Gripping device

Abstract

The invention relates to a gripping device (1), having a parallel gripper which can be adjusted between an open position and a closed position and has gripping arms (5A, 5B) between which a receiving space (6) for products to be gripped is arranged, and a suction gripper (20, 20') which has a suction portion (22, 22') for the suction-gripping of objects. In order to push gripped products out of the receiving space (6) beyond a free end of the gripping arms (5A, 5B), the gripping device (1) has an advancing element (12A, 12B) which has a bearing surface (19A, 19B) for a product clamped between the gripping arms (5A, 5B). The advancing element (12A, 12B) can be displaced through the receiving space (6) from a rest position in an advancing direction (13) and can be brought into a delivery position in which it projects out of the receiving space (6) beyond the free end of the gripping arms (5A, 5B). The advancing element (12B) has an opening (23, 23') on the bearing surface (19B) for the suction portion (22, 22') to pass through. The suction portion (22, 22') can be adjusted between an activation position, in which it projects out of the opening (23, 23') in the advancing direction (13), and a deactivation position, in which it is retracted counter to the advancing direction (13) to behind the bearing surface (19B) of the advancing element (12B).

Description

[0001] gripping device

[0002] The invention relates to a gripping device comprising a base part having a flange for connection 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 for clamping 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 gripper arms, with at least one feed element arranged between the gripper arms and at least one feed drive therefor, wherein the feed device is designed such thatthat 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 into a feed direction through the receiving space and 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 can be displaced from the discharge position into the rest position to return the at least one feed element against the feed direction, wherein the fastening section of the at least one suction gripper is arranged on the at least one feed element.

[0003] 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.

[0004] 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.

[0005] DE 10 2018 000 161 A1 further discloses a gripping device having a base part which has a flange for connection 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 which can be moved towards and away from one another 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 with the aid of an adjusting device.The parallel gripper is used to grip a stack of folding boxes in which the 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 stack of folding boxes come into contact with a gripper arm of the parallel gripper, and the top side of the stack of folding boxes 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 stack of folding boxes with their suction sections and then activated. This supports the stack of folding boxes 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.

[0006] Furthermore, DE 10 2020 104 399 B3 discloses a gripping device having a base part to which a parallel gripper and a laterally mounted suction gripper are attached. The suction gripper can be pivoted downwards 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 arranged suction gripper, which requires additional working space. In some applications, this limits the range of application of the parallel gripper, in particular because the laterally arranged suction gripper can collide with the container wall of a container to be gripped by the gripping device. EP 3 530 576 A1 discloses a gripping device arranged on a manipulator, which 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 in place 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 area for the parallel gripper at the deposit point.

[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, it is provided 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] The feed mechanism allows the gripping device to move products clamped between the gripper arms of the parallel gripper in the receiving space in the closed position of the parallel gripper in the feed direction using the feed element. This allows them to be removed from the receiving space and placed, for example, in a storage location. This allows the products to be delivered in a space-saving manner in tight spaces without opening the parallel gripper.

[0012] 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.

[0013] 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.

[0014] In an advantageous embodiment of the invention, it is provided that the feed device has a first feed element and a first feed drive for the first feed element to be displaceably mounted on the first gripping arm in and against the feed direction by means of a first linear guide and 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 for the second feed element to be displaceably mounted on the second gripping arm in and against the feed direction by means of a second linear guide and adjustable between the rest position and the delivery position relative to the second gripping 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 from the rest position to the dispensing position. As a result, the feed elements are also moved toward and away from each other as the gripper arms move toward and away from each other, 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 simultaneously pushed out of the receiving space with the help of the synchronously adjustable feed elements.

[0015] 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.

[0016] 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.

