System for guiding a clamp masking a section of a component using a robot gripper

Abstract

System for guiding a clamp masking a section of a component through a robot gripper, comprising a two-legged clamp (5) formed from a base leg (21) and an active leg (23), the latter forming at one end a clamp head (25) for receiving the component (67) and in its extension beyond a common joint axis (29) a receiving shaft (27) for fixation in the gripper (3) of the robot with a base segment lever arm (39) and an active segment lever arm (47), which interact with a base gripper jaw (7) and an active gripper jaw (9), respectively, and the active gripper jaw (9) being actuated by a single actuator (11), wherein the base segment lever arm (39) of the receiving shaft (27) is fixable in the base gripper jaw (7), while the active segment lever arm (47) is slidably in the active gripper jaws (9) are mounted.

Description

[0001] The invention relates to a system for guiding a clamp masking a section of a component by a gripper of a robot.

[0002] German patent application DE 38 39 420 A1 discloses a suspension for a gripper on a robot. A plate for a movable gripper connection is attached to the robot's lifting column or working arm. To increase the gripper's mobility, at least three tie rods with ball nuts protruding through bores are arranged between the plate and the gripper. At least three guide pins for a centering plate are arranged on a support frame; these guide pins can be inserted into the gripper's fixing elements when pressure is applied.

[0003] A spring clamp with a holder for a ball joint is known from DE 18 46 226 U, wherein the spring clamp consists of two halves, one of which has a holder for a ball joint. The connection between the expandable clamp halves and the holder of the ball joint are effected by a single leaf spring.

[0004] The object of the invention is to provide a system for guiding a clamp masking a section of a component by a gripper of a robot, which enables automated masking of the component with the clamp despite low design effort.

[0005] The invention is defined by the features of the independent claims. Advantageous further developments and embodiments are the subject of the dependent claims. Further features, applications, and advantages of the invention will become apparent from the following description and the explanation of exemplary embodiments of the invention illustrated in the figures.

[0006] The problem is solved by the subject matter of claim 1.

[0007] In the system described at the beginning, for guiding a clamp masking a section of a component by a robot gripper, a two-legged clamp is formed from a base leg and an active leg, with one end forming a clamp head for receiving the component and, in its extension beyond a common joint axis, a receiving shaft for fixing in the robot gripper with a base segment lever arm and an active segment lever arm, which are connected to a base gripper jaw or...An active gripper jaw interacts with the clamp, and the active gripper jaw can be actuated by a single actuator for automatically picking up the clamp, tilting it, positioning it within the gripper, and performing position-oriented attachment and placement on the component. The base segment lever arm of the receiving shaft can be fixed in the base gripper jaw, while the active segment lever arm is slidably mounted within the active gripper jaw to move to intermediate positions. Such a system forms an interface between the robot and the clamp and allows for a compact gripper design. The combination of design features and the interaction with the movement of a single actuator in a process automatically executed by a robot arm allows the clamp to be moved to various working positions. This enables the actuator to perform a variety of functional tasks.The intermediate positions are held in place by a force-holding function. Disassembly is performed in reverse order. The clamp can also be operated manually at any time.

[0008] Advantageously, in a partially open position of the clamp, a ridge of the base segment lever arm is in contact with a relief cut of the base gripper jaw, while a chamfer formed on the free end of the receiving shaft by the active segment lever arm of the receiving shaft, on the side facing away from the base segment lever arm, is in contact with the active gripper jaw. When the two gripper jaws move towards each other, triggered by the actuator, a ball segment formed above the chamfer of the active gripper jaw engages with the active gripper jaw to secure the clamp in the gripper. This guide allows significantly more play at the contact surface. As a result, when inserting the clamp vertically into the gripper, it is easy to pre-position the clamp relative to the gripper jaws. The clamp is thus positioned correctly for gripping the component.

[0009] In one embodiment, a shift in the force application point from an active leg of the clamp head to the active gripper jaws, caused by the actuator movement, leads to the clamp tilting towards its position relative to the component to be picked up. To position the clamp, its base leg straightens, while the active leg tilts.

