Holding device

Abstract

The present invention relates to a gripping device system (1), comprising: a base body (2) and at least two rotor assemblies (10), each rotor assembly (10) comprising a first rotor (3) and a second rotor (4), wherein each first rotor (3) comprises a first rotation axis (r1) about which the first rotor (3) is rotatable relative to the base body (2), and each second rotor (4) comprises a first rotation axis (r1) about which the second rotor (4) is rotatable relative to the first rotor (3) of the respective rotor assembly (10). wherein the second rotation axis (r2) of the second rotor (4) is arranged eccentrically with respect to the first rotation axis (r1) of the first rotor (3) of the respective rotor assembly (10), and wherein the system (1) comprises a connection device (5) for each second rotor (4), wherein the connection device (5) is adapted to at least partially form gripper fingers (6) or to attach gripper fingers (6) thereto, and wherein each connection device (5) comprises a torque receiving portion (7), and wherein the torque receiving portion (7) The gripper fingers (6) can be attached to or extend from torque receiving portions (7), where the torque receiving portions (7) are arranged eccentrically with respect to the second rotation axis (r2) of each second rotor (4), and where the torque receiving portions (7) are adapted to receive torque with respect to the second rotation axis (r2) when gripping an object with the gripping device system (1), where the gripping device system (1) is adapted to rotate each first rotor (3) about its first rotation axis (r1). The gripping device system (1) further comprises a first drive assembly (9-1), wherein the gripping device system (1) comprises a second drive assembly (9-2) adapted to rotate each second rotor (4) about its second axis of rotation (r2), wherein the first and second drive assemblies (9-1, 9-2) are arranged to rotate the first rotor (3) and the second rotor (4) of the rotor assembly (10) independently of each other, thereby causing each torque receiving portion (7) to perform a linear translational movement (M1) when the first and second rotors (3, 4) rotate accordingly.

Description

[Technical Field]

[0001] The invention relates to a gripper system according to claim 1, which is configured to perform linear movements of the gripper fingers solely on the basis of rotational movements. [Background technology]

[0002] Grippers are important tools in robotics manufacturing applications. Grippers are intended and designed to grasp objects of various shapes and transport them to various locations. On the one hand, grippers need to be mechanically simple, but on the other hand, they need to be versatile enough to perform various complex motions. For this reason, various grippers have been devised. However, in all these designs, mechanical simplicity is sacrificed in order to achieve a high degree of freedom in the possible motions.

[0003] The more complex the mechanism, the more frequent the maintenance and repairs. In particular, linear motion of the gripper fingers is a goal that is generally achieved by means of spindle drives, but these means require more construction space. Summary of the Invention [Problem to be solved by the invention]

[0004] SUMMARY OF THE INVENTION The present invention aims to provide a gripper system that allows linear movement of the gripper fingers while providing a compact and robust mechanical design. [Means for solving the problem]

[0005] This object is achieved by a system having the features of claim 1.

[0006] Advantageous embodiments are set forth in the dependent claims.

[0007] According to claim 1, a gripping device system for a gripping device with attachable or attached gripper fingers comprises the following components: - Substrate, - at least two rotor assemblies, each rotor assembly comprising a first rotor and a second rotor; Equipped with - each first rotor comprises a first axis of rotation about which the first rotor is rotatable relative to the base, and each second rotor comprises a second axis of rotation about which the second rotor is rotatable relative to the first rotor of the respective rotor assembly; - the second rotation axis of the second rotor is arranged eccentrically, i.e. laterally offset, with respect to the first rotation axis of the first rotor of the respective rotor assembly, in particular the second rotation axis performs a corresponding eccentric movement with respect to the first rotation axis of the first rotor of the respective rotor assembly upon rotation of the first rotor; - the system comprises a connection device for each second rotating body, the connection device being adapted to at least partially form gripper fingers or to attach gripper fingers thereto, each connection device comprising a torque receiving part to which the gripper fingers can be attached or from which the gripper fingers extend, the torque receiving part being arranged eccentrically with respect to the second axis of rotation and wherein the torque receiving part is adapted to receive a torque with respect to the second axis of rotation when gripping an object by the gripper system, in particular the torque receiving part performing a corresponding eccentric movement with respect to the second axis of rotation upon rotation of the second rotating body; the gripper system further comprises a first drive assembly adapted to rotate each first rotor; the gripper system comprises a second drive assembly adapted to rotate each second rotor, The first drive assembly and the second drive assembly are arranged to rotate the first rotor and the second rotor of the rotor assembly independently of each other, thereby causing each torque receiving portion to undergo linear translational movement when the first rotor and the second rotor are rotated accordingly.

[0008] In particular, said linear movement is performed relative to the base body, more particularly perpendicular to a plane relative to the second axis of rotation when the first and second rotating bodies are rotated accordingly.

[0009] The invention makes it possible to perform a linear movement of a torque receiver only by means of two rotating bodies adapted and configured only to perform a rotational movement.

[0010] By appropriately rotating the rotor, the system allows linear motion for each torque receiving part of the connecting device.

[0011] For any robotics application of the gripper, the system according to the invention makes it possible to precisely and easily control the movement of the gripper fingers, which may be attached to or formed integrally with the torque receiver.

[0012] Linear motion therefore reduces the complexity of path planning for the gripping device.Restrictions on the possible, i.e. feasible, trajectories of the gripper fingers are overcome by the system according to the invention.

[0013] The system comprises two rotating assemblies, each comprising a first and a second rotating body, and the term "body" in this specification particularly relates to a rigid structure configured to rotate about a respective axis of rotation.

[0014] In particular, the base body is arranged as a moving base for the first and second rotating bodies to rotate and move.

[0015] The base may be configured to be attached to a robotic device or may form part of the robotic device itself. The base may be partially hollow to accommodate all or part of the drive assembly.

[0016] Furthermore, the first and / or second axis of rotation may extend at least geometrically through the substrate.

