Object pickup and holding device and method for a handling robot and / or a storage system, as well as object adapter and object handling system

Abstract

The invention relates to an object picking and holding device (60, 60') for a handling robot (10, 10') and / or a storage device (12), comprising at least one passive gripper unit (14) for picking up and holding an object (16) with at least one bolt-like coupling point (18) It is proposed that the passive gripper unit (14) comprises at least a first passive gripper element (20) and at least a second passive gripper element (22), wherein the first passive gripper element (20) is hook-shaped at least in a cross-sectional or side view and is designed to receive and hold the bolt-like coupling point (18) of the object (16) such that the object (16) retains one degree of freedom for rotation about a bolt axis (24) of the bolt-like coupling point (18), and wherein the second passive gripper element (22) forms a support surface (26) designed to grip a surface (28) of the object (16) spaced apart from the bolt-like coupling point (18).which is automatically deflected by the object's own weight (16) about the bolt axis (24) of the bolt-like coupling point (18) of the object (16) positioned in the first passive gripper element (20) in the direction of the second passive gripper element (22).

Description

State of the art

[0001] The invention relates to an object receiving and holding device according to the preamble of claim 1, an object adapter according to claim 13, an object handling system according to claim 16 and an object receiving and holding method according to the preamble of claim 18.

[0002] Various active and passive gripping principles for robot grippers have already been proposed. Known passive robot grippers, such as those based on magnetic forces, van der Waals forces, or the forklift principle, have significantly limited payload capacities and / or allow only a few degrees of freedom in which the gripped object can be moved without falling. Active robot grippers, such as parallel jaw grippers, also often have significantly limited payload capacities, are usually very specifically adapted to a particular object to be gripped, and generally consist of several parts that are movably mounted relative to each other. Therefore, they are expensive to purchase, complex to control / program, and prone to contamination and malfunctions. Particularly in the pharmaceutical or medical fields, robot grippers must be easily cleanable, e.g.,autoclavable, which can be very complex for active robot grippers with moving parts and may even require temporary disassembly.

[0003] The object of the invention is, in particular, to provide a particularly simple yet versatile device of the generic type. This object is achieved according to the invention by the features of the independent and dependent claims, while advantageous embodiments and further developments of the invention can be found in the dependent claims. Advantages of the invention

[0004] The invention relates to an object picking and holding device for a handling robot and / or a storage device, particularly in an environment of pharmaceutical production facilities, comprising at least one passive gripper unit for picking up and holding an object with at least one bolt-like coupling point.

[0005] It is proposed that the passive gripper unit comprises at least a first passive gripper element and at least a second passive gripper element, wherein the first passive gripper element is designed as a hook at least in a cross-sectional or side view and is intended to receive and hold the bolt-like coupling point of the object in such a way that the object continues to have one degree of freedom of rotation about a bolt axis of the bolt-like coupling point, and wherein the second passive gripper element forms a support surface, in particular an external support surface, which is intended to support a surface of the object spaced apart from the bolt-like coupling point, which is automatically deflected about the bolt axis of the bolt-like coupling point of the object positioned in the first passive gripper element in the direction of the second passive gripper element by the object's own weight.This allows for the advantageous creation of a particularly simple passive gripper, which in particular exhibits a very high load-bearing capacity. A gripper design that is easy to clean and / or cost-effective is advantageously possible. The gripping process can also be kept simple.

[0006] The object handling and holding device is specifically designed for picking up and holding one or more objects and / or one or more object adapters. "Designed" here refers specifically to the device being specially programmed, designed, and / or equipped. The fact that an object is designed for a specific function means, in particular, that the object fulfills and / or performs this specific function in at least one application and / or operating state. The object can be picked up and held directly by the object handling and holding device or connected to an object adapter, which is then picked up and held by the device.A handling robot is preferably an industrial robot specifically designed for transporting, positioning, and manipulating objects such as workpieces or materials, particularly in automated processes. A storage device is preferably a system or structure used to store objects, preferably securely, in an organized and accessible manner. The storage device can be, for example, a type of rack. The objects can be, for example, pharmaceutical products or trays / compartments / storage units / pallets for pharmaceutical or other products. The object picking and holding device preferably has a shape, surface finish, and material composition that are easily sterilizable, particularly autoclavable. A passive gripper unit is a gripper unit that has a gripping mechanism that functions without active drive elements and without movable gripper jaws or the like.Preferably, the passive gripper unit grasps and holds objects by means of external forces or mechanical self-holding mechanisms. Preferably, the passive gripper unit is free of two or more components that are movable relative to each other. Preferably, when the passive gripper unit is relocated, all parts of the passive gripper unit always move together and uniformly.

