Rijksdienst voor Ondernemend
`fig; Nederland
`
`4—:-
`
`This is to declare that in the Netherlands on 30/12/2016 under No. 1042206
`
`in the name of:
`
`CSI INDUSTRIES B.V.
`
`in Raamsdonksveer, the Netherlands
`
`a patent application was filed for:
`
`“Gripper apparatus"
`
`and that the documents attached hereto correspond with the originally filed documents.
`
`The Hague, 08/03/2018
`
`The president of the Netherlands Patent Office,
`
`W
`
`mr. D.J. de Groot
`
`§§§\§§\x R\
`
`

`

`From:00trooibureau Griebling
`
`TozNL OctrooiCentrum
`
`30/12/201616:01
`
`#127 P.019/022
`
`ABSTRACT
`
`A gripper apparatus (100) comprises:
`
`-
`
`-
`
`-
`
`-
`
`-
`
`-
`
`a gripper frame (110) and a gripper beak (120);
`
`an actuation mechanism (130) for actuating the gripper beak;
`
`a clamping force generator (133) biased to exert a clamping force on the
`
`gripper beak;
`
`a transmission mechanism (170) comprising an input member (175) that is
`
`vertically displaceable with respect to the gripper frame, wherein the
`
`transmission mechanism engages the actuation mechanism such that a
`
`high position of the input member corresponds to a closed position of the
`
`gripper beak while a downward displacement of the input member
`
`corresponds to a transition of the gripper beak to an open position;
`
`a vertically displaceable carrier coupling device (140) that in a lower rest
`
`position presses down on the input member;
`
`a latch mechanism (160), preferably of alternate push-push type, for
`
`holding the gripper beak (120) in its open position.
`
`TO PUBLISH WITH ABSTRACT: figure
`
`1
`
`1 042206
`
`

`

`From:Octrooibureau Griebl ing
`
`To:NL OctrooiCentrum
`
`30/12/2016 15:51
`
`#127 P.007/022
`
`ref.: P 2016 NL 034
`
`TITLE:
`
`Gripper apparatus
`
`FIELD OF THE INVENTION
`
`In many areas, there is a need for a gripper apparatus, for picking, moving
`
`and placing an object. In general, a gripper apparatus comprises a gripper beak
`
`having at least two gripper jaws cooperating together. The gripper jaws can be
`
`pressed together for exerting a clamping force on an object. With the object clamped
`
`in the gripper beak, the apparatus can be displaced and hence displaces the object
`
`towards a destination location, where the object is placed by releasing the clamping
`force.
`
`As an example, such gripper apparatus is useful as an implement attached to
`
`a robot arm, or to a drone, in conveying and/or stacking systems. As a particular area
`
`of interest, a palletiser for stacking boxes on a pallet is mentioned here.
`
`BACKGROUND OF THE INVENTION
`
`Gripper apparatuses of the above type exist. Typically, the gripper jaws are
`
`actuated by electric and/or pneumatic and/or hydraulic actuation systems. These
`
`systems involve problems.
`
`For instance, in the case of a robot arm, the transfer of power from a
`
`stationary part to the moving arm constitutes a problem. In the case of a drone,
`
`hydraulics or pneumatics will not be practical; for the electric gripper, batteries will be
`
`needed which typically are heavy.
`
`Further, safety is an issue. If the power supply fails, it is not acceptable if this
`
`would cause the object to fall from the gripper beak. This means that maintaining the
`
`gripping force should be able to be maintained with low or zero energy consumption.
`
`Further, particularly for the case of a drone, the weight of the gripper
`
`apparatus should be as low as possible to be able to handle a payload with large
`
`weight.
`
`10
`
`15
`
`20
`
`25
`
`30
`
`SUMMARY OF THE INVENTION
`
`The invention aims to overcome or at least reduce these problems.
`
`Particularly, the present invention aims to provide a gripper apparatus capable of
`
`operating without electric, pneumatic or hydraulic power source.
`
`1042206
`
`

