Clamping tool, system, clamping tool, exchange platform and method for handling objects using the system or clamping tool

Abstract

The invention relates to a gripping tool, system, clamping tool and method of handling objects, wherein the gripping tool comprises a transmission mechanism arranged in a housing, wherein the transmission mechanism is coupled to a plurality of arms located outside the housing. One or more gripping elements are arranged on each arm. The gripping elements are releasably connected to the arms to enable quick and easy repositioning and / or replacement of the gripping elements. A replacement platform can be used to reposition or replace the gripping elements.

Description

TECHNICAL FIELD

[0001] The present invention relates to a gripping tool, preferably a gripper having a plurality of gripping elements, configured to be coupled to a robot arm or arranged on a surface, wherein the gripping tool comprises a plurality of arms rotatably connected to a housing of the gripping tool, each arm having at least one gripping point for gripping an object. BACKGROUND

[0002] It is known to use a gripping tool mounted on a robot arm of a robot for handling objects during assembly, machining, sorting and packaging. The gripping tool is equipped with two or more gripping arms, each gripping arm designed for gripping a specific object at a gripping point. The gripping arms are configured to move between different positions in a gripping procedure, wherein the operation of the gripping tool is controlled by a local controller of the robot unit. Optionally, the local controller can receive commands from a central controller.

[0003] It is known that robot arms, including their respective interfaces, are equipped with one or more joints, each joint providing at least one degree of freedom (DOF) to the robot arm. Robot arms usually have five to seven degrees of freedom, but some robot arms have only two or three degrees of freedom. The design of the gripping tool and the robot unit is chosen based on the size, shape and weight of the objects to be handled by the robot unit.

[0004] It is known to use sensors and / or cameras to monitor the axial movement of the robot arm and thus the gripping tool. The signals of these sensors or cameras are then used by the local controller to correctly position the gripping arms relative to a specific object. The local controller can optionally use a two- or three-dimensional map of the object to position the gripping tool.

[0005] US 2013 / 0341944 A1 by Robert Bosch GmbH discloses a gripping device for a handling robot with a protection device, wherein the gripping device comprises three arms, each connected to a common transmission mechanism arranged within a housing of the gripping device. Each arm has an elongated body extending along a radial plane, with one end connected to a rotating shaft of the transmission mechanism by a clamping device and the other end connected to a gripping finger. The gripping finger is connected to the arm by a snap-in connector designed to provide safe overload protection. The arm has an open recess in a lateral surface for accommodating the finger, which is fixed in place by the snap-in connector.

[0006] In order to grip very large objects, the arm must be manually replaced by a longer arm. Sensors must be provided in the arm to detect an overload situation on the finger, which is used by the controller to trigger an emergency stop of the gripping device, thereby preventing the finger from being forced out of engagement with the arm.

[0007] EP 2390068 B1 of the German company Jung GmbH discloses a gripper with three arms, each connected to a transmission mechanism operated pneumatically, wherein each arm has an L-shaped body with a bend between the two limbs facing outwards from a central longitudinal axis. One limb of the arm is connected to a rotation shaft of the transmission mechanism, while the other limb of the arm is at a free end and connected to a gripping finger. The gripping finger is provided on the side of the arm that rotates into contact with the object. The arm is fixed relative to the rotation shaft by a locking pin provided in a recess in the rotation shaft and the arm. It is claimed that this gripper can grip circular objects with an outer diameter between 0-100 mm and ring-shaped objects with an inner diameter between 10-125 mm.

[0008] However, EP 2390068 B1 does not disclose how the gripping fingers are held in place in the respective arms, nor does it suggest or suggest that the gripping fingers can be exchanged. The shown structure suggests that the gripping fingers are firmly attached to the arms or form an integral part of the arms.

[0009] Another example of a gripper is the model 3FG15 of the company OnRobot, which comprises three arms, each connected to a common transmission mechanism in a housing. Each arm has a generally L-shaped body extending along a longitudinal plane, with a small disc mounted at one end connected to a rotation shaft of the transmission mechanism. The gripping range of this gripper is between 20-160 mm, however the arms have to be moved relative to the disc manually using a tool to operate the gripping fingers over the entire gripping range. Furthermore, the gripping fingers are fixed in place by screws, so a tool is also required to exchange the gripping fingers.

[0010] CN 103963067 A, US 4598942 A and US 4765669 A disclose grippers with similar arms extending along a longitudinal plane. In the above grippers, the gripping process is done in a radial plane. US 4765669 A further discloses that each finger is slidably provided in a recess in a front plate, with the top of the finger attached to a container with a ball provided therein for cooperating with a matching recess in an inner disc above the finger.

[0011] EP 0074542 A1 discloses a gripper tool with three rotatable arms. Each arm is coupled to a rotation shaft of a rotation mechanism. The center of the gripper tool is attached to a stop element with three radial fingers, wherein each gripping finger abuts an inner curved portion of the radial fingers. The arms of EP 0074542 A1 have a single recess for accommodating the gripping fingers, wherein the gripping fingers are locked in the recess using a small screw on the arm.

[0012] DE 33 12 673 A1 discloses a gripping tool comprising a drive mechanism arranged in a housing, wherein the drive mechanism is connected to three arms equipped with gripping fingers. The arms are clamped on respective rotation axes, and the gripping fingers are screwed into the other end of the respective arms. Hereby, tools are needed when changing gripping fingers.

[0013] There is therefore a need for a gripping or clamping tool having improved flexibility, operating range and lifting capacity.

[0014] Object of the invention

[0015] It is an object of the present invention to provide a gripping tool capable of solving the above-mentioned problems.

[0016] It is a further object of the present invention to provide a gripping tool capable of operating throughout the gripping range.

[0017] It is a further object of the present invention to provide a gripping tool in which the position of the gripping fingers can be adjusted without the use of tools.

[0018] It is a further object of the present invention to provide a gripping tool in which the gripping fingers can be easily changed. Summary of the invention

[0019] The object of the present invention is achieved by a gripping tool for handling objects in a process, the gripping tool comprising:

[0020] - a housing defining a longitudinal axis of the gripping tool,

[0021] - a drive mechanism arranged in the housing,

[0022] - an interface arranged at one end of the housing, the interface being configured to be coupled to a matching interface of a machine or to be arranged on a surface,

[0023] - a plurality of arms arranged at the other end of the housing, each arm comprising at least one gripping element configured to contact an object, each arm being configured to rotate around a rotation axis when activated by the drive mechanism and to contact or disengage from the object in a radial plane perpendicular to the longitudinal axis, wherein each arm comprises a main body extending from a first end to a second end, and each arm has a top side, a bottom side, a first side and a second side,

[0024] - wherein each arm comprises one mounting position for the at least one gripping element arranged on the top side, characterized in that the at least one gripping element is releasably connected to the arm by means of a quick release connector.

[0025] The term "releasably connected" is to be understood as the clamping element and the arm being designed specifically to be detachable for replacement or repositioning of the clamping element. The term "quick release" is to be understood as a connector that can be operated without the use of tools, such as a screwdriver or a wrench.

