Gripping device and end effector for a robot

Abstract

Gripping device (100), in particular for a robot, the gripping device (100) comprising a gripper base (102) with a base axis (104), a linear axis (136) perpendicular to the base axis (104), gripping fingers (110, 112) displaceable along the linear axis (136), and a gripping drive for displacing the gripping fingers (110, 112), in which the gripping fingers (110, 112) each have at least one bendable and / or extensible finger member (120), and end effector for a robot with such a gripping device (100).

Description

The invention relates to a gripping device, in particular for a robot, the gripping device having a gripper base with a base axis, a linear axis perpendicular to the base axis, gripping fingers displaceable along the linear axis, and a gripping drive for displacing the gripping fingers. The invention also relates to an end effector for a robot.From document DE 10 2019 130 648 A1 a gripping device for a robot gripper is known, which has a mechanical actuation, at least one mechanically activatable and / or deactivatable active section for gripping objects and a gear for converting a mechanical actuation power, and it is proposed to carry out the actuation with at least two contact elements for the robot gripper that are guided in parallel.From document DE 10 2021 116 276 A1 a gripping device for a robot is known, which has a gripper base, at least one actuated gripping finger with at least one finger member and at least one finger joint and at least one intermediate base arranged between the gripper base and the at least one gripping finger, wherein the at least one intermediate base is movable relative to the gripper base and the at least one gripping finger is movable relative to the at least one intermediate base.From document WO 2023 / 147606 A1 a robot gripper is known having a frame and at least two finger units provided on the frame for gripping an object. Each of the finger units includes at least one parallel link mechanism. The parallel link mechanism includes a first link, a second link, a third link, a linearly movable platform, and a finger frame. The mechanism aims to move the finger frame in accordance with a straight line or a nearly straight line, and is capable of moving on both sides with respect to a direction along the stroke of the linearly movable platform. One end of the first link is pivotally connected to a center of the second link, another end of the first link is pivotally connected to a transmission system disposed in the frame, one end of the second link is pivotally connected to the linearly movable platform, another end of the second link is pivotally connected to the finger frame. The length of the second link is twice as long as the length of the first link, one end of the third link is pivotally connected to the linearly movable platform, another end of the third link is pivotally connected to the finger frame. The third link has the same length as the second link, the linearly movable platform is configured to provide a linear stroke that is aligned or nearly aligned between one end of the second link located on the linearly movable platform and another end of the first link connected to the transmission system.Document KR 1020200081303 A relates to a gripper comprising:at least two finger units symmetrically opposed to each other and having a fingertip at one end; and a driving unit connected to the finger units and operating the finger units to grip an object to be gripped. The finger units include: a non-driven link installed between the drive unit and the fingertip and not driven by the drive unit; an intermediate link installed between the fingertip and the non-driven link and installed in a direction different from the non-driven link; a first driven link installed between the drive unit and the intermediate link and driven by the drive unit to operate the non-driving link and the intermediate link while the fingertip is maintained in an initial installation state; and a second driving link installed between the drive unit and the intermediate link and driven by the drive unit to operate the fingertip. Accordingly, the gripper is provided with three degrees of freedom.The object of the invention is to improve a gripping device mentioned at the beginning in a structural and / or functional manner. In addition, the object of the invention is to improve an end effector mentioned at the beginning in a structural and / or functional manner.The object is achieved with a gripping device having the features of claim 1. In addition, the object is achieved with an end effector having the features of claim 11.The gripping device may be designed and / or arrangeable for use with a robot. The gripping device can be designed as an end effector. The robot may be an industrial robot. The gripping device has a gripper base, a linear axis, gripping fingers and a gripping drive.The gripper base can have a rectangular parallelepipedal or cylindrical shape. The gripper base can have side walls and / or delimit a receiving space. The gripper base has a base axis. The base axis may be a vertical axis, z-axis or vertical axis or may be referred to as a vertical axis, z-axis or vertical axis. The base axis can be an axis of symmetry of the gripping device and / or of the gripper base. Displacement or movement in the extension direction of the base axis, vertical axis, z-axis or vertical axis can also be referred to as vertical displacement or movement, regardless of an actual geodetic orientation.The linear axis is arranged at right angles to the base axis. The base axis may be a transverse axis, x-axis, y-axis, or horizontal axis, or may be referred to as a transverse axis, x-axis, y-axis, or horizontal axis. The linear axis can be an axis of symmetry of the gripping device and / or lie in a plane of symmetry of the gripping device. Displacement or movement in the extension direction of the base axis, vertical axis, z-axis or vertical axis can also be referred to as vertical displacement or movement, regardless of an actual geodetic orientation. The gripping device can have a displacement plane. The displacement plane may be a plane perpendicular to the base axis and including the linear axis.The gripping device can have at least two gripping fingers. The gripping fingers may be structurally and / or functionally associated with one