Gripper device for a robotic gripper and method of operating the same

Abstract

A gripper device (100) for a robotic gripper, comprising: a mechanical actuation device having at least two contact elements (114, 116) linearly and parallelly guided along an actuation direction; at least one mechanically activatable and / or deactivatable functional part (102) for gripping an object; and a transmission device having at least two levers (110, 112) for converting mechanical actuation power, wherein the at least two contact elements (114, 116) and the at least two levers (110, 112) are hinged to each other with a degree of freedom f = 2. The invention also relates to a gripper device for a robotic gripper, having: a mechanical actuation device having at least two contact elements linearly and parallelly guided along an actuation direction; at least one mechanically activatable and / or deactivatable functional part for gripping an object; and a transmission device for converting mechanical actuation power, the transmission device including a shaft for transmitting rotational movement and / or torque; and to a method for operating such a gripper device (100), wherein first the gripper device (100) is selected, then picked up from a predetermined position, then used and subsequently placed at a predetermined position.

Description

Field of the Invention

[0001] The present invention relates to a gripper device for a robotic gripper. Furthermore, the present invention relates to a method for operating the gripper device. Background Art

[0002] A gripper jaw for a robotic gripper is known from German patent application with reference number 10 2019 125 439.6, filed on September 20, 2019, wherein the gripper jaw has a first gripper jaw interface corresponding to the robotic gripper and a second gripper jaw interface corresponding to a tool of a tool set, and these gripper jaw interfaces serve as mechanical interfaces, signal interfaces, and / or power interfaces, respectively.

[0003] Document DD 239 156A1 relates to a vacuum lifter for lifting and manipulating workpieces. The vacuum lifter has a housing, a receiving surface, actuating members, and an element that directly generates a vacuum. These actuating members are arranged obliquely or axially relative to the receiving surface inside the housing and are adapted for the gripper jaws of a gripper of an industrial robot. A sliding element, for example, serves as an actuating member, which is connected to a lifting rod by a toggle lever, or a cross bolt directly connected to the lifting rod is used, for example. The lifting rod belongs to the vacuum generating element, which is configured as a membrane or a similar element. The vacuum lifter can be directly picked up and operated by the gripper of an industrial robot. Summary of the Invention

[0004] The present invention is based on: structurally and / or functionally improving the above-mentioned gripper device. Furthermore, the present invention is also based on the following problem: improving the above-mentioned method.

[0005] According to one aspect of the present invention, there is provided a gripper device for a robotic gripper, the gripper device having: a mechanical actuating device having at least two contact elements linearly guided in parallel along an actuating direction; at least one action section that can be mechanically activated and / or deactivated for gripping an object; and a transmission device having at least two levers for converting mechanical actuating power, wherein, on the one hand, the at least two contact elements and, on the other hand, the at least two levers are each connected to each other in an articulated manner with a degree of freedom f = 2. Wherein, the gripper device can be arranged on the robotic gripper and actuated by means of the robotic gripper, wherein the gripping section of the robotic gripper exerts an actuating displacement and / or an actuating force on the contact elements of the gripper device in order to arrange the gripper device on the robotic gripper to actuate the gripper device.

[0006] According to another aspect of the present invention, there is provided a gripper device for a robotic gripper, the gripper device having: mechanical actuation means having at least two contact elements linearly guided parallel to the actuation direction; at least one mechanically activatable and / or deactivatable action section for gripping an object; and a transmission means for converting mechanical actuation power, wherein the transmission means has a shaft for transmitting rotational movement and / or torque. Wherein, the gripper device can be arranged on the robotic gripper and actuated by means of the robotic gripper, wherein the gripping section of the robotic gripper exerts an actuation displacement and / or an actuation force on the contact elements of the gripper device so as to arrange the gripper device on the robotic gripper to actuate the gripper device.

[0007] According to yet another aspect of the present invention, there is provided a method for operating the aforementioned gripper device, wherein the gripper device is first selected, then picked up from a predetermined position, then used, and then placed at the predetermined position.