[0026] This provides an alternative clamping tool design for robotic applications or clamping applications that is more flexible compared to conventional clamping tools of the same type. The clamping tool design of the present invention is compact, lightweight and provides better lifting capabilities.

[0027] The clamping tool has a protective housing extending in a longitudinal direction from a first end to a second end. The housing further extends in a radial direction and forms an outer surface and an inner surface, wherein the inner surface, the first end and the second end together form an inner chamber. The housing can be made of any suitable material, preferably a lightweight material, such as a plastic material, preferably a fiber-reinforced material or a metal, such as aluminum or stainless steel. In this way, the drive mechanism, the electrical elements and other sensitive elements are protected from dust, moisture, harmful gases and other particles in the environment in which the clamping tool is placed.

[0028] The first end can be adapted to form an interface for mounting the clamping tool to a machine or an adapter element, as described later. The interface can also comprise other connection elements for providing pressurized air or oil, electrical power and / or control signals to the clamping tool. This saves weight and cost, as the clamping tool can be driven by external energy sources. It also allows for a simple and quick mounting of the clamping tool. Alternatively, the clamping tool can comprise internal energy sources, such as batteries, photovoltaic cells or a combination thereof.

[0029] The second end can comprise an end plate for closing the inner chamber. A pivot shaft can extend through the end plate for coupling the arm to the drive mechanism. An opening in the end plate can further be sealed to prevent dust, moisture, harmful gases and other particles from entering the inner chamber. Alternatively, the arm can be connected to a pin protruding from the end plate, and an actuator can be coupled to the arm for activating the arm. A linear actuator, a hydraulic actuator, a pneumatic actuator or an electromechanical actuator can be used to rotate the arm around the protruding pin. This only allows a cable or a fluid hose to extend through the end plate, so the end plate can be better sealed.

[0030] Each arm has a body extending from a first end to a second end in a radial plane. The first end is configured to be connected to a rotational shaft or a protruding pin to enable the arm to rotate in the radial plane. The second end forms a free end of the arm. The body further has a top side, a bottom side, a first side and a second side. When in the retracted position, the second end is at a minimum radial distance from a central longitudinal axis of the housing, whereby the clamping tool is also at a minimum radial distance from the central longitudinal axis of the housing. When in the extended position, the second end is at a maximum radial distance from the central longitudinal axis.

[0031] Each arm can be arranged relative to the end plate and rotatable about a rotational axis defined by its rotational shaft or protruding pin. At least two arms, preferably three arms, are coupled to a drive mechanism or separate actuators. The local rotational axis of each arm can be located at a certain radial distance from the longitudinal axis, preferably at an equal radial distance. The radial plane can be located at a certain longitudinal distance from the interface of the machine. Due to the compact and lightweight design, this longitudinal distance is reduced to a minimum, allowing for a higher lifting capacity.

[0032] The clamping element can have a recess arranged on an outer surface, which recess is adapted to cooperate with at least one protruding flange on the exchange platform. The recess can be at the top end of the clamping element. At least one flange can be arranged in a recess of the exchange platform, which recess can be adapted to accommodate the top end of the clamping element. This allows the clamping element to be placed in the exchange platform when not in use or during repositioning.

[0033] An activation element on the clamping finger can cooperate when the clamping finger is moved into the recess. This automatically unlocks the connector. The clamping finger can be moved, e.g. slid, along the recess until the flange cooperates with the recess on the clamping finger. This enables the clamping finger to be held in its unlocked state. This allows the arm to be removed from the clamping finger, or vice versa, enabling repositioning or exchange of the clamping finger.

[0034] The recess can be adapted to the specific design of the clamping finger. Alternatively, the recess can be adapted to accommodate clamping fingers of different shapes.

[0035] According to one embodiment, one of the first and second coupling parts is a hole and the other is a pin protruding from a surface of the arm or clamping element.

[0036] The structure of the releasable connection can be adapted to the shape and size of the arm and / or clamping element. Alternatively, the structure of the releasable connection can be standardized to accommodate different designs of arms and / or clamping elements.

[0037] In one example, the mounting point can be formed by a plurality of individual holes provided on the top surface of the arm. Alternatively, the mounting point can be formed by an elongated hole, wherein the clamping element can be placed at an arbitrary position along the partial length of the elongated hole. The hole or the elongated hole can be a cavity (non-through hole) or a through hole. The elongated hole can comprise a box joint, which comprises a plurality of slots, each slot defining an alternative position of the clamping element. An optional flange can be provided within the hole, which protrudes from the inner surface of the hole. Thereby, the hole or the inner flange can serve as the first coupling component.

[0038] The clamping element can comprise a pin, which protrudes from the bottom surface of the clamping element. The pin can be configured to be inserted into the above-mentioned hole on the arm. The pin can form an inner chamber, in which the releasable element can be provided. The locking element can be provided on a partial outer surface of the pin and interacts with the releasable element. The pin can have a partial height, which is smaller than a partial depth of the hole, such that the locking element is hidden within the hole. The partial height of the pin can also be greater than the partial depth of the hole, such that the locking element can contact the bottom surface of the arm. Thereby, the pin can serve as the second coupling component.

[0039] In another example, the mounting point can be formed by a plurality of individual pins provided on the top surface of the arm, for example by clamping pins. The pins can be integrally formed with the arm or attached to the arm. The pins can have a partial notch provided on a partial outer surface to partially accommodate the locking element on the clamping element. Thereby, the pins can serve as the first coupling component.

[0040] The clamping element can comprise a cavity provided on the bottom surface, which is configured to accommodate the above-mentioned pin on the arm. Thereby, the cavity can serve as the second coupling component. The clamping element can form an inner chamber, in which the releasable element is provided. Alternatively, the releasable element can be a movable sleeve provided on an outer surface of the clamping element. The locking element can be provided on or in an inner surface of the cavity and interacts with the releasable element.

[0041] However, other structures of quick release connections can also be used.

[0042] According to one embodiment, at least the first clamping element is formed as an elongated clamping element or finger, which extends along at least a partial length of the arm.

[0043] Preferably, the gripping elements can be formed as gripping fingers having a predetermined cross-section and a predetermined profile along their longitudinal axis. The gripping fingers can have any suitable cross-sectional profile and / or longitudinal profile. In examples, the gripping fingers can have a circular, elliptical, polygonal, triangular, rectangular or other suitable cross-section. The gripping elements can have a constant profile along their longitudinal axis, or the profile can vary along the longitudinal axis. This allows the gripping fingers to have a main body adapted to contact one or more intended object types.

[0044] The gripping elements can be formed as elongated gripping elements having a predetermined profile. The elongated gripping elements can extend in a longitudinal direction from a local first end to a local second end, and further in a height direction from a bottom side to a top side. The elongated gripping elements can have a stepped profile gradually decreasing from the first end to the second end, or vice versa.

