Gripping device with adjustable sliding means

Abstract

The present invention relates to a gripping device (1) and a robotic arm. The gripping device (1) includes a support platform (4) having a connection interface (5) for coupling with the robotic arm. The support platform (4) has at least two adjustable sliding device guides (11, 12). The gripping device (1) includes a supply device (27) for enabling and disabling a support element (3). At least two adjustable sliding devices (9, 10) are each at least partially held or supported in at least one of the adjustable sliding device guides (11, 12) and are movable relative to the support platform (4) in the adjustable sliding device guides (11, 12) along a first direction (13). At least one of the adjustable sliding devices (9, 10) has at least one lateral guide (15). At least one support element (3) is disposed on at least one lateral sliding device (14). The lateral sliding device (14) is at least partially held or supported in the lateral guide (15) and is movable in the lateral guide (15) relative to the adjusting sliding device (9, 10) along a second direction (16), the first direction (13) and the second direction (16) being orthogonal to each other. A guide section (42) of at least one lateral sliding device (14) is contoured, held or supported in at least one lateral guide (15), and the guide section (42) is linearly pull-out in the lateral guide (15).

Description

Technical Field

[0001] This invention relates to an adjustable gripping device and a robotic arm having an adjustable gripping device. Background Technology

[0002] According to existing technology, those skilled in the art are aware of adjustable and / or re-adjustable gripping devices capable of adjusting the position of a support device, particularly a vacuum-actuated support device. The position adjustment of the support device is for the purpose of manipulating workpieces of different sizes. In this case, for example, an adjustable gripping device is known according to EP3031586A1. Here, a fixed arm with guide rails is provided, having multiple lateral arms movable along the guide rails, wherein a slidable support device is disposed on the slidable lateral arms. EP1041295B1 discloses a support device with contoured rods, the rods being releasably connected to each other via slidable clamping members. EP1871696B1, originating from the applicant, shows a gripping device for a robotic arm having multiple support arms rotatable about an axis. The support arms include base arms and cantilever arms, on which a support device is positioned. US6796588B2 discloses a suction device with a telescopic vacuum tube, the suction device including a cantilever and a plurality of sliders movable along the cantilever.

[0003] However, known implementations in the prior art are only slightly compact in structure and lack flexibility. Furthermore, they cannot or are not sufficiently adaptable to different workpiece geometries. In addition, known solutions are structurally complex, only slightly stable and / or slightly robust, and therefore are generally unsuitable for handling heavy components, or they are characterized by short lifespans. Summary of the Invention

[0004] The object of this invention is to provide a usable device having a single gripping mechanism that can be adjusted in a flexible, simple, and precise manner, enabling the manipulation of workpieces of different shapes and sizes, particularly plate-shaped workpieces or sheet metal components. Here, the gripping mechanism should be configured to be robust and stable, with low structural complexity, compact, durable, and safe to handle.

[0005] The above objective is achieved by the adjustable gripping device and robotic arm as claimed in the claims.

[0006] This invention relates to a gripping device configured to receive, and preferably plate-shaped, workpieces to be transported, and to release the workpieces again. For this purpose, the gripping device includes a support platform having a bottom surface and a top surface opposite the bottom surface. A connection interface is disposed on the top surface of the support platform for connecting the gripping device to a robotic arm. Furthermore, at least two adjustable sliding guide members are disposed on the bottom surface of the support platform.

[0007] Furthermore, the gripping device includes multiple support devices for supporting the workpiece. The support devices are connected to a support platform, wherein the connection can be direct or indirect. Moreover, the connection can preferably be releasable, particularly preferably releasable without tools. Each support device has a contact surface facing away from the bottom surface of the support platform, and a common contact plane is taut. Different types of support devices are familiar to those skilled in the art, which is why these support devices are not described in detail here. For example, the support device can be a suction cup-like, vacuum-actuated support device. Alternatively, magnetically acted support devices are also conceivable, in which pressure-actuated permanent magnets and support devices with electromagnets can be used.

[0008] The gripping device also includes a supply device configured to enable and disable the support device. Depending on the type and operating mechanism of the support device, the supply device may be, for example, a vacuum supply component (e.g., a unit, flexible vacuum tube, rigid vacuum tube, valve, valve closing device, valve island, etc.) or a power supply component (e.g., a unit, wires, etc.).

[0009] The gripping device further includes at least two slidable adjusting sliding devices. Each of these adjusting sliding devices is at least partially received or supported in at least one adjusting sliding device guide of the support platform. Furthermore, the adjusting sliding devices are slidable relative to the support platform along a first direction within these adjusting sliding device guides. The first direction is also referred to below as the x-direction. At least one adjusting sliding device is configured with at least one lateral guide. The gripping device also includes at least one lateral sliding device on which at least one supporting device is provided. The lateral sliding device is at least partially received or supported in the lateral guide and is slidable relative to the adjusting sliding device along a second direction within the lateral guide. The second direction is also referred to below as the y-direction. The first and second directions are orthogonal to each other. Preferably, the first and second directions extend parallel to the contact plane, wherein the contact plane may extend parallel to the xy-plane.

[0010] According to the invention, the guide segment of the at least one lateral sliding device is shaped, particularly hollow, and is received or supported in at least one lateral guide. Here, the guide segment can be linearly extended and / or linearly retracted within the lateral guide.

[0011] For example, the contoured guide section of the at least one lateral sliding device can be circular, rectangular, or elliptical. Typically, a dovetail cross-section is also optionally advantageous.

[0012] As previously mentioned, the support device can be positioned on one or more lateral guides, on an adjusting sliding device, or directly on a support platform. Typically, the actual positioning, size, and number of the support devices are determined by those skilled in the art. Here, the support device positioned, particularly on the extended lateral sliding device, is characterized by its sliding capability in two dimensions (i.e., in the x and y directions). Preferably, each adhesive device can be individually and independently activated and deactivated as needed. For this purpose, for example, manually or automatically actuated shut-off valves can be provided in the supply lines of each support device.

[0013] The at least two adjusting sliding devices and the at least one lateral sliding device can be manually slid by the operator. However, alternatively, automatic, particularly pneumatic or electric, slidability and / or adjustability of the sliding devices are conceivable. Sliding and adjustment parameters can preferably be provided to the operator via a software-based setting plan. Preferably, the adjusting sliding device guide and at least one lateral guide can both be configured as linear guides. Due to the slidability of the support device in both directions, this structure can be produced at low cost and is easy to operate without sacrificing any degrees of freedom of movement.

[0014] Compared to known constructions, the gripping device configured according to the present invention has a simple structure, thus low cost, and is robust, therefore durable and requires virtually no maintenance. Furthermore, the gripping devices can be pushed together, resulting in a particularly compact design, allowing the distance between the individual support devices to be adjusted to a very small extent. This is particularly advantageous whenever the at least one linearly extendable lateral guide is fully retracted. This adjustment is especially advantageous in very small workpieces or in angled and / or beveled workpieces. On the other hand, the ability to extend at least one lateral sliding device also allows the support devices to be spaced far apart. In particular, the flexible sliding and adjustability also ensures prevention, or at least substantially prevents, the risk of collision with the robotic arm and with peripheral objects.

[0015] The sliding mechanism's movement along the guide can be performed simply and without requiring a significant amount of time. The gripping device and / or the support positioned on it can therefore flexibly adapt to the corresponding geometry of the workpiece to be manipulated. Multiple workpiece sizes can be manipulated using only a single, but flexibly adjustable, gripping device. Due to its exceptionally simple adjustability, it can be performed even by under-trained operators, thus significantly reducing setup time. This can yield positive economic benefits, especially when manipulating a small number of workpieces.

[0016] Furthermore, it may be advantageous that at least one adjusting sliding device is configured with two parallel lateral guides, and an extendable lateral sliding device is received or supported in each lateral guide, wherein at least one supporting device is provided on each lateral sliding device. Here, the supporting device is configured on the opposite end sections of the two lateral sliding devices. When the two lateral sliding devices are extended, the corresponding supporting devices are not only further spaced from the adjusting sliding device, but the distance between the two supporting devices also increases. Therefore, the maximum extension distance can be achieved in a simple manner. Thus, these two lateral sliding devices represent the possibility of extending the adjusting sliding device on both sides along a second direction, thereby achieving greater flexibility in adjustability. If the supporting device is provided on the end sections of the corresponding lateral sliding device, this ensures that minimal protrusion can be achieved in the retracted state and maximum protrusion can be achieved in the fully extended state.

[0017] Due to the configuration of the support device on the opposite end sections of the two lateral sliding devices and / or due to the external arrangement of the support device, the surface taut by the suction cups does not produce any additional interference profile when viewed from the bottom surface of the support device. This can be advantageous in order to move the gripping device closer to the machine, especially closer to the bending tool of a bending machine. For example, it may be possible that for box-shaped parts whose base area does not protrude beyond the minimum gripper setting, readjustment may not be necessary.

