Gripping device

Abstract

A gripping device (1) has a parallel gripper adjustable between an open and a closed position with gripping arms (5A, 5B), between which a receiving chamber (6) for products to be gripped is arranged, and a suction gripper (20, 20') which has a suction section (22, 22') for gripping objects. For pushing gripped products out of the receiving chamber (6) beyond a free end of the gripping arms (5A, 5B), the gripping device (1) has a feed element (12A, 12B) which has a contact surface (19A, 19B) for a product clamped between the gripping arms (5A, 5B). The feed element (12A, 12B) can be moved from a rest position in a feed direction (13) through the receiving chamber (6) and can be brought into a discharge position in which it projects out of the receiving chamber beyond the free end of the gripping arms (5A, 5B). The feed element (12B) has an opening (23, 23') on the contact surface (19B) for the passage of the suction section (22, 22').The suction section (22, 22') is adjustable between an activation position, in which it protrudes from the opening (23, 23') in the feed direction (13) and a deactivation position, in which it is retracted against the feed direction (13) to behind the contact surface (19B) of the feed element (12B).

Description

[0001] The invention relates to a gripping device with - a base part which has a flange for connecting to a manipulator, - a parallel gripper arranged on the base part with a first and a second gripper arm, which delimit a receiving space arranged between them for products to be gripped and can be moved towards and away from each other between an open and a closed position by means of a gripper drive in order to clamp the products, - at least one suction gripper having a fastening section and at least one suction section for suction gripping objects, and - a feed device for pushing the gripped products out of the receiving space beyond a free end of the gripping arms, with at least one feed element arranged between the gripping arms and at least one feed drive therefor, wherein the feed device is designed in such a way, - that the at least one feed element has a contact surface for at least one product clamped between the gripping arms, that the feed element for discharging the at least one product from the receiving space with the contact surface can be displaced from a rest position in a feed direction through the receiving space and can be brought into a discharge position in which the at least one feed element protrudes from the receiving space beyond the free end of the gripping arms, and - to reset the at least one feed element, it can be moved from the delivery position to the rest position against the feed direction, - wherein the fastening section of the at least one suction gripper is arranged on the at least one feed element.

[0002] Such a gripping device, in which the feed element coincides with the suction gripper and in which the contact surface of the feed element forms the suction surface of the suction gripper, is known from WO 2015 / 132 720 A1. In this gripping device, the suction gripper and the feed element form a unit which, with the aid of the feed drive, can be adjusted between an upper rest position and a lower release position relative to the gripper arms of the parallel gripper. In the rest position, the unit formed from the suction gripper and the feed element is arranged between the gripper arms of the parallel gripper, and in the release position, the unit protrudes beyond the free end of the gripper arms from the receiving space arranged between the gripper arms. With the parallel gripper, products such as bundled bottles can be gripped and transported to a pallet using the manipulator so that they can be placed there.If the products are to be placed on the pallet in multiple stacked layers, after applying a layer of products, a separator sheet can be grasped with the help of the suction gripper and placed on top of the layer of products. Then, another layer of products can be placed on the separator sheet using the parallel gripper. The gripping device has the disadvantage that the suction surface of the suction gripper is subject to relatively significant wear, especially if the suction surface is rubberized.

[0003] DE 10 2018 000 161 A1 also discloses a gripping device with - a base part which has a flange for connecting to a manipulator, - a parallel gripper arranged on the base part with a first and a second gripper arm, which delimit a receiving space arranged between them for products to be gripped and can be moved towards and away from each other between an open and a closed position by means of a gripper drive in order to clamp the products, and - a plurality of suction grippers arranged in a row between the gripper arms, which have a fastening section connected to the base part and a suction section for suction gripping products, wherein the row with the suction grippers can be moved towards and away from the free ends of the gripper arms by means of an adjusting device.

[0004] The parallel gripper is used to grip a stack of folding boxes in which the folding boxes are arranged in vertical planes that run parallel to one another and stacked in a horizontal stacking direction that runs perpendicular to the vertical planes. The two end faces of the folding box stack come into contact with a gripper arm of the parallel gripper, and the top side of the folding box stack faces the suction sections of the suction grippers. The two gripper arms are moved towards each other by the gripper drive, whereby the folding boxes are pressed together in the stacking direction. The suction grippers are brought into contact with the top side of the folding box stack with their suction sections and then activated. This supports the folding box stack not only on the gripper arms but also on the suction grippers.This measure is intended to prevent the folding boxes from shifting against each other when transverse forces and bending moments occur on the folding boxes gripped by the gripping device when the gripping device is moved by means of the manipulator.