[0017] The terms "axis of rotation" and "axis of rotation" refer specifically to a geometric axis and not necessarily to a physical axis, although embodiments in which the axis of rotation includes a physical axle are also included within the meaning of axis of rotation.

[0018] The connecting device may be provided by the second rotating body.

[0019] Each connection device may be formed as a recess and / or protrusion in the second rotating body to which the gripper finger may be connected in order to secure the gripper finger to the second rotating body.

[0020] In this way, the connecting device can be formed integrally with the second rotating body.

[0021] According to another embodiment of the invention, the connecting device may comprise at least first and second parts, where the first part is arranged on or provided by the second rotating body and the second part comprises a torque receiving portion, and in particular the second part may be configured to be repeatedly releasably attached to the first part of the connecting device. The first and second parts may be connectable such that the torque receiving portion is arranged eccentrically with respect to the second axis of rotation.

[0022] The torque receiving part of the connecting device is a part that can be arranged on the second rotating body to which a torque can be transmitted, in particular said torque can come from gripper fingers attached to the connecting part.

[0023] Alternatively, the torque receiver may be provided by a second part of the connecting device, in particular the second part of the connecting device may at least partially form the gripper fingers.

[0024] The torque receiving portion may intersect with the longitudinal axis of the gripper fingers, such that when the second rotating body rotates about the second axis of rotation, the gripper fingers extending along the longitudinal axis move eccentrically about the second axis of rotation. When the gripper fingers are pressed against the object, they transmit torque relative to the second axis of rotation via the torque receiving portion.

[0025] According to the present invention, the torque receiving portion is disposed eccentrically with respect to the second rotation axis for each second rotating body.

[0026] According to another embodiment of the invention, the torque receiver is integrally formed by the connecting device.

[0027] According to another embodiment of the invention, the connection device comprises a fixing device, such as a snap lock, a screw, a magnet device and / or a clamping device, configured to fix the gripper fingers to the torque receiving part, more particularly the torque receiving part is provided with said fixing device.

[0028] According to another embodiment of the invention, the gripper fingers intersect with the torque receiver when the system is in an assembled state, and accordingly the first drive assembly and the second drive assembly are arranged to rotate the first rotor and the second rotor of the rotor assembly independently of each other, such that when the first rotor and the second rotor rotate accordingly, each gripper finger that intersects with the torque receiver undergoes a linear translational movement.

[0029] The gripper fingers may have longitudinal axes that intersect the torque receiver when the system is in an assembled state.

[0030] The term "assembled state" refers in particular to a gripping device system with gripper fingers, each gripper finger being attached to a connecting device, in particular a torque receiver.

[0031] A gripper system can be equipped with a variety of gripper fingers depending on the purpose of the gripper, and as such, gripper systems are often constructed and sold as modular systems, where the gripper fingers can be selected individually and are not provided by the gripper system.

[0032] Thus, the gripper system does not necessarily have to include gripper fingers, as these can be selected and chosen depending on the intended application.

[0033] Once the gripper fingers are attached to the appropriate parts of the gripper, the gripper system can be considered to be assembled.

[0034] According to another embodiment of the invention, the first rotation axes extend parallel to one another.

[0035] According to another embodiment of the invention, the second rotation axes extend parallel to one another.

[0036] According to another embodiment of the invention, the first axis of rotation and the second axis of rotation extend parallel to each other.

[0037] The interpretation of the term "parallel" may be broadly understood to include non-parallel configurations that allow the gripper system to operate without interference from the torque receiver or the gripper fingers attached thereto. In particular, a slightly tilted orientation of the first and second rotation axes is included in the concept of parallel. The term "slightly" in this context may include first and second rotation axes that are tilted by up to 15°, in particular up to 10°, more in particular up to 5°, or even up to 2°.

[0038] Without limiting generality, the direction in which the first and / or second rotation axis extends is the z direction.

[0039] Therefore, the eccentric motion of the second rotating body and / or the torque receiving portion occurs in a plane perpendicular to the z direction.

[0040] In one embodiment, for each rotor assembly, the first rotor is disposed between the base and the second rotor.

[0041] According to another embodiment of the present invention, the first and second drive assemblies are constructed and arranged to rotate the first rotating body and the second rotating body such that, when the first rotating body and the second rotating body rotate accordingly, the torque receiving portion performs a rolling movement about a common roll axis, in particular wherein the roll axis extends parallel to the first rotating axes, in particular wherein the roll axis coincides with an axis located between the first rotating axes, more in particular wherein the roll axis coincides with the center of gravity of the first rotating axes.

[0042] The ability to perform rolling motion is a result of the design of the rotor assembly and its drive assembly.

[0043] The rolling motion can be superimposed on the linear translational motion.

[0044] In particular, a rolling movement is a movement during which the torque receivers (and thus the possible gripper fingers) move laterally around a selectable circular, elliptical or oval line that maintains the relative distance between the torque receivers, while the orientation of the torque receivers (and thus the possible gripper fingers) points, for example, towards the center of the circle, thereby allowing the object to be rotated around an axis that is not included in either the first or second rotation axis.

[0045] According to another embodiment of the present invention, each connecting device has an orientation along at least a radial direction relative to the second rotation axis of the corresponding second rotating body, and wherein the first and second drive assemblies are configured and arranged to rotate the first rotating body and the second rotating body when performing translational motion, in particular when performing linear translational motion, such that the orientation of each connecting device remains essentially unchanged.

[0046] The radial direction in particular extends in a plane perpendicular to the second axis of rotation.

[0047] This type of motion allows the assembled system to hold an object in a constant orientation while also translating the object.

[0048] According to another embodiment of the invention, the first drive assembly comprises a motor, in particular only one motor, adapted to rotate all of the first rotating bodies, in particular simultaneously.

[0049] This embodiment allows for a cost-effective drive assembly requiring only one motor to operate all of the first rotors.