[0018] Furthermore, the height of the gripping device can be designed to allow it to move as close as possible to other areas, such as above a tool tray. This can also be achieved or facilitated by connecting the support device to a lateral sliding device or an adjusting sliding device via an L-shaped and / or curved connecting device.

[0019] According to an advantageous advancement, it can be specified that the transverse axes oriented along a first direction are equidistantly located between two parallel transverse guides. Here, the support devices disposed on the two transverse sliding devices are positioned such that the support devices' respective support device centers are located on the transverse axis. In other words, according to this advancement, viewed from the bottom surface of the support platform, the opposing support devices are tilted relative to each other such that their support device centers are located on the transverse axis. Therefore, viewed from the bottom surface of the gripping device, the support devices are offset relative to the corresponding guide segments. This ensures that potential mismatch or offset errors can be compensated for due to the parallel arrangement of the two transverse guides and / or the two transverse sliding devices, thus further increasing the accuracy of adjustability.

[0020] Furthermore, it can be specified that each adjusting sliding device is equipped with an adjusting sliding device fixing device. These adjusting sliding device fixing devices can be actuated independently of each other and are configured to releasably fix the adjusting sliding device relative to the support platform as needed. Alternatively or additionally, it may also be advantageous that each adjusting sliding device is equipped with at least one lateral sliding device fixing device. This lateral sliding device fixing device is configured to releasably fix at least one lateral sliding device relative to the adjusting sliding device as needed. Preferably, the fixing device can be manually actuated, or at least actuated with minimal use of tools. This advancement has the effect of additionally increasing safety, because the reliable fixing of the sliding device, preventing unintentional slippage or improper adjustment, can significantly reduce any risk of injury to people, as well as the risk of damage to peripheral objects or workpieces. This is particularly applicable to heavy workpieces or workpieces with a non-central center of gravity, or also to gripping devices that can be freely moved and rotated in space by a robotic arm.

[0021] Also advantageous is an implementation in which at least one first scale is configured on the support platform along a first direction. Optionally, multiple first scales may also be provided on the support platform. Alternatively or additionally, it may also be advantageous to configure a second scale along a second direction on at least one lateral sliding device, particularly on its guide section. With the aid of scale markings, the user can adjust and / or readjust the gripping device in a simple, quick, and accurate manner. The corresponding current setting or position of the adjusting sliding device and at least one lateral sliding device can be easily read by indicators on both scales. In particular, if multiple first scales are provided, it may be advantageous to scale these scales by offsetting the width of the adjusting sliding device, thereby ensuring precise adjustability.

[0022] According to a particular embodiment, the first and second scales can be arranged parallel to the contact plane, making them visible when viewed from the bottom surface of the support platform. This greatly facilitates the user in reading the current and / or new adjustment positions of the adjusting sliding device and at least one lateral sliding device. During adjustment, the user does not need to awkwardly rotate or move to read the scales, but can obtain any and all adjustment parameters while observing the bottom surface of the support platform. Alternatively, any and all locking recesses and / or locking holes may be visible when viewed from the bottom surface. However, it is also possible that only the locking recesses in the support platform are visible when viewing the bottom surface of the support platform, and the locking recesses of the lateral sliding devices are orthogonal to the contact plane. Therefore, the locking recesses of the lateral sliding devices are only visible to the observer when viewing the gripping device from the side. The precise arrangement of the locking recesses depends on the locking mechanism and is determined by those skilled in the art.

[0023] In one particular embodiment, it is conceivable that the adjusting sliding device fixing device is configured as an adjusting sliding device locking device, and / or the lateral sliding device fixing device is configured as a lateral sliding device locking device. Here, the support platform may be configured with a plurality of locking recesses equidistant from each other along a first direction. Preferably, the locking recesses are configured in the guide section of the lateral sliding device. The locking element of the adjusting sliding device locking device can engage with the locking recess of the support platform. Furthermore, the lateral sliding device may be configured with a plurality of locking recesses equidistant from each other along a second direction, and the locking element of the lateral sliding device locking device can engage with the locking recess of the lateral sliding device. Preferably, the scale markings of the first scale and / or the second scale correspond to the distances of the equidistant and / or discrete locking recesses. This allows the user to adjust and / or readjust the gripping device in a simple, quick, and accurate manner. The corresponding current setting or position of the adjusting sliding device and at least one lateral sliding device can be easily read by indicators on both scales. Advantageously, the snap-fit ​​recesses and corresponding scales are arranged adjacent to each other, allowing for a simple and accurate reading of the current adjustment without further assistance. However, in general, it is also conceivable to further envision continuous adjustability without snap-fit ​​recesses that are equidistant from each other.

[0024] According to an advancement, the locking element of the adjusting sliding device and / or the locking element of the lateral sliding device can be configured as a bolt, which engages with the locking recess of the support platform and / or with the locking recess of the lateral sliding device. Here, the term "bolt" is interpreted functionally only and not structurally. In this case, it includes any pin-shaped actuating device extending along an axis. In particular, the bolt does not necessarily have a circular cross-section; for example, it can also be elliptical or rectangular. At the user end of the bolt, a disc-shaped button or T-shaped handle can be configured, allowing the user to actuate the bolt quickly and safely. The bolt can preferably engage with the locking recess in a form-fit and / or friction-fit manner. Once the bolt engages with the locking recess, relative movement and / or slippage is prevented.

[0025] Furthermore, it may be advantageous that the bolt is manually actuated and configured with a spring-loaded action mechanism, wherein, preferably, in its idle state, the spring element engages with a locking recess by a spring force acting in the axial direction of the bolt. The bolt is thus in a locked position in the idle state and can be pulled out and / or moved out of the corresponding locking recess by the user pulling the bolt against the spring force along the bolt's fixed axis. Preferably, the adjustment of the sliding device and / or the lateral sliding device is performed with both hands. The operator uses one hand to pull the bolt out of its idle position, i.e., from the locking recess of the current adjustment position, and slides the adjusting device and / or the lateral sliding device to the new adjustment position. The operator can preferably read the arrival of the adjustment position via a scale. Once the new adjustment position is reached, the operator releases the bolt and / or the locking element, thereby placing the bolt into the new locking recess and engaging it there by the automatic return of the spring to its idle state. Alternatively, the user must push the bolt into the locking recess to secure it. This ensures that the adjusting device and / or the lateral sliding device can no longer slip or move relative to each other.

[0026] In addition, it may be specified that the snap-fit ​​recess of the support platform and / or the snap-fit ​​recess of the lateral sliding device are configured as snap-fit ​​holes, wherein the bolts can engage with the snap-fit ​​holes in at least substantially complementary shapes.

[0027] Furthermore, it can be specified that the locking recess of the support platform and / or the locking recess of the lateral sliding device are formed by a rack with toothed teeth, wherein the bolt can engage with the toothed teeth in a manner that is at least substantially complementary in shape. The engagement of the bolt with the toothed teeth can also cause a frictional fit, thereby making the fixation more secure. In particular, it is especially advantageous here to configure the guide section of the lateral sliding device as a rack.

[0028] It has also proven advantageous that the adjusting sliding device fixing device includes at least one screw, wherein the clamping force between one adjusting sliding device and the support platform can be applied via the screw. Alternatively or additionally, it can be specified that the lateral sliding device fixing device includes at least one screw, wherein the clamping force between at least one lateral sliding device and one adjusting sliding device can be applied via the screw. Adjusting sliding device fixing devices and / or lateral sliding device fixing devices that operate via one or more screw connections can be particularly stable and ensure high strength. Among other things, this can also reduce the risk of unintentional release and related accidents.

[0029] According to one advancement, the adjusting sliding device fixing device may include at least one clamping rod, cam rod, or tension rod, wherein a clamping force between an adjusting sliding device and a support platform can be applied via the clamping rod, cam rod, or tension rod. Alternatively or additionally, the lateral sliding device fixing device may include at least one clamping rod, cam rod, or tension rod, wherein a clamping force between at least one lateral sliding device and an adjusting sliding device can be applied via the clamping rod, cam rod, or tension rod. The combination of a screw connection and a rod-shaped, manually actuated closing mechanism can achieve particularly stable fixing. Among other things, this can reduce the risk of unintentional release and associated accidents, where rapid release and adjustment of both the adjusting sliding device and the lateral sliding device are performed simultaneously. Here, the clamping rod, cam rod, or tension rod can also be configured in combination with a screw.

[0030] According to an advancement, the adjusting sliding device fixing device and / or the lateral sliding device fixing device may include pneumatic fixing devices, and are therefore pneumatically capable of fixing. Thus, fixing can be performed in an automated manner. The arrangement of the pneumatic fixing device enables faster and, optionally, most precise and reliable fixing. Furthermore, a high degree of safety can be ensured by pneumatic fixing of the sliding device. Here, it is also possible that the at least two adjusting sliding devices and the at least one lateral sliding device are not only pneumatically fixed, but can also be pneumatically slid in an automated manner.

