Gripper for removing a battery cover

Abstract

The present invention comprises a gripper for the automated disassembly of a cover of a battery unit, comprising an interface for mounting the gripper on a handling unit, in particular a robot, a support frame and a plurality of ejection units with which the cover can be detached from a housing of the battery unit, wherein the ejection units each comprise an ejection element which can be moved under a contour of the cover, an actuator and a support element, wherein the ejection element can be lifted by means of the actuator, while the ejection unit is supported on a counter element via the support element.

Description

[0001] The present invention relates to a gripper and a system for the automated disassembly of a cover of a housing of a battery unit, as well as to a corresponding method.

[0002] Road transport is becoming increasingly electrified, and with the continuously growing number of electric vehicles, more and more batteries and their housings must be dismantled and recycled or reused in the spirit of a closed-loop recycling and / or material cycle. In certain cases, hazardous goods legislation requires the dismantling of HV batteries in vehicles down to the module level before transport for recycling, for example, to prevent fire or explosion.

[0003] However, the current manual method of disassembling a battery unit cover poses a risk of occupational accidents, particularly given the significantly increased weight of the modular electric drive systems in which the battery system is integrated. Furthermore, opening the battery unit housing and the necessary manual movement of the detached cover to a storage location in order to expose the battery modules contained in the battery unit for further disassembly is strenuous and time-consuming for the specialist. Furthermore, there is a high-voltage hazard for the worker once the cover is removed. Depending on the battery system design, exposed electrical contacts can contain lethal voltage. Furthermore, the tools currently used are only suitable for disassembly to a limited extent, and the increasing number of different battery systems hampers complete automation of the disassembly process.

[0004] German Patent Application DE 102021 204 685 A1 discloses a method for disassembling a battery housing of a HV battery system. A roller cutter is inserted into an adhesive seam between two housing parts, cutting open the seam and thus opening the battery housing. However, this procedure is also complex and can only be used for special housings.

[0005] The object of the present invention is therefore to solve the aforementioned problems and thus to automate the disassembly of a cover from a battery unit housing, as well as to reduce the duration of the disassembly process and to enable the applicability of the disassembly method on a series scale to other battery types.

[0006] According to the invention, the stated object is achieved by a gripper according to claim 1, a system according to claim 9, and a corresponding method according to claim 15. Advantageous embodiments and further developments of the invention are the subject of the dependent claims.

[0007] According to one aspect of the invention, it is therefore proposed to use a gripper for the automated disassembly of a cover of a battery unit housing. Said gripper is mounted at an interface on a handling unit and has a support frame and a plurality of push-off units for detaching the cover of a battery unit housing from the battery unit housing. The push-off units each comprise a push-off element, which can be moved under a contour of the cover of the battery unit housing, a support element, and an actuator. The push-off elements can be lifted by means of the corresponding actuator, wherein the push-off units are supported on a counter element via the support elements. The push-off elements can each have a push-off surface, and the support elements can each have a support surface. The gripper according to the invention allows the disassembly of the cover to be easily automated.

[0008] The handling unit can be a robot, for example, a robot with multiple rotary axes. However, a linear or planar gantry can also be used as a handling unit.

[0009] According to a preferred aspect of the invention, the push-off units, comprising the push-off element, the support element, and the actuator, are arranged on the support frame so that they can be moved by at least one displacement actuator. In particular, they are arranged on the support frame so that they can be pivoted by at least one pivot actuator or linearly moved by a linear actuator.

[0010] According to a possible embodiment of the present invention, it is provided that the pressing elements can be moved under the contour of the cover by moving the respective pressing unit into a working state by means of the movement actuator.

[0011] According to a possible embodiment of the present invention, it is provided that the support elements, in the working state, are supported on a contour of the battery unit housing arranged below the contour of the cover, in particular in the bottom region of the battery unit housing.

[0012] According to a possible embodiment of the present invention, the pressing units can be moved back and forth between an inactive position in which the pressing elements are disengaged from the contour of the lid and a working position in which the pressing elements are in their working state and engage under the contour of the lid.