[0045] The arms and / or the gripping elements can be made of any suitable material, preferably a lightweight material such as a plastic material, preferably a fiber-reinforced material or a metal such as aluminum or stainless steel. However, other materials can also be used. Further, the gripping elements can be covered with a soft material, a material having a higher coefficient of friction than other parts of the gripping element, or a material having a rough surface or surface microstructure. Alternatively, the gripping elements can be made of a soft material, a material having a high coefficient of friction, or a material having a rough surface or surface microstructure. Such materials are well known to the person skilled in the art and will not be described in further detail.

[0046] The number of gripping elements on each arm can be selected depending on the specific application and the size of the object. In examples, a single gripping element or a plurality of gripping elements can be provided on the arms. The gripping elements can extend perpendicularly relative to the radial plane, or be placed at an angle to the radial plane.

[0047] The local position of the gripping elements on the arms can be adapted to the specific application and the size of the object. Optionally, the free end of the arms, e.g. the second end, can also function as a gripping element. This allows the gripping tool to grip objects of different sizes and shapes.

[0048] The first gripping element can be provided at the outermost position on the arms, e.g. the second end. This allows the gripping tool to grip large objects. Alternatively or additionally, one or more second gripping elements can be provided at one or more intermediate positions or innermost positions on the arms. This allows the gripping tool to grip small objects or objects of intermediate size.

[0049] According to one embodiment, at least the first gripping element is configured to operate over the entire gripping range of the gripping tool while keeping each arm in the same radial position relative to the respective rotational axis.

[0050] Unlike conventional gripping tools, the gripping tool of the invention can be operated over the entire gripping range of the gripping tool without the need to adjust the radial position of the arms.

[0051] This can be achieved by providing more than one gripping element on the respective arm, wherein the innermost gripping element can be rotated to a minimum gripping position and the outermost gripping element can be rotated to a maximum gripping position. The minimum gripping position and the maximum gripping position together define the maximum gripping range or the entire gripping range of the gripping tool.

[0052] If the arms are provided with a single gripping element, the retracted position and the extended position of the arms together define a partial gripping range of the gripping tool. By simply repositioning the gripping elements, the gripping tool can be operated over the entire gripping range.

[0053] The object of the invention is also achieved by a system configured to handle objects in a process, the system comprising:

[0054] - a machine configured to process the objects,

[0055] - the machine comprises at least one interface configured to be coupled to at least one gripping tool as described above,

[0056] - the machine further comprises an energy source for providing power to the gripping tool, and a controller configured to control at least the operation of the gripping tool.

[0057] This provides a system with better gripping flexibility and stronger lifting capacity. By simply exchanging or repositioning the gripping elements and without the need for tools, the gripping tool of the invention can grip objects of different sizes and shapes.

[0058] The first end of the gripping tool can be mounted to the machine without the need for tools, for example using a screw connection or a releasable connection. Alternatively, the gripping tool can be mounted to the machine using fasteners. Thereby, the gripping tool can be driven by an energy source located in the machine. This also allows for a simple and quick mounting of the gripping tool.

[0059] The machine comprises a mating interface configured to be coupled to the interface of the gripping tool as described above. This interface can also comprise electrical and / or piping connection elements to connect the drive mechanism of the gripping tool to an energy source in the machine. The energy source can be configured to provide pneumatic, hydraulic or electrical power to the gripping tool. This allows the gripping tool to be powered by the machine.

[0060] The machine also comprises a controller configured to control at least the operation of the gripping tool. The machine can be equipped with suitable devices to manipulate, process and / or handle objects. The operation of these devices can also be controlled by the controller. The gripping tool can load objects into the machine, secure objects during processing, and / or unload processed objects from the machine. The machine can be any machine that uses a gripping tool, where objects are processed or as part of an object forming process.

[0061] Optionally, the controller can be electrically connected to one or more sensors in the gripping tool via the interface. The controller can use these sensor signals to control the axial movement of the gripping tool and / or the activation of the gripping elements.

[0062] According to one embodiment, the machine is a robotic cell having at least one robotic arm, where the robotic arm extends from a base end to a free end, and the mating interface is located at the free end of the robotic arm.

[0063] The robotic cell, i.e. the first robotic cell, comprises one or more robotic arms, each extending from a base end to a free end. The robotic arm can comprise one or more joints, enabling it to move in multiple axes. The controller is configured to control the operation of the robotic arm and the gripping tool attached to the robotic arm. Thus, the robotic tool can have a compact and lightweight structure.

[0064] The controller can be connected to a user interface configured to enable a worker or an artificial intelligence (AI) to program and / or operate the robotic cell. The user interface can be a user terminal located on the robotic cell. The user interface can also be a remote terminal or computing device. The robotic cell can be programmed and operated using known techniques or AI systems.

[0065] The machine or robotic cell can be equipped with one or more sensors to sense the axial movement of the tool. The sensors can be accelerometers, gyroscopes or other suitable sensors. This allows the controller to monitor the axial movement of the robotic arm, and thus the tool, based on signals from these sensors.

[0066] Optionally or additionally, the gripping tool can be equipped with one or more sensors to detect the position of the gripping tool relative to the object. The sensors can be vision sensors, tactile sensors, ultrasonic sensors, proximity sensors, force torque sensors or other suitable sensors. These sensors can be electrically connected to the controller via the interface. This allows the controller to correctly position the gripping tool relative to the object based on the sensor signals. The controller can optionally use two- or three-dimensional images of the object to correctly position the gripping tool.

[0067] The controller can adjust the position of the gripping tool to align it with the center of gravity of the object. The controller can use signals from the force torque sensor to detect any deviation between the gripping tool and the object and / or any load exceeding a safety threshold. The controller can then reposition the gripping tool accordingly. Alternatively, the object can be gripped even if the gripping tool is not aligned. The local controller can then compensate for this deviation by adjusting the orientation of the object.

[0068] The object is also achieved by a gripping tool configured to handle an object in a process, the gripping tool being configured to be arranged on a surface, the gripping tool comprising:

[0069] - a gripping tool as described above,

[0070] - a local controller configured to control the operation of the gripping tool, wherein the local controller is electrically connected to at least one of a remote user interface or a local user interface,

[0071] - at least one of a local energy source or a coupling element configured to be connected to an external energy source, the local energy source or the external energy source being configured to power the gripping tool.

[0072] This provides a gripping tool with better gripping flexibility and stronger lifting capacity. The gripping tool of the invention is able to grip objects of different sizes and different shapes. The gripping tool is adapted to be arranged on different surfaces to easily place the gripping tool.

[0073] The gripping tool can comprise a coupling element to provide the gripping tool with pressurized air or oil, electricity and / or control signals. This saves weight and cost, as the gripping tool can be powered by an external energy source. Alternatively, the gripping tool can comprise an internal energy source, such as a battery, a photovoltaic cell or a combination of both. This allows the gripping tool to be configured as a self-contained unit.

[0074] The gripping tool has a local controller, e.g. arranged within the gripping tool, configured to control the operation of the gripping tool, and the local controller is electrically connected to the energy source. The local controller can be a microprocessor, a circuit, a programmable logic circuit or another suitable controller. The local controller can also be electrically connected to the sensors in the gripping tool mentioned above, wherein the local controller uses these sensor signals to control the operation of the gripping tool.

