Gripping device and end effector for a robot

Abstract

A gripping device 100, in particular for a robot, comprises a gripper base 102 with a base axis 104, a linear axis 136 at right angles to the base axis 104, gripper fingers 110, 112 displaceable along

Description

Description [0001 ] The invention relates to a gripping device, in particular for a robot, the gripping device having a gripper base with a base axis, a linear axis perpendicular to the base axis, gripper fingers displaceable along the linear axis and a gripper drive for displacing the gripper fingers. The invention also relates to a end effector for a robot.

[0002] From the document DE 10 2019 130 648 A1 a gripping device for a robot gripper is known, which has a mechanical actuation, at least one mechanically activatable and / or deactivatable active section for gripping objects and a gear for converting a mechanical actuation power, and it is proposed to carry out the actuation with at least two parallel-guided contact elements for the robot gripper.

[0003] A gripping device for a robot is known from document DE 10 2021 116 276 A1, which comprises a gripper base, at least one actuated gripper finger with at least one finger element and at least one finger joint and at least one intermediate base arranged between the gripper base and the at least one gripper finger, wherein the at least one intermediate base is movable relative to the gripper base and the at least one gripper finger is movable relative to the at least one intermediate base.

[0004] From the document WO 2023 / 147606 A1 a robot gripper is known with a frame and at least two finger units provided on the frame to grip an object. Each of the finger units comprises at least one parallel link mechanism. The parallel link mechanism comprises a first link, a second link, a third link, a linearly movable platform and a finger frame. The mechanism aims to move the finger frame in accordance with a straight line or a nearly straight line, and is capable of moving to both sides with respect to a direction along the stroke of the linearly movable platform. One end of the first connecting member is pivotally connected to a centre of the second connecting member, another end of the first connecting member is pivotally connected to a transmission system disposed in the frame, one end of the second connecting member is pivotally connected to the linearly movable platform, another end of the second connecting member is pivotally connected to the finger frame. The length of the second connecting link is twice as long as the length of the first connecting link, one end of the third connecting link is pivotably connected to the linearly movable platform, another end of the third connecting link is pivotably connected to the finger frame. The third connecting member has the same length as the second connecting member, the linearly movable platform is configured to provide a linear stroke aligned or nearly aligned between one end of the second connecting member located on the linearly movable platform and another end of the first connecting member connected to the transmission system.

[0005] Document KR 1 020200081303 A relates to a gripper comprising: at least two finger units that are symmetrically opposed to each other and have a fingertip at one end; and a drive unit that is connected to the finger units and actuates the finger units to grip an object to be gripped. The finger units comprise: a non-driven link installed between the drive unit and the fingertip and not driven by the drive unit; an intermediate link installed between the fingertip and the non-driven link and installed in a different direction from the non-driven link; a first driven link installed between the driving unit and the intermediate link and driven by the driving unit to actuate the non-driving link and the intermediate link while holding the fingertip in an initial installation state; and a second driving link installed between the driving unit and the intermediate link and driven by the driving unit to actuate the fingertip. Accordingly, the gripper is provided with three degrees of freedom.

[0006] The invention is based on the problem of structurally and / or functionally improving a gripping device mentioned at the beginning. The invention is also based on the problem of structurally and / or functionally improving an end effector mentioned at the beginning.

[0007] The problem is solved by a gripping device having the features of Claim 1. In addition, the problem is solved by an end effector having the features of Claim 11. Advantageous embodiments and / or further embodiments are the subject of the dependent claims.

[0008] The gripping device can be designed and / or arranged for use with a robot. The gripping device can be designed as an end effector. The robot can be an industrial robot. The gripping device has a gripper base, a linear axis, gripper fingers and a gripper drive.