[0010] In one variant, the clamp is oriented for opening such that the base segment leg of the receiving shaft is aligned with the relief cut of the base gripper jaw, and the active segment lever arm of the receiving shaft, with its ball segment, rests against an inner surface of the active gripper jaw with the chamfer exposed. This automatically opens the clamp in the desired position to grip the component.

[0011] In one embodiment, a stop element for fixing the open position of the staple is formed on the facing surfaces of the base segment lever arm and the active segment lever arm. The open position of the staple head is fixed by the abutment of the active segment lever arm and the base segment lever arm against each other.

[0012] It is advantageous if the active gripper jaw has a recess for receiving the active segment lever arm of the receiving shaft, and this recess has insertion ramps on the side facing the free end of the active segment lever arm. This stepped design of the recess, created by the insertion ramps, allows for stepwise movement of the active segment lever arm within the recess while simultaneously securing it in the respective position.

[0013] In a further embodiment, the base segment lever arm and the active segment lever arm feature cylindrical buttons to which the actuator engages. This ensures reliable guidance of the base leg and the active leg by the actuator.

[0014] In another variant, the active gripper jaw for engaging the ball segment of the active segment lever arm is designed as a gripper prism jaw. The base gripper jaw can also be designed as a gripper prism jaw. The displacement of the active segment lever arm is thus possible using familiar components, thereby reducing the cost of the gripper.

[0015] Further advantages, features, and details will become apparent from the following description, in which—possibly with reference to the drawing—at least one exemplary embodiment is described in detail. Features described and / or illustrated can, individually or in any meaningful combination, constitute the subject matter of the invention, possibly also independently of the claims, and can, in particular, also be the subject of one or more separate applications. Identical, similar, and / or functionally equivalent parts are designated with the same reference numerals.

[0016] They show: Fig. 1 an embodiment of the system according to the invention, Fig. 2 an embodiment of the clamp, Fig. 3 a schematic representation of the functioning of the system according to the invention, Fig. 4 Example of a masking of a rear axle carrier of a vehicle using the clamps.

[0017] System 1 is used in industrial robots which use a gripper 3 to apply a clamp 5 to a mass-produced component in order to mask and thus protect specific areas of the component, for example in a corrosion protection application. After completion of the corrosion protection application carried out by spraying, the clamp 5 is removed.

[0018] In Fig. Figure 1 shows an embodiment of the system according to the invention. The gripper 3 of system 1 comprises a base gripper jaw 7, which has a fixed position with respect to a predetermined axis of the robot attachment, and an active gripper jaw 9, which is movable. The active gripper jaw 9 is actuated by an actuator 11, which is positioned below the gripper 3, encompassed by a mounting shoe 13, on a robot arm 15. The actuator 11 can be designed as an electric two-finger parallel gripper. On opposite sides, the base gripper jaw 7 has a relief 17 and the active gripper jaw 9 has a recess 19. The clamp 5 engages in the relief 17 and the recess 19 with legs 21 and 23, respectively.

[0019] An example embodiment of the clamp is shown in Fig. Figure 2 shows the clamp 5. It is divided into a head section 25 and a receiving shaft 27, into which both legs 21 and 23 extend. The legs 21 and 23 are connected to each other approximately centrally in the area of ​​the head section 25 via a common pivot axis 29. Leg 21 forms the fixed base leg and carries a support shoe 31 with a raised cone 33 at its upper end in the head section 25. Leg 23 is movable and is therefore referred to as the active leg. At its free end in the head section 25, the active leg 23 carries another support shoe 35, which has a recess 37 to receive the cone 33 of the first leg 21 when the clamp 5 is closed.

[0020] The portion of the base leg 21 that extends into the receiving shaft 27 is referred to as the base segment lever arm 39 and is provided with a first cylindrical shaft surface 41, which is mechanically connected to the actuator 11. At the lower end of the base segment lever arm 39, a bead 43 with a groove is formed for profiling purposes.

