Grasping device and system including the gripping device

Abstract

The present invention relates to a gripping device (12) comprising a base member (58) connectable to a robot, at least one adapter portion (66, 67) movable along a gripping axis (42) on the base member (58), and at least one gripping element (38, 39) releasably locked onto the adapter portion, wherein the adapter portion includes a locking device (68a, 68b) having at least one locking element (70a, 70b) capable of locking the gripping element to the adapter portion in a locked position, characterized in that an unlocking element (76a, 76b) is arranged on the base member, the locking device being movable along the gripping axis to an unlocked position, in which the unlocking element moves the locking element from the locked position to a released position, in which the gripping element is released from the adapter portion.

Description

Technical Field

[0001] This invention relates to a gripping device. Background Technology

[0002] For example, DE102006045783A1 discloses a gripping device that works in conjunction with a robot to automatically, quickly, and accurately handle objects in a product environment. These objects include containers or workpieces, etc. Such gripping devices, as known in DE102006045783A1, have two movably arranged brackets on a housing, each bracket having a gripping element. The gripping elements are fixed to the brackets by corresponding screws.

[0003] EP3305480A1 discloses another gripping device having a base member and two brackets supported on the base member. The brackets are connected to quick-clamp adapters. Each quick-clamp adapter has a mechanical interface for releasably securing gripping elements to the interface. The mechanical interface includes a clamping spindle that is screwed onto the base.

[0004] The aforementioned gripping device is known in the prior art. When necessary, a suitable first gripping element can be replaced with a second gripping element suitable for other types of objects, for a specific type of object. However, during this exchange, operator intervention is required to loosen the screw connections to remove the first gripping element. The screw connections must then be manually re-engaged to secure the second gripping element. These operations increase auxiliary time in automated production environments. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a gripping device that allows for quick and easy replacement of gripping elements.

[0006] The purpose of this invention is to realize the grasping device mentioned in the introduction through the technical features of this invention.

[0007] The unlocking element is specifically arranged immovably on the base member and moves with it under all circumstances, thus following the robot's maneuvering movements, while the base member is typically fixed to the robot. However, the locking device can be moved relative to the base member and the unlocking element along the gripping axis to an unlocked position. In the unlocked position, the unlocking element moves the locking element out of the locked position and into a released position, where the gripping element can be released from the adapter portion. Thus, the locking device can be actuated by moving the adapter portion and the locking device along the gripping axis; external actuation of the locking device is unnecessary. Therefore, the gripping device designed according to the present invention allows for rapid replacement of the gripping element and enables the gripping device to quickly adapt to different types of objects.

[0008] The gripping device of the present invention is particularly advantageous in aseptic production environments because, in such environments, human intervention by operators that could potentially cause contamination is minimized. In particular, the aseptic production environment is an isolator, preferably a uncovered isolator.

[0009] At least one gripping element of the gripping device is preferably configured to handle a trough, basin, vial, sprayer, or cartridge. For example, a trough or basin can be removed from a storage container using a first gripping element. For example, a trough or basin may contain a vial, sprayer, or cartridge. By changing the gripping element on the gripping device, a single vial, sprayer, or cartridge can be gripped.

[0010] The gripping device has a drive unit for driving at least one adapter portion along the gripping axis to move a locking device to an unlocked position. The drive unit moves the adapter portion and the locking device together with its locking element along the gripping axis to a position where an unlocking element fixed relative to the gripping axis engages with the locking element and moves the locking element from a locked position to a released position.

[0011] Preferably, the gripping device has only one drive unit that drives the adapter portion and the gripping element in the manner described above. The gripping element can be releasably locked onto the adapter portion. Therefore, the same drive unit can perform the driving motion along the gripping axis to move the locking device to the unlocked position. This provides a gripping device with a simple and compact structure.

[0012] The drive unit is preferably in the form of an electric or pneumatic drive unit.

[0013] In another embodiment, the gripping device includes a monitoring device for monitoring the position of the adapter portion and / or the position and / or the location and / or the presence of a gripping element on the adapter portion. For example, the monitoring device is configured to monitor the position of the adapter portion relative to the base member along the gripping axis, and / or whether the locking element is in a locked or released position. Furthermore, the presence (or absence) of a gripping element on the adapter portion can also be checked. In this way, different functional states of the gripping device can be monitored, such as whether the gripping element is released and removable in the unlocked position of the locking device, or whether the gripping element is securely locked to the adapter portion in all other positions of the locking device.

