GRIPPING DEVICE WITH ADJUSTABLE SLIDES

Description

[0001] The invention relates to an adjustable gripping device and a manipulator with an adjustable gripping device.

[0002] Adjustable gripping devices are known from the prior art, which are intended to allow the positional adjustment of holding elements, in particular vacuum-actuated holding elements. This positional adjustment of the holding elements is intended to enable the manipulation of workpieces of varying sizes. For example, an adjustable gripping device is known from EP 3031586 A1. This device features stationary arms with guide rails and several cross arms movable along the guide rails, with movable holding elements arranged on the movable cross arms. EP 1041295 B1 discloses a support device with profiled rods, which are detachably connected to one another via movable clamping pieces. EP 1871696 B1, which originates from the applicant, shows a gripping device for a manipulator with several support arms rotatable about an axis.The support arms comprise a base arm and a cantilever arm, each with a holding device. US 6796588 B2 discloses a suction device with telescopic evacuation tubes, comprising a boom and several sliding pieces movable along the boom.

[0003] However, the designs known in the prior art are not very compact, insufficiently flexible, and not adaptable, or not sufficiently adaptable, to different workpiece geometries. Furthermore, the known solutions are structurally complex and not very stable or robust, and therefore largely unsuitable for handling heavy components or are characterized by a short service life.

[0004] The object of the present invention was to provide means by which workpieces, in particular plate-shaped workpieces or sheet metal components of various sizes and shapes, can be manipulated with a single, flexible, easy-to-use, and precisely adjustable gripping device. The gripping device should be robust and stable, as well as structurally simple, compact, durable, and safe to handle.

[0005] This task is solved by an adjustable gripping device and a manipulator according to the claims.

[0006] The invention relates to a gripping device designed to pick up and release a workpiece, preferably a plate-shaped one, for transport. The gripping device comprises a support platform with a bottom surface and a top surface opposite the bottom surface. The support platform has a connection interface on its top surface for coupling the gripping device to a manipulator. The support platform also has at least two adjustment slide guides on its underside.

[0007] The gripping device also includes a plurality of holding elements for gripping the workpiece. These holding elements are coupled to the support platform, either directly or indirectly. The coupling is preferably detachable, and particularly preferably detachable without tools. Each holding element has contact surfaces facing away from the underside of the support platform and forming a common contact plane. Various types of holding elements are familiar to those skilled in the art, which is why they will not be discussed in detail here. For example, the holding elements could be suction cup-like, vacuum-actuated devices. Alternatively, magnetically actuated holding elements are also conceivable, whereby both pressure-actuated permanent magnets and holding elements with electromagnets can be used.

[0008] The gripping device also includes supply components designed to activate and deactivate the holding devices. Depending on the type and functional mechanism of the holding devices, the supply components may be, for example, components of a vacuum supply (such as a power unit, flexible vacuum hoses, rigid vacuum pipes, valves, valve shut-offs, valve manifolds, etc.) or components of an electrical supply (such as a power unit, electrical cables, etc.).

[0009] Furthermore, the gripping device comprises at least two movable adjustment slides. These adjustment slides are each at least partially received or held in at least one of the adjustment slide guides of the support platform. In addition, the adjustment slides are movable in these adjustment slide guides relative to the support platform along a first direction. The first direction is hereinafter also referred to as the X-direction. At least one of the adjustment slides is designed with at least one transverse guide. The gripping device also comprises at least one transverse slide on which at least one of the holding means is arranged. The transverse slide is at least partially received or held in the transverse guide and is movable in the transverse guide relative to the adjustment slide along a second direction. The second direction is hereinafter also referred to as the Y-direction.The first and second directions are orthogonal to each other. Preferably, the first and second directions run parallel to the contact plane, which may be parallel to the XY plane.

[0010] According to the invention, a guide section of the at least one transverse slide, which is received or held in the at least one transverse guide, is profile-shaped, in particular hollow-profile-shaped. This guide section is linearly extendable and retractable within the transverse guide.

[0011] The profiled guide section of at least one cross slide can be, for example, circular, rectangular, or oval. A dovetail-shaped cross-section may also be suitable in certain circumstances.

[0012] As mentioned previously, the holding devices can be positioned on the transverse guide(s), on the adjustment slides, or directly on the support platform. The actual positioning, size, and number of holding devices are, in principle, at the discretion of the person skilled in the art. Holding devices positioned on the extendable transverse slides are particularly characterized by their ability to be moved in two dimensions, i.e., in the X and Y directions. Preferably, individual holding devices can be activated and deactivated independently of one another as needed. For this purpose, a manually or automatically actuated shut-off valve can be provided in a supply line to the respective holding device.

[0013] The at least two adjustment slides and the at least one cross slide can be moved manually by an operator. Alternatively, automatic, particularly pneumatic or electric, movement and adjustment of the slides is also conceivable. Movement and adjustment parameters can preferably be provided to the operator by means of a software-based setup plan. Preferably, both the adjustment slide guide and the at least one cross guide can be designed as linear guides. Such a design is both cost-effective to manufacture and easy to operate, and, due to the two-way movement of the holding elements, does not compromise freedom of movement.

[0014] The gripping device designed according to the invention is, compared to known designs, both structurally simple and therefore cost-effective, as well as robust and thus durable and requiring little maintenance. Furthermore, the gripping device can be collapsed to a particularly compact size, and the distance between the individual holding elements can therefore be adjusted to a very small extent. This is especially true when the at least one linearly extendable transverse guide is fully retracted. Such an adjustment can be particularly advantageous for very small workpieces or for angled or bent workpieces. On the other hand, the extendability of the at least one transverse slide allows the holding elements to be spaced far apart. In particular, the flexible displacement and adjustability can prevent or at least largely mitigate the risk of collisions with the manipulator, as well as with peripheral objects.

[0015] Moving the slides along the guides is simple and quick. This allows the gripping device, or rather the holding elements positioned on the gripping device, to be flexibly adapted to the specific geometry of the workpiece being manipulated. A single, but flexibly adjustable, gripping device can handle a wide variety of workpiece dimensions. Because the adjustability is particularly simple and can therefore be performed even by less experienced setup personnel, setup times can be significantly reduced. This can have a particularly positive economic impact when handling small batch sizes.

[0016] Furthermore, it can be advantageous if at least one of the adjusting slides is designed with two parallel transverse guides, and if an extendable transverse slide is received or held in each transverse guide, with at least one of the holding devices arranged on each transverse slide. The holding devices are formed on opposite end sections of the two transverse slides. When both transverse slides are extended, the respective holding devices are not only moved further away from the adjusting slide, but the distance between the two holding devices is also increased. In this way, the maximum possible extension distance can be achieved in a simple manner. The two transverse slides thus provide a means of extending the adjusting slide on both sides along the second direction, resulting in even more flexible adjustability.If the holding devices are arranged at the end sections of the respective cross slides, the smallest possible overhang can be achieved in the retracted state and the largest possible overhang can be achieved in the fully extended state.

[0017] By arranging the holding elements on opposite end sections of the two cross slides, or by positioning them externally when viewed from the underside of the support device, the area clamped by the suction cups does not create any additional interference contour. This can be advantageous for moving the gripping device close to a machine, particularly to a bending tool of a bending machine. For example, with box-shaped components where the base does not extend beyond the smallest possible gripper setting, repositioning may not be necessary.

[0018] Furthermore, the height of the gripping device can be designed to allow for close positioning, even in confined spaces, such as above a tool drawer. This can also be facilitated or improved by connecting the holding elements to a cross slide or an adjustment slide using L-shaped or angled connectors.

[0019] According to an advantageous embodiment, a transverse axis oriented along the first direction can be provided equidistant between the two parallel transverse guides. The holding elements arranged on the two transverse slides are positioned such that their respective centers lie on the transverse axis. In other words, according to this embodiment, the opposing holding elements are inclined towards each other when viewed from the underside of the support platform, such that their centers lie on the transverse axis. Thus, when viewing the gripping device from the underside, the holding elements are positioned offset relative to the respective guide section. This further improves the adjustability accuracy because any misalignment or offset error caused by the parallel arrangement of the two transverse guides is compensated for.the two cross slides can be balanced.

