WO2018073336A1 - Dispositif de préhension de robot pourvu d'éléments d'aspiration auxiliaires - Google Patents

Dispositif de préhension de robot pourvu d'éléments d'aspiration auxiliaires Download PDF

Info

Publication number
WO2018073336A1
WO2018073336A1 PCT/EP2017/076689 EP2017076689W WO2018073336A1 WO 2018073336 A1 WO2018073336 A1 WO 2018073336A1 EP 2017076689 W EP2017076689 W EP 2017076689W WO 2018073336 A1 WO2018073336 A1 WO 2018073336A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripper
robot
jaw
suction
suction element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2017/076689
Other languages
German (de)
English (en)
Inventor
Otmar Honsberg
Friedrich STERZ
Christina Heckl
Jürgen Proske
Kirt LAESKE
Vanessa WOLF
Michael HEINRICHS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Swisslog AG
KUKA Systems GmbH
Original Assignee
Swisslog AG
KUKA Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Swisslog AG, KUKA Systems GmbH filed Critical Swisslog AG
Publication of WO2018073336A1 publication Critical patent/WO2018073336A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/106—Gripping heads and other end effectors having finger members with three or more finger members moving in parallel relationship

Definitions

  • the invention relates to a robot gripper comprising a gripper base body comprising a connecting means for attaching the robot gripper to a flange of a Robo ⁇ terarms, and comprising at least one mounted on the gripper ⁇ main body suction member having a to be connected to a suction ⁇ line intake opening and a the Ansau ⁇ surrounding opening sealing lip portion.
  • a handling device for multi-layer workpieces, in particular veneers and plates is known, which has at least one gripper tool with a connection for connection to a manipulator, wherein the gripping tool surrounding the gripping elements, movable and the geank Workpiece has pressable support ⁇ lement.
  • the gripping elements of the handle lo ⁇ advertising means are designed as suction.
  • the object of the invention is to provide a robot gripper which can be moved and controlled by a robot and can be picked up with the most varied objects from ver ⁇ different positions, orientations and / or arrangements, moved away and set down again.
  • a robotic gripper comprising:
  • a gripper base body which comprises a connecting device for fixing of the robot gripper to a flange of a robot arm, - at least one suction member mounted on the gripper base body ⁇ ment, the one to be connected to a suction line Ansau- gö réelle and surrounding the suction opening surrounding the sealing lip portion,
  • At least one gripper jaw adjustably mounted on the gripper body and having a first gripping contact surface
  • Gripper jaw and the second gripping contact surface of the second gripper jaw are formed for mechanically clamping gripping an object to be handled by the robot gripper, which is to be clamped by adjusting at least one of the gripper jaws on the gripping contact surfaces,
  • first Hilfssau- gelement which is arranged on the first gripper jaw and at least one second Hilfssaugelement, which is arranged on the second gripper jaw.
  • the robot gripper can be fastened to a flange of a robot arm.
  • the robot arm of the robot gripper can be automatically controlled manually in a hand ⁇ driving operation according to a robot program or moving in space, and the robot gripper is turned ⁇ , ie are opened among other and closed.
  • Robotic arms with associated programmable Robotersteue ⁇ aging, in particular industrial robots are machines that can be fitted for automatic handling and in several movement axes, for example, with regard to orientation, position and process sequence are programmable.
  • Industrial robots usually have a robotic arm with multiple links connected by joints and program- mable robot controls that automatically control the movements of the robot arm during operation in order to position and move the robot flange and consequently the robot gripper of the robot arm in space.
  • the members are for this purpose via drive motors, in particular electric drive motors, which are controlled by the robot controller, in particular with respect to the axes of movement of the industrial robot, which represent the movement ⁇ degrees of freedom of the joints moves.
  • the robot can be, for example, an industrial robot, which can be, in particular, an articulated-arm robot with serially successive axes of rotation, for example five, six or seven axes of rotation.
  • the robot gripper has, along a preferably centrally disposed suction element, which forms a Hauptsaugelement extent to at least two suction elements, namely at least one first and the Hilfssaugelement Wenig ⁇ least a second Hilfssaugelement. So there are at least three or more suckers on the robot gripper.
  • the robotic grapple also has at least two gripper jaws.
  • the gripper jaws are adjustably mounted on the gripper base body, may be particularly shipping ⁇ hen with motors or actuators to program the gripper jaws, in particular driven by a robot controller or in accordance with its Roboterpro- to be able to move automatically.
  • the gripper jaws can be moved away from and towards each other, so that an article in egg ⁇ nem mechanical clamping grip can be held by the gripper jaws generally.
  • the clamping handle may generally be an outside handle, in which the article to be held between two gripper jaws Wenig ⁇ least pinched.
