Gripper tool for inserting gripper into workpiece

Abstract

Disclosed herein is a gripper tool (1) comprising a frame (2) and a plurality of gripper positioning actuators (3) mounted on the frame (2), where each gripper positioning actuator (3) comprises a cylinder (4) having an internal guide piston (5), and a finger attachment (6) for a fingertip (7) located at a distal end of the piston (5). In an embodiment, the clamp positioning actuators (3) may be mounted in a rectangular array of at least two rows on the frame (2) adjacent to each other. A clamping unit (100) and a method for inserting a clamp into a workpiece (102) are also disclosed.

Description

Technical Field

[0001] The present disclosure relates to a gripper tool for inserting a clamp into a workpiece.

[0002] The present disclosure also relates to a clamping unit and a method for inserting a clamp into a workpiece. Background Art

[0003] It is known to use custom designed gripping units using industrial robots including gripper tools (i.e. "end of arm tools" or EOAT) in manufacturing lines for body parts or other manufacturing lines to insert fixtures or fasteners into workpieces, such as vehicle dashboards, consoles, bumpers, etc. This type of gripping unit also includes a supporting fixture for fixing each workpiece to which a fixture is to be attached, and a fixture feeder for supplying fixtures to the gripper tool.

[0004] The insertion of the clamps in the workpiece includes pushing each clamp one by one into a corresponding hole or seat pre-made in the workpiece. Before the clamps are inserted, the operation of inserting the clamps using a clamper tool requires highly accurate position and orientation.

[0005] For example, one known type of gripper tool comprises a frame detachably attached to the wrist axis of an industrial robot, and a series of conventional cylinder-piston actuators configured to drive a corresponding plurality of fingertips, each fingertip being adapted to pick up and hold a gripper, for example, with a magnet. In addition, the piston of each cylinder-piston actuator is connected to a guide system external to the cylinder itself, and comprises a guide rail fixed to the frame parallel to the cylinder, and a slider attached to the distal end of the piston and sliding along the guide rail, and wherein the distal end of the slider is attached to the corresponding fingertip.

[0006] Typically, such a gripper tool comprises up to six cylinder-piston actuators, which are distributed along a semicircular line.

[0007] In each cycle of the robot, first, the gripper tool is placed corresponding to the fixture feeder, and the cylinder-piston actuator is driven to simultaneously move the fingertips for picking up the fixtures from the cavities of the cavity plate of the fixture feeder, wherein the fixtures are pre-positioned at predetermined positions according to the configuration of the semicircular lines of the fingertips. Then, the gripper tool with the fixtures is shifted toward the workpiece, and the cylinder-piston actuators are driven one by one to individually move each fingertip and insert the fixtures into the workpiece one by one.

[0008] However, this type of gripper tool using a guide system attached to a cylinder-piston actuator results in a rather heavy assembly. Therefore, for this configuration, there is a limit of about six cylinder-piston actuators to ensure that the weight does not exceed the maximum load supported by the industrial robot (typically a 20 kg payload robot).

[0009] Furthermore, the semicircular configuration of the cylinder-piston actuator implies repeated rotational movement of the gripper tool for positioning each fingertip before inserting the gripper into the workpiece. As a result, such repeated movement causes the wires of the cylinder-piston actuator to be continuously twisted, thus presenting a high risk of damage. Summary of the invention

[0010] In a first aspect, a gripper tool for inserting a gripper into a workpiece is provided.

[0011] Clips, also known as fasteners, are relatively flexible fastening components that are attached to an object, such as a vehicle bumper or vehicle console, to allow the object to be easily assembled with other objects by pressure (e.g., assembling a vehicle console to a vehicle body). For example, they can be metal or plastic and can have a variety of sizes, shapes, and holding forces.

[0012] Gripper tooling includes:

[0013] a frame detachably attached to a wrist axis of the industrial robot; and

[0014] A plurality of clamp positioning actuators are mounted on the frame, wherein each clamp positioning actuator includes a cylinder having an internally guided piston, and a finger attachment for a fingertip at a distal end of the piston.