[0031] According to an advantageous advancement, the adjusting sliding device guide can be configured as a prism track for form-fitting engagement with a portion of the adjusting sliding device. Preferably, the adjusting sliding device guide is configured as a prism track for form-fitting engagement with portions of two adjusting sliding devices. Here, the term "portion" should refer to a portion of the adjusting sliding device that is not received or supported entirely within the adjusting sliding device guide. For example, this portion or segment can be a slider. Preferably, each adjusting sliding device has two such segments and / or sliders, with each slider guided within one adjusting sliding device guide. This ensures particularly high stability and precise guideability and / or sliding capability. The function of the two adjusting sliding device guides as quasi-guides ensures very smooth operation. This is particularly suitable for situations where the adjusting sliding device is particularly long, i.e., extending longitudinally along a second direction.

[0032] In particular, it may be advantageous that the guide section of at least one lateral sliding device is at least partially configured with a hollow profile, which is configured as a vacuum conduit. Here, the vacuum conduit is fluidly connected to a supply device and at least one support device disposed on the lateral sliding device. Here, the supply device may include a vacuum supply module, a valve island, and preferably a flexible and / or tubular vacuum line. The valve island may advantageously be disposed on the top surface of the support platform. Preferably, the guide section of the at least one lateral sliding device is configured with a hollow profile. This hollow profile may define a conduit, particularly a vacuum conduit, in which a vacuum tube may be disposed. The vacuum conduit may extend longitudinally along a second direction in the hollow profile and is fluidly connected to the support device disposed on the lateral sliding device. Advantageously, the support device here is configured as a vacuum support device. The vacuum tube preferably extends longitudinally along the second direction in one of the adjusting sliding devices. Furthermore, the vacuum tube is slidably positioned in the vacuum conduit along the second direction. The vacuum supply module is fluidly connected to one or more support devices via the vacuum line and the vacuum tube through the valve island.

[0033] Advantageously, at least one spiral supply line can be configured to apply a vacuum to at least one support device. Here, the at least one spiral supply line can be arranged on the bottom surface of the support platform aligned along a first direction. It has also proven advantageous that the at least one spiral supply line is at least partially filled with a guide section of at least one lateral sliding device. The spiral and / or coiled or helically coiled, preferably flexible and / or tubular supply line allows the corresponding guide section to serve as a quasi-carrier for activating and deactivating the supply device for the support device, for example, using a vacuum. Here, the spiral form allows for adjustment and / or extension and retraction of the adjusting sliding device and the lateral sliding device without additional auxiliary devices or structural components. Furthermore, such a supply line configuration can save space and can avoid or even prevent the risk of undesirable threading, tangling, or damage. Furthermore, this avoids structural complexity and / or wear-sensitive sealing elements between mutually retractable and adjustable hollow profiles. Moreover, such a spiral supply line is particularly easily accessible for any maintenance and repair.

[0034] According to one advancement, the supply device can be specified to include a valve island fluidly connected to the support device via shut-off valves. The valve island can advantageously be positioned on the top surface of the support platform. Each valve on the valve island can be fluidly connected to one or optionally multiple support devices. Advantageously, one or more support devices can be configured as vacuum support devices. A vacuum supply module is fluidly connected to one or more support devices via the valve island. Here, it may be particularly advantageous that the support devices can be activated and deactivated as needed via valves associated with them on the valve island. This closure of individual support devices can further expand the possibilities for using and regulating the gripping device. Here, for example, the valves arranged on the valve island can be configured to act mechanically and / or in conjunction with a spring-return mechanism. Preferably, the valves can be powered, and can be individually activated and deactivated via controls. This implementation can be particularly reliable in operation, especially because the potential power cut-off is not critical compared to spring-return valves, and / or will not cause accidental release of the workpiece from the support device.

[0035] Furthermore, it can be specified that another adjusting sliding device is configured, comprising a first guide rod and a second guide rod. These two guide rods are slidable along a first direction. Here, the adjusting sliding device is linearly extended relative to the support platform along the first direction via the guide rods. Preferably, the guide rods are guided through an opening at the front end of the support platform or through a prism or contour track in the support platform. However, it is also possible that the guide rods are positioned on the top surface of the support platform and / or guided in a guide device positioned on the top surface of the support platform. This advancement allows for a simple additional expansion of the adjustment possibilities of the gripping device. Preferably, another first scale is also configured on one or both guide rods, i.e., a scale indicating the current adjustment position of the other adjusting sliding device to the user. Advantageously and for cost-saving purposes, the other adjusting sliding device is configured to be at least structurally substantially identical to the first and second adjusting sliding devices. Advantageously, it can be specified that the guide rods of the other adjusting sliding device are offset from each other so that they do not interfere with each other and do not form undesirable additional interference profiles, especially in the pulled-in and / or retracted states.

[0036] Furthermore, it can be specified that at least one additional lateral sliding device is configured, on which at least one supporting device is provided, and that the lateral sliding device is at least partially received or supported in the lateral guide of another adjusting sliding device. This lateral sliding device is slidable relative to the adjusting sliding device in a second direction within the lateral guide, wherein the guide section of the other adjusting sliding device is shaped, particularly hollow shaped, and is received or supported within at least one lateral guide, and wherein the guide section is linearly extendable and / or may also linearly retract again within the lateral guide. Preferably, any and all adjusting sliding devices and any and all extendable lateral sliding devices received or supported in the adjusting sliding device by the gripping device are structurally identical, or at least substantially structurally identical. This reduces storage costs and, in some cases, greatly simplifies any maintenance and repair work.

[0037] Also advantageous is an embodiment in which a vacuum tube, arranged parallel to the guide rod and capable of linearly extending relative to the support platform, is fluidly connected to a supply device and at least one support device disposed on a lateral sliding device disposed on another adjusting sliding device. Here, the supply device may also include another vacuum tube disposed in another vacuum conduit within a preferably hollow, contoured guide rod. Alternatively, the other vacuum tube may be disposed within the support platform and parallel to the guide rod. Preferably, viewed from the bottom surface of the support platform, the other vacuum tube is positioned between the guide rods. The other vacuum tube is disposed on another adjusting sliding device, wherein the support device disposed on this other lateral sliding device is fluidly connected to a valve island and / or a vacuum supply module via a vacuum line, preferably in a flexible form, and through this other vacuum tube.

[0038] According to an advantageous advancement, it can be specified here that at least one spiral supply line is at least partially filled by at least one guide rod of the adjusting sliding device, or at least one threaded supply line is disposed between two guide rods.

[0039] It can also be specified that at least one energy chain is configured to move along a first direction, the energy chain being configured to slide an adjusting sliding device and / or a guide rod, and guiding at least one preferably flexible and / or tubular vacuum line within the energy chain. The energy chain configured to slide the adjusting sliding device or guide rod enables more precise sliding and / or adjustability. For those skilled in the art, the energy chain is also referred to as a cable tray, cable chain, or drag chain. This arrangement can be constructed to move with specific precision while also being relatively space-saving. Furthermore, this embodiment ensures that the helical supply line is well protected from damage.

[0040] Independently, the object of the invention is also achieved by a robotic arm configured to receive, and preferably plate-shaped, workpieces to be transported, and to release the workpieces again. The robotic arm includes a gripping device configured according to any one of the claims.

[0041] The implementation methods and advantages of this robotic arm have been fully explained in the paragraphs above in the instruction manual, which is why these paragraphs are referenced in this document. Attached Figure Description

[0042] To better understand the present invention, it will be described in more detail with reference to the following accompanying drawings.

[0043] They are shown in very simplified diagrams:

[0044] Figure 1A three-dimensional view up to the top shows a gripping device for manipulating a workpiece during machining.

[0045] Figure 2 The three-dimensional view on the bottom surface shows the data based on... Figure 1 The gripping device;

[0046] Figure 3 The view shown from below illustrates the data based on... Figure 1 The gripping device;

[0047] Figure 4 It shows that according to Figure 3 A cross-section of the adjusting sliding device and the supporting platform within the area of ​​the adjusting sliding device locking device;

[0048] Figure 5 It shows that according to Figure 3 An alternative cross-section of the adjusting sliding device and the supporting platform within the area of ​​the adjusting sliding device locking device;

[0049] Figure 6 The three-dimensional view on the bottom surface shows the data based on... Figure 2 A detailed view of the gripping device with a supply unit;

[0050] Figure 7 It shows that according to Figure 6 Longitudinal section of the transverse guide between the adjusting sliding device and the two transverse sliding devices;

[0051] Figure 8 An alternative exemplary embodiment of the gripping device is shown in a three-dimensional view up to the top surface;

[0052] Figure 9 The view shown from below illustrates the data based on... Figure 8 The gripping device;

[0053] Figure 10 The adjusting sliding device with two lateral sliding mechanisms is shown in a three-dimensional view;

[0054] Figure 11 Another exemplary embodiment of the gripping device is shown in a three-dimensional view up to the top surface;

[0055] Figure 12 The three-dimensional view on the bottom surface shows the data based on... Figure 11 The gripping device;

[0056] Figure 13 Another adjusting sliding device with two lateral sliding mechanisms is shown in a three-dimensional view;

[0057] Figure 14Another exemplary implementation of the gripping device is shown in a three-dimensional view of the bottom surface. Detailed Implementation

[0058] First, it should be noted that in the different embodiments described, the same components have the same reference numerals and / or the same component names, and the disclosure contained throughout the description can be similarly transferred to the same components having the same reference numerals and / or the same component names. Furthermore, the location descriptions selected in the specification, such as top, bottom, or side, refer to the directly described and depicted figures, and in the event of a change in location, these location descriptions will be similarly transferred to the new location.

