Gripping device with adjustable slides

Abstract

The present invention relates to a gripping device (1) and a manipulator. The gripping device (1) comprises a support base (4) with a connection (5) for coupling with a manipulator. The support base (4) comprises at least two adjusting slide guides (11, 12). The gripping device (1) comprises a feed element (27) for activating and deactivating the holding element (3). At least two adjusting slides (9, 10) are each at least partially accommodated or held in one of the adjusting slide guides (11, 12) and are movable in the adjusting slide guides (11, 12) along a first direction (13) relative to the support base (4). At least one of the adjusting slides (9, 10) comprises at least one lateral guide (15). At least one lateral cross slide (14) is arranged with at least one holding element (3). The lateral cross slides (14) are at least partially received or held in the lateral guides (15) and are movable in the lateral guides (15) along a second direction (16) relative to the adjustment slides (9, 10), the first direction (13) and the second direction (16) being perpendicular to each other. A guide portion (42) of the at least one lateral cross slide (14) is received or held in the at least one lateral guide (15) and is profile-shaped, said guide portion (42) being linearly extractable in the lateral guide (15).

Description

[Technical field]

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

[0002] Adjustable or adjustable gripping devices, which allow the position of the holding elements to be adjusted, in particular holding elements that operate under negative pressure, are known from the prior art in the art. By adjusting the position of the holding elements, it is possible to manipulate workpieces of different sizes. For this purpose, an adjustable gripping device is known, for example from DE 10 20 06 133 A1. A fixed arm with a guide rail is provided, which has a number of lateral arms movable along the guide rail, on which movable holding elements are arranged. DE 10 20 06 13 200 A1 discloses a support device with rods of a specific profile shape, which are releasably connected to one another via movable clamping pieces. DE 10 20 06 13 200 A1, which is assigned to the same applicant, discloses a gripping device for a manipulator with a number of support arms rotatable about an axis. The support arms include a base arm and a cantilever arm, on each of which a holding element is arranged. DE 10 20 06 13 200 A1 discloses a suction device with a telescopic exhaust pipe, which includes a boom and a number of sliders movable along the boom.

[0003] However, the designs known from the prior art are not very compactly constructed, are not sufficiently flexible and cannot or do not adapt well to various workpiece geometries, and furthermore, the known solutions are structurally complex and have poor stability or robustness, making them hardly suitable for handling heavy parts or characterized by a short service life. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] European Patent Application No. 3031586 [Patent Document 2] European Patent Application No. 1041295 [Patent Document 3] European Patent Application No. 1871696 [Patent Document 4] U.S. Patent Application No. 6,796,588 Summary of the Invention [Problem to be solved by the invention]

[0005] The object of the present invention is to provide an apparatus with which workpieces of various sizes and shapes, in particular plate-shaped workpieces or sheet metal parts, can be manipulated with a single, flexible, simple and precisely adjustable gripping device which is robust, durable, structurally uncomplicated, compact, has a long service life and is safe to handle. [Means for solving the problem]

[0006] The above object is achieved by an adjustable gripping device and by a manipulator according to the claims.

[0007] The present invention relates to a gripping device provided for receiving and releasing again a workpiece, preferably in the form of a plate, to be transported. For this purpose, the gripping device comprises a lower surface and an upper surface opposite to the lower surface. A support base is formed on its upper surface with a connection formed for connecting the gripping device to a manipulator. Furthermore, the support base is formed on its lower surface with at least two adjustable slide guides.

[0008] The gripping device also includes a number of holding elements for holding the workpiece. The holding elements are connected to the support base, the connection being direct or indirect. Furthermore, this connection is preferably releasable, particularly preferably without tools. The holding elements each have a contact surface which is directed away from the underside of the support base and which delimits a common contact plane. The skilled person is familiar with various types of holding elements, which will not be described in detail here. For example, the holding elements can be negative pressure-activated holding elements, such as suction cups. Alternatively, magnetically acting holding elements are also conceivable, and both pressure-activated permanent magnets and electromagnet-based holding elements can be used.

[0009] The gripping device also includes a supply element arranged to activate and deactivate the holding element, which depending on the type and function of the holding element can be, for example, a vacuum supply component (e.g. a power unit, a flexible vacuum hose, a rigid vacuum pipe, a valve, a valve shutoff, a valve terminal, etc.) or a power supply component (e.g. a power unit, an electrical conductor).

