Handling device

Abstract

Handling device (10) comprising a manipulator (12), in particular a SCARA robot (28), and a coupling device (16) with a coupling section (48) for coupling an end effector (14) to the manipulator (12), wherein the manipulator (12) comprises a spindle drive (20) for driving a translational and rotational movement of the coupling device (16) and an end effector (14) optionally coupled thereto with respect to a Z-axis (24), wherein the spindle drive (20) comprises a spindle (22) which extends along the Z-axis (24), wherein the coupling section (48) is adjustable with respect to at least one degree of freedom relative to the spindle (22), wherein a drive device (50) is provided for driving an positioning movement of the coupling section (48) with respect to the at least one degree of freedom.wherein the drive device (50) comprises a drive unit (52) and a power transmission device (54) for transmitting a drive movement of the drive unit (52) to the coupling section (48), wherein the coupling device (16) is arranged at a first end (26) of the spindle (22) and is displaceable translationally and rotationally from it with respect to the Z-axis (24), and wherein the drive unit (52) is arranged at the second end (56) of the spindle (22), opposite the first end.

Description

[0001] The invention relates to a handling device comprising a manipulator, in particular a SCARA robot, and a coupling device for coupling an end effector to the manipulator.

[0002] Such handling devices are used, for example, in the picking of goods in warehouses and are used there in particular to pick goods from a storage container containing a plurality of goods (so-called “bin-picking” or “reaching into the box”) and to move them to another location, e.g. a transport container.

[0003] In this context, it is known to use robots with SCARA kinematics, where translational and / or rotational movement along a Z-axis is provided by a spindle drive, on whose spindle the end effector is located. Such a spindle-driven robot enables particularly fast and repeatable movements and thus a high "gripping rate."

[0004] In a typical application situation, a storage container as mentioned above contains a multitude of goods, which may, for example, have different shapes, sizes, and weights. In particular, it is also conceivable that the items are arranged in a disordered manner, i.e., with different orientations, in the storage container, and that the areas of the outer surfaces of different items suitable for gripping are oriented differently.

[0005] To grasp an object securely, it is therefore regularly necessary to align the end effector depending on the external shape and / or orientation of an object to be grasped.

[0006] The invention addresses the problem of being able to grasp objects with different orientations and / or external shapes flexibly and quickly. Furthermore, a minimal interference contour during gripping is desirable.

[0007] This object is achieved by a handling device according to claim 1.

[0008] The handling device is designed for handling objects, in particular for lifting, moving, lowering, and setting down objects. The handling device comprises a manipulator, in particular a robot, and a coupling device with a coupling section for coupling an end effector to the manipulator. The manipulator is designed in particular to move the coupling device and an end effector optionally arranged thereon. The end effector can in particular be a gripping device, preferably a suction gripping device.

[0009] The manipulator comprises a spindle drive for driving a translational and / or rotational movement of the coupling device and an optionally coupled end effector with respect to a, in particular vertical, Z-axis. The spindle drive is thus designed, in particular, to drive a translational adjustment movement of the coupling device along the Z-axis and / or to drive a rotational movement about the Z-axis. In other words, the spindle drive is designed to displace the coupling device and an optionally arranged end effector along the Z-axis and / or about the Z-axis.

[0010] The spindle drive comprises a spindle with a main longitudinal axis extending along the Z-axis. The spindle is mounted, in particular, for rotation about the Z-axis, preferably in such a way that it can perform both a rotational movement about the Z-axis and a translational movement along the Z-axis, in particular independently of one another. The spindle is preferably designed as a ball screw.

[0011] The coupling section of the coupling device is adjustable relative to the spindle with respect to at least one degree of freedom, in particular independently of any movement of the spindle. In particular, the coupling section can be pivotable relative to the spindle.

[0012] The handling device further comprises a drive device for driving an adjusting movement of the coupling section with respect to the at least one degree of freedom. The drive device is thus designed to move the coupling section with respect to the at least one degree of freedom relative to the spindle. In particular, the drive device can be designed to pivot the coupling section relative to the spindle.

[0013] The drive device comprises a drive unit (actuator) and a force transmission device for transmitting a drive movement of the drive unit to the coupling section.

[0014] The coupling device is arranged at a first end of the spindle, in particular fastened thereto. The drive unit of the drive device is arranged at the second, opposite end of the spindle, in particular fastened thereto.

