Workplace system, robot workspace network and method for operating a workplace system and / or a robot workspace network

Abstract

Workplace system (100) comprising at least one work surface (104, 200, 602), at least one positioning module (106, 400, 500, 606) for arrangement between the at least one work surface (104, 200, 602) and at least one manipulation object (108, 110, 300, 600, 700, 844), a first locking arrangement effective between the at least one work surface (104, 200, 602) and the at least one positioning module (106, 400, 500, 606), and a second locking arrangement effective between the at least one positioning module (106, 400, 500, 606) and the at least one manipulation object (108, 110, 300, 600, 700, 844), characterized in that the first locking arrangement The first resting section (114, 204, 402, 502) has periodically corresponding first resting sections and the second resting arrangement has periodically corresponding second resting sections (302, 404, 406, 504, 816, 816, 854).

Description

[0001] The invention relates to a workstation system comprising at least one work surface, at least one positioning module for arrangement between the at least one work surface and at least one manipulation object, a first locking arrangement effective between the at least one work surface and the at least one positioning module, and a second locking arrangement effective between the at least one positioning module and the at least one manipulation object. The invention further relates to a robot workspace network. The invention also relates to a method for operating a workstation system and / or a robot workspace network.

[0002] Document DE 10 2013 104 890 A1 relates to a method for contour machining of a preferably flat workpiece, wherein the workpiece is held by several suction clamps attached to a machining table. To enable more cost-effective machining of the workpieces with minimal design and manufacturing effort, document DE 10 2013 104 890 A1 proposes positioning the suction clamps on the machining table according to a predetermined contour.

[0003] Document DE 10 2010 015 617 A1 relates to a transport and staging system for components, wherein the transport and staging system comprises a carrier system and at least one component box for holding a component. To enable more flexible and cost-effective transport of components, document DE 10 2010 015 617 A1 proposes that the component in the component box be held in a predetermined position by component holding devices, and that the carrier system and the at least one component box each have a grid. The grid of the carrier system is designed for the variable, systematic, area-wide arrangement of component boxes and / or component holding devices in different combinations, and the grid in the at least one component box is designed for the variable arrangement of the component holding devices in different combinations.

[0004] The invention is based on the objective of structurally and / or functionally improving a workplace system mentioned above. Furthermore, the invention is based on the objective of structurally and / or functionally improving a robot workspace network mentioned above. Additionally, the invention is based on the objective of improving a method mentioned above.

[0005] The problem is solved by a workstation system having the features of claim 1. Furthermore, the problem is solved by a robot workspace network having the features of claim 23. Additionally, the problem is solved by a method having the features of claim 24. Advantageous embodiments and / or further developments are the subject of the dependent claims.

[0006] The workstation system can include at least one robot. The workstation system can comprise a workspace for the at least one robot. The workspace can be at least approximately cubic, cylindrical, spherical, or cuboid.

[0007] At least one robot can be an industrial robot. At least one robot can be programmable. At least one robot can be used to handle, assemble, and / or process objects. At least one robot can have a base, a manipulator, sensors, and / or a control device. At least one robot can be designed as an articulated robot. At least one robot can be designed as a gantry robot.

[0008] At least one work surface can be arranged within the robot's workspace. At least one work surface can be located entirely or partially within the workspace. At least one work surface can be at least approximately flat. At least one work surface can be at least approximately horizontal. At least one work surface can have an at least approximately rectangular shape.

[0009] The at least one manipulation object can be a product or manufactured item, such as a workpiece, intermediate product, or finished product; a carrier, such as a workpiece carrier; and / or a container, in particular a standardized container, such as a Euro-standard container. The at least one manipulation object can be a Euro-standard container. One dimension of the at least one manipulation object can be based on a standardized basic dimension. The basic dimension can, for example, have a length of 600 mm and a width of 400 mm. Derived from this, the manipulation object can, for example, have dimensions (length × width) of 200 mm × 150 mm, 300 mm × 200 mm, 400 mm × 300 mm, 600 mm × 400 mm, or 800 mm × 600 mm. The at least one manipulation object can be stackable.

[0010] The at least one positioning module can serve for the reproducible, exact arrangement on the at least one work surface. The at least one positioning module can serve for the reproducible, exact positioning of the at least one manipulation object.

[0011] The first locking arrangement can act between the at least one work surface and the at least one positioning module such that relative displacement between the at least one work surface and the at least one positioning module is prevented by force and / or form locking at least in one direction, in particular in two or three mutually perpendicular directions. The first locking arrangement can have first locking sections arranged on the at least one work surface and first locking sections arranged on the at least one positioning module. The first locking sections arranged on the at least one work surface, on the one hand, and the first locking sections arranged on the at least one positioning module, on the other hand, can correspond periodically with each other. The first locking sections can correspond geometrically, in particular geometrically complementarily. The first locking sections can be arranged regularly.A regular arrangement of the first rest periods can be repeated regularly.