[0007] The bolt-like coupling point of the object preferably comprises one, two, or more than two bolts. The bolts can be designed as cylindrical or polyhedral elongated objects, which preferably have an approximately constant longitudinal cross-section. At least the first passive gripper element, and preferably all passive gripper elements of the passive gripper unit, preferably have a shape corresponding to the bolt-like coupling points. For example, the first passive gripper element, and preferably also the second passive gripper element, can be shaped such that it at least partially, preferably to at least more than 90°, and preferably to at least approximately 180°, engages one of the bolt-like coupling points, preferably one bolt, of the object.A hook shape is preferably a shape resembling a hook, typically curved or bent, preferably to allow the objects, in particular one of the bolt-like coupling points / bolts of the objects, to be hooked or held. The bolt axis of a bolt-like coupling point is preferably parallel to or even overlapping with a longitudinal axis of the bolt-like coupling point / bolt. The bolt-like coupling point / bolt of the object with which the first passive gripper element interacts is preferably arranged off-center within the object. The bolt axis of the bolt-like coupling point / bolt of the object with which the first passive gripper element interacts is preferably free of any intersection with a center of gravity of the object. The surface of the object supported by the second gripper element can also be configured as an (identical) bolt-like coupling point.Preferably, the first passive gripper element and the second passive gripper element are spaced apart from each other and preferably arranged in opposite end regions of the passive gripper unit. In particular, the second passive gripper element is designed to limit and / or block rotation, especially rotation of the object held by the first passive gripper element at the bolt-like coupling point.

[0008] Furthermore, it is proposed that at least one object-picking and holding section of the passive gripper unit, preferably the entire passive gripper unit, be completely free of components that move relative to at least one of the passive gripper elements when undamaged and / or in proper working order, such as clamping elements, spring elements, actuator drives, conveying elements, or the like. This advantageously allows for a simple, easy-to-clean / sterilize, and / or cost-effective design. Naturally, the object-picking and holding section, preferably the entire passive gripper unit, is also completely free of components that move relative to at least one of the passive gripper elements when not in operation. The object-picking and holding section of the passive gripper unit is, in particular, a part of the passive gripper unit designed to touch the held object.The object-picking and object-holding section of the passive gripper unit is in particular the part of the passive gripper unit that includes the passive gripper elements and preferably everything that lies between the passive gripper elements.

[0009] Furthermore, it is proposed that the passive gripper unit be designed such that it enables secure holding of the object in both vertical and horizontal orientations. This advantageously allows for a high degree of operational flexibility, particularly compared to the application of the forklift principle. To achieve this technical and functional property, for example, the hook shape of the first passive gripper element can be open only in a direction parallel to a main extension direction of the passive gripper unit, preferably in a direction approximately parallel to a central support plane.The term "principal extension direction" of an object is understood to mean, in particular, a direction that runs parallel to the longest edge of the smallest geometric cuboid that just completely encloses the object. Preferably, the passive gripper unit is designed such that it enables the object to be securely held in all positions of the passive gripper unit, including those assumed when switching between the vertical and horizontal orientations of the passive gripper unit.

[0010] Furthermore, it is proposed that the second passive gripper element has a barrier element on a side of the support surface facing the first passive gripper element and / or on a side of the support surface facing away from the first passive gripper element. This barrier element is designed to interact with the geometry of the object in such a way that slippage of the object parallel to a base plane of the support surface is prevented, at least in the direction of the respective barrier element. This advantageously enables a particularly secure, and especially slip-resistant, hold for the objects. The second passive gripper element, provided with the support surfaces, preferably forms a groove, which in particular has a half-shell shape in cross-section. The first passive gripper element, like the second passive gripper element, preferably forms a half-shell-shaped receptacle for a bolt of the object.At least one of the barrier elements preferably extends perpendicular to an opening direction of the first passive gripper element, in particular the cross-section of the first passive gripper element.

[0011] Furthermore, it is proposed that the passive gripper unit has at least a third passive gripper element, which is hook-shaped at least in a cross-sectional or side view and is designed to receive and hold the bolt-like coupling point of the object in such a way that the object retains one degree of freedom for rotational movement about a bolt axis of the bolt-like coupling point. The central opening direction of a (cross-sectional) hook shape of the first passive gripper element and the central opening direction of a (cross-sectional) hook shape of the third passive gripper element are substantially angled or antiparallel to each other. This advantageously allows for a high degree of versatility and / or flexibility of the passive gripper unit. It also advantageously allows for a particularly large range of motion in which the passive gripper unit can securely hold the object.Advantageously, the number of different objects that can be held by the passive gripper unit can be increased. Advantageously, additional functions, such as a retrieval hook or the like, can be integrated into the passive gripper unit. Preferably, the first passive gripper element and the second passive gripper element, the first passive gripper element and the third passive gripper element, and / or the second passive gripper element and the third passive gripper element are part of the same, in particular a single-piece, preferably monolithic, component of the passive gripper unit. Preferably, the passive gripper unit is monolithic. In particular, the third passive gripper element forms part of the object-picking and object-holding section of the passive gripper unit.The angle between the mean opening direction of the (cross-sectional) hook shape of the first passive gripper element and the mean opening direction of the (cross-sectional) hook shape of the third passive gripper element is approximately 90° or approximately 180°. Intermediate angles are also conceivable. In particular, with the 90° angled design, the outermost passive gripper element of the passive gripper unit can simultaneously form a return hook for the passive gripper unit.

