GRIPPER AND METHOD FOR GRIPPING AND INSPECTING AN OBJECT

Description

[0001] The invention relates to a gripper, in particular a gripper for use in the production of identification, valuable, or security documents, comprising a first gripper finger and a second gripper finger configured to grip a particularly thin-walled object with their gripping surfaces, which object is inserted into a space defined by the two gripper fingers. For this purpose, at least one of the two gripper fingers is adjustably mounted relative to the other of the two gripper fingers. The invention also relates to a method for gripping and testing an object using such a gripper.

[0002] The gripper can be used in the production of identification, valuable, or security documents, in particular in the production of a data card to which a flexible tab is to be attached. However, the gripper of the present disclosure is not limited to such an application; it can therefore also be used in other industries.

[0003] Devices and methods for producing a data card using a gripper as mentioned above can be found in the applicant's publications DE 10 2012 112 383 A1, DE 10 2016 218 040 A1 and DE 10 2018 114 456 A1 and have proven successful in practice.

[0004] EP 0 236 611 A1 shows a robot gripper in which optical proximity sensors are integrated into the individual gripper fingers. The sensors are configured with a light-emitting diode (LED) and a phototransistor in a common housing.

[0005] US 2019 / 0 091 875 A1 describes a robot gripper in the form of a parallel gripper. The robot gripper consists of two gripper fingers, at least one of which is equipped with corresponding sensors. These sensors are depicted as cuboids in the gripper finger. These sensors are designed as proximity sensors to detect an object.

[0006] JP 5 588 392 B2 shows a robot gripper that includes a sensor module on its gripping surface. This is an anti-slip sensor module consisting of a plurality of individual contact sensors. The contact sensors have an electrically conductive connection to detect any slipping of the gripped object.

[0007] DE 10 2014 211 772 A1 describes a pair of pliers in which one of the gripper fingers is formed from multiple parts, namely a gripper jaw element. A sensor is located on the side of the gripper finger facing away from the gripping surface. However, to activate the sensor, the gap between the gripper jaw element and the gripper finger, where a metallic (contact) area is present, must be closed.

[0008] EP 3 006 168 A2 shows a gripper in which only one gripping jaw can be adjusted by pivoting a lever. Here, too, a sensor is assigned to the gripping finger to detect the presence of a component between the two gripping fingers.

[0009] WO 2018 / 065757 A1 shows a robot gripper with integrated optical sensors in its gripper fingers. This system is designed to detect and then grasp objects based on the optically captured information and the color of the objects. A reflective system is used.

[0010] CN 112 276 988 A also shows a pneumatically actuated robot gripper. Sensors are integrated into the gripper fingers, which are used to grasp objects more precisely.

[0011] The publication US 2015 / 0 298 321 A1 describes a gripper with a transmitter integrated into one gripper finger and a receiver integrated into the other gripper finger. This allows the contents of a container to be grasped to be examined. Light is emitted, which is then optically detected. The subject of this publication is always the examination or gripping of samples in the form of tubes.

[0012] US 2012 / 0 031 549 A1 describes a parallel gripper for gripping an adhesive strip that is to be bonded to a solar module. A number of sensors are integrated into the gripper fingers, which are designed to detect any slippage of the adhesive strip, thus stopping the bonding process and preventing scratching of the underlying PV module.

[0013] An identification, valuables, or security document is defined below as a paper and / or plastic-based document on which personal and / or document-specific information is printed in an optically readable manner, enabling identification of the user or the document, for example, for the release and use of certain services or functions. This includes, for example, identification documents, in particular passports, identity cards, visas, as well as driving licenses, vehicle registration documents, vehicle registration documents, company ID cards, health cards or other ID documents, as well as waybills or other proof of authorization. For example, the document can also be a voucher or an access card. The document can contain a chip or other electronic components, in particular for storing personal and / or document-specific information.A data card is defined below as a paper or plastic-based card arranged in the book block of an identification, valuables, or security document. It contains optically readable personal and / or document-specific information that enables identification of the user or the document, for example, for the release and use of certain services or functions. The data card may contain a chip or other electronic components, particularly for storing personal and / or document-specific information.

