Gripper device and gripping method

Abstract

The invention relates to a gripper device (1) for gripping individual units (200) comprising a gripper unit (2) and a holder unit (3), wherein the gripper unit (2) has a contact section (4) for an individual unit (200) to be gripped and wherein the holder device (3) comprises a holder element (5). A free end (6) of the contact section (4) comprises a lifting device (7) for lifting an individual unit (200) to be gripped, such that the contact section (4) can be shifted at least underneath the individual unit (200) to be gripped. The gripper unit (2) also comprises a fixing device (14). A handling device (50) comprises a robot device (60) with a robotic arm (61) and a gripper device (1) of this type arranged thereon. The system (100) for gripping and transferring at least one individual unit (200) comprises a handling device (50) of this type and at least one control device (80). In the method for gripping at least one individual unit (200) using a system (100) of this type, the gripper unit (2) is brought up to an edge (201) of the individual unit (200) to be gripped and the lifting device raises the individual unit such that the contact section is moved underneath the individual unit (200) to be gripped. The individual unit (200) is clamped between the fixing device (14) and the contact section (4).

Description

[0001] Gripper device and method for gripping

[0002] Description

[0003] The present invention relates to a gripper device for gripping individual units, in particular for gripping an empty bag or a stack of empty bags, comprising at least one gripping unit and at least one holding unit. The gripper unit has at least one support section for an individual unit to be gripped, and the holding device comprises at least one holding element. The present invention also relates to a handling device with such a gripper device, a system comprising such a handling device, and a method for gripping at least one individual unit, in particular at least one empty bag or at least one stack of empty bags, using such a system.

[0004] Various devices are known in the prior art for gripping, transferring, or transporting, particularly stacked objects, e.g., DE 691 00 158 T2, DE 10 2012 009 649 A1, and DE 10 2019 220 027 A1. For example, when transporting empty bags, e.g., in the area of ​​packing systems for filling bulk goods into bags, flat empty bags can be lifted with the help of suction grippers and transferred to a specific location and / or another system. However, a disadvantage is that only individual bags, not bundles of bags, can be lifted using the suction grippers.

[0005] A bundle of sacks could be held with a conventional gripper, such as a pincer gripper. However, the problem is that such a gripper cannot independently grasp sacks or bundles of sacks stacked on a pallet, for example, because the bundles do not protrude freely on any side. Therefore, automated gripping of flat-lying sacks or bundles of sacks cannot be achieved using a conventional gripper.

[0006] It is therefore the object of the present invention to provide a gripper that can independently pick up individual objects and also stacks or bundles of objects.

[0007] This object is achieved by a gripper device having the features of claim 1, by a handling device having the features of claim 19, by a system having the features of claim 20, and by a method having the features of claim 23. Preferred developments of the invention are the subject of the dependent claims. Further advantages and features of the present invention will become apparent from the general description and the description of the exemplary embodiment.

[0008] The gripper device according to the invention is suitable for gripping individual units, in particular for gripping an empty bag and / or a stack of empty bags and / or the like, and comprises at least one gripping unit and at least one holding unit, wherein the gripping unit has at least one support section for an individual unit to be gripped, and wherein the holding device comprises at least one holding element. At least one free end of the support section comprises at least one lifting device for lifting an individual unit to be gripped, at least in sections, so that the support section can be displaced at least in sections beneath the individual unit to be gripped.

[0009] An individual unit is, in particular, a single object or, depending on the configuration, a stack of objects and / or a bundle of objects, in particular at least one single empty bag or a flat empty bag and / or a stack of bags or a stack of empty bags. The details can, in particular, be piece goods or objects that can preferably be stored in stacks or bundles on a storage surface. These individual units or bundles of objects are stacked or layered as individual units, in particular in an offset manner.

[0010] For example, an individual unit can be an empty bag, such as those used for filling bulk goods. In particular, the individual units are designed to be substantially flexible, at least in sections. For example, any empty bag or bag, such as valve bags, FFS bags, open-mouth bags, and / or bundles of paper bags or the like, can be picked up by the gripper device and transferred to another location.

[0011] Preferably, a bundle or stack of objects, as an individual unit, also exhibits a certain degree of flexibility. For example, bundles of newspapers or stacks of thin or thick cardboard, or even stacks of sheets of paper, plastic sheets, or the like, can be lifted by the lifting device of the gripping unit, so that the support section can be displaced underneath, at least in sections, for gripping.

[0012] The support section is in particular the area of ​​the gripper device which is moved under an individual unit to be picked up and on which the individual unit to be gripped rests when lifted.

[0013] The holding element serves in particular to press down the individual unit to be grasped or a bundle of objects as an individual unit at least slightly or to hold it firmly in place in such a way that the support section can be moved or relocated under the individual unit without the individual unit to be grasped slipping or sliding away and that the edge of the individual unit or stack or bundle preferably stands up slightly. The gripper device according to the invention offers many advantages. Because the support section comprises at least one lifting device, it is possible to grasp individual units such as flat objects, empty bags and / or stacks of empty bags by means of a gripper device and to relocate them to another location. This is made possible by the lifting device supporting the individual unit lying flat on a support surface on one side oran edge of the individual unit so that the free end of the support section can move under the individual unit to be gripped or can be displaced a short distance below the individual unit. Furthermore, the gripping unit comprises at least one fixing device for clamping or fixing a detail between the fixing device (14) and the support section, particularly when the support section has been displaced under the individual unit to be gripped.

[0014] If the individual units are provided, for example, by a stack of empty bags containing 5, 10, or 15 bags, the lifting device serves to lift the individual bags or the entire stack of empty bags so that the support section can be moved at least a little below the stack of empty bags. For this purpose, the individual bags are then preferably flipped open by the lifting device.

[0015] The gripper device according to the invention is particularly suitable for picking up individual objects and in particular stacks of empty bags which are arranged on an elastic, an inelastic, a hard and / or a non-rigid surface. In this case, especially when the individual objects are arranged on a pallet or another hard support surface, different surface qualities can also be present on individual units depending on the position of the individual units. For example, upper individual units rest on individual units arranged below them, so that the upper individual units rest on a non-rigid or elastic or non-hard surface. The lowest individual units can also rest directly or only separated by a thin support, for example on a pallet and thus on a hard or relatively hard surface.