[0008] Advantageously, on the one hand the at least two contact elements and on the other hand the at least two levers are each connected to each other by a rotary sliding joint.

[0009] Advantageously, the gripper device includes a first support element and a second support element that can be displaced relative to each other, and each of the at least two levers is directly supported on the first support element and directly supported on the second support element.

[0010] Advantageously, each of the at least two levers is hinged to the second support element with a degree of freedom f = 2.

[0011] Advantageously, each of the at least two levers is provided as a single piece or as multiple parts.

[0012] Advantageously, the transmission means has a crank arranged on the shaft and a connecting rod hingedly connected to the crank.

[0013] Advantageously, the transmission means has at least one meshing structure.

[0014] Advantageously, the at least one action section acts mechanically in form-fitting, mechanically in force-fitting, pneumatically, magnetically and / or adhesively.

[0015] Advantageously, the at least one action section includes at least one permanent magnet, at least one elastic element and / or at least one suction element.

[0016] Advantageously, the gripper device is configured as a surface gripper, an individual gripper, an internal gripper or an external gripper.

[0017] Advantageously, the gripper device has spring means acting between the first support element and the second support element.

[0018] Advantageously, the gripping state is evaluated based on the actuation force.

[0019] The gripper device can be used to be arranged on a robotic gripper. The gripper device can be actuated by means of the robotic gripper. The robotic gripper can be used as an end effector of a robot. The robotic gripper can be a mechanical robotic gripper. The robotic gripper can have at least two gripping segments that can be displaced relative to each other in the gripper open / close direction. These gripping segments can be displaced linearly, parallel to each other, in particular coaxially. The gripping segments can be used to apply an actuation displacement and / or an actuation force to the contact elements of the gripper device. The gripping segments can be used to pick up, actuate, and / or place the gripper device. The robotic gripper can be a finger gripper. The robotic gripper can be a two-finger or multi-finger gripper. The robotic gripper can have a rigid, rigidly joined, or elastic configuration. The robotic gripper can be driven mechanically, pneumatically, or electrically. The gripper device can be used to pick up, hold, and / or place a gripped object.

[0020] A mechanical actuation device can be used to actuate the gripper device. The mechanical actuation device can be used to actuate the gripper device by means of the robotic gripper. The mechanical actuation device can be used to arrange the gripper device on the robotic gripper. The mechanical actuation device can operate on both sides. When actuated, the mechanical actuation device can be centering. When actuated, the mechanical actuation device can be self-centering. The mechanical actuation device can be used to actuate in the actuation direction. The actuation direction can correspond to the gripper open / close direction.

[0021] The gripper device can have a base. The gripper device can have a first support element and a second support element. The first support element and the second support element can be displaced relative to each other. The first support element and the second support element can be displaced towards and away from each other. The first support element can serve as the base. The second support element can serve as the lifting element.

[0022] The gripper device can have at least two levers. The at least two levers can each act between the first support element and the second support element. The at least two levers can each be pivotally mounted. The at least two levers can each be fixedly or loosely mounted on the first support element. The at least two levers can each be mounted on the first support element in a simple support manner. The at least two levers can each be fixedly mounted on the second support element. The at least two levers can each be mounted on the second support element by means of bearing pins. The at least two levers can each be designed as a single piece. The at least two levers can each be designed as angled levers. The at least two levers can each have two ends. The at least two levers all have angled portions. The at least two levers can each be rod-shaped or arc-shaped. The at least two levers can each be designed as multiple parts. The at least two levers can each be configured as toggle levers. The at least two levers can each have two legs that are articulated to each other.

[0023] The at least two levers can each be directly supported on the first support element. The at least two levers can each be directly supported on the second support element. The at least two levers can be connected to the second support element by means of a hinged connection with a degree of freedom f = 2. The at least two levers can each be in contact with the second support element on one side. The at least two levers can have acting sections. When actuated, the acting sections can be centered. When actuated, the acting sections can be automatically centered.