another. The gripping fingers can be assigned to one another in pairs. The gripping fingers may be arranged opposite one another and / or facing one another. The gripping fingers are displaceable along the linear axis and / or parallel to the displacement plane. The gripping fingers can be displaceable without further gripping finger movement, in particular without gripping finger movement along the base axis, along the linear axis and / or parallel to the displacement plane. A displaceability of the gripping fingers along the linear axis and / or parallel to the displacement plane can be mechanically decoupled from a possible further gripping finger movement, in particular from a gripping finger movement along the base axis. The gripping fingers can be guided or guided along the linear axis and / or parallel to the displacement plane. The gripping fingers can be displaceable towards and / or in front of one another. A distance between the gripping fingers can be enlargeable and / or reducible. The gripping fingers can each be displaceable between a first end position and a second end position. In the first end position, the gripping device can be fully open. In the second end position, the gripping device can be fully closed. The gripping fingers can be displaceable synchronously and / or mechanically coupled. A distance between the gripping fingers can be enlargeable and / or reducible synchronously and / or mechanically coupled.The gripping device may comprise gripping finger holders. The gripping device can have at least two gripping finger holders. The gripping finger holders may be structurally and / or functionally associated with one another. The gripping finger holders can be associated with one another in pairs. The gripping finger holders can be arranged opposite one another and / or facing one another. The gripping finger holders can be displaceable along the linear axis and / or parallel to the displacement plane. The gripping finger holders can be displaceable without further gripping finger or gripping finger holder movement, in particular without gripping finger or gripping finger holder movement along the base axis, along the linear axis and / or parallel to the displacement plane. Displaceability of the gripping finger holders along the linear axis and / or parallel to the displacement plane can be mechanically decoupled from any further gripping finger or gripping finger holder movement, in particular from a gripping finger or gripping finger holder movement along the base axis. The gripping finger holders can be guided or guided along the linear axis and / or parallel to the displacement plane. The gripping finger holders can be displaceable towards one another and / or in front of one another. A distance between the gripping finger holders can be enlargeable and / or reducible. The gripping finger holders can each be displaceable between a first end position and a second end position. The gripping finger holders can be displaceable synchronously and / or mechanically coupled. A distance between the gripping finger holders can be enlargeable and / or reducible synchronously and / or mechanically coupled. The gripping fingers can be connected firmly and / or detachably to the gripping finger holders. A gripping finger holder may be configured and / or arranged to hold a single gripping finger or multiple gripping fingers. A gripping finger holder may form a finger base. A plurality of gripping fingers held on a gripping finger holder may form a group of gripping fingers. A group of gripping fingers may be movable together. Finger members of gripping fingers of a group may be jointly bendable and / or stretchable.The gripping drive is designed and / or arranged to displace the gripping fingers. The gripping drive can be designed and / or arranged to displace and / or guide the gripping finger holders and / or gripping fingers along the linear axis and / or parallel to the displacement plane. The gripping drive can have at least one coupling gear, in particular at least one guide gear, in particular at least one four-bar coupling gear, in particular at least one parallel crank gear, in particular at least one parallelogram guide. The gripping drive can have a coupling gear for each gripping finger holder and / or gripping finger, in particular a guide gear, in particular a four-bar coupling gear, in particular a parallel crank gear, in particular a parallelogram guide. The gripping drive can have a common coupling gear, in particular a guide gear, in particular a four-bar coupling gear, in particular a parallel crank gear, in particular a parallelogram guide, for a plurality of gripping finger holders and / or gripping fingers. The gripper base can form a frame of the at least one coupling gear, in particular of the at least one guide gear, in particular of the at least one four-bar coupling gear, in particular of the at least one parallel crank gear, in particular of the at least one parallelogram guide. A gripping finger holder can form a link of the at least one coupling gear, in particular of the at least one guide gear, in particular of the at least one four-link coupling gear, in particular of the at least one parallel crank gear, in particular of the at least one parallelogram guide. The gripping drive can have pivot arms. The gripping drive can have a plurality of pivot arms for each coupling gear, in particular a guide gear, in particular a four-bar coupling gear, in particular a parallel crank gear, in particular a parallelogram guide. The gripping drive can have coupling elements. The gripping drive can have a coupling element for each coupling gear, in particular a guide gear, in particular a four-bar coupling gear, in particular a parallel crank gear, in particular a parallelogram guide. The pivot arms can form members of the at least one coupling gear, in particular of the at least one guide gear, in particular of the at least one four-bar coupling gear, in particular of the at least one parallel crank gear, in particular of the at least one parallelogram guide. The pivot arms can each be pivotably mounted on one side on a coupling element and on the other side on a gripping finger holder.The gripping drive can have at least two parallelogram guides. The at least one parallelogram guide can be formed by means of pivot arms. The pivot arms can be arranged parallel to one another in pairs