[0014] A large number of steps are carried out in the production of such identification, valuables or security documents. Due to the large quantities of these documents to be produced, it is imperative that all constituents of the machine involved in the production function flawlessly, or that any errors that may occur can be detected early on in the production process.

[0015] It is therefore the object of the present invention to provide a gripper and a method which offer increased process reliability when used in production.

[0016] This object is achieved by a gripper having the features of claim 1 and by a method having the features of claim 11. Advantageous embodiments with expedient further developments of the invention are specified in the dependent claims.

[0017] According to the invention, the first gripper finger of the gripper comprises a transmitter for emitting electromagnetic waves or sound waves into the space spanned by the two gripper fingers. A receiver is also assigned to the first gripper finger or the second gripper finger of the gripper, which is configured to detect at least some of the waves emitted by the transmitter.

[0018] In this way, a "barrier" function using electromagnetic or sound waves is integrated into the gripper, allowing the presence of the material or object within the space between the gripper fingers and, if necessary, additional information about the object to be grasped to be determined. Thus, a sensor system is integrated into the gripper itself to detect or, if necessary, inspect the material to be grasped – before, during, or after the actual gripping.

[0019] Since the transmitters and / or the receivers often react sensitively to pressure stress, it is provided according to the invention that the transmitter is arranged on a side of the gripper finger facing away from the gripping surface of the first gripper finger, and if the first gripper finger is designed in such a way as to guide the waves emitted by the transmitter into the space between the gripping surfaces.

[0020] Such "conduction" is made possible according to the invention by the first gripper finger comprising a passage to the intermediate space. In the case of sound waves being emitted, this passage is filled with a material or gas to facilitate sound transmission. When emitting electromagnetic waves, this passage may also be empty of air (gas), so that electromagnetic waves can still be conducted to the intermediate space.

[0021] To provide improved transmission into the gap when light is emitted, it has proven advantageous to fill the passage with a transparent or translucent material in the form of a light guide. Filling the passage also provides improved protection against contamination of the transmitter or receiver.

[0022] The passage can have an elongated shape extending perpendicular to the passage's longitudinal axis; a rectangular shape is provided according to the invention. If, in such a case, the passage is irradiated with a uniform intensity, conclusions can be drawn about the position of the object or material between the gripper fingers. If the passage is rectangular in shape, i.e., rectangular in cross-section, a linear pattern of shadowing occurs with homogeneous irradiation of the passage when an object is introduced into the gap.

[0023] It has proven advantageous if the gripping surfaces are provided with a coating that provides a good tribological pairing with the object to be gripped. The coating can advantageously be designed in such a way that no dirt enters the passage or reaches the transmitter or receiver. In the case of a light barrier formed by the transmitter and receiver, it has also proven advantageous if the gripping surfaces are each provided with an anti-slip layer that is translucent or transparent to the light emitted by the transmitter.

[0024] It is also possible for the first and / or second gripper fingers themselves to be made of a translucent or transparent material, thus eliminating the need for a through-hole. This improves the strength of the gripper fingers because their material is not weakened due to the presence of a through-hole.

[0025] A reflex light barrier can also be effective between the gripper fingers. It is then preferred if the first gripper finger also includes the receiver in addition to the transmitter, and if the second gripper finger is assigned a reflector or the second gripper finger itself is made of a reflective material. In such a configuration, it may also be possible for any passage present on the first gripper finger to have a conical shape oriented along the longitudinal axis of the passage, so that both the transmitter and the receiver are directed toward the gap through one and the same passage.