[0015] The use of this type of clamp positioning actuator comprising a cylinder with an internally guided piston enables a significant reduction in the weight of the disclosed gripper tool compared to bulky gripper tools known from the prior art which are equipped with conventional cylinder-piston actuators attached to corresponding guide systems.

[0016] In the present disclosure, a "cylinder with an internal guide system" is a precision cylinder with an internal guide function, which enables movement with high precision without the need to provide an external or additional guide system.

[0017] Therefore, due to the reduced weight of the gripper tool of the present disclosure, the number of fixture positioning actuators of this type can be increased: for example, for the same 20Kg payload robot, the gripper tool can include 12 fixture positioning actuators. Therefore, more fixtures can be applied to the workpiece in each working cycle before the robot has to return to the loading position to pick up more fixtures, thus achieving better cycle times for the robot.

[0018] Furthermore, the internal guiding function of this type of fixture positioning actuator provides high accuracy and reliability of fixture operation.An example of such a precision cylinder with internal guiding function is those cylinders named Precision Cylinder (MTS Series) from SMC Corporation (Tokyo, Japan).

[0019] According to one example of the present disclosure, the fixture positioning actuators may be mounted on the frame in a rectangular array of at least two rows adjacent to each other; for example at least two rows and at least two columns; for example at least two rows and at least four columns.

[0020] A rectangular array refers to an array in which the fixture positioning actuators are arranged in straight columns and rows.

[0021] By means of such a rectangular array of at least two rows (e.g. using two rows of six cylinder-piston actuators each), a compact gripper tool can be manufactured. In addition, the gripper tool can be moved according to a simple linear movement, thus avoiding twisting movements and thus preventing the wires of the cylinder-piston actuator from being damaged.

[0022] In one example, each internal guide piston may include a keying system that provides guided longitudinal displacement of the piston within the cylinder and prevents rotation of the piston relative to the cylinder.

[0023] In one example, the gripper tool may also include a plurality of fingertips, wherein each fingertip is attached to a finger attachment of the gripper positioning actuator and is configured to pick up a gripper.

[0024] In the present disclosure, a fingertip is a pick-up element configured to releasably hold a type of gripper.

[0025] In a preferred example, the gripper tool may further include at least two different types of fingertips for corresponding different types of grippers.

[0026] Thus, if different types of grippers have to be attached to the workpiece, the gripper tool can be loaded with at least two different types of fingertips. Thus, different types of grippers can be inserted into the workpiece in the same cycle of the robot without having to change the gripper tool or change the fingertips attached to the positioning actuator, thus reducing the cycle time.

[0027] According to another aspect, the present disclosure also provides a clamping unit for inserting a clamp into a workpiece, comprising:

[0028] Industrial robots,

[0029] The gripper tool disclosed herein;

[0030] a support fixture for positioning a workpiece to which the clamp must be attached;

[0031] a control unit for controlling the operation of the industrial robot to simultaneously pick up a plurality of fixtures with a gripper tool and to sequentially insert the fixtures into the workpiece one by one; and

[0032] A fixture feeder is used to supply fixtures to the gripper tool.

[0033] In one example, the gripper unit may further comprise at least one tool storage for storing gripper tools within reach of the robot.

[0034] In a preferred example, when the fixture positioning actuators of the gripper tool are mounted on the frame in a rectangular array of at least two rows adjacent to each other, the fixture feeder may include:

[0035] at least one feed plate configured to receive a fixture and arrange the fixture in a predetermined position;

[0036] at least one cavity plate accessible to a gripper tool attached to the robot, wherein the cavity plate includes a plurality of cavities arranged in a predetermined array that matches the configuration of an array of fixture positioning actuators in the gripper tool, and

[0037] A feed robot is configured to pick up a fixture from the at least one feed plate and position the fixture in the cavity of the cavity plate.