[0016] This makes it possible, unlike conventional gripper devices with suction cups, not only to lift individual bags or individual units, but also to lift details without suction grippers and even to grip bundles of objects as individual units, such as stacks of empty bags, using a gripper device.

[0017] The lifting device preferably comprises at least one roller. The lifting device or roller is preferably provided directly at the free end of the support section and is particularly designed to be rotatable. Several rollers can also be provided next to one another, with the use of at least one roller being preferred.

[0018] Particularly preferably, the roller is drivable. Such a roller of the lifting device can be rotated or driven, in particular, by means of a motor such as a pneumatic motor, an electric motor, and / or any other rotary encoder.

[0019] The roller can preferably be driven by at least one motor, with the drive from the motor being transmitted to the roller via at least one deflection device. For example, at least one belt can be provided which transmits the rotation of the motor to a roller. For this purpose, a corresponding connection from the belt to the roller can be provided. Depending on the position of the motor, further deflections can also be achieved via deflection pulleys, drive shafts and / or the like. This can be particularly advantageous if, for example, the motor is to be mounted in spatial proximity below a receiving unit or the connection to a robot arm for weight reasons or in order to optimize the center of gravity. Depending on the design, the pivoting range of the gripper device can also be improved or reduced by arranging the motor accordingly in a central area.

[0020] In advantageous embodiments, the roller has, at least in sections, at least one contact-promoting structure and / or, at least in sections, at least one friction- or adhesion-enhancing surface. In particular, it is provided that the roller is designed in such a way that the "grip" is increased, so that an individual unit, such as an empty bag or a bundle of empty bags, is lifted by the rotation of the roller.

[0021] For example, a contact-promoting structure can be a type of external toothing or a sawtooth-like structure, which, upon contact with a bundle of empty bags or a single unit, flicks through the individual bags or objects, or even several at once, to lift the free edge of the stack of empty bags or the single unit. Such a contact-promoting structure can also be achieved, for example, through grooves, nubs, and / or a brush-like design.

[0022] A surface that increases frictional adhesion can be provided, for example, by a rubber coating and / or a roughening and / or the like.

[0023] In particular, it is preferred that the rotation of the roller or the lifting device causes individual objects of the individual unit or the individual item itself to be browsed through or browsed up, so to speak, so that the support section can dip between the support surface and the individual unit or be moved therebetween. If a drive belt drives the roller, the movement generated in the upper run can preferably also be used to transport the picked up individual unit backwards during the gripping movement. The gripping unit and the holding unit are particularly preferably movable relative to one another. Such a configuration movable relative to one another can be provided actively or passively, for example by a motor-operated drive or by pretensioning devices which enable active movement in at least one direction.By means of an active relative movement of the gripping unit and holding unit to one another, for example, a movement of the support section under an individual unit can be effected without the entire gripping device being moved in a corresponding direction.

[0024] Preferably, the gripping unit and the holding unit are provided with an articulated and / or resilient connection to one another. In particular, articulated rods and / or actuators may also be provided.

[0025] Particularly preferably, the support section is designed to be telescopic at least in sections and / or otherwise adjustable in length. The support section with the lifting device can be designed, in particular, to be telescopic or adjustable in length in order to accommodate different sizes or lengths of individual units, for example when processing sacks and / or sack stacks of different sack sizes or formats. Depending on the design, however, gripper devices of different sizes can be provided for different individual object sizes.

[0026] It is generally preferred that the gripper device comprises at least one quick-change device in order to achieve quick and easy installation of the gripper device, e.g. on a robot arm. In expedient embodiments, at least one receiving unit is provided, to which the gripping unit and the holding unit are connected. The receiving unit serves in particular for fastening the gripper device to a handling device, for example to a robot arm of a robot device. The holding unit and the gripping unit are connected to one another on the receiving unit, for example in such a way that an articulated arrangement of the two components to one another is enabled. The gripping unit and the holding unit can, however, also be directly articulated to one another and, depending on the embodiment, can also be provided without being articulated.

[0027] In expedient further developments, at least one actuator is assigned to the support section, the holding device, the holding unit, and / or the holding element. Depending on the design of the actuator, a movement of the respective component can be effected. If, for example, a pretensioning device is provided as the actuator, a certain pretension or arrangement of the gripping unit relative to the holding unit can be effected, particularly if the components are provided in an articulated manner relative to one another.

[0028] The actuator preferably comprises at least one pneumatic cylinder. Depending on the design, other actuators, for example hydraulic cylinders and / or other linearly acting actuators, can also be provided. By providing such actuators, it can be achieved, for example, that the gripping unit or the support section and the holding device are provided with a certain preload relative to one another. If the gripper device is lowered next to the individual unit to grip an individual unit, the support section and the holding element can then preferably move apart against the preload until, for example, a predetermined end position is reached, which is preferably detected by a limit switch. An end position is in particular an arrangement of the support section and the holding element relative to one another that has at least a certain movement buffer in both directions.Depending on the design, a maximum deflection of the components relative to each other can also be defined as the end position.

[0029] The holding element preferably comprises at least one holding roller. Such a holding roller can preferably press or press the individual unit downwards at least slightly, at least in sections, so that the individual unit does not slip when the support section is displaced. To ensure optimal movement of the support section in the direction below the individual unit, the holding roller then rolls along the individual unit in accordance with the movement of the support section.

[0030] According to the invention, the gripping unit comprises at least one fixing device. Such a fixing device is designed in particular in the manner of a fixing stamp and / or comprises at least one such fixing stamp. This makes it possible for the individual unit, beneath which the support section has been displaced, to be clamped between the fixing device and the support section. Such a fixing device, particularly when designed as a fixing stamp, can preferably be driven in particular by means of a pneumatic cylinder or the like and can also be displaced in another way.

[0031] Preferably, at least one limit switch is provided which detects at least one position or deflection, in particular of the support section and / or the holding device.

[0032] In expedient further developments, at least one referencing device is provided. Such a referencing device can be provided in particular by at least one rod or at least one bar, which in particular has a predetermined length. In this case, a height adjustment between the handling device or the robot arm and the gripper device can be made possible in particular by means of the referencing device. In addition, an IG

[0033] Movement adjustment or an interfering contour during the rotation of the gripper device can be adjusted so that the control device can prevent a collision with other components, individual units and / or objects during movement and also during rotation, in particular during simultaneous movement and rotation.

