gripping device

Abstract

A gripping device for gripping a component, wherein the component is intended for a motor vehicle and has a housing (2) with at least one screw opening (4) with an inner diameter, wherein a gripping module (30) with a cross-sectional area is arranged at one end of the gripping device (32), wherein the gripping module (30) has at least one adjustable spreading element, wherein the gripping module (30) can be transferred into different operating positions with differently dimensioned cross-sectional areas by adjusting the at least one spreading element, wherein a longest line intersecting the cross-sectional area in a passive operating position is shorter than the inner diameter of the at least one screw opening (4), and wherein at least one line intersecting the cross-sectional area in an active operating position is at least as large as the inner diameter of the at least one screw opening (4).wherein the at least one gripping module (30) is to be fixed in place relative to the at least one screw opening (4) in the active operating position, wherein the gripping module (30) has, as the at least one spreading element, at least one gripping arm (42, 44) which is retracted in the passive operating position and extended in the active operating position, wherein the gripping module (32) has an actuating region (36), an actuating rod (40) arranged along a central axis of symmetry within the actuating region, at least one first outer wall (34) arranged parallel to the actuating rod (40) and delimiting the actuating region (36), and at least one actuating arm (52, 56) with a first and a second end, wherein a first end of a first gripping arm (42) of the at least one gripping arm (42, 44) is arranged to be movable via a first joint (46) at a first position of the outer wall (34),wherein a first end of a second gripping arm (44) of the at least one gripping arm (42, 44) is connected to the outer wall (34) via a first joint (48) at a second position thereof, wherein the first position and the second position on the outer wall (34) are arranged opposite one another, wherein a second end of the first gripping arm (42) is connected to the first end of a first actuating arm (52) of the at least one actuating arm (52, 56) via a second joint (50) and a second end of the second gripping arm (44) is connected to the first end of a second actuating arm (56) of the at least one actuating arm (52, 56) via a second joint (54), wherein both actuating arms (52, 56) are movably arranged via a common third joint (58) at one end of the actuating rod (40), which is arranged outside the actuating area (36) in all operating positions, wherein a second end of the at least one actuating arm (52,56) is connected to a first end of the actuating rod (40) via the third joint (58), wherein a portion of the actuating rod (40) in the passive operating position is arranged within the actuating region (36) along a first path and the at least one gripping arm (42, 44) is retracted, wherein the portion of the actuating rod (40) in the active operating position is arranged within the actuating region (36) along a second path and the at least one gripping arm (42, 44) is extended, wherein the first path is longer than the second path.

Description

[0001] The invention relates to a gripping device, a gripping system and a method for gripping a component of a motor vehicle.

[0002] A motor vehicle comprises various parts or components. Such a component must be arranged in a designated position during the manufacture of the motor vehicle. Alternatively or additionally, such a component must be replaced over the course of a motor vehicle's service life and thus removed from the designated position and then repositioned there. For this purpose, provision can be made for the respective component to be moved relative to the position using a tool designed for this purpose.

[0003] A gripping tool for lifting a battery cell is known from DE 296 17 067 U1. This gripping tool comprises a lever element that is inserted into a filling opening of the battery cell and locked within the battery.

[0004] A device for accommodating the interior of a hollow body is described in the document DE 10 2009 017 683 B3. This device comprises a bellows ring whose outer diameter can be varied. The bellows ring is to be accommodated in the hollow body and secured therein when a large outer diameter is set.

[0005] FR 2 812 865 A1 describes a tool for moving a building block of a house to be built. The building block has several openings. At one end of the tool, hooks are attached to rods. These hooks are positioned relative to the rods, with each rod being locked into place within an opening in the building block via the hooks.

[0006] US Pat. No. 4,576,407 A discloses a robot hand for lifting a plate with a hole in it. The robot hand comprises a mechanism with two levers attached to a common pin, via which these two arms are connected to a rod. At each end of each lever is a pin, via which each lever is connected to a finger of a scissor-like arrangement. The two fingers are rotatably connected to each other via a common pin. This robot hand can retract the two fingers in a first position and extend them in a second position.

[0007] US Pat. No. 604,973 A describes a gripping mechanism. Two gripper segments are arranged at one end of a rod on a bolt, with each gripper segment having a lever that has a locking element on one side and a leg on the other, which are arranged in a sheath.

