Manipulator-guided gripping device having a deflection safety device that can prevent collisions

Inactive Publication Date: 2006-08-17
KUKA SYSTEMS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

[0004] An object of the present invention is to provide a gripping de

Problems solved by technology

Collisions and crashes may occur here, in which the gripping device may be damaged.
Such damage leads mostly to a change in geometry.
This may also happen due to deformation of the gripper frame.
However, this operates reliably only in case of violent collisions, which propagate to the robot drive.
Minor collisions with weaker forces, which are mostly absorbed extensively by the

Method used

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  • Manipulator-guided gripping device having a deflection safety device that can prevent collisions
  • Manipulator-guided gripping device having a deflection safety device that can prevent collisions
  • Manipulator-guided gripping device having a deflection safety device that can prevent collisions

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Experimental program
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Embodiment Construction

[0023] Referring to the drawings in particular, FIG. 1 shows a schematic side view of a machining station for workpieces, which are held and guided by a mechanical manipulator (2) by means of a gripping device (1). The workpiece, which is not shown for clarity's sake, may be of any desired type whatsoever. It is preferably a body part of a body shell, for example, a side panel part or the like. The manipulator (2) is preferably designed as a multiaxial industrial robot, especially as a six-axis articulated arm robot. The workpieces can be picked up, transported, brought into defined positions and locations and aligned as well as again deposited with the gripping device (1). These manipulation processes can take place fully automatically by means of a control (26). This is, e.g., a process control, which is integrated in the robot control. As an alternative, it may also be arranged externally. It may also be located at the gripping device (1) according to FIG. 2.

[0024]FIG. 2 shows a...

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Abstract

A manipulator-guided gripping device (1) for motor vehicle body parts includes a number of device parts (6, 7) and a safety device (9), which serves to determine geometrical changes of the device parts (6, 7, 8). At least one deflection safety device (10), which prevents collisions, is provided on the device parts (6, 7, 8). The deflection safety device (10) is mounted on a junction point (23) between the device parts (6, 7, 8).

Description

CROSS REFERENCE TO RELATED APPLICATIONS [0001] This application is a United States National Phase application of International Application PCT / EP2004 / 006113 filed Jun. 7, 2004 and claims the benefit of priority under 35 U.S.C. § 119 of German Application DE 203 09 435.2 filed Jun. 17, 2003 and DE 203 14 896.7 filed Sep. 24, 2003, the entire contents of which are incorporated herein by reference.FIELD OF THE INVENTION [0002] The present invention pertains to a manipulator-guided gripping device for workpieces, especially body parts in the body shell, wherein the gripping device has a plurality of device parts and a safety means for detecting changes in geometry. BACKGROUND OF THE INVENTION [0003] Such a gripping device for vehicle body parts in body framing and paneling is known from DE 200 04 369 U1. The gripping device is guided by a multiaxial industrial robot. Such devices are used in partially or fully automatic plants or cells for body framing and paneling or in other technical...

Claims

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Application Information

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IPC IPC(8): A47G21/10B25J15/00B25J19/06
CPCB25J15/0052B25J19/063B25J15/0061
Inventor KIKUT, BOTHONUCHTER, ELMAR
Owner KUKA SYSTEMS
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