[0014] Optionally, the grasping operation of the grasped object can also be monitored. The monitoring device particularly includes a camera system and / or at least one sensor, such as an inductive, optical, and / or capacitive sensor.

[0015] Preferably, the gripping device includes a control unit, wherein the control unit is used to control the drive unit and / or the monitoring device. If the control unit is used to control the drive unit, the movement of the gripping element along the gripping axis can be controlled by the control unit, particularly for gripping operations and / or for unlocking the gripping element.

[0016] Specifically, an input device connected to the control unit is provided, through which the operator can directly control the gripping equipment or pre-determine the automatic movement sequence of the gripping equipment.

[0017] The control device may also control only the monitoring device. However, the control device preferably controls both the drive unit and the monitoring device simultaneously. Therefore, the control device can control the drive unit while taking into account the parameters detected by the monitoring device. Specifically, this eliminates the need for operator monitoring during the object grasping and unlocking process.

[0018] Specifically, an output device connected to the control device is also provided. For example, if a malfunction is detected in the gripping device, such as when the monitoring device identifies that the gripping or locking elements are not in the correct position, the output device can output a warning signal.

[0019] Preferably, the unlocking position of the locking device corresponds to the end or reverse position of the adapter portion along the gripping axis. The end or reverse position of the adapter portion preferably corresponds to the gripping position where the gripping element is maximally open. Alternatively, the end or reverse position of the adapter portion corresponds to the gripping position of the gripping element, which is maximally closed. Because the end position or reverse position corresponds to the gripping position where the gripping element is maximally open or closed, the movement path of the gripping element for gripping motion is unrestricted or only minimally restricted. For example, the actuation path of the adapter portion corresponding to the transition of the locking element from the locked position to the released position is only a few millimeters, for example, 2 to 3 millimeters.

[0020] In a preferred embodiment, the gripping device takes the form of an external gripper that can grip an object to be gripped from the outside, wherein the unlock position corresponds to the external end and the reverse position, and the gripping position where the gripping element is opened to the maximum extent.

[0021] The locking device preferably includes a preload element for pushing the locking element into the locked position. The preload element is preferably in the form of a spring. The preload element ensures that the locking element remains in the locked position in all positions other than the unlocked position of the locking device. Therefore, it prevents the gripping element from being accidentally released from the adapter in all positions other than the unlocked position of the locking device.

[0022] In a preferred embodiment, the locking device has at least one stop disposed on the base member, which restricts the movement path of the locking element. In this way, at least one end position of the movable locking element can be defined. This end position preferably corresponds to a locked position or a released position.

[0023] If the locking element is preloaded in the direction toward the locked position, then limiting the movement path of the locking element in the locked position is particularly advantageous. This limitation ensures that at least part of the preload force remains effective in the locked position.

[0024] If the locking element is preloaded in the direction toward the locking position, it is particularly advantageous to restrict the movement path of the locking element in the release position. This restriction can define the release position of the preloaded element structure (size, geometry).

[0025] Specifically, during the movement between the locked and released positions, the locking element can move along a movement axis, which is preferably parallel to the gripping axis. Therefore, the locking element can move together with the adapter portion and move to the released position along the gripping axis or an axis parallel to it.

[0026] In a preferred embodiment, a locking element and a locking portion associated with a gripping element cooperate, wherein the locking element and the locking portion are connected to each other in a form-locking manner at the locking position of the locking element, wherein the form-locking connection preferably operates along a form-locking axis extending at an angle to the gripping axis, particularly perpendicular to the gripping axis.

[0027] When the locking element is in the locked position, the gripping element is held on the adapter portion by the locking portion along a shape-locking axis at an angle to the gripping axis, thereby locking the gripping element to the adapter portion in a releasable manner via the shape-locking connection. When the locking element moves to the release position, the shape-locking connection between the locking element and the locking portion is released, the release position relating to the gripping element unlocking from the adapter portion. The shape-locking connection is preferably configured to allow the gripping element to be held by the locking portion perpendicular to the gripping axis, particularly perpendicular to the contact plane between the gripping element and the adapter portion. The shape-locking connection between the locking element and the locking portion ensures that the gripping element is reliably held in all positions other than the unlocked position of the adapter portion.

[0028] Preferably, the gripping device has at least one retaining device independent of the locking device for retaining at least one gripping element on at least one adapter portion, wherein the retaining device has shape-locking elements associated with the gripping element and the adapter portion, which are shape-locked to each other along the gripping axis when they are connected together.