[0012] The second locking arrangement can act between the at least one positioning module and the at least one manipulation object in such a way that relative displacement between the at least one positioning module and the at least one manipulation object is prevented by force and / or form locking at least in one direction, in particular in two or three mutually perpendicular directions. The second locking arrangement can have second locking sections arranged on the at least one positioning module and second locking sections arranged on the at least one manipulation object. The second locking sections arranged on the at least one positioning module, on the one hand, and the second locking sections arranged on the at least one manipulation object, on the other hand, can correspond periodically with each other. The second locking sections can correspond geometrically, in particular geometrically complementarily.The second rest periods can be arranged regularly. A regular arrangement of the second rest periods can be repeated regularly.

[0013] The first locking sections can each have a convex or a concave contour. The first locking arrangement of the at least one work surface can have at least one locking rail. The first locking sections of the at least one work surface can be arranged along the at least one locking rail. The first locking sections of the at least one work surface can each be designed as a bore. The first locking sections of the at least one work surface can each have an undercut contour. The first locking sections of the at least one positioning module can each be designed as a pin.

[0014] The first locking arrangement can have at least one first fixing device for fixing the at least one positioning module to the at least one work surface. The at least one first fixing device can be effective in a plane formed with the at least one work surface and / or perpendicular to this plane. The at least one first fixing device can have a releasable locking connection. The locking connection can be switchable between a release position and a locking position. The locking connection can be switchable with one hand. The locking connection can be switchable by the action of a pair of actuating forces. The actuating forces can be directed in opposite directions and have at least approximately equal magnitudes. The actuating forces can be directed at least approximately parallel to a plane formed with the at least one work surface.The locking connection can be switched by the action of an actuating force, supported, for example, by at least one working surface. The release position can be an actuated position. The locking position can be an unactuated preferred position. The locking connection can have at least one positive locking element, such as a ball, and at least one mechanical energy storage device, such as a spring.

[0015] The second locking arrangement can have at least one second fixing device for fixing the at least one manipulation object to the at least one positioning module. The at least one second fixing device can be effective in a plane formed with the at least one working surface and / or perpendicular to this plane. The at least one second fixing device can have a locking connection. The locking connection can be switchable between a release position and a locking position. The locking connection can be switched to the release position by the action of an opening force and to the locking position by the action of a closing force. The opening force and the closing force can be directed in opposite directions. The opening force and the closing force can be directed at least approximately perpendicular to a plane formed with the at least one working surface.The release and locking positions can be stable positions requiring no actuation force. The locking connection can be positive-locking and / or friction-locking. The locking connection can include at least one ramp element, at least one eccentric element, at least one lever element, at least one toggle lever element, and / or at least one locking element.

[0016] The at least one positioning module can have secondary locking sections on multiple sides. The at least one positioning module can have secondary locking sections on several sides. The at least one positioning module can have secondary locking sections on opposite sides. The at least one positioning module can be used to interact with one or more manipulation objects, in particular with two or four manipulation objects. The at least one positioning module can have a block-like, rectangular, or cross-like shape.

[0017] The first rest sections and / or the second rest sections can be centering. The first rest sections and / or the second rest sections can have V-shaped recesses.

[0018] The first and second rest periods can periodically correspond to each other. The first and second rest periods can have periodically corresponding intervals.

[0019] The at least one manipulation object can have a dimension slightly below the detent dimension of the first detent sections. The at least one manipulation object can have a dimension so slightly below the detent dimension of the first detent sections that several manipulation objects can be arranged next to each other in a space-saving manner by interposing the at least one positioning module.

[0020] The workstation system can have several manipulation object variants, each compatible with the second locking arrangement. The manipulation object variants can each have second locking sections corresponding to the second locking sections arranged on the at least one positioning module. A manipulation object variant can be a product or manufactured item, such as a workpiece, an intermediate product, or a finished product; a carrier, such as a workpiece carrier; and / or a container, in particular a standardized container. A manipulation object variant can be a Euro-norm container. The dimensions of a manipulation object variant can be based on a standardized basic dimension. The basic dimension can, for example, have a length of 600 mm and a width of 400 mm. Derived from this, a manipulation object variant can, for example, have dimensions (length × width) of 200 mm × 150 mm, 300 mm × 200 mm, 400 mm × 300 mm, 600 mm × 400 mm, or 800 mm × 600 mm.A manipulation object variant can be stackable.

