Handling device for a handling robot and associated operating procedure

Abstract

Handling device (1) for mounting on a handling robot, in particular for opening a hood (28) of a motor vehicle body (25) to be painted in a painting system by the handling robot, with a) a robot-side mounting flange (6) for mounting the handling device (1) on the handling robot, in particular on a corresponding mounting flange (7) of a robot hand axis (2) of the handling robot, b) a tool-side tool holder (18) for receiving a handling tool (9), in particular a hook-shaped gripper (9), and c) a first rotary joint for collision detection, wherein the first rotary joint enables a rotary evasive movement of the tool holder (18) relative to the robot-side mounting flange (6) about a first axis of rotation (A1) in the event of a collision of the handling device (1) with a spatial boundary or with a component to be handled (25), characterized by d) a second rotary joint for part detection to detect contact with a component (25) to be handled, wherein the second rotary joint enables a rotational evasive movement of the tool holder (18) relative to the robot-side mounting flange (6) about a second axis of rotation (A2).

Description

Technical field of the invention

[0001] The invention relates to a handling device for mounting on a handling robot, in particular for opening a hood (e.g., engine hood or trunk lid) of a motor vehicle body to be painted in a paint shop by the handling robot. The invention further relates to a corresponding operating method for such a handling device. Background of the invention

[0002] In modern paint shops for vehicle bodies, the bodies are typically conveyed along a paint line by a linear conveyor and painted by a robot in a spray booth. Interior painting is also required, meaning painting the interior of the vehicle body, particularly the engine compartment and trunk. For this interior painting, the trunk lid or hood must be opened so the robot can access and paint the interior surfaces. Opening the hood or trunk lid is usually accomplished by handling robots equipped with a device for opening the hood or trunk lid.

[0003] Fig. Figure 1 shows a known example of such a handling device 1, which can be mounted on a multi-axis robot hand axis 2 of the handling robot. The robot hand axis 2 has several hand axis parts 3, 4, 5 that are rotatable relative to each other and therefore enable highly mobile guidance of the handling device 1. For mounting on the robot hand axis 2, the handling device 1 has a mounting flange 6, which is mounted on a mounting flange 7 of the robot hand axis 2. For opening a hood (e.g., trunk lid or engine hood) of a motor vehicle body, the handling device 1 has an elongated arm 8, which carries a gripping hook 9 at its end. It should be noted that in this known embodiment, the handling device 1 does not allow for any evasive movement.This limits the use of handling device 1 to paint shops where the vehicle bodies are conveyed through the paint shop in a stop-and-go operation, as relatively precise positioning of handling device 1 relative to the stationary vehicle bodies is then possible. However, there are also paint shops where the vehicle bodies to be painted are conveyed through the paint shop in so-called line-tracking operation. This means that the vehicle bodies to be painted move continuously through the paint shop, so that the hoods (e.g., engine hood or trunk lid) must also be opened while the vehicle bodies are moving.This so-called line-tracking operation, however, places greater demands on the positioning accuracy of the handling device 1, so that collisions can occur during operation that could damage the handling device 1 because it does not allow for evasive movement. A disadvantage of the known handling device 1 is therefore its unsuitability for line-tracking operation.

[0004] Fig. Figure 2 shows another example of a known handling device 1, wherein this example is partially related to the known example described above according to Fig. 1 corresponds, so that to avoid repetition, reference is made to the preceding description, using the same reference numerals for corresponding details. A special feature of the handling device 1 in this example is that the handling device 1 allows an evasive movement about a rotational axis A1. For this purpose, the handling device 1 has a cylindrical body 10 which carries the arm 8 and is rotatable about the rotational axis A1 relative to the mounting flange 6 of the handling device 1. Due to the possibility of an evasive movement about the rotational axis A1, the handling device 1 according to this example is also suitable for so-called line-tracking operation. However, in this case, the handling device 1 requires precise positioning above the opening hood (e.g.(e.g., trunk lid or hood), whereby the rotation axis A1 of the handling device must be aligned perpendicular to the conveying direction of the vehicle body, i.e., perpendicular to the longitudinal axis of the vehicle body. This limits the working range of the handling robot.

[0005] The two examples of a handling device described above are therefore not yet fully satisfactory.

