Robot gripping device and method for gripping components

Abstract

A robot gripping device (1) is described, comprising an inflatable gripping unit (2) designed for insertion into a recess of a component. Furthermore, the robot gripping device (1) includes a pump and control unit (3) configured to precisely adjust the volume of the inflatable gripping unit (2) so that a force-fit connection between the inflatable gripping unit (2) and the component can be established, as well as means for detecting the contact pressure of the inflatable gripping unit (2) on the component. A method for gripping components is also described.

Description

[0001] A robot gripping device is specified. Furthermore, a method for gripping components is described.

[0002] Vehicle bodies, as well as, for example, the frames of so-called white goods, contain a multitude of sheet metal parts. Various gripper concepts are typically used in the automation of gripping and placement processes. Depending, among other things, on the type of material (e.g., magnetic or non-magnetic) or the surface properties (e.g., oily, sticky, with or without beads, straight or curved, with large or small holes), different gripping concepts are required for each application. Examples of known grippers in the art include magnetic grippers, vacuum grippers, and finger grippers, which can be used depending on the component properties.

[0003] Since individual grippers are developed for each component, the systems are very expensive. Furthermore, mobile robots that need to access different stations and handle different components require different grippers. This necessitates either automatic gripper changes or manual intervention, both of which are very costly.

[0004] One of the tasks to be solved for at least some embodiments is to specify a robot gripping device by means of which the aforementioned problem can be solved. A further task is to specify a method for gripping components.

[0005] These problems are solved by the subject matter according to the independent claims. Advantageous embodiments and further developments of the subject matter are further described in the dependent claims, the following description, and the drawing.

[0006] The robot gripping device described here features an inflatable gripping unit designed for insertion into a recess in a component. This component could be, for example, a body panel with a recess or hole. The robot gripping device also includes a pump and control unit configured to precisely adjust the volume of the inflatable gripping unit, thus creating a positive connection between the inflatable gripping unit and the component or body panel. Specifically, the inflatable gripping unit can be designed such that its volume and / or external dimensions can be selectively increased or decreased by means of the pump and control unit. Furthermore, the robot gripping device includes means for detecting the contact pressure of the inflatable gripping unit against the component being gripped.The robot gripping device described here has the advantage that time-consuming and costly changes of gripper elements or gripping units can be eliminated, since the inflatable gripping unit of the robot gripping device can adapt to the component to be picked up or to the shape and / or size of its recess.

[0007] According to a further embodiment, the inflatable gripping unit comprises an inflatable element with a flexible wall and a medium guide element arranged within the inflatable element. The volume of the inflatable element can be selectively increased or decreased by the pump and control unit. The medium guide element can extend axially in a longitudinal direction inside the inflatable element and have a plurality of spaced-apart air outlet openings through which air or compressed air from the pump and control unit can enter the interior of the inflatable element via the medium guide element.

[0008] According to a further embodiment, the inflatable gripping unit has at least one pressure measuring unit. Additionally or alternatively, the inflatable element can have a pressure-sensitive surface. This allows the contact pressure to be determined and the inflation process to be controlled accordingly by a control unit integrated into the pump and control system.

[0009] According to another embodiment, the robot gripper is attached to a movable robot arm. This allows the component, after being picked up by the robot gripper, to be moved to a different storage or removal point by moving the robot arm.

[0010] The robot gripping device described here can be advantageously used, in particular, for picking up sheet metal components, each of which has different recesses or holes. This eliminates the need for expensive gripper change units.

[0011] Furthermore, a method for gripping components is described. This involves providing a robot gripping device as described herein, which may have one or more features of the aforementioned embodiments. Additionally, a component, such as a body panel, which has at least one recess or hole, is provided.

[0012] In this method, the inflatable gripping unit of the robot gripping device is inserted into the recess of the component, preferably in such a way that the inflatable gripping unit is completely enclosed by the component in the lateral direction after insertion. The inflatable gripping unit is then inflated by means of the pump and control unit until a positive connection is established between the inflatable gripping unit and the component. The component or body panel can then be lifted by means of the robot gripping device. The pressure sensor of the inflatable gripping unit can detect when the positive connection has been established, so that further inflation or enlargement of the inflatable gripping unit by the pump and control unit can be stopped after this detection.