[0013] According to a first possible embodiment of the present invention, the push-off units can pivot back and forth between the inactive position in which they point laterally outwards and the working position in which they point downwards.

[0014] Preferably, the push-off units are pivoted from the inactive position towards a side wall of the battery unit housing into the active position.

[0015] According to a second possible embodiment of the present invention, the pressing units can be moved back and forth between the inactive position, in which they are arranged laterally spaced from the lid, into the working position on the lid.

[0016] According to one possible embodiment of the present invention, the gripper comprises a width and / or length adjustment, via which the distance between the push-off units in the working state can be varied. This allows the gripper to be adapted to battery units of different sizes.

[0017] According to a possible embodiment of the present invention, at least one adjustment axis is provided for this purpose, on which one or more pressing units are adjustably arranged.

[0018] The adjustment can be done manually or by one or more actuators.

[0019] According to a first possible embodiment of the present invention, one or more pressing units together with a displacement actuator, via which the pressing element can be moved under the contour of the cover, form a structural unit which is adjustably arranged on the adjustment axis.

[0020] In particular, the one or more pressing units and the displacement actuator can be arranged on a console which is adjustably arranged on the adjustment axis.

[0021] According to a second possible embodiment of the present invention, the distance between the press-forming units in the working state can be adjusted via the displacement actuators that move the press-forming units into their working state. In particular, if a linear actuator is used as the displacement actuator, this can also be used to adjust the distance between the press-forming units in the working state. For this purpose, only the zero point of the linear actuator needs to be adjusted accordingly.

[0022] According to a possible embodiment of the present invention, the distance between the pressing surface of a pressing unit and the support surface integrated in the same pressing unit can be changed by the actuator, wherein the pressing elements can preferably be moved linearly relative to the respective support element by the respective actuator in order to raise the pressing surface.

[0023] According to one possible embodiment of the present invention, the push-off units each have a connecting area through which they are connected to the support frame. The respective push-off element is arranged on the push-off unit so that it can move relative to the connecting area, so that the connecting area and thus the support frame are not lifted when the push-off element is lifted. As a result, the forces generated during the push-off process are not transmitted to the support frame.

[0024] According to a possible embodiment of the present invention, the pressing units are designed such that when the respective actuator is actuated, the support element is first moved against the support contour and then the pressing element is lifted and moved against the contour of the lid.

[0025] According to a possible embodiment of the present invention, both the support element and the push-off element are arranged on the respective support unit so as to be movable relative to the connecting region.

[0026] According to a possible embodiment of the present invention, the pressing elements are each guided along a guide on the pressing unit.

[0027] In particular, during the bead-pulling movement, the bead-pulling element is moved upwards along the guide of the bead-pulling unit. This means that the bead-pulling forces are not transferred to the support frame and / or the handling unit, but are absorbed by the bead-pulling unit.

[0028] The actuators of the pressure-release units can in particular be linear actuators, for example hydraulic, electric and / or pneumatic cylinders.

[0029] According to a possible embodiment of the present invention, the actuators by means of which the push-off elements are lifted are arranged to be movable along a guide on the push-off unit.

[0030] Preferably, the actuators are pre-tensioned by a spring into a position in which the push-off elements are in an initial position remote from the contour of the lid, and move the push-off element against the pre-tension of the spring against the edge of the lid.

[0031] According to one possible embodiment of the present invention, support elements are movably mounted on the press-off unit. This allows them to be moved against the support contour without moving the gripper.

[0032] Preferably, the actuators, in particular the linear actuators, including the respective push-off element and support element, are movably mounted on the push-off unit and are movable in particular along the guide.

[0033] Preferably, the push-off elements are each arranged on a cylinder of the linear actuator, and the support elements are arranged on the piston.

[0034] In one embodiment, the actuators of the pressure-forming units can be controlled separately.

