Gripper with bendable fingers and switching means

A robot gripper, comprising:

• a main gripper body;
• at least two gripper fingers, of which at least one is a movable gripper finger movably mounted on the main gripper body;
• at least one drive motor designed to move the at least one movable gripper finger;
• the at least one movable gripper finger comprising a kinematic chain of a plurality of successive finger elements which are adjustably mounted relative to one another;
• wherein a proximal finger element in the kinematic chain forms a finger root element;
• a distal finger element in the kinematic chain forms a fingertip element;
• at least one pulling means extending longitudinally along the kinematic chain of the respective finger elements is connected to the fingertip element and is designed to move the movable gripper finger from an open position into a closed position, and/or to bend the kinematic chain of finger elements in response to a pulling action on the pulling means;
• and
• a switching means which can be switched to and between a first switch position and a second switch position;
• wherein the switching means fully releases the pulling means in the first switch position, such that the movable gripper finger is pulled into its closed position and the kinematic chain of finger elements is also bent, in response to the pulling means being pulled;
• and
• wherein the switching means in the second switch position locks a section of the pulling means running along the kinematic chain of finger elements, such that the movable gripper finger is only pulled into its closed position, without the kinematic chain of finger elements being bent, in response to the pulling means being pulled.