[0015] Such a handling device makes it possible to adjust the coupling section, and thus an optionally arranged end effector, relative to the spindle in a simple and reliable manner, thus adapting the orientation of the end effector, for example, to the position and orientation of an object to be grasped as needed. In this way, objects in different positions and orientations can also be reliably grasped, which is particularly advantageous for bin picking, where goods are regularly arranged in a disordered manner, i.e., with different orientations, in the storage container.

[0016] Because the drive unit is attached to the upper end of the spindle, interference contours in the area of ​​the end effector are reduced. This facilitates the gripping of objects from a storage container and, in particular, also enables the gripping of objects from comparatively narrow storage containers or corner areas of a storage container. Furthermore, the proposed handling device minimizes the risk of objects getting caught on projections or recesses of the drive unit, potentially damaging the drive unit or impairing its function. The handling device is therefore particularly robust, ensuring reliable operation even after numerous gripping cycles into a storage container.

[0017] The at least one degree of freedom can be a linear (translational) and / or rotational degree of freedom. In this respect, it is conceivable for the coupling section to be translationally displaceable and / or rotatable relative to the spindle. Preferably, the degree of freedom is a pivoting degree of freedom.

[0018] The force transmission device can comprise at least one force transmission element that is displaceable along the Z-axis and / or rotatable about the Z-axis. The at least one force transmission element can be, for example, a push rod, a Bowden cable, a rack, or a spindle. The drive unit can, in particular, be designed to drive a translational movement of the at least one force transmission element along the Z-axis and / or a rotational movement of the at least one force transmission element about the Z-axis.

[0019] The coupling device can comprise a connecting section connected to the spindle, in particular in a rotationally fixed manner, and an adjustment section arranged thereon so as to be movable, in particular rotatable or pivotable. The coupling section is arranged on the adjustment section. The drive device can then be configured to move the adjustment section relative to the connecting section.

[0020] The coupling device can, in particular, be designed to repeatedly and detachably connect an end effector to the manipulator. The coupling section can preferably be designed as a quick-change coupling. For example, it is conceivable for the coupling device to comprise a magnetic connection acting between the end effector and the coupling section. In this respect, only simple movement patterns are required to connect or disconnect the end effector to the pivoting section, which facilitates automated end effector changes.

[0021] The manipulator can, in particular, be designed as a SCARA robot. In this respect, the manipulator can have a robot base and a robot arm having three successively arranged links. In particular, it can be provided that a first link is connected to the robot base so as to be pivotable, in particular rotatable, about a first axis, a second link is connected to the first link so as to be pivotable, in particular rotatable, about a second axis, and a third link is provided by the spindle. The spindle is then connected to the second link, in particular so as to be rotatable about a third axis (the Z-axis). Preferably, the first axis, the second axis, and the third axis (Z-axis) run parallel to one another, preferably vertically. The second link can, in particular, comprise a drive motor and / or optionally gear devices of the spindle drive for driving a rotary movement of the spindle about the Z-axis.The spindle is preferably designed as a ball screw.

[0022] Within the scope of an advantageous further development, the spindle can be designed as a hollow spindle. In this respect, the hollow spindle can comprise an inner, preferably central, hollow space. The hollow space preferably extends along the Z-axis from the first end of the spindle to the second end of the spindle, in particular continuously. In this context, it can be advantageous if the force transmission device is guided at least partially through the hollow space of the hollow spindle. With such a configuration, an interfering contour during gripping is further reduced. In addition, the force transmission device is protected from environmental influences, which reduces the risk of damage, in particular when "reaching into the box" with a plurality of objects. Such a configuration therefore enables particularly reliable and trouble-free operation of the handling device.

[0023] The force transmission device can comprise at least one force transmission element, which is arranged at least partially in the cavity of the hollow spindle. The at least one force transmission element can extend, in particular, from the first end of the spindle to the second end of the spindle along the Z-axis. To transmit a drive movement of the drive unit to the coupling section, the at least one force transmission element can be displaceable in the cavity along the Z-axis, in particular movable back and forth, and / or rotatable about the Z-axis.

[0024] It is conceivable for the force transmission element to be a push rod. The push rod can be designed, in particular, to transmit a translational movement along the Z-axis and / or a rotational movement about the Z-axis to the coupling section of the coupling device. It is also conceivable for the force transmission element to be a Bowden cable. Alternatively, it is also conceivable for the force transmission element to be designed as a rack. Within the scope of a further embodiment, it is also conceivable for the force transmission element to be a spindle. The spindle of the drive device can then be rotatable about the Z-axis, in particular relative to the spindle of the manipulator.