[0020] Furthermore, the adjusting slides can each be equipped with an adjusting slide locking device. These adjusting slide locking devices can be actuated independently of one another and are designed to allow the adjusting slides to be releasably fixed relative to the support platform as needed. Alternatively or additionally, it can also be advantageous if the adjusting slides are each equipped with at least one cross slide locking device. This cross slide locking device is designed to allow the at least one cross slide to be releasably fixed relative to the adjusting slide as needed. Preferably, the locking devices can be actuated manually or at least with minimal tool use.This training has an additional safety-enhancing effect because reliably fixing the carriages against unintentional movement or adjustment can significantly reduce the risk of injury to people, as well as the risk of damage to peripheral objects or workpieces. This is particularly important for heavy workpieces or workpieces with an off-center center of gravity, or for gripping devices that can be freely moved and rotated in space using a manipulator.

[0021] It is also advantageous to have at least one scale on the support platform along the first direction. The support platform may also have multiple scales. Alternatively or additionally, it may be advantageous to have a second scale on at least one cross slide, particularly on its guide section, along the second direction. Using the scale markings, a user can easily, quickly, and accurately make adjustments to the gripping device. The current setting or position of the adjustment slides and the at least one cross slide can be easily read on both scales by means of an indicator.In particular, if several first scales are provided, it can be advantageous if these are offset by one adjustment slide width, thereby ensuring precise adjustability.

[0022] In one particular embodiment, the first and second scales can be arranged parallel to the contact plane, making them visible from the underside of the support platform. This significantly simplifies the user's ability to read the current or new setting position of the adjustment slides, as well as at least one cross slide. The user does not need to awkwardly turn or move around to read the scales during adjustments; instead, all setting parameters can be identified simply by looking at the underside of the support platform. Furthermore, all detent recesses or holes may also be visible from the underside. Alternatively, only the detent recesses in the support platform may be visible from the underside, with the detent recesses of the cross slide being perpendicular to the contact plane.The locking recesses of the cross slide would only be visible to the observer when viewing the gripping device from the side. The exact arrangement of the locking recesses depends on the locking mechanism and is at the discretion of a person skilled in the art.

[0023] In a particular embodiment, it is conceivable that the setting slide locking device is designed as a setting slide detent device, and / or that the cross slide locking device is designed as a cross slide detent device. The support platform can be designed with a plurality of detent recesses equidistant from one another along the first direction. Preferably, the detent recesses are formed in the guide section of the cross slide. A detent element of the setting slide detent device can engage with the detent recesses of the support platform. Furthermore, the cross slide can be designed with a plurality of detent recesses equidistant from one another along the second direction, and a detent element of the cross slide detent device can engage with the detent recesses of the cross slide. Preferably, the scale markings of the first and second directions correspond to the detent recesses of the cross slide.The second scale indicates the intervals between the equidistant or discrete detents. This allows the user to make adjustments to the gripping device quickly, easily, and accurately. The current setting or position of the adjustment slides and at least one cross slide is clearly visible on both scales via an indicator. Conveniently, the detents and the respective scales are positioned side by side, enabling precise and easy reading of the current setting without the need for additional tools. However, stepless adjustment without equidistant detents would also be conceivable.

[0024] According to a further development, the detent element of the adjusting slide detent device and / or the detent element of the cross slide detent device can be designed as a bolt, which can be engaged with the detent recesses of the support platform and / or with the detent recesses of the cross slide. The term "bolt" here is to be interpreted purely functionally and is not intended to be structurally restrictive. It encompasses any pin-shaped actuating element extending along an axis. In particular, a bolt does not necessarily have to have a circular cross-section, but can also be oval or rectangular, for example. A type of disc-shaped knob or T-shaped handle can be provided at the user-side end of the bolt, allowing the user to actuate the bolt quickly and reliably. The bolt can preferably be engaged with the detent recesses by positive locking and / or friction locking.Once the bolt engages with a recess, relative movement or displacement is prevented.

[0025] Furthermore, it can be advantageous for the bolt to be manually actuated and to be designed with a spring-loaded mechanism, preferably in which a spring element, in its resting state, is engaged with one of the detent recesses by means of a spring force acting axially along the bolt. Thus, in its resting state, the bolt is in a detent position and can be pulled or moved out of the respective detent recess by a user by pulling it along a fixing axis of the bolt against the spring force. Preferably, the adjusting slides or the cross slide are adjusted with two hands. With one hand, the operator pulls the bolt out of its rest position, i.e., out of the detent recess of the current setting position, and moves the adjusting slide or the cross slide to the new setting position. The operator can preferably read when the setting position has been reached using the scales.Once the new setting position is reached, the operator releases the bolt or detent element. The spring then automatically returns the bolt to its resting position, moving it into the new detent recess and engaging with it. Alternatively, the user may need to press the bolt into the detent recess to secure it. This prevents any unintentional movement or relative adjustment of the setting slide or cross slide.

[0026] Furthermore, it may be provided that the locking recesses of the support platform and / or the locking recesses of the cross slide are designed as locking holes, whereby the bolt can be brought into engagement with the locking holes in a form complementary manner at least to a large extent.

[0027] Furthermore, it can be provided that the locking recesses of the support platform and / or the locking recesses of the cross slide are formed by a rack with tooth gaps, whereby the bolt can be brought into engagement with the tooth gaps in a form-complementary manner, at least to a large extent. By engaging the bolt in the tooth gaps, a locking action can also be achieved, thereby making the fixation even more secure. In particular, a rack-type design for the guide section of the cross slide is especially advantageous here.

[0028] It has also proven advantageous for the adjustment slide fixing device to include at least one screw, whereby a clamping force can be applied between one of the adjustment slides and the support platform by means of the screw. Alternatively or additionally, it can be provided that the cross slide fixing device includes at least one screw, whereby a clamping force can be applied between the at least one cross slide and one of the adjustment slides by means of the screw. An adjustment slide fixing device or cross slide fixing device operating with one or more screw connections can be particularly stable and ensure high strength. This can, among other things, reduce the risk of unintentional loosening and the associated accidents.

[0029] According to a further development, the adjusting slide fixing device may include at least one clamping lever, eccentric lever, or tensioning lever, whereby a clamping force can be applied between one of the adjusting slides and the support platform by means of the clamping lever, eccentric lever, or tensioning lever. Alternatively or additionally, the cross slide fixing device may include at least one clamping lever, eccentric lever, or tensioning lever, whereby a clamping force can be applied between the at least one cross slide and one of the adjusting slides by means of the clamping lever, eccentric lever, or tensioning lever. A particularly stable fixing can be achieved by combining a screw connection with a lever-like, manually operated locking mechanism.This can, among other things, reduce the risk of unintentional loosening and associated accidents, while simultaneously allowing for quick release and adjustment of the setting and cross slides. The clamping lever, eccentric lever, or tensioning lever may also be designed in combination with a screw.

[0030] According to further training, the adjusting slide fixing device and / or the cross slide fixing device can include a pneumatic fixing mechanism and thus be pneumatically fixable. This allows for automated fixing. By providing a pneumatic fixing device, fixing can be faster and, if necessary, also extremely precise and reliable. In addition, a high degree of safety can be ensured by pneumatically fixing the slides. It is also possible that the at least two adjusting slides and the at least one cross slide are not only pneumatically fixable, but can also be automatically pneumatically moved.

[0031] According to an advantageous embodiment, the adjustment slide guides can be designed as prismatic tracks for positive engagement with sections of the adjustment slides. Preferably, the adjustment slide guides are designed as prismatic tracks for positive engagement with sections of both adjustment slides. The term "section" here means that not the entire adjustment slide is received or held in the adjustment slide guides, but only a part of it. This part or section can, for example, be a type of cam follower. Preferably, each adjustment slide has two such sections or cam followers, with each cam follower being guided in one of the adjustment slide guides. This ensures particularly good stability and precise guidance or movement.Because the two adjustment carriage guides essentially act as rails, smooth running is ensured. This is especially true when the adjustment carriages are particularly long, i.e., extending lengthwise along the second direction.