[0012] Furthermore, if the passive gripper unit has at least a fourth passive gripper element, which forms an additional support surface designed to support a surface of the object that is different from and spaced apart from the bolt-like coupling point, and which is automatically deflected by the object's own weight around the bolt axis of the bolt-like coupling point of the object positioned in the third passive gripper element in the direction of the fourth passive gripper element, then the high versatility and / or flexibility of the passive gripper unit can be advantageously achieved. A particularly large range of motion, in which the passive gripper unit can securely hold the object, can also be advantageously achieved. In particular, the fourth passive gripper element is located in the main extension direction of the passive gripper unit between the first passive gripper element and the third passive gripper element.In particular, the fourth passive gripper element is located in the main direction of extension of the passive gripper unit between the first passive gripper element and the second passive gripper element. In particular, the second passive gripper element is located in the main direction of extension of the passive gripper unit between the first passive gripper element and the third passive gripper element. In particular, the second passive gripper element is located in the main direction of extension of the passive gripper unit between the fourth passive gripper element and the third passive gripper element. Preferably, the second passive gripper element, which interacts with the first passive gripper element, is located closer to the third passive gripper element than to the first passive gripper element. Preferably, the fourth passive gripper element, which interacts with the third passive gripper element, is located closer to the first passive gripper element than to the third passive gripper element.In particular, the second and fourth passive gripper elements lie on different planes parallel to a principal extension plane of the passive gripper unit. Specifically, all passive gripper elements lie on different planes parallel to the principal extension plane of the passive gripper unit. A "principal extension plane" of a component is understood to be, in particular, a plane that is parallel to a largest side face of the smallest imaginary cuboid that just completely encloses the component, and in particular, that passes through the center of the cuboid.

[0013] Furthermore, if the support surface of the second passive gripper element has at least one normal vector, in particular originating from a center of the support surface of the second passive gripper element, which is parallel and aligned with a normal vector of the further support surface of the fourth passive gripper element, in particular originating from a center of the support surface of the fourth passive gripper element, then a (horizontal) holding of objects that are "tail-heavy" relative to the bolt-like coupling point, as well as "bow-heavy" or "front-heavy" objects relative to the bolt-like coupling point, can advantageously be enabled. The passive gripper unit then provides a pair of passive gripper elements for each of these objects.Preferably, the first passive gripper element and / or the third passive gripper element has a normal vector, in particular originating from a respective center of the respective passive gripper element, which is antiparallel to exactly the aforementioned normal vector of the second passive gripper element and / or to exactly the aforementioned normal vector of the fourth passive gripper element.

[0014] Furthermore, it is proposed that the passive gripper unit comprise a further first passive gripper element that is at least substantially identical to the first passive gripper element, and in particular also identically oriented; a further second passive gripper element that is at least substantially identical to the second passive gripper element, and in particular also identically oriented; a further third passive gripper element that is at least substantially identical to the third passive gripper element, and in particular also identically oriented; and / or a further fourth passive gripper element that is at least substantially identical to the fourth passive gripper element, and in particular also identically oriented. This advantageously ensures a particularly stable and secure hold.Preferably, a gap is provided between the respective identical gripper elements, which in particular serves to accommodate a base body of the object from which the bolts of the bolt-like coupling point(s) of the object project on both sides. Alternatively, it is also conceivable that only one bolt per bolt-like coupling point (e.g., in a central recess of a base body of the object) and only one passive gripper element of each type are provided. A free space is preferably provided between the respective pairs of gripper elements. Alternatively, instead of a free space between the respective pairs of gripper elements, a base body of the passive gripper unit can also be arranged.

[0015] If the passive gripper unit has at least one mounting element, preferably monolithic with at least one passive gripper element, and preferably with all passive gripper elements of the passive gripper unit, for mounting on a robot arm of the handling robot, a particularly simple and cost-effective design can be advantageously achieved. The first passive gripper element is preferably located closest to the mounting element. The third passive gripper element is preferably located furthest from the mounting element. The mounting element can be attached to or locked onto the robot arm by means of magnetic force, mechanical means, and / or pneumatic suction.

[0016] Furthermore, it is proposed that the mounting element, in particular as a bolt-like coupling point, be designed such that the passive gripper unit itself forms an object suitable for being received and held by the passive gripper unit. This advantageously allows for a high degree of flexibility. For example, a gripper extension can be achieved in a conveniently simple manner. In particular, the passive gripper unit has a bolt-like coupling point. Specifically, the bolt-like coupling point is arranged at a location on the passive gripper unit that, viewed in the main direction of extension, forms an end region of the passive gripper unit. The mounting element is preferably designed such that it can be held by the interaction of the first passive gripper element and the second passive gripper element and / or the third passive gripper element and the fourth passive gripper element.The mounting element comprises the bolt-like coupling point with at least one, preferably at least two, bolts suitable for receiving the first passive gripper element and / or the third passive gripper element. This advantageously allows two or more passive gripper units to be connected in series.

