Handling system comprising tube lifter and manipulator with control lever

Abstract

Handling system (10), comprising: - a hose lifter (12), with ◯ a lifting hose (16) which has a hose interior (20), ◯ an end effector (22), in particular a suction gripping device (24), and ◯ a valve device (70), in particular arranged on or in the lifting hose (16), for controlling flow connections; - a manipulator (14), in particular a robot, for displacing the end effector (22); - a coupling device (34) for coupling the tube lifter (12) to the manipulator (14), wherein the coupling device (34) has a first coupling section (36) on the tube lifter side and a second coupling section (38) on the manipulator side, wherein the first and the second coupling sections (36, 38) can be connected to one another by means of a connecting device (44), in particular in a repeatedly detachable manner, wherein the first coupling section (36) is held on the lifting tube (16) in an axially displaceable manner along a control axis (27), wherein the first coupling section (36) cooperates with the valve device (70) in such a way that the valve device (70) can be actuated, in particular controlled, by displacing the first coupling section (36) along the control axis (27), wherein the connecting device (44) is designed to be controllable in such a way that it can be selectively activated or can be deactivated,wherein a control is provided for controlling the connecting device (44).,

Description

[0001] The invention relates to a handling system comprising a tube lifter and a manipulator for moving the tube lifter.

[0002] Tube lifters are vacuum handling devices that can be used to lift, relocate, and then set down loads using negative pressure. The lifting movement is achieved by means of a lifting hose, which can be shortened by applying negative pressure to its interior and lengthened again by releasing the negative pressure. An end effector for gripping an object, particularly in the form of a suction gripper, is usually located at one end of the lifting hose.

[0003] Tube lifters with lifting hose and suction gripping device are known, for example, from WO 2007 / 094720 A1, EP3078620A1 or EP3904269A1.

[0004] Such tube lifters are usually operated manually, for example via an operating device arranged on the lifting hose, by means of which the lifting hose can be moved and a vacuum supply to the lifting hose can be controlled.

[0005] Handling systems are also known, for example from EP 3 720 80 B1, in which a tube lifter can be moved automatically by means of a robot.

[0006] The present invention is based on the object of further improving an automated control of a tube lifter, in particular with regard to collaborative operation with a person.

[0007] This object is achieved according to the invention by a handling system having the features of claim 1. The handling system is designed for handling objects, in particular for lifting, moving, and setting down an object.

[0008] The handling system comprises a tube lifter. The tube lifter comprises a lifting hose and an end effector for gripping an object, in particular a suction gripping device. The lifting hose extends along a longitudinal axis of the lifting hose and has a hose interior. The lifting hose can be shortened by applying negative pressure to the hose interior and lengthened again by ventilating the hose interior (i.e., by allowing air, in particular ambient air, to flow into the hose interior). The handling system can also comprise a vacuum generation device for supplying the tube lifter with negative pressure. Preferably, the end effector, in particular when configured as a suction gripping device, can be supplied with negative pressure through the hose interior of the lifting hose.For example, the lifting hose can be attached to a support or a building ceiling at an end facing away from the end effector so that it hangs vertically downwards.

[0009] The tube lifter also has a valve device for controlling flow connections, in particular for controlling a flow connection between the hose interior and an environment and / or a flow connection between the hose interior and the end effector (suction gripper device). The valve device can be arranged, for example, on or in the lifting hose.

[0010] The handling system also comprises a manipulator for displacing the end effector, in particular in a plane orthogonal to the longitudinal axis of the lifting tube, preferably horizontally. The manipulator is preferably a robot, more preferably a collaborative robot (cobot).

[0011] The handling system also comprises a coupling device by means of which the tube lifter can be coupled to the manipulator, in particular in a repeatedly detachable manner. The coupling device comprises a first coupling section on the tube lifter side and a second coupling section on the manipulator side. The second coupling section on the manipulator side is in particular connected, preferably fixedly, to the manipulator, e.g., a robot arm.

[0012] The coupling device further comprises a connecting device by means of which the first and second coupling sections can be connected to one another, preferably in a repeatedly detachable manner. In the connected state of the first and second coupling sections, the tube lifter and manipulator preferably form a movement unit, so that a displacement movement of the manipulator in a plane orthogonal to the control axis is transferred into a corresponding displacement movement of the tube lifter.

[0013] The first coupling section is mounted on the lifting hose so as to be axially displaceable along a control axis, in particular between a first end position close to the lifting hose and a second end position remote from the lifting hose. The control axis preferably runs parallel or collinear to the lifting hose longitudinal axis. In particular, the coupling device can be designed such that - when the first and second coupling sections are connected - a displacement movement of the manipulator-side second coupling section in a displacement plane orthogonal to the control axis (as a result of a movement of the manipulator) is transmitted into a movement of the lifting hose in this displacement plane, but a displacement movement of the manipulator-side second coupling section along an axis parallel to the control axis (i.e., orthogonal to the displacement plane) is not transmitted into a displacement movement of the lifting hose.

[0014] The first coupling section interacts with the valve device in such a way that the valve device can be actuated, in particular controlled, by displacing the first coupling section along the control axis.