and spaced apart from one another. The pivot arms may have equal lengths. The pivot arms of a parallelogram guide can be motion-coupled to one another, in particular with the aid of a coupling element and a gripping finger holder.The gripping drive can have further pivot arms. The further pivot arms can be arranged at an angle to the pivot arms. The pivot arms and the further pivot arms can have longitudinal axes. The pivot arms and the further pivot arms can be arranged at an angle such that their longitudinal axes each enclose an equally large angle with an axis parallel to the base axis. The further pivot arms can have the same length as the pivot arms. The further pivot arms can each be rotatably mounted on the gripper base on the one hand and on a coupling element on the other hand. The pivot arms and the further pivot arms can be mechanically coupled or motion-coupled to one another, in particular toothed, in particular radially toothed. The mechanical coupling or motion coupling, in particular the toothing, in particular the radial toothing, can be arranged at the ends of the pivot arms and the further pivot arms assigned to the coupling element.The gripping fingers each have at least one finger member. The at least one finger member is bendable and / or stretchable. The at least one finger member may be a finger end member. The at least one finger member can be configured wedge-like, paddle-like, and / or rake-like with a front gripping edge or gripping prongs. The gripping fingers can each have a finger base and / or at least one finger joint. The finger base can be connected fixedly and / or detachably to a gripping finger holder. The finger base may form a gripping finger holder. The at least one finger joint can be designed and / or arranged to enable bending and / or stretching of the at least one finger member. The at least one finger joint can be designed as a pivot joint or hinge joint. The at least one finger joint may have a finger joint axis. The finger joint axis can be arranged perpendicular to the base axis and to the linear axis.The gripping drive can have a gripping motor. The gripping motor can be designed as an electric motor. The gripping drive can have a gear mechanism. The transmission can be designed as a traction drive. The traction drive can have at least one traction means. The at least one traction means can be a belt, a belt, a toothed belt or a cable. The at least one traction means can be effective between the gripping motor and the at least one further pivot arm. The gear can be designed as a worm gear. The worm gear can have at least one worm gear. The at least one gear worm can be effective between the gripping motor and the at least one further pivot arm. The gripping drive can be designed and / or arranged to displace the gripping fingers towards and / or away from one another along the linear axis, parallel to the displacement plane, and / or to increase and / or decrease a distance between the gripping fingers. The gripping drive can be designed and / or arranged to move the gripping fingers towards and / or away from each other decoupled from any further gripping finger movement, in particular from a gripping finger movement along the base axis, along the linear axis, parallel to the displacement plane, and / or to increase and / or decrease a distance between the gripping fingers. The gripping drive can have a spring device. The spring device can be designed and / or arranged to apply a spring force to the gripping fingers such that opening of the gripping device is assisted. In accordance with a gripping drive force flow, the at least one further pivot arm can also be referred to as a first pivot arm and the at least two pivot arms can also be referred to as second pivot arms.The gripping device can have at least one finger drive. At least one of the gripping fingers may include a finger drive. The at least one finger drive can be arranged on the at least one gripping finger. The at least one finger drive can be designed and / or arranged to bend and / or stretch the at least one finger member. The finger drive may include a finger motor. The finger motor can be designed as an electric motor. The finger drive can have a gear mechanism. The transmission can be designed as a traction drive. The traction drive can have at least one traction means. The at least one traction means can be a belt, a belt, a toothed belt or a cable. The at least one traction means can be effective between the finger motor and the at least one finger member. The gear can be designed as a worm gear. The worm gear can have at least one worm gear. The at least one worm gear may be operative between the finger motor and the at least one finger member.The at least one finger member may be movable between a flexed end position and an extended end position. The at least one finger member can be spring-loaded in a bistable manner. The bent end position and the stretched end position may be stable positions. The at least one finger member may be configured and / or arranged to change from the flexed end position to the extended end position and / or vice versa by an external impulse.The gripping device can have an elastic holding module for supporting a gripping object. The holding module can also be referred to as palm or palm. The elastic holding module can be arranged between the gripping fingers, in particular between the finger bases and / or between the gripping finger holders. The elastic holding module can have at least one holding section and at least one supporting section. The at least one holding section can be designed and / or arranged for a force-fit and / or form-fit contact with a gripping object. The at least one support section can be designed and / or arranged to support the at least one holding section. The elastic holding module can have a band-like, bow-like, bridge-like and / or hat-like shape. The elastic holding module can be made of a rubber-elastic material, in particular of a thermoplastic elastomer.The holding module can be elastically deformable and / or displaceable depending on a displacement of the gripping fingers. The holding module can be connected to the finger bases and / or to the gripping finger holders. The gripping device can have a holding drive. The holding drive can be designed and / or arranged to elastically deform and / or displace the holding module. The