[0017] Alternatively, it is proposed that the mounting element form part of a dovetail mounting system, part of a bayonet mounting system, in particular a lens bayonet mounting system, part of a clamp connection mounting system, in particular a polygon clamp connection mounting system, or part of a magnetic mounting system. This advantageously ensures a particularly secure and firm mounting of the passive gripper unit to the robot arm.

[0018] Furthermore, it is proposed that the object picking and holding device include a sensor unit for detecting and / or monitoring the correct gripping position of the passive gripper unit, in particular at least one of the passive gripper elements of the passive gripper unit, relative to the object currently being gripped / to be gripped. This advantageously ensures a high level of operational reliability for the object picking and holding device. The sensor unit may include a camera for camera position monitoring, a contact sensor arrangement for monitoring one or more designated contact points, or another contact monitoring device.

[0019] Furthermore, an object adapter for use in conjunction with the object receiving and holding device is proposed, comprising a base body with at least one receiving and / or mounting area for positioning and / or securing an object, and with at least two bolt-like coupling points, which preferably have a distance from each other that corresponds at least substantially to the distance between the first passive gripper element of the object receiving and holding device and the second passive gripper element of the object receiving and holding device, and / or to the distance between the third and fourth passive gripper elements. This advantageously enables the holding and manipulation of a large number of objects, in particular also objects that do not themselves possess a suitable bolt-like coupling point.

[0020] If each of the at least two bolt-like coupling points comprises at least two cylindrical bolts projecting axially from the base body on opposite sides of the base body, a particularly secure and reliable hold of the object adapter in the passive gripper unit can be advantageously achieved.

[0021] Furthermore, if the base body has at least two legs angled towards each other, one leg having at least two bolt-like coupling points and the other leg having two further bolt-like coupling points which are designed and arranged at least substantially identically to the at least two bolt-like coupling points, then a simple transfer of objects and / or the object adapter between two passive gripper units, in particular between a passive gripper unit in a horizontal position and a passive gripper unit in a vertical position, can advantageously be enabled. It is also advantageous to be able to reposition the passive gripper unit.

[0022] Furthermore, an object handling system is proposed for storing and relocating multiple objects, comprising at least one handling robot with an object picking and holding device attached to a robot arm of the handling robot, and / or comprising at least one storage unit forming a storage magazine with an object picking and holding device. This advantageously allows for a particularly simple, cost-effective, and easy-to-clean / sterilize object handling system. The storage unit can be designed according to the revolver principle, as a mobile parts storage system, or as a permanently mounted rack.

[0023] Furthermore, it is proposed that the object handling system include one or more object adapters. This allows for a high degree of versatility.

[0024] Furthermore, an object picking and holding method for a handling robot and / or a storage device, particularly in a pharmaceutical production environment, is proposed, preferably using the object picking and holding device, wherein an object with at least one bolt-like coupling point is picked up and held by the passive gripper unit, wherein the passive gripper unit has at least the first passive gripper element and at least the second passive gripper element, wherein the first passive gripper element is hook-shaped at least in the cross-sectional or side view, and the bolt-like coupling point of the object is picked up and held by the first passive gripper element in such a way that the object continues to have one degree of freedom for rotational movement about a bolt axis of the bolt-like coupling point.and wherein the second passive gripper element forms the support surface and supports the surface of the object, which is spaced apart from the bolt-like coupling point and is deflected by the object's own weight around the axis of the bolt-like coupling point of the object positioned in the first passive gripper element in the direction of the second passive gripper element. This advantageously allows for a particularly simple passive gripper, which in particular has a very high load-bearing capacity. Advantageously, an easily cleanable and / or cost-effective design of the gripper can be achieved. Advantageously, the gripping process can be kept simple.

[0025] The object receiving and holding device, the object adapter, the object handling system, and / or the object receiving and holding method according to the invention are not limited to the application and embodiment described above. In particular, the object receiving and holding device, the object adapter, the object handling system, and / or the object receiving and holding method according to the invention may, to achieve a functionality described herein, comprise a different number of individual elements, components, process steps, and units than the number specified herein. Drawings

[0026] Further advantages become apparent from the following description of the drawings. The drawings illustrate several embodiments of the invention. The drawings, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations.

