Gripper for a manipulator, especially for an industrial robot

摘要

The gripper, which is suitable for securely gripping cylindrical parts or the cylindrical ends (19) of parts, has a gripper housing (1) in which a slide (6) designed as a flat surface joint is arranged. A centering bell (20), which is open at the bottom and merges into a receiving bore (21), is located in the slider (6). If the gripper housing (1) is now lowered onto the essentially vertically aligned cylindrical end (19) of a part, there is a reaction force (R) with a horizontal component (Rh) and a corresponding horizontal force exerted on the centering bell (20) Displacement of the slider (6) an automatic position correction, after which the cylindrical end (19) enter the receiving bore (21) and can be tensioned there with the aid of a tendon. The tendon is preferably actuated by a toggle lever drive arranged in the slide (6).