Method for positioning a workpiece that has at least one flexible element

Abstract

Method for positioning a workpiece (1) which has at least one flexible element (4), wherein the workpiece (1) is gripped in a first gripping operation by means of a first gripping device (2), the flexible element (4) is inserted into a positioning element (8) by means of the first gripping device (2), so that it is in a predetermined position (9) in the positioning element (8), then the flexible element (4) in the specified position (9) is gripped in a second gripping operation with a second gripping device (12), and at least part of the workpiece (1) is positioned into a target position by the first and / or the second gripping device (2, 12).

Description

[0001] The invention relates to a method for positioning a workpiece that has at least one flexible element. The workpiece is gripped by means of a gripping device, the flexible element is inserted into a positioning element, and then the flexible element is gripped with a second gripping device. At least a part of the workpiece is then positioned into a predetermined position by the first and / or the second gripping device.

[0002] Handling workpieces with flexible elements is often difficult because the position and / or path of these elements is unpredictable without further precautions. Such workpieces are therefore usually handled manually, for example, by laboratory technicians. Compared to automated handling, which is possible with workpieces without flexible elements, this manual handling increases costs, potentially compromises sterility (if necessary), and is difficult to document. These are particularly important considerations in the vital fields of life sciences and pharmaceuticals.

[0003] A typical example is the sterility test. This involves at least one tube and at least one canister, usually two tubes and two canisters. The tubes represent a flexible element. Random deviations in position and orientation frequently occur with tubes. Sterility tests are normally packaged, but the exact position of the tube within the packaging is unknown. Furthermore, interfering features such as a cannula, plastic clips, or knots may be present on the tube.

[0004] In current technology, such workpieces are typically handled manually. A disadvantage of this approach is that documentation is manual and therefore prone to errors. Furthermore, it requires trained personnel who must perform a strenuous and monotonous task. Sterility is also compromised, for example, by abrasion from gloves.

[0005] DE 10 2018 133 319 A1 relates to a method for robot-assisted wiring of electrical components of an electrical switchgear arranged on a mounting plate.

[0006] DE 10 2018 115 557 B3 concerns a cable laying system for the production of cable sets. The system comprises two robots equipped with gripping elements for grasping a cable and laying it on a cable forming board.

[0007] DE 10 2017 201 451 A1 relates to a device for gripping a cannula with a cannula holder. The device has two gripping elements that are movable relative to each other and cooperate to grip the cannula holder.

[0008] US 2021 / 0 291 370 A1 concerns a robotic device for the autonomous configuration of an intravascular system with tubes through which fluid is supplied intravenously.

[0009] JP H06 - 188 061 A relates to a device and a method for automatically connecting cable harnesses. The device comprises two robots, and each robot comprises two gripping elements for gripping a cable.

[0010] JP S60 - 212 911 relates to a multi-armed robot comprising a hand with an offset capable of moving under an arm to prevent any interference between the arms.

[0011] The object of the present invention is to overcome the aforementioned problems and to provide a method for positioning a workpiece with a flexible element that reduces or advantageously eliminates the need for manual interaction.

[0012] The problem is solved by the methods for positioning a workpiece according to claim 1 and claim 15. The respective dependent claims specify advantageous further developments of the methods according to the invention.

[0013] The invention provides a method for positioning a workpiece. The workpiece has at least one flexible element. Advantageously, the flexible element can be an elongated element that offers no or only minimal resistance to forces or moments acting perpendicular to its longitudinal direction. The flexible element can therefore be bent with minimal effort. Typical examples of such flexible elements are hoses, wires, ropes, and other, for example, solid or hollow cylindrical elements with this property. It is particularly advantageous for the at least one flexible element to be a hose.

[0014] According to the invention, the workpiece is gripped in a first gripping operation by means of a first gripping device. A gripping device here is understood to be a technical device, for example a gripper, such as a robot gripper.

[0015] According to the invention, the flexible element is inserted into a positioning element by means of the first gripping device, so that it is located in a predetermined position within the positioning element. It should be noted that the first gripping device does not necessarily have to grip the workpiece at the flexible element, although this is possible. When the workpiece is gripped and moved by the first gripping device, a specific area is available for the flexible element, in which it can be located during the movement of the workpiece by the gripping device. The positioning element can be designed and arranged such that it has an entry area that completely encompasses the area in which the flexible element can be located during the first gripping operation when the workpiece is moved by the first gripping device.Furthermore, the positioning element can be designed in such a way that, during the further course of the first gripping process, it guides the flexible element to the predetermined position.

