GRIPPING DEVICE AND SYSTEM COMPREHENSIVE A GRIPPING DEVICE

Description

[0001] The invention relates to a gripping device with the features of the preamble of patent claim 1, according to US 4,676,641 A.

[0002] For example, DE 10 2006 045 783 A1 discloses a gripping device that, in conjunction with a robot, serves to handle objects in a production environment in an automated, fast, and precise manner. The objects are, for example, containers or workpieces. The gripping device known from DE 10 2006 045 783 A1 has two carriages movably mounted on a housing, each carrying a gripping element. The gripping elements are attached to the carriages via respective screw connections.

[0003] EP 3 305 480 A1 discloses another gripping device comprising a base body and two slides mounted on the base body. The slides are each connected to a quick-release adapter. The quick-release adapters each have a mechanical interface to which a gripping element can be releasably attached. The mechanical interface comprises a clamping spindle screwed to the base body.

[0004] The aforementioned gripping devices known from the prior art make it possible, if necessary, to replace first gripping elements suitable for a specific object type with second gripping elements suitable for a different object type. However, such an exchange requires manual intervention by an operator, who must loosen the respective screw connections to remove the first gripping elements. The screw connections must then be manually tightened again to re-secure the second gripping elements. These processes increase downtime in an automated production environment.

[0005] Based on this, the present invention is based on the object of providing a gripping device that allows a quick and easy change of a gripping element.

[0006] This object is achieved in a gripping device of the type mentioned at the outset by the characterising features of patent claim 1.

[0007] The unlocking element is arranged in particular immovably on the base body and moves with the base body, thus following a handling movement of a robot to which the base body is usually fixed ist. The locking device, however, is movable relative to the base body and the unlocking element along the gripping axis into an unlocking position. In this unlocking position, the unlocking element transfers the locking element from its locked position into a release position, in which the gripping element can be detached from the adapter section. In this way, the locking device can be actuated by moving the adapter section and the locking device along the gripping axis; external actuation of the locking device is not required. The gripping device according to the invention thus supports a quick change of a gripping element and enables rapid adaptation of the gripping device to different object types.

[0008] The gripping device according to the invention is particularly advantageous in an aseptic production environment in which manual, potentially contaminating interventions by operators should be avoided wherever possible. In particular, the aseptic production environment is an isolator, more preferably a gloveless isolator.

[0009] Preferably, the at least one gripping element of the gripping device is designed for handling objects in the form of tubs, vials, syringes, or cartridges. For example, tubs or tubs can be removed from a storage container using a first gripping element. The tubs or tubs contain, for example, vials, syringes, or cartridges. After changing the gripping element on the gripping device, individual vials, syringes, or cartridges can then be gripped.

[0010] The gripping device has a drive unit for driving the at least one adapter section along the gripping axis such that the locking device can be moved into the unlocking position. The drive unit moves the adapter section and thus also the locking device with its locking element into a position along the gripping axis in which the unlocking element, which is stationary relative to the gripping axis, interacts with the locking element and moves it from its locked position to the release position.

[0011] Preferably, the gripping device has only a single drive unit, which drives both the adapter section in the manner described above and the gripping element that can be releasably locked therewith along the gripping axis. Thus, the same drive unit can perform gripping movements and actuating movements along the gripping axis to transfer the locking device into the unlocking position. This allows for a compact and simply constructed gripping device to be provided.

[0012] The drive unit is preferably designed as an electric or pneumatic drive unit.

[0013] In a further embodiment, the gripping device has a monitoring device which monitors the location and / or position of the adapter section, and / or the location and / or position of the locking element, and / or the presence of a gripping element on the adapter section. The monitoring device is designed, for example, to monitor the position of the adapter section relative to the base body along the gripping axis and / or whether the locking element is in the locking position or the release position. Alternatively or additionally, the presence (or absence) of a gripping element on the adapter section is checked. In this way, various functional states of the gripping device can be monitored, e.g.whether a gripping element - in the unlocking position of the locking device - is released and removable, or whether - in all other positions of the locking device - the gripping element is securely locked to the adapter section.

[0014] Optionally, gripping processes of objects to be grasped can also be monitored. The monitoring device comprises, in particular, a camera system and / or at least one sensor, which is designed, for example, as an inductive, optical, and / or capacitive sensor.