  • the clamping handle may also be an internal handle, ie at least two gripper jaws dive into an opening of the object and move away from each other, so that the at least clamp two gripper jaws in the opening of the object and so hold the object.
  • the at least two gripper jaws additionally each have at least one auxiliary suction element.
  • the auxiliary elements can hold the object instead of the suction element, in particular instead of the main suction element.
  • the Hilfssaugiata in addition to suction in a second application variant hold the ⁇ special addition to Hauptsaugelement the object. This means that the object is held by the suction element, in particular the main suction element, as well as by at least one of the several auxiliary suction elements.
  • the object can be mechanically clamped with the gripping contact surfaces of the gripper jaws.
  • the mechanically clamping holding of the article by means of the gripper jaws can be assisted by a sucking holding by means of the suction element, in particular of the main suction element.
  • the robotic gripper may comprise a first hinge pivotally supporting the first auxiliary suction member on the first gripper jaw and adapted to passively swirl a suction surface of the first auxiliary suction member relative to the first gripper jaw due to closing movement of the robot gripper about the gripper jaw by adjusting at least one of the gripper jaws object to be handled.
  • the first joint for example, of egg ⁇ nem the first Hilfssaugelement with the first gripper jaw coupling ball joint are formed.
  • the ball joint can be freely pivoting. Instead of a ball joint may possibly also be used a joint of elastic material.
  • the second auxiliary suction element may have second hinge pivotally mounted on the second gripper jaw, which is designed to passively swivel a suction surface of the second auxiliary suction element relative to the second gripper jaw due to a movement of at least one of the gripper jaws Closing movement of the robot gripper around the object to be handled.
  • the second joint can be formed by a ball joint coupling the second auxiliary element with the second gripper jaw.
  • the ball joint can be freely pivoting ⁇ forms.
  • a ball joint may possibly also be a Ge ⁇ steering made of elastic material.
  • the Hilfssaugelement or the Hilfssaugiata will be aligned with their respective suction ⁇ direction substantially to Hauptsaugelement, ie be aligned exactly at the same angle or have only an angular deviation of up to 10 degrees, and the gripper jaws or the areas The gripper jaws which come into contact with the object or object will be arranged substantially at a right angle to the suction direction of the Hilfssaugieri.
  • a Schommae or main jaw plane which is spanned by the gripping jaws, aligned substantially perpendicular to the suction direction, so that an object either from above with the suction elements, ie with Hilfssaugelement and / or with Stilsaugelement, and / or can be held laterally by the gripping jaws.
  • additional Hilfssaug comprise may be provided which have a relation to the other Hilfssaugelementen at least substantially 90 degrees folded orientation.
  • Such additional Hilfssaugieri may accordingly be arranged on the gripping contact surfaces of the robot gripper or at least be assigned to this.
  • these additional Hilfssaugelement can be folded in conjunction with the gripping jaws or the gripping contact surfaces, for example, 90 degrees and thus a clamping gripping and additional suction is possible.
  • the additional auxiliary suction elements in conjunction with the jaws or the gripping contact surfaces
  • gripping contact surfaces are slightly movable, they are not active, so that the other auxiliary suction elements always point downwards, but there are also the additional auxiliary suction elements which are aligned with the gripper jaws and thus support the grip.
  • the additional Hilfssaugiata and / or the other Hilfssaugieri can also be fixed, ie rigidly attached or only slightly ge be ⁇ slightly movable. If the first joint and / or the second joint are pivotally mounted passively, then the Hilfssaugele ⁇ ments to the surfaces of the object to be gripped adjust automatically when the gripper jaws are closed from the outside around the object or are opened spanning within the object or are guided and / or pressed from substantially the top of the object.
  • the first joint may be associated with a spring device which is designed to return the suction surface of the first auxiliary suction element to an initial position if an opening movement of the robot gripper is performed by adjusting at least one of the gripper jaws, in order to release the object.
  • the second joint may be associated with a spring device which is designed totechnischzuschwenken the Saugflä ⁇ che of the second Hilfssaugelements to a starting position, if by adjusting at least one of the gripper jaws an opening movement of the robot gripper is performed to to let go of the object.
  • the respective spring device of the first Hilfssaugelements and / or the second Hilfssaugelements thereby causes the suction surfaces of the Hilfssaugelements automatically returns to its original position, ie the basic position pivots back when the object is released again.
  • the output ⁇ position or the initial position may for example be characterized in that the suction surface substantially perpendicular, preferably perpendicular to a longitudinal extension was ⁇ ner gripper jaw or substantially parallel, preferably parallel to a longitudinal extension of its gripper jaw aligned.
