Grabbing device and grabbing method

Abstract

The invention relates to a gripping device (1) for gripping an individual unit (200), comprising a gripping unit (2) and a holding unit (3), the gripping unit (2) having a bearing section (4) for gripping the individual unit (200), and the holding device (3) comprising a holder (5). The free end (6) of the support section (4) comprises a lifting mechanism (7) for lifting the individual unit (200) to be gripped in such a way that the support section (4) can be moved at least below the individual unit (200) to be gripped. The gripping unit (2) further comprises a fixing device (14). The handling device (50) comprises a robotic device (60) on which a robot arm (61) and a gripping device (1) of this type are arranged. A system (100) for gripping and transferring at least one individual unit (200) comprises a handling device (50) of this type and at least one control device (80). In a method for gripping at least one individual unit (200) using a system (100) of this type, the gripping unit (2) is brought to the edge (201) of the individual unit (200) to be gripped, and the lifting mechanism lifts the individual unit such that the bearing section moves below the individual unit (200) to be gripped. The individual unit (200) is clamped between the fixing device (14) and the bearing section (4).

Description

Technical Field

[0001] The invention relates to a gripping device for gripping individual units, in particular for gripping empty bags or stacks of empty bags, comprising at least one gripping unit and at least one holding unit. The gripping unit has at least one support section for the individual unit to be gripped, and the holding device comprises at least one holding element. The invention also relates to a handling device having such a gripping device, a system comprising such a handling device, and a method for gripping at least one individual unit, in particular at least one empty bag or at least one stack of empty bags, using such a system. Background Art

[0002] Various devices for gripping and transferring or transporting objects, in particular stacked objects, are known in the prior art, for example DE69100158T2, DE102012009649A1 and DE102019220027A1. For example, when transporting empty bags, for example in the field of packaging systems for filling bulk materials into bags, the flat empty bags can be lifted and transferred to a specific location and / or another unit by means of suction cups. However, it is disadvantageous that only individual bags can be lifted by suction cups, but not bundles of bags.

[0003] Bundles of bags can indeed be gripped with conventional grippers, such as with a plier-type gripper, but the problem is that such grippers cannot individually grip bags on a pallet or stacks of bags, for example, because the bags cannot freely extend out to either side. This means that conventional grippers cannot automatically grip bags lying flat or bundles of bags. Summary of the invention

[0004] Therefore, it is an object of the present invention to provide a gripper that can pick up single objects independently as well as stacks of objects or bundles of objects independently.

[0005] This object is achieved by a gripping device having the features of claim 1, a handling device having the features of claim 19, a system having the features of claim 20 and a method having the features of claim 23. Preferred further developments of the invention are subject matter of the dependent claims. Further advantages and features of the invention emerge from the general description and the description of an exemplary embodiment.

[0006] The gripping device according to the invention is suitable for gripping individual units, in particular empty bags and / or stacks of empty bags and / or the like, and comprises at least one gripping unit and at least one holding unit, wherein the gripping unit has at least one supporting section for the individual unit to be gripped, and the holding device comprises at least one holding element. At least one free end of the supporting section comprises at least one lifting mechanism for at least partially lifting the individual unit to be gripped, so that the supporting section can be moved at least partially below the individual unit to be gripped.

[0007] In this case, the individual units are in particular individual objects or, depending on the configuration, a stack of objects and / or a bundle of objects, in particular at least one individual empty bag or an empty bag lying flat and / or a stack of bags or a stack of empty bags.

[0008] The individual units can be in particular pieces of cloth or objects, which are preferably provided on the storage surface in the form of stacking or bundling. These individual units or bundles of objects are stacked or layered as individual units, in particular stacked or layered in an offset manner.

[0009] Thus, the individual unit can be, for example, an empty bag, such as an empty bag for filling with bulk goods. In particular, the individual unit is at least in part substantially flexible. For example, any empty bag or bag, such as a valve bag, FFS bag, open bag or even a bundle of paper bags or the like, can also be picked up by the gripping device and transferred to another location.

[0010] Preferably, bundles or stacks of objects as individual units also have a certain flexibility. For example, bundles of newspapers or stacks of thin or thick cardboard or stacks of paper, plastic sheets or the like can also be lifted by the lifting mechanism of the gripping unit so that the support section for gripping can be at least partially moved underneath them.

[0011] The support section is in particular a region of the gripping device which is moved below the individual unit to be picked up and on which the individual unit to be gripped rests during the lifting.

[0012] The holding element is used in particular to at least slightly press down or restrain an individual unit to be grasped or a bundle of objects as an individual unit, so that the support section can be moved or displaced under the individual unit without the individual unit to be grasped slipping off or sliding away, and so that the edge of the individual unit or the stack or bundle is preferably slightly lifted.

[0013] The gripping device according to the invention has many advantages. The support section comprises at least one lifting mechanism, which makes it possible to grip individual units, such as flat objects, empty bags and / or stacks of empty bags, by the gripping device and to move them to another location. This is because the lifting mechanism lifts the individual units lying on the contact surface on one side or edge of the individual units so that the free end of the support section can be moved under the individual unit to be gripped or slightly displaced under the individual unit. Furthermore, the gripping unit comprises at least one fixing device in order to grip or fix the individual unit between the fixing device and the support section, in particular when the support section has been moved under the individual unit to be gripped.

[0014] For example, if the individual units are provided by a stack of empty bags, for example with 5, 10 or 15 bags, the lifting mechanism is used to lift the individual bags or the entire stack of empty bags so that the support section can be moved at least slightly below the stack of empty bags. For this purpose, the individual bags are then preferably separated by the lifting mechanism.

[0015] The gripping device according to the invention is particularly suitable for picking up individual objects, in particular stacks of empty bags, which are arranged on elastic, inelastic, hard and / or rigid surfaces. Depending on the position of the individual units, the individual units in the individual units can also have different surface properties, in particular if the individual objects are arranged on a pallet or another hard contact surface. For example, the upper individual unit rests on the individual unit arranged below it, so that the upper individual unit rests on a non-rigid or elastic or non-hard surface. The lowermost individual unit can also be placed directly on the pallet, for example, or only separated by a thin bracket and thus on a hard or relatively hard surface.

[0016] Unlike conventional gripping devices with suction cups, this makes it possible not only to lift individual bags or individual units, but also to lift individual units without suction cups, and even to grip bundles of objects as individual units, such as stacks of empty bags, by the gripping device.