[0006] For the general technical background of the invention, reference should also be made to “robolink Catalog 2014” (https: / / www.igus.de / contentData / wpck / pdf / global / DE_robolink_2014_s.pdf), DE 10 2015 107 394 A1, DE 10 2010 052 418 A1, DE 10 2018 105 041 A1 and DE 10 2021 118 180 A1. Description of the invention

[0007] The invention is therefore based on the objective of creating a correspondingly improved handling device for a handling robot. Furthermore, the invention is based on the objective of specifying an associated operating method.

[0008] This problem is solved by a handling device according to the invention or a corresponding operating method according to the independent claims.

[0009] The handling device according to the invention initially comprises, in accordance with the prior art described above, a robot-side mounting flange with which the handling device can be mounted on a handling robot that has a corresponding mounting flange. Such handling robots are known per se from the prior art and therefore do not need to be described in more detail.

[0010] Furthermore, the handling device according to the invention, in accordance with the prior art described above, has a tool holder for receiving a handling tool, such as a hook-shaped gripper. In the preferred embodiment of the invention, the handling tool (e.g., gripper) is detachably mounted in the tool holder. However, within the scope of the invention, it is also possible, in principle, for the handling tool to be integrally formed with the tool holder or to be permanently mounted in the tool holder.

[0011] Furthermore, the handling device according to the invention, in accordance with the prior art described above, also comprises a first pivot joint, wherein, in the event of a collision of the handling device with a spatial boundary (e.g., conveyor, cabin wall) or with a component to be handled (e.g., vehicle body), the first pivot joint enables a rotational evasive movement of the tool holder relative to the robot-side mounting flange about a first axis of rotation. This evasive movement enables – as already mentioned in the prior art – the use of the handling device according to the invention preferably in so-called line-tracking operation.

[0012] The handling device according to the invention is distinguished from the prior art by the fact that a second rotary joint for part detection is additionally provided in order to detect contact between the handling device and a component to be handled (e.g., a vehicle body). The second rotary joint enables a rotational evasive movement of the tool holder relative to the robot-side mounting flange of the handling device about a second axis of rotation. The handling device according to the invention thus enables two different evasive movements: a first evasive movement for collision detection and a second evasive movement for part detection.

[0013] Furthermore, the handling device according to the invention preferably has a first rotation angle sensor for detecting a first rotation angle of the first pivot joint about the first axis of rotation during collision detection. The handling device according to the invention also preferably has a second rotation angle sensor for detecting a second rotation angle of the second pivot joint about the second axis of rotation during part detection. The two rotation angle sensors thus reliably enable part detection and collision detection.

[0014] Furthermore, the handling device according to the invention preferably includes a first angle limiter for physically limiting the rotational evasive movement of the first pivot joint about the first axis of rotation during collision detection. In addition, the handling device according to the invention preferably also includes a second angle limiter for physically limiting the rotational evasive movement of the second pivot joint about the second axis of rotation during part detection. It should be noted that both angle limiters operate physically and thus form stops for the respective evasive movement.

[0015] Furthermore, the handling device according to the invention preferably includes a first spring mechanism for generating a first restoring torque (torque) about the first axis of rotation at the first pivot joint during collision detection, wherein the first restoring torque counteracts the rotational evasive movement of the first pivot joint during collision detection. The handling device according to the invention also preferably includes a second spring mechanism for generating a second restoring torque about the second axis of rotation at the second pivot joint during part detection, wherein the second restoring torque counteracts the rotational evasive movement of the second pivot joint during part detection. Thus, the two spring mechanisms ensure that the handling device automatically returns to its initial position both during part detection and during collision detection.Therefore, even in the event of a collision involving the handling device, it is not necessary for an employee to enter the paint booth and manually reset the handling device to its starting position. This reduces the required downtime of the paint system in the event of a collision, and the paint booth does not need to be entered by an employee.

[0016] The aforementioned first angle limiter for collision detection preferably limits the first rotation angle about the first axis of rotation to a first angular range of at most ±45°, ±30°, or ±20°. The aforementioned second angle limiter for part detection, on the other hand, preferably limits the second rotation angle about the second axis of rotation to a second angular range of at most ±15°, ±10°, ±5°, or ±2°. The angular range limited by the second angle limiter for part detection is therefore preferably smaller than the first angular range limited by the first angle limiter for collision detection.