[0024] The actuating device can correspond to the robotic gripper in a force-fitting and / or form-fitting manner. The actuating device can correspond to the robotic gripper in a geometrically complementary manner. The at least two contact elements can have contact surfaces that are at least approximately parallel. The at least two contact elements can be guided such that their contact surfaces are parallel. The at least two contact elements can be coaxially guided. The at least two contact elements can be guided on the first support element. The at least two contact elements can be guided in the actuating direction. The first support element can have a linear guide for the at least two contact elements.

[0025] Each contact element can be arranged at one end of the lever. On the one hand, the at least two contact elements and, on the other hand, the at least two levers can each be connected to each other by means of a rotary sliding joint.

[0026] The acting section can form an acting pair with the clamped object. The acting section can be activated and / or deactivated by a mechanical actuating device of the gripper device. The acting section can be activated and / or deactivated by an activation / deactivation movement. The activation / deactivation movement can be a linear movement. The activation / deactivation movement can be a rotational movement. The activation / deactivation movement can be performed in the activation / deactivation direction. The activation / deactivation direction can be perpendicular to the actuating direction. The activation / deactivation movement can be about an activation / deactivation axis. The activation / deactivation axis can be perpendicular to the actuating direction. The at least one acting section can act mechanically in form-fitting, force-fitting, pneumatically, magnetically and / or adhesively. The at least one acting section can have a magnet arrangement having at least one permanent magnet, at least one scraper, at least one elastic element and / or at least one suction element. A plurality of permanent magnets can be arranged in a stack. The at least one scraper can have a flat underside. The at least one scraper can have at least one opening for the at least one permanent magnet. The at least one permanent magnet can be adjusted by activating the gripper device between an activation position and / or a deactivation position. The at least one permanent magnet can be adjusted by lifting and / or lowering between an activation position and / or a deactivation position. The at least one permanent magnet can be adjusted by rotating between an activation position and / or a deactivation position. The at least one elastic element can include silicone. The at least one elastic element can be deformed by actuating the gripper device. The at least one suction element can have a suction cup. The at least one suction element can be evacuated by actuating the gripper device. The at least one acting section can be in the form of cutting pliers, a syringe, a riveting tool or a safety cutting tool that only projects in a safety area. The gripper device can be configured as a surface gripper, an individual gripper, an internal gripper, an external gripper or a bottle gripper.

[0027] The transmission can be used to convert an actuating movement into an activation / deactivation movement. The transmission can be used to convert a linear movement in the actuating direction into a linear movement in the activation / deactivation direction. The transmission can be used to convert a linear movement in the actuating direction into a rotational activation / deactivation movement. The transmission can be used to convert a parallel movement into a movement for activating and / or deactivating the at least one acting section. The transmission can be used to convert a parallel movement into a movement of a first support element and a second support element relative to each other. The transmission can be used to convert a parallel movement into a movement of the at least one permanent magnet, a movement of the at least one scraper, a deformation of the at least one elastic element and / or an evacuation of the at least one suction element. The transmission can be self-locking. The transmission can be self-locking when the acting section is activated.

[0028] The shaft can be mounted on the base. The transmission can have a crank arranged on the shaft. The transmission can have a plurality of connecting rods hinged to these cranks. Each connecting rod is hinged to a crank on one hand and to a contact element on the other hand. Each connecting rod can be hinged to a crank on one hand and to a lever on the other hand. The connecting rod can be arc-shaped.

[0029] The transmission can have at least one meshing structure. The transmission can have a gear and at least one rack. The transmission can have at least two racks. The gear can be arranged on the shaft. The at least two racks can be assigned to the at least two contact elements.

[0030] The gripper device can have a spring device. The spring device can be used to act on at least one acting section against an actuating force. The spring device can be used to push the at least one acting section in the deactivation direction. The spring device can act between a first support element and a second support element. The spring device can have at least one spring element. The at least one spring element can include a rubber, silicone or metal spring.

