Gripper device

Abstract

The invention relates to a gripper device system (1) comprising the following components: a base body (2), at least two rotary body assemblies (10), each rotary body assembly (10) comprising a first rotary body (3) and a second rotary body (4), wherein each first rotary body (3) comprises a first axis of rotation (r1) about which the first rotary body (3) is rotatable relative to the base body (2), and each second rotary body (4) comprises a second axis of rotation (r2) about which the second rotary body (4) is rotatable relative to the first rotary body (3) of the respective rotary body assembly (10), wherein the second axis of rotation (r2) of the second rotary body (4) is arranged eccentrically relative to the first axis of rotation (r1) of the first rotary body (3) of the respective rotary body assembly (10), wherein the system (1) comprises a connection device (5) for each second rotary body (4), wherein the connection device (5) is adapted to at least partially form or to have attached to it a gripper finger (6), wherein each connection device (5) comprises a torque-receiving section (7) at which a gripper finger (6) is attachable or at which a gripper finger (6) extends from, wherein the torque-receiving section (7) is arranged eccentrically with respect to the second axis of rotation (r2) of the respective second rotary body (4), and wherein the torque-receiving section (7) is adapted to receive a torque with respect to the second axis of rotation (r2) when gripping an object with the gripper device system (1), wherein the gripper device system (1) further comprises a first drive assembly (9-1) adapted to rotate each first rotary body (3) around its first axis of rotation (r1), wherein the gripper device system (1) comprises a second drive assembly (9-2) adapted to rotate each second rotary body (4) around its second axis of rotation (r2),, wherein the first and second drive assemblies (9-1, 9-2) are arranged to rotate the first rotary bodies (3) and the second rotary bodies (4) of the rotary body assemblies (10) independently of each other so that each torque-receiving section (7) performs a rectilinear translational motion (M1), when the first and second rotary bodies (3, 4) are rotated accordingly.

Dependencies are inferred from the claim text.