[0015] The gripping device preferably comprises a control device, wherein the control device is designed to control an aforementioned drive unit and / or an aforementioned monitoring device. If the control device is designed to control the drive unit, the movement of the gripping element along the gripping axis can be controlled by means of the control device, in particular for a gripping process and / or for unlocking the gripping element.

[0016] In particular, an input device connected to the control device is provided, via which an operator can directly control the gripping device or an automated movement sequence of the gripping device is specified.

[0017] It is also possible for the control device to control only the monitoring device. However, it is preferred for the control device to control both the drive unit and the monitoring device. Thus, the control device can control the drive unit while taking into account parameters detected by the monitoring device. In particular, gripping an object and unlocking the gripping element can thus be performed without operator control.

[0018] In particular, an output device connected to the control device is provided. The output device can, for example, emit a warning signal if a faulty condition of the gripping device is detected, for example, an incorrect position of the gripping element or the locking element detected by the monitoring device.

[0019] The unlocking position of the locking device preferably corresponds to an end or reverse position of the adapter section along the gripping axis. The end or reverse position of the adapter section preferably corresponds to a maximum open gripping position of the gripping element. Alternatively, the end or reverse position of the adapter section corresponds to a maximum closed gripping position of the gripping element. Because the end or reverse positions correspond to a maximum open or closed gripping position of the gripping element, the movement path of the gripping element that can be used for a gripping movement is not restricted or is restricted only very slightly. For example, an actuation path of the adapter section that corresponds to a transfer of the locking element from the locked position to the release position is only a few millimeters, for example 2 to 3 mm.

[0020] In a preferred embodiment, the gripping device is designed as an external gripper with which an object to be gripped is gripped from the outside, wherein the unlocking position corresponds to an external end and reversal position and a maximum open gripping position of the gripping element.

[0021] It is preferred if the locking device comprises a biasing element that urges the locking element into the locking position. The biasing element is preferably designed as a spring. The biasing element ensures that—in positions outside the unlocking position of the locking device—the locking element remains in its locking position. This prevents unintentional release of the gripping element from the adapter section in all positions of the locking device deviating from the unlocking position.

[0022] In a preferred embodiment, the locking device has at least one stop arranged on the base body, which limits the movement path of the locking element. In this way, at least one end position of the movable locking element can be defined. Such an end position preferably corresponds to the locking position or the release position.

[0023] A limitation of the locking element's movement path that is effective in the locking position is particularly advantageous when the locking element is preloaded toward the locking position. This limitation ensures that at least part of the preload force is still present even in the locking position.

[0024] A limitation of the locking element's movement path that is effective in the release position is also particularly advantageous when the locking element is preloaded toward the locking position. This limitation allows the release position to be defined by the design (size, geometry) of a preload element.

[0025] In particular, the locking element is movable during a movement between its locking position and its release position along a movement axis that is preferably oriented parallel to the gripping axis. Thus, the locking element can be moved together with the adapter section and transferred into the release position along or parallel to the gripping axis.

[0026] In a preferred embodiment, the locking element cooperates with a locking section assigned to the gripping element, wherein the locking element and the locking section are positively connected to one another in the locking position of the locking element, wherein the positive connection is preferably effective along a positive connection axis which runs at an angle, in particular perpendicular, to the gripping axis.

[0027] When the locking element assumes its locking position, the gripping element is held on the adapter section by means of the locking section along the positive locking axis at an angle to the gripping axis, so that the gripping element is releasably locked to the adapter section by means of the positive locking. The positive locking between the locking element and the locking section is released when the locking element is transferred into the release position, which accompanies the unlocking of the gripping element from the adapter section. The positive locking is preferably designed such that the gripping element is held by means of the locking section perpendicular to the gripping axis, in particular perpendicular to a contact plane between the gripping element and the adapter section.The positive connection between the locking element and the locking section enables reliable holding of the gripping element in all positions other than the unlocking position of the adapter section.

[0028] Preferably, the gripping device has at least one holding device, which is independent of the locking device, for holding the at least one gripping element on the at least one adapter section, wherein the holding device has form-locking elements which are respectively assigned to the gripping element and the adapter section and which, in their joined state, are form-locking with one another along the gripping axis.

