Gripping tool and gripping device for a workpiece and methods for their operation

Abstract

Gripping tool (4) for a workpiece (3) with - a frame (5) with several frame members (5.1 to 5.m) movably connected to each other, - several grippers (6.1 to 6.x) attached to the frame (5) and - an adjusting device for adjusting the frame members (5.1 to 5.m) relative to each other and / or relative to a reference position, characterized by the fact that - Positions of the grippers (6.1 to 6.x) relative to the frame members (5.1 to 5.m) are variably adjustable, whereby - the frame members (5.1 to 5.m) each have at least one fastening arrangement (8.1 to 8.y) with a plurality of fastening positions for at least one gripper (6.1 to 6.x) or are coupled with at least one such arrangement and - the fastening arrangement (8.1 to 8.y) has a drive for a motor and / or hydraulic and / or pneumatic adjustment of a respective fastening position of a gripper (6.1 to 6.x) on the associated frame member (5.1 to 5.m), and - Positions of pivot points between the frame members (5.1 to 5.m) are variably adjustable, whereby - the frame members (5.1 to 5.m) each have at least one coupling arrangement (7.1 to 7.z) with a plurality of coupling positions for at least one further frame member (5.1 to 5.m) or are coupled to at least one such arrangement and - the coupling arrangement (7.1 to 7.z) has a drive for a motor and / or hydraulic and / or pneumatic adjustment of a respective coupling position.

Description

[0001] The invention relates to a gripping tool for a workpiece according to the preamble of claim 1.

[0002] The invention further relates to a gripping device for a workpiece and a method for operating such a gripping device.

[0003] From DE 20 2007 013 673 U1, a gripping device for one or more workpieces is known, comprising a frame, a connection for a manipulator, and several grippers. The frame has several movably connected frame members and an adjusting device for their relative adjustment. The frame members are arranged and connected in at least one row, with bearings at their connection points. One or more grippers are arranged on the frame members, with the grippers positioned in the area of ​​the connection points between the frame members.

[0004] Furthermore, DE 198 17 426 A1 describes a gripper system with several independent gripping elements that engage the object to be gripped, each gripping element being equipped with a force sensor for determining a force in a predetermined direction. The gripping elements are connected to each other via connecting components. The connecting components are rigidly configured as straight or curved connectors, corner pieces, or switches. Alternatively, the connecting components are designed with variable spatial structure as planar or three-dimensional joints or as telescopic pieces and are driven by a motor.

[0005] The invention is based on the objective of providing a novel gripping tool for a workpiece, a novel gripping device for a workpiece and a method for operating such a gripping device.

[0006] The object is solved according to the invention by a gripping tool which has the features specified in claim 1, a gripping device which has the features specified in claim 3, and by a method which has the features specified in claim 4.

[0007] Advantageous embodiments of the invention are the subject of the dependent claims.

[0008] A gripping tool for a workpiece has a frame with several movably connected frame members, several grippers attached to the frame, and an adjusting device for adjusting the frame members relative to each other and / or relative to a reference position.

[0009] According to the invention, the positions of the grippers relative to the frame members and / or the positions of pivot points between the frame members are variably adjustable.

[0010] The gripping tool enables the rapid picking up, shaping, and placement of workpieces, especially flexible workpieces such as cable strands. These flexible workpieces are positioned on a mounting board during manufacturing. This can be advantageously automated using the gripping device, thus eliminating at least some manual positioning.

[0011] Furthermore, each frame member has at least one mounting arrangement with multiple mounting positions for at least one gripper, or is coupled to at least one such arrangement. This allows for flexible arrangement of the grippers on the frame members and thus facilitates easy adaptation of the gripping device to different applications, particularly different shapes and / or lengths of workpieces.

[0012] Furthermore, the mounting arrangement features a drive for motorized and / or hydraulic and / or pneumatic adjustment of each gripper's mounting position on the corresponding frame member. This enables quick and easy motorized adjustment of the mounting positions, eliminating manual and time-consuming work steps. It also allows for adjustment of the mounting positions during and after workpiece forming, resulting in a wide variety of achievable workpiece shapes.

[0013] Furthermore, each frame member has at least one coupling arrangement with multiple coupling positions for at least one other frame member, or is coupled to at least one such member. This allows for a wide variety of relative positions of the frame members to each other and to the reference position. In particular, it also enables variable adjustment of the effective length of the frame members. This, too, allows for easy adaptation of the gripping device to different applications, especially different shapes and / or lengths of workpieces.

[0014] Furthermore, the coupling arrangement features a drive for motorized and / or hydraulic and / or pneumatic adjustment of the coupling position. This enables quick and easy motorized adjustment of the coupling positions, eliminating manual and time-consuming work steps. It also allows for adjustment of the coupling positions during and after workpiece forming, resulting in a wide variety of achievable workpiece shapes.

[0015] In one possible embodiment of the gripping tool, at least one connection for a manipulator is provided on the frame. This allows for connection to a manipulator, for example, a robot arm. Thus, robot-guided gripping tools can be implemented in various configurations. The gripping tool, together with a manipulator, can therefore form a handling device.

