Gripping module for use in clean rooms

Abstract

Gripping module (10) with a gripping system (12) having a gripping system body (14), at least one base jaw (16, 18) movably mounted on the gripping system body (14), and a drive unit (20) for displacing the base jaw (16, 18), and with a gripping system carrier (22) connected to the gripping system body (14), which has a connection interface (24) for connection to an interface (26) on a robot arm (28) that is complementary to the connection interface and serves to introduce forces from the robot arm (28) into the gripping system body (14), characterized in that a casing body (30) is fastened to the gripping system body (14), which casing body, together with a cover body (32) and a flange body (34), forms a housing surrounding the gripping system carrier (22) and the at least one base jaw (16, 18),wherein the cover body (32) bears with contact force against a first end face (36) of the casing body (30) facing away from the connection interface (24) for connection to an interface (26) complementary to the connection interface on a robot arm (28), and the flange body (34) bears with contact force against a second end face (38) of the casing body (30) facing away from the cover body (32), wherein the gripping system carrier (22) is fastened at the connection interface (24) to the interface (26) complementary thereto on a robot arm (28) by means of at least one screw (60) which engages from the interior of the housing into a robot flange on the robot arm (28) with the complementary interface (26), wherein the gripping system body (14) has a gripping system body mounting flange (39) arranged in the housing, which is mounted on a casing body mounting flange (40) of the casing body (30) is applied,wherein the casing body (30) is connected to the gripping system body (14) by means of at least one casing body mounting screw (42) passing through the casing body mounting flange (40) in the housing for securing it to the casing body (30), wherein the cover body (32) is connected to the casing body (30) by means of at least one cover body mounting screw (46) passing through the casing body mounting flange (40) in the housing for securing it to the casing body (30), and wherein the gripping system body (14) is connected to the flange body (34) by means of at least one gripping system body mounting screw (50) passing through the flange body (34) from a side facing away from the cover body (32).

Description

[0001] The invention relates to a gripping module with a gripping system having a gripping system body, at least one base jaw movably mounted on the gripping system body and a drive unit for displacing the base jaw, and having a gripping system carrier connected to the gripping system body, which has a connection interface for connection to an interface on a robot arm that is complementary to the connection interface and serves to introduce forces from the robot arm into the gripping system body.

[0002] For the purposes of the invention, a gripping module is an assembly designed for connection to a robot arm, comprising base jaws for accommodating gripper fingers with which gripping parts, such as vials or sample carriers, can be gripped. Together with the robot arm, the gripping module forms a so-called pick-and-place application or handling application, which is used, for example, for handling substances in a pharmaceutical production process or for placing samples. In the pharmaceutical sector, special requirements are often placed on hygiene and cleanliness, particularly on the tool that comes into direct contact with the pharmaceutical preparation. Production here usually takes place in a clean room, which, in addition to common techniques for reducing the number of particles, also uses regular hygienic cleaning with germicidal agents, such as hot steam treatment with hydrogen peroxide.

[0003] A gripping module of the type mentioned above is known from DE 100 13 022 C2. This describes a pneumatic parallel gripper with a gripping module that has a gripping system body with a jaw guide recess. The gripping module contains a movable functional unit with two adjustable base jaws that are guided for linear movement in the jaw guide recess. These base jaws are motion-coupled to an output element in the gripping module, which has a piston in the gripping system body that can be pressurized with compressed air.

[0004] For grippers in pharmaceutical or biotechnological plants, special precautions must be taken to ensure that the handling of pharmaceutical or biotechnological substances does not lead to the introduction of contaminants into these substances. Likewise, it is important to prevent substances used in the application from being carried over from one sub-process to the next. A large stroke is advantageous for handling different parts with the same gripping module.