[0038] According to another aspect, the present disclosure also provides a method for inserting a fixture into a workpiece, comprising:

[0039] placing the workpiece at a predetermined position on the supporting fixture;

[0040] providing a gripper tool having a plurality of gripper positioning actuators arranged in a rectangular array of at least two rows, each gripper positioning actuator including a cylinder having an internal guide piston, and a finger attachment for a fingertip at a distal end of the piston;

[0041] providing a plurality of fixtures on the cavity plate by means of a feed robot, the fixtures being arranged in predetermined array positions matching the configuration of an array of fixture positioning actuators in a gripper tool;

[0042] operating a gripper tool to simultaneously pick up a plurality of fixtures from the cavity plate, one fixture being picked up by each fixture positioning actuator; and

[0043] The gripper tool is operated to insert the grippers into the workpiece one by one in sequence.

[0044] Although a rectangular array of at least two rows is disclosed herein, it should be noted that the clamp positioning actuators may be mounted on the frame of the gripper tool in a different configuration as desired, such as in a straight line of one row, or even in a semi-circular line. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Non-limiting examples of the present disclosure will now be described with reference to the accompanying drawings, in which:

[0046] Figure 1 is a perspective view of a gripper tool according to one example of the present disclosure;

[0047] Figure 2 yes Figure 1 A top view of the tool in the gripper;

[0048] Figure 3 yes Figure 1 a side view of the mid-holder tool;

[0049] Figure 4 is a perspective view of an example clamp positioning actuator of a clamp tool according to the present disclosure;

[0050] Figure 5 is a perspective view of an example industrial robot having a gripper tool of the present disclosure;

[0051] Figure 5a yes Figure 5 A detailed view of a gripper tool being attached to an industrial robot. Figure 5 A tool changer is shown;

[0052] Figure 6 is a schematic front view of an example industrial robot with a gripper tool and showing a support fixture with a workpiece for a gripper unit according to the present disclosure;

[0053] Figure 7 is a perspective view of an example tool storage for a gripper tool of a gripper unit of the present disclosure;

[0054] Figure 8 yes Figure 7 a perspective view of a tool storage member having a gripper tool stored thereon;

[0055] Fig. 9 is a perspective view of an example clamp feeder of a clamping unit of the present disclosure;

[0056] Figure 9a yes Fig. 9 Detailed view of the cavity plate of the fixture feeder. Fig. 9 An array of cavities is shown;

[0057] Fig.10is a schematic top view of a clamping unit according to an example of the present disclosure; and

[0058] Fig.11 is a flow chart of an example of a method for inserting a clamp into a workpiece, for example using a gripper tool according to the present disclosure. DETAILED DESCRIPTION

[0059] Figures 1 to 3 A gripper tool 1 according to the present disclosure is shown for inserting a gripper into a workpiece 102. The gripper tool 1 comprises:

[0060] Frame 2, which is detachably attached to the wrist axis 101a of the industrial robot 101 (at Figure 5 ); and

[0061] A plurality of fixture positioning actuators 3 are mounted on the frame 2, wherein each fixture positioning actuator 3 includes a piston 5 having an internal guide (in Figure 4 ), and a finger attachment 6 for a fingertip 7 at the distal end of the piston 5.

[0062] An example of such a precision cylinder with internal guiding is those available from SMC Corporation (Tokyo, Japan) under the designation Precision Cylinder (MTS Series).

[0063] Each internal guide piston 3 may comprise a keying system providing a guided longitudinal displacement of the piston 5 in the cylinder 4 and preventing a rotation of the piston 5 relative to the cylinder 4 .

[0064] Figure 4 A simplified perspective view of a fixture positioning actuator 3 of a gripper tool 1 according to the present disclosure is shown, with an example keying system in which a piston 5 includes at least one longitudinal groove 5a on its outer surface in which a corresponding track (not shown) protruding from the inner surface of a cylinder 4 can slide. This groove and track keying system guides the reciprocating movement of the piston 5 relative to the cylinder while preventing relative rotation between the piston 5 and the cylinder 4. The system provides a high-precision position and orientation of a fingertip 7 attached to the piston 5, thereby allowing a high-precision operation of inserting a fixture held by the fingertip into a workpiece.