[0035] In a preferred embodiment of the invention, one or more gripping elements, in particular suction gripping elements, are located on the underside of the gripper, whereby the cover of the battery unit housing can be held on its upper side by means of said gripping elements. Instead of a suction gripper, a magnetic gripper can also be used if the cover is made of a ferromagnetic material.

[0036] According to a possible embodiment of the present invention, the interface of the gripper, via which the gripper is mounted on a handling unit, in particular a robot arm, can have a compensation unit.

[0037] According to a possible embodiment of the present invention, the compensation unit can be rigidly switched by means of an actuator.

[0038] If, on the other hand, the compensation unit is released, this enables a relative movement of the support frame to which the compensation unit is connected, relative to the interface.

[0039] The present invention further comprises a system for the automated disassembly of the cover of a battery unit housing, comprising a gripper as described above, a handling unit, and a controller. The handling unit can, in particular, be a robot. The controller controls the handling unit and the gripper. In particular, the controller controls the handling unit and the gripper such that the disassembly of the cover is automated and requires no manual intervention.

[0040] According to a possible embodiment of the present invention, the control is designed such that at least two push-off units are actuated one after the other in order to lift the lid, wherein the two push-off units are preferably arranged next to one another and / or wherein the push-off units of the gripper are preferably actuated one after the other in a circumferential manner around the edge of the lid.

[0041] In a preferred embodiment, the detachment of the lid is initiated by actuating a push-off unit arranged in the region of a corner of the lid and subsequently actuating adjacent push-off units circumferentially around the lid.

[0042] In an alternative embodiment, all pressure relief units are actuated simultaneously.

[0043] According to one aspect of the invention, the control system can be designed such that after the cover of a battery unit housing has been detached, the cover continues to be held and / or secured by the push-off elements while it is moved by the handling unit to the target storage location.

[0044] According to a possible embodiment of the present invention, the push-off elements release the contour of the lid for depositing the lid, in particular by moving the push-off units away from the contour of the lid, in particular by moving them into their inactive position by the respective displacement actuators, for example by pivoting them into a laterally outward-pointing position by means of the pivot actuators or by means of linear actuators into a laterally spaced-apart position.

[0045] To support the push-off elements, in one embodiment of the invention, the lid can be held by one or more gripping elements, which preferably engage the top side of the lid, in particular suction or magnetic gripping elements, during the process to the target storage location by means of the handling unit.

[0046] The gripping element(s) are preferably only activated after the push-off elements of the push-off units have been moved under the contour of the cover of a battery unit housing and / or preferably remain active after the push-off elements of the push-off units have been moved into an inactive position and thus the contour of the cover of the battery unit housing has been released in order to enable safe placement at the target placement location by the robot arm.

[0047] In order to be able to compensate for position tolerances and workpiece tolerances, the control system can be designed in such a way that the compensation unit is enabled while the pressing elements are moved under the contour of the cover, in particular while the pressing elements are moved under the contour of the cover by moving the pressing units.

[0048] Likewise, the control can be designed such that the compensation unit is released while the actuators of the push-off units are activated to release the cover from the battery unit housing.

[0049] According to one possible embodiment of the present invention, the handling unit is a robot, in particular a robot with a robot arm with multiple rotary axes. For example, it can be an industrial robot with at least six axes. Alternatively, a linear and / or planar gantry can also be used as the handling unit.

[0050] According to one possible embodiment of the present invention, the controller is configured to control the handling unit and the gripper so that they perform the functions and / or steps described above and below. In particular, the controller can be configured so that the handling unit and the gripper perform the functions and / or steps automatically.

[0051] According to one possible embodiment of the present invention, the controller or controllers described above or below comprise a microprocessor and a non-volatile memory on which a computer program is stored, which, when executed on the microprocessor, performs the functions and / or steps described above and below. The controller, and in particular the microprocessor, is preferably in a control and / or signal connection with the actuators and / or sensors of the gripper and / or the handling unit and controls the actuators and / or evaluates the signals from the sensors.