[0008] A gripping device for gripping and handling objects provided with a grippable component is known from US 2012 / 080896 A1. The gripping device comprises a support sleeve with at least one proximal connecting means for connecting it to a manipulator and a source of pressurized fluid.

[0009] The document US 5 090 758 A describes a rigid mandrel for an inflatable effect device designed to grip and hold objects.

[0010] Against this background, a gripping device, a gripping system, and a method with the features of the independent patent claims are presented. Embodiments of the gripping device, the gripping system, and the method are set out in the dependent patent claims and the description.

[0011] The gripping device according to the invention is designed for gripping a component, for example during assembly or disassembly of the component, wherein the component is intended for a motor vehicle and / or is designed as a component of the motor vehicle and has a housing with at least one screw opening with an inner diameter. A gripping module with a cross-sectional area is arranged at one end of the gripping device. The gripping module has at least one adjustable spreading element, wherein the gripping module can be transferred into different operating positions with differently dimensioned cross-sectional areas by adjusting the at least one spreading element. In a passive operating position, a longest line that intersects the transverse axis of the cross-sectional area is shorter than the inner diameter of the at least one screw opening.In contrast, the length of at least one line intersecting the cross-sectional area in an active operating position is at least as long as the inner diameter of the at least one screw opening. The at least one gripping module must be fixed in position relative to the at least one screw opening in the active operating position.

[0012] A line to be taken into account here usually runs through a center point of the cross-sectional area. If the cross-sectional area of ​​the gripping module is elliptical in the passive operating position, for example, this is defined by a major semi-axis and a minor semi-axis, whereby the major semi-axis also corresponds to the longest line through the cross-sectional area. For a round cross-sectional area, the longest line corresponds to a chord running through the center point, which has the length of the diameter. If the cross-sectional area has a regular n-sided shape, e.g. quadrangular, rectangular or square, the longest line also runs through the center point and has the length of a diagonal through this n-sided cross-sectional area.

[0013] In the gripping device according to the invention, the gripping module comprises, as the at least one spreading element, at least one gripping arm which is retracted, for example folded, in the passive operating position and extended, for example unfolded, in the active operating position. During a transition from the passive to the active operating position, the at least one gripping arm is moved outwards from a center of the gripping module, whereby the at least one line running through the cross-sectional area is extended. A first gripping arm is movably arranged via a joint at a first position on the outer wall, wherein a second gripping arm is connected to the outer wall via a second joint at a second position on the outer wall, wherein the first position and the second position are arranged opposite one another on the outer wall.

[0014] The gripping module, as the at least one spreading element, comprises at least one pair of two gripping arms, with both gripping arms of a pair being arranged symmetrically to a symmetry axis of the gripping module. The two gripping arms of the at least one pair of gripping arms are retracted, e.g., folded, in the passive operating position and extended, e.g., unfolded, in the active operating position. During a transition from the passive to the active operating position, these two gripping arms are moved in opposite directions, thereby extending the at least one line passing through the cross-sectional area.

[0015] The gripping module also comprises an actuation area, an actuation rod arranged partially or in sections along a central axis of symmetry within the actuation area, at least one first outer wall arranged parallel to the actuation rod and delimiting the actuation area, and at least one actuation arm having a first and a second end. A first end of the at least one gripping arm is connected to the at least one first outer wall via a first joint. A second end of the at least one gripping arm is connected to the first end of the at least one actuation arm via a second joint.In addition, a second end of the at least one actuating arm is connected to a first end of the actuating rod via a third joint, wherein both actuating arms are arranged to be movable via a common third joint at one end of the actuating rod, which end is arranged outside the actuating region in all operating positions. In the passive operating position, a section of the actuating rod is arranged along a first path in the actuating region, and the at least one gripping arm is retracted, e.g. folded in. In contrast, in the active operating position, the section of the actuating rod is arranged along a first path in the actuating region, and the at least one gripping arm is extended, e.g. unfolded. The first path in the passive operating position is longer than the second path in the active operating position.