[0009] The gripper base can have a cuboid or cylindrical shape. The gripper base can have side walls and / or delimit a receiving space. The gripper base has a base axis. The base axis can be a vertical axis, z-axis or vertical axis or be designated as a vertical axis, z-axis or vertical axis. The base axis can be an axis of symmetry of the gripping device and / or the gripper base. A displacement or movement in the direction of extension of the base axis, vertical axis, z-axis or vertical axis may also be referred to as a vertical displacement or movement, irrespective of an actual geodetic orientation. [001 0] The linear axis is arranged at right angles to the base axis. The base axis can be a transverse axis, x-axis, y-axis or horizontal axis or be designated as a transverse axis, x-axis, y-axis or horizontal axis. The linear axis can be an axis of symmetry of the gripping device and / or lie in a plane of symmetry of the gripping device. A displacement or movement in the direction of extension of the base axis, vertical axis, z-axis or vertical axis may also be referred to as a vertical displacement or movement, regardless of an actual geodetic orientation. The gripping device can have a displacement plane. The displacement plane can be a plane perpendicular to the base axis and encompassing the linear axis. [0011 ] The gripping device can have at least two gripper fingers. The gripper fingers can be structurally and / or functionally assigned to one another. The gripper fingers can be assigned to each other in pairs. The gripper fingers can be arranged opposite each other and / or facing each other. The gripper fingers can be displaced along the linear axis and / or parallel to the displacement plane. The gripper fingers can be displaceable along the linear axis and / or parallel to the displacement plane without further gripper finger movement, in particular without gripper finger movement along the base axis. A displaceability of the gripper fingers along the linear axis and / or parallel to the displacement plane can be mechanically decoupled from any further gripper finger movement, in particular from a gripper finger movement along the base axis. The gripper fingers can be guided or guided along the linear axis and / or parallel to the plane of displacement. The gripper fingers can be displaced towards and / or away from each other. A distance between the gripper fingers can be increased and / or decreased. The gripper fingers can each be displaceable between a first end position and a second end position. In the first end position, the gripping device can be fully open. In the second end position, the gripping device can be completely closed. The gripper fingers can be displaced synchronously and / or mechanically coupled. A distance between the gripper fingers can be increased and / or decreased in a synchronised and / or mechanically coupled manner.

[0012] The gripping device can have gripper finger holders. The gripping device can have at least two gripper finger holders. The gripper finger holders can be structurally and / or functionally assigned to one another. The gripper finger holders can be assigned to each other in pairs. The gripper finger holders can be arranged opposite and / or facing each other. The gripper finger holders can be displaceable along the linear axis and / or parallel to the plane of displacement. The gripper finger holders can be displaceable along the linear axis and / or parallel to the displacement plane without further gripper finger or gripper finger holder movement, in particular without gripper finger or gripper finger holder movement along the base axis. A displaceability of the gripper finger holder along the linear axis and / or parallel to the displacement plane can be mechanically decoupled from any further gripper finger or gripper finger holder movement, in particular from a gripper finger or gripper finger holder movement along the base axis. The gripper finger holders can be guided or guided along the linear axis and / or parallel to the plane of displacement. The gripper finger holders can be moved towards and / or away from each other. A distance between the gripper finger holders can be increased and / or decreased. The gripper finger holders can each be displaceable between a first end position and a second end position. The gripper finger holders can be displaceable in a synchronised and / or mechanically coupled manner. A distance between the gripper finger holders can be increased and / or decreased in a synchronised and / or mechanically coupled manner. The gripper fingers can be firmly and / or detachably connected to the gripper finger holders. A gripper finger holder can be designed and / or arranged to hold a single gripper finger or several gripper fingers. A gripper finger holder can form a finger base. Several gripper fingers held on a gripper finger holder can form a group of gripper fingers. A group of gripper fingers can be displaceable together. Finger elements of gripper fingers in a group can be flexed and / or extended together.

[0013] The gripper drive is designed and / or arranged to move the gripper fingers. The gripper drive can be designed and / or arranged to displace and / or guide the gripper finger holders and / or gripper fingers along the linear axis and / or parallel to the displacement plane. The gripper drive can have at least one coupling gear, in particular at least one guide gear, in particular at least one four-member coupling gear, in particular at least one parallel crank gear, in particular at least one parallelogram guide. The gripper drive can have a coupling gear, in particular a guide gear, in particular a four-member coupling gear, in particular a parallel crank gear, in particular a parallelogram guide, for each gripper finger holder and / or gripper finger. The gripper drive can have a common coupling gear, in particular a guide gear, in particular a four-member coupling gear, in particular a parallel crank gear, in particular a parallelogram guide, for several gripper finger holders and / or gripper fingers. The gripper base can form a frame of the at least one coupling gear, in particular of the at least one guide gear, in particular of the at least one four-member coupling gear, in particular of the at least one parallel crank gear, in particular of the at least one parallelogram guide. A gripper finger holder can form a member of the at least one coupling gear, in particular of the at least one guide gear, in particular of the at least one four-member coupling gear, in particular of the at least one parallel crank gear, in particular of the at least one parallelogram guide. The gripper drive can have swivel arms. The gripper drive can have several swivel arms for each coupling gear, in particular guide gear, in particular four-member coupling gear, in particular parallel crank gear, in particular parallelogram guide. The gripper drive can have coupling elements. The gripper drive can have a coupling element for each coupling gear, in particular guide gear, in particular four-member coupling gear, in particular parallel crank gear, in particular parallelogram guide. The swivel arms can form members of the at least one coupling gear, in particular of the at least one guide gear, in particular of the at least one four-member coupling gear, in particular of the at least one parallel crank gear, in particular of the at least one parallelogram guide. The swivel arms can each be pivotably mounted on a coupling element on the one hand and on a gripper finger holder on the other.