[0005] DE 10 2015 001 504 A1 discloses a gripping module containing a gripping system with a gripping system body on which two base jaws are mounted for linear movement. The gripping system in the gripping module is located in a closed chamber, a protective housing having a base that forms a closed housing chamber with a flexible, hood-shaped cap made of an elastomer attached to the base. The gripper jaws of the gripper protrude through through-holes from the cap, which is elastically deformed when the base jaws of the gripping system are moved. The hood-shaped cap limits the stroke of the gripping module and is difficult to clean. DE 103 42 166 A1 describes a gripping module for a milking robot. The gripping module contains a gripping system arranged in a rigid housing, which in turn is arranged in a C-shaped housing that protects the gripping system when the gripping module is cleaned with a high-pressure cleaner.The housing has a first housing shell with a sleeve for a pivoting arm of the milking robot, which seals off the gripping module from the robot arm. The housing has a second and a third housing shell, which are opposite each other and each have a C-shape. The first housing shell, together with the second and third, forms a housing surrounding the gripping system. The C-shape of the housing for the gripping system in the gripping module limits its stroke.

[0006] The object of the invention is to provide a gripping module for a pick-and-place application and / or a handling application, which counteracts the entry of contaminants into clean rooms, also in the sense of hygienically clean areas, as well as the carry-over of substances in which the pick-and-place application and / or the handling application is used.

[0007] This object is achieved by a gripping module having the features of claim 1. Advantageous developments of the invention are specified in the dependent claims.

[0008] The gripper module according to the invention has a housing with only three main components: the casing body, the cover body, and the flange body. These are connected to each other from the inside by the inventive design and clamped against each other in such a way that the force flow from the gripper finger to the robot flange occurs only via the internal metal structure and not via the casing body, which is preferably made of plastic for weight reasons. The inventive arrangement also has the advantage of being robust against manufacturing tolerances, i.e., it does not place particularly high demands on the accuracy of the individual components, thus enabling economical production.

[0009] The gripping module according to the invention also has the advantage that all screw connections are located inside the housing, thus eliminating the need for a hygienic design. The gripping module is also mounted on the robot inside the housing, thus in a non-hygienic space sealed off from the application side. Only the gripping system body mounting screws for closing the gripping module housing are accessible from the outside, resulting in a particularly compact design and particularly easy cleaning of the gripping module.

[0010] The inventive design also reduces the number of application-side housing parts, i.e., those in contact with the media, and thus the number of required mechanical interfaces that must be sealed. Since the technical implementation of these interfaces in pharmaceutical applications is generally very demanding due to the applicable material and cleaning requirements, this represents a significant advantage of the invention.

[0011] The gripping module specified in claim 1 contains a gripping system having a gripping system body, at least one base jaw movably mounted on the gripping system body, and at least one drive unit for displacing the base jaw. The gripping module has a gripping system carrier connected to the gripping system body, which has a connection interface for connection to an interface on a robot arm that is complementary to the connection interface and serves to introduce forces from the robot arm into the gripping system body. A casing body is attached to the gripping system body, which, together with a cover body and a flange body, forms a housing surrounding the gripping system carrier and the at least one base jaw.wherein the cover body bears with contact force against a first end face of the casing body facing away from the connection interface for connection to an interface complementary to the connection interface on a robot arm, and the flange body bears with contact force against a second end face of the casing body facing away from the cover body, wherein the gripping system carrier is fastened to the connection interface to the interface complementary thereto on a robot arm by means of at least one screw which engages from the interior of the housing into a robot flange on the robot arm (28) with the complementary interface, wherein the gripping system body has a gripping system body mounting flange arranged in the housing, which rests against a casing body mounting flange of the casing body,wherein the casing body is connected to the gripping system body for securing it to the gripping system body by means of at least one casing body mounting screw passing through the casing body mounting flange in the housing, wherein the cover body is connected to the casing body for securing it to the casing body by means of at least one cover body mounting screw passing through the casing body mounting flange in the housing, and wherein the gripping system body is connected to the flange body by means of at least one gripping system body mounting screw passing through the flange body from a side facing away from the cover body. In this way, a hygienic closure of the gripping module housing can be achieved using fewer mounting screws, or even just one mounting screw.

