Compensation element

Abstract

The invention relates in particular to a device (10A-10D) for connecting a gripper (42) to a processing device. The device (10A-10D) has at least one compensation element (12A-12D) for compensating for position errors, which compensation element has a tool holder (14) for holding the gripper (42), a frame (18) for connecting the compensation element (12A-12D) to the processing device, and a plurality of elastically deformable connectors (22), the connectors connect the tool holder (14) within the frame (18) to the frame (18) in a resiliently movable manner. The tool holder (14), the frame (18) and the plurality of connectors (22) are integrally connected to one another as a single piece.

Description

Technical Field

[0001] The invention relates to a device for connecting a gripper to a processing device, wherein the device comprises at least one compensation element for compensating position errors. The invention also relates to a container processing system, a method for producing the device and a computer program product. Background Art

[0002] So-called compensating elements can be installed, for example, between the robot and its gripping tool in order to compensate for position errors of the workpiece being gripped, the robot, the gripper or other disruptive influences.

[0003] Typically, such a compensating element can be made up of a number of components. For example, a housing can be formed of a number of components, in which the compensating body is movably mounted via an elastic connecting element (such as an elastomer or a spring). This movement can be achieved in the X and Y directions or in the X, Y and Z directions. In the latter case, it may be necessary, for example, to implement embedding in a further elastic connecting element that allows movement in the Z direction.

[0004] A disadvantage of the known prior art may be the relatively high weight of the compensating element due to the large number of components, mostly made of metal. This is particularly disadvantageous if the component to be clamped is very light. The mass of the compensating element will then be of the same order of magnitude as the mass of the component to be clamped or even greater than the mass of the component to be clamped. Therefore, the high weight of the compensating element may be a limiting factor for the dynamic characteristics of the processing movement. In addition, due to the large number of components, the complexity may be very high and thus the assembly of the compensating element may be very complicated. In particular for less challenging clamping operations, e.g. low mass or precision requirements that are not extremely demanding, conventional systems based on the prior art quickly become overdimensioned.

[0005] The invention is based on the object of creating an improved technique for compensating position errors when handling objects, preferably with which technique at least some of the above-mentioned disadvantages can be overcome. Summary of the invention

[0006] This object is achieved by the features of the independent claim. Advantageous developments are specified in the dependent claims and in the description.

[0007] One aspect of the present disclosure relates to an apparatus for connecting a gripper to a handling device, preferably to a handling robot. The apparatus has at least one compensating element, preferably substantially disc-shaped, for compensating for position errors (e.g. of an object to be gripped, a handling device and / or a gripper). The at least one compensating element (each of which) has:

[0008] a tool holder, preferably annular (e.g. circular) or tubular (e.g. spherical), for holding the holder,

[0009] a frame, preferably annular (eg circular), for connecting the compensating element to the handling device, wherein the frame surrounds the tool holder as a frame and preferably coaxially, and

[0010] - a plurality of elastically deformable (eg resiliently flexible) connectors which connect the tool holder within the frame in an elastically movable manner to the frame.

[0011] The tool rack, the frame, and the plurality of connectors are integrally connected to one another as a single piece.

[0012] Advantageously, the device enables the functionality of a complex compensating element to be integrated into only a single one-piece component. As a result, the compensating element can preferably be significantly lighter than conventional designs, which can enable higher dynamics in processing applications. The significantly reduced complexity also means that costs can be significantly reduced, making the application more economical. The design of the compensating element can also be advantageously used in many different processing applications, such as clamping applications.

[0013] In an exemplary embodiment, the at least one compensating element is formed from a plurality of adjacent, preferably additively manufactured material layers, preferably made of plastic, such as thermoplastic polyurethane, polyamide, such as PA12, PA6; or other common materials. This advantageously enables particularly simple and rapid production of even one compensating element without requiring special production tools. A further advantage is that the compensating element can be particularly easily adapted to the application-specific stresses, for example in terms of the desired restoring force, etc.

[0014] In a further exemplary embodiment, the connector is designed as webs (spokes). Optionally, these webs can extend between the frame and the tool holder in an arc, preferably a spiral arc. Advantageously, the webs can enable a simple and reliable design of the connector. Advantageously, the arc shape of the webs can enable relatively long webs, whereby the desired elastic mobility and restoring force can be provided very precisely as required.

[0015] Alternatively, the connector may be annular, bubble-shaped or wavy. Advantageously, these connectors may therefore be designed to be relatively rigid so as to limit the maximum elastic mobility of the tool holder.

[0016] In a further embodiment, the connectors are each merged at one end (e.g. tangentially) into the outer peripheral surface of the tool holder and at the other end (e.g. tangentially) into the inner peripheral surface of the frame. This advantageously enables gentle compressive movement of the connectors and stress reduction at the transition.