holding drive can be arranged on the gripper base. The holding drive can have a holding motor. The holding motor can be designed as an electric motor. The holding drive can have a gear mechanism. The transmission may be operative between the holding motor and the holding module.The end effector is designed and / or arrangeable for use with a robot. The end effector has the gripping device. The end effector may include an effector base and a connection portion. The effector base can form the gripper base. The connection section can be designed and / or arranged to connect the end effector to a robot. The connection portion may have a flange-like shape. The gripping device and the connecting portion can be arranged at mutually opposite ends of the effector base.Summarizing and in other words illustrated, the invention thus yields inter alia a linear telescopic gripper with counter-pressing adaptive palm.The gripper can have linearly extending gripper jaws. The gripper jaws are also referred to as gripping fingers. The gripper jaws make it possible, on the one hand, to grip small objects in confined spaces and, on the other hand, at the same time, to grip large objects without the robot having to make a compensating movement. The gripper can have four coupled levers on each side, which can be coupled by means of spur gear teeth. The gripper may have four coupled levers on each side, which may be coupled by means of crossing cables or straps. The gripper jaws can be driven directly by cable. The inner levers can be reset by springs. Or the two inner levers may be driven by a worm. The gripper may have a stiffening between the levers to operate with less friction. The gripper can mount a flexible palm in order to be able to grip several objects simultaneously. The gripper can have bistable fingertips which can fold over when touching the ground. The fingertips make it possible to come under flat objects in order to be able to lift them. The gripper can mount a flexible palm in order to secure the object with folded finger tips. The gripper can have separate drives which can move the fingertips. The gripper can have separate drives, which make it possible to change the palm.The invention / increases flexibility and / or extends possible uses. In particular in confined spaces, a gripping process is facilitated or gripping is only made possible. Nevertheless, a large gripping width is made possible. A requirement for vertical compensating movements can be dispensed with.An exemplary embodiment of the invention is described in more detail below with reference to a figure, wherein: FIG. 1 shows a perspective view of a gripping device with linearly displaceable gripping fingers, bendable and / or stretchable finger end members and a holding module arranged between the gripping fingers.FIG. 1 shows a perspective view of a gripping device 100 designed as an end effector for a robot. The gripping device 100 comprises a gripper base 102 with a base axis 104, a gripping drive, two gripping finger holders 106, 108, two gripping fingers 110, 112 and an elastic holding module 114.The gripping fingers 110, 112 each have a finger base such as 116, a finger link such as 117, a finger joint such as 118, a finger link such as 120 having a leading gripping tine, and a finger drive such as 122 for flexing the finger link 120. The gripping finger 110 is firmly connected to the gripping finger holder 106, in the present case screwed. The gripping finger 112 is firmly connected to the gripping finger holder 108, in the present case screwed.The gripping drive comprises a gripping motor, a transmission with traction means such as 124, for each of the gripping finger holders 106, 108, first pivot arms such as 126, and second pivot arms such as 128, 130, and a coupling element 132. The second pivot arms 128, 130 are each arranged with the same length, parallel to one another, and are pivotably mounted on a gripping finger holder 106, 108 on the one hand and on the coupling element 132 on the other hand. The second pivot arms 128, 130 are thus each motion-coupled to one another via a gripping finger holder 106, 108 and a coupling element 132. The first pivot arms 126 have a length corresponding to the second pivot arms 128, 130, are arranged at an angle to the latter and are mounted pivotably on the gripper base 102 on the one hand and on the coupling element 132 on the other hand. The first pivot arms 126 and the second pivot arms 128, 130 are interlocked with each other.With the aid of the gripping motor and the gear mechanism, the first pivot arms 126 can be acted upon by a pivoting force. Via the toothings such as 134, a pivoting movement of the first pivot arms 126 is transmitted to the second pivot arms 128, 130. Starting from and supported on the fixed gripper base 102, the gripper finger holders 106, 108 with the gripper fingers 110, 112 are then displaced along a linear axis 136 perpendicular to the base axis 104.The elastic holding module 114 is arranged between the gripping finger holders 106, 108 and has a bow-like shape with a holding section 138 for a force-fit and / or form-fit contact with a gripping object. The holding module 114 is connected to the gripping finger holders 106, 108 and is elastically deformed or displaced depending on a displacement of the gripping fingers.Optional features of the invention are designated in particular by "can". Accordingly, there are also developments and / or exemplary embodiments of the invention which additionally or alternatively have the respective feature or the respective features.Features can also be extracted from the combinations of features disclosed with the description, if necessary, and used alone or in combination with other features to delimit the subject matter of the claim, resolving a structural and / or functional relationship optionally existing between the features.Reference numerals denote reference numerals100 Gripping device 102 Gripper base 104 Base axis 106 Gripper finger holder 108 Gripper finger holder 110 Gripper finger 112 Gripper finger 114 Holding module 116 Finger base 117 Finger member 118 Finger joint 120 Finger member 122 Finger drive 124 Traction means 126 First pivot arm 128 Second pivot arm 130 Second pivot arm 132 Coupling element 134 Toothing 136 Linear axis 138 Holding sectionReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedDE 10 2019,130 648 A1

