Patent ID: 9156171
Filing Date: 2015-10-13
Classification: B25J

Abstract:
1. A gripper for manipulating tube-shaped specimen cups comprising; a gripper base; at least two gripper fingers which each have a retaining section for gripping a specimen cup, and which are each disposed on the gripper base such that they are rotatable relative to the gripper base about a finger rotation axis, wherein the retaining sections of the gripper fingers are each disposed such that they are acentric relative to the associated finger rotation axis; a first drive for twisting the gripper fingers, wherein the gripper fingers are coupled to one another in such a way that they are driven by the drive at the same time and with, in each case, the same rotational speed and direction, and wherein the gripper base is disposed on a base body and is rotatable relative to this base body about a base rotational axis that differs from the finger rotation axes, in that a second drive is provided for twisting the gripper base relative to the base body, wherein the drives each have a motor having position and speed control; and in that a control unit is provided for controlling the drives in such a way that, through a combination of movements comprising a rotation of the gripper fingers relative to the gripper base and a rotation of the gripper base relative to the base body for each of the retaining sections of the gripper fingers, in each case, a substantially linear movement relative to the base body results.