[0027] They show: Fig. 1. Schematic representation of an exemplary object handling system for storing and / or relocating multiple objects using handling robots, storage facilities, object adapters, and object picking and holding devices. Fig. 2a a schematic perspective view of an object receiving and holding device comprising a passive gripper unit and an object adapter, Fig. 2b a schematic side view of the object receiving and holding device and the object adapter in a first exemplary gripping position, Fig. 2c a schematic side view of the object receiving and holding device and the object adapter in a second exemplary gripping position, Fig. 3a a schematic side view of the object receiving and holding device and an alternative object adapter, Fig. 3b a schematic perspective view of the object receiving and holding device and the alternative object adapter, Fig. 4a by way of example and schematically a top-heavy object gripped in a first way by the passive gripper unit with bolt-like coupling points, Fig. 4b by way of example and schematically a rear-heavy object gripped in a second way by the passive gripper unit with bolt-like coupling points, Fig. 5 a schematic flowchart of an object picking and holding procedure for the handling robot and / or the storage facility using the object picking and holding device, Fig. 6a a first step of an exemplary gripping process of the object picking and holding procedure, Fig. 6b a second step of the exemplary grasping process, Fig. 6c a third step of the exemplary gripping process, Fig. 7a a final link of a robot arm of the handling robot and the object picking and holding device with an alternative passive gripper unit, Fig. 7b an object-picking and object-holding device extended by coupling two passive gripper units together, Fig. 8 the last link of the robot arm and the object picking and holding device with another alternative passive gripper unit, Fig. 9 the last link of the robot arm and the object picking and holding device with a second further alternative passive gripper unit, Fig. 10 the last link of the robot arm and the object picking and holding device with a third further alternative passive gripper unit and Fig. 11 an exemplary storage station for the passive gripper units. Description of the exemplary implementations

[0028] The Fig. Figure 1 schematically shows an exemplary object handling system 72. The object handling system 72 can, for example, be part of a pharmaceutical production plant. The object handling system 72 is designed for storing and / or relocating several objects 16, 16'. The object handling system 72 comprises handling robots 10, 10'. The handling robots 10, 10' each have a robot arm 54. The handling robots 10, 10' are designed for picking up and relocating objects 16. The handling system 72 has object picking and holding devices 60, 60'. An object picking and holding device 60 is attached to the robot arm 54 of one of the handling robots 10, 10'. The object handling system 72 has a storage unit 12. The storage unit 12 forms a storage magazine for several objects 16'. An object receiving and holding device 60' forms part of the storage device 12.One of the exemplary handling robots 10 is intended for storing and retrieving objects 16, 16' in / from the storage facility 12. The same handling robot 10 is also intended, by way of example, for transferring objects 16, 16' to the other handling robot 10'.

[0029] At least one of the objects 16 has a bolt-like coupling point 18. The object receiving and holding device 60, 60' is designed to establish a connection with the bolt-like coupling point 18, thus securing the object 16. The object handling system 72 also has several object adapters 58, 58'. The object adapters 58, 58' are designed to provide objects 16, 16' with at least one bolt-like coupling point 18. For this purpose, the object adapters 58, 58' are connected to the respective objects 16, 16', which initially lack coupling points.

[0030] The Fig. 2a, Fig. 2b and Fig. Figure 2c shows schematically different perspective views of an exemplary object receiving and holding device 60 with an exemplary object adapter 58. The object adapter 58 is intended for use in conjunction with the object receiving and holding device 60. The object adapter 58 has a base body 62. The base body 62 has a receiving and / or mounting area 64. The receiving and / or mounting area 64 is intended for positioning and / or fastening objects 16, 16'. The object adapter 58 has a bolt-like coupling point 18. The object adapter 58 has another bolt-like coupling point 18'. The bolt-like coupling points 18, 18' each comprise two cylindrical bolts. The two cylindrical bolts of the bolt-like coupling points 18, 18' each protrude axially from the base body 62 of the object adapter 58 on opposite sides of the base body 62.The bolt-like coupling points 18, 18' have a distance 74 from each other perpendicular to the bolt axes 24 of the cylinder bolts, which corresponds to a distance of passive gripper elements 20, 22 of a passive gripper unit 14 of the object receiving and object holding device 60.

[0031] The Fig. 3a and Fig. Figure 3b schematically shows further representations of the exemplary object receiving and holding device 60 with an alternative object adapter 58'. The base body 62 of the alternative object adapter 58' has two legs 66, 68 angled towards each other. One of the two legs 66 has two bolt-like coupling points 18, 18'. The other leg 68 has two further bolt-like coupling points 70, 70'. The further bolt-like coupling points 70, 70' are identical in design and arrangement relative to the two bolt-like coupling points 18, 18'. The alternative object adapter 58' also has a further receiving and / or mounting area 64'. Objects 16, 16' can be attached to one or more receiving and / or mounting areas 64, 64'. In the Fig. Figure 3b shows a second object receiving and holding device 60', which also interacts with the alternative object adapter 58. Fig. Figure 3b shows an example of a transfer process by means of which objects 16, 16', which are connected to the alternative object adapter 58', can be transferred between two object receiving and object holding devices 60, 60'.

