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US 6,502,877 B2Granted
Gripper system, in particular vacuum gripper system
AssigneeJ. Schmalz GmbH
InventorsJens Schick, Kurt Schmalz, Wolfgang Schmalz, Thomas Eisele
Life of this patent
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Abstract
The present invention relates to a gripper system which can be secured to a hand of a robot and has at least two mutually independent gripper elements; each gripper element is provided with at least one force sensor for ascertaining a force in a predetermined direction. With this gripper system, it is possible to grasp components more reliably.
Claims8
A vacuum gripper system for grasping a workpiece, comprising:
- a first vacuum gripper element for grasping the workpiece;
- at least a second vacuum gripper element for grasping the workpiece, said at least a second vacuum gripper element being spaced apart from said first vacuum gripper element;
- a first force sensor provided in the first vacuum gripper element for determining a force acting on the first vacuum gripper element in a first predetermined direction;
- a second force sensor provided in said at least a second vacuum gripper element for determining a force acting on said at least a second vacuum gripper element in a second predetermined direction;
- and
- calculation means to which said first force sensor and said second force sensor are connected for determining from the forces determined whether the workpiece is grasped correctly or not.
3 more elements
Dependencies are inferred from the claim text.