[0021] The workstation system can have at least one effector. The at least one effector can be designed for use with the at least one robot. The at least one effector can be an end effector. The at least one effector can be designed for use with a handling device. In this respect, the workstation system can also have at least one handling device. The at least one handling device can have at least one linear guide, such as a rail. The workstation system can have several effectors. The workstation system can have several identical effectors and / or several different effectors. The effector can have at least one second detent section.The at least one effector can be used to handle and / or manipulate the at least one work surface, the at least one positioning module, the at least one manipulation object, and / or at least one connection, such as a latching connection and / or a locking connection. The at least one effector can be designed to perform one manipulation task or several different manipulation tasks.

[0022] The at least one effector can have a longitudinal axis, a transverse axis, and a depth axis. The longitudinal axis, the transverse axis, and the depth axis can be arranged at right angles to each other. The at least one effector can have a head section and a foot section extending along the longitudinal axis. The foot section can extend along the transverse axis. The foot section can be continuous or discontinuous. The at least one effector can have an effector base. The effector base can have a plate-like shape. The effector base can extend substantially along the longitudinal and transverse axes. The effector base can have sides oriented along the depth axis.

[0023] The at least one effector can have at least one holding module. The at least one holding module can be arranged to be movable. The at least one holding module can be movable relative to the effector base. The at least one holding module can be movable in the direction of the longitudinal axis. The at least one holding module can be guided on the effector base. The at least one effector can have at least one first holding module and at least one second holding module. The at least one effector can have two first holding modules and two second holding modules. The at least one first holding module can form the base section of the at least one effector. The at least one second holding module can be arranged on one side of the effector base.

[0024] The at least one effector can have a connection section for connecting to the at least one robot. The connection section can have a mechanical interface, a power interface, an information interface, and / or a control interface. The connection section can be located at the effector base. The connection section can form the head section of the at least one effector.

[0025] The at least one holding module can be displaceably arranged to hold the at least one manipulation object under preload. The at least one effector can have at least one holding spring device. The at least one holding spring device can be designed and / or arranged to actuate the at least one holding module. The at least one holding spring device can be designed and / or arranged to generate a preload force to hold the at least one manipulation object under preload.

[0026] The at least one effector can have at least one first retaining spring assembly. The at least one first retaining spring assembly can be designed and / or arranged to act on both the at least one first retaining module and the at least one second retaining module. The at least one first retaining spring assembly can be located between the at least one first retaining module and the at least one second retaining module. The at least one first retaining spring assembly can have at least one spring. The at least one spring can be designed as a helical tension spring.

[0027] The at least one holding module can be fixed in different positions to adapt to the at least one manipulation object. The different positions can be spaced apart from each other in the direction of the longitudinal axis. The different positions can be spaced evenly apart from each other.

[0028] The at least one effector can have at least one coupling device. The at least one coupling device can be designed and / or arranged to fix the at least one holding module in one of the different positions. The at least one coupling device can be effective between the effector base and the at least one second holding module. The at least one coupling device can be switchable between a release position and a locking position. When the at least one coupling device is switched to its release position, the at least one second holding module can be displaced on the effector base. When the at least one coupling device is switched to its locking position, the at least one second holding module can be fixed on the effector base. The at least one coupling device can have locking sections. The locking sections can be arranged on the effector base.The locking sections can be assigned to the different positions in which the at least one second holding module can be fixed. The locking sections can be formed by means of recesses. The at least one coupling device can have a pawl. The pawl can be designed and / or arranged to interact with the locking sections in a force-fit and / or positive-locking manner. The at least one coupling device can have an actuating element. The actuating element can be designed and / or arranged to interact with the pawl. The actuating element can be designed and / or arranged to switch the at least one coupling device into its locked position and / or its release position upon actuation. The at least one coupling device can have a locking spring.The locking spring can be designed and / or arranged to apply a preload force to the pawl. The locking spring can be designed as a helical compression spring.

[0029] The at least one second holding module can have a holding element. The holding element can extend in the direction of the transverse axis. The holding element can have a strip-like shape. The holding element can extend substantially in the direction of the transverse axis and the depth axis. The holding element can be movably arranged on the at least one second holding module. The holding element can be movably arranged on the at least one second holding module for holding the at least one manipulation object. The holding element can be movably arranged on the at least one second holding module for pre-tensioned holding of the at least one manipulation object. The at least one second holding module can have a second retaining spring assembly. The second retaining spring assembly can be designed and / or arranged to actuate the holding element. The second retaining spring assembly can have at least one spring.The at least one spring can be designed as a helical compression spring. The actuating element of the coupling device can be designed and / or arranged to switch the at least one coupling device into its locked position and / or its release position when the holding element is moved.