`

`From:0ctrooibureau Griebling
`
`TozNL OctrooiCentrum
`
`30/12/2016 15:52
`
`#127 P.008/022
`
`To this end, the present invention provides a gripper apparatus having a iatch
`
`mechanism as specified in claim 1.
`
`2
`
`5
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`These and other aspects, features and advantages of the present invention
`
`will be further explained by the following description of one or more preferred
`
`embodiments with reference to the drawings, in which same reference numerals
`
`indicate same or similar parts, and in which:
`
`10
`
`Figure 1 is a schematic perspective transparent view of an embodiment of a gripper
`
`apparatus according to the present invention.
`
`Figures 2A-H are schematic side views illustrating various stages of the operation of
`
`the gripper apparatus.
`
`15
`
`DETAILED DESCRIPTION OF THE INVENTION
`
`Figure 1 schematically shows a gripper apparatus 100 in the normal
`
`orientation when in use. The gripper apparatus 100 comprises a gripper frame 110
`
`and a gripper beak 120. The gripper beak 120 in this embodiment comprises two
`
`20
`
`gripperjaws 121, 122 which can be pressed together for exerting a clamping force on
`
`an object (not shown). In this embodiment, a first one 121 of said gripperjaws is a
`
`stationary jaw, fixed with respect to the gripper frame 110, while a second one 122 of
`
`said gripper jaws is a movable jaw, movable with respect to the gripper frame 110. In
`
`other embodiments, two or more gripper jaws may be movable.
`
`25
`
`As will be explained in more detail, this embodiment of gripper apparatus 100
`
`is suitable for being suspended from a drone or robot arm and for gripping an object
`
`from above, for which reason the gripper jaws 121, 122 are mounted under the
`
`gripper frame 110. This embodiment of gripper apparatus 100 is intended for
`
`lifting/moving/placing cu be—shaped boxes. The gripper frame 110 comprises a
`
`30
`
`horizontal resting plate 111 that in use will rest on the upper surface of the box to be
`
`lifted/placed. The first gripper jaw 121 has a plate-shaped configuration, and extends
`
`vertically down at right angles with respect to the resting plate 111, allowing to place
`
`a box very close to its neighbours on a pallet. Likewise, the second gripper jaw 122
`
`has a plate-shaped configuration: the plate-shaped configuration of the two gripper
`
`35
`
`jaws 121, 122 allows to distribute a relatively large gripping force over a relatively
`
`large box area to reduce gripping pressure and hence avoid or reduce deformation of
`
`the object to be gripped.
`
`The gripper apparatus 100 further comprises a mechanical jaw actuation
`
`mechanism 130 for actuating the movable jaws, in this case the second jaw 122. The
`
`1042206
`
`

