Patent Application
20220388183
The invention relates to gripper devices for a robot gripper. In addition the invention relates to a method for operating a gripper device.
From German patent application filed on 20 Sep. 2019 with reference number 10 2019 125 439.6 a gripper jaw for a robot gripper is known, wherein the gripper jaw has a first gripper jaw interface corresponding with the robot gripper and a second gripper jaw interface corresponding with tools of a toolset and the gripper jaw interfaces are used respectively as a mechanical interface, a signal interface and/or as a power interface.
Document DD 239 156 A1 relates to a vacuum lifter for lifting and manipulating workpieces. The vacuum lifter has a housing, a receiving surface, actuation members and an element which directly generates a vacuum. The actuation members are arranged inside the housing at an angle or axially to the receiving surface and adapted to gripper jaws of a gripper of an industrial robot. Sliding elements are used as actuation members for example, which are connected via toggle levers to a lifting rod, or a cross bolt is used for example which is connected directly to the lifting rod. The lifting rod belongs to the vacuum-generating element, which is configured as a membrane or similar element. The vacuum lifter can be picked up and operated directly by means of the gripper of an industrial robot.
The invention is based on the problem of improving an aforementioned gripper device structurally and/or functionally. In addition, the invention is based on the problem of improving an aforementioned method.
The problem is solved by a gripper device having the features of claim 1. In addition, the problem is solved by a gripper device having the features of claim 6. Furthermore, the problem is solved by a method for operating a gripper device having the features of claim 13. Advantageous embodiments and/or developments are the subject-matter of the dependent claims.
The gripper device can be used for arranging on a robot gripper. The gripper device can be actuated by means of a robot gripper. The robot gripper can be used as an effector of a robot. The robot gripper can be a mechanical robot gripper. The robot gripper can have at least two gripping sections which can be displaced relative to one another in a gripper-opening/closing direction. The gripping sections can be displaced linearly, parallel to one another, in particular coaxially. The gripping sections can be used to apply an actuating movement and/or actuating force to the contact elements of the gripper device. The gripping sections can be used to pick up, actuate and/or deposit the gripper device. The robot gripper can be a finger gripper. The robot gripper can be a two-finger or multi-finger gripper. The robot gripper can have a rigid, rigid-jointed or elastic configuration. The robot gripper can be driven mechanically, pneumatically or electrically. The gripper device can be used for picking up, holding and/or depositing gripping objects.
The mechanical actuation can be used for actuating the gripper device. The mechanical actuation can be used for actuating the gripper device by means of a robot gripper. The mechanical actuation can be used for arranging the gripper device on a robot gripper. The mechanical actuation can be operated on two sides. The mechanical actuation can be centring when actuated. The mechanical actuation can be self-centring when actuated. The mechanical actuation can be used for actuating in an actuation direction. The actuation direction can correspond to a gripper opening/closing direction.
The gripper device can have a base. The gripper device can have a first support element and a second support element. The first support element and the second support element can be displaced relative to one another. The first support element and the second support element can be displaced towards one another and away from one another. The first support element can be used as a base. The second support element can be used as a lifting element.
The gripper device can have at least two levers. The at least two levers can each act between the first support element and the second support element. The at least two levers can each be pivotably mounted. The at least two levers can each be mounted fixed or loosely on the first support element. The at least two levers can each be mounted on the first support element in a simply supporting manner. The at least two levers can each be mounted fixed on the second support element. The at least two levers can each be mounted on the second support element by means of a bearing pin. The at least two levers can each be designed in one piece. The at least two levers can each be designed as angle levers. The at least two levers can each have two ends. The at least two levers cab each have an angled portion. The at least two levers can be rod-shaped or arc-shaped respectively. The at least two levers can each be designed as multiple parts. The at least two levers can each be configured as toggle levers. The at least two levers can each have two legs which are connected to one another in an articulated manner.
The at least two levers can each be supported directly on the first support element. The at least two levers can each be support directly on the second support element. The at least two levers can be connected by articulation to the second support element with a degree of freedom f=2. The at least two levers can each be in contact with the second support element on one side. The at least two levers can have active sections. The active sections can be centring when actuated. The active sections can be automatically centering when actuated.
The actuation can correspond with the robot gripper in a force-fitting and/or form-fitting manner. The actuation can correspond with the robot gripper in a geometrically complementary manner. The at least two contact elements can have at least approximately parallel contact surfaces. The at least two contact elements can be guided with their contact surfaces parallel. The at least two contact elements can be guided coaxially. The at least two contact elements can be guided on the first support element. The at least two contact elements can be guided in actuation direction. The first support element can have a linear guide for the at least two contact elements.
The contact elements can each be arranged at one end of a lever. The at least two contact elements on the one hand and the at least two levers on the other hand can each be connected to one another by means of a rotational sliding joint.
