Gripper with a hand stand comprises and with at least one relatively movable gripping jaw for hand stand comprises.

[0001] The present invention relates to a gripper with a hand stand comprises and with at least one relatively movable gripping jaw for hand stand comprises, wherein in the hand stand comprises a movable output member is provided along a drive path relative to the hand stand comprises, with which the gripper jaw is coupled for common movement in such a way that the gripper jaw then moves relative to the hand stand comprises, when said drive member is moved relative to the hand stand comprises.

[0002] A [...] Gripper is known, for example, from the US 2009/0 179 445 A1. This previously known model two gripper jaws are each attached to a part of the designated as "gripper head" pivoted about parallel axes grip arm rack. The two gripper jaws are coupled in each case via a further link with an axially movable actuator, wherein each of these links is articulated at one end on the adjusting member and with the other end against the respective gripper jaw. All in the shown embodiment, are parallel to the linkage points axes of rotation. By axial adjustment can thus be reduced or enlarged a grab gap between the gripper jaws.

[0003] Another Gripper is known from DE 20 2013,103,352 U2. This Gripper 2009/0179 445 A1 known from the US in its kinematics corresponds to the aforementioned gripper with the difference that the gripper jaws themselves are driven by an actuator for rotation about their respective articulation point, while the additional guiding mechanism at one end with the gripper head or about parallel axes of rotation and, at the other end with a respective one of the gripper jaws the hand stand comprises are rotatably coupled. The to the actuator is not only rotationally cooperating longitudinal end of the gripper jaws, but also translationally displaceable by the actuator, so that it by appropriate displacement of the actuator to an approximation of said gripping jaws each other or to a distance thereof comes from each other.

[0004] It is the purpose of the present invention, the known from the state of the art as regards their Manufacturing and to improve assembly expenditure gripper.

[0005] This task is solved in accordance with a gripper of the type named above, in which the gripper jaw is connected with the driving part by a bar tape, which operationally inserted about a bending axis, includes an angle with the drive track and a longitudinal direction of the the steering wheel volume, preferably a right angle, is flexurally resilient deformable.

[0006] Through the use of an industrial elastically deformable steering wheel volume can be saved a pivot point, rotatable about an axis of rotation to the link joint is provided a in the art. There, where in the art is therefore form a swivel joint is used according to the invention the bending elasticity of the at least one gripper jaw and the deformation thereof for displacing said steering wheel volume.

[0007] steering wheel volume stored deformation energy in the deformation of the can the Moreover, for gripping that is, towards the object to be gripped are used for biasing said gripper jaw for. The steering wheel volume defined by the bending stiffness of the gripping force is advantageous here, whereby expensive grab force delimitation means, such as sliding clutches, can be dropped.

[0008] To the at least one bar tape to make operationally inserted elastically malleable, it has a greater cross-sectional dimension in the direction along the bending axis than orthogonal to the bending axis on. bending case advantageous for this This leads to a inertia torque. The steering wheel volume runs in comparison with the described cross-sectional dimension of considerably greater longitudinal dimension of the orthogonal to the bending axis and also orthogonal to the cross-sectional area of the preferably each of the above cross-sectional dimensions underlying cross-section.

[0009] If present there is mention that the longitudinal direction of the and the bending axis steering wheel volume an angle, preferably a right angle, or that the drive track with the bending axis enclose an angle, preferably a right angle, includes, so this should not mean that the indicated paths, directions or. Axes intersect. This will be the case even in very few cases. Rather, the drive track and the bending axis or the longitudinal direction of the and the bending axis are steering wheel volume be skewed manner relative to each other. The inclusion of an angle between said webs, directions or. Axes is then carried out by comparing the respective direction vectors. This can practically be thought such that, for example, the drive track along a drive path defined by parallel shifts into the bending axis and bending axis in between, so that the parallel shifted drive track has a common point of intersection with the bending axis. Therefore the tension on a plane parallel shifted drive track and the bending axis, the bending axis between the parallel shifted drive track and in which the included angle is to be measured. For steering wheel volume and the bending axis and the longitudinal direction of the the between these included angle the corresponding is applicable mutatis mutandis.

[0010] A variable stiffness of the gripper can be obtained thereby that an effective length of the bending can be changed depending on the relative position between the drive part and hand stand comprises steering wheel volume. Here steering wheel volume the stiffness thereof is usually at greater effective length of the bending of the less. The is to say that then, when the length of the bendable steering wheel tape section becomes shorter orthogonal to the bending axis, the stiffness of the gripper as a whole increases.

