Gripper device and module for its construction

Gripper device for gripping items, objects or bodies to be handled or moved, comprising a supporting body (11, 11a) with a geometric axis (X) and having an axial bore (13), a proximal part (14), a distal part (15), characterized in that said supporting body has, around said geometric axis, a plurality of housings (16, 16a) parallel to each other, angularly separated and each having a radial cleft (18, 18a) that extends longitudinally for a length of its depth, and in that in said housings (16, 16a) are housed a same number of gripper modules (12, 12a) each one including a flexible arch shaped prehensile element (21, 21a) having an extrados or convexity in line with said radial cleft (18, 18a) and susceptible to relaxation and compression/contraction, and in that said gripper modules (12,12a) are simultaneously activated by means of actuation means (20, 23) so that all the prehensile elements (21, 21a) are movable between a relaxed rest condition, in which their extradoses are defilated in the respective clefts (18, 18a), and a compressed/contracted work condition, in which their extradoses protrude from said radial clefts (18, 18a) to engage from time to time the item, object or body to be gripped, said actuation means comprising at least one spring (23) to maintain the rest position and an actuator piston (20) to set the work position of each prehensile element.