[0014] The gripper drive can have at least two parallelogram guides. The at least one parallelogram guide can be formed using swivel arms. The swivel arms can be arranged in pairs parallel to each other and at a distance from each other. The swivel arms can have the same length. The swivel arms of a parallelogram guide can be motion-coupled to one another, in particular with the aid of a coupling element and a gripper finger holder. [001 5] The gripper drive can have additional swivel arms. The additional swivel arms can be arranged at an angle to the swivel arms. The swivel arms and the additional swivel arms can have longitudinal axes. The swivel arms and the further swivel arms can be arranged at an angle in such a way that their longitudinal axes each form an equally large angle with an axis parallel to the base axis. The other swivel arms can have the same length as the swivel arms. The additional swivel arms can each be rotatably mounted on the gripper base on the one hand and on a coupling element on the other. The swivel arms and the other swivel arms can be mechanically coupled or motion-coupled, in particular toothed, in particular radially toothed. The mechanical coupling or motion coupling, in particular the toothing, in particular the radial toothing, can be arranged at the ends of the swivel arms and the further swivel arms associated with the coupling element. [001 6] The gripping fingers each have at least one finger element. The at least one finger element can be flexed and / or extended. The at least one finger element can be a finger end member. The at least one finger element can be wedge-shaped, shovel-shaped and / or rake-shaped with a front gripping edge or gripping prongs. The gripper fingers can each have a finger base and / or at least one finger joint. The finger base can be firmly and / or detachably connected to a gripper finger holder. The finger base can form a gripper finger holder. The at least one finger element may be designed and / or arranged to enable flexing and / or extending of the at least one finger element. The at least one finger joint can be designed as a swivel joint or hinge joint. The at least one finger joint can have a finger joint axis. The finger joint axis can be arranged perpendicular to the base axis and the linear axis. [001 7] The gripper drive can have a gripper motor. The gripper motor can be designed as an electric motor. The gripper drive can have a gearbox. The gearbox can be designed as a traction drive. The traction drive can have at least one traction means. The at least one traction means can be a belt, a strap, a toothed belt or a cable. The at least one traction means can be effective between the gripper motor and the at least one further swivel arm. The gearbox can be designed as a worm gearbox. The worm gear can have at least one geared worm. The at least one geared worm can be effective between the gripper motor and the at least one further swivel arm. The gripper drive can be designed and / or arranged to move the gripper fingers towards and / or away from each other along the linear axis, parallel to the plane of displacement, and / orto increase and / or decrease a distance between the gripper fingers. The gripper drive can be designed and / or arranged to move the gripper fingers towards and / or away from each other and / or to increase and / or decrease a distance between the gripper fingers, decoupled from any further gripper finger movement, in particular from a gripper finger movement along the base axis, along the linear axis, parallel to the plane of displacement. The gripper drive can have a spring device. The spring device can be designed and / or arranged to apply a spring force to the gripper fingers such that opening of the gripping device is supported. According to a gripping drive force flow, the at least one further swivel arm can also be referred to as a first swivel arm and the at least two swivel arms can also be referred to as second swivel arms. [001 8] The gripping device can have at least one finger drive. At least one of the gripper fingers can have a finger drive. The at least one finger drive can be arranged on the at least one gripper finger. The at least one finger drive may be designed and / or arranged to flex and / or extend the at least one finger element. The finger drive can have a finger motor. The finger motor can be designed as an electric motor. The finger drive can have a gearbox. The gearbox can be designed as a traction drive. The traction drive can have at least one traction means. The at least one traction means can be a band, a belt, a toothed belt or a cable. The at least one traction means can be effective between the finger motor and the at least one finger element. The gear can be designed as a worm gear. The worm gear can have at least one geared worm. The at least one worm gear can be effective between the finger motor and the at least one finger element. [001 9] The at least one finger element can be movable between a flexed end position and an extended end position. The at least one finger element can be bistably spring-loaded. The flexed end position and the extended end position can be stable positions. The at least one finger element can be designed and / or arranged to switch from the flexed end position to the extended end position and / or vice versa by means of an external impulse.