[0031] In order to grip the gripped object, the robotic gripper can grip the gripper device upon actuation and move the gripper device with its at least one acting section into active contact with the gripped object. Then the contact elements can move / act towards each other by means of the robotic gripper. The lever can pivot to move the first support element and the second support element away from each other and activate the at least one acting section. When deactivating the at least one acting section, the first support element and the second support element can move towards each other again, if necessary caused or supported by the spring device.

[0032] The gripping state can be evaluated by the actuating force. Based on the actuating force, it can be determined whether the gripped object is securely gripped or incorrectly gripped.

[0033] In summary, in other words, the present invention particularly provides a robotic actuation mechanism for actuating a robotic manipulator and an operation method thereof.

[0034] The mechanically actuated gripper tool can be actuated by a two-finger parallel robotic gripper in order to perform tasks such as suction gripping, magnet gripping, pipetting tasks, etc. The bilateral actuation mechanism can be centered with a uniform force transmission through the robotic gripper. A single positioning can be made possible by a wide deflection (90°) of the lever. Thus, for example, the suction force can be maintained without the gripper introducing further force. By the gripping force, a firm gripping of the tool can be identified, or an incorrect gripping can be identified.

[0035] With the present invention, flexibility and / or effectiveness are increased. Tension is avoided. Actuating force is reduced. Starting from a basic module, personalization or adaptation can be achieved. Investment, such as expenditure, is reduced. The present invention can be used in particular in all industrial fields, the logistics and packaging industry and / or cobotics. Description of the Drawings

[0036] In the following, embodiments of the present invention will be described in more detail with reference to the drawings, which schematically and by way of example show:

[0037] Figure 1 is a front sectional view of a magnetically acting gripper device for a robot gripper,

[0038] Figure 2 is a rear sectional view of a magnetically acting gripper device for a robot gripper,

[0039] Figure 3 is a gripper device designed for an internal gripper of a robot gripper, having a deactivated elastic acting section,

[0040] Figure 4 is a gripper device designed for an internal gripper of a robot gripper, having an activated elastic acting section,

[0041] Figure 5 is a top view of a robot gripper and a gripper device, the gripper device being designed as a surface gripper with suction elements,

[0042] Figure 6 is a bottom view of a robot gripper and a gripper device, the gripper device being designed as a surface gripper with suction elements,

[0043] Figure 7 The gripper device is designed as a suction lifter for a robot gripper, having a deactivated acting section,

[0044] Figure 8 The gripper device is designed as a suction lifter for a robot gripper, having an activated acting section,

[0045] Figure 9 is a sectional view of a gripper device designed as a suction lifter for a robot gripper, having a deactivated acting section,

[0046] Figure 10 is a sectional view of a gripper device designed as a suction lifter for a robot gripper, having an activated acting section,

[0047] Figure 11Cross-sectional view of a gripper device of a suction lifter designed for a robotic gripper, having a deactivated active section,

[0048] Figure 12 Cross-sectional view of a gripper device of a suction lifter designed for a robotic gripper, having an activated active section,

[0049] Figure 13 Robot having a robotic gripper and a gripper device, wherein the gripper device is designed as a suction lifter,

[0050] Figure 14 Gripper device having two levers designed as toggle levers,

[0051] Figure 15 Gripper device having a shaft, a crank and a connecting rod;

[0052] Figure 16 Gripper device having a shaft and an engagement structure,

[0053] Figure 17 Gripper device having a shaft, a crank, a connecting rod and a plurality of levers,

[0054] Figure 18 Gripper device having a rotatable magnet arrangement in a deactivated position, and

[0055] Figure 19 Gripper device having a rotatable magnet arrangement in an activated position. DETAILED DESCRIPTION

[0056] Figure 1 Shows a front cross-sectional view of the magnetic-acting gripper device 100. Figure 2 Shows a rear cross-sectional view of the gripper device 100. The gripper device 100 is adapted to be arranged on a robotic gripper, can be actuated by the robotic gripper and is used for picking up, holding and / or placing a gripped object.