[0011] Asteering wheel volume can, for example, are obtained by different effective length of the bending of the that the bar tape has a bendable and a non-bendable longitudinal section, wherein the overall length of non-flexible and flexible steering wheel volume is substantially the total length of the section. The not bendable steering wheel tape section can be, for example, therefore not bendable, because a bending movement is constructive prevented. These can constructively be realized, for example that on the hand stand comprises a supporting arrangement is provided, in which the degree of freedom of movement of the is limited in such a way relative to the hand stand comprises steering wheel volume, steering wheel volume longitudinal directionsteering wheel volume with a component of motion orthogonal to the that movement of the or/and orthogonal to the bending axis in the supporting arrangement is prevented. The steering wheel tape sectionrack construction unit be externally surrounding the support device can be, for example, an not bendable. The bar tape as in a sleeve retracted in the support device can thus be pushed out into and out of. It it ranges, the supporting device to provide for only locally in such a place, from which a bending movement of the steering wheel volume is to take place. The Support device can therefore be an opening or a mouth, which passes through the bar tape, where the area between drive part steering wheel volume longitudinal directionsteering wheel volume with a component of motion orthogonal to the bending movement of the and supporting device is prevented a, such a bending movement is possible between the supporting arrangement and gripper jaw steering wheel tape section, however, in the. A relative movement of the longitudinal direction relative to the supporting device in Handlebar strip- steering wheel volume is to always be possible in addition to its possible locking conditions.

[0012] by the relative position between drive part and therefore the different effective length of the bending can steering wheel volume thereby be able to be realized the dependent hand stand comprises that the bar tape in a travel space between the drive member and the supporting device along the drive track has only one degree of freedom of movement between the supporting device and the gripping jaw in a bending region and additionally a bending deformation degree of freedom about said bending axis. It have been mentioned above already possible embodiments of the support device. Another possibility lies therein one embodiment of the support device, with the supporting device to provide for a gap, in which a portion of the is received steering wheel volume, wherein the orthogonal to the bending axis is approximately to the dimension of the oriented and gap directionsteering wheel tape section corresponds to orthogonal to the bending axis. It the gap width may be slightly larger, so as to avoid unnecessary friction between bar tape and supporting device. A clearance fit can be provided between bar tape and supporting device, for example, so as to prevent as far as possible to allow low-friction relative movement of the relative to the supporting device a steering wheel tape section, at the same time, however, a bending movement in the region of the support device.

[0013] Such a gap can, for example, be realized thereby that the support device comprises a support member, which with an intermediate steering wheel volume longitudinal directionsteering wheel tape section a supporting opposite in a direction orthogonal to the bending axis, and/or in a opposite to.

[0014] To not only the position of the gripping jaw with the drive member, but also their orientation relative to the hand stand comprises, about relative to the drive track, can influence, it can be further provided that the gripping jaw is connected to the drive part by a further bar tape, which operationally inserted about a further bending axis, the further includes an angle with the drive track and a longitudinal direction of the steering wheel volume, preferably a right angle, is flexurally resilient deformable, wherein the bending axis preferably oriented parallel to each other and the further bending axis and wherein an effective length of the bending preferably further dependent on the relative position particularly steering wheel volume is variable between drive part and hand stand comprises. For the further bar tape that applies above for bar tape accordance with what has been said, why on the benefits, to the single corresponding to matching training of bar tape and further bar tape are connected is not made again.

[0015] with reference to the above opportunities for realizing a function of the relative position between drive part and can be provided at the hand stand comprises a further variable effective length of the bending hand stand comprises support device, at which the degree of freedom of movement is limited in such a way relative to the hand stand comprises further steering wheel volume that movement of the further with a movement component orthogonal to the longitudinal direction further steering wheel volumesteering wheel volume or/and orthogonal to the further bending axis in the further supporting arrangement is prevented, wherein the further bar tape preferably [...] between the drive member and the further support device in a degree of freedom of movement along the drive track has only one and in a fold region between the further support device and the gripper jaw has in addition a bending deformation degree of freedom to further bending axis.