[0015] In the proposed solution, the valve device can be controlled by a displacement movement of the manipulator, thus allowing the tube lifter to be operated automatically. Preferably, the valve device comprises a lifting tube ventilation valve for ventilating the interior of the lifting tube. The lifting tube ventilation valve can be designed, in particular, to control an inflow of ambient air into the interior of the hose and thus a change in the length of the lifting tube. The first coupling section can then interact with the lifting tube ventilation valve in such a way that, by displacing the first coupling section along the control axis, a ventilation position of the lifting tube ventilation valve can be changed; in particular, the lifting tube ventilation valve can be selectively opened or closed.In this respect, by moving the first coupling section along the control axis, a shortening or lengthening of the lifting hose along the longitudinal axis of the lifting hose can be controlled. Such a configuration enables the length of the lifting hose and thus the lifting force exerted by the lifting hose to be controlled by moving the manipulator, enabling automated operation.

[0016] In the proposed automated control of the tube lifter, it is advantageous if the coupling device or the connecting device is designed to automatically decouple the manipulator from the tube lifter as needed, particularly in an emergency situation such as a power failure. This enables, for example, the manipulator, in the decoupled state, to automatically move into a safety configuration in which no danger arises for any person possibly located in the same work area. In this way, a safety function can be provided, particularly without the mandatory requirement for additional external safety measures (e.g., protective fences around a handling system or an uninterruptible power supply).

[0017] According to the invention, the connecting device is designed to be controllable in such a way that it can be selectively activated or deactivated, in particular can be repeatedly activated, deactivated, and reactivated. In this respect, the connecting device is controllable in such a way that a connecting effect of the connecting device coupling the first coupling section and the second coupling section to one another can be selectively activated or deactivated, in particular can be activated, deactivated, and reactivated. In particular, the connecting device is designed such that in the activated state, the first and second coupling sections are connected to one another, and in the deactivated state, the first and second coupling sections can be released from one another without tools. The handling system comprises a controller for controlling the connecting device.The controller can be a manipulator controller, especially a robot controller. It is also conceivable that the controller is an external controller, e.g., as part of a higher-level control system of the handling system.

[0018] An advantageous embodiment of the connecting device can consist in the connecting device having at least one electromagnet that can be activated or deactivated as needed. The at least one electromagnet is preferably designed such that in an activated, in particular energized, operating state of the at least one electromagnet, the first and second coupling sections are connected to one another, and in a deactivated, in particular de-energized, operating state of the at least one electromagnet, the first and second coupling sections can be detached from one another without the need for tools. In this way, a safety function is created in a simple design manner, since in the event of a power failure, the magnetic effect of the at least one electromagnet automatically decreases and thus the first and second coupling sections (and consequently the manipulator and tube lifter) are automatically separated from one another.It is possible for the first and second coupling sections to be directly connected to one another in the activated operating state by the magnetic force of the electromagnet. It is also conceivable for the electromagnet to actuate a connecting device. The at least one electromagnet can be arranged on the first coupling section and / or on the second coupling section.

[0019] In this context, it may also be advantageous if the connecting device has an energy storage device, e.g., a capacitor. The energy storage device is designed, in particular, to supply the at least one electromagnet with the energy required to maintain the activated operating state, at least briefly. This makes it possible to keep the at least one electromagnet in the activated (energized) operating state (and thus the first and second coupling sections in the connected state) for a certain period of time, even in the event of a power failure, e.g., until the manipulator or robot has moved into a safety position. The energy storage device can be arranged on the manipulator side or the tube lifter side.

[0020] For the automated operation of the handling system, particularly during collapsing operation in a shared work area with one person, it is also important that the control of the valve device is robust and reliable in operation. A particularly reliable control can be achieved by coupling the first coupling section to the valve device via a control lever, wherein the control lever is held, in particular mounted, on the lifting hose so that it can pivot about a control lever pivot axis. The control lever preferably has an actuating section which interacts with the valve device in such a way that the valve device can be actuated by pivoting the control lever about the control lever pivot axis, i.e. in particular a valve position of the valve device can be changed.The control lever and the first coupling section interact in such a way that the pivot lever can be pivoted about the control lever pivot axis by axial displacement of the first coupling section along the control axis.

[0021] The proposed design with a control lever enables not only reliable control but also - through appropriate design of the control lever - more complex, in particular non-linear, actuation processes of the valve device to be easily mapped, in particular without necessarily having to carry out a non-linear displacement movement with the manipulator.

[0022] It can be particularly advantageous if the control lever has a control cam, for example in the form of a control slot. The control cam can be formed, for example, by a local recess or an elongated hole in the control lever. At least one control element, for example in the form of a pin, bolt or screw, can then be provided on the first coupling section, which control element engages in the control cam of the control lever. The control cam can therefore form a slotted guide for the control element. The control cam is preferably designed such that, depending on a position of the control element along the control cam, a pivoting position of the control lever about the control lever pivot axis and thus a valve position of the valve device can be adjusted.Such a design of the control cam makes it possible, by designing a shape of the control cam, to realize even complex, in particular non-linear, controls of the valve device, in particular ventilation positions of the lifting hose ventilation valve, in a structurally simple manner.