[0010] Furthermore, the gripping device comprises at least two movable adjustment slides, which are each at least partially accommodated or held in at least one of the adjustment slide guides. Furthermore, the adjustment slides are movable in these adjustment slide guides relative to the support base along a first direction, which is also referred to below as the X-direction. At least one of the adjustment slides is formed with at least one lateral guide. The gripping device comprises at least one lateral cross slide, on which at least one holding element is arranged. The lateral cross slide is at least partially accommodated or held in the lateral guide and is movable in the lateral guide relative to the adjustment slide along a second direction, which is also referred to below as the Y-direction. The first and second directions are mutually orthogonal. Preferably, the first and second directions extend parallel to the contact surface, and the contact plane can extend parallel to the XY-plane.

[0011] According to the invention, the guide part of the at least one lateral cross-slide, which is accommodated or held in the at least one lateral guide, has a particular profile shape, in particular a hollow profile shape, which guide part can be linearly pulled out into the lateral guide or can also be linearly pushed in again.

[0012] The specific profile shape of the guide of the at least one lateral cross-slide can be, for example, circular, rectangular or elliptical. An essentially dovetail-shaped cross section may also be advantageous.

[0013] The holding elements can be arranged, as already mentioned, either on the lateral guides, additionally on the adjustment slides or directly on the support base. In principle, the actual arrangement, size and number of the holding elements are also left to the discretion of the person skilled in the art. In particular, the holding elements positioned on the extrudable lateral cross slides are characterized in that they are movable in two dimensions, i.e. in the X-direction and the Y-direction. Preferably, the individual holding elements can be individually and independently activated and deactivated as required. For this purpose, for example, the supply pipe of each holding element can be provided with a shut-off valve that can be operated manually or automatically.

[0014] The at least two adjusting slides and the at least one lateral cross slide can be displaced manually by an operator. Alternatively, however, it is also conceivable that the slides can be displaced or adjusted automatically, in particular pneumatically or electrically. The displacement and adjustment parameters can be provided to the operator, preferably by means of a software-based set-up plan. Preferably, both the adjusting slide guides and the at least one lateral guide can be formed as linear guides. Such a design is inexpensive to manufacture, simple to operate and does not impair the freedom of movement due to the holding elements being movable in two directions.

[0015] The gripping device constructed according to the invention is structurally simpler and therefore more cost-effective than known designs, robust and therefore durable, and hardly requires repairs. Moreover, the gripping device can be folded up very compactly, so that the distance between the individual holding elements can be adjusted very small. This is particularly evident when the at least one linearly extractable lateral guide is fully pushed in. Such an adjustment is advantageous in particular for very small workpieces and for workpieces with angles or edges. On the other hand, the ability to push out the at least one lateral cross slide allows the holding elements to be moved farther away from one another. In particular, the flexible movement and adjustability can prevent, or at least substantially prevent, the risk of collisions with the manipulator or with surrounding objects.

[0016] The displacement of the slide along the guide is easy to carry out and does not require much time, i.e. the gripping device or the holding elements positioned on the gripping device can be flexibly adapted to the respective shape of the workpiece to be manipulated. A large number of workpiece dimensions can be manipulated with a single, but flexibly adjustable gripping device. The adjustment is very simple and can therefore be performed even by less trained setup personnel, so that the setup times can be significantly reduced. This has a positive economic effect, especially when a small number of workpieces are to be manipulated.

[0017] It may furthermore be expedient if at least one of the adjusting slides is formed with two mutually parallel lateral guides, in each of which a retractable lateral cross slide is accommodated or held, and at least one holding element is arranged on the lateral cross slide. Here, the holding element is arranged on the opposite end parts of the two lateral cross slides. When the two lateral cross slides are pulled out, not only does the respective holding element move further away from the adjusting slide, but the distance between the two holding elements also increases. In this way, the maximum possible pulling distance can be easily achieved. The two lateral cross slides thus represent the possibility of lengthening the adjusting slide on both sides in the second direction, thereby providing further flexible adjustment possibilities. This allows the smallest possible projection to be achieved in the pushed-in state and the largest possible projection to be achieved in the fully pulled-out state, if the holding element is arranged on both end parts of the respective lateral cross slide.

[0018] Due to the fact that the holding elements are formed on the opposite end parts of the two transverse cross slides or are arranged outside the underside of the support device when the underside is observed, the surface delimited by the suction cups does not result in additional interference contours, which would be advantageous in order to allow the gripping device to be close to the machine, in particular to the bending dies of a bending machine, so that no resetting is necessary, for example in the case of box-shaped parts whose bottom surface does not exceed the smallest possible adjustment range of the gripping device.