[0059] The term "specifically" as used herein should be understood to mean a possible, more specific implementation or narrower specification of an object or method step, but not necessarily a mandatory, preferred implementation or mandatory procedure. In its present use, the terms "comprising," "including," "having," "containing," and any variations thereof should include non-exclusive inclusion.

[0060] To avoid unnecessary repetition, Figure 1 , Figure 2 and Figure 3 as well as Figure 4 and Figure 5 shown Figure 3 The sectional views are described below in essentially combined form. Here, the same reference numerals and / or the same part names are used for the same parts.

[0061] Figures 1 to 5 A gripping device 1 is shown for manipulating (i.e., for conveying and / or receiving and discharging, transferring or placing) a workpiece 2, preferably plate-shaped, during processing with a machining machine. For this purpose, the gripping device 1 includes a support platform 4 as a central element for supporting a device 3. The support platform 4 has a connection interface 5 by means of which the gripping device 1 can be fixed to, for example, a robotic arm, particularly an articulated arm robot's articulated arm arm 6. The supporting device 3 is connected to the support platform 4 such that it is adjustable relative to the support platform 4.

[0062] The support platform 4 has a bottom surface 17 and a top surface 41 opposite to the bottom surface 17. A connection interface 5 is disposed on the top surface 41 of the support platform 4 and is used to connect the gripping device 1 to the robot arm. The connection interface 5 can be any known type of connection device. For example, a threaded connection or a bayonet connection can be provided, but a flange connection is also conceivable. Furthermore, the gripping device 1 can be fixed, i.e., permanent and / or non-releasable, on the robot arm.

[0063] The gripping device 1 has multiple supporting devices 3 for direct contact with and / or for direct fixation to the workpiece 2. For example, the workpiece 2 is in Figure 1 The dashed line roughly represents a metal plate workpiece. The supporting device 3 can be adjusted as needed... Figures 1 to 5 For simplicity, the supply device 27, not shown, is activated and / or deactivated, allowing the workpiece 2 to be received and / or placed again. The support device 3 is connected to the support platform 4 and has a contact surface 7 facing away from the bottom surface 17 of the support platform 4, and this contact surface 7 is taut and / or defines a common, uniform surface contact plane 8. The support device 3 shown is a vacuum support device, each vacuum support device having a suction cup with a contact surface 7 for contacting the workpiece 2. The workpiece 2 received by activating the support device 3 can thus be supplied to the processing area of ​​the processing machine.

[0064] The adjustment of the support device 3 relative to the support platform 4 allows the position of the support device 3 to be changed so that they at least substantially correspond to the shape and / or expansion of the workpiece 2, and / or to the surface of the workpiece 2 to be grasped. This means that in the case of a small workpiece 2, the support device 3 can be relatively far apart from each other, while in the case of a larger workpiece 2, a correspondingly larger relative distance is set.

[0065] The gripping device 1 has at least one first adjusting sliding device 9 and one second adjusting sliding device 10. Each of the two adjusting sliding devices 9 and 10 is displaceable along a first direction 13 on adjusting sliding device guides 11 and 12, which are disposed between the adjusting sliding devices 9 and 10 and the support platform 4. For this purpose, at least two adjusting sliding device guides 11 and 12 are disposed on the bottom surface 17 of the support platform 4. Each of the at least two adjusting sliding devices 9 and 10 is at least partially received in at least one of the adjusting sliding device guides 11 and 12, and is slidable relative to the support platform 4 along the first direction 13 in the adjusting sliding device guides 11 and 12. At least one of the adjusting sliding devices 9 and 10 is provided with at least one lateral guide 15. Figures 1 to 5 In this configuration, the two adjusting sliding devices 9 and 10 are each configured to have two parallel lateral guides 15. Figures 1 to 5In the figure, a total of four lateral sliding devices 14 are also shown, each of which is provided with at least one support device 3. In the exemplary embodiment shown, a single support device 3 is positioned on an end segment of each lateral sliding device 14. The lateral sliding devices 14 are at least partially received in corresponding lateral guides 15. Furthermore, the lateral sliding devices 14 are slidable and / or displaceable and adjustable relative to corresponding adjusting sliding devices 9, 10 along a second direction 16 in these lateral guides 15. The first direction 13 and the second direction 16 are orthogonal to each other. In the figure, the first direction 13 is aligned along the x-axis, and the second direction 16 is aligned along the y-axis.

[0066] Figures 1 to 5 At least one and / or four lateral sliding devices 14 shown are each configured with a guide segment 42. Each corresponding guide segment 42 is received in and / or slidably guided in a lateral guide 15, and is configured to be convex, particularly hollow convex. The guide segment 42 can extend linearly in the lateral guide 15 and can also retract linearly again.

[0067] Figure 2 The perspective view shows the situation from a view taken from a slightly below angle (i.e., a view up to the bottom surface 17 of the support platform 4). Figure 1 The gripping device 1. Figure 3 The view shown from below (i.e., also a view to the bottom surface 17 of the support platform 4) illustrates the arrangement according to... Figure 1 and Figure 2 The gripping device 1.

[0068] According to an exemplary embodiment, the adjusting sliding devices 9 and 10 are each configured to have two parallel lateral guides 15, with an extendable lateral sliding device 14 received in each lateral guide 15. Here, at least one support device 3 is arranged on each lateral sliding device 14, wherein the support device 3 is disposed on the opposite end sections of the two lateral sliding devices. Other support devices 3 may also be directly positioned on the support platform 4, and thus positioned so as not to slide. Furthermore, it is conceivable that other support devices 3 are directly positioned on one or both of the adjusting sliding devices 9 and 10, and thus positioned so as to slide along the first direction 13. However, these advancements are not shown in the figures.

[0069] A transverse axis 43 oriented along the first direction 13 can be equidistantly located between two parallel transverse guides 15. Supporting devices 3 disposed on the two transverse sliding devices 14 can be positioned such that they are positioned on the transverse axis 43 with their respective support device centers 44. This is in Figure 3 It is particularly clear in the middle.

[0070] Each of the adjusting sliding devices 9 and 10 may be equipped with an adjusting sliding device fixing device in the form of an adjusting sliding device locking device 18. This fixing device is independently actuated and configured to releasably fix the adjusting sliding devices 9 and 10 relative to the support platform 4 as needed. Alternatively or additionally, the adjusting sliding devices 9 and 10 may be equipped with one or more lateral sliding device fixing devices in the form of lateral sliding device locking devices 22. These lateral sliding device fixing devices may be configured to releasably fix at least one lateral sliding device 14 relative to the adjusting sliding devices 9 and 10 as needed. In particular... Figures 2 to 5 The locking devices 18 and 22 are shown. If the adjusting sliding devices 9 and 10 are each equipped with two lateral sliding devices 14, then these two lateral sliding devices 14 can be fixed simultaneously and / or together with a single lateral sliding device locking device 22. However, it is also possible that... Figure 3 Each of the lateral sliding devices 14 shown has its own lateral sliding device locking device 22.

[0071] At least one first scale 21 can be configured on the support platform 4 along the first direction 13. Furthermore, the support platform 4 can be configured with a plurality of snap-fit ​​recesses, which are equidistant from each other along the first direction 13 and arranged continuously along the first direction 13. Preferably, the scale 21 and the snap-fit ​​recesses associated with the scale 21 are arranged adjacent to each other. The scale markings of the scale 21 correspond to the positions of the snap-fit ​​holes 20. This facilitates the user in setting the desired x-position of the support element 3 along the first direction 13. This is particularly important... Figure 2 and Figure 3 This is readily apparent. Here, two scales 21 are mounted on the bottom surface 17 of the support platform 4. These two scales are marked differently and / or offset from each other to adjust the width of the sliding device. The direction indicator 46 facilitates correct scale adjustment by the user. This is advantageous, especially when the computer program specifies the required adjustment parameters to the user. Here, the scales 21 can start from zero or extend from a negative value to a positive value, which is... Figure 3 This can be seen from the text.

[0072] exist Figure 2 and Figure 3As can be easily seen, by means of the adjusting sliding device guides 11 and 12 configured as linear guides, the two adjusting sliding devices 9 and 10 can be displaced at the bottom surface 17 of the support platform 4 in a first direction 13. For this purpose, the adjusting sliding device guides 11 and 12 include prism tracks for form-fitting engagement with a portion of the two adjusting sliding devices 9 and 10. As an alternative to the T-shaped cross-section of the shown adjusting sliding device guides 11 and 12, they can also be formed, for example, by dovetail-shaped guides. The segments engaging with the adjusting sliding device guides 11 and 12 can be, for example, sliders, or rolling elements.