[0017] It should also be noted that during the collision-induced rotational evasive movement of the first pivot joint around the first axis of rotation within the limited first angular range, no forces arise that could lead to damage to the handling device or the vehicle body to be coated. The handling device according to the invention is therefore preferably designed such that no damage can occur within the entire first angular range permitted by the first angle limiter.

[0018] Furthermore, it should be noted that during the rotational evasive movement of the second pivot joint around the second axis of rotation within the second angular range limited by the second angle limiter, no forces are generated during part detection that could lead to damage to the handling device or the vehicle body being coated. The forces or torques occurring during part detection are therefore so low that no damage to the handling device or the vehicle body being coated occurs.

[0019] When opening the hood (e.g., engine hood or trunk lid) of the vehicle body to be coated, a certain minimum opening torque is required in practice. This torque must be exerted by the handling device on the handling tool to allow the hood (e.g., trunk lid or engine hood) to open. The first spring mechanism for collision detection is therefore preferably designed such that, within a portion of the limited first angular range for collision detection, a restoring torque is generated that is greater than the opening torque required to open the hood. Conversely, the restoring torque generated by the second spring mechanism for part detection is preferably less than the opening torque required to open the hood throughout the entire limited second angular range for part detection.

[0020] It should be noted that the two axes of rotation are preferably aligned parallel to each other. Furthermore, it should be noted that the second pivot joint for part detection in the handling device is preferably arranged distally, while the first pivot joint for collision detection in the handling device is preferably arranged proximally. Finally, it should be noted that a lever arm is preferably arranged between the first pivot joint for collision detection and the second pivot joint for part detection.

[0021] As mentioned earlier, the robotic wrist axes of handling robots enable highly mobile guidance of the handling device. For example, rotation of the handling device about a distal axis of rotation is also possible. The lever arm of the handling device is preferably aligned with its longitudinal axis essentially in line with the distal axis of rotation of the robotic wrist axis. The same preferably applies to the handling tool, whose longitudinal axis preferably runs essentially in line with the distal axis of rotation of the robotic wrist axis.

[0022] As mentioned above, the handling device preferably has a first spring mechanism that generates a restoring torque upon collision detection. This first spring mechanism preferably includes a motion converter that transforms the collision-induced rotational evasive movement around the first axis of rotation into a corresponding axial movement parallel to the first axis of rotation. The first spring mechanism for collision detection then acts in the axial direction parallel to the first axis of rotation against the axial movement generated by the motion converter.

[0023] The motion converter described above preferably comprises two disks (e.g., circular disks) arranged parallel to each other. The first disk is fixedly connected to the lever arm of the handling device and thus rotates sufficiently around the first axis of rotation in the event of a collision-induced rotational movement of the lever arm. The second disk, in contrast, is not rotatable within the handling device but is axially displaceable parallel to the first axis of rotation. Each of the two disks has a transmission contour on its facing end faces. During operation, these transmission contours slide against each other, converting a rotational movement of the two disks relative to each other into an axial movement of the two disks relative to each other.In the event of a collision-induced evasive movement, the second disk therefore performs an axial evasive movement, whereby the first spring mechanism counteracts this axial evasive movement of the second disk.

[0024] For this purpose, the first spring mechanism can have several (e.g., six) helical springs that press axially parallel to the first axis of rotation onto the second disk and press the second disk against the first disk. The helical springs can be supported by a stationary disk, which serves as a counter-bearing for the helical springs. Preferably, the helical springs are distributed around the circumference of the disks, particularly equidistantly, with the disks preferably being circular.

[0025] It should also be mentioned in general that the first rotary joint for collision detection enables a non-destructive evasive movement of a tool tip of the handling tool, wherein the non-destructive evasive movement preferably comprises at least 20 mm, 50 mm, 70 mm or 100 mm from its force-free starting position.

[0026] Furthermore, it should be mentioned that the first spring mechanism for collision detection preferably has a significantly steeper spring characteristic than the second spring mechanism for part detection and thus generates a greater restoring torque around the first axis of rotation at a given angle of rotation. The first spring mechanism for collision detection is therefore preferably significantly stiffer than the second spring mechanism for part detection.