[0012] By connecting the gripping system body to the flange body by means of at least one gripping system body mounting screw that penetrates the flange body, the number of external mounting screws on the gripping module can be minimized. The gripping system mounting screw can, for example, engage a thread formed in the gripping system body.

[0013] In the gripping module, a jacket body can be attached to the gripping system body, which jacket body surrounds the gripping system body circumferentially, wherein a finger rod passing through the jacket body is connected to the base jaw.

[0014] A lid body sealing element can be provided between the lid body and the casing body for sealing the lid body to the casing body, which prevents the penetration or escape of contaminants.

[0015] A gripping module according to the invention can have a flange body sealing element arranged between the flange body and the casing body for sealing the flange body to the casing body. It is possible for a finger rod to be connected to the base jaw and extend through the casing body. Such rods can be reliably sealed with known sealing shapes, preferably if they are cylindrical. Such cylindrical finger rods are technically simple and can be manufactured with a high surface quality.

[0016] By attaching the gripping system carrier to the connection interface on a robot arm by means of at least one screw that engages a robot flange of the complementary interface from the inside of the housing, the assembly is highly hygienic and easy to clean, as no external screws or adapters are required to mount the gripping module on the robot.

[0017] In particular, it is advantageous if the gripping system has at least one electrical component and the gripping system body has at least one contact surface for at least one electrical connection contact, which is mounted on the flange body. This allows the gripping system to be installed in the gripping module with minimal effort and easily replaced during service overhauls.

[0018] In a gripping module according to the invention, it is possible for an electromechanical connection assembly to be arranged in the flange body, to which at least one connecting cable of the gripping module can be connected and which has a spring contact arrangement that presses the at least one electrical connection contact against the at least one contact mating surface of the gripping system body, thus establishing an electrical connection. This eliminates the need for an external plug connection, which is difficult to implement in the pharmaceutical sector, and results in a significantly more compact design. A further advantage of this arrangement is that the gripping module can be easily replaced during assembly and servicing, as the flange body, including the wiring, remains on the robot and the gripping module can be easily replaced by loosening the outer gripping system body assembly screws, which act as locking screws.

[0019] It is advantageous if the finger rod is sealed to the seal receiving body by means of a sealing element accommodated in a seal receiving body connected to the casing body, since this prevents the introduction of contaminants from the non-hygienic interior of the gripping module into the pharmaceutical application as well as the penetration of cleaning and process substances from the application into the gripping module.

[0020] In particular, it is advantageous if the sealing element is arranged on a side of the casing body facing away from the gripping system body and is designed as a sealing element surrounding the finger rod, preferably as a double wiper, which, on a side facing the casing body, has the function of protecting against the escape of dirt particles from the interior of the casing body and, on a side facing away from the casing body, offers protection against the penetration of dirt into the interior of the casing body. In this way, it is possible to design the interior of the gripping module as a less hygienic area to which the principles of hygienic design do not need to be applied. In addition, this also enables the use of non-pharmaceutical-grade materials inside the gripping module, such as aluminum, steel alloys that do not correspond to type 316 ("V4A"), or brass.

[0021] The gripping module may include a seal receiving body sealing element arranged between the seal receiving body and the casing body for sealing the seal receiving body to the casing body.

[0022] It is advantageous if the seal receiving body extends through the casing body and is clamped against the casing body by means of a clamping nut on the side of the casing body facing the gripping system body. This design enables a space-saving construction and ensures easy compensation of manufacturing tolerances by adjusting the assembly, for example, using an adjustment device.