[0016] The gripping device according to the invention comprises several of the aforementioned gripping tools, wherein the position of the gripping tools relative to each other and / or to a reference position is variably adjustable. This makes it possible to bring several workpieces into any desired position relative to each other and to shape them.

[0017] In the inventive method for operating a aforementioned gripping device, a workpiece is gripped by means of the grippers and the grippers and / or the frame members of a respective gripping tool are positioned relative to each other and / or relative to the reference position in such a way that the workpiece is reshaped until a target value of its external appearance is reached.

[0018] The process enables the rapid picking up, shaping, and placement of workpieces, especially flexible workpieces such as cable bundles. These flexible workpieces are positioned on a mounting board during manufacturing. This process can be advantageously automated using this method, thus eliminating at least some manual positioning.

[0019] In one possible embodiment of the process, the positions of the grippers relative to the frame members and / or the positions of pivot points between the frame members and / or the positions of several gripping tools relative to each other and / or to the reference position are variably adjusted before, during, and / or after the forming of the workpiece. This enables a wide variety of workpiece shapes to be realized.

[0020] Exemplary embodiments of the invention are explained in more detail below with reference to drawings.

[0021] This shows: Fig. 1. Schematic top view of a section of a cable bundle, Fig. 2 schematically a top view of a section of a cable harness sheathing, Fig. 3 schematically a top view of the cable bundle according to Fig. 1 and the cable harness sheathing according to Fig. 2 during the assembly of the cable harness sheathing onto the cable harness, Fig. 4 schematically a top view of the cable bundle and the cable bundle sheathing according to Fig. 3 after assembly. Fig. 5 schematically a perspective view of a gripping tool and one from the cable bundle and the cable bundle sheathing according to Fig. 4 formed workpiece in front of a grasping and. Fig. 6 schematically a perspective view of the gripping tool and the workpiece according to Fig. 5 after gripping and reshaping the workpiece.

[0022] Corresponding parts are marked with the same reference symbols in all figures.

[0023] In Fig. Figure 1 shows a top view of a section of a cable bundle 1. The cable bundle 1 comprises any number of cables 1.1 to 1.n or lines.

[0024] Fig. Figure 2 shows a top view of a section of a cable harness sheathing 2, which is used to encase the cable harness 1 according to Fig. The cable harness sheathing 2 protects the cable harness 1 from mechanical and / or chemical influences and bundles the individual cables 1.1 to 1.n. ​​To ensure mechanical flexibility of the cable harness 1, the cable harness sheathing 2 is made of a mechanically flexible material. For example, the cable harness sheathing 2 is made of adhesive tape, insulating tape, or fabric tape. The cable harness sheathing 2 has a structure S which, in the illustrated embodiment, has offset teeth arranged on opposite sides. After the cable harness sheathing 2 is mounted on the cable harness 1, the teeth interlock. In other embodiments not shown, the structure S can also have a different suitable geometry, for example, waves, rectangles, and / or other geometries.The structure S also contributes to the mechanical flexibility of a cable formed from the cable bundle 1 and the cable bundle sheathing 2 and in . Fig. 4 more detailed workpiece 3 at.

[0025] In the Fig. 3 and Fig. Figure 4 shows top views of cable string 1 according to Fig. 1 and the cable harness sheathing 2 according to Fig. Figure 2 shows the process during and after assembly of the cable harness sheathing 2 onto the cable harness 1. After assembly, the cable harness sheathing 2 forms a workpiece 3. The structure S of the cable harness sheathing 2 interlocks in such a way that the workpiece 3 is mechanically stabilized yet remains mechanically flexible.

[0026] Workpiece 3 is a so-called "flexible" component and is positioned, for example, on a mounting board during manufacturing. To minimize the number of manual work steps, a [missing information - likely a specific tool or component] is used in the [missing information - likely a specific tool or component]. Fig. 5 and Fig. 6. Gripping tool 4, shown in more detail, is provided.

[0027] Fig. Figure 5 shows a perspective view of the gripping tool 4 and the workpiece 3 according to Fig. 4 in front of a griffin.

[0028] The gripping tool 4 comprises a frame 5 with several movably connected frame members 5.1 to 5.m and several grippers 6.1 to 6.x attached to the frame 5.

[0029] The frame members 5.1 to 5.m are each connected to one another via coupling assemblies 7.1 to 7.z, which allow two- or three-dimensional movement of the frame members 5.1 to 5.m relative to each other and / or to the reference position. The coupling assemblies 7.1 to 7.z include, in particular, appropriately designed bearings. The coupling assemblies 7.1 to 7.z form pivot points between the frame members 5.1 to 5.m.

[0030] Furthermore, an adjusting device for adjusting the frame members 5.1 to 5.m relative to each other and / or relative to a reference position is provided in a manner not shown in detail.

[0031] The workpiece 3 is first picked up or gripped using the grippers 6.1 to 6.x.