[0027] Furthermore, it should be noted that the handling device preferably only releases the rotational evasive movement at the first pivot joint around the first axis of rotation when the second angle limiter limits the rotational evasive movement at the second pivot joint around the second axis of rotation. The rotational evasive movement for collision detection therefore preferably only begins when the rotational evasive movement during part detection is limited at its end stop.

[0028] In the handling device according to the invention, the handling tool is preferably curved in a hook shape in a tool plane and has a hook at its distal end to grip the component to be handled (e.g., engine hood, trunk lid), as is also the case in the prior art. The two axes of rotation of the handling device according to the invention are preferably aligned perpendicular to this tool plane.

[0029] The handling device according to the invention has been described above as a single component. However, the invention also claims protection for a complete handling robot with such a handling device.

[0030] Furthermore, the invention also claims protection for a corresponding operating method for such a handling device, wherein the individual process steps of the operating method according to the invention already result from the preceding description of the handling device according to the invention and therefore do not need to be described separately.

[0031] Preferably, however, the handling device according to the invention is used in so-called line-tracking operation, in which the vehicle bodies to be painted are continuously conveyed through the coating system, i.e., without any downtime during processing. The handling device according to the invention makes it possible to open the hoods (e.g., engine hood or trunk lid) of the vehicle bodies while they are moving. This is made possible by the first pivot joint, which allows for evasive movement in the event of a collision.

[0032] It should be noted that the handling device for opening the hoods is preferably aligned parallel to the coating line in a top view and is angled downwards in a side view.

[0033] Furthermore, it should be mentioned that the handling device according to the invention allows a mispositioning along the painting line of at least 20 mm, 50 mm, 70 mm or even 100 mm without this leading to damage to the handling device or the vehicle body to be coated.

[0034] Other advantageous embodiments of the invention are characterized in the dependent claims or are explained in more detail below together with the description of the preferred embodiments of the invention with reference to the figures. Brief description of the drawings Fig. Figure 1 shows a perspective view of the conventional handling device described at the beginning. Fig. Figure 2 shows a perspective view of the conventional handling device already described at the beginning. Fig. Figure 3 shows a perspective view of the handling device according to the invention on a robot hand axis. Fig. Figure 4 shows a perspective view of the handling device according to the invention. Fig. 3 without the robot hand axis. Fig. Figure 5 shows a top view of the handling device according to the invention. Fig. 3 and Fig. 4. Fig. Figure 6 shows a perspective view of the handling device according to the invention on the robot hand axis with an additionally mounted cover. Fig. Figure 7 shows a characteristic curve diagram with an angle-dependent torque characteristic of the handling device according to the invention. Fig. Figure 8 shows a schematic representation of the handling device according to the invention when opening a trunk lid of a motor vehicle body. Detailed description of the drawings

[0035] The following will now describe the content in the Fig. 3, Fig. 4, Fig. 5 to Fig. Figure 6 describes an embodiment of a handling device 1 according to the invention. The handling device 1 according to the invention partially corresponds to the embodiments described at the outset and in the Fig. 1 and Fig. 2 illustrated examples of conventional handling devices 1 correspond, so that to avoid repetition reference is made to the preceding description, using the same reference numerals for corresponding details.

[0036] In the handling device 1 according to the invention, an angle plate 11 is screwed onto the robot-side mounting flange 6 of the handling device 1, which is aligned perpendicular to the plate-shaped mounting flange 6 and contains the swivel joint that enables the arm 8 to rotate about the axis of rotation A1 in the event of collision detection.

[0037] Furthermore, the angle plate 11 carries an angle limiter 12, which limits the collision-induced rotational evasive movement of the arm 8 around the axis of rotation A1 to an angular range of approximately ±17°. The angle limiter 12 thus forms a physical stop in both directions of the rotational evasive movement of the arm 8 around the axis of rotation A1.

[0038] Furthermore, the angle plate 11 carries a rotation angle sensor 13 for measuring the rotation angle of the arm 8 around the rotation axis A1 during a collision-induced evasive movement.