[0034] Preferably, at least one hood device is provided which covers at least the gripping unit and at least one holding unit at least in sections. Such a hood device is intended or designed in particular as a protective hood. In particular, a type of full covering of the gripper device is advantageous. In general, a hood device is intended in particular to provide dust protection for the mechanics and collision protection for the mechanics. The mechanics become less dirty and maintenance intervals can preferably be extended. In the event of collisions, the mechanics are not damaged, but only the hood device is affected. Preferably, at least a certain level of noise protection is also achieved by such a hood device. Depending on the design, insulation can then also be provided.

[0035] Preferably, at least one fastening device is provided for the hood device. Such a fastening device is accommodated in particular on at least one component of the gripper device.

[0036] In expedient developments, at least one display device is assigned to the hood device. Such a display device can be used to output information in any desired manner, for example, and / or the display device can also fulfill design-related functions.

[0037] The display device preferably comprises at least one lighting device, which is in particular at least partially integrated into the fastening device. Such a lighting device or lighting, in particular LED lighting, can be used in particular as a status indicator. For example, blue can indicate that the system is running, yellow that maintenance is in progress or required, and red that a fault is present.

[0038] Preferably, at least one transparent or clear area is provided in the hood device, through which light from the lighting device or, generally, a display from the display device can be perceived. In particular, such a transparent or clear area can represent a logo, in which case, for example, a differently colored logo can serve as a status indicator.

[0039] The handling device according to the invention comprises at least one robot device with at least one robot arm and at least one gripper device arranged thereon, as described above. The handling device according to the invention also offers the advantages already described above for the gripper device.

[0040] The system according to the invention for gripping and transferring at least one individual unit, in particular at least one empty bag or at least one stack of empty bags, comprises at least one handling device as described above and at least one control device.

[0041] The control device can preferably be integrated into the handling device or be a part thereof or can also be provided separately.

[0042] The system according to the invention also offers the advantages already described above with regard to the gripper device. In particular, such a system makes it possible for a gripper device to be moved towards an individual unit, for example by means of a robot arm, wherein the lifting device of the support section then lifts the individual unit at at least one edge so that the support section can be displaced underneath the individual unit. For this purpose, it can be provided in particular that the robot arm moves the gripper device as a whole in such a direction that the support section is moved in the direction underneath the individual unit. Depending on the design, however, such a displacement of the support section can also be brought about by a relative, in particular active, movement of the support section in the direction of the holding device.

[0043] The system preferably comprises at least one camera device. A camera device with height detection, such as a 3D camera, is particularly advantageous, so that the handling device or the robot arm with the gripper device mounted thereon can be moved precisely to an individual unit to be grasped.

[0044] In particular, if no 3D camera is provided, but only a 2D camera for layer image recognition or the like, at least one alternative height detection or height measuring device is provided. Such a height detection device can, for example, determine the height to be approached by the gripper device using at least one laser, radar, ultrasound, and / or the like.

[0045] Preferably, the approach accuracy of the gripper device can be trained or improved in all and / or individual planes using at least one AI (artificial intelligence) application. In particular, neural networks and / or machine learning and / or deep learning methods can be used. After training, the gripper device can preferably also operate accurately offline, i.e., without AI in the background.

[0046] Preferably, at least one further system, at least one depositing support, particularly in relation to the further system, and / or at least one depositing surface for at least one supply of individual units is provided. Such a depositing support can, for example, be provided on a system to which a grasped individual unit is to be transferred. Such a depositing support can, for example, be provided by some type of inclined or sheet metal start-up, so that, for example, a grasped individual unit, such as an empty bag or even a stack of empty bags, can be optimally deposited on a conveying device, such as a conveyor belt.

[0047] The method according to the invention for gripping at least one individual unit, in particular at least one empty sack or at least one stack of empty sacks, using a system as described above is characterized by the following steps in a suitable sequence. The gripping unit of the gripper device is moved by means of handling devices to an edge of the individual unit to be gripped, such that the support section of the gripping unit is next to the individual unit and the holding element of the holding device is at least partially above the individual unit. The gripper device is lowered further, such that the support section of the gripping unit rests next to the individual unit to be gripped, or at least almost rests on it, or is next to the individual unit, and the holding element rests on the individual unit.By means of the lifting device, at least the edge of the individual unit to be grasped is lifted at least partially. The support section is displaced at least partially so that it is moved beneath the individual unit to be grasped, and the individual unit to be grasped rests at least partially on the support section. The individual unit is then clamped or secured between the fixing device and the support section.

[0048] The fact that the support section rests next to the individual unit means in particular that the support section rests essentially on or in the same plane as the object to be gripped or the individual unit to be gripped. Depending on the design, the latter can rest completely or only slightly, almost or just not at all. In particular, the support section or the gripper device is rotated by means of the handling unit or by means of the robot arm in such a way that a predetermined edge is approached, so that the individual units are picked up in a predetermined, defined or known orientation and can be passed on accordingly to another system or to another location.

[0049] In general, the gripper device can preferably approach the individual units from any side of the individual unit. This can be particularly advantageous when layered individual units are intended in which, at least for some individual units, certain sides are not freely accessible. For example, when gripping bundles of empty bags, the gripper device can preferably approach them from the long side and the short side.

[0050] Depending on the format of the individual units to be gripped, the distance between the gripping unit or support section or lifting device and the holding section or holding element can be changed and / or adjusted.

[0051] The method according to the invention also offers the advantages already described for the gripper device. In particular, it makes it possible to pick up even complex individual units, such as stacks of empty bags, in a specific orientation and transfer them to another system in a defined manner.

[0052] Preferably, at least the at least section-wise lifting and the at least section-wise displacement take place at least section-wise in parallel. In particular when a roller is used as the lifting device, this can be rotated to lift the individual unit, for example when leafing through individual sacks in a stack of sacks, it being possible for the rotation to continue even while the support section is being moved underneath the individual unit. Particularly preferably, the displacement of at least the support section takes place at least partially by a movement of the robot arm. Depending on the design, the holding unit or the holding element or the holding roller can be moved or displaced over the individual unit in accordance with the displacement of the robot arm.