`

`From20ctrooibureau Griebling
`
`TozNL OctrooiCentrum
`
`30/12/2016 15:53
`
`#127 P.009/022
`
`3
`
`movable jaw(s) should move in horizontal direction, or in any case in a direction with
`
`a horizontal component, in order to open or close the gripper beak 120. The movable
`
`second jaw 122 has two extreme positions, i.e. an open position in which the
`
`distance to the fixed first jaw 121 is relatively large and a closed position in which the
`
`distance to the fixed first jaw 121 is relatively small. The horizontal distance between
`
`these two extreme positions will be indicated as jaw stroke. It is desirable that the jaw
`
`stroke is as large as possible, in order to be able to grip boxes of varying sizes in a
`
`size range as large as possible.
`
`The gripper apparatus 100 further comprises a latch mechanism 160 for
`
`holding the jaw actuation mechanism 130 and hence the movable second jaw 122 in
`
`its open position, as will be explained in more detail later.
`
`In the exemplary embodiment shown, the jaw actuation mechanism 130
`
`comprises a lever 131 hinged to the gripper frame 110. The movable second jaw 122
`
`is connected to one end of the lever 131; at an opposite end of the lever 131, a
`
`support block 132 is connected. The hinge point of the lever with respect to the
`
`gripper frame 110 is located approximately midway of the length of the lever. In the
`
`embodiment shown, the lever 131 is a double-arm lever that has a parallelogram
`
`configuration in order to always hold the second jaw 122 is vertical orientation, which
`
`10
`
`15
`
`20
`
`is preferred but not essential.
`
`25
`
`30
`
`35
`
`The jaw actuation mechanism 130 further comprises a clamping force
`
`generator 133 biased to exert a clamping force on the movable second jaw 122
`
`urging the movable second jaw 122 towards its closed position. In the exemplary
`
`embodiment shown, the clamping force generator 133 comprises a helix spring
`
`supporting at one end (the righthand end in figure 1) against the gripper frame 110
`
`and supporting at the opposite end (the lefthand end in figure 1) against the support
`
`block 132. When the second jaw 122 is opened, the spring 133 is compressed. lf
`
`released, the spring 133 pushes the support block 132 away, and via the lever 131
`
`the movable second jaw 122 is pushed towards the first jaw 121. If a box (or other
`
`object) is placed in the gripper beak 120, the movable second jaw 122 engages the
`
`box, if necessary displacing the box until it supports against the fixed first jaw 121, at
`
`which point the second jaw 122 can move no further but keeps pushing against the
`
`box, caused by the spring 133 which is trying to expand.
`
`It will be clear that instead of or in addition to a "pushing" spring it is also
`
`possible to use a suitably mounted "pulling" spring.
`
`Further, it will be clear that other implementations for the clamping force
`
`generator 133 are possible, for instance an elastically deformable "solid" body such
`
`as a block of rubber, or for instance a gas-filled cylinder/piston combination. it is even
`
`1042206
`
`

`

`From:00trooibureau Griebling
`
`TozNL OctrooiCentrum
`
`30/12/2016 15:54
`
`#127 P.010/022
`
`4
`
`possible to use electrically activated mechanisms, but the non-electric examples
`
`mentioned, indicated as "passive" or "elastic" actuators, provide the important
`
`advantage that they can operate virtually indefinitely without requiring any power
`
`supply such as a battery and without the risk of getting out of operation due to
`
`exhaustion of such power supply.
`
`10
`
`15
`
`20
`
`The gripper apparatus 100 further comprises a carrier coupling device 140 for
`
`coupling with a carrier device. As mentioned, such carrier device may for instance
`
`involve a robot arm or a drone. Taking the drone as an example, the carrier coupling
`
`device 140 will be attached to the underside of the drone, for instance directly to the
`
`drone body or to a hoisting mechanism of the drone. It is preferred that the carrier
`
`coupling device 140 be attached to the drone body directly, so that the gripper
`
`apparatus 100 becomes part of the drone, yet it is further preferred to include a ball
`
`coupling or a universal joint coupling to allow the gripper apparatus 100 to always
`
`maintain a vertical orientation irrespective of the precise orientation of the drone.
`
`It is a particular aspect of the present invention that, with respect to the gripper
`
`frame 110, the carrier coupling device 140 is vertically displaceable between two
`
`extreme positions. In the embodiment shown, the carrier coupling device 140
`
`comprises at least one (the exemplary embodiment has two) carrier rod 141
`
`extending vertically downward, and the gripper frame 110 comprises a guide block
`
`112 for each carrier rod 141. The guide block 112 has a vertical through hole through
`
`which the carrier rod 141 extends. Below the guide block 1 12, preferably at its lower
`
`free end, the carrier rod 141 has a stop portion 142 having a wider transverse size as
`
`compared to the carrier rod 141, and wider than the vertical through hole of the guide
`block 112.
`
`25
`
`30
`
`35
`
`When the carrier device lifts the gripper apparatus 100, first the carrier
`
`coupling device 140 will be lifted with respect to the gripper frame 110, until the stop
`
`portion 142 contacts a lower surface of the guide block 112. This defines an upper
`
`extreme position of the carrier coupling device 140, which will be indicated as the
`
`"lifting position". When lifted further, the carrier coupling device 140 will lift the gripper
`frame 110.
`‘
`
`When the carrier device places the gripper apparatus 100 on a supportive
`
`surface and releases the lifting force, the carrier coupling device 140 will be lowered
`
`with respect to the gripper frame 110, until the carrier coupling device 140 contacts a
`
`second stop that defines a lower extreme position of the carrier coupling device 140,
`
`which will be indicated as the "rest position". Said second stop may be constituted by
`
`the resting plate 111, which is contacted by the lowest extreme end of the carrier rod
`
`141. Said second stop may also be constituted by an upper surface of the guide
`
`block 112, or by a frame portion located at a higher level that the upper surface of the
`
`1042206
`
`