[0017] In one embodiment, the at least one compensating element has a plurality of, preferably two or three compensating elements, which are preferably connected to each other as a single piece. Advantageously, a plurality of grippers and therefore a plurality of processing operations can be performed simultaneously. The advantages of low weight, low complexity, etc. explained previously can be utilized in a variety of ways, which in some applications makes it possible to use a plurality of grippers on a single processing device. Advantageously, a plurality of grippers can also be accommodated in a tool holder, and therefore a plurality of objects (such as a container turntable) can be clamped simultaneously, making it possible to compensate for the individual errors of the position of the grippers and the objects by the compensating element. This can advantageously achieve particularly time-saving object processing.

[0018] Preferably, the plurality of compensating elements may be arranged adjacent to each other, preferably adjacent to each other in a row.Alternatively or additionally, the plurality of compensating elements may, for example, be arranged in a common alignment plane.

[0019] In a further embodiment, the tool holders of the plurality of compensating elements each have a center point, and these center points are located on an imaginary arc. Advantageously, the arrangement of the center points on the imaginary arc can be adapted to the rotary container handling device and its pitch circle. Preferably, the device can therefore be used particularly effectively with this rotary container handling device.

[0020] In an embodiment variant, the device further comprises a housing, which preferably connects the plurality of compensating elements to each other via a plurality of webs, wherein the housing optionally comprises a flange portion for attaching the device to a processing device. Advantageously, the plurality of compensating elements can be reliably integrated into a single component in this way.

[0021] In a further embodiment variant, the housing is integrally connected to the plurality of compensation elements as a single piece and / or the plurality of compensation elements and the housing are formed together from a plurality of adjacent, preferably additively manufactured material layers, preferably made of plastic, such as thermoplastic polyurethane, polyamide, such as PA12, PA6; or other common materials. This advantageously enables particularly simple and rapid production of the compensation elements and the housing, even in very small quantities, without requiring special production tools. A further advantage is that the housing and the compensation elements can be particularly easily adapted to a particular application.

[0022] In an exemplary embodiment, the device further comprises at least one mechanical stop which limits the elastic mobility of the tool holder within the frame. This can advantageously protect the connector from overload and breakage or limit movement compensation, thereby protecting the tool holder from undesirable large movements.

[0023] In another illustrative example:

[0024] - the at least one mechanical stop is connected detachably or as a single piece to the at least one compensation element, preferably to the tool holder of the at least one compensation element; and / or

[0025] - the at least one mechanical stop is connected to the tool holder for movement with the tool holder; and / or

[0026] - the at least one mechanical stop surrounds the frame, wherein there is a gap between the at least one mechanical stop and the frame (eg providing clearance for the tool holder); and / or

[0027] - The at least one mechanical stop is designed as a raised, preferably curved edge of a plate extending from the tool holder, which edge abuts the frame to limit the elastic mobility (eg externally).

[0028] Advantageously, a particularly simple and reliable construction of the at least one mechanical stop can be provided in this way.

[0029] In a variant embodiment, the at least one compensating element also comprises elastically deformable bellows which surround the tool holder, preferably coaxially, and which are expandable for returning and / or stopping the tool holder. Advantageously, this makes it possible to return the tool holder to its central position and / or to stop the tool holder in its central position by pneumatic control of the bellows.

[0030] Optionally, the tool holder, the frame, the plurality of connectors and the elastically deformable bellows may be integrally connected to one another as a single piece.

[0031] Optionally, the elastically deformable bellows may have an (eg annular) inner tapered portion which opposes an (eg annular) outer tapered portion of the tool holder.

[0032] In a further embodiment variant, the device further comprises at least one holder, preferably a bore holder or an external holder (eg a parallel holder), which is accommodated in a tool holder of the at least one compensation element, preferably detachably or integrally as a single piece.

[0033] In an exemplary embodiment, the apparatus further comprises a plurality of spacers, preferably rod-shaped, for positioning and orienting the object held by the at least one gripper. This may advantageously prevent an undesired tilting or swaying of the gripped object during handling.

[0034] A further aspect of the disclosure relates to a container handling system comprising a container handling device (e.g. a container labelling device), preferably a rotary container handling device (e.g. a rotary container labelling device). The container handling system further comprises a handling device having an apparatus as disclosed herein, wherein the handling device is designed to handle containers or parts of the container handling device, preferably container carousels, standard parts or assembly parts. Advantageously, the container handling system can achieve the same advantages as have been described with reference to the apparatus. The application in a container handling system can be particularly advantageous, since the compensating element can fully meet the requirements thereof despite its simple design.

[0035] Preferably, the imaginary arc on which the center point of the tool holder lies can be a part (arc segment) of a circle having the same diameter as the pitch circle of the rotary container handling device. As already mentioned, the device can thus advantageously be structurally adapted to the rotary container handling device and its pitch circle and can therefore be used particularly effectively with this rotary container handling device.

[0036] For example, the container handling system may be designed for producing, cleaning, coating, testing, filling, sealing, labeling, printing and / or packaging containers for liquid media, preferably beverages or liquid foods.

[0037] Preferably, the container can be designed as a bottle, a can, a jar, a carton, a stoppered vial, a tube or the like.

