Key information

Title
ADAPTIVE GRIPPER FINGER MECHANISM, GRIPPER DEVICE AND METHOD OF USING ADAPTIVE GRIPPER DEVICE MECHANISM
Application number
20240296
Case type
National
Status
17.08.2026 Patent meddelt (B1)
Filed
26.03.2024
Effective date
26.03.2024
Publicly available
29.09.2025
Next annual fee due
31.03.2027
Applicant
THT Robotics Holdings AS (NO)
Owner
THT Robotics Holdings AS (NO)
Inventor
Andrija Milojević (NO)
Agent
BRYN AARFLOT AS (NO)
Granted
17.08.2026
Patent number
350063
Expiry date
26.03.2044

Abstract and drawing

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content.
A gripper finger (1) for a gripper device having a monolithic elastic structure comprising an inside arm (2) having a first folding point (8) forming an angle C; an outside arm (3) having a second folding point (9), wherein the inside arm (2) or the outside arm (3) comprises a gripping surface (7) for contacting an object to be gripped; a first base end (10), from which the inside arm (2) is extending, and a second base end (11), from which the outside arm (3) is extending; a tip portion (6) where the end of the outside arm (3) and the end of the inside arm (2) are connected to each other, and at least one support arm between the inside arm (2) and the outside arm (3), wherein a first support arm (5) is provided between the first folding point (8) and the outside arm (3).

Publications

B1A1
Checking availability of the latest published version...

Documents

 Expand Download files (40)
Date
 Date Doc. No. Process Case number In/Out Journal description To/from
 17.08.2026 17-01 Saksbehandling 20240296(350063) UT PT Registreringsbrev nasjonal patent (15) (PT20240296)
05.06.2026 16-01 Saksbehandling 20240296 UT Intention to grant BRYN AARFLOT AS
 04.06.2026 15-04 Saksbehandling 20240296 INN 145540NO NIPO Reponse_11 August 2026 BRYN AARFLOT AS
 04.06.2026 15-03 Saksbehandling 20240296 INN 145540NO Amended Description_tracked_11 August 2026 BRYN AARFLOT AS
 04.06.2026 15-02 Saksbehandling 20240296 INN 145540NO Amended Description_clean_11 August 2026 BRYN AARFLOT AS
 04.06.2026 15-01 Saksbehandling 20240296 INN Korrespondanse (Hovedbrev inn) BRYN AARFLOT AS
 11.05.2026 14-01 Saksbehandling 20240296 UT Substantive examination BRYN AARFLOT AS
 06.05.2026 13-05 Saksbehandling 20240296 INN 145540NO Response to NIPO Office Action_6 May 2026 BRYN AARFLOT AS
 06.05.2026 13-04 Saksbehandling 20240296 INN 145540NO Norsk krav_6 May 2026 BRYN AARFLOT AS
 06.05.2026 13-03 Saksbehandling 20240296 INN 145540NO Amended Claims_tracked_6 May 2026 BRYN AARFLOT AS
 06.05.2026 13-02 Saksbehandling 20240296 INN 145540NO Amended Claims_clean_6 May 2026 BRYN AARFLOT AS
 06.05.2026 13-01 Saksbehandling 20240296 INN Korrespondanse (Hovedbrev inn) BRYN AARFLOT AS
 05.03.2026 12-01 Saksbehandling 20240296 INN Korrespondanse (Hovedbrev inn) BRYN AARFLOT AS
 02.02.2026 11-01 Saksbehandling 20240296 UT PT Varsel om betaling av første årsavgift (3317) (PT20240296) BRYN AARFLOT AS
 06.11.2025 10-02 Saksbehandling 20240296 UT PT report 03:40:18
06.11.2025 10-01 Saksbehandling 20240296 UT Substantive examination BRYN AARFLOT AS
 06.10.2025 09-05 Saksbehandling 20240296 INN 145540NO Norsk krav_18th November 2025_HT BRYN AARFLOT AS
 06.10.2025 09-04 Saksbehandling 20240296 INN 145540NO NIPO Response_18th November 2025 BRYN AARFLOT AS
 06.10.2025 09-03 Saksbehandling 20240296 INN 145540NO Amended Description_tracked_18th November 2025 BRYN AARFLOT AS
 06.10.2025 09-02 Saksbehandling 20240296 INN 145540NO Amended Description_clean_18th November 2025 BRYN AARFLOT AS
 06.10.2025 09-01 Saksbehandling 20240296 INN Korrespondanse (Hovedbrev inn) BRYN AARFLOT AS
 18.08.2025 08-01 Saksbehandling 20240296 UT Substantive examination BRYN AARFLOT AS
 07.04.2025 07-06 Saksbehandling 20240296 INN 145540NO reponse april 2025 BRYN AARFLOT AS
 07.04.2025 07-05 Saksbehandling 20240296 INN 145540Description-en rev01 BRYN AARFLOT AS
 07.04.2025 07-04 Saksbehandling 20240296 INN 145540Description-en rev01 marked up BRYN AARFLOT AS
 07.04.2025 07-03 Saksbehandling 20240296 INN 145540Claims-en rev01 marked up BRYN AARFLOT AS
 07.04.2025 07-02 Saksbehandling 20240296 INN 145540Claims-en rev01 marked up (1) BRYN AARFLOT AS
 07.04.2025 07-01 Saksbehandling 20240296 INN Korrespondanse (Hovedbrev inn) BRYN AARFLOT AS
 25.03.2025 06-02 Saksbehandling 20240296 INN Korrespondanse (Hovedbrev inn) BRYN AARFLOT AS
 25.03.2025 06-01 Saksbehandling 20240296 INN PDF_672550993 BRYN AARFLOT AS
 18.10.2024 05-02 Saksbehandling 20240296 UT PT report 05:00:17
18.10.2024 05-01 Saksbehandling 20240296 UT Substantive Examination BRYN AARFLOT AS
 10.05.2024 04-03 Saksbehandling 20240296 INN General Power of attorney (signed) BRYN AARFLOT AS
 10.05.2024 04-02 Saksbehandling 20240296 INN Declaration (signed) BRYN AARFLOT AS
 10.05.2024 04-01 Saksbehandling 20240296 INN Korrespondanse (Hovedbrev inn) BRYN AARFLOT AS
 27.03.2024 03-01 Saksbehandling 20240296 UT Formal Examination 1 BRYN AARFLOT AS
 27.03.2024 02-01 Saksbehandling 20240296 UT Infobrev til oppfinner BRYN AARFLOT AS
 26.03.2024 01-03 Saksbehandling 20240296 INN 145540NO Figures to be filed BRYN AARFLOT AS
 26.03.2024 01-02 Saksbehandling 20240296 INN 145540NO Application to be filed BRYN AARFLOT AS
 26.03.2024 01-01 Saksbehandling 20240296 INN Søknadsskjema Patent BRYN AARFLOT AS