[0050] According to another embodiment of the invention, the first drive assembly comprises a plurality of motors constructed and arranged to rotate one or more of the first rotating bodies independently and individually, or the motors are constructed and arranged to rotate the first rotating bodies in pairs.

[0051] This embodiment allows for multiple motors that can rotate only a single first rotor or multiple first rotors.

[0052] The more motors a drive assembly has, the more degrees of freedom there is for independent control of each first rotor.

[0053] According to another embodiment of the invention, the second drive assembly comprises a motor adapted to rotate all the second rotating bodies.

[0054] This embodiment allows for a cost-effective drive assembly in which only one motor is required to operate all of the secondary rotors.

[0055] According to another embodiment of the invention, the second drive assembly comprises a plurality of motors constructed and arranged to rotate one or more of the second rotating bodies independently and individually, or the motors are constructed and arranged to rotate the second rotating bodies in pairs.

[0056] This embodiment allows for multiple motors that can rotate only a single second rotating body or multiple second rotating bodies.

[0057] The more motors the second drive assembly has, the more degrees of freedom there is for independent control of each second rotating body.

[0058] According to another embodiment of the present invention, the first drive assembly is coupled to the first rotating body via a transmission.

[0059] According to another embodiment of the present invention, the second drive assembly is coupled to the second rotating body via a transmission.

[0060] According to another embodiment of the invention, at least one connecting device, in particular all connecting devices, comprises a locking device configured to rigidly attach the gripper fingers to the corresponding second rotating body, so that when the second rotating body rotates, the gripper fingers rotate eccentrically around the second axis of the corresponding second rotating body, wherein the torque received by the gripper fingers is transmitted to a torque receiving part of the connecting device of the second rotating body, in particular the locking device is adapted to non-rotatably connect the gripper fingers to the connecting device.

[0061] The locking device may comprise or consist of a securing device.

[0062] Thus, the locking device can be selected from the group consisting of: - a threaded connection configured to secure the gripper fingers to the second rotating body; a magnetic device configured to provide a magnetic force for attaching the gripper fingers to the second rotating body; a clamping device configured to establish a clamping connection between the gripper fingers and the second rotating body; a snap lock configured to provide a snap lock connection between the gripper fingers and the second rotating body.

[0063] The locking device may in particular be configured to secure the gripper fingers to the torque receiver.

[0064] As a result, the gripper fingers may be adapted to engage with the locking device.

[0065] The locking device may be integrally formed with the connection or may be a separate device that interconnects the gripper fingers with the connection device.

[0066] According to another embodiment of the invention, the locking device of each second rotating body comprises a first part and a complementary second part, wherein the first part of the locking device is provided by the second rotating body and the second part is provided on the corresponding gripper finger at a first end portion of the gripper finger, so that when the first part and the second part of the locking device are connected, each gripper finger forms a connection, in particular a rotationally fixed connection, with the second rotating body.

[0067] The locking device may be configured to connect at a second axis of rotation, wherein the second portion of the locking device is formed such that the torque receiving portion is disposed eccentrically relative to the second axis of rotation.

[0068] According to another embodiment of the invention, the second part of the locking device comprises a torque receiver.

[0069] According to another embodiment of the invention, the gripping device system comprises at least one gripper finger, or the system comprises a gripper finger for each connecting device of the system.

[0070] While in the previous embodiment the gripper fingers may not be part of the embodiment, this embodiment explicitly allows for gripper fingers to be part of any embodiment according to the present invention.

[0071] According to another embodiment of the invention, each second rotating body, in particular each connecting device, is fitted with a gripper finger, whereby each gripper finger rotates eccentrically relative to the corresponding second axis when the second rotating body rotates about its second axis, and wherein torque received by the gripper finger is transmitted to a torque receiving portion of the connecting device of the second rotating body.

[0072] This embodiment provides for eccentric movement of the gripper fingers when the gripper fingers are attached to a second rotating body.

[0073] In particular, each gripper finger may be attached to, for example in direct contact with, a torque receiving portion, such that any torque is transmitted via said torque receiving portion, in particular only via said torque receiving portion.

[0074] The present invention requires that the torque receiver rotates eccentrically about a second axis, so that any gripper fingers attached to said torque receiver undergo the same movement, thereby enabling linear translational movement of the gripper fingers.

[0075] According to another embodiment of the invention, the gripper fingers are formed integrally with the corresponding connecting device such that each gripper finger rotates eccentrically with respect to the corresponding second axis, in particular when the second rotating body rotates about its second axis, and wherein the torque received by the gripper finger is transferred to a torque receiving part of the connecting device of the second rotating body. Thus, although the gripper fingers can be formed integrally with the torque receiving part, any torque can be transferred to the second rotating body via said torque receiving part.

[0076] Obviously, in all embodiments torque can be transmitted from the gripper fingers to the second rotating body via the torque receiver as well as from the second rotating body to the gripper fingers via the torque receiver.

[0077] According to another embodiment of the invention, each gripper finger has a longitudinal axis extending through the torque receiving portion such that when the second rotating body rotates, the longitudinal axis of the gripper finger rotates eccentrically relative to the second axis.

[0078] In particular, the longitudinal axis extends in particular parallel to the second axis of rotation of the corresponding second rotating body.

[0079] According to another embodiment of the invention, each gripper finger has a first end portion that is formed complementary to the connecting device, in particular complementary to the locking device, so that each gripper finger forms a connection, in particular a rotationally fixed connection, with the corresponding connecting device via its first end portion.

[0080] This embodiment allows for a modular design of the gripper system, for example, this embodiment allows for the design of different gripper fingers each having an identically shaped first end portion for attaching the gripper finger to the connecting device.

[0081] According to another embodiment of the invention, at least one of the gripper fingers comprises a gripping portion configured to grip an object by exerting a lateral torque on the object such that the object is held by a frictional force with the gripper finger.

[0082] In particular, the gripping portion is located opposite the first end portion.

