Patent ID: 6502877
Filing Date: 2003-01-07
Classification: B25J,B65G,Y10S

Abstract:
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.