Description, claims and drawings

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content. Description
3500631TECHNICAL FIELDThe present invention relates to gripper mechanism devices and a method using gripper devices, more particularly the present invention relates to a gripper finger 5 for a gripper device having a monolithic elastic structure, an adaptive gripper device comprising at least two gripper fingers and a method for gripping an object with the adaptive gripper device.10 BACKGROUND OF THE ARTIn most of today’s industries where the automatization is present, required or planed, automated mechanical systems, manipulators, as well as classical industrial robots (e.g. robotic arms, scara robots, parallel ro-15 bots, delta robots) need end-tool in order to grasp or manipulate with different objects and perform various tasks (e.g. pick and place, assembly and other diversity of tasks). End-tool in these systems is also known as end-effector, gripper, grasper, material handling tool, 20 robotic hand. Beside robots there are many other examples in industry in different mechanical systems, automated systems, cartesian systems where the gripper is used as end-tool for gripping and manipulation with objects.25Current solutions of grippers have grown complex and expensive, as everyday manufacturing tasks require more complicated operation. Thus, there is a great need for more versatile/adaptive and affordable end-tools. Most 30 of the existing solutions of grippers have limitations and disadvantages. For example:- they can manipulate with only limited number of objects i.e. they can grasp only limited shape and size of objects, as well as objects with limited variations 35 in stiffness i.e. objects that are mostly considered rigid (larger stiffness), 3500632- for every different application and industry, different grippers exist i.e. one gripper solution for only one specific type, shape, size, and stiffness of object. Grippers are usually developed and designed to handle 5 only one type of object or product thus in most cases for every application, type of object (within some range of dimensions and weight) and industry, one gripper solution exists that can handle only this object and in case that other type of object is needed to be handled, 10 different solution of a gripper is needed,- most of the existing grippers cannot grasp soft and easily squeezable objects, like fruits, eggs, vegetables, plants, and bakery products (bread, pastry etc.), - they represent complex solutions with lots of moving 15 parts, rigid links, joints, electrical motors, steel cables, they require complex assembling,- they have bad scalability, i.e. they cannot be so easily scale down to micro-domain sizes,- some solutions of grippers require complicated grasp-20 ing force control algorithms in order to grasp different objects,- existing solutions of adaptive grippers and universal grippers that can manipulate with broader range of objects are too much expensive, complicate to produce, 25 some require assembly, and have other disadvantages, - the grippers that can grasp objects of different shapes, sizes, stiffness usually require force control and are very expensive,- in general, most of the gripping tasks are realized 30 with grippers and methods that require exact force and stroke control of the needed input actuation,- in general, most of the gripping solutions are expensive and complicated to produce.35 IEEE have published several papers on the topic of grippers, including the paper “Adaptive Soft Robotic Gripper Based on Shape Morphing Compliant System”, Milojevic 3500633Andrija, et al., 2018 4th International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2018), 20-22 June 2018, Delft, Netherlands. This paper discloses an adaptive soft robotic gripper based on a shape morph-5 ing compliant system. The gripper integrates actuators and sensors within a compliant structure, enabling it to adapt its grasping surface to various object shapes and sizes, including those with different stiffness levels. Traditional rigid-body grippers lack this adapta-10 bility, making them unsuitable for handling a wide range of objects safely. The proposed gripper utilises shape memory alloy wires for actuation and conductive graphite foam for sensing, allowing it to detect contact and adjust its shape accordingly. The design includes a two-15 finger gripper concept, with a functional model of one finger demonstrating multiple grasping patterns. This adaptive gripper offers significant potential for applications in robotics, enhancing the flexibility and adaptability of industrial robots. The document also 20 outlines the synthesis methodology for developing such compliant systems, highlighting the benefits of reduced complexity, ease of manufacturing, and scalability.Another IEEE publication is “A Topology-Optimized 3D 25 Printed Compliant Finger with Flex Sensor for Adaptive Grasping of Unknown Objects”, Liu Chih-Hsing et al., 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 20190708 - 20190712 Hong Kong, China. This paper introduces a motor-driven, two-30 finger compliant gripper designed for autonomously adaptive grasping of unknown objects. The gripper features topology-optimized compliant fingers, prototyped through 3D printing using thermoplastic elastomer filament. Each finger is actuated by a single 35 displacement input, allowing elastic deformation to generate gripping motion. A resistive flex sensor is installed on the finger's surface to measure bending, 3500634providing feedback for the gripper. The gripper, mounted on an industrial robot, successfully grasps various objects, including glass cups, tomatoes, and eggs, with sizes ranging from 30mm to 141mm and a maximum payload 5 of 2.5kg. The design leverages topology optimization to enhance material layout, resulting in a compact and efficient gripper suitable for handling fragile objects with varying sizes and shapes.10 CN108284430A discloses an SU-8 flexible electrothermal driving micro-gripper for multiple operation objects, and belongs to clamping mechanisms in the microoperation process.15 US2022395988A1 discloses a gripper finger for a gripper device.US7163247B2 discloses a device at tool holder of the kind comprising an essentially C-shaped frame preferably 20 having a long inner range, which frame at its free shank ends carries said tool, for instance a riveting, a glueing or a welding unit.CN106346510B discloses a compliant three-finger