[0016] According to the invention, in a second gripping operation, the rigid element, which is in the predetermined position, is gripped by a second gripping device. This is made possible by the positioning element, in which the flexible element is located in a predetermined position. Because the flexible element is located in the predetermined position and preferably also in the predetermined orientation, it is known where the second gripping device can grip the flexible element. The second gripping device does not necessarily have to grip exactly at the predetermined position. It is also possible for the second gripping device to initially encompass a sufficiently large area through which the flexible element, when in the predetermined position, travels. In the second gripping operation, the flexible element can then be gripped.Generally, the further away from the positioning element the second gripping device grips, the larger the area that the second gripping device must encompass at the beginning of the gripping process.

[0017] The second gripping device also refers here to a technical device, such as a gripper, for example a robot gripper.

[0018] After the second gripping operation, at least part of the workpiece can be positioned into a predetermined target position by the first and / or the second gripping device. Advantageously, at least one flexible element can be positioned into a predetermined target position. This can preferably be done by at least the second gripping device, but is particularly advantageous when the first and second gripping devices work together, with both gripping devices moving. This is also advantageous to prevent the flexible element from snagging or becoming entangled with other interfering contours.

[0019] In an advantageous embodiment, the positioning element can have two legs. The flexible element can then be placed between the two legs into the positioning element using the first gripping device. Preferably, the two legs can diverge from the predetermined position. The ends of the legs furthest from the predetermined position are advantageously positioned relative to each other such that, during the first gripping operation, the flexible element is guided between these two ends. The two ends furthest from the predetermined position can form the aforementioned entry area of ​​the positioning element. Advantageously, the two legs can be straight and / or run in a common plane. The positioning element can, for example, have the shape of a Y or a V.

[0020] Such a positioning element allows the flexible element to find its predetermined position through centering and gravity. This defines the hose position and allows the hose to be gripped.

[0021] It is advantageous if the flexible element, which is in the predetermined position, is gripped at the positioning element by means of the second gripping device. Gripping the flexible element at the positioning element means that it is gripped at such a distance from the positioning element that, given the gripping range of the second gripping device—that is, the range encompassed by the second gripping device before the start of the second gripping operation—the flexible element still passes through the area enclosed by the second gripping device. Therefore, the further away from the positioning element the second gripping device grips the flexible element, the greater its gripping range must be.Preferably, the second gripping device grasps the flexible element at a distance of 5 cm or less, preferably at a distance of 2 cm or less, and preferably at a distance of 1 cm or less from the positioning element. It is particularly advantageous for the second gripping device to also grasp the flexible element directly at the positioning element and / or directly at the predetermined position.

[0022] If the optional two legs of the positioning element run in a common plane as described above, the second gripping device can advantageously position itself during the second gripping operation such that two gripper legs of the second gripping device run in a plane parallel to the plane in which the legs of the positioning element run. Advantageously, the second gripping device can then also position itself such that the flexible element is located between these gripper legs. During the second gripping operation, the gripper legs can then be closed in this position. This allows the two gripper legs, and thus the second gripping device, to grasp the flexible element.

[0023] In an advantageous embodiment of the invention, the flexible element can be straightened by at least one of the gripping devices. This gripping device moves the flexible element, while holding it, away from a point of resistance where the flexible element encounters resistance to movement by this gripping device, until the flexible element runs straight in a region, which will hereinafter be referred to as the straight region. A further gripping device can then grasp the flexible element in the straight region. The point of resistance can, for example, be a point where the flexible element is fixed. Optionally, if the workpiece also has a fixed element, this can, for example, be fixed and thus form such a point of resistance for the flexible element connected to it.If the corresponding gripping device now straightens the flexible element, it has a straight and therefore defined path, along which it can then be gripped by the further gripping device. The positioning element can also serve as a point of resistance. For this purpose, the predetermined position of the positioning element can be designed such that it opposes the flexible element within it when it moves in its longitudinal direction.

[0024] The resistance can be created by fixing the flexible element at the point of resistance, but it can also simply experience friction at the point of resistance, which leads to a counterforce against the pulling of the stretching gripping device.

[0025] In an advantageous embodiment of the invention, the workpiece can also contain at least one element that has a defined shape in the force-free state. Thus, the workpiece can contain at least one rigid element and / or one elastic element that is not flexible. Advantageously, in the first gripping operation, the workpiece can be gripped at this element by means of the first gripping device. Because this element has a defined shape, it can be easily gripped by the first gripping device.

[0026] Advantageously, the workpiece can be in a starting position before the first gripping operation, in which the rigid element has a predetermined position. For example, the workpiece can be in packaging where the rigid element has a predetermined position, while the flexible element is randomly positioned within the packaging. This allows the rigid element to be easily gripped by the first gripping device during the initial gripping operation.

[0027] For example, the fixed element can have at least two cylindrical or conical (i.e., frustoconical) canisters. Conical canisters will optionally also be referred to as cylinders in the following. The first gripping device can then have at least three parallel gripper plates. In the first gripping operation, the gripper plates can be moved towards the canisters so that each canister is positioned between two adjacent gripper plates. The gripper plates can then be moved towards each other to grip the canisters in the first gripping operation. Advantageously, the gripper plates can each have a concave recess on one of their surfaces facing the canisters, in which the corresponding canister is held during the first gripping operation.The concave recesses can advantageously be designed so that their walls run parallel to the surface of the corresponding canister when the canisters are held in the concave recesses. The recesses can therefore have a shape corresponding to the shape of the canisters.