[0073] The locking element of the adjusting sliding device locking device 18 can engage with the locking recess of the support platform 4. Alternatively or additionally, the second scale 23 can be configured on the transverse sliding device 14 along the second direction 16. This can also be achieved from... Figure 2 and Figure 3 As exemplarily found, the lateral sliding device 14 may be configured with a plurality of engaging recesses equidistant from each other along the second direction 16, wherein engaging elements of the lateral sliding device engaging device 22 may engage with the engaging recesses of the lateral sliding device. These engaging recesses are provided on corresponding guide sections 42 of the lateral sliding device 14, particularly from... Figure 2 As shown in the diagram, the locking recess of the support platform 4 and the locking recess of the lateral sliding device 14 can be configured as locking holes 20 and 24, respectively.

[0074] exist Figure 2 and Figure 3 As can be seen, the first scale 21 and the second scale 23 can be set to be parallel to the contact plane 8, so that they are visible when the bottom surface 17 of the support platform 4 is observed.

[0075] In particular, Figure 4 and Figure 5 An conceivable operating mechanism for the locking devices 18 and 22, based on the adjusting sliding device locking device 18, is shown. Of course, the shown locking mechanism can be used not only for the adjusting sliding device locking device 18, but also for the lateral sliding device locking device 22. Figure 4 and Figure 5 Cross-sections of the gripping device 1 are shown. Here, in Figure 3 In the text, the cutting positions are marked with Roman numerals. Figure 4 and Figure 5 The locking element of the adjusting sliding device locking device 18 shown can be configured as a bolt 19. The bolt 19 can engage with the locking recess of the support platform 4.

[0076] Similar to the description of positioning the adjusting sliding devices 9 and 10 on the support platform 4, a corresponding engaging device 22 and a scale 23 are also provided for positioning the lateral sliding device 14 on the corresponding adjusting sliding devices 9 and 10. Therefore, in the active position, the engaging device 22 engages with the engaging hole 24, which is disposed on the lateral sliding device 14. Figure 2 The snap-fit ​​holes 24 of the lateral sliding device 14 are respectively provided on the lateral sliding device 14 along the second direction 16 (y direction) and offset from each other at equal intervals. With the aid of the snap-fit ​​device 22, the lateral sliding device 14 can be fixed to the corresponding adjusting sliding devices 9, 10 at corresponding number of snap-fit ​​positions. Here, the function of the second snap-fit ​​device 22 for positioning the lateral sliding device 14 on the corresponding adjusting sliding devices 9, 10 can be the same as described above. Figure 4 and Figure 5 The same configuration is described for adjusting the sliding device latching device 18.

[0077] according to Figure 4 In an exemplary embodiment, the locking device 18 may include a spring-loaded bolt 19 in the axial direction, which is mounted in the adjusting sliding device 10. Here, the end of the bolt 19 facing the bottom surface 17 of the support platform 4 extends into one of the locking holes 20 disposed in the support platform 4. Thus, the bolt 19 forms a latch, which secures the adjusting sliding device 10 to the support platform 4 by overcoming sliding along the first direction 13. Here, the adjusting sliding device locking device 18 is in its activated and / or locked position. In order to adjust the adjusting sliding device 10 and thus the support element 3 connected to the adjusting sliding device 10, the adjusting sliding device locking device 18 can be deactivated by the user pulling the bolt 19 back from its locked position in the locking hole 20 and subsequently sliding the adjusting sliding device 10 toward the first direction 13. Once the desired position of the support device 3 and / or the adjusting sliding device 10 is finally reached, the adjusting sliding device locking device 18 is reactivated by the user loosening the bolt 19, which engages in another locking hole 20. Due to the spring load of the bolt 19, the adjusting sliding device locking device 18 remains in its activated locking position. According to this exemplary embodiment, the adjusting sliding device locking device 18 is configured as a form-fitting latch pawl, wherein the bolt 19 acts as a latch. The locking holes 20 on the bottom surface of the support platform 4 are arranged side by side at equal intervals along the first direction 13 (x direction), such as... Figure 2 and Figure 3 As shown.

[0078] Figure 5 Alternative exemplary embodiments of the adjusting sliding device locking device 18 and / or the lateral sliding device locking device 22 are shown. In this case, Figure 3The cross-sections of the support platform 4 and the adjusting sliding device 10 of the gripping device 1 shown are in... Figure 5 As shown in the figure. According to this exemplary embodiment, a toothed ring and / or rack 25 is disposed in the bottom surface 17 of the support platform 4, which is aligned parallel to the first direction 13 and / or aligned with the x-direction. In its activated position, the bolt 19 of the adjusting sliding device engaging device 18 engages with a tooth 26 of the rack 25. In this way, the adjusting sliding device 10 is fixed to resist sliding in the x-direction 13. According to the inclination of the tooth flank of the rack 25, this exemplary embodiment represents a friction fit fixation. Therefore, the engaging recess of the support platform 4 can be formed by the rack 25 with the tooth 26. Here, the bolt 19 can engage with the tooth 26 in a manner that is at least substantially complementary in shape. However, the engaging recess of the lateral sliding device 14 can also be formed by the rack 25 with the tooth 26. Particularly preferably, the guide section 42 of the lateral sliding device 14 can be configured as the rack 25.

[0079] Below Figure 6 and Figure 7 Building upon this, a supply device 27 for activating and deactivating the support device 3 of the gripping device 1 is subsequently described. Here, the gripping device 1 is defined as a so-called vacuum gripper, wherein the support device 3 includes suction cups that can be activated and / or deactivated via a corresponding piping system. Figure 6 A three-dimensional diagram is shown based on Figure 2 Details of the gripping device 1 with supply device 27. An example using the second adjusting sliding device 10. Figure 7 The sectional view also shows the supply device 27 of the support device 3. Advantageously, the support device 3 is configured here as a vacuum support device.

[0080] Therefore, the supply device 27 may include a vacuum supply module or unit (not shown in the figures), a valve island 28, and preferably a flexible and / or tubular vacuum line 29. The valve island 28 may advantageously be disposed on the top surface 41 of the support platform 4. For this purpose, the guide section 42 of at least one lateral sliding device 14 may be at least partially configured with a hollow profile 45, which may be particularly... Figure 7As can be seen from the diagram, this hollow profile 45 can form a vacuum conduit 30, in which a telescopic and / or extendable and retractable vacuum tube 31 can be disposed. The vacuum conduit 30 can be fluidly connected to the supply device 27 and at least one support device 3 disposed on the transverse sliding device 14. The vacuum conduit can extend longitudinally along the second direction 16 in the hollow profile 45 and be fluidly connected to the support device 3 disposed on the transverse sliding device 14. Furthermore, the vacuum tube 31 is slidably positioned in the vacuum conduit along the second direction 16. The vacuum supply module is fluidly connected to one or more support devices 3 via the vacuum line 29 and the vacuum tube 31 through the valve island 28. Alternatively, the valve island 28 can be fluidly connected to each support device 3 via a corresponding shut-off valve.

[0081] This fluid connection with the vacuum supply device of the supporting device 3 is particularly important. Figure 7 As shown in the image. Figure 7 A longitudinal section is shown passing through two lateral guides 15 between one of the two adjusting sliding devices 10 and the two lateral sliding devices 14, wherein the cutting plane is parallel to the xy plane and / or parallel to the contact plane 8. The lateral sliding devices 14 are each mounted such that they can be adjusted and extended in one of the two lateral guides 15 of the adjusting sliding device 10 in a direction aligned parallel to the second direction 16. As part of the supply device 27 of the gripping device 1, a vacuum conduit 30 is disposed inside each lateral sliding device 14. On the other hand, a vacuum tube 31 is disposed connected to each adjusting sliding device 10, protruding into the interior of the vacuum conduit 30. Here, the longitudinal direction of the vacuum conduit 30 and the longitudinal direction of the vacuum tube 31 are aligned parallel to the extension direction and / or the second direction 16 of the corresponding lateral sliding device 14 in the adjusting sliding device 10, thereby allowing a section of the resulting conduit 29 to be extended and / or retracted during adjustment of the lateral sliding device 14. If desired, a seal 32 is disposed between the corresponding vacuum conduit 30 and the associated vacuum tube 31 of the lateral sliding device 14.

[0082] Figure 8 and Figure 9 Another embodiment of the gripping device 1, which can optionally be independent, is shown, wherein the same reference numerals and / or the same part names as in the foregoing figures are used again. To avoid unnecessary repetition, attention should be paid to and / or reference should be made to the preceding detailed description.