[0029] The form-locking elements hold the gripping element to the adapter section—preferably in both the locking and release positions of the locking element—along the gripping axis, so that the gripping element is immovable relative to the adapter section along the gripping axis. The holding device serves to releasably hold the gripping element to the adapter section, thereby preventing an uncontrolled fall of the gripping element from the adapter section in a state in which the locking element assumes its release position.

[0030] The holding device is preferably designed such that the gripping element is guided along a guide axis on the adapter section by means of the form-locking elements, wherein the guide axis preferably runs perpendicular to the gripping axis, so that the gripping element can be removed from the adapter section and placed onto the adapter section in a direction perpendicular to the gripping axis. Accordingly, the gripping element—in the unlocked position of the adapter section—can be released from the adapter section and handled by a handling device, for example, a robot.

[0031] In a preferred embodiment, the form-locking elements comprise a first form-locking element which has a receiving area for receiving a projection which is formed on or by a second form-locking element.

[0032] The projection engages in the receiving area and holds the gripping element to the adapter section. In the unlocked position of the adapter section, the gripping element can be detached from the adapter section along the extension axis of the projection.

[0033] In particular, it is provided that the projection is formed on the gripping element and that the receiving area is formed on the adapter section. In an alternative embodiment, the projection is formed on the adapter section and the receiving area is formed on the gripping element. In particular, the projection is designed as a bolt that can be inserted or is inserted into a receiving area of ​​the first form-fitting element, designed as a corresponding recess. Preferably, the bolt holds the gripping element in a form-fitting manner on the adapter section along the gripping axis; the gripping element can be placed on the adapter section in the direction of the extension axis of the bolt and can be removed from the adapter section.

[0034] Preferably, the adapter section has at least one vacuum connection that communicates with a vacuum device of the gripping element. Using the vacuum device and a correspondingly designed gripping element on the gripping device, gripping or assisted force-locking and / or positive gripping of an object with vacuum is possible.

[0035] In a preferred embodiment, the gripping device has two gripping elements which form a pair of gripping elements, wherein preferably the gripping elements are releasably lockable to respective adapter sections of the base body and the gripping elements are movable, in particular drivable, in opposite directions along the gripping axis.

[0036] With two gripping elements that are movable in opposite directions along the gripping axis, an object can be gripped from two sides. Furthermore, the adapter sections can be transferred along the gripping axis into respective unlocking positions with symmetrically arranged unlocking elements, preferably with simultaneous unlocking of both gripping elements. Gripping with two gripping elements enables precise and centered gripping of an object from two sides. Tilting of the object is prevented. The gripping device can be designed as an internal gripper or an external gripper. The pair of gripping elements is designed in particular for the positive and / or non-positive gripping of an object.

[0037] The invention further relates to a system comprising a gripping device as described above with a first pair of gripping elements, a second pair of gripping elements, a magazine and a robot, wherein the base body of the gripping device is arranged on an active region of the robot, and wherein optionally the first pair of gripping elements or the second pair of gripping elements is releasably lockable or locked to the adapter sections of the base body and wherein the other pair of gripping elements is storable or stored in the magazine.

[0038] Accordingly, either the first gripper pair, the second gripper pair, or neither of the gripper pairs is locked to the adapter sections of the base body. The robot allows a coupled gripper pair to move toward an object to be grasped. After grasping the object, the robot can move the grasped object to a different position or orientation using the coupled gripper pair.

[0039] The system according to the invention enables automatic unlocking of a first pair of gripping elements locked to the adapter sections. Furthermore, the robot enables automated placement of an unlocked pair of gripping elements in the magazine, as well as releasably lockable picking up of the second pair of gripping elements on the adapter section.

[0040] Advantageously, the system enables automated switching between the first and second gripping element pairs. The automated switching between different gripping element pairs enables flexible and efficient use of the system in an automated production environment. In particular, objects of different sizes and shapes can be gripped. Preferably, additional gripping element pairs are stored in the magazine according to the intended application.

[0041] The magazine preferably has storage sections, each designed to store a pair of gripping elements. Removal of a first pair of gripping elements from the adapter sections of the gripping device and joining of the adapter sections to a second pair of gripping elements preferably occurs in the unlocking position of the locking device, so that the locking element remains in its release position during the exchange of the gripping element pairs.

[0042] In a preferred embodiment, when a pair of gripping elements is mounted on one of the storage sections, this pair of gripping elements is held in a form-fitting manner in or on the magazine. The magazine and the gripping elements have corresponding form-fitting elements. The form-fitting holding of the pair of gripping elements enables the targeted deposit and precise positional pickup of a pair of gripping elements.