[0023] Advantageously, the control cam can have a plurality of differently designed control cam sections. For example, the control cam can have a first control cam section and a second control cam section adjoining the first control cam section. For example, it is conceivable for the control cam to have a first control cam section and at least one second control cam section, wherein the first and second control cam sections are designed such that when the control element is displaced by a control distance along the control axis, the control lever is pivoted when the control element is received in the first control cam section and by a larger angular range about the control lever pivot axis than when the control element is received in the second control cam section.In this way, different valve controls can be provided by moving the control element in different sections of the control curve, for example to be able to map a different response behavior of the lifting hose when moving with and without an object.

[0024] Within the scope of an advantageous embodiment, the control cam can have at least two, preferably three, more preferably four, control cam sections that are angled to one another, but are themselves preferably straight. In particular, the control cam sections can merge into one another. Depending on the inclination or gradient relative to the control axis, the response behavior of the valve device, in particular the opening speed of the lift tube ventilation valve, can then vary.

[0025] In particular, the control cam can be designed such that the valve device, in particular the lifting tube ventilation valve, is in a first valve position, in particular the first ventilation position, when the control element is in contact with a first control cam section of the control cam, and is in a second valve position, in particular the second ventilation position, when it is in contact with a second control cam section of the control cam. In particular, the valve device, in particular the lifting tube ventilation valve, is further open in the first valve position than in the second valve position. For example, it is conceivable that the ventilation valve is fully or partially open in the first valve position and closed or partially open in the second ventilation position. The first control cam section can in particular be a first end section of the control cam.The second control curve section can in particular be a second end section of the control curve.

[0026] In an advantageous further development, the first coupling section can be mounted on the lifting tube via the control lever, for example, by the control element engaging the control cam. In this respect, an end position of the first coupling section spaced from the lifting tube can be defined, for example, by an end position of the control element in the control cam.

[0027] Within the scope of an advantageous development, the first coupling section can be held on the lifting hose in such a way that, when the first and second coupling sections are separated (i.e., when the first and second coupling sections are not connected by means of the connecting device), it is in a rest configuration along the control axis or is transferred into this configuration by gravity. Preferably, in this rest configuration, the first coupling section interacts with the valve device, in particular the lifting hose ventilation valve, via the control lever in such a way (in particular, the control lever is pivoted about the control lever pivot axis in the rest configuration of the first coupling section) that the valve device, in particular the lifting hose ventilation valve, is at least partially open, in particular in such a way that the lifting hose is extended.In a design with a control cam, it is particularly conceivable that the control element, in the rest configuration of the first coupling section, is located in the aforementioned first end section of the control cam. In particular, the lifting hose ventilation valve can be opened in the rest configuration such that the lifting hose extends slowly or is held in a predetermined suspended position, which promotes safe operation of the handling system even in the event of a power failure.

[0028] An advantageous design of the handling system can consist in the end effector being connected to the lifting hose via a connecting rod.

[0029] The connecting rod can, in particular, define the control axis. The connecting rod is preferably connected to the end effector at one end in a rotationally fixed manner and to the lifting hose at the other end so that it can rotate about the control axis. Such a connecting rod can, in particular, serve as an engagement point for the manipulator. Advantageously, the first coupling section can be arranged between the first end and the second end of the connecting rod.

[0030] In this context, it can be particularly advantageous if the first coupling section is arranged on the connecting rod in such a way, in particular engages around the connecting rod in such a way that the first coupling section can be displaced translationally (axially) along the control axis, preferably also rotationally about the control axis, relative to the connecting rod, but preferably the connecting rod and the first coupling section interact in a form-fitting manner in a direction orthogonal to the control axis. In this respect, movements of the first coupling section along the control axis are in particular not transmitted to the connecting rod, but movements of the first coupling section orthogonal to the control axis preferably are. In particular, the first coupling section can be rotatably mounted on the connecting rod.For example, the first coupling portion may comprise a ball bearing via which the first coupling portion is mounted on the connecting rod.

[0031] An advantageous further development can consist in the connecting rod having an integrated fluid guide, in particular a vacuum guide, for supplying the end effector with fluid, in particular negative pressure. The fluid guide preferably extends from the first end of the connecting rod to the second end, i.e. in particular from the lifting hose to the end effector. The fluid guide is preferably fluidly connected at one end to the interior of the lifting hose and at the other end to the end effector. Such a configuration makes it possible to supply the end effector with negative pressure through the connecting rod, whereby, for example, interfering contours caused by external fluid lines can be reduced. For example, the connecting rod can be designed as a connecting tube with an internal fluid guide.

[0032] In an advantageous further development, the end effector can be mounted, in particular supported, on the lifting tube so as to be rotatable about an end effector rotation axis that is preferably parallel to or corresponding to the control axis. In a configuration with a connecting rod, the end effector can be mounted on the lifting tube via the connecting rod.