[0017] Preferably, the lifting mechanism comprises at least one roller. The lifting mechanism or roller is preferably arranged directly at the free end of the support section and is particularly designed to be rotatable or rotatable. It is also possible to arrange a plurality of rollers adjacent to each other, preferably using at least one roller.

[0018] Particularly preferably, the roller can be driven. In particular, such a roller of the lifting mechanism can be rotated or driven by a motor such as a compressed air motor, a motor and / or any other rotary encoder.

[0019] Preferably, the roller can be driven by at least one motor, wherein the propulsion force of the motor is transmitted to the roller via at least one steering device. For example, at least one belt can be provided, which transmits the rotation of the motor to the roller. For this purpose, a corresponding connection from the belt to the roller can be provided. Depending on the position of the motor, further steering can also be provided by steering wheels, drive shafts and / or the like. This can be particularly advantageous if the motor is to be mounted close below the receiving unit or the robot arm connection, for example for weight reasons or in order to optimize the center of gravity. Depending on the configuration, the pivoting range of the gripping device can also be improved or reduced by arranging the motor accordingly in a central area.

[0020] In an advantageous configuration, the roller at least partially has at least one contact adhesion structure and / or at least one friction- or adhesion-enhancing surface. In particular, the roller is designed in such a way that a "handle" is added so that an individual unit, for example an empty bag or a bundle of empty bags, can be lifted by rotating the roller.

[0021] For example, the contact-adhesion structure may be an external toothed or saw-toothed structure which, for example, when in contact with a bundle of empty bags or individual units, turns over the individual bags or objects, or even turns over a plurality of bags or objects at a time, to lift the free edge of the stack of empty bags or individual units. Such contact-enhancing structures may also be realized, for example, by grooves, bumps and / or brush-like structures.

[0022] The surface with increased frictional traction may be provided by, for example, rubber coating and / or roughening and / or the like.

[0023] In particular, preferably, the rotation of the rollers or the lifting mechanism causes individual objects of the individual units or the individual units themselves to be turned over or turned away, so that the support segment can be inserted or displaced between the support surface and the individual unit. When the drive belt drives the rollers, the movement generated in the upper run can preferably also be used to transport the gripped individual unit backwards during the gripping movement.

[0024] Particularly preferably, the gripping unit and the holding unit are movable relative to one another. This arrangement of being movable relative to one another can be provided actively or passively, for example by means of a motor-driven drive or also by means of a preloading device which allows an active movement in at least one direction. By means of an active relative movement of the gripping unit and the holding unit relative to one another, it is possible, for example, to achieve a movement of the support section beneath the individual units without the entire gripping device having to be moved in the corresponding direction.

[0025] Preferably, the gripping unit and the holding unit are in an articulated and / or elastic relationship with each other. In particular, a lever and / or an actuator connected in an articulated manner can also be provided.

[0026] Particularly preferably, the support section is designed to be at least partially telescopic and / or adjustable in length. In particular, the support section with the lifting mechanism can be designed to be telescopic or adjustable in length in order to be able to pick up individual units of different sizes or lengths, for example when handling bags and / or bag stacks of different sizes or formats. However, depending on the configuration, gripping devices of different sizes can be provided for individual objects of different sizes.

[0027] It is generally preferred that the gripping device comprises at least one quick-change device to allow quick and easy mounting of the gripping device, for example to a robot arm.

[0028] In an advantageous configuration, at least one receiving unit is provided, via which the gripping unit and the holding unit are connected. The receiving unit is used in particular for fastening the gripping device to a manipulating device, for example to a robot arm of a robotic device. The holding unit and the gripping unit are connected to one another on the receiving unit, for example, in such a way that the two components can be arranged in an articulated manner to one another. However, the gripping unit and the holding unit can also be connected directly to one another in an articulated manner and, depending on the configuration, can also be provided in a non-articulated manner.

[0029] In an advantageous further development, at least one actuator is associated with the support section, the holding device, the holding unit and / or the holding element. Thus, depending on the configuration of the actuator, a movement of the corresponding component can be achieved. For example, if a preloading device is provided as an actuator, a certain preloading or arrangement of the gripping unit to the holding unit can be achieved, in particular if the components are articulated to one another.

[0030] Preferably, the actuator comprises at least one cylinder. Depending on the configuration, further actuators may also be provided, such as hydraulic cylinders and / or other linearly acting actuators. By providing such an actuator, it may be achieved, for example, that the gripping unit or the support segment and the holding device have a certain preload relative to one another. If the gripping device for gripping the individual unit is lowered next to the individual unit, the support segment and the holding element may preferably be moved apart against the preload until, for example, a specified end position is reached, which is preferably detected by an end position switch. In particular, the end position is an arrangement in which the support segment and the holding element have a certain movement buffer relative to one another, at least in two directions. Depending on the configuration, it may also be possible to define a maximum deflection of the components relative to one another as an end position.

[0031] Preferably, the holding element comprises at least one holding roller. Such a holding roller can at least partially push or press the individual unit preferably at least slightly in a downward direction so that the individual unit does not slip when the support section is moved. In order to achieve an optimal movement of the support section in a direction below the individual unit, the holding roller then rolls on the individual unit in accordance with the movement of the support section.

[0032] According to the invention, the gripping unit comprises at least one fixing device. In particular, such a fixing device is designed in the form of a fixing punch and / or comprises at least one such fixing punch. This makes it possible for the individual unit to be clamped between the fixing device and a support section, wherein the support section moves under the individual unit. Preferably, such a fixing device, in particular in the configuration of a fixing punch, can be driven, in particular, by a cylinder or the like, and can also be moved in different ways.

[0033] Preferably, at least one end position switch is provided, which detects at least one position or deflection, in particular at least one position or deflection of the bearing section and / or of the holding device.

[0034] In an advantageous further development, at least one datuming device is provided. Such a datuming device can in particular be provided by at least one rod or at least one stick, which in particular has a specified length. In particular, the datuming device can be used to allow a height adjustment between the manipulator or robot arm and the gripping device. Furthermore, such a datuming device can be used to adjust the movement or interference profile during the rotation of the gripping device, so that the controller can prevent collisions with other components, individual units and / or objects during the movement and during the rotation, in particular during simultaneous movement and rotation.

