Swivel unit for a handling robot and associated method

Abstract

Swivel unit (1) for mounting on a handling robot (2) for opening and closing a flap of a motor vehicle body, in particular for a door opening robot (2) for opening and closing a door of a motor vehicle body when painting the motor vehicle body, with a) a mounting flange (9) for mounting the swivel unit (1) on the handling robot (2), b) a gripping arm (10), c) a first gripping tool (13) for gripping an engagement (14, 15, 16), in particular a ring (15) or a window gap (14), on the flap of the motor vehicle body to be opened, wherein the first gripping tool (13) is mounted on the gripping arm (10), in particular at the end of the gripping arm (10), and d) a swivel head (11) for swiveling the gripping arm (10) with the first gripping tool relative to the mounting flange (9) between d1) a starting position in which the first gripping tool (13) does not engage the engagement (14, 15, 16) on the flap of the motor vehicle body to be opened or closed, and d2) an engagement position in which the first gripping tool (13) engages the engagement (14, 15, 16) on the flap of the motor vehicle body to be opened or closed, characterized in that e) that a second gripping tool (12) for gripping an engagement (17) on the flap of the motor vehicle body to be opened is also mounted on the gripping arm (10), in particular at the end of the gripping arm (10), and f) that the two gripping tools (12, 13) on the gripping arm (10) are designed to be inserted in different insertion directions into the engagement (14, 15, 16) on the flap of the motor vehicle body to be opened, in particular from top to bottom for the first gripping tool (13) and from bottom to top for the second gripping tool (12).

Description

[0001] The invention relates to a pivoting unit for a handling robot (e.g. door opening robot) and a corresponding method for opening or closing a flap (e.g. door) of a motor vehicle body.

[0002] DE 10 2014 017 855 A1 discloses a door opening robot which is used in a paint shop to open the doors of motor vehicle bodies to be painted during a painting process so that the interior of the motor vehicle bodies can also be painted. The known door opening robot is designed as a SCARA robot (SCARA: Selective Compliance Assembly Robot Arm) and has a tip gripper on a pivoting gripper arm as a gripping tool. This tip gripper can be inserted into a recess (e.g. window gap, ring) in the door to be opened in order to grip the door for opening or closing. The gripping tool (e.g. tip gripper) is therefore inserted from top to bottom into the recess (e.g. ring, window gap) in the door. As a result, the known door opening robot is only suitable for opening or closing normal vehicle doors, whereas it is not suitable for opening or closing other types of doors.Closing sliding doors SCARA robots cannot be used without further ado, but 6-axis robots are required, which are significantly more complex and require a larger installation space.

[0003] US 2012 / 0163948 A1 discloses a pivoting unit for mounting on a handling robot, which serves to open a hatch of a motor vehicle body. The pivoting unit has a mounting flange for mounting the pivoting unit on the handling robot. Furthermore, it comprises a gripper arm with a first gripping tool and a second gripping tool, which are designed to be inserted in different insertion directions into engagements on the hatch of the motor vehicle body to be opened. However, this document does not disclose a pivoting head for pivoting the gripper arm relative to the mounting flange.

[0004] The invention is therefore based on the object of solving this problem so that SCARA robots can also be used to open and close sliding doors.

[0005] This object is achieved by a swivel unit according to the invention for a handling robot and by a corresponding method according to the independent claims.

[0006] The invention initially provides a swivel unit that can be mounted on a handling robot (e.g. door opening robot) for opening or closing a flap (e.g. door) of a motor vehicle body.

[0007] In accordance with the prior art, the swivel unit according to the invention initially comprises a mounting flange with which the swivel unit can be mounted to the handling robot (e.g., a door-opening robot), for example, by means of a screw connection. However, the term "mounting flange" used in the context of the invention is not limited to a plate-shaped mounting interface between the swivel unit and the handling robot. The decisive factor is simply that the swivel unit is guided by the handling robot. The swivel unit can therefore also be structurally integrated into the handling robot.

[0008] In addition, the swivel unit has a swiveling gripper arm, as is the case with the known handling robot according to DE 10 2014 017 855 A1 described above.

[0009] In accordance with the prior art, a first gripping tool (e.g., a tip gripper) is attached to this gripper arm to grip an opening (e.g., a window gap, a ring) on ​​the flap (e.g., door) of the vehicle body to be opened, so that the handling robot can open the flap. This first gripping tool is preferably arranged at the end of the gripper arm; however, the first gripping tool can also be arranged at other locations on the gripper arm.