[0032] In particular, it can be advantageous if the guide section of the at least one transverse slide is formed, at least partially, with a hollow profile, which hollow profile serves as a vacuum channel. The vacuum channel is fluidically connected to the supply means and to the at least one retaining element arranged on the transverse slide. The supply means can include a vacuum supply module, a valve manifold, and preferably flexible or hose-like vacuum lines. The valve manifold can advantageously be arranged on the upper side of the support platform. Preferably, the guide section of the at least one transverse slide is designed as a hollow profile. Such a hollow profile can define a channel, in particular a vacuum channel, in which a vacuum tube can be arranged.The vacuum channel can extend longitudinally along the second direction within the hollow profile and be fluidically connected to the retaining element arranged on the transverse slide. Advantageously, the retaining element is designed as a vacuum retainer. The vacuum tube preferably extends longitudinally along the second direction within one of the adjustment slides. Furthermore, the vacuum tube is positioned so as to be slidable within the vacuum channel along the second direction. The vacuum supply module is fluidly connected to the retaining element(s) via the valve manifold by means of the vacuum lines and the vacuum tube.

[0033] Advantageously, at least one spiral supply line may be provided, which is used to apply negative pressure to at least one of the holding devices. This spiral supply line may be arranged on the underside of the support platform and aligned along the first direction. It has also proven advantageous if the spiral supply line is at least partially penetrated by the guide section of the at least one transverse slide. By providing a spiral, coiled, or helically wound, preferably flexible or hose-like supply line, the respective guide sections can serve as carriers for supplying, for example, negative pressure to activate and deactivate the holding devices. The spiral shape allows for adjustment or...The adjustment and cross slides can be extended and retracted without additional tools or structural components. Furthermore, supply lines designed in this way can be arranged in a space-saving manner, avoiding or even preventing the risk of unwanted threading, snagging, or damage. This also eliminates the need for structurally complex or wear-prone sealing elements between telescopically adjustable hollow profiles. In addition, such spirally arranged supply lines are particularly easy to access for any necessary maintenance and repairs.

[0034] According to a further development, the supply system can include a valve manifold, which is fluid-connected to the holding devices via shut-off valves. The valve manifold can advantageously be located on the top of the support platform. The individual valves of the valve manifold can each be fluid-connected to one or, if necessary, several of the holding devices. The holding device(s) can expediently be designed as vacuum holding devices. The vacuum supply module is fluid-connected to the holding device(s) via the valve manifold. It can be particularly advantageous if the holding devices can be activated and deactivated as needed by means of their associated valves on the valve manifold. Such individual holding device deactivation can further expand the usage and adjustment options of the gripping device.The valves arranged on the valve manifold can be, for example, mechanically actuated or equipped with a spring return mechanism. Preferably, the valves can be energized separately and activated and deactivated by means of a control system. Such a design can be particularly safe in operation, especially because a power failure – unlike with spring-return valves – is not critical and does not lead to an unintentional release of a workpiece from the holding devices.

[0035] Furthermore, an additional adjustment slide may be provided, comprising a first and a second guide beam. The two guide beams are displaceable along the first direction. The adjustment slide can be extended linearly along the first direction relative to the support platform by means of the guide beams. Preferably, the guide beams are guided through openings in an end face of the support platform or by prismatic or profiled tracks in the support platform. However, it is also possible that the guide beams are arranged on the top surface of the support platform or are guided in guide elements positioned on the top surface of the support platform. This further development allows the adjustment options of the gripping device to be easily expanded.Preferably, a further first scale is also provided on one or both of the guide rails, i.e., a scale that indicates to the user the current setting position of the additional adjustment slide. Advantageously, to save costs, the additional adjustment slide is at least largely identical in construction to the first and second adjustment slides. It is advantageous to provide that the guide rails of the additional adjustment slide are offset from each other in such a way that they do not interfere with each other and, in particular, do not form an undesirable additional obstruction when retracted or pushed in.

[0036] Furthermore, it can be provided that at least one additional cross slide is formed, on which at least one of the holding means is arranged, and which cross slide is at least partially received or held in a transverse guide of the additional adjusting slide. The cross slide is displaceable in the transverse guide relative to the adjusting slide along the second direction, wherein a guide section of the additional adjusting slide received or held in the at least one transverse guide is profile-shaped, in particular hollow-profile-shaped, and wherein this guide section is linearly extendable and retractable in the transverse guide. Preferably, all adjusting slides and all extendable cross slides of the gripping device received or held in the adjusting slides are identical in construction or at least largely identical in construction.This significantly reduces storage costs and simplifies any maintenance and repair work.

[0037] Another advantageous embodiment includes a linearly extendable vacuum tube parallel to the guide beams, relative to the support platform. This vacuum tube is fluidically connected to the supply elements and to the retaining element located on the further adjustment slide. The supply elements can also comprise a further vacuum tube arranged in a further vacuum channel within the preferably hollow-profile guide beams. Alternatively, the further vacuum tube can be located within the support platform and parallel to the guide beams. Preferably, when viewing the support platform from below, the further vacuum tube is positioned between the guide beams.The further vacuum tube is arranged on the further adjusting slide, wherein the holding means arranged on the further transverse slide is flow-connected to a valve manifold or to a vacuum supply module by means of a preferably flexible vacuum line and by means of the further vacuum tube.

[0038] According to an advantageous further development, it can be provided that the at least one spiral supply line is at least partially penetrated by at least one of the guide beams of the adjusting carriage, or that the at least one spiral supply line is arranged between the two guide beams.

[0039] It can also be provided that at least one energy chain is movably mounted along the first direction, which energy chain is designed to move the adjusting carriages and / or the guide beams, and that at least one preferably flexible or tubular vacuum line is guided within the energy chain. By designing an energy chain for moving the adjusting carriages or guide beams, the adjustability can be precisely controlled. Energy chains are also known in the industry as energy guide chains, E-chains, or drag chains. Such an arrangement can be particularly precisely movable and also comparatively space-saving. Furthermore, a spiral supply line is well protected against damage by this design.

[0040] Independently of this, the problem of the invention is also solved by a manipulator designed to pick up and release a workpiece to be transported, preferably a plate-shaped one. The manipulator comprises a gripping device designed according to one of the claims.

[0041] The training and advantages of such a manipulator have already been sufficiently explained in the preceding sections of the description, which is why reference is made here to these passages.

[0042] To better understand the invention, it is explained in more detail with reference to the following figures.

[0043] They each show, in a highly simplified, schematic representation: Fig. 1 a gripping device for manipulating workpieces during their machining with a machine tool in a three-dimensional view looking towards the top; Fig. 2 the gripping device according to Fig. 1in a three-dimensional view looking towards the underside; Fig. 3 the gripping device according to Fig. 1 in a view from below; Fig. 4 a cross-section of the support platform and the adjusting carriage in the area of ​​the adjusting carriage locking device according to Fig. 3 ; Fig. 5 an alternative cross-section of the support platform and the adjusting slide in the area of ​​the adjusting slide locking device according to Fig. 3 Fig. 6 shows a detailed view of the gripping device according to Fig. 2 with supply means in a three-dimensional view looking towards the underside; Fig. 7 a longitudinal section through the transverse guide between the adjusting slide and the two transverse slides according to Fig. 6 Fig. 8 shows an alternative embodiment of the gripping device in a three-dimensional view looking towards the top; Fig. 9 shows the gripping device according to Fig. 8in a view from below; Fig. 10 an adjusting slide with two cross slides in a three-dimensional view; Fig. 11 a further embodiment of a gripping device in a three-dimensional view looking towards the top; Fig. 12 the gripping device according to Fig. 11 in a three-dimensional view looking towards the underside; Fig. 13 a further adjusting slide with two cross slides in a three-dimensional view; Fig. 14 a further embodiment of a gripping device in a three-dimensional view looking towards the underside.

[0044] It should be noted at the outset that in the differently described embodiments, identical parts are provided with the same reference numerals or component designations, and the disclosures contained in the entire description can be applied analogously to identical parts with the same reference numerals or component designations. Furthermore, the positional designations chosen in the description, such as top, bottom, side, etc., refer to the figure directly described and illustrated, and these positional designations must be applied analogously to the new position if the position changes.

