Gripping system for arm of operating robot and operating robot

Abstract

The invention relates to a gripping system (10) for operating an arm (1) of a robot (100), comprising a connecting bracket (12), which has a first interface (22), which is designed to be connected to the arm (1) of the robot (100), the gripping system further comprises a plurality of second interfaces (33) which are arranged on the connecting bracket (12) in the region of the connecting module (25) and are designed to be connected to each holding module (30), each holding module (30) having a third interface (46) for interacting with the second interface (33) of the connecting module (25) and at least two fourth interfaces (48) for interacting with the second interface (33) of the connecting module (25). The at least two fourth interfaces are designed to be connected to a respective third interface (46) of the holding module (30), and wherein at least a part of the holding module (30), preferably all of the holding modules (30), has a gripping or holding element (35).

Description

Technical Field

[0001] The invention relates to a gripping system for an arm of a handling robot, which is distinguished by being particularly simple and flexible to adapt to different objects to be handled. In addition, the invention also relates to a handling robot equipped with the gripping system according to the invention for holding objects. Background Art

[0002] DE 10 2021 200 202 A1 of the present applicant discloses a gripper for a robot, which has a gripper at the end of a robot arm, which is designed to hold an object. Such grippers usually have gripping fingers that can be actuated pneumatically or electrically, or they are designed in the form of vacuum extractors. Such grippers are particularly suitable for gripping relatively simple or small objects and conveying them, for example, to different processing stations. Summary of the invention

[0003] The gripping system according to the invention for handling the arm of a robot with the features of claim 1 has the advantage that it can be adapted in a particularly simple manner to differently shaped or geometrically different objects to be handled. The invention is based on the idea of ​​providing differently constructed arrangements of gripping or holding elements by means of a modular building block system, whereby the gripping system can be particularly well and simply adjusted to the specific geometry or shape of the object. The gripping system according to the invention makes it possible, in particular, to adapt the gripping system to different tasks or held objects very easily using a coupling module and differently arranged and optionally different numbers of holding modules connectable to the coupling module.

[0004] In the context of the above explanation, it is therefore provided that in a gripping system according to the invention for an arm of a handling robot, the gripping system comprises a connecting bracket having a first interface, which is designed to be connected to the arm of the handling robot. In addition, a plurality of second interfaces are provided, which are arranged on the connecting bracket in the region of the connecting modules, and which are designed to be connected to the holding modules, respectively, wherein each holding module has a third interface for cooperating with the second interface of the connecting module and at least two fourth interfaces, which are designed to be connected to a third interface of each holding module. At least some, preferably all, of the holding modules have gripping or holding elements, wherein the connecting modules in the region of the second interfaces and the holding modules in the region of their interfaces each have a polygonal cross section, wherein the connecting modules in the region of the second interfaces and the holding modules in the region of their interfaces are arranged at the height of a common plane, and wherein the second interfaces are arranged on the connecting modules and the interfaces of the holding modules are held on side surfaces extending perpendicularly to the common plane.

[0005] Advantageous further developments of the gripping system according to the invention for handling an arm of a robot are listed in the dependent claims.

[0006] Depending on the type or shape of the objects to be handled, the gripping or holding element can be designed, for example, as a vacuum extractor or as a pneumatically or electrically actuatable gripping or holding element.

[0007] For example, plate-shaped objects can be held very simply and conveniently with a gripping or holding element designed as a vacuum extractor, the arrangement of the holding modules being adapted to the shape of the plate. In particular, when handling thin plates, such as those with a high weight (as is the case with aluminum or steel plates), bending of the plate can be avoided, which would otherwise have a negative effect on holding the plate by means of the gripping system.

[0008] In order to realize different arrangements of holding modules or different shapes of gripping systems, it is preferably provided that the cross-sections of the connecting modules and the holding modules are each designed as squares or hexagons and have the same size. The holding modules can thus be easily arranged on other sides or on the surfaces of other holding modules and in particular also avoid gaps between the holding modules and thus large spacings between gripping or holding elements.

[0009] Such a gripping system consisting of a connecting module and a plurality of holding modules preferably forms a linear, circular or star-shaped arrangement.

[0010] For the (mechanical) connection of the individual modules to one another, it is preferably provided that the holding module has a mechanically / pneumatically operating locking unit of identical design in the region of the third interface.

[0011] In a preferred design of the structural design of this locking unit, the locking unit includes two balls, which are loaded with force via the spring force of at least one spring element, wherein the balls are constructed to be embedded in a receptacle in the area of ​​the second interface of the connecting module or the fourth interface of the retaining module in order to connect to another retaining module or to a connecting module.

[0012] Furthermore, it is preferably provided that the locking unit can be actuated pneumatically for deactivation, wherein, when pressure is applied, the push rod cooperating with the spring element moves the ball into the unlocking position.