[0010] Furthermore, the pivoting unit according to the invention comprises a pivoting head for pivoting the gripper arm with the first gripping tool relative to the mounting flange between a starting position and an engagement position. In the starting position, the first gripping tool does not engage the engagement (e.g., ring, window gap) on the flap (e.g., door) of the motor vehicle body that is to be opened or closed. In the engagement position, however, the first gripping tool engages the engagement on the flap of the motor vehicle body that is to be opened or closed, so that the handling robot can open or close the flap.

[0011] The term "swivel head" used in the context of the invention does not necessarily imply a head-shaped external design of the swivel head. Rather, the swivel head is simply a swivel joint that also contains other components in its housing.

[0012] In this respect, the swivel head according to the invention corresponds to the swivel unit in the known door opening robot described at the outset according to DE 10 2014 017 855 A1.

[0013] The pivoting unit according to the invention is distinguished from the prior art in that a second gripping tool (e.g., a tip gripper) is also mounted on the gripping arm for gripping a recess (e.g., a ring) on ​​the flap (e.g., door) of the vehicle body to be opened. This second gripping tool is preferably also arranged at the end of the gripping arm, but other mounting locations on the gripping arm are also possible.

[0014] The two gripping tools on the gripper arm are designed so that they can be inserted in different insertion directions into the engagement on the flap (e.g. door) of the motor vehicle body that is to be opened. For example, the first gripping tool can be inserted in the conventional manner from top to bottom into an engagement (e.g. window gap) of a door that is to be opened. The second gripping tool can then, for example, be inserted from bottom to top into the engagement (e.g. ring) on ​​the flap (e.g. door) that is to be opened. The two gripping tools therefore differ in that they have different and preferably opposite insertion directions with respect to the engagement on the flap (e.g. door) that is to be opened. As a result, a handling robot with the pivoting unit according to the invention is suitable both for opening conventional motor vehicle doors and for opening sliding doors of motor vehicle bodies.

[0015] It was briefly mentioned above that the two gripping tools can be tip grippers that protrude from the gripper arm in opposite directions, for example, upwards or downwards. Such tip grippers are known per se from DE 10 2014 017 855 A1 and therefore do not need to be described in more detail. It should only be mentioned at this point that the tip grippers are preferably spike-shaped or pin-shaped in order to be inserted into the recess (e.g., window gap, ring) on ​​the flap to be opened (e.g., door).

[0016] In a preferred embodiment of the invention, the swivel head has a swivel drive for swiveling the gripper arm. For example, this swivel drive can comprise a pneumatic cylinder. However, it is also possible for the swivel drive to comprise an electric motor or a hydraulic cylinder.

[0017] Furthermore, the swivel head of the swivel unit according to the invention preferably comprises at least one limit switch that switches at an end position of the gripper arm's swivel range to provide position feedback. For example, a limit switch can be provided for each of the two end positions of the gripper arm's swivel range.

[0018] Furthermore, the swivel head can have a rotary encoder (e.g. potentiometer) to determine the swivel position of the gripper arm.

[0019] In addition, the swivel head can have a force sensor that measures the counterforce acting on the gripper arm. This enables collision detection if the counterforce acting on the gripper arm suddenly increases. It also allows detection of whether the gripping tool has gripped the flap (e.g., door) to be opened. This force sensor preferably enables force measurement in both swivel directions, i.e., for both gripping tools that are inserted into the corresponding engagement in different directions.

[0020] Furthermore, within the scope of the invention, it is possible for the pivoting unit to have an integrated position sensor to detect the position of the gripper arm and the gripping tools relative to the engagement on the flap to be opened. Such position sensors are known per se from DE 10 2014 017 855 A1 and therefore need not be described in detail. At this point, it should only be briefly mentioned that the position sensor can be, for example, an ultrasonic sensor or an inductive sensor.

[0021] It should also be mentioned that the swivel head enables a specific swivel angle of the gripper arm, whereby the swivel angle is preferably at least 5°, 10° or 15°.

[0022] Furthermore, it should be noted that the gripper arm preferably has a proximal upper arm and a distal forearm that are angled relative to each other. For example, the proximal upper arm and the distal forearm can enclose an angle of 2°-25°, 5°-20°, or 5°-15° with their longitudinal axes. However, within the scope of the invention, it is also alternatively possible for the gripper arm to be non-curved, as is also shown, for example, in DE 10 2014 017 855 A1.