[0033] In order to be able to drive a rotary movement of the end effector about the end effector rotation axis, it can be advantageous if the manipulator has a driven rotary member that can rotate about a manipulator rotation axis. In particular, the rotary member can be driven or formed by a driven manipulator rotation axis, in particular a robot axis. Then, it can also be advantageous if the coupling device also comprises a gear that is designed to transmit a torque between the rotary member and the end effector when the first and second coupling sections are connected (i.e., when the first coupling section and the second coupling section are connected by means of the connecting device).In particular, the gear is designed to translate a rotational movement of the rotary member about the manipulator rotation axis into a rotational movement of the end effector about the end effector rotation axis, preferably without the first and second coupling sections being displaced.

[0034] In such a design, a rotational axis of the manipulator is used to drive a rotational movement of the end effector and thus a rotational movement of an object held by the end effector. This eliminates the need to provide additional drive devices on the tube lifter to rotate the end effector, which promotes a cost-effective design. Furthermore, this allows for a reduction in the weight force on the tube lifter, which facilitates more precise control of the control lever.

[0035] The gear mechanism is preferably designed such that a rotational movement of the end effector about the end effector rotational axis is decoupled from a movement of the first and second coupling sections. In other words, the gear mechanism is designed in particular such that a rotational movement of the rotary member about the manipulator rotational axis is not translated into a displacement movement of the first and second coupling sections. In this respect, the gear mechanism is designed in particular such that a rotational movement of the end effector about the end effector rotational axis can be driven by the rotary member even when the first and second coupling sections are stationary (and thus when the lifting hose is stationary). A rotational movement of the end effector about the end effector rotational axis is therefore also not restricted by a movement of the manipulator in a plane orthogonal to the end effector rotational axis. In particular, rotations of 360° and more are also possible.

[0036] Within the scope of an advantageous embodiment, the manipulator can be designed as a robot with a robot arm and a robot wrist. The rotary member can then be driven or provided, in particular, by a rotational axis of the robot wrist. Advantageously, the manipulator can be a 6-axis robot, in particular a collaborative 6-axis robot. The rotary member can then preferably be driven or provided by the sixth axis of the robot, the last axis along the kinematic chain.

[0037] The transmission comprises, in particular, a first transmission element on the end effector side and a second transmission element on the manipulator side. The first transmission element on the end effector side is coupled, in particular, to the end effector in such a way that a rotational movement of the first transmission element is transmitted into a rotational movement of the end effector about the end effector's axis of rotation. Preferably, the first transmission element is rotationally fixedly coupled to the end effector about the end effector's axis of rotation. The second transmission element on the manipulator side is, in particular, drivable or driven by the rotary element of the manipulator.

[0038] The first and the second transmission member are preferably designed such that they engage with each other in the connected state of the first and second coupling portions (i.e. when the first and second coupling portions are connected to each other via the connecting device), in particular such that a torque can be transmitted between the first transmission member and the second transmission member.

[0039] In order to facilitate repeated coupling and uncoupling of the manipulator to the tube lifter, it may further be advantageous if the first transmission member and the second transmission member are designed such that they can be repeatedly engaged and disengaged, in particular by a translational displacement relative to one another, preferably along a direction orthogonal to the end effector rotation axis.

[0040] Within the scope of a preferred embodiment, the first transmission member and the second transmission element can each be designed as a gear. In this respect, the transmission can comprise a first gear on the end effector side, which is preferably coupled to the end effector in a rotationally fixed manner about the end effector axis of rotation, and a second gear on the manipulator side, which can be driven by the rotary member of the manipulator, wherein the first gear and the second gear mesh with one another when the first and second coupling sections are connected, i.e. are in meshing engagement with one another. Configuring the transmission as a gear transmission enables particularly reliable and precise power transmission. Furthermore, configuring the transmission members as gears enables an easily releasable coupling between the first and second transmission members.

[0041] Within the scope of an alternative advantageous embodiment, it is also conceivable that the transmission elements are designed as friction wheels.

[0042] Furthermore, it can be advantageous if the transmission also has a third transmission element (in particular a third gear) on the manipulator side, which is coupled to the rotary element in a rotationally fixed manner about the manipulator axis of rotation. The third transmission element (in particular a third gear) is therefore particularly rotatable about the manipulator axis of rotation. The third transmission element (third gear) can be in engagement, in particular meshing engagement, with the second transmission element (second gear) such that the second transmission element (second gear) can be driven by the third transmission element (third gear). The second transmission element is therefore particularly designed to transmit a rotational movement of the third transmission element to the first transmission element.In such a configuration, the second transmission element (second gear) is preferably arranged between the first transmission element (first gear) and the third transmission element (third gear). Such a configuration makes it possible to implement a gear ratio in a simple design while maintaining a direction of rotation.