[0028] In an advantageous application, the workpiece can be contained within a package before the first gripping operation. The package can then be fixed in a predetermined position, for example, using vacuum or adhesion. The package can then be opened by a gripping device, and the first gripping operation can be performed. Optionally, the gripping device for opening the package can include a vacuum gripper or an adhesive gripper. If, for example, the package has a tray sealed at the top with a sealing film, such a vacuum gripper or adhesive gripper can pick up the sealing film using vacuum or adhesion and peel it off the tray. It is particularly advantageous if the package is cut open before opening using a cutting device, such as a laser cutter and / or a blade.

[0029] In an advantageous embodiment of the invention, after the second gripping operation, the first gripping device can move the solid element into a receptacle for the solid element, in which the solid element can advantageously be held. Such a receptacle can advantageously have a concave recess into which the solid element can be inserted. If, for example, the solid element comprises one or more canisters or cylinders, the receptacle can have a cylindrical recess for each canister into which the solid element can be inserted. Preferably, the solid element can then be held in this receptacle.

[0030] In an advantageous embodiment of the invention, the flexible element can be pulled through the positioning element after being inserted into it. During this pulling process, a force on the first gripping device, or a force applied by the first gripping device for pulling, can be measured. For this purpose, the first gripping device and / or the positioning element can have a force and / or torque sensor. Alternatively, it is also possible to measure the force required to move the first gripping device and compare it with a known force that would be required for the same movement if a flexible element were not being pulled through the positioning element, or if the first gripping device were moving freely during this movement.If the force determined in this way exceeds a predetermined value, it can be determined that the flexible element has a knot or other irregularity. If the gripping device cannot be closed sufficiently, this can also be interpreted as the presence of a knot or other irregularity. In such cases, a termination procedure can be initiated; in the simplest case, the workpiece can be disposed of or subjected to a process for removing the knot or irregularity.

[0031] Force-based knot detection allows the system to identify hose kinks. If a kink is detected, the system can remove the hose and start again with a new pack. No user intervention is required, and no damage is caused to the machine.

[0032] Advantageously, the first and / or second gripping device can perform a shaking motion during and / or after the respective first and / or second gripping operation. This can remove any twisting from the flexible element, especially those that are not knots. The shaking motion can also loosen knots in the hose. This can center the hose.

[0033] In an advantageous embodiment of the invention, the workpiece can have a further fixed element at an end of the flexible element opposite the fixed element. After the flexible element has been positioned, the further fixed element can then be gripped by a gripping device and inserted into a receptacle for the further fixed element.

[0034] An example of a workpiece that can be handled using the method according to the invention is a so-called "Steritest pack," which comprises two cylindrical or conical canisters arranged parallel to each other as a fixed element and a cannula as a second fixed element. This Steritest pack can then also include two parallel tubes as a flexible element.

[0035] The invention also provides a method for positioning a workpiece, which has at least one flexible element with which the flexible element can be positioned in a groove. In a first gripping operation, the workpiece is grasped at the flexible element by a first gripping device, and in a second gripping operation, it is grasped at the flexible element by a second gripping device. In this state, both the first and the second gripping devices hold the flexible element. The flexible element can then be positioned in a groove by the first and second gripping devices by positioning the flexible element above the groove, then lowering it into the groove, and during the lowering process, moving back and forth parallel to each other, at least from the point where the upper edge of the groove is reached.The back-and-forth movement preferably takes place in the direction in which the flexible element runs between the first and the second gripping device.

[0036] Preferably, the flexible element is stretched by the first and second gripping devices. For the reciprocating movement, the first and second gripping devices move back and forth parallel to each other while maintaining their distance from one another. Preferably, the movement proceeds along a straight line on which the flexible element runs between the first and second gripping devices. This method for positioning a workpiece, in which the flexible element is positioned in a groove, can be carried out as in the previously described method. The workpiece can therefore be positioned in the groove with the flexible element in the previously described method.

[0037] The channel can, for example, be part of a peristaltic pump, so that sliding shoes can act on the flexible element in the channel, preferably at least a hose.

[0038] By inserting the flexible element into the pump with synchronous robot movement, the flexible hose is taut and inserted into the pump's constrictions, overcoming resistance. This allows the hose to be reliably inserted into the pump.

[0039] In an advantageous embodiment of the methods described herein, the first and / or the second gripping device can have a hose gripper as a gripping element. This hose gripper can have at least two gripping jaws. Preferably, the opposing edges of these gripping jaws can each have at least one recess formed in the two edges such that the recesses together form at least one through-opening for the flexible element when the edges are so close together that they touch the flexible element and / or when the two edges are in contact with each other. It is then preferred if the hose is held by friction through this through-opening.