[0023] Furthermore, it should be noted that the invention not only claims protection for the above-described pivot unit according to the invention as an individual assembly. Rather, the invention also claims protection for a complete handling robot (e.g., a door-opening robot) with such a pivot unit.

[0024] The handling robot according to the invention is preferably designed as a SCARA robot, as is known per se from conventional door-opening robots and is described, for example, in DE 10 2014 017 855 A1. This is advantageous because SCARA robots are less complex than 6-axis robots and require less installation space.

[0025] The handling robot according to the invention can additionally have a vertical travel axis to move the entire swivel unit in a vertical direction. This can be useful, for example, if the gripper arm with the gripping tools mounted on it is to be inserted from top to bottom into a cleaning device. This swivel unit with a travel axis can be integrated either into a SCARA robot or into a handling robot.

[0026] Furthermore, the invention also claims protection for a complete coating system (e.g. painting system) for coating (e.g. painting) motor vehicle bodies, wherein this coating system according to the invention has at least one handling robot according to the invention as described above.

[0027] The coating system according to the invention can additionally comprise a cleaning device for periodically cleaning the gripping tools. For this purpose, the gripper arm with the gripping tools mounted therein can be inserted into the cleaning device through an insertion opening of the cleaning device. The actual cleaning can then take place within the cleaning device, for example, by subjecting the gripping tools to a jet of rinsing agent and pulsed air. This is preferably done using the Z-axis of the SCARA robot.

[0028] Finally, the invention also claims protection for a corresponding method for opening and closing flaps (e.g. doors) of motor vehicle bodies in a painting plant.

[0029] Within the scope of the method according to the invention, the type of respective intervention on the door to be opened is first determined. For example, the intervention can be a ring, a window gap, or the inside of the door to be opened. Furthermore, within the scope of the method according to the invention, the type of door is determined. For example, the door to be opened can be a conventional swing door or a sliding door with a mounting hinge.

[0030] Depending on the type of procedure, the appropriate insertion direction and gripping tool are then selected.

[0031] For example, if the engagement is a conventional ring on a swing door of a motor vehicle body, the downwardly projecting tip gripper is selected and inserted into the ring from top to bottom to grip the door.

[0032] The same applies if the intervention involves a window gap of a pivoting door or sliding door or the inside of a sliding door or a ring on a sliding door or sliding door with a replacement hinge.

[0033] However, if the intervention is a ring on a sliding door, the upward-facing tip gripper is selected and inserted into the ring from bottom to top.

[0034] Within the scope of the method according to the invention, the type of intervention can be read, for example, from the paint shop control system. Alternatively, it is possible for the type of intervention to be recorded using a camera.

[0035] Furthermore, within the scope of the method according to the invention, it can be provided that the gripper arm with the gripping tools is introduced into a cleaning device to clean the gripping tools. For this purpose, an additional vertical travel axis can be integrated into the swivel unit or into the SCARA robot.

[0036] Other advantageous developments of the invention are characterized in the subclaims or are explained in more detail below together with the description of the preferred embodiments of the invention with reference to the figures.

[0037] They show: Fig. 1A is a schematic representation of a door opening robot according to the invention, Fig. 1B a perspective view of the gripper arm with the gripping tools in the door opening robot according to Fig. 1A, Fig. 1C to 1F different positions of the swivel unit in the door opening robot according to Fig. 1A, Fig. 2A to 2E Variations of the Fig. 1B to 1F with a window gap as an intervention on an openable door of a motor vehicle body, Fig. 3A to 3E Variations of the Fig. 2A to 2E, wherein the engagement on the door to be opened is formed by the inside of the door to be opened, Fig. 4A to 4E Variations of the Fig. 2A to 2E, wherein a ring on a sliding door is provided as the engagement, and the gripping tool is inserted into the ring from below, Fig. 5A a perspective view of the swivel unit according to the invention with a cleaning device, Fig. 5B a partially cutaway side view of Fig. 5A, Fig. 5C a detailed enlargement of Fig. 5B, Fig. 5D a top view of the cleaning device and the swivel unit according to the Fig. 5A to 5C, as well as Fig. 6 the method according to the invention in the form of a flow chart.

[0038] Fig. 1A shows an embodiment of a pivoting unit 1 according to the invention on a door opening robot 2, which is shown only schematically here.

[0039] The door opening robot 2 is designed as a SCARA robot (SCARA: Selective Compliance Assembly Robot Arm) and initially has a robot base 3, which can be mounted, for example, on a booth floor 4 of a paint booth.