`

`From200trooibureau Griebling
`
`To:NL OctrooiCentrum
`
`30/12/201615255
`
`#127 P.011/022
`
`5
`
`guide block 112, which is contacted by another wider portion of the carrier rod 141 or
`
`by another part of the carrier coupling device 140. in the exemplary embodiment
`
`shown, the carrier coupling device 140 has a horizontal plate-shaped table portion
`
`143 attached to an upper end of the carrier rod 141, which table portion 143 may
`
`5
`
`contact an upper edge 113 of a vertically extending frame plate 114.
`
`The vertical distance between the lifting position and the rest position will be
`indicated as "carrier stroke".
`
`It is a particular aspect of the present invention that the carrier stroke is used
`
`10
`
`for actuating the latch mechanism 160. The latch mechanism 160 has two operative
`
`states, indicated as lock state and release state respectively. in the release state of
`
`the latch, the lever 131 and hence the second jaw 122 can move freely, and will
`
`hence be forced towards the closed position under influence of the clamping force
`
`exerted by the clamping force generator 133. This will be the condition for lifting
`
`15
`
`objects. In the case of a drone, this will be the condition when the drone is flying. In
`
`the lock state of the latch, the lever 131 and hence the second jaw 122 are in the
`
`open position and are prevented from moving towards the closed position; this will be
`
`the condition for applying the gripper to the object to be lifted, and for releasing the
`
`object from the gripper.
`
`20
`
`In principle. it is possible to have an embodiment where the operative state
`
`(release/lock) of the latch mechanism 160 is directly derived from the position
`
`(high/low) of the carrier coupling device 140 with respect to the gripper frame 110.
`
`However, when the carrier (for instance drone) lifts the carrier coupling device 140 to
`
`25
`
`lift the gripper apparatus 100, this can either be for gripping and lifting the object or
`
`for releasing and leaving the object behind.
`
`Therefore, in a preferred embodiment, the latch mechanism 160 is of a type
`
`receiving one-directional push-actuation, also indicated here as alternate push-push
`
`latch system or push-to-open latch. When receiving push-actuation for a first time,
`
`30
`
`the latch mechanism 160 makes a transition from the release state to the lock state;
`
`when receiving push-actuation for a second time, the latch mechanism 160 makes a
`transition from the lock state to the release state. And so on.
`
`It is noted that push-actuation is equivalent to pull—actuation.
`Latch mechanisms of this type are known per se, for instance in ballpoints or
`
`35
`
`in push-to-open cabinet doors or drawers. An early example is disclosed in
`
`USZQ30354 "alternate push rocking latch system". EP1596030 discloses a "silent
`
`push-push latch". Other examples of such systems are disclosed in U86669250,
`
`US7152892, US7374261, US7793995, US8590989, W02013/073489. The present
`
`invention may be implemented with any of these, or other, types of latch
`
`1042206
`
`

