# US 12,759,172 B2 · Gripping tool, a system and a clamping tool, an exchange station, and a method of handling objects using the system or clamping tool > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,172 B2 - Document ID: US12759172B2 - Status: Granted - Kind: B2 - Application number: 17/913,130 - Filed: 2021-03-22 - Published: 2023-05-11 - Granted: 2026-10-13 - Earliest claimed: 2020-03-20 - Assignees: Fynbo Technology A/S - Applicants: Fynbo Technology A/S - Inventors: Jens Fynbo - Web page: https://patentgrep.com/patent/US12759172B2 ## CPC - B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)} - B25J 9/0084: {comprising a plurality of manipulators} - B25J 15/083: {with means for locking the fingers in an open or closed position} - 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 The present invention relates to a gripping tool, a system, a clamping tool and a method of handling objects, where the gripping tool comprises a transmission mechanism arranged in a housing, wherein the transmission mechanism is coupled to a plurality of arms located outside the housing. One or more gripping elements are arranged on each arm. The gripping elements are releasable connected to the arm to enable a quick and easy repositioning and/or exchange of the gripping elements. An exchange station may be used to reposition or exchange the gripping element. ## Claims ### Claim 1 A gripping tool for handling objects in a process, comprising: a housing defining a longitudinal axis of the gripping tool, a drive mechanism arranged with the housing, an interface arranged at one end of the housing, the interface being configured to be coupled to a matching interface of a machine or to be arranged on a surface, a plurality of arms being arranged at an opposite end of the housing, each arm comprising at least one gripping element configured to be brought into contact with the object, each arm is configured to be rotated around a rotation axis, when activated by the drive mechanism, in or out of contact with an object in a radial plane perpendicular to the longitudinal axis, wherein each arm comprises a body extending from a first end to a second end and having a top side, a bottom side, a first side and a second side and wherein the at least one gripping element comprises a recess arranged in an external surface, wherein the recess is configured to engage a matching flange with complementary features on an exchange station, wherein each arm comprises one mounting position for the at least one gripping element arranged in the top side, wherein the at least one gripping element is releasably connected to that arm via a quick-release coupling. ### Claim 2 (depends on 1) The gripping tool according to claim 1, wherein each arm comprises a plurality of mounting positions for selectively positioning the at least one gripping element along a length of the arm. ### Claim 3 (depends on 1) The gripping tool according to claim 1, wherein the quick-release coupling comprises a first coupling part arranged on the arm and a second connecting part arranged on the at least one gripping element, wherein one of the first and second coupling parts comprises at least one locking element configured to interlock the first and second coupling parts relative to each other. ### Claim 4 (depends on 3) The gripping tool according to claim 3, wherein the quick-release coupling further comprises a release element configured to contact the least one locking element, where the release element is configured to move the at least one gripping element towards the locked or unlocked position upon activation. ### Claim 5 (depends on 1) The gripping tool according to claim 1, wherein the at least first gripping element is shaped as a finger or an elongated gripping element extending along at least a part of a length of the arm. ### Claim 6 (depends on 1) The gripping tool according to claim 1, wherein the at least first gripping element is configured to be operated within a full gripping range of the gripping tool while maintaining each arm in the same radial position relative to each rotation axis. ### Claim 7 (depends on 1) A system configured to handle objects in a process, comprising: a machine configured to process an object, the machine comprises at least one interface configured to be coupled to at least one tool, the at least one tool being a gripping tool according to claim 1, the machine further comprises an energy source for supplying power to the gripping tool and a controller configured to at least control the operation of the gripping tool. ### Claim 8 (depends on 7) The system according to claim 7, wherein the machine is a robot unit with at least one robotic arm, wherein the robotic arm extends from a base end to a free end, the matching interface being located at the free end of the robotic arm. ### Claim 9 (depends on 8) A method of handling objects in a process using a system according to claim 8, comprising the steps of: placing the gripping tool in an unloaded state; activating a release connection between the arm and a first gripping element to remove said first gripping element; repositioning said first gripping element in a second mounting position on the arm, and/or positioning a second gripping element in the first mounting position or in a second mounting position on the arm; and reconnecting the first or second gripping element to the arm by locking the release connection. ### Claim 10 (depends on 9) The method according to claim 9, wherein the method further comprises: said removing the first gripping element and said reconnecting the first or second gripping element is performed manually. ### Claim 11 (depends on 9) The method according to claim 9, wherein the method further comprises: said activating of the release connection is performed by moving the arm, e.g. axially, relative to an exchange station to bring the first gripping element into a holding position on the exchange station; repositioning the arm relative to the exchange station to align the first or second gripping element relative to the first or second mounting position on the arm, said reconnecting of the first or second gripping element is performed by further moving the arm, e.g. axially, relative to the exchange station to bring the first or second gripping element into the first or second mounting position on the arm. ### Claim 12 (depends on 1) A clamping tool configured to handle objects in a process, the clamping tool being configured to be arranged on a surface, the clamping tool comprising: a gripping tool according to claim 1, a local controller configured to control the operation of the gripping tool, wherein the local controller is electrically connected to at least one of a remote user interface or a local user interface, at least one of a local energy source or coupling elements configured to be connected to an external energy source, the local or external energy source being configured to supply power to the clamping tool. ### Claim 13 (depends on 12) The clamping tool according to claim 12, wherein the clamping tool further comprises an adaptor element having a bottom surface shaped to be arranged on the surface, the adaptor element further has a top surface configured to be coupled to or integrated into the interface of the gripping tool. ### Claim 14 (depends on 1) An exchange station configured to interact with the gripping tool according to claim 1, wherein the exchange station comprises: a support element, at least one holding element arranged on a top surface of the support element, the at least holding element being configured to engage a matching holding element on at least one gripping element. ### Claim 15 (depends on 14) The exchange station according to claim 14, wherein the at least one holding element is arranged in a recess in the top surface, wherein the recess is configured to receive a top end of the at least one gripping element. ### Claim 16 (depends on 14) The exchange station according to claim 14, wherein the support element is a base configured to be positioned on or fixed to a reference surface, or the support element comprises an interface configured to be coupled to a matching interface of a machine. ### Claim 17 (depends on 1) The gripping tool according to claim 1, wherein the complementary features include a recess that is complementary to the recess arranged in the external surface.