Rotary gripper

A rotary gripper having two gripping jaws and an actuating means which is mounted by a bearing means, particularly formed by a housing, so as to be linearly displaceable along a displacement path and rotatable about a rotational axis running parallel to the displacement path, wherein the actuating means is movement-coupled with the gripping jaws in such a manner that the gripping jaws are displaced and/or swiveled during a displacement of the actuating means along the displacement path in opposite directions to one another, in order to adopt different gripping positions, and that a rotation of the actuating means about the rotational axis leads to a joint rotation of the gripping jaws about the rotational axis, wherein the rotary gripper has a magnet, a magnetic field sensor and a processing device, wherein the magnet is attached to the actuating means in such a manner that a magnetizing direction runs at an angle, in particular perpendicularly, to the rotational axis, wherein the magnetic field sensor is arranged in a stationary manner relative to the bearing means, such that the magnetic field of the magnet can be detected by the magnetic field sensor, wherein the magnetic field sensor is set up to detect components of the magnetic flux density of the magnetic field for at least two spatial directions, wherein the processing device is set up, depending on the components of the magnetic flux density detected, to detect rotational information relating to a rotational angle of the joint rotation of the gripping jaws and gripping information relating to the gripping position.