[0040] Preferably, the gripping devices, i.e., the first and second gripping devices as well as optional additional gripping devices, are automatically controlled by a computer using a programmed algorithm to execute the method according to the invention. This control preferably occurs without human interaction. Particularly preferably, the gripping devices can be robots, especially articulated robots, each with at least one gripping element.

[0041] The invention will now be explained by way of example with reference to several figures. Identical reference numerals denote identical or corresponding features. The features described in the examples can also be implemented independently of the specific example and can be combined between the examples.

[0042] It shows Fig. 1 a gripping process by which a workpiece is grasped from a package, Fig. 2 a positioning element, Fig. 3 a hose grabber, Fig. 4 two gripping devices that handle a workpiece, Fig. 5 a first step of a process for positioning a flexible element in a channel, Fig. 6 a second step of positioning the flexible element in the channel, Fig. 7. A process of opening packaging for a workpiece by peeling off a film, Fig. 8. A further process for opening the packaging of the workpiece using a vacuum gripper or an adhesive gripper and a cutting device for cutting open the packaging. Fig. 9 an example of a recording for a fixed element of the workpiece and Fig. 10 a process of positioning another fixed element in a receptacle for the other fixed element.

[0043] Fig. Figure 1 shows a first gripping operation in which a workpiece 1 is gripped by a first gripping device 2. The workpiece 1 has a rigid element 3 and a flexible element 4, which are arranged in a package 5. In the example shown, the workpiece 1 is a sterility test, wherein the rigid element comprises two cylindrical or conical canisters 3a, 3b (hereinafter also referred to as cylinders) connected by a tube 4, which is the flexible element 4. At the end of the tube 4 opposite the canisters 3a, 3b, the sterility test has a cannula 6 as a further rigid element. The package 5 of the sterility test is held on a holding surface 7 by a vacuum or by adhesion. If the holding is by vacuum, the surface 7 can have a plurality of openings through which air can be drawn out to suction the package 5.In the case of an adhesive mounting of the packaging 5, it can be connected to the surface 7 by adhesion.

[0044] In the example shown, the first gripping device 2 is the arm of an articulated robot. It has a first leg 2b, which is attached to a fixing via a first joint 2a. A second leg 2d is connected via an intermediate joint 2c to the end of the first leg 2b opposite the first joint 2a. A gripping element 2f is connected to the second leg 2d via another intermediate joint 2e. The gripping element 2f has three gripper plates 2fa, 2fb, 2fc arranged parallel to each other. In the first gripping operation shown, the gripper plates 2fa, 2fb, 2fc are moved towards the canisters 3a, 3b of the workpiece such that all canisters 3a, 3b are located between two adjacent gripper plates 2fa, 2fb, 2fc. In the example shown, canister 3a can be located between gripper plates 2fa and 2fb, and canister 3b can be located between gripper plates 2fb and 2fc.

[0045] The dashed line shows the movement of the gripping element to the state in which the canisters 3a, 3b are located between the gripper plates 2fa, 2fb and 2fc, as well as the movement of the gripping element 2f when the workpiece 1 is removed from the packaging 5.

[0046] In the example shown, the gripper plates 2fa, 2fb, 2fc are designed such that each of their surfaces facing one of the canisters 3a, 3b when gripped has a concave recess in which the corresponding canister 3a, 3b is held during the initial gripping operation. The two outer gripper plates 2fa and 2fc thus have such a concave recess facing the middle gripper plate 2fb, and the middle gripper plate 2fb has such a concave recess on both sides. The recesses can have a cylindrical surface shape or approximate one. In particular, the recesses can also have a conical shape, usually very slightly conical, especially if the canisters have a (slightly) conical shape.

[0047] According to the invention, the flexible element is inserted into a positioning element 8 by means of the first gripping device 2, so that it is in a predetermined position 9 in the positioning element. This process is in Fig. Figure 2 illustrates this as an example. The positioning element 8 has two legs, which are straight and run in a common plane. Starting from an area where the flexible element 4 is initially placed between the legs and where the legs are at their maximum distance from each other (entry area), the legs approach each other until they reach the predetermined position 9, thus guiding the flexible element into this position. (See left-hand image of...) Fig. 2 the flexible element 4 was just inserted into the entrance area between the legs of the positioning element 9 and in the right part of the image it is essentially in the specified position 9.