[0023] The casing body can be made of a plastic material, particularly PEEK. This plastic is used primarily in pharmaceutical applications due to its high strength and excellent media resistance. Hydrogen peroxide absorption, which is typically used to clean equipment, is also particularly low with this plastic. Constructing the casing body from plastic offers manufacturing and weight advantages. This lightweight design approach is advisable because the payload of available pharmaceutical robots is limited, and the housing parts facing the application would otherwise have to be made of stainless steel, which, in terms of weight, would be detrimental to the masses to be moved in the process.

[0024] By giving the shell body, the cover body and the flange body a hygienic design geometry, the gripping module can be used for handling objects in a clean room atmosphere.

[0025] In the following, the invention is explained in more detail with reference to the embodiments shown in the drawing.

[0026] They show: Fig. 1 a gripping module with a gripping system; Fig. 2 a section of the gripping module along the line II - II Fig. 1; Fig. 3 a section of the gripping module along the line III - III Fig. 1; Fig. 4 a section of the gripping module along the line IV - IV Fig. 1; Fig. 5 a section of the gripping module along the line V - V Fig. 1; Fig. 6 a perspective view of a flange body of the gripping module with a gripping system carrier; Fig. 7 a plan view of the flange body of the gripping module with the gripping system carrier from the inside; and Fig. 8 a gripping system body of the gripping module with a component carrier for electrical assemblies connected to it.

[0027] The Fig. The gripping module 10 shown in Figure 1 contains a gripping system with a gripping system body. Fig. 2 is a section of the gripping module 10 along the line II - II of Fig. 1 and shows the gripping system 12 with the gripping system body 14. A first base jaw 16 and a further base jaw 18 are mounted on the gripping system body 14 in a linearly movable manner. Fig. 3 is a section of the gripping module 10 along the line III - III of Fig. 1. The Fig. 4 shows a section of the gripping module along the line IV - IV and the Fig. 5 a section of the gripping module along the line V - V Fig. 1. It should be noted that in a modified embodiment of the gripping module, a rotary mounting of a base jaw can also be provided.

[0028] The synchronization of the base jaws, especially in linearly movable arrangements, is realized via a belt mechanism, but arrangements with rack and pinion mechanisms or threaded spindle arrangements are also possible.

[0029] The gripping system 10 contains an electric drive unit 20 for moving the base jaws 16, 18 and has a gripping system carrier 22 connected to the gripping system body 14.

[0030] The gripping system carrier 22 has a connection interface 24 for connection to an interface 26 on a robot arm 28 that is complementary to the connection interface 24. The connection interface 24 serves to introduce forces with a force flow 29 from the robot arm 28 through the gripping system body 14 into the first base jaw 16 and the further base jaw 18. A casing body 30 is attached to the gripping system body 14. The casing body 30, together with a cover body 32 and a flange body 34, forms a housing that surrounds the gripping system carrier 14 and the base jaws 16, 18.

[0031] The cover body 32 bears with contact force against a first end face 36 of the casing body 30 facing away from the interface 26 for connecting the gripping module 12 to the robot arm 28. Accordingly, the flange body 34 bears with contact force against a further end face 38 of the casing body 30 facing away from the cover body.

[0032] In the gripping module 10, the gripping system body 14 rests against a casing body mounting flange 40 of the casing body 30 via an internal gripping system body mounting flange 39 arranged in the housing. The casing body 30, in turn, is connected to the gripping system body 14 by means of several casing body mounting screws 42 that penetrate the casing body mounting flange 40. Each casing body mounting screw 42 engages a thread 41 in the gripping system body mounting flange 39. The cover body 32 is connected to the casing body 30 by means of several cover body mounting screws 46 that penetrate the casing body mounting flange 40 and the gripping system body mounting flange 39. For this purpose, the cover body 32 contains a thread 43 for each cover body mounting screw 46, into which the corresponding cover body mounting screw 46 engages.