[0025] Within the scope of an advantageous embodiment, the at least one degree of freedom can be a pivoting degree of freedom. In particular, the coupling section can be pivotable relative to the spindle about a pivot axis, preferably orthogonal to the Z-axis. The drive device can then be configured to drive a pivoting movement of the coupling section about the pivot axis. By pivoting the coupling section, it is possible, in particular, to change the orientation of the end effector and thus easily grip objects in different positions and orientations.

[0026] Specifically, the coupling device can comprise a connecting section for connecting the coupling device to the spindle and a pivoting section, wherein the coupling section is arranged on the pivoting section. The pivoting section is then preferably mounted on the connecting section so that it can pivot about the pivot axis. In this context, it can be advantageous if the pivoting section can be continuously pivoted about the pivot axis. In particular, a maximum pivoting angle of the pivoting section is between 0° and 90° inclusive, in particular 30°, and more particularly 45°. The connecting section can, in particular, be connected to the spindle in a rotationally fixed manner.

[0027] In a configuration with a pivoting section, the drive device is then particularly designed to drive a pivoting movement of the pivoting section about the pivot axis. In particular, the force transmission device can comprise at least one force transmission element which is mechanically coupled to the pivoting section in such a way that a translational displacement movement of the at least one force transmission element along the Z-axis leads to a pivoting movement of the pivoting section about the pivot axis. In this context, it is conceivable, for example, that the at least one force transmission element, for example a push rod, is connected to the pivoting section via a further pivot joint. In such a configuration, it can be advantageous if the pivot axis between the force transmission element and the pivoting section and the pivot axis between the connecting section and the pivoting section run parallel to one another.

[0028] To drive a displacement movement of the at least one force transmission element along the Z-axis, it may be advantageous if the drive unit is designed as a linear drive for driving a translational movement along the Z-axis. For example, the drive unit can comprise a pneumatic cylinder. Preferably, a movement axis of the pneumatic cylinder is parallel to or identical to the Z-axis. It is also conceivable for the drive device to comprise an electric cylinder and / or an electric drive with a lever.

[0029] Furthermore, the drive unit can optionally be configured to drive a rotational movement of the at least one force transmission element about the Z-axis. For example, it is conceivable that the coupling section or the entire coupling device can be rotated about the Z-axis relative to the spindle.

[0030] Within the scope of a general aspect, it can also be advantageous if the coupling device is coupled to the spindle, in particular via the connecting section, in a rotationally fixed manner about the Z-axis, such that a rotational movement of the spindle about the Z-axis is transmitted to the coupling device and an end effector optionally coupled thereto. Such a configuration is particularly simple and robust, since no rotational movement about the Z-axis needs to be provided by the drive device. In this context, it is conceivable that the at least one force transmission element is coupled to the spindle in a rotationally fixed manner about the Z-axis. This can be achieved, for example, by the at least one force transmission element being connected in a rotationally fixed manner to the coupling device and the coupling device in turn being connected in a rotationally fixed manner to the spindle.

[0031] Furthermore, it proves advantageous if the drive unit is decoupled from a rotational movement of the spindle and / or the at least one force transmission element about the Z-axis. For example, it is conceivable for the drive unit to be connected to the spindle via a pivot bearing. When the spindle rotates about the Z-axis, the drive device is therefore not rotated but remains stationary. This has the advantage that supply connections of the drive unit, for example for connecting power cables or fluid lines, always point in the same direction, which enables simple cable or hose routing. In this context, it can also be advantageous if the drive unit is secured against rotation about the Z-axis by a guide rod.

[0032] In configurations in which the at least one force transmission element is coupled to the spindle in a rotationally fixed manner about the Z-axis, it may also be advantageous if the drive unit, in particular an actuator connected to the at least one force transmission element, for example a cylinder, is decoupled from a rotational movement of the at least one force transmission element about the Z-axis. For example, it is conceivable that the actuator is connected to the at least one force transmission element via a corresponding pivot bearing.

[0033] Within the scope of a general aspect, it may be advantageous if a fluid supply, in particular a vacuum supply and / or a positive pressure supply, is present at the coupling device, for example to operate an end effector. In particular, it may be advantageous if the coupling section has a vacuum outlet and / or a positive pressure outlet. The positive pressure outlet and / or the vacuum outlet can be designed, in particular, in the form of a respective fluid interface for connection to a corresponding counter-fluid interface of an end effector. In this respect, the coupling section can be designed to establish a fluid connection between the coupling device and the end effector.It may be particularly advantageous if the coupling device is designed such that when the end effector is attached to the coupling section, at least one fluid connection is formed between the coupling section and the end effector, which enables a simple end effector change.