[0026] When using a retro-reflective sensor, it is also possible for the second gripper finger, which is free of transmitter and receiver, to include an absorber or itself be made of an absorbing material for the waves emitted by the transmitter. In this case, the reflection of the gripped material is used for evaluation. While there is no object in the gap, the waves are absorbed, meaning that the receiver of the retro-reflective sensor can detect no or only a low intensity of the waves. If there is a flawless object in the gap, it reflects the waves towards the receiver, thereby detecting an intensity that lies specifically between two intensity thresholds. In the case of a defective object, the detected intensity would lie outside the range of the two thresholds.

[0027] Another possibility is the use of color information, i.e. the evaluated reflection information is based on the evaluation of spectral properties.

[0028] If an anti-slip layer is present, it may also be configured to reflect or absorb the waves emitted by the transmitter when using a reflective configuration, for example when using a retro-reflective sensor.

[0029] Depending on the clamping force to be applied by the gripper, it is also possible for a transmitter housing and / or a receiver housing to form the gripping surface of at least one of the two gripper fingers. These housings can also be embedded in the anti-slip layer.

[0030] Improved position determination or monitoring of the object in the space between the two gripper fingers can be achieved by using a line sensor or an area sensor as the receiver. This also allows the "shadows" cast by the material to be gripped to be used for position evaluation in the space.

[0031] To improve the inspection of the object or material to be grasped, it has proven advantageous if the transmitter is configured to emit light, and if at least one beam-shaping and / or beam-deflecting optical element is inserted into the optical path of the light between the transmitter and the receiver. In this way, the transmitter and receiver can also be attached to the gripper fingers more flexibly, since the beam-shaping and / or beam-deflecting elements can appropriately influence the light guidance. Examples of suitable beam-shaping and / or beam-deflecting optical elements include lenses, mirrors, filters, light guides, and the like.

[0032] Improved inspection and evaluation of the object located in the gap, or of a gripper movement itself, can be achieved by equipping the first gripper finger or the second gripper finger with a camera directed at the gap, and by assigning a lighting device to the first gripper finger or the second gripper finger for illuminating the gap. For example, a suitable window can be provided in the gripper finger to perform a visual evaluation or inspection of the object to be gripped.

[0033] The inventive method for gripping and testing an object utilizes a gripper comprising a first gripper finger and a second gripper finger configured to grip the object, particularly a thin-walled object, with their gripping surfaces. The first gripper finger comprises a transmitter for emitting electromagnetic waves or sound waves, and the first or second gripper finger comprises a receiver configured to detect at least a portion of the waves emitted by the transmitter. The method comprises, in particular, the following steps: Carrying out a relative movement between the gripper and the object and thus positioning the object in a space spanned by the two gripper fingers, gripping the object by moving at least one of the two gripper fingers relative to the other of the two gripper fingers, emitting electromagnetic waves or sound waves into the space spanned by the two gripper fingers by means of the transmitter, whereby the waves interact with the gripped object, receiving at least a portion of the waves introduced into the space by means of the receiver, and checking the gripped object based on the intensity of the waves detected by the receiver.

[0034] In this way, the object is gripped using a suitable sensor system that allows the object to be checked between the gripper fingers. In particular, it is checked whether the intensity measured by the sensor falls below or exceeds a predefined or adjustable threshold due to the gripped object.

[0035] In this context, it has proven advantageous if a predefined or adjustable second intensity threshold is or will be defined. The second threshold differs from the first intensity threshold. A defect-free object is only determined if the intensity detected by the receiver lies between the first and second thresholds. For example, if a partially permeable fabric tape is grasped, multiple prints, splices, or defect marks can be detected based on the evaluation of the multiple intensity thresholds. Only material that lies between the two intensity thresholds is recognized as "correct," and thus as defect-free.

[0036] It has proven advantageous for suitable position determination if the receiver detects an attenuation spectrum of the intensity. Based on this attenuation spectrum, the position of the object in the gap is then determined. The object is only recognized as error-free if the attenuation spectrum corresponds to the spectrum of a given position of the object.