  • the robot gripper may comprise a first joint pivotally supporting the first auxiliary suction member on the first gripper jaw, and a first motor moving the first joint have, which is designed to actively umzuschwenken a suction surface of Ers ⁇ th Hilfssaugelements active relative to the first gripper jaw.
  • the robot gripper can be the second one
  • Hilfssaugelement on the second gripper jaw pivotally la ⁇ like second hinge and have a second joint moving second motor, which is designed to actively umzuschwenken a suction surface of the second Hilfssaugelements relative to the second gripper jaw.
  • the respective first motor or the second motor for the first and the second Hilfssaugelement Hilfssaugelement allows the suction surface relative to the gripper jaw in any Ori ⁇ aleungen pivot turn, in particular automatically, according to a robot program to a robot controller of the Robo ⁇ tergreifer controlled robot.
  • At least one of the first Hilfssaugelement and / or two ⁇ system may comprise a Hilfssaugelement to be connected to an auxiliary suction Hilfsansaugö réelle and a surrounding Hilfsansaugö réelle the auxiliary sealing lip section.
  • the suction element ie the main suction can be acted upon with negative pressure, but also the Hilfssaugiata, as far as ⁇ the.
  • the at least one first and the Hilfssaugelement Wenig ⁇ least a second Hilfssaugelement can independently vonei ⁇ Nander actively or passively controlled by the Hilfsansau- gö réelle be acted upon with negative pressure.
  • the at least one first gripper jaw and / or the Wenig ⁇ least a second gripper jaw may rod-shaped and pivotally mounted on the gripper base body.
  • Each jaw can have a first rod end carrying at least one Hilfssaugelement and an opposite second end of the first rod member end aufwei ⁇ different from that to which the jaw is pivotally mounted on the gripper base body ⁇ .
  • the at least two, in particular three or more gripper jaws can insofar be finger-like gripping fingers of a gripper hand thus formed.
  • These rod-shaped, in particular finger-like gripper jaws can accordingly be moved towards one another and / or moved away from one another.
  • at least one single gripper jaw may be adjustably pivotable relative to the other gripper jaws by an additional degree of freedom.
  • the robot gripper may have at least one gripper jaw motor which is designed to adjust the at least one gripper jaw and / or the at least one second gripper jaw driven relative to the gripper base body.
  • Each gripper jaw can have its own separate gripper jaw motor, so that each gripper jaw can be moved automatically independently of the other gripper jaws. Alternatively, several or all gripper jaws can be moved automatically by a common gripper jaw motor simultaneously.
  • the robot gripper may accordingly also comprise a single gripper jaw motor, which is designed to simultaneously displace both the at least one gripper jaw and the at least one second gripper jaw, driven together, relative to the gripper base body.
  • the gripper jaw motor may include a linear actuator and the robot gripper can in this case a toggle mechanism aufwei ⁇ sen formed, a linear movement of Li ⁇ near drive in the pivoting movements of both to implement the at least one first gripping jaw, and the at least one two ⁇ th gripper jaw.
  • a central suction element in particular a main suction element, is arranged at a free end of a tubular slide, which is mounted in a height-adjustable manner on the gripper base body.
  • the tubular slide can form a suction channel, can be applied to the suction element via the negative pressure.
  • the height adjustment can be done by means of a motor.
  • the tubular slide can be moved demge ⁇ Telss loading means of the linear drive of the gripper jaw motor.
  • the tubular slide also has a number of levers corresponding to the number of gripper jaws, of which each lever connects the tubular slider to a gripper jaw in an articulated manner.
  • All the levers are each pivotally or displaceably mounted on the tubular slide and each lever is in turn (at the other end) pivotally connected to a single gripper jaw assigned to it.
  • the articulation points of the levers on the tubular slider and on the gripper jaws is selected such that in a middle height position of the tubular slider, the levers at least approximately or exactly perpendicular to the longitudinal extents of the rod-shaped gripper jaws and at least approximately or exactly perpendicular to the longitudinal extent of the tubular
  • the gripper jaws which surround the tubular slide or the central suction element, in particular the main suction element, on an outer circumference are located in a maximum opening position.
  • the central suction element, in particular the main suction element can be located in the same plane as the auxiliary suction elements or can be located on a slightly retracted plane.
  • the central suction element in particular the Hauptsaugele- element retracted, i. the central suction element is located on a plane opposite to the plane in which the auxiliary suction elements lie, in the direction of the gripper base body inwardly recessed plane.
  • the Hilfssaugiata by complete
  • the central suction element in particular the main element, can be located in the same plane as the auxiliary elements or can be located on a slightly protruding plane.
  • the projecting plane is characterized in that it is located farther away from the gripper body than the plane in which the
  • the suction element can generally form a central Hauptau ⁇ gelement, which is mounted vertically adjustable on the gripper body.