[0075] According to one embodiment, the gripping tool further comprises an adapter element having a bottom surface adapted to be arranged on a surface, and a top surface configured to be coupled or integrated to an interface of the gripping tool.

[0076] The housing of the clamping tool, and optionally the first end of the clamping tool, can be made of a heavy material, such as cast iron or steel, or have a larger wall thickness. Thereby, the first end forming the interface can be adapted to be simply placed on a specific surface, such as a specific surface of a table.

[0077] The first end can also be made as a stand, which is configured to be mounted to a surface by means of fasteners, or which can be secured to a surface using clamps. The first end can optionally comprise a suction cup, a high-friction pad, a magnet and / or a nail. This allows the clamping tool to be placed on a low-friction surface, an inclined surface or even a vertical surface.

[0078] The clamping tool can further comprise an adapter element, which is configured to be attached to the first end of the clamping tool, or which can be integrated into the first end. The adapter element can have a bottom side, which is adapted to come into contact with the surface. The adapter element further has a top side, which is adapted to be attached to the clamping tool, or which is adapted to form the first end of the housing of the clamping tool. The adapter element can be configured to allow the clamping tool to be correctly positioned relative to the surface.

[0079] The bottom side and the top side can be arranged in parallel or at an angle, such that the clamping tool is inclined relative to the surface. The adapter element can comprise an adjustable mechanism, such that the top side can be inclined about one or more inclination axes. This allows the clamping tool to be correctly positioned relative to the surface in order to place the object in an optimal position for processing.

[0080] The clamping tool further comprises a user interface, which is configured to allow a worker to operate the clamping tool. The user interface can be a user terminal, a graphical user interface, a button or other suitable user interface. Optionally or additionally, the clamping tool can comprise a wireless transceiver, such as an antenna, which is adapted to wirelessly communicate with a remote device, such as a user terminal or a computing device. The computing device can be a tablet, a smartphone, a laptop, a PDA, a phablet or other suitable computing device. A computing program or application can be configured to run on the computing device, which can thereby communicate with the local controller by means of suitable control signals. This allows the worker to operate the clamping tool, preferably in an intuitive manner.

[0081] The object of the present invention is also achieved by a changeover platform, which is configured to interact with a clamping tool as described above, wherein the changeover platform comprises:

[0082] - a support element,

[0083] - at least one holding element arranged on a top surface of the support element, which is configured to cooperate with a matching holding element on the at least one clamping element.

[0084] This increases the versatility of the clamping tool, as the clamping tool can be used with a change platform to reposition and / or replace the clamping elements. During repositioning, the change platform can temporarily hold the clamping elements. The change platform can also hold a set of clamping elements to replace the clamping elements on the clamping tool.

[0085] The support element comprises a top surface having one or more holding positions to hold one or more clamping elements. Each holding position can be dedicated to hold a clamping element with a particular design. Alternatively, each holding position can be used as a general holding position to hold clamping elements with different designs. This allows the change platform to be adapted to be equipped with different clamping elements.

[0086] The holding positions can be formed by coupling parts configured to interlock with matching coupling parts on the clamping elements. The two coupling parts can form a releasable connection, preferably a quick release connector. In an example, the coupling parts of the change platform can be pins, e.g. clamping pins, protruding from its top surface. This allows the clamping elements to be quickly and simply removed or positioned without the need for using tools.

[0087] According to an embodiment, at least one holding element is provided in a recess of the top surface, wherein the recess is configured to accommodate a top end of the at least one clamping element.

[0088] The top surface can preferably comprise a single recess or a plurality of recesses, each recess adapted to accommodate a top end of a clamping element. The recesses can have a predetermined shape and size matching the shape and size of the top end of the clamping elements. This allows the clamping elements to be positioned in the change platform while still being locked to the arm. This also allows the arm of the clamping tool to be repositioned relative to the clamping elements.

[0089] When inserting the clamping element into the recess, optionally, the bottom surface of the recess can be used to activate the releasable element of the clamping element. Thereby, the clamping element can be automatically unlocked when positioned in the change platform. This enables the clamping element to be removed from the arm without manually activating the releasable connection.

[0090] The holding element can be a partial ledge protruding from the inner surface of the recess, wherein the partial ledge is configured to cooperate with a recess in the top end of the clamping element. The recess can be an elongated recess provided with a ledge at one end. This enables the clamping element to be inserted at the other end and then slid along the recess until the ledge cooperates with the recess on the clamping element. This holds the clamping element in place on the change platform.

[0091] According to an embodiment, the support element is a base configured to be placed on or fixed to a reference surface, or the support element comprises an interface configured to be coupled to a matching interface of a machine as described above.

[0092] The support element can be formed as a base, e.g. a plate, on which the individual holding positions can be located. A single holding position or a plurality of holding positions can be provided on the base. The base can be configured to facilitate access to the individual holding positions and the individual clamping elements. This allows different clamping elements to be stored conveniently. This also allows clamping elements to be replaced or repositioned conveniently.

[0093] The base can be adapted to be fixed relative to a reference surface, e.g. by means of integral or separate clamps or by means of fasteners. The base can also be glued or welded to the reference surface. Other techniques can also be used. Optionally, the base can comprise a set of support feet or mounting brackets to position or mount the exchange platform. In an example, the base can be provided on a machine, e.g. a robot unit, such that an operator or a robotic arm can interact with the exchange platform. The exchange platform can thereby function as a stationary unit.

[0094] The base can also comprise an interface configured to be coupled to a matching interface of a machine as described above or another machine, e.g. a free end of a robotic arm. The exchange platform can thereby be positioned relative to a clamping tool using the machine. In an example, the base can be coupled to an interface on a robotic arm of a second robot unit which can interact with a clamping tool located on a machine, e.g. a first robot unit. The exchange platform can thereby function as a mobile unit.

[0095] According to an embodiment, the exchange platform is configured to hold a set of clamping elements dedicated to a clamping tool or a set of clamping elements for a certain type of object.

[0096] Preferably, the base can be configured to hold a set of clamping elements dedicated to a clamping tool. The individual clamping elements can have different heights and / or different profiles. The clamping elements can be arranged on the base in a predetermined pattern to facilitate easy access to each clamping element. Preferably, the distance between adjacent clamping elements in a row and / or column can be adapted such that a clamping tool can interact with a selected clamping element without being restricted by other clamping elements. This increases the versatility of the exchange platform.

[0097] The base can also be configured to hold a small number of clamping elements, e.g. a single clamping element. Here, the term "small number" relates to a subset of the total number of clamping elements. The clamping elements can be selected according to the size and dimensions of the objects to be machined. This reduces the size and weight of the exchange platform.

[0098] Optionally, two or more exchange platforms can interact with the above-mentioned gripping tool. A first exchange platform can be dedicated to holding the set of gripping elements, while at least a second exchange platform can be dedicated to holding at least the subset of gripping elements. Alternatively, a first exchange sub-platform can be dedicated to holding a first set of gripping elements for a first type of object, while at least a second exchange sub-platform can be dedicated to holding at least a second set of gripping elements for at least a second type of object. This allows for dedicated exchange platforms for different types of objects. This also allows for one exchange platform for repositioning and another exchange platform for exchanging gripping elements.