[0019] Furthermore, the height of the gripping device can also be designed so that it can reach as narrow an area as possible, for example above a tool case, which can be made possible or facilitated by the holding elements also being connected with the lateral cross slides or with the adjustment slides by means of L-shaped or angled connecting elements.

[0020] According to an advantageous development, a transverse axis oriented along the first direction can be located equidistant between two parallel transverse guides. In this case, the holding elements positioned on the two transverse cross slides are positioned such that the centers of the respective holding elements are located on the transverse axis. In other words, according to this development, the holding elements opposite each other are inclined relative to each other when observing the underside of the support table such that the centers of the holding elements are located on the transverse axis. The gripping elements are thus positioned offset relative to the respective guide parts when observing the gripping device in the direction of its underside. As a result, the parallel arrangement of the two transverse guides or the two transverse cross slides further increases the accuracy of the adjustability, since any misalignment or offset errors that may occur are corrected.

[0021] Furthermore, the adjusting slides can each be formed with one adjusting slide fastening element, which can be operated independently of one another and are designed to releasably fasten the adjusting slide to the support base as required. Alternatively or additionally, it may also be advantageous for the adjusting slides to each be formed with at least one lateral cross slide fastening element, which is designed to releasably fasten at least one lateral cross slide to the adjusting slide as required. Preferably, the fastening elements can be operated manually or at least with little to no tools. This development has the effect of additionally increasing safety, since the slide is reliably fastened against unintended displacements and movements, which significantly reduces the risk of injury to persons as well as the risk of damage to surrounding objects or workpieces. This applies in particular to heavy workpieces or workpieces with a non-central center of gravity or also to gripping devices which can be moved and rotated freely in space by means of a manipulator.

[0022] Also advantageous is an embodiment in which at least one first scale is formed on the support base along the first direction. The support base can possibly also be provided with several first scales. Alternatively and / or additionally, it may also be advantageous if a second scale is formed on the at least one lateral cross slide, in particular on its guide, along the second direction. The display of the scales allows the user to easily, quickly and precisely carry out the setting or adjustment of the gripping device. On both scales, the current setting or position of the adjusting slide and of the at least one lateral cross slide, respectively, can be easily read by the indicators. It may be advantageous, especially if several first scales are provided, if these scales are displayed offset by the width of the adjusting slide, thereby ensuring precise adjustability.

[0023] According to a special embodiment, the first and second scales are arranged parallel to the contact plane and can be visible when observing the underside of the support base. This makes it significantly easier for the user to read the current or new adjustment positions of the adjusting slide and the at least one lateral cross slide. The user does not have to turn or move during the adjustment operation in order to read the scales, but can see all adjustment parameters by observing the underside of the support base. Moreover, all detent recesses or locking holes can be made visible when observing the underside. However, it is also possible that only the detent recesses in the support base are visible when observing the underside of the support base, and that the detent recesses of the lateral cross slide are perpendicular to the contact plane. The detent recesses of the lateral cross slide will therefore only be visible when observing the gripping device from the side. The exact arrangement of the detent recesses depends on the locking mechanism and is left to the discretion of the person skilled in the art.

[0024] In a special embodiment, it is conceivable that the adjusting slide fixing element is formed as an adjusting slide detent element and / or the lateral cross slide fixing element is formed as a lateral cross slide detent element. In this case, the support base can be formed with a plurality of detent recesses equidistantly spaced apart from one another along the first direction. Here, preferably, the detent recesses are formed in the guide part of the lateral cross slide. The detent elements of the adjusting slide detent element can engage in the detent recesses of the support base. Furthermore, the lateral cross slide is formed with a plurality of detent recesses equidistantly spaced apart from one another along the second direction, and the detent elements of the lateral cross slide detent element can engage in the detent recesses of the lateral cross slide. Preferably, the scale indication of the first scale or the second scale corresponds to the spacing of the respective detent recesses equidistantly spaced apart from one another or discretely. This allows the user to easily, quickly and accurately set or adjust the gripping device. The current setting or position of the adjusting slide and of the at least one lateral cross slide, respectively, can be easily read from both scales by means of the indicators. It is expedient for the detent recesses and the respective scales to be juxtaposed to one another, so that the current setting can be read off easily and accurately without aids, but in principle it is also conceivable for an infinitely variable adjustment to be achieved without the detent recesses being equidistant from one another.

[0025] According to one development, the detent element of the adjustment slide detent element and / or the detent