  • the suction element can be arranged at a free end ei ⁇ nes particular tubular slide, wherein the slide is mounted vertically adjustable on the gripper body.
  • the slide can be mounted vertically adjustable by means of a linear drive on the gripper body.
  • the gripper jaw motor can be designed to adjust the linear drive, in such a way that on the one hand ⁇ the height-adjustable suction element by means of the gripper ⁇ baking motor is driven and on the other hand both the at least one first gripper jaw, and the at least one second gripper jaw by means of Gripper jaw motor is pivotally driven, wherein the robot gripper may comprise a toggle mechanism, which is adapted to implement a linear movement of the linear drive in pivotal movements of both the at least one gripper jaw, and the at least one second gripper jaw.
  • the linear drive and the toggle mechanism can be madebil ⁇ det, such that in an average height position of the particular tubular slide, the lever of the toggle mechanism at least approximately or exactly perpendicular to the
  • the linear drive and the toggle mechanism can be designed such that in a middle height position of the particular tubular slider, the rod-shaped gripper jaws surrounding the tubular slider, in particular the central suction on an outer circumference, in a maximum opening position of the robot gripper are located.
  • the linear drive and the toggle mechanism can be designed such that in a maximum opening position of the robot gripper, the central suction member is in the same plane or is on a plane only slightly retracted, as the Hilfssaugemia.
  • the linear drive and the toggle mechanism can be designed such that in a retracted height position of the particular tubular slide the central suction element is retracted, such that the central suction element is located opposite to the plane in which the auxiliary suction elements are located , is in the direction of the gripper body inwardly recessed level, in which the Hilfssaugetti are arranged by fully closing the rod-shaped gripper jaws directly adjacent to each other.
  • the linear drive and the toggle mechanism may be formed such that the central suction member is in an extended vertical position of the particular pipe ⁇ shaped slide in dersel- ben plane as the Hilfssaugiata or located at a slightly projecting plane is arranged farther away from the gripper body than the plane in which the Hilfssaug comprise lie.
  • the particular tubular slide can generally with a number of gripper jaws corresponding number of
  • a telescopic design is understood in particular to mean that the at least one first gripper jaw and / or the at least one second gripper jaw is constructed blocks of at least two or more elongate jaw Enele ⁇ elements, wherein the two or more jaws ⁇ elements are mutually supported in a longitudinally adjustable to one another and guided, so that the total length of the jaw can be enlarged by pulling apart the mutually longitudinally adjustable jaw members and by a pushing together against each other longitudinally adjustable jaw elements, the total length of the gripper jaw reduced ⁇ who can.
  • the two or more jaw elements may in particular be arranged nested in one another so that a jaw element, which is smaller in circumference or diameter, can be pushed into or pulled out of a jaw element which is larger in circumference or diameter.
  • At least a first gripper jaw and / or the at least one second gripper jaw can extent analog ei ⁇ ner as such generally known telescopic antenna, Tele ⁇ skopstange or telescopic telescope be formed.
  • the gripper jaws are rod-shaped, then these rod-shaped gripper jaws can each have at least one first pipe section, in which one or more coaxial with the first pipe section arranged further Rohrab ⁇ sections or a solid material pin are longitudinally adjustable gela ⁇ siege.
  • the Teleskopier- availability of the gripper jaw is reached, whereby the gripper jaw can be automatically changed in length.
  • the robot gripper can have a total of three gripper jaws, in particular the suction element can be arranged centrally on the gripper base body and the three gripper bars CKEN the central suction element may be disposed vice ⁇ bend on the robot gripper.
  • the third gripper jaw is preferably configured identically to the ers ⁇ th and the second gripper jaw.
  • the three gripper jaws can here but differ slightly in terms of the respective (auxiliary) suction elements which can be designed differently, for example yet. Can be adapted to different graspable Materia ⁇ lien or surfaces, this such that each of the three (auxiliary -) suction elements optimized for a material or a surface designed and / or adapted.
  • the robot gripper can have a central joint pivotally supporting the suction element on the gripper base body, which is designed to pivot over a suction surface of the suction element relative to the gripper base body.
  • the central joint can be a ball joint.
  • the ball joint can be freely pivoting. Instead of a ball joint may possibly also be used a joint of elastic material.
  • the orientation of the suction surface of the suction element, in particular of the main suction element, relative to the gripper base body can be changed by means of the central joint.
  • the central joint may be associated with a spring device which is designed to return the suction surface of the suction element to an initial position when the robot gripper has released the object.
  • the spring device of the central joint causes the suction surface of the main suction element to automatically swing back into its starting position, ie the basic position, when the object is released again.