[0005] Furthermore, DE 10 2020 104 399 B3 discloses a gripping device comprising a base part to which a parallel gripper and a laterally mounted suction gripper are attached. The suction gripper can be pivoted downward from a rest position by means of a pivoting movement and brought into an operating position. A disadvantage of this solution is the required installation space for the gripping device due to the laterally mounted suction gripper, which requires additional working space. In some applications, this limits the range of application of the parallel gripper, particularly because the laterally mounted suction gripper can collide with the container wall of a container to be filled using the gripping device.

[0006] EP 3 530 576 A1 discloses a gripping device mounted on a manipulator. It has a parallel gripper, by means of which a stack of brochures can be gripped, transported to a packaging container, and deposited there. The stack of brochures is held by the parallel gripper using clamping force. To deposit the stack, the parallel gripper must be fully opened. However, this requires a relatively large working space for the parallel gripper at the deposit location.

[0007] WO 2012 / 034591 A1 proposes a conveyor system comprising support elements arranged parallel to one another on chains, between which a stack of brochures is clamped to be conveyed from a transfer position to a storage position. For the storage of the stack of brochures in a container provided below, the stack of brochures, in its clamped state, is pushed out of the clamping area between the support elements by a downward movement of a feed element arranged between the support elements. The disadvantage of this solution is the structural adaptation to the brochure format and the dimensions of the packaging used. Changing these parameters requires extensive retooling of the conveyor system.

[0008] A spatially more compact gripping device in which a suction gripper is arranged between the gripping arms of a parallel gripper is proposed in the utility model DE 201 11 196 U1. The gripping device has a parallel gripper with a first and a second gripper arm, which can be moved towards and away from each other and delimit a receiving space arranged between them for an object to be gripped. In addition, the gripping device has a suction gripper with a fastening section and a suction section for suction-gripping the object. The fastening section is fastened to the parallel gripper and the suction section is arranged between the gripping arms in such a way that it borders on the receiving space and is set back from the free ends of the gripper arms. An object to be transported on the gripping device can be clamped by the parallel gripper and simultaneously held by the suction gripper using a vacuum.The gripping device has the disadvantage that the suction section of the suction gripper is subject to relatively significant wear, especially if the suction section is rubberized. Furthermore, flat objects whose smallest dimension of their base area is larger than the maximum adjustable clear width between the gripper arms cannot be gripped by the suction gripper.

[0009] The object of the invention is to provide a gripping device of the type mentioned above that allows for a compact design and allows at least one product clamped between the gripping arms to be released from the receiving space located between the gripping arms in a space-saving manner. Furthermore, the gripping device should be low-maintenance and enable the suction gripping of flat objects.

[0010] This object is achieved by a gripping device having the features of patent claim 1. According to the invention, - that the at least one feed element has at least one opening on the contact surface for the passage of the at least one suction section of the at least one suction gripper, and - that the gripping device has an adjusting device with a positioning drive, by means of which the at least one suction section of the at least one suction gripper can be adjusted between an activation position in which the suction section protrudes from the at least one opening in the feed direction and a deactivation position in which the suction section is retracted counter to the feed direction to behind the contact surface of the feed element.

[0011] By means of the feed device, the gripping device enables products that are clamped between the gripping arms of the parallel gripper in the receiving space to be moved out of the receiving space in the feed direction in the closed position of the parallel gripper with the aid of the feed element in order to remove them from the receiving space and, for example, to place them in a storage location.

[0012] This allows the products to be delivered to tight spaces without opening the parallel gripper, saving space.

[0013] Since the feed element has at least one opening for the passage of the at least one suction section of the at least one suction gripper, the at least one suction gripper can be arranged between the gripping arms of the parallel gripper. Compared to a gripping device in which the suction gripper is arranged laterally next to the parallel gripper, the gripping device according to the invention therefore enables a more compact design.