`

`From200trooibureau Griebllng
`
`To:NL OctrooiCentrum
`
`30/12/2016 15:56
`
`#127 P.012/022
`
`mechanisms. Therefore a more detailed discussion of design and operation of the
`latch mechanism will be omitted here.
`
`6
`
`While the clamping force generator 133, with the latch mechanism 160 in its
`
`5
`
`release state, will automatically close the gripper beak 120 and keep an object
`
`clamped in the gripper beak, it is necessary to apply a counterforce opposite to and
`
`of higher strength than the clamping force in order to open the gripper beak 120. it is
`
`a further particular aspect of the present invention that the carrier stroke is used for
`
`opening the gripper beak 120.
`
`10
`
`For this purpose, the gripper apparatus 100 further comprises a transmission
`
`mechanism 170 operated by the carrier coupling device 140 and engaging the jaw
`
`actuation mechanism 130. In the exemplary embodiment shown, the transmission
`
`mechanism 170 comprises a transmission rod 171 having one end attached to the
`support block 132. Conveniently the transmission rod 171 extends coaxially through
`the helix spring 133. At its opposite end, the transmission rod 171 is attached to a
`
`15
`
`first gear rack 1 72.
`
`The transmission rod 171 with the first gear rack 172 extends horizontally, and
`
`has freedom of movement (reciprocation) in its longitudinal direction. It has already
`
`been mentioned that the carrier rod(s) 141 have their freedom of movement
`
`20
`
`(reciprocation) in their longitudinal direction, i.e. in vertical direction. For coupling the
`
`vertical movement of the carrier coupling device 140 to the horizontal movement of
`
`the support block 132, in the exemplary embodiment shown, the transmission
`
`mechanism 170 further comprises two coaxial gear wheels 173, 174, either attached
`
`to each other or formed as a single piece, mounted for rotation about an horizontal
`
`25
`
`axis with respect to the gripper frame 110. A first one 173 of these gear wheels
`
`engages the first gear rack 172. A second one 174 of these gear wheels engages a
`
`second gear rack 175. The second gear rack 175 has its longitudinal extent directed
`
`vertically, and is mounted vertically displaceable with respect to the gripper frame
`110.
`
`30
`
`It will be seen that this transmission mechanism 170 translates vertical
`
`displacement of the second gear rack 175 to horizontal displacement of the first gear
`
`rack 172. The arrangement is such that a downward movement of the second gear
`
`rack 175 corresponds to a horizontal movement of the first gear rack 172 in a
`
`direction against the clamping force of the spring 133. Preferably, as shown, the first
`
`35
`
`gear wheel 173 has smaller diameter than the second gear wheel 174, so that a
`
`larger displacement of the second gear rack 175 is translated to a smaller
`
`displacement of the first gear rack 172 and consequently any downforce exerted by
`
`the second gear rack 175 on the second gear wheel 174 translates to higher force
`
`1042206
`
`

`

`From:00trooibureau Griebl ing
`
`TozNL Octrooicentrum
`
`30/12/201615:56
`
`#127 P.013/022
`
`7
`
`exerted by the first gear wheel 173 on the first gear rack 172, hence reducing the
`
`downforce required for overcoming the high clamping force of the spring 133.
`
`It will be seen that the second gear rack 175, the second gear wheel 174, the
`
`first gear wheel 173, the first gear rack 172, the transmission rod 171, the support
`
`5
`
`block 132, the lever 131 and the second gripper jaw 122 are all coupled together
`
`semi-rigidly, i.e. they all move together. Moving any one of these components will
`
`move all of these components, while blocking any one of these components will
`
`arrest all of these components. Consequently, the latch mechanism 160 may engage
`
`any one of these components. In the exemplary embodiment shown, the latch
`
`10 mechanism 160 engages the second gear rack 175.
`
`As will be understood from the following explanation, the main function of the
`
`second gear rack 175 is a vertically displaceable follower for following the vertical
`
`displacement of the carrier coupling device 140. Other implementations of the
`
`follower will be possible, and other implementations for translating vertical
`
`15
`
`displacement of the follower to horizontal displacement of the support block 132 will
`
`be possible. It is not necessary to have geared wheels 173, 174, and hence it is not
`
`necessary to have gear racks. It is for instance possible to use a drive rod
`
`mechanism. It is for instance possible to use an articulated arm design for direct
`
`coupling between follower 175 and transmission rod 171.
`
`20
`
`Also referring to figures 2A-H, operation is as follows. Assume the second
`
`gear rack 175 (follower) is in a low position, the gripper beak 120 is in the open
`
`position, and the latch mechanism 160 is locked. The carrier coupling device 140 is
`
`25
`
`lifted by a carrier (e.g. drone), to lift the entire gripper apparatus 100 [figure 2A]. The
`
`follower can not follow the carrier coupling device 140.
`
`The gripper apparatus 100 is lowered onto a box [figure 28].
`
`30
`
`The carrier device (e.g. drone) will now reduce lifting force. The weight of the
`
`carrier (e.g. drone) will then push down the carrier coupling device 140, which in turn
`
`pushes down the second gear rack 175 [figure 20]. The carrier coupling device 140
`
`has an engagement portion for engaging the second gear rack 175, which
`
`engagement portion in the exemplary embodiment is constituted by the table portion
`143.
`
`35
`
`By pushing down the second gear rack 175, the latch mechanism 160 has
`
`been brought to its release state.
`
`1042206
`
`

