Gripping system for camera-assisted removal of a component from a container

Abstract

Gripping system (100) for camera-assisted removal of at least one component (10; 10a, 10b, 10c, 10d, 10e) from a container (11), wherein the gripping system (100) comprises at least one base body (12) and several grippers (13; 13a, 13b, 13c), wherein the gripping system (100) is modular in design and the grippers (13; 13a, 13b, 13c) are detachably connected to the base body via interchangeable modules (14; 14a, 14b, 14c), characterized in that the gripping system has no external interference contours, wherein at least three interchangeable modules (14; 14a, 14b, 14c) are arrangeable on or are arranged on the base body (12), wherein the interchangeable modules (14; 14a, 14b, 14c) can be arranged or are arranged on side walls (15; 15a, 15b, 15c) of the base body (12).

Description

[0001] The invention relates to a gripping system for camera-assisted removal of at least one component from a container, wherein the gripping system comprises at least one base body and several grippers.

[0002] Furthermore, the invention relates to a component removal system comprising a camera system, a robot and a gripping system for camera-assisted removal of at least one component from a container.

[0003] Furthermore, the invention relates to a method for camera-assisted removal of at least one component from a container.

[0004] In automation, particularly in automated automotive manufacturing, robots are used in many areas. Often, components, such as body parts, need to be picked up and moved to a designated location or position for further processing.

[0005] For this to work, a specially designed gripper must be attached to the robot arm to pick up a specific component. The component to be picked up must then be brought to a predefined transfer point so that the robot can pick it up with the gripper. If different components are used, grippers on the robot must be changed, or several robots, each with different grippers, must be used. State of the art

[0006] German patent DE 102 36 040 A1 describes a gripping device with at least one gripper and a controllable manipulator for components or the like. The position of the components is undefined when picked up by the gripper. The gripping device has at least one optical recording device which, after the component has been gripped and during its movement by the gripper, takes one or more photographs of the component to determine its position within the gripper. This optical recording device is connected to an evaluation and control unit that evaluates the image information from the at least one optical recording device and influences the movement of the gripper depending on the image information.

[0007] DE 10 2011 107 967 A1 relates to a device for the automatic assembly of a component consisting of at least one first and one second individual element. The device comprises a transport device with at least one receiving element, which is designed for the precise positioning of at least one first individual element, a first feeding device for feeding one first individual element at a time from a first individual element storage to the receiving element, and a second feeding device for feeding one second individual element at a time from a second individual element storage to the receiving element and for positioning this second individual element.

[0008] US Patent 2011 / 0211938A1 discloses a robot for picking parts from a container. The robot has a compliant device, and one or more tools are connected to the device to perform the picking. The compliant device has mechanisms for monitoring and / or controlling its compliance. The compliant device can have various configurations. Force sensing can be used during the picking of the grasped parts from the container to determine the force exerted on the picking tool(s). The signal indicating the exerted force can be used by the robot controller to determine the weight of the parts that can be held by the picking tool(s). The robot has one or more devices, which can act as the picking tool, to stir the parts in the container.

[0009] JP 2007222971 A shows a highly versatile robotic hand that grasps various parts by forcibly detaching, attaching, and exchanging pre-modulated finger units. In this robotic hand, several identical or different types of pre-modulated finger units are detachably attached to a common base. The finger unit is a two-finger gripper type, with two opposing fingers combined into a single module. The unit can be, for example, of the node type, where the two opposing fingers have one or more nodes, or of the linear type, where the two opposing fingers are either close to or separated from each other.

[0010] JP 2014131821 A discloses a multi-component gripping tool that is cost-effective, has a simple structure, is capable of switching between multiple hands quickly, and ensures high efficiency. The gripping tool comprises: a multitude of component gripping sections, each containing a lifting mechanism; and a rotary index on which the component gripping sections are mounted on the same circumference as that of a robot end effector shaft. Only one component gripping section, corresponding to a gripping target, moves downwards, while the other component gripping sections either move upwards or are held in an elevated or intermediate position.

[0011] US Patent 7313464 B1 discloses a method for picking up objects randomly arranged in a container using a robot equipped with a gripper to grasp the objects using gripping features on the object. The method includes a shaking scheme to rearrange the objects in the container when no objects are detected, when no objects are graspable by the gripper, or when the object to be picked up is not reachable by the gripper because, for example, its gripping feature is substantially facing a wall of the container. The method also includes a criterion for determining that a container is free of objects to be picked up and a criterion for selecting the first object to be picked up in the container. The method also provides a safeguard against damage to the objects and the robot if a detection technique fails to correctly detect the object or the gripping feature on the object. Description of the invention: Problem, solution, advantages

[0012] The object of the present invention is to further improve a gripping system for camera-assisted removal of at least one component from a container in such a way that different components can be removed from one container or several successive containers in the simplest possible manner. The gripping system should have a modular and as flexible a design as possible.