[0040] In addition, the door opener robot 2 has a proximal robot arm 5 and a distal robot arm 6, both of which are rotatable about vertical axes of rotation A1 and A2 relative to the robot base 4 and relative to the proximal robot arm 5, respectively.

[0041] At the end of the distal robot arm 6, a structure 7 is arranged on the upper side, which is rotatable about a vertical axis of rotation A3 relative to the distal robot arm 6 and carries a mounting flange 8 on its upper side.

[0042] The swivel unit 1 also initially has a mounting flange 9, which is screwed to the mounting flange 8 of the door opening robot 2.

[0043] In addition, the swivel unit 1 has a gripping arm 10 which can be swiveled relative to the mounting flange 8 in the plane of the drawing by means of a swivel head 11.

[0044] The gripper arm 10 has a proximal upper arm 10.1 and a distal lower arm 10.2, which are angled relative to each other.

[0045] At the end of the gripper arm 10 there are two gripping tools 12, 13 in the form of tip grippers, with the gripping tool 12 projecting upwards, while the gripping tool 13 projecting downwards.

[0046] The lower gripping tool 13 serves to engage in a window gap 14 (cf. Fig. 2A), into a ring 15 (cf. Fig. 1B) or on the inside 16 (cf. Fig. 3A) of a door, wherein the lower gripping tool 13 is inserted from top to bottom, as will be described in detail.

[0047] The upper gripping tool 12, on the other hand, serves in a novel way for insertion into a ring 17 (cf. Fig. 4A), which is connected to a sliding door by means of a ring rod 18, wherein the upper gripping tool 12 is inserted into the ring 17 from bottom to top.

[0048] A position sensor 19 is located on the underside of the distal forearm 10.2 of the gripper arm 10. This sensor is responsible for detecting the positioning of the gripping tools 12, 13 with respect to the respective intervention, so that the gripping tools 12 and 13 can be inserted with precise positioning. The position sensor 19 is generally known from DE 10 2014 017 855 A1, so that with regard to the structure and function of the position sensor 19, reference is made to this patent publication to avoid repetition.

[0049] Fig. 1B shows an engagement position in which the lower gripping tool 13 is inserted into the ring 15.

[0050] The Fig. 1C to 1F show different swivel positions of the gripper arm 10. Fig. 1C a basic position with a stop of a locking cylinder at a swivel angle α=20°.

[0051] Fig. 1D, on the other hand, shows a working position (engagement position) with a pivot angle α=27°, whereby a signal is sent to a control system indicating that the door is engaged.

[0052] Fig. Figure 1E shows an overload position with an angle α=30°. In this overload position, a signal is sent to a higher-level control system indicating that an overload is present.

[0053] Finally, Fig. 1F an end position with an angle α=35°, whereby a corresponding signal is also sent to a higher-level control system in this end position.

[0054] The Fig. 2A to 2E show variations of the Fig. 1B to 1F, so that to avoid repetition, reference is made to the above description, the same reference numerals being used for corresponding details.

[0055] A special feature of this embodiment is that the engagement for the lower gripping tool 13 is not formed by the ring 15, but by the window gap 14.

[0056] The Fig. 3A to 3E again show variations of the Fig. 2A to 2E, so that to avoid repetition, reference is made to the above description, the same reference numerals being used for corresponding details.

[0057] A special feature of this embodiment is that the recess is formed by an inner side 16 of the door to be opened. Here, too, however, the lower gripping tool 13 is inserted into the recess from top to bottom, i.e., onto the inner side 16 of the door.

[0058] The Fig. 4A to 4E again show variations of the Fig. 2A to 2E, so that to avoid repetition, reference is made to the above description.

[0059] A special feature of this embodiment is that the upper gripping tool 12 is inserted from bottom to top into the ring 17, which is connected to the sliding door via the ring rod 18.

[0060] Fig. 5A additionally shows a cleaning device 20 for cleaning the gripping tools 12, 13 on the gripping arm 10.

[0061] For this purpose, the gripper arm 10 is pivoted downwards by the swivel head, as shown in the Fig. 5A and Fig. 5B is shown.

[0062] Subsequently, the swivel unit 1 is moved vertically downwards by means of a travel axis 21 until the gripping tools 12, 13 are located inside the cleaning device 20, as shown in Fig. 5B is shown.

[0063] The cleaning device 20 has connecting lines 22 through which, for example, pulsed air and rinsing agent can be supplied for cleaning the gripping tools 12, 13.