[0033] A lid body sealing element 48 is arranged between the lid body 32 and the casing body 30, which serves to seal the lid body 32 to the casing body 30. The gripping system body 14 is connected to the flange body 34 by means of gripping system body mounting screws 50. A gripping system body mounting screw 50 engages a thread 52 formed in the gripping system body 14. A flange body sealing element 56 is arranged between the flange body 34 and the casing body 30, which serves to seal the flange body 34 to the casing body 30.

[0034] A finger rod 58 is connected to each of the base jaws 16, 18, which extends through the casing body 30. To secure the flange body 34 to the robot flange, a screw connection with screws 60 is provided, which penetrate the flange body 34 from the interior of the casing body 30. The gripping system carrier 22 is fastened at the connection interface 24 to the complementary interface 26 on the robot arm 28 by means of the screws 60, which engage from the interior of the housing into a robot flange on the robot arm 28 of the complementary interface 26. The gripping system carrier can also be designed as part of the flange body.

[0035] The Fig. 6 is a perspective view of the flange body 34 of the gripping module 10 with the gripping system carrier 22 connected to a robot arm 28. The Fig. 7 shows a plan view of the flange body 34 of the gripping module 10 with the gripping system carrier 22 from the inside. Fig. 8 shows the gripping system body 34 of the gripping module with a component carrier 64 for electrical components 62 connected thereto.

[0036] The electrical components 62 are attached to the component carrier 64. The component carrier is firmly connected to the gripping system body 14. An electromechanical connection assembly 70 is arranged in the flange body 34, to which connecting cables 72 of the gripping module 12 are connected. Contact surfaces 66 of electrical connection contacts of a spring contact arrangement 68 are located on the component carrier 64, which is mounted on the flange body 34 and secured there. The spring contact arrangement 68 presses the electrical connection contacts against the contact surfaces 66 of the gripping system body 14.

[0037] The sheath body 30 attached to the gripping system body 14 surrounds the gripping system body 14 circumferentially.

[0038] For moving the base jaws 16, 18, the drive unit 20 has a drive motor embodied as an electric motor. It should be noted that the drive motor 24 can also include a gear train. The drive unit 20 drives a toothed belt drive 21 with a toothed belt 23.

[0039] The toothed belt drive 21 is accessible when the cover body 32 is removed from the casing body 30. When the cover body is removed from the casing body, assembly and / or maintenance work on the toothed belt drive is possible.

[0040] The toothed belt 23 is designed as an endless belt and consists, for example, of a polyurethane material that is preferably reinforced by tension members. The toothed belt 23 runs around a first toothed belt pulley 25 rotatably mounted on the gripping system body 14 and around a further toothed belt pulley 27 rotatably mounted on the gripping system body 14. The toothed belt 23 has a first toothed belt side facing the toothed belt pulley 25 and the toothed belt pulley 27, on which first toothed belt side regularly arranged toothed belt teeth are formed. On the second toothed belt side of the toothed belt 23 facing away from the toothed belt pulley 25 and the toothed belt pulley 27, in contrast, there are no toothed belt teeth. The first toothed belt pulley 25 is connected in a rotationally fixed manner to a drive shaft 31 of the drive unit 20. By means of the drive motor, the toothed belt 23 can be moved in a circular movement around the first toothed belt wheel 25 and the further toothed belt wheel 27 according to the double arrow 33.The first base jaw 16 and the second base jaw 18 are secured to the toothed belt 23. By moving the toothed belt 23 around the toothed belt pulleys 25, 27, the base jaws 16, 18 are displaced in opposite directions according to the double arrow 35, 37. In this way, a gripping tool with a first gripper finger connected to the first base jaw 16 and a second gripper finger connected to the second base jaw 18 can be opened or closed.

[0041] The component carrier 64 and the connection interface 26 are accessible when the casing body 30 is removed from the flange body 34. When the cover body 32 is removed from the casing body 30, assembly and / or maintenance work on the toothed belt drive 21 is possible.