[0013] According to the invention, a gripping system for camera-assisted removal of at least one component from a container is proposed, wherein the gripping system comprises at least one base body and several grippers. The gripping system is modularly constructed according to the invention, such that the grippers are detachably connected to the base body via interchangeable modules.

[0014] The gripping system according to the invention can be mounted on a robot. A component, for example a body panel for a vehicle, can be removed from the container by means of a gripper on the gripping system. The component can then be placed by the gripping system at a predetermined storage location (for example a geostation).

[0015] The gripping system has multiple grippers for picking up several components. The components can be removed from the container simultaneously or one after the other using the grippers.

[0016] A modular design of the gripping system means that the interchangeable modules are detachably connected to the base body in such a way that they can be easily replaced. For example, plug connections or screw connections can be used for this purpose.

[0017] A gripper or multiple grippers can be mounted on an interchangeable module. A gripper can be easily replaced or exchanged by simply swapping the interchangeable module along with the gripper. If new or different grippers are needed for other components in a subsequent step, these can be easily replaced and made available by swapping the interchangeable modules.

[0018] The gripping system is designed for camera-assisted or camera-guided removal of components from a container. Preferably, the camera system itself, or the cameras of the camera system, are not attached to the gripping system. For example, the cameras of the camera system can be positioned at a distance from the gripping system in such a way that the respective container and its contents (the components) can be clearly captured by the cameras.

[0019] According to the invention, three interchangeable modules can be arranged on the base body or are arranged on the base body. At least one gripper is arranged on each of the interchangeable modules.

[0020] Furthermore, it is preferably provided that at least two interchangeable modules have different grippers. This makes the gripping system particularly versatile. With one gripping system and several different grippers, different types of components can be removed from a single container or from successive containers. Therefore, it is not necessary to provide multiple gripping systems and multiple robots for different types of components. Thus, different types of components can be removed from containers without changing a gripper.

[0021] Preferably, at least three interchangeable modules connect different grippers to the base body. This allows at least three different types of components to be picked up with a single gripping system without changing the grippers. Particularly preferably, at least five different grippers are connected to the base body via at least three interchangeable modules.

[0022] The different grippers can be designed to handle different types of components. For example, the grippers can have gripping elements for grasping a component, clamping elements for clamping a component, and / or suction elements for sucking in a component.

[0023] According to the invention, the interchangeable modules can be arranged on or are mounted on the side walls of the base body. For example, the interchangeable modules could have a substantially plate-shaped base form. The interchangeable modules then form at least part of the side walls of the gripping system.

[0024] Furthermore, it is preferably provided that each interchangeable module has mechanical coupling means for mechanically connecting or coupling the respective interchangeable module to the base body. The mechanical connection or coupling serves to fasten the interchangeable module to the base body. The mechanical coupling means are designed as detachable fasteners.

[0025] Furthermore, each interchangeable module preferably has electrical and / or hydraulic coupling means for electrically and / or hydraulically connecting or coupling the respective interchangeable module to the base body. The electrical and / or hydraulic connection or coupling serves for functional connection and / or energy transfer between the base body and the grippers. The electrical and / or hydraulic coupling means are also preferably designed as detachable connectors, for example, as plug connectors.

[0026] Preferably, predefined and uniform coupling means or interfaces are provided, which simplifies a universal exchange of the interchangeable modules.

[0027] Preferably, the gripping system is designed to remove one of several components arranged unsorted and in a random order within the container. Thus, the gripping system preferably enables camera-guided component removal from a universal container. For the purposes of the present invention, a universal container is understood to be one that can be used for different types of components and is not specifically designed for any particular type. Several identical or even different components can be arranged unsorted and in a random order within the container.

[0028] The camera system, preferably a 3D camera system, takes several images of the container and its contents (the components). These images are compared with a component dataset, and the location, orientation, and / or position of the component to be removed in the next step are determined. For this purpose, the container is preferably measured, which can be done particularly preferably using the acquired images. The information or determined data regarding the container dimensions, the location, orientation, and / or position of the component to be removed are transmitted to the gripping system. The gripping system selects the appropriate gripper for the component to be removed and moves it to the determined acquisition coordinates to grasp the component.