[0029] The shape-locking element holds the gripping element on the adapter portion along the gripping axis, preferably in both the locked and released positions, so that the gripping element will not move when viewed relative to the adapter portion along the gripping axis. The interlocking device is used to releasably interlock the gripping elements on the adapter portion, thereby preventing the gripping elements from uncontrollably detaching from the adapter portion when the locking element is in the released position.

[0030] Preferably, the holding device is configured such that the gripping element is guided along a guide axis on the adapter portion by a shape-locking element, wherein the guide axis preferably extends perpendicular to the gripping axis, so that the gripping element can be removed from the adapter portion in a direction perpendicular to the gripping axis and can be positioned on the adapter portion. Therefore, in the unlocked position of the adapter portion, the gripping element can be released from the adapter portion and manipulated by a manipulator (e.g., a robot).

[0031] In a preferred embodiment, the shape locking element includes a first shape locking element having a receiving region for receiving a protrusion formed on or by a second shape locking element.

[0032] The protrusion engages with the receiving area and holds the gripping element on the adapter portion. In the unlocked position of the adapter portion, the gripping element can be released from the adapter portion along the extension axis of the protrusion.

[0033] Specifically, a protrusion is formed on the gripping element, and a receiving area is formed on the adapter portion. In another alternative embodiment, the protrusion is formed on the adapter portion, while the receiving area is formed on the gripping element. In particular, the protrusion is in the form of a bolt, which can be introduced into the receiving area of ​​a first shape-locking element, the receiving area being in the form of a corresponding recess. When viewed along the gripping axis on the adapter portion, the bolt preferably holds the gripping element in a shape-locking manner; in this case, the gripping element can be positioned along the extension axis of the bolt on the adapter portion and can be removed from the adapter portion.

[0034] Preferably, the adapter portion has at least one negative pressure interface, which is connected to the negative pressure device of the gripping element. Through the negative pressure device and the corresponding gripping element formed on the gripping device, objects can be gripped in a negative pressure manner or in a support, non-shape-locking, and / or shape-locking manner.

[0035] In a preferred embodiment, the gripping device has two gripping elements that form a gripping element pair, wherein the gripping elements can be releasably locked onto corresponding adapter portions of the base member, and the gripping elements can be moved, in particular driven, along the gripping axis in opposite directions.

[0036] Two gripping elements can move in opposite directions along the gripping axis, allowing objects to be gripped from both sides. Furthermore, the adapter portion can be moved along the gripping axis to a corresponding unlocked position via symmetrically arranged unlocking elements (preferably both gripping elements unlock simultaneously). When gripping with two gripping elements, objects can be gripped precisely and centrally from both sides. The object will not tip over. In this case, the gripping device can be either an internal gripper or an external gripper. The structure of the gripping element pair is particularly suitable for gripping objects in shape-locking and / or non-shape-locking manners.

[0037] The present invention also relates to a system comprising the gripping device described above, the gripping device having a first gripping element pair, a second gripping element pair, a storage container and a robot, wherein a base component of the gripping device is arranged on the working area of ​​the robot, the first gripping element pair or the second gripping element pair is optionally releasably locked to an adapter portion of the base component, and the other gripping element pair is stored in the storage container.

[0038] Therefore, neither the first gripping element pair, nor the second gripping element pair, nor both gripping element pairs are locked to the adapter portion of the base member. The robot allows the gripping element pairs coupled to the object to be gripped to move. After the object is gripped, the robot can carry the gripped object to another location or place by coupling the gripping element pairs.

[0039] According to the system of the present invention, the first pair of gripping elements locked on the adapter portion can be automatically unlocked. Furthermore, the unlocked pair of gripping elements can be automatically stored in a storage container by a robot, and the second pair of gripping elements can be releasably locked on the adapter portion.

[0040] One advantageous aspect is that the system allows for automatic replacement between the first and second gripping element pairs. Automatic replacement between different gripping element pairs allows for flexible and efficient use of the system in automated production environments. In particular, it can grip objects of different sizes and shapes. Preferably, additional gripping element pairs are stored in the reservoir according to the intended application.

[0041] The storage unit preferably has storage sections, each configured to store a pair of gripping elements. Removal of the first pair of gripping elements from the adapter section of the gripping device and connection of the adapter section to the second pair of gripping elements are preferably performed in the unlocked position of the locking device, so that the locking element remains in its released position during the exchange of gripping element pairs.

