# US 11,992,937 B2 · Gripping tool usable on a manipulator device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,937 B2 - Document ID: US11992937B2 - Status: Granted - Kind: B2 - Application number: 17/552,452 - Filed: 2021-12-16 - Published: 2022-06-23 - Granted: 2024-05-28 - Earliest claimed: 2020-12-17 - Assignees: C.R.F. Societa Consortile per Azioni - Applicants: C.R.F. Società Consortile per Azioni - Inventors: Alessandro Cisi; Giorgio Pasquettaz; Giovanni Campobasso; Massimo Martorelli; Claudio Marcello; Giuseppe Perrotta - Web page: https://patentgrep.com/patent/US11992937B2 ## CPC - B25J 15/0061: {mounted on a modular gripping structure} - B25J 19/007: {Means or methods for designing or fabricating manipulators} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A gripping tool, usable on a manipulator device for picking up and handling items includes a support frame extending along a first axis, provided with an attachment element for connecting to the manipulator device; and a plurality of gripping devices distributed in assemblies. Each assembly is carried by a respective auxiliary frame connected to the support frame by means of respective connecting members configured to be able to adjust the auxiliary frames and the gripping devices in position with respect to the support frame. ## Claims ### Claim 1 A gripping tool, usable on a manipulator device for picking up and handling items, said gripping tool comprising: a support frame extending along a first axis, provided with an attachment element for connecting to the manipulator device, a plurality of gripping devices distributed in assemblies, each assembly including one or more gripping devices, wherein each assembly is carried by a respective auxiliary frame connected to the support frame by means of respective connecting members configured for adjusting the auxiliary frames and the gripping devices in position with respect to the support frame, wherein said respective connecting members comprise an anchoring ring attached to the support frame, so as to be adjustable in position along said first axis, wherein said respective connecting members also comprise an angular bracket comprising: a base portion coupled to a respective anchoring ring, by means of a connecting element, and a vertical portion mounted to a respective auxiliary frame, in such a way as to allow for adjusting each auxiliary frame in a given position with respect to said vertical portion, by rotating the auxiliary frame around an axis perpendicular to a plane defined by the vertical portion of the angular bracket, and wherein the gripping devices of each assembly are made at least partially by means of an additive manufacturing technology. ### Claim 2 (depends on 1) The gripping tool according to claim 1, wherein each set of connecting elements and angular brackets associated with respective connecting members is adjustable in position with respect to the anchoring ring, by rotating the connecting element and the bracket associated therewith, around an axis perpendicular to the first axis of the frame, passing through a plane defined by a portion of the ring on which said connecting element is mounted. ### Claim 3 (depends on 1) The gripping tool according to claim 1, wherein said support frame is a tubular member with an elliptical cross-section, made of composite material, including a matrix. ### Claim 4 (depends on 3) The gripping tool according to claim 3, wherein the matrix comprises a matrix of plastic material, reinforced with fibers, including carbon fibers. ### Claim 5 (depends on 1) The gripping tool according to claim 1, wherein the gripping devices of each assembly comprise a plurality of arms on which at least one connecting block is mounted for connecting support devices arranged to support the gripping devices, said plurality of arms of each assembly extending from a connecting flange connected to a terminal end of a respective auxiliary frame. ### Claim 6 (depends on 5) The gripping tool according to claim 5, wherein said plurality of arms and said at least one connecting block are made by means of an additive manufacturing technology. ### Claim 7 (depends on 1) The gripping tool according to claim 1, wherein said auxiliary frames are tubular members made of composite material, having an elliptical-shaped cross-section. ### Claim 8 (depends on 1) The gripping tool according to claim 1, wherein each anchoring ring carries a pair of auxiliary frames. ### Claim 9 (depends on 1) The gripping tool according to claim 1, wherein each anchoring ring comprises a first portion and a second portion rigidly connected to each other, and wherein at least the first portion has a series of cavities and a central hole, to allow connection of the respective auxiliary frame by means of said connecting element. ### Claim 10 (depends on 1) A method for using a gripping tool according to claim 1, wherein the gripping tool is associated with a manipulator device, and is used to pick up an item and to position it in a correct assembly position above a fixed apparatus of an assembly station, wherein, prior to the use of the tool, a preliminary calibration is performed comprising the following steps: adjusting the anchoring rings in position along the first axis of the support frame, adjusting each auxiliary frame in position with respect to said vertical portion, by rotating the auxiliary frame about an axis perpendicular to the plane defined by said vertical portion of the angular bracket, and adjusting each set of connecting elements and angular brackets associated with respective connecting members in position with respect to the anchoring ring, by rotating the connecting element and the angular bracket associated therewith around an axis perpendicular to the first axis of the support frame, passing through a plane defined by a portion of the ring on which the connecting element is mounted.