[0030] The at least one second holding module can have a holding section. The holding section can extend in the direction of the transverse axis. The holding section can have a rib-like shape. The holding section can extend substantially in the direction of the longitudinal and transverse axes. The holding section can be fixedly arranged on the at least one second holding module. The holding section can be fixedly arranged on the at least one second holding module for force-fit and / or form-fit holding of the at least one manipulation object.

[0031] The at least one first holding module can have a receptacle bounded on two sides for the at least one manipulation object. The at least one second locking section can be arranged on the receptacle of the at least one first holding module. The at least one first holding module can have an angled shape with a first leg and a second leg. The first leg can extend substantially along the longitudinal and transverse axes. The second leg can extend substantially along the transverse and depth axes. The first leg and the second leg can be arranged at least approximately at right angles to each other. The at least one second locking section can be arranged on a side of the second leg facing the second holding module.

[0032] The at least one second holding module can have a three-sided recess for the at least one manipulation object. The at least one second holding module can have a channel-like shape with a base, a first wall, and a second wall. The base can extend substantially along the transverse and depth axes. The first and second walls can each extend substantially along the longitudinal and transverse axes. The base, on the one hand, and the first and second walls, on the other hand, can be arranged at least approximately at right angles to each other. The first and second walls can be arranged parallel to each other and spaced apart. The base can be formed by the movable holding element. The first wall can be formed by the fixed holding section. The first wall can be formed by the effector base.

[0033] The workstation systems of a robot workspace network can be structurally and / or functionally interconnected. These workstation systems can also be connected via a transport system for manipulating objects.

[0034] The at least one work surface, the at least one positioning module, and / or the at least one connection, such as a snap-fit ​​connection and / or locking connection, can be positioned, repositioned, fixed, and / or released using the at least one robot and / or the at least one effector. The at least one manipulation object can be handled, assembled, and / or machined using the at least one robot and / or the at least one effector. The at least one manipulation object can be picked up, held in a defined position, and / or pre-tensioned using the at least one robot and / or the at least one effector. A pre-tension force range can be set. The at least one effector can be adapted to different manipulation objects, particularly automatically.The at least one holding section can be fixed in different positions on the at least one effector, particularly automatically. The at least one effector can be set to different manipulation objects.

[0035] In summary, and in other words, the invention provides, among other things, a positioning system for work objects as follows.

[0036] It is proposed to equip the workspace with storage surfaces, which can be flat or formed as surfaces defined by multiple lines. These storage surfaces can also be referred to as work surfaces. These surfaces are to be periodically traversed by linear coupling rails that have periodic detent positions along a line and are suitable, at least in the direction of the grid, for fixing an engaging element against displacement. The engaging element can also be referred to as a positioning module. These detent positions can be designed as a raised contour or, preferably, as a recessed contour to align corresponding counter-objects, and preferably have an undercut to optionally lock the objects. The counter-objects can also be referred to as manipulation objects.As a counterpart, a container with a form-fitting counter-form can optionally be selected, but preferably a coupling element can be inserted into this grid, which in turn has a periodic form that preferably repeats in an orthogonal direction to the first structure. The form element can preferably be equipped with a fixing device that snaps, clamps, or locks onto the first line structure, and optionally with a fixing device for locking objects that engage in the second repeating structure in order to withstand any force. In an advantageous embodiment, the coupling element is equipped with said repeating structure on two opposite sides in order to be positioned between two containers. In this way, only n_container+1 coupling elements are required per row of containers.The locking mechanism can be activated by pressing, turning, or pivoting, but should be operable between adjacent containers. Locking can be achieved using a wedge (screw, eccentric), lever (toggle lever), latch, clamp, or a combination thereof.

[0037] The workpieces (containers, workpiece carriers, fixtures, or tools) of the robotic workstation should preferably be equipped at their edges with periodic positive-locking elements that engage with the shape of the coupling element and act to center a preferred position. These positive-locking elements should preferably be arranged opposite each other in parallel and in several directions, preferably along the orthogonal directions of the base plane in the case of rectangular containers, to allow free selection of the object's orientation in the Cartesian principal axis directions. Furthermore, the workpieces should preferably have a geometry along the repeat directions of the grid that allows them to be locked to the coupling element. The containers should preferably be manufactured with dimensions slightly below the grid boundaries so that they can be positioned as close as possible to each other in the direction of the second grid feature.This can be particularly relevant when manipulation objects are to be positioned next to each other without a positioning module. The extent of at least one manipulation object between two positioning modules can, in particular, correspond to a multiple of the detent or repeat dimension.