[0035] Preferably, at least one hood device is provided, which at least partially covers at least one gripping unit and at least one holding unit. Such a hood device is particularly intended or designed as a protective hood. In particular, a fully enclosed type of gripping device is advantageous. Usually, the hood device is particularly intended to provide dust protection for the mechanism and to provide collision protection for the mechanism. The degree of dirtiness of the mechanism is reduced and preferably the maintenance intervals can be extended. In the event of a collision, the mechanism is not damaged, only the hood device is affected. Preferably, such a hood device also achieves at least a certain degree of noise protection. Depending on the configuration, insulation can also be provided.

[0036] Preferably, at least one fastening device is provided for the hood device. Such a fastening device is in particular received on at least one component of the gripping device.

[0037] In an advantageous further development, at least one display device is associated with the hood device. For example, information can be output in any desired manner via such a display device, and / or the display device can also implement design-related functions.

[0038] Preferably, the display device comprises at least one lighting device, which is in particular at least partially integrated into the fastening device. Such lighting device or colored light, in particular LED lighting, can in particular be used as a status display. Preferably, for example, blue can indicate that the unit is operating, yellow that a maintenance operation is in progress or maintenance is required, and red that a fault is present.

[0039] Preferably, at least one transparent or free area is provided in the hood device, through which the light of the lighting device or the display of a general display device can be perceived. In particular, such a transparent or free area can represent a logo, wherein, for example, a logo of a different color can be used as a status display.

[0040] The manipulator according to the invention comprises at least one robotic device on which at least one robot arm and at least one gripping device are arranged, as described above. The manipulator according to the invention also provides the advantages of the gripping device described previously.

[0041] The system according to the invention for gripping and transferring at least one individual unit, in particular at least one empty bag or at least one stack of empty bags, comprises at least one manipulator as described above and at least one controller.

[0042] The controller can preferably be integrated into the operating device or be a part thereof, or can also be provided separately.

[0043] The system according to the invention also provides the advantages mentioned above with respect to the gripping device. In particular, with such a system, the gripping device can be moved towards the individual unit, for example by means of a robot, wherein a lifting mechanism of the support segment then lifts the individual unit at at least one edge so that the support segment can be moved under the individual unit. For this purpose, in particular, a robot can be provided to move the gripping device as a whole into such a direction that the support segment is moved in the direction under the individual unit. However, depending on the configuration, such a displacement of the support segment can also be achieved by a relative, in particular active, movement of the support segment in the direction of the holding device.

[0044] Preferably, the system comprises at least one camera device. In particular, a camera device with a height detection device, such as a 3D camera, is advantageous so that a manipulator or a robot arm with an attached gripping device can be moved precisely towards the individual unit to be gripped.

[0045] In particular, at least one alternative height detection device or height measuring device is provided, in particular when no 3D camera is provided but only a 2D camera is provided for layer pattern recognition etc. Such a height detection device can determine the height to be approached by the gripping device, for example, by means of at least one laser, radar, ultrasound and / or similar device.

[0046] Preferably, the gripping device can be taught or improved in terms of its approximation accuracy in all and / or individual planes by at least one AI application (artificial intelligence). In particular, neural networks and / or machine learning and / or deep learning methods can be used. After the teaching, the gripping device can preferably also work accurately offline, so without AI in the background.

[0047] Preferably, at least one further unit, at least one placement support (in particular associated with the further unit) and / or at least one storage surface for at least one individual unit stock is provided. Such a placement support can, for example, be provided at the unit to which the captured individual unit is transferred. Such a placement support can, for example, be provided by an inclined continuous ramp or plate, so that, for example, the captured individual unit (for example an empty bag or a stack of empty bags) can preferably be placed on a conveying device (for example a conveyor belt).

[0048] The method according to the invention for grabbing at least one individual unit, in particular at least one empty bag or at least one stack of empty bags, using a system as described above is characterized in that the following steps are performed in an appropriate order. The grabbing unit of the grabbing device is brought to the edge of the individual unit to be grabbed by a manipulating device so that the supporting section of the grabbing unit is located next to the individual unit and the retaining member of the retaining device is at least partially above the individual unit. The grabbing device is further lowered so that the supporting section of the grabbing unit is located next to the individual unit to be grabbed or at least almost or next to the individual unit, and the retaining member is located on the individual unit. With the help of a lifting mechanism, the edge of the individual unit to be grabbed is at least partially lifted. The supporting section is at least partially moved so that it moves below the individual unit to be grabbed and the individual unit to be grabbed is at least partially located on the supporting section. The individual unit is then clamped or fixed between the fixing device and the supporting section.

[0049] The support section is next to the individual unit, which specifically means that the support section is substantially in the same plane or in the same plane as the object to be grasped or the individual unit to be grasped. Depending on the configuration, the contact surface can be completely or only slightly or almost or not at all in contact.

[0050] In particular, the support segment or the gripping device is rotated by a handling unit or a robot arm in such a way that a specified edge is approached, an individual unit is picked up in a specified or defined or known arrangement and can thus be transferred to another unit or another location.

[0051] Generally, the gripping device can preferably access the individual units from any side of the individual units. Providing a layer image of the individual units may be particularly advantageous if certain sides of at least some of the individual units are not freely accessible. For example, when gripping bundles of empty bags, the gripping device may preferably access them from both the long side and the short side.

[0052] Depending on the format of the individual units to be gripped, the distance between the gripping unit or the supporting section or the lifting mechanism and the holding part or the holding element can preferably be varied and / or adjusted.

[0053] The method according to the invention also provides the advantages of the gripping device already described above. In particular, complex individual units (such as stacks of empty bags) can be picked up in a specified orientation and transferred to another unit in a defined manner.

[0054] Preferably, at least part of the lifting and at least part of the displacement take place in parallel, at least part of the displacement takes place in parallel, in particular when rollers are used as lifting means, which can be rotated to lift the individual unit, for example when turning over individual bags in a stack of bags, wherein the support section below the individual unit can also continue to rotate during the displacement.

[0055] Particularly preferably, the displacement of at least the support section is at least partially performed by a movement of the robot arm.Depending on the configuration, the holding unit or the holding element or the holding roller can be moved or displaced over the individual unit in accordance with the movement of the robot arm.