gripper 25 with tactile sensing function.US8333417B2 discloses flexible manipulator tools are provided. The flexible manipulator tool can include a distal end movable in at least one manipulation plane 30 with respect to a proximal end. The flexible manipulator tool can also include at least two cheeks extending side by side and spaced apart from each other.DE102019117506A1 relates to a gripping device for grip-35 ping objects with at least two gripping units with gripper elements which have a monolithic structure, wherein working elements are movable relative to each other, so 3500635that a reversible deformation of the structure of the gripper element results during the gripping process.CN111993304A discloses a flexible three-finger clamp.5 The flexible three-finger clamp comprises a shell, a rotating motor arranged in the shell, an inner rotating column, a connecting disc and flexible clamping jaws, the inner rotating column is connected with the rotating motor through the connecting disc, three inclined-strip-10 shaped grooves are formed in the rotating column, vertical-strip-shaped grooves used for being matched with the inclined-strip-shaped grooves are formed in the shell, the first connecting ends of the flexible clamping jaws are sequentially connected with sliding 15 blocks, the vertical-strip-shaped grooves and the inclined-strip-shaped grooves through connecting bolts, and the second connecting ends of the flexible clamping jaws are fixed to the shell.20 In general, most of the existing gripping solutions cannot adapt to different types of objects (different shape, size, weight, and stiffness of object), thus in most cases different grippers are needed to handle different types of objects.25OBJECTIVE OF THE INVENTIONThe objective of the invention is to alleviate the disadvantages mentioned above which is achieved by a new simple adaptive gripper solution.30SUMMARYTo overcome the above-mentioned disadvantages, a new gripper finger and gripper device is provided for grasping and manipulating objects. The gripper finger is in 35 form of simple monolithic elastically deformable compliant structure that can transfer motion/forces from a 3500636power source to the object to be gripped. The monolithic structure does not require assembling and, thus, the device is easy and low-cost to produce. With the specially and optimally designed structure, the same grip-5 per finger can grasp different types of objects (different size, shape, stiffness etc.). Also because of the new structure, it is not required to have force/input motion control to grasp objects. The elastic gripper fingers do not squeeze or break the object but rather 10 adapt to the object shape. Or if the object is stiff, it would rather deform the gripper fingers and not the object. By holding the gripper fingers in deformed state, the gripper device is closed and holds the object. When the input force is no longer applied, the 15 gripper device would open and return to its initial, undeformed state due to releasing of the stored strain energy, similar to a spring.Further, the force applied to the gripper finger is 20 transferred to the object more efficiently and, thus, the needed power/force is smaller. Moreover, the input motion applied to the gripper finger is transferred more efficiently to the output and, thus, the need actuation input stroke to grip the object, is smaller.25According to a first aspect, the present invention provides a gripper finger for a gripper device having a monolithic elastic structure comprising- an inside arm having a first folding point forming an 30 angle,- an outside arm,wherein the inside arm or the outside arm comprises a gripping surface for contacting an object to be gripped, - a first base end, from which the inside arm is ex-35 tending, and a second base end, from which the outside arm is extending, 3500637- a tip portion where the end of the outside arm and the end of the inside arm are connected to each other, and - at least one support arm between the inside arm and the outside arm,5 wherein- a first support arm is provided between the first folding point and the outside arm,- the angle C formed to the inside arm at the first folding point is less than 180 degrees or more than 180 10 degrees; and- the first support arm is provided between the first folding point and the second base end or the outer arm comprises a second folding point and the first support arm is provided between the first folding point and the 15 second folding point.The advantage of the new design is that less energy is needed on deforming the gripper mechanism than previous grippers. Thus, heavier objects may be grasped and 20 lifted, although the footprint of the gripper mechanism is similar to the previous gripper mechanisms.In an embodiment of the device, the first support arm is provided between the first folding point and the 25 second base end and a second support arm is provided between the first folding point and the second folding point.In an embodiment of the device, the first base end com-30 prises a protrusion extending to a direction that differs from the inside arm direction.According to a second aspect, the present invention provides an adaptive gripper device comprising at least two 35 gripper fingers according to any of the preceding embodiments 3500638- the gripper fingers are monolithic elastic structures arranged to grip an object via elastic deformation, and - the gripping surfaces of the gripping fingers are facing each other so that an open space for the object 5 to be gripped is arranged between the gripping surfaces, or the gripping surfaces are facing outwards whereby gripping surfaces may be pushed towards the inner surfaces of the object,wherein each gripper finger comprises a first support 10 arm provided between the first folding point and the outside arm.In an embodiment of the device, the gripper device comprises a frame structure in which the second base ends 15 are fixed.In an embodiment of the device, the device comprises a connection point where the first base ends of the gripper fingers are connected to each other so that an angle 20 A is provided between the inner arms of the gripper fingers.In an embodiment of the device, the device comprises actuation means arranged in connection with the connec-25 tion point and being on opposite side to the angle A for connecting the gripper device to an actuator.In an embodiment of the device, the whole gripper device is a monolithic