

申请号：US17916600

申请日：2021-03-26

Applicant: BEUMER Group A/S

Inventor： Ejnar Nielsen ,  Henrik Frank Skyum

IPC: B25J9/16 ,  B25J9/02 ,  B25J15/06

CPC classification number: B25J9/1697 ,  B25J9/026 ,  B25J15/0616 ,  B25J9/1661

Abstract: The invention provides a controllable gripper for a robot. A plurality of gripping members, e.g. suction cups, are arranged to engage with a surface of an object to be gripped. The gripping members are arranged in a controllable gripping configuration. A base part is arranged to be moved by a robotic actuator, e.g. a gantry type of robotic actuator. Two or more arms connected to the base part are slidably arranged along their lengths relative to the base part. Each arm has a gripping member at or near its distal end. A controllable actuator system is arranged to control position of the arms in different directions, relative to the base part, thus allowing various gripping configurations to be formed with respect to at least size. Especially, four arms of fixed length, each with a suction cup, may be actuated by one or two electric motors, so a to allow the four suction cups to form various gripping quadrangle sizes. This allows the gripper to be capable of gripping small and large objects in random order, since the gripping configuration can be rapidly changed. Still, the gripper can be formed rather simple with few elements, and yet it is flexible and can be very compact in a compressed state of the arms to allow navigation into narrow spaces, e.g. to grip an object in a 3D bulk of objects. The gripper is preferably mounted to a robotic actuator by means of a controllable rotation and tilting arrangement.