[0016] For the further support device that applies mutatis mutandis in accordance with what has been said above for the support device. In particular, the further supporting arrangement can, as indicated above for the support device provide described in detail-a gap, in which a portion of said further steering wheel volume is received. This may-as it did for the above-described support part in its longitudinal direction with little friction is the case-the further bar tape are moved through the gap as far as possible, so as to change the effective length of the bending is thereby corresponds to, whereas the essentially to the dimension of the gap width provided by the further supporting device substantially or slightly larger than these steering wheel volume orthogonal to the bending axis further. It is cited here on the above lecture for clearance fit, which also present is applicable. Therefore, according to an advantageous refinement of the present invention be provided that the further support device has a further support part, which with an intermediate portion of the further supporting oppositesteering wheel volumesteering wheel volume a further and further in a to the longitudinal direction of the opposite for further bending axis in a direction orthogonal or /, wherein the support device preferably and the further support device, in particular the support member and the further support member are formed integrally and the further supporting oppositesupporting opposite or/and the.

[0017] For achieving as low as possible a number of components, which must be mounted separately, may be formed so as to realize the present discussed Gripper, the support device and the further support device at least in sections in one piece. In this way, in particular the support member and the further support member and additionally or alternatively the supporting opposite be formed in one piece and the further supporting opposite.

[0018] Zur defined orientation of the gripper jaw as far as possible relative to the hand stand comprises, in particular, for example, for the drive track, wherein at the same time comes, yielding ability of the gripper jaw in bending direction, may be provided to prevent is articulated around is articulated about excessive grab forces, that the bar tape at a coupling point on the gripping jaw rotatable about an axis of rotation or/and that the further bar tape on a further coupling point on the gripping jaw rotatable about a further axis of rotation.

[0019] Precisely the raised can be provided simply and effectively thereby sidestepping in particular that the axis of rotation are arranged parallel to each other and the further axis of rotation.

[0020] A parallelogram gripper assembly, wherein the relative orientation of the gripper jaw by displacement of the driving part relative to the hand stand comprises not changes relative to the hand stand comprises, can be obtained by that the supporting device has a support device and in that the further supporting placesupporting place has a further, above which cases supporting places the support devices with them in each case in a cooperating bar tape towards the bend about their respective bending axis Share the direction towards the gripper jaw, wherein the distance measured along the drive track and further supporting placesupporting place from each other equal to the the, also along the drive track measured distance of the axis of rotation and said further axis of rotation along the drive path is from one another and wherein preferably in addition the distance measured from the axis of rotation equal to the distance, measured along the drive track supporting place of the further is supporting place from the further axis of rotation.

[0021] This that in the direction of driving part for the gripper jaw supporting placesupporting place or from the further from the bending movement of the the respective steering wheel volumesupporting place associated with each case the is released, the play a role similar to rotary joints supporting places, so that it comes under the indicated above parallel grip arm arrangement spaced relationship to the advantageous.

[0022] To steering wheel volume about the respective bending axis to facilitate the bending of the, the bar tape can have their thickness dimension and/or the further bar tape as shortest dimension, wherein the bending axis preferably orthogonal to the thickness direction of the bending axis orthogonal to the thickness direction of the further steering wheel volume or/and the further runs steering wheel volume. These steering wheel volume corresponds to substantially the above information on the cross-sectional dimension of the.

[0023] A compact, little construction space demanding and at the same time very stiff Gripper is obtained advantageously thereby that the one bar tape the respective other bar tape in a width direction orthogonal to the longitudinal and to the thickness direction of the respective other steering wheel volume surrounds the outside. This the dimension is enlarged with the direction of the bending axis coincident steering wheel band infrastructure in the advantageously the whole width direction, what leads to a rigid construction, the substantially only bending about the bending axes, but allows no bend about a bending axis orthogonal to the desired bending axis undesirable.

[0024] is, in principle, conceivable that the drive track has an arbitrary continuous. The drive path is a rectilinear drive axle but Prefers, so that the drive with the drive track may be configured in a preferred manner by a spindle drive. In this case, the drive part of the spindle drive can be a spindle nut. The longitudinal axis of the spindle is then simultaneously drive track. To curves may be provided to facilitate the gripping jaw a sufficient movement space orthogonal to the drive track, further that the bar tape or/and the further bar tape in a run, with the supporting device or of the further support device for at least towards away from the drive axis gripper jaw. The entire run, of supporting device to the gripper jaw is a bight portion Prefers steering wheel volume of the. The axis of curvature parallel to the bending axis is here preferably.