[0038] Preferably, all repeating elements are designed to act as a centering element in the detent position in order to eliminate inaccuracies during the transition from transport to working position. It is proposed to modify a so-called Eurobox, a plastic container used for storing and transporting objects and available in a grid format based on the dimensions of a 1200 x 800 mm Euro pallet, by means of interlocking geometries on all sides in order to achieve the grid pattern according to the invention. The Euro object

[0039] It also features a stacking rim suitable for locking the containers from above using a positive locking element. It is proposed to equip specific containers for automation, such as assembly carriers or stationary tools, with a compatible rim geometry to extend the advantages of free positioning to the entire component area. Furthermore, it is proposed to use the upper rim of the containers, as well as the repeating element, as contact points for special grippers, which in turn have a centering grid element. In this way, positioning inaccuracies are eliminated during object picking, preventing them from accumulating until placement.

[0040] The invention enables freely plannable placement of devices, assembly fixtures and component containers in a two-dimensional grid in the workspace with optional locking.

[0041] The effector is designed for feeding these workstations and is implemented as a passive feeding gripper, which also incorporates the locking system and prevents the accumulation of positioning errors in each handling step. This allows each process step to start from a precise position and utilize the full range of positioning tolerance without compromising process reliability through the chaining of processing steps.

[0042] By arranging second locking sections on the effector as well, the centering effect of the locking arrangement can be utilized during gripping, thus compensating for gripping inaccuracies. The robot can function simultaneously as a handling robot and a production robot and requires knowledge of the position of the object being manipulated relative to its own position within the gripping range of the locking arrangement.

[0043] A grasped manipulation object is now geometrically aligned with the effector and can in turn be inserted within the capture area of ​​the locking arrangement into a target position defined by positioning modules, in which it again locks into place in a centered position.

[0044] The invention allows containers of any dimension to be freely and repeatably positioned within a robot's workspace on a grid, for example, a 10 mm grid. In one exemplary embodiment, the containers can be positioned with a minimum distance of 20 mm between coupling elements and within a second direction, following the grid divisions.

[0045] By eliminating positioning inaccuracies in each manipulation step, it becomes possible to model complex production chains with process stability, while simultaneously maintaining the flexibility to autonomously reconfigure stations for order changes. A completely autonomous throughput of various production lines from a network of stations, each connected only via a generic feeding system, is achievable. Sharing the feeding paths for assemblies, tools, and components saves workspace, which can then be optimally allocated for the intermediate storage of these items. Furthermore, the system can flexibly respond to situations such as a station becoming blocked due to an autonomously unsolvable blockage, redirecting the material flow to another station.

[0046] It enables a very fine subdivision of positioning, a table surface suitable for manual work and / or a shifting of the locking elements to a stacking edge of a Euronorm container without impairing transport, for example on roller conveyors.

[0047] Exemplary embodiments of the invention are described in more detail below with reference to the figures, which show schematically and by way of example: Fig. 1 a workstation system with a robot, a work surface, positioning modules and manipulation objects, Fig. 2 a work surface with locking rails and first locking sections, Fig. 3 a Euronorm container as a manipulation object with second resting sections, Fig. 4 a positioning module with first rest sections and second rest sections, Fig. 5 a positioning module with first locking sections, second locking sections and a second fixing device, Fig. 6 a Euronorm container as a manipulation object on a positioning module effective between a work surface and the manipulation object, Fig. 7 a Euronorm container as a manipulation object and an effector for handling the manipulation object, Fig. 8 an effector for handling a manipulation object in axonometric view, Fig. 9 an effector for handling a manipulation object in a side, partially cutaway view and Fig. 10. The recording of a manipulation object using an effector.

[0048] Fig. Figure 1 shows a workstation system 100 with a robot 102, a work surface 104, positioning modules such as 106, and manipulation objects such as 108 and 110. The work surface 104 is arranged in a workspace 112 of the robot 102. A first locking arrangement is effective between the work surface 104 and the positioning modules 106. A second locking arrangement is effective between the positioning modules 106 and the manipulation objects 108 and 110.

[0049] The first rest arrangement has first rest sections 114 arranged on the work surface 104 and first rest sections arranged on the positioning modules 106. The first rest sections 114 arranged on the work surface 104 and the first rest sections arranged on the positioning modules 106 are each arranged regularly in rows and correspond to each other periodically and geometrically complementarily.

[0050] The second locking arrangement has second locking sections arranged on the positioning modules 106 and second locking sections arranged on the manipulation objects 108, 110. The second locking sections arranged on the positioning modules 106 and the second locking sections arranged on the manipulation objects 108, 110 are each arranged regularly in rows and correspond to each other periodically and geometrically complementarily.

[0051] The positioning modules 106 serve for the reproducible, exact arrangement of the manipulation objects 108, 110 on the work surface 104. The manipulation objects 108, 110 each have a dimension that lies slightly below a detent dimension of the first detent sections 114, such that several manipulation objects 108, 110 can be arranged next to each other in a space-saving manner by interposing positioning modules 106.

