Patent ID: 7290816

Claim:
A gripping device for gripping work pieces, connectable to a robotized manipulating system, of the type comprising: a box-shaped body; a first and a second gripping members, at least one of which being supported by the box-shaped body to be angularly movable between a first and a second operative end positions, according to a rotational axis; and a linear actuator having a longitudinally movable control rod, said at least one angularly movable gripping member being operatively connected to the control rod of the linear actuator by a toggle-lever mechanism, wherein said toggle-lever mechanism comprises: a first and a second articulated connecting links, angularly movable with respect to each other, said first and second connecting links being pivotally connected to the control rod of the actuator, respectively to said at least one angularly movable gripping member, said second connecting link being connected to said at least one angularly movable gripping member in an eccentric point with respect to its rotational axis; wherein guiding means are provided for guiding the angular movement of the second connecting link, said guiding means being shaped to guide said connecting link during the angular movement of the gripping member; wherein limiting means are provided for limiting the relative angular movement between said first and said second connecting links, in correspondence with said operative end positions; and wherein said guiding means for guiding the angular movement of the second connecting link comprise first and second guiding means disposed on opposite sides of the second connecting link, the second connecting link being provided on said opposite sides respectively with a first and a second contour surfaces, shaped so as to constantly slide in contact with said first and second guiding means during the movement of the connecting link.