[0057] The gripper device 100 has a mechanical actuation device, two mechanically activatable and / or deactivatable active sections 102 / 104 with permanent magnets for gripping an object, and a transmission for converting the mechanical actuation force.

[0058] The mechanical actuation device is for arranging the gripper device 100 on a robotic gripper and for actuating the gripper device 100 by means of the robotic gripper. The mechanical actuation device can be actuated on both sides and is self-aligning when actuated.

[0059] The gripper device 100 has a first support element 106 serving as a base and a second support element 108 serving as a lifting element, and the first support element 106 and the second support element 108 are displaceable towards and away from each other.

[0060] The gripper device 100 has levers, such as 110, 112, acting between the first support element 106 and the second support element 108. The levers 110, 112 are configured as angular levers having two ends and an angled portion. Each of the levers 110, 112 is rotatable about its angled portion on the second support element 108 by means of a bearing pin, and is additionally fixed and loosely mounted in a simply supported manner by means of one end being located on the first support element 106.

[0061] The actuating device has two linearly guided contact elements 114, 116 having contact surfaces that are at least approximately parallel for a robotic gripper. The contact elements 114, 116 are each arranged at one end of the levers 110, 112 by means of rotary sliding joints.

[0062] The gripper device 100 has a scraper 118. The scraper 118 has a flat underside and has an opening for a permanent magnet. The permanent magnet is firmly connected to the first support element 106. The scraper 118 is firmly connected to the second support element 108.

[0063] In order to grip a gripped object, the robotic gripper grips the gripper device 100 upon actuation and brings the gripper device 100 into operative contact with the gripped object by means of its acting sections 102, 104. The contact elements 114, 116 are then pressed towards each other by the robotic gripper. In the process, the levers 110, 112 pivot, the support elements 106, 108 move away from each other, and the permanent magnet moves out of the opening in the scraper 118 away from the underside, such that the acting sections 102, 104 are activated. In order to deactivate the acting sections 102, 104 conversely, the permanent magnet retracts into the opening in the scraper 118, thereby scraping the gripped object.

[0064] The gripper device 100 is used to contact a robotic parallel gripper to pick up a tool and symmetrically actuate the tool on both sides; frictional and form fits, as well as centering. Parallel guides are used to transmit force to levers 110, 112 via pins. The levers 110, 112 are used to absorb force and transmit the force from contact elements 114, 116 to a first support element 106 via floating bearings, which can also be fixed bearings. The floating bearings can be simply mounted and manufactured via floating bearing bushes in the first support element 106. The return or transmission of force enters into a second support element 108 via a pin. Torque via the levers 110, 112 generates a force that is transmitted into the first support element 106 sinusoidally depending on the angle, which means that theoretically a large force can be transmitted at an angle of approximately 90°. Thus, for example, the linearly increasing force of a spring is compensated and singularities are made possible. This means that a force can be generated and maintained on the scraper 118 even without further force transmission via the gripper device 100.

[0065] The second support element 108 is pulled back to its starting state by spring elements (rubber, silicone, metal springs, etc.) and also returns the levers 110, 112 to their initial positions.

[0066] Form closure connects the contact elements 114, 116 and the second support element 108 to each other such that the entire gripper device 100 is fixed and stable.

[0067] The gripper device 100 is a mechanically actuated magnetic gripping system. Permanent magnets are arranged at the ends of cylindrically fixedly connected spacers. Compression of the mechanism causes the lifting of the scraper 118 and results in the permanent magnets protruding downwards, thereby gripping metal / magnetic objects. The scraper 118 is moved downwards by a spring, which is located, for example, between the spacers and pushes the first support element 106 and the scraper 118 apart. This means that the distance between the permanent magnets and the magnetic object increases, and thus the attractive force also approaches 0. In this way, by pushing the bath magnetic objects together and causing them to rise, the magnetic objects can be picked up and put down again.