[0014] Since the suction section is retracted in the deactivation position, counter to the feed direction, beyond the contact surface of the feed element, the gripping device can be operated without the suction gripper using only the parallel gripper. This prevents contact between the at least one suction section and the clamped products when clamping products between the gripper arms, i.e., wear on the at least one suction section is prevented.

[0015] In an advantageous embodiment of the invention, - that the feed device has a first feed element and a first feed drive therefor, - that the first feed element is mounted on the first gripping arm by means of a first linear guide so as to be displaceable in and against the feed direction and is adjustable between the rest position and the delivery position relative to the first gripping arm by means of the first feed drive, - that the feed device has a second feed element and a second feed drive therefor, - that the second feed element is mounted on the second gripper arm by means of a second linear guide so as to be displaceable in and against the feed direction and is adjustable between the rest position and the dispensing position relative to the second gripper arm by means of the second feed drive, and that the gripping device has a control device by means of which the first and second feed drives can be adjusted synchronously with one another from the rest position to the dispensing position. As a result, the feed elements are also moved towards and away from one another when the gripper arms move towards and away from one another, whereby the area covered by the feed elements adapts to the clear width between the gripper arms. Nevertheless, a product clamped between the gripper arms can be pushed out of the receiving space at the same time with the aid of the synchronously adjustable feed elements.

[0016] In a preferred embodiment of the invention, the first linear guide on the first gripper arm has a first guide rail on which a first slide part connected to the first feed element is slidably mounted. The second linear guide on the second gripper arm has a second guide rail on which a second slide part connected to the second feed element is slidably mounted. This enables a compact and mechanically stable design of the gripping device.

[0017] Conveniently, the feed elements each have at least one contact surface for the at least one product clamped between the gripper arms, which contact surface is arranged in a plane orthogonal to the feed direction. This enables a uniform transmission of the feed force from the feed elements to the products when pushing out a product stack clamped between the gripper arms, which comprises a plurality of flat products whose planes are arranged essentially parallel to the planes in which the gripper arms extend.

[0018] In a further development of the invention, - that the first feed element has two web-shaped fork parts lying in a plane orthogonal to the feed direction, which are spaced apart from one another by a free space between them and each extend from the first gripping arm in the direction of the second gripping arm, wherein the fork parts each have a contact surface for the at least one product clamped between the gripping arms in a plane orthogonal to the feed direction and, - that the second feed element has a plate part which extends from the second gripper arm in the direction of the first gripper arm and has a further contact surface lying in the plane orthogonal to the feed direction for the at least one product clamped between the gripper arms, and that the fork parts of the first feed element and the second feed element are arranged relative to one another in such a way that the plate part engages in the free space when the parallel gripper is in the closed position and is located outside the free space in the open position. The area covered by the feed elements then adapts to the clear width between the gripper arms when the gripper arms move towards and away from one another. The feed elements always lie in one plane.

[0019] In an advantageous embodiment of the invention, the positioning drive comprises two positioning elements that can be moved toward and away from each other, one of which is connected to the second carriage part and the other to the fastening section of the at least one suction gripper. As a result, the at least one suction section of the at least one suction gripper is positioned in or against the feed direction when the positioning drive is adjusted relative to the second feed element.

[0020] The at least one feed drive and / or the positioning drive can be designed as a pneumatic drive or an electric drive. Pneumatic drives are preferred because they are space-saving and cost-effective and can also be easily controlled using electromagnetic valves.

[0021] It is advantageous if at least one gripper arm has a gripping element at its free end, which has a base body in whose surface facing the opposite other gripper arm at least one groove is recessed, and if a material protrudes from the at least one groove in the direction of the opposite other gripper arm, which material has a higher static friction than the material of the base body. This enables both high mechanical stability of the gripper arms and secure holding of the products clamped between the gripper arms. If required, the gripping element can be detachably connected to the remaining part of the gripper arm. It is even possible for the parallel gripper to have several sets of gripping elements that have different dimensions and can be connected selectively or alternately to the parallel gripper. The gripping elements can be designed as gripper fingers and / or gripper jaws.