[0052] The positioning modules 106 can be positioned, repositioned, fixed, and / or released as needed using robot 102. The manipulation objects 108 and 110 can be handled, assembled, and / or processed using robot 102.

[0053] Fig. Figure 2 shows a work surface 200, like work surface 104 according to Fig. 1, with locking rails, as 202. The locking rails 202 are arranged parallel to each other and each is firmly connected to the work surface 200. The first locking sections, as 204, of the work surface 200 are arranged along the locking rails 202 and each is designed as a bore. Furthermore, in particular, reference is made to Fig. 1 and the associated description are referenced.

[0054] Fig. Figure 3 shows a Euronorm container as manipulation object 300, like manipulation object 108, 110 according to Fig. 1, with second locking sections, as in 302. Starting from a standardized basic dimension of 600 mm length and 400 mm width, the manipulation object 300 has, for example, dimensions (length × width) of 200 mm × 150 mm, 300 mm × 200 mm, 400 mm × 300 mm, 600 mm × 400 mm, or 800 mm × 600 mm and is stackable. Furthermore, particular attention is paid to... Fig. 1 and the associated description are referenced.

[0055] Fig. Figure 4 shows a positioning module 400, like positioning module 106 according to Fig. 1, with first locking sections, such as 402, and second locking sections, such as 404, 406. The positioning module 400 has a rectangular or block-like shape. The second locking sections 404, 406 are arranged on two opposite sides of the positioning module 106. The first locking sections 402 of the positioning module 400 are each designed as pins. The second locking sections 404 of the positioning module 400 each have V-shaped recesses and are thus centering. Furthermore, particular reference is made to Fig. 1 and the associated description are referenced.

[0056] Fig. Figure 5 shows a positioning module 500, like positioning module 106 according to Fig. 1, with first locking sections, such as 502, second locking sections, such as 504, and a second fixing device 506. The second fixing device 506 serves to fix a manipulation object to the positioning module 500 and has a clamping connection with toggle lever elements, such as 508, which can be switched between a release position and a locking position. Furthermore, particular reference is made to Fig. 1 and Fig. 4 and the associated description are referenced.

[0057] Fig. Figure 6 shows a Euronorm container as manipulation object 600, like manipulation object 108, 110 according to Fig. 1, at one between a work surface 602, such as work surface 104 according to Fig. 1, positioning module 606 effective with a locking rail 604 on one side and the manipulation object 600 on the other, as positioning module 106 according to Fig. 1. Furthermore, particular attention is drawn to Fig. 1 to Fig. 5 and the associated description are referenced.

[0058] Fig. Figure 7 shows a Euronorm container as manipulation object 700, like manipulation object 108, 110 according to Fig. 1, and an effector 702 for handling the manipulation object 700 using a robot, such as robot 102 according to Fig. 1. Furthermore, particular attention is drawn to Fig. 1 to Fig. 5 and the associated description are referenced.

[0059] Fig. Figure 8 shows an effector 800, like effector 702 according to Fig. 7, for handling a Euronorm container as a manipulation object, such as manipulation object 700 according to Fig. 7, using a robot in axonometric view. Fig. Figure 9 shows the Effektor 800 in a side, partially cutaway view. The effector 800 extends along a longitudinal axis 802, a transverse axis 804 and a depth axis 806 and has a plate-shaped effector base 808, two first holding modules 810, 812 which are displaceable relative to the effector base 808 and guided on the effector base 808 along the longitudinal axis 802, a connection section 814 arranged on the effector base 808 for connecting to a robot, second locking sections 816, 818 arranged on the first holding modules 810, 812, two first holding spring devices 820, 822, two second holding modules 824, 826 which are displaceable on the effector base 808 and guided along the longitudinal axis 802 and coupling devices for fixing the second holding modules 824, 826 in different positions.

[0060] The following description refers to the first holding module 810, the first holding spring device 820, the second holding module 824 and a coupling device; the first holding module 812, the first holding spring device 822, the second holding module 826 and the other coupling device are structured accordingly.

[0061] The first holding module 810 has an angular shape with a first leg extending substantially along the longitudinal axis 802 and the transverse axis 804, and a second leg extending substantially along the transverse axis 804 and the depth axis 806. The first and second legs are arranged at least approximately at right angles to each other and form a two-sided recess 827 for the effector. The second detent section 816 is located on the side of the second leg facing the second holding module 824. The first retaining spring assembly 820 is located between the first holding module 810 and the second holding module 824, comprises a helical tension spring, and exerts a spring force on the first holding module 810 directed towards the second holding module 824.