[0043] Further features and advantages of the invention are the subject of the following description and the drawings of a preferred embodiment. They show: Fig. 1 a perspective view of a system with a gripping device; Fig. 2 a perspective view of the gripping device according to Fig. 1 ; Fig. 3a a plan view of the gripping device according to a Fig. 2 sectional plane marked "III", wherein two gripping elements of the gripping device are shown as an example in a first gripping position; Fig. 3b in Fig. 3a section marked IIIb in an enlarged view; Fig. 4a one of the Fig. 3 corresponding top view, with the gripping elements shown in a more open, just usable gripping position; Fig. 4 legs in Fig. 4a section marked IVb in an enlarged view; Fig. 5a one of the Fig. 4a corresponding plan view, wherein the gripping elements are further opened by an actuating path of a locking device of the gripping device; Fig. 5beinen in Fig. 5a section marked Vb in an enlarged view; Fig. 6 a front view of the gripping device according to Fig. 5a , but without gripping elements; and Fig. 7 a plan view of one of the gripping elements.

[0044] In Fig. 1 1 shows a system designated overall by reference numeral 10. The system 10 comprises a gripping device 12 and a robot 14, which preferably has multiple degrees of freedom of movement. The system 10 is arranged, for example, in an aseptic production environment.

[0045] A preferably stationary frame 16 of the robot 14 has a frame axis 18, which is preferably oriented vertically. The frame 16 is designed in two parts. A first frame part 20, which is fastened, for example, to a holder (not shown) or a floor of the production environment, is immovable. The first frame part 20 forms a base of the robot 14. A second frame part 22, arranged along the frame axis 18 adjacent to the first frame part 20, is rotatable about the frame axis 18 and relative to the first frame part 20. The second frame part 22 forms a shoulder of the robot 14, with the frame axis 18 forming the first of preferably six axes of the robot 14.

[0046] The robot 14 has a robot arm 26, which is movably connected to the second frame part 22 via a first joint 24. The robot arm 26 has three arm sections 30a, 30b, 30c, which are connected to one another via intermediate joints 28a, 28b. Joint rotation axes 32a, 32b, 32c, respectively associated with the first joint 24 and the intermediate joints 28a, 28b, preferably extend transversely, in particular perpendicularly, to the frame axis 18.

[0047] The robot arm 26 has an end 34 facing away from the frame 16, at which an operating area 36 of the robot 14 is arranged. The gripping device 12 is arranged at the operating area 36.

[0048] The gripping device 12 has two releasably lockable gripping elements 38 and 39. The two gripping elements 38 and 39 form a gripping element pair 40. The gripping elements 38 and 39 are movable in opposite directions, specifically along a gripping axis 42. The gripping axis 42 is oriented, for example, orthogonally to the frame axis 18.

[0049] The multi-jointed robot 14 allows the gripping device 12 to be moved into any desired position and orientation within the production environment. In the embodiment shown in the drawing, the gripping device 12 has gripping elements 38 and 39 designed to grip a Petri dish-shaped object 44. A gripping movement of the gripping elements 38 and 39 occurs along the gripping axis 42. Once the gripping elements 38 and 39 have gripped the object 44, the robot 14 can handle the object 44 together with the gripping device 12.

[0050] The system 10 further includes a magazine 46 and a storage container 48 with objects 44 that can be removed therefrom. The magazine 46 and the storage container 48 are arranged within handling range of the robot 14.

[0051] The magazine 46 preferably has at least two separate storage sections 50a, 50b. The storage sections 50a, 50b are each designed to support at least one gripping element pair 40. For this purpose, each of the storage sections 50a, 50b has at least two, for example, bolt-shaped, positive-locking elements 52a, 52b. Each of the gripping elements 38 and 39 of a gripping element pair 40 has positive-locking elements 54a, 54b corresponding to these positive-locking elements 52a, 52b, which are designed, for example, as cylindrical recesses 56a and 56b. The gripping elements 38 and 39 of a gripping element pair 40 are each held with their recesses 56a, 56b in a form-fitting manner on the form-fitting elements 52a, 52b and are thus stored on or in the magazine 46 or in one of the storage sections 50a, 50b and releasably fixed there.