`

`Fromzoctrooibureau Griebling
`
`To:NL UctrooiCentrum
`
`30/12/2016 15:57
`
`#127 P.014/022
`
`8
`
`The carrier device (e.g. drone) will now increase lifting force. The carrier
`
`coupling device 140 will rise, and the second gear rack 175 will rise under influence
`
`of the force exerted by the spring 133: the follower follows the carrier coupling device
`
`140. As the spring 133 expands, the gripper beak 120 is closed [figure 20].
`
`The latch mechanism 160 has now released the second gear rack 175, which
`
`will continue to move upwards following the upwards movement of the carrier
`
`coupling device 140. Simultaneously, the gripper beak 120 will be pushed close by
`
`the spring 133, firmly gripping the box to be lifted. The gripper beak 120 engages the
`
`10
`
`box to be lifted and can not close further, hence the second gear rack 175 can not
`
`rise further. This happens before the carrier coupling device 140 reaches its lifting
`
`position, ensuring that the gripping force of the spring 133 is fully deployed.
`
`The carrier coupling device 140 is lifted further to reach its lifting position. and,
`
`when lifted further, the entire gripper apparatus 100 together with the clamped box is
`
`15
`
`lifted [figure 2E].
`
`20
`
`25
`
`30
`
`35
`
`The carrier device (e.g. drone) brings the gripper apparatus 100 together with
`
`the clamped box to the box's destination.
`
`Having arrived at the destination, the carrier (e.g. drone) will place the box.
`
`For discharging the box, the carrier (e.g. drone) will again reduce its lifting force so
`
`that its weight pushes down the carrier coupling device 140. The carrier coupling
`
`device 140 has some free downstroke before engaging the second gear rack 175
`
`[figure 2F].
`
`The carrier device pushes down further, so that the carrier coupling device
`
`140 pushes down the second gear rack 175: the follower again follows the carrier
`
`coupling device 140. As a result, the gripper beak 120 opens [figure 26].
`
`Finally, at the end of its downstroke, the latch mechanism 160 engages the
`
`transmission mechanism 170 or the jaw actuation mechanism 130 in its lock state.
`
`The carrier (e.g. drone) rises, lifting the carrier coupling device 140. The second gear
`
`rack 175 can not rise, because the latch mechanism 160 is locked, thus the gripper
`
`beak 120 stays open, and the gripper apparatus 100 is lifted while the box remains
`
`behind [figure 2H].
`
`The carrier (e.g. drone) with the gripper apparatus 100 is immediately ready
`
`for picking up a next box. Each time the carrier (e.g. drone) pushes down, the gripper
`
`apparatus 100 alternates from the open condition to the closed condition or vice
`
`versa. No separate power supply is needed for gripping or releasing an object, apart
`
`1042206
`
`