  • the starting position or the basic position can be characterized, for example, in that the suction surface of the main suction ment is aligned parallel to the extension of the main plane of the gripper ⁇ basic body.
  • the robot hand may have a central joint moving Saugelementmotor, which is formed a suction surface of the suction element, that is actively convert the pivot Hauptsaugelements re ⁇ tively to the gripper base body.
  • the invention describes, sometimes different from previously been ⁇ suppressed, thus a robot gripper, with in particular a combination of multiple and / or different Einzelsau- like, with variable suction points can be used.
  • a mechanical clamping grip in particular a 3-point clamping of objects is possible.
  • the robot gripper may thus have two, three or more gripper jaws, which can be adjustable to different positions for the Hilfssaugieri ermögli ⁇ chen to, more preferably, the robot gripper three grip jaws.
  • the robot gripper can via a central vacuum cleaner, that a central suction member are equipped, in particular with the heavier objects or components may be included in a centering ⁇ th focus.
  • the robot gripper can next to the central vacuum cleaner, one, two or more, in particular having three smaller Hilfssaugele ⁇ elements.
  • the at least one Hilfssaugelement serves to support a possible overturning moment, if the Schwer- point when gripping or sucking intake by means of the central Saugelements the gripped object is outside the central gripping point.
  • the robot gripper With the robot gripper, it is possible to suck in a component by means of the central vacuum cleaner and to realize a three-point stop with, for example, three smaller auxiliary suction elements.
  • the robot gripper can, due to its at least two adjustable (clamping) gripping jaws, hold the object alternatively or in addition to suction by means of a clamping grip.
  • haf ⁇ tendes material, such as rubber, applied to the pipes, which have the small Hilfssaugiano. The material also serves to secure the component during transport through the robot gripper.
  • a contact of the component or article with Endbe ⁇ range of the gripping jaws which are the Hilfssaugelementen is preferably carried out in the mechanical gripping.
  • a combination of suction and clamping is possible.
  • the (clamping) gripping jaws and thus also the Hilfssaugieri arranged thereon may be jointly and optionally individually switchable set up and controlled.
  • the Hilfssaugieri are passively established and controlled. This can, for example, via flow valves and / or
  • small components can be gripped with three small auxiliary suction elements. This results in minimal gripping surfaces.
  • the gripping surface can be down to the surface of a single small
  • Hilfssaugelements be reduced because individual, ie the other Hilfssaugieri also switched on and off can be accommodated ⁇ det.
  • a gripping of heavy components can be done with the central vacuum cleaner.
  • three small NEN Hilfssaugieri can perform a three-point clamping grip around the handle to optimize and steer component part to losses ver ⁇ .
  • a gripping of asymmetrical objects or components is possible even without a central center of gravity.
  • a support of the tilting moment can be done via the three small Hilfssaugieri.
  • An optional vacuum can be generated he ⁇ and be transported through internal within the robot gripper suction lines to the suction nozzles outside of the robot gripper.
  • the suction nozzles used can be adapted to the material and surface spectrum of the components and / or skillfully combined.
  • Whether an object or component could be gripped can be detected by means of a vacuum switch, which can detect the prevailing negative pressure.
  • a one-dimensional load cell may be incorporated, which may be determined on the gripped ⁇ basic weight, the number of gripped parts, insofar as the respective weight of a ⁇ individual part is known.
  • the central vacuum cleaner may also have a ball joint for example.
  • a servo motor can be of limited capacity or, optionally, the clamping force can be achieved with the help of a sensor to be monitored, so that a terminal without THE PREVIOUS before ⁇ knowledge of the part geometry is possible. He ⁇ facilitates the operation, since no exact position of the Grei ⁇ fers must be specified.
  • a critical safety tables clamping for example a human finger is Schlos ⁇ sen.
  • the mechanics of the robotic gripper may be provided with a human-robotic-collaboration (MRK) -compatible envelope which does not limit the functionality of the gripper.
  • MRK human-robotic-collaboration
  • Opti onal can this shell of a flexible material best ⁇ hen that the movements of the gripper follows and also can play a supporting role in the terminals of items or products.
  • the individual tubes ie the gripper jaws which carry the auxiliary suction elements
  • the individual tubes can be made adjustable or displaceable in length.
  • a servomotor in each tube allows the lengths to be adjusted independently of each other. This facilitates a handle, for example, in the corners of a box and under ⁇ supports the complete emptying of the box.
  • a variability in component size Very small items and products with a few square centimeters FLAE ⁇ che can be gripped, as well as objects and products of large Austechniken can be gripped.
  • There is a variability in component weight Up to several kilos of weight are possible. It will be a combination of Suction and clamping / gripping possible, which can be combined depending on requirements or used individually.