[0038] A further aspect of the disclosure relates to a method for producing a device as disclosed herein. The device comprises additive manufacturing of the at least one compensating element and optionally the housing, the at least one mechanical stop and / or the at least one holder to form a one-piece body, preferably in a powder bed process and / or made of plastic, preferably thermoplastic polyurethane, polyamide such as PA12, PA6; or other common materials. Advantageously, the method can achieve the same advantages as those already described with reference to the device.

[0039] A further aspect of the present disclosure relates to a computer program product comprising instructions for causing an additive manufacturing apparatus to produce the device as disclosed herein in multiple layers using an additive manufacturing process, preferably a powder bed process, or to perform a method as disclosed herein.

[0040] The preferred embodiments and features of the present invention described above can be combined with each other as desired. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Further details and advantages of the present invention are described below with reference to the accompanying drawings. In the accompanying drawings:

[0042] Figure 1 shows a perspective view of an apparatus according to an exemplary embodiment of the present disclosure;

[0043] Figure 2 Shows Figure 1 Top view of the equipment;

[0044] Figure 3 Shows Figure 1 A cross-sectional view of the device;

[0045] Figure 4 shows a perspective view of an apparatus according to an exemplary embodiment of the present disclosure;

[0046] Figure 5 shows a perspective cross-sectional view of an apparatus according to an exemplary embodiment of the present disclosure;

[0047] Figure 6 shows a perspective view of an apparatus according to an exemplary embodiment of the present disclosure;

[0048] Figure 7 Shows Figure 6 A top view of an exemplary device;

[0049] Figure 8 Shown is a tool equipped Figure 6 A perspective view of an exemplary device of;

[0050] Fig. 9 Shows Figure 8 Additional perspective views of an exemplary device of;

[0051] Fig.10 Shows Figure 8 A cross-sectional view of an exemplary device of FIG. 1 ; and

[0052] Fig.11 Shown is a tool equipped Figure 6 A perspective view of an exemplary device of;

[0053] The embodiments shown in the drawings correspond at least partially, so that similar or identical components have the same reference numerals, and reference is also made to the description of other embodiments or drawings for their explanation in order to avoid repetitions. DETAILED DESCRIPTION

[0054] Figures 1 to 11 Devices 10A-10D are shown for connecting at least one gripper 42 to a processing device for compensating for position errors. Figures 8 to 11Only the holder 42 is shown.

[0055] In detail, the devices 10A-10D each have at least one compensating element 12A-12D, preferably disc-shaped, for compensating position errors. In addition to the compensating elements 12A-12D, the devices 10A-10D may also have further elements, as referred to herein by way of example. Figure 8 and as described in the following figures.

[0056] The handling device may be, for example, a fixed or mobile robot or any other type of handling device. For example, the handling device may have a pivotable and / or displaceable arm. The device 10A-10D may be attached to the arm, for example at one end of the arm. The at least one gripper 42 may be attached to the arm and preferably carried via the device 10A-10D.

[0057] Preferably, each device 10A-10D together with the at least one gripper 42 can form an end effector for a treatment device (see Figures 8 to 11 ).

[0058] Preferably, each device 10A-10D can be used with a processing device in a container processing system. For example, the device 10A-10D can be equipped with at least one gripper 42 for gripping at least one container carousel. The gripper 42 can also be used, for example, to grip containers, assembly parts or standard parts in a container processing system. The device 10A-10D can also be used in an environment other than a container processing system to compensate for position errors.

[0059] Particularly preferably, the at least one compensating element 12A-12D is formed from a plurality of adjacent, additively manufactured material layers. The at least one compensating element 12A-12D may be additively manufactured to form a one-piece body. Preferably, the at least one compensating element 12A-12D may be additively manufactured in a powder bed process. Preferably, the material layers may be made of plastic, preferably thermoplastic polyurethane, polyamide or other commonly used materials.

[0060] Instructions for causing an additive manufacturing facility to additively manufacture the at least one compensating element 12A- 12D (or the apparatus 10A- 10D) may be stored in a computer program product (eg, a file or a data carrier having a file).

[0061] Figures 1 to 3 Device 10A is shown having compensating element 12A.

[0062] The compensating element 12A has a tool holder 14 , a frame 18 , and a plurality of connectors 22 .

[0063] Preferably, the tool holder 14, frame 18 and connector 22 may be located in a common plane or position. The tool holder 14, frame 18 and connector 22 together may form a disc-shaped configuration of the compensation element 12A.

[0064] The tool holder 14, the frame 18 and the connector 22 are integrally connected to each other as a single piece. Therefore, the compensation element 12A can be one-piece. The tool holder 14, the frame 18 and the connector 22 can form a one-piece body together. In detail, the tool holder 14, the frame 18 and the connector 22 can be formed together from multiple adjacent, additively manufactured material layers.

[0065] The tool holder 14 is designed to accommodate the clamp. For example, for greater clarity, Figures 1 to 3 (or Figures 4 to 7 ) can be used as in Figures 8 to 11 The holder 42 is designed like one of the holders 42 shown in FIG.

[0066] For example, the holder may be mounted directly on the tool holder 14. Alternatively, the holder may be mounted indirectly on the tool holder 14, such as via an adapter, a tool housing, or a tool holder.

