Abstract: A joint device (1), which has a second joint body (3), which second joint body is pivotably mounted in a ball socket (9) of a first joint body (12) by means of a joint ball (8). The joint ball (8) is a hollow ball and has, on its inner peripheral surface (23), output teeth (33), with which, in the ball interior (25), the input gears (55, 56) of two drive units (4, 5) rotatably mounted on the first joint body (2) are in tooth engagement. By selective rotation of one or both drive units (4, 5), the second joint body (3) can be driven to perform a working pivoting movement (6) relative to the first joint body (2).

Abstract: A boom working device has a boom, mounted on and extending from a boom support, on which an end effector mounting interface is formed. The boom is equipped with two linear output structures, each in engagement with one of two drive wheels of the boom support. With respect to the boom support, the boom is both pivotable around a main axis and also capable of linear movement at right-angles to the main axis. Through harmonised rotary actuation of the drive wheels an operating movement of the boom may be generated, consisting either of a pivoting movement alone or of a linear movement alone or of the pivoting movement with simultaneously superimposed linear movement.

Abstract: The present invention relates to a gripping apparatus (100) for gripping objects, comprising a sleeve-like main body (200), a permanent magnet (210) accommodated in the main body (200), and an armature element (220) which is arranged coaxially with the permanent magnet (210) and is designed to be movable between a first position close to the permanent magnet and a second position remote from the permanent magnet, wherein: the sleeve-like main body (200) comprises at least two gripping fingers (230) which are each designed to be connected to the armature element (220) by means of an actuating bar (240), and the gripping fingers (230) are moved towards one another when the armature element (220) is moved into the first position, and moved away from each other to a release position when the armature element (220) is moved into the second position; and the gripping apparatus (100) comprises a switchable coil (300) which, when in the switched state, is designed to generate a magnetic field that opposes the permane

Abstract: A gripping apparatus which has a base body (5) and a plurality of gripping arms (18) arranged on the base body (5) so as to be distributed about a center axis (4). The gripping arms (18) can be driven to carry out a gripping arm pivoting movement (22) in order to grip or release an object. All of the gripping arms (18) are integrated into a gripping unit (11) which is separate from the base body (5) and which has a fastening sleeve (15) to which the gripping arms (18) are fastened and which is axially placed on the base body (5) by means of a sleeve-shaped fastening portion (62), assuming a usage position. The gripping unit (11) is detachably fixed in the usage position by means of a securing device (78).

Abstract: A joint device (1), which has a second joint body (3), which second joint body is pivotably mounted in a ball socket (9) of a first joint body (12) by means of a joint ball (8). The joint ball (8) is a hollow ball and has, on its inner peripheral surface (23), output teeth (33), with which, in the ball interior (25), the input gears (55, 56) of two drive units (4, 5) rotatably mounted on the first joint body (2) are in tooth engagement. By selective rotation of one or both drive units (4, 5), the second joint body (3) can be driven to perform a working pivoting movement (6) relative to the first joint body (2).

Abstract: A boom working device has a boom, mounted on and extending from a boom support, on which an end effector mounting interface is formed. The boom is equipped with two linear output structures, each in engagement with one of two drive wheels of the boom support. With respect to the boom support, the boom is both pivotable around a main axis and also capable of linear movement at right-angles to the main axis. Through harmonised rotary actuation of the drive wheels an operating movement of the boom may be generated, consisting either of a pivoting movement alone or of a linear movement alone or of the pivoting movement with simultaneously superimposed linear movement.