[0002] DE 10 2021 116 276 A1

[0003] WO 2023 / 147606 A1

[0004] KR 1020200081303 A

[0005]

Claims

Gripping device (100), in particular for a robot, the gripping device (100) having a gripper base (102) with a base axis (104), a linear axis (136) perpendicular to the base axis (104), gripping fingers (110, 112) displaceable along the linear axis (136), and a gripping drive for displacing the gripping fingers (110, 112), characterized in that the gripping fingers (110, 112) each have at least one deflectable and / or stretchable finger member (120).Gripping device (100) according to claim 1, characterised in that the gripping drive has at least two parallelogram guides.Gripping device (100) according to at least one of the preceding claims, characterized in that the gripping drive has at least two pivot arms (126, 128, 130) which are radially toothed with one another.Gripping device (100) according to at least one of the preceding claims, characterized in that the gripping drive has a traction drive.Gripping device (100) according to at least one of the preceding claims, characterized in that the gripping device (100) has at least one finger drive (122) for bending and / or stretching the at least one finger member (120).Gripping device (100) according to at least one of the preceding claims, characterized in that the at least one finger member (120) is movable between a bent end position and an extended end position and is subjected to a bistable spring force.Gripping device (100) according to at least one of the preceding claims, characterized in that the gripping device (100) has at least one elastic holding module (114) for supporting a gripping object.Gripping device (100) according to claim 7, characterised in that the at least one holding module (114) is elastically deformable and / or displaceable depending on a displacement of the gripping fingers (110, 112).Gripping device (100) according to at least one of Claims 7 to 8, characterized in that the gripping device (100) has gripping finger holders (106, 108) and the at least one holding module (114) is connected to the gripping finger holders (106, 108).Gripping device (100) according to at least one of Claims 7 to 9, characterized in that the gripping device (100) has a holding module drive for the elastic deformation and / or displacement of the holding module.End effector for a robot, characterized in that the end effector has a gripping device (100) according to at least one of Claims 1 to 10.

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