Gripping apparatus

Abstract

The invention relates to a gripping apparatus at least consisting of a multi-link gripping jaw (10, 12) which is movably articulated to a carrier device (14), and having a drive device (16) for moving the associated gripping jaw (10, 12) relative to the carrier device (14), characterized in that the associated gripping jaw (10, 12) has a movable gripping structure (18) having an outer structure (20) for receiving compressive forces and having an inner structure (22) for receiving tensile forces, which inner structure is adjacent to a gripping space (24), and in that individual coupling links (26) are provided which are each movably articulated to the inner structure (22) and to the outer structure (20) and which lead to a common base (28) that has a specifiable length and is pivotally mounted on a pivot shaft (30) on the carrier device (14).

Description

[0001] gripping device

[0002] The invention relates to a gripping device comprising at least one multi-part gripping jaw, which is movably hinged to a support device and having a drive device for moving the respective gripping jaw relative to the support device. EP 2 241 403 B1 discloses a holding and / or spreading tool having at least two jaws opposite one another with respect to a gap, of which at least one jaw is movable relative to the other jaw. At least two jaws opposite one another with respect to a gap are formed by a flexible manipulator tool with a distal end movable relative to a proximal end in at least one manipulation plane, and having at least two adjacently spaced-apart cheeks that are flexible at least in the manipulation plane and extend from the proximal end to the distal end.which are connected to one another in a shear-movable manner between the proximal end and the distal end by a tensile-resistant hinge element and are held spaced apart from one another at the proximal end, wherein one cheek is designed to be rigid and the other cheek to be tensile-resistant, and the tensile-resistant cheek is connected at its distal end to the rigid cheek in a tensile-force-transmitting manner, wherein at least one cheek is designed to be drivable in its longitudinal direction at the proximal end, wherein the mutually facing, at least rigid cheeks adjacent to the intermediate space or the mutually facing, at least tensile-resistant cheeks adjacent to the intermediate space of the two manipulator tools are brought together at the proximal end.

[0003] The linear drive movement for the flexible manipulator tool is carried out by traction devices or push rods connected to the cheek, which results in a small space requirement, so that the manipulator tool is particularly suitable for compact and thin, elongated tools.

[0004] EP 2 735 406 BI discloses a gripping device for gripping objects, comprising at least two gripping units which can be moved by a working movement between a release position and a gripping position gripping the object, wherein the gripping units each have gripping elements which are equipped with active elements which, in the gripping position, are in contact with the object to be gripped, wherein the active element has an active member made of flexible material which adapts to the contour of the object to be gripped, and wherein a tensioning device which has at least one shock absorber for an improved gripping process is provided for tensioning the active member when it is in contact with the object to be gripped.

[0005] Based on this prior art, the object of the invention is to create a gripping device that can be used in a variety of ways and has a high degree of adaptability with regard to the goods to be gripped.

[0006] A gripping device having the features of patent claim 1 in its entirety solves this problem. Because, according to the characterizing part of patent claim 1, the respective gripping jaw has a movable gripping structure with an outer structure for absorbing compressive forces and with an inner structure for absorbing tensile forces, which is adjacent to a gripping space, and because individual coupling members are provided, each of which is movably hinged to the inner and outer structure, which terminate in a common base of predeterminable length, which is pivotally mounted on a pivot axis on the support device, a compact and easily constructed gripping device can be created that is extremely versatile in its use and has a high degree of adaptability to the respective item to be gripped and thus handled.In particular, even sensitive goods, such as goods with scratch- or pressure-sensitive surfaces, can be easily moved with the gripping device, especially from one location to another. The solution according to the invention creates a relatively small gripping space, so that the respective feed movement for holding or releasing the goods to be gripped is short, allowing gripping processes to be triggered and released extremely quickly. It has also been shown that the goods or objects to be handled can be stored at closer distances from one another and still be moved with the gripping device, which increases efficiency. Objects or goods with a wide variety of external contours can also be securely gripped.