[0099] The object of the present invention is also achieved by a method of handling objects using a system or a gripping tool as described above in a process, the method comprising the steps of:

[0100] - placing the gripping tool in an unloaded state,

[0101] - activating the releasable connection between the arm and the first gripping element to remove the first gripping element;

[0102] - repositioning the first gripping element in a second mounting position on the arm and / or

[0103] - positioning a second gripping element in the first mounting position or the second mounting position on the arm;

[0104] - re-connecting the first gripping element or the second gripping element to the arm by locking the releasable connection.

[0105] This provides a method of handling objects, wherein the above-mentioned gripping tool is capable of gripping objects of different sizes and different shapes. This increases the flexibility of the gripping tool, as no tool is needed to adapt the gripping fingers to a specific object. This also increases the gripping capacity compared to conventional gripping tools, as the distance between the radial plane of the arm and the interface of the machine is reduced to a minimum, thereby reducing the bending moment.

[0106] By activating the releasable connection to simply remove the gripping tool from the arm, the gripping tool is suitable for handling different objects before processing. Then, the gripping element is repositioned with respect to another mounting position on the arm. Optionally or additionally, another gripping element is positioned in the same mounting position or another mounting position. By simply locking the releasable connection, the gripping element is coupled to the arm again. This way, there is no need to reposition the arm on the disc. The adjustment can be done manually without the need for tools.

[0107] The objects can be fed individually or in groups to a loading position relative to the machine. The gripping tool can then be moved to a position relative to a selected object. By means of a drive mechanism, the gripping elements can be rotated to an open position. The gripping tool can be moved further towards the object, and the gripping elements can be moved into contact with the object to exert a gripping force.

[0108] The object can then be lifted from its position and manipulated by the machine to a new position and / or orientation. The gripping tool can be moved further towards the unloading position. The gripping elements can then be moved out of contact with the object, and the gripping tool can be moved away from the object. The process can then be repeated for a next object.

[0109] Instead, the objects can be moved to a position relative to the gripping tool. The gripping elements can be rotated to an open position before the objects are positioned. The gripping elements can then be rotated into contact with the objects. The objects can then be subjected to appropriate processing while they are held in place by the gripping tool. The gripping elements can then be rotated out of contact with the objects, and the processed objects can be removed from the gripping tool.

[0110] The objects can have a circular or elliptical cross-section, or a polygonal cross-section. These objects can be adapted to be gripped by the gripping fingers contacting the outer surface of the object. The gripping tool can have a first gripping range when the gripping elements are moved into contact with the outer surface of the object.

[0111] The gripping tool can also be configured to grip objects by rotating the gripping fingers into contact with the inner surface of the object. These objects can have a ring or circular profile. These objects can also comprise an open space, such as a cavity or a through-hole, where the gripping fingers contact the inner surface of the space. The gripping tool can have a second gripping range when the gripping elements are moved into contact with the inner surface of the object.

[0112] According to one embodiment, the method further comprises:

[0113] - the removal of the first gripping element and the reconnection of the first and second gripping elements are performed manually.

[0114] The operator can simply activate the releasable element in the connector to unlock the releasable connection. Alternatively, the releasable connection can be activated by applying a pulling force to the clamping finger that is greater than the locking force. The old clamping element can then be removed from the arm. Subsequently, the operator can place a new clamping element in the same mounting position on the arm or in a new mounting position on the arm. The operator can lock the releasable connection by simply terminating the activation of the releasable element of the clamping element. Alternatively, the releasable connection can be relocked by pushing the coupling parts on the arm and the clamping element into engagement. Thus, the operator can manually exchange or reposition the clamping element without the use of tools.

[0115] According to one embodiment, the method further comprises:

[0116] - activating the releasable connection by moving the arm relative to the exchange platform, e.g. axially, to place the first clamping element in a holding position on the exchange platform;

[0117] - repositioning the arm relative to the exchange platform to align the first clamping element or the second clamping element relative to the first mounting position or the second mounting position on the arm,

[0118] - reconnecting the first clamping element or the second clamping element by further moving the arm relative to the exchange platform, e.g. axially, to place the first clamping element or the second clamping element in the first mounting position or the second mounting position on the arm.

[0119] The exchange platform can also be used to automatically exchange or reposition the clamping element. Here, the clamping tool can be moved while the exchange platform is kept stationary.

[0120] The robotic unit can move the robotic arm into alignment with the holding position on the exchange platform. The clamping element can then be moved into the recess on the exchange platform. This can automatically activate the releasable connection. The clamping element can then be moved by the robotic arm along the recess until the flange on the recess engages the recess on the clamping element. Thus, the clamping element can be removed from the arm by moving the robotic arm away from the exchange platform. Alternatively, the coupling parts of the releasable connection can be unlocked when the robotic arm is removed by applying a pulling force that is greater than the locking force.

[0121] The arm can then be repositioned relative to another clamping element on the exchange platform. A robotic arm can be used to align the mounting position on the arm with the new clamping element. The arm can then be moved towards the new clamping element until the coupling parts of the clamping element and the arm mate with each other. The robotic arm can then move the clamping element back along the recess so that the flange disengages the recess. The arm and the clamping element can then be moved away from the exchange platform. This can automatically lock the releasable connection. Alternatively, the coupling parts of the releasable connection can be locked as the robotic arm moves the arm into engagement with the clamping element.

[0122] Conversely, the exchange platform can be positioned relative to the clamping tool. Here, the exchange platform can be coupled to the robotic arm of the second robot unit. The clamping element can be removed in a similar procedure as described above, with the exchange platform expected to move and the clamping tool expected to remain stationary.

[0123] Further, the clamping element can be repositioned or exchanged in a similar procedure as described above, with the exchange platform expected to move and the clamping tool expected to remain stationary. This provides an alternative method of repositioning and / or exchanging the clamping element.

[0124] One or more robot units can be used to operate the clamping tool and the exchange platform. This allows for an automated procedure, where the clamping tool is able to automatically adjust its clamping element to handle different types of objects. The operator is then free to perform other tasks, such as controlling the supply of objects to the machine or the clamping tool. Further, the operation and adjustment of the clamping tool does not require an expert, and can thus be performed by the workers of the factory. This saves costs and reduces downtime.

