Gripper for picking up and carrying tubular objects - has gripper elements supported on base frame with lever arms

摘要

The gripper has several elements which grip the object internally or externally. The gripper elements (21-26) are each supported by an outer lever (9-14) with bearings (3-8) on a ring-shaped base frame (2). The bearing pins (3-8) are distributed around the circumference at the base of the base frame (2). An inner lever (15-20) is fixed to each bearing pin (3-8) which is so connected to a servo link (45) that similar gripper elements can be moved either in the same direction and simultaneously concentrically to the gripper middle or outwards.