[0083] In addition to Figure 1 and Figure 2In addition to the adjustable sliding devices 9 and 10 that are movable and fixed to the bottom surface 17 of the support platform 4, two other adjustable sliding devices 33 are provided in this exemplary embodiment, each of which extends at the front end of the support platform 4. For this purpose, each of these other adjustable sliding devices 33 includes a first guide rod 34 and a second guide rod 35 aligned parallel to the first direction 13. Openings and / or holes for receiving the guide rods 34 and 35 are provided on the front ends 39 and 40 of the support platform 4. The two other adjustable sliding devices 33 can be pushed out and / or linearly pulled out relative to the support platform 4 along the first direction 13 via the guide rods 34 and 35.

[0084] In each of the two other adjusting sliding devices 33 corresponding to the second direction 16, preferably in each of the two other lateral sliding devices 36, each can be received as being able to be pushed out for at least one other supporting device 3. Therefore, when the adjusting sliding device 33 is extendable at its front end, the lateral sliding devices 36 on the adjusting sliding device 33 can also be displaced in the second direction 16 perpendicular to the first direction 13. In the same manner as the adjusting sliding devices 9 and 10 connected to the bottom surface of the support platform 4, it is also specified that the positions of the adjusting sliding devices 33 and / or the lateral sliding devices 36 connected thereto, which are extendable at their front ends, can be releasably fixed in one of a plurality of specific latching positions as needed. For this purpose, latching devices 18 and 22 are disposed between the support platform 4 and the guide rods 34 and 35 of the adjusting sliding device 33, and also between each lateral sliding device 36 and the adjusting sliding device 33, as described above regarding... Figure 4 and Figure 5 The above and not in Figure 8 As shown in the image. Figure 9 As shown, when the support platform 4 is viewed from the bottom surface 17, the guide rods 34 and 35 may also be equipped with scales 21 for indicating the adjustment position.

[0085] Parallel to the guide rods 34 and 35, a vacuum tube 37 can be configured, which can extend linearly relative to the support platform 4. As a component of the supply device 27, the vacuum tube 37 can be fluidly connected to at least one support device 3 on a transverse sliding device 36 disposed on another adjusting sliding device 33. Here, the supply device 27 may include another vacuum tube 37, which can be disposed in another vacuum conduit 30 in a preferably hollow, contoured guide rod 34. This variation is not shown in the figures. Alternatively, according to Figure 8 and Figure 9Another vacuum tube 37 can be arranged parallel to the guide rods 34 and 35 in the support platform 4. Preferably, when the support platform 4 is viewed from the bottom surface 17, the other vacuum tube 37 is positioned between the two guide rods 34 and 35. In addition, the other vacuum tube 37 is fixed to another adjusting sliding device 33, wherein the support device 3 arranged on other transverse sliding devices 36 is fluidly connected to the valve island 28 and / or the vacuum supply module through a vacuum line 29, preferably in a flexible form, and the other vacuum tube 37.

[0086] Alternatively, but not shown in the figures, it may also be advantageous to have other lateral sliding devices 36 configured with a vacuum tube 31 that can slide within the vacuum conduit 30, such as... Figure 7 As shown, the vacuum tube 31 fluidly connects the support device 3 and another vacuum tube 37. This ensures that the supply lines between the other adjusting sliding device 33 and the lateral sliding device 36 connected thereto operate in accordance with the above description. Figure 7 Configure it in the same way as described above.

[0087] Figure 9 The view shown from below illustrates the data based on... Figure 8 The gripping device 1 is an exemplary embodiment. For clarity, some parts of the supply device 27 of the vacuum supply system for the supporting device 3 are not shown here. Similarly, according to... Figures 1 to 5 Similar to the exemplary embodiment, two adjusting sliding devices 9 and 10 are disposed on the bottom surface 17 of the support platform 4. Here, they are connected to the support platform 4 by means of adjusting sliding device guides 11 and 12, and are slidable along a first direction 13 within these guides 11 and 12. Here, they can be fixed to one of a plurality of locking positions as needed by means of locking devices 18 and / or by means of locking holes 20 in the bottom surface 17 of the support platform 4. Furthermore, the adjusting sliding devices 9 and 10 have lateral sliding devices 14 along a second direction 16, which can extend in the opposite direction and each has a supporting device 3. Between the adjusting sliding devices 9 and 10 and the lateral sliding devices 14, in each case, a locking device 22 is disposed, whereby the lateral sliding device 14 and / or its supporting device 3 can also be fixed to one of a plurality of designated locking positions as needed. To adjust the support device 3 and position the desired x and / or y position, the user can orient themselves using scales 21, 23 mounted on the bottom surface of the support platform 4 and / or on the lateral sliding device 14. Here, the area for adjusting the adjusting sliding devices 9, 10 on the support platform 4 extends along the first direction 13 along the length 38 of the support platform 4.

[0088] Alternatively, the adjusting sliding device fixing device and / or the lateral sliding device fixing device may not be configured as snap-fit ​​devices 18, 22, but rather they may be fixed by screws 47. This variation also... Figure 9 As shown, the fixing by screw 47 typically does not require snap-fit ​​hole 20. The screw 47 allows a clamping force to be applied between one of the adjusting sliding devices 9, 10 and the support platform 4, and / or a clamping force to be applied between at least one lateral sliding device 14 and one of the adjusting sliding devices 9, 10.

[0089] As already regarding Figure 8 According to this exemplary embodiment, in addition to the two adjusting sliding devices 9 and 10, the gripping device 1 also includes another adjusting sliding device 33 on the bottom surface 17 of the support platform 4. This other adjusting sliding device 33 can extend along a first direction 13 at the front end of the support platform 4 via its two guide rods 34 and 35. Here, the guide rods 34 and 35 of the adjusting sliding device 33 are aligned parallel to the adjusting sliding device guides 11 and 12 of the adjusting sliding devices 9 and 10 at the bottom surface 17 of the support platform 4. This means that the adjustment direction is the same as the direction of the adjusting sliding devices 9 and 10, i.e., the first direction 13 (x direction). Figure 9 As shown, according to this exemplary embodiment, the gripping device 1 includes another adjusting sliding device 33 on both the first front end 39 and the second front end 40. Each adjusting sliding device 33 is equipped with two lateral sliding devices 36 that extend in opposite directions, wherein each lateral sliding device 36 is guided within the adjusting sliding device by its guide section 42. A locking device 22 is again provided for fixing the lateral sliding devices 36 relative to the adjusting sliding device 33 as needed. On the other hand, a locking device 18 is also provided between the guide rod 34 of the adjusting sliding device 33 and the support platform 4. In this case, a scale 21 is mounted on the guide rod 34 to position the desired location in the x-direction. Like the lateral sliding device 14, the other lateral sliding devices 36 also include a scale 23. The locking devices 18, 22 and the scales 21, 23 are... Figure 9 The arrangement shown has advantages for the user, namely that the position adjustment of the support device 3 can be performed in a single position, that is, when viewed from the bottom surface 17 of the support platform 4.

[0090] Figure 10 An exemplary embodiment of an adjusting sliding device 9, 10, 33 having two extendable lateral sliding devices 14, 36 is shown. Here, the guide segments 42 of the lateral sliding devices 14, 36 are received in two lateral guides 15. The guide segments 42 are shaped and can extend linearly along a second direction 16 in the lateral guides 15. To avoid unnecessary repetition, the description in the preceding figures is also referred to here.

[0091] Adjustable sliding devices 9, 10, and 33 are configured with two lateral sliding device fixing devices for releasably fixing the two lateral sliding devices 14 relative to the adjusting sliding devices 9 and 10 as needed. Each lateral sliding device fixing device is equipped with two screws 47, through which the clamping force between the lateral sliding devices 14 and 36 and the adjusting sliding devices 9, 10, and 33 can be applied. Furthermore, each lateral sliding device fixing device includes a cam rod 49, which is hingedly connected to the two screws 47. Figure 10 In the diagram, the left-hand lateral sliding devices 14 and 36 are in the extended state, while the right-hand lateral sliding devices 14 and 36 are in the fully retracted state. The cam rod 49 of the left-hand lateral sliding devices 14 and 36 is closed, and the lateral sliding device fixing device is thus fixed. The cam rod 49 of the right-hand lateral sliding devices 14 and 36 is shown as open and / or in a retracted state. The right-hand lateral sliding devices 14 and 36 and / or their guide sections 42 can be adjusted and / or linearly slid in this released and / or non-fixed state.

[0092] It should be understood that the lateral sliding device fixing device shown can also be configured in the same or similar manner as the adjusting sliding device fixing device used to releasably fix the adjusting sliding device 9, 10 relative to the support platform 4 as needed.

[0093] Figure 11 and Figure 12 Two three-dimensional views of another exemplary embodiment of the gripping device 1 are shown. Here, the perspective view roughly corresponds to... Figure 1 and Figure 2 A 3D diagram. Also regarding... Figure 11 and Figure 12 For the description, please refer to the description in the preceding paragraphs to avoid unnecessary repetition.