[0052] In Fig. 2 The gripping device 12 of the system 10 and a gripped object 44 are shown. The gripping device 12 has a block-shaped base body 58. A robot interface 62 is formed on a first side 60 of the base body 58 facing the robot 14. The base body 58 can be releasably coupled to the active region 36 of the robot 14 via the robot interface 62. Adjacent to another side 64 of the base body 58 are two adapter sections 66 and 67, which are mounted on the base body 58. The adapter sections 66 and 67 are movable relative to the base body 58 in opposite directions of movement that are parallel to the gripping axis 42.

[0053] Each of the two adapter sections 66, 67 is assigned a locking device 68a, 68b. These locking devices 68a, 68b can be integrated into the adapter sections 66, 67 (in Fig. 2 indicated by dashed lines).

[0054] The locking devices 68a, 68b each have a locking element 70a, 70b. The locking elements 70a, 70b each extend parallel to the gripping axis 42, protrude through a respective recess 72a, 72b from a respective adapter section 66, 67, and are movable relative to the respective adapter section 66, 67.

[0055] The locking elements 70a, 70b are movable in particular along a respective movement axis 74a and 74b (cf. Fig. 4a ), which are each oriented in particular parallel to the gripping axis 42.

[0056] Each locking device 68a, 68b serves to releasably lock a respective gripping element 38, 39 to one of the adapter sections 66, 67. The locking devices 68a, 68b each move together with the respective adapter section 66, 67 along the gripping axis 42.

[0057] To unlock a gripping element 38, 39, two unlocking elements 76a and 76b are provided, which are attached to the base body 58. The unlocking elements 76a and 76b are each designed, for example, as bolt-shaped stops that protrude into a movement space of the adapter sections 66, 67. The unlocking elements 76a, 76b protrude, for example, vertically beyond the further side 64 of the base body 58. The unlocking elements 76a and 76b move together with the base body 58 of the gripping device 12 and thus follow a handling movement of a robot 14.

[0058] In the Fig. 3a In the state shown, the gripping elements 38, 39 assume, for example, a first gripping position, wherein the gripping elements are locked to the respective adapter sections 66, 67.

[0059] In Fig. 3a und 3b The base body 58 and the adapter section 66 are shown in section. In Fig. 3b the locking device 68a is shown enlarged.

[0060] The adapter section 67 and the locking device 68b have a symmetrically mirrored structure identical to the adapter section 66 and the locking device 68a.

[0061] In the Fig. 3b In the state shown, the locking element 70a assumes a locking position in which the locking element 70a interacts positively with a locking section 78 assigned to the gripping element 38.

[0062] The locking section 78 is in Fig. 7 shown in isolation. The positive engagement of the locking element 70a with the locking portion 78 is preferably effective along a positive engagement axis 80, which is oriented, for example, perpendicular to the gripping axis 42. The locking portion 78 has an annular circumferential groove 82 that extends around the positive engagement axis 80.

[0063] The locking element 70a has a locking region 88 arranged at its end. In the locking position of the locking element 70a, this locking region 88 interacts in a form-fitting manner with the groove 82 of the locking section 78 of the gripping element 38, as seen along the form-locking axis 80.

[0064] In this way, the gripping element 38 is locked to the adapter section 66. This state of the locking device 68a is in Fig. 3b shown.

[0065] The locking element 70a has a recess 84 arranged centrally in its longitudinal extension. In a release position of the locking element 70a, the recess 84 is arranged at the level of the groove 82 of the locking portion 78 of the gripping element 38, see. Fig. 5b . In this state, the locking region 88 is arranged outside the groove 82 of the locking section 78 of the gripping element 38, so that the positive locking is released and so that the gripping element 38 can be released from the adapter section 66 along the positive locking axis 80.

[0066] The locking device 68a has a preload element 86, which is preferably designed as a compression spring. The preload element 86 is arranged, for example, at an end of the locking element 70a opposite the unlocking element 76a. The locking element 70a is preloaded into its locking position via the preload element 86 along the movement axis 74a.

[0067] The locking device 68a further comprises a stop 90, which is rigidly connected to the adapter section 66 and is, for example, bolt-shaped. The stop 90 is oriented, in particular, transversely to the movement axis 74a of the locking element 70a and projects into the recess 84 of the locking element 70a.

