Apparatus and method for gripping an object

Inventors: Christian Auer (Pilsting, DE); Claus-Peter Baumann (Leiblfing, DE); Alois Dobler (Holzheim, DE); Martin Endres (Pfaffenhofen an der Ilm, DE); Reinhold Hackl (Regenstauf, DE); Franz Korber (Mallersdorf, DE); Martin Kuhn (Regenstauf, DE); Mario Meinhardt (Munich, DE); Maximilian Rainer (Offenberg, DE); Markus Sieber (Bernhardswald, DE); Franz Stockner (Aholming, DE)

Assignee: Bayerische Motoren Werke Aktiengesellschaft

B25J15/103 B25J15/0028 B25J15/0033 B25J15/0475 B25J15/08

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Quick Facts

Patent No.: US 12678980
App. No.: 17/919,067
Granted: Jul 14, 2026
Kind: B2

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Abstract

An apparatus for gripping an object includes a base element and at least three gripping arms which are mounted on the base element. The at least three gripping arms are each movable independently of one another relative to the base element and the object can be picked up by the at least three gripping arms. The at least three gripping arms each have a hook-shaped gripping tool.

Claims (20)

1 . An apparatus for gripping an object, comprising:

a base element; and

at least three gripping arms which are mounted on the base element, wherein the at least three gripping arms are each movable independently of one another relative to the base element and wherein the object can be picked up by the at least three gripping arms;

wherein the at least three gripping arms each have a hook-shaped gripping tool and wherein the hook-shaped gripping tool is a cutting hook;

wherein the cutting hook has at least one cutting edge, wherein the at least one cutting edge is disposed in a curve of the cutting hook, wherein the at least one cutting edge is set at an angle of from 30 degrees to 90 degrees relative to a plane spanned by a surface of the cutting hook relative to a surface of the object such that a first plane spanned by the surface of the cutting hook encloses an angle which has a value of from 30 degrees to 90 degrees with a second plane spanned by the surface of the object wherein the surface of the cutting hook spanning the first plane provides and defines the at least one cutting edge, and wherein the at least one cutting edge cuts into the surface of the object such that the at least one cutting edge hooks onto the surface of the object and such that a form-fitting connection of the gripping tool with the surface of the object is formed.

2 . The apparatus according to claim 1 , wherein the hook-shaped gripping tool is mounted via a connection end on an adjustment device of the respective gripping arm so as to be rotatable about a tool rotation axis.

3 . The apparatus according to claim 2 , wherein at least one of the at least three gripping arms has a translatory adjustment device as the adjustment device and has a gripping element which is mounted on the translatory adjustment device and which is movable relative to the translatory adjustment device and wherein via the gripping element the hook-shaped gripping tool is held.

4 . The apparatus according to claim 3 , wherein the gripping element is movable in a direction of a longitudinal extent of the translatory adjustment device.

5 . The apparatus according to claim 3 , wherein the gripping element is adjustable in terms of a distance of the gripping element relative to the translatory adjustment device.

6 . The apparatus according to claim 3 , wherein the gripping element has a quick-change device and wherein via the quick-change device the hook-shaped gripping tool is held via a quick-release fastener.

7 . The apparatus according to claim 1 , wherein the at least three gripping arms are pivotable relative to the base element about respective associated rotation axes.

8 . The apparatus according to claim 7 , wherein the respective associated rotation axes are disposed parallel to one another.

9 . The apparatus according to claim 1 , further comprising:

a detection device, wherein the object is detectably by the detection device;

an electronic computing device, wherein a sensor signal characterizing the object is receivable by the electronic computing device from detection device and wherein a relative position of the object relative to the at least three gripping arms is determinable by the electronic computing device in dependence on a received sensor signal; and

a control device, wherein, in dependence on a determined relative position of the object by the electronic computing device, the at least three gripping arms are movable relative to the object and the respective hook-shaped gripping tools are applyable to the object by the control device.

10 . The apparatus according to claim 1 , further comprising a fastening device, wherein the apparatus is fastenable to a robot by the fastening device.

11 . A method for gripping an object by the apparatus according to claim 1 , comprising the steps of:

moving the at least three gripping arms independently of one another relative to the base element; and

applying the respective hook-shaped gripping tools of the at least three gripping arms to the surface of the object.