[0045] The term "in particular" is understood below to mean a possible more specific embodiment or further specification of an object or a process step, but does not necessarily constitute a mandatory, preferred embodiment or a mandatory procedure. In their present usage, the terms "comprising," "comprising," "incorporating," "including," "containing," "containing," and any variations thereof are intended to cover non-exclusive inclusion.

[0046] The Fig. 1 , 2 , and 3 , as well as those in the Figs. 4 and 5 shown sectional views of the Fig. 3 The following sections largely describe the components together to avoid unnecessary repetition. The same reference symbols or component designations are used for identical parts.

[0047] The Figs. 1 to 5Figure 1 shows a gripping device 1 for manipulating, i.e., for transporting, picking up, and dropping, transferring, or placing preferably plate-shaped workpieces 2 during their machining with a machine tool. The gripping device 1 comprises, as its central element, a support platform 4 for the holding elements 3 with a connection interface 5 by means of which the gripping device 1 can be attached to an articulated arm 6, for example, of a manipulator, in particular an articulated robot. The holding elements 3 are connected to the support platform 4 in such a way that they are adjustable relative to the support platform 4.

[0048] The support platform 4 has a bottom surface 17 and a top surface 41 opposite the bottom surface 17. The connection interface 5 is located on the top surface 41 of the support platform 4 and is designed for coupling the gripping device 1 to a manipulator. The connection interface 5 can be any known type of coupling device. For example, a screw connection or bayonet connection can be provided, but flange connections are also conceivable. Furthermore, the gripping device 1 can also be fixed, i.e., permanently and non-removably, mounted on a manipulator.

[0049] The gripping device 1 has several holding means 3 for direct contact or attachment to the workpiece 2. The workpiece 2 is in the Fig. 1 The workpiece is shown schematically as a sheet metal part using dashed lines. The holding elements 3 can be inserted into the Figs. 1 to 5For the sake of simplicity, the supply means 27 (not shown) can be activated or deactivated as needed, allowing the workpiece 2 to be picked up or put down again. The holding means 3 are coupled to the support platform 4 and have contact sides 7. These contact sides 7 face away from the underside 17 of the support platform 4 and define a common, flat contact plane 8. The holding means 3 shown are vacuum holding means, each with a suction cup and a contact side 7 for contact with a workpiece 2. A workpiece 2 picked up by activating the holding means 3 can thus be fed to a machining area of ​​the machine tool.

[0050] By adjusting the holding means 3 relative to the support platform 4, the positions of the holding means 3 can be changed so that they correspond, at least to a large extent, to the shape or dimensions of the workpiece 2 or the surface of the workpiece 2 to be gripped. This means that for a small workpiece 2, smaller relative distances between the holding means 3 are possible, while for larger workpieces 2, correspondingly larger relative distances are set.

[0051] The gripping device 1 has at least one first adjusting slide 9 and one second adjusting slide 10. The two adjusting slides 9, 10 are each movable along a first direction 13 on an adjusting slide guide 11, 12 formed between the adjusting slides 9, 10 and the support platform 4. The at least two adjusting slide guides 11, 12 are formed on the underside 17 of the support platform 4. The at least two adjusting slides 9, 10 are each at least partially received in at least one of the adjusting slide guides 11, 12 and are displaceable in the adjusting slide guides 11, 12 relative to the support platform 4 along a first direction 13. At least one of the adjusting slides 9, 10 is formed with at least one transverse guide 15. Figs. 1 to 5 Both adjusting slides 9, 10 are each designed with two parallel transverse guides 15. In the Figs. 1 to 5In addition, a total of four cross slides 14 are shown, on each of which at least one of the holding means 3 is arranged. In the illustrated embodiment, a single holding means 3 is positioned at the end section of each cross slide 14. The cross slides 14 are at least partially received in the respective transverse guide 15. Furthermore, the cross slides 14 are displaceable, or rather, movable and adjustable, in these transverse guides 15 relative to the respective adjusting slide 9, 10 along a second direction 16. The first direction 13 and the second direction 16 are orthogonal to each other. In the figures, the first direction 13 is aligned along the X-axis and the second direction 16 along the Y-axis.

[0052] At least one, or rather the four, in the Figs. 1 to 5The cross slides 14 shown are each formed with a guide section 42. The respective guide sections 42 are received in one of the transverse guides 15 or are slidably guided therein and are profiled, in particular hollow profiled. The guide sections 42 can be linearly extended and retracted in the transverse guides 15.

[0053] The Fig. 2 The gripping device 1 shows according to Fig. 1 in perspective view from a downward angle, i.e., looking at the underside 17 of the support platform 4. Fig. 3 The gripping device 1 shows according to the Fig. 1 and 2 in a view from below, i.e. also with a view towards the underside 17 of the support platform 4.

[0054] According to the exemplary embodiment, the adjusting slides 9, 10 are each designed with two parallel transverse guides 15, with each transverse guide 15 accommodating an extendable transverse slide 14. At least one of the retaining elements 3 is arranged on each transverse slide 14, with the retaining elements 3 being formed on opposite end sections of the two transverse slides 14. Additional retaining elements 3 could also be positioned directly and thus not slidably on the support platform 4. Furthermore, it would also be conceivable for additional retaining elements 3 to be positioned directly and thus slidably along the first direction 13 on one or both of the adjusting slides 9, 10. These further developments, however, are not shown in the figures.

[0055] A transverse axis 43 oriented along the first direction 13 can lie equidistant between the two mutually parallel transverse guides 15. Holding means 3 arranged on the two transverse slides 14 can be positioned such that their respective holding means center point 44 lies on the transverse axis 43. This is particularly clear in the Fig. 3 visualized.

[0056] The adjusting slides 9, 10 can each be equipped with an adjusting slide fixing device in the form of an adjusting slide detent device 18, which can be actuated independently of one another and can be designed for the optionally releasable fixing of the adjusting slides 9, 10 relative to the support platform 4. Alternatively or additionally, the adjusting slides 9, 10 can be equipped with one or more cross slide fixing devices in the form of cross slide detent devices 22, which can be designed for the optionally releasable fixing of at least one cross slide 14 relative to the adjusting slide 9, 10. Especially in the Figs. 2 to 5The locking devices 18, 22 are illustrated. If the adjusting slides 9, 10 are each designed with two cross slides 14, it is possible that these two cross slides 14 can be fixed simultaneously, or jointly, with a single cross slide locking device 22. However, it is also possible that each cross slide 14, as shown in the Fig. 3 shown, has its own cross slide locking device 22.

[0057] The support platform 4 can have at least one scale 21 formed along the first direction 13. The support platform 4 can also be formed with a plurality of locking recesses equidistant from one another along the first direction 13 and arranged one behind the other along the first direction 13. Preferably, the scale 21 and the locking recesses corresponding to the scale 21 are arranged side by side. Graduation marks on the scale 21 correspond to the positions of the locking holes 20. This makes it easier for a user to set the desired X-position for the retaining elements 3 along the first direction 13. This is particularly advantageous in the Fig. 2 and 3Clearly visible. On the underside 17 of the support platform 4, two differently labeled scales 21 are attached, offset from each other by one adjustment slide width. Directional indicators 46 facilitate correct scale setting for the user. This is particularly useful when the user receives the required setting parameters from a computer program. The scales 21 can start from a zero value, but can also, as in the Fig. 3 evidently, extending from a negative starting value to a positive final value.

[0058] Both in the Fig. 2 , as well as in the Fig. 3It is clearly evident that the two adjusting slides 9, 10 are movable in the first direction 13 by means of adjusting slide guides 11, 12, which are designed as linear guides, on the underside 17 of the support platform 4. The adjusting slide guides 11, 12 comprise prismatic tracks for positive engagement with sections of the two adjusting slides 9, 10. As an alternative to the T-shaped cross-section of the adjusting slide guides 11, 12 shown, these could, for example, also be designed as dovetail guides. The sections that engage with the adjusting slide guides 11, 12 could, for example, be cam blocks or roller elements.