[0007] The gripping device can be formed from at least one fixed and at least one movable gripping jaw with the gripping structure; however, a gripping device with essentially identically constructed movable gripping jaws is preferably provided, resulting in an overall symmetrical design for the gripping device, which benefits a more even introduction of force from the carrying device to the item to be gripped. In a further preferred embodiment of the gripping device according to the invention, it is provided that the gripping structure tapers towards its free end and that the outer and inner structures are articulated to one another at this free end. This results in a type of isosceles triangle, at least in an initial state, which enables force introduction and force distribution in a particularly advantageous manner.Preferably, the outer structure is formed from individual structural members that are pivotally connected to one another along connecting axes, which enables unhindered operation.

[0008] In a preferred embodiment of the gripping device according to the invention, the respective structural member is formed from at least one pair of parallel connecting webs, which are penetrated at a predetermined distance from one another at their ends by at least one of the connecting axes. The respective connecting axes between two adjacent structural members serve as the articulated engagement of pairs of coupling members that span the space between the outer and inner structures in a bridge-like manner. This creates a type of inherently stable, movable, lightweight supporting structure.

[0009] In a further preferred embodiment of the gripping device according to the invention, the inner structure has an outer skin in the form of a single- or multi-layer band, which is articulated by means of additional connecting axes to the pairs of coupling links that establish the tensile connection between the outer and inner structures. Thanks to the flexible outer skin of the inner structure, which thus also limits the gripping space, a particularly gentle gripping of the potentially fragile item to be gripped is possible.

[0010] In a further particularly preferred embodiment of the gripping device according to the invention, the base has a main body with two long sides, preferably in the form of two webs running parallel to one another, which are pivotally connected to the support device at one of their free ends via the pivot axis and which are pivotally connected to a connecting axis of a pair of connecting webs of a structural member following the base at their other free end. As a result, the base is fully movable when rotated about the stationary pivot axis on the support device, which is transferred to the respective following gripping arm as a further degree of freedom, so that this too can perform gripping movements within a wide range. Overall, the movable base results in a high degree of flexibility for the gripping device during operation.

[0011] In a further particularly preferred embodiment of the gripping device according to the invention, it is provided that

[0012] - the pivotably arranged base spans a fictitious plane, that the connecting axes and the further connecting axes, which are each pivotably connected to one another in pairs by a pair of coupling members, each span a further fictitious plane, and in the unactuated state of the respective gripping jaw at least a part of the further fictitious planes enclose an angle of attack a of 5° to 30°, preferably of 5° to 15°, particularly preferably of 10° with the fictitious plane of the base.

[0013] The angle of attack a mentioned above optimizes the gripping and holding of the load (force distribution in the system).

[0014] In a further preferred embodiment of the gripping device according to the invention, it is provided that when a directed force is applied to the outer structure of the gripping jaw by means of the drive device, by pivoting the base about the pivot axis of the support device in the direction of the free end of the gripping structure, the inner structure arches around a pressure range of a predeterminable size and narrows the free gripping space for the purpose of holding third-party components. In this way, the curvature of the respective gripping jaw is virtually automatically predetermined during its closing process, and even goods with very different free cross-sections can be securely gripped in this way by the inner structure at least partially resting freely against the outer surface of the goods. In this way, the goods to be handled can also be almost enclosed, if necessary.

[0015] In a further preferred embodiment of the gripping device according to the invention, it is provided that at least on one longitudinal side of the base in the direction of its connecting axis for a few subsequent connecting webs of a structural member, a stop is provided which limits the pivoting movement of at least one gripping arm, preferably to a pivoting angle of 135°, which is enclosed between a fictitious extension of the base and a further fictitious extension of the connecting web hinged to the base. Due to the stop, it is avoided that the respective gripper arm can unintentionally reach far outward pivoting positions in which a feed movement for grasping or gripping a transported item is difficult or no longer possible. Furthermore, the aforementioned stop has the advantage that when the gripping device is placed on a support, such as a floor, the pointed ends of each gripper arm bend or fold inwards in steps and parallel to one another in the same horizontal planes, so that in this partially wrapped or rolled up state the gripping device can be set down in a particularly space-saving manner.

[0016] In another particularly preferred embodiment of the gripping device according to the invention, the drive device comprises a cable drive with at least one control cable that pivots the base of the gripping jaw about the pivot axis on the support device for the gripping process, actuated by traction. The cable drive allows for direct power control of the gripping device with a very low operating weight.