[0029] The subsequent placement of the picked-up component at a designated storage location is defined, unlike the picking-up process itself. Therefore, the gripping system is preferably designed for the undefined picking of components from a universal container and their defined placement at a predetermined storage location or position.

[0030] Preferably, the gripping system includes a control controller for controlling multiple grippers. Particularly preferably, a single control controller is provided for this purpose. This means that multiple grippers can be controlled by the same control controller. The control controller is universally designed and thus suitable for controlling different grippers and for handling different components or component types. Preferably, the control controller is located within the base body. Furthermore, the control controller is easily removable or disassembled to ensure good accessibility for maintenance and repairs.

[0031] Electrical and / or hydraulic lines between the control controller and the grippers are preferably routed inside the base body. Furthermore, these lines are preferably connected inside the respective gripper. Input and output modules, as well as valves, are also preferably arranged inside the base body and / or inside the grippers. Thus, according to the invention, the gripping system has no external obstructions. In particular, no external obstructions are located on the gripper itself. Obstructions can be, for example, lines, valves, input modules, and / or output modules. Because no external obstructions are located on the gripping system, especially on the gripper itself, damage to the components during removal from the container can be largely prevented.

[0032] According to the invention, a component removal system is further provided, comprising a camera system, a robot, and a gripping system for camera-assisted removal of at least one component from a container. The gripping system is designed as described above. The camera system itself is not attached to the gripping system but is mounted at a distance from it. The gripping system is attached to or connected to the robot.

[0033] The invention further provides a method for camera-assisted removal of at least one component from a container. The method according to the invention is designed for removing the component by means of a previously described gripping system and / or a previously described component removal system. For this purpose, the method according to the invention comprises at least the following steps: a) Taking several pictures of the container and the components inside the container and b) Comparing the images with a predefined data set for intended components, and c) Determining the location and / or position and / or orientation of the component to be removed in the next step, and d) Transferring the information to the gripping system, and e) Controlling one of the grippers and picking up the component to be removed.

[0034] Preferably, the container is measured using the image data during or after the images have been taken. These measurement results can also be used to determine the location, orientation, and / or position of the component to be removed in the next step.

[0035] Furthermore, preferably not only the location, orientation, and / or position of the component to be removed in the next step are determined, but also the component itself is identified. This means that the component or component type is automatically identified and recognized based on the image data. The system determines which component it is. Based on this information, the correct gripper can be selected for the gripping system.

[0036] After picking up the component, the next step preferably involves placing it at a designated or defined storage location. Thus, the method for camera-assisted removal of a component from a container is designed for an undefined picking process, for example, from a universal container, and a defined placement at a predetermined storage location.

[0037] Steps a) to e) can be repeated for the next components to be removed. Specifically, images of the components in the container are taken again, the component to be removed in the next step is selected, and its location, orientation, and / or position are determined once more. This is advantageous because components can shift within the container during the removal of the previous component and thus change their position. Brief description of the drawings

[0038] The invention is explained below by way of example using preferred embodiments.

[0039] They show schematically: Fig. 1: A perspective view of a gripping system, Fig. 2: a perspective view of a basic body of the gripping system, Fig. 3a to 3c: perspective views of interchangeable modules with different grippers, and Fig. 4: A perspective view of a component removal system. Preferred embodiments of the invention

[0040] Fig. Figure 1 shows a perspective view of a gripping system 100. In this exemplary embodiment, three interchangeable modules 14a, 14b, 14c, each with different grippers 13a, 13b, 13c, are attached to the sides of the base body 12. The different grippers 13a, 13b, 13c are designed to hold different components 10 (in Fig. 1 not shown) trained.

[0041] Fig. Figure 2 shows a perspective view of the basic body 12 of the gripping system 100. Fig. 1. The interchangeable modules 14 (in Fig. (2 not shown) are attached, that is, mechanically and electrically coupled. The control controller is located in the base body 12, by means of which the grippers 13, which are to be connected via interchangeable modules 14, can be controlled.

[0042] Fig. Figure 3a shows two different components 10a and 10b, which can be picked up by the gripper 13a shown as an example. The gripper 13a is arranged on an interchangeable module 14a. The gripper 13a can be easily attached to the base body 12 (in this interchangeable module 14a). Fig. 3a (not shown) can be connected.

[0043] In Fig. Figure 3b shows another gripper 13b, arranged on another interchangeable module 14b. The one in Fig. The gripper shown in 3b, for example, is for picking up a component 10c, as in Fig. 3b shown, trained.

[0044] In Fig. 3c shows another alternative gripper, 13c. The one in Fig. The gripper shown in 3c, for example, does not have gripping means, but rather suction means for suctioning components 10d, 10e. As shown in the Fig. 3a and Fig. The gripper shown in 3b, 13a and 13b, is also the one in Fig. 3c shows gripper 13c connected to an interchangeable module 14c.