[0059] A detent element of the adjusting slide detent device 18 can be engaged with the detent recesses of the support platform 4. Alternatively or additionally, a second scale 23 can be formed on the cross slide 14 along the second direction 16. This scale is also designed to Fig. 2 and 3 This can be clearly seen. The cross slides 14 can be designed with a plurality of detent recesses equidistant from one another along the second direction 16, wherein a detent element of the cross slide detent device 22 can be brought into engagement with the detent recesses of the cross slide 14. These detent recesses are arranged on the respective guide sections 42 of the cross slides 14 and are shown in particular in the illustration in the Fig. 2 Removable. The locking recesses of the support platform 4 and the locking recesses of the cross slide 14 can each be designed as locking holes 20, 24.

[0060] The first scale 21 and the second scale 23 can be used, as in the Fig. 2 and 3 recognizably arranged parallel to the contact plane 8, so that they are visible when looking at the underside 17 of the support platform 4.

[0061] In particular the Figs. 4 and 5 A possible functional mechanism of a detent device 18, 22 is illustrated using setting slide detent devices 18. Of course, the detent mechanism shown can be used not only for a setting slide detent device 18, but also for a cross slide detent device 22. Figs. 4 and 5 Each figure shows a section through the gripping device 1. The cutting positions are shown in the Fig. 3 denoted by Roman numerals. The one in the Figs. 4 and 5 The detent element of the adjusting slide detent device 18 shown can be designed as a bolt 19. This bolt 19 can be engaged with the detent recesses of the support platform 4.

[0062] In an analogous manner to that described for the positioning of the adjusting slides 9, 10 on the support platform 4, a detent device 22 and a scale 23 are also provided for positioning the cross slides 14 on the respective adjusting slides 9, 10. Accordingly, in the activated position, the detent devices 22 engage in detent holes 24 formed on the cross slides 14 ( Fig. 2 The detent holes 24 of the cross slides 14 are arranged equidistantly from one another along the second direction 16 (Y-direction). Using the detent devices 22, the cross slides 14 can be fixed to the respective adjusting slides 9, 10 in a corresponding number of detent positions. The function of this second detent device 22 for positioning the cross slides 14 on the respective adjusting slides 9, 10 can be described in the same way as above with reference to the Figs. 4 and 5for the adjusting slide locking devices 18 described, be designed.

[0063] According to the exemplary embodiment of the Fig. 4The locking device 18 can include an axially spring-loaded bolt 19, which is mounted in the adjusting slide 10. One end of the bolt 19, facing the underside 17 of the support platform 4, extends into one of a series of locking holes 20 formed in the support platform 4. The bolt 19 thus forms a latch by which the adjusting slide 10 is fixed against displacement along the first direction 13 on the support platform 4. The adjusting slide locking device 18 is in its activated or locked position. To adjust the adjusting slide 10 and thus the retaining elements 3 connected to it, the adjusting slide locking device 18 can be deactivated by a user pulling the bolt 19 back from its locked position in the locking hole 20 and then displacing the adjusting slide 10 in the direction of the first direction 13.When the desired position of the retaining element 3 or the adjusting slide 10 is finally reached, releasing the bolt 19 reactivates the adjusting slide detent device 18, with the bolt 19 engaging in one of the other detent holes 20. Due to the spring tension on the bolt 19, the adjusting slide detent device 18 remains in its activated, engaged position. According to this embodiment, the adjusting slide detent device 18 is designed as a positive-locking locking mechanism, with the bolt 19 acting as the locking bolt. The detent holes 20 in the underside of the support platform 4 are arranged at equidistant intervals along the first direction 13 (X-direction), as also shown in the [reference]. Fig. 2 , 3 shown.

[0064] The Fig. 5 Figure 1 shows an alternative embodiment of the setting slide locking device 18 or the cross slide locking device 22. In the Fig. 5This includes a cross-section of the support platform 4 and the adjusting slide 10 of the gripping device 1 as shown in Fig. 3As shown, in this embodiment, a toothing or rack 25 is formed on the underside 17 of the support platform 4, oriented parallel to the first direction 13 or to the X-direction. In its activated position, the bolt 19 of the adjusting slide locking device 18 engages in one of the tooth gaps 26 of the rack 25. The adjusting slide 10 is thus fixed against displacement in the X-direction 13. Due to the inclined angle of the tooth flanks of the rack 25, this embodiment provides a frictional locking connection. Therefore, the locking recesses of the support platform 4 can be formed by a rack 25 with tooth gaps 26. In this case, the bolt 19 can be brought into engagement with the tooth gaps 26 in a form complementary manner. However, it is also possible that the locking recesses of the cross slides 14 are formed by a rack 25 with tooth gaps 26.The guide section 42 of the cross slide 14 can particularly preferably be designed as a rack 25.

[0065] Based on the following Fig. 6 and 7 The following describes the supply means 27 for activating and deactivating the holding means 3 of the gripping device 1. It is provided that the gripping device 1 is a so-called negative pressure or vacuum gripper, wherein the holding means 3 comprise suction cups that can be activated or deactivated via a corresponding line system. Fig. 6 shows a detail of the gripping device 1 with supply means 27 according to Fig. 2 , shown in perspective. Using the second adjusting slide 10 as an example, the following are shown in the Fig. 7 The sectional view also shows components of the supply means 27 and the holding means 3. Advantageously, the holding means 3 is designed as a vacuum holding means.

[0066] Accordingly, the supply means 27 can comprise a (not shown) vacuum supply module or unit, a valve manifold 28, and preferably flexible or hose-like vacuum lines 29. The valve manifold 28 can advantageously be arranged on the upper side 41 of the support platform 4. The guide section 42 of the at least one transverse slide 14 can be used for this purpose, as is particularly shown in the Fig. 7It is evident that the hollow profile 45 is formed, at least in sections, with a hollow profile 45. This hollow profile 45 can form a vacuum channel 30, in which a telescopic, or extendable and retractable, vacuum tube 31 can be arranged. The vacuum channel 30 can be fluidically connected to the supply means 27 and to the at least one retaining element 3 arranged on the transverse slide 14. The vacuum channel 30 can extend longitudinally in the hollow profile 45 along the second direction 16 and be fluidly connected to the retaining element 3 arranged on the transverse slide 14. Furthermore, the vacuum tube 31 is positioned so as to be slidable in the vacuum channel 30 along the second direction 16. The vacuum supply module is connected via the valve manifold 28 by means of the vacuum lines 29 and the vacuum pipe 31 to the holding means 3.It is also possible that the valve manifold 28 is flow-connected to the individual holding devices 3 by means of corresponding shut-off valves.

[0067] This flow connection for supplying the holding means 3 with negative pressure is particularly important in the Fig. 7 Illustrated. The Fig. 7Figure 1 shows a longitudinal section through the two transverse guides 15 between one of the two adjusting slides 10 and the two transverse slides 14, with a section plane parallel to the XY plane, or parallel to the contact plane 8. The transverse slides 14 are each adjustable and extendable in one of the two transverse guides 15 of the adjusting slide 10 in a direction parallel to the second direction 16. As part of the supply means 27 of the gripping device 1, a vacuum channel 30 is formed inside each of the transverse slides 14. On the other hand, a vacuum tube 31 connected to the adjusting slide 10 is formed in each of the transverse slides 14 and projects into the interior of the vacuum channel 30. One longitudinal direction of the vacuum channel 30 and also one longitudinal direction of the vacuum tube 31 are parallel to the extension direction, respectively.The second direction 16 of the respective cross slide 14 is aligned in the adjusting slide 10, whereby the section of the line 29 thus formed can be extended or telescoped when the cross slides 14 are adjusted. If necessary, a seal 32 is formed between the respective vacuum channel 30 of the cross slide 14 and the associated vacuum tube 31.

[0068] In the Fig. 8 and 9 Another embodiment of the gripping device 1, which may be independent, is shown, again using the same reference numerals or component designations for identical parts as in the preceding figures. To avoid unnecessary repetition, reference is made to the detailed preceding description.

[0069] In addition to the adjusting slides 9, 10 which are movably attached to the underside 17 of the support platform 4 according to Fig. 1 and 2In this embodiment, two further adjustment slides 33 are provided, each extendable from the end face of the support platform 4. These further adjustment slides 33 each comprise a first 34 and a second guide beam 35, which are aligned parallel to the first direction 13. Openings or bores for receiving the guide beams 34, 35 are formed in the end faces 39, 40 of the support platform 4. The two further adjustment slides 33 can be extended or linearly extended relative to the support platform 4 along the first direction 13 by means of the guide beams 34, 35.

