# US 12,594,678 B2 · Device and method for gripping an object > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,678 B2 - Document ID: US12594678B2 - Status: Granted - Kind: B2 - Application number: 17/782,068 - Filed: 2020-11-17 - Published: 2023-01-12 - Granted: 2026-04-07 - Earliest claimed: 2019-12-11 - Assignees: Bayerische Motoren Werke Aktiengesellschaft - Applicants: Bayerische Motoren Werke Aktiengesellschaft - Inventors: Christian Auer; Claus-Peter Baumann; Alois Dobler; Martin Endres; Reinhold Hackl; Franz Korber; Martin Kuhn; Maximilian Rainer; Markus Sieber; Franz Stockner; Stefan Weinmann - Web page: https://patentgrep.com/patent/US12594678B2 ## CPC - B25J 15/0061: {mounted on a modular gripping structure} - B25J 15/04: with provision for the remote detachment or exchange of the head or parts thereof - B25J 15/103: {for gripping the object in three contact points} - B65G 47/905: {Control arrangements} - 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}) - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) ## Abstract A device for gripping an object includes a base element and at least two gripping arms held on the base element. The at least two gripping arms are movable relative to one another and the base element into a configuration suitable for gripping and picking up the object. Preferably at least three gripping arms are provided, with each arm being able to move independently of one another relative to the base element, and a sensor such as a camera provides signals to electronics which can determine the position of the at least three gripping arms and control movement of the gripping arms into position to grip and pick up the object. A method for gripping and picking up an object using the gripping device is also provided. ## Claims ### Claim 1 A device for gripping an object, comprising: a base element; and at least three gripping arms provided on the base element, the at least three gripping arms being configured to hold the object to be picked up, wherein the at least three gripping arms each are configured to be movable independently of one another relative to the base element, wherein a first gripping arm of the at least three gripping arms incudes a translation adjustment unit, a gripping element held on the translation adjustment unit, and an adjustment unit, wherein the translation adjustment unit extends perpendicularly to an axis of rotation of the first gripping arm, and the gripping element is configured to be movable along a longitudinal extension direction of the translation adjustment unit, and wherein the gripping element is configured to be moved toward or away from the translation adjustment unit via the adjustment unit. ### Claim 2 (depends on 1) The device according to claim 1, wherein the gripping arms are pivotable around respective axes of rotation relative to the base element. ### Claim 3 (depends on 2) The device according to claim 2, wherein the axes of rotation are arranged in parallel to one another. ### Claim 4 (depends on 1) The device according to claim 1, wherein the translation adjustment unit extends radially outwardly from a circumference of the base element. ### Claim 5 (depends on 1) The device according to claim 1, wherein the gripping element is movable toward or away from the base element along the longitudinal extension direction of the translation adjustment unit. ### Claim 6 (depends on 1) The device according to claim 1, wherein the gripping element is settable in its vertical distance from the translation adjustment unit. ### Claim 7 (depends on 1) The device according to claim 1, wherein the gripping element is movable relative to the translation adjustment unit in a direction that is in parallel to the axis of rotation of the first gripping arm. ### Claim 8 (depends on 1) The device according to claim 1, wherein the gripping element includes a quick change unit configured to receive a gripping tool via a quick-action closure. ### Claim 9 (depends on 1) The device according to claim 1, further comprising a detection unit configured to determine from a sensor signal detection of the object to be gripped; an electronic processing unit configured to receive detected object information from the detection unit and ascertain a relative position of the object to be gripped relative to the gripping arms; and a control unit configured to control the movement of gripping arms relative to the object to grip the object based on the ascertained relative position. ### Claim 10 (depends on 1) The device according to claim 1, further comprising: a fastening unit configured to fasten the device on a robot. ### Claim 11 A method for gripping an object, comprising: moving at least two gripping arms of at least three gripping arms held on a base element relative to the base element into a configuration at which the object may be gripped by the at least three gripping arms, wherein a first gripping arm of the at least three gripping arms incudes a translation adjustment unit, a gripping element held on the translation adjustment unit, and an adjustment unit, wherein the translation adjustment unit extends perpendicularly to an axis of rotation of the first gripping arm, and the gripping element is configured to be movable along a longitudinal extension direction of the translation adjustment unit, and wherein the gripping element is configured to be moved toward or away from the translation adjustment unit via the adjustment unit; and gripping the object with the at least three gripping arms, wherein the at least three gripping arms each are configured to be moved independently of one another relative to the base element.