  • An adaptation to component-specific properties, such as surfaces, Geo ⁇ metry and / or material can be done.
  • a compact design is easy to implement to avoid unnecessary interference contours.
  • the weight of the robot gripper is low. Gripping control can be carried out via vacuum switches and optionally via one-dimensional load cells.
  • the robot trainer is also suitable for use in human-robot collaboration (MRC).
  • the robot gripper is simple in design, in particular with regard to control and operation.
  • FIG. 1 is a perspective view of an exemplary
  • Robot gripper is located with three Hilfssaugelementen and ei ⁇ nem central Mannschulgelement in an approximately mitt ⁇ sized height position at which the central Hauptsau ⁇ gelement in the same plane as the Hilfssaugieri,
  • FIG. 2 is a perspective view of the Robotergrei ⁇ fers of FIG. 1 in a slightly different average height position, in which the central Hauptsaugele ⁇ ment is set back slightly relative to the Hilfssaugelementen
  • Fig. 3 is a perspective view of the Robotergrei ⁇ fers of FIG. 1 in a retracted vertical position of the central suction element
  • Fig. 4 is a perspective view of the Robotergrei ⁇ fers of FIG. 1 in an extended vertical position of the central suction member, and
  • Fig. 5-8 are schematic representations of various objects and how they can be gripped by the robot gripper of FIG. 1, for example.
  • a robot gripper 1 comprising a gripper base body 2, which comprises a connection device 3 for fastening the robot gripper 1 to a flange 4 of a robot arm 5.
  • the robot gripper 1 has a single (main) suction element 6 mounted on the gripper base body 2, which comprises an intake opening to be connected to a suction line 7 and a sealing lip section 8 surrounding the intake opening.
  • the robot gripper 1 has three gripper jaws 9.1, 9.2, 9.3 which are adjustably mounted on the gripper base body 2 and each have a first gripping contact surface 10.1, 10.2, 10.3.
  • the gripper jaws 9.1, 9.2, 9.3 are in this case mounted with one end on the gripper body 2 and at the other end of the respective gripper jaw 9.1, 9.2, 9.3, the respective gripping contact surfaces 10.1, 10.2, 10.3 are arranged or formed.
  • the robot gripper 1, in the case of the present embodiment also has three Hilfssaugiata 11.1, 11.2, 11.3, which are arranged on the respective gripper jaw 9.1, 9.2, 9.3.
  • Each of the three Hilfssaug comprise 11.1, 11.2, 11.3 is ⁇ together with the associated gripper jaw 9.1, 9.2, 9.3 pivotally mounted via a respective joint 12.1, 12.2, 12.3, which for Umzuschwenken the Hilfssaug comprise 11.1, 11.2, 11.3 and thus also their Suction surfaces 13.1, 13.2, 13.3 are formed relative to the gripper body 2.
  • Each of the three gripper jaws 9.1, 9.2, 9.3 is rod-shaped and by means of the joints 12.1, 12.2, 12.3
  • the rod shape can in this case have a round, rectangular, square, hexagonal or further polygonal profile.
  • the robot gripper has a single gripper jaw motor 14, which is designed to simultaneously drive both the first gripper jaw 9.1, and the second gripper jaw 9.2 and the third gripper jaw 9.3 jointly relative to the gripper base body 2.
  • the gripper jaw motor 14 comprises in the case of the present embodiment, a linear drive 15 and also a toggle mechanism 16 is provided which is adapted to a linear movement of the linear drive 15 in respective pivotal movements of both the first gripper jaw 9.1, and the second gripper jaw 9.2 and the third Greiferba- 9.3.
  • the central one is adapted to a linear movement of the linear drive 15 in respective pivotal movements of both the first gripper jaw 9.1, and the second gripper jaw 9.2 and the third Greiferba- 9.3.
  • the central one is adapted to a linear movement of the linear drive 15 in respective pivotal movements of both the first gripper jaw 9.1, and the second gripper jaw 9.2 and the third Greiferba- 9.3.
  • the central one is adapted to a linear movement of the linear drive 15 in respective pivotal movements of both the first gripper jaw 9.1, and the second gripper jaw 9.2 and the third Greiferba- 9.3.
  • the central one is adapted to a linear movement of the linear drive 15 in respective pivotal movements of both
  • (Main) suction element 6 arranged at a free end of a rohrförmi- gene slide 17 which is hö ⁇ henver founded mounted on the gripper body 2 and automatically adjusted by means of the linear drive 15 of the gripper jaw motor 14.
  • the tubular shifter 17 may in this case a suction channel bil 17.1 ⁇ , via the negative pressure to the (main) suction element 6 can be ⁇ sets.