[0022] In a preferred embodiment of the invention, the first gripper arm is arranged on a first cross member and the second gripper arm is arranged on a second cross member, wherein the cross members lie in a plane oriented orthogonally to the feed direction and can be moved toward and away from one another in this plane with the aid of the gripper drive. The cross members can be arranged on a traction element guided by deflection elements, such as rollers or gears, which can be driven by the gripper drive to move the cross members, including the gripper arms arranged thereon, toward and away from one another.

[0023] In a further development of the invention, the gripping device has an operating mode switching device that is in control communication with the at least one feed drive and the positioning drive such that, in a parallel gripper operating mode, the at least one suction section is arranged in the deactivation position, and in a suction gripper operating mode, the at least one suction section is arranged in the activation position and the at least one feed element is arranged in the dispensing position. The operating mode switching device enables easy switching between the parallel gripper and suction gripper operating modes.

[0024] An embodiment of the invention is explained in more detail below with reference to the drawings. It shows: Fig. 1 An isometric representation of a gripping device comprising a parallel gripper with two gripping arms movable towards and away from each other between an open and a closed position, suction grippers and a feed device adjustable between a rest position and a dispensing position, wherein the gripping arms are shown in the open position, the suction grippers in a deactivation position and the feed device in the rest position, Fig. 2 is a side view of the gripping device, wherein the plane of the drawing is parallel to the direction in which the gripping arms can be moved towards and away from each other, and wherein the gripping arms are shown in the open position and the feed device is shown in the rest position, Fig. 3 a representation similar Fig. 1, where the gripping arms are shown in the closed position, Fig. 4 a representation similar Fig. 2, where the gripping arms are shown in the closed position, Fig. 5 a representation similar Fig. 1, but with the feed device in the delivery position, Fig. 6 a representation similar Fig. 2, but with the feed device in the delivery position, Fig. 7 a further isometric view of the gripping device, in which the parallel gripper is arranged in the open position, the feed device in the dispensing position and the suction gripper in the deactivation position, Fig. 8 a representation similar Fig. 3, but the feed device is arranged in the dispensing position and the suction grippers are arranged in an activation position, Fig. 9 a representation similar Fig. 4, but the feed device is arranged in the dispensing position and the suction grippers are arranged in an activation position, Fig. 10 an isometric view of a first gripping element, and Fig. 11 an isometric view of a second gripping element.

[0025] One in Fig. 1 gripping device, designated as a whole by 1, comprises a base part 2, which has a flange 3 for connection to a manipulator not shown in detail in the drawing. A parallel gripper 4 is arranged on the base part, which has a first gripping arm 5A and a second gripping arm 5B, which have a receiving space 6 arranged between them (see Fig. 2) limit the products to be seized.

[0026] The products can, for example, be stacked flat products arranged in the receiving space 6 with their planes substantially parallel to the plane spanned by the gripper arms 5A, 5B. The products can, in particular, be paper products, such as brochures or folded package inserts. Of course, other types of individual or stacked products can also be arranged in the receiving space 6.

[0027] For clamping the products, the gripping arms 5A, 5B are moved by means of a gripping drive between an open position ( Fig. 1 and Fig. 2) and a closed position ( Fig. 3 and Fig. 4) can be moved towards and away from each other. The gripper drive is arranged on the base part 2 and is not shown in detail in the drawing. It has a servo motor, by means of which a tension element which rotates via deflection elements and is accommodated in the base part 2 can be driven. The tension element has two parallel runs. A first cross member 7A is arranged on a first run and a second cross member 7B is arranged on the other run. The cross members 7A, 7B are plate-shaped and arranged next to each other in a plane parallel to the plane spanned by the flange 3. They can be moved towards and away from each other by adjusting the gripper drive in the direction of the double arrow 8 along the runs. As shown in Fig. 1, the cross members 7A, 7B are located on the side of the base part 2 opposite the flange 3.

[0028] The gripping arms 5A, 5B each have a carrier plate 9A, 9B, on which a gripping element 10A, 10B is arranged that laterally delimits the receiving space 6. As in Fig. As can be seen particularly clearly in Figure 2, a first gripping element 10A is connected to the first cross member 7A via a first support plate 9A, and a second gripping element 10B is connected to the second cross member 7B via a second support plate 9A. The first gripping element 10A forms the free end of the first gripping arm 5A, and the second gripping element 10B forms the free end of the second gripping arm 5B.