[0037] A method for gripping an object with the gripper described above is also disclosed here. It comprises the following steps: Emitting electromagnetic waves or sound waves into a space spanned by the two gripper fingers by means of the transmitter, receiving at least a portion of the waves introduced into the space by means of the receiver, carrying out a relative movement between the gripper and the object and thus positioning the object in a space spanned by the two gripper fingers, wherein the intensity of the waves detected by the receiver is measured and recorded and the presence of an object to be gripped in the space is determined if the intensity detected by the receiver falls below or exceeds a predetermined or adjustable threshold, and gripping the object by moving at least one of the two gripper fingers relative to the other of the two gripper fingers.

[0038] This procedure enables the identification and / or examination of an object to be seized before it is actually seized.

[0039] Further features, properties, and advantages of the present invention are described in more detail below using embodiments with reference to the accompanying figures. All features described so far and below are advantageous both individually and in any combination. The embodiments described below are merely examples and do not limit the subject matter of the invention. They show: Fig. 1 a perspective view of a book-like identification, value or security document, Fig. 2a-2f) Process steps for producing the book-like identification, value or security document from Figure 1, Fig. 3 an attachment device for attaching the tab to the data card without a tab (step according to Fig. 2a ), Fig. 4 a perspective view of the gripper, Fig. 5 a longitudinal section through the gripper from Figure 4 , Fig. 6 a detailed view of a configuration of transmitter and receiver which form a reflex light barrier due to their arrangement on one and the same gripper finger, and Fig. 7 a representation of the intensity detected by the receiver when an object is gripped in the space between the gripper fingers, wherein two different intensity thresholds (I 1 , I 2 ) are illustrated.

[0040] The present invention relates to a gripper 300 which—purely by way of example, but preferably—can be used in the production of book-shaped identification, valuable, or security documents 100. However, the present gripper 300 is not limited to this application; it can therefore also be used in other industries, in particular in all industrial sectors equipped with robots.

[0041] In Figure 1In any case, such a book-shaped identification, valuable, or security document 100 as mentioned above is shown. The identification, valuable, or security document 100 is, for example, an identification document, in particular a passport or identity card. The identification, valuable, or security document 100 has a cover 102 and a passport book block 104 held in the cover 102. The passport book block 104 consists of a data card 106, several passport book pages 108, an endpaper 110, and a binding band 112, which are connected to one another by a seam 114.

[0042] The data card 106 is a plastic or paper-based card on which person- and / or document-specific information is applied. For example, the data card 106 can have a passport photo 116 and personal information 118 of a user. The information 118 is preferably applied to the data card 106 in a machine-readable form. The data card 106 also has a machine-readable identification feature that uniquely identifies the data card 106 during the manufacturing process of the identification, valuable, or security document 100. The data card 106 further has a chip in which person- and / or document-specific information can be stored. In particular, the chip has a secure memory area for storing the person- and / or document-specific information.Furthermore, the data card 106 may have visible and / or invisible security features that prevent counterfeiting of the data card 106.

[0043] A particularly flexible tab 120 is provided on the data card 106, which is made of an endless belt 220. The endless belt 220 consists of a fabric coated and / or sheathed with a flexible plastic material. The tab 120 is attached to the data card 106 in a form-fitting and / or material-fitting manner and is thus part of the data card 106. Additional security features can be provided on the tab 120.

[0044] The passport book pages 108 are each cut from a printed sheet 304, preferably a sheet of paper, and folded along their centerline 122. The passport book pages 108 can be printed, for example, with additional personal and / or document-specific information, page numbers, or other information. In the case of the German passport, these personal and / or document-specific data and information under numbers 11 to 14 are printed or applied to the first or the first passport book pages 108. The passport book pages 108 can furthermore be prepared to receive stamps, for example, visa stamps. Preferably, the passport book pages 108 also contain security features that prevent forgery of the passport book pages 108. The security features can, for example, be printed, incorporated into the passport book pages 108, or incorporated into them.For example, the passport book pages 108 contain a perforation, wherein the perforation preferably tapers conically through the passport book pages 108.