[0032] The Fig. 4a and Fig. Figure 4b shows, by way of example and schematically, two different objects 16, 16' with bolt-like coupling points 18, 18'. The object 16 of the Fig. 4a is a top-heavy component. The object 16' of the Fig. 4b is a rear-heavy component. The object receiving and holding device 60 is suitable for holding both objects 16, 16'. The respective centers of gravity, directions of gravity, and directions of torque of the objects 16, 16' are shown in the Fig. 4a and Fig. 4b is marked by arrows and circles.

[0033] The in the Fig. The object-receiving and object-holding devices 60, 60' shown in Figures 1 to 4b feature the passive gripper unit 14. The passive gripper unit 14 is designed at least for picking up and holding the objects 16, 16' with the bolt-like coupling points 18, 18'. The passive gripper unit 14 is designed such that a secure hold of the object 16 is ensured when the passive gripper unit 14 is in a vertical orientation (see Figure 1). Fig. 2a, Fig. 2b, Fig. 3a or Fig. 3b) and in the case of a horizontal orientation of the passive gripper unit 14 (see Fig. 2c, Fig. 3b, Fig. 4a or Fig. 4b) is enabled. The passive gripper unit 14 has an object-receiving and object-holding section 30. Within the object-receiving and object-holding section 30 of the passive gripper unit 14, the object 16, 16' or the object adapter 58, 58' is held / fixed. The object-receiving and object-holding section 30 of the passive gripper unit 14, preferably the entire passive gripper unit 14, is completely free of components that are movable relative to at least one of the passive gripper elements 20, 22 in an undamaged and / or proper operating condition of the object-receiving and object-holding device 60, such as clamping elements, spring elements, actuator drives, conveying elements or the like.

[0034] The passive gripper unit 14 includes the first passive gripper element 20. The first passive gripper element 20 is part of the object-picking and object-holding section 30. The first passive gripper element 20 is shown in a cross-sectional or side view (see figure). Fig. 2b, Fig. 2c, Fig. 3a, Fig. 4a or Fig. 4b) hook-shaped. The first passive gripper element 20 is designed to receive and hold one of the bolt-like coupling points 18 of the object 16 in such a way that the object 16 continues to have one degree of freedom for rotational movement about a bolt axis 24 of the bolt-like coupling point 18 (see arrow 76 in Fig. 2b). The passive gripper unit 14 has a further first passive gripper element 20' that is at least substantially identical to the first passive gripper element 20 (cf. Fig. 2a). The first passive gripper elements 20, 20' overlap completely from at least one viewing direction, preferably from the side view (cf. Fig. 2b).

[0035] The passive gripper unit 14 has the second passive gripper element 22. The second passive gripper element 22 is part of the object-picking and object-holding section 30. The second passive gripper element 22 forms a support surface 26. The support surface 26 is designed to support a surface 28 of the object 16, which is spaced apart from the bolt-like coupling point 18 that interacts with the first passive gripper element 20. This surface 28 is deflected by the object 16's own weight about the bolt axis 24 of the bolt-like coupling point 18 of the object 16, which is positioned in the first passive gripper element 20, in the direction of the second passive gripper element 22 (see, among others, the Fig. 4a and Fig. 4b, in particular the torque directions indicated there by a curved arrow). The second passive gripper element 22 has a first barrier element 32 on a side of the support surface 26 facing the first passive gripper element 20. The second passive gripper element 22 has a second barrier element 34 on a side of the support surface 26 facing away from the first passive gripper element 20. The barrier elements 32, 34 are each designed to interact with a geometry of the object 16 or the object adapter 58, in particular with a bolt-like coupling point 18' or a cylindrical bolt of the object 16 or the object adapter 58, such that slippage of the object 16 parallel to a base plane of the support surface 26 is prevented at least in the direction of the respective barrier element 32, 34, preferably in both plane directions perpendicular to the bolt axis 24.It is also conceivable that only one barrier element 32 is provided on only one side of the support surface 26, preferably the side facing away from the first passive gripper element 20 (cf. . Fig. 6a to 6c). The passive gripper unit 14 has a further second passive gripper element 22' that is at least substantially identical to the second passive gripper element 22 (cf. Fig. 2a). The second passive gripper elements 20, 20' overlap completely from at least one viewing direction, preferably from the side view (cf. Fig. 2b).

[0036] The passive gripper unit 14 has a third passive gripper element 36. The third passive gripper element 36 is hook-shaped in cross-sectional or side view (see figure). Fig. 2b, Fig. 2c, Fig. 3a, Fig. 4a or Fig. 4b). The third passive gripper element 36 is designed to receive and hold one of the bolt-like coupling points 18 of the object 16 in such a way that the object 16 continues to have one degree of freedom of rotation about the bolt axis 24 of the bolt-like coupling point 18 (cf. Fig. 2c or Fig. 4a). A hook shape of the first passive gripper element 20 has a central opening direction 38 (cf. Fig. 2c). A hook shape of the third passive gripper element 36 has a central opening direction 40 (cf. Fig. 2c). The mean opening direction 38 of the hook shape of the first passive gripper element 20 and the mean opening direction 40 of the hook shape of the third passive gripper element 36 are angled relative to each other. The angle between the opening directions 38 and 40 is approximately 90°. Other angles and even an antiparallel orientation of the opening directions 38 and 40 (see, e.g., Fig. However, 7a to 10) are also conceivable. The passive gripper unit 14 has a further third passive gripper element 36' that is at least essentially identical to the third passive gripper element 36 (cf. Fig. 2a). The third passive gripper elements 36, 36' overlap completely when viewed from at least one direction, preferably from the side view (cf. Fig. 2b).