[0083] The gripping portions may, for example, be made of a material that has an increased coefficient of friction compared to the body of the gripper fingers.

[0084] According to another embodiment of the invention, at least one gripping portion of the gripper finger comprises a gripping surface configured to grip an object in a flat manner, in particular such that a flat contact area between the gripping surface and the object is formed.

[0085] This embodiment allows the contact area to be increased by the flat contact region, so that objects can be securely grasped and moved by essentially corresponding flat surfaces.

[0086] According to another embodiment of the invention, at least one gripping portion of the gripper finger extends circumferentially or annularly around the gripper finger, in particular the gripping portion is formed cylindrically or the gripping portion has an annular shape, for example around the longitudinal axis of the gripper finger.

[0087] According to another embodiment of the invention, the gripping portions protrude from the body of the gripper fingers.

[0088] According to another embodiment of the present invention, the gripper system comprises a control unit configured to independently control drive assemblies to rotate the first and second rotating assemblies.

[0089] According to another embodiment of the invention, the control unit is configured to control the rotation so that each torque receiver can perform a linear translational movement.

[0090] According to another embodiment of the invention, the control unit is configured to control the rotation such that the torque receiver can perform a rolling movement.

[0091] According to another embodiment of the invention, the control unit is configured to control the rotation so that the torque receiver can perform an oriented movement.

[0092] Illustrative Embodiments Particularly exemplary embodiments are described below in conjunction with the drawings, which are accompanied by claims and texts describing individual features of the illustrated embodiments and aspects of the invention. Each individual feature shown in the drawings and / or mentioned in the text of the drawings may be incorporated (even separately) into a claim relating to the device according to the invention. [Brief explanation of the drawings]

[0093] [Figure 1] FIG. 1 is a first perspective view of a schematic diagram of a gripping device system according to the present invention. [Figure 2] FIG. 2 is a second perspective view of a schematic diagram of a gripping device system according to the present invention. [Figure 3] FIG. 3 shows a linear transverse movement performed by a gripper system according to the invention. [Figure 4] FIG. 4 shows the rolling movement performed by the gripper system according to the invention. [Figure 5] FIG. 5 shows the essentially linear transverse movement with oriented torque receivers performed by the gripper system according to the invention. [Figure 6] FIG. 6 shows two different embodiments of the connecting and locking device. DETAILED DESCRIPTION OF THE INVENTION

[0094] It should be noted that for ease of understanding, for entities such as objects, components, elements, or devices of the same type, only one or some of the entities may be referred to using a reference numeral. Entities of the same type have the same appearance in the figures.

[0095] 1 shows in schematic perspective view an exemplary embodiment of a gripping device system 1. The following description may also refer to other figures showing the same or similar features.

[0096] A coordinate system (x, y, z) can be associated with the gripper system 1 without limiting the generality of the invention. The z direction of the coordinate system extends orthogonal to a plane in which movements of the components of the gripper system 1 can be performed. Said plane can include an x-axis and a y-axis (Cartesian coordinate system indicated by arrows x, y, z) or can be considered as a cylindrical coordinate system with radius and azimuth as independent coordinates (not shown).

[0097] The base 2 in this example is formed as a cylindrical body, which at least partially houses the drive assemblies 9-1, 9-2 of the system 1. The base 2 is an element of the gripper system 1, relative to which other components of the gripper system 1 can move. These other components include, for example, the first and second rotating bodies 3, 4 and the gripper fingers 6.

[0098] The base 2 has a front surface 2F facing the z direction, i.e., extending along the xy plane. The gripping device system 1 of this example includes four first rotating bodies 3 arranged on the front surface 2F of the base 2. Each first rotating body 3 is rotatable about a first rotation axis r1 relative to the base 2 (see, for example, FIGS. 3 to 5). In this example, each first rotation axis r1 extends parallel to the z axis and therefore perpendicular to the front surface 2F of the base 2.

[0099] These first rotating bodies 3 are arranged in a quadrangle (see Figures 3 to 5) with respect to the front surface 2F of the base body 2. In particular, the intersections of the first rotation axes r1 and the front surface 2F of the base body 2 form the corners of said quadrangle. This allows a symmetrical construction of the system 1 as well as a symmetrical control of any moving parts of the gripping device system 1.

[0100] Each of the four first rotating bodies 3 is formed as a cylinder. The radius and height of the cylinder are the same for each of the four first rotating bodies 3.

[0101] These first rotating bodies 3 are arranged on the front surface 2F of the base body 2 so that they are confined laterally (i.e. in the xy plane) within the front surface of the base body 2. The radius of each first rotating body 3 is therefore smaller than one-quarter of the radius of the base body 2.

[0102] In this example, the first rotation axis r1 extends to pass through the center of each cylindrical first rotating body 3, i.e., each first rotation axis coincides with the axis of the cylinder of the corresponding cylindrical first rotating body 3. Therefore, when the first rotating body 3 rotates, the first rotating body 3 does not exhibit an eccentric motion pattern but rotates around the axis of the cylinder.

[0103] Each first rotating body 3 also comprises a front surface 3F extending in a plane parallel to the front surface 2F of the base body 2.

[0104] The second rotating bodies 4 are arranged on the first rotating bodies 3 and on their respective front faces 3F. In this example, these second rotating bodies 4 are also formed as identical cylinders, and the radius of each of the second rotating bodies 4 is smaller than the radius of the first rotating body 3. Therefore, the second rotating bodies 4 are limited laterally (i.e., in the xy plane) within the front faces 3F of the first rotating bodies 3.

[0105] Each second rotor 4 is rotatable about a second axis of rotation r2 that extends laterally shifted, i.e. eccentrically, relative to the first axis of rotation r1 of the first rotor 3, on whose front face 3F the second rotor 4 is arranged.

[0106] The second rotation axis r2 also extends parallel to the z direction so that the second rotation axis r2 and the first rotation axis r1 are parallel to each other.