[0042] In a preferred embodiment, with the gripping element pair stored on one of the storage sections, the gripping element pair is held in or on the storage container in a shape-locking manner. The storage container and the gripping elements have corresponding shape-locking elements. The shape-locking retention of the gripping element pair allows for selective storage of the gripping element pair and accurate reception in a positional manner. Attached Figure Description

[0043] Other features and advantages of the present invention will be set forth in the following description and in the accompanying drawings of preferred exemplary embodiments. In the drawings: Figure 1 A perspective view of a system with a gripping device is shown; Figure 2 It shows Figure 1 A perspective view of the gripping device shown; Figure 3a A top view of the gripping device is shown, with a cross-section of the top view in... Figure 2 The symbol "III" is used to illustrate the two gripping elements of the gripping device, with the first gripping position as an example. Figure 3b It shows Figure 3a Enlarged view of the portion represented as IIIb in the diagram; Figure 4a It shows the relationship with Figure 3a The corresponding top view shows the gripping element in another open gripping position, but it is still usable; Figure 4b It shows Figure 4a Enlarged view of the portion represented as IVb; Figure 5a It shows the relationship with Figure 4a The corresponding top view shows that the gripping element is further opened via the drive path of the locking device of the gripping equipment; Figure 5b It shows Figure 5a A magnified view of the portion represented as Vb; Figure 6 It shows Figure 5a The image shows a front view of the gripping device, but without any gripping components; and Figure 7 A top view of one of the gripping elements is shown. Detailed Implementation

[0044] Figure 1 A system, generally designated 10, is shown. System 10 includes a gripping device 12 and a robot 14, which preferably has multiple degrees of freedom of motion. For example, system 10 is deployed in a sterile production environment.

[0045] The frame 16 of robot 14 is preferably fixed, and the frame axis 18 is preferably vertical. The frame 16 consists of two parts. A first frame member 20 is fixed to the bottom surface of a retaining member (not shown) or the production environment and is immovable. The first frame member 20 forms the base of robot 14. A second frame member 22 is arranged adjacent to the first frame member 20 along the frame axis 18 and is rotatable relative to the first frame member 20 about the frame axis 18. The second frame member 22 forms the shoulder of robot 14, wherein the frame axis 18 forms the first of six preferred axes of robot 14.

[0046] Robot 14 has a robotic arm 26, which is movably hinged to a second frame member 22 via a first hinge 24. The robotic arm 26 has three arm sections 30a, 30b, and 30c, which are hinged together via intermediate hinge sections 28a and 28b. The hinge rotation axes 32a, 32b, and 32c associated with the first hinge 24 and the intermediate hinge sections 28a and 28b preferably extend transversely to the frame axis 18, and particularly perpendicularly to the frame axis 18.

[0047] The robotic arm 26 has an end portion 34 located away from the frame 16, on which the working area 36 of the robot 14 is disposed. The gripping device 12 is disposed on the working area 36.

[0048] The gripping device 12 has two releasably locked gripping elements 38 and 39. The two gripping elements 38 and 39 constitute a gripping element pair 40. The gripping elements 38 and 39 are movable along a gripping axis 42 in opposite directions to each other. The gripping axis 42 is oriented, for example, orthogonal to the frame axis 18.

[0049] The multi-articulated robot 14 can bring the gripping device 12 into any position and orientation within the production environment. In the embodiment shown in the figure, the gripping device 12 has gripping elements 38 and 39 configured to grip an object 44, similar to a petri dish. Gripping elements 38 and 39 perform gripping movements along a gripping axis 42. Once the gripping elements 38 and 39 have gripped the object 44, the robot 14 can manipulate the object 44 together with the gripping device 12.

[0050] System 10 also includes a storage container 46 and a storage container 48 containing objects 44 that can be retrieved from them. The storage container 46 and the storage container 48 are located within the maneuvering range of robot 14.

[0051] The storage container 46 preferably has at least two mutually separated storage portions 50a, 50b. Each storage portion 50a, 50b is configured to store at least one pair of gripping elements 40. For this purpose, each storage portion 50a, 50b has at least two, for example, bolt-shaped shape-locking elements 52a, 52b. Each gripping element 38 and 39 of the gripping element pair 40 has shape-locking elements 54a, 54b corresponding to these shape-locking elements 52a, 52b, for example, these shape-locking elements are cylindrical recesses 56a and 56b. The gripping elements 38 and 39 in the gripping element pair 40 are held in a shape-locking manner on the shape-locking elements 52a and 52b via the recesses 56a and 56b, and are thus stored on the storage container 46 or on one of the storage portions 50a, 50b in the storage container 46, and releasably fixed in that position.