[0016] If the gripping module comprises at least one pair of two gripping arms and has at least one pair of first outer walls arranged parallel to the actuating rod, which delimit the actuation area, a first end of each gripping arm is connected to a respective outer wall via a first joint. If the gripping module has only a first outer wall that axially encloses the actuation area, this outer wall is, for example, cylindrical with a circular cross-sectional area. Alternatively, the cross-sectional area of ​​the first outer wall is n-sided, for example, square. The two gripping arms of the pair are generally arranged at points on the outer wall that are at a maximum distance from one another and can be moved thereon via joints. Regardless of the shape of the at least one first outer wall, both gripping arms of a pair are retracted. In contrast, in the active operating position, both gripping arms are extended in opposite directions.

[0017] Furthermore, the gripping device comprises an actuating mechanism which is designed to mechanically and / or hydraulically actuate the second end of the actuating rod and thus to move it relative to the actuating area.

[0018] The gripping module comprises a first cylindrical outer wall and a second circular disk-shaped outer wall, with both outer walls enclosing the actuation area. The second outer wall has a hole in the center through which the actuation rod passes. It is possible for multiple gripping arms to be arranged on one outer wall.

[0019] A counterpart is attached to the second end of the actuating rod, wherein at least one spring is arranged and / or clamped between the at least one second outer wall and the counterpart, which spring is relaxed and / or expanded in the passive operating position and tensioned and / or compressed in the active operating position.

[0020] In this case, the counterpart is usually circular disk-shaped and designed to divide the actuating area into two chambers that are separated from one another in an airtight manner, wherein a first chamber is delimited by the second outer wall and the counterpart. A seal is usually arranged on a circular outer side of the counterpart, which seal contacts an inner surface of the first outer wall. The at least one spring is arranged completely in the first chamber and the actuating rod is arranged at least partially. A second chamber is delimited by the counterpart and a third outer wall, wherein an amount of air and thus an air pressure can be varied in the second chamber by an air supply unit of the gripping device. In the passive operating position, a first small amount of air is stored in the second chamber, whereas in the second operating position this second chamber contains a second amount of air that is larger than the first amount.The first chamber is larger in the passive operating position than in the active operating position. In contrast, the second chamber is smaller in the passive operating position than in the active operating position. In the active operating position, the at least one spring is tensioned and / or compressed due to the force of the second quantity of air pressing against the counterpart, whereby the fastening rod is extended further out of the actuation range in the active operating position than in the passive operating position.

[0021] In a further embodiment of the gripping device, the gripping module has an elastically deformable outer wall that encloses, for example, a rotationally symmetrical chamber, wherein an air supply unit of the gripping device can vary the amount of air and thus the air pressure within the chamber. In the passive operating position, a first small amount of air is stored in the chamber, whereas in the second operating position, a second, larger amount of air than the first amount is stored in the chamber. In the active operating position, the outer wall is designed to expand due to a force of the second amount of air pressing against the outer wall.

[0022] It is also possible for locking elements, such as hooks, to be arranged on a surface of the outer wall.

[0023] The gripping device comprises, for example, a rod with the gripping module at its end. This rod typically encloses an air duct through which air is transported or conveyed between the air supply unit and the air storage chamber.

[0024] The gripping system according to the invention comprises at least one gripping device as described above, typically several gripping devices, with the number of gripping devices corresponding to the number of screw openings in the component. Furthermore, this gripping system typically comprises a control unit and, depending on the design of the at least one gripping module among several gripping modules, a common air supply unit for chambers, e.g., for all second chambers of all gripping modules.

[0025] The method according to the invention is provided for gripping a component for a motor vehicle, e.g., during assembly or disassembly of the component, using at least one gripping device, wherein the component has a housing with at least one screw opening having an inner diameter. A gripping module having a cross-sectional area is arranged at one end of the at least one gripping device, wherein the gripping module has at least one adjustable expansion element, wherein the gripping module is transferred into different operating positions with differently dimensioned cross-sectional areas by adjusting the at least one expansion element. A longest line intersecting the cross-sectional area in a passive operating position is set to be shorter than the inner diameter of the at least one screw opening.In contrast, at least one line intersecting the cross-sectional area in an active operating position is set to be at least as long as the inner diameter of the at least one screw opening. The at least one gripping module is fixed in position relative to the at least one screw opening in the active operating position.