[0045] The endpaper 110 forms the outer end of the passport book block 104. With an outer side 124 of the endpaper 110, the passport book block 104 is glued to an inner side 126 of the cover 102.

[0046] The folding tape 112 serves as reinforcement of the seam area and is glued to the outer side 124 of the endpaper 110 before the passport book block 104 is sewn.

[0047] The production of the identification, valuables or security document 100 is described below using the Figures 2a to 2f be described.

[0048] In In a first method step, the data card 106 is provided and the tab 120 is attached to the data card ( Figure 2a). The tab 120 is connected to the data card 106 in an overlapping area 121 in a form-fitting and / or material-fitting manner and cut to the desired length.

[0049] The binding tape 112 is then applied to the seam area of the endpaper 110 and the passport book block 104 consisting of the passport book pages 108, the data card 106 and the endpaper 110 is assembled ( Figure 2b ). The data card 106 is inserted into the passport book block 104 such that the flap 120 is arranged in the seam area.

[0050] The passport book block 104 is then sewn with a seam 114 along the center line 122 of the passport book pages 108 ( Figure 2c ).

[0051] After or at the same time as the sewing of the passport book block 104, the cover 102 is prepared. The inner side 126 of the cover 102 is glued to the outer side 124 of the endpaper 110 and the resulting passport book blank 128 is folded ( Figures 2d and 2e ).

[0052] Subsequently, the free edges of the passport book blank 128 are processed and thus the passport book blank 128 is cut to the final format of the identification, valuables or security document 100 ( Figure 2f ). Free margins are considered to be the margins adjacent to the spine and the margin opposite the spine of the passport book blank 128 or the identity, valuables or security document 100.

[0053] Subsequently, additional security features, such as perforation, can be applied to or incorporated into the passport book pages 108. After the production of the identification, valuables, or security document 100, further processing typically takes place in the form of a quality control and personalization of the chip of the data card 106.

[0054] In Figure 31 shows—again purely by way of example—an attachment device 200 for attaching the tab 120 to the card to complete the data card 106. Here, an endless belt 220 is provided in a magazine 228 for the endless belt 220 by means of a provision unit 204. The endless belt 220 can be divided into individual tabs 120 using a cutting device 222. Once the endless belt 220 has been completely unwound from a first roll 230, the endless belt 220 is automatically fed onto a second roll 230 and connected to the end of the endless belt 220 of the first roll 230, so that the production cycle is not interrupted. A processing unit 206 has a holder for the tabless data card 106. A controller can then actuate a holding and transport device 224 such that the data card 106 can be placed in the holder in the desired position.The processing unit 206 further comprises means 216 for positively and / or materially connecting the tab 102 to the tabless data card 106 in an overlapping area 121. The means 216 are formed by a sonotrode, by means of which the tab 120 is ultrasonically welded to the tabless data card 106. The provision unit 204 also comprises a feed device 218 for the endless belt 220 for the tab 120, a cutting device 222 for cutting the endless belt 220, and a gripper 300 for gripping the endless belt 120. The magazine of the provision unit 204 can also be provided with an additional drive in order to be able to actively unwind the roll 230.

