Patent ID: 9656393
Date: 2017-05-23
CPC Classifications: B25J

Claim:
1. A gripping or clamping device ( 10 ) for gripping or clamping objects ( 56 ), with an actuator ( 26 ) and a drive ( 12 ) that drives the actuator ( 26 ), with at least one jaw ( 28 , 30 ) that is movably coupled to the actuator ( 26 ), wherein an elastically deformable spring element ( 38 ) is provided between the actuator ( 26 ) and the at least one jaw ( 28 , 30 ), wherein a braking unit ( 40 ) is provided, by means of which the actuator ( 26 ), or a movably coupled component ( 42 ) provided between the actuator ( 26 ) and the drive ( 12 ), can be fixed when an object ( 56 ) is gripped and the elastically deformable spring element ( 38 ) is elastically deformed, characterized in that the drive ( 12 ) has a rotating drive shaft ( 16 ), wherein the braking unit ( 40 ) fixes the rotating drive shaft ( 16 ), and that a drive transmission ( 20 ) with an output shaft ( 22 ) is downstream of the drive shaft ( 16 ), wherein the drive transmission ( 20 ) is provided between the drive ( 12 ) and the actuator ( 26 ); and the actuator ( 26 ) is configured as a pinion ( 24 ) that can be rotated about a rotational axis, wherein the elastically deformable spring element ( 38 ) is provided between the at least one jaw ( 28 , 30 ) and a gear rack section ( 34 ) that is disposed on the jaw meshing with the pinion ( 24 ).