[0026] Furthermore, it is provided that the at least one gripping device has a rod on which the gripping module is arranged. The at least one line, which in an active operating position is longer than the inner diameter of the screw opening, is defined by at least one extended gripper arm, for example, an extended gripper arm and an outer wall or by two oppositely oriented, extended gripper arms.

[0027] In a variant of the method, a gripping module in the passive operating position is guided into an entrance of a screw opening, transferred into the active operating position within the respective screw opening and clamped and / or clamped within the respective screw opening on an inner wall of the respective screw opening via the at least one expansion element or fixed with this and / or in this in a stationary manner, e.g. locked.

[0028] In an alternative variant of the method, a gripping module in the passive operating position is inserted into an inlet of a screw opening, guided through the respective screw opening and guided out of an outlet of the respective screw opening, wherein the respective gripping module is then transferred outside the respective screw opening into the active operating position and fixed in place, e.g. latched and / or hooked, at the outlet of the respective screw opening.

[0029] In one embodiment, a component designed as a battery is gripped with the at least one gripping device.

[0030] Typically, a component designed as a battery or a cell module for automated applications has a modular design. However, such a battery weighs several kilograms, for example, more than 10 kg. The gripping system now makes it possible to arrange the battery even in a narrow shaft, as the battery can be inserted into the shaft using at least one gripping device via the at least one screw opening during installation and removed again during removal. Using the gripping system, it is therefore no longer necessary to grip the battery with a tool, for example on a side wall. By dispensing with such a tool, the battery can also be arranged in the narrow shaft without the at least one gripping module causing interference.

[0031] When implementing the method, the screw openings, which can also be referred to as screw domes or screw channels, are used as gripping options. In each case, one screw opening partially or completely traverses the housing, with the screw opening in both cases having an entrance on a first outer side and, if applicable, an exit on a second, opposite outer side of the housing. In each case, one screw opening is otherwise provided for inserting a screw, e.g., an M6 screw, via which the component is to be fastened to a device in the motor vehicle, e.g., in the shaft. In the case of an M6 screw, the inner diameter of the screw opening is 8 mm.

[0032] A gripping system to be used when carrying out the method has, for example, four gripping devices which, in order to grip the component, must at least be inserted into four screw openings arranged at the corners of the component's housing or, if necessary, guided through these screw openings. The longest line through the cross-sectional area of ​​each gripping module in the passive operating position has a length of 7 mm. When the method is carried out, the gripping modules are guided into the screw openings, for example manually or automatically by a robot. Once a gripping module has reached a position intended for it within a respective screw opening or after completely traversing the screw opening beyond the exit of the screw opening, depending on the variant of the method, the gripping module is transferred from the active operating position into the passive operating position by adjusting the at least one spreading element.After assembly, e.g. repositioning, of the component is completed, the gripping module is returned to the passive operating position and removed from the screw opening relative to which it was locked in the active operating position.

[0033] Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.

[0034] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0035] The invention is illustrated schematically in the drawings using embodiments and is described schematically and in detail with reference to the drawings. Fig. 1 shows a schematic representation of a first embodiment of a gripping device. Fig. 2 shows a schematic representation of a second embodiment of a gripping device. Fig. 3 shows a schematic representation of an embodiment of the gripping device according to the invention when carrying out an embodiment of the method according to the invention in different operating positions.

[0036] The figures are described coherently and comprehensively. Identical components are assigned the same reference numerals.

[0037] As well as Fig. 1 as well as Fig. 2 each show a portion of a housing 2 of an example of a component intended for a motor vehicle. A screw opening 4 with a circular cross-section extends through the housing 2, having an inlet 6 located on a first outer side of the housing 2 and an outlet 8 located on a second outer side of the housing 2, opposite the first outer side.

[0038] The Fig. 1 and Fig. The embodiments of the gripping device 10, 12 presented in Figure 2 each comprise a holder 14 to which a rod 16 is attached. A first example of a gripping module 18 is arranged at a first end of the rod 16 of the first gripping device 10. At one end of the rod 16 of the second gripping device 12 of Figure 2 Fig. 2, a second example of a gripping module 20 is arranged.