[0064] In the following, the method according to the invention will be described using the flow chart according to Fig. 6 explained.

[0065] In a first step S1, the type of intervention on the door to be opened is first determined.

[0066] If it is a conventional swing door with a ring 15, a step S2 branches off to a step S3, where it is determined that the insertion direction for the gripping tools is from top to bottom. Furthermore, the lower gripping tool 13 is also selected in step S3.

[0067] Otherwise, a check is carried out in step S4 to determine whether the intervention is the window gap 14 on the conventional swing door.

[0068] If this is the case, it is determined in a step S5 that the lower gripping tool 13 is selected and then inserted from top to bottom into the window gap 14.

[0069] Otherwise, a step S6 checks whether it is a swing door without a window gap.

[0070] If this is the case, it is determined in a step S7 that the insertion direction is from top to bottom and that the inner side 16 of the door to be opened serves as the engagement point.

[0071] Otherwise, a check is carried out in step S8 to determine whether the door to be opened is a sliding door with ring 17.

[0072] If this is the case, it is determined in a step S9 that the insertion direction is from bottom to top, whereby the upper gripping tool 12 is selected.

[0073] In a next step S10, the selected gripping tool 12 or 13 is then inserted into the engagement of the door to be opened in the selected insertion direction.

[0074] The door is then opened in step S11.

[0075] With the door open, further work steps can then be carried out in a step S12, such as painting the interior of the vehicle body.

[0076] In step S13 the door is then closed again.

[0077] Finally, the respective gripping tool 12 or 13 is then withdrawn from engagement again in a step S14. List of reference symbols: 1 swivel unit 2 door opener robots 3 Robot base of the door opener robot 4 Floor of the paint booth 5 Proximal robot arm (“Arm 1”) of the door opener robot 6 Distal robot arm (“Arm 2”) of the door opener robot 7 Assembly on the distal robot arm 8 Mounting flange of the door opener robot 9 Mounting flange of the swivel unit 10 gripper arm 10.1 Upper arm of the gripper arm 10.2 Forearm of the gripper arm 11 Swivel head 12 Upper gripping tool (tip gripper) 13 Lower gripping tool (tip gripper) 14 Window gap of the door 15 Ring on conventional swing door 16 Inside of the door 17 rings 18 ring bar 19 Position sensor on the gripper arm 20 cleaning device 21 travel axis 22 connection cables of the cleaning device A1 Rotation axis of the proximal robot arm A2 Rotation axis of the distal robot arm A3 Rotation axis of the swivel unit