[0037] The passive gripper unit 14 has a fourth passive gripper element 42. The fourth passive gripper element 42 forms a further support surface 44. The further support surface 44 is designed to support a surface 46 of the object 16 that is distinct from and spaced apart from the bolt-like coupling point 18 interacting with the third passive gripper element 36. This surface 46 is deflected by the object 16's own weight about the bolt axis 24 of the bolt-like coupling point 18 of the object 16, which is positioned in the third passive gripper element 42, in the direction of the fourth passive gripper element 42. The further support surface 44 of the fourth passive gripper element 42 has a normal vector 50 (see figure 50). Fig. 2c). The support surface 26 of the second passive gripper element 22 has a normal vector 48 (cf. Fig. 2c). The normal vector 48 of the support surface 26 of the second passive gripper element 22 is parallel and aligned with the normal vector 50 of the further support surface 44 of the fourth passive gripper element 42. The normal vector 48 of the support surface 26 of the second passive gripper element 22 and / or the normal vector 50 of the further support surface 44 of the fourth passive gripper element 42 is parallel to and opposite to the central opening direction 38 of the first passive gripper element 20. The normal vector 48 of the support surface 26 of the second passive gripper element 22 and / or the normal vector 50 of the further support surface 44 of the fourth passive gripper element 42 is angled (approximately 90°) to the central opening direction 40 of the third passive gripper element 36.The passive gripper unit 14 has a further fourth passive gripper element that is at least substantially identical to the fourth passive gripper element 42. The fourth passive gripper elements 42, 42' overlap completely when viewed from at least one direction, preferably from the side view (see figure). Fig. 2b).

[0038] The passive gripper unit 14 has a mounting element 52 for mounting on the robot arm 54 of the handling robot 10, 10'. In the Fig. In the embodiment shown in Figures 1 to 4b, the mounting element 52 is a part of a magnetic mounting system, e.g., a permanent magnet of the magnetic mounting system or a magnetic counterpart of the magnetic mounting system. The object receiving and holding device 60, 60' also includes a sensor unit 56 (see Figure 1). Fig. 2a) The sensor unit 56 is designed to detect and / or monitor the proper gripping position of the passive gripper unit 14, in particular at least one of the passive gripper elements 20, 22, 36, 42 of the passive gripper unit 14, relative to the currently gripped / to-be-gripped object 16, preferably the bolt-like coupling points 18, 18', 70, 70', of the object 16 or of the object adapter 58 connected to the object 16. In the exemplary case of the Fig. 2a Contact sensors.

[0039] The Fig. Figure 5 shows a schematic flowchart of an object picking and holding procedure for the handling robot 10, 10' and / or the storage device 12, particularly in a pharmaceutical production environment, using the object picking and holding device 60, 60', wherein an object 16 with bolt-like coupling points 18, 18' is picked up and held by the passive gripper unit 14. Individual successive steps of an exemplary gripping process are also shown in the Fig. Figures 6a to 6c illustrate this. In at least one process step 78, the first passive gripper element 20, which is hook-shaped in cross-sectional or side view, engages the bolt-like coupling point 18 of the object 16 in such a way that the object 16 retains one degree of freedom for rotational movement about the bolt axis 24 of the bolt-like coupling point 18. For this purpose, the robot arm 54 moves an outer end of the passive gripper unit 14 with the third passive gripper element 36 at its tip obliquely between the two bolt-like coupling points 18, 18' of the object 16 / of the object adapter 58 (see Figures 6a to 6c). Fig. 6a). Subsequently, the hook-shaped third passive gripper element 36 engages one of the bolt-like coupling points 18 (cf. Fig. 6b). If, in a further process step 80, the robot arm 54 lifts the object 16 / the object adapter 58, a surface 28 of the object 16, spaced apart from the bolt-like coupling point 18, is automatically deflected by the object 16's own weight about the bolt axis 24 of the bolt-like coupling point 18 of the object 16, which is positioned in the third passive gripper element 36, in the direction of the fourth passive gripper element 42. In at least one further process step 82, the surface 28 of the object 16 comes into contact with the support surface 26 of the second passive gripper element 22 and is thereby supported by the second passive gripper element 22 (see Figure 6b). Fig. 6c).