[0039] In a method which is carried out with the first gripping device 10, it is provided that its gripping module 18, which at the beginning of the method is arranged outside the screw opening 4 above the inlet 6 and is in a passive operating position, is introduced through the inlet 6 into the screw opening 4 and is guided out again through the latter from the outlet 8, wherein the rod 16 traverses the entire screw opening 4.

[0040] The gripping module 10 has, as the at least one spreading element, a pair of two gripping arms 22, 24, wherein the two gripping arms 22, 24 are arranged symmetrically to an axis of symmetry of the gripping module 18. The gripping arms 22, 24 are retracted in the passive operating position and, starting from the passive operating position, are retracted during a transition to the Fig. 1, is extended in opposite directions, which is indicated here by arrows 26, 28. In this case, a line running through a center point of a cross-sectional area of ​​the gripping module 18 is extended during a transition from the passive to the active operating position, the length being determined here by the outer edges of the gripping arms 22, 24. In addition, this line is now longer than the inner diameter of the screw opening 4. If the gripping module 18 is lifted above the rod 4, it rests against the outlet 8 of the screw opening 4 and is hooked and / or locked to the outlet 8 relative to the screw opening 4 and is thus fixed in place.

[0041] In the second gripping device 12 from Fig. 2, the gripping module 20 comprises, as an expansion element, an elastically deformable outer wall 19 which encloses a chamber, wherein an air supply unit of the gripping device 12 can vary the amount of air and the air pressure in the chamber. In the passive operating position, a first small amount of air is stored in the chamber, whereas in the second operating position, a second, larger amount of air than the first is stored in the chamber, wherein in the active operating position, the outer wall 19 is to be expanded due to a force of the second amount of air pressing against the outer wall, which is indicated here by arrows 90, 92. The outer wall 19 is pressed against the inner wall of the screw opening 4 within the screw opening, wherein the gripping module 20 is clamped, clamped and / or locked in the screw opening 4 and thus fixed therein.In this case too, a line, here a diagonal, which runs through the cross-sectional area of ​​the gripping module 18, is extended during a transition from the passive to the active operating position and is set as large as a diameter of the interior of the screw opening 4.

[0042] The third example of a gripping module 30 as a component of the embodiment of the gripping device 32 according to the invention is shown in Fig. 3a in a passive operating position, in Fig. 3b in an active operating position and in Fig. 3c again in the passive operating position, each shown schematically in a sectional view.

[0043] The gripping module 30 comprises a cylindrical outer wall 34 that encloses an actuating area 36. The actuating area 36 is further delimited by a second, here disc-shaped outer wall 38 with a centrally arranged hole 39 and by a third, likewise disc-shaped outer wall 41. Centrally, within the actuating area 36, ​​the gripping module 30 has an actuating rod 40 that can be moved along the axis of symmetry and is guided through the hole 39 in the second outer wall 38. A pair of two gripping arms 42, 44 is provided as spreading elements, with a first gripping arm 42 being movably arranged at a first position on the outer wall 34 via a joint 46. A second gripping arm 44 is connected to the outer wall 34 at a second position via a second joint 48, the first position and the second position being arranged opposite one another on the outer wall 34.Furthermore, the first gripper arm 42 is movably connected to a first actuating arm 52 via a joint 50 and the second gripper arm 44 is movably connected to a second actuating arm 56 via a joint 54. Both actuating arms 52, 54 are movably arranged via a common joint 58 at one end of the actuating rod 40, which is arranged outside the actuating area 36 in all operating positions. A counterpart 60 is fastened to an opposite end of the actuating rod 40, by means of which counterpart 60 the actuating area 36 is divided into a first chamber 62 and a second chamber 64. A spring 66 is arranged in the first chamber 62 and coaxially encloses the actuating rod 40. Air is stored in the second chamber 64. The second chamber 64 is connected to an air supply unit 70 via an air duct 68. The second chamber 64 is here sealed by a seal on an outer side oran outer edge of the counterpart 60 is hermetically separated from the first chamber 62.

[0044] Furthermore, the gripping module 30 is arranged at one end of a rod 72 which is inserted into the Fig. 3a, Fig. 3b and Fig. 3c is shown in a greatly shortened form relative to the gripping module 30. In the embodiment of the gripping device 32, the air duct 68 is guided through the third outer wall 41 of the actuating area 36 and the rod 72. Fig. 3a also shows a control unit 74, which is connected here to the air supply unit 70.