[0068] Figure 3 A gripper device 200 designed as an internal gripper for a robotic gripper is shown, which has a deactivated elastic action section 202. Figure 4 A gripper device 200 with an activated elastic action section 202 is shown.

[0069] As Figure 4 shown, when the first support element 204 and the second support element 206 move away from each other, the elastic action section 202 is axially pushed together and radially deflected such that the diameter increases and the action section 202 is activated, for example in order to grip a bottle. As Figure 3As shown, when the first support element 204 and the second support element 206 move towards each other, the elastic action section 202 is axially relaxed and its diameter decreases again, such that the action section 202 is deactivated. In addition, with particular reference to Figure 1 and Figure 2 and the related description.

[0070] By actuating the mechanism, the silicone resin is compressed through internal guidance. This causes expansion, enabling the clamping of, for example, a bottle or other aperture from the inside.

[0071] Figure 5 A top view of the robotic gripper 300 and the gripper device 302 is shown. The gripper device 302 is designed as a surface gripper with a suction element. Figure 6 The robotic gripper 300 and the gripper device 302 are shown in a bottom view.

[0072] The robotic gripper 300 serves as an end effector of a robot. The robotic gripper 300 is a two-finger gripper having two gripping fingers 304, 306. The gripping fingers 304, 306 are actuated in cooperation with the gripper device 302.

[0073] The suction element is arranged in a plane and serves as an action section, such as 308. When the first support element and the second support element move away from each other, the suction element is evacuated or pressurized with negative pressure, and the action section 308 is activated. When the first support element and the second support element move towards each other, the suction element is released again and the action section 308 is deactivated. In addition, with particular reference to Figure 1 and Figure 2 and the related description.

[0074] Figure 7 The gripper device 400 is shown, which is designed as a suction lifter for a robotic gripper and has a deactivated action section 402. Figure 8 The gripper device 400 with an activated action section 402 is shown. Figure 9 The gripper device 400 with a deactivated action section 402 is shown in a cross-sectional view. Figure 10 The gripper device 400 with an activated action section 402 is shown in a cross-sectional view. Figure 11 The gripper device 400 with a deactivated action section 402 is shown in another cross-sectional view. Figure 12 The gripper device 400 with an activated action section 402 is shown in another cross-sectional view.

[0075] The suction element serves as the acting section 402. The suction element has a plunger-like form and is firmly connected to the second support element 406. When the first support element 404 and the second support element 406 move away from each other, the suction element is evacuated or subjected to negative pressure and the acting section 402 is activated. When the first support element 404 and the second support element 406 move towards each other, the suction element is released again and the acting section 402 is deactivated. Furthermore, with particular reference to Figure 1 and Figure 2 and the related description.

[0076] By stretching the two-jaw gripper attached to the robot with the gripper device 400, for example, a plate that cannot be gripped by the two-jaw gripper can be transported or carried. After that, the gripper device 400 can be lowered again.

[0077] Figure 13 A robot 500 is shown having a robot gripper 502 and a gripper device 504 designed as a suction lifter. Furthermore, with particular reference to Figure 1 and Figure 2 and Figures 7 to 12 and the related description. The following steps can be performed: start; grip the gripper device 504; actuate the gripper device 504; position the gripped object; place the gripper device 504 back.

[0078] Figure 14 A gripper device 600 is shown having two multi-part levers 602, 604 designed as toggle levers. Each lever 602, 604 has two rod-shaped legs. The legs are each connected to each other by rotary joints 606, 608. The levers 602, 604 each have a first end hinged to the first support element 610 and a second end hinged to the second support element 612. The contact elements 614, 616 are linearly guided on the first support element 610 in the actuation direction. The rotary joints 606, 608 each have a rotational axis that is linearly guided on the contact elements 614, 616 in the activation / deactivation direction perpendicular to the actuation direction. Furthermore, with particular reference to Figure 1 , Figure 2 and Figures 7 to 12 and the related description.