[0107] It should be noted that the second rotating body 4 is arranged on the first rotating body 3 so as to be rotatable relative to the first rotating body 3 .

[0108] As a result of this particular assembly, the second rotating body 4 performs an eccentric movement about the first rotation axis r1 of its associated first rotating body 3 when the first rotating body 3 is rotated about its first rotation axis r1. At the same time, it is possible to rotate said second rotating body 4 about its second rotation axis r2. In this way, rotations that can be performed and executed independently of each other can be combined into a cumulative movement of the second rotating body 4.

[0109] Each first and associated second rotor 3, 4 forms a rotor assembly 10. Thus, the example system 1 comprises four rotor assemblies 10. It will be apparent that a system 1 comprising one, two, three or more rotor assemblies may be advantageous for different applications.

[0110] In the example of Figure 1 and other figures, each second rotating body 4 comprises a connection device 5 formed as a recess in the cylindrical shape of the second rotating body 4. The recess extends around the second axis of rotation r2 and covers the entire diameter of the (circular) front face 4F of the second rotating body 4.

[0111] The example connection device 5 of Figure 1 has a cubic shape. However, the particular shape of the connection device 5 of Figure 1 should not be considered the only suitable shape or embodiment. It may also be possible for the cross section of the recess to be trapezoidal, or a cross section that allows for a form-fitting slide-in mechanism for, for example, the gripper fingers 6. The connection device 5 does not have to be a recess or a single part, but may also be formed by a protrusion, a combination of a recess and a protrusion, as well as two separable entities (parts, see Figure 6).

[0112] What is important is that the connection device 5 is formed so that the gripper fingers 6 are attachable to the connection device 5 or part thereof, in particular releasably attachable, or so that the gripper fingers 6 can be formed integrally or partially integrally with the connection device 5.

[0113] The connecting device 5 further comprises a torque receiving portion 7. The torque receiving portion 7 is configured and arranged on the connecting device 5 to be able to transmit and / or receive torque from either the second rotating body 4 or via the gripper fingers 6. The torque receiving portion 7 is a limited portion of the connecting device 5 that undergoes eccentric movement about the second axis r2 when the second rotating body 4 rotates about the second axis r2. Typically, the torque receiving portion 7 is configured and shaped such that when the gripper fingers 6 are attached to the second rotating body 4, the gripper fingers 4 undergo eccentric movement corresponding to the eccentric movement of the torque receiving portion 7.

[0114] The torque receiver 7 may be a part of the connecting device 5 comprising the intersection of the longitudinal axes r4 of the gripper fingers 6 or the intersection of the elongated body portions of the gripper fingers 6.

[0115] This makes it possible to form a connecting device 5 that is symmetrical with respect to the second rotating body 4 and that nevertheless has gripper fingers 6 arranged to perform eccentric movement with respect to the second axis of rotation r2 when the second rotating body 4 rotates about its axis of rotation r2.

[0116] In the example of FIG. 1, the system 1 comprises gripper fingers 6 attached to each of the four connecting devices 5 at a respective torque receiving portion 7 .

[0117] The gripper fingers 6 include first end portions 6-1 that are complementary to the connecting device 5 so that the gripper fingers 6 can be attached to the connecting device 5. The connecting device 5 may include a locking device (not shown) for securing the gripper fingers 6 to the second rotating body 4. The locking device may be a screw or clamp connection between the second rotating body and the first end portion. Alternatively, or in addition, the locking device may include a releasable snap-lock connection and / or a magnetic connection that provides a locking mechanism based on magnetic forces exerted between the second rotating body and the gripper fingers 6. The latter allows for easy assembly of the fingers 6 to the respective second rotating body 4.

[0118] From the first end portion 6-1, the gripper finger 6 can extend along an elongate body portion 6-3 of the gripper finger 6, in particular said elongate body portion 6-3 extending along a longitudinal axis r4 of the gripper finger 6. The longitudinal axis r4 can extend parallel to the first and / or second rotation axes r1, r2, in particular parallel to the z-direction.

[0119] However, it is also envisaged that the longitudinal axis r4 may be tilted relative to the z direction.

[0120] 1, adjacent to the elongated body portion 6-3, the gripper fingers 6 provide a gripping portion 6-2. The depicted gripping portion 6-2 is a cylindrical cap that projects slightly radially from the elongated body portion 6-3. The surface 6-2s of the gripping portion 6-2, i.e., the cap, can be formed from any suitable material suitable for gripping an object such as a glass vial, test tube, or other object of appropriate size.

[0121] The system 1, in which each rotor assembly 10 has its first and second rotors 3, 4 and torque receivers 7 / gripper fingers 6 arranged as described in the preceding paragraph, allows the gripper fingers 6 to move either independently or in concert along a variety of trajectories forming motion patterns particularly useful for robotics applications. Possible motion patterns include: - Orthogonal movement M1 along the xy plane along any direction (see Figure 3), a rolling movement M2 (see FIG. 4), during which the gripper fingers / torque receivers rotate with a selectable radius around a common roll axis, which may in particular be a central axis arranged at the center of gravity of the first rotation axis, in which case the center of gravity is the intersection of the diagonal lines between the opposing rotor assemblies; - Oriented movement M3 (see Figure 5): This is essentially a linear movement, during which the orientation of each gripper finger remains unchanged but moves towards or against the common centre, in particular the central axis, of the rotor assembly.

[0122] These motions are explained in more detail below. For the sake of simplicity (and without limiting generality), the motions are described for a system in which the gripper fingers 6 are attached to the second rotating body 4. That is, when motions are described for the gripper fingers 6, the same motions apply and the same is true for the torque receiver 7.

[0123] Linear motion example 3 shows a series of linear motion patterns M1 of the four gripper fingers 6 from a bottom view of the system 1. The right and left columns of each panel show the same state of the system 1, but with different exemplary means for describing the motion M1.