[0042] The finger rods 58 fixed to the base jaws 16, 18 are each sealed to the seal receiving body 74 by means of a sealing element 76 which is received in a seal receiving body 74 connected to the casing body 30.

[0043] The sealing element 76 is arranged on a side of the casing body 30 facing away from the gripping system body 14. It is designed as a sealing element in the form of a double wiper surrounding the finger rod 58. On a side facing away from the casing body 30, the double wiper functions to protect against the escape of dirt particles from the interior of the casing body 30. On a side facing away from the casing body 30, the double wiper offers protection against the penetration of dirt into the interior of the casing body 30.

[0044] A seal receiving body sealing element 78 is provided between the seal receiving body 74 and the casing body 30 for sealing the seal receiving body 74 to the casing body 30. The seal receiving body 74 extends through the casing body 30. The seal receiving body 74 is clamped against the casing body 30 by means of a clamping nut 80 on the side of the casing body 30 facing the gripping system body 14. The casing body 30 is made of the plastic material PEEK. The casing body 30, the cover body 32, and the flange body 34 have a hygienic design geometry. This enables the gripping module 12 to be used for handling objects in a cleanroom atmosphere and to be properly cleaned in accordance with the hygienic requirements typical for these applications.

[0045] In summary, the following preferred features of the invention are particularly noteworthy: A gripping module 10 comprises a gripping system 12 having a gripping system body 14, at least one base jaw 16, 18 movably mounted on the gripping system body 14, and a drive unit 20 for displacing the base jaw 16, 18, and containing a gripping system carrier 22 connected to the gripping system body 14. The gripping system carrier 22 has a connection interface 24 for connection to an interface 26 on a robot arm 28 that is complementary to the connection interface and serves to introduce forces from the robot arm 28 into the gripping system body 14.A casing body 30 is fastened to the gripping system body 14 and, together with a cover body 32 and a flange body 34, forms a housing surrounding the gripping system carrier 22 and the at least one base jaw 16, 18. The cover body 32 bears with a contact force against a first end face 36 of the casing body 30 facing away from the connection interface 24 for connecting to an interface 26 complementary to the connection interface on a robot arm 28, and the flange body 34 bears with a contact force against a second end face 38 of the casing body 30 facing this connection interface 24.

[0046] According to a further aspect, the gripping system body (14) can have a gripping system body mounting flange (39) arranged in the housing, which rests against a casing body mounting flange (40) of the casing body (30).

[0047] According to a further aspect, the casing body (30) can be connected to the gripping system body (14) by means of at least one casing body mounting screw (42) passing through the casing body mounting flange (40).

[0048] According to a further aspect, the cover body (32) can be connected to the casing body (30) by means of at least one cover body mounting screw (46) passing through the casing body mounting flange (40).

[0049] According to a further aspect, there may be a lid body sealing element (48) arranged between the lid body (32) and the casing body (30) for sealing the lid body (32) to the casing body (30).

[0050] According to a further aspect, the gripping system body (14) can be connected to the flange body (34) by means of at least one gripping system body mounting screw (50) passing through the flange body (34).

[0051] The gripping system mounting screw (50) can engage in a thread (52) formed in the gripping system body.

[0052] According to a further aspect, the gripping module can have a flange body sealing element (56) arranged between the flange body (34) and the casing body (30) for sealing the flange body (34) to the casing body (30).

[0053] According to a further aspect, the base jaw (16, 18) can be connected to a finger rod (58) which passes through the casing body (30).

[0054] According to a further aspect, the gripping system carrier (22) can be fastened at the connection interface (24) to the complementary interface (26) on a robot arm (28) by means of at least one screw (60) which engages from the interior of the housing into a robot flange on the robot arm (28) with the complementary interface (26).

[0055] According to a further aspect, the gripping system (12) can have at least one electrical component (62) and the gripping system body (14) can have at least one contact counter surface (66) for at least one electrical connection contact which is mounted on the flange body (34).