[0021] The portion of the active leg 23 of the clamp 5 extending into the receiving shaft 27 forms an active segment lever arm 47, which is equipped with a second cylindrical button 45 to which the actuator 11 also mechanically engages. At the free end of the side facing away from the base lever arm 39, the active segment lever arm 47 has a chamfer 49. A spherical segment 51 is formed from the same side of the active segment lever arm 47 above the chamfer 49.

[0022] Furthermore, a stop element 53 and 55 are formed on the opposite sides of the base segment lever arm 39 and the active segment lever arm 47, respectively, which are in contact with each other when the clamp 5 is open. A torsion spring 57, 59 extends tangentially from the pivot axis 29 along the base segment lever arm 39 and the active segment lever arm 47 to establish a preload. The torsion springs 57 and 59 form a torsion spring.

[0023] A schematic representation of the functioning of the system 1 according to the invention will be given based on Fig. 3 will be explained. According to Fig. 3a The clamp 5 is pre-positioned in the gripper 3. The clamp 5 is in the closed state, in which the base segment lever arm 37 and the active segment lever arm 47 are spread apart and inserted vertically into the gripper jaws 7, 9. The clamp 5, arranged in a clamp guide 61 with its head 25, is inserted into the gripper 3 in a position-oriented manner with the receiving shaft 27, whereby the bead 43 of the base segment lever arm 39 engages in the clearance 17 of the base gripper jaw 7, while the chamfer 49 of the active segment lever arm 47 is guided towards the lowest insertion ramp 63 of the recess 19 of the active gripper jaw 9, whereby the ball segment 51 arranged above it is simultaneously inserted into the recess 19, which is designed as a prism receptacle. Such a prism mount includes insertion ramps 63 for aligning the clamp 5 in the YZ and XZ directions.

[0024] The next step, which involves Fig. As illustrated in Figure 3b, the clamp 5 is approached horizontally in its head position by the active gripper jaw 9 (arrow P1), whereby the bead 43 of the base segment lever arm 39 comes into contact with the clearance 17 of the base gripper jaw 7. The chamfer 49 is in contact with the active gripper jaw 9. The superstructure shoe 13 is positioned such that only the active gripper jaw 9 moves relative to the robot base connection (robot arm interface flange 15).

[0025] To receive the clamp 5 by the gripper 3, according to Fig. 3c The base gripper jaws 7 and the active gripper jaws 9 are moved to an intermediate position (arrows P2, P3), whereby the clamp 5 is picked up upside down by the gripper 3. In this intermediate position, the base segment lever arm 39 rests against the base gripper jaw 7 and the active segment lever arm 47 rests against the active gripper jaw 9. The bead 43 of the base segment lever arm 39 rests against the clearance 17 and, with its groove, secures the clamp 5 against being lifted out (Fig. 3d).

[0026] In Fig. 3e, a tilting of the clamp 5 held in the gripper 3 is initiated. For this purpose, the base segment lever arm 39 and the active segment lever arm 47 are moved further towards each other (arrows P4, P5) until the ball segment 51 is in contact with a prism surface 65 of the recess 19 of the active gripper jaw 9 ( Fig. 3f). The chamfer 49 remains in contact with the active gripper jaw 9.

[0027] Actuator 11 initiates the tilting of clamp 5 to its correct positioning. Fig. 3g is achieved by further closing the base lever arm 37 in the free section 17 by means of a further closing of the base gripper jaws and the active gripper jaw (arrows P6, P7). This is caused by the resulting moment M ( Fig. 3h) as a result of the shift of the force application point from the active leg 23 to the active gripper jaw 9. The active leg 23 thereby experiences, as in Fig. Figure 3i shows an inclined position in which the chamfer 49 of the active segment lever arm 47 is exposed.

[0028] In Fig. In step 3i, the closed clamp 5 is positioned for opening. The base leg 21 of the clamp 5 is aligned in the clearance 17 of the base gripper jaw 7, so that the base segment lever arm 39 is in contact with another prism surface 67 of the base gripper jaw 7 in the clearance 17. The ball segment 51 of the active segment lever arm 47 rests against the first prism surface 65 of the active gripper jaw 9.

