The present invention relates to a gripper (1), in particular a pneumatically actuated gripper, with a housing (2), in which a preferably pneumatically actuable linear drive (6) is formed. The gripper also has first and second gripping jaws (10, 20), which are respectively mounted pivotably in relat
The present invention relates to a gripper (1), in particular a pneumatically actuated gripper, with a housing (2), in which a preferably pneumatically actuable linear drive (6) is formed. The gripper also has first and second gripping jaws (10, 20), which are respectively mounted pivotably in relation to the housing (2) about a pivot axis (D1, D2). The first and second gripping jaws (10, 20) are coupled to the linear drive (6) in such a way that a linear movement produced by the linear drive (6) is respectively converted into a pivoting movement of the first and second gripping jaws (10, 20) in an opening or closing direction of the gripping jaws (10, 20). In order to ensure reliable gripping, the first and second gripping jaws (10, 20) are coupled to one another by way of a synchronizing element (5) in such a way that, when the linear drive (6) is actuated, the pivoting movements of the first and second gripping jaws (10, 20) are synchronized.
대표청구항▼
1. A gripper (1), particularly a pneumatically actuated gripper, wherein the gripper (1) comprises the following: a housing (2) in which a preferably pneumatically actuable linear drive (6) is disposed; anda first and a second gripping jaw (10, 20), each mounted so as to be pivotable about a rotatio
1. A gripper (1), particularly a pneumatically actuated gripper, wherein the gripper (1) comprises the following: a housing (2) in which a preferably pneumatically actuable linear drive (6) is disposed; anda first and a second gripping jaw (10, 20), each mounted so as to be pivotable about a rotational axis (D1, D2) relative to the housing (2), wherein the first and second gripping jaws (10, 20) are coupled to the linear drive (6) such that a linear movement produced by the linear drive (6) is converted into a pivoting movement of the respective first and second gripping jaws (10, 20) in an opening or closing direction of said gripping jaws (10, 20), characterized in that the first and second gripping jaw (10, 20) are coupled together by means of a synchronizing element (5) such that upon actuation of the linear drive (6), the pivoting movements of the first and second gripping jaws (10, 20) are synchronized. 2. The gripper (1) according to claim 1, wherein the first and second gripping jaw (10, 20) are of mirror-symmetrical configuration with respect to a center longitudinal axis (M1) of the gripper (1). 3. The gripper (1) according to claim 1 or 2, wherein the synchronizing element (5) comprises a circular cylindrical section (5′), the longitudinal axis (L1) of which runs parallel to the rotational axes (D1, D2) of the first and second gripping jaws (10, 20). 4. The gripper (1) according to claim 3, wherein the longitudinal axis (L1) of the circular cylindrical section (5′) intersects the center longitudinal axis (M1) of the gripper (1) perpendicularly. 5. The gripper (1) according to claim 3 or 4, wherein a circularly segmented cut-out (11, 21) adapted to the diameter of the circular cylindrical section (5′) is respectively formed in the first and in the second gripping jaw (10, 20) into which the circular cylindrical section (5′) is or can be accommodated. 6. The gripper (1) according to claim 5, wherein the circular cylindrical section (5′) is removably accommodated in the two circularly segmented cut-outs (11, 21) of the gripping jaws (10, 20). 7. The gripper (1) according to any one of claims 3 to 6, wherein the longitudinal axis (L1) of the circular cylindrical section (5′) and the rotational axes (D1, D2) of the first and second gripping jaws (10, 20) lie in the same plane when the gripping jaws (10, 20) are in the closed state. 8. The gripper (1) according to any one of claims 1 to 7, wherein the first and second gripping jaw (10, 20) each exhibit a projection (12, 22) eccentrically disposed to the respective gripping jaw (10, 20) rotational axis (D1, D2) and facing the linear drive (6), by means of which a linear force is introduced into the respective gripping jaw (10, 20) upon the actuation of the linear drive (6). 9. The gripper (1) according to claim 8, wherein the projection (12, 22) formed on each of the first and second gripping jaws (10, 20) is of rounded configuration at least in the area in which force can be introduced into the gripping jaw (10, 20) by the linear drive (6). 10. The gripper (1) according to any one of claims 1 to 9, wherein the linear drive (6) comprises a working chamber (7) able to be pressurized by a preferably pneumatic pressurizing means and a piston displaceable in the working chamber (7) and which can move when acted upon by the pressurizing means, wherein the piston is or can be coupled to the first and the second gripping jaw (10, 20). 11. The gripper (1) according to any one of claims 1 to 9, wherein the linear drive (6) comprises a working chamber (7), able to be pressurized by a preferably pneumatic pressurizing means, which is at least partly of elastic configuration so that an elongating of the working chamber (7) occurs in the longitudinal direction of the gripper (1) when acted upon by the pressurizing means. 12. The gripper (1) according to any one of claims 1 to 11, wherein at least one return element (8) is provided which interacts with at least one of the two gripping jaws (10, 20) such that the at least one gripping jaw (10, 20) is moved into its direction of closing or opening when no linear force is being introduced into the gripping jaws (10, 20) by the linear drive (6). 13. The gripper (1) according to claim 12, wherein the at least one return element (8) comprises a tension or pressure spring (8′), the first end of which is connected to the first gripping jaw (10) and the second end of which is connected to the second gripping jaw (20). 14. The gripper (1) according to any one of claims 1 to 13, wherein the housing (2) is of jaw-shaped design and exhibits an upper as well as a lower housing side (3, 3′), between which the gripping jaws (10, 20) are pivotably accommodated. 15. The gripper (1) according to claim 14, wherein the first and second gripping jaw (10, 20) are each pivotably mounted relative to the housing (2) by means of a pivot pin (13, 23), wherein the pivot pin (13, 23) engages with corresponding receiving elements (14, 24) formed in the upper and/or lower housing side (3, 3′). 16. The gripper (1) according to claim 15, wherein the receiving elements (14, 24) provided in the upper and/or lower housing sides (3, 3′) are designed as through holes so that the pivot pins (13, 23) can be inserted/replaced in the gripper (1) from the outside. 17. The gripper (1) according to claim 16, wherein the through holes can be closed to the outside by a cover (4) which is preferably detachably connected to the housing side (3, 3′). 18. The gripper (1) according to claim 17, wherein the cover (4) is detachably connected to the housing side (3, 3′) by means of a bolted connection (9). 19. The gripper (1) according to any one of claims 1 to 18, wherein the synchronizing element (5) is at least partly made from plastic, particularly PEEK, POM or PPS (polyphenylene sulfide). 20. The gripper (1) according to any one of claims 1 to 19, wherein the synchronizing element (5) is at least partly made from ceramic material. 21. The gripper (1) according to any one of claims 1 to 20, wherein the gripping jaws (10, 20) are at least partly made from plastic, particularly PEEK, POM or PPS (polyphenylene sulfide).
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