[0124] In the left column (I), the curved arrows associated with the first and second rotors 3, 4 qualitatively indicate the rotation of the respective rotors 3, 4, while in the right column (II) the same movement M1 is shown using a two-hinge movement illustrator, where the first hinge is fixed, a first rigid arm extends between the first and second hinges, and a second arm extends from the second hinge to the center of the torque receiver 7, which may correspond to the intersection point of the longitudinal axes r4 of the gripper fingers 6 and thus adequately describes the movement / position of the gripper fingers in the lateral direction. From the right column, it can be immediately recognized that the second rotation axis r2 is arranged eccentrically with respect to the first rotation axis r1, while the center r4 of the torque receiver 7 is arranged eccentrically with respect to the second rotation axis r2. Also, because the first and second arms are substantially rigid, while the hinges allow the arms to enclose any angle, the illustration of the two-hinge movement makes it easier to determine the possible movement patterns or positions of the torque receiving portion 7.

[0125] In FIG. 3, all gripper fingers 6 perform the same linear movement M1 towards a central axis r0 located symmetrically between the first rotation axes r1, i.e. the intersection of the diagonals of the rectangle formed by the first rotation axes r1.

[0126] A cylindrical object to be gripped by the four gripper fingers 6 can be arranged on the central axis r0.

[0127] In panel A), the four gripper fingers 6 are positioned at outer positions relative to the central axis r0. In panel B), the first and second rotors 3, 4 of each of the four rotor assemblies 10 have been rotated so that the gripper fingers 6 are displaced along a straight line between the position in panel A and the intermediate position. The amount of rotation required to cause such linear displacement of the gripper fingers 6 can be determined by the relationship between the positions of the first and second rotation axes and the center of the torque receiver.

[0128] In panel C), the four gripper fingers 6 have been moved further along the same straight line towards the central axis r0 by corresponding rotation of the first and second rotators 3,4.

[0129] 3 can be determined from the indication of the orientation of the first rotor 3 and the orientation of the connecting device 5. The speed of the linear motion can be controlled by the rotational speed of the rotating assembly 10.

[0130] In panel D), the gripper fingers 6 come into contact with the object 100 along a linear trajectory such that a gripping force is exerted on the object 100. Said gripping force is mediated by the torque receiving portion 7 of each second rotor 4.

[0131] It should be noted that when the first and second drive assemblies drive all of the first and second rotating bodies, respectively, the linear motion is directed toward or away from the central axis. When the first and second drive assemblies are configured to drive each of the first and second rotating bodies independently, the direction of the linear motion M1 can be freely selected toward or away from any common point.

[0132] Examples of rolling exercises FIG. 4 shows a series of rolling motions M2 of the gripping device system 1. In the initial state, four gripper fingers 6 grip an object centered on a central axis (see r3). ​​Each gripper finger 6 has a cylindrical gripping portion 6-2, which is therefore clearly indicated as a circle in the bottom view shown in FIG. 4. In panel A, each gripping portion 6-2 contacts the object 100 at its first gripping surface 61. When the first and second rotors 3 and 4 are rotated appropriately, the gripper fingers 6 rotate at the same angular velocity around the central axes r0 and r3 (see panel B). Therefore, the object 100 held by the gripping portions 6-2 rotates at the same speed as the gripper fingers 6 rotate around the central axes r0 and r3. This rotation causes different gripping surfaces 62 to contact the object 100. For this reason, cylindrical or annular gripping portions may have advantages over gripping portions of other shapes.

[0133] In panel C), the rotation of the gripper fingers 6, and thus the object 100, is described such that the object 100 rotates even more. This type of motion is referred to herein as rolling motion M2.

[0134] The rolling motion M2 can be set to an unlimited number of rotations and can be performed either clockwise or counterclockwise. The rolling motion M2 can, for example, mix / shake an object by repeatedly performing the clockwise and counterclockwise rolling motion M2 at high speed.

[0135] It should be noted that the rolling motion M2 is centered about the central axis r0 when the first and second drive assemblies 10 respectively drive all of the first and second rotating bodies 3, 4. When the first and second drive assemblies 9-1, 9-2 are configured to drive each of the first and second rotating bodies 3, 4 independently, the center r3 of the rolling motion M2 can be freely selected.

[0136] Example of linear motion with fixed orientation of gripping surface In FIG. 5, an at least partially linear movement M3 of the gripper fingers 6 is exemplarily depicted, where the gripper fingers remain in a predetermined orientation.

[0137] As is clear from the bottom view, the gripping portions 6-2 of the gripper fingers 6 differ from those in Figures 1, 3, and 4. In this example, the gripping portions 6-2 comprise flat, planar regions that form gripping surfaces 6-2s. Each surface 6-2s can be oriented, for example, by a surface vector that points perpendicularly away from the gripping surface 6-2s. As can be seen in panel A of Figure 5, in the initial position of the gripper fingers, the gripping surfaces are oriented towards the central axis r0 at an initial distance relative to said central axis r0.

[0138] In panel B), the gripper fingers 6 have moved substantially linearly toward the central axis r while the orientation of the gripping surfaces 6-2s remains oriented toward the central axis r. Similarly, in panel C), the gripper fingers 6 have moved closer to the central axis r and the orientation of the gripping surfaces remains unchanged.

[0139] This particular movement M3 is advantageous for gripping objects that are preferably held by a flat, planar surface area, i.e., by an increased contact area, which in turn results in increased friction between the gripper fingers 6 and the object 100 so that heavier objects can be held and manipulated.

[0140] It should be noted that due to slight constraints on the possible motion resulting from the two eccentric motions, the gripper fingers 6 may not move perfectly along a straight line, but may instead perform a slightly tilted motion, which may be insignificant for the desired application.

[0141] Example of a system drive assembly FIG. 2 shows a perspective view of the system, depicting first and second drive assemblies 9-1, 9-2.

[0142] The first drive assembly 9-1 is configured to rotate all four first rotors 3 dependently on one another, i.e., by the same angle.