structure.30In an embodiment of the device, the gripper device comprises an actuator connected to actuation means for pivoting the tip portions of the gripper fingers for gripping the object.35 3500639In an embodiment of the device, the actuator is arranged to pivot the tip portions of the gripper fingers farther from each other.5 In an embodiment of the device the actuator is a solenoid actuator.Another aspect is to provide a method for gripping an object with an adaptive gripper device according to any 10 of preceding embodiments of the gripper device comprising steps of- actuating an input force to the adaptive gripper device independent from the object,- converting the input force via elastic deformation 15 of the gripper mechanism to corresponding gripping force, and- gripping the object via stored deformation energy of the gripper device in combination with the input force.20It is to be understood that the aspects and embodiments of the invention described above may be used in any combination with each other. Several of the aspects and embodiments may be combined together to form a further 25 embodiment of the invention.BRIEF DESCRIPTION OF THE DRAWINGSThe accompanying drawings, which are included to provide a further understanding of the invention and constitute 30 a part of this specification, illustrate embodiments of the invention and together with the description help to explain the principles of the invention. In the drawings:35 Fig. 1, 3 and 5 show gripper fingers according to first aspect, 35006310Fig. 2, 4 and 6 show gripper devices comprising two gripper fingers.DETAILED DESCRIPTION5 Figures show different kind of embodiments of the gripper finger and gripper device.Figure 1 shows a monolithic and elastic gripper finger for a gripper device having a monolithic elastic struc-10 ture comprising an inside arm 2 having a first folding point 8, forming an angle C, and an outside arm 3. The inside arm 2 or the outside arm 3 comprises a gripping surface for contacting an object to be gripped. In figure 1, the gripping surface 7 is at the inner arm and, 15 thus, the object is configured to be gripped with the inner arm. The gripper finger comprises a first base end 10, from which the inside arm 2 is extending, and a second base end 11, from which the outside arm 3 is extending. A tip portion 6 is provided at the end of the 20 gripper finger, where the end of the outside arm 3 and the end of the inside arm 2 are connected to each other. The gripper finger 1 comprises a support arm 5a between the inside arm and the outside arm so that the first support arm 5a is provided between the first folding 25 point 8 and the second base end 11 of the outside arm 3. The gripper finger may comprise, as shown in figures, a first protrusion 12 extending from the first base end 10 in direction that differs from the inside arm direction.30Figure 2 shows a gripper device 15 comprising two gripper fingers 1 shown in figure 1. With two or more gripper fingers, the gripper device is capable to grip an object via elastic deformation. Each gripper finger comprises 35 gripping surfaces 7 so that an open space for the object to be gripped is arranged between the gripping surfaces (as shown in figure 2). Optionally, the gripping 35006311surfaces are facing outwards for gripping hollow or tube-like objects, whereby the gripping surfaces may be pushed towards the inner surfaces of the object. Each of the gripping fingers comprises a first support arm 5 5a provided between the first folding point 8 and the outside arm 3. In figure 2, the first support arm 5a is provided between the first folding point 8 and the second base end 11 of the outside arm 3. The gripper finger comprises a frame structure 14 in which the second base 10 end 11 is fixed. Further, the gripper device 15 comprises a connection point 20 where the first base ends 10 are connected to each other so that an angle A is provided between the inner arms 2 of the gripper fingers 1. Further, the gripper device 15 comprises actuation 15 means 21 arranged in connection with the connection point 20 and being on opposite side to the angle A for connecting the gripper device to an actuator. As shown in figure 2, the whole gripper device may be a monolithic structure.20Figure 3 shows a monolithic and elastic gripper finger for a gripper device having a monolithic elastic structure comprising an inside arm 2 having a first folding point 8, forming an angle C, and an outside arm 3 com-25 prising a second folding point 9. The inside arm 2 or the outside arm 3 comprises a gripping surface for contacting an object to be gripped. In figure 3, the gripping surface 7 is at the inner arm and, thus, the object is configured to be gripped with the inner arm. The 30 gripper finger comprises a first base end 10, from which the inside arm 2 is extending, and a second base end 11, from which the outside arm 3 is extending. A tip portion 6 is provided at the end of the gripper finger, where the end of the outside arm 3 and the end of the inside 35 arm 2 are connected to each other. The gripper finger 1 comprises a support arm 5a between the inside arm and the outside arm so that the first support arm 5a is 35006312provided between the first folding point 8 and the second folding point 9. The gripper finger may comprise, as shown in figures, a first protrusion 12 extending from the first base end 10 in direction that differs 5 from the inside arm direction.Figure 4 shows a gripper device 15 comprising two gripper fingers 1 shown in figure 3. With two or more gripper fingers, the gripper device is capable to grip an object 10 via elastic deformation. Each gripper finger comprises gripping surfaces 7 so that an open space for the object to be gripped is arranged between the gripping surfaces (as shown in figure 4). Optionally, the gripping surfaces are facing outwards for gripping hollow or tube-15 like objects, whereby the gripping surfaces may be pushed towards the inner surfaces of the object. Each of the gripping fingers comprises a first support arm 5a provided between the first folding point 8 and the outside arm 3. In figure 4, the first support arm 5a is 20 provided between the first folding point 8 and the second folding point 9. The gripper finger comprises a frame structure 14 in which the second base end 11 is fixed. Further, the gripper device 15 comprises a connection point 20 where the first base ends 10 are con-25 nected to each other so that an angle