[0013] In order to be able to further adapt the gripping system to different objects or to possibly particularly sensitive objects, it can be provided that the holding module has additional connections, preferably electrical connections, for transmitting signals from the sensor element of the holding module.

[0014] Furthermore, the present invention also comprises a handling robot which has the gripping system according to the present invention described above for holding objects.

[0015] In addition, the present invention also includes a holding module for a gripping system, in particular the described gripping system, wherein the holding module has a third interface for cooperating with a second interface of a connecting module and at least one, preferably at least two, fourth interfaces, wherein at least one fourth interface is constructed for connection to a respective third interface of another holding module, wherein the holding module has a gripping or holding element, and wherein the holding module has a polygonal cross-section.

[0016] Further advantages, features and details of the invention emerge from the following description of preferred specific embodiments of the invention and with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A perspective view of a gripping system for an arm of a handling robot is shown, the gripping system having a plurality of holding modules arranged at a connecting bracket;

[0018] Figure 2 A cross section of the holding module is shown to illustrate the locking unit, and

[0019] Figure 3a to Figure 3d The perspective views show different arrangements of the holding modules on the connecting bracket. DETAILED DESCRIPTION

[0020] Identical elements or elements having the same function are provided with the same reference symbols in the figures.

[0021] exist Figure 11 shows a gripping system 10 for manipulating an arm 1, which is only partially shown, of a robot 100. The gripping system 10 is used to hold or manipulate objects G, such as steel plates or similar objects G. However, the invention is to be restricted to the manipulation of plates as objects G.

[0022] The gripping system 10 has a connecting bracket 12, which has a cylindrical first section 14 with a longitudinal axis 16. A second section projects laterally from the first section 14 as a connecting section 18 with a connecting plate 20. The connecting plate 20 forms a first interface 22 for connecting the connecting bracket 12 to the arm 1 of the handling robot 100. The connection to the arm 1 can be accomplished, for example, by means of a screw connection or a similar connecting element at the connecting plate 20.

[0023] The first section 14 of the connecting bracket 12 has a connecting module 25 on the side facing away from the connecting section 18. The connecting module 25 is used to connect the connecting bracket 12 to at least one, preferably to a plurality of holding modules 30. The connecting module 25 has a polygonal cross section, in the illustrated embodiment, a hexagonal cross section, in a plane extending perpendicular to the longitudinal axis 16.

[0024] On side surfaces 31 which define the cross section of the connecting module 25 and extend parallel to the longitudinal axis 16, the connecting module 25 respectively forms a second interface 33 for connection to a holding module 30. The holding modules 30 also respectively have a polygonal or hexagonal cross section in a direction extending perpendicularly to the longitudinal axis 16, wherein the holding modules 30 are designed to be identical and wherein the cross sections of the connecting module 25 and the holding modules 30 are the same size.

[0025] In addition, it is mentioned that instead of a hexagonal cross section of the connecting module 25 on the connecting bracket 12 and of the holding module 30 , in particular a triangular or square cross section can also be provided.

[0026] On the side facing away from the connecting section 18, the holding modules 30 each have a gripping or holding element 35. In the exemplary embodiment, the gripping or holding element 35 is designed in the form of a vacuum extractor 36 at each holding module 30. The connecting module 25 and the holding module 30 are arranged in a common plane 38 extending perpendicularly to the longitudinal axis 16, as viewed in the direction of the longitudinal axis 16. As a result, the gripping or holding element 35 or the vacuum extractor 36 are at the same distance from the (flat) object G, even if the arm 1 is aligned accordingly.

[0027] In order to be able to connect the holding module 30 to the connecting bracket 12 in the area of ​​the second interface 33 of the connecting module 25 and to connect the holding modules 30 to each other, the connecting module 25 has a receiving opening 40 at its second interface 33, and the holding module 30 has a protrusion 44 in the area of ​​the (only one) side surface 42 as a third interface 46 and a receiving opening 45 in the area of ​​the other (five) side surfaces 43 as a fourth interface 48 ( Figure 2 ).

[0028] The dimensions or geometries of the blind hole-like receiving openings 40 and 45, for example rectangular cross sections, are identical, wherein the cuboid-shaped projections 44 cooperate with the receiving openings 40, 45 in a form-fitting manner such that the blind hole-like receiving openings 40 and 45 are arranged in a manner such that the blind hole-like receiving openings 40 and 45 are arranged in a manner such that the blind hole-like receiving openings 40 and 45 are arranged in a form-fitting ... Figure 1 Not only do the holding modules 30 bear against the connecting modules 25 of the connecting bracket 12 , but the holding modules 30 also bear against one another in direct abutting contact in the region of their respective side surfaces 31 , 42 and 43 .