[0017] Particularly preferably, the respective control cable is fixedly connected to the support device at one free end and can be wound up in a rewindable manner by means of a shaft at its other free end. Between the free ends of the control cable, the cable is guided over individual deflection pulleys, one of which engages the base for the purpose of initiating the pivoting movement of the base about the pivot axis on the support device by actuating the cable drive to effect a gripping process. Guiding the respective control cable over a deflection pulley gear results in a functionally reliable design of the entire gripping device.

[0018] Preferably, it is further provided that, after the shaft has been released by a release device, the respective gripping jaw can be returned from its respective gripping state to its initial state by means of a reset device. The reset device preferably consists of an energy storage device, such as a tension spring, which is charged during the gripping process and releases its energy again to support the release process.

[0019] The invention further relates to a gripping device comprising at least one multi-element gripping jaw which is movably hinged to a support device and having a drive device for moving the respective gripping jaw relative to the support device, wherein the drive device has a cable drive, with at least one control cable for carrying out a gripping process in which the respective gripping jaw is pivoted about a pivot axis on the support device by means of traction. In addition to simple guidance of the cable drive, preferably by means of a deflection pulley gear, only small masses need to be moved to trigger a gripping movement, so that little energy is required to operate the drive device. The respective control cable can be easily assembled and disassembled within the frame of the gripping device, which helps to reduce the overall assembly effort.Furthermore, the cable drive allows high actuation forces to be transmitted to the respective gripping jaw. This has no equivalent in the state of the art.

[0020] In the following, the gripping device according to the invention is explained in more detail using an exemplary embodiment according to the drawing. In this diagram, not to scale, the

[0021] Figure 1 shows the gripping device as a whole in the form of a perspective front view and partly as an exploded view;

[0022] Figure 2 shows an enlarged section of the

[0023] Gripping device according to Figure 1;

[0024] Figure 3 is a frontal plan view of the perspective representation of the gripping device according to Figure 1, but without a handle for a winding shaft;

[0025] Figure 4, 5 in the form of a model principle representation the

[0026] Gripping device in open or closed state,

[0027] Figures 6 and 7 show a modified embodiment of a gripping device compared to the solution according to Figures 4 and 5 and a partial section relating to a gripping device according to Figures 1 to 3. The gripping device shown in Figure 1 with its front view has two gripping arms or gripping jaws 10, 12, which are essentially structurally identical. The respective gripping jaw 10, 12 is movably hinged to a support device designated as a whole by 14. Furthermore, a drive device designated as a whole by 16 serves to move the respective gripping jaw 10, 12 relative to the support device 14. The respective gripping jaw 10, 12 has a movable gripping structure 18 with an outer structure 20 for absorbing compressive forces and with an inner structure 22 for absorbing tensile forces.The respective inner structure 22 is adjacent to a gripping space 24, which, in the unactuated initial position according to Figure 1, is tapered toward the upper end of the support device 14. Furthermore, individual arcuate coupling links 26 of different lengths are provided, which are arranged in pairs in a functional plane and are each movably connected to the inner structure 22 and the outer structure 20. Both the inner structure 22 and the outer structure 20 terminate in a common base 28 of a predetermined length, which is designed like a rocker and pivotally mounted on a pivot axis 30 on the support device 14. The respective initial state according to Figures 1 to 3, in which the gripping device is unactuated, corresponds to the schematic diagram according to Figure 4.

[0028] The respective gripping structure 18 tapers towards its free end 32, which is lower as viewed in the direction of the figures, and at this free end 32 the outer structure 20 is pivotally connected to the inner structure 22 via a connecting axis 34. The outer structure 20 is further formed from individual structural members 36 which, in pairs adjacent to one another, are also pivotally connected to one another along connecting axes 34. As can be seen further from Figure 1, the respective structural member 36 is formed from a pair of connecting webs 38 running parallel to one another, each of which has a connecting axis 34 passing through it at its end at a predeterminable axial distance from one another, wherein the respective connecting axis 34 between two adjacent structural members 36 serves for the articulated engagement of pairs of coupling members 26 which span the space 40 between the outer structure 20 and the inner structure 22 like a bridge at the edge.