[0067] The tool rack 14 is preferably annular or tubular (e.g., has a circular outer contour). The tool rack 14 may have a substantially cylindrical receiving space for the holder. The holder may be accommodated in the interior of the annular shape. For example, the holder may be centrally mounted in the tool rack 14.

[0068] The holder may be detachably attached to the tool holder 14. For example, the holder may be attached to the tool holder 14 in a press fit and / or form fit manner. Preferably, the holder may be attached to the tool holder 14 by snap-fit, insert or screw connection.

[0069] For example, the tool holder 14 may have a fastening portion 16 for fastening the holder. Preferably, the fastening portion 16 may be arranged on the inner circumferential surface of the annular or tubular tool holder 14.

[0070] Preferably, the fastening portion 16 may have, for example, an annular supporting plate for supporting the holder.

[0071] Alternatively or additionally, the fastening portion 16 may, for example, have at least one screw hole for threaded connection with the holder, at least one locking element for locking connection with the holder, and / or at least one insertion element for insertion connection with the holder. Preferably, it comprises a plurality of screw holes, a plurality of locking elements, and / or a plurality of insertion elements. For example, the plurality of screw holes, the plurality of locking elements, and / or the plurality of insertion elements may be arranged on the inner circumference of the annular tool holder 14, preferably equidistant from each other.

[0072] The plurality of screw holes, the plurality of locking elements and / or the plurality of insertion elements may be arranged in or on the annular support plate of the fastening portion 16 .

[0073] The frame 18 is used to connect the compensating element 12A to a processing device.

[0074] The frame 18 surrounds the tool holder 14 as a frame. Preferably, the frame 18 and the tool holder 14 are coaxially arranged. Preferably, the frame 18 is annular.

[0075] The frame 18 may be arranged to be spaced apart from the tool holder 14. Preferably, an annular gap may be arranged between the inner peripheral surface of the frame 18 and the outer peripheral surface of the tool holder 14.

[0076] Preferably, the frame 18 may support the tool holder 14 via the connector 22 .

[0077] The frame 18 may be detachably connected to the treatment device. For example, the frame 18 may be attached to the treatment device in a press fit and / or form fit manner. Preferably, the frame 18 may be attached to the treatment device by snap-fit, insert or threaded connection.

[0078] For example, the frame 18 may have at least one fastening portion 20 for fastening to a processing device. Preferably, the at least one fastening portion 20 may be arranged on an outer peripheral surface of the frame 18.

[0079] Preferably, the at least one fastening portion 20 may have, for example, at least one screw hole for threaded connection with the treatment device, at least one locking element for locking connection with the treatment device, and / or at least one insertion element for insertion connection with the treatment device. Preferably, a plurality of screw holes, a plurality of locking elements, and / or a plurality of insertion elements are included. For example, the plurality of screw holes, the plurality of locking elements, and / or the plurality of insertion elements may be arranged on the outer peripheral side of the frame 18, preferably equidistant from each other.

[0080] However, the frame 18 itself may not be directly attached to the treatment device. Instead, an additional element, such as a housing or a bracket, may attach the frame 18 to the treatment device. The additional element may be formed separately from the frame 18 and attached to the frame 18, for example, by at least one fixing portion 20. Alternatively or additionally, the additional element may be formed integrally with the frame 18, for example, as a single piece.

[0081] The connector 22 is elastically deformable, preferably elastically flexible. The connector 22 connects the tool holder 14 to the frame 18 in an elastically movable manner. Due to the connector 22, the tool holder 14 can be elastically moved within the frame 18.

[0082] The connector 22 can be designed to allow the tool holder 14 to be moved to a predetermined extent relative to the frame 18. The connector 22 can (only) be elastically deformed when a force acts on the gripper and thus on the tool holder 14. After the force decreases, the connector 22 and thus the tool holder 14 can return to their original position. Preferably, the spring stiffness and the restoring force exerted by the connector 22 in various spatial directions can be determined by appropriate dimensioning and design of the connector 22.

[0083] The elastic deformation of the connector 22 may exist substantially in the alignment plane of the compensation element 12A or in a plane perpendicular to the central axis (main central axis) of the compensation element 12A. In addition, for example, the connector 22 may be elastically deformable in a direction perpendicular to the alignment plane of the compensation element 12A or in a direction parallel to the central axis (main central axis) of the compensation element 12A.

[0084] Thus, the mobility of the tool holder 14 may exist essentially in the alignment plane of the compensating element 12A or in a plane perpendicular to the central axis of the compensating element 12A and optionally also perpendicular to the central axis.

[0085] Preferably, the connector 22 may be arranged inside the frame 18 and outside the tool holder 14. For example, the connector 22 may be arranged in an annular gap formed between the frame 18 and the tool holder 14. Preferably, the connector 22 may be arranged distributed around the outer peripheral surface of the tool holder 14, preferably uniformly.