[0029] The gripping device 1 also has a feed device 11 for pushing the gripped products out of the receiving space 6 beyond the free ends of the gripping arms 5A, 5B.

[0030] The feed device 11 has a first feed element 12A, which is mounted on the first gripping arm 5A by means of a first linear guide so as to be displaceable in and against a feed direction 13 orthogonal to a plane spanned by the cross members 7A, 7B. The first feed element 12A is displaceable by means of a first feed drive 14A between a Fig. 1 to 4 shown rest position and one in the Fig. 5 and Fig. 6 is adjustable relative to the first gripper arm 5A. The first feed drive 14A is designed as a double-acting pneumatic cylinder, one end of which is connected to the first cross member 7A and the other axial end of which is movable relative thereto is connected to the first feed element 12A.

[0031] The feed device 11 also has a second feed element 12B, which is mounted on the second gripping arm 5B by means of a second linear guide so as to be displaceable in and against the feed direction 13 orthogonal to the plane spanned by the cross members 7A, 7B. The second feed element 12B is displaceable by means of a second feed drive 14B between a Fig. 1 to 4 shown rest position and one in the Fig. 5 and Fig. 6, relative to the second gripper arm 5B. The second feed drive 14A is constructed identically to the first feed drive 14A. The first feed drive 14A is connected at one end to the second cross member 7B and at its other end, which is movable relative thereto, to the second feed element 12B.

[0032] The feed drives 14A, 14B can be adjusted synchronously between the rest position and the discharge position by means of a control device not shown in detail in the drawing. The pneumatic connections of the feed drives 14A, 14B can be connected to a pneumatic pressure source via a common directional control valve.

[0033] As in Fig. 5 and Fig. As can be seen in Figure 6, the first linear guide on the first gripper arm 5A has a first guide rail 15A, on which a first slide part 16A connected to the first feed element 12A is displaceably mounted in and against the feed direction 13. Similarly, the second linear guide on the second gripper arm 5B has a second guide rail, on which a second slide part connected to the second feed element 12B is displaceably mounted.

[0034] As in the Fig. 5 and Fig. As can be seen in Figure 7, the first feed element 12A has two web-shaped fork parts 17A', which are spaced apart from one another by a free space 18 between them. The fork parts 17A, 17A' are arranged parallel to one another and span a plane running orthogonal to the feed direction 13. The fork parts 17A, 17A' each extend from the first gripper arm 5A in the direction of the second gripper arm 5B. The first feed element 12A has, on the side of each fork part 17A, 17A' facing away from the first feed drive 14A, a first contact surface 19A, 19A' for the at least one product clamped between the gripper arms 5A, 5B.

[0035] The second feed element 12B has a plate part 17B, which extends in the plane orthogonal to the feed direction 13, starting from the second gripper arm 5B in the direction of the first gripper arm 5A. The second feed element 12B has, on its side facing away from the second feed drive 14B, a second contact surface 19B for the at least one product clamped between the gripper arms 5A, 5B. As shown in the Fig. 2, Fig. 4, Fig. 6 and Fig. As can be seen in Figure 7, the contact surfaces 19A, 19A', 19B are arranged in the same plane.

[0036] The fork parts 17, 17' of the first feed element 12B and the plate-shaped second feed element 12B are arranged relative to each other in such a way that the second feed element 12B engages in the free space 18 in the closed position of the parallel gripper 4 ( Fig. 3 and Fig. 4) and is in the open position outside the free space 18 ( Fig. 7).

[0037] The feed device 11 is designed in such a way that the feed elements 12A, 12B for dispensing the at least one product from the receiving space 6 with their contact surfaces 19A, 19A', 19B each move from their rest position in the feed direction 10 through the receiving space 6 into the Fig. 6, in which they protrude beyond the free ends of the gripping arms 5A, 5B from the receiving space 6. To reset the feed elements 12A, 12B, they can be moved from the delivery position to the rest position opposite to the feed direction 13.

[0038] The gripping device also has two suction grippers 20, 20', each having a fastening section 21, 21' and a suction section 22, 22' connected thereto for suction gripping objects. Fig. 5 to 7 it can be seen that the fastening sections 21, 21' are arranged on the second feed element 12B.