[0029] The inner structure 22 has an outer skin in the form of a single- or multi-layer band 42, which is articulated to the pairs of coupling links 26 by means of additional connecting axes 44, comparable to the one connecting axes 34, which in this respect establish the tensile-resistant connection between the outer structure 20 and the inner structure 22. Fabric bands or belts can preferably be used as the band 42. These bands, when sewn or glued together, leave pocket-like recesses through which the additional connecting axes 44 can be inserted. All structural members 36 and coupling links 26, as well as the connecting axes 34 and 44, are made of solid metal materials or plastic. Since the coupling links 26 primarily absorb tensile forces, they can also be designed as fabric bands or belts.

[0030] As Figure 6 shows in particular, the base 28 has a main body 29 with two long sides in the form of two webs 31 running parallel to one another, which are pivotally connected at one of their free ends to the support device 14 via the pivot axis 30 and which are pivotally connected at their other free end to a connecting axis 34 of a pair of connecting webs 38 of a structural member 36 following the base 28. The main body 29 consists of a flat plate which extends between the two webs 31 of equal length and passes through them approximately centrally and is accordingly fixed within the scope of this passage. In this way, the base 28 is designed in an H-shape and, in an outwardly facing extension of the plate-shaped main body 29, the adjacent return spring 96 is pivotally connected at its free end to connection points (not shown).Viewed in the direction of Figure 6, first deflection rollers 58 are arranged in pairs opposite one another in the extension of the upper connecting axis 34 for the base 28, which will be discussed in more detail below.

[0031] As further shown in Figure 6, the pivotably arranged base 28 defines a fictitious plane 33, wherein the connecting axes 34 and the further connecting axes 44, which are each pivotably connected to one another in pairs by a pair of coupling members 26, each define a further fictitious plane 35. In the unactuated state of the respective gripping jaw 10, 12, as shown in Figure 6 for the gripping jaw 12, the further fictitious planes 35 shown form an angle of attack a of preferably 10° with the fictitious plane 33 of the base 28. This angle of attack a lies outside the figure sheet and results from the merging of the respective fictitious plane 33 with the respective further fictitious plane 35.

[0032] When a compressive force is applied to the outer structure 20 of the respective gripping jaw 10, 12 by means of the drive device 16 by pivoting the base 28 about the pivot axis 30 of the support device 14 in the direction of the free end 32 of the gripping structure 18, the inner structure 22 arches around a pressure region 46 of a predeterminable size and the free gripping space 24 is narrowed towards the surroundings and towards the respective free end 32 in order to hold the item 48 to be gripped. The gripping or holding process in question is illustrated in Figure 5 for an item 48 with a circular cross-section, in which, starting from the starting position according to Figure 4, the opposing pressure regions 46 of gripping jaws 10, 12 come into contact with the item 48. For this purpose, the base 28 of the gripping jaw 10 pivots clockwise as viewed in the direction of the figures and the gripping jaw 12 pivots counterclockwise.As can be seen particularly from Figure 7, a stop 37 is provided at least on one of the two long sides of the base 28 in the form of webs 31 in the direction of its connecting axis 34 for a pair of subsequent connecting webs 38 of a structural member 36. This stop 37 consists of a stop pin projecting beyond the web 31, which is firmly attached to a widened portion 43 of the web 31 shown. Accordingly, the connecting axis 34 for the uppermost pair of connecting webs 38 is arranged between the respective stop 37 and the plate-shaped base body 29. In this respect, Figure 7, viewed in the direction of Figure 6, shows the plane behind it with the associated base 28. Any further stop on the front base 28 according to Figure 6 would accordingly protrude into the plane of the drawing if arranged coaxially with the pin-shaped stop 37 shown in Figure 7.If, further viewed in the direction of Figure 7, the connecting web 38 shown, or a pair of connecting webs 38, is pivoted clockwise, after a predeterminable pivot angle ß, the respective connecting web 38 abuts the stop 37 with its outer side on the left, so that the pivoting movement for the entire movement mechanism of the respective gripper arm, here gripper arm 12, is limited outwards. This has the advantage that the structural element arrangement cannot be pivoted so far outwards that the functionality of the respective gripper arm 10, 12 would be impaired.

[0033] The stop limitation in this regard also has the advantage that when a gripping arm 10 or 12 is placed in accordance with Figure 6, it is retracted or deflected inwards along its free lower tip in the direction of the gripping space 24, so that when the gripping arms 10, 12 bend or roll up, they come into horizontal support with their respective outer connecting webs 38 in the circumference of a respective structural member 36, so that in this way the gripping device as a whole can be placed on a surface, such as a floor, in a space-saving manner (not shown).