[0086] Preferably, the connector 22 is designed as a web (spoke). Preferably, the connector 22 can extend in an arc, particularly preferably in a spiral arc, between the frame 18 and the tool holder 14. The radius of the arc shape of the respective connector 22 can be smaller than the radius of the frame 18 and / or can be larger than the radius of the tool holder 14.

[0087] At one end, the connectors 22 may each merge into the outer peripheral surface of the tool holder 14. Preferably, this transition from the connectors 22 into the outer peripheral surface of the tool holder 14 may be tangential.

[0088] At the opposite ends, the connectors 22 may each merge into the inner peripheral surface of the frame 18. Preferably, such a transition from the connectors 22 into the inner peripheral surface of the frame 18 may be tangential.

[0089] The connector 22 may support the tool holder 14 and therefore the holder received therein on the frame 18 .

[0090] Figure 4 Device 10B is shown having a compensating element 12B.

[0091] Compensation element 12B may be similar to reference Figures 1 to 3The difference between the compensating element 12B and the compensating element 12A may be that the connector 22' of the compensating element 12B is substantially annular or bubble-shaped or wavy.

[0092] The connector 22 ′ is further resiliently deformable to provide resilient mobility of the tool holder 14 within the frame 18 .

[0093] Figure 5 A device 10C is shown having a compensating element 12C.

[0094] Compensation element 12C may be similar to reference Figures 1 to 3 The compensation element 12A is described. The difference between the compensation element 12C and the compensation element 12A may be that the compensation element 12C additionally has a bellows 24 .

[0095] The bellows 24 may surround the tool holder 14, preferably coaxially around the tool holder. Preferably, the bellows 24 may be substantially annular.

[0096] For example, the bellows 24 may be disposed in an annular gap formed between the frame 18 and the tool holder 14. For example, the bellows 24 may be disposed below or above the connector 22.

[0097] The bellows 24 may be supported, for example, by an annular plate 26. The plate 26 may be connected to the frame 18 on its outer periphery. Preferably, the plate 26 may be incorporated on its outer periphery into the end surface of the frame 18 and / or into the inner peripheral surface of the frame 18. The plate 26 may be supported by the frame 18. The plate 26 may carry the bellows 24.

[0098] The bellows 24 may be elastically deformable. The bellows 24 may be expandable to stop (fix) and / or return the tool holder 14 within the frame 18 .

[0099] For example, the expanded bellows 24 may abut the outer peripheral surface of the tool holder 14. The expanded bellows 24 may force the tool holder 14 to a central position within the frame 18.

[0100] The bellows 24 can be connected to a compressed air connection 28 for supplying compressed air to the bellows 24. Possibly, the bellows 24 can also be depressurized via the compressed air connection 28.

[0101] A compressed air line can be connected to a compressed air connection piece 28 (not shown in the figure). The bellows 24 can be supplied with compressed air for expansion via the compressed air line. The compressed air line can be detachably connected to the compressed air connection piece 28. For example, the compressed air line can be connected to the compressed air connection piece 28 in a press-fit and / or form-fit manner. For example, the compressed air connection piece 28 and the compressed air line can be detachably connected to each other by a threaded connection or a clamping connection.

[0102] The compressed air connection 28 can preferably open directly into the bellows 24. Alternatively, for example, a connecting channel can connect the compressed air connection 28 and the bellows 24.

[0103] Preferably, a compressed air connection 28 can be arranged in the plate 26 .

[0104] The bellows 24 may be expandable due to its low wall thickness. For example, the outer wall of the bellows 24 may have a smaller wall thickness than the compressed air connection 28 or the optional connecting channel between the compressed air connection 28 and the bellows 24. For example, the bellows 24 may have a wall thickness of ≤2 mm, ≤1.5 mm or ≤1 mm.

[0105] Preferably, the bellows 24 may be shaped on its inner peripheral side to match the opposite outer peripheral side of the tool holder 14 .

[0106] For example, the bellows 24 can have an inner tapered portion 30. The inner tapered portion 30 can be arranged on the inner circumferential side of the bellows 24. The inner tapered portion 30 can be directly opposite to the outer tapered portion 32 of the tool holder 14. The inner tapered portion 30 can be annular. The inner tapered portion 30 can be designed as a circumferential lip, for example. The outer tapered portion 32 can also be annular. The outer tapered portion 32 can be arranged, for example, at one end of the tubular or annular tool holder 14, for example, the upper end or the lower end.

[0107] Preferably, the bellows 24 can expand when compressed air is applied to it. As a result, the inner conical portion 30, which acts as a return cone, can, for example, move upwards and press against the outer conical portion 32 of the tool holder 14. The forces acting in this case can return the tool holder 14 to its center position / 0 position, for example in the center of the compensation element 12C, and optionally stop in this position.

[0108] Particularly preferably, the tool holder 14, the frame 18, the plurality of connectors 22 and the bellows 24 and the optional floor 26 are integrally connected to one another as a single piece. Thus, the compensation element 12C can also be one-piece. The tool holder 14, the frame 18, the connectors 22 and the bellows 24 and the optional floor 26 can together form a one-piece body. In detail, the tool holder 14, the frame 18, the connectors 22, the bellows 24 and the optional floor 26 can be formed together from a plurality of adjacent, additively manufactured material layers.