[0029] The connection between the holding modules 30 and between the holding modules 30 and the connecting modules 25 of the connecting bracket 12 is respectively achieved by a mechanical / pneumatic locking unit 50 arranged in the region of the holding modules 30, the structure of the locking unit being Figure 2 Each holding module 30 thus has a receiving space 52 in the region of the projection 44, in which two locking elements in the form of (metallic) locking balls 53, 54 are arranged. The locking balls 53, 54 are arranged in a manner similar to the locking balls 53, 54 of the embodiment of the present invention. Figure 2 In the locking position shown in FIG, the locking balls 53 and 54 partially protrude from the through-opening 57 formed on the opposite side surfaces 55 and 56 of the projection 44. Since the diameter of the through-opening 57 is smaller than the diameter of the locking balls 53 and 54, the locking balls 53 and 54 protrude from the through-opening 57 when they abut against the through-opening 57 having a diameter smaller than half the diameter of the locking balls. Therefore, the locking balls 53 and 54 are prevented from falling out of the receiving space 52.

[0030] The locking balls 53, 54 cooperate with the conically shaped end section 58 of the push rod 60, wherein the end section 58 partially protrudes into the receiving space 52. The push rod 60 has a longitudinal axis 62, along which the push rod 60 is arranged in a movable manner. The two locking balls 53, 54 are arranged on a straight line 64 extending perpendicularly to the longitudinal axis 62, more precisely, they are arranged in this way on the locking balls 53, 54. Figure 2 , and an unlocked position (in the unlocked position, the locking balls 53, 54 are (completely) arranged in the receiving space 52), so that these locking balls do not protrude from the through-opening 57. In order to reach the unlocked position, it is necessary that the end section 58 of the push rod 60 is in the Figure 2 The locking balls 53, 54 can thus move to the right in the plane of the drawing so that the end section 58 comes into contact with one of the stop surfaces 66 in the receiving space 52. Thus, the locking balls 53, 54 can move along the conical end section 58 in the direction of the longitudinal axis 62 or into the receiving space 52.

[0031] The push rod 60 is connected to a piston 68 on its side facing away from the end section 58, and the piston is arranged to be longitudinally movable in a bore 69 extending flush with the longitudinal axis 62. A compression spring 70 is supported on the side of the piston 68 facing the push rod 60, and the opposite end of the compression spring is arranged in contact with the bottom of the bore 69. Figure 2 A spring force F acts to the left in the plane of the paper of FIG. , which presses the end section 58 of the push rod 60 and therefore also the locking balls 53 , 54 into the locking position shown.

[0032] In order to achieve the above-mentioned unlocking position of the locking balls 53, 54, the pressure surface 72 on the piston 68 is arranged on the side facing away from the compression spring 70. The pressure surface 72 can be Figure 2 The supply bore 74 visible in the middle is charged with compressed air. The compressed air supply to the holding modules 30 is effected via the connecting bracket 12, which for this purpose has a pneumatic connection 76 for each of the side surfaces 31 of the connecting module 25 close to the connecting section 18, so that all holding modules 30 directly or indirectly connected to the corresponding side surface 31 can be supplied with compressed air to reach the unlocked position. A further centrally arranged pneumatic connection 77 is used to supply the connecting bracket 12 with compressed air or negative pressure.

[0033] The vacuum extractors 36 can also be supplied with negative pressure at the individual holding modules 30 via the pneumatic connection 76. For this purpose, the holding modules have a longitudinal bore 78 extending parallel to the longitudinal axis 62 in a plane below the projection 44, with a bushing-like opening 79 on one side and a connection 80 on the opposite side for supplying negative pressure to the vacuum extractors 36 of the holding modules 30 connected to one another.

[0034] On the opposite side of the longitudinal bore 78, each holding module 30 also has an electrical connection plug 81 and a connection socket 82 on the opposite side surface 42, 43. Thus, if necessary, assemblies or sensors arranged in the area of ​​the holding module 30 can be supplied with voltage. The voltage supply is preferably also carried out via the connection bracket 12 via the connection socket 83 arranged in the area of ​​the side surface 31 ( Figure 1 ).

[0035] In order to mechanically connect a plurality of holding modules 30 to one another or to mechanically connect a holding module 30 to the connecting bracket 12, the projection 44 of the holding module 30 is moved into the receiving opening 40 or 44. In doing so, the locking balls 53, 54 are pressed into the through-opening 57 against the spring force F of the compression spring 70 until they enter the region of the spherical segment-shaped receptacles 84, 85 formed in the receiving openings 40, 44. There, the locking balls 53, 54 are pressed out of the through-opening 57 again by the spring force F and form a positive and non-positive connection with the receptacles 84, 85. In order to release the connection again, the pressure surface 72 is acted upon with compressed air.