A is provided between the inner arms 2 of the gripper fingers 1. Further, the gripper device 15 comprises actuation means 21 arranged in connection with the connection point 20 and being on opposite side to the angle A for connecting 30 the gripper device to an actuator. As shown in figure 4, the whole gripper device may be a monolithic structure.Figure 5 shows a monolithic and elastic gripper finger 35 for a gripper device having a monolithic elastic structure comprising an inside arm 2 having a first folding point 8, forming an angle C, and an outside arm 3. The 35006313inside arm 2 or the outside arm 3 comprises a gripping surface for contacting an object to be gripped. In figure 5, the gripping surface 7 is at the inner arm and, thus, the object is configured to be gripped with the 5 inner arm. The gripper finger comprises a first base end 10, from which the inside arm 2 is extending, and a second base end 11, from which the outside arm 3 is extending. A tip portion 6 is provided at the end of the gripper finger, where the end of the outside arm 3 and 10 the end of the inside arm 2 are connected to each other.The gripper finger 1 comprises two support arms 5a, 5b between the inside arm and the outside arm so that the first support arm 5a is provided between the first folding point 8 and the second base end 11 of the outside 15 arm 3, and the second support arm 5b is provided between the first folding point 8 and the second folding point 9. The gripper finger may comprise, as shown in figures, a first protrusion 12 extending from the first base end 10 in direction that differs from the inside arm direc-20 tion.Figure 6 shows a gripper device 15 comprising two gripper fingers 1 shown in figure 5. With two or more gripper fingers, the gripper device is capable to grip an object 25 via elastic deformation. Each gripper finger comprises gripping surfaces 7 so that an open space for the object to be gripped is arranged between the gripping surfaces (as shown in figure 6). Optionally, the gripping surfaces are facing outwards for gripping hollow or tube-30 like objects, whereby the gripping surfaces may be pushed towards the inner surfaces of the object. Each of the gripping fingers comprises a first support arm 5a provided between the first folding point 8 and the outside arm 3. In figure 6, the first support arm 5a is 35 provided between the first folding point 8 and the second base end 11 of the outside arm 3, and the second support arm 5b is provided between the first folding 35006314point 8 and the second folding point 9. The gripper finger comprises a frame structure 14 in which the second base end 11 is fixed. Further, the gripper device 15 comprises a connection point 20 where the first base 5 ends 10 are connected to each other so that an angle A is provided between the inner arms 2 of the gripper fingers 1. Further, the gripper device 15 comprises actuation means 21 arranged in connection with the connection point 20 and being on opposite side to the angle 10 A for connecting the gripper device to an actuator. As shown in figure 6, the whole gripper device may be a monolithic structure.Although the figures 2, 4 and 6 show a gripper device 15 comprising two gripper fingers, it should be noted that the gripper device may comprise more than two gripper fingers. For example, the gripper device may comprise three, four of five gripper fingers. The gripper fingers may be provided symmetrically or asymmetrically.20A gripper finger comprising the first base end may have a first protrusion extending to a direction that differs from the inside arm direction. The protrusion may form part of the actuation means of the gripper device for 25 connecting the gripper finger or gripper device to an actuator.Although not shown in the figures, the gripper device may comprise an actuator connected to actuation means 30 for pivoting the tip portions of the gripper fingers for gripping the object. The actuator is configured to provide input force to the gripper device, and when connected to the actuation means, the input force is converted via elastic deformation of the gripper mechanism 35 to corresponding gripping force by pivoting the tip portions of the gripper fingers towards each other or farther from each other. The input force may be pulling 35006315force, i.e. the actuator pulls the actuation means 21 towards the frame structure 14 causing the gripper device to close, or the input force may be pushing force, i.e. the actuator pushes the actuation means outwards 5 of the frame structure 14 causing the gripper device to open.As noted above, the gripper device may comprise an actuator as an input drive for the gripper mechanism. The 10 actuator is integrated to the frame structure 14 so that the actuator does not move, in relation to the gripper device, in use. In one embodiment, the actuator is mounted to the frame structure 14 by screws and/or bolts. Further, the actuator is mounted to the gripper 15 fingers at the first protrusion 12. It may be mounted by screws, glue or by an axle which is part of the actuator and is arranged through a hole in the first protrusion 12.20 The actuator may be for example solenoid actuator. Due to its characteristics, the solenoid actuator works very fast. The gripper device with integrated solenoid actuator works so that an input voltage is applied to the solenoid actuator and then the electromagnets turn on 25 and attract the first protrusion 12 by pulling it down causing the gripper device to close. As long as the solenoid actuator is powered, the gripper device is closed, and possible object is held with certain holding force. When the input voltage for the solenoid actuator 30 is turned off, the gripper device will return to its initial undeformed state, i.e. open position, as described earlier.However, according to some embodiments, the actuator may 35 be other kind of actuating device, which causes input drive for the gripper mechanism, such as electro-motor, pneumatic or hydraulic cylinders, or smart material 35006316based actuators, or other type of linear motors or rotary motors with additional elements to transform the rotation to needed linear actuating motion.5 In one embodiment, the actuator is mounted to the first base end 10 of each gripper finger. However, in some embodiments the gripper fingers comprise a first protrusion 12 in which the actuator is mounted. In gripper device comprising several gripper fingers, the first 10 protrusion 12 may be shared by the gripper fingers, wherein all three gripper fingers share a same first protrusion forming the actuation means described earlier, which is connected to or integral structure of the first base ends of each of the gripper fingers.15Although not shown in figures, each gripper finger and, thus, the gripper device, may have many different optional structures. For example, each gripper finger may have additional support arms provided between the inside 20 arm and the outside arm, e.g. between the first base end 10 and the second folding point 9.Optionally, the angle formed to the inside arm at the first folding point may be less than 180 degrees, 180 25 degrees (straight arm) or more than 180 degrees. Each variation has a different purpose in grasping.Optionally, the outside arm may be straight, i.e. without any folding points, as shown in figures 1 and 2. 