[0052] The invention further comprises a corresponding method for the automated disassembly of the cover of a battery unit housing using a gripper and / or system as described above, in which the push-off elements engaging under the contour of the cover are lifted by means of the respective actuator, while the push-off units are supported on a counter element via the respective support element.

[0053] The method is preferably carried out as described in more detail above with regard to the gripper and the system.

[0054] The invention is explained in more detail below using a preferred process sequence and including illustrations of an embodiment of the gripper according to the invention from different perspectives.

[0055] The drawings show: Fig. 1: A perspective view of an embodiment of the gripper according to the invention with push-off units, wherein the gripper is designed to dismantle a cover of a battery unit housing by means of a robot arm and a controller by activating push-off units via various actuators, Fig. 2a: A side view of the structure of a gripper with pressure-releasing units, wherein the gripper is connected to a robot arm via an interface and wherein the support frame of the gripper can additionally have at least one suction gripping element, wherein a robot arm is shown on the top side of the gripper for clarity, Fig. 2b: A side view of the structure of a gripper with pressure-releasing units, with a robot arm mounted on top of the gripper for clarity, Fig. 3: A top view of the structure of a gripper with push-off units, Fig. 4: A detailed view of a push-off unit of a gripper according to the invention comprising a push-off element, an actuator and a support element, wherein for clarification purposes a possible battery unit housing with a cover and a counter element corresponding to the bottom area of ​​the battery unit housing is shown, and Fig. 5: a further detailed view of a push-off unit of a gripper according to the invention.

[0056] Fig. 1 to 5 show an embodiment of a gripper 10 according to the invention. This comprises an interface 70, via which it is connected to a Fig. 2a schematically shown handling unit 20, for example, is mounted on the end link of a robot arm.

[0057] The interface 71 is arranged on a support frame 40, which supports the other components of the gripper. In the exemplary embodiment, the support frame 40 is made of longitudinal and transverse struts.

[0058] Pressing units 50 are arranged on the support frame 40, via which the cover 31 of a battery unit housing 30 can be gripped and lifted.

[0059] The Fig. 4 and Fig. The pressing units 50 shown in detail in Figure 5 each comprise a support element 51 with a support surface 52, a pressing element 53 with a pressing surface 54 and an actuator 55, in the exemplary embodiment a linear actuator 55.

[0060] The push-off elements 53 can be moved linearly upwards via the actuator along a guide 56 of the respective push-off unit, while the push-off unit is supported by the support element 51. The push-off elements 53 are preloaded into their lower position by a spring 59.

[0061] In the exemplary embodiment, the push-off units 50 are therefore not lifted by the actuation of the linear actuators 55, but only the push-off elements 53, so that the push-off movement is not transferred to a connecting region 61 of the push-off unit 50, with which it is connected to the support frame, and thus also not to the support frame of the gripper.

[0062] The support element 51 can be extended downwards and therefore lifts the pressing unit 50 with the pressing element 53 along the guide 56.

[0063] In the exemplary embodiment, the actuator 55 is displaceably mounted along the guide 56, wherein both the push-off element 53 and the support element 51, which are arranged on the actuator and whose distance can be changed by actuating the actuator, are movably arranged on the push-off unit.

[0064] In the exemplary embodiment, the actuator 55 is a piston-cylinder unit, wherein the support element 51 is arranged on the piston and the push-off element 53 is arranged on the cylinder.

[0065] The cylinder is mounted on the upper plate 58, which can be moved along the guide 56 against the force of the spring 59. The lower plate 57 is mounted on the guide 57 and serves as a stop for the cylinder while the piston passes through an opening in the plate 57.

[0066] By actuating the actuator 55, the support element 51 is first moved with its support surface against the counter element. Once the support element 51 is supported against the counter element, further actuation of the actuator causes the push-off element to be raised and move upward along the guide 56.

[0067] In the exemplary embodiment, the piston of the piston-cylinder unit initially extends through the opening in the plate 57. If the support element 51 rests against the counter element, further extension of the piston causes the cylinder and thus the support element 53 arranged thereon to be raised relative to the plate 57.