[0039] Furthermore, the handling device 1 includes a motion converter which, upon collision detection, transforms the rotational evasive movement of the arm 8 around the axis of rotation A1 into an axial movement parallel to the axis of rotation A1. The motion converter comprises two circular disks 14 and 15, which are aligned parallel to each other. Circular disk 14 is fixedly connected to the arm 8 and therefore follows the rotational evasive movement of the arm 8 around the axis of rotation A1. In contrast, circular disk 15 is not rotatable within the handling device 1, but is axially displaceable along the axis of rotation A1. The two circular disks 14 and 15 each have a transmission contour on their facing end faces, and these transmission contours slide against each other during operation. A rotation of the arm 8 around the axis of rotation A1 thus results in a corresponding rotation of circular disk 14 around the axis of rotation A1.This rotational movement of the circular disk 14 is converted into an axial movement of the circular disk 15 parallel to the axis of rotation A1 due to the sliding transmission contours of the two circular disks 14, 15. The motion converter described above thus converts the rotational evasive movement of the arm 8 about the axis of rotation A1 into a corresponding axial movement of the circular disk 15.

[0040] Furthermore, the handling device 1 comprises a spring mechanism that counteracts the axial movement of the circular disk 15 described above and exerts a corresponding restoring torque on the arm 8. This spring mechanism comprises six helical springs 16, which are supported on one side by a stationary circular disk 17 serving as a counter bearing, and on the other side press against the circular disk 15 parallel to the axis of rotation A1. The helical springs 16 thus counteract the axial movement of the circular disk 15 parallel to the axis of rotation A1 and therefore generate a corresponding restoring torque via the sliding transmission contours of the two circular disks 14, 15, which acts on the arm 8.

[0041] At its distal end, the arm 8 has a pivotable end piece 18 that can pivot about a rotational axis A2 relative to the arm 8, thus forming a second pivot joint. This pivot joint serves for part detection in order to recognize contact between the handling device 1 and the cover to be opened (e.g., trunk lid or engine hood).

[0042] It should be mentioned that the rotational evasive movement of the swiveling end piece 18 around the rotation axis A2 is also detected by a rotation angle sensor, which, however, is not visible in the drawing.

[0043] Furthermore, it should be noted that the rotational evasive movement of the pivoting end piece 18 about the rotation axis A2 is also limited by an angle limiter 19, which is only shown schematically here and is realized by the gap dimensions of the gap between the pivoting end piece 18 and the rest of the arm 8.

[0044] The drawings further show that the gripping hook 9 has a mounting flange 20 and is detachably mounted to the pivotable end piece 18 of the arm 8 of the handling device 1 by means of its mounting flange 20. The gripping hook 9 is located in a tool plane 21 (see Fig. 5) curved, wherein the tool plane 21 is aligned perpendicular to the two axes of rotation A1 and A2.

[0045] Fig. Figure 6 shows the handling device 1 additionally with a cover 22.

[0046] The characteristic curve diagram will now be shown according to Fig. As described in section 7, the characteristic curve diagram shows the torque M acting on the handling device 1 as a function of the rotation angle α. It should be noted that the handling device 1 actually performs two different rotational evasive movements: a first rotational evasive movement during collision detection and a second rotational evasive movement during part detection. However, in the characteristic curve diagram, these two evasive movements are combined into a single evasive movement.

[0047] The characteristic curve diagram shows a first characteristic curve section 23 for part detection and a second characteristic curve section 24 for collision detection. The characteristic curve section 23 for part detection covers relatively small rotation angles in the range from α=0 to α=α2. MAX and correspondingly small torques from M=0 to M=M2 MAXIn contrast, the characteristic curve section 24 for collision detection covers relatively large rotation angles of α=α2. MAX until α=α1 MAX and correspondingly large torques of M=M2 MAX until M=M1 MAX .

[0048] Furthermore, the characteristic curve diagram shows a torque M ZERSTÖR , in which damage occurs to the handling device 1 or to the vehicle body being painted. It should be noted that the torque M ZERSTÖR is not reached during operation and therefore lies outside characteristic curve sections 23, 24.

[0049] Furthermore, the characteristic curve diagram shows a torque M KOLLISION , which occurs during a collision. The torque M KOLLISION This lies within the characteristic curve section 24, but outside the characteristic curve section 23 for part detection.

[0050] Furthermore, the characteristic curve diagram shows a torque M DETEKTION, which first occurs upon contact between the handling device 1 and the vehicle body and serves for part detection. The torque M DETEKTION This lies within the characteristic curve section 23.