30According to one embodiment, the monolithic elastic structure of the gripper finger is made of plastic material as it is very suitable, elastic and works well with wide variety of objects. According to some other 35 embodiments the gripper finger may be made of thin metal sheet or rubber like silicone-based rubber material or any elastic-based materials. 35006317Optionally, the whole gripper device is made of elastic material. According to one embodiment the material is plastic material due to its favorable characteristics.5 According to some other embodiments, the material may be for example thin sheet metal, rubber or siliconebased rubber material or some other elastic material.Optionally, there is a support arm between the first 10 folding point 8 and the second folding point 9, as seen in figures. Optionally, the first base end 10 and the second base end 11 are connected to each other by a support arm.15 The operation of the gripper device may be described as follows: actuating an input force to the adaptive gripper device independent from the object, converting the input force via elastic deformation of the gripper mechanism to corresponding gripping force, and gripping the 20 object via stored deformation energy of the gripper device in combination with the input force.In more detail, the input force (and motion) is transmitted by the compliant structure of the gripper device 25 to the output port (tip portions 6 of the gripper fingers 1), but also to the gripping surface of the gripper device. In other words, the closing of the gripper fingers is realized due to elastic deformation of the gripper structure. One part of the input force is spent on 30 the deformation of the elastic structure, but other part of the input force is transmitted to the output ports (and gripping surface) and gripper can realize output holding forces. If any object is placed between gripper fingers, the gripper device would realize grasping of 35 the object with certain holding force (depending on the intensity of the input force). But because the elasticity of the gripper device, the gripper fingers will in 35006318some cases conform to the shape of the object. Or, if the object is soft, it would not break the object (again due to compliance of the gripper fingers) but still would be able to effectively realize grasping. Thus, the 5 gripper device realizes grasping of wide variety of objects with different shapes and especially soft and easily squeezably objects (like fruits or vegetables) or fragile objects (like light bulbs or eggs). Further, due to elastic structure of the gripper device, there is no 10 need for controlling the grasping force, i.e. just input force is applied and there is no need to control the force that the gripper fingers exert on an object. The gripper fingers rather deform or adapt to the object shape. By holding the gripper device in the deformed 15 state, the gripper device will be closed, and the object is held. When the input force is released, i.e. the input force is no longer applied at the input port, the gripper device will open and return to its initial, undeformed state (position where the gripper fingers are 20 open) of its own volition. This is due to the stored deformation energy, i.e. energy that is stored within the deformed segments of the gripper device so when the input force is released, the energy is released and the gripper device returns to its initial undeformed state.25 In a way, the gripper device behaves like a spring and it has built-in restoring force and, thus, no return force is needed.Although the invention has been described in conjunction 30 with a certain type of device, it should be understood that the invention is not limited to any certain type of device. While the present inventions have been described in connection with a number of exemplary embodiments, and implementations, the present inventions are 35 not so limited, but rather cover various modifications, and equivalent arrangements, which fall within the purview of prospective claims.
Claims
35006319CLAIMS1. A gripper finger (1) for a gripper device having a monolithic elastic structure comprising5 - an inside arm (2) having a first folding point (8) forming an angle C,- an outside arm (3),wherein the inside arm (2) or the outside arm (3) comprises a gripping surface (7) for contacting an object 10 to be gripped,- a first base end (10), from which the inside arm (2) is extending, and a second base end (11), from which the outside arm (3) is extending,- a tip portion (6) where the end of the outside arm (3) 15 and the end of the inside arm (2) are connected to each other, and- at least one support arm between the inside arm (2) and the outside arm (3),c h a r a c t e r i z e d in that20 - a first support arm (5a) is provided between the first folding point (8) and the outside arm (3);- the angle C formed to the inside arm (2) at the first folding point (8) is less than 180 degrees or more than 180 degrees; and25 - the first support arm (5a) is provided between the first folding point (8) and the second base end (11) or the outer arm comprises a second folding point (9), and the first support arm (5a) is provided between the first folding point (8) and the second folding point (9). 