Broetje-automation Gmbh

Sascha Quast

Raphael Reinhold

The disclosure relates to a gripping device for an end effector of a manipulator for holding a workpiece via its workpiece surface, having a Bernoulli gripping unit, with an outflow unit for discharging a flow from the Bernoulli gripping unit between gripping device and workpiece surface in such a manner that in a region&#x2014;Bernoulli-negative pressure region&#x2014;a static negative pressure for holding the workpiece is generatable by the flow, and having a vacuum gripping unit with a suction chamber, wherein in a region delimited by the suction chamber&#x2014;vacuum negative pressure region&#x2014;a static negative pressure for holding the workpiece is generatable, wherein the Bernoulli negative pressure region and the vacuum negative pressure region intersect at least in part or wherein the Bernoulli negative pressure region and the vacuum negative pressure region surround one another.

Gripping device having a Bernoulli gripping unit and a vacuum gripping unit

The disclosure relates to an end effector arrangement having an end effector for a manipulator and having a control for the end effector, wherein the end effector has a tool arrangement having a plurality of gripper devices for holding a planar workpiece, wherein at least one gripper device has a Bernoulli gripper unit, which has a discharge unit for channeling a flow Sfrom the Bernoulli gripper unit between gripper device and workpiece in a manner such that, in a delimited region between gripper device and the workpiece, the flow Sgenerates a low pressure for holding the workpiece, and wherein at least one gripper device has a different gripper unit, which carries the workpiece according to a physical principle which differs from that of the Bernoulli gripper unit.

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Oldenburg, Germany

Sascha Quast