[0065] Furthermore, the use of this type of gripper positioning actuator 3 allows providing a relatively lightweight gripper tool 1 , facilitating smooth and precise operation, and allows the use of a relatively large number of positioning actuators 3 and / or the use of a relatively light and fast robot.

[0066] In an example, the fixture positioning actuators 3 may be mounted on the frame 2 in a rectangular array of at least two rows adjacent to each other. Figures 1 to 3In FIG. 1 , the gripper tool 1 comprises twelve gripper positioning actuators 3 arranged in a rectangular array of two rows, each row having six gripper positioning actuators 3. For example, this configuration is suitable for a gripper tool attached to a 20 Kg payload robot.

[0067] It should be noted that a different number of fixture positioning actuators and / or a different number of rows in the rectangular array may be strategically selected, depending on the type of industrial robot used for the clamping operation, the number and type of fixtures to be inserted into the workpiece, etc.

[0068] In the example shown in the drawings, the gripper tool 1 comprises 12 fingertips 7, each of which is attached to a finger attachment 6 of one of the 12 gripper positioning actuators 3 (see for example Figure 3 ), and each fingertip 7 is configured as a picking fixture.

[0069] In the example, the gripper tool 1 can include at least two different types of fingertips 7 for respectively different types of grippers: for example, if three different types of grippers (not shown) have to be inserted into a workpiece, fingertips 7 with three different configurations can be attached to the gripper tool 1, each configuration being suitable for one gripper. The number of fingertips 7 of each configuration and their position on the gripper tool 1 can be conveniently adapted in each case.

[0070] Each fingertip 7 of the fixture positioning actuator 3 may be provided with a holding system (not shown) to hold the corresponding fixture. For example, in the case of a metal fixture, the fingertip 7 may be provided with at least one magnet. In addition, each fingertip 7 may be shaped so that the fixture is picked up by the fingertip 7 and held in a specific position and orientation, so that the operation of inserting the fixture into the workpiece can be fast and accurate.

[0071] Figure 5 An example of an industrial robot 101 and a gripper tool 1 according to the present disclosure is shown in a perspective view.

[0072] The industrial robot 101 may be, for example, a robot comprising at least four axes, preferably six axes, between the robot base and the robot wrist. A suitable commercial robot may be, for example, the model known as IRB 2600 available from ABB Ltd. (Zurich, Switzerland).

[0073] from Figure 5a As can be seen in more detail in FIG. 1 , the gripper tool 1 is attached to the wrist axis 101a of the industrial robot 101 via the tool changer 9. In this example, the frame 2 of the gripper tool 1 comprises a tool plate 9a of the tool changer 9 (see also FIG. 1 ). Figures 1 to 3 ).

[0074] The tool changer 9, also known as a quick-change device, can be a coupling device having two cooperating and mating parts, commonly referred to as a standard plate 9b and a tool plate 9a, which are designed to be locked or coupled together manually or automatically and can transmit from one side to the other, such as electrical signals or pneumatic signals, and / or other. They can also be designed to carry a payload. The standard plate 9b is typically attached to the wrist axis 101a of the robot 101 and carries a locking mechanism, such as mechanical or pneumatic, and the tool plate 9a is attached to the gripper tool 1 and carries suitable elements to engage with the locking mechanism of the standard plate 9b. The tool changer 9 employed in the example of the present disclosure can be of any known type, for example it can be an automatic tool changer that uses a pneumatic system to lock the two parts together.

[0075] It should be noted that in addition to using the tool changer disclosed herein, other types of known attachment systems may be used to attach the gripper tool to the robot's wrist.

[0076] The following will refer to Figures 6 to 10 A clamping unit 100 according to one example of the present disclosure is described.