[0045] The in the Fig. The grippers 13 shown as examples in 3a to 3c are easily and universally connected to the interchangeable modules 14, which are designed in the form of interchangeable plates, via the interchangeable modules 14. Fig. The 2 basic bodies shown can be connected to 12.

[0046] Fig. Figure 4 shows a perspective view of a component removal system 200. The component removal system 200 includes a robot 211 and a gripping system 100 arranged on the robot 211 (in Fig. 4 (not shown). Furthermore, the component removal system 200 has a camera system 210 consisting of three cameras. The camera system 210 is positioned at a distance from the gripping system 100 and from the robot 211 such that 3D image data of the containers 11 and their contents can be generated with the camera system 211. The gripping system 100 grips the containers 11 with the grippers 13 arranged on it (in Fig. 4 also not shown) the components 10 (in Fig. 4 (not shown) in the containers 11 and places them at a predefined storage location 16. Reference symbol list 100 gripping systems 200 component removal system 10; 10a, 10b, 10c, 10d, 10e components 11 containers 12 basic shapes 13; 13a, 13b, 13c Gripper 14; 14a, 14b, 14c Interchangeable modules 15; 15a, 15b, 15c Side walls of the base body 16 storage location 210 camera system 211 robots

Claims

[1] Gripping system (100) for camera-assisted removal of at least one component (10; 10a, 10b, 10c, 10d, 10e) from a container (11), wherein the gripping system (100) comprises at least one base body (12) and several grippers (13; 13a, 13b, 13c), wherein the gripping system (100) is modular in design and the grippers (13; 13a, 13b, 13c) are detachably connected to the base body via interchangeable modules (14; 14a, 14b, 14c), characterized by , that the gripping system has no external interference contours, wherein at least three interchangeable modules (14; 14a, 14b, 14c) can be arranged on the base body (12) or are arranged on the base body (12), wherein the interchangeable modules (14; 14a, 14b, 14c) can be arranged on side walls (15; 15a, 15b, 15c) of the base body (12). [2] Gripping system (100) according to claim 1, characterized by , that at least two interchangeable modules (14; 14a, 14b, 14c) have different grippers (13; 13a, 13b, 13c). [3] Gripping system (100) according to one of the preceding claims, characterized by , that each interchangeable module (14; 14a, 14b, 14c) has mechanical coupling means for mechanically connecting the respective interchangeable module (14; 14a, 14b, 14c) to the base body (12) as well as electrical and / or hydraulic coupling means for electrically and / or hydraulically connecting the respective interchangeable module (14; 14a, 14b, 14c) to the base body (12). [4] Gripping system (100) according to one of the preceding claims, characterized by , that the gripping system (100) is designed to remove one of several components (10; 10a, 10b, 10c, 10d, 10e) arranged unsorted and unordered in the container (11). [5] Gripping system (100) according to any one of the preceding claims, characterized by , that the gripping system (100) has a control controller for controlling several grippers (13; 13a, 13b, 13c). [6] Gripping system (100) according to any one of the preceding claims, characterized by, that electrical lines and / or hydraulic lines are routed between the control controller and the grippers (13; 13a, 13b, 13c) inside the base body (12). [7] Component removal system (200) comprising a camera system (210), a robot (211) and a gripping system (100) for camera-assisted removal of at least one component (10; 10a, 10b, 10c, 10d, 10e) from a container (11), characterized by that the gripping system (100) is designed according to one of the preceding claims. [8] Method for camera-assisted removal of at least one component (10; 10a, 10b, 10c, 10d, 10e) from a container (11) by means of a gripping system (100) according to any one of claims 1 to 6 and / or by means of a component removal system (200) according to claim 7, wherein the method comprises at least the following steps: a) Taking several pictures of the container (11) and the components (10; 10a, 10b, 10c, 10d, 10e) in the container (11), and b) Comparing the images with a predefined data set for intended components (10; 10a, 10b, 10c, 10d), and c) Determining the location and / or position and / or orientation of the component (10; 10a, 10b, 10c, 10d, 10e) to be removed in the next step, and d) Transferring the information regarding the location and / or position and / or orientation of the component to be removed (10; 10a, 10b, 10c, 10d, 10e) to the gripping system (100), and e) Controlling one of the grippers (13; 13a, 13b, 13c) and picking up the component to be removed (10; 10a, 10b, 10c, 10d, 10e) with the gripper (13; 13a, 13b, 13c).

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