[0068] The guide is mounted on the connecting element 61. In the illustrated embodiment, it consists of two rods that run on opposite sides of the actuator.

[0069] Thanks to the inventive design of the pressure-release units, the gripper only needs to be positioned in a fixed working position above the lid, while all other movements are performed by the gripper's actuators. Furthermore, the resulting disassembly forces are not transferred to the frame. Only the force from pressing in the springs needs to be absorbed by the frame. The disassembly forces are therefore also not transferred to the handling unit.

[0070] In the embodiment shown in the figures, the pressing units 50 are pivotally mounted on the support frame 40 by means of at least one pivot actuator 60. The pressing units 50 are pivoted by means of the pivot actuators 60 from an inactive, laterally outward-facing position into an active, downward-facing working position. Fig. 2a, the pressing units 50 are therefore in an active position. By pivoting downward, the pressing elements 53 of the pressing units are retracted below the contour of the cover 31 of the battery unit housing 30.

[0071] In the exemplary embodiment, the push-off units assigned to one side of the support frame are each arranged together on a pivot axis 62, which is rotated by an actuator, in the exemplary embodiment a hydraulic and / or pneumatic cylinder, in order to pivot the push-off units arranged thereon.

[0072] It is also possible to use at least one linear actuator instead of the swivel actuator, which can move the pressing units 50 in the plane of the support frame 40, so that the pressing units 50 are not swiveled in, but are moved laterally under the contour of the cover 31 of the battery unit housing.

[0073] By pivoting or moving inward, a pressing surface 54 of the pressing element 53 is moved under a contour of the cover 31. At the same time, the support surface 52 of the support element 51 is placed over a counter element, in this case an edge 32 of the bottom of the battery unit housing 30. The pressing unit is now in its working state or working position. By actuating the actuator 55, the support element 51 can be brought into contact with the counter element, and the pressing element can be raised and moved against the contour of the cover to press it off.

[0074] To adapt the gripper to the dimensions of the cover 31 of the battery unit housing 30, the pressing units are arranged on the support frame in a length and / or width adjustable manner,

[0075] In the exemplary embodiment, the push-off units arranged along the two narrow sides of the gripper are each arranged together with the corresponding pivot actuator on a bracket 90, which is slidably guided on the struts of the support frame and can be manually arranged in different positions, allowing adaptation to covers of different lengths. Instead of or in addition to this length adjustment, the push-off units on the wide sides of the gripper could also be slidably arranged on the support frame to provide width adjustment. As an alternative to manual adjustment, an actuator could also be used for adjustment.

[0076] If a linear actuator is used to deliver the press-off units instead of a swivel actuator, this can also be arranged together with the press-off units on a console, which in turn is arranged displaceably on the support frame and is moved manually or via an actuator.

[0077] Furthermore, it is possible to equip each bead-forming unit with its own dedicated travel actuator and to arrange each bead-forming unit separately and adjustably on the support frame. This also allows the gripper to be adapted to different battery unit shapes.

[0078] If a linear actuator is used as the travel actuator, it can also be used to move the press-forming unit(s) and to adjust the position of the press-forming units on the support frame. In this case, a separate adjustment assembly is not required.

[0079] According to one aspect of the invention, a switchable compensation unit 70 is provided at the interface 71, which, in an unlocked state, enables a relative movement of the support frame 40 relative to the interface 71. According to one aspect of the invention, the compensation unit 70 can have an actuator 72 that can rigidly switch the compensation unit 70, whereby no relative movement of the support frame 40 relative to the interface 71 is possible.

[0080] In one embodiment, the disassembly of a battery unit cover is carried out as follows: In order to detach a cover 31 of a battery unit housing 30 already removed from an electric vehicle, the screw connection of which to the cover 31 was previously loosened manually or automatically, from the battery unit housing 30 which is now only glued to the cover 31, using the gripper 10 with pressure-releasing units 50, the gripper 10 is moved onto the cover 31 by means of the robot arm 20.