[0056] In an advantageous configuration, at least the displacement of the support section is at least partially carried out by a relative movement between the gripping unit and the support unit. The relative movement can be provided in addition to the movement of the robot arm or separately. The relative movement of the support section, for example in the direction of the holding unit, causes the support section to be moved under the separate unit.

[0057] Preferably, the gripping unit and the holding unit are articulated to each other and are in a first end position when the gripping unit of the gripping device is in the lifting state and in a second end position when the gripping device is in the connected state. This can be done, for example, by end position detection to detect an optimal position for the gripping device to start lifting the individual units.

[0058] Preferably, the lifting mechanism comprises at least one roller, the lifting being achieved by the rotation of the roller. The roller can be designed in particular in the manner described above. The direction of rotation is provided in particular in such a way that the object or the individual unit or individual objects of the individual unit are moved upwards.

[0059] In an advantageous further development, at least one camera device is provided, by means of which the position and / or the orientation of the individual units to be gripped is detected.

[0060] Thus, in particular, it is possible to detect which individual unit is located at the top individual unit in an individual unit stock or a plurality of individual unit stocks. Furthermore, when grabbing an individual bag or a stack of bags (e.g. bags with valves), it is possible to detect on which side the valve is located in order to transfer the individual bag or the stack of bags with valves to another unit in a specific orientation. The controller then preferably activates the maneuvering device accordingly and transfers the individual unit to another unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Further advantages and features of the present invention will become apparent from the exemplary embodiments explained below with reference to the attached drawings.

[0062] In the figure:

[0063] Figure 1 A purely schematic diagram of an exemplary embodiment of a system according to the invention is shown in the form of a perspective view;

[0064] Figure 2 Shows Figure 1 The purely schematic enlargement shown;

[0065] Figure 3 A purely schematic side view of an exemplary embodiment of a gripping device according to the invention is shown;

[0066] Figure 4 A purely schematic side view shows an exemplary embodiment of a gripping device according to the invention when gripping a single unit;

[0067] Figure 5 A purely schematic side view shows an exemplary embodiment of a gripping device according to the invention when gripping a single unit;

[0068] Figure 6 A purely schematic side view shows an exemplary embodiment of a gripping device according to the invention when gripping a single unit;

[0069] Figure 7 A purely schematic side view shows an exemplary embodiment of a gripping device according to the invention when gripping a single unit;

[0070] Figure 8 A purely schematic side view shows an exemplary embodiment of a gripping device according to the invention when gripping a single unit;

[0071] Fig. 9 A purely schematic diagram showing a side sectional view of an exemplary embodiment of a gripping device according to the invention;

[0072] Fig.10 A purely schematic diagram showing a perspective view of an exemplary embodiment of a gripping device according to the invention;

[0073] Fig.11 A purely schematic diagram showing a further perspective view of an exemplary embodiment of a gripping device according to the invention;

[0074] Fig.12 A purely schematic diagram showing a side sectional view of an exemplary embodiment of a gripping device according to the invention;

[0075] Fig.13 A purely schematic diagram showing a side view of another exemplary embodiment of a gripping device with a hood device according to the invention;

[0076] Fig.14 Shown according to Fig.13 A purely schematic diagram of a front view of an exemplary embodiment of ;

[0077] Fig.15 A purely schematic diagram shows a side view of another exemplary embodiment of a gripping device according to the invention;

[0078] Fig.16 Shown according to Fig.13 A purely schematic diagram of a front view of an exemplary embodiment of ;

[0079] Fig.17 Shown according to Fig.15 A view without fastening means for the hood arrangement;

[0080] Fig.18 Shown according to Fig.16 A view without fastening means for the hood arrangement;

[0081] Fig.19 Shown according to Fig.17 A purely schematic cross-sectional view of an exemplary embodiment of ; and

[0082] Fig. 20 A purely schematic sectional view of an exemplary embodiment of a receiving unit with a quick-change device is shown.

[0083] Reference numerals:

[0084] 1-gripping device; 2-gripping unit; 3-holding unit; 4-support section; 5-holding member; 6-free end; 7-lifting mechanism; 8-roller; 9-contact attachment structure; 10-receiving unit; 11-actuator; 12-cylinder; 13-holding roller; 14-fixing device; 15-fixing punch mechanism; 16-end position switch; 17-first end position; 18-second end position; 19-reference device; 20-adhesion enhancement surface; 21-motor; 22-compressed air motor; 23-rod; 24-rotation direction; 25-toothed belt; 26-hood device; 2 7-fastening device; 28-display device; 29-lighting device; 30-steering device; 31-quick change device; 32-bolt; 33-drive shaft; 34-deflection roller; 50-manipulation device; 60-robot; 61-robotic arm; 70-camera device; 71-3D camera; 75-height detection device; 80-control device; 100-system; 200-individual unit; 201-edge; 300-empty bag; 350-empty bag stacking; 400-unit; 401-storage support; 402-conveyor belt; 500-storage surface; 600-bundling / stacking. DETAILED DESCRIPTION

[0085] Figure 1 A system 100 according to the invention is shown purely schematically, which in the exemplary embodiment shown here comprises a handling device 50 and a control 80. In the exemplary embodiment shown, the system according to the invention is used to grab and transfer at least one individual unit 200 from a stock of stacked individual units 200 from a storage surface 500 to another unit 400. In the exemplary embodiment shown, the individual units are stacked in layers on a pallet, so that the stock of individual units 200 is provided.

[0086] For example, in particular, the individual units 200 are flat objects which are stacked as stock and placed on the storage surface 500. However, the individual units 200 can also be stacks or bundles 600 of objects, as shown in the example shown here, where the bundle or stack 600 is then grasped and transferred as an individual unit 200.

[0087] What is to be understood by the individual elements according to the present application is further defined in the general description by way of examples.

[0088] In the exemplary embodiment shown, the stacked objects are empty bags 300, the individual units 200 being implemented here as bag stacks 350. Specifically, the stack of valve bags or the stack of empty bags 350 is transferred from a pallet on a storage surface 500 to another unit 400 by means of a manipulator 50. In the exemplary embodiment shown, the other unit 400 is a conveyor belt 402, to which the individual units 200 or the stack of empty bags 350 are transferred in a specified direction, i.e., the valves are in a specified direction on the conveyor belt 402. In the exemplary embodiment shown, the conveyor belt 402 is used to deliver a plurality of empty bags 300 or a single stack of empty bags 350 to an automatic bagging machine, which is connected upstream of a rotary packaging system. The bagging machine and the packaging system are not shown in the embodiment shown here.