[0048] The positioning element 8 can be considered V-shaped. If the flexible element is pulled through the positioning element 8 by means of the first gripping device 2, it can move into the predetermined position 9, particularly due to gravity and the narrowing of the element. In the predetermined position 9, the flexible element 4 can have a predetermined orientation, since it can be guided by the positioning element 8. Advantageously, the positioning element 8 can extend in a direction perpendicular to the plane in which its legs extend, so that a groove is formed around the predetermined position 9 with a direction of passage that is perpendicular to the aforementioned plane in which the legs extend. In this groove, the rigid element has a predetermined orientation, namely that in which the direction of passage of the groove runs.This facilitates subsequent gripping operations, as the flexible element 4 will normally have a continuous path. Following the channel, it will therefore continue its course within the channel and only change direction at a greater distance from the predetermined position 9. Near the predetermined position 9, the path of the flexible element is thus known, allowing a gripping device to grasp it.

[0049] Advantageously, the first gripper 2 can have a force and / or torque sensor. This can, for example, be located on the robot flange and measure the force in the direction of movement. If the first gripper 2 now pulls the flexible element 4 through the positioning element 8, the tensile force can be measured during this process. If a certain tensile force is exceeded, for example due to a knot, the robot's control system can detect this knot. The first gripper 2 and / or a second gripper 12 can then remove the rigid element from the positioning element and take appropriate measures, such as disposing of the knotted hose 4.

[0050] It is also possible to measure the opening width of the gripping element 12f when gripping the rigid element 4. This allows us to detect whether a node is present at the gripping point, as this node is thicker and results in a wider gripper position.

[0051] Fig. Figure 3 shows an example of a gripping element 10, such as it can be arranged on a second gripping device 12 to grasp the flexible element 4, which is in the predetermined position 9, in a second gripping operation. The gripping element 10 has two gripping jaws 10a, 10b, which, in the example shown, have edges facing each other. The gripping jaws 10a and 10b can be moved towards and away from each other, thus enabling the flexible element 4 to be gripped. The further the gripping jaws 10a, 10b can be moved away from each other, the further away from the predetermined position 9 the flexible element 4 can be gripped, since even with larger deviations from its position 9, the flexible element 4 can still pass through the gripping jaws 10a, 10b.

[0052] The gripping jaws 10a, 10b each have a recess 11a, 11b in their facing edges, which are designed and arranged such that together they form a through-opening for the flexible element 4 when the edges contact the flexible element 4 or are in contact with each other. If the gripping jaws 10a, 10b are movable for opening and closing along a direction of movement, the recesses 11a, 11b are positioned one behind the other in the direction of movement.

[0053] The gripper jaws 10a and 10b have two guide stops 21a and 21b (z-stops) that extend essentially perpendicularly from the corresponding edge towards the other gripper jaw 10b, 10a. These allow the hose to be guided loosely between the gripper jaws 10a, 10b, thereby defining its position in relation to the edges of the gripper jaws 10a, 10b. In this case, the flexible element 4 will pass by the guide stops 21a, 21b. The guide stops 21a, 21b also ensure a defined position in relation to the edges of the gripper jaws 10a, 10b when the flexible element 4 is gripped.

[0054] The gripper jaws with z-stops allow the flexible element 4 to be gripped precisely even with some positional uncertainty in the z-direction, i.e., in the direction of the edges of the gripper jaws 10a, 10b. This increases the robustness against inaccurate gripping positions.

[0055] Fig. Figure 4 shows an arrangement with the first gripping device 2 and a second gripping device 12. In the example shown, the second gripping device 12 is also an articulated robot, which, apart from the gripping element 12f, can be constructed in the same way as the articulated robot 2 that provides the first gripping device 2. This articulated robot 12 can also have a first leg 12b, which is arranged on a mounting via a first joint 12a. Via a first intermediate joint 12c, this robot has a further leg 12d at the end of leg 12b opposite joint 12a, on which a gripper 12f is arranged via a second intermediate joint 12e. The first gripping device 2 is as shown in Figure 4. Fig. 1 shown in the detailed design.

[0056] Reference is made here to the description provided there. Workpiece 1 is also as described in... Fig. 1 described, designed and features a flexible element 4, a first rigid element 3 with two canisters 3a, 3b and another rigid element 6, here a cannula.

[0057] In Fig. 4. The first gripping device grasps the workpiece 1 at the fixed element 3 and places it in a receptacle 18 for the fixed element. The second gripping device 12 has grasped the flexible element with its gripper 12f. In this state, the first gripping device 2 and the second gripping device 12 can stretch the flexible element 4 so that it runs essentially straight between the gripping element 2f of the first gripping device 2 and the gripping element 12f of the second gripping device 12.

[0058] Fig. Figure 5 shows an example of a method in which the flexible element 4 of the workpiece 1 is to be positioned in a channel 14 of a peristaltic pump 13. The procedure was carried out here as in Fig. Figure 4 shows the rigid element 3 positioned in the receptacle 18. The second gripping device 12 grasps the flexible element 4 with its gripper 12f. By extending the flexible element 4 away from the rigid element 3, the second gripping device 12 ensures that the flexible element has a substantially straight path between the gripper 12f and the rigid element 3. The path of the flexible element 4 is therefore known in this region. Consequently, in this state, the first gripping device 2 can grasp the flexible element 4 with its gripper 2f. It should be noted that the gripping device 2 is not necessarily the first gripping device that placed the rigid element 3 in the receptacle 18. It could also be a different gripping device, which for clarity is designated here by reference numerals 2, 2a to 2f.