[0034] The aforementioned pivot angle ß, which should preferably be 135°, is enclosed between a fictitious extension 39 of the base 28 and a further fictitious extension 41 of the connecting web 38 hinged to the base 28. The fictitious extension 39 is formed by a central axis of the base 28, which runs along the outer central axis for the main body 29. The further fictitious extension 41 is formed by a central axis that passes through two adjacent connecting axes 34, between which the upper connecting web 38 extends. It is understood that the aforementioned pivot angle ß also exists on the opposite side between the base 28 and the adjacent connecting web 38; again, including the aforementioned fictitious extensions 39, 41.

[0035] For the movement of the gripping jaws 10, 12 from their starting position according to Figure 4 into the actuated gripping position according to Figure 5, the drive device 16 has a cable drive 50 with individual control cables 52 of equal length.

[0036] As Figure 2 shows in particular, the respective control cable 52 is fixed with its one free end 54 to a fixed point 56 of the support device 14. Starting from this fixed point 56 in the form of a transverse web 57, the respective control cable 52 then extends around the first deflection pulley 58 when the direction is reversed and then, again with the direction being reversed, around a second deflection pulley 60. After passing the second deflection pulley 60, the respective control cable 52 is guided with its other free end 64 in the direction of a shaft, in particular winding shaft 62, and is fixed in a stationary manner in a disk-shaped wheel body 66 which is firmly seated on the winding shaft 62, which in turn can be rotated clockwise by means of an attachable handle 68 for winding up part of the control cable 52.

[0037] As further shown in Figure 2, the wheel body 66 has individual locking pawls 70 on its outer circumference, which can be brought into releasable engagement with a locking lug 72, which is held in locking engagement with an adjacent locking pawl 70 of the wheel body 66 by means of a force device 74, preferably using spring force. However, if the handle 68 is turned clockwise by hand, as viewed in the direction of the figures, the winding shaft 62 and the attached wheel body 66 also rotate clockwise. The sawtooth-like locking pawls 70 on the outer circumference of the wheel body 66 thereby lift the spring-loaded corresponding locking lug 72, which then automatically engages a sawtooth undercut preceding in the rotation sequence, thus preventing an opposite movement of the shaft 62, i.e., counterclockwise.In this way, only the respective control cable 52 is wound up, which is thus shortened in its free length. However, if the aforementioned locking device 70, 72 is released, the control cable 52 can be unwound from the shaft 62 again, which then assumes its initial position shown in Figures 1 to 4, which will be explained in more detail below. In a preferred embodiment, the locking disc and cable drum are separate components.

[0038] The two rotatably guided deflection pulleys 58, 60 for each control cable 52 form a type of deflection gear, wherein, viewed in the direction of the figures, the lower second deflection pulley 60 maintains its position on the support device 14, for which purpose it is fixed stationary on the support device 14 with its rotation axis 75. In contrast, the upper, or first deflection pulley 58 is fixed to the base 28 or rocker arm, specifically at a point opposite the pivot axis 30, so that as the respective control cable 52 shortens, the upper first deflection pulley 58 moves in the direction of the lower second, stationary deflection pulley 60, which is particularly evident from the illustrations in Figures 4 and 5.During the downward deflection pulley movement, the first deflection pulley 58 exerts a compressive force on the outer structure 20, and the inner structure 22 is also inevitably subjected to a tensile force, so that the two gripping jaws 10, 12 assume their gripping position as shown in Figure 5. To minimize wear on the respective control cable 52 during its tensile actuation by means of the handle 68 and the winding shaft 62, the respective deflection pulleys 58, 60 are rotatably mounted on the support device 14 and on the outer structure 20. Furthermore, the tensile actuation for the respective control cable 50 is indicated by arrows in Figure 5.