[0109] Figures 6 to 11 Device 10D is shown.

[0110] The device 10D has a plurality of compensating elements 12D, for example three compensating elements 12D as shown.

[0111] The compensating elements 12D may be connected to each other. Preferably, the compensating elements 12D are connected to each other as a single piece. For example, the compensating elements 12D may be connected to each other as a single piece on the outer peripheral surfaces of their respective frames 18. The outer peripheral surfaces of the frames 18 may preferably merge with each other.

[0112] The compensating elements 12D can be arranged adjacent to each other, preferably in a row. Preferably, the center point of the tool holder 14 of the compensating element 12D is not located on a straight line. Instead, it is preferred that the center point of the tool holder 14 is located on an imaginary arc (see Figure 7 ). The circular arc may be a portion (circular arc segment) of a circle having the same diameter as the diameter of the pitch circle T of the rotary container handling device used in the apparatus 10D.

[0113] Device 10D may include housing 34 .

[0114] The housing 34 can connect the compensation elements 12D to each other. Preferably, the housing 34 connects the compensation elements 12D to each other as a single piece. The housing 34 and the compensation element 12D can be formed together from a plurality of adjacent, additively manufactured material layers, which are preferably made of plastic, such as thermoplastic polyurethane.

[0115] Preferably, the housing 34 may have a space frame structure at least in part thereof. The compensating elements 12D may be integrally connected to each other as a single piece via the space frame structure.

[0116] The housing 34 may at least partially cover the compensating element 12D. The housing 34 may, for example, at least partially cover the upper side of the compensating element 12D or the side thereof facing the processing device.

[0117] For example, the housing 34 may have a plurality of webs 36 , a plurality of webs 38 and / or a flange portion 40 , which may preferably be integrally connected to one another as a single piece.

[0118] The webs 36 may integrally connect the frame 18 of the compensating element 12D as a single piece. For example, the webs 36 may each merge into the outer peripheral surface of the frame 18 of the compensating element 12D at one end and merge into the outer peripheral surface of the frame 18 of another compensating element 12D at the opposite end. Preferably, the transition may be made tangentially. Preferably, the webs 36 may be substantially parallel to the alignment plane of the compensating element 12D.

[0119] The webs 38 may connect the frame 18 of the compensating element 12D integrally to the flange portion 40 as a single piece. For example, the webs 38 may be arranged on the upper side of the compensating element 12D or on its side facing the processing device. For example, the webs 38 may each merge at one end into an end face and / or a peripheral surface of the frame 18 of the compensating element 12D and merge at the opposite end into the flange portion 40. Preferably, the webs 38 may be angled relative to the alignment plane of the compensating element 12D.

[0120] The flange portion 40 may be arranged centrally relative to the longitudinal extension of the device 10D. For example, the flange portion 40 may be arranged to align with a centrally arranged compensation element 12D of a plurality of compensation elements 12D. Preferably, the flange portion 40 is arranged at a distance from the compensation elements 12D and is connected to these compensation elements via the web 38.

[0121] By means of the flange portion 40, the device 10D can be attached to a treatment device, for example as an end effector. Preferably, the flange portion 40 can have, for example, at least one screw hole for threaded connection with the treatment device, at least one locking element for locking connection with the treatment device and / or at least one insertion element for insertion connection with the treatment device. Preferably, a plurality of screw holes, a plurality of locking elements and / or a plurality of insertion elements are included. For example, the plurality of screw holes, the plurality of locking elements and / or the plurality of insertion elements can be arranged on the end face of the flange portion 40, preferably equidistant from each other on an imaginary circular line.

[0122] Preferably, the flange portion 40 may be substantially disc-shaped.

[0123] Figures 8 to 10 The device 10D is shown equipped with a plurality of grippers 42. For greater clarity, Figures 8 to 10 Some reference numerals are omitted.

[0124] The holder 42 is preferably designed as a hole holder. The hole holder can also be called an expansion holder, a bellows holder or an internal holder.

[0125] Hole grippers can be used for gripping and handling objects (e.g. workpieces or containers), such as container turntables, standard parts, assembly parts or containers. Hole grippers can grip objects in or at holes in objects. Hole grippers can be clamped into holes by form-locking and force-locking. The clamped object can be moved together with the hole gripper by a handling device.

[0126] The hole holder can be equipped with an expandable bellows, for example. Here, an overpressure can be generated inside, allowing the bellows to expand like a balloon. The bellows can abut the inner wall of the hole and thereby establish frictional contact with the object to be transported. Alternatively, the hole holder can have an elastically deformable element, for example. Here, the plunger can be pulled or pushed by a pneumatic drive. The plunger can compress the elastically deformable element. This compression can also produce frictional contact with the inner wall of the hole.

[0127] Preferably, the at least one holder 42 is detachably attached to the fastening portion 16 of the tool holder 14 of the at least one compensating element 12D, for example one holder 42 per tool holder 14 .