[0032] Then, as in Fig. As shown in more detail in Figure 6, the workpiece 3 is formed using the gripping tool 4. For this purpose, the positions of the grippers 6.1 to 6.x relative to the frame members 5.1 to 5.m are variably adjustable and / or the positions of the pivot points between the frame members 5.1 to 5.m are variably adjustable. That is, the grippers 6.1 to 6.x and / or the frame members 5.1 to 5.m of the gripping tool 4 are positioned relative to each other and / or relative to the reference position such that the workpiece 3 is formed until a target value of its external appearance is reached.

[0033] To achieve this, in one possible embodiment of the gripping tool 4, the frame members 5.1 to 5.m each have at least one mounting arrangement 8.1 to 8.y with a plurality of mounting positions for at least one gripper 6.1 to 6.x, or are coupled to at least one such arrangement. By setting different mounting positions of the grippers 6.1 to 6.x, they can be arranged in different relative positions to each other and / or to the reference position.

[0034] In one possible embodiment of the gripping tool 4, the fastening arrangements 8.1 to 8.y have at least one drive for a motor and / or hydraulic and / or pneumatic adjustment of a respective fastening position of a gripper 6.1 to 6.x on the associated frame member 5.1 to 5.m.

[0035] Furthermore, in one possible embodiment of the gripping tool 4, the coupling arrangements 7.1 to 7.z each have a plurality of coupling positions for the coupled frame members 5.1 to 5.m or are coupled with at least one such position. By setting different coupling positions of the grippers 6.1 to 6.x, they can be arranged in different relative positions to each other and / or to the reference position.

[0036] In one possible embodiment of the gripping tool 4, the coupling arrangements 7.1 to 7.z have at least one drive for a motorized and / or hydraulic and / or pneumatic adjustment of a respective coupling position.

[0037] In exemplary embodiments not shown in detail, the gripping tool 4 has at least one connection for a manipulator on its frame 5. This enables connection to a manipulator, for example, a robot arm. Thus, robot-guided gripping tools 4 can be implemented in various embodiments. The gripping tool 4 can therefore form a handling device together with a manipulator.

[0038] It is also possible for several gripping tools 4 to be part of a gripping device, whereby the positions of the gripping tools 4 relative to each other and / or to a reference position are variably adjustable. Thus, several workpieces 3, for example those arranged in a crossed pattern, can be brought into any desired position relative to each other and formed. Reference symbol list 1 cable harness 1.1 to 1.n cables 2 Cable bundle sheathing 3 workpieces 4 Gripping tool 5 frame 5.1 to 5.m frame member 6.1 to 6.x Gripper 7.1 to 7.z Coupling arrangement 8.1 to 8.y Mounting arrangement S structure

Claims

[1] Gripping tool (4) for a workpiece (3) with - a frame (5) with several frame members (5.1 to 5.m) movably connected to each other, - several grippers (6.1 to 6.x) attached to the frame (5) and - an adjusting device for adjusting the frame members (5.1 to 5.m) relative to each other and / or relative to a reference position, characterized by , that - Positions of the grippers (6.1 to 6.x) relative to the frame members (5.1 to 5.m) are variably adjustable, whereby - the frame members (5.1 to 5.m) each have at least one fastening arrangement (8.1 to 8.y) with a plurality of fastening positions for at least one gripper (6.1 to 6.x) or are coupled with at least one such arrangement and - the fastening arrangement (8.1 to 8.y) has a drive for a motor and / or hydraulic and / or pneumatic adjustment of a respective fastening position of a gripper (6.1 to 6.x) on the associated frame member (5.1 to 5.m), and - Positions of pivot points between the frame members (5.1 to 5.m) are variably adjustable, whereby - the frame members (5.1 to 5.m) each have at least one coupling arrangement (7.1 to 7.z) with a plurality of coupling positions for at least one further frame member (5.1 to 5.m) or are coupled to at least one such arrangement and - the coupling arrangement (7.1 to 7.z) has a drive for a motor and / or hydraulic and / or pneumatic adjustment of a respective coupling position. [2] Gripping tool (4) according to claim 1, characterized by , that at least one connection for a manipulator is provided on the frame (5). [3] Gripping device comprising several gripping tools (4) according to claim 1 or 2, wherein the position of the gripping tools (4) relative to each other and / or to a reference position is variably adjustable. [4] Method for operating a gripping device Claim 3, wherein - a workpiece (3) is gripped by means of the grippers (6.1 to 6.x) and - the grippers (6.1 to 6.x) and / or the frame members (5.1 to 5.m) of a respective gripping tool (4) are positioned relative to each other and / or relative to the reference position such that the workpiece (3) is transformed until a target value of its external appearance is reached. [5] Method according to claim 4, characterized by , that before, during and / or after the forming of the workpiece (3) - Positions of the grippers (6.1 to 6.x) relative to the frame members (5.1 to 5.m) can be variably adjusted and / or - Positions of pivot points between the frame members (5.1 to 5.m) can be variably adjusted and / or - The positions of several gripping tools (4) relative to each other and / or to the reference position can be adjusted variably.

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