[0020] The gripping device can have an elastic holding module for supporting a gripped object. The holding module can also be referred to as a palm or hand palm. The elastic holding module can be arranged between the gripper fingers, in particular between the finger bases and / or between the gripper finger holders. The elastic retaining module can have at least one retaining section and at least one supporting section. The at least one retaining section can be designed and / or arranged for force-fit and / or form-fit contact with a gripping object. The at least one support section can be designed and / or arranged to support the at least one holding section. The elastic retaining module can have a band-like, bow-like, bridge-like and / or hat-like shape. The elastic retaining module can be made of a rubber-elastic material, in particular a thermoplastic elastomer. [0021 ] The holding module can be elastically deformable and / or displaceable depending on the displacement of the gripper fingers. The holding module can be connected to the finger bases and / or to the gripper finger holders. The gripping device can have a holding drive. The holding drive can be designed and / or arranged to elastically deform and / or displace the holding module. The holding drive can be arranged on the gripper base. The holding drive can have a holding motor. The holding motor can be designed as an electric motor. The holding drive can have a gearbox. The gearbox can be effective between the holding motor and the holding module.

[0022] The end effector is designed and / or can be arranged for use with a robot. The end effector has the gripping device. The end effector can have an effector base and a connection section. The effector base may form the gripper base. The connection section may be designed and / or arranged to connect the end effector to a robot. The connecting portion may have a flange-like shape. The gripping device and the connecting portion may be arranged at opposite ends of the effector base.

[0023] In summary and in other words, the invention thus provides, among other things, a linear telescopic gripper with a counter-pressing adaptive palm.

[0024] The gripper can have linearly extending gripper jaws. The gripper jaws are also known as gripper fingers. On the one hand, the gripper jaws allow small objects to be gripped in confined spaces and, on the other hand, large objects to be gripped at the same time without the robot having to make a levelling movement. The gripper can have four coupled levers on each side, which can be coupled by means of spur gearing. The gripper can have four coupled levers on each side, which can be coupled by means of intersecting cables or belts. The gripper jaws can be driven directly by cables. The inner levers can be reset by springs. Or the two inner levers can be driven by a worm gear. The gripper can have a stiffener between the levers in order to work with less friction. The gripper can mount a flexible palm to be able to grip several objects at the same time. The gripper can have bistable fingertips that can fold over when touching the ground. The fingertips make it possible to get under flat objects so that they can then be lifted. The gripper can be fitted with a flexible palm to secure the object when the fingertips are folded down. The gripper can have separate drives that can move the fingertips. The gripper can have separate drives that allow the palm to be moved.

[0025] The invention increases flexibility and / or extends possible applications. A gripping process is made easier or gripping is made possible in the first place, particularly in confined working spaces. Nevertheless, a large gripping range is possible. There is no need for vertical equalising movements.

[0026] In the following, an embodiment of the invention is described in more detail with reference to a figure, showing schematically and by way of example: Fig. 1 perspective view of a gripping device with linearly displaceable gripper fingers, finger end links that can be flexed and / or extended and a holding module arranged between the gripper fingers.

[0027] Fig. 1 shows a perspective view of a gripping device 1 00 designed as an end effector for a robot. The gripping device 100 has a gripper base 1 02 with a base axis 1 04, a gripper drive, two gripper finger holders 1 06, 1 08, two gripper fingers 110, 112 and an elastic holding module 114.

[0028] The gripper fingers 110, 112 each have a finger base, such as 11 6, a finger element, such as 11 7, a finger joint, such as 11 8, a finger element, such as 120, with a front gripping edge or gripping prongs and a finger drive, such as 122, for flexing or extending the finger element 120. The gripper finger 110 is firmly connected, in the present case screwed, to the gripper finger holder 1 06. The gripper finger 112 is firmly connected to the gripper finger holder 108, screwed in the present case.

