Gripper arrangement and manipulator having a gripper arrangement

A gripping arrangement (1) for gripping, holding and placing down workpieces (2), in particular sheet metal workpieces, comprising

• a connection interface (3) for attachment to a manipulator (4),
• a pincer gripper (5) having a first pincer arm (6) and a second pincer arm (7),
• wherein the pincer arms (6, 7) are movable relative to one another by means of a pincer drive (8) and, in their closed position (9), define a clamping plane (10) extending between the pincer arms (6, 7), and
• wherein the pincer arms (6, 7) in their closed position (9) define a longitudinal pincer axis (11) extending parallel to the pincer arms (6, 7) and in the clamping plane (10),
• an adhesion gripper (12) having at least one vacuum gripping element (13) or having at least one magnetic gripper element (14),
• wherein the adhesion gripper (12) comprises a plane of adhesive action (15) for holding a workpiece (2),
• wherein the adhesion gripper (12) is displaceable along an adjustment axis (17) in the direction of the longitudinal pincer axis (11) relative to the pincer gripper (5) between a working zone (18) and a stand-by zone (19) by means of an adjustment drive (16),
• wherein
• the clamping plane (10) and the plane of adhesive action (15) are aligned at a right angle to one another, and
• wherein the plane of adhesive action (15) extends at a right angle to the longitudinal pincer axis (11).