Patent ID: 11964319
Assignee: TRUMPF MASCHINEN AUSTRIA GMBH & CO. KG
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A gripping device for the monitored movement of objects, comprising:
a gripping module comprising at least a first gripping jaw and a second gripping jaw cooperating with each other and forming an intermediate receiving space for receiving at least parts of an object to be monitored and transported, each gripping jaw of the first gripping jaw and the second gripping jaw having at least one inner surface facing the receiving space;
at least one sensor element having a sensor region for collecting object data of the object to be monitored and transported;
a system control configured for processing the object data and controlling the gripping module;
wherein the first gripping jaw and the second gripping jaw are formed such that, by applying a pre-definable clamping force, at least a friction-type connection between the first gripping jaw and the second gripping jaw and the at least parts of the object is made possible for moving the object;
wherein the at least one sensor element is arranged on at least one gripping jaw of the first gripping jaw and the second gripping jaw so that the sensor region faces the receiving space, and is formed such that the at least one sensor element detects, by at least temporary collection of the object data, a relative movement and/or relative velocity of the object with respect to the at least one of the first gripping jaw and the second gripping jaw;
wherein, on the at least one inner surface, a friction lining is arranged for increasing the friction of the at least one gripping jaw of the first gripping jaw and the second gripping jaw to an object surface of the at least parts of the object;
wherein the at least one gripping jaw of the first gripping jaw and the second gripping jaw comprises at least one securing means formed thereon;
wherein the friction lining is preloaded with a spring force and is movable in a direction of the clamping force, between a rest position and an active position;
wherein in the rest position, the friction lining is arranged to protrude beyond the at least one securing means; and in the active position, the friction lining is arranged offset back relative to the at least one securing means for applying an at least punctiform securing force to the object surface of the at least parts of the object.