[0053] In expedient embodiments, the displacement of at least the support section is effected at least partially by a relative movement between the gripping unit and the holding unit. The relative movement can be provided in addition to the movement of the robot arm or exclusively. A relative movement of the support section, for example in the direction of the holding unit, causes the support section to be displaced beneath the individual unit.

[0054] Preferably, the gripping unit and the holding unit are provided in an articulated manner relative to one another, and the gripping unit and the holding unit are in a first end position when the gripping unit of the gripper device is raised, and the gripping unit and the holding unit are in a second end position when the gripper device is mounted. This can be used, for example, by means of end position detection to detect an optimal position of the gripper device for starting the lifting of the individual unit.

[0055] The lifting device preferably comprises at least one roller, wherein the lifting is effected by rotation of the roller. In this case, a roller can be designed, in particular, as described above. The direction of rotation is, in particular, provided such that an upward movement of the object or the individual unit or the individual objects of the individual unit is effected.

[0056] In expedient further developments, at least one camera device is provided by means of which the position and / or orientation of the individual unit to be grasped is detected. This makes it possible in particular to detect which individual unit is the uppermost individual unit on or in a supply of individual units or a supply of individual units. In addition, for example when grasping individual sacks or from a stack of sacks, for example with valve sacks, it is possible to detect on which side the valve is located, so that the individual sack or the stack of sacks with the valve can be transferred to a further system in a predetermined orientation. A control device then preferably controls the handling device accordingly and transfers the individual unit to a further system.

[0057] Further advantages and features of the present invention will become apparent from the embodiment which will be explained below with reference to the accompanying figures.

[0058] The figures show:

[0059] Fig. 1 is a purely schematic representation of an embodiment of a system according to the invention in a perspective view;

[0060] Fig. 2 is a purely schematic enlarged representation according to Figure 1;

[0061] Fig. 3 is a purely schematic representation of an embodiment of a gripper device according to the invention in a side view;

[0062] Fig. 4 is a purely schematic representation of an embodiment of a gripper device according to the invention in a side view when gripping a detail;

[0063] Fig. 5 is a purely schematic representation of an embodiment of a gripper device according to the invention in a side view when gripping a detail;

[0064] Fig. 6 is a purely schematic representation of an embodiment of a gripper device according to the invention in a side view when gripping a detail;

[0065] Fig. 7 is a purely schematic representation of an embodiment of a gripper device according to the invention in a side view when gripping a detail;

[0066] Fig. 8 is a purely schematic representation of an embodiment of a gripper device according to the invention in a side view when gripping a detail;

[0067] Fig. 9 is a purely schematic representation of an embodiment of a gripper device according to the invention in a sectional view from the side;

[0068] Fig. 10 is a purely schematic representation of an embodiment of a gripper device according to the invention in a perspective view;

[0069] Fig. 11 is a purely schematic representation of an embodiment of a gripper device according to the invention in a further perspective view;

[0070] Fig. 12 is a purely schematic representation of an embodiment of a gripper device according to the invention in a sectional view from the side;

[0071] Fig. 13 is a purely schematic representation of a further embodiment of a gripper device according to the invention with a hood device in a side view;

[0072] Fig. 14 is a purely schematic representation of the embodiment according to Fig. 13 in a frontal view;

[0073] Fig. 15 is a purely schematic representation of a next embodiment of a gripper device according to the invention in a side view;

[0074] Fig. 16 is a purely schematic representation of the embodiment according to Fig. 13 in a frontal view;

[0075] Fig. 17 the view according to Figure 15 without fastening device for a hood device;

[0076] Fig. 18 the view according to Figure 16 without fastening devices for a hood device

[0077] Fig. 19 is a purely schematic sectional view of the embodiment according to Figure 17; and

[0078] Fig. 20 is a purely schematic sectional view of an embodiment of a receiving unit with a cutting device.

[0079] Figure 1 shows a purely schematic representation of a system 100 according to the invention, which in the exemplary embodiment shown here comprises a handling device 50 and a control device 80. In the exemplary embodiment shown, the system according to the invention serves to grip and transfer at least one individual unit 200 from a supply of stacked individual units 200 from a storage area 500 to another system 400. In the exemplary embodiment shown, the individual units are stacked in layers on a pallet and thus provide a supply of individual units 200.

[0080] In this case, an individual unit 200 is, for example, a particularly flat object that is stacked as a supply on the storage surface 500. However, an individual unit 200 can also be a stack or bundle 600 of objects, as in the example shown here, in which case the bundle or stack 600 is grasped and transferred as an individual unit 200.

[0081] What is meant by an individual unit according to the application is further defined by way of example in the general description.

[0082] In the exemplary embodiment shown, the stacked objects are empty bags 300, with an individual unit 200 here being provided by a bag stack 350. In particular, stacks or empty bag stacks 350 of valve bags are transferred from a pallet on the storage area 500 to a further system 400 by means of the handling device 50. In the exemplary embodiment shown, the further system 400 is a conveyor belt 402, onto which the individual units 200 or the empty bag stacks 350 are transferred in a predetermined orientation, namely with the valve in a specific alignment with the conveyor belt 402. In the exemplary embodiment shown, this conveyor belt 402 serves to feed empty bags 300 or individual empty bag stacks 350 to an automatic bag feeder that is connected upstream of a rotating packing system. The bag feeder and the packing system are not shown in the embodiment shown here.

[0083] In order to facilitate the placement of the gripped individual units 200 onto the conveyor belt 402 and to make this process as accurate as possible, a deposit support 401 is provided, which is designed here as an obliquely mounted sheet metal. Depending on the design, at least one further camera (not shown here) can be provided to monitor the handling device 50 for correct transfer of the individual unit 200 to the further system 400 or, in this case, onto the conveyor belt 402. The images or data from this camera can be used, for example, to check whether the orientation of the individual unit is actually correct during transfer and / or whether individual empty bags 300 have slipped during the transfer of, for example, a stack of empty bags 350. If an incorrectly gripped individual unit 200 and / or a faulty individual unit 200 is detected, it can then be transferred, for example, to an outfeed point.This makes it possible, among other things, to ensure that only individual units are transferred that can also be further processed.