[0025] in principle, this can be thought that the gripper has only a single gripper jaw, which engages against a rigid with the hand stand comprises [...] connected. A tong-shaped grippers, however, the gripper is Preferably, , comprising two each other and a plurality of removable gripper jaws approximatable and again from each other, preferably an even number of, particularly a pair of preferably from steering wheel volumes, at least two of which are located respectively on different sides of the drive axle and coupled with different gripper jaws, and to have a plurality of, preferably an even number of, particularly steering wheel volumes has a pair of preferably from further, at least two of which are located respectively on different sides of the drive axle and coupled with different gripper jaws, wherein particularly an arrangement preferably from gripper jaws, steering wheel volumes and supporting device, most preferably also from further steering wheel volumes and other supporting device, mirror-symmetrical with respect to a symmetry plane containing the driving axle is formed.

[0026] The second gripper jaw can here be connected analogous to the first gripper jaw with the drive part that the above also apply to the first gripper jaw is now what has been presented to the second gripper jaw. This means that each gripper jaw preferably with a bar tape and another bar tape may be connected to the same drive member. A support member or support device with a support part or a gripper jaw associated supporting opposite one of the can. supporting opposite one of the respective other gripper jaw associated support device to be formed in one piece. It is also conceivable that the use of a common support device groups of steering wheel volumes of both gripper jaws, just as it can use a common drive part.

[0027] To a gentle gripping of objects with which we are discussing Gripper to allow as much as possible, it is advantageous, when at least one gripper jaw, preferably both gripper jaws, in the direction of the drive track, in particular drive axle, two spaced-apart plant formations for resting against a has the object to be gripped, wherein preferably a plant formations having all the gripping jaw and a all points of attachment Asset-axial region in the direction of the drive track having articulating axial region, in particular drive axle, do not overlap and especially with regard to the installation is arranged further from the hand stand comprises removed than the preferably-axial region articulating axial region.

[0028] In order to avoid any misunderstandings, as regards the alignment on the drive path is to the, in particular drive axle, related only between the two axially outermost ones of said Asset-axial region and these also extend just enclose plant formations as regards the alignment on the drive track is to enclose and a, in particular drive axle, only between the axially outermost ones of said related articulating axial region and this just still drive places extend.

[0029] Then is arranged further from the hand stand comprises when the installation-axial area than the articulating axial region away, of the installation by shorten the effective length of the bending can-axial region are brought into contact with the article to be gripped, without the articulating axial region collide with the article to be gripped and the resulting steering wheel volumes.

[0030] The present invention is explained below with reference to the attached drawings is approaching. It represents:

Fig. 1, a perspective view of a gripper with further regulator devices according to the invention,

Fig. 2 a perspective view of a gripper of the present application according to the invention, omitting grip arm rack of parts of the embodiment of a,

Fig. 2 3 the view of Fig., but with another relative position of the drive member relative to the hand stand comprises,

Fig. 3 4 a detail view of parts of the support structure from Fig. drive part and,

Fig. 5 shows a partial cutaway drawing of a top view onto the 2 and 3 according to the invention embodiment of the Fig.,

Fig. 6 of the gripper according to the invention the Fig. 2 to 5 during a gripping operation and

Fig. 6 after completion of the gripping operation 7 of the gripper according to the invention from Fig..

[0031] In the Fig. 1 to 7 a according to the invention is generally designated 10 of the gripper of the present application with embodiment.

[0032] 12 and 10 has a hand stand comprises a relative to this gripper The movable gripping jaw 14 on.

[0033] Preferably, the gripper 16 on a further gripping jaw 10, which is substantially mirror-symmetrical in relation to the gripper jaw 14 may be formed.

[0034] in the present example shown-as at all for this Since advantage and therefore is preferably-the gripper with respect to a longitudinal median plane invention is formed with mirror symmetry, the gripping jaw 14 is only explained in relation to the hand stand comprises subsequently 12. For the further gripper jaw in accordance with the above-mentioned 14 16 this is true for the gripper jaw mirror symmetry condition accordance with what has been said.

[0035] 18 via a flexible bar tape 14 can operationally inserted and according to specification gripper jaw The and optionally via a further also being operatively and 12 be connected with the flexible bar tape steering wheel rack 20 according to its intended use.

[0036] 18 and 20 are secured to a drive part 22 the steering wheel volumes Exact in the form of a spindle nut 23 connected of a spindle drive, which comprises a drivable spindle 24 for rotation by an electric motor drive 26 (see in particular Fig. 2 to 7).