[0068] The stop 90 serves to limit the movement path of the locking element 70a along the movement axis 74a and to define the end positions of the locking element 70a. In the locking position (see Fig. 3b ) and in the release position (cf. Fig. 5b ) the stop 90 rests with different outer surfaces on each of the two end boundaries of the recess 84.

[0069] The gripping device 12 has holding devices 92 which are independent of the locking devices 68a, 68b and which are effective between an adapter section 66, 67 and a gripping element 38, 39.

[0070] The holding devices 92 each serve to releasably hold the gripping element 38 or 39 on the adapter section 66 or 67 and prevent an uncontrolled falling of the gripping element 38 or 39 from the adapter section 66 or 67 in a state in which the locking element 70a or 70b assumes its respective release position.

[0071] Each holding device 92 has form-locking elements 94 and 96. For example, the form-locking elements 94 are designed as receiving areas that are provided in the adapter sections 66, 67 and serve to receive form-locking elements 96, which are designed as projections and are respectively provided on the gripping elements 38, 39.

[0072] The form-locking elements 94, 96 are designed such that each gripping element 38, 39 is guided along at least one guide axis 98 on the adapter section 66, 67 by means of the form-locking elements 94, 96. The at least one guide axis 98 is oriented, in particular, perpendicular to the gripping axis 42. In the release position of the locking element 70a, 70b, the gripping element 38, 39 can be removed from the adapter section 66, 67 along the guide axis 98.

[0073] The adapter sections 66, 67 also have openings 97 for the introduction of the locking sections 78, see. Fig. 6 .

[0074] At least one adapter section 66, 67 advantageously has at least one vacuum connection 100, which communicates with a vacuum device (not shown in the drawing) of the gripping element 38. The vacuum device enables the gripping of an object exclusively by means of negative pressure. Alternatively, the vacuum device enables the mechanical gripping of an object to be supported by means of negative pressure.

[0075] The gripping device 12 has a drive unit 102 which serves to drive the adapter sections 66, 67 along the drive axis 42, see. Fig. 3 The drive unit 102 is arranged, in particular, within the base body 58. The drive unit 102 comprises, for example, an electric motor.

[0076] The drive unit 102 drives both adapter sections 66 and 67, for example via a wheel or traction mechanism, for example by arranging a toothed rack on each of the adapter sections 66 and 67, which mesh with circumferentially offset sections of a drive wheel of the drive unit 102.

[0077] By means of the drive unit 102, both a gripping movement for gripping and releasing an object 44 and an actuating movement for transferring the locking devices 68a and 68b from a locking position to an unlocking position can be performed. In the unlocking position, the locking elements 70a and 70b are each in their release position.

[0078] During a gripping movement, the adapter sections 66 and 67 are moved towards each other with the gripping elements 38 and 39; when an object 44 is released and when transferred to an unlocking position, the adapter sections 66 and 67 are moved away from each other with the gripping elements 38 and 39.

[0079] Optionally, the gripping device 12 has a control device 104. This is in Fig. 3a shown schematically. The control device 104 is arranged, for example, in the base body 58 and is designed to control the drive unit 102. The control device can be used to control the movement of the adapter sections 66 and 67 and the gripping elements 38 and 39 along the gripping axis 42.

[0080] Optionally, the gripping device 12 has a monitoring device 106. This is in Fig. 3a shown schematically. The monitoring device 106 comprises, for example, a camera system and / or at least one sensor, which is designed, for example, as an inductive, optical and / or capacitive sensor.

[0081] The monitoring device 106 monitors a location and / or position of the adapter sections 66, 67, and / or a location and / or position of the locking element 70a, 70b, and / or a presence of the gripping elements 38, 39 on the respective adapter sections 66 and 67.

[0082] The monitoring device 106 advantageously communicates with the control device 104.

[0083] Thus, the control device 104 can control the drive unit 102, taking into account parameters detected by the monitoring device 106. In particular, the gripping of an object 44 and the unlocking of the gripping elements 38 and 39 can thus be carried out without operator control.

[0084] In the Figuren 3a und 3b The locking device 68a is shown in a state in which the locking element 70a assumes a locking position. Based on this, Figuren 4a und 4b and in the Figuren 5a und 5b States are shown which the locking device 68a assumes when the locking element 70a is transferred into its release position, starting from the beginning of an actuating movement (cf. Figuren 4a und 4b ) until the end of the actuating movement (cf. Figuren 5a und 5b ).