[0059] The dashed lines indicate Fig. 5 the movement of those points where the flexible element 4 is obtained by the grippers 12f and 2f.

[0060] Fig. 6 shows the in Fig. 5 arrangement shown after performing the in Fig. 5. The movement is represented by the dashed lines. The flexible element 4 of the workpiece 1 now lies in the channel 14 of the peristaltic pump 13.

[0061] On the way between the in Fig. 5 shown condition and the one in Fig. In the state shown in Figure 6, grippers 12f and 2f moved parallel to each other and, during this movement, stretched the flexible element 4 between them. During this movement, the first gripper 2f and the second gripper 12f also positioned the flexible element above the channel 14, then lowered it into the channel 14, moving back and forth parallel to each other at least from the point where the element reached the upper edge of the channel 14. This back-and-forth movement facilitates the entry of the flexible element 4 into the channel 14.

[0062] The gripping devices 2 and 12 first clamp the flexible element 4 and can advantageously measure the clamping force with which the flexible element 4 is clamped by means of a force and / or moment sensor, for example on the robot flange.

[0063] The synchronous movement of the two gripping devices 12 and 2 takes place, for example, in the direction of the hose and can be particularly advantageously modulated in a sinusoidal manner, i.e., a kind of sawing motion.

[0064] Fig. Figure 7 shows a process for opening a package 5 in which the workpiece 1 is packaged. For this purpose, the package 5 is opened as shown in Fig. The packaging 5 is held in place on a surface 7 by means of vacuum or adhesion. The packaging 5 comprises a tray 16b and a film 16a that seals the tray 16b upwards, i.e., away from the surface 7. To open the packaging, the film 16a must be removed. For this purpose, the gripping device 2, which can be the aforementioned first gripping device 2 or another gripping device, can grasp the film 16a at a corner. For this purpose, the gripping element 2f of the gripping device 2 can, for example, have a gripper 2f with two jaws that can grasp the film 16a. The gripping device 2 then moves the grasped corner along the dashed line, thereby peeling the film 16a away from the tray 16b. The gripping device 2 can then transport the film 16a into a waste container 15.

[0065] Fig. Figure 8 shows another way to open the packaging of workpiece 1. Again, workpiece 1 is packaged in a container 5, which has a tray 16a sealed at the top, i.e., away from the surface 7, with a film 16b. Again, the container 5 is held on the surface 7 by vacuum or adhesion. A first gripping device 2, which can be the first gripping device 2 described above or another gripping device 2, can now cut the film 16b along its edge using a cutting element 17. The cutting element 17 can be, for example, a blade or a laser cutter 17. The cutting element 17 moves along the dashed line. After the cutting is complete, a second gripping device 12, which can be the gripping device 12 described above or another gripping device 12, can then remove the film 16b.For this purpose, the gripping device 12 can have a gripper 12f with which the film 16b can be gripped. For example, the gripper 12f can be a vacuum gripper or an adhesive gripper. The gripping device 12 can then move the film 16b back to a waste container 15.

[0066] Fig. Figure 9 shows an example of a fixture 18 for the fixed element 3 of the workpiece 1, when the workpiece 1 is a sterility test with two canisters 3a and 3b as described above. The fixture has an annular recess 19a, 19b for each of the canisters 3a, 3b, into which the rim of the canisters 3a, 3b can be inserted. A perforated plate can be used as the base plate, on which elements can be flexibly arranged in the robot cell. The fixture 18 can be attached to the table using elements 22.

[0067] Fig. Figure 10 shows a process in which the additional rigid element 6, here a cannula 6, is inserted into a designated receptacle 20. This insertion can be performed by the second gripping device 12 described above, which is not shown here for clarity. The cannula 6 is inserted into the designated receptacle 20 from above. In an advantageous embodiment, the receptacle 20 can be designed such that the flexible element can be pulled through it, and then the cannula 6 slides into it in such a way that its position is fixed. It is also advantageously possible to detect the position of the cannula 6 with a sensor, e.g., a 3D sensor. The cannula can then be gripped by a robot and inserted into a suitably designed holder.

[0068] The following is a concrete example of how to handle sterility test packs (Steritest pack).

[0069] Two serial manipulators (articulated robots) are used as grippers 2 and 12, which automatically remove and insert the Steritest pack into a pump. For use in sterile environments, appropriately certified robots can be used, such as the Stäubli TX2-60. Furthermore, tactile elements can be used, i.e., robots with force sensors, to measure forces during execution (see node detection) and react accordingly in the robot program, i.e., to regulate contact forces or call subroutines for error handling.