[0094] The gripping device 1 includes, for example, a total of four adjusting sliding devices 9, 10, 33. Here, as shown, each of the two intermediate adjusting sliding devices 9, 10 can be at least partially received in at least one of the adjusting sliding device guides 11, 12. Specifically, according to this example, the two intermediate adjusting sliding devices 9, 10 are guided in grooves of contour guides on two longitudinal sides of the support platform 4. To increase stability and smooth operation, each of the two intermediate adjusting sliding devices 9, 10 is guided in grooves on the bottom and top surfaces of the two adjusting sliding device guides 11, 12 configured as contour guides. The two intermediate adjusting sliding devices 9, 10 can slide relative to the support platform 4 along a first direction 13 in the adjusting sliding device guides 11, 12. Any and all adjusting sliding devices 9, 10, 33 each include two linearly sliding and / or extendable lateral sliding devices 14, 36. Each of the lateral sliding devices 14, 36 has a corresponding support device 3 on its end section. Here, the support device 3 is fixed to the corresponding lateral sliding devices 14, 36 by a curved metal plate component. Due to the angular shape, it can be ensured that the contribution of the support device 3 to the total thickness and / or total height of the gripping device 1 is as small as possible and that no undesirable interference profile is formed.

[0095] Similar to Figure 8 Each of the two external adjustment sliding devices 33 includes a first guide rod 34 and a second guide rod 35, which are slidable along a first direction 13 and are specifically guided through prisms or contour tracks in the support platform 4. The two external adjustment sliding devices 33 are linearly extended relative to the support platform 4 along the first direction 13 by means of the guide rods 34 and 35.

[0096] Each of the adjusting sliding devices 9, 10, and 33 is equipped with an adjusting sliding device fixing device, which is independently actuated and configured to releasably fix the adjusting sliding devices 10 and 33 relative to the support platform 4 as needed. Furthermore, each of the adjusting sliding devices 9, 10, and 33 is equipped with a lateral sliding device fixing device, which is configured to releasably fix the lateral sliding devices 14 and 36 relative to the adjusting sliding devices 9, 10, and 33 as needed. Both the adjusting sliding device fixing device and the lateral sliding device fixing device are equipped with a clamping rod 48. The clamping rod 48 allows clamping force to be applied between the adjusting sliding devices 9, 10, and 33 and the support platform 4, particularly between the adjusting sliding devices 10, 9, and 33 and the adjusting sliding device guides 11 and 12, and between the adjusting sliding devices 9, 10, and 33 and the guide rods 34 and 35. Additionally, clamping force can be applied between the lateral sliding devices 14 and 36 and one of the adjusting sliding devices 9 and 10. Figure 11Almost all clamping rods 48 are shown in a fixed state. The only clamping rod 48 shown in its extended state, along with an external lateral sliding device 36, is indicated as open, allowing for sliding and / or adjustment.

[0097] Figure 11 and Figure 12 It is also shown that the supply line 50 can be configured in a spiral and / or coiled and flexible form. The spiral supply line 50 for supplying the support device 3 disposed on the lateral sliding devices 14, 36 can be at least partially filled by the corresponding guide sections 42 of the respective lateral sliding devices 14, 36. However, it is also possible that, according to Figure 12 In the example, the adjusting sliding devices 9, 10, 33 have at least two lateral sliding devices 14, 36 that are parallel to each other and can slide relative to each other, and the spiral supply line 50 is at least partially filled by the guide sections 42 of the respective adjacent and / or parallel lateral sliding devices 14, 36. In both of the aforementioned variations, the spiral supply line 50 can be stretched and / or expanded during linear extension or extension.

[0098] In addition, a spiral supply line 50 may be provided, which is at least partially filled by at least one of the guide rods 34 and 35 of the adjusting sliding device 9, 10, 33, or, as shown, the spiral supply line 50 may be provided between the two guide rods 34 and 35.

[0099] Figure 13 Another adjusting sliding device 9, 10, 33 with two lateral sliding devices 14, 36 is shown in a three-dimensional view. To avoid unnecessary repetition, the description in the preceding paragraphs is also referenced here, in particular... Figure 10 The description is as follows. To position the support device 3, multiple positioning openings 53 are provided on each of the transverse sliding devices 14, 36, and the support device 3 can be fixed in the positioning openings 53. The support device 3 can therefore adapt to the corresponding workpiece geometry of the workpiece 2 to be manipulated as needed. Furthermore, multiple support devices 3 can be positioned, and optionally, support devices 3 of different sizes can also be positioned. Figure 13 It is also shown that the lateral sliding device fixing device may include a pneumatic fixing device 52. Of course, the adjusting sliding device fixing device may also include a pneumatic fixing device 52. Here, according to this example, a spiral supply line 50 is configured and set to provide a vacuum to the support device 3. Advantageously, the spiral supply line 50 can also be used to provide the pneumatic fixing device 52. The spiral supply line 50 is filled from the guide sections 42 of the lateral sliding devices 14, 36.

[0100] Figure 14 -refer to Figure 12The illustration—showing a three-dimensional view—illustrates another exemplary embodiment of the gripping device 1. Again, in this case, to avoid unnecessary repetition, attention should be paid again to and / or referenced to the description in the preceding paragraphs, particularly... Figure 12 The description. Specifically, Figure 14 One embodiment is shown in which a movable energy chain 51 is configured along a first direction 13. Here, the energy chain 51 can be mounted on a support platform 4. These energy chains 51 are configured to slide the adjusting sliding devices 9, 10 and the guide rods 34, 35. One or more vacuum lines 29 are guided within the energy chain 51. These vacuum lines 29 are again fluidly connected to a spiral supply line 50 that fills the guide sections 42 of the transverse sliding devices 14, 36. Conversely, as... Figure 11 and Figure 12 As shown, in order to provide a vacuum to the lateral sliding devices 14, 36 and / or the support device 3, spiral supply lines 50 can be provided on the support platform 4. These spiral supply lines 50 are also fluidly connected to the spiral supply lines 50 that fill the guide sections 42 of the lateral sliding devices 14, 36.

[0101] The exemplary embodiments illustrate possible variations of the embodiments, wherein it should be noted that the invention is not limited to these specifically illustrated variations of the embodiments, but various combinations of the various variations of the embodiments are also possible, and the possibility of such variations arising from the teachings of the technical actions provided by the invention is within the capabilities of those skilled in the art.

[0102] The scope of protection is determined by the claims. However, the specification and drawings will be invoked to interpret the claims. Individual features or combinations of features from the different exemplary embodiments shown and described may represent independent inventive solutions. The purpose of the independent inventive solution can be derived from the specification.

[0103] Any and all specifications of the value range in the description discussed shall be understood to include any and all subranges of that range. For example, specifications 1 to 10 shall be understood to include any and all subranges that begin with a lower limit of 1 and end with an upper limit of 10. That is, any and all subranges that begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, such as 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

[0104] Finally, in terms of form, it should be noted that, for ease of understanding of the structure, some elements are not depicted to scale and / or their dimensions are enlarged and / or reduced.

[0105] List of reference numerals

[0106] 1 Clamping device

[0107] 2 workpieces

[0108] 3 Supporting devices

[0109] 4 Support Platforms

[0110] 5 connection interfaces

[0111] 6 articulated arms

[0112] 7 contact surfaces

[0113] 8 contact planes

[0114] 9 Adjusting sliding device

[0115] 10 Adjusting sliding device

[0116] 11 Adjusting the sliding device guide

[0117] 12 Adjustable sliding device guide

[0118] 13. First direction (x direction)

[0119] 14 Lateral sliding device

[0120] 15 Lateral Guides

[0121] 16. Second direction (y-direction)