[0052] Figure 2 The gripping device 12 of system 10 and the object 44 being gripped are shown. The gripping device 12 has a block-shaped base member 58. A robot interface 62 is disposed on a first side 60 of the base member 58 facing the robot 14. The base member 58 can be releasably connected to the working area 36 of the robot 14 via the robot interface 62.

[0053] Two adapter portions 66 and 67, placed on the base member 58, are arranged adjacent to the other side 64 of the base member 58. The adapter portions 66 and 67 are movable relative to the base member 58 in opposite directions of motion, which are parallel to the gripping axis 42.

[0054] Locking devices 68a and 68b are associated with two adapter portions 66 and 67, respectively. These locking devices 68a and 68b can be integrated into adapter portions 66 and 67. Figure 2 (The broken line is used to represent the middle part).

[0055] Locking devices 68a and 68b each have locking elements 70a and 70b. Locking elements 70a and 70b extend parallel to the gripping axis 42, protrude from corresponding adapter portions 66 and 67 through corresponding recesses 72a and 72b, and are movable relative to the corresponding adapter portions 66 and 67.

[0056] Locking elements 70a and 70b are particularly capable of moving along the corresponding axes of motion 74a and 74b (see...) Figure 4a The two axes of motion are oriented in particular to be parallel to the grasping axis 42.

[0057] Each locking device 68a, 68b is used to releasably lock the gripping elements 38, 39 onto one of the adapter portions 66, 67. The locking devices 68a, 68b move together with the corresponding adapter portions 66, 67 along the gripping axis 42.

[0058] To unlock the gripping elements 38 and 39, two unlocking elements 76a and 76b are provided, fixed to the base member 58. Unlocking elements 76a and 76b are, for example, bolt-shaped stops that extend into the movement space of the adapter portions 66 and 67. Unlocking elements 76a and 76b protrude perpendicularly to an additional side 64 of the base member 58. Unlocking elements 76a and 76b move together with the base member 58 of the gripping device 12, thereby following the manipulatory movements of the robot 14.

[0059] For example, in Figure 3a In the state shown, gripping elements 38 and 39 are in the first gripping position, wherein the gripping elements are locked on the corresponding adapter parts 66 and 67.

[0060] Figure 3a and Figure 3b A cross-sectional view of the base member 58 and the adapter portion 66 is shown. Figure 3b The locking device 68a has been enlarged.

[0061] The adapter 67 and the locking device 68b have the same mirror-symmetric structure as the adapter 66 and the locking device 68a.

[0062] exist Figure 3b In the state shown, the locking element 70a is in the locked position, wherein the locking element 70a engages with the locking portion 78 associated with the gripping element 38 in a shape-locking manner.

[0063] Figure 7 The locking portion 78 is described separately. The locking element 70a and the locking portion 78 are preferably connected in a shape-locking manner along a shape-locking axis 80, which is oriented, for example, perpendicular to the gripping axis 42. The locking portion 78 has an annular groove 82 that surrounds the shape-locking axis 80.

[0064] The locking element 70a has a locking region 88 at one end. When viewed along the shape-locking axis 80 in the locked position of the locking element 70a, the locking region 88 engages with the groove 82 of the locking portion 78 of the gripping element 38 in a shape-locking manner.

[0065] In this way, the gripping element 38 is locked onto the adapter portion 66. This state of the locking device 68a is as follows: Figure 3b As shown.

[0066] Locking element 70a has a recess 84 located at its longitudinal center. In the released position of locking element 70a, the recess 84 is located at the height of the groove 82 of the locking portion 78 of gripping element 38, see [reference needed]. Figure 5bIn this state, the locking region 88 is arranged outside the groove 82 of the locking portion 78 of the gripping element 38, thereby releasing the shape-locking connection and allowing the gripping element 38 to be released from the adapter portion 66 along the shape-locking axis 80.

[0067] The locking device 68a has a preload element 86, which is preferably in the form of a pressure spring. For example, the preload element 86 is arranged at the end of the locking element 70a opposite to the unlocking element 76a. The locking element 70a is preloaded to the locked position along the motion axis 74a by the preload element 86.