302. A gripper finger according to claim 1,wherein the first support arm (5a) is provided between the first folding point (8) and the second base end (11) and a second support arm (5b) is provided between the 35 first folding point (8) and the second folding point (9).350063203. A gripper finger according to claim 1,wherein the first base end (10) comprises a protrusion extending to a direction that differs from the inside arm (2) direction.54. An adaptive gripper device (15) comprising at least two gripper fingers according to any of the preceding claims,- the gripper fingers (1) are monolithic elastic struc-10 tures arranged to grip an object via elastic deformation, and- the gripping surfaces (7) of the gripping fingers (1) are facing each other so that an open space for the object to be gripped is arranged between the gripping 15 surfaces (7), or the gripping surfaces (7) are facing outwards whereby gripping surfaces may be pushed towards the inner surfaces of the object,c h a r a c t e r i z e d in that- each gripper finger comprises a first support arm (5a) 20 provided between the first folding point (8) and the outside arm (3).5. An adaptive gripper device according to claim 4, wherein the gripper device (15) comprises a frame struc-25 ture (14) in which the second base ends (11) are fixed.6. An adaptive gripper device according to claim 5, wherein the device comprises a connection point (20) where the first base ends of the gripper fingers are 30 connected to each other so that an angle A is provided between the inner arms of the gripper fingers.7. An adaptive gripper device according to claim 6, wherein the device comprises actuation means (21) ar-35 ranged in connection with the connection point and being on opposite side to the angle A for connecting the gripper device to an actuator.350063218. An adaptive gripper device according any one of claims 4 to 7,wherein the whole gripper device (15) is a monolithic 5 structure.9. An adaptive gripper device according to any of claims 5 to 8,characterized in that the gripper device (15) comprises 10 an actuator connected to actuation means for pivoting the tip portions (6) of the gripper fingers for gripping the object.10. An adaptive gripper device according to claim 9,15 characterized in that the actuator is arranged to pivot the tip portions (6) of the gripper fingers farther from each other.11. An adaptive gripper device according to claim 9 or 20 10,characterized in that the actuator is a solenoid actuator.12. A method for gripping an object with an adaptive 25 gripper device according to any of claims 4 to 11 comprising steps of- actuating an input force to the adaptive gripper device independent from the object,- converting the input force via elastic deformation 30 of the gripper mechanism to corresponding gripping force, and- gripping the object via stored deformation energy of the gripper device in combination with the input force.35006322KRAV1. En gripefinger (1) for en gripemekanisme med en monolittisk elastisk struktur omfattende5 - en indrearm (2) med et første bøyepunkt (8) som danner en vinkel C,- en ytre arm (3),der den indre armen (2) eller den ytre armen (3) omfatter en gripeflate (7) for å kontakte et objekt som skal gripes, 10 - en første baseende (10), hvorfra den indre armen (2) strekker seg, og en andre baseende (11), hvorfra den ytre armen (3) strekker seg,- en tupp (6) hvor enden av den ytre armen (3) og enden av den indre armen (2) er koblet til hverandre, og15 - minst én støttearm mellom den indre armen (2) og den ytre armen (3),karakterisert ved at- en første støttearm (5a) er plassert mellom det første bøyepunktet (8) og den ytre armen (3);20 - vinkelen C som dannes i forhold til den indre armen (2) ved det første bøyepunktet (8), er mindre enn 180 grader eller større enn 180 grader; og- der den første støttearmen (5a) er plassert mellom det første bøyepunktet (8) og den andre baseenden (11) eller 25 der den ytre armen omfatter et andre bøyepunkt (9), og den første støttearmen (5a) er plassert mellom det første bøyepunktet (8) og det andre bøyepunktet (9).2. En gripefinger ifølge krav 1,30 der den første støttearmen (5a) er plassert mellom det første bøyepunktet (8) og den andre baseenden (11) og en andre støttearm (5b) er plassert mellom det første bøyepunktet (8) og det andre bøyepunktet (9).35 3. En gripefinger ifølge krav 1,der den første baseenden (10) omfatter et fremspring som strekker seg i en retning som avviker fra den indre armens (2) retning.350063234. En adaptiv gripemekanisme (15) omfattende minst to gripefingre ifølge et hvilket som helst av de foregående kravene,- gripefingrene (1) er monolittiske elastiske strukturer 5 arrangert for å gripe et objekt via elastisk deformasjon, og- gripeflatene (7) til gripefingrene (1) vender mot hverandre slik at det er arrangert et åpent rom for objektet som skal gripes mellom gripeflatene (7), eller 10 gripeflatene (7) vender utover, hvorved gripeflatene kan presses mot de indre overflatene av objektet, karakterisert ved athver gripfinger omfatter en første støttearm (5a) er plassert mellom det første bøyepunktet (8) og den ytre 15 armen (3).5. En adaptiv gripemekanisme ifølge krav 4,der gripemekanismen (15) omfatter en rammestruktur (14) der de andre baseendene (11) er festet.206. En adaptiv gripemekanisme ifølge krav 5,der mekanismen omfatter et tilkoblingspunkt (20) hvor de første baseendene til gripefingrene er koblet til hverandre slik at det er en vinkel A mellom de indre armene til 25 gripefingrene.7. En adaptiv gripemekanisme ifølge krav 6,der mekanismen omfatter aktiveringsmidler (21) arrangert i forbindelse med tilkoblingspunktet og på motsatt side av 30 vinkel A for å koble gripemekanismen til en aktuator.8. En adaptiv gripemekanisme ifølge et hvilket som helst av kravene 4 til 7,der hele gripemekanismen (15) er en monolittisk struktur.359. En adaptiv gripemekanisme ifølge et hvilket som helst av kravene 5 til 8,karakterisert ved at gripemekanismen (15) omfatter en aktuator koblet til aktiveringsmidler for å dreie tuppene 40 (6) til gripefingrene for å gripe objektet.3500632410. En adaptiv gripemekanisme ifølge krav 9, karakterisert ved at aktuatoren er arrangert for å dreie tuppene (6) til gripefingrene lenger fra hverandre.511. En adaptiv gripemekanisme ifølge krav 9 eller 10, karakterisert ved at aktuatoren er en solenoideaktuator.12. En fremgangsmåte for å gripe et objekt med en adaptiv 10 gripemekanisme ifølge et hvilket som helst av kravene 4 til 11, som omfatter trinnene- å aktivere en inngangskraft til den adaptive gripemekanismen uavhengig av objektet,- å konvertere inngangskraften via elastisk deformasjon av 15 gripemekanismen til en tilsvarende gripe-kraft, og- å gripe objektet via lagret deformasjonsenergi i gripemekanismen i kombinasjon med inngangskraften.
Drawings