[0055] In Figure 4 is the one in Figure 3The gripper 300, which is only schematically illustrated, is shown enlarged in a perspective view. This gripper 300 is designed according to the invention as a parallel gripper that is pneumatically actuated. Electromotive or hydraulic actuation is also possible. The gripper 300 comprises a first gripper finger 302 and a second gripper finger 304, which are configured to grip a, in particular thin-walled, object 120 with their gripping surfaces 306, which is introduced into an intermediate space 308 defined by the two gripper fingers 302, 304, for which purpose at least one of the two gripper fingers 302, 304 is adjustably mounted relative to the other of the two gripper fingers 302, 304. In the present case, both gripper fingers 302, 304 can be moved towards one another, for example to grip the tab 120 between them.The gripper 300 is equipped with suitable sensors to check the gripped object 120 or to be gripped, or to detect its correct position. For this purpose, the first gripper finger 302 is equipped with a transmitter 310 for emitting electromagnetic waves or sound waves into the gap 308. In the present case, the transmitter 310 is configured—merely by way of example—to emit light. In the present case, the second gripper finger 304 is also assigned a receiver 312 configured to detect at least some of the waves emitted by the transmitter 310. The transmitter 310 and the receiver 312 are arranged centered on a common, aligned line. It can be seen that the transmitter 310 is arranged on a side of the gripper finger 302 facing away from the gripping surface 306 of the first gripper finger 302.Similarly, the receiver 312 is arranged on a side of the gripper finger 304 facing away from the gripping surface 306 of the second gripper finger 304. The first gripper finger 302 is configured to guide the waves emitted by the transmitter 310 into the gap 308 between the gripping surfaces 306. The second gripper finger 304 is also configured to guide the waves emerging from the gap 308 to the receiver 312.

[0056] In Figure 5It can be seen that the two gripper fingers 302, 304 each provide a passage 314 to the intermediate space 308 for this purpose. This passage 314 is designed according to the invention as a bore, wherein one passage 314 is provided with a rectangular cross-section. If the passages 314 are rectangular in cross-section, it has also proven advantageous if the receiver 312 is in the form of a line sensor or an area sensor, since this allows for more precise testing or position detection of the object 120 that has been gripped or is to be gripped in the intermediate space 308. In order to protect the transmitter 310 and / or the receiver 312 from dirt and dust, it is possible for the respective passage 314 to be filled with a transparent or translucent material in the form of a light guide, particularly when the transmitter 310 and the receiver 312 form a light barrier.

[0057] To securely grip the object, in particular the fabric band of the tab 120, the gripping surfaces 306 are each provided with an anti-slip layer 316, which is also translucent or transparent to the light emitted by the transmitter 310. The anti-slip layer 316 can be made of silicone, for example. Should the space-related requirements make it necessary for the transmitter 310 and / or the receiver 312 to be repositioned, then—in the case of a transmitter 310 for emitting light—at least one beam-shaping and / or beam-deflecting optical element can be introduced into the optical path of the light between the transmitter 310 and the receiver 312. Examples of suitable optical elements include mirrors, lenses, light guides, filters, or the like.With a suitable design of the passages 314, the advantageous additional possibility is provided that the first gripper finger 302 or the second gripper finger 304 is provided with a camera directed towards the intermediate space 308, and that the first gripper finger 302 or the second gripper finger 304 is assigned a lighting device for illuminating the intermediate space 308.

[0058] Figure 6refers to the possibility that the transmitter 310 and the receiver 312 can also be arranged on one and the same gripper finger 302, 304, wherein the transmitter 310 and the receiver 312 form a reflected light barrier in the example shown. A reliable configuration is also provided by the passage 314 being conical along its longitudinal axis, tapering towards the gripping surface 306. Here, too, the anti-slip layer 316 is present, which is also translucent or transparent to waves emitted by the transmitter 310. In the present case, a reflector (not shown in detail) is arranged on the opposite side, in particular on the second gripper finger 304, or the second gripper finger 304 itself is formed from a reflective material. Alternatively, the anti-slip layer 316 arranged on the second gripper finger 304 can also be configured to reflect the waves emitted by the transmitter 310.With such a retro-reflective light barrier, it is also possible for the second gripper finger 304, which is free of transmitter 310 and receiver 312, to comprise an absorber or itself to be made of an absorbing material for the waves emitted by the transmitter 310. In this case, the reflection of the gripped material is used for the evaluation. While there is no object 120 in the intermediate space 308, the waves are absorbed, so that the receiver 312 of the retro-reflective light barrier can detect no or only a low intensity of the waves. If a defect-free object 120 is present in the intermediate space 308, it reflects the waves in the direction of the receiver 312, whereby an intensity of the waves is detected which lies in particular in a range between two predetermined intensity thresholds I 1 , I 2 . In the case of a defective object 120, the detected intensity would lie outside the band of the two thresholds I 1 , I 2 .

