Method and gripping device for gripping a sheet material member

Abstract

The invention relates to a method for gripping a sheet metal component (1) having a plurality of spacing holders (2) which are produced in the sheet metal component (1) in a die-stamped manner and each have a mushroom head (20) with a circumferentially extending annular groove (21), wherein each spacing holder (2) is gripped by gripping means (30, 30a, 30b, 30c) of a gripping device (100) in such a way that one of the gripping means (30, 30a, 30b, 30c) respectively engages in the annular groove (21) of one of the spacing holders (2).

Description

Technical Field

[0001] This invention relates to a method for gripping sheet metal components. Furthermore, this invention also relates to a gripping device for gripping sheet metal components. Background Technology

[0002] In existing technologies, sheet metal components are mostly centered and gripped in a geometrically defined manner using centering pins that engage with corresponding centering holes. The sheet metal component is then mechanically secured using a gripping device, particularly through vacuum adsorption, mechanical, or magnetic gripping. Only after this point does the actual handling process of the sheet metal component begin.

[0003] Positional deviations that may occur during handling can only be compensated for to a certain extent based on the diameter of the centering hole. Furthermore, the centering hole used for this purpose is individually related to the component in terms of its position. To date, widespread standardization of gripping technology has not been achieved due to constraints in component design during the development process.

[0004] Document DE 201 17 982 U1 discloses a component gripper for a modularly constructed body panel, which has multiple tubular components interconnected by tension blocks and node components.

[0005] Document DE 35 09 630 A1 discloses a transport device for placing and removing sheet metal to be formed into a machine tool. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a method and a gripping device for gripping sheet metal components, which can achieve particularly reliable gripping of sheet metal components in a simple and economical manner, and to achieve uniformity of gripping technology for continuously gripping multiple sheet metal components.

[0007] The technical problem described herein is solved by a method for gripping sheet metal components and a gripping device for gripping sheet metal components.

[0008] In a method for gripping sheet metal components according to the invention, the sheet metal component has a plurality of spacer holders formed in the sheet metal component by die stamping and each having a mushroom head with an annular groove extending circumferentially. Each spacer holder is gripped by a gripping device, such that one of the gripping devices is embedded in the annular groove of one of the spacer holders. The method according to the invention enables particularly reliable gripping and safe handling of sheet metal components in a simple and economical manner, and achieves uniformity in gripping techniques for the successive gripping of multiple sheet metal components. The method according to the invention advantageously eliminates the need for complex magnetic or vacuum techniques for gripping sheet metal components.

[0009] In a preferred embodiment, it is suggested that the spacer is tensioned by the gripping device.

[0010] In a particularly preferred embodiment, the spacing retainer may be centered by the gripping device.

[0011] The spacer retainer of this component, with its special shape design, can advantageously combine the two basic functions of component operation (centering and tensioning of the spacer retainer) during the gripping process. Furthermore, compared to tensioning schemes based on diameter-limited internal hole centering, such as using expanding mandrels or hook-shaped tensioners, the structure of the gripping device is significantly simplified due to the external contour of the spacer retainer.

[0012] In the gripping device for gripping sheet metal components according to the invention, the gripping device is particularly used for implementing the method of the aforementioned type, wherein the sheet metal component has a plurality of spacer retainers formed in the sheet metal component by die stamping and each has a mushroom head having an annular groove extending circumferentially, wherein the gripping device is specified to have a plurality of gripping devices corresponding to the number of spacer retainers of the sheet metal component to be gripped, each gripping device being configured to be embedded in the annular groove of one of the spacer retainers.

[0013] The gripping device according to the present invention enables reliable gripping and safe handling of sheet metal components. Since the gripping device operates purely mechanically, it advantageously eliminates the need for costly and energy-efficient magnetic or vacuum techniques for gripping sheet metal components. The gripping device for gripping components according to the present invention is particularly suitable as part of robot-assisted or manually operated component handling systems.

[0014] In one embodiment, it is proposed that each gripping device includes two tensioning elements capable of linearly moving relative to each other. These tensioning elements are designed and configured such that, in a fully open state, they do not engage with the annular groove of the spacer retainer, and in a fully retracted state, they engage with and tension the spacer retainer in the annular groove of one of the spacers retainer.

[0015] In an advantageous embodiment, the tensioning element is designed and constructed such that it centers the spacer retainer when engaged in the corresponding annular groove. In this case, the tensioning element can be particularly designed as a centering clamp.

[0016] In one embodiment, each gripping device may have a housing with a conical inner surface, wherein the tensioning element is arranged within the housing and is movable along the axis of symmetry of the conical inner surface by a pneumatic or electric actuator, causing the tensioning element to transition from an open state to a closed state and vice versa. The tensioning element is preferably designed to be conical.