[0051] Fig. Figure 8 shows a schematic representation of a painting system according to the invention, in which a motor vehicle body 25 to be painted is conveyed through the painting system on a transport sled 26 (“skid”) by a linear conveyor 27.

[0052] Furthermore, the drawing shows the handling device 1 when opening a trunk lid 28 of the motor vehicle body 25.

[0053] The representation of the handling device 1 with solid lines shows the positioning of the handling device 1 during part detection, i.e. at the beginning of contact between the gripping hook 9 of the handling device 1 and the trunk lid 28.

[0054] In contrast, the representation of the handling device 1 with a dotted line shows a misposition s FEHL The handling device 1 moves along the linear conveyor 27. The arm 8 performs a rotary evasive movement, preventing damage to the handling device 1 and the trunk lid 28. The drawing now shows the maximum possible misalignment s. FEHL The handling device 1 is shown along the linear conveyor 27. The maximum misposition s FEHL Without damage, this amounts to approximately s FEHL =100 mm.

[0055] Furthermore, it can be seen from the drawing that the handling device 1 is oriented obliquely downwards in the side view shown. In contrast, a top view (not shown) would show that the handling device 1 is positioned centrally above the vehicle body 25. Advantages of the invention

[0056] The invention offers, among other things, the following advantages. • The handling device can be positioned above the tool engagement point on the hood to be opened (e.g. engine hood or trunk lid) and can be angled downwards. • In the event of a collision, a relative displacement of the handling device relative to the vehicle body of 100 mm along the conveying direction can occur without damaging the handling device or the vehicle body. • The handling device resets itself automatically after a collision-induced evasive maneuver, so that in the event of a collision, no employee needs to enter the paint booth to manually reset the handling device. This reduces downtime after a collision and eliminates the need for an employee to enter the paint booth. Reference symbol list 1 handling device 2 robot hand axis 3 Hand axle part 4 Hand axle part 5 Hand axle part 6 Robot-side mounting flange of the handling device 7 Tool-side mounting flange of the robot hand axis 8 Arm of the handling device 9 gripping hooks of the handling device 10 cylinder bodies 11 Angle plate on the mounting flange of the handling device 12 angle limiters for limiting the rotation angle around the first rotation axis A1 13 Rotation angle sensor for measuring the rotation angle about the first rotation axis A1 14 Rotating circular disc of the motion converter 15 Axially movable circular disks of the motion converter 16 coil springs 17 Stationary circular disc as a counter bearing for the coil springs 18 Swiveling end piece of the arm of the handling device (tool holder) 19 Angle limiters for limiting the rotation angle about the second rotation axis A2 20 Mounting flange of the grab hook 21 Tool level of the gripping hook 22 Cover for the handling device 23 Characteristic curve section for part detection 24 Characteristic curve section for collision detection 25 Motor vehicle body 26 transport sleds (“skids”) for the motor vehicle body 27 linear conveyors 28 Trunk lids of motor vehicle bodies A2 Rotation axis of the handling device to enable part detection A1 Rotation axis of the handling device to enable an evasive movement in the event of a collision M torque acting on the handling device M ZERSTÖR Torque that leads to destruction M KOLLISION Torque that occurs during a collision M DETEKTIONTorque that occurs during part detection M ÖFFNUNG Torque required to open the hood (e.g., engine hood or trunk lid). M2 MAX maximum torque until the maximum rotation angle of the second pivot joint is reached for part detection M1 MAX maximum torque until the maximum rotation angle of the first pivot joint for collision detection is reached s FEHL Misposition of the handling device α1 MAX Maximum rotation angle of the first pivot joint for collision detection α2 MAX Maximum rotation angle of the first second for part detection α Combined rotation angle of the two pivot joints