[0043] In order to be able to transmit a rotary movement of the rotary member to the end effector even in different displacement positions of the first coupling section along the control axis, it can be advantageous if the gearing is designed such that the end effector-side first transmission member has a longitudinal extension along the control axis or the end effector axis of rotation such that the second transmission member can be displaced axially along the control axis or end effector axis of rotation relative to the first transmission member even when it is in engagement with the first transmission member (i.e. when the first coupling section is connected to the second coupling section). If the gearing is designed as a gear transmission, the first gear can have a longitudinal extension along the end effector axis of rotation such that the second gear, in the meshing state, can be displaced axially along the end effector axis of rotation relative to the first gear.Preferably, a longitudinal extent of the first transmission member (first gear) along the end effector rotation axis is at least twice as large as an extent of the second transmission member along the end effector rotation axis, in particular at least three times as large, further in particular at least four times as large, further in particular at least five times as large.

[0044] In a configuration with a connecting rod, it may also be advantageous if a rotational movement of the rotary member about the manipulator's axis of rotation is transmitted to the end effector via the connecting rod. For example, the first end-effector-side transmission member (first gear) can be arranged coaxially to the connecting rod and / or connected to the connecting rod in a rotationally fixed manner about the end effector's axis of rotation. The first transmission member (first gear) can advantageously extend axially along a longitudinal extent of the connecting rod. In particular, a gear axis and a longitudinal axis of the connecting rod can be collinear with one another.

[0045] The invention is explained in more detail below with reference to the figures. They show: Fig. 1 a sketched representation of a design of a handling system with tube lifter and manipulator; Fig. 2a-b sketched representations of the handling system according to Fig. 1 with the hose lifter connected (view a) and with the hose lifter disconnected (view b) in a side view; Fig. 3a-b sketched representations of the handling system according to Fig. 1 with the hose lifter connected (view a) and with the hose lifter disconnected (view b) in a top view; Fig. 4 Detailed view of the handling system according to Fig. 1 to explain the optional transmission; and Fig. 5 Detailed view of the handling system according to Fig. 1 in the area of ​​the control lever.

[0046] In the following description and in the figures, the same reference symbols are used for identical or corresponding features.

[0047] The Fig. Figure 1 shows a handling system, designated overall by reference numeral 10. The handling system 10 comprises a tube lifter 12 and a manipulator 14.

[0048] The manipulator 14 is designed as a robot, preferably as a collaborative robot. In the example shown, the manipulator 14 is designed as a 6-axis robot.

[0049] The tube lifter 12 comprises a lifting hose 16, which extends along a longitudinal axis 18 of the lifting hose. The lifting hose 16 encloses a hose interior 20. The lifting hose 16 can be shortened by applying negative pressure to the hose interior 20 and lengthened again by ventilating the hose interior 20. For this purpose, the handling system 10 can comprise a vacuum generation device (not shown).

[0050] The tube lifter 12 also includes an end effector 22 for gripping an object. In the example shown, the end effector 22 is designed as a suction gripping device 24 for sucking up an object (not shown).

[0051] By way of example and preferably, the end effector 22 is connected to a lower end of the lifting tube 16 via a connecting rod 28. At an upper end (not shown) of the lifting tube 16, the latter can be connected to a frame or support (not shown).

[0052] The connecting rod 28 extends along a control axis 27. In the Fig. In the configuration shown in Figure 1, the control axis 27 is arranged in particular collinear with the lifting tube longitudinal axis 18. In the example, the connecting rod 28 is connected to the end effector 22 at a first (lower) end 30 and arranged on the lifting tube 16 at a second (upper) end 32.

[0053] In the example, the connecting rod 28 comprises an internal fluid guide (not visible) for supplying the end effector 22 with negative pressure. The fluid guide extends, for example and preferably, from the first end 30 to the second end 32 of the connecting rod 28, wherein the fluid guide is fluidly connected to the end effector 22 at the first end 30 and to the hose interior 20 of the lifting hose 16 at the second end 32. Thus, the end effector 22 can be supplied with negative pressure through the hose interior 20 of the lifting hose 16 (explained in more detail below). In embodiments not shown, the fluid guide can also run outside the connecting rod 28.

[0054] The tube lifter 12 can be repeatedly and detachably coupled to the manipulator 14 via a coupling device 34. The Fig. 1 shows the coupling device 34 in a connected state of manipulator 14 and tube lifter 12.

[0055] The coupling device 34 comprises a tube lifter-side first coupling section 36 and a manipulator-side second coupling section 38 (described in more detail below).

[0056] In the example, the first coupling section 36 is mounted on the lifting tube 16 via a control lever 42 (explained in more detail below). The manipulator-side second coupling section 38 is preferably firmly connected to the manipulator 14, for example, via a bracket 40.

[0057] As in Fig. 1, the first coupling section 36 is arranged, by way of example and preferably, between the first end 30 of the connecting rod 28 and the second end 32 of the connecting rod 28. The first coupling section 36 is arranged on the connecting rod 28 so as to be translationally displaceable along the control axis 27. In particular, the first coupling section 36 is also rotationally displaceable about the control axis 27.