[0045] In the first, passive operating position of the gripping module 30, which is in the Fig. 3a and Fig. 3c, it is provided that a small amount of air under a low air pressure is located in the second chamber 64. This results in the spring 66 being expanded and / or relaxed in the passive operating position. The two gripping arms 42, 44 are retracted. If the gripping module 30 is in the passive operating position, it has a cross-sectional area, which is circular in this case and delimited by the first outer wall, with a diameter and thus a longest line running through the axis of symmetry that is smaller than an inner diameter of a screw opening in a housing of a component that is to be gripped with the gripping device 32 when carrying out the embodiment of the method.

[0046] In the passive operating position, the gripping module 30 arranged at the end of the rod 72, as also shown in an embodiment of the gripping device 10, 12 from the Fig. 1 or Fig. 2, through an entrance of the screw opening. It is possible to position the gripping module 30 at a position or location within the screw opening, as shown in Fig. 2 already indicated, or through the screw opening completely and through an exit of the screw opening out of it again, which is also in Fig. 1. As soon as the gripping module 30 has reached a respective intended position along the screw opening and / or relative to the screw opening, wherein the rod 72 is arranged at least partially within the screw opening in both cases, the gripping module 30 is moved into the second, active operating position ( Fig. 3b) transferred.

[0047] For this purpose, a quantity of air is pumped into the second chamber 64 by the air supply unit 70 via the air duct 68, whereby the total quantity of air stored in the second chamber 64 is increased compared to the passive operating position and thereby the pressure of the air within the second chamber 64 is increased. This larger quantity of air presses against the counterpart 60, which in Fig. 3b is indicated by an arrow 77. Synchronously with this, the counterpart 60 is displaced within the actuating area 36 due to the increased air pressure, whereby a volume of the second chamber 64 is increased from the passive operating position and, at the same time, a volume of the first chamber 62 is reduced from the passive operating position.

[0048] Synchronously with this, the spring 66 is compressed in the passive operating position, starting from its expanded and / or relaxed state in which it pushes, among other things, the counterpart 60 and the actuating rod 40 upwards. Furthermore, the actuating rod 40 is pushed out through the hole 39 in the second outer wall 38 and the joint 58 is moved downwards. As a result, the actuating arms 52, 56 are initially extended in opposite directions, here folded out. This simultaneously results in the two gripping arms 42, 44 also being extended or folded out in opposite directions. A movement of the gripping arms 42, 44 as well as the actuating arms 52, 56 is in Fig. 3a by curved arrows 76, 78. By extending the gripping arms 42, 44, the length of a line intersecting the cross-sectional area of ​​the gripping module 30 in the symmetry axis is increased.

[0049] If the gripping module 30 is now arranged within the screw opening, the gripping arms 42, 44 are clamped, clamped and / or locked in place on an inner wall of the screw opening and thus fixed. If the gripping module 30, as in Fig. As already indicated in Figure 1, after the gripping module 30 has been completely guided through the screw opening and has been guided out of the screw opening again, the gripping module 30 is hooked and / or locked at the exit outside the screw opening by the enlarged cross-sectional area due to the extended gripping arms 42, 44, and is thus fixed in place. In both cases, it is now possible to lift the component using the gripping device 32, for example, and to arrange it in a designated position during assembly.

[0050] If the component has been repositioned after transport by means of the gripping device 32, the gripping module 30 is starting from the active operating position ( Fig. 3b) back into the passive operating position ( Fig. 3c). For this purpose, air is released from the second chamber 64 via the air channel 68, thus reducing the amount of air stored in the second chamber 64 and reducing the air pressure within the second chamber 64. This results in the spring 66 being expanded again from its compressed position in the active operating position. As a result, the counterpart 60 is moved within the actuating area 36, ​​as shown in Fig. 3c by an arrow 80, is displaced upwards, whereby the volume of the second chamber 64 is reduced and the volume of the first chamber 62 is increased. In the process, the actuating rod 40 is also pushed further into the actuating area 36 and the joint 58 is displaced upwards. As a result, the actuating arms 52, 56 and the gripping arms 42, 44 are also retracted, here folded, which in Fig. 3c is indicated by the curved arrows 82, 84.