[0068] The locking device 68a also includes a stop 90, which is securely connected to the adapter portion 66, for example, by means of a bolt. The stop 90 is oriented transversely to the axis of motion 74a of the locking element 70a and protrudes into the recess 84 of the locking element 70a.

[0069] The stop 90 is used to limit the movement path of the locking element 70a along the motion axis 74a and to define the end position of the locking element 70a. In the locked position (see...) Figure 3b ) and release location (see Figure 5b The stop 90 abuts against one of the two end limits of the recess 84 with different outer surfaces.

[0070] The gripping device 12 has a holding device 92 independent of the locking devices 68a, 68b, which operates between the adapter portions 66, 67 and the gripping elements 38, 39.

[0071] The retaining device 92 is used to releasably retain the gripping elements 38, 39 on the adapter portions 66, 67 and to prevent the gripping elements 38, 39 from falling off the adapter portions 66, 67 in an uncontrolled manner when the locking elements 70a, 70b are in the released position.

[0072] Each holding device 92 has shape locking elements 94, 96. For example, the shape locking element 94 is in the form of a receiving area, which is disposed in the adapter portions 66 and 67 and is used to receive the shape locking element 96, and the shape locking element 96 is in the form of a protrusion and is disposed on the gripping elements 38 and 39.

[0073] The shape locking elements 94, 96 are configured such that each gripping element 38, 39 is guided on the adapter portions 66 and 67 along at least one guide axis 98 via the shape locking elements 94, 96. At least one guide axis 98 is oriented, in particular, perpendicular to the gripping axis 42. In the released position of the locking elements 70a, 70b, the gripping elements 38, 39 can be removed from the adapter portions 66, 67 along the guide axis 98.

[0074] The adapter portions 66 and 67 also have an opening 97 for introducing the locking portion 78, see [link to relevant documentation]. Figure 6 .

[0075] At least one adapter portion 66, 67 advantageously has at least one negative pressure interface 100, which is connected to a negative pressure device (not shown) of the gripping element 38. The negative pressure device allows for gripping of objects entirely by negative pressure. Alternatively, the negative pressure device can support mechanical gripping of objects by negative pressure.

[0076] The gripping device 12 has a drive unit 102 for driving the adapter parts 66, 67 to move along the drive axis 42 (see [link]). Figure 3a The drive unit 102 is specifically arranged inside the base 58. The drive unit 102 includes, for example, a motor.

[0077] The drive unit 102 drives the two adapter parts 66, 67, for example, through a gear mechanism or a traction device mechanism, such as through a rack arranged on each adapter part 66, 67, the rack meshing with the circumferential offset portion of the drive wheel of the drive unit 102.

[0078] The drive unit 102 enables gripping movements for grasping and releasing the object 44, as well as drive movements for moving the locking devices 68a and 68b from the locked position to the unlocked position. In the unlocked position, both locking elements 70a and 70b are in the released position.

[0079] During the grasping motion, the adapters 66 and 67, along with the grasping elements 38 and 39, move closer to each other; when the object 44 is released and moves to the unlocked position, the adapters 66 and 67, along with the grasping elements 38 and 39, move further apart.

[0080] Optionally, the gripping device 12 has a control device 104. For example... Figure 3a As shown. For example, a control device 104 is arranged in the base 58 for controlling the drive unit 102. The movement of the adapter parts 66, 67 and the gripping elements 38, 39 along the gripping axis 42 can be controlled by the control device.

[0081] Optionally, the grasping device 12 includes a monitoring device 106. A schematic diagram of the monitoring device is shown below. Figure 3a As shown. The monitoring device 106 includes, for example, a camera system and / or at least one sensor, which may be in the form of an inductive, optical, and / or capacitive sensor.

[0082] The monitoring device 106 monitors the position of the adapter parts 66, 67 and / or the position of the positioning and / or locking elements 70a, 70b and / or the presence of the gripping elements 38, 39 on the corresponding adapter parts 66, 67.

[0083] The monitoring device 106 can communicate with the control device 104. Therefore, the control device 104 can control the drive unit 102 and take into account the parameters detected by the monitoring device 106. Therefore, grasping the object 44 and releasing the gripping elements 38, 39 do not require any monitoring by the operator.

[0084] Figure 3a and 3b This indicates the state of the locking device 68a when the locking element 70a is in the locked position. Based on this, Figure 4a and 4b as well as Figure 5a and 5b The state of the locking device 68a during the movement of the locking element 70a to the release position is shown, from the start of the actuation movement (see [link]). Figure 4a and 4b From the end of the actuation motion (see...) Figure 5a and 5b ).

