Method for scanning an object to be grasped by a gripper using a beam, and gripper for carrying out the method

摘要

In order to scan an object to be grasped by a gripper of a robot using a beam which extends from a first jaw of the gripper to a second jaw of the gripper and triggers a signal on interruption and/or enabling by the object to be grasped, for the purpose of monitoring a dimension of the object which is defined by the distance of two faces or edges from one another, the jaws are moved past the object on a path which has at least one component in the direction of the distance of the two faces or edges from one another and leads to an interruption or enabling of the beam at these faces or edges.