Claims

[1] Handling device (1) for mounting on a handling robot, in particular for opening a hood (28) of a motor vehicle body (25) to be painted in a painting system by the handling robot, with a) a robot-side mounting flange (6) for mounting the handling device (1) on the handling robot, in particular on a corresponding mounting flange (7) of a robot hand axis (2) of the handling robot, b) a tool-side tool holder (18) for receiving a handling tool (9), in particular a hook-shaped gripper (9), and c) a first rotary joint for collision detection, wherein the first rotary joint enables a rotary evasive movement of the tool holder (18) relative to the robot-side mounting flange (6) about a first axis of rotation (A1) in the event of a collision of the handling device (1) with a spatial boundary or with a component to be handled (25), characterized by d) a second rotary joint for part detection to detect contact with a component (25) to be handled, wherein the second rotary joint enables a rotational evasive movement of the tool holder (18) relative to the robot-side mounting flange (6) about a second axis of rotation (A2). [2] Handling device (1) according to claim 1, characterized by a) a first rotation angle sensor (13) for detecting a first rotation angle of the first pivot joint about the first axis of rotation (A1) during collision detection, and / or b) a second rotation angle sensor for detecting a second rotation angle of the second pivot joint about the second axis of rotation (A2) during part detection, and / or c) a first angle limiter (12) for physically limiting the rotational evasive movement of the first pivot joint about the first axis of rotation (A1) during collision detection, and / or d) a second angle limiter (19) for physically limiting the rotational evasive movement of the second pivot joint about the second axis of rotation (A2) during part detection, and / or e) a first spring mechanism (14-17) for generating a first restoring torque about the first axis of rotation (A1) at the first pivot joint during collision detection, wherein the first restoring torque counteracts the rotational evasive movement of the first pivot joint during collision detection, and / or f) a second spring mechanism to generate a second restoring torque about the second axis of rotation (A2) at the second pivot joint during part detection, wherein the second restoring torque counteracts the rotational evasive movement of the second pivot joint during part detection. [3] Handling device (1) according to claim 2, characterized by , a) that the first angle limiter (12) limits the first rotation angle about the first axis of rotation (A1) to a first angular range of at most ±45°, ±30° or ±20°, and / or b) that the second angle limiter (19) limits the second rotation angle about the second axis of rotation (A2) to a second angular range of at most ±15°, ±10°, ±5° or ±2°, and / or c) that the second angular range for part detection limited by the second angle limiter (19) is smaller than the first angular range for collision detection limited by the first angle limiter (12), and / or d) that during the collision-induced rotational evasive movement of the first pivot joint about the first axis of rotation (A1) within the first angular range, no forces arise that lead to damage to the handling device (1) or to the vehicle body (25) to be coated, and / or e) that during the rotary evasive movement of the second pivot joint about the second axis of rotation within the second angular range during part detection, no forces arise which lead to damage to the handling device (1) or to the motor vehicle body (25) to be coated. [4] Handling device (1) according to any one of the preceding claims, characterized by , a) that a certain minimum opening torque (M) is required to open the hood (28) of the motor vehicle body (25) to be coated ÖFFNUNG ) is required that the handling device (1) must exert force on the handling tool, and b) that the maximum restoring torque generated by the first spring mechanism (14-17) in a sub-range of the limited first angular range for collision detection is greater than the opening torque (M) required to open the hood (28). ÖFF-NUNG ), and / or c) that the maximum restoring torque generated by the second spring mechanism within the limited second angular range for part detection is less than the opening torque (M) required to open the hood (28). ÖFFNUNG ). [5] Handling device (1) according to any one of the preceding claims, characterized by , a) that the first axis of rotation (A1) is aligned parallel to the second axis of rotation (A2), and / or b) that the second pivot joint in the handling device (1) is arranged distally, while the first pivot joint in the handling device (1) is arranged proximally, and / or c) that a lever arm (8) is arranged between the first pivot joint and the second pivot joint. [6] Handling device (1) according to any one of the preceding claims, characterized by , a) that the robot hand axis (2) of the handling robot on the robot-side mounting flange enables a rotation of the handling device (1) about a distal axis of rotation, b) that the lever arm (8) runs with its longitudinal axis substantially in line with the distal axis of rotation of the robot hand axis (2), and / or c) that the handling tool (9) is substantially aligned with its longitudinal axis to the distal rotation axis of the robot hand axis (2). [7] Handling device (1) according to any one of claims 2 to 6, characterized by , a) that the first spring mechanism (14-17) for collision