[0017] In one implementation, it is suggested that multiple gripping devices be arranged geometrically in a straight line.

[0018] In an alternative implementation, it is feasible to arrange multiple gripping devices geometrically in a circular pattern. The gripping device may, for example, have three gripping devices evenly distributed around the circumference. This means that adjacent gripping devices are staggered by 120° from each other. Therefore, three spacer members can be arranged in a predetermined 120° pattern on the member to be gripped, allowing it to be gripped by the gripping devices of the gripping device. This 120° pattern advantageously achieves uniformity in tension and centering position on the member to be gripped.

[0019] Preferably, each gripping device may be equipped with an electric, hydraulic or pneumatic actuator designed to adjust the position of the gripping device associated with the actuator. Attached Figure Description

[0020] Other features and advantages of the invention will become clearer from the following description of preferred embodiments in conjunction with the accompanying drawings. In the drawings:

[0021] Figure 1 A longitudinal sectional view of a spacer holding member for a sheet metal component is shown, which can be gripped by a gripping device for gripping the sheet metal component.

[0022] Figure 2a and Figure 2b Two schematic diagrams illustrating the basic centering principle of the gripping device in a gripping apparatus;

[0023] Figure 3A perspective view showing possible embodiments of the gripping device in the gripping apparatus;

[0024] Figure 4 A highly simplified schematic diagram of a gripping device for grasping components is shown, which has three gripping elements arranged in a circular pattern. Detailed Implementation

[0025] Reference Figure 1 The figure shows a longitudinal cross-section of the spacer retainer 2 of the sheet metal member 1. As shown, the spacer retainer 2 is formed in the sheet metal member 1 by die stamping and has a mushroom head 20 with an annular groove 21 extending circumferentially. The sheet metal member 1 may preferably have a plurality of such spacer retainers 2.

[0026] These spacers 2 are used to establish defined spacing between sheet metal components 1 to facilitate component handling. This is necessary when using conventional gripping techniques, such as vacuum adsorption or magnetic gripping, to achieve high availability. Due to drawing oil residue and magnetic hysteresis interference, sheet metal components 1 typically require cumbersome separation processes before reliable gripping can be achieved.

[0027] The following combination Figure 2a and 2b The method for gripping the sheet metal component 1 and the basic features of the gripping device 100 are described in detail below. The sheet metal component 1 has at least one, preferably multiple, features such as... Figure 1 The spacing retainer 2 is shown.

[0028] The gripping device 100 includes a gripping element 30 designed to be embedded in the annular groove 21 of the spacer retainer 2 of the member 1. For this purpose, the gripping element 30 has two tensioning elements 31a and 31b that are linearly movable relative to each other. These tensioning elements are designed and configured such that they do not embed in the annular groove 21 of the spacer retainer 2 in the fully open state and embed in and tension the annular groove 21 of the spacer retainer 2 in the fully closed state. The linear movement of the tensioning elements 31a and 31b is preferably driven by an external actuator (not explicitly shown in the figure).

[0029] exist Figure 2a In the diagram, two arrows 200 and 201 indicate the direction of movement of the two tensioning elements 31a and 31b during linear motion. Another arrow 202 indicates the direction of movement of the plate member 1 and its spacer retainer 2 during the process of the two tensioning elements 31a and 31b closing and embedding into the annular groove 21 of the spacer retainer 2.

[0030] Figure 2bThe diagram shows two tensioning elements 31a and 31b in their end positions, with the member 1 having the spacer retainer 2 not only tensioned between the two tensioning elements 31a and 31b, but also advantageously centered. Preferably, the tensioning elements 31a and 31b can be designed as centering clamps to achieve tensioning and centering of the spacer retainer 2 on the sheet metal member 1.

[0031] Combination Figure 3 The following section will describe in detail one possible structural design of the gripping device 30. The gripping device 30 has a housing 32 with a tapered inner surface 33, wherein, due to... Figure 3 From the drawing perspective, only one of the tensioning elements 31a, 31b is visible, arranged within the housing 32. The conical tensioning elements 31a, 31b, preferably acting as centering clamps, can be moved along the axis of symmetry of the conical inner surface 33 of the housing 32 via pneumatic or electric actuators, thus enabling them to transition from an open state to a retracted state. In this state, the tensioning elements 31a, 31b are embedded in the annular groove 21 of the spacer retainer 2 of the plate member 1, and vice versa. Specifically, the tensioning elements 31a, 31b can be abutted against the outer conical surface of the housing 32 via elastic elements. Through an upward pulling motion, the conical tensioning elements 31a, 31b retract, and by embedding in the annular groove 21, they achieve centering and tensioning of the spacer retainer 2 of the plate member 1.