[0070] The following hardware components were used as examples in the experiment (purchased components; see list of constructions below) - Universal Robots UR3 - Universal Robots UR5e - Weiss WSG50-210 parallel gripper - Weiss WSG50-110 parallel gripper - Weiss IEG-50 parallel gripper - Weiss KMS40 Force-Torque Sensor - Schunk SHS-063 manual tool changing system. The following specifications are relevant to the process. - Articulated robot 2 with >900mm reach and >2kg payload - Articulated robot 12 with >400mm reach and >2kg payload - Parallel gripper for hose 4 - Parallel gripper for canisters 3a, 3b - Parallel gripper for hose 4 (gripper jaws for hose with Z-stop) - Force sensors - Automatic tool changing system

[0071] The process can then look like this (R1: Robot 12 (UR3); R2: Robot 2 (UR5)), whereby the steps are advantageously carried out in the order mentioned: 1. Picking up the canisters 3a, 3b from the defined deposited packaging 5 with the gripper 2f (WSG50-110) with gripper jaws 2fa, 2fb, 2fc. 2. Locating the hanging hose 4 with the positioning element (Y-piece) 8 using the first gripping device 2, gripping the hose with the second gripping device 12. 3. Placing the canisters in the canister holder 18 using gripping device 2. 4. Tool change and insertion of the cannula 6 onto the holder on gripping device 12 manually or automatically with automatic tool changer and image processing system for finding the cannula 6. 5. The hose can now be gripped with a changed tool of the first gripping device 2 with the gripper jaws 10 and preferably tensioned beforehand by the second gripping device 12. 6. Inserting the hose 4 into the channel 14 of the pump 13 (first gripping device 2 and second gripping device 12 with synchronous movements) 7. Grasping the cannula with the second gripping device 23 using the first gripping device 2 and placing it in the pre-made holder 20.

[0072] Special technical features: - Devices / Constructions Canister gripper jaws: 2-jaw gripper 2fa, 2fc with center bar 2fb for gripping the canisters 3a, 3b from the Steritest pack. The jaws create a force-fit and form-fit connection with the canisters 3a, 3b. The gripper fingers 2fa, 2fb, 2fc, adapted to the conical shape of the canisters 3a, 3b, prevent twisting and create a larger contact area.

[0073] The canister tray 18 can be supplemented by lateral stabilization, as it may be pulled from the side by the robot 12. The canisters 3a, 3b preferably withstand a lateral force for the process. For this purpose, a positive fit is preferably created with the ring-shaped contour 19a, 19b present on the undersides of the canisters by using a negative mold of it, thus providing a clearance fit.

[0074] There can be two devices for the cannula 6. First, a holder on the second gripping device 12, so that after the fixed element 3, i.e., the canister 3a, 3b, is placed in the canister holder 19a, 19b, the second gripping device 12 can locate and grasp the cannula 6, e.g., using an image processing system, and then insert it into the holder on the gripper 12f of the second gripping device 12. Carrying the cannula 6 prevents it from dragging on the floor and thus potential contamination.

[0075] From this cannula tray, the first gripping device 2 can then securely grasp the cannula 6 in step 7 described above and place it in a stationary holder 20, so that it has a defined position and orientation and can be repeatedly gripped in a defined manner later on, for example, to insert it into the ampoules to be tested. The smooth gripper jaw surfaces below 11a and 11b can also be used for this purpose. Fig. 3 serve.