[0125] The clamping tool can also be coupled to a tool connector to mount a plurality of tools, such as a plurality of clamping tools or a combination of a clamping tool and other tools. Preferably, the tool connector can be configured so that at least two tools can be mounted simultaneously, but also three, four or more tools. The tool connector can be arranged between the interface of the clamping tool and the interface of the machine. The tool connector can be adapted so that the radial plane of the arm can be arranged perpendicular to the interface of the machine. Alternatively, the radial plane of the arm can be arranged at an acute angle to the interface of the machine, such as between 30-60 degrees. This allows a plurality of clamping tools to be connected to the machine simultaneously, where the clamping tools can be operated simultaneously or individually. BRIEF DESCRIPTION OF DRAWINGS

[0126] The invention is described by way of example only and with reference to the accompanying drawings, in which:

[0127] Figure 1 An exemplary embodiment of a robot unit with a clamping tool is shown,

[0128] Figure 2 a robot unit with an object, Figure 1 a robot unit,

[0129] Figure 3 a side view of a robot unit with an object,

[0130] Figure 4a a first embodiment of an arm with gripping fingers in a retracted position and in an extended position,

[0131] Figure 5a a second embodiment of an arm with gripping fingers in a retracted position and in an extended position,

[0132] Figure 6 a first embodiment of a releasable connection between an arm and a gripping element in a locked state,

[0133] Figure 7 a gripping element removed from an arm,

[0134] Figure 8 a second embodiment of a releasable connection between an arm and a gripping element in a locked state,

[0135] Figure 9 a gripping element removed from an arm,

[0136] Figure 10 an arm with a first gripping finger and a second gripping finger, the second gripping finger being shorter than the first gripping finger,

[0137] Figure 11 a first embodiment of an elongated gripping element arranged on an arm,

[0138] Figure 12a six alternative embodiments of a gripping element,

[0139] Figure 13a positioning of a gripping element on a change platform,

[0140] Figure 14 alternative embodiments of an arm with an elongated hole,

[0141] Figure 15 another alternative embodiment of an arm with an elongated hole,

[0142] Figure 16 a clamping tool with a clamping tool clamping an object,

[0143] Figure 17A tool connector for mounting a plurality of tools is shown,

[0144] Figure 18 A method of repositioning a clamping element is shown,

[0145] Figure 19 Another robot unit with an exchange platform is shown, the exchange platform being coupled to a robot arm, and

[0146] Figure 20 A robot unit is shown Figure 19 from the side.

[0147] In the following, the figures will be described one by one, different components and positions seen in the figures will be numbered with the same number in different figures. In a specific figure, not all components and positions necessarily have to be discussed. Figure 1

[0148] List of reference signs

[0149] 1. Robot unit

[0150] 2. Clamping tool

[0151] 3. Robot arm

[0152] 4. Base

[0153] 5. Local controller

[0154] 6. Object

[0155] 7. Housing

[0156] 8. First interface

[0157] 9. Second interface

[0158] 10. Transmission

[0159] 11. Arm

[0160] 12. Clamping finger

[0161] 12a. First clamping finger

[0162] 12b. Second clamping finger

[0163] 13. Second end

[0164] 14. Releasable connection

[0165] 15. First coupling component

[0166] 16. Second coupling component

[0167] 17. Locking element

[0168] ​18. flange

[0169] 19. notch

[0170] 20. releasable element

[0171] 21. pin

[0172] 22. notch

[0173] 23. top side

[0174] 24. elongated clamping element

[0175] 25. second end

[0176] 26. first end

[0177] 27. bottom end

[0178] 28. exchange platform

[0179] 29. base

[0180] 30. notch

[0181] 31. flange

[0182] 32. elongated hole

[0183] 33. slot

[0184] 34. clamping tool

[0185] 35. surface

[0186] 36. adapter element

[0187] 37. tool connector DETAILED DESCRIPTION

[0188] Figure 1 An exemplary embodiment of a robot cell 1 with a clamping tool 2 is shown, the clamping tool 2 being coupled to a robot arm 3 of the robot cell 1. Here, the robot arm 3 extends from a base 4 to a free end, the free end being provided with an interface 9. The robot cell 1 further comprises a local controller 5, the local controller 5 being configured to control the operation of the robot arm 3 and the clamping tool 2.

[0189] Figure 2 and Figure 3 A robot cell 1 is shown with a clamping tool 2 holding an object 6. The clamping tool 2 comprises a housing 7, the housing 7 having a first end and an opposite second end. The first end forms a first interface 8, the first interface 8 being configured to be mounted to a matching second interface 9 of the robot arm 3. Within the housing 7 a transmission mechanism 10 is provided, the transmission mechanism 10 being connected to a plurality of arms 11 by individual rotation axes (not shown). The transmission mechanism 10 is further configured to receive power through the first interface 8 and the second interface 9.

[0190] As Figure 3 shown, the arms 11 form a radial plane in which each arm rotates about an axis of rotation defined by its pivot axis. This radial plane is perpendicular to a longitudinal axis of the gripping tool 2, which extends through the first and second end (indicated by "A" in the middle). Figure 5a The radial plane is arranged at a minimum distance from another radial plane defined by the first and second interface 8, 9.

[0191] Figure 4a -b shows a first configuration of the arms 11, each arm 11 being equipped with a gripping element 12 arranged in a middle position on the arm 11. Here, the gripping element 12 is formed as a finger. Figure 4a The arms 11 and the gripping elements 12 are shown rotated to an extended position, while Figure 4b The arms 11 and the gripping elements 12 are shown rotated to a retracted position.

[0192] The arms 11 and the gripping elements 12 are rotated relative to the second end 13 of the radial inner housing 7. Each arm 11 comprises a main body extending from the first end to the second end, and each arm 11 has a top side, a bottom side, a first side and a second side. In Figure 4a The gripping elements 12 are rotated to an extended position, which represents a locally maximum gripping position. In Figure 4b The gripping elements 12 are rotated to a retracted position. This position represents a minimum gripping position of the gripping tool 2.

[0193] Figure 5a -b shows a second configuration of the arms 11, each arm 11 being equipped with a gripping element 12' arranged in an outermost position on the arm 11. Figure 5a The arms 11 and the gripping elements 12' are shown rotated to an extended position, while Figure 5b The arms 11 and the gripping elements 12' are shown rotated to a retracted position.

[0194] The arms 11 and the gripping elements 12' are rotated relative to the second end 13 of the radial inner housing 7. In Figure 5a The gripping elements 12' are rotated to an extended position, which represents a maximum gripping position of the gripping tool 2. In Figure 5b The gripping elements 12' are rotated to a retracted position. This position represents a locally minimum gripping position.

[0195] Figure 6A first embodiment of a releasable connector between arm 11 and clamping element 12 is shown, which takes the form of a quick-release connector. The releasable connector 14 includes a first coupling member 15 disposed on arm 11 and a second coupling member 16 disposed on clamping element 12. Here, the quick-release connector is formed by a hole in arm 11, while the second coupling member 16 is formed by a pin protruding from the bottom end of clamping element 12.

[0196] The second coupling member 16 includes at least one locking element 17 configured to interlock the first coupling member 15 and the second coupling member 16. Here, the locking element 17 is a ball. The locking element 17 is configured to engage with an inner flange 18 that protrudes from the inner surface of a hole. This locks the first coupling member 15 and the second coupling member 16, thereby locking the clamping element 12 to the arm 11.

[0197] The top of the clamping element 12 has a notch 19, which is configured to engage with the replacement platform. Figure 8 The flanges on the (shown in the image) fit together.