[0017] In a further development of the invention, it is provided that the first feed element has two web-shaped fork parts lying in a plane orthogonal to the feed direction, which are spaced 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 gripping arm in the direction of the first gripping 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 gripping arms,and that the fork parts of the first feed element and the second feed element are arranged relative to each other such that the plate part engages in the free space in the closed position of the parallel gripper 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 as the gripper arms move toward and away from each other. The feed elements always lie in one plane.

[0018] 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.

[0019] 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.

[0020] 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 selectively or alternately connected to the parallel gripper. The gripping elements can be designed as gripper fingers and / or gripper jaws.

[0021] 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.

[0022] In a further development of the invention, the gripping device has an operating mode switching device that is connected to the at least one feed drive and the positioning drive in such a way 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 the suction gripper operating mode. An exemplary embodiment of the invention is explained in more detail below with reference to the drawings. It shows:

[0023] 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,

[0024] 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,

[0025] Fig. 3 is a view similar to Fig. 1, but showing the gripping arms in the closed position,

[0026] Fig. 4 is a view similar to Fig. 2, but showing the gripping arms in the closed position,

[0027] Fig. 5 is a view similar to Fig. 1, but with the feed device in the delivery position,

[0028] Fig. 6 is a view similar to Fig. 2, but with the feed device in the delivery position,

[0029] Fig. 7 is 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 is a view similar to Fig. 3, but with the feed device in the dispensing position and the suction grippers in an activation position,

[0030] Fig. 9 is a view similar to Fig. 4, but with the feed device in the dispensing position and the suction grippers in an activation position,

[0031] Fig. 10 is an isometric view of a first gripping element, and

[0032] Fig. 11 an isometric view of a second gripping element.

[0033] A gripping device, designated as a whole by 1 in Fig. 1, comprises a base part 2 having 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. The gripper has a first gripping arm 5A and a second gripping arm 5B, which define a receiving space 6 (see Fig. 2) arranged between them for the products to be gripped.

[0034] 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.

[0035] To clamp the products, the gripping arms 5A, 5B can be moved towards and away from each other between an open position (Figs. 1 and 2) and a closed position (Figs. 3 and 4) by means of a gripping drive. The gripping 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 pulling element which rotates via deflection elements and is accommodated in the base part 2 can be driven. The pulling element has two parallel runs. A first cross member 7A is arranged on a first run and a second cross member 7B 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 along the runs by adjusting the gripping drive in the direction of the double arrow 8. As shown in Fig.1, the cross members 7A, 7B are located on the side of the base part 2 opposite the flange 3.

[0036] The gripping arms 5A, 5B each have a support plate 9A, 9B, on which a gripping element 10A, 10B is arranged, laterally delimiting the receiving space 6. As can be seen particularly clearly in Fig. 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.

[0037] 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.

[0038] The feed device 11 has a first feed element 12A, which is mounted on the first gripper 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 adjustable relative to the first gripper arm 5A by means of a first feed drive 14A between a rest position shown in Figs. 1 to 4 and a delivery position shown in Figs. 5 and 6. 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 to the first feed element 12A.The feed device 11 also has a second feed element 12B, which is mounted on the second gripper 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 adjustable relative to the second gripper arm 5B by means of a second feed drive 14B between a rest position shown in Figs. 1 to 4 and a delivery position shown in Figs. 5 and 6. The second feed drive 14A is structurally identical 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 to the second feed element 12B.

[0039] 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.

[0040] As can be seen in Figs. 5 and 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.

[0041] As can be seen in Figs. 5 and 7, the first feed element 12A has two web-shaped fork parts 17A', which are spaced from each other by a free space 18 between them. The fork parts 17A, 17A' are arranged parallel to each other and span a plane running orthogonal to the feed direction 13. The fork parts 17A, 17A' each extend from the first gripper arm 5A toward 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.

[0042] The second feed element 12B has a plate part 17B that extends in the plane orthogonal to the feed direction 13, starting from the second gripper arm 5B toward 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 can be seen in Figs. 2, 4, 6, and 7, the contact surfaces 19A, 19A', 19B are arranged in the same plane.