`

`From:0ctrooibureau Griebling
`
`TozNL OctrooiCentrum
`
`30/12/2016 15:58
`
`#127 P.015/022
`
`9
`
`from the power associated with the carrier's weight. Further, as long as the box
`
`maintains its integrity, and as long as the force generator 133 does not break, the
`
`carrier can not inadvertently lose the box, because the box can only be released
`
`when placed on a support.
`
`It is noted that, in stead of or in addition to the helix spring discussed, other
`
`types of force generators can also be used. For instance, a piston/cylinder
`
`combination will build up pressure when compressed and can hence exert a
`
`10
`
`pressure-based force on the gripper jaw(s). It is also possible that the force generator
`is located at another position, and that the force generator engages any one of the
`
`components from second gear rack 175 to second gripper jaw 122 in view of the
`
`above-mentioned semi-rigid coupling between these components. For instance, it is
`
`possible that the force generator comprises a spiral spring located in one or more of
`
`15
`
`the gear wheels 173, 174.
`
`It should be clear to a person skilled in the art that the present invention is not
`
`limited to the exemplary embodiments discussed above, but that several variations
`
`20
`
`and modifications are possible within the protective scope of the invention as defined
`
`in the appending claims. For instance, two or more functions may be performed by
`one single entity. Even if certain features are recited in different dependent claims,
`
`the present invention also relates to an embodiment comprising these features in
`
`common. Even if certain features have been described in combination with each
`
`25
`
`other, the present invention also relates to an embodiment in which one or more of
`
`these features are omitted. Features which have not been explicitly described as
`
`being essential may also be omitted. Any reference signs in a claim should not be
`
`construed as limiting the scope of that claim.
`
`1042206
`
`

`

`Fromzoctrooibureau Griebiing
`
`To:NL OctrooiCentrum
`
`30/12/201615259
`
`#127 P.016/022
`
`10
`
`SAJMAME
`
`Gripper apparatus (100) comprising:
`
`a gripper frame (110) and a gripper beak (120) including at least one
`
`moveabie gripper jaw (121, 122), the gripper beak (120) having an open
`
`position and a closed position;
`
`a jaw actuation mechanism (130) for selectively actuating the gripper beak
`
`(120) to its open position or its closed position;
`
`a clamping force generator (133) biased to exert a clamping force on the
`
`gripper beak (120) urging the gripper beak (120) towards its closed
`
`position;
`
`a transmission mechanism (170) comprising an input member (175) that is
`
`vertically displaceable with respect to the gripper frame (110), wherein the
`
`transmission mechanism (170) engages the jaw actuation mechanism
`
`(130) such that a high position of the input member (175) corresponds to
`
`the closed position of the gripper beak (120) while a downward
`
`displacement of the input member (1 75) corresponds to a transition of the
`
`gripper beak (120) to its open position;
`
`a carrier coupling device (140) for coupling with a carrier device, which
`
`carrier coupling device (140), with respect to the gripper frame (110), is
`
`vertically displaceable between two extreme positions, i.e. an upper lifting
`
`position in which the carrier coupling device (140) is in lifting-force
`
`transferring engagement with the gripper frame (110). and a lower rest
`
`position; wherein the carrier coupling device (140) in its lower rest position
`
`presses down on the input member (175) of the transmission mechanism
`
`(170x
`
`a latch mechanism (160) coupled to a component of the transmission
`
`mechanism (170) orto a component of the jaw actuation mechanism
`
`(130), the latch mechanism (160) having a release state in which the
`
`transmission mechanism (170) and the jaw actuation mechanism (130)
`
`can move freely, and having a lock state in which the transmission
`
`mechanism (170) and the jaw actuation mechanism (1 30) are prevented
`
`from moving from the open position of the gripper beak (120) to the closed
`
`10
`
`15
`
`20
`
`25
`
`30
`
`1 042206
`
`