[0089] In order to facilitate the placement of the gripped individual units 200 onto the conveyor belt 402 or to place it as accurately as possible, a placement support 401 is provided here, which is designed here as an obliquely mounted plate.

[0090] In order to check whether the manipulator 50 correctly transfers the individual unit 200 to the further unit 400 or here to the conveyor belt 402, at least one additional camera, not shown here, can be provided, depending on the configuration. For example, images or data from this camera can be used to check whether the orientation of the individual unit during the transfer is correct and / or whether an individual empty bag 300 has slipped during the transfer of the empty bag stack 350. If an incorrectly gripped individual unit 200 and / or a defective individual unit 200 is detected, it can be transferred, for example, to an ejection point. In this way, it can be ensured, among other things, that only those individual units that can be further processed are transferred.

[0091] Depending on the configuration, it can also be checked whether the storage location of the gripped individual unit 200 is free or still occupied. However, depending on the detection area of ​​the camera device 70, it is also possible to perform a check of the transfer of the individual unit 200 to another unit 400 by means of this camera 70.

[0092] In the exemplary embodiment shown here, the handling device 50 comprises a robot 60 having a robot arm 61 , wherein the gripping device 1 according to the invention is attached to the free end of the robot arm 61 .

[0093] In order to be able to transfer the gripped individual unit 200 in a defined orientation to another unit 400 or another position 400 by means of the manipulator 50, the uppermost and therefore exposed individual unit must first be known or detected in order to ensure that individual units that are partially covered by other individual units 200 are not mistakenly gripped. The gripping device 1 must then grip the uppermost or exposed individual unit 200 in a defined manner at a specific edge 201, for which purpose the controller 80 must detect the position and / or orientation of the individual unit 200 on or within the bag stock or the stock of individual units 200 in order to activate the gripping device 1 accordingly.

[0094] For this purpose, in the exemplary embodiment shown, a camera device 70 is arranged above the storage surface 500, wherein the controller 80 detects the position and / or direction of the individual unit 200 to be gripped on the storage surface 500 via the evaluated data of the camera device 70. In the exemplary embodiment shown, the direction is the direction relative to the position of the valve of the valve bag.

[0095] In order to ensure that the gripping device 1 can also approach the appropriate individual unit 200 at the correct height, a height detection device 75 is provided so that the robot arm 61 can accurately move the gripping device 1 from a specified side to the correct individual unit 200 or to the correct edge 201 of the correct individual unit 200.

[0096] Depending on the configuration, the height detection device 75 can be provided as a separate component, in particular when the camera device 70 itself cannot detect the height or distance of the individual units 200. In the exemplary embodiment shown here, the camera device 70 is provided as a 3D camera 71, and the height detection device 75 is therefore integrated in the 3D camera 71.

[0097] In the exemplary embodiment shown here, two storage surfaces 500 are also shown, which are arranged in operative connection with the handling device 50 , wherein one storage surface 500 is arranged on the left side of the robot 60 and the other is arranged on the right side of the robot 60 .

[0098] The handling device 50 can pick up individual units 200 from two storage surfaces 500 , for example alternately or one after the other, and feed them into one unit and / or also supply individual units 200 to two individual units in parallel.

[0099] In order to ensure that the control device of the gripping device 1 can grip the respective individual unit 200 precisely, in the exemplary embodiment shown here, a camera device 70 is arranged above each storage surface 500 , both camera devices being designed here as 3D cameras 71 .

[0100] Depending on the detection range of the camera device 70 used, only one camera device 70 may be provided. In other embodiments, only one camera device 70 may be used, and the camera device 70 may be movable above the storage surface 500.

[0101] By means of the method according to the invention, the position and / or orientation of the individual unit 200 to be gripped is determined by the controller. As described above, this means, in particular, that the controller 80 determines the position and / or orientation of the individual unit 200 on the storage surface, for example by means of acquired sensor data or, in the exemplary embodiment shown here, by means of data from the camera device 70.

[0102] However, according to an embodiment, determination may also be made by the controller in such a manner that, for example, a specified layer pattern (eg, individual units 200 stacked on a pallet in a staggered manner) is input into the controller 200 and each specified position is scanned by the controller 80.

[0103] The advantage of automatically detecting the position of the bag or the position or orientation of the uppermost exposed individual unit 200 is that, for example, an individual unit 200 that has been displaced during transfer or an individual unit 200 that has been subsequently placed by an operator can be detected during the automatic detection process, so that no errors occur.

[0104] It can also be determined by the controller, ie the operator manually or by hand notifies the controller of a specific approach position.

[0105] Figure 2 A purely schematic enlargement of the free end of a robot arm 61 is shown, to which a gripping device 1 according to the invention is attached.

[0106] It is shown here that the gripping device 1 is received on the robot arm 61 via the receiving unit 10, whereby the robot arm 61 can move the gripping device 1 in any three-dimensional direction and can also rotate the gripping device 1 so that the gripping unit 2 of the gripping device 1 can move toward a specified side of the individual unit 200 to be gripped or a detected edge 201.

[0107] In the exemplary embodiment shown, the individual units 200 are stacks 350 of empty bags, in particular valve bags, which are stacked on a pallet in the form of bundles 600. The individual units 200 thus consist here of a bundle or stack 600 of empty bags 300.

[0108] In the exemplary embodiment shown here, the gripping device 1 comprises a gripping unit 2 and a holding unit 3 , wherein in the exemplary embodiment shown here, the gripping unit 2 and the holding unit 3 are connected to one another in an articulated manner via a receiving unit 10 .

[0109] As described above, the gripping device 1 is placed on a robot arm 61 or a manipulator 50. In the exemplary embodiment shown, the gripping unit 2 comprises a support section 4, on which the individual unit 200 to be gripped and subsequently transferred rests and is clamped by a fixing device 14. In the exemplary embodiment shown here, the fixing device 14 comprises a fixing punch mechanism 15.

