| 摘要 |
The present invention relates to a gripping device that comprises two gripping fingers (6, 8, 106, 108) which can be displaced away from or towards each other using a piezo-electric control, wherein said device is improved in the reproducibility of the gripping characteristic as well as in the universal application. To this end, the gripping fingers (6, 8, 106, 108) are essentially rigid, wherein one at least of said fingers is articulated for carrying out the gripping function and can be pivoted in order to be displaced away from or towards the other finger. The device comprises an adjusting means (60, 160) in the form of a flexion actuator (62, 162) comprising a strip-shaped support (64, 164) as well as a piezo-electric material (58, 158) which is applied onto said support and stretches upon the application of an electric voltage. The adjusting means (60, 160) is mounted as a separate part relative to the gripping fingers (6, 8, 106, 108) and uses an intermediate part (52, 152, 153) for triggering the tilting of the pivoting gripping finger (6, 8, 106, 108). |