[0081] Now the pressing units are moved under the contour of the cover 31 of the battery unit housing 30, which in the exemplary embodiment is done by pivoting, alternatively by lateral movement.

[0082] During the movement of the press-off units 50 or the press-off elements 53 beneath the contour of the cover 31, the compensation unit 70 is enabled by the control system of the gripper 10 in order to compensate for positional tolerances and workpiece tolerances. This allows the gripper 10 to center itself over the cover 31.

[0083] Once the pressing units 50 are in their working position on the housing, the linear actuators 55 of the pressing units 50, which may be in the form of hydraulic cylinders, are activated. This causes the respective pressing surfaces 54 of the pressing elements 53 to be pressed from below against the contour of the cover 31, with the support elements 51 being supported on the counter element 32 via the respective support surfaces 52.

[0084] The cover 31 is now lifted by actuating the linear actuators 55, by which the distance between the push-off elements 53 and the respective support elements 51 can be changed, in that the push-off surfaces 54 are pressed from below against the cover 31 of the battery unit housing 30, wherein the support elements 51 are supported against the counter element 32 via the support surfaces 52.

[0085] The linear actuators 55 of the pressing unit 50 can be controlled separately. In this way, different pressing strategies can be pursued. For example, it is possible to first actuate the pressing unit 50 in a predefined corner of the support frame 40 and then, starting from this corner, actuate pressing units 50 arranged diagonally to one another. In particular, the pressing units 50 can be actuated one after the other, circumferentially around the edge of the cover 31. Alternative pressing strategies are possible at any time to achieve an optimal process. The pressing units can, for example, also be actuated simultaneously in at least one operating mode.

[0086] After release, the cover 31 is held and / or secured in position by the push-off elements 53 of the push-off units 50, which remain in the working position, while it is moved over the robot arm.

[0087] The cover 31 detached from the battery unit housing 30 is additionally gripped by one or more suction gripping elements 80 provided on the support frame 40 of the gripper 10, recognizable in Fig. 1 and Fig. 2a, are sucked onto the upper side thereof and held in position. Preferably, the suction gripping elements 80 are activated after the push-off elements 53 of the push-off units 50 have been moved under the contour of the lid 31 and / or after the lid has been lifted. Instead of or in addition to the suction gripping elements 80, magnetic gripping elements could also be used if the lid is suitable.

[0088] The robot arm 20, which is connected to the support frame 40 via the interface 71, moves the detached lid 31 to a depositing location. There, the push-off elements 53 release the contour of the lid 31 for depositing the lid 31 by moving the push-off units 50 into their inactive position, here by pivoting the push-off units 50 out using the pivot actuators 60. In a preferred embodiment of the invention, the suction gripping elements 80 remain active after the push-off elements 53 of the push-off units 50 have released the contour of the lid 31 to enable safe depositing.

[0089] The lid 31 is then put down and the suction gripping elements 80 are deactivated.

[0090] The robot arm 20 moves the gripper 10 to another battery unit, and the process can begin again.

[0091] The Fig.1 - 3 is not limited to the number shown, rather the representation of the gripper presented here is merely one possible embodiment that can be changed and adapted as required, such as the size of the battery unit housing, in order to guarantee optimal disassembly of the cover of a battery unit housing.