Claims

[1] Method for positioning a workpiece (1) having at least one flexible element (4), wherein the workpiece (1) is gripped in a first gripping operation by means of a first gripping device (2), the flexible element (4) is introduced into a positioning element (8) by means of the first gripping device (2) so that it is in a predetermined position (9) in the positioning element (8), thereafter, the flexible element (4) present in the predetermined position (9) is gripped in a second gripping operation with a second gripping device (12), and at least a part of the workpiece (1) is positioned in a target position by the first and / or the second gripping device (2, 12). [2] Method according to the preceding claim, wherein the positioning element (8) has two legs, and the flexible element (4) is placed between the two legs in the positioning element (8) by means of the first gripping device (2), wherein preferably the two legs diverge from the predetermined position (9). [3] Method according to one of the preceding claims, wherein the flexible element (4) present in the predetermined position (9) is gripped by means of the second gripping device (12) on the positioning element (8), preferably at a distance of equal to or less than 5 cm, preferably at a distance of equal to or less than 2 cm, preferably at a distance of equal to or less than 1 cm from the positioning element (8). [4] Method according to one of the two preceding claims, wherein the two legs extend in a common plane, wherein in the second gripping operation the second gripping device (12) is positioned such that two gripper legs of the second gripping device (12) extend in a plane which is parallel to the plane in which the legs of the positioning element (8) extend, and that the flexible element (4) is located between the gripper legs, and wherein in this position the gripper legs are closed in the second gripping operation. [5] Method according to one of the preceding claims, wherein the flexible element (4) is stretched by at least one gripping device in that this gripping device, while gripping the flexible element (4), moves it away from a resistance point at which the flexible element (4) experiences resistance to movement by this gripping device until the flexible element (4) runs straight in at least one straight region, and wherein a further gripping device then grips the flexible element (4) in the straight region. [6] Method according to one of the preceding claims, wherein the workpiece (1) further comprises at least one fixed element (3) and the workpiece (1) is gripped on the fixed element (3) in the first gripping operation by means of the first gripping device (2). [7] Method according to the preceding claim, wherein the workpiece (1) is in a starting position before the first gripping operation in which the fixed element (3) has a predetermined starting position. [8] Method according to one of the two preceding claims, wherein the fixed element (3) has at least two cylindrical canisters (3a, 3b), wherein the first gripping device (2) has at least three parallel gripper plates (2fa, 2fb, 2fc), wherein in the first gripping process the gripper plates (2fa, 2fb, 2fc) are moved towards the canisters (3a, 3b) in such a way that all canisters (3a, 3b) are located between two adjacent ones of the gripper plates (2fa, 2fb, 2fc), and then the gripper plates (2fa, 2fb, 2fc) are moved towards each other in order to grip the canisters (3a, 3b) in the first gripping process, wherein preferably the gripper plates (2fa, 2fb, 2fc) each have a concave recess on their surfaces facing one of the canisters (3a, 3b), in which the corresponding cylinder in the first gripping process is held. [9] Method according to one of the preceding claims, wherein the workpiece (1) is present in a packaging (5) before the first gripping operation, wherein the packaging (5) is fixed in a predetermined packaging position, preferably by means of vacuum or adhesion, then the packaging (5) is opened by a gripping device, and then the first gripping operation is carried out, wherein preferably the gripping device for opening the packaging (5) has a vacuum gripper or an adhesive gripper, wherein preferably the packaging (5) is cut open before opening by means of a laser cutter and / or a blade (17). [10] Method according to one of claims 6 to 9, wherein after the second gripping operation, the first gripping device (2) moves the fixed element (3) into a receptacle (18) for the fixed element (3), in which the fixed element (3) is preferably held. [11] Method according to one of the preceding claims, wherein the flexible element (4) is pulled by the positioning element (8) after being introduced into the positioning element (8) and a force on the first gripping device (2) is measured during the pulling, wherein, if the force exceeds a predetermined value, it is determined that the flexible element (4) has a knot and an abort procedure is initiated. [12] Method according to one of the preceding claims, wherein the first and / or the second gripping device (2, 12) performs a shaking movement during and / or after the corresponding gripping process. [13] Method according to one of claims 6 to 12, wherein the workpiece (1) has a further fixed element (6) at the end of the flexible element (4) opposite the fixed element (3), wherein the further fixed element (6) is gripped by a gripping device after the positioning of the flexible element (4) and is introduced into a receptacle (20) for the further fixed element (6). [14] Method according to one of the preceding claims, wherein the workpiece (1) is a sterility test which has as a first solid element (3) two cylindrical canisters (3a, 3b) arranged parallel to one another, as a second solid element (6) a cannula (6) and as a flexible element (4) two tubes running parallel to one another. [15] Method for positioning a workpiece (1) having at least one flexible element (4), wherein the workpiece (1) is gripped on the flexible element (4) in a first gripping operation by means of a first gripping device (2), and is gripped on the flexible element (4) in a second gripping operation by means of a second gripping device (12), wherein the flexible element (4) is positioned in a groove (14) by the first and second gripping devices (2, 12), in that the first and the second gripping device (2, 12) position the flexible element (4) above the channel (14), then lower it into the channel (14) and move back and forth parallel to each other during the lowering at least from reaching an upper edge of the channel (14). [16] Method according to the preceding claim, wherein the positioning of the flexible element (4) in the channel (14) is carried out in a method according to one of claims 1 to 14. [17] Method according to one of the preceding claims, wherein the second gripping device (12) has a hose gripper as a gripping element (10) which has at least two gripping jaws (10a, 10b), wherein preferably the gripping jaws (10a, 10b) have mutually facing edges, into each of which at least one recess (11a, 11b) is introduced such that the recesses (11a, 11b) together form at least one through-opening for the flexible element (4) when the edges are in contact with each other, so that the hose is held in the through-opening in a force-fitting manner. [18] Method according to one of the preceding claims, wherein the gripping devices (2, 12) are automatically controlled by a computer using a programmed algorithm to carry out the method, wherein preferably the gripping devices (2, 12) are articulated-arm robots with at least one gripping element (2f, 12f).

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