[0085] To move the locking devices 68a and 68b to their respective unlocked positions, the drive unit 102 drives the adapter parts 66 and 67, which move apart along the gripping axis 42. Figure 4a and Figure 4b In this configuration, the adapter portions 66 and 67 are positioned with the locking elements 70a and 70b such that the end faces 108a and 108b of the extending adapter portions 66 and 67 of the locking elements 70a and 70b respectively contact the corresponding unlocking elements 76a and 76b. Preferably, the contact occurs without lateral force within the actuation plane 110 perpendicular to the gripping axis 42.

[0086] exist Figure 4a and Figure 4b In the state shown, locking elements 70a and 70b are still in the locked position. Figure 4a and Figure 4b The state shown corresponds to the maximum available spacing of gripping elements 38 and 39 during the gripping operation.

[0087] If the adapter parts 66 and 67 are driven in this way, causing them to... Figure 4a and Figure 4b If the shown state is further moved towards the unlocking elements 76a and 76b, the corresponding contact between the locking elements 70a and 70b and the corresponding unlocking elements 76a and 76b will cause the locking elements 70a and 70b to no longer move with the adapter portions 66 and 67, but instead enter the adapter portions 66 and 67 along their movement axes 74a and 74b in the opposite direction to the movement of the adapter portions 66 and 67. In this way, the locking elements 70a and 70b are moved to the corresponding release position. As described above, the maximum movement path of the locking elements 70a and 70b is defined by the stop 90.

[0088] After the locking elements 70a, 70b and the corresponding unlocking elements 76a, 76b make contact from the initial spacing, there is no further relative movement between the locking elements 70a, 70b and the corresponding unlocking elements 76a, 76b during the movement of the locking elements 70a, 70b to their respective release positions. This avoids friction and material wear, which is particularly advantageous for using the gripping device 12 in a sterile environment.

[0089] During the movement of locking elements 70a and 70b to their respective release positions, preload element 86 is further compressed in the opposite direction to its corresponding preload force.

[0090] With locking elements 70a and 70b in the released position, locking devices 68a and 68b are in the unlocked position. See [reference needed]. Figure 5a and 5b The gripping elements 38 and 39 are unlocked in this unlocked position and can be released from the adapter portions 66 and 67, or they can initially remain in this position by means of the retaining device 92.

[0091] Optionally, robot 14 brings the gripping elements 38, 39 of the first gripping element pair 40 to the storage 46, such as the free storage portion 50a of the storage 46.

[0092] Subsequently, robot 14 can remove the gripping elements of the second gripping element pair 41 from another storage section 50b, and use holding device 92 there to continue to hold these gripping elements in a releasable manner.

[0093] However, if the drive unit 102 moves the adapter parts 66, 67 out of the unlocked position again, the preload element 86 will move the locking elements 70a, 70b to the corresponding locking position, thereby achieving, for example, Figure 4a and Figure 4b The state shown.

[0094] In the exemplary embodiment shown in the figure, the gripping device 12 is in the form of an external gripper. It is understood that the gripping device 12 may also be in the form of an internal gripper.

Claims

1. A gripping device (12) comprising a base member (58) connectable to a robot (14), at least one adapter portion (66, 67) movable on the base member (58) along a gripping axis (42), and at least one gripping element (38, 39) releasably locked onto the adapter portion (66, 67), wherein, The adapter portions (66, 67) include locking devices (68a, 68b) having at least one locking element (70a, 70b), the locking element being capable of locking the gripping element (38, 39) to the adapter portions (66, 67) in a locked position, the locking device (68a, 68b) being capable of moving along the gripping axis (42) to an unlocked position, in which the locking element (70a, 70b) is capable of moving from the locked position to a released position, in which the gripping element (38, 39) is capable of releasing from the adapter portions (66, 67). Its features are, The gripping device (12) has a drive unit (102) for driving the at least one adapter portion (66, 67) and at least one gripping element (38, 39) along the gripping axis (42), such that the locking device (68a, 68b) can move to the unlocked position. Unlocking elements (76a, 76b) are arranged on the base component (58). The unlocking elements (76a, 76b) contact the locking elements (70a, 70b) in the unlocked position of the locking devices (68a, 68b) and move the locking elements (70a, 70b) from the locked position to the released position.