[0092] The control of the robot arm 20 and the gripper 10 is preferably automated by an appropriately designed controller. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 102021 204 685 A1

[0004]

Claims

[1] Gripper for automated disassembly of a cover of a battery unit, comprising: - an interface for mounting the gripper on a handling unit, in particular a robot, - a supporting frame and - a plurality of pressing units, with which the cover can be detached from a housing of the battery unit, wherein the pressing units each comprise a pressing element which can be moved under a contour of the cover, an actuator and a supporting element, wherein the pressing element can be lifted by means of the actuator, while the pressing unit is supported on a counter element via the supporting element. [2] Gripper according to claim 1, wherein the push-off units comprising the push-off element, the support element and the actuator are arranged on the support frame so as to be movable by at least one displacement actuator, and in particular are arranged on the support frame so as to be pivotable via a pivot actuator or linearly movable via a linear actuator. [3] Gripper according to claim 2, wherein the push-off elements can be moved into a working state below the contour of the cover by moving the push-off units by means of the displacement actuator and / or wherein the support elements can be supported in the working state on a contour of the housing arranged below the contour of the cover, in particular a bottom region of the housing. [4] Gripper according to one of the preceding claims, with a width and / or length adjustment, via which the distance between the push-off units in the working state can be changed, wherein at least one adjustment axis is provided, on which one or more push-off units are adjustably arranged, wherein preferably one or more push-off units together with a displacement actuator form a structural unit which is adjustably arranged on the adjustment axis, or wherein the distance between the push-off units in the working state can be adjusted via those displacement actuators via which the push-off units can be moved into their working state. [5] Gripper according to one of the preceding claims, wherein the distance between a pressing surface of the pressing elements and a supporting surface of the supporting elements can be changed by the actuator, wherein preferably the pressing elements can be moved linearly relative to the respective supporting element by the respective actuator in order to raise the pressing surface, and / or wherein the pressing unit has a connecting region via which it is connected to the support frame, wherein the pressing element is arranged on the pressing unit such that it can be moved relative to the connecting region, so that the connecting region and thus the support frame are not raised when the pressing element is raised, wherein the pressing element is preferably guided along a guide on the pressing unit. [6] Gripper according to one of the preceding claims, with one or more gripping elements, in particular suction gripping elements, for holding the lid on its upper side. [7] Gripper according to one of the preceding claims, wherein the actuators of the support elements can be controlled separately. [8] Gripper according to one of the preceding claims, wherein the interface for mounting the gripper on the handling unit has a compensation unit which enables a relative movement of the support frame with respect to the interface, wherein the compensation unit preferably has an actuator via which it can be rigidly switched. [9] System for the automated disassembly of a cover of a battery unit with a gripper according to one of the preceding claims, a handling unit, in particular a robot, and a controller. [10] System according to claim 9, wherein the control is designed such that at least two push-off units are actuated one after the other to lift the lid, wherein the two push-off units are preferably arranged next to one another and / or wherein the push-off units of the gripper are preferably actuated one after the other in a circumferential manner around the edge of the lid, or wherein all push-off units are actuated simultaneously. [11] System according to one of claims 9 to 10, wherein the control is designed such that the lid, after being released from the housing, is held and / or secured by the push-off elements of the push-off units while it is moved via the handling unit to a depositing location, wherein the push-off elements preferably release the contour of the lid for depositing the lid, in particular by moving the push-off units away from the contour of the lid, in particular pivoting them. [12] System according to claim 11, wherein the control is designed such that the lid is held by one or more additional gripping elements, which preferably engage the top side of the lid, in particular suction or magnetic gripping elements, while it is moved to a depositing location, wherein preferably the gripping element(s) are only activated after the push-off elements of the push-off units have been moved under the contour of the lid, and / or wherein the gripping element(s) remain active after the push-off elements of the push-off units release the contour of the lid in order to enable safe depositing. [13] System according to one of claims 9 to 12, wherein the control is designed such that the compensation unit is released while the push-off elements have been moved under the contour of the lid, in particular while the push-off elements have been moved under the contour of the lid by moving the push-off units. [14] System according to one of claims 9 to 13, wherein the control is designed such that the compensation unit is released while the actuators of the push-off units are activated to release the cover from the housing. [15] Method for the automated disassembly of a cover of a battery unit with a gripper according to one of claims 1 to 8 and / or a system according to one of claims 9 to 14, wherein the cover is lifted by the push-off elements engaging under the contour of the cover being lifted by means of the respective actuator, while the push-off unit is supported on a counter element via the support element.

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