[0029] The gripper drive has a gripper motor, a gearbox with traction means, such as 124, first swivel arms, such as 126, and second swivel arms, such as 128, 130, and a coupling element 132 for each of the gripper finger holders 1 06, 1 08. The second swivel arms 128, 130 are each of equal length, are arranged parallel to one another, and are pivotably mounted, on the one hand, on a gripper finger holder 1 06, 1 08 and, on the other hand, on the coupling element 132. The second swivelling arms 128, 130 are thus each coupled to one another for movement via a gripper finger holder 1 06, 1 08 and a coupling element 132. The first swivelling arms 126 have a length corresponding to the second swivelling arms 128, 130, are arranged at an angle to the latter and are pivotably mounted on the gripper base 102 on the one hand and on the coupling element 132 on the other hand. The first swivel arms 126 and the second swivel arms 128, 130 are interlocked.

[0030] A swivelling force can be applied to the first swivel arms 126 with the aid of the gripper motor and the gearbox. A swivelling movement of the first swivel arms 126 is transmitted to the second swivel arms 128, 130 via the toothing, such as 134. Starting from and supported on the fixed gripper base 1 02, the gripper finger holders 106, 1 08 with the gripper fingers 110, 112 are then displaced along a linear axis 136 perpendicular to the base axis 104. [0031 ] The elastic retaining module 114 is arranged between the gripper finger holders 1 06, 108 and has a bow-like shape with a retaining section 138 for a force-fit and / or form-fit contact with a gripping object. The retaining module 114 is connected to the gripper finger holders 106, 108 and is elastically deformed or displaced depending on a displacement of the gripper fingers.

[0032] The term "may" refers in particular to optional features of the invention. Accordingly, there are also further embodiments and / or embodiment examples of the invention which additionally or alternatively have the respective feature or features.

[0033] From the combinations of features disclosed in the description, features can also be selected as required and used alone or in combination with other features to define the subject matter of the claim, resolving any structural and / or functional relationship that may exist between the features. Reference sign 100 Gripping device 102 Gripper base 104 Base axis 106 Gripper finger holder 108 Gripper finger holder 110 Gripper finger 112 Gripper finger 114 Retaining module 116 Finger base 11 7Finger joint 118 Finger joint 120 Finger element 122 Finger drive 124 Traction means 126 First swivel arm 128 Second swivel arm 130 Second swivel arm 132 Coupling element 134 Interlocking 136 Linear axis 138 Holding section

Claims

1. Gripping device, in particular for a robot, the gripping device having a gripper base with a base axis, a linear axis at right angles to the base axis, gripper fingers displaceable along the linear axis and a gripper drive for displacing the gripper fingers, characterised in that the gripper fingers each have at least one finger element which can be flexed and / or extended.

2. Gripping device according to Claim 1, characterised in that the gripper drive has at least two parallelogram guides.

3. Gripping device according to at least one of the preceding Claims, characterised in that the gripping drive has at least two swivel arms which are radially toothed together.

4. Gripping device according to at least one of the preceding Claims, characterised in that the gripping drive has a traction drive.

5. Gripping device according to at least one of the preceding Claims, characterised in that the gripping device comprises at least one finger drive for flexing and / or extending the at least one finger element.

6. Gripping device according to at least one of the preceding Claims, characterised in that the at least one finger element is movable between a flexed end position and an extended end position and is bistably spring-loaded.

7. Gripping device according to at least one of the preceding Claims, characterised in that the gripping device has at least one elastic holding module for supporting a gripping object.

8. Gripping device according to Claim 7, characterised in that the at least one holding module is elastically deformable and / or displaceable depending on a displacement of the gripper fingers.

9. Gripping device according to at least one of Claims 7 to 8, characterised in that the gripping device has gripper finger holders and the at least one holding module is connected to the gripper finger holders.1 0. Gripping device according to at least one of Claims 7 to 9, characterised in that the gripping device has a holding module drive for elastically deforming and / or displacing the holding module.

11. An end effector for a robot, characterised in that the end effector comprises a gripping device according to at least one of Claims 1 to 10.

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