[0058] For example, the first coupling section 36 engages around the connecting rod 28, so that the first coupling section 36 is displaceable along the control axis 27 relative to the connecting rod 28, and in particular, the connecting rod 28 is rotatable relative to the first coupling section 36 about the control axis 27. In this respect, a displacement movement of the manipulator 14 in a plane orthogonal to the control axis 27 can be transmitted to the lifting hose 16 (for example, to move the end effector 22 to a desired storage position for a gripped object). A displacement movement of the manipulator 14 along the control axis 27, on the other hand, leads to an axial displacement of the first coupling section 36 relative to the lifting hose 16.

[0059] The first and second coupling sections 36, 38 can be repeatedly and detachably connected to one another, for example via a connecting device 44, and thus the manipulator 14 and the tube lifter 12 can be repeatedly and detachably coupled to one another.

[0060] In the example shown, the connecting device 44 comprises an electromagnet that can be activated or deactivated as needed (e.g., integrated in the first and / or second coupling section 36, 38). As mentioned above, the electromagnet is designed and arranged such that, in an activated operating state of the electromagnet, the first and second coupling sections 36, 38 are connected to one another, and, in a deactivated operating state of the electromagnet, the first and second coupling sections 36, 38 can be detached from one another, in particular without tools. In order to supply the electromagnet with power, at least temporarily, even in the event of a power failure, the connecting device 44 can optionally have an energy storage device (not shown), in particular in the form of a capacitor. In embodiments not shown, the connecting device 44 can also comprise other connection mechanisms.

[0061] As mentioned above, the first coupling section 36 is mounted on the lifting hose 16 via a control lever 42. The control lever 42 is particularly designed to control a valve device 70 of the lifting hose 16.

[0062] In the specific example, the valve device 70 comprises a lifting hose ventilation valve 72, which is designed to connect the hose interior 20 of the lifting hose 16 to the environment as needed and thus allow ambient air to flow into the hose interior 20. In this way, a change in the length of the lifting hose 16 can be controlled.

[0063] The valve device 70 may also include an optional end effector venting valve (not shown) which is designed to selectively open or close a flow connection between the hose interior 20 and the end effector 22 (in the example through the connecting rod 28).

[0064] As in Fig. 5, the control lever 42 is pivotally mounted on the lifting hose 16 about a control lever pivot axis 74. The control lever 42 is coupled to the lifting hose ventilation valve 72 by an actuating section 76 such that a ventilation position of the lifting hose ventilation valve 72 can be changed by pivoting the control lever 42 about the control lever pivot axis 74.

[0065] For example, the lifting hose ventilation valve 72 can be designed as a ventilation flap, the opening angle of which can be changed by changing a pivoting movement of the control lever 42 about the control lever pivot axis 74.

[0066] A pivoting movement of the control lever 42 about the control lever pivot axis 74 can be driven by an axial displacement of the first coupling section 36 along the control axis 27.

[0067] Specifically, the control lever 42 has a control cam 78, which in the example is designed as a control slot 80 in the form of an elongated hole. As in Fig. 5, the first coupling section 36 engages with a control member 82 in the control cam 78. The control member 82 is designed, for example, in the form of a screw or bolt. During an axial movement of the first coupling section 36 along the control axis 27 (in Fig. 5 “up” or “down”), the control element 82 moves along the control cam 78 between a Fig. 5 shown lowermost position (furthest away from the lifting tube 16 along the end effector rotation axis 26), in which the control member 82 rests against the lower end 84 of the control cam 78, and an uppermost position (not shown), in which the control member 82 rests against the upper end 86 of the control cam 78.

[0068] As in Fig. 5, the control curve 78 has an angular profile, so that an axial movement of the first coupling section 36 along the control axis 27 is translated into a pivoting movement of the control lever 42 about the control lever pivot axis 74 - and thus the valve device 70 is actuated.

[0069] In the specific example, the control cam 78 has a first control cam section 88, a second control cam section 90 adjoining the first control cam section 88, a third control cam section 92 adjoining the second control cam section 90, and a fourth control cam section 94 adjoining the third control cam section 92. As can be seen from Fig. 5, the control cam sections 88, 90, 92, 94 are arranged at an angle to one another, but are themselves preferably straight.

[0070] Depending on the inclination of the respective control cam section 88, 90, 92, 94 relative to the control axis 27, a displacement of the first coupling section 36 along the control axis 27 leads to a more or less rapid opening or closing movement of the lifting hose ventilation valve 72.

[0071] In the example shown (cf. Fig. 5), a further control lever 42' is provided, which is designed analogously to the first control lever 42. In embodiments not shown, the further control lever 42' can also be designed differently, for example, have a differently shaped control cam 78. In yet other embodiments not shown, however, only a single control lever 42 can be provided.

[0072] In the illustrated example, the end effector 22 is optionally rotatable relative to the lifting tube 16 about an end effector rotation axis 26, which in the example corresponds to the control axis 27. In particular, the connecting rod 28 is rotatable relative to the lifting tube 16 about the end effector rotation axis 26. For example, the connecting rod 28 can be rotatably mounted on the lifting tube 16 at its second end 32.