[0110] At the free end 6 of the support section 4, a lifting mechanism 7 is provided, which in the exemplary embodiment shown comprises one roller 8 or two rollers 8 arranged parallel to one another, which can be driven or rotated by a motor 21. In this case, a compressed air motor 22 is provided, which can drive the roller 8 in a specified direction 24 or, depending on the configuration, can also rotate the roller in both directions.

[0111] The motor is operatively connected to the roller 8. Any suitable power transmission can be used. Here, the roller 8 or rollers are connected to the motor 21 via a toothed belt 25 in order to transmit force or rotation to the roller 8. Depending on the configuration, multiple toothed belts and / or other power transmission means can also be provided. Thus, the motor 21 can also be arranged in almost any position via multiple toothed belts or similar means, for example to obtain a better weight distribution and / or to have a less interfering profile when approaching the individual units 200.

[0112] In the exemplary embodiment shown, the roller 8 comprises a contact adhesion structure 9, which is designed here as an external toothing or bump or groove. In addition, in the exemplary embodiment shown, the roller 8 comprises a friction or adhesion enhancing surface 20. In the exemplary embodiment shown, this surface is provided by a rubber coating.

[0113] Depending on the configuration, it may also be sufficient to provide only the contact attachment structure 9 or only the adhesion enhancing surface 20 .

[0114] The figure will explain in more detail how the lifting mechanism 7 lifts the individual unit 200 to be grasped so that the support section 4 can be transferred under the individual unit 200 to be grasped.

[0115] In the exemplary embodiment shown here, the holding unit 3 comprises a holding element 5, wherein a holding roller 13 is arranged at the free end of the holding element 5. The function of the holding element 5 or the holding roller 13 will be explained in more detail in the following figures.

[0116] Furthermore, in the embodiment shown, the individual elements or units of the gripping device 1 are partially equipped with or connected to an actuator 11, wherein the actuator 11 is provided here by a cylinder 12. Thus, in the embodiment shown, the gripping device 1 or the arrangement of the gripping unit 2 and the holding unit 3 is in a first end position 17 in a freely suspended state, and during the picking up or gripping of the individual unit 200, the gripping device 1 or the gripping unit 2 and the holding unit 3 is in a second end position 18. In the embodiment shown, the respective end positions 17, 18 can be detected by an end position switch 16. As shown, the end position switch 16 can be arranged, for example, on the holding unit 10 and / or on at least one actuator 11, for example, a cylinder 12. When arranged on the cylinder 12, for example, a retraction of the cylinder 12 or a certain end position 17, 18 can be detected by the piston rod of the cylinder 12 passing a sensor and thus triggering the end position switch 16.

[0117] Figure 3 The freely suspended configuration of the gripping device 1 according to the invention is shown, wherein in this state the gripping device 1 is close to an individual unit 200 to be gripped.

[0118] The gripping device 1 can access the individual units from any side of the individual units. This is particularly advantageous if a layer image of individual units 200 is provided, wherein certain sides of at least some of the individual units 200 are not freely accessible.

[0119] Depending on the form of the individual unit 200 to be gripped, the distance between the gripping unit 2 or the supporting section 4 or the lifting device 7 and the holding part 3 or the holding element 5 can also be varied and / or adjusted.

[0120] First, the position and / or orientation of the individual unit 200 to be picked up in the stock of individual units 200 on the storage surface 500 is determined or detected in the manner described above according to the invention. In this way, the support section 4 can be moved to the designated side or designated edge 201 of the individual unit 200 to be picked up.

[0121] Since the individual unit 200 is grabbed from a specified side or from a specified edge 201, it can also be transferred to another unit 400 in a specified manner, so that, for example, in the exemplary embodiment shown, the valve bag can be placed on the conveyor belt 402 in a certain direction so that a single bag 300 can be transferred to the bagging machine with the valve port in a specified position.

[0122] As soon as the position and / or orientation of the individual unit 200 to be gripped is detected, the gripping device 100 is moved by the robot arm 100 in the correct orientation toward the individual unit 200 to be gripped until the gripping unit 2 or the support section 4 is located next to the respective designated side or designated edge 201 of the individual unit 200 to be gripped. In this state, in the exemplary embodiment shown here, the holding unit 3 or the holding element 5 is located above the individual unit 200 to be gripped and the gripping device 1 is still in the first end position 17. In this exemplary embodiment, this position is determined by evaluating the camera image and / or the height detection device 75.

[0123] In all configurations, the gripping device can be taught and / or improved in terms of its approximation accuracy in all and / or individual planes, preferably by means of at least one AI application (artificial intelligence), depending on the design. In particular, neural networks and / or machine learning and / or deep learning methods can be used for this purpose. After the teaching, the gripping device (1) can also preferably work accurately offline, i.e. without AI running in the background.

[0124] Figure 4 It is shown that the gripping device 1 is then lowered further until the support section 4 rests on the same plane as the individual unit 200 to be gripped, in particular with a specified force, wherein, depending on the configuration, the support section 4 may not be completely present and / or may be slightly spaced apart from the contact plane of the individual unit 200. In this position, the gripping device 1 is in the second end position 18, which is detected here by the end position switch 16. However, depending on the configuration, the second end position 18 can also be detected by the height detection device 75.

[0125] As the gripping device 1 continues to move downwards, in the exemplary embodiment shown, the holding element 5 or the holding roller 13 comes into contact with the individual unit 200 to be gripped, thereby moving the position of the gripping unit 2 and the holding unit 3 into the second end position 18 .

[0126] Depending on the configuration, the control unit 80 or the end position switch 16 can detect via the second end position 18 that the gripping device 1 cannot or must not be moved further downwards.

[0127] exist Figure 5 In FIG. 1 , the free end 6 of the support section 4 with the rollers 8 is shown in the overall view and in the enlarged view. FIG. 2 shows how the lifting mechanism 7 lifts the individual unit 200 to be grasped so that the support section 4 can be moved under the individual unit 200 to be grasped.

[0128] To this end, the roller 8 in the embodiment shown here or in the view shown here is rotated counterclockwise by the motor device 21 in a specified direction of rotation 24, so that the contact attachment structure 9 or the adhesion-enhancing surface 20 rolls over the empty bags 300 or individual units 200 of the single object or empty bag stack 350, thereby lifting them. In this case, the preferred direction of rotation 24 is set to result in an effective direction pointing upward, so that the individual unit 200 moves upward and the support section 4 can be transferred to the individual unit 200.