  • the tubular slider 17 can accordingly be moved by means of the linear drive 15 of the gripper jaw motor 14.
  • the tubular slider 17 also has a number of levers 18.1, 18.2, 18.3 corresponding to the number of gripper jaws 9.1, 9.2, 9.3, of which each lever 18.1, 18.2, 18.3 has the tubular slider 17, each with an associated gripper jaw 9.1, 9.2, 9.3 articulated connects. All levers 18.1,
  • tubular slide 17 In these middle height positions according to Fig.l and Fig. 2 of the tubular slide 17 are the tubular slide 17 and the central (main) suction element 6 surrounding on an outer circumference gripper jaws in an open position of the robot gripper 1 and its rod-shaped gripper jaws 9.1 , 9.2, 9.3.
  • the central (main) suction member In an open position (Fig. 1) of the robot gripper 1 or its bar-shaped Greiferba ⁇ CKEN 9.1, 9.2, 9.3, the central (main) suction member are located in the same plane 6 as the Hilfssaugiata
  • FIG. 2 opening position (FIG. 2) of the robot gripper 1 or its rod-shaped gripper jaws 9.1, 9.2, 9.3, the central (main) suction element 6 may be slightly inclined on a plane opposite the plane of the auxiliary suction elements 11.1, 11.2, 11.3 to ⁇ retracted plane.
  • Fig. 2 are also additional Hilfssaugieri
  • Such additional Hilfssaugieri IIa, IIb, 11c can, as shown in Figure 2 Ge, on the gripping contact surfaces 10.1, 10.2, 10.3 be provided of the robot gripper 1, or at least be those zugeord ⁇ net.
  • the central (main) drain 6 is retracted, i. the central suction element 6 is located on a plane opposite to that in which the auxiliary suction elements 11.1, 11.2, 11.3 lie, in the direction of the gripper base body 2 inwardly recessed plane.
  • the Hilfssaugetti 11.1, 11.2, 11.3 by complete
  • FIGS. 5 to 8 show schematic representations of various objects 20 and how they can be gripped by the robot gripper 1 according to FIG. 1, for example.
  • Fig. 5 shows a first article 20 having a circular cross-section.
  • the article 20 may be a circular cylinder.
  • This first object 20 can be sucked at one end face, for example, with the (main) suction member 6 and the three Greiferba ⁇ CKEN 9.1, 9.2, 9.3 engage the outer wall of the object 20 with the gripping contact surfaces 10.1, 10.2, 10.3 clamping.
  • the Hilfssaugiata come the Hilfssaugiata
  • Fig. 6 shows a block-shaped second object 20.
  • the second object 20 may be gripped in an analogous manner as in the first object 20 in FIG. 5.
  • the second object 20 may demge ⁇ Gurss with the ( Main) suction element 6 are sucked on any side wall of the cuboid and the three Grei ⁇ ferbacken 9.1, 9.2, 9.3 attack on three other side walls of the article 20 with the gripping contact surfaces 10.1, 10.2, 10.3 by clamping.
  • the Hilfssaugetti are 11.1, 11.2, 11.3 and not to the appli ⁇ dung.
  • Fig. 7 shows a third article 20 which does not have a simple geometric shape.
  • the third object 20 can be attached to the same
  • the Hilfssaugele ⁇ ments 11.1, 11.2, 11.3 serve in this application mainly to stabilize the position and position of the third object 20 on (main) suction element 6, so that the third object 20 does not tilt against the (main) suction 6 can.
  • FIG. 8 shows a fourth, very small object 20 which, for example, is not included due to its small size the (main) suction element 6 can be sucked. This is the case in particular if the surface of the side wall of the article 20 is smaller than the surface of the nipple of the (main) suction element 6. The (main) suction element 6 is therefore withdrawn so that the small article 20 al ⁇ lein is sucked by the three Hilfssaugelementen 11.1, 11.2, 11.3.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de préhension de robot (1) ; un corps de base de préhension (2), lequel comporte un dispositif de raccordement (3), pour fixer ledit dispositif de préhension de robot (1) à une bride (4) d'un bras de robot (5) ; au moins un élément d'aspiration (6), monté sur le corps de base de préhension (2), lequel comporte une ouverture d'aspiration raccordée à une conduite d'aspiration (7) et une section de lèvres d'étanchéité (8) enveloppant l'ouverture d'aspiration ; au moins une première mâchoire de préhension (9.1), montée de manière réglable sur le corps de base de préhension (2), laquelle comporte une première surface de contact de préhension (10.1) ; au moins une deuxième mâchoire de préhension (9.2), montée de manière réglable sur le corps de base de préhension (2), laquelle comporte une deuxième surface de contact de préhension (10.2), la première surface de contact de préhension (10.1) de la première mâchoire de préhension (9.1) et la deuxième surface de contact de préhension (10.2) de la deuxième mâchoire de préhension (9.2) étant conçues pour appréhender, par serrage mécanique au moyen du dispositif de préhension de robot (1), un objet (20) à manipuler, lequel est serré par réglage d'au moins une des mâchoires de préhension (9.1, 9.2, 9.3) sur les surfaces de contact de préhension (10.1, 10.2, 10.3) ; ledit dispositif comprenant en outre au moins un premier élément d'aspiration auxiliaire (11.1), lequel est disposé sur la première mâchoire de préhension (9.1) et au moins un deuxième élément d'aspiration auxiliaire (11.2), lequel est disposé sur la deuxième mâchoire de préhension (9.2).
