1. Field of the Invention
The present invention relates to a pneumatic gripper comprising at least one pneumatic structural element.
2. History of the Related Art
The devices nearest to the present invention are known from U.S. Pat. No. 3,056,625, Timmerman (D1) and JP 05261687, Bridgestone (D2).
D1 describes a gripper for goods which is configured as a clamp and has grippers held movably on its lateral vertically disposed sections by means of hinges. Located between each vertically disposed section and the associated gripper is an inflatable bellows which, under pressure, pushes the gripper away from the vertical section towards the inside of the gripper so that the goods are grasped by the gripper.
D2 also describes a gripper configured in the manner of a clamp with lateral vertically disposed sections. A supporting arm runs parallel to each of the vertical sections, on the inner side thereof, said supporting arm for its part being movably hinged in the cross member of the gripper by means of a hinge. Inflatable cushions are provided on each supporting arm which, when filled with compressed air, press the supporting arms away towards the inside (whereby said cushions also move inwards since they are disposed on the supporting arms).
These known grippers have the disadvantage of a rigid structure, for example, with the consequence that they can only be used in a vertical position.