`

`From:00trooibureau Griebling
`
`TozNL OctrooiCentrum
`
`30/12/2016 16:00
`
`#127 P.017/022
`
`11
`
`position of the gripper beak (120), for holding the gripper beak (120) in its
`
`open position.
`
`2.
`
`Gripper apparatus according to claim 1. wherein the latch mechanism (160) is
`
`of alternate push-push type.
`
`10
`
`15
`
`3.
`
`Gripper apparatus according to claim 2, wherein, when the latch mechanism
`
`(160) is in its locked state, the carrier coupling device (140) is free to move upwards
`
`to its lifting position while the input member (175) of the transmission mechanism
`
`(170) is prevented from following the carrier coupling device (140) and remains in a
`
`low position.
`
`4.
`
`Gripper apparatus according to claim 2 or 3, wherein, when the latch
`
`mechanism (160) is in its locked state and the input member (175) of the
`
`transmission mechanism (170) is in its low position and the gripper beak (120) is in
`
`its open position, the carrier coupling device (140) is free to move downwards to
`
`engage the input member (175) of the transmission mechanism (170) in its low
`
`position, and wherein subsequent downward and upward movement of the carrier
`
`coupling device (140) will cause the latch mechanism (160) to make a transition to its
`release state.
`
`20
`
`25
`
`35
`
`5.
`
`Gripper apparatus according to any of claims 2-4, wherein, when the latch
`
`mechanism (160) is in its released state, the carrier coupling device (140) is free to
`
`move upwards to its lifting position and the input member (1 75) of the transmission
`
`mechanism (170) under influence of the clamping force exerted by the force
`
`generator (133) is caused to follow the carrier coupling device (140) and reach its
`
`high position while simultaneously the clamping force exerted by the clamping force
`
`generator (133) causes the gripper beak (120) to make a transition to its closed
`
`position.
`
`6.
`
`Gripper apparatus according to claim 5, wherein the gripper beak (120)
`
`reaches its closed position before the carrier coupling device (140) reaches its lifting
`
`position.
`
`7.
`
`Gripper apparatus according to any of claims 2-6, wherein. when the latch
`
`mechanism (160) is in its released state and the input member (175) of the
`
`transmission mechanism (170) is in its high position and the gripper beak (120) is in
`
`its closed position, the carrier coupling device (140) is free to move downwards to
`
`engage the input member (175) of the transmission mechanism (170), wherein
`
`1042206
`
`

`

`From:00trooibureau Griebl ing
`
`TozNL OctrooiCentrum
`
`30/12/201616:00
`
`#127 P.018/022
`
`12
`
`further downwards movement of the carrier coupling device (140) forces the input
`
`member (175) of the transmission mechanism (170) downwards against the clamping
`
`force exerted by the force generator (133) while simultaneously forcing the gripper
`
`beak (120) to its open position, and simultaneously causing the latch mechanism
`
`5
`
`(160) to make a transition to its lock state.
`
`Robot arm comprising a gripper apparatus according to any of the previous
`8.
`claims.
`
`10
`
`Palletiser comprising a gripper apparatus according to any of the previous
`9.
`claims.
`
`10.
`
`Drone comprising a gripper apparatus according to any of the previous claims.
`
`1 042206
`
`

`

`From:0ctrooibureau Griebling
`
`
`
`To:NL OctrooiCentrum
`
`30/12/2016 16 01
`
`#127 P.020/022
`
`100
`
`FIG.1
`
`
`
`‘—
`(‘7\—
`
`1042206
`
`

`

`From100trooibureau Griebling
`
`TozNL OctrooiCentrum
`
`30/12/2016 16:02
`
`#127 P.021/022
`
`
`
`1 042206
`
`

`

`From:00trooibureau Griebling
`
`TozNL OctrooiCentrum
`
`30/12/2016 16:03
`
`#127 P.022/022
`
`‘E
`V - V 1
`
`"1 fig
`
`
`1042206
`
`

`

`\__
`
`\ y
`
`WIPO
`WORLD
`INTELLECTUAL PROPERTY
`ORGANIZATION
`
`
`
`DOCUMENT MADE AVAILABLE UNDER THE
`
`PATENT COOPERATION TREATY (PCT)
`International application number:
`PCT/NL2017I000020
`
`International filing date:
`
`22 December 2017 (22.12.2017)
`
`Document type:
`
`Document details:
`
`Certified copy of priority document
`
`Country/Office:
`Number:
`Filing date:
`
`NL
`1042206
`30 December 2016 (30.12.2016)
`
`Date of receipt at the International Bureau:
`
`14 March 2018 (14.03.2018)
`
`Remark: Priority document submitted or transmitted to the International Bureau in compliance with Rule
`17.1(a),(b) or (b-bis)
`
`34, chemin des Colombettes
`12I I Geneva 20, Switzerland
`
`www.wipo.int
`
`