[0070] In each of the two further adjusting slides 33, two further cross slides 36, corresponding to the second direction 16, can preferably be extended to accommodate at least one further holding element 3. Accordingly, in the case of the end-extendable adjusting slides 33, the cross slides 36 are also movable on the adjusting slide 33 in the second direction 16, which is perpendicular to the first direction 13. In the same way as in the adjusting slides 9, 10 connected to the underside of the support platform 4, it is also provided for the end-extendable adjusting slide 33 and the cross slides 36 connected to it that their position can be releasably fixed in a plurality of predetermined detent positions as required. For this purpose, detent devices 18, 22 are provided between the support platform 4 and the guide beams 34, 35 of the adjusting slide 33, as well as between the cross slides 36 and the adjusting slide 33, as described above. Figs. 4 and 5 described, trained in Fig. 8 not shown. In the Fig. 9 It has been shown that, when viewing the support platform 4 from the underside 17, the guide beams 34, 35 can also be designed with a scale 21 to indicate the setting position.

[0071] Parallel to the guide beams 34, 35, a vacuum tube 37, which can be extended linearly relative to the support platform 4, can be formed. The vacuum tube 37 can be fluidically connected as a component of the supply means 27 to the at least one retaining means 3 arranged on the further adjustment slide 33. The supply means 27 can include a further vacuum tube 37, which can be arranged in a further vacuum channel 30 in the preferably hollow-profile guide beams 34, 35. This variant is not shown in the figures. Alternatively, according to the Fig. 8 and 9The additional vacuum tube 37 is arranged in the support platform 4 and parallel to the guide beams 34, 35. Preferably, when viewing the support platform 4 from the underside 17, the additional vacuum tube 37 is positioned between the two guide beams 34, 35. The additional vacuum tube 37 is also attached to the additional adjustment slide 33, wherein the retaining means 3 arranged on the additional cross slide 36 is fluidically connected to the valve manifold 28 or to a vacuum supply module by means of a preferably flexible vacuum line 29 and by means of the additional vacuum tube 37.

[0072] Alternatively, though not shown figuratively, it may also be useful if the further cross slide 36 is as in the Fig. 7The system is shown to be designed with a vacuum tube 31 that is movable in a vacuum channel 30, and which vacuum tube 31 connects the holding element 3 with the further vacuum tube 37. The operating principle of the supply lines between the further adjusting slides 33 and the associated transverse slides 36 could thus be implemented in the same way as shown above. Fig. 7 has been described.

[0073] The Fig. 9 The gripping device 1 is shown according to the embodiment shown in the following example. Fig. 8 in a view from below. For the sake of clarity, parts of the supply means 27 of the vacuum supply system for the holding means 3 are not shown. As already in the embodiment according to the Figs. 1 to 5The two adjusting slides 9, 10 are arranged on the underside 17 of the support platform 4. They are connected to the support platform 4 by means of the adjusting slide guides 11, 12 and are slidable in these guides 11, 12 along the first direction 13. They can be fixed in a number of detent positions as required by means of the detent devices 18 or the detent holes 20 in the underside 17 of the support platform 4. The adjusting slides 9, 10 also have cross slides 14 that extend in the opposite direction along the second direction 16, each with a holding element 3. The detent device 22 is formed between the adjusting slide 9, 10 and the cross slide 14, which also allows the cross slides 14 or their holding elements 3 to be fixed in a number of predefined detent positions as required.To adjust the holding devices 3 and find the desired X or Y position, a user can use the scales 21 and 23, which are located on the underside of the support platform 4 and on the cross slides 14, respectively. The area available for adjusting the setting slides 9 and 10 on the support platform 4 extends along the first direction 13 over a length 38 of the support platform 4.

[0074] It is also possible that the adjusting slide fixing devices or the cross slide fixing devices are not designed as detent devices 18, 22, but that they can be fixed by means of screws 47. This variant is also found in the Fig. 9This is illustrated, whereby no detent holes 20 are generally required when fixing with screws 47. A clamping force can be applied between one of the adjusting slides 9, 10 and the support platform 4 using the screws 47, or a clamping force can be applied between at least one cross slide 14 and one of the adjusting slides 9, 10.

[0075] As already shown from the Fig. 8As described, the gripping device 1 according to this embodiment comprises, in addition to the two adjusting slides 9, 10 on the underside 17 of the support platform 4, a further adjusting slide 33 which can be extended from the front of the support platform 4 by means of its two guide beams 34, 35 in the first direction 13. The guide beams 34, 35 of the adjusting slide 33 are aligned parallel to the adjusting slide guides 11, 12 of the adjusting slides 9, 10 on the underside 17 of the support platform 4. That is, the direction of adjustment is the same as that of the adjusting slides 9, 10, namely the first direction 13 (X-direction). As now shown in the Fig. 9As shown, the gripping device 1 according to this embodiment has the additional adjusting slide 33 on both a first end face 39 and a second end face 40. The adjusting slides 33 are each designed with two cross slides 36 that extend in opposite directions, the cross slides 36 being guided in the adjusting slide 33 by their guide sections 42. Detent devices 22 are provided for fixing the cross slides 36 relative to the adjusting slides 33 as needed. Furthermore, a detent device 18 is also provided between the guide beam 34 of the adjusting slide 33 and the support platform 4. In this case, a scale 21 is attached to the guide beam 34 for finding the desired position in the X-direction. Like the cross slides 14, the additional cross slides 36 also have a scale 23. The arrangement of the detent devices 18, 22 as well as the scales 21, 23 in the Fig. 9 As shown, this offers the user the advantage that the position settings of the holding means 3 can be carried out in a single position, namely with a view towards the underside 17 of the support platform 4.

[0076] The Fig. 10 Figure 1 shows an embodiment of an adjusting slide 9, 10, 33 with two extendable cross slides 14, 36. The guide sections 42 of the cross slides 14, 36 are received in the two cross guides 15. The guide sections 42 are profiled and extend linearly in the cross guides 15 along the second direction 16. To avoid unnecessary repetition, reference is made here to the description of the preceding figures.

[0077] The adjusting carriage 9, 10, 33 is equipped with two cross-slide fixing devices for the optionally releasable fixing of the two cross-slides 14 relative to the adjusting carriage 9, 10. The cross-slide fixing devices each have two screws 47, whereby a clamping force can be applied between the cross-slides 14, 36 and the adjusting carriage 9, 10, 33 by means of the screws 47. Additionally, each cross-slide fixing device includes an eccentric lever 49, which is pivotally connected to the two screws 47. Fig. 10The left cross slide 14, 36 is shown in its extended position, the right cross slide 14, 36 in its fully retracted position. The eccentric lever 49 of the left cross slide 14, 36 is closed, thus locking the cross slide. The eccentric lever 49 of the right cross slide 14, 36 is shown open. Adjustment or linear movement of the right cross slide 14, 36, or its guide section 42, is possible in this unlocked or unlocked state.

[0078] It goes without saying that the cross slide fixing devices shown can also be designed in the same or a similar way as adjusting slide fixing devices for the optionally releasable fixing of the adjusting slides 9, 10 relative to the support platform 4.

[0079] The Fig. 11 and 12Figure 1 shows two three-dimensional views of a further embodiment of a gripping device 1. The perspective corresponds approximately to that of the Fig. 1 and 2 . Also in the description of the Fig. 11 and 12 To avoid unnecessary repetition, reference is made to the preceding sections of the description.