[0013] According to a further embodiment, in the method for placing the component at a storage or removal point using the pump and control device, the volume of the inflatable gripping unit can be selectively reduced so that the inflatable gripping unit can be removed from the recess of the component.

[0014] Further advantages and advantageous embodiments of the robot gripping device or the method for gripping components described here will become apparent from the following in conjunction with the Fig. 1 described embodiment.

[0015] The elements shown and their relative sizes are generally not to scale. Rather, individual elements may be exaggeratedly thick or large for clarity and / or better understanding. Fig.Figure 1 shows a schematic view of a robot gripping device 1 according to an exemplary embodiment. The robot gripping device 1 has an inflatable gripping unit 2, which is designed for insertion into a recess of a component. The inflatable gripping unit 2 has an inflatable element 4 with a flexible wall having a pressure-sensitive surface or integrated pressure sensors and a medium guide element 5 arranged in the inflatable element 4, through which air or compressed air from the pump and control unit 3 can be uniformly guided into the inflatable element 4. For this purpose, the inflatable element 4 can, for example, have spaced-apart air outlet openings.

[0016] The pump and control unit 3 of the robot gripper 1 is configured to precisely adjust the volume of the inflatable gripper unit 2 so that a positive connection between the inflatable gripper unit 2 and the component can be established. In particular, the inflatable gripper unit 2, or the inflatable element 4 of the inflatable gripper unit 2, can be inserted into the recess of a component to be picked up at a low volume, and then the volume of the inflatable gripper unit 2, or of the inflatable element 4 of the inflatable gripper unit 2, can be increased by the pump and control unit 3 until a positive connection between the inflatable gripper unit 2 and the component is achieved. To detect when the positive connection has been achieved, the robot gripper 1 has means for detecting the contact pressure of the inflatable gripper unit on the component.

[0017] The robot gripper 1 is attached to a robot arm 6 of a robot or manipulator. After the component has been picked up by the robot gripper 1, the component can be moved to a different storage location by moving the robot arm 6.

[0018] For subsequent placement of the component at a storage or removal point, the volume of the inflatable gripping unit 2 is selectively reduced by means of the pump and control device 3, so that the inflatable gripping unit can be removed from the recess of the component.

[0019] Alternatively or additionally, the embodiment shown in the figure may have further features according to the embodiments described in the general description. Reference symbol list 1 robot gripping device 2 inflatable gripping units 3 Pump and control unit 4 inflatable elements 5 Medium guide element 6 robot arm

Claims

Robot gripping device (1), comprising: - an inflatable gripping unit (2) designed for insertion into a recess of a component, - a pump and control device (3) configured to selectively adjust the volume of the inflatable gripping unit (2) so that a force-fit connection between the inflatable gripping unit (2) and the component can be generated, and - means for detecting a contact pressure of the inflatable gripping unit (2) on the component. Robot gripping device according to claim 1, wherein the inflatable gripping unit (2) comprises an inflatable element (4) with a flexible wall and a medium guide element (5) arranged in the inflatable element (4). Robot gripping device according to one of the preceding claims, wherein the inflatable gripping unit (2) has at least one pressure measuring unit. Robot gripping device according to one of the preceding claims, wherein the inflatable element (4) has a pressure-sensitive surface. Robot gripping device according to one of the preceding claims, wherein the robot gripping device (1) is attached to a movable robot arm (6). Method for gripping components, comprising the steps of: - providing a robot gripping device (1) according to one of the preceding claims, - providing a component which has at least one recess, - inserting the inflatable gripping unit (2) of the robot gripping device (1) into the recess of the component, - inflating the inflatable gripping unit (2) by means of the pump and control device (3) until a force-fit connection is created between the inflatable gripping unit (2) and the component, and - lifting the component by means of the robot gripping device (1). Method according to claim 6, wherein the achievement of the force-locking connection is detected by means of a pressure measuring unit of the inflatable gripping unit (2). Method according to one of claims 6 or 7, wherein the volume of the inflatable gripping unit (2) is selectively reduced for the purpose of depositing the component by means of the pump and control device (3).

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