[0056] According to a further aspect, an electromechanical connection assembly (70) can be arranged in the flange body (34), to which at least one connection line (72) can be placed, which has a spring contact arrangement (68) which presses the at least one electrical connection contact against the at least one contact counter surface (66) of the gripping system body (14).

[0057] The invention may also have the following preferred features: A gripping module (10) contains a gripping system (12) having a gripping system body (14), at least one base jaw (16, 18) movably mounted on the gripping system body (14), and a drive unit (20) for displacing the base jaw (16, 18), and a gripping system carrier (22) connected to the gripping system body (14), which carrier has a connection interface (24) for connection to an interface (26) on a robot arm (28) that is complementary to the connection interface and serves to introduce forces from the robot arm (28) into the gripping system body (14). A casing body (30) is fastened to the gripping system body (14), which circumferentially surrounds the gripping system body (14), wherein a finger rod (58) passing through the casing body is connected to the base jaw (14, 16). According to a further aspect, the finger rod (58) can be sealed to the seal receiving body (74) by means of a sealing element (76) received in a seal receiving body (74) connected to the casing body (30).

[0058] According to a further aspect, the sealing element (76) can be arranged on a side of the casing body (30) facing away from the gripping system body (14) and can be designed as a sealing element (78) surrounding the finger rod (58), preferably as a double wiper, which on a side facing the casing body (30) has the function of protecting against the escape of dirt particles from the interior of the casing body (30) and which on a side facing away from the casing body (30) offers protection against the penetration of dirt into the interior of the casing body (30).

[0059] According to a further aspect, a seal receiving body sealing element (78) for sealing the seal receiving body (74) to the casing body (30) can be arranged between the seal receiving body (74) and the casing body (30).

[0060] According to a further aspect, the seal receiving body (74) can pass through the casing body (30) and can be clamped against the casing body (30) by means of a clamping nut (80) on the side of the casing body (30) facing the gripping system body (14).

[0061] According to a further aspect, the sheath body (30) can consist of a plastic material, in particular of PEEK.

[0062] According to a further aspect, the jacket body (30) and the cover body (32) as well as the flange body (34) can have a hygienic design geometry.

[0063] A gripping module (10) as specified above can be used for handling objects in a clean room atmosphere. List of reference symbols 10 gripping module 12 gripping system 14 gripping system bodies 16, 18 Base jaw 20 drive unit 21 Timing belt transmission 22 gripping system carriers 23 Timing belt 24 connection interface 25 Timing belt pulley 26 complementary interface to connection interface 27 Timing belt pulley 28 Robot arm 29 Power flow 30 mantle bodies 31 Drive shaft 32 lid body 33 Double arrow 34 flange bodies 35 Double arrow 36 first end face of the casing body 37 Double arrow 38 second end face of the casing body 39 Gripping system body mounting flange 40 Shell body mounting flange 41 threads 42 Shell body mounting flange 43 threads 46 Cover body mounting screw 48 Lid body sealing element 50 gripping system body mounting screw 52 threads 56 Flange body sealing element 58 Finger bar 60 screw 62 electrical components 64 component carriers 66 Contact surface 68 spring contact arrangement 70 connection module 72 connecting cable 74 Sealing body 76 Sealing element 78 Sealing body sealing element 80 clamping nut