[0077] Fig.10 A schematic diagram of a clamping unit 100 is shown, which comprises:

[0078] An industrial robot 101, which is arranged in the working area of ​​the gripping unit 100;

[0079] As described above, the gripper tool 1 is attached to the wrist axis 101a of the industrial robot 101 (e.g., Figure 5 and Figure 5a shown);

[0080] A support fixture 103 is used to position a workpiece 102 to which the fixture must be attached by means of the gripper tool 1 of the industrial robot 101 (see for example Figure 6 );as well as

[0081] A control unit (not shown) for controlling the operation of the industrial robot 101 to simultaneously pick up a plurality of fixtures with the gripper tool 1 and to sequentially insert the fixtures one by one into the workpiece 102 will be described in more detail below.

[0082] In an example, the workpiece 102 may be a vehicle bumper (eg, Figure 6The support fixture 103 is within the range of the robot 101 and is in a predetermined position relative to the robot 101 so that the robot 101 can follow preprogrammed instructions to reach the area of ​​the workpiece 102 to which the corresponding fixture must be attached in a specific position and orientation.

[0083] The control unit may also control the positioning of the workpiece 102 on the support fixture 103 .

[0084] For example, the support fixture 103 may include a positioning sensor (not shown) to detect a predetermined position of the workpiece 102 on the support fixture 103. Therefore, the control unit may receive a control signal from a presence sensor included in the support fixture 103 to monitor the correct position of the workpiece 102 on the support fixture 103. Once the workpiece 102 is correctly positioned on the support fixture 103, the control signal may instruct the control unit to continue the clamping operation by the industrial robot 101.

[0085] Furthermore, the support fixture 103 may include at least one clamp (not shown) to secure the workpiece 102 to a working position.

[0086] The gripper unit 100 may further include a gripper feeder 104 for supplying grippers to the gripper tool 1 . Fig. 9 A perspective view of one example of a fixture feeder 104 is shown, the fixture feeder comprising:

[0087] at least one feed plate 105 configured to receive a fixture and arrange the fixture in a predetermined position;

[0088] at least one cavity plate 106 accessible to a gripper tool 1 attached to the robot 101, wherein the cavity plate 106 comprises a plurality of cavities 106a in predetermined array positions that match the configuration of the array of fixture positioning actuators 3 in the gripper tool 1, and

[0089] A feed robot 107 is configured to pick up a fixture from the feeder plate 105 and position the fixture in the cavity 106a of the cavity plate 106, with each type of fixture being placed in a predetermined position in the array to match the position of the type of fingertips 7 in the array of the fixture positioning actuator 3 of the gripper tool 1. Therefore, when the gripper tool 1 picks up a fixture from the cavity plate 106, each type of fixture will be picked up by the fingertips 7 of the matching type.

[0090] exist Fig. 9In the example shown, the fixture feeder 104 is provided with three feed plates 105, wherein each feed plate can receive a different type of fixture. In addition, in this example, the fixture feeder 104 includes three cavity plates 106, wherein each cavity plate 106 includes twelve cavities 106a arranged in two rows, each row having six cavities 106a (in Figure 9a (see ).

[0091] Furthermore, the fixture feeder 104 may include at least one feeder hopper 108, and in this example, three feeder hoppers 108 are used (in Fig. 9 and Fig.10 As can be seen in FIG. 1 , each feeder hopper contains multiple types of clamps and is configured to gradually supply one type of clamp to the corresponding feed plate 105.

[0092] Thus, when in use, the operator can put different types of fixtures into the corresponding feeder hopper 108. In addition, the feeder hopper 108 and the feed plate 105 may be provided with a vibration system (not shown), thereby allowing the fixture to be driven from each feeder hopper 108 to the corresponding feed plate 105. In addition, a camera (not shown) may monitor the correct position of the fixture on each feed plate 105. When the correct positioning of the corresponding fixture has been performed, a control signal is sent to the feed robot 107 for picking up the fixture from the feeder plate 105 and positioning it in a predetermined cavity 106a of the corresponding cavity plate 106.