[0062] The second holding module 824 has a strip-shaped holding element 828 extending substantially along the transverse axis 804 and the depth axis 806, a strip-shaped holding section 830 extending substantially along the longitudinal axis 802 and the transverse axis 804, a second holding spring device 832, a coupling device switchable between a release position and a locking position with locking sections, such as locking section 834, a pawl 836, an actuating element 838 and a locking spring 840.

[0063] The retaining element 828 is separately displaceable and guided along the longitudinal axis 802. The second retaining spring assembly 832 has a helical compression spring and applies a spring force to the retaining element 828 directed towards the first retaining module 810. The retaining section 830 is fixedly arranged on the second retaining module 824. The displaceable retaining element 828 and the fixed retaining section 830 are arranged at least approximately at right angles to each other. The fixed retaining section 830, the displaceable retaining element 828, and the effector base 808 form a channel-shaped receptacle 842 for the effector, bounded on three sides.

[0064] The locking sections 834 of the coupling device are formed by means of recesses and are spaced apart from one another in the direction of the longitudinal axis on the effector base 808. The pawl 836, the actuating element 838 and the locking spring 840 are arranged on the second holding module 824 and form a mechanism which, when the holding element 828 is displaced in the opposite direction to a spring force of the second holding spring device 832, causes the pawl 836 to engage in a locking section 834 and thus fixes the holding module 824 in a respective position.

[0065] Fig. Figure 10 shows the picking up of a Euronorm container as manipulation object 844, like manipulation object 700 according to Fig. 7, using the effector 800. The manipulation object 844 has a base 846, side walls, such as side wall 848, a top edge 850 and a bottom edge 852 with second locking sections, such as second locking section 854.

[0066] To pick up the manipulation object 844, in step a) the fixed holding section 830 is first placed onto the upper edge 850 of the manipulation object 844, and in step b) the second holding module 824 is positioned against the spring force of the first holding spring device 820 until it reaches a locking section 834 corresponding to the height of the manipulation object 844. Then, in step c), an inner edge of the upper edge 850 is traversed, and the upper edge 850 is received in the receptacle 827 such that the actuating element 838 is actuated to release the locking pawl 836. After the locking pawl 836 engages in the locking section 834, in step d) the first holding spring device 820 is moved against a support surface 856 of the manipulation object 844, for example, a work surface such as work surface 104 according to Fig.1. Tensioned, and in step e) the second leg of the first holding module 810 is pivoted under the lower edge 852 and the second detent section 816 of the effector 800 is brought into engagement with the second detent section 854 of the manipulation object 844 to form a second detent arrangement. The manipulation object 844 is now pre-tensioned and held in position by force and / or form locking.

[0067] The term "may" refers in particular to optional features of the invention. Accordingly, there are also further developments and / or embodiments of the invention that additionally or alternatively include the respective feature(s).

[0068] From the combinations of features disclosed herein, isolated features can also be selected as needed and, by dissolving any structural and / or functional relationship that may exist between the features, used in combination with other features to define the subject matter of the claim. Reference sign 100 workstation system 102 robots 104 work surface 106 Positioning module 108 Manipulation object 110 objects of manipulation 112 Workspace 114 first rest section 200 work surface 202 locking rail 204 first rest area 300 manipulation objects 302 second rest area 400 Positioning module 402 first rest area 404 second rest area 406 second rest area 500 positioning module 502 first rest stop 504 second rest area 506 second fixing device 508 toggle lever element 600 manipulation objects 602 work surface 604 locking rail 606 Positioning module 700 manipulation objects 702 Effector 800 effector 802 Longitudinal axis 804 Transverse axis 806 Depth axis 808 Effector Base 810 first holding module 812 first holding module 814 Connection section 816 second rest area 818 second rest area 820 first retaining spring device 822 first retaining spring device 824 second holding module 826 second holding module 827 recording 828 Holding element 830 Stop section 832 second retaining spring device 834 Blocking section 836 Locking pawl 838 Actuating element 840 Locking spring 842 recording 844 Manipulation object 846 Floor 848 Side wall 850 upper edge 852 bottom edge 854 second rest area 856 level

Claims

[1] Workplace system (100) comprising at least one work surface (104, 200, 602), at least one positioning module (106, 400, 500, 606) for arrangement between the at least one work surface (104, 200, 602) and at least one manipulation object (108, 110, 300, 600, 700, 844), a first locking arrangement effective between the at least one work surface (104, 200, 602) and the at least one positioning module (106, 400, 500, 606) and a second locking arrangement effective between the at least one positioning module (106, 400, 500, 606) and the at least one manipulation object (108, 110, 300, 600, 700, 844), characterized by , that the first rest arrangement has periodically corresponding first rest sections (114, 204, 402, 502) and the second rest arrangement has periodically corresponding second rest sections (302, 404, 406, 504, 816, 816, 854). [2] Workplace system (100) according to claim 1, characterized by, that the first locking arrangement has at least one locking rail (202, 604) and the first locking sections (114, 204) are arranged on the locking rail (202, 604). [3] Workplace system (100) according to at least one of the preceding claims, characterized by , that the first locking arrangement has at least one first fixing device for fixing the at least one positioning module (106, 400, 500, 606) to the at least one working surface (104, 200, 602). [4] Workplace system (100) according to claim 3, characterized by , that the at least one first fixing device is effective in a plane formed with the at least one working surface (104, 200, 602) and / or perpendicular to this plane. [5] Workplace system (100) according to at least one of claims 3 to 4, characterized by that at least one first fixing device has a releasable locking connection. [6] Workplace system (100) according to at least one of the preceding claims, characterized by , that the second locking arrangement has at least a second fixing device (506) for fixing the at least one manipulation object (108, 110, 300, 600, 700, 844) to the at least one positioning module (106, 400, 500, 606). [7] Workplace system (100) according to claim 6, characterized by , that the at least one second fixing device (506) is effective in a plane formed with the at least one working surface (104, 200, 602) and / or perpendicular to this plane. [8] Workplace system (100) according to at least one of claims 6 to 7, characterized by , that at least one second fixing device (506) has a clamping connection. [9] Workplace system (100) according to at least one of the preceding claims, characterized by, that at least one positioning module (106, 400, 500, 606) has second locking sections (302, 404, 406, 504) on multiple sides. [10] Workplace system (100) according to at least one of the preceding claims, characterized by , that the first rest sections (114, 204, 402, 502) are centering and / or the second rest sections (302, 404, 406, 504, 816, 818, 854) are centering. [11] Workplace system (100) according to at least one of the preceding claims, characterized by , that the first rest sections (114, 204, 402, 502) and the second rest sections (302, 404, 406, 504, 816, 818, 854) correspond periodically with each other. [12] Workplace system (100) according to at least one of the preceding claims, characterized by , that the workstation system (100) has several manipulation object variants, each compatible with the second grid arrangement. [13] Workplace system (100) according to at least one of the preceding claims, characterized by , that the workstation system (100) has at least one robot (102) and the at least work area (104, 200, 602) is arranged in a workspace (112) of the at least one robot (102). [14] Workplace system (100) according to at least one of the preceding claims, characterized by , that the workstation system (100) has at least one effector (702) with at least one second resting section (816, 818). [15] Workplace system (100) according to claim 14, characterized by , that the at least one effector (702) has at least one movable holding module (810, 812, 824, 826). [16] Workplace system (100) according to at least one of claims 14 to 15, characterized by , that the at least one effector (702) has at least one retaining spring device (820, 822, 832) for holding the at least one manipulation object (108, 110, 300, 600, 700, 844) under preload. [17] Workplace system (100) according to at least one of claims 14 to 16, characterized by , that the at least one effector (702) has at least one first holding module (810, 812) and at least one second holding module (824, 826). [18] Workplace system (100) according to claim 17, characterized by , that the at least one effector (702) has at least one first holding spring device (820, 822) acting on the at least one first holding module (810, 812) and the at least one second holding module (824, 826). [19] Workplace system (100) according to at least one of claims 17 to 18, characterized by , that the at least one first holding module (810, 812) or the at least one second holding module (824, 826) can be fixed in different positions to adapt to the at least one manipulation object (108, 110, 300, 600, 700, 844). [20] Workplace system (100) according to at least one of claims 17 to 19, characterized by, that the at least one first holding module (810, 812) has a two-sided limited receptacle (827) for the at least one manipulation object (108, 110, 300, 600, 700, 844). [21] Workplace system (100) according to claim 20, characterized by , that at least one second resting section (816, 818) is arranged on the receptacle (827) of at least one first holding module (810, 812). [22] Workplace system (100) according to at least one of claims 18 to 21, characterized by , that the at least one second holding module (824, 826) has a three-sided bounded receptacle (842) for the at least one manipulation object (108, 110, 300, 600, 700, 844). [23] Robot workspace network, characterized by , that the robot workspace network comprises several interconnected workstation systems (100) according to at least one of claims 13 to 22. [24] Method for operating a workstation system (100) according to at least one of claims 13 to 22 and / or a robot workspace network according to claim 23, characterized by , that at least one work surface (104, 200, 602), at least one positioning module (106, 400, 500, 606), at least one manipulation object (108, 110, 300, 600, 700, 844) and / or at least one connection are / will be manipulated using at least one robot (102) and / or at least one effector (702).

Images