[0198] The clamping element 12 also includes a releasable element 20 disposed in an internal cavity of the clamping element 12. The releasable element 20 is movably disposed in the cavity and is in contact with the locking element 17.

[0199] Figure 7 The clamping element 12 is shown being removed from arm 11. This is achieved by activating the releasable element 20. Figure 6 The first coupling member 15 and the second coupling member 16 are unlocked, which in turn causes the locking element 17 to retract into the pin. The clamping element 12 can be removed by simply moving the clamping element 12 out of the hole and away from the arm 11.

[0200] Figure 8 A second embodiment of the releasable connector 14' between the arm 11' and the clamping element 12' is shown, which takes the form of another quick-release connector. Here, the first coupling member 15 is formed by a pin 21 that protrudes from the top side of the arm 11'.

[0201] The second coupling member 16' is formed by a cavity in the bottom end of the clamping element 12'. The locking element 17' is disposed on the side surface of the cavity and extends into the matching recess 22 located on the side surface of the pin 21.

[0202] Figure 9 The clamping element 12' is shown being removed from arm 11'. This is achieved by activating the releasable element 20'. Figure 8The first coupling part 15' and the second coupling part 16' of the first coupling element 15 and the second coupling element 16 are unlocked, which in turn causes the locking element 17' to retract into the side wall of the clamping element 12'. The clamping element 12' can be removed by simply moving the clamping element 12' away from the pin 21.

[0203] Figure 10 An arm 11 is shown with a first clamping finger 12a provided at the second end. Further, a second clamping finger 12b is provided at an intermediate position. The first clamping finger 12a and the second clamping finger 12b are releasably connected to the arm 11.

[0204] The arm 11 has a thickness measured between a bottom side and a top side 23. The first clamping finger 12a has a first height measured from the top side 23 to an end face of the clamping finger 12a. The second clamping finger 12b has a second height measured from the top side 23 to an end face of the clamping finger 12b. Here, the first height is greater than the second height.

[0205] Figure 11 A first embodiment of an elongated clamping element 24 provided on the arm 11 is shown. Here, the elongated clamping element 24 is releasably connected to the arm 11 by two releasable connections 14 as described above.

[0206] The elongated clamping element 24 extends along the top side 23 of the arm 11 from a local first end 26 to a local second end 25. The elongated clamping element 24 has a height measured from the top side 23 to a local top side. Here, the elongated clamping element 24 has a stepped profile tapering from the local second end 25 to the local first end 26.

[0207] Figure 12a -f Six alternative embodiments of the clamping element 12 are shown. Here, the clamping element 12 is formed as a finger, wherein a bottom end 27 of the clamping element 12 is adapted to form a first coupling part.

[0208] In Figure 12a , the clamping element 12 has a circular cross-sectional profile. In Figure 12b , the clamping element 12 has a circular cross-sectional profile and has a flat sub-surface for contacting an adjacent clamping element 12 when rotated into the retracted position. In Figure 12c , the clamping element 12 has a protruding portion instead of a flat sub-surface. Here, the protruding portion is triangular in shape, but other shapes can also be used.

[0209] In Figure 12c , the clamping element 12 has a square or rectangular cross-sectional profile. In Figure 12d , the clamping element 12 has a triangular cross-sectional profile. Finally, in Figure 12e , the clamping element 12 has a polygonal cross-sectional profile.

[0210] Although Figure 12a The clamping element 12 in -e has a constant profile along the height, but the profile of the clamping element 12 can also vary along the height. In an example, the clamping element 12 can have a conical or tapering profile along the height direction.

[0211] Figure 13a -c shows a first embodiment of a change platform 28, which is configured to interact with the clamping tool 1. The change platform 28 comprises a single holding position for holding the clamping element 12.

[0212] The change platform 28 comprises a support element 29 in the form of a base. In the base 29 a single recess 30 is provided, wherein the recess 30 forms the mounting position. The recess 30 is formed as an elongated recess, which at one end comprises a flange 31. The flange 31 is configured to cooperate with the recess 19 on the clamping element 12.

[0213] As Figure 13b is shown, the top end of the clamping element 12 is positioned relative to the recess 30. Then, the top end is moved into the recess 30. By this, the release element 20 comes into contact with the bottom surface of the recess 30, which automatically unlocks the first coupling part 15 and the second coupling part 16.

[0214] The clamping element 12 is moved, e.g. slid, along the length of the recess 30 until the flange 31 cooperates with the recess 19 on the clamping element 12.

[0215] Then, the arm 11 is removed from the clamping element 12, and the arm 11 can be repositioned relative to another clamping element (not shown).

[0216] Figure 14 An alternative embodiment of the arm 11" with an elongated hole 32 is shown, which is formed in the body of the arm 11". The elongated hole 32 defines a plurality of mounting positions to selectively position the clamping element 12 along the length of the arm 11".

[0217] The clamping element 12 can be selectively mounted at any position along the length of the elongated hole 32. The clamping element 12 is fixed in the selected position by a locking force.

[0218] Figure 15 An alternative embodiment of the elongated hole 32' on the arm 11" is shown. Here, the elongated hole 32' comprises a plurality of slots 33, each defining a selectable position for the clamping element 12. Here, the clamping element 12 is fixed in place by a sleeve engagement.

[0219] Figure 16A clamping tool 34 is shown with a clamping tool 2 holding an object 6, wherein the clamping tool 34 is arranged on a surface 35. The clamping tool 34 comprises an adapter element 36 configured to be placed on the surface 35 and coupled to a first end of the clamping tool 2.

[0220] The clamping tool 34 has an internal energy source providing power to the clamping tool 2 and a user interface (not shown). The user interface is electrically connected to a local controller arranged within the clamping tool 34. The local controller controls the operation of the clamping tool 2.

[0221] Figure 17 A tool connector 37 for mounting a plurality of tools is shown, preferably for mounting a plurality of clamping tools 1. The tool connector 37 is configured to be mounted to a machine, preferably to a robotic unit's mechanical arm 3.

[0222] Figure 18 a-f illustrates a method for repositioning a clamping element 12 on an arm 11 using a change platform 28. As shown in a, the arm 11 is aligned with a selected holding position on the change platform 28. As shown in b, the clamping element 12 is moved into the notch 30, thereby activating the releasable element 20. As shown in c, the clamping element 12 is slid into cooperation with the flange 31 in the notch 30. Figure 18 a-f illustrates a method for repositioning a clamping element 12 on an arm 11 using a change platform 28. As shown in a, the arm 11 is aligned with a selected holding position on the change platform 28. As shown in b, the clamping element 12 is moved into the notch 30, thereby activating the releasable element 20. As shown in c, the clamping element 12 is slid into cooperation with the flange 31 in the notch 30. Figure 18 a-f illustrates a method for repositioning a clamping element 12 on an arm 11 using a change platform 28. As shown in a, the arm 11 is aligned with a selected holding position on the change platform 28. As shown in b, the clamping element 12 is moved into the notch 30, thereby activating the releasable element 20. As shown in c, the clamping element 12 is slid into cooperation with the flange 31 in the notch 30. Figure 13c a-f illustrates a method for repositioning a clamping element 12 on an arm 11 using a change platform 28. As shown in a, the arm 11 is aligned with a selected holding position on the change platform 28. As shown in b, the clamping element 12 is moved into the notch 30, thereby activating the releasable element 20. As shown in c, the clamping element 12 is slid into cooperation with the flange 31 in the notch 30.