2. The gripping device (12) according to claim 1, characterized in that, The gripping device (12) has a monitoring device (106) that can monitor the positioning and / or location of the adapter (66, 67) and / or the positioning and / or location of the locking element (70a, 70b) and / or the presence of the gripping element (38, 39) on the adapter (66, 67).

3. The gripping device (12) according to claim 2, characterized in that, The gripping device (12) includes a control device (104), wherein the control device (104) is configured to control the drive unit (102) and / or the monitoring device (106).

4. The gripping device (12) according to any one of claims 1-3, characterized in that, The unlocking position of the locking device (68a, 68b) corresponds to the end or reverse position of the adapter portion (66, 67) along the gripping axis (42).

5. The gripping device (12) according to any one of claims 1-3, characterized in that, The locking device includes a preload element for pressing the locking element into the locking position.

6. The gripping device (12) according to any one of claims 1-3, characterized in that, The locking device (68a, 68b) has at least one stop (90) arranged on the base member (58) and restricting the movement path of the locking element (70a, 70b).

7. The gripping device (12) according to any one of claims 1-3, characterized in that, The locking elements (70a, 70b) are capable of moving along motion axes (74a, 74b) that are oriented parallel to the gripping axis (42) during their movement between the locked and released positions.

8. The gripping device (12) according to any one of claims 1-3, characterized in that, The locking elements (70a, 70b) cooperate with the locking portion (78), which is associated with the gripping elements (38, 39), wherein the locking elements (70a, 70b) and the locking portion are connected to each other in a shape-locked manner at the locking position of the locking elements.

9. The gripping device (12) according to claim 8, characterized in that, The shape-locking connection operates along the shape-locking axis (80), which extends at an angle to the gripping axis (42).

10. The gripping device (12) according to claim 9, characterized in that, The shape locking axis extends perpendicular to the gripping axis (42).

11. The gripping device (12) according to any one of claims 1-3 and 9-10, characterized in that, The gripping device (12) has at least one retaining device (92) independent of the locking device (68a, 68b), the retaining device being used to hold the at least one gripping element (38, 39) on the at least one adapter portion (66, 67), wherein the retaining device (92) has shape locking elements (94, 96) associated with the gripping element (38, 39) and the adapter portion (66, 67), the shape locking elements (94, 96) being shape locked to each other along the gripping axis (42) when they are engaged together.

12. The gripping device (12) according to claim 11, characterized in that, The shape locking elements (94, 96) include a first shape locking element (94) having a receiving area for receiving a protrusion formed on or by the second shape locking element (96).

13. The gripping device (12) according to any one of claims 1-3, 9-10 and 12, characterized in that, The adapter (66, 67) has at least one negative pressure connection (100) which is connected to the negative pressure device of the gripping element.

14. The gripping device (12) according to any one of claims 1-3, 9-10 and 12, characterized in that, When the base component (58) is connected to the robot (14), the unlocking elements (76a, 76b) follow the manipulation movements of the robot (14).

15. The gripping device (12) according to any one of claims 1-3, 9-10 and 12, characterized in that, The unlocking elements (76a, 76b) are arranged immovably on the base member (58), or the unlocking elements (76a, 76b) move independently of the adapter portion (66, 67) relative to the base member (58).

16. The gripping device (12) according to any one of claims 1-3, 9-10 and 12, characterized in that, The gripping device (12) has two gripping elements (38, 39) forming a gripping element pair, wherein the gripping elements (38, 39) are capable of moving in opposite directions along the gripping axis (42).

17. The gripping device (12) according to claim 16, characterized in that, The gripping elements (38, 39) can be released and locked to the corresponding adapter portions (66, 67) of the base member (58), and the gripping elements (38, 39) can be driven in opposite directions along the gripping axis (42).

18. A system (10) comprising a gripping device (12) according to claim 16 having a first gripping element pair (40), further comprising a second gripping element pair (41), a reservoir (46), and a robot (14), wherein, The base component (58) of the gripping device (12) is arranged in the working area (36) of the robot (14), and the first gripping element pair (40) or the second gripping element pair (41) can be released and locked to the adapter portion (66, 67) of the base component (58), and the other gripping element pair can be stored in the storage container (46).

19. The system according to claim 18, characterized in that, The storage unit (46) has storage sections (50a, 50b), each of which is configured to store a pair of gripping elements.

20. The system according to claim 19, characterized in that, With the grasping element pair stored on one of the storage sections (50a, 50b), the grasping element pair is held in or on the storage container (46) in a shape-locking manner.

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