[0037] The spindle 26 extends along its axis of rotation, which also drive track A of the drive member 22 is, along which the drive member can move depending on the spindle movement as 22. An extension of the is formed as a rectilinear drive axle 1 represented in Fig. A drive track. In the present example the above-mentioned symmetry plane contains the drive track A.

[0038] As in 1 is shown Fig., the gripper 10 can be coupled with moving means, which enable its change in position in space. In the present example, the gripper 10 is rotatably received at a first moving member 28 about an axis of rotation R1. In order to achieve an optimally stable mounting of the gripper holds is preferably formed at the moving member 28, this fork-shaped and the gripper 10 between its fork-shaped legs. Shifting of the gripper 30 R1 takes place by a further electric motor 10 about the axis of movement, its driving force and motion via a belt drive 32 R1 which concentrically surrounds drive disc 34 is transmitted to a the axis of movement.

[0039] 28 at a second moving member about a said moving member 36 can Continue to the first movement axis be R1 R2 pivotally received orthogonal axis of movement. Again, R2 by a motor 38 to the axis of movement the pivotal movement can be effected by means of a belt drive 40.

[0040] 12 18 and 20 are in the outside the grip arm racksteering wheel volumes The located bending portion 44 preferably around axes 42 or K18 or. K20 of the extended drive track A curved away.

[0041] Continue 40 or 42 are the bending sections, which extend between a support device and the gripper jaw 14 later explained, B18 or about a bending axis. B20 bendable. "18" and "20" to the auxiliary orders The bending and to show the allocation of the respective axis for respective bar tape axes of curvature.

[0042] The B20 then lies closer to the gripping jaw 14 as the bending axis bending axis B18.

[0043] B18 and B20 are advantageously parallel to one another the bending axes. K18 K20 preferably parallel to each other and the axes of curvature are also. Continue the bending axes are preferably parallel to each other and the axes of curvature.

[0044] The bar tape 18, which for reasons of a is carried out with the struts 18a and 18b [...]building space requirement advantageously low, between which is provided a gap space, in which the further bar tape 20 can find place, 20a and 20b is carried out with the struts [...] the preferably likewise.

[0045] 14 about an axis of rotation 18 to the gripping jaw is D18 bar tape The pivoted. Preferably, the axis of rotation is parallel to the bending axis is. also the further bar tape D18 B18 D20 rotatably hinged on the gripping jaw 20 about an axis of rotation 14. Again, preferably parallel to the bending axis is the axis of rotation and so gives them the same B20 D20 D18 parallel to the axis of rotation.

[0046] 2 and 3 to identify is As in Fig., a supporting device 18 and 20 44 provides for a defined flexing behavior of the viewer is steering wheel volumes. 2 and 3 facing the Fig. Of the supporting device a T-shaped support part 46 to detect only, having a bending motion, the gripper jaw steering wheel volumes in a bending direction orthogonal to the drive track 16 for leading to the bending axes A and B18 or. B20 inhibits. The 18 and 20 cooperating with the steering wheel volumes, 2 and 3 is not shown in the support part 50 Fig. (see Fig. 4 to 7) provides for with reference to the relevant mirror symmetry condition corresponding to the support member 46 from.

[0047] 50 steering wheel volumes 18 and lies with interposition of longitudinal sections of the support part The 20 a 48 opposite supporting opposite, which also is supporting opposite for the support part 46.

[0048] the transverse limb of the T-shaped support member 46 or 50 for Thesteering wheel volumessupporting piece section 18 and 20 forming the 52 acts exclusively due to the buttress-like formation of the 18 or 18a steering wheel volume 18 and 18b together with its struts with the bar tape. This supporting piece section B18 52 defines the bending axis, about which the between the 40 14 18 52 and the gripper jaw supporting piece sectionsteering wheel volume, the bending portion is bendable the.

[0049] 52 located between the drive part 22 and the supporting piece sectionprocedure section In the steering wheel volume 18 18 is only along the drive track 54 of the the bar tape 12 displaceable relative to the hand stand comprises A, B18 bendable but not orthogonal thereto by the bending axis.