[0059] The method for gripping and testing an object 120 with a gripper 300 explained above comprises in particular the following steps: Carrying out a relative movement between the gripper 300 and the object 120 and thus positioning the object 120 in the space 308 spanned by the two gripper fingers 302, 304, gripping the object 120 by moving at least one of the two gripper fingers 302, 304 relative to the other of the two gripper fingers 302, 304, emitting electromagnetic waves or sound waves into the space 308 spanned by the two gripper fingers 302, 304 by means of the transmitter 310, whereby the waves interact with the gripped object 120, receiving at least a portion of the waves introduced into the space 308 by means of the receiver 312, and testing the gripped object 120 based on the intensity of the waves detected by the receiver 312.

[0060] By detecting and evaluating the intensity with regard to whether an intensity threshold is exceeded or not reached, it can be concluded that the material between the two gripper fingers 302, 304 is faultless or faulty; in particular, if the intensity measured by the sensor or receiver 312 is above or below a predetermined or adjustable threshold.

[0061] Figure 7refers to the possibility of monitoring two different intensity thresholds I 1 , I 2 , whereby in this example a predefined or adjustable second intensity threshold is or has been set, which differs from the first intensity threshold. In this case, it is only concluded that the grasped object 120 is flawless if the intensity detected by the receiver 312 lies between the first threshold and the second intensity threshold. Such a configuration also makes it possible to detect multiple prints, splices, or defect marks. Only material that lies within these two thresholds is recognized as flawless.

[0062] A further possibility for determining the position of the object 120 in the intermediate space 308 between the two gripper fingers 302, 304 is provided by the fact that an attenuation spectrum of the intensity is detected by means of the receiver 312, that the position of the object 120 in the intermediate space 308 is deduced from the attenuation spectrum, and that the object 120 is only recognized as being grasped correctly if the attenuation spectrum corresponds to the spectrum of a predetermined position of the grasped object 120.

[0063] As a result, the present invention is characterized in that the gripper 300 is equipped with an additional sensor system for checking the presence or also for checking properties of the object 120 to be grasped. LIST OF REFERENCE SYMBOLS

[0064] 100 ID, valuables, or security document 102 Cover 104 Passport book block 106 Data card 108 Passport book pages 110 Endpaper 112 Folder tape 114 Seam 116 Passport photo 118 Data or information 120 Flap 121 Overlap area 122 Center line 124 Outside of the endpaper 126 Inside of the cover 128 Passport book blank 200 Attachment device (attachment of the data card flap) 204 Provision unit 206 Processing unit 208 Detection device 216 Means for connecting the flap and the data card 218 Feeding device 220 Continuous belt 222 Cutting device 224 Holding and transport device 228 Magazine for continuous belt 230 Roll for continuous belt 234 Means for sealing the edges of the flap 300Gripper 302First gripper finger 304Second gripper finger 306Gripping surface 308Gap 310Transmitter 312Receiver 314Passage 316Anti-slip layer

Claims

1. A gripper (300) with a first gripper finger (302) and a second gripper finger (304), which are set up to grip an object (120) with their gripping surfaces (306), which is introduced into an intermediate space (308) spanned by the two gripper fingers (302, 304), for which purpose at least one of the two gripper fingers (302, 304) is mounted so as to be adjustable relative to the other of the two gripper fingers (302, 304), the first gripper finger (302) comprising a transmitter (310) for emitting electromagnetic waves or for emitting sound waves into the intermediate space (308), and in that the first gripper finger (302) or the second gripper finger (304) comprises a receiver (312) which is set up to detect at least some of the waves emitted by the transmitter (310), the transmitter (310) being arranged on a side of the gripper finger (302) facing away from the gripping surface (306) of the first gripper finger (302), and in that the first gripper finger (302) is designed in such a way to guide the waves emitted by the transmitter (310) into the intermediate space (308) between the gripping surfaces (306), wherein the first gripper finger (302) comprises a passage (314) to the intermediate space (308), and in that the passage (314) has a rectangular shape extending perpendicular to the longitudinal axis of the passage.