PCT/EP2017/076689 2016-10-20 2017-10-19 Dispositif de préhension de robot pourvu d'éléments d'aspiration auxiliaires Ceased WO2018073336A1 (fr)

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DE102016220643.5A DE102016220643A1 (de) 2016-10-20 2016-10-20 Robotergreifer mit beweglichen Hilfssaugelementen
DE102016220643.5 2016-10-20

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CN110479649A (zh) * 2019-08-21 2019-11-22 庞颖钢 一种基于龙门机械手的改进式双导轨的分拣装置
DE102019201169A1 (de) 2019-01-30 2020-07-30 Kuka Deutschland Gmbh Robotergreifer mit einem Kraftsensor
CN111532767A (zh) * 2020-04-27 2020-08-14 顾伟国 一种机械加工用的成品快速转运机构
CN112004616A (zh) * 2019-12-12 2020-11-27 深圳市微蓝智能科技有限公司 一种用于获取片板状物品的机械装置
FR3102696A1 (fr) 2019-10-31 2021-05-07 Psa Automobiles Sa Dispositif de préhension, à ventouse et à membrane, comprenant un stabilisateur et un détecteur
CN113165190A (zh) * 2018-12-04 2021-07-23 赛默飞世尔科学股份有限公司 用于将药瓶从第一工位转移到第二工位的设备
CN113414783A (zh) * 2021-06-17 2021-09-21 东莞理工学院 基于深度q网络的机器人微装配抓取系统
CN118493221A (zh) * 2024-07-22 2024-08-16 西安市康铖机械制造有限公司 一种零部件多角度抛光机

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GB2578754A (en) * 2018-11-06 2020-05-27 Tubular Multi Prot As Protector for drill pipe end
US11203124B2 (en) * 2019-06-28 2021-12-21 Intelligrated Headquarters, Llc Item handling manipulator
CN110405660B (zh) * 2019-08-01 2021-08-06 烟台知兴知识产权咨询服务有限公司 一种具有调位功能的液压摇臂夹具
DE102020111694B3 (de) 2020-04-29 2021-07-29 J. Schmalz Gmbh Sauggreifer und Unterdruckhandhabungsanlage
DE102020210537A1 (de) 2020-08-19 2022-02-24 Kuka Deutschland Gmbh Verfahren und System zum Handhaben einer Lastanordnung mit einem Robotergreifer
CN112792298B (zh) * 2020-12-29 2022-09-09 许昌职业技术学院 一种气爪、砂芯下芯装置及砂芯下芯抓取方法
DE102021116276A1 (de) 2021-06-23 2022-12-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Greifvorrichtung für einen Roboter, wechselbares Fingergreifmodul und Greifsystem
WO2024152062A1 (fr) * 2023-01-14 2024-07-18 Sarcos Corp. Effecteur terminal de gestion d'article robotique avec dispositif de capture ayant des tiges conformes discrètes
DE102024206920A1 (de) * 2024-07-23 2026-01-29 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Bestimmen einer Greifpose für einen Roboter

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CN113165190A (zh) * 2018-12-04 2021-07-23 赛默飞世尔科学股份有限公司 用于将药瓶从第一工位转移到第二工位的设备
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FR3102696A1 (fr) 2019-10-31 2021-05-07 Psa Automobiles Sa Dispositif de préhension, à ventouse et à membrane, comprenant un stabilisateur et un détecteur
CN112004616A (zh) * 2019-12-12 2020-11-27 深圳市微蓝智能科技有限公司 一种用于获取片板状物品的机械装置
CN111532767A (zh) * 2020-04-27 2020-08-14 顾伟国 一种机械加工用的成品快速转运机构
CN113414783A (zh) * 2021-06-17 2021-09-21 东莞理工学院 基于深度q网络的机器人微装配抓取系统
CN118493221A (zh) * 2024-07-22 2024-08-16 西安市康铖机械制造有限公司 一种零部件多角度抛光机

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