[0051] This also results in the cross-sectional area of ​​the gripping module 30 being reduced again. This makes it possible to release or detach the gripping module 30 from the position at which it was fixed relative to the screw opening in the active operating position. Depending on the type of position, it is thus possible to guide the gripping module 30 back out of the screw opening via the rod 72 or through the screw opening.

Claims

[1] Gripping device for gripping a component, wherein the component is intended for a motor vehicle and has a housing (2) with at least one screw opening (4) with an inner diameter, wherein a gripping module (30) with a cross-sectional area is arranged at one end of the gripping device (32), wherein the gripping module (30) has at least one adjustable spreading element, wherein the gripping module (30) can be transferred into different operating positions with differently dimensioned cross-sectional areas by adjusting the at least one spreading element, wherein a longest line intersecting the cross-sectional area in a passive operating position is shorter than the inner diameter of the at least one screw opening (4), and wherein at least one line intersecting the cross-sectional area in an active operating position is at least as large as the inner diameter of the at least one screw opening (4),wherein the at least one gripping module (30) is to be fixed in place relative to the at least one screw opening (4) in the active operating position, wherein the gripping module (30) has, as the at least one spreading element, at least one gripping arm (42, 44) which is retracted in the passive operating position and extended in the active operating position, wherein the gripping module (32) has an actuating region (36), an actuating rod (40) arranged along a central axis of symmetry within the actuating region, at least one first outer wall (34) arranged parallel to the actuating rod (40) and delimiting the actuating region (36), and at least one actuating arm (52, 56) with a first and a second end, wherein a first end of a first gripping arm (42) of the at least one gripping arm (42, 44) is arranged to be movable via a first joint (46) at a first position of the outer wall (34),wherein a first end of a second gripping arm (44) of the at least one gripping arm (42, 44) is connected to the outer wall (34) via a first joint (48) at a second position thereof, wherein the first position and the second position on the outer wall (34) are arranged opposite one another, wherein a second end of the first gripping arm (42) is connected to the first end of a first actuating arm (52) of the at least one actuating arm (52, 56) via a second joint (50) and a second end of the second gripping arm (44) is connected to the first end of a second actuating arm (56) of the at least one actuating arm (52, 56) via a second joint (54), wherein both actuating arms (52, 56) are movably arranged via a common third joint (58) at one end of the actuating rod (40), which is arranged outside the actuating area (36) in all operating positions, wherein a second end of the at least one actuating arm (52,56) is connected to a first end of the actuating rod (40) via the third joint (58), wherein a portion of the actuating rod (40) in the passive operating position is arranged within the actuating region (36) along a first path and the at least one gripping arm (42, 44) is retracted, wherein the portion of the actuating rod (40) in the active operating position is arranged within the actuating region (36) along a second path and the at least one gripping arm (42, 44) is extended, wherein the first path is longer than the second path. [2] Gripping device according to claim 1, wherein the gripping module (30) has as the at least one spreading element at least one pair of two gripping arms (42, 44), wherein both gripping arms (42, 44) of a pair are arranged symmetrically to an axis of symmetry of the gripping module (30), wherein the two gripping arms (42, 44) are retracted in the passive operating position and extended in the active operating position. [3] Gripping device according to claim 1 or 2, which has an actuating mechanism which is designed to mechanically and / or hydraulically actuate the second end of the actuating rod (40) and thus to move it relative to the actuating region (36). [4] Gripping device according to one of the preceding claims, which has a first cylindrical outer wall (34) and a second circular disk-shaped outer wall (38), wherein both outer walls (34, 36) enclose the actuating area (36), wherein the second outer wall (38) has a hole (39) in the center through which the actuating rod (40) is guided. [5] Gripping device according to one of the preceding claims, in which a counterpart (60) is fastened to the second end of the actuating rod (40), wherein between the at least one second outer wall (38) and the counterpart (60) at least one spring (66) is arranged, which expands in the passive operating position and is compressed in the active operating position. [6] Gripping device according to claims 4 and 5, wherein the counterpart (60) is circular disk-shaped and designed to divide the actuating area (36) into two chambers (62, 64), wherein a first chamber (62) is delimited by the second outer wall (38) and the counterpart (60), wherein the at least one spring (66) is arranged completely in the first chamber (62) and the