[0084] Depending on the configuration, it can then also be checked, for example, whether the storage location for the seized individual unit 200 is free or still occupied. Depending on the detection range of the camera device 70, however, the control of the transfer of the individual units 200 to the further system 400 can also be carried out via this camera 70.

[0085] In the embodiment shown here, 50 comprises a robot 60 with a robot arm 61, wherein a gripper device 1 according to the invention is attached to the free end of the robot arm 61.

[0086] In order to be able to transfer a gripped individual unit 200 in a defined orientation to the further system 400 or to a further location 400 by means of the handling device 50, the uppermost and thus exposed individual unit must first be known or recognized in order to avoid gripping individual units partially covered by other individual units 200. The gripper device 1 must then grip the uppermost or an exposed individual unit 200 in a defined manner at a specific edge 201, for which purpose the control device 80 must recognize the position and / or orientation of the individual unit 200 on or in the bag supply or the supply of individual units 200 in order to control the gripper device 1 accordingly.

[0087] For this purpose, in the exemplary embodiment shown, a camera device 70 is provided above the storage surface 500, wherein the control device 80 uses the evaluated data of the camera device 70 to detect the position and / or orientation of the individual unit 200 to be grasped on the storage surface 500. In the exemplary embodiment shown, the orientation is the orientation with respect to the position of the valve of the valve bag.

[0088] In order for the gripper device 1 to be able to approach the corresponding individual unit 200 at the correct height, a height detection device 75 is provided so that the robot arm 61 can move the gripper device 1 precisely to the correct individual unit 200 from a predetermined side or the correct edge 201 of the correct individual unit 200.

[0089] Depending on the design, the height detection device 75 can be provided as a separate component, particularly if the camera device 70 itself cannot detect the height or distance to an individual unit 200. In the exemplary embodiment shown here, the camera device 70 is provided by a 3D camera 71, into which a height detection device 75 is integrated.

[0090] In the exemplary embodiment shown, it is further shown that two storage surfaces 500 are arranged in operative connection to the handling device 50, wherein here a storage surface 500 is provided to the left and right of the robot 60.

[0091] The handling device 50 can here pick up individual units 200 from both storage areas 500, for example alternately or one after the other, and feed them to a system and / or supply two separate systems with individual units 200 in parallel.

[0092] In order for the control of the gripper device 1 to be able to grasp the respective individual unit 200 with precision, a camera device 70 is provided above each storage surface 500 in the embodiment shown here, both of which are designed here as 3D cameras 71.

[0093] Depending on the detection range of the camera device 70 used, only one camera device 70 may be provided. It is also conceivable in other embodiments to use only one camera device 70, which is provided so as to be movable above the storage surfaces 500.

[0094] By means of the method according to the invention, the position and / or orientation of the individual unit 200 to be grasped is determined by means of the control device. As already explained above, this is to be understood in particular as meaning that the control device 80 determines the position and / or orientation of the individual units 200 on the storage surface, for example, using acquired sensor data or, in the exemplary embodiment shown here, using data from a camera device 70.

[0095] However, depending on the design, a determination by means of the control device is also provided in such a way that, for example, a predetermined layer pattern of individual units 200 stacked offset on pallets is input into the control device 200, wherein the individual predetermined positions are traversed by means of the control device 80.

[0096] The advantage of automatic detection of the bag position or the position or orientation of an uppermost exposed individual unit 200 is that, for example, individual units 200 that have been displaced during transport or details 200 subsequently added by an operator are detected during automatic detection, thus preventing errors. Determination by the control device can also be achieved by an operator manually communicating a specific approach position to the control device.

[0097] Figure 2 shows a purely schematic enlargement of the free end of the robot arm 61 with the gripper device 1 according to the invention mounted thereon.

[0098] It is shown here that the gripper device 1 is received with a receiving unit 10 on the robot arm 61, wherein the robot arm 61 can displace the gripper device 1 in any three-dimensional manner and can also rotate the gripper device 1 so that the gripping unit 2 of the gripper device 1 can be moved to a predetermined side or to a detected edge 201 of the individual unit 200 to be gripped.

[0099] In the illustrated embodiment, the individual units 200 are stacks of empty bags 350, specifically valve bags, which are stacked in bundles 600 on a pallet. Thus, the individual unit 200 here consists of a bundle or stack 600 of empty bags 300.

[0100] In the exemplary embodiment shown here, the gripper device 1 comprises a gripping unit 2 and a holding unit 3, wherein the gripping unit 2 and the holding unit 3 are connected to one another via a receiving unit 10 in an articulated manner by means of the receiving unit 10 in the exemplary embodiment shown here.

[0101] As previously described, the gripper device 1 is mounted on a robot arm 61 or on a handling device 50. In the illustrated embodiment, the gripper unit 2 comprises a support section 4, on which an individual unit 200 to be gripped and then transferred rests and is clamped by a fixing device 14. In the illustrated embodiment, the fixing device 14 comprises a fixing stamp 15.

[0102] At the free end 6 of the support section 4, a lifting device 7 is provided, which in the embodiment shown here comprises a roller 8 or two rollers 8 arranged parallel to one another, which can be driven or rotated by a motor 21. A pneumatic motor 22 is provided here, which can drive the roller 8 in a predetermined direction 24 or, depending on the design, can also rotate the roller in both directions.

[0103] The motor is operatively connected to the roller 8. Any suitable power transmission can be used. Here, the roller 8 or the rollers are connected to the motor 21 via a toothed belt 25 to effect a power or rotation transmission to the roller 8. Depending on the design, multiple toothed belts and / or other power transmission means can also be provided. Thus, it is also possible to arrange the motor 21 at almost any location using multiple toothed belts or the like, for example, to achieve better weight distribution and / or to have fewer interfering contours when approaching an individual unit 200.

[0104] In the illustrated embodiment, the roller 8 comprises a contact-promoting structure 9, which is designed here as a type of external toothing, nubs, or grooves. Furthermore, the roller 8 in the illustrated embodiment comprises a friction- or adhesion-enhancing surface 20. In the illustrated embodiment, this is provided by a rubber coating.