[0085] To transfer the locking devices 68a and 68b into the respective unlocking position, the adapter sections 66 and 67 are driven by the drive unit 102 and moved away from each other along the gripping axis 42. In Fig. 4a und 4b The adapter sections 66, 67 with the locking elements 70a, 70b assume positions in which end surfaces 108a, 108b of the locking elements 70a, 70b projecting from the adapter sections 66 and 67 contact the respective associated unlocking elements 76a, 76b. Preferably, the contact occurs without transverse forces within actuation planes 110, which are oriented perpendicular to the gripping axis 42.

[0086] In the condition according to Fig. 4a und 4b the locking elements 70a, 70b are still in the locked position. The state according to Fig. 4a und 4b corresponds to a maximum usable distance between the gripping elements 38, 39 for a gripping process.

[0087] If the adapter sections 66, 67 are driven in such a way that they move from the state according to Fig. 4a und 4b To move further in the direction of the unlocking elements 76a, 76b, the respective contacts of the locking elements 70a, 70b with the associated unlocking elements 76a, 76b cause the locking elements 70a, 70b to no longer move together with the adapter sections 66, 67, but rather along their movement axes 74a and 74b - opposite to the direction of movement of the adapter sections 66, 67 - into the adapter sections 66, 67. In this way, the locking elements 70a, 70b are transferred into their respective release positions. The maximum movement path of the locking elements 70a, 70b is defined by the stop 90, as already explained above.

[0088] Once contact has been established between the locking elements 70a, 70b and the respective unlocking elements 76a, 76b, starting from a spacing, no further relative movement occurs between the locking elements 70a, 70b and the respective associated unlocking element 76a, 76b during the transfer of the locking elements 70a, 70b into their respective release positions. This prevents friction and material abrasion, which is particularly advantageous for the use of the gripping device 12 in an aseptic environment.

[0089] When the locking elements 70a and 70b are transferred into their respective release position, the respective preload elements 86 are further compressed against the direction of their respective preload force.

[0090] In the release position of the locking elements 70a, 70b, the locking devices 68a, 68b assume their respective unlocking position, cf. Fig. 5a und 5b . The gripping elements 38, 39 are unlocked in this unlocking position and can be detached from the adapter sections 66, 67 or initially held there using the holding devices 92.

[0091] Optionally, the robot 14 moves the gripping elements 38, 39 of the first gripping element pair 40 to the magazine 46, for example to a free storage section 50a of the magazine 46.

[0092] The robot 14 can then pick up the gripping elements of a second gripping element pair 41 from the other storage section 50b and initially hold them there in a releasable manner - using the holding devices 92.

[0093] However, if the drive unit 102 then moves the adapter sections 66, 67 out of the unlocking position again, the pretensioning elements 86 transfer the locking elements 70a and 70b into their respective locking positions, so that a Fig. 4a und 4b shown state is reached.

[0094] In the embodiment shown in the drawing, the gripping device 12 is designed as an external gripper. It is understood that the gripping device 12 can also be designed as an internal gripper.

Claims

1. Gripping apparatus (12) comprising a main body (58) which can be coupled to a robot (14), at least one adapter portion (66, 67) which can be moved on the main body (58) along a gripping axis (42), and at least one gripping element (38, 39) which can be releasably locked to the adapter portion (66, 67), wherein the adapter portion (66, 67) comprises a locking device (68a, 68b) having at least one locking element (70a, 70b) which, in a locking position, locks the gripping element (38, 39) to the adapter portion (66, 67), wherein the locking device (68a, 68b) can be moved along the gripping axis (42) into an unlocking position in which the locking element (70a, 70b) can be transferred from its locking position into a release position in which the gripping element can be released from (38, 39) the adapter portion (66, 67), characterized in that the gripping apparatus (12) comprises a drive unit (102) for driving the at least one adapter portion (66, 67) and the at least one gripping element (38, 39) along the gripping axis (42) in such a way that the locking device (68a, 68b) can be transferred into the unlocking position, in that an unlocking element (76a, 76b) is arranged on the main body (58), and in that the unlocking element (76a, 76b) contacts the locking element (70a, 70b) in the unlocking position of the locking device (68a, 68b) and transfers the locking element (70a, 70b) from its locking position into the release position.