actuating rod (40) is arranged at least partially, wherein a second chamber (64) is delimited by the counterpart (60) and a third outer wall (41), wherein an amount of air can be varied in the second chamber (64) by an air supply unit (70) of the gripping device (32), wherein a first small amount of air is stored in the second chamber (64) in the passive operating position, wherein a second, large amount of air is stored in the second chamber (64) in the second operating position, wherein the at least one spring (66) in the active operating position due to a Force of the second amount of air,which presses against the counterpart (60), [7] Gripping system for gripping a component of a motor vehicle, comprising at least one gripping device (32) according to one of the preceding claims. [8] Method for gripping a component, wherein the component is intended for a motor vehicle, with at least one gripping device (32), wherein the component has a housing (2) with at least one screw opening (4) with an inner diameter, wherein a gripping module (30) with a cross-sectional area is arranged at one end of the at least one gripping device (32), wherein the gripping module (30) has at least one adjustable spreading element, wherein the gripping module (30) is transferred into different operating positions with differently dimensioned cross-sectional areas by adjusting the at least one spreading element, wherein a longest line which intersects the cross-sectional area in a passive operating position is set smaller than the inner diameter of the at least one screw opening (4), and wherein at least one line which intersects the cross-sectional area in an active operating position,at least as large as the inner diameter of the at least one screw opening (4), wherein the at least one gripping module (30) is fixed in place in the active operating position relative to the at least one screw opening (4), wherein the gripping module (30) has, as the at least one spreading element, at least one gripping arm (42, 44), which is retracted in the passive operating position and extended in the active operating position, wherein the gripping module (32) has an actuating region (36), an actuating rod (40) arranged along a central axis of symmetry within the actuating region, at least one first outer wall (34) arranged parallel to the actuating rod (40), which delimits the actuating region (36), and at least one actuating arm (52, 56) with a first and a second end, wherein a first end of a first gripping arm (42) of the at least one gripping arm (42,44) is movably arranged via a first joint (46) at a first position of the outer wall (34), wherein a first end of a second gripping arm (44) of the at least one gripping arm (42, 44) is connected to the outer wall (34) via a first joint (48) at a second position of the outer wall (34), wherein the first position and the second position on the outer wall (34) are arranged opposite one another, wherein a second end of the first gripping arm (42) is connected via a second joint (50) to the first end of a first actuating arm (52) of the at least one actuating arm (52, 56) and a second end of the second gripping arm (44) is connected via a second joint (54) to the first end of a second actuating arm (56) of the at least one actuating arm (52, 56), wherein both actuating arms (52, 56) are connected via a common third joint (58) to one end of the actuating rod (40) are arranged to be movable,which is arranged outside the actuating area (36) in all operating positions, wherein a second end of the at least one actuating arm (52, 56) is connected to a first end of the actuating rod (40) via the third joint (58), wherein a section of the actuating rod (40) is arranged in the passive operating position within the actuating area (36) along a first path and the at least one gripping arm (42, 44) is retracted, wherein the section of the actuating rod (40) is arranged in the active operating position within the actuating area (36) along a second path and the at least one gripping arm (42, 44) is extended, wherein the first path is longer than the second path. [9] Method according to claim 8, wherein the at least one gripping device (32) has a rod (72) on which the gripping module (30) is arranged, wherein in each case a gripping module (30) is guided in the passive operating position into a respective screw opening (4), is transferred into the active operating position within the respective screw opening (4) and is fixed in a stationary manner within the respective screw opening (4) on an inner wall of the respective screw opening (4). [10] Method according to claim 9, wherein the at least one gripping device (32) has a rod (72) on which the gripping module (30) is arranged, wherein in each case a gripping module (30) in the passive operating position is introduced into an inlet (6) of a respective screw opening (4), is guided through the respective screw opening (4) and is guided out of an outlet (8) of the respective screw opening (4), wherein the respective gripping module (30) is then transferred outside the respective screw opening (4) into the active operating position and is fixed in place at the outlet (8) of the respective screw opening (4). [11] Method according to one of claims 8 to 10, in which a component designed as a battery is gripped with the at least one gripping device (32).

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