[0128] Alternatively, however, it is also possible, for example, that the at least one holder 42 and the tool holder 14 of the at least one compensating element 12D are integrally connected to one another as a single piece. For example, the at least one holder 42 and the at least one compensating element 12D can be formed together from a plurality of adjacent, preferably additively manufactured material layers, which are preferably made of plastic, such as thermoplastic polyurethane.

[0129] If used Figures 8 to 10 As shown by way of example in the device 10D in FIG. 1 , each compensation element 12D may include at least one mechanical stop 44 .

[0130] The at least one mechanical stop 44 can limit the elastic mobility of the tool holder 14 within the frame 18. To this end, the at least one mechanical stop 44 can preferably be attached to the outside of the frame 18.

[0131] Preferably, the at least one mechanical stop 44 can surround the frame 18, wherein there is a gap between the at least one mechanical stop 44 and the frame 18. Depending on the dimensioning of the gap, the elastic mobility of the tool holder 14 within the frame 18 can be limited.

[0132] Preferably, the at least one mechanical stop 44 can be designed as a raised edge of a plate 46 extending from the tool holder 14. The plate 46 can preferably be disc-shaped or annular. The plate 46 can be connected to the corresponding compensation element 12D, the housing 34 or the holder 42 detachably or as a single piece. The edge can extend in an arc shape, preferably adapted to the shape of the outer peripheral surface of the frame 18.

[0133] For example, the at least one mechanical stop 44 can move together with the tool holder 14 of the corresponding compensation element 12 when the tool holder 14 moves within the frame 18. The at least one mechanical stop 44 can move until it hits the frame 18 (for example on the outside) and thus limits the elastic mobility of the tool holder 14 and thus the gripper 42.

[0134] At least one mechanical stop 44 may be removably connected to at least one compensating element 12D. For example, the at least one mechanical stop 44 may be removably connected to the tool holder 14 and / or the holder 42 received in the tool holder 14 via a plate 46.

[0135] Alternatively, however, it is also possible, for example, that the at least one mechanical stop 44 and the at least one compensation element 12D are integrally connected to one another as a single piece, for example via the plate 46 and / or the tool holder 14. For example, the at least one mechanical stop 44 and the at least one compensation element 12D can be formed together from a plurality of adjacent, preferably additively manufactured material layers, which are preferably made of plastic, for example thermoplastic polyurethane.

[0136] Preferably, each compensation element 12D includes a plurality of mechanical stops 44. For example, the plurality of mechanical stops 44 of each compensation element 12D may be distributedly arranged around the outer peripheral surface of the frame 18.

[0137] Also as reference Figures 8 to 10 As shown by way of example, the device 10D in FIG. 1 may include a plurality of spacers 48 .

[0138] The spacer 48 can preferably be rod-shaped. By means of the spacer 48, the object held by the corresponding holder 42 can be positioned as required. For this purpose, the free end of the spacer 48 can contact the object, for example the upper side of the object.

[0139] The spacers 48 may extend toward the object to be clamped or extend parallel to the central axis of the corresponding clamper 42 .

[0140] The spacer 48 may be arranged, for example, on the plate 46, the housing 34, the compensating element 12D and / or the holder 42. The spacer 48 may be integrally connected to at least one compensating element 12D as a single piece.

[0141] Fig.11 The device 10D is shown equipped with a plurality of grippers 42'. Fig.11 Some reference numerals are omitted.

[0142] Fig.11 The clamp 42 ′ in the embodiment can be designed as a so-called external clamp, preferably as a parallel clamp.

[0143] A parallel gripper may, for example, have two jaws. When actuated, the two jaws may move toward each other to grip an object. The two jaws may move away from each other to release the gripped object.

[0144] It should be understood that the various features of devices 10A, 10B, 10C and 10D may be combined with one another as desired and are interchangeable.

[0145] The present invention is not limited to the preferred exemplary embodiments described above. On the contrary, there may be a variety of variants and modifications which likewise exploit the inventive concept and therefore fall within the scope of protection. In particular, the present invention also claims protection for the subject matter and features of the dependent claims, regardless of the claims to which they refer. In particular, the individual features of independent claim 1 are each disclosed independently of one another. In addition, the features of the dependent claims are also disclosed independently of all features of independent claim 1 and, for example, independently of features relating to the presence and / or construction of the compensating element, tool holder, frame and / or connector of independent claim 1. All ranges specified herein are to be understood as being disclosed in such a way that all values ​​falling within the respective ranges are disclosed individually, for example also as respective preferred narrower outer limits of the respective ranges.