[0029] Further compression of the base gripper jaws 7 and the active gripper jaws 9 occurs until the stop elements 53, 55, which are located on the inner sides of the base segment lever arm 39 and the active segment lever arm 47, come into contact with each other. This results in, as in Fig. 3k is shown, the bracket 5 is opened.

[0030] In Fig.Figure 4 shows an embodiment for masking a rear axle carrier 69 of a vehicle with several clamps 5. The individual clamps 5 cover several contact points 71 for screws of the rear axle carrier 71, which must be protected when a corrosion protection coating is sprayed on. For this purpose, each contact point 71 is masked with a clamp 5, which is attached by the robot arm 15, which carries the described system 1. To do this, the open clamp 5 is closed after its correct positioning, whereby the cone 33 of the support shoe 31 attached to the base leg 21 extends through the contact point 71, which is designed as a through-opening, and, in the closed state of the clamp 5, engages in the recess 37 of the support shoe 35 arranged on the active leg 21. This ensures sufficient masking of each contact point 71.

Claims

[1] System for guiding a clamp masking a section of a component through a robot gripper, comprising a two-legged clamp (5) formed from a base leg (21) and an active leg (23), the latter forming at one end a clamp head (25) for receiving the component (67) and in its extension beyond a common joint axis (29) a receiving shaft (27) for fixation in the robot gripper (3) with a base segment lever arm (39) and an active segment lever arm (47), the latter cooperating with a base gripper jaw (7) and an active gripper jaw (9), respectively, and the active gripper jaw (9) being actuated by a single actuator (11), wherein the base segment lever arm (39) of the receiving shaft (27) is fixable in the base gripper jaw (7), while the active segment lever arm (47) is displaceable is stored in the active gripper jaw (9). [2] System according to claim 1, characterized by, that when the clamp (5) is in a partially closed position, a bead (43) of the base segment lever arm (39) is in contact with a clearance (17) of the base gripper jaw (7), while a chamfer (49) formed on the free end of the active segment lever arm (47) of the receiving shaft (27) on the side facing away from the base segment lever arm (39) is in contact with the active gripper jaw (9), and when the two gripper jaws (7, 9) move towards each other triggered by the actuator (11), a ball segment (51) formed above the chamfer (49) of the active segment lever arm (47) enters a guide with the active gripper jaw (9) to secure the clamp (5) in the gripper (3). [3] System according to claim 1 or 2, characterized by, that a displacement of a force application point from the active leg (23) of the clamp head (25) to the active gripper jaws (9) by the actuator movement leads to a tilting of the clamp (5) to its positional orientation relative to the component to be picked up (67). [4] System according to claim 1, 2 or 3, characterized by , that the clamp (5) is aligned for opening such that the base segment lever arm (39) of the receiving shaft (27) is aligned in the clearance (17) of the base gripper jaw (7) and the active segment lever arm (47) of the receiving shaft (27) with the ball segment (51) rests against an inner surface of the active gripper jaw (9) with the chamfer (49) exposed. [5] System according to at least one of the preceding claims, characterized by, that on the facing surfaces of the base segment lever arm (39) and the active segment lever arm (47) a stop element (45, 53) is formed for fixing an open position of the clamp (5). [6] System according to at least one of the preceding claims, characterized by , that the active gripper jaw (9) for receiving the active segment lever arm (47) of the receiving shaft (27) has a recess (19) which has insertion ramps (63) on the side facing the free end of the active segment lever arm (47). [7] System according to at least one of the preceding claims, characterized by , that the base segment lever arm (39) and the active segment lever arm (47) have cylindrical buttons (41) on which the actuator (11) engages. [8] System according to at least one of the preceding claims, characterized by, that the active gripper jaw (9) for the application of the ball segment (51) of the active segment lever arm (47) is designed as gripper prism jaws.

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