[0036] The gripping system 10 described so far can be designed or configured in the most different ways to adapt to the shape or geometry and / or weight of the object G, by means of Figures 3a to 3d The illustrations are purely exemplary and schematic. Figure 3a , a situation is shown in which two holding modules 30 are arranged on each side of the connecting module 25, the holding modules extending along a common main axis 88. Figure 3b , the situation is shown in which three holding modules 30 are arranged at uniform angular spacings around the longitudinal axis 16 of the connecting bracket 12 or of the connecting module 25, so that a star-shaped arrangement is created overall. Figure 3c , a situation is shown in which a total of four holding modules 30 are connected to the connecting module 25 at the connecting bracket 12, wherein the holding modules 30 and the connecting modules 25 together form an almost semicircular arrangement. Figure 3d , a situation is shown in which a total of six holding modules 30 surround the connecting module 25. Thus, a circular arrangement of holding modules 30 is created.

[0037] The gripping system 10 described so far can be modified or amended in a variety of ways without departing from the inventive concept. Thus, for example, it is conceivable that not all holding modules 30 necessarily have gripping or holding elements 35 or vacuum extractors 36. The gripping or holding elements 35 can also be designed, for example, as pneumatically or electrically actuated gripping fingers.

Claims

1. A gripping system (10) for an arm (1) of a handling robot (100), the gripping system having a connecting bracket (12), the connecting bracket having a first interface (22), the first interface being configured to be connected to the arm (1) of the handling robot (100), and the gripping system also having a plurality of second interfaces (33) arranged on the connecting bracket (12) in the region of a connecting module (25), the second interfaces being configured to be connected to a holding module (30), respectively, in, Each holding module (30) has a third interface (46) for cooperating with a second interface (33) of the connecting module (25) and at least two fourth interfaces (48), the at least two fourth interfaces being designed to be connected to a respective third interface (46) of the holding module (30), wherein at least some, preferably all, of the holding modules (30) have gripping or holding elements (35), wherein the connecting module (25) is in the region of the second interface (33) and the holding modules (30) are ) have a polygonal cross-section in the area of ​​the interfaces (33, 46, 48), respectively, wherein the connecting module (25) in the area of ​​the second interface (33) and the retaining module (30) in the area of ​​its interfaces (46, 48) are arranged at the height of a common plane (38), and wherein the second interface (33) at the connecting module (25) and the interface (46, 48) of the retaining module (30) are arranged on side surfaces (31, 42, 43) extending perpendicular to the common plane (38).

2. The gripping system according to claim 1, It is characterized in that The gripping or holding element (35) is designed as a pneumatically or electrically actuatable gripping or holding element (35), in particular as a vacuum extractor (36).

3. The gripping system according to claim 1 or 2, It is characterized in that The cross sections of the connecting module (25) and the holding module (30) are each square or hexagonal in shape and have the same dimensions.

4. The gripping system according to any one of claims 1 to 3, It is characterized in that The connecting modules (25) together with the holding modules (30) form a linear, circular or star-shaped arrangement.

5. The gripping system according to any one of claims 1 to 4, It is characterized in that The holding module (30) has a mechanically / pneumatically operating locking unit (50) of identical design in the region of its third interface (46).

6. The gripping system according to claim 5, It is characterized in that The locking unit (50) comprises two balls (53, 54) which are loaded with force by a spring force (F) of at least one spring element (70) and are configured to engage in a receptacle (84, 85) in the region of a second interface (33) of the connecting module (25) or a fourth interface (48) of the holding module (30) for connection with another holding module (30) or with the connecting module (25).

7. The gripping system according to claim 5 or 6, It is characterized in that The locking unit (50) can be pneumatically actuated for deactivation, wherein, when pressure is applied, a push rod (60) cooperating with the spring element (70) moves the balls (53, 54) into an unlocking position.

8. The gripping system according to any one of claims 1 to 7, It is characterized in that The holding module (30) has additional connections (81, 82), preferably electrical connections (81, 82), for transmitting signals from sensor elements of the holding module (30).

9. The gripping system according to any one of claims 1 to 8, It is characterized in that The holding modules (30) are of uniform design.

10. A handling robot (100) having a gripping system (10) for holding an object (G) configured according to any one of claims 1 to 9.

11. A holding module (30) for a gripping system (10), in particular a gripping system (10) according to any one of claims 1 to 9, in, The holding module (30) has a third interface (46) for cooperating with a second interface (33) of a connecting module (25) and at least one, preferably at least two, fourth interfaces (48), wherein at least one fourth interface (48) is designed to be connected to a respective third interface (46) of another holding module (30), wherein the holding module (30) has a gripping or holding element (35), wherein the holding module (30) has a polygonal cross section.

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