[0079] Figure 15Shows a gripper device 700 having a shaft 702, cranks 704, 706 and arcuate links 708, 710. The shaft 702 is rotatably mounted on a base 712. The cranks 704, 706 are firmly arranged on the shaft 702. The links 708, 710 are hinged on the one hand to the cranks 704, 706 and on the other hand to the contact elements 714, 716. The contact elements 714, 716 are linearly guided on the base 712 in the actuation direction. A transmission converts the linear movement of the contact elements 714, 716 into a rotational activation / deactivation movement. Additionally, specific reference is made to Figure 1 and Figure 2 and the associated description.

[0080] Figure 16 Shows a gripper device 800 having a shaft 802 and an engagement structure. The engagement structure is formed by a gear 804 and two racks (such as 806), the gear 804 being firmly connected to the shaft 802 and the racks 806 each being firmly connected to the contact elements 810, 812. The contact elements 810, 812 are linearly guided on the base 814 in the actuation direction. A transmission converts the linear movement of the contact elements 810, 812 into a rotational activation / deactivation movement. Additionally, specific reference is made to Figure 1 and Figure 2 and the associated description.

[0081] Figure 17 Shows a gripper device 900 having a shaft 902, cranks 904, 906, 908, links 910, 912, 914 and levers 916, 918, 920. The shaft 902 is rotatably mounted on a base 922. The cranks 904, 906, 908 are fixed to the shaft 902. The links 910, 912, 914 are each pivotally connected on the one hand to the cranks 904, 906, 908 and on the other hand to the levers 916, 918, 920. The transmission converts the rotational activation / deactivation movement into an expansion movement. Additionally, specific reference is made to Figure 1 、 Figure 2 and Figure 16 and the associated description.

[0082] Figure 18 Shows a gripper device 1000 having a rotatable magnet arrangement 1002 in a deactivated position. Figure 19Shows a gripper device 1000 in the activated position. The gripper device 1000 has a shaft 1004 rotatably mounted on a base 1006. A magnet arrangement 1002 is fixed to the shaft 1004 and has a stack arrangement of permanent magnets. Magnetic field conduction elements 1010, 1012 are arranged between an action section 1008 and the magnet arrangement 1002. In the activated position, the magnetic field of the magnet arrangement 1002 is conducted to the action section 1008 via the magnetic field conduction elements 1010, 1012. In the deactivated position, the magnetic field of the magnet arrangement 1002 is decoupled from the magnetic field conduction elements 1010, 1012, and its magnetic field is redirected / diverted by ferromagnetic elements such that there is no magnetic force on the action section 1008.

[0083] The use of the words "can" / "may" specifically denote optional features of the present invention. Thus, there are also improvements and / or embodiments of the present invention which additionally or optionally have the corresponding features.

[0084] From the combinations of features disclosed herein, individual features can also be selected and used in combination with other features, if necessary, to define the subject matter of the present invention while resolving any structural and / or functional relationships between the features.