[0105] Depending on the design, it may also be sufficient to provide only one contact-promoting structure 9 or only one adhesion-enhancing surface 20. How the lifting device 7 lifts an individual unit 200 to be gripped, so that the support section 4 can be displaced beneath the individual unit 200 to be gripped, is explained in more detail in the following figures.

[0106] In the embodiment shown here, the holding unit 3 comprises a holding element 5, with a holding roller 13 provided at the free end of the holding element 5. The function of the holding element 5 and the holding roller 13 is explained in more detail in the following figures.

[0107] In addition, the individual elements or units of the gripper device 1 in the exemplary embodiment shown are partially equipped or connected with actuators 11, wherein the actuators 11 are provided here by pneumatic cylinders 12. This makes it possible for the gripper device 1 or the arrangement of gripping unit 2 and holding unit 3 in the exemplary embodiment shown to be in a first end position 17 in the freely suspended state and for the gripper device 1 or the gripping unit 2 and the holding unit 3 to be in a second end position 18 during the picking up or gripping of an individual unit 200. In the exemplary embodiment shown, the corresponding positions 17, 18 can be detected via a limit switch 16. The limit switch 16 can, as indicated in the figure, be provided, for example, on the holding unit 10 and / or on at least one actuator 11, such as a pneumatic cylinder 12.When arranged on a pneumatic cylinder 12, for example, the retraction of the pneumatic cylinder 12 or a specific end position 17, 18 can be detected by the piston rod of the cylinder 12 passing over sensors and thereby triggering the limit switch 16.

[0108] Figure 3 shows the freely suspended configuration of a gripper device 1 according to the invention, wherein the gripper device 1, in this state, is moved toward an individual unit 200 to be gripped. The gripper device 1 can approach the individual unit from any side of the individual unit. This can be particularly advantageous when layered images of individual units 200 are provided in which, at least for some individual units 200, certain sides are not freely accessible.

[0109] Depending on the format of the individual units 200 to be gripped, the distance between gripping unit 2 or support section 4 or lifting device 7 and holding section 3 or holding element 5 can then be changed and / or adjusted.

[0110] First, according to the invention, the position and / or orientation of an individual unit 200 to be grasped in a supply of individual units 200 on a storage surface 500 is determined or recognized in the manner described above. Thus, the support section 4 can be moved next to a predetermined side or next to a predetermined edge 201 of the individual unit 200 to be grasped.

[0111] Since the individual unit 200 is gripped from a defined side or from a defined edge 201, it can also be transferred in a defined manner to another system 400, so that, for example, in the embodiment shown, valve bags can be placed on a conveyor belt 402 with a specific orientation, so that the individual bags 300 with the valve in a defined position can be transferred to a bag dispenser.

[0112] If a position and / or the orientation of an individual unit 200 to be gripped has been detected, the gripper device 100 is moved by means of the robot arm 100 in the correctly rotated orientation towards an individual unit 200 to be gripped until the gripping unit 2 or the support section 4 is located next to the individual unit 200 to be gripped on the corresponding predetermined side or next to the predetermined edge 201. In this state, the holding unit 3 or the holding element 5 is located above the individual unit 200 to be gripped and the gripper device 1 is still in the first end position 17 in the exemplary embodiment shown here. This position is determined in this exemplary embodiment via the evaluation of the camera images and / or the height detection 75.

[0113] In all embodiments, depending on the design, the approach accuracy of the gripper device can be trained or improved in all and / or individual planes, preferably using at least one AI (artificial intelligence) application. In particular, neural networks and / or machine learning and / or deep learning methods can be used. After training, the gripper device (1) can then operate precisely, preferably offline, i.e., without AI in the background.

[0114] Figure 4 shows that the gripper device 1 is subsequently lowered further until the support section 4 rests on the same plane, in particular with a predetermined force, as the individual unit 200 to be gripped. Depending on the design, the support section 4 may not be completely spaced apart from and / or slightly spaced apart from the support plane of the individual unit 200. In this position, the gripper device 1 is in the second end position 18, which is detected here by the limit switch 16. Depending on the design, however, the second end position 18 can also be detected by the height detection device 75.

[0115] As the gripper device 1 continues to move down, the holding element 5 or, in the exemplary embodiment shown, the holding roller 13 comes into contact with the individual unit 200 to be gripped, whereby the position of the gripping unit 2 and the holding unit 3 is shifted to the second end position 18.

[0116] Depending on the design, the second end position 18 can be detected by means of the control device 80 or by means of a limit switch 16 that the gripper device 1 cannot or must not be lowered any further.

[0117] Figure 5 shows the free end 6 of the support section 4 with the roller 8 in both the overall view and the enlarged view. It shows how the lifting device 7 lifts the individual unit 200 to be gripped, so that the support section 4 can be moved beneath the individual unit 200 to be gripped.

[0118] For this purpose, in the exemplary embodiment shown, the roller 8 is rotated counterclockwise in the predetermined direction of rotation 24 by means of the motor device 21 in the exemplary embodiment shown here or in the view shown here, so that the contact-promoting structure 9 or the adhesion-enhancing surface 20, so to speak, leafs through the individual objects or, in this case, empty bags 300 of the empty bag stack 350 or the individual unit 200 and thereby lifts them. The preferred direction of rotation 24 is provided such that an upward direction of action occurs, such that the individual unit 200 is moved upward and the support section 4 can be displaced beneath the individual unit 200.

[0119] Figure 6 shows that after lifting, and depending on the configuration, also during lifting, the robot arm 61 moves the gripper device 1 to the right in the illustrated embodiment, whereby the support section 4 is displaced beneath the individual unit 200 to be gripped. The displacement is supported or simplified here by the fact that the holding element 5 comprises a holding roller 13, which rolls over the individual unit to be gripped by means of the robot arm 61 in accordance with the displacement of the gripper device 1.

[0120] As can be seen, the individual unit 200, here the empty bag stack 350, is preferably at least slightly flexible, so that it bends slightly when pressed down by means of the holding element 5 or the holding roller 13 and lifted by means of the lifting device.

[0121] Depending on the design, the lifting device 7 or the roller 8 can be further rotated or driven to the 100 even during the displacement of the support section 4 under the individual unit to be gripped, should this be necessary. This supports the placement of the individual unit 200 onto the support section 4.