Claims

[1] Swivel unit (1) for mounting on a handling robot (2) for opening and closing a flap of a motor vehicle body, in particular for a door opening robot (2) for opening and closing a door of a motor vehicle body when painting the motor vehicle body, with a) a mounting flange (9) for mounting the swivel unit (1) on the handling robot (2), b) a gripping arm (10), c) a first gripping tool (13) for gripping an engagement (14, 15, 16), in particular a ring (15) or a window gap (14), on the flap of the motor vehicle body to be opened, wherein the first gripping tool (13) is mounted on the gripping arm (10), in particular at the end of the gripping arm (10), and d) a swivel head (11) for swiveling the gripping arm (10) with the first gripping tool relative to the mounting flange (9) between d1) a starting position in which the first gripping tool (13) does not engage the engagement (14, 15, 16) on the flap of the motor vehicle body to be opened or closed, and d2) an engagement position in which the first gripping tool (13) engages the engagement (14, 15, 16) on the flap of the motor vehicle body to be opened or closed, characterized by , e) that a second gripping tool (12) for gripping an engagement (17) on the flap of the motor vehicle body to be opened is also mounted on the gripping arm (10), in particular at the end of the gripping arm (10), and f) that the two gripping tools (12, 13) on the gripping arm (10) are designed to be inserted in different insertion directions into the engagement (14, 15, 16) on the flap of the motor vehicle body to be opened, in particular from top to bottom for the first gripping tool (13) and from bottom to top for the second gripping tool (12). [2] Swivel unit (1) according to claim 1, characterized by that the two gripping tools (12, 13) are designed as tip grippers and protrude from the gripping arm (10) in opposite directions, in particular upwards and downwards respectively. [3] Swivel unit (1) according to one of the preceding claims, characterized by , a) that the swivel head (11) for swiveling the gripping arm (10) has a swivel drive, in particular with a pneumatic cylinder, and / or b) that the swivel head (11) has at least one limit switch for determining the swivel position, which switches at an end position of the swivel range, and / or c) that the swivel head (11) has a rotary encoder, in particular a potentiometer, for determining the swivel position, and / or d) that the swivel head (11) has a force sensor which measures the counterforce acting on the gripping arm (10) in both swivel directions, and / or e) that a position sensor, in particular an ultrasonic sensor or an inductive sensor, is mounted on the gripping arm (10) for detecting the position of the gripping arm (10) relative to the engagement (14, 15, 16) on the flap of the motor vehicle body to be opened, and / or f) that the swivel head (11) allows a swivel angle of at least 5°, 10° or 15°, and / or g) that the gripping arm (10) has a proximal upper arm and a distal lower arm which are angled to one another, in particular at an angle of 2°-25°, 5°-20°, 5°-15°. [4] Handling robot (2) for opening or closing a flap of a motor vehicle body, in particular a door opening robot (2) for opening or closing a door of the motor vehicle body, in particular as a SCARA robot, characterized by that a swivel unit (1) according to one of the preceding claims is mounted on the handling robot (2). [5] Handling robot (2) according to claim 4, characterized by a vertical travel axis (21) for vertically displacing the swivel unit (1), in particular for inserting the gripper arm (10) with the gripping tools (12, 13) into a cleaning device (20). [6] Coating system for coating motor vehicle bodies, in particular a painting system for painting motor vehicle bodies, with a handling robot (2) for opening or closing a flap of a motor vehicle body, characterized by that the handling robot (2) is designed according to claim 4 or 5. [7] Coating system according to claim 6, characterized by a cleaning device (20) for cleaning the gripping tools (12, 13) with an insertion opening for inserting the gripping arm (10) with the gripping tools (12, 13) into the cleaning device (20) for cleaning within the cleaning device (20). [8] Method for opening a flap, in particular a door, of a motor vehicle body, in particular during a painting process, in particular by means of a coating system according to one of claims 5 or 6, comprising the following steps: a) gripping an engagement (14, 15, 16) on the flap of the motor vehicle body to be opened by means of a handling robot (2), in particular by means of a SCARA robot, and b) opening the flap gripped by the handling robot (2) by means of the handling robot (2), characterized by following steps: c) determining the type of intervention (14, 15, 16, 17) on the flap to be opened, d) selecting one of several gripping tools (12, 13) mounted on the handling robot (2) depending on the determined type of intervention (14, 15, 16, 17) on the flap to be opened, e) selecting one of several insertion directions depending on the determined type of intervention (14, 15, 16, 17) on the flap to be opened, and f) Inserting the selected gripping tool (12, 13) in the selected insertion direction into the engagement (14, 15, 16, 17) on the flap of the motor vehicle body to be opened. [9] Method according to claim 8, characterized by that the flap to be opened is a door of the motor vehicle body and the intervention on the door of the motor vehicle body to be opened belongs to one of the following types: a) ring (15) as an additional operating device on a swing door of the motor vehicle body, b) window gap (14) on a swing door of the motor vehicle body, c) inside of the door (16) of a swing door of the motor vehicle body, d) Ring (17) as additional operating means on a sliding door of the motor vehicle body. [10] Method according to claim 8 or 9, characterized by that the following insertion directions of the gripping tool (12, 13) are available: a) From top to bottom, b) from bottom to top. [11] Method according to claim 10, characterized by , a) that in the case of a ring (15) as an engagement on a swing door, a downwardly projecting tip gripper (13) is selected as the gripping tool and is inserted into the ring (15) from top to bottom, and / or b) that in the case of a window gap (14) as an intervention on a swing door, a downwardly projecting tip gripper (13) is selected as the gripping tool and is inserted from top to bottom into the window gap (14), and / or c) that in the case of an inside door (16) as an engagement on a swing door, a downwardly projecting tip gripper (13) is selected as the gripping tool and is inserted from top to bottom inside behind the inside door (16), and / or d) that in the case of a ring (17) as an engagement on a sliding door, an upwardly projecting tip gripper is selected as the gripping tool (12) and is inserted into the ring (17) from bottom to top. [12] Method according to one of claims 8 to 11, characterized by , a) that the type of intervention (14, 15, 16, 17) on the door to be opened is read from a paint shop control system, or b) that the type of intervention (14, 15, 16, 17) on the door to be opened is determined by means of a sensor, in particular by means of a camera. [13] Method according to one of claims 8 to 12, characterized by following step: Inserting the gripper arm (10) with the gripping tools into a cleaning device to clean the gripping tools inside the cleaning device.

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