[0032] The gripping device 100 for gripping the sheet metal component 1 may have a plurality of gripping devices 30a, 30b, 30c that operate according to the gripping principle described in this illustration. In embodiments not explicitly illustrated, these gripping devices 30a, 30b, 30c may be geometrically arranged in a straight line, wherein, preferably, their positions may also be adjusted by electric, pneumatic, or hydraulic actuators.

[0033] The following combination Figure 4 Another embodiment of the gripping device 100 for gripping member 1 will be described in detail. In this embodiment, the gripping device 100 has three gripping devices 30a, 30b, and 30c, which operate according to the gripping principle illustrated in this figure and are evenly distributed on the circumference. This means that adjacent gripping devices 30a, 30b, and 30c are arranged offset from each other by 120°. In this embodiment, the positions of the gripping devices 30a, 30b, and 30c can be changed radially by corresponding electric, pneumatic, or hydraulic actuators. Figure 4The corresponding adjustment ranges of the gripping devices 30a, 30b, and 30c are indicated by double arrows 300, 301, and 302. Therefore, three spaced retaining members 2 can be arranged on the component 1 to be gripped in a preset 120° pattern, allowing it to be gripped by the gripping devices 30a, 30b, and 30c of the gripping device 100. This 120° pattern advantageously achieves uniformity in tension and centering position on the component 1 to be gripped.

[0034] The gripping device 100 for gripping component 1 can be used as part of a robot-assisted or manually operated component handling device.

Claims

1. A method for gripping a sheet metal component (1) having a plurality of spacing holders (2) which are produced in the sheet metal component (1) in a die-stamped manner and each have a mushroom head (20) with a circumferentially extending annular groove (21), wherein Each spacer (2) is gripped by gripping devices (30, 30a, 30b, 30c) of the gripping device (100) in such a way that one of the gripping devices (30, 30a, 30b, 30c) is embedded in an annular groove (21) of one of the spacer (2).

2. The method of claim 1, wherein, The spacer (2) is tensioned by the gripping devices (30, 30a, 30b, 30c).

3. The method according to one of claims 1 or 2, characterized in that, The spacer (2) is centered by the gripping device (30, 30a, 30b, 30c).

4. Gripping device (100) for gripping a sheet material component (1), in particular for carrying out the method according to any one of claims 1 to 3, wherein The sheet metal component has a plurality of spacer retainers (2) formed in the sheet metal component (1) by die stamping and each has a mushroom head (20) having an annular groove (21) extending circumferentially. The gripping device (100) has a plurality of gripping devices (30, 30a, 30b, 30c) corresponding to the number of spacer retainers (2) of the sheet metal component (1) to be gripped. These gripping devices are respectively configured to be embedded in the annular groove (21) of one of the spacer retainers (2).

5. The gripping device (100) according to claim 4, characterized in that Each gripping device (30, 30a, 30b, 30c) includes two tensioning elements (31a, 31b) that can move relative to each other in a linear motion. These tensioning elements are designed and constructed such that they do not engage in the annular groove (21) of the spacer retainer (2) when fully open, and engage in the annular groove (21) of one of the spacer retainers (2) and tension the spacer retainer when fully closed.

6. The gripping device (100) according to claim 5, characterized in that The tensioning elements (31a, 31b) are designed and constructed such that they center the spacer (2) when embedded in the corresponding annular groove (21).

7. The gripping device (100) according to any one of claims 5 or 6, characterized in that Each gripping device (30, 30a, 30b, 30c) has a housing (32) with a conical inner surface (33), wherein the tensioning element (31a, 31b) is arranged in the housing (32) and can be moved along the axis of symmetry of the conical inner surface (33) by a pneumatic or electric actuator, so that the tensioning element changes from an open state to a closed state and vice versa.

8. The gripping device (100) according to any one of claims 4 to 7, characterized in that Multiple gripping devices (30a, 30b, 30c) are arranged in a straight line in geometry.

9. The gripping device (100) according to any one of claims 4 to 7, characterized in that Multiple gripping devices (30a, 30b, 30c) are arranged geometrically in a circular pattern.

10. The gripping device (100) according to any one of claims 4 to 9, characterized in that Each gripping device (30a, 30b, 30c) is equipped with an electric, hydraulic, or pneumatic actuator designed to adjust the position of the gripping device (30a, 30b, 30c) associated with the actuator.

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