초록 ▼

A gripper for grasping and handling textiles and other flexible materials includes an external body housing a driving unit, which actuates a plurality of sliding elements moving away and approaching symmetrically; and a plurality of gripping members, each connected to one of the sliding elements by

A gripper for grasping and handling textiles and other flexible materials includes an external body housing a driving unit, which actuates a plurality of sliding elements moving away and approaching symmetrically; and a plurality of gripping members, each connected to one of the sliding elements by a first transmission group that includes a kinematic chain with levers that invert motion such that, during the approaching of the sliding elements, the gripping members move away from each other, and during the distancing of the sliding elements, the gripping members approach each other.

대표청구항 ▼

1. A gripper comprising: an external body (1);at least one driving unit housed within the external body, said driving unit actuating at least two sliding elements (11) according to a translational movement, such that said sliding elements (11) move away from and approach each other symmetrically wit

1. A gripper comprising: an external body (1);at least one driving unit housed within the external body, said driving unit actuating at least two sliding elements (11) according to a translational movement, such that said sliding elements (11) move away from and approach each other symmetrically with respect to a longitudinal mid-plane (A) of the gripper, passing from a maximum mutual approach condition to a maximum mutual spacing condition;at least two gripping members (21, 22) each connected to one of the sliding elements (11),wherein each of the gripping members (21, 22) is connected to one corresponding sliding element (11) through a first transmission group causing a translation movement from the sliding elements (11) to the gripping members (21, 22), andwherein the first transmission group comprises a kinematic chain (31, 32, 33 e 34) having levers that invert motion, such that, during the approaching condition of the sliding elements (11), the gripping members (21, 22) move away from each other and, during the spacing condition of the sliding elements (11), the gripping members (21, 22) approach each other, being the mutual spacing and approaching of the gripping members (21, 22) performed with respect to the longitudinal mid-plane (A); anda biasing element (5), positioned between the sliding elements (11), the biasing element (5) having a maximum compression condition corresponding to the maximum approach condition of the sliding elements (11), and a condition of maximum extension corresponding to the condition of maximum spacing of the sliding elements (11). 2. The gripper according to claim 1, further comprising a second transmission group positioned between the first transmission group and the two gripping members (21, 22), the second transmission group being connected to the first transmission group through revolute joints, such that the second transmission group has a rotation with respect to the first transmission group according to an axis parallel to the longitudinal mid-plan (A). 3. The gripper according to claim 2, wherein the second transmission group comprises a kinematic chain (41, 42 e 43) having levers providing for a relative motion between the gripping members (21, 22) at least in a direction parallel to the longitudinal mid-plane. 4. The gripper according to claim 3, wherein the levers of the first transmission group and the levers of the second transmission group are co-planar along a pivoting plane (B), causing their respective pivoting axis to be parallel to each other, perpendicular to the pivoting plane (B), and parallel to the longitudinal mid-plane (A), and wherein the second transmission group is operatively connected to the external body (1) through a support frame (12). 5. The gripper according to claim 4, wherein the second transmission group comprises two symmetrical parts with respect to a plane perpendicular to the longitudinal mid-plane (A), each part having a sixth (41), a seventh (42) and an eighth (43) bracket, such that the seventh bracket (42) has two extremities connected respectively to one extremity of the sixth bracket (41) and one extremity of the eighth bracket (43), wherein the sixth bracket (41) is connected in rotation to the support frame (12) and the eighth bracket (43) is connected in rotation to an output bracket (34) of the first transmission group, and wherein the gripping members (21, 22) are respectively connected to the sixth bracket (41) and the eighth bracket (43). 6. The gripper according to claim 5, wherein the first transmission group comprises two symmetrical parts with respect to a plane perpendicular to the longitudinal mid-plane (A), each of the two symmetrical part comprising a first bracket (31) and a second bracket (32) of motion input of the sliding elements (11) that are opposed to each other, each of each of the first and second brackets being fixed to one of the two sliding elements (11), the first bracket (31) being connected to a third bracket (33) linked from its end to a fourth bracket (34) of motion output, the fourth bracket (34) of motion output being linked to the second bracket (32) of motion input, such that the fourth bracket (34) of motion output rotates with respect to the second bracket (32) along a rotation axis perpendicular to the pivoting plane (B). 7. The gripper according to claim 6, wherein the second transmission group comprises at least one elastic element (6) connected to the seventh bracket (42) and to the support frame (12) configured to regulate a relative motion between the gripping members (21, 22). 8. The gripper according to claim 6, further comprising an actuator located between the second transmission group and the support frame (12), the actuator being configured to regulate a relative motion between the gripping members (21, 22). 9. The gripper according to claim 1, wherein the gripping members (21, 22) comprise a first plate extending with a specific inclination with respect to the longitudinal mid-plane (A) and a second plate having a first part (221) extending toward the first plate, the first part being connected to a second part (222) that has an inclination different to the inclination of the first part (221) with respect to the longitudinal mid-plane (A), such that during the approaching condition of the gripping members (21, 22) the second part (222) is parallel to the first plate. 10. The gripper according to claim 9, wherein the second part (222) comprises a plate folded on itself. 11. The gripper according to claim 1, wherein the two gripping members (21, 22) include a contact sensor, placed in a contact area of the gripping members.