| 摘要 |
Needle gripper comprising a gripper unit with a gripping surface (20) facing the workpiece to be gripped, and at least one needle carriage (32) with at least one gripping needle (22), wherein the at least one needle carriage can be displaced into an active position in which the gripping needle is extended beyond the gripping surface by one needle stroke depth (24), and in a passive position in which the gripping needle is retracted, and comprising a drive unit with a drive actuator (26) which can be driven forward and backward along a drive direction, wherein the drive actuator is movably coupled to the needle carriage so that the needle carriage can be moved into the passive position and into the active position by driving the drive actuator forward and backward, and with a setting device (34) for setting the needle stroke depth, which comprises a guide carriage (38) which can be displaced perpendicularly to the drive direction along a guide direction (36), and a stop (54) for the guide carriage, wherein the drive actuator is movably coupled by means of a connection arm (42) to the guide carriage so that, when the drive actuator is driven backward, the guide carriage is moved in the direction toward the stop (54), and further driving backward of the drive actuator is prevented. |