[0122] 17 bottom

[0123] 18 Adjustable sliding device locking device

[0124] 19 bolts

[0125] 20-card connector

[0126] 21 First Standard

[0127] 22 Lateral sliding device locking device

[0128] 23 Second scale

[0129] 24-card connector

[0130] 25 rack

[0131] 26 tooth gaps

[0132] 27 supply units

[0133] 28 valve islands

[0134] 29 Vacuum lines

[0135] 30 vacuum pipes

[0136] 31 vacuum tube

[0137] 32 seals

[0138] 33 Another adjusting sliding device

[0139] 34 guide rods

[0140] 35 guide rod

[0141] 36 Other lateral sliding devices

[0142] 37 vacuum tube

[0143] 38 length

[0144] 39 front-end

[0145] 40 front-end

[0146] 41 Top surface

[0147] 42 Guide Section

[0148] 43 Horizontal axis

[0149] 44 Supporting device center

[0150] 45 Hollow Profile

[0151] 46-way indicator

[0152] 47 screws

[0153] 48 clamping rods

[0154] 49 Cam Rod

[0155] 50 spiral supply pipeline

[0156] 51 Energy Chain

[0157] 52 Pneumatic Fixing Device

[0158] 53 Positioning Opening

Claims

1. A gripping device (1) configured to receive a workpiece (2) to be conveyed and to release the workpiece again, the gripping device comprising: - Support platform (4), which has a bottom surface (17) and a top surface (41) opposite to the bottom surface (17). - The support platform (4) is provided with a connection interface (5) on the top surface (41), or is capable of being connected to the connection interface (5), which is configured to connect the gripping device (1) to the robotic arm. - Multiple support devices (3). - The supporting device (3) is configured to support the workpiece (2). - The supporting device (3) is connected to the supporting platform (4), and - The supporting device (3) has a contact surface (7) facing away from the bottom surface (17) of the supporting platform (4), and the contact surface (7) tauts a common contact plane (8). - A supply device (27) configured to enable and disable the support device (3). Its features are, - The support platform (4) is provided with at least two adjusting sliding device guides (11, 12) on the bottom surface (17), and - Equipped with at least two adjusting sliding devices (9, 10). - Each of the adjusting sliding devices (9, 10) is at least partially received or supported in at least one of the adjusting sliding device guides (11, 12), and - The adjusting sliding device (9, 10) can slide relative to the support platform (4) along a first direction (13) in the adjusting sliding device guide (11, 12). - At least one of the adjusting sliding devices (9, 10) is configured with at least one lateral guide (15), and - It is equipped with at least one lateral sliding device (14). - At least one of the supporting devices (3) is provided on the lateral sliding device (14), and - The lateral sliding device (14) is at least partially received or supported in the lateral guide (15), and - The lateral sliding device (14) is slidable relative to the adjusting sliding device (9, 10) in the lateral guide (15) along the second direction (16). - Wherein the first direction (13) and the second direction (16) are orthogonal to each other, Furthermore, the guide section (42) of the at least one lateral sliding device (14) is shaped and is received or supported in the at least one lateral guide (15), and The guide section (42) can extend linearly within the transverse guide (15).

2. The gripping device (1) according to claim 1, characterized in that, At least one of the adjusting sliding devices (9, 10) is configured with two parallel lateral guides (15), and an extendable lateral sliding device (14) is received in each lateral guide (15), wherein at least one of the supporting devices (3) is provided on each lateral sliding device (14), and wherein the supporting device (3) is configured on the end sections of the two lateral sliding devices (14), the end sections being opposite to each other.

3. The gripping device (1) according to claim 1, characterized in that, Each of the adjusting sliding devices (9, 10) is provided with an adjusting sliding device fixing device, which is independently actuated and configured to releasably fix the adjusting sliding device (9, 10) relative to the support platform (4) as needed, and / or the adjusting sliding device (9, 10) is provided with a lateral sliding device fixing device, which is configured to fix at least one lateral sliding device (14) relative to the adjusting sliding device (9, 10).

4. The gripping device (1) according to claim 3, characterized in that, At least one first scale (21) is arranged on the support platform (4) along the first direction (13), and / or a second scale (23) is arranged on the at least one lateral sliding device (14) along the second direction (16).

5. The gripping device (1) according to claim 3, characterized in that, The adjusting sliding device fixing device is configured as an adjusting sliding device locking device (18), and / or the lateral sliding device fixing device is configured as a lateral sliding device locking device (22), and the support platform (4) is provided with a plurality of locking recesses spaced equidistantly from each other along the first direction (13), and the locking element of the adjusting sliding device locking device (18) can engage with the locking recess of the support platform (4), and the lateral sliding device (14) is provided with a plurality of locking recesses spaced equidistantly from each other along the second direction (16), and the locking element of the lateral sliding device locking device (22) can engage with the locking recess of the lateral sliding device (14).

6. The gripping device (1) according to claim 5, characterized in that, The locking element of the adjusting sliding device locking device (18) and / or the locking element of the transverse sliding device locking device (22) are configured as bolts (19), which can engage with the locking recess of the support platform (4) and / or the locking recess of the transverse sliding device (14).

7. The gripping device (1) according to any one of claims 3 to 6, characterized in that, The adjusting sliding device fixing device includes at least one screw (47), wherein the clamping force between one of the adjusting sliding devices (9, 10) and the support platform (4) can be applied by the screw (47), and / or the lateral sliding device fixing device includes at least one screw (47), wherein the clamping force between the at least one lateral sliding device (14) and one of the adjusting sliding devices (9, 10) can be applied by the screw (47).

8. The gripping device (1) according to any one of claims 3 to 6, characterized in that, The adjusting sliding device fixing device includes at least one clamping rod (48), cam rod (49) or tension rod, wherein the clamping force between one of the adjusting sliding devices (9, 10) and the support platform (4) can be applied by the clamping rod (48), cam rod (49) or tension rod, and / or the lateral sliding device fixing device includes at least one clamping rod (48), cam rod (49) or tension rod, wherein the clamping force between at least one lateral sliding device (14) and one of the adjusting sliding devices (9, 10) can be applied by the clamping rod (48), cam rod (49) or tension rod.

9. The gripping device (1) according to any one of claims 3 to 6, characterized in that, The adjusting sliding device fixing device and / or the lateral sliding device fixing device includes a pneumatic fixing device (52).

10. The gripping device (1) according to any one of claims 1 to 6, characterized in that, The adjusting sliding device guide (11, 12) is configured as a prism track for form-fitting engagement with a portion of the adjusting sliding device (9, 10).

11. The gripping device (1) according to any one of claims 1 to 6, characterized in that, The guide section (42) of the at least one lateral sliding device (14) is at least partially configured with a hollow profile (45), which is configured as a vacuum conduit, wherein the vacuum conduit is fluidly connected to the supply device (27) and the at least one support device (3) disposed on the lateral sliding device (14).

12. The gripping device (1) according to any one of claims 1 to 6, characterized in that, It is equipped with at least one spiral supply line (50), which is configured to apply a vacuum to at least one of the support devices (3).

13. The gripping device (1) according to claim 12, characterized in that, The at least one spiral supply line (50) is at least partially filled by the guide section (42) of the at least one transverse sliding device (14).

14. The gripping device (1) according to any one of claims 1 to 6, characterized in that, The supply device (27) includes a valve island (28) which is fluidly connected to the support device (3) via a shut-off valve.

15. The gripping device (1) according to claim 1, characterized in that, Another adjusting sliding device (33) is provided, which includes a first guide rod (34) and a second guide rod (35), the guide rods (34, 35) being able to slide along the first direction (13), wherein the other adjusting sliding device (33) is able to extend linearly relative to the support platform (4) along the first direction (13) by means of the guide rods (34, 35).

16. The gripping device (1) according to claim 15, characterized in that, The device is configured with at least one other lateral sliding device (36), on which at least one support device (3) is provided, and the lateral sliding device (36) is at least partially received in the lateral guide (15) of the other adjusting sliding device (33), and the lateral sliding device (36) is slidable in the lateral guide (15) along the second direction (16) relative to the other adjusting sliding device (33), wherein the guide segment (42) of the other adjusting sliding device (33) is shaped, the guide segment (42) is received in the at least one lateral guide (15), and wherein the guide segment (42) is linearly extendable in the lateral guide (15).

17. The gripping device (1) according to claim 16, characterized in that, A vacuum tube (37) is arranged parallel to the guide rods (34, 35), the vacuum tube (37) can extend linearly relative to the support platform (4), and the vacuum tube (37) is fluidly connected to the supply device (27) and the at least one support device (3) disposed on the transverse sliding device (36), which is disposed on the other adjusting sliding device (33).

18. The gripping device (1) according to any one of claims 15 to 17, characterized in that, The at least one spiral supply line (50) is at least partially filled by at least one of the guide rods (34, 35) of the adjusting sliding device (9, 10), or the at least one spiral supply line (50) is disposed between two guide rods (34, 35).

19. The gripping device (1) according to any one of claims 15 to 17, characterized in that, The device is equipped with at least one energy chain (51) that is installed to move along the first direction (13), the energy chain (51) being configured to slide the adjusting sliding device (9, 10) and / or to slide the guide rod (34, 35), and to guide at least one vacuum line (29) in the energy chain (51).

20. The gripping device (1) according to any one of claims 1 to 6, 15 to 17, characterized in that, The workpiece is plate-shaped.

21. The gripping device (1) according to claim 4, characterized in that, The first scale (21) and the second scale (23) are arranged parallel to the contact plane (8) so that they are visible when the bottom surface (17) of the support platform (4) is observed.

22. The gripping device (1) according to claim 10, characterized in that, The adjusting sliding device guides (11, 12) are configured as prism tracks for form-fitting engagement with a portion of the two adjusting sliding devices (9, 10).

23. The gripping device (1) according to claim 15, characterized in that, The guide rods (34, 35) are guided through an opening at the front end (39, 40) of the support platform (4) or through a prism or contour track in the support platform (4).

24. The gripping device (1) according to claim 16, characterized in that, The guide section (42) is hollow and contoured.

25. A robotic arm configured to receive a workpiece (2) to be transported and to release the workpiece again, the robotic arm comprising a gripping device (1), characterized in that, The gripping device (1) is configured according to any one of claims 1 to 24.

26. The robotic arm according to claim 25, characterized in that, The workpiece is plate-shaped.

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