Gripper device for handling flexible elements

The invention relates to a gripper device for handling flexible elements, which can be connected to a robot arm as an end effector, and which includes a main frame (14, 15, 17, 18, 19, 20, 24, 25) and a plurality of gripping elements (1 - 9) connected to the main frame by means of respective actuati...

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Bibliographic Details
Main Authors BELOKI ZUBIRI OIHANE, IRASTORZA ARREGUI XABIER, ESTENSORO ASTIGARRAGA FRANCISCO JOSE, SEGURA MORENO MIGUEL, COLLADO JIMENEZ VALENTIN, MEZZACASA LASARTE RICCARDO, GARCIA MARTINEZ JOSE RAMON
Format Patent
LanguageChinese
English
Published 08.01.2014
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention relates to a gripper device for handling flexible elements, which can be connected to a robot arm as an end effector, and which includes a main frame (14, 15, 17, 18, 19, 20, 24, 25) and a plurality of gripping elements (1 - 9) connected to the main frame by means of respective actuation mechanisms (1 a-1f; 2a-2e; 3a- 3f; 4a-4g; 5a-5d; 6a-6g; 7a-7f; 8a-8e; 9a-9f) to grip a flexible element (10), wherein said device is characterized in that it includes at least four gripping elements (1-9) for gripping the flexible element (10), wherein at least one gripping element (5) is a multi-position gripping element that can move independently with respect to the other gripping elements (1 -4, 6-9) in at least one direction parallel to the plane defined by the other gripping elements (1 -4, 6-9) by means of a movement system (16, 38, 39, 40, 41, 42, 45) mounted on the main frame (14, 15, 17, 18, 19, 20, 24, 25) and in a direction perpendicular (Z) to said plane by means of a vertical coupling (5b); and at
Bibliography:Application Number: CN201080071240