[0093] Other configurations of the jig feeder may also be implemented. Alternatively, a known bowl feeder may be used.

[0094] In addition, if Fig.10 As shown, the gripper unit 100 may also include at least one tool storage 109 for storing the gripper tool 1 within the range of the robot 101. In this example, the gripper unit 100 is provided with two tool storages 109: Figure 7 , Figure 8 and Fig.10 , one tool storage unit 109 is empty ( Figure 7 ), and another tool storage member supports the gripper tool 1 ( Figure 8 ). Each tool storage 109 may comprise a support structure including holding equipment for holding the gripper tool 1, such as a pneumatic, mechanical or vacuum system.

[0095] Fig.11 A flow chart showing an example of a method 200 for inserting a fixture into a workpiece 102 using a gripper tool 1 according to the previous example. This example of a method 200 for inserting a fixture into a workpiece comprises:

[0096] In step 201, the workpiece 102 is placed at a predetermined position on the supporting fixture 103;

[0097] In step 202, a gripper tool 1 is provided, the gripper tool having a plurality of gripper positioning actuators 3 arranged in a rectangular array of at least two rows, each gripper positioning actuator 3 comprising a cylinder 4 having an internal guide piston 5, and having a fingertip 7 releasably connected to a finger attachment 6 at a distal end of the piston 5;

[0098] In step 203, a plurality of fixtures are provided in the cavity of the cavity plate 106 by means of a feed robot 107, which arranges the fixtures in a predetermined array position that matches the configuration of the array of fixture positioning actuators 3 in the gripper tool 1;

[0099] In step 204, the gripper tool 1 is operated to pick up a plurality of fixtures from the cavity plate 106 simultaneously, with each fixture positioning actuator 3 picking up one fixture: the gripper tool 1 is moved by the robot 101 to a position where the array of fixture positioning actuators 3 of the gripper tool 1 corresponds to the array of cavities of the cavity plate 106, and then the fixture positioning actuator 3 is extended to a position where the fingertip 7 attached to the fixture positioning actuator 3 picks up a fixture from the cavity plate 106; and

[0100] In step 205 , the gripper tool 1 is operated to insert the clamps into the workpiece 102 one by one in sequence.

[0101] The fingertips 7 of the fixture positioning actuator 3 may have a suitable holding system, such as a magnetic system, and a suitable shape of the fixture, allowing the fixture to be picked up from the cavity plate 106 in step 204 and held on the fingertips in a precise position and orientation.

[0102] In step 205, the gripper tool 1 is first moved by the robot 101 to a first predetermined position relative to the workpiece 102 and in a first predetermined orientation, and a first gripper is pressed into a first seat of the workpiece 102 by extending the piston 5 of the corresponding first gripper positioning actuator 3. The gripper can be released from the fingertip 7 carrying it and remain attached to the workpiece 102, for example because the force with which it is pressed into the seat of the workpiece is higher than the fingertip holding force (for example, in the case of a metal gripper, higher than the force applied by the fingertip holding magnet). Then, the robot 101 moves the gripper tool 1 to a second predetermined position relative to the workpiece 102 and in a second predetermined orientation, and a second gripper is similarly attached in a second seat of the workpiece by the second gripper positioning actuator 3, and the sequence is repeated until all grippers carried by the gripper tool 1 have been attached to the workpiece 102. As described above, in the above operation, different kinds of grippers can be attached to the workpiece with corresponding different kinds of fingertips 7.

[0103] Although only some examples are disclosed herein, other replacements, modifications, uses and / or their equivalents are possible. In addition, all possible combinations of the examples are also covered. Therefore, the scope of the present disclosure should not be limited by the specific examples, but should only be determined by a reasonable interpretation of the attached claims. If reference numerals related to the drawings are placed in brackets in the claims, they are merely intended to increase the understandability of the claims and should not be interpreted as limiting the scope of the claims.