[0040] In the Fig. Figures 7a to 10 show four further embodiments of the invention. The following descriptions and drawings are essentially limited to the differences between the embodiments, whereby, with regard to identically designated components, in particular components with the same reference numerals, reference is also generally made to the drawings and / or the description of the other embodiments, in particular the Fig. Reference can be made to sections 1 to 6c. To distinguish between the embodiments, the reference numerals of the embodiment in the Fig. 1 to 6c no letter is appended, whereas in the exemplary embodiments of the Fig. 7a to 10 each have one of the letters a to d appended to the reference mark.

[0041] The Fig. 7a and Fig. Figure 7b schematically shows a final segment of a robot arm 54a of a handling robot 10a and an object picking and holding device 60a with an alternative passive gripper unit 14a. The alternative passive gripper unit 14a has a hook-shaped first passive gripper element 20a. The hook shape of the first passive gripper element 20a has a central opening direction 38a. The alternative passive gripper unit 14a has a second passive gripper element 22a that interacts with the first passive gripper element 20a. The alternative passive gripper unit 14a has a hook-shaped third passive gripper element 36a. The hook shape of the third passive gripper element 36a has a central opening direction 40a. The alternative passive gripper unit 14a has a fourth passive gripper element 42a that interacts with the third passive gripper element 36a.The mean opening direction 38a of the hook shape of the first passive gripper element 20a and the mean opening direction 40a of the hook shape of the third passive gripper element 36a are oriented antiparallel to each other.

[0042] The alternative passive gripper unit 14a has an alternative mounting element 52a for mounting on the robot arm 54a of the handling robot 10a. In the Fig. 7a and Fig. 7b shown in the version (as well as in the version of the Fig. 8) The mounting element 52a is designed such that the passive gripper unit 14a itself forms an object 16a suitable for being picked up and held by the passive gripper unit 14a. The alternative mounting element 52a forms two bolt-like coupling points 18a, 18'a, each with two cylindrical bolts, which are shaped and arranged relative to each other such that they can be picked up and held by the passive gripper unit 14 and by the alternative passive gripper unit 14a, in particular analogous to an object 16 with the bolt-like coupling points 18, 18'. This allows, as in the Fig. Figure 7b shows several passive gripper units 14a, 14'a connected in series / coupled in series.

[0043] The Fig. Figure 8 also schematically shows a final segment of a robot arm 54b of a handling robot 10b and an object picking and holding device 60b with a further alternative passive gripper unit 14b. The further alternative passive gripper unit 14b corresponds in principle to the alternative passive gripper unit 14a of the Fig. 7a and Fig. 7b, with the crucial difference that another alternative mounting element 52b of the further alternative passive gripper unit 14b has bolt-like coupling points 18b, 18'b that lie vertically one above the other, whereas the bolt-like coupling points 18a, 18'a of the alternative mounting element 52a of the alternative passive gripper unit 14a are separated from the Fig. 7a and Fig. 7b lie horizontally next to each other.

[0044] The Fig. Figure 9 also schematically shows a final segment of a robot arm 54c of a handling robot 10c and an object picking and holding device 60c with a second alternative passive gripper unit 14c. The second alternative passive gripper unit 14c comprises a second alternative mounting element 52c (shown in the separated state). The second alternative mounting element 52c forms part of a bayonet mounting system, in particular a lens bayonet mounting system. By axially bringing the final segment of the robot arm 54c together with the second alternative passive gripper unit 14c and subsequently rotating the two axially joined components (about arrow 92c) relative to each other, the object picking and holding device 60c is attached to the handling robot 10c.

[0045] The Fig. Figure 10 schematically shows a final segment of a robot arm 54d of a handling robot 10d and an object picking and holding device 60d with a third alternative passive gripper unit 14d. The third alternative passive gripper unit 14d comprises a third alternative mounting element 52d (shown in the separated state). The third alternative mounting element 52d forms part of a dovetail mounting system. By radially joining the final segment of the robot arm 54d with the third alternative passive gripper unit 14d and subsequently rotating the two axially joined components relative to each other (about arrow 84d), the object picking and holding device 60d is attached to the handling robot 10d.

[0046] The Fig.Figure 11 shows an example of a storage station 86 for a passive gripper unit 14. The storage station 86 allows storage in all orientations. The storage station 86 has two bolt-like coupling points 18, 18' for interaction with the passive gripper elements 20, 22, 36, 42 of the passive gripper unit 14. The storage station 86 also has a magnetic element 88, which is designed to interact with an external magnetic element 90. The magnetic element 88 of the storage station 86 can be integrated into the storage station 86 or arranged on an outer surface of the storage station 86 opposite the passive gripper unit 14 in the storage state. The external magnetic element 90 and / or the magnetic element 88 of the storage station 86 can each be a permanent magnet.The two magnetic elements 88, 90 are arranged on opposite sides of the passive gripper unit 14, so that the mounting element 52 of the passive gripper unit 14 is clamped and pressed against the storage station 86 by the magnetic interaction of the two magnetic elements 88, 90 with each other.

Images