The active section can be used to form an active pairing with gripping objects. The active section can be activated and/or deactivated by mechanical actuation of the gripper device. The active section can be activated and/or deactivated by an activation/deactivation movement. The activation/deactivation movement can be a linear movement. The activation/deactivation movement can be a rotational movement. An activation/deactivation movement can be performed in an activation/deactivation direction. An activation/deactivation direction can be perpendicular to an actuation direction. An activation/deactivation movement can be about an activation/deactivation axis. An activation/deactivation axis can be perpendicular to an actuation direction. The at least one active section can be mechanically form-fitting, mechanically force-fitting, pneumatically, magnetically and/or adhesively active. The at least one active section can have a magnet arrangement with at least one permanent magnet, at least one scraper, at least one elastic element and/or at least one suction element. A plurality of permanent magnets can be arranged in a stack. The at least one scraper can have flat underside. The at least one scraper can have at least one opening for the at least one permanent magnet. The at least one permanent magnet can be adjusted by activating the gripper device between an active position and/or a deactive position. The at least one permanent magnet can be adjusted by lifting and/or lowering between an active position and/or a deactive position. The at least one permanent magnet can be adjusted by rotating between an active position and/or a deactive position. The at least one elastic element can include silicone. The at least one elastic element can be deformed by actuating the gripper device. The at least one suction element can have a suction cup. The at least one suction element can be evacuated by activating the gripper device. The at least one active section can be in the form of cutting pliers, syringes, riveting tools or safety cutting tools that only extend in a safe area. The gripper device can be configured as a surface gripper, an individual gripper, an internal gripper, an external gripper or a bottle gripper.
The transmission can be used for converting an actuation movement into an activation/deactivation movement. The transmission can be used for converting a linear movement in actuation direction into a linear movement in activation/deactivation direction. The transmission can be used for converting a linear movement in actuating direction into a rotational activation/deactivation movement. The transmission can be used for convening a parallel movement into a movement for activating and/or deactivating the at least one active section. The transmission can be used for converting a parallel movement into a movement of the first support element and the second support element relative to one another. The transmission can be used for converting a parallel movement into a movement of the at least one permanent magnet, into a movement of the at least one scraper, into a deformation of the at least one elastic element and/or into an evaluation of the at least one suction element. The transmission can be self-locking. The transmission can be self-locking when the active section is activated.
The shaft can be mounted on the base. The transmission can have cranks arranged on the shaft. The transmission can have coupling links connected by articulation to the cranks. The coupling links can each be articulated on the one hand to a crank and on the other hand to a contact element. The coupling links can each be articulated on the one hand to a crank and on the other hand to a lever. The coupling links can be arcuate.
The transmission can have at least one toothing. The transmission can have a gear and at least one rack. The transmission can have at least two racks. The gear can be arranged on the shaft. The at least two racks can be assigned to the at least two contact elements.
The gripper device can have a spring device. The spring device can be used to act on the at least one active section against an actuating force. The spring device can be used to push the at least one active section in the direction of deactivation. The spring device can act between the first support element and the second support element. The spring device can have at least one spring element. The at least one spring element can include rubber, silicone or a metal spring.
For gripping a gripping object, a robot gripper can grip the gripper device on actuation and move the gripper device with its at least one active section onto active contact with a gripping object. Then the contact elements can be applied towards one another by means of the robot gripper. The levers can pivot, move the first support element and the second support element away from one another and activate the at least one active section. On deactivating the at least one active section the first support element and the second support element can be moved towards each other again, if necessary caused or supported by the spring device.
A gripping state can be assessed by means of an actuating force. Based on the actuating force, it can be judged whether a gripping object is gripped securely or has been gripped incorrectly.
In summary and in other words, the invention provides among other things a robot actuated mechanism for actuating robot manipulators and a method for operating the latter.
A mechanically actuated gripper tool can be actuated by means of a two-linger parallel robot gripper, in order to thus perform a task such as suction gripping, magnet gripping, pipette tasks etc. A double-sided actuated mechanism can be centred with a uniform transmission of force through the robot gripper. A singular position can be made possible by a wide deflection of the lever (90°). Thus for example a suction force can be maintained without the need for further force to be introduced by the gripper. By means of the gripping force the secure gripping with the tool can be identified or a faulty grip can be identified.
By means of the invention the flexibility and/or effectiveness is increased. Tensions are avoided. The actuation force is reduced. Starting with a basic module an individualisation or adjustment is made possible. The investment, such as expenditure, is reduced. The invention can be used in particular in all industrial fields, in the logistics and packaging industry and/or in collaborative robotics.
In the following embodiments of the invention are described in more detail with reference to the figures, which show schematically and by way of example:
The gripper device 100 has a mechanical actuation, two mechanically activatable and/or deactivatable active sections 102, 104 with permanent magnets for gripping objects and a transmission for converting a mechanical actuation power.
The mechanical actuation is used for arranging the gripper device 100 on a robot gripper and for actuating the gripper device 100 by means of the robot gripper. The mechanical actuation is activatable on two sides and is self centring when actuated.
The gripper device 100 has a first support element 106 used as a base and second support element 108 used as a lifting element, which are displaceable towards one another and away from one another.