2. Gripping apparatus (12) according to any of the preceding claims, characterized in that the gripping apparatus (12) comprises a monitoring device (106) which monitors the location and / or position of the adapter portion (66, 67), and / or the location and / or position of the locking element (70a, 70b), and / or the presence of a gripping element (38, 39) on the adapter portion (66, 67).

3. Gripping apparatus (12) according to either of the preceding claims, characterized in that the gripping apparatus (12) comprises a control device (104), wherein the control device (104) is designed to control the drive unit (102) and / or the monitoring device (106).

4. Gripping apparatus (12) according to any of the preceding claims, characterized in that the unlocking position of the locking device (68a, 68b) corresponds to an end position or a reversal position of the adapter portion (66, 67) along the gripping axis (42).

5. Gripping apparatus (12) according to any of the preceding claims, characterized in that the locking device comprises a biasing element which pushes the locking element into the locking position.

6. Gripping apparatus (12) according to any of the preceding claims, characterized in that the locking device (68a, 68b) has at least one stop (90) which is arranged on the main body (58) and delimits a movement path of the locking element (70a, 70b).

7. Gripping apparatus (12) according to any of the preceding claims, characterized in that the locking element (70a, 70b) is movable, during a movement between its locking position and its release position, along a movement axis (74a, 74b) which is oriented in parallel with the gripping axis (42).

8. Gripping apparatus (12) according to any of the preceding claims, characterized in that the locking element (70a, 70b) interacts with a locking portion (78) associated with to the gripping element (38, 39), wherein the locking element (70a, 70b) and the locking portion are connected in a form-fitting manner to one another in the locking position of the locking element (78), wherein the form fit is preferably operative along a form-fitting axis (80) which extends at an angle, in particular perpendicularly, to the gripping axis (42).

9. Gripping apparatus (12) according to any of the preceding claims, characterized in that the gripping apparatus (12) comprises at least one holding device (92), which is independent of the locking device (68a, 68b), for holding the at least one gripping element (38, 39) on the at least one adapter portion (66, 67), wherein the holding device (92) has form-fitting elements (94, 96) which are associated with the gripping element (38, 39) and the adapter portion (66, 67), and which, in their joined state, are form-fitting with one another along the gripping axis (42).

10. Gripping apparatus (12) according to claim 9, characterized in that the form-fitting elements (94, 96) comprise a first form-fitting element (94) which has a receiving region for receiving a projection which is formed on or by a second form-fitting element (96).

11. Gripping apparatus (12) according to any of the preceding claims, characterized in that the adapter portion (66, 67) has at least one vacuum connection (100) which communicates with a vacuum device of the gripping element (12).

12. Gripping apparatus (12) according to any of the preceding claims, characterized in that the unlocking element (76a, 76b), when the main body (58) is coupled to a robot (14), follows a handling movement of the robot (14).

13. Gripping apparatus (12) according to any of the preceding claims, characterized in that the unlocking element (76a, 76b) is arranged immovably on the main body (58) and / or in that the unlocking element (76a, 76b) is independent of a movement of the adapter portion (66, 67) relative to the main body (58).

14. Gripping apparatus (12) according to any of the preceding claims, characterized in that the gripping apparatus (12) comprises two gripping elements (38, 39) which form a gripping element pair (40), wherein the gripping elements (38, 39) can preferably be releasably locked to respective adapter portions (66, 67) of the main body (58) and the gripping elements (38, 39) can be moved, in particular driven, in opposite directions along the gripping axis (42).

15. System (10) comprising a gripping apparatus (12) according to claim 14 comprising a first gripping element pair (40), further comprising a second gripping element pair (41), a magazine (46) and a robot (14), wherein the main body (58) of the gripping apparatus (12) is arranged on an operating region (36) of the robot (14), and wherein optionally the first gripping element pair (40) or the second gripping element pair (41) is or can be releasably locked to the adapter portions (66, 67) of the main body (58), and wherein the other gripping element pair is can be or is stored in the magazine (46).

16. System according to claim 15, characterized in that the magazine (46) has storage portions (50a, 50b) which are each designed to store a gripping element pair (40, 41).

17. System according to claim 16, characterized in that, in a state of a gripping element pair (40, 41) in which it is stored on one of the storage portions (50a, 50b), this gripping element pair (40, 41) is held in a form-fitting manner in or on the magazine (46).