[0122] In Figure 7, as already shown in Figure 6, the support section 4 has been displaced under the individual unit 200 to be gripped, so that the individual units 200 or the edge section thereof rests on the support section 4 of the gripping unit 2.

[0123] In order for the gripper device 1 to also be able to lift the individual unit 200 or, in this case, the empty bag stack 350, a fixing device 14 with a fixing stamp 15 is provided in the embodiment shown, which here clamps the individual unit 200 onto the support section 4.

[0124] Figure 8 shows that the robot arm 61 lifts the gripper device 1 with the gripped individual unit 200, whereby the individual unit 200 now hangs on the support section 4. The individual unit 200 can thus be transferred.

[0125] By raising the gripper device 1, the first end position 17 of the gripping unit 2 and the holding unit 3 is again assumed in the illustrated embodiment. Now, the robot arm 61 or the gripper device 1 can move and / or rotate such that the gripped individual unit 200 is transferred to another system 400 in a predetermined orientation.

[0126] In Figures 9 to 11, a side sectional view and two perspective views of embodiments of gripper devices 1 according to the invention are shown purely schematically in order to show a possible embodiment of gripper devices 1 according to the invention in even more detail.

[0127] In Figure 12 it is shown purely schematically that the gripper device 1 can comprise a referencing device 19, which in the embodiment shown here is designed as a rod 23.

[0128] This referencing device 19 serves here for the initial installation of the system 100, wherein by means of the referencing device 19 an initial adjustment can be made, in particular between height detection 75 or 3D camera 71 and handling device 50. Thus, in particular by means of the

[0129] Referencing device 19 can detect by means of control device 80 which height the gripper device 1 has assumed when height detection 75 detects a certain height.

[0130] In addition, a movement adjustment or an interference contour during the rotation of the gripper device 1 can be adjusted by means of a referencing device 19, so that the control device 80 can prevent a collision with other components, individual units and / or objects during movement and also during rotation, in particular during simultaneous movement and rotation.

[0131] Figures 13 and 14 show, in purely schematic side and frontal views, a further embodiment of a gripper device 1 with a hood device 26, which here provides a protective hood.

[0132] This hood device 26 protects the mechanics of the gripper device, particularly from dust, dirt, and collisions. This allows maintenance intervals to be extended in the illustrated embodiment, and in the event of a collision, only the hood device 26 is damaged, not the partially sensitive mechanics of the gripper device 1.

[0133] In the exemplary embodiment shown here, a display device 28 with a lighting device 29 is assigned to the hood device 26, or these components are encompassed by the hood device 26. A display device 28 in the form of a lighting device 29 is arranged behind the hood device 26, which provides a status display via the transparent logo on the sides of the gripper device 1. Depending on the status, the logo can then be illuminated in different colors.

[0134] The display device 28 or the lighting device 29 can, for example, be integrated into a fastening device 27 of the hood device 26, which is here concealed by the hood device 26, or be assigned to it.

[0135] The receiving unit 10, by means of which the gripper device 1 can be fastened, for example, to a robot arm, comprises in the embodiment shown here a quick-change device 31, so that the entire gripper device can be installed and uninstalled quickly and easily by actuating the bolt(s) 32.

[0136] In the embodiment shown, the hood device 26 does not cover the quick-change device, so that the gripper device can also be changed and installed with the hood device installed.

[0137] Figures 15 and 16 show a next embodiment of a gripper device 1 in purely schematic views from the side and front.

[0138] In this embodiment, a hood device 26 can also be installed. For this purpose, the gripper device 1 comprises a fastening device 27, or fastening devices 27 are provided on the left and right sides of the gripper device 1.

[0139] In the embodiment shown, the fastening device 27 comprises a display device 28 or a lighting device 29. With a correspondingly designed hood device 26, for example, a status display as in Figures 13 and 14 can be achieved.

[0140] The basic structure of the gripper device 1 or the gripping unit 2 and the holding unit 3 is very similar to the exemplary embodiments according to Figures 3 to 13. However, in the exemplary embodiment shown here, the motor 21 or the compressed air motor 22 is not provided directly on the support section 4, but rather relatively behind and below the receiving unit 10. In order to drive the rollers 8 of the lifting device 7, a deflection device 30 is provided which here transmits the rotation of the motor 21 to the rollers 8 by means of several belts 25 or toothed belts and drive shafts 33 and deflection rollers 34.

[0141] In Figure 15, the dashed double arrow further indicates that in all embodiments, the support section 4 can be telescopic and / or that a certain length compensation can be achieved in another way. Thus, the support section 4 can be optimally adapted to the dimensions of an individual unit 200 to be gripped, for example, an empty bag 300 or a stack of empty bags 350.

[0142] Figures 17 and 18 again show the embodiment according to Figures 14 and 15 in a purely schematic side view and a front view. In these illustrations, the fastening device 27 for the hood device 26 is not shown in order to highlight the components located behind it.

[0143] In Figure 19, the view according to Figure 17 is shown again in a sectional view in which the deflection device 30 can be seen better.

[0144] Figure 20 shows a sectional view through the receiving unit 10 of an embodiment of a gripper device 1 with a quick-change device 31.

[0145] Here you can see the spring-loaded bolts 32, which are pulled out to the left and right to change the gripper device 1, whereby the gripper device 1 is released, for example, from a robot arm 61.

[0146] List of reference symbols

[0147] 1 gripper device 31 quick change

[0148] 2 Gripping fineness device

[0149] 3 Holding unit 32 bolts

[0150] 4 Support section 33 Drive shaft

[0151] 5 Holding element 34 Deflection pulley

[0152] 6 free end 50 handling device

[0153] 7 lifting device 60 robots

[0154] 8 Roll 61 Robot arm

[0155] 9 contact-mediating 70 camera device

[0156] Structure 71 3D camera

[0157] 10 Recording unit 75 Height detection

[0158] 11 Actuator 80 Control device

[0159] 12 pneumatic cylinders 100 system

[0160] 13 Holding roller 200 single unit

[0161] 14 Fixing device 201 edge

[0162] 15 fixing stamps 300 empty bags

[0163] 16 limit switches 350 empty bag stacks

[0164] 17 first end position 400 system

[0165] 18 second end position 401 laying support

[0166] 19 Referencing device 402 Conveyor belt 500 Storage area

[0167] 20 adhesion-enhancing 600 bundles / stack surface

[0168] 21 Engine

[0169] 22 pneumatic motor

[0170] 23 staff

[0171] 24 Direction of rotation

[0172] 25 timing belts

[0173] 26 Hood device

[0174] 27 Fastening device

[0175] 28 Display device

[0176] 29 Lighting equipment

[0177] 30 deflection device

Claims

Claims:

1. Gripper device (1) for gripping individual units (200), in particular for gripping an empty bag (300) or a stack of empty bags (350), comprising at least one gripping unit (2) and at least one holding unit (3), wherein the gripping unit (2) has at least one support section (4) for an individual unit (200) to be gripped and wherein the holding device (3) comprises at least one holding element (5), characterized in that at least one free end (6) of the support section (4) comprises at least one lifting device (7) for lifting an individual unit (200) to be gripped, at least in sections, so that the support section (4) can be displaced at least in sections under the individual unit (200) to be gripped, and that the gripping unit (2) comprises at least one fixing device (14) for clamping an individual unit (200) between the fixing device (14) and the support section (4).

2. Gripper device (1) according to the preceding claim, wherein the lifting device (7) comprises at least one roller (8).

3. Gripper device (1) according to the preceding claim, wherein the roller (8) is drivable.

4. Gripper device (1) according to the preceding claim, wherein the roller (8) can be driven by means of at least one motor (30), wherein the drive of the motor is transmitted to the roller (8) via at least one deflection device (31).

5. Gripper device (1) according to one of the three preceding claims, wherein the roller (8) at least partially has at least one contact-mediating structure (9) and / or at least partially has at least one adhesion-enhancing surface (20). Gripper device (1) according to one of the preceding claims, wherein the gripping unit (2) and the holding unit (3) are movable relative to each other. Gripper device (1) according to one of the preceding claims, wherein the gripping unit (2) and the holding unit (3) are provided in an articulated and / or resilient manner relative to one another. Gripper device (1) according to one of the preceding claims, wherein the support section (4) is at least partially telescopic and / or otherwise adjustable in length. Gripper device (1) according to one of the preceding claims, wherein at least one receiving unit (10) is provided, to which the gripping unit (2) and the holding unit (3) are connected. Gripper device (1) according to one of the preceding claims, wherein the gripping unit (2), the support section (4), the holding unit (2) and / or the holding element (5) is assigned at least one actuator (11). Gripper device (1) according to the preceding claim, wherein the actuator (11) comprises at least one pneumatic cylinder (12) or the like. Gripper device (1) according to one of the preceding claims, wherein the holding element (5) comprises at least one holding roller (13). Gripper device (1) according to one of the preceding claims, wherein at least one limit switch (16) is provided. Gripper device (1) according to one of the preceding claims, wherein at least one referencing device (19). Gripper device (1) according to one of the preceding claims, wherein at least one hood device (26) covers at least the gripping unit (2) and at least one holding unit (3) at least in sections. Gripper device (1) according to the preceding claim, wherein at least one fastening device (27) is provided for the hood device (26). Gripper device (1) according to one of the two preceding claims, wherein at least one display device (28) is assigned to the hood device (26). Gripper device (1) according to the preceding claim, wherein the display device comprises at least one lighting device (29), which is in particular at least partially integrated into the fastening device (27). Handling device (50) comprising at least one robot device (60) with at least one robot arm (61) and at least one gripper device (1) according to one of the preceding claims arranged thereon.System (100) for gripping and transferring at least one individual unit (200), in particular at least one empty bag (300) or at least one stack of empty bags (350), comprising at least one handling device (50) according to the preceding claim and at least one control device (80). System according to the preceding claim, comprising at least one camera device (70) and / or at least one height detection device (75). System according to one of the two preceding claims, comprising at least one further system (400), at least one depositing support (401) and / or at least one depositing surface (500) for at least one supply of individual units (200). Method for gripping at least one individual unit (200), in particular at least one empty bag (300) or at least one stack of empty bags (350), with a system (100) according to one of the three preceding claims, characterized by the following steps in a suitable order: - Bringing the gripping unit (2) of the gripper device (1) by means of the handling device (50) to an edge (201) of the individual unit (200) to be gripped, so that the support section (4) is located next to the individual unit and the holding element (5) of the holding unit (3) is located at least partially above the individual unit (200); - further lowering the gripper device (1) so that the support section (4) of the gripping unit (2) is present or rests next to the individual unit (200) to be gripped and that the holding element (5) rests on the individual unit; - at least partial lifting of at least the edge (201) of the individual unit (200) to be gripped by means of the lifting device (7); - at least partially displacing at least the support section (4) so ​​that it is displaced under the individual unit (200) to be gripped and the individual unit (200) to be gripped rests at least partially on the support section (4); - Clamping / fixing the individual unit (200) between the fixing device (14) and the support section (4). Method according to the preceding claim, wherein the at least partially lifting and the at least partially displacing take place at least partially in parallel. Method according to one of the two preceding claims, wherein the displacement of at least the support section (4) takes place at least partially by a movement of the robot arm (61). Method according to one of the preceding claims 24 to 26, wherein the displacement of at least the support section (4) takes place at least partially by a relative movement between the gripping unit (2) and the holding unit (3). Method according to one of the preceding claims 24 to 27, wherein the gripping unit (2) and the holding unit (3) are provided in an articulated manner to one another and wherein the gripping unit (2) and the holding unit (3) are in a first end position (17) when the gripper device (1) is in the raised state and wherein the gripping unit (2) and the holding unit (3) are in a second end position (18) when the gripper device (1) is in the mounted state. Method according to one of the preceding claims 24 to 28, wherein the lifting device (7) comprises at least one roller (8), wherein the lifting of the individual unit (200) is effected by the rotation of the roller (8).Method according to one of the preceding claims 24 to 29, wherein at least one camera device (70) is provided, by means of which the position and / or orientation of the individual unit (200) to be gripped is detected. Method according to one of the preceding claims 24 to 30, wherein at least one height detection device (75) is provided to determine the approach height of the gripper device (1). Method according to one of the preceding claims 24 to 31, wherein at least one Kl application improves the approach accuracy of the gripper device (1) to an individual unit (200) to be gripped.

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