[0080] The gripping device 1 comprises, by way of example, a total of four adjusting slides 9, 10, 33. The two middle adjusting slides 9, 10 can each be at least partially received in at least one of the adjusting slide guides 11, 12, as shown. Specifically, the two middle adjusting slides 9, 10 are guided, by way of example, in grooves of profiled guide rails on the two longitudinal sides of the support platform 4. To increase stability and smooth running, the two middle adjusting slides 9, 10 are each guided in grooves on the lower and upper surfaces of the two adjusting slide guides 11, 12, which are designed as profiled guide rails. The two middle adjusting slides 9, 10 are displaceable in the adjusting slide guides 11, 12 relative to the support platform 4 along a first direction 13. All adjusting slides 9, 10, 33 each comprise two linearly displaceable or extendable cross slides 14, 36.Each of the cross slides 14, 36 has a holding element 3 at its end section. The holding elements 3 are attached to the respective cross slide 14, 36 by means of an angled sheet metal component. Due to the angled shape, it can be ensured that the holding elements 3 contribute as little as possible to the overall thickness or height of the gripping device 1 and that no undesirable interfering contours are formed.

[0081] The two outer, further adjustment slides 33 comprise - similar to the Fig. 8 - each a first guide beam 34 and a second guide beam 35, which guide beams 34, 35 are displaceable along the first direction 13, and which guide beams 34, 35 are guided in the support platform 4, in particular by prism or profile tracks. The two outer adjustment slides 33 are linearly extendable relative to the support platform 4 along the first direction 13 by means of the guide beams 34, 35.

[0082] The adjusting slides 9, 10, 33 are each equipped with an adjusting slide locking device, which can be actuated independently of one another and which are designed for the optionally releasable fixing of the adjusting slides 9, 10, 33 relative to the support platform 4. In addition, the adjusting slides 9, 10, 33 are equipped with cross slide locking devices, which are designed for the optionally releasable fixing of the cross slides 14, 36 relative to the adjusting slides 9, 10, 33. The adjusting slide locking devices, as well as the cross slide locking devices, are each equipped with a clamping lever 48. By means of the clamping levers 48 a clamping force can be applied between adjusting carriage 9, 10, 33 and support platform 4, in particular between adjusting carriage 9, 10, 33 and adjusting carriage guides 11, 12, as well as between adjusting carriage 9, 10, 33 and guide beam 34, 35.Furthermore, a clamping force can be applied between cross slides 14, 36 and one of the adjusting slides 9, 10. In the . Fig. 11 Almost all clamping levers 48 are shown in their fixed position. Only the clamping lever 48 of the outer cross slide 36, shown in its extended position, is shown open, thus allowing movement or adjustment.

[0083] In the Fig. 11 and 12 It is also shown that spiral or helical and flexible supply lines 50 can be formed. The spiral supply lines 50 for supplying the holding means 3 arranged on the cross slides 14, 36 can be at least partially penetrated by the respective guide section 42 of the respective cross slide 14, 36. However, it is also possible that an adjusting slide 9, 10, 33 according to the example in the Fig. 12The device has at least two cross slides 14, 36 that are parallel to each other and relative to each other displaceable, and the spiral supply line 50 is at least partially penetrated by the guide section 42 of the respective adjacent or parallel cross slide 14, 36. In both of the aforementioned variants, the spiral supply line 50 can stretch or pull apart during linear extension or extension.

[0084] In addition, spiral supply lines 50 can also be provided, which are at least partially penetrated by at least one of the guide beams 34, 35 of the adjusting carriages 9, 10, 33, or - as shown in the figure - spiral supply lines 50 can also be arranged between the two guide beams 34, 35.

[0085] In the Fig. 13A further adjusting slide 9, 10, 33 with two cross slides 14, 36 is shown in a three-dimensional view. To avoid unnecessary repetition, reference is made here to the preceding descriptions, in particular to the description of the Fig. 10 Reference is made to the above. For positioning the holding devices 3, several positioning openings 53 are provided on each of the cross slides 14, 36, in which the holding devices 3 can be attached. In this way, the holding devices 3 can be adapted as required to the respective workpiece geometry of the workpiece 2 to be manipulated. In addition, several holding devices 3 and, if necessary, holding devices 3 of different sizes can be positioned. In the Fig. 13It is also shown that the cross slide fixing device can include pneumatic fixing devices 52. Naturally, the adjusting slide fixing device can also include a pneumatic fixing device 52. For example, it is provided that spiral supply lines 50 are designed and provided for supplying the holding elements 3 with negative pressure. Advantageously, the spiral supply lines 50 can also serve to supply the pneumatic fixing devices 52. The spiral supply lines 50 are each intersected by the guide section 42 of the cross slides 14, 36.

[0086] The Fig. 14 shows - based on the representation of the Fig. 12 - another embodiment of a gripping device 1 in a three-dimensional view. Again, to avoid unnecessary repetition, reference is made to the preceding descriptions, in particular the description of the Fig. 12, pointed out or referenced. In particular, in the Fig. 14 One embodiment is shown in which energy chains 51 are movably mounted along the first direction 13. The energy chains 51 can be arranged on the support platform 4. These energy chains 51 are designed to displace the adjusting slides 9, 10 and the guide beams 34, 35. One or more vacuum lines 29 are guided in the energy chains 51. These vacuum lines 29 are in turn flow-coupled with the spiral supply lines 50 that pass through the guide sections 42 of the transverse slides 14, 36. In contrast, in the Fig. 11 and 12It is shown that spiral supply lines 50 can be arranged on the support platform 4 to supply the negative pressure to the cross slides 14, 36 or the holding means 3. These spiral supply lines 50 are in turn flow-coupled with the spiral supply lines 50 that pass through the guide sections 42 of the cross slides 14, 36.

[0087] The exemplary embodiments show possible embodiment variants, whereby it should be noted at this point that the invention is not limited to the specifically illustrated embodiment variants, but rather various combinations of the individual embodiment variants are also possible and this possibility of variation lies within the skill of the person skilled in this technical field due to the teaching on technical action by the present invention.

[0088] The scope of protection is defined by the claims. However, the description and drawings must be consulted for the interpretation of the claims. Individual features or combinations of features from the different embodiments shown and described can, in themselves, represent independent inventive solutions. The problem underlying these independent inventive solutions can be found in the description.

[0089] All references to value ranges in this description are to be understood as encompassing any and all sub-ranges thereof, e.g., the reference 1 to 10 is to be understood as including all sub-ranges, starting from the lower limit 1 and the upper limit 10, i.e., all sub-ranges begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g., 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

[0090] Finally, for the sake of clarity, it should be noted that, for a better understanding of the structure, some elements have been shown not to scale and / or enlarged and / or reduced in size. Reference numeral list 30 Vacuum channel 1 Gripping device 31 Vacuum pipe 2 workpiece 32 seal 3 Holding device 33 additional adjustment slide 4 carrying platform 34 Guide bars 5 Connection interface 35 Guide bars 6 articulated arm 36 further cross slide 7 Contact page 37 Vacuum pipe 8 Contact level 38 length 9 Adjustment slide 39 Front 10 Adjustment slide 40 Front 11 Adjustment slide guide 41 Top 12 Adjustment slide guide 42 Guided section 13 first direction (X direction) 43 transverse axis 14 Cross slide 44 Holding element center 15 Lateral guidance 45 Hollow profile 16 second direction (Y direction) 46 Directional indicator 17 bottom 47 screw 18 Adjustment slide locking device 48 Clamping lever 19 bolt 49 Eccentric lever 20 Resting place 50 spiral supply line 21 first scale 22 Cross slide locking device 51 Energy chain 23 second scale 52 pneumatic fixing device 24 Resting place 53 Positioning breakthrough 25 rack and pinion 26 gap between teeth 27 Supplies 28 Valve manifold 29 Vacuum line

Claims

1. A gripping device (1), which is configured for receiving a, preferably plate-like, workpiece (2) to be transported, and for releasing it again, comprising: - a supporting platform (4) with a bottom side (17) and a top side (41) located opposite the bottom side (17), - which supporting platform (4) is configured, on the top side (41), with a connection interface (5), or can be coupled to a connection interface (5), which connection interface (5) is configured for coupling the gripping device (1) to a manipulator, and - which supporting platform (4) is configured, on the bottom side (17), with at least two adjustment-slide guides (11, 12), - a plurality of retaining means (3), - which retaining means (3) are configured for retaining the workpiece (2), - which retaining means (3) are coupled to the supporting platform (4), and - which retaining means (3) have contact sides (7), which contact sides (7) face away from the bottom side (17) of the supporting platform (4), and which contact sides (7) tenter a joint contact plane (8), - supply means (27), which supply means (27) are configured for activating and deactivating the retaining means (3), - at least two adjustment slides (9, 10), - which adjustment slides (9, 10) are each at least partially received or supported in at least one of the adjustment-slide guides (11, 12), and - which adjustment slides (9, 10) are slidable relative to the supporting platform (4) along a first direction (13) in the adjustment-slide guides (11, 12), - wherein at least one of the adjustment slides (9, 10) is configured with at least one transverse guide (15), and - at least one transverse slide (14), - on which transverse slide (14) at least one of the retaining means (3) is arranged, and - which transverse slide (14) is at least partially received or supported in the transverse guide (15), and - which transverse slide (14) is slidable relative to the adjustment slide (9, 10) along a second direction (16) in the transverse guide (15), - wherein the first direction (13) and the second direction (16) are mutually orthogonal, characterized in that a guide section (42) of the at least one transverse slide (14), which guide section (42) is received or supported in the at least one transverse guide (15), is profiled, and wherein this guide section (42) is linearly extendable in the transverse guide (15).