[0073] In the example, the coupling device 34 also includes an optional gearbox 46 (detail view Fig. 4), which is designed to translate a rotational movement of a rotary member 48 of the manipulator 14 about a manipulator rotation axis 50 into a rotational movement of the end effector 22 about the end effector rotation axis 26.

[0074] In the example shown, the rotary member 48 is formed by a robot rotation axis 52 of the wrist 54 of the robot 14. Specifically, the robot rotation axis 52 is the last axis along the robot's kinematic chain.

[0075] An exemplary and preferred embodiment of the transmission 46 is described below with reference to the Fig. 4 explained.

[0076] As in Fig. 4, the transmission 46 comprises a first transmission element 56 on the end effector side, a second transmission element 58 on the manipulator side, and a third transmission element 60 on the manipulator side. In the example shown, the transmission elements 56, 58, 60 are each designed as gears. Thus, the transmission 46 comprises a first gear 62 on the end effector side, a second gear 64 on the manipulator side, and a third gear 66 on the manipulator side. In embodiments not shown, it is also conceivable for the transmission elements 54, 56, 58 to be designed in the form of friction wheels.

[0077] In the example, the end effector-side first gear 62 is arranged concentrically around the connecting rod 28 and is connected thereto in a rotationally fixed manner about the end effector rotation axis 26. Thus, a rotational movement of the first gear 62 about the end effector rotation axis 26 is transferred into a rotational movement of the connecting rod 28 and thus of the end effector 22 about the end effector rotation axis 26.

[0078] The manipulator-side third gear 66 is rotationally fixedly coupled to the rotary member 48 (robot rotation axis 52) and is thus driven about the manipulator rotation axis 50.

[0079] As in Fig. 4, the second gear 64 is configured to transmit a torque between the first gear 62 and the third gear 66. For example, the second gear 64 is mounted on the second coupling portion 38, in particular the holder 40, about a rotation axis 68 parallel to the manipulator rotation axis 50.

[0080] In the connected state of the first and second coupling sections 36, 38 (i.e. when the first coupling section 36 and the second coupling section 38 are connected to one another by means of the connecting device 44), the first gear 62 and the second gear 64 are in meshing engagement with one another (cf. Fig. 4), so that a torque can be transmitted between the robot rotation axis 52 and the end effector 22. As mentioned above, a rotational movement of the end effector 22 about the end effector rotation axis 26 is decoupled from a movement of the first and second coupling sections 36, 38. In other words, a rotational movement of the end effector 22 about the end effector rotation axis 26 can be realized even when the manipulator 14 is otherwise stationary (i.e., without movement of any of the other robot axes).

[0081] The first gear 62 and the first coupling section 36 are displaceable relative to one another along the end effector rotation axis 26. Since, in the connected state of the first and second coupling sections 36, 38, the first coupling section 36 is motionally coupled to the second gear 64 and the third gear 66, a displacement movement of the manipulator 14 along the end effector rotation axis 26 leads to a relative movement of the second gear 64 relative to the first gear 62. Such a relative movement in the meshing state of the gears 62, 64 is realized, for example, in that the first gear 62 has a longitudinal extension along the end effector rotation axis 26 such that the second gear 64 is displaceable along the end effector rotation axis 26 relative to the first gear 62 while maintaining torque transmission (cf. Fig. 1 and Fig. 4).