Claims

1. A gripper tool (1) for inserting a fixture into a workpiece (102), comprising: A frame (2) which is detachably attached to a wrist axis (101a) of an industrial robot (101); as well as A plurality of clamp positioning actuators (3) are mounted on the frame (2), wherein each clamp positioning actuator (3) comprises a cylinder (4) having an internal guide piston (5), and a finger attachment (6) for a fingertip (7) at the distal end of the piston (5).

2. The gripper tool (1) according to claim 1, wherein the clamp positioning actuators (3) are mounted on the frame (2) in positions adjacent to each other in a rectangular array of at least two rows.

3. A gripper tool (1) according to claim 1 or 2, wherein each internal guide piston (5) comprises a keying system, which provides guided longitudinal displacement of the piston (5) in the cylinder (4) and prevents rotation of the piston (5) relative to the cylinder (4).

4. The gripper tool (1) according to claim 3, wherein the inner guide piston (5) comprises at least one longitudinal groove (5a) which is slidable on a corresponding track of the cylinder (4).

5. The gripper tool (1) according to any one of the preceding claims, further comprising a plurality of fingertips (7), wherein each fingertip (7) is attached to the finger attachment (6) of the fixture positioning actuator (3) and is configured to pick up a fixture.

6. The gripper tool (1) according to any one of the preceding claims, further comprising at least two different types of fingertips (7) for respectively different types of grippers.

7. The gripper tool (1) according to any one of the preceding claims, wherein the frame (2) comprises a tool plate (9a) of a tool changer (9).

8. A clamping unit (100) for inserting a clamp into a workpiece (102), comprising: Industrial Robots (101), A gripper tool (1) according to any one of claims 1 to 7; a support fixture (103) for positioning a workpiece (102) to which the clamp must be attached; a control unit for controlling the operation of the industrial robot (101) to simultaneously pick up a plurality of fixtures with the gripper tool (1) and to insert the fixtures into the workpiece (102) one by one in sequence; as well as A fixture feeder (104) is used to supply fixtures to the gripper tool (1).

9. The gripper unit (100) according to claim 8, further comprising at least one tool storage (109) for storing a gripper tool (1) within the range of the robot (101).

10. The gripper unit (100) according to claim 8 or 9, wherein the gripper positioning actuators (3) of the gripper tool (1) are mounted on the frame (2) in a rectangular array of at least two rows adjacent to each other, and wherein the gripper feeder (104) comprises: at least one feed plate (105) configured to receive a fixture and arrange the fixture in a predetermined position; at least one cavity plate (106) accessible to the gripper tool (1) attached to the robot (101), wherein the cavity plate (106) comprises a plurality of cavities (106a) arranged in a predetermined array, the predetermined array matching the configuration of the array of the fixture positioning actuators (3) in the gripper tool (1), and A feed robot (107) is configured to pick up a fixture from the at least one feed plate (105) and position the fixture in the cavity (106a) of the cavity plate (106).

11. The clamping unit (100) according to any one of claims 8 to 10, wherein the control unit also controls the positioning of the workpiece (102) on the supporting fixture (103).

12. A method for inserting a fixture into a workpiece (102), comprising: Placing a workpiece (102) at a predetermined position on a supporting fixture (103); A gripper tool (1) is provided having a plurality of gripper positioning actuators (3) arranged in a rectangular array of at least two rows, each gripper positioning actuator (3) comprising a cylinder (4) having an internal guide piston (5), and a finger attachment (6) for a fingertip (7) at the distal end of the piston (5); providing a plurality of fixtures on a cavity plate (106) by means of a feed robot (107), said fixtures being arranged in predetermined array positions matching the configuration of the array of fixture positioning actuators (3) in said gripper tool (1); operating the gripper tool (1) to simultaneously pick up the plurality of fixtures from the cavity plate (106), with each fixture positioning actuator (3) picking up one fixture; and The gripper tool (1) is operated to insert the clamps into the workpiece (102) one by one in sequence.

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