2. The gripping device (1) according to claim 1, characterized in that at least one of the adjustment slides (9, 10) is configured with two parallel transverse guides (15), and that an extendable transverse slide (14) is received in each transverse guide (15), wherein at least one of the retaining means (3) is arranged on each transverse slide (14), and wherein the retaining means (3) are configured on end sections of the two transverse slides (14), which end sections face away from each other.

3. The gripping device (1) according to any one of the preceding claims, characterized in that the adjustment slides (9, 10) are each configured with an adjustment-slide fixing means, which adjustment-slide fixing means are actuatable independently, and which adjustment-slide fixing means are configured for fixing the adjustment slides (9, 10) relative to the supporting platform (4), releasably as required, and / or that the adjustment slides (9, 10) are configured with a transverse-slide fixing means, which transverse-slide fixing means is configured for fixing the at least one transverse slide (14) relative to the adjustment slide (9, 10).

4. The gripping device (1) according to any one of the preceding claims, characterized in that at least one first scale (21) is configured on the supporting platform (4) along the first direction (13) and / or that a second scale (23) is configured on the at least one transverse slide (14) along the second direction (16), wherein the first scale (21) and the second scale (23) are arranged preferably parallel to the contact plane (8), so that they are visible when viewing the bottom side (17) of the supporting platform (4).

5. The gripping device (1) according to claim 3 or 4, characterized in that the adjustment-slide fixing means as is configured as an adjustment-slide snap-in means (18), and / or that the transverse-slide fixing means is configured as a transverse-slide snap-in means (22), and that the supporting platform (4) is configured with a plurality of snap-in recesses spaced equidistantly apart from one another along the first direction (13), and that a snap-in element of the adjustment-slide snap-in means (18) is engageable with the snap-in recesses of the supporting platform (4), and that the transverse slide (14) is configured with a plurality of snap-in recesses spaced equidistantly apart from one another along the second direction (16) and that a snap-in element of the transverse-slide snap-in means (22) is engageable with the snap-in recesses of the transverse slide (14).

6. The gripping device (1) according to claim 5, characterized in that the snap-in element of the adjustment-slide snap-in means (18) and / or the snap-in element of the transverse-slide snap-in means (22) is configured as a bolt (19), which bolt (19) is engageable with the snap-in recesses of the supporting platform (4) and / or with the snap-in recesses of the transverse slide (14).

7. The gripping device (1) according to any one of the claims 3 to 6, characterized in that the adjustment-slide fixing means comprises at least one screw (47), wherein a clamping force between one of the adjustment slides (9, 10) and the supporting platform (4) is applicable by means of the screw (47), and / or that the transverse-slide fixing means comprises at least one screw (47), wherein a clamping force between the at least one transverse slide (14) and one of the adjustment slides (9, 10) is applicable by means of the screw (47).

8. The gripping device (1) according to any one of the claims 3 to 7, characterized in that the adjustment-slide fixing means comprises at least one clamping lever (48), cam lever (49) or tension lever, wherein a clamping force between one of the adjustment slides (9, 10) and the supporting platform (4) is applicable by means of the clamping lever (48), cam lever (49) or tension lever, and / or that the transverse-slide fixing means comprises at least one clamping lever (48), cam lever (49) or tension lever, wherein a clamping force between the at least one transverse slide (14) and one of the adjustment slides (9, 10) is applicable by means of the clamping lever (48), cam lever (49) or tension lever.

9. The gripping device (1) according to any one of the claims 3 to 8, characterized in that the adjustment-slide fixing means and / or the transverse-slide fixing means comprises a pneumatic fixing means (52).

10. The gripping device (1) according to any one of the preceding claims, characterized in that the adjustment-slide guides (11, 12) are configured as prism tracks for the form-fitting engagement with sections of the adjustment slides (9, 10), in particular that the adjustment-slide guides (11, 12) are configured as prism tracks for the form-fitting engagement with sections of both adjustment slides (9, 10).

11. The gripping device (1) according to any one of the preceding claims, characterized in that the guide section (42) of the at least one transverse slide (14) is configured, at least in sections, with a hollow profile (45), which hollow profile (45) is configured as a vacuum canal (30), wherein the vacuum canal (30) is flow-connected to the supply means (27) and to the at least one retaining means (3) arranged on the transverse slide (14).

12. The gripping device (1) according to any one of the preceding claims, characterized in that at least one spiral supply line (50) is configured, which at least one spiral supply line (50) is provided to apply a vacuum to at least one of the retaining means (3).

13. The gripping device (1) according to claim 12, characterized in that the at least one spiral supply line (50) is filled, at least in sections, by the guide section (42) of the at least one transverse slide (14).

14. The gripping device (1) according to any one of the preceding claims, characterized in that the supply means (27) comprise a valve island (28), which valve island (28) is flow-connected to the retaining means (3) by means of shut-off valves.

15. The gripping device (1) according to any one of the preceding claims, characterized in that another adjustment slide (33) is configured, which adjustment slide (33) comprises a first guide bar (34) and a second guide bar (35), which guide bars (34, 35) are slidable along the first direction (13), and which guide bars (34, 35) are in particular guided through openings at a front end (39, 40) of the supporting platform (4) or through prism or profile tracks in the supporting platform (4), wherein the adjustment slide (33) is linearly extendable relative to the supporting platform (4) along the first direction (13) by means of the guide bars (34, 35).

16. The gripping device (1) according to claim 15, characterized in that at least one other transverse slide (36) is configured, on which transverse slide (36) at least one of the retaining means (3) is arranged, and which transverse slide (36) is at least partially received in a transverse guide (15) of the other adjustment slide (33), and which transverse slide (36) is slidable relative to the adjustment slide (33) along the second direction (16) in the transverse guide (15), wherein a guide section (42) of the other adjustment slide (33), which guide section (42) is received in the at least one transverse guide (15), is profiled, in particular hollow-profiled, and wherein this guide section (42) is linearly extendable in the transverse guide (15).

17. The gripping device (1) according to claim 16, characterized in that a vacuum pipe (37) is configured parallel to the guide bars (34, 35), which vacuum pipe (37) is linearly extendable relative to the supporting platform (4) and which vacuum pipe (37) is flow-connected to the supply means (27) and to the at least one retaining means (3) arranged on the transverse slide (36) that is arranged on the other adjustment slide (33).

18. The gripping device (1) according to any one of the claims 15 to 17, characterized in that the at least one spiral supply line (50) is filled, at least in sections, by at least one of the guide bars (34, 35) of the adjustment slides (9, 10) or that the at least one spiral supply line (50) is arranged between the two guide bars (34, 35).

19. The gripping device (1) according to any one of the preceding claims, characterized in that at least one energy chain (51) mounted so as to be movable along the first direction (13) is configured, which energy chain (51) is configured for sliding the adjustment slides (9, 10) and / or for sliding the guide bars (34, 35), and that at least one vacuum line (29) is guided in the energy chain (51).

20. A manipulator, which is configured for receiving a, preferably plate-like, workpiece (2) to be transported, and for releasing it again, comprising a gripping device (1), characterized in that the gripping device (1) is configured according to any one of the claims 1 to 19.