Claims

[1] Gripping module (10) with a gripping system (12) which has a gripping system body (14), at least one base jaw (16, 18) movably mounted on the gripping system body (14) and a drive unit (20) for displacing the base jaw (16, 18), and with a gripping system carrier (22) connected to the gripping system body (14), which has a connection interface (24) for connection to an interface (26) on a robot arm (28) which is complementary to the connection interface and which serves to introduce forces from the robot arm (28) into the gripping system body (14), characterized bythat a casing body (30) is fastened to the gripping system body (14), which casing body, together with a cover body (32) and a flange body (34), forms a housing surrounding the gripping system carrier (22) and the at least one base jaw (16, 18), wherein the cover body (32) bears with contact force against a first end face (36) of the casing body (30) facing away from the connection interface (24) for connection to an interface (26) complementary to the connection interface on a robot arm (28), and the flange body (34) bears with contact force against a second end face (38) of the casing body (30) facing away from the cover body (32), wherein the gripping system carrier (22) is fastened at the connection interface (24) to the interface (26) complementary thereto on a robot arm (28) by means of at least one screw (60) which extends from the interior of the housing into a robot flange on the Robot arm (28) engages with the complementary interface (26),wherein the gripping system body (14) has a gripping system body mounting flange (39) arranged in the housing, which rests against a casing body mounting flange (40) of the casing body (30), wherein the casing body (30) is connected to the gripping system body (14) for securing it to the gripping system body (14) by means of at least one casing body mounting screw (42) passing through the casing body mounting flange (40) in the housing, wherein the cover body (32) is connected to the casing body (30) for securing it to the casing body (30) by means of at least one cover body mounting screw (46) passing through the casing body mounting flange (40) in the housing, and wherein the gripping system body (14) is connected to the flange body (34) by means of at least one gripping system body mounting screw (50) which secures the flange body (34) from a side facing away from the cover body (32) takes effect., [2] Gripping module according to claim 1, characterized bya lid body sealing element (48) arranged between the lid body (32) and the casing body (30) for sealing the lid body (32) to the casing body (30). [3] Gripping module according to claim 1 or 2, characterized by that the gripping system mounting screw (50) engages in a thread (52) formed in the gripping system body. [4] Gripping module according to one of claims 1 to 3, characterized by a flange body sealing element (56) arranged between the flange body (34) and the casing body (30) for sealing the flange body (34) to the casing body (30). [5] Gripping module according to one of claims 1 to 4, characterized by that the gripping system (12) has at least one electrical component (62) and the gripping system body (14) has at least one contact counter surface (66) for at least one electrical connection contact which is mounted on the flange body (34). [6] Gripping module according to claim 5, characterized bythat an electromechanical connection assembly (70) is arranged in the flange body (34), to which at least one connection line (72) can be placed, which has a spring contact arrangement (68) which presses the at least one electrical connection contact against the at least one contact counter surface (66) of the gripping system body (14). [7] Gripping module according to one of claims 1 to 6, characterized by that a finger rod (58) is connected to the base jaw (16, 18) and passes through the casing body (30). [8] Gripping module according to claim 7, characterized by that the finger rod (58) is sealed to the seal receiving body (74) by means of a sealing element (76) received in a seal receiving body (74) connected to the casing body (30). [9] Gripping module according to claim 8, characterized bythat the sealing element (76) is arranged on a side of the casing body (30) facing away from the gripping system body (14) and is designed as a sealing element (78) surrounding the finger rod (58), preferably as a double wiper, which on a side facing the casing body (30) has the function of protecting against the escape of dirt particles from the interior of the casing body (30) and which on a side facing away from the casing body (30) offers protection against the penetration of dirt into the interior of the casing body (30). [10] Gripping module according to claim 8 or 9, characterized by a seal receiving body sealing element (78) arranged between the seal receiving body (74) and the casing body (30) for sealing the seal receiving body (74) to the casing body (30). [11] Gripping module according to one of claims 8 to 10, characterized bythat the seal receiving body (74) passes through the casing body (30) and is clamped against the casing body (30) by means of a clamping nut (80) on the side of the casing body (30) facing the gripping system body (14). [12] Gripping module according to one of the preceding claims, characterized by that the casing body (30) consists of a plastic material, in particular of PEEK. [13] Gripping module according to one of the preceding claims characterized by that the jacket body (30) and the cover body (32) as well as the flange body (34) have a hygienic design geometry. [14] Use of a gripping module (10) according to one of the preceding claims for handling objects in a clean room atmosphere.

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