[0143] The second drive assembly 9-2 is configured to rotate all four second rotating bodies 4 dependently on one another, i.e., by the same angle.

[0144] The first drive assembly 9-1 includes an outer toothed ring 911, with the teeth facing inward. The outer toothed ring 911 is rotatable relative to the base body 2, and a motor of the first drive assembly (not shown) 9-1 can be configured to rotate the outer toothed ring 911. In an exemplary embodiment, the outer toothed ring 911 has the same diameter as the cylindrical base body 2. The outer toothed ring 911 engages with four inner toothed rings 912, each with outwardly facing teeth. Upon rotation of the outer toothed ring 911, the four inner rings 912 can rotate appropriately according to a predetermined gear ratio. The inner toothed ring 912 is rigidly connected (not shown) to one of the first rotors 3 such that upon rotation of the inner ring 912, the first rotors 3 rotate appropriately about their respective first rotation axes r1.

[0145] To rotate the second rotors 4 in an independent manner relative to the first rotors 3, the system 1 includes a second drive assembly 9-2, which is configured to rotate all of the second rotors 4 in a dependent manner, but independently of the rotation of the first rotors 3. The second drive assembly 9-2 in the example of FIG. 2 includes a central toothed ring 921, with the teeth facing outward from the central ring 921. The central toothed ring 921 engages with four racks 922, which each engage with a toothed ring located near the front of the base 2. These four toothed rings (only partially visible in FIG. 2) are fixedly coupled to the second rotors 4. When the central ring 921 is rotated, for example by a motor in the second drive assembly 9-2, the four second rotors 4 undergo rotational movement. The particular engagement method of the central toothed ring 921, the rack 922 and the four toothed rings of the second drive assembly 9-2 allows eccentric movement of the second rotating bodies 4 relative to the first rotating bodies 3 while still allowing the second rotating bodies 4 to rotate about their respective second rotation axes r2, thereby essentially moving irregularly about the associated first rotation axes r1.

[0146] The example of Figure 2 shows an embodiment in which all four first rotating bodies 3 can be rotated by a single motor in the first drive assembly 9-1. Thus, the rotations of the first rotating bodies 3 are dependent on one another. Similarly, all four second rotating bodies 4 can be rotated by a single motor in the second drive assembly 9-2. Thus, the rotations of the second rotating bodies 4 are dependent on one another. However, because the first and second drive assemblies 9-1, 9-2 are motor-driven independently of one another, the rotation of the second rotating bodies 4 about the second axis r2 is independent of the rotation of the first rotating bodies 3, and vice versa.

[0147] This makes it possible to perform the exercise patterns shown in FIGS.

[0148] If the first rotors 3 are to be rotated independently of one another, then optionally the first drive assembly 9-1 will include components such as a second or multiple motors for independently rotating some or all of the first rotors 3. The same applies to the independent rotation of the second rotors 4. If the second rotors 4 are to be rotated independently of one another, then optionally the second drive assembly 9-2 will require reconfiguration, e.g., a second or multiple motors for independently rotating some or all of the second rotors 4 about the second axis r2.

[0149] Where the first rotors 3 are rotated independently of one another, the first drive assembly 9-1 will optionally include components such as a second or multiple motors for rotating some or all of the first rotors 3 independently.

[0150] Although all the examples shown depict the specific case of a system 1 according to the invention having four rotating body assemblies, it is clearly and unambiguously derivable for a person skilled in the art that said examples can be generalized to two, three or more rotating body assemblies depending on the respective number of rotating bodies and geometrical considerations.

[0151] In FIG. 6A a first embodiment of a connecting device 5 and a locking device 8 according to the invention is depicted in a bottom view (panel A) and a side view (panel B).

[0152] The connecting device 5 extends from the second rotation axis r2 towards the axis r4 of the gripper fingers 6. The gripper fingers 6 connect with the connecting device 5 at a torque receiver 7. A locking device 8 is then configured to engage with an end portion of the gripper fingers to lock the gripper fingers in position. The locking device can be formed as a screw or a bolt.

[0153] FIG. 6B shows a schematic side view of another embodiment of the connection device. The second rotating body 4 extends around a second rotation axis r2. At the second rotation axis, the second rotating body is provided with a receptacle 8-1 for the locking device 8. The locking device 8, as well as the connection device 5, consists of two parts or portions. The first part 5-1 of the connection device 5 is provided within the second rotating body 4 and includes the first part 8-1 of the locking device 8. The first part 8-1 of the locking device 8 includes the receptacle. The second part 5-2 of the connection device 5 includes the second part 8-2 of the locking device 8, which is configured and adapted to repeatedly releasably engage with the first part 8-2 of the locking device 8. The second part of the connection device 5 further includes an L-shaped support 5-2, which extends radially away from the second rotation axis r2 by one of the L-shaped support arms. Gripper fingers 6 formed integrally with the support 5-2 extend along a finger axis r4 parallel to the second rotation axis r2. A torque receiving portion 7 is disposed eccentrically with respect to the second rotation axis r2 at the interface between the gripper fingers 6 and the support 5-2.

[0154] The present invention allows for a wide range of common gripper movement patterns, and in particular allows for linear movement to be achieved without any translational drives or gears, specifically with gears configured for rotational movement only provided in the system, thus allowing for a compact and versatile gripper system 1.