[0039] For each gripping jaw 10, 12, at least one independent cable drive 50 is provided as described, and for a uniform force introduction, a corresponding cable drive 50 is provided in pairs opposite each other on both the front and rear of the gripping device, so that a total of four cable drives 50 with four control cables 52 and four pairs of deflection pulleys 58, 60 are used on one gripping device. For pivoting the first, upper deflection pulley 58, this is in turn articulated to the gripping structure 18 by means of a rotation axis 75' in the region of an adjacent connecting web 38 of the uppermost structural member 36. In this respect, a wheel body 78 corresponding to the wheel body 66 is also provided for the rear pair of control cables 52, which wheel body fixes the adjacent cable ends 64 of a rear cable pair 52; Further locking pawls (not shown) are also provided in this area for the wheel body 78.Furthermore, the disc-shaped wheel body 78 is driven synchronously with the wheel body 66, namely by actuating the winding shaft 62 by means of the attached handle 68. Furthermore, the winding shaft 62 is mounted in two eager blocks 79 of the support device 14, wherein the respective wheel bodies 66 and.

[0040] 78 protrude outwards.

[0041] The locking lug 72, which is shown in more detail in Figure 2 for the front wheel body 66, is articulated on a locking bridge 80 with the further, identically designed locking lug for the rear wheel body 78, wherein the locking bridge 80 extends essentially parallel to the longitudinal axis of the winding shaft 62 in an arc shape and which is used by means of a manually operable lifting device 82 against the spring action of the power device 74 to bring the respective locking lug 72 into a defined and simultaneous disengagement with the respectively assignable locking pawl 70 of both wheel bodies 66, 78. A manually operable hand lever 84 is used for this purpose, which is pivoted clockwise (as viewed in the direction of Figure 2) on the support device 14 and pulls an engagement hook 86 upwards, which in the process takes the locking bridge 80 along via an associated slotted guide 85 and releases the locking.Once the locking mechanism has been released, the gripping jaws 10, 12 can again be freely moved from their actuated position according to Figure 5 to their starting position according to Figure 4, releasing the previously transported and fixed goods 48.

[0042] For such lifting and other handling operations, the support device 14 has a thimble 88 at its uppermost point for securing the gripping device as a whole to a conventional load or crane hook (not shown). Otherwise, the support device 14 is provided with brackets 90 as handles for pivoting and other handling of the gripping device, as well as with protective covers 92 that protect the movable parts of the gripping device.

[0043] For an improved return movement from the gripping position according to Figure 5 to the release position according to Figure 4, this can be supported by a return device 94 which has a return spring 96 for each pair of cable drives 50, which is tensioned when the two gripping jaws 10, 12 are moved in the direction of the gripping or securing position according to Figure 5 and when the locking device is released by disengaging the respective locking lug 72 from the respective adjacent locking pawl 70, the gripping jaws 10, 12 pivot back into their starting position according to Figure 4, wherein for this purpose the respective return spring 96 is articulated with one free end in the upper region 97 of the carrying device 14 and with its other free end at a pivot point 98 which is arranged in the central region 100 of the pivotable base 28.

[0044] The gripping device according to the invention is characterized in any case by the fact that the outer skin in the form of the outer structure 20 consists of torsion- and bending-resistant elements, be it in the form of H-elements or struts, in order to be able to dissipate the compressive forces occurring during the gripping process. The connecting lamellae in the form of the coupling links 26 are also designed to be rigid and thus tensile-resistant. The inner skin in the form of the inner structure 22 is preferably realized using a flexible material, be it in the form of a fabric belt 42 or as a belt construction. The respective gripping jaw 10, 12 is driven, as already explained, via a rotation of the base 28 or rocker, wherein the rotation axis in the form of the pivot axis 30 is arranged parallel to the gripping plane. Importantly, both the inner skin and the outer skin are rotatably suspended on this base 28 in the form of the inner structure 22 and the outer structure 20, respectively.

Claims

Patent claims 1. Gripping device comprising at least one multi-element gripping jaw (10, 12) which is movably coupled to a support device (14) and having a drive device (16) for moving the respective gripping jaw (10, 12) relative to the support device (14), characterized in that the respective gripping jaw (10, 12) has a movable gripping structure (18) with an outer structure (20) for absorbing compressive forces and with an inner structure (22) for absorbing tensile forces, which is adjacent to a gripping space (24), and in that individual coupling members (26) are provided, which are each movably coupled to the inner (22) and outer structure (20), which open into a common base (28) of predeterminable length, which is pivotally mounted on a pivot axis (30) on the support device (14).