[0043] 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 (Figs. 3 and 4) and is located outside the free space 18 in the open position (Fig. 7).

[0044] The feed device 11 is designed such that the feed elements 12A, 12B, for dispensing the at least one product from the receiving space 6, can each be displaced with their contact surfaces 19A, 19A', 19B from their rest position in the feed direction 10 through the receiving space 6 into the dispensing position shown in Fig. 6, in which they protrude beyond the free ends of the gripper arms 5A, 5B from the receiving space 6. To return the feed elements 12A, 12B, they can be displaced from the dispensing position into the rest position counter to the feed direction 13.

[0045] 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. In Figs. 5 to 7 it can be seen that the fastening sections 21, 21' are arranged on the second feed element 12B. The second feed element 12B has an opening 23, 23' on the plate part 17B for each suction section 22, 22' for the passage of the respective suction section 22, 22'. As can be seen in Fig. 7, the openings 23, 23' penetrate the planes spanned by the contact surfaces 19A, 19B. In the rest position of the feed device 11, the openings 23, 23' are arranged between the gripper arms 5A, 5B.

[0046] The gripping device 1 has an adjustment device with a pneumatic positioning drive 24, by means of which the suction grippers 20, 20' can be adjusted 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 (Figs. 8 and 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 (Figs. 2, 4, 6 and 7). As can be seen in Fig. 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 from the receiving space 6 beyond the free ends of the gripping arms 5A, 5B.In the activation position, the suction gripper 20 enables the suction gripping of flat objects that extend beyond the gripping arms 5A, 5B.

[0047] As can be seen in Figs. 6 and 9, the positioning drive 24 has two positioning elements 25, 25' that can be moved toward and away from each other. Positioning element 25 is configured as a working cylinder, and positioning element 25' is configured 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). The gripping elements 10A, 10B each have a base body 26A, 26B, in whose surface facing the opposite other gripping element 10B, 10A, grooves are formed, from which a material 27A, 27B protrudes toward the opposite other gripping element 10B, 10A, which material has a higher static friction than the material of the base body 26A, 26B (Figs. 10 and 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 carrier plates 9A, 9B in order to adapt the gripping device 1 to products and packaging with different formats.

Claims

Patent 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 which can be moved towards and away from each other between an open and a closed position by means of a gripper drive for clamping 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 gripper arms (5A, 5B), with at least one feed element (12A, 12B) arranged between the gripper arms (5A, 5B) and at least one feed drive (14A), (14B) forwherein the feed device (11) is designed such 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) against the feed direction (13) from the dispensing position into 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 in 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 in 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 moved between an activation position, in which the suction section (22, 22') in the feed direction (13) protrudes from the at least one opening (23, 23') and a deactivation position in which the suction section (22,22') is adjustable against the feed direction (13) until it is retracted behind the contact surface (19B) of the feed element (12B).

2. Gripping device (1) according to claim 1, characterized in that the feed device (11) has a first feed element (12A) and a first feed drive (14A) for the first feed element (12A) being mounted displaceably in and against the feed direction (13) by means of a first linear guide on the first gripping arm (5A) and being 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) for the 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 in 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 in 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 in 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 in 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 apart from one another 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') are arranged in an orthogo- in a plane extending orthogonal to the feed direction (13) in each case has a contact surface (19A) for the at least one product clamped between the gripping arms (5A, 5B), and in 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 extending orthogonal to the feed direction (13) for the at least one product clamped between the gripping arms (5A, 5B), and in 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 in that the positioning drive (24) has two positioning elements (25, 25') which can be moved towards and away from one another, 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 in 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 in 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) are arranged in a direction orthogonal to the feed direction (13) aligned plane and can be moved towards and away from one another in this plane with the aid of the gripping drive. Gripping device (1) according to one of claims 1 to 8, characterized in 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 dispensing position.

Images