detection has a motion converter which converts the collision-induced rotational evasive movement about the first axis of rotation (A1) into a corresponding axial movement parallel to the first axis of rotation (A1), and b) that the first spring mechanism (14-17) for collision detection acts in the axial direction parallel to the first axis of rotation (A1) against the axial movement generated by the motion converter and thus generates the restoring torque via the motion converter which acts about the first axis of rotation (A1). [8] Handling device (1) according to claim 7, characterized by , a) that the motion converter has a first disk (14) and a second disk (15), b) that the first disk (14) and the second disk (15) are arranged parallel to each other, c) that the first disk (14) is non-rotatably connected to the lever arm (8) and rotates around the first axis of rotation (A1) in the event of a collision-induced rotational evasive movement of the lever arm (8), d) that the second disk (15) in the handling device (1) is not rotatable, but axially displaceable parallel to the first axis of rotation (A1), and e) that the two disks (14, 15) have transmission contours on their mutually facing end faces which slide against each other during operation and convert a rotational movement of the first disk (14) about the first axis of rotation (A1) into an axial movement of the second disk (15) parallel to the first axis of rotation (A1) and vice versa, thereby generating the restoring torque. [9] Handling device (1) according to claim 8, characterized by , a) that the first spring mechanism (14-17) has several coil springs (6), in particular six coil springs (6) which press in an axial direction parallel to the first axis of rotation (A1) on the second disk (15) and press the second disk (15) against the first disk (14), and / or b) that the coil springs (6) are distributed over the circumference of the second disk (15), in particular equidistantly, and / or c) that the first disk (14) and / or the second disk (15) is circular. [10] Handling device (1) according to any one of the preceding claims, characterized by , that the first pivot joint for collision detection enables a non-destructive evasive movement (s FEHL ) a tool tip of the handling tool of at least 20 mm, 50 mm, 70 mm or 100 mm from its force-free starting position is permitted. [11] Handling device (1) according to any one of the preceding claims, characterized by , a) that the first spring mechanism (14-17) for collision detection has a significantly steeper spring characteristic than the second spring mechanism for part detection and thus generates a larger restoring torque around the first axis of rotation (A1) at a given angle of rotation, and / or b) that the handling device (1) only releases the rotational evasive movement at the first pivot joint about the first axis of rotation (A1) when the second angle limiter (19) limits the rotational evasive movement at the second pivot joint about the second axis of rotation (A2). [12] Handling device (1) according to any one of the preceding claims, characterized by , a) that the handling tool (9) is hook-shaped in a tool plane (21) and has a hook (9) at its distal end to grip the component (25) to be handled, b) that the first axis of rotation (A1) is aligned perpendicular to the tool plane (21), and / or c) that the second axis of rotation (A2) is aligned perpendicular to the tool plane (21). [13] Handling robot, in particular hood-opening robot, with a multi-axis robot hand axis (2) and a handling device (1) mounted on the robot hand axis (2) for handling a hood (28) of a motor vehicle body (25) to be opened, characterized by , that the handling device (1) is designed according to one of the preceding claims. [14] Operating method for a coating plant for coating motor vehicle bodies (25), in particular for a painting plant for painting motor vehicle bodies, comprising the following steps: a) Conveying the motor vehicle bodies to be coated (25) along a coating line through the coating plant, and b) Opening hoods (28) of the motor vehicle bodies to be coated by means of a handling robot which guides a handling device (1) for opening the hoods (289), characterized by , c) that the handling device (1) is designed according to one of claims 1 to 12. [15] Operating method according to claim 14, characterized by , a) that the motor vehicle bodies (25) to be coated are conveyed through the coating plant along the coating line in line-tracking operation, and b) that, in the case of the motor vehicle bodies (25) moving in line-tracking operation, the hoods (28) are opened by the handling robot during the movement of the motor vehicle bodies (25). [16] Operating method according to claim 14 or 15, characterized by , a) that the handling device (1) for opening the hoods (28) is aligned in a top view parallel to the coating line, and / or b) that the handling device (1) for opening the hoods (28) is oriented obliquely downwards in a side view. [17] Operating method according to any one of claims 14 to 16, characterized by , that the handling device (1) is mispositioned (s FEHL ) of the handling device (1) relative to the motor vehicle body (25) to be coated along the paint line is tolerated without mispositioning (s FEHL ) leads to collision-related damage to the handling device (1) or to the vehicle body (25) to be coated, whereby the possible mispositioning (s FEHL ) along the paint line is at least 20 mm, 50 mm, 70 mm or 100 mm.

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