[0039] The second feed element 12B has on the plate part 17B for each suction section 22, 22' an opening 23, 23' for the passage of the respective suction section 22, 22'. As in Fig. As can be seen in Figure 7, the openings 23, 23' extend through the planes defined by the contact surfaces 19A, 19B. In the rest position of the feed device 11, the openings 23, 23' are arranged between the gripping arms 5A, 5B.

[0040] The gripping device 1 has an adjusting device with a pneumatic positioning drive 24, by means of which the suction grippers 20, 20' are moved in and against the feed direction 13 relative to the second feed element 12B between an activation position in which the suction sections 22, 22' protrude from the openings 23, 23' in the feed direction 13 ( Fig. 8 and Fig. 9) or are raised relative to the feed direction 13 and a deactivation position in which the suction sections 22, 22' are retracted against the feed direction 13 to behind the plane spanned by the second contact surface 19B of the second feed element 12B ( Fig. 2, Fig. 4, Fig. 6 and Fig. 7), is adjustable. As in Fig. As can be seen in Figure 9, the feed device 11 is in the activation position of the suction sections 23, 22' in the dispensing position, in which the feed elements 12A, 12B protrude beyond the free ends of the gripper arms 5A, 5B from the receiving space 6. In the activation position, the suction gripper 20 enables the suction gripping of flat objects that extend beyond the gripper arms 5A, 5B.

[0041] Is Fig. 6 and Fig. 9 shows that the positioning drive 24 has two positioning elements 25, 25' that can be moved toward and away from each other, of which the positioning element 25 is designed as a working cylinder and the positioning element 25' as a cooperating piston rod. One positioning element 25 is connected to the second feed element 12B, and the other positioning element 25' is connected to the fastening sections 21, 21' of the suction grippers 20, 20' ( Fig. 6).

[0042] The gripping elements 10A, 10B each have a base body 26A, 26B, in the surface of which facing the opposite other gripping element 10B, 10A grooves are recessed, from which a material 27A, 27B protrudes in the direction of the opposite other gripping element 10B, 10A, which has a higher static friction than the material of the base body 26A, 26B ( Fig. 10 and Fig.11). The gripping elements can be detachably connected to the support plates 9A, 9B. It is even possible for the gripping device 1 to have several different gripping elements 10B, 10A for each gripping arm 5A, 5B, which can be selectively or alternately connected to the support plates 9A, 9B in order to adapt the gripping device 1 to products and packaging with different formats.