[0223] Then, as shown in c-d, the arm 11 is moved away from the clamping element 12 and repositioned relative to the change platform 28. Then, as shown in e, the arm 11 is moved into cooperation with the clamping element 12. Then, the arm 11 and the clamping element 12 are moved out of cooperation with the flange 31. Finally, the arm 11 and the clamping element 12 are moved away from the change platform 28. Figure 18 a-f illustrates a method for repositioning a clamping element 12 on an arm 11 using a change platform 28. As shown in a, the arm 11 is aligned with a selected holding position on the change platform 28. As shown in b, the clamping element 12 is moved into the notch 30, thereby activating the releasable element 20. As shown in c, the clamping element 12 is slid into cooperation with the flange 31 in the notch 30.

[0224] Figures 19-20 Another robotic unit 1' is shown with a mechanical arm, wherein a change platform 28' is coupled to an interface on the free end. The change platform 28' comprises a plurality of holding positions for individual clamping elements 12.

Claims

1. A gripping tool (2) for handling objects (6) in a process, the gripping tool (2) comprising - a housing (7) defining a longitudinal axis of the gripping tool (2), - a drive mechanism arranged within the housing (7), - an interface (8) arranged at one end of the housing (7), the interface (8) being configured to be coupled to a matching interface (9) of a machine or to be arranged on a surface, - a plurality of arms (11) arranged at the other end of the housing (7), each arm (11) comprising at least a first gripping element (12) configured to contact an object (6), each arm (11) being configured to rotate about a rotational axis when activated by the drive mechanism and to contact or disengage from the object (6) in a radial plane perpendicular to the longitudinal axis, wherein each arm (11) comprises a main body extending from a first end to a second end and each arm (11) has a top side, a bottom side, a first side and a second side, - wherein each arm (11) comprises a mounting position for at least one clamping element (12) arranged on the top side, characterized in that at least one gripping element (12) being releasably connected to the arm (11) by a releasable connection (14), wherein the at least one gripping element (12) comprises a recess (19) arranged on an outer surface, wherein the recess (19) is configured to cooperate with a matching flange (31) on a replacement platform (28).

2. Clamping tool (2) according to claim 1, characterized in that Each arm (11) comprises a plurality of mounting positions to selectively position the at least one gripping element (12) along the length of the arm (11).

3. Clamping tool (2) according to claim 1 or 2, characterized in that The releasable connection (14) comprises a first coupling part (15) arranged on the arm (11) and a second coupling part (16) arranged on the at least one gripping element (12), wherein one of the first coupling part (15) and the second coupling part (16) comprises at least one locking element (17) configured to interlock the first coupling part (15) and the second coupling part (16) relative to each other.

4. Clamping tool (2) according to claim 3, characterized in that The releasable connection (14) further comprises a releasable element (20) configured to contact the at least one locking element (17), wherein the releasable element (20) is configured to move the at least one gripping element (12) into a locked position or an unlocked position upon activation.

5. Clamping tool (2) according to claim 1, characterized in that The at least first gripping element (12) is formed as an elongated gripping element (24) or finger extending along at least a part of the length of the arm (11).

6. Clamping tool (2) according to claim 1, characterized in that The at least first gripping element (12) is configured to operate within the entire gripping range of the gripping tool (2) while keeping each arm (11) in the same radial position relative to the respective rotational axis.

7. A system configured to handle objects (6) in a process, comprising: - a machine configured to process objects (6), - the machine comprising at least one matching interface (9) configured to be coupled to at least one tool, the at least one tool being a gripping tool (2) according to any one of claims 1 to 6, - the machine further comprising an energy source for providing power to the gripping tool (2) and a controller (5) configured to control at least the operation of the gripping tool (2).

8. The system of claim 7, wherein, The machine is a robotic unit (1) having at least one robotic arm (3), wherein the robotic arm (3) extends from a base end (4) to a free end, a mating interface (9) being located at the free end of the robotic arm (3).

9. A gripping tool (34) configured to handle an object (6) in a process, the gripping tool (34) being configured to be arranged on a surface (35), the gripping tool (34) comprising: - a gripping tool (2) according to any one of claims 1 to 6, - a local controller configured to control the operation of the gripping tool (2), wherein the local controller is electrically connected to at least one of a remote user interface or a local user interface, - at least one of a local energy source or a coupling element configured to be connected to an external energy source, the local energy source or the external energy source being configured to power the gripping tool (34).

10. Clamping tool (34) according to claim 9, characterized in that The gripping tool (34) further comprises an adapter element (36) having a bottom face adapted to be arranged on a surface, the adapter element (36) further having a top face configured to be coupled or integrated to the interface (8) of the gripping tool (2).

11. A change platform (28) configured to interact with a gripping tool (2) according to any one of claims 1 to 6, wherein the change platform (28) comprises: - a support element (29), - at least one holding element arranged on a top face of the support element (29), the at least one holding element being configured to cooperate with a mating holding element on at least one gripping element (12).

12. The exchange platform of claim 11, wherein, The at least one holding element is arranged in a recess in the top face, wherein the recess is configured to accommodate a top end of the at least one gripping element (12).

13. The exchange platform according to claim 11 or 12, characterized in that The support element (29) is a base configured to be placed on or fixed to a reference surface, or the support element (29) comprises an interface (8) configured to be coupled to a mating interface (9) of a machine according to claim 7 or 8.

14. A method of handling an object (6) in a process using a system according to claim 7 or 8 or a gripping tool (34) according to claim 9 or 10, the method comprising the steps of: - placing the gripping tool (2) in an unloaded state; - activating a releasable connection (14) between the arm (11) and the first gripping element (12) to remove the first gripping element (12); - repositioning the first gripping element (12) in a second mounting position on the arm (11), and / or - positioning a second gripping element (12) in the first mounting position or the second mounting position on the arm (11); - reconnecting the first gripping element (12) or the second gripping element (12) to the arm (11) by locking the releasable connection (14).

15. The method of claim 14, wherein, The method further comprises: - removing the first gripping element (12) and reconnecting the first gripping element (12) and the second gripping element (12) are done manually.

16. The method of claim 14, wherein, The method further comprises: - activating the releasable connection (14) by moving the arm (11) relative to the exchange platform (28) to place the first clamping element (12) in a holding position on the exchange platform (28); - repositioning the arm (11) relative to the exchange platform (28) to align the first clamping element (12) or the second clamping element (12) relative to the first mounting position or the second mounting position on the arm (11), - re-connecting the first clamping element (12) or the second clamping element (12) by further moving the arm (11) relative to the exchange platform (28) to place the first clamping element (12) or the second clamping element (12) in the first mounting position or the second mounting position on the arm (11).

Images