[0050] 50 56 of the T-shaped support member narrow legs The (the T see-shaped support part 46 of for further gripping jaw 2 and 3 16 leading into the Fig. steering wheel volumes ) forms a preferably integral with the aforementioned supporting piece sectionsupporting piece section 52 56 further formed, which cooperates only with the further bar tape 18 due to the formation of the buttress-like steering wheel volume B20 defined and the position of the bending axis 20,20 in its bending portion is bendable around which the further bar tape 42. Between the drive part 22 and the further bar tape 20 associated with is Again, 56 58 formed procedure sectionsupporting piece section a, in which the bar tape 22 together with the drive part 20 only can be displaced along the drive track A, B20 is bendable but not about the bending axis.

[0051] Those locations of the supporting portions 52 or 56,18 or 20 along the drive track at which the respective steering wheel volumesprocedure section 54 or 58 in their respective bending portion from its respective A 40 or 42 merge, are hereinafter collectively referred to as S18 or supporting places. S20 described.

[0052] 5 is shown in Fig. As, S18 and S20 corresponds to the distance the distance from one another along the drive track A supporting places of the B18 and B20 along the drive track from each other. X X is therefore bending axes the (based on the drive track or. Drive axle A) S18 and S20 supporting places axial distance of the B18 and B20 from one another or respectively of the bending axes.

[0053] This axial distance X S18 and S20 corresponds to the axial spacing Y supporting places the D18 D20 from each other and from each other of the axes of rotation. This axial distance along the drive track is also to measure A for comparison purposes. Also the axial distance is preferably Bi the steering wheel volumes 18,20 to the axis of rotation with Di i = 18,20 for both steering wheel volumes the same size.

[0054] Through the equality of the above-designated axial distances a parallel gripper is obtained, wherein the relative orientation of the gripping jaw 12 or 14 for displacement of the driving part with the precise as regards the drive track A hand stand comprises 22 along the drive track A does not change.

[0055] Since S18 S20 of the support member 22 relative to the drive part 50 and 52 supporting placessupporting piece sections the 56 or respectively of the can be displaced and, with the movement of the drive member along the drive axis 22 is the length of the respective bending sections 40 and 42 and thus the A effective bending length of the 18 or 20 variable steering wheel volumes. Despite 18 and 20 is the effective bending length of the variable steering wheel volumesparallelogram steering wheel characteristicaxial spacer relationshipsupporting places due to the achieved in compliance with the above, on the one hand, and D18 and S18 and S20 the D20, on the other hand, a invariance the orientation of the gripper jaw of the axes of rotation 14 by the respective effective bending length of the 18 and 20 steering wheel volumes.

[0056] As 5 to detect further into Fig. is, the gripper jaw faces 60 and 62 provided at an axial distance from each other 14 two plant formations on. This are so arranged that a Plant-axial region 64, which includes 60 and 62 and extends in the axial direction between the these just still plant formations, not with an articulating axial region overlaps 66, which extends in axial direction between the axes of rotation and these just still comprises D18 and D20 and their respective drive formations. The fixed articulation Preferably-axial region 12 than the 66 permanently closer to the hand stand comprises 6 and 7 64. As in Fig. Asset-axial region is represented, one can thereby be achieved a particularly advantageous grab behavior, as illustrated by the example of a pipette point carrier 68, which is gripped between the gripping jaws 14 and 16.

[0057] How is represented, comes initially [...] of the jaw 14 (see Fig. 6) at the 60 68 pipette point carrierplant formation located in abutment with a side wall of the movement of the drive member 22. In, starting from the position shown in 6 to the driving motor 24 towards Fig., plant interferenceplant formationplant formation without lifting of the 60 also comes in abutting engagement with the side wall 62 of the 68 (see Fig. 7) pipetting point carrier of the. The articulating axial region 18 and 22 collide steering wheel volumes 66 and the resulting due to the relative position of articulating axial region 64 and 66 to each other not Asset-axial region with the article to be gripped.

[0058] 18 and 20 as well as the not separately identified in the steering wheel volumessteering wheel volumes of the jaw 14 and 16 caused bending stress generated between the gripping jaws 16 present the gripping force.

[0059] Another advantage of the here shown with flexible gripper steering wheel volumes 18 and 20 provided by the flexible steering wheel volumes lies in the overload protection function. A destruction of the object to be gripped with the invented Gripper grab forces due to excessive 10 is practically not possible. The drive portion 12 drawn in too deeply into said hand stand comprises 22 dignity, 18 and 20 the flexibility would avoid a damage to the article to be gripped the steering wheel volumes, as long as its integrity and stability is greater than the 20 generated by the bending stiffness of the 18 and steering wheel volumesgrab forces.