Claims

[1] Gripping device (1) with - a base part (2) having a flange (3) for connection to a manipulator, - a parallel gripper (4) arranged on the base part (2) with a first and a second gripper arm (5A, 5B), which delimit a receiving space (6) arranged between them for products to be gripped and can be moved towards and away from each other between an open and a closed position by means of a gripper drive in order to clamp the products, - at least one suction gripper (20, 20') having a fastening section (21, 21') and at least one suction section (22, 22') for suction gripping objects, and - a feed device (11) for pushing the gripped products out of the receiving space (6) beyond a free end of the gripping arms (5A, 5B), with at least one feed element (12A, 12B) arranged between the gripping arms (5A, 5B) and at least one feed drive (14A), (14B) therefor, wherein the feed device (11) is designed in such a way, - that the at least one feed element (12A, 12B) has a contact surface (19A, 19B) for at least one product clamped between the gripping arms (5A, 5B), that the feed element (12A, 12B) for dispensing the at least one product from the receiving space (6) with the contact surface (19A, 19B) from a rest position in a feed direction (13) through the receiving space (6) and can be brought into a dispensing position in which the at least one feed element (12A, 12B) protrudes beyond the free end of the gripping arms (5A, 5B) from the receiving space (6), and - for returning the at least one feed element (12A, 12B) from the delivery position to the rest position, - wherein the fastening section (21, 21') of the at least one suction gripper (20, 20') is arranged on the at least one feed element (12A), characterized by , - that the at least one feed element (12A) has at least one opening (23, 23') on the contact surface (19B) for the passage of the at least one suction section (22, 22') of the at least one suction gripper (20, 20'), and - that the gripping device (1) has an adjusting device with a positioning drive (24), by means of which the at least one suction section (22, 22') of the at least one suction gripper (20, 20') can be adjusted between an activation position in which the suction section (22, 22') protrudes from the at least one opening (23, 23') in the feed direction (13) and a deactivation position in which the suction section (22, 22') is retracted counter to the feed direction (13) to behind the contact surface (19B) of the feed element (12B). [2] Gripping device (1) according to claim 1, characterized by , - that the feed device (11) has a first feed element (12A) and a first feed drive (14A) therefor, - that the first feed element (12A) is mounted on the first gripping arm (5A) by means of a first linear guide so as to be displaceable in and against the feed direction (13) and is adjustable between the rest position and the delivery position relative to the first gripping arm (5A) by means of the first feed drive (14A), - that the feed device (11) has a second feed element (12B) and a second feed drive (14B) therefor, - that the second feed element (12B) is mounted displaceably in and against the feed direction (13) on the second gripping arm (5B) by means of a second linear guide and is adjustable between the rest position and the delivery position relative to the second gripping arm (5B) by means of the second feed drive (14B), and that the gripping device (1) has a control device by means of which the first and the second feed drive (14A, 14B) can be adjusted synchronously with one another from the rest position into the delivery position. [3] Gripping device (1) according to claim 2, characterized by that the first linear guide on the first gripping arm (5A) has a first guide rail (15A) on which a first slide part (16A) connected to the first feed element (12A) is displaceably mounted, and that the second linear guide on the second gripping arm (5B) has a second guide rail on which a second slide part connected to the second feed element (12B) is displaceably mounted. [4] Gripping device (1) according to one of claims 2 or 3, characterized by that the feed elements (12A, 12B) each have at least one contact surface (19A, 19B) for the at least one product clamped between the gripping arms (5A, 5B), which is arranged in a plane orthogonal to the feed direction (13). [5] Gripping device (1) according to one of claims 2 to 4, characterized by , - that the first feed element (12A, 12B) has two web-shaped fork parts (17A, 17A') lying in a plane orthogonal to the feed direction (13), which are spaced from each other by a free space (18) lying between them and each extend from the first gripping arm (5A) in the direction of the second gripping arm (5B), wherein the fork parts (17A, 17A') each have a contact surface (19A) for the at least one product clamped between the gripping arms (5A, 5B) in a plane orthogonal to the feed direction (13) and, - that the second feed element (12B) has a plate part (17B) which extends from the second gripping arm (5B) in the direction of the first gripping arm (5A) and has a further contact surface (19B) lying in the plane orthogonal to the feed direction (13) for the at least one product clamped between the gripping arms (5A, 5B), and that the fork parts (17A, 17A') of the first feed element (12A) and the second feed element (12B) are arranged relative to one another in such a way that the plate part (17B) engages in the free space (18) in the closed position of the parallel gripper (4) and is located outside the free space (18) in the open position. [6] Gripping device (1) according to one of claims 1 to 5, characterized bythat the positioning drive (24) has two positioning elements (25, 25') which can be moved towards and away from each other, one of which is connected to the feed element (12B) and the other to the fastening section (21, 21') of the at least one suction gripper (20, 20'). [7] Gripping device (1) according to one of claims 1 to 6, characterized by that the at least one feed drive (14A, 14B) and / or the positioning drive (24) are designed as a pneumatic drive or as an electric drive. [8] Gripping device (1) according to one of claims 1 to 7, characterized by that the first gripping arm (5A) is arranged on a first cross member (7A) and the second gripping arm (5B) is arranged on a second cross member (7B), and that the cross members (7A, 7B) lie in a plane aligned orthogonally to the feed direction (13) and can be moved towards and away from one another in this plane with the aid of the gripping drive. [9] Gripping device (1) according to one of claims 1 to 8, characterized by that the gripping device (1) has an operating mode switching device which is in control connection with the at least one feed drive (14A, 14B) and the positioning drive (24) in such a way that in a parallel gripper operating mode the at least one suction section (22, 22') is arranged in the deactivation position and in a suction gripper operating mode the at least one suction section (22, 22') is arranged in the activation position and the at least one feed element (12A, 12B) is arranged in the delivery position.

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