2. The gripper (300) according to claim 1, characterized in that the passage (314) is filled with a transparent or translucent material in the form of a light guide.

3. The gripper (300) according to claim 1 or 2, characterized in that the gripping surfaces (306) are each provided with an anti-slip layer (316) which is translucent or transparent to light emitted by the transmitter (310)4. The gripper (300) according to any one of claims 1 to 3, characterized in that the first gripper finger (302) comprises the transmitter (310) and the receiver (312), and in that a reflector is assigned to the second gripper finger (304) or the second gripper finger (304) itself consists of a reflective material.

5. The gripper (300) according to any one of claims 1 to 3, characterized in that the first gripper finger (302) comprises the transmitter (310) and the receiver (312), and in that the second gripper finger (302) comprises an absorber for the waves emitted by the transmitter (310) or itself consists of an absorbent material.

6. The gripper (300) according to claim 4 or 5, characterized in that the gripping surface (306) of the second gripper finger (304) is provided with an anti-slip layer (316) which is arranged to reflect or absorb the waves emitted by the transmitter (310).

7. The gripper (300) according to claim 1, characterized in that a housing of the transmitter (310) and / or a housing of the receiver (312) form the gripping surface (306) of at least one of the two gripper fingers (302, 304).

8. The gripper (300) according to any one of claims 1 to 7, characterized in that the receiver (312) is present as a line sensor or as an area sensor.

9. The gripper (300) according to any one of claims 1 to 8, characterized in that the transmitter (310) is arranged to emit light, and in that at least one beam-shaping and / or beam-deflecting optical element is introduced into the optical path of the light between the transmitter (310) and the receiver (312).

10. The gripper (300) according to any one of claims 1 to 9, characterized in that the first gripper finger (302) or the second gripper finger (304) is provided with a camera directed towards the intermediate space (308), and in that the first gripper finger (302) or the second gripper finger (304) is assigned to an illumination device for illuminating the intermediate space (308).

11. A method for gripping and testing an object (120) with a gripper (300) according to one of the preceding claims, comprising a first gripper finger (302) and a second gripper finger (304), which are arranged to grip the object (120) with their gripping surfaces (306), wherein the first gripper finger (306) comprises a transmitter (310) for emitting electromagnetic waves or for emitting sound waves, and wherein the first or the second gripper finger (302, 304) comprises a receiver (312) which is arranged to detect at least a part of the waves emitted by the transmitter (310), comprising the steps of: - Performing a relative movement between the gripper (300) and the object (120) and thus positioning the object (120) in an intermediate space (308) spanned by the two gripper fingers (302, 304), - Gripping the object (120) by moving at least one of the two gripper fingers (302, 304) relative to the other of the two gripper fingers (302, 304), - Emitting electromagnetic waves or sound waves into the intermediate space (308) spanned by the two gripper fingers (302, 304) by means of the transmitter (310), whereby the waves interact with the gripped object (120), - Receiving at least part of the waves introduced into the intermediate space (308) by means of the receiver (312), and - Checking the gripped object (120) on the basis of the intensity of the waves detected by the receiver (312).

12. The method according to claim 11, characterized in that an attenuation spectrum of the intensity is detected by means of the receiver (312), in that the position of the object (120) in the intermediate space (308) is inferred on the basis of the attenuation spectrum, and in that the object (120) is only detected as being free of defects if the attenuation spectrum corresponds to that spectrum of a predetermined position of the object (120).