[0129] exist Figure 6 , it can be seen that after the lifting and, depending on the configuration, during the lifting, the robot arm 61 in the exemplary embodiment shown moves the gripping device 1 to the right, thereby transferring the support section 4 under the individual unit to be gripped 200. Here, the transfer is supported or simplified because the holder 5 comprises holding rollers 13, which are rolled by the robot arm 61 as the gripping device 1 is moved onto the individual unit to be gripped.

[0130] As shown, the individual units 200 (in this case the stack of empty bags 350) are preferably at least slightly flexible so that they can be slightly bent by pressing them down with the retaining members 5 or retaining rollers 13 and by lifting them with the lifting mechanism.

[0131] Depending on the configuration, the lifting mechanism 7 or the rollers 8 can also be further rotated or driven to the system 100 (if necessary) when the support section 4 is transferred under the individual unit to be grasped. This supports the placement of the individual unit 200 on the support section 4.

[0132] like Figure 6 , Figure 7 , it is shown that the support section 4 has been transferred under the individual unit 200 to be gripped, so that the individual unit 200 or an edge portion thereof rests on the support section 4 of the gripping unit 2 .

[0133] In order to enable the gripping device 1 to also lift individual units 200 or here a stack 350 of empty bags, a fixing device 14 with a fixing punch 15 is provided in the exemplary embodiment shown, which clamps the individual units 200 here on the support section 4 .

[0134] Figure 8 The robot arm 61 is shown lifting the gripping device 1 including the gripped individual unit 200, whereby the individual unit 200 is now suspended on the support section 4. In this way, the individual unit 200 can be transferred.

[0135] By lifting the gripping device 1, the first end position 17 of the gripping unit 2 and holding unit 3 is again present in the exemplary embodiment shown. The robot arm 61 or the gripping device 1 can now be moved and / or rotated so that the gripped individual unit 200 is transferred to another unit 400 in a specified direction.

[0136] exist Figures 9 to 11 In the drawing, a side sectional view and two perspective views of an exemplary embodiment of a gripping device 1 according to the invention are shown purely schematically in order to explain a possible configuration of a gripping device 1 according to the invention in more detail.

[0137] Fig.12 It is shown purely schematically that the gripping device 1 can include a referencing device 19 which is designed as a rod 23 in the exemplary embodiment shown.

[0138] The reference device 19 is used for the initial installation of the system 100, wherein an initial calibration can be performed by the reference device 19, in particular, an initial calibration between the height detection device 75 or the 3D camera 71 and the manipulation device 50. Specifically, by placing the reference device 19 on a specified surface, when the height detection device 75 detects a certain height, the height at which the gripping device 1 is located can be detected by the controller 80.

[0139] Furthermore, a movement adjustment or adjustment of the interfering contour during the rotation of the gripping device 1 can be carried out by means of the referencing device 19, so that the controller 80 can prevent collisions with other components, individual units and / or objects during movement and rotation, in particular during simultaneous movement and rotation.

[0140] Fig.13 and Fig.14 A further exemplary embodiment of a gripping device 1 with a hood device 26 which serves here as a protective hood is shown from the side and from the front in purely schematic form.

[0141] This hood device 26 protects the mechanism of the gripping device from dust or dirt and collisions. Therefore, in the embodiment shown, maintenance intervals can be extended and in the event of a collision, usually only the hood device 26 will be damaged, and the sometimes sensitive mechanism of the gripping device 1 will not be damaged.

[0142] In the exemplary embodiment shown here, a display device 28 with an illumination device 29 is assigned to the hood device 26, or the components consist of the hood device 26. Here, the display device 28 in the form of an illumination device 29 is arranged behind the hood device 26 and provides a status display on the side of the gripping device 1 by means of a transparent marking here. Depending on the state, the marking can be illuminated in different colors.

[0143] The display device 28 or the lighting device 29 can be integrated, for example, into a fastening device 27 of the hood device 26 , which is covered by the hood device 26 or is assigned to the hood device 26 .

[0144] The gripping device 1 can be fastened, for example, to a robot arm via a receiving unit 10 , which in the exemplary embodiment shown comprises a quick-change device 31 , so that the entire gripping device can be quickly and easily mounted and unmounted via actuating screws or bolts 32 .

[0145] In the exemplary embodiment shown, the hood device 26 does not cover the quick-change device, so that the gripping device can be replaced and installed at the same time as the hood device is installed.

[0146] Fig.15 and Fig.16 A next exemplary embodiment of a gripping device 1 is shown in a purely schematic representation from the side and from the front.

[0147] In this embodiment, a hood device 26 can also be installed. To this end, the gripping device 1 comprises a fastening device 27, or fastening devices 27 are arranged on the left and right sides of the gripping device 1.

[0148] In the exemplary embodiment shown, the fastening device 27 comprises a display device 28 or an illumination device 29. With a correspondingly designed hood device 26, it is possible to realize, for example, Fig.13 and 14 The status display shown.

[0149] The basic structure of the gripping device 1 or the gripping unit 2 and the holding unit 3 is similar to Figures 3 to 13 The exemplary embodiment shown is very similar. However, in the exemplary embodiment shown here, the motor 21 or the compressed air motor 22 is not arranged directly on the bearing section 4, but downstream and below the receiving unit 10 relative to the bearing section 4. In order to drive the rollers 8 of the lifting mechanism 7, a deflection device 30 is provided, which transmits the rotation of the motor 21 to the rollers 8 via a plurality of belts 25 or toothed belts and a drive shaft 33 and deflection rollers 34.

[0150] also, Fig.15 The dashed double arrow indicates that in all embodiments, the support section 4 can be telescopic and / or can achieve a certain length compensation in different ways. Thus, the support section 4 can be optimally adapted to the size of the individual unit 200 to be gripped, such as an empty bag 300 or a stack of empty bags 350.

[0151] exist Fig.17 and 18 In the figure, again a purely side view and a front view are shown according to Fig.14 and 15An exemplary embodiment of .

[0152] In these figures, the fastening means 27 for the hood means 26 are not shown in order to show the components behind it.

[0153] exist Fig.19 In the figure, a cross-sectional view is again shown according to Fig.17 , in which the steering device 30 is more easily recognizable.

[0154] exist Fig. 20 , a cross-sectional view of a receiving unit 10 of an exemplary embodiment of a gripping device 1 with a quick-change device 31 is shown.

