Handling device for gripping test tube, has capacitive sensor whose evaluating device determines measure for amount of pressing force from capacitance value or change in capacitance value of capacitive sensor

摘要

The device has pressing force sensor devices for determining a pressing force exerted on a workpiece (WS) by gripping surfaces (GF) of gripper arms (GA1) and comprising a capacitive sensor and an evaluating device. The sensor comprises an electrode (EF) and an elastic dielectric layer (KD), where an initial thickness (DA) and a minimum thickness of the layer relevant for a capacitance value of the sensor is reduced under action of the pressing force against a return force. The evaluating device determines a measure for an amount of the pressing force from the value or a change in the value. The elastic dielectric layer is made of a foam material. The pressing force sensor devices are designed as capacitive pressing force sensors. An independent claim is also included for a pressing force sensor device.