The gripper device 100 has levers, such as 110, 112, acting between the first support element 106 and the second support element 108. The levers 110, 112 are configured as angled levers having two ends and an angled portion. The levers 110, 112 are each rotatable with their angled portion on the second support element 108 by means of a bearing pin and are otherwise mounted fixed and loosely in a simply supporting manner with one end on the first support element 106.
The actuation has two linearly guided contact elements 114, 116 with at least approximately parallel contact surfaces for the robot gripper. The contact elements 114, 116 are each arranged at one end of a lever 110, 112 by means of a rotational sliding joint.
The gripper device 100 has a scraper 118. The scraper 118 has a flat underside with openings for the permanent magnets. The permanent magnets are securely connected to the first support element 106. The scraper 118 is securely connected to the second support element 108.
For gripping a gripping object a robot gripper grips the gripper device 100 at the actuation and brings the gripper device 100 into operative contact with the gripping object by means of its active sections 102, 104. Then the contact elements 114, 116 are pressed towards one another by, means of the robot gripper. In doing so the levers 110, 112 pivot, the support elements 106, 108 move away from one another the permanent magnets move through the openings of the scraper 118 out of the underside, so that the active sections 102, 104 are activated. For deactivating the active sections 102, 104 conversely the permanent magnets are retracted back into the openings of the scraper 118 so that a gripping object is scraped.
The gripper device 100 is used for contacting a robotic parallel gripper for picking up the tool and symmetrically actuating the tool on both sides; friction-fitting and form-fitting, as well as centring. A parallel guide is used for transmitting force to levers 110, 112 via a pin. The levers 110, 112 are used for absorbing force and transmitting force from the contact elements 114, 116 to the first support element 106 via floating bearings, which can alternatively also be fixed bearings. Floating bearings enable a simple mounting and manufacturing via floating bearing bushes in the first support element 106. A force return or transmission of force takes place via pins into the second support element 108. A force is generated via a torque of the levers 110, 112, which is transmitted sinusoidally into the first support element 106 depending on the angle, which means that theoretically at an angle of about 90° enormously high forces can be transmitted. Thus e.g. the linearly increasing force of a spring is compensated and singularities are made possible. This means that the force on the scraper 118 is enabled and maintained even without further force transmission via the gripper device 100.
The second support element 108 is pulled back to its starting state by a spring element (rubber, silicone, metal spring, etc.) and also returns the levers 110, 112 back to their initial position.
A form closure connects the contact elements 114, 116 and the second support element 108 to one another so that the whole gripper device 100 is fixed and stabilised.
The gripper device 100 is a mechanically actuated magnetic gripping system. The permanent magnets are arranged at the end on column-shaped fixed connected spacers. The compression of the mechanism causes the lifting of the scraper 118 and causes the permanent magnets to protrude downwards and thus grip metallic/magnetic objects. The scraper 118 is moved downwards by a spring, which for example is located between the spacers and pushes the first support element 106 and the scraper 118 apart. This means that the distance between the permanent magnets and magnetic object is increased and thus the force of attraction also approaches 0. In this way a magnetic object can be picked up and put down again by pushing together and letting it rise up.
When the first support element 204 and the second support element 206, as shown in
By actuating the mechanism a silicone is compressed via an internal guide. This expands and thus makes it possible to grip e.g. bottles or other bores from the inside.
The robot gripper 300 is used as an effector of a robot. Robot gripper 300 is a two-finger gripper with two gripping fingers 304, 306, The gripping fingers 304, 306 cooperate with the actuation of the gripper device 302.
The suction elements are arranged in a plane and are used as active sections, such as 308. When the first support element and the second support element are moved away from one another, the suction elements are evacuated or pressured with negative pressure and the active sections 308 are activated. When the first support element and the second support element are moved towards one another the suction elements are released again and the active section 308 is deactivated. Furthermore, reference is made in particular to
A suction element is used as an active section 402. The suction element has a plunger-like form and is securely connected to the second support element 406. When the first support element 404 and the second support element 406 are moved away from one another, the suction element is evacuated or subjected to negative pressure and the active section 402 is activated. When the first support element 404 and the second support element 406 are moved towards one another the suction element is released again and the active section 402 is deactivated. Furthermore, reference is made in particular to
By extending a two-jaw gripper attached to a robot with the gripper device 400 a plate for example, that cannot be gripped with the two-jaw gripper, can be transported or handled. Afterwards the gripper device 400 can be put down again.
The term “can” denotes in particular optional features of the invention. Accordingly, there are also developments and/or embodiments of the invention, which additionally or alternatively have the respective feature or the respective features.
From the combinations of features disclosed here, if necessary also individual features can also be picked out and used in combination with other features to delimit the subject matter of the claims while resolving any structure and/or functional relationship between the features.
| Number | Date | Country | Kind |
|---|---|---|---|
| 102019130648.5 | Nov 2019 | DE | national |
The present application is a National Stage Entry of International Application Number PCT/EP2020/082165, filed Nov. 13, 2020, which claims the benefit of German Application Number DE1020191.30648.5, filed Nov. 13, 2019, the disclosures of which are hereby incorporated by reference in their entireties.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2020/082165 | 11/13/2020 | WO |