[0155] Visible here is the spring bolt 32 , which is pulled out to the left and right, for example, to change the gripping device 1 so that it is separated from the robot arm 61 .

Claims

1. A gripping device (1) for gripping individual units (200), in particular for gripping empty bags (300) or stacks of empty bags (350), comprising at least one gripping unit (2) and at least one holding unit (3), wherein the gripping unit (2) has at least one support section (4) for the individual unit (200) to be gripped, and wherein the holding unit (3) comprises at least one holding element (5), It is characterized in that At least one free end (6) of the supporting section (4) comprises at least one lifting mechanism (7) for at least partially lifting the individual unit (200) to be grasped, so that the supporting section (4) can be at least partially moved below the individual unit (200) to be grasped, and the grasping unit (2) comprises at least one fixing device (14) for clamping the individual unit (200) between the fixing device (14) and the supporting section (4).

2. The gripping device (1) according to the preceding claim, wherein: The lifting mechanism (7) comprises at least one roller (8).

3. The gripping device (1) according to the preceding claim, wherein: The roller (8) can be driven.

4. The gripping device (1) according to the preceding claim, wherein: The roller (8) is driven by at least one motor (30), wherein the propulsion force of the motor is transmitted to the roller (8) via at least one steering device (31).

5. The gripping device (1) according to any one of the three preceding claims, wherein: The roller (8) at least partially has at least one contact adhesion structure (9) and / or at least partially has at least one adhesion-enhancing surface (20).

6. The gripping device (1) according to any one of the preceding claims, wherein: The gripping unit (2) and the holding unit (3) are movable relative to each other.

7. The gripping device (1) according to any one of the preceding claims, wherein: The gripping unit (2) and the holding unit (3) are arranged to be articulated and / or elastic to each other.

8. The gripping device (1) according to any one of the preceding claims, wherein: The support section (4) is at least partially telescopic and / or can be adjusted in length in different ways.

9. The gripping device (1) according to any one of the preceding claims, wherein: At least one receiving unit (10) is provided, wherein the gripping unit (2) and the holding unit (3) are connected to the receiving unit (10).

10. The gripping device (1) according to any one of the preceding claims, wherein: At least one actuator (11) is associated with the gripping unit (2), the supporting section (4), the holding unit (2) and / or the holding element (5).

11. The gripping device (1) according to the preceding claim, wherein: The actuator (11) comprises at least one cylinder (12) or the like.

12. The gripping device (1) according to any one of the preceding claims, wherein: The retaining element (5) comprises at least one retaining roller (13).

13. The gripping device (1) according to any one of the preceding claims, wherein: At least one end position switch (16) is provided.

14. The gripping device (1) according to any one of the preceding claims, wherein At least one referencing device (19) is provided.

15. The gripping device (1) according to any one of the preceding claims, wherein At least one hood device (26) at least partially covers at least the gripping unit (2) and at least one holding unit (3).

16. Gripping device (1) according to the preceding claim, wherein: The hood device (26) is provided with at least one fastening device (27).

17. Gripping device (1) according to any one of the two preceding claims, wherein at least one display device (28) is associated with the hood device (26).

18. Gripping device (1) according to the preceding claim, wherein: The display device comprises at least one lighting device (29), which is in particular at least partially integrated into the fastening device (27).

19. A handling device (50) comprising at least one robotic device (60) having at least one robotic arm (61) and at least one gripping device (1) according to any one of the preceding claims.

20. A system (100) for gripping and transferring at least one individual unit (200), in particular at least one empty bag (300) or at least one stack of empty bags (350), comprising at least one manipulator (50) according to the preceding claim and at least one controller (80).

21. System according to the preceding claim, comprising at least one camera device (70) and / or at least one height detection device (75).

22. System according to any of the two preceding claims, comprising at least one additional unit (400), at least one placement support (401) and / or at least one storage surface (500) for at least one batch of individual units (200).

23. A method for gripping at least one individual unit (200), in particular at least one empty bag (300) or at least one stack (350) of empty bags, using a system (100) according to any of the three preceding claims, characterized in that Perform the following steps in the appropriate order: - using a manipulator (50) to bring the gripping unit (2) of the gripping device (1) to the edge (201) of the individual unit (200) to be gripped, so that the support section (4) is located next to the individual unit and the holding element (5) of the holding unit (3) is at least partially located above the individual unit (200); - further lowering the gripping device (1) so that the support section (4) of the gripping unit (2) is located or rests next to the individual unit (200) to be gripped and the holder (5) rests on the individual unit; - at least partially lifting at least the edge (201) of the individual unit (200) to be grasped by means of a lifting mechanism (7); - at least partially moving the support section (4) so ​​that it moves under the individual unit (200) to be picked up and the individual unit (200) to be picked up at least partially rests on the support section (4); - The individual unit (200) is clamped / fixed between the fixing device (14) and the support section (4).

24. Method according to the preceding claim, wherein the at least partial lifting and the at least partial moving are carried out at least partially in parallel.

25. The method according to any one of the two preceding claims, wherein: At least the transfer of the support section (4) is at least partially achieved by moving the robot arm (61).

26. The method according to any one of the preceding claims 24 to 26, wherein: At least the support section (4) is transferred at least partially by a relative movement between the gripping unit (2) and the holding unit (3).

27. A method according to any one of the preceding claims 24 to 27, wherein: The gripping unit (2) and the holding unit (3) are hinged to each other, and in the raised state of the gripping device (1), the gripping unit (2) and the holding unit (3) are located in a first end position (17), and in the attached state of the gripping device (1), the gripping unit (2) and the holding unit (3) are located in a second end position (18).

28. The method according to any one of the preceding claims 24 to 28, wherein: The lifting mechanism (7) comprises at least one roller (8), wherein the lifting of the individual unit (200) is achieved by rotating the roller (8).

29. The method according to any of the preceding claims 24 to 29, wherein at least one camera device (70) is provided, by means of which the position and / or orientation of the individual unit (200) to be gripped is detected.

30. Method according to any of the preceding claims 24 to 30, wherein at least one height detection device (75) is provided to determine the approach height of the gripping device (1).

31. The method according to any of the preceding claims 24 to 31, wherein at least one AI application increases the accuracy of the approach of the gripping device (1) towards the individual unit (200) to be gripped.

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