[0034] In this context, it is also conceivable for the coupling section to be designed to establish both a vacuum fluid connection and a positive pressure fluid connection between the end effector and the coupling section. For example, it is possible for the coupling section to have a vacuum outlet and a positive pressure outlet, and for the end effector to have a vacuum inlet and / or a positive pressure inlet on a corresponding counter-coupling side. It can be particularly advantageous if the vacuum outlet and the vacuum inlet, or the positive pressure outlet and the positive pressure inlet, are designed and arranged in such a way that the vacuum outlet and the vacuum inlet, or the positive pressure outlet and the positive pressure inlet, form a fluid connection when the end effector is attached to the coupling section.

[0035] To supply the end effector with fluid, it can also be advantageous in designs with a hollow spindle if at least one fluid passage is provided for passing fluid, in particular negative pressure or positive pressure, through the hollow spindle. For example, it is conceivable for a fluid hose to be guided in the hollow space of the hollow spindle. However, it is also conceivable for at least a partial volume of the hollow space of the hollow spindle itself to provide the at least one fluid passage. The fluid passage therefore does not create an interfering contour when handling objects, as can be the case, for example, with external hose connections.

[0036] In order to ensure a fluid supply to the end effector even during a pivoting movement of the pivot section about the pivot axis, it can be advantageous in designs of the coupling device with a pivot section if a fluid connection between the fluid feedthrough and the vacuum or overpressure outlet on the coupling section runs through the pivot joint.

[0037] Regardless of the specific design of the handling device, the handling device can comprise a control device for controlling the manipulator and the drive device.

[0038] The handling device can further comprise a detection device configured to detect the position and orientation of an object to be gripped, in particular the position and orientation of an outer surface of the object. This makes it possible to characterize the object, in particular to detect a gripping position on the object, before the end effector approaches it. For example, it is conceivable for the detection device to comprise one or more cameras.

[0039] Then, the control device can be configured in particular to control the manipulator and / or the drive device depending on an orientation, in particular position and orientation, of an object detected by the detection device.

[0040] As mentioned above, the end effector can, in particular, be a gripping device. For bin-picking applications, it has proven advantageous for the end effector to be designed as a suction gripping device. In this respect, the handling device can comprise a suction gripping device that is connected to the manipulator via the coupling section.

[0041] The invention is explained in more detail below with reference to the figures.

[0042] They show: Fig. 1 a simplified schematic representation of an embodiment of the handling device in a side view; and Fig. 2 an enlarged section of the handling device according to Fig. 1 in the area of ​​the spindle in a sectional view.

[0043] In the following description and in the figures, the same reference symbols are used for identical or corresponding features.

[0044] The Fig. 1 shows a simplified schematic representation of an embodiment of a handling device for gripping and handling objects (not shown), which is designated overall by the reference numeral 10. The handling device 10 comprises a manipulator (e.g., robot) 12 and an end effector 14, which is connected to the manipulator 12 via a coupling device 16.

[0045] In the example shown, the end effector 14 is designed as a suction gripping device 18 for sucking up an object. However, in embodiments not shown, it is also conceivable for the end effector 14 to be designed as a mechanical gripper, for example, as a pneumatically actuated mechanical gripper.

[0046] As in Fig. 1, the manipulator 12 comprises a spindle drive 20 with a spindle 22 which extends along a Z-axis 24. As can be seen from Fig. 1, the coupling device 16 is arranged at a first end 26 of the spindle 22 and can be displaced by it translationally and / or rotationally with respect to the Z-axis 24.

[0047] Preferably, the spindle 22 is designed as a ball screw, which enables both a translational movement along the Z-axis 24 and a purely rotational movement about the Z-axis 24.

[0048] In the illustrated example, the manipulator 12 is designed as a 4-axis SCARA robot 28, wherein a third and fourth axes of the SCARA robot 28 (translational and rotational movement relative to the Z-axis 24) are provided by the spindle drive 20. In the specific example, the SCARA robot 28 comprises a robot base 30, to which a first robot member 32 is pivotably mounted, in particular rotatably mounted, about a first, in particular vertical, axis 34. A second robot member 36 is pivotably mounted, in particular rotatably mounted, about a second axis 38, to the first robot member 32. The spindle 22 described above is then mounted to the second robot member 36. In particular, the second robot member 36 also comprises corresponding drive and / or gear units of the spindle drive 20. By way of example and preferably, the first axis 34, the second axis 38 and the Z-axis 24 (third axis) are arranged parallel to one another.