[0146] Reference numerals list

[0147] 10A-10D Devices

[0148] 12A-12D Compensation Components

[0149] 14 Tool Rack

[0150] 16 Fastening part

[0151] 18 Framework

[0152] 20 Fastening part

[0153] 22 Connectors

[0154] 24 Bellows

[0155] 26 Plates

[0156] 28 Compressed air connection

[0157] 30 Inner conical part

[0158] 32 Outer conical part

[0159] 34 Shell

[0160] 36 Pillars

[0161] 38 Pillar

[0162] 40 Flange part

[0163] 42 Clamp

[0164] 44 Mechanical stop

[0165] 46 Plates

[0166] 48 Spacer

[0167] T Pitch Circle

Claims

1. An apparatus (10A-10D) for connecting a gripper (42) to a handling device, preferably a handling robot, the apparatus (10A-10D) comprising: At least one compensating element (12A-12D), preferably substantially disk-shaped, for compensating position errors, having: - a tool holder (14), preferably annular or tubular, for holding said holder (42), a frame (18), preferably annular, for connecting the compensating element (12A-12D) to the processing device, wherein the frame (18) surrounds the tool holder (14) as a frame and preferably coaxially, - a plurality of elastically deformable connectors (22) which connect the tool holder (14) within the frame (18) to the frame (18) in an elastically movable manner, The tool holder (14), the frame (18) and the plurality of connectors (22) are integrally connected to each other as a single piece.

2. The device (10A-10D) according to claim 1, wherein: The at least one compensating element (12A-12D) is formed from a plurality of adjacent, preferably additively manufactured layers of material, preferably made of plastic such as thermoplastic polyurethane, polyamide or other materials.

3. The apparatus (10A-10D) of claim 1 or claim 2, wherein: The connector (22) is designed as a web, and the web extends between the frame (18) and the tool holder (14) in an arc, preferably a spiral arc, or The connector (22') is annular, bubble-shaped or wavy.

4. The device (10A-10D) according to any one of the preceding claims, wherein: The connectors (22) are each incorporated into the outer peripheral surface of the tool holder (14) at one end and into the inner peripheral surface of the frame (18) at the other end.

5. The device (10D) according to any one of the preceding claims, wherein: The at least one compensating element (12D) has a plurality of, preferably two or three, compensating elements (12D), which are connected to one another, preferably as a single piece.

6. The device (10D) according to claim 5, wherein: The tool holders (14) of the plurality of compensating elements (12D) each have a center point, and The center point is located on an imaginary circular arc.

7. The device (10D) according to claim 5 or claim 6, further comprising: A housing (34) preferably connects the plurality of compensating elements (12D) to one another via a plurality of webs (36, 38), the housing (34) having a flange portion (40) for attaching the device (10D) to the processing apparatus.

8. The device (10D) according to claim 7, wherein: The housing (34) is integrally connected to the plurality of compensating elements (12D) as a single piece; and / or The plurality of compensation elements (12D) and the housing (34) are together formed from a plurality of adjacent, preferably additively manufactured layers of material, preferably made of plastic such as thermoplastic polyurethane, polyamide or other materials.

9. The device (10D) according to any one of the preceding claims, further comprising: At least one mechanical stop (44) limits the elastic mobility of the tool holder (14) within the frame (18).

10. The device (10D) according to claim 9, wherein at least one of the following is satisfied: The at least one mechanical stop (44) is connected to the at least one compensating element (12D), preferably to the tool holder (14) of the at least one compensating element (12D), detachably or integrally as a single piece; The at least one mechanical stop (44) is connected to the tool holder (14) for movement with the tool holder (14); The at least one mechanical stop (44) surrounds the frame (18), wherein there is a gap between the at least one mechanical stop (44) and the frame (18); and The at least one mechanical stop (44) is designed as a raised, preferably curved edge of a plate (46) extending from the tool holder (14), said edge abutting the frame (18) to limit the elastic mobility.

11. The device (10C) according to any one of the preceding claims, wherein: The at least one compensating element (12C) further comprises an elastically deformable bellows (24) surrounding the tool holder (14), preferably coaxially surrounding the tool holder and capable of expansion for returning and / or stopping the tool holder (14), and optionally: - the tool holder (14), the frame (18), the plurality of connectors (22) and the elastically deformable bellows (24) are integrally connected to one another as a single piece; and / or The elastically deformable bellows (24) has an inner conical portion (30) which is opposite to an outer conical portion (32) of the tool holder (14).

12. The device (10A-10D) according to any one of the preceding claims, further comprising: at least one holder (42), preferably a bore holder or an external holder, which is accommodated in the tool holder (14) of the at least one compensation element (12A-12D), preferably detachably or integrally as a single piece; and / or A plurality of spacers (48), preferably rod-shaped, are used to position and orient an object held by the at least one holder (42).

13. A container processing system, comprising: a container handling device, preferably a rotary container handling device; and A processing device having an apparatus (10A-10D) according to any of the preceding claims, wherein the processing device is designed to process containers or components of the container processing device, preferably container carousels, format parts or assembly parts.

14. A method for producing a device according to any one of claims 1 to 12, the method comprising: The at least one compensation element (12A-12D) and optionally the housing (34), the at least one mechanical stop (44) and / or the at least one clamp (42) are additively manufactured to form a one-piece body, preferably in a powder bed process and / or made of plastic, preferably thermoplastic polyurethane, polyamide or other materials.

15. A computer program product having instructions for causing an additive manufacturing apparatus to: The device (10A-10D) according to any one of claims 1 to 12 is produced in multiple layers by an additive manufacturing method, preferably a powder bed method; or Execute the method according to claim 14.

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