Claims

[1] Handling system (10), comprising: - a hose lifter (12), with ◯ a lifting hose (16) which has a hose interior (20), ◯ an end effector (22), in particular a suction gripping device (24), and ◯ a valve device (70), in particular arranged on or in the lifting hose (16), for controlling flow connections; - a manipulator (14), in particular a robot, for displacing the end effector (22); - a coupling device (34) for coupling the tube lifter (12) to the manipulator (14), wherein the coupling device (34) has a first coupling section (36) on the tube lifter side and a second coupling section (38) on the manipulator side, wherein the first and the second coupling sections (36, 38) can be connected to one another by means of a connecting device (44), in particular in a repeatedly detachable manner, wherein the first coupling section (36) is held on the lifting tube (16) in an axially displaceable manner along a control axis (27), wherein the first coupling section (36) cooperates with the valve device (70) in such a way that the valve device (70) can be actuated, in particular controlled, by displacing the first coupling section (36) along the control axis (27), wherein the connecting device (44) is designed to be controllable in such a way that it can be selectively activated or can be deactivated,wherein a control is provided for controlling the connecting device (44)., [2] Handling system (10) according to claim 1, wherein the connecting device (44) has at least one electromagnet which can be activated or deactivated as required, in particular such that in an activated state of the at least one electromagnet the first and the second coupling section (36, 38) are connected to one another, and in a deactivated state of the at least one electromagnet the first and the second coupling section (36, 38) can be released from one another without tools. [3] Handling system (10) according to one of the preceding claims, wherein the valve device (70) has a lifting hose ventilation valve (72) for ventilating the hose interior (20) of the lifting hose (16), wherein the first coupling section (36) cooperates with the lifting hose ventilation valve (72) in such a way that by moving the first coupling section (36) along the control axis (27) a ventilation position of the lifting hose ventilation valve (72) can be changed, in particular the lifting hose ventilation valve (72) can be selectively opened and closed. [4] Handling system according to one of the preceding claims, wherein the first coupling section (36) is coupled to the valve device (70) via a control lever (42), wherein the control lever (42) is mounted on the lifting hose (16) so as to be pivotable about a control lever pivot axis (74), wherein the control lever (42) cooperates with the valve device (70) such that the valve device (70) can be actuated by pivoting the control lever (42) about the control lever pivot axis (74), wherein the control lever (42) can be pivoted about the control lever pivot axis (74) by axial displacement of the first coupling section (36) along the control axis (27). [5] Handling system (10) according to the preceding claim, wherein the control lever (42) has a control cam (78), in particular in the form of an elongated hole, wherein at least one control member (82) is provided on the first coupling section (36), which engages in the control cam (78), wherein a pivoting position of the control lever (42) about the control lever pivot axis (74) is variable, in particular adjustable, depending on a position of the control member (82) along the control cam (78). [6] Handling system (10) according to the preceding claim, wherein the control cam (78) has at least two, preferably three, more preferably four, control cam sections (88, 90, 92, 94) which are formed at an angle to one another, but are themselves preferably straight. [7] Handling system (10) according to one of claims 5 or 6, wherein the control cam (78) has a first control cam section and a second control cam section such that the valve device (70), in particular the lifting tube ventilation valve (72), assumes a first valve position, in particular a first ventilation position, when the control member (82) is located in the first control cam section, and then assumes a second valve position, in particular a second ventilation position, when the control member (82) is located in the second control cam section, in particular wherein the valve device (70) is wider open in the first valve position than in the second valve position. [8] Handling system (10) according to one of claims 5 to 7, wherein the first coupling section (36) is held on the lifting hose (16) in such a way that the first coupling section (36) is in a rest configuration along the control axis (27) in the separated state of the first and second coupling sections (36, 38) or is transferred into this by gravity, wherein the first coupling section (36) in this rest configuration cooperates with the valve device (70), in particular the lifting hose venting valve (72), in such a way that the valve device (70), in particular the lifting hose venting valve (72), is at least partially open. [9] Handling system (10) according to one of the preceding claims, wherein the end effector (22) is connected to the lifting hose (16) via a connecting rod (28), wherein the first coupling section (36) is arranged on the connecting rod (28) so as to be displaceable along the control axis (27). [10] Handling system (10) according to one of the preceding claims, wherein the end effector (22) is mounted on the lifting tube (16), in particular via the connecting rod (28), so as to be rotatable about an end effector rotational axis (26), in particular parallel to or corresponding to the control axis (27), wherein the manipulator (14) has a driven rotary member (48) which is rotatable about a manipulator rotational axis (50), wherein the coupling device (34) comprises a gear (46) which is designed to translate a rotary movement of the rotary member (48) about the manipulator rotational axis (50) into a rotary movement of the end effector (22) about the end effector rotational axis (26) when the first and second coupling sections (36, 38) are connected. [11] Handling system (10) according to claim 10, wherein the gear (46) is designed such that a rotational movement of the end effector (22) about the end effector rotation axis (26) is decoupled from a movement of the first and second coupling sections (36, 38). [12] Handling system (10) according to one of claims 10 or 11, wherein the manipulator (14) is designed as a robot, in particular a 6-axis robot, with a robot arm and a robot wrist (54), wherein the rotary member (48) is driven by a robot rotation axis (52) of the robot wrist (54), in particular by the last axis of the robot along the kinematic chain. [13] Handling system (10) according to one of claims 10 to 12, comprising the gear (46), an end effector-side first transmission member (56), in particular a first gear (62), which is coupled to the end effector (22) in a rotationally fixed manner about the end effector rotation axis (26), and a manipulator-side second transmission member (58), in particular a second gear (64), which is driven via the rotation member (48) of the manipulator (14), wherein the first transmission member (56) and the second transmission member (58), in particular the first gear (62) and the second gear (64), are in engagement with one another, in particular mesh with one another, in the connected state of the first and second coupling sections (36, 38). [14] Handling system (10) according to the preceding claim, the gear (46) further comprising a manipulator-side third transmission member (60), in particular third gear (66), which is coupled to the rotary member (48) in a rotationally fixed manner and is in engagement, in particular meshing engagement, with the second transmission member (58), in particular second gear (64), in such a way that the second transmission member (58), in particular second gear (64), can be driven by the third transmission member (60), in particular third gear (66). [15] Handling system (10) according to one of claims 13 or 14, wherein the first transmission member (56), in particular the first gear (62), has a longitudinal extension along the end effector rotation axis (26) such that the second transmission member (58), in particular the second gear (64), is displaceable axially along the end effector rotation axis (26) relative to the first transmission member (56), in particular to the first gear (62), in engagement, in particular in the meshing state. [16] Handling system (10) according to one of claims 13 to 15 with reference back to claim 9, wherein the first transmission member (56), in particular the first gear (62), is arranged coaxially to the connecting rod (28) and / or is connected to the connecting rod (28) in a rotationally fixed manner.

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