2. Gripping device according to claim 1, characterized in that the gripping structure (18) tapers towards its free end and that at this free end (32) the outer (20) and the inner structure (22) are connected to one another in an articulated manner.

3. Gripping device according to claim 1 or 2, characterized in that at least the outer structure (20) is formed from individual structural members (36) which are pivotally connected to one another along connecting axes (34).

4. Gripping device according to one of the preceding claims, characterized in that the respective structural member (36) is formed at least from a pair of connecting webs (38) running parallel to one another, which are arranged at a predeterminable distance from one another at the end of at least one of the connecting axes (34) are penetrated, and that the respective connecting axis (34) between two adjacent structural members (36) serves for the articulated engagement of pairs of coupling members (26) which span the space (40) between the outer (20) and inner structure (22) in a bridge-like manner at the edge.

5. Gripping device according to one of the preceding claims, characterized in that the inner structure (22) has an outer skin in the form of a single- or multi-layer band (42) which is connected in an articulated manner by means of further connecting axes (44) to the pairs of coupling members (26) which establish the tensile-resistant connection between the outer (20) and inner structure (22).

6. Gripping device according to one of the preceding claims, characterized in that the base (28) has a main body (29) with two longitudinal sides, preferably in the form of two webs (31) running parallel to one another, which are pivotally connected at one of their free end regions to the support device (14) via the pivot axis (30) and which are pivotally connected at their other free end region to a connecting axis (34) of a pair of connecting webs (38) of a structural member (36) following the base (28).

7. Gripping device according to one of the preceding claims, characterized in that the pivotably arranged base (28) spans a fictitious plane (33), that the connecting axes (34) and the further connecting axes (44), which are each pivotably connected to one another in pairs by a pair of coupling members (26), each span a further fictitious plane (35), and in the unactuated state of the respective gripping jaw (10, 12), at least some of the further fictitious planes (35) enclose an angle of attack a of 5° to 30°, preferably of 5° to 15°, particularly preferably of 10°, with the fictitious plane (33) of the base (28).

8. Gripping device according to one of the preceding claims, characterized in that when a compressive force is applied to the outer structure (20) of the gripping jaw (10, 12) by means of the drive device (16), by pivoting the base (28) about the pivot axis (30) of the support device (14) in the direction of the free end (32) of the gripping structure (18), the inner structure (22) arches around a pressure area (46) of a predeterminable size and narrows the free gripping space (24) for the purpose of holding the goods (48) to be gripped.

9. Gripping device according to one of the preceding claims, characterized in that at least on one longitudinal side of the base (28) in the direction of its connecting axis (34) for a pair of subsequent connecting webs (38) of a structural member (36) there is a stop (37) which limits the pivoting movement of at least one gripping arm (10, 12), preferably to a pivoting angle ß of 135°, which is enclosed between a fictitious extension (39) of the base (28) and a further fictitious extension (41) of the connecting web (38) hinged to the base (28).

10. Gripping device according to one of the preceding claims, characterized in that the drive device (16) has a cable drive (50) with at least one control cable (52) which, for the gripping process, pivots the base (28) of the gripping jaw (10, 12) about the pivot axis (30) on the support device (14) under traction force. 1 1. Gripping device according to one of the preceding claims, characterized in that the respective control cable (52) is stationary at its one free end (54) articulated to the support device (14) and can be wound up with its other free end (64) by means of a shaft (62) in a rewindable manner and that between the free ends (54, 64) of the respective control cable (52) it is guided over individual deflection rollers (58, 60), of which one deflection roller (58) acts on the base (28) for the purpose of initiating the pivoting movement of the base (28) about the pivot axis (30) on the support device (14) by actuating the cable drive (50) to bring about a gripping process.

12. Gripping device according to one of the preceding claims, characterized in that after release of the shaft (62) by means of a release device (82), the respective gripping jaw (10, 12) can be reset from its respective gripping state towards its initial state by means of a reset device (94).

13. Gripping device comprising at least one multi-membered gripping jaw (10, 12) which is movably articulated on a support device (14) and having a drive device (16) for moving the respective gripping jaw (10, 12) relative to the support device (14), characterized in that the drive device (16) has a cable drive (50) with at least one control cable (52) for carrying out a gripping process in which the respective gripping jaw (10, 12) is pivoted about a pivot axis (30) on the support device (14) by means of a pulling force.

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