US 12,290,941 B2
End effector, device for controlling a robot end effector and medical telemanipulation system
Jochen Stefan, Tuttlingen (DE); and Sven Axel Grüner, Tuttlingen (DE)
Assigned to KARL STORZ SE & Co. KG, Tuttlingen (DE)
Filed by KARL STORZ SE & Co. KG, Tuttlingen (DE)
Filed on Jul. 21, 2022, as Appl. No. 17/869,849.
Claims priority of application No. 10 2021 119 559.4 (DE), filed on Jul. 28, 2021.
Prior Publication US 2023/0034550 A1, Feb. 2, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1689 (2013.01) 19 Claims
OG exemplary drawing
 
1. An end effector, in particular a robot end effector comprising:
a first branch,
a second branch, and
a component at least partially accommodating the two branches,
wherein the first branch is displaceable relative to the second branch along a direction of longitudinal extension of the component, and the first branch is connected to a first rope configured for relative displacement, wherein a portion of the first rope is arranged in a rotationally fixed manner in a screw sleeve, and
wherein the second branch is rotatably mounted on the component and configured to clamp an object between the two branches, and the second branch is rotatably connected to a displacement element to twist the second branch or the second branch bears rotatably on the displacement element.