[0085] List of reference numerals

[0086] 100 Gripper device

[0087] 102 Action section

[0088] 104 Action section

[0089] 106 First support element

[0090] 108 Second support element

[0091] 110 Lever

[0092] 112 Lever

[0093] 114 Contact element

[0094] 116 Contact element

[0095] 118 Scraper

[0096] 200 Gripper device

[0097] 202 Action section

[0098] 204 First support element

[0099] 206 Second support element

[0100] 300 Robot gripper

[0101] 302 Gripper device

[0102] 304 clamping finger

[0103] 306 clamping finger

[0104] 308 acting section

[0105] 400 gripper device

[0106] 402 acting section

[0107] 404 first support element

[0108] 406 second support element

[0109] 500 robot

[0110] 502 robot gripper

[0111] 504 gripper device

[0112] 600 gripper device

[0113] 602 lever

[0114] 604 lever

[0115] 606 rotary joint

[0116] 608 rotary joint

[0117] 610 first support element

[0118] 612 second support element

[0119] 614 contact element

[0120] 616 contact element

[0121] 700 gripper device

[0122] 702 shaft

[0123] 704 crank

[0124] 706 crank

[0125] 708 connecting rod

[0126] 710 connecting rod

[0127] 712 base

[0128] 714 contact element

[0129] 716 contact element

[0130] 800 gripper device

[0131] 802 shaft

[0132] 804 gear

[0133] 806 Rack

[0134] 810 Contact Element

[0135] 812 Contact Element

[0136] 814 Base

[0137] 900 Gripper Device

[0138] 902 Shaft

[0139] 904 Crank

[0140] 906 Crank

[0141] 908 Crank

[0142] 910 Connecting Rod

[0143] 912 Connecting Rod

[0144] 914 Connecting Rod

[0145] 916 Lever

[0146] 918 Lever

[0147] 920 Lever

[0148] 922 Base

[0149] 1000 Gripper Device

[0150] 1002 Magnet Arrangement

[0151] 1004 Shaft

[0152] 1006 Base

[0153] 1008 Actuating Section

[0154] 1010 Magnetic Field Control Element

[0155] 1012 Magnetic Field Control Element

Claims

1. A gripper device (100, 200, 302, 400, 504, 600) for a robotic gripper (300, 502), the robotic gripper (300, 502) having at least two gripper segments that are movable relative to one another in a gripper open / close direction, the gripper device (100, 200, 302, 400, 504, 600) having: mechanical actuation means having at least two contact elements (114, 116, 614, 616) that are linearly guided parallel to one another along an actuation direction; at least one mechanically activatable and / or deactivatable acting segment (102, 104, 202, 308, 402) for gripping an object; and a transmission means having at least two levers (110, 112, 606, 608) for converting mechanical actuation power, characterized in that, The clamping section of the robot gripper (300, 502) exerts an actuation displacement and / or an actuation force on the contact elements (114, 116, 614, 616). On the one hand, the at least two contact elements (114, 116, 614, 616) and on the other hand the at least two levers (110, 112, 606, 608) are each connected to one another in an articulated manner with a degree of freedom f = 2. Wherein the gripper device (100, 200, 302, 400, 504, 600) includes a first support element (106, 204, 404, 610) and a second support element (108, 206, 406, 612) that are displaceable relative to one another, and each of the at least two levers (110, 112, 606, 608) is directly supported on the first support element (106, 204, 404, 610) and directly supported on the second support element (108, 206, 406, 612), and the acting section is firmly connected to the first support element.

2. The gripper device (100, 200, 302, 400, 504, 600) according to claim 1, characterized in that, On the one hand the at least two contact elements (114, 116, 614, 616) and on the other hand the at least two levers (110, 112, 606, 608) are each connected to one another by a rotary sliding joint.

3. The gripper device (100, 200, 302, 400, 504) according to claim 1, characterized in that, Each of the at least two levers (110, 112) is connected to the second support element (108, 206, 406) in an articulated manner with a degree of freedom f = 2.

4. The gripper device (100, 200, 302, 400, 504, 600) according to claim 1 or 2, characterized in that, Each of the at least two levers (110, 112, 606, 608, 916, 918, 920) is provided as a single piece or in multiple parts.

5. The gripper device (100, 200, 302, 400, 504, 600) according to claim 1, characterized in that, The gripper device (100, 200, 302, 400, 504, 600) has a spring device acting between the first support element (106, 204, 404, 610) and the second support element (108, 206, 406, 612).

6. A method for operating a gripper device (100, 200, 302, 400, 504, 600, 700, 800, 900, 1000) according to at least one of the preceding claims, characterized in that, The gripper device (100, 200, 302, 400, 504, 600, 700, 800, 900, 1000) is first selected, then picked up from a predetermined position, then used, and then placed at a predetermined position.

7. The method according to claim 6, characterized in that The clamping state is evaluated based on the actuation force.

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