MANIPULATOR GRIPPING DEVICE Russian patent published in 2019 - IPC B25J15/00 

FIELD: machine building.

SUBSTANCE: invention relates to machine building, namely, to grippers of industrial robots and manipulators for automation of technological operations of object displacement and assembly in conditions of confined space of configurations. Gripping device comprises housing with grooves, replaceable clamping elements on pins kinematically connected to each other by gear transmission with annular toothed segments and pressure rollers, rectilinear reduction gear mechanism and worm gear. At that, replaceable clamping elements are fixed by pins on symmetrically located annular toothed segments of cylindrical rectilinear reduction mechanism with internal engagement, and kinematically connected to drive intermediate gear wheel and with gear engaged on one axis with conical reduction gear in form of driving and driven bevel gear wheels and worm wheel, wherein the worm, which rotates the wheel, is put on the shaft of the electric motor fixed in the grip housing with the bayonet connector and with grooves, in which said pressure rollers are mounted.

EFFECT: invention increases accuracy and reliability of capturing and holding an object.

1 cl, 3 dwg