Priority

No priority

Patent classes

IPC classesB25J 15/12B25J 15/02B25J 9/00CPC classesB25J 15/12B25J 15/0293B25J 9/0015

Citations

“Adaptive Soft Robotic Gripper Based on Shape Morphing Compliant System”, Milojevic Andrija, et al., 2018 4th International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2018), 20-22 June 2018, Delft, Netherlands ()“A Topology-Optimized 3D Printed Compliant Finger with Flex Sensor for Adaptive Grasping of Unknown Objects”, Liu Chih-Hsing et al., 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 20190708 - 20190712 Hong Kong, China ()US 2022395988 A1 (A1)CN 108284430 A (A)US 2022395988 A1 (A1)US 7163247 B2 (B2)CN 106346510 B (B)US 8333417 B2 (B2)DE 102019117506 A1 (A1)CN 111993304 A (A)

Applicants, owners and inventors

Owners
THT Robotics Holdings AS
Grorudveien 55 0976 OSLO NO (OSLO Municipality, Oslo county)Org. number: 831996692Inventors
Andrija Milojević
Pernilletoppen 2 B 2072 DAL NO (EIDSVOLL Municipality, Akershus county)

Agent

BRYN AARFLOT AS
BRYN AARFLOT AS

Org. number: 979993269

Name and address are automatically synchronized with the Brønnøysund Register Centre.

Open in The Brønnøysund Register Centre
Stortingsgata 8 0161 OSLO NO (OSLO Municipality, Oslo county)
Org. number: 979993269
Reference: 145540NO

Status history

Payment history

Oppositions and appeals

No oppositions or appeals

Administrative limitation

No administrative limitation

Liens and licences

No liens or licenses registered

Gazette entries

No Gazette entries foundOnly events from 2024.03.04 and onwards are shown.