COLLISION DETECTING DEVICE FOR GRIPPER SYSTEMS AND COLLISION DETECTION METHOD

The invention provides a collision detecting device for gripper systems and a collision detection method. The invention relates to the collision detecting device for gripper systems of a handling mechanism, which is used for detecting a collision between the handling mechanism and, in particular, a gripper system, and an object, said collision detecting device having at least one sensor and at least one safety mechanism. According to the invention, the safety mechanism is suitable for and arranged to lock the collision detecting device with a flange plate and/or to buffer the flange plate of the gripper system, wherein force and torque variations generated when a gripper is brought into contact with the object can be transmitted to the safety mechanism via the flange plate, and an excess situation can be identified from allowable displacement variations of the flange plate for the force and torque variations via the at least one sensor. 用于抓具系统的碰撞识别装置以及用于识别碰撞的方法。一种用于操纵机构的抓具系统的碰撞识别装置，用于识别所述操纵机构以及尤其抓具系统与物体之间的碰撞，