[0155] Reference sign 1 System 2 Base 2F Front of the base 3 First Rotating Body 3F Front of the first rotating body 4 Second rotating body 4F Front of the second rotating body 5 Connecting Devices 5-1 First part of the connection device 5-2 Second part of the connection device 6 Gripper Fingers 6-1 First end portion of gripper finger 6-2 Gripping part 6-2s Surface of the gripping part 6-3 Long, thin finger part 7 Torque receiving part 8 Locking device 8-1 First part of the locking device 8-2 Second part of the locking device 9-1 First drive assembly 9-2 Second drive assembly 10 Rotating body assembly 61, 62, 63 Different parts of the gripping surface 911 outer toothed ring 912 First drive assembly inner ring 921 Second Drive Assembly Central Toothed Ring 922 Second Drive Assembly Rack 100 objects M1 linear motion M2 Rolling movement M3 oriented motion r0 center axis r1 First rotation axis r2 Second rotation axis r3 roll axis r4 finger axis x,y,z Cartesian coordinate system

Claims

1. A gripping device system (1), said gripping device system (1) comprising the following components: - base (2), at least two rotor assemblies (10), each rotor assembly (10) comprising a first rotor (3) and a second rotor (4); Equipped with each first rotor (3) comprises a first axis of rotation (r1) about which the first rotor (3) is rotatable relative to the base (2), and each second rotor (4) comprises a second axis of rotation (r2) about which the second rotor (4) is rotatable relative to the first rotor (3) of the respective rotor assembly (10); the second rotation axis (r2) of the second rotor (4) is arranged eccentrically with respect to the first rotation axis (r1) of the first rotor (3) of the respective rotor assembly (10); the system (1) comprises a connection device (5) for each second rotor (4), the connection device (5) being adapted to at least partially form gripper fingers (6) or to attach gripper fingers (6) thereto, each connection device (5) comprising a torque receiving part (7) to which the gripper fingers (6) can be attached or from which the gripper fingers (6) extend, the torque receiving part (7) being arranged eccentrically with respect to the second axis of rotation (r2) of the respective second rotor (4), and the torque receiving part (7) being adapted to receive a torque relative to the second axis of rotation (r2) when gripping an object by the gripper system (1); the gripper system (1) further comprises a first drive assembly (9-1) adapted to rotate each first rotor (3) about its first axis of rotation (r1); the gripper system (1) comprises a second drive assembly (9-2) adapted to rotate each second rotor (4) about its second axis of rotation (r2); The gripping device system (1) comprises: the first and second drive assemblies (9-1, 9-2) are arranged to rotate the first rotor (3) and the second rotor (4) of the rotor assembly (10) independently of each other, such that when the first and second rotors (3, 4) rotate accordingly, each torque receiving portion (7) undergoes a linear translational movement (M1); The gripping device system (1).

2. 2. The gripping device system (1) of claim 1, wherein the first and second drive assemblies (9-2) are arranged to rotate the first and second rotating bodies (3) such that, when the first and second rotating bodies (3, 4) rotate accordingly, the torque receiving portion (7) performs a rolling movement (M2) about a common roll axis (r3).

3. 3. The gripping device system (1) according to claim 1 or 2, wherein each connecting device (5) has an orientation along at least a radial direction, and wherein the first and second drive assemblies are arranged to rotate the first and second rotating bodies when performing a translational movement (M3), in particular when performing a linear translational movement, such that the orientation of each connecting device remains unchanged.

4. The gripper system according to any one of claims 1 to 3, wherein the first drive assembly (9-1) comprises a motor adapted to rotate all of the first rotors.

5. 4. The gripping device system of claim 1, wherein the first drive assembly comprises a plurality of motors configured and arranged to rotate one or more of the first rotors independently and individually, or the motors configured and arranged to rotate the first rotors in pairs.

6. The gripper system of any one of claims 1 to 5, wherein the second drive assembly comprises a motor adapted to rotate all of the second rotors.

7. 6. The gripping device system of claim 1, wherein the second drive assembly comprises a plurality of motors configured and arranged to rotate one or more of the second rotors independently and individually, or the motors configured and arranged to rotate the second rotors in pairs.

8. 8. A gripping device system according to any one of claims 1 to 7, wherein at least one connecting device (5), in particular all connecting devices, comprises a locking device (8) configured to rigidly attach the gripper fingers (6) to the corresponding second rotating body (4) such that the gripper fingers (6) rotate eccentrically with respect to the second rotation axis (r2) of the corresponding second rotating body (4), wherein a torque received by the gripper fingers (6) is transmitted to a torque receiving portion (7) of the connecting device (5).

9. 9. A gripping device system (1) according to claim 8, wherein the locking device (8) of each second rotor comprises a first part (8-1) and a complementary second part (8-2) forming the locking device, the first part (8-1) of the locking device (8) being provided by or arranged on the second rotor (4) and the second part (8-2) being provided on the corresponding gripper finger (6) at a first end part (6-1) of said gripper finger (6), so that when the first and second parts (8-1, 8-2) of the locking device (8) are connected, each gripper finger (6) forms a connection, in particular a rotationally fixed connection, with the second rotor (4).

10. The gripping device system according to claim 9, wherein the second part (8-2) of the locking device (8) comprises a torque receiving portion (7).

11. Gripping device system according to any one of claims 1 to 10, wherein the system comprises at least one gripper finger (6), or the system comprises a gripper finger for each connected device of the system.

12. 12. The gripping device system of claim 11, wherein the gripper fingers are attached to each second rotating body so that each gripper finger rotates eccentrically about a corresponding second rotation axis, and wherein torque received by the gripper fingers is transmitted to a torque receiving portion of the connecting device, and / or the gripper fingers are formed integrally with the corresponding connecting device of the second rotating body.

13. 13. The gripping device system according to claim 11 or 12, wherein at least one of the gripper fingers (6) comprises a gripping portion (6-2) configured to grip the object (100) by exerting a lateral torque on the object (100), in particular so that the object is held by frictional forces.

14. 14. The gripping device system according to claim 13, wherein the gripping portion of at least one of the gripper fingers comprises a gripping surface (6-2s) configured to grip an object in a flat manner, in particular such that a flat contact area is formed between the gripping surface (6-2s) and the object.

15. A gripping device system according to any one of claims 11 to 14, wherein the gripping portion (6-2) of at least one of the gripper fingers extends circumferentially or annularly around the gripper finger, in particular the gripping portion is formed cylindrically or the gripping portion has an annular shape.

Images