[0049] In the illustrated example, the coupling device 16 comprises a connecting section 40 which is connected to the spindle 22, preferably in a rotationally fixed manner. The coupling device 16 also comprises a pivoting section 42, which is connected to the connecting section 40 via a pivot joint 44 and is thus pivotable about a pivot axis 46 relative to the spindle 22. The pivot axis 46 is, by way of example and preferably, oriented orthogonally to the Z-axis 24 (cf. Fig. 1).

[0050] The pivoting section 42 comprises a coupling section 48 to which the end effector 14 can be coupled, in particular in a repeatable and detachable manner (cf. Fig. 2). In the coupled state, the orientation of the end effector 14 can be changed by pivoting the pivot section 42 about the pivot axis 46.

[0051] As mentioned above, the coupling section 48 can be designed as a quick-change coupling. For example, it is conceivable that the end effector 14 can be connected to the coupling section 48 via a magnetic connection.

[0052] The handling device 10 also comprises a drive device 50 for actuating a pivoting movement of the pivoting section 42 and thus of the coupling section 48 about the pivot axis 46. The drive device 50 comprises a drive unit 52 and a power transmission device 54 for transmitting a drive movement of the drive unit 52 to the pivoting section 42 (cf. Fig. 2).

[0053] The drive unit 52 is arranged at the second end 56 of the spindle 24 opposite the coupling device 16 (cf. Fig. 1). Drive unit 52 and coupling device 16 are spatially separated from each other. Preferably, drive unit 52 is mounted on spindle 22 via a pivot bearing 58 and is thus decoupled from a rotational movement of spindle 22 about Z-axis 24 (cf. Fig. 2).

[0054] As in Fig. 2, the drive unit 52 in the illustrated example comprises a pneumatic cylinder 60, which is designed to perform a translational movement along the Z-axis 24. In embodiments not shown, it is also conceivable that the drive unit 52 comprises, for example, an electric motor-driven cylinder.

[0055] In order to transmit a drive movement of the drive unit 52 or the pneumatic cylinder 60 to the pivoting section 42, the force transmission device 54 comprises at least one force transmission element 62, which in the example shown is designed as a push rod 64 (cf. Fig. 2). In embodiments not shown, it is also conceivable that the force transmission element 62 is designed as a Bowden cable, rack, or spindle.

[0056] As from Fig. 2, the push rod 64 is connected on the one hand to the pneumatic cylinder 60 and on the other hand to the pivoting section 42. A coupling between the push rod 64 and the pivoting section 42 is provided such that a displacement movement of the push rod 64 along the Z-axis 24 leads to a pivoting movement of the pivoting section 42 about the pivot axis 46.

[0057] For this purpose, the push rod 64 in the example is pivotally connected to the pivot section 42 about a pivot axis 68 via a pivot joint 66 (cf. Fig. 2). By way of example and preferably, the pivot axis 46 between the connecting section 40 and the pivot section 42 and a pivot axis 68 between the force transmission element 62 and the pivot section 42 run parallel to each other.

[0058] As in Fig. 2, the force transmission device 54, in particular the force transmission element 62, is preferably guided in sections through the spindle 22. Specifically, the spindle 22 is designed as a hollow spindle 70, with a cavity 72 extending along the Z-axis 27 from the first end 26 to the second end 56.

[0059] In the example, the push rod 64 is arranged in the cavity 72 and can be moved back and forth along the Z-axis 24. In the illustrated example, the push rod 64 is rotationally fixedly coupled to the spindle 22 about the Z-axis 24 via the coupling device 16. The push rod 64 is then, by way of example and preferably, connected to the pneumatic cylinder 60 via a corresponding pivot bearing 74, so that the latter is decoupled from any rotational movement of the push rod about the Z-axis 24.

[0060] As in Fig.2, the push rod 64 can preferably be dimensioned such that it does not completely fill the cavity 72 of the hollow spindle 70, i.e., a partial volume of the cavity 72 is free. This remaining partial volume of the cavity can then optionally be used as a fluid passage 76, for example, to conduct compressed air and / or negative pressure to the coupling device 16 and then to the end effector 14. In embodiments not shown, it is also conceivable for a fluid hose to be provided in the cavity 72 for this purpose.

[0061] In order to supply the end effector 14 with fluid, in particular negative pressure and / or positive pressure, it may then be further advantageous if the coupling section 48 has a fluid interface (not shown) for connection to a corresponding counter-fluid interface of the end effector 14. Specifically, the coupling section 48 may have a negative pressure outlet and / or positive pressure outlet (not shown).

[0062] As mentioned above, the handling device 10 may optionally comprise a detection device (not shown) which is designed to detect the position and location of an object to be gripped.

[0063] The handling device 10 also comprises, in particular, a control device (not shown) for controlling the manipulator 12 and the drive device 50. The control device can, in particular, be configured to control the manipulator 12 and / or the drive device 50 depending on a position and orientation of an object to be gripped detected by the detection device.

Claims

[1] Handling device (10), comprising a manipulator (12), in particular a Scara robot (28), and a coupling device (16) with a coupling section (48) for coupling an end effector (14) to the manipulator (12), wherein the manipulator (12) comprises a spindle drive (20) for driving a translational and / or rotational movement of the coupling device (16) and an end effector (14) optionally coupled thereto with respect to a Z-axis (24), wherein the spindle drive (20) comprises a spindle (22) which extends along the Z-axis (24), wherein the coupling section (48) is adjustable with respect to at least one degree of freedom relative to the spindle (22), wherein a drive device (50) is provided for driving an adjusting movement of the coupling section (48) with respect to the at least one degree of freedom, wherein the drive device (50) comprises a drive unit (52) and a power transmission device (54) for transmitting a drive movement of the drive unit (52) to the coupling section (48), wherein the coupling device (16) is arranged at a first end (26) of the spindle (22) and wherein the drive unit (52) is arranged at the second end (56) of the spindle (22). [2] Handling device (10) according to claim 1, wherein the spindle (22) is designed as a hollow spindle (70) with an inner cavity (72), wherein the force transmission device (54) is guided at least in sections through the cavity (72). [3] Handling device (10) according to claim 2, wherein the force transmission device (54) comprises at least one force transmission element (62), which is arranged at least in sections in the cavity (72) of the hollow spindle (70), in particular in the cavity (72) along the Z-axis (24) is displaceable or rotatable about the Z-axis (24). [4] Handling device (10) according to claim 3, wherein the at least one force transmission element (62) comprises a push rod (64), a Bowden cable, a rack, or a spindle. [5] Handling device (10) according to one of the preceding claims, wherein the coupling section (48) is pivotable relative to the spindle (22) about a pivot axis (46), in particular orthogonal to the Z-axis (24), wherein the drive device (50) is adapted to drive a pivoting movement of the coupling section (48) about the pivot axis (46). [6] Handling device (10) according to claim 5, wherein the coupling device (16) comprises a connecting portion (40) and a pivoting portion (42), wherein the connecting portion (40) is connected to the spindle (22), in particular in a rotationally fixed manner, wherein the pivoting section (42) is pivotally mounted on the connecting section (40) about the pivot axis (46), wherein the coupling portion (48) is arranged on the pivoting portion (42). [7] Handling device (10) according to claim 6, wherein the at least one force transmission element (62) is mechanically coupled to the pivoting section (42) such that a displacement movement of the at least one force transmission element (62) along the Z-axis (24) leads to a pivoting movement of the pivoting section (42) about the pivot axis (46). [8] Handling device (10) according to one of the preceding claims, wherein the drive unit (52) is designed as a linear drive, in particular comprising a pneumatic cylinder (60). [9] Handling device (10) according to one of the preceding claims, wherein the coupling device (16) is coupled to the spindle (22) in a rotationally fixed manner. [10] Handling device (10) according to one of the preceding claims, wherein the drive unit (52) is decoupled from a rotational movement of the spindle (22) and / or of the at least one force transmission element (62) about the z-axis (24), in particular via correspondingly designed rotary bearings (58, 74). [11] Handling device (10) according to one of the preceding claims, wherein the coupling section (48) has a negative pressure outlet and / or a positive pressure outlet, in particular in the form of a fluid interface for connection to a corresponding counter-fluid interface of an end effector (14). [12] Handling device (10) according to one of claims 2 to 11, further comprising at least one fluid passage (76) for guiding fluid, in particular negative pressure or positive pressure, through the hollow spindle (70). [13] Handling device (10) according to one of the preceding claims, further comprising: - a detection device designed to detect the position and orientation of an object to be grasped; and - a control device which is designed to control the manipulator (12) and / or the drive device (50) as a function of a position and / or location of an object detected by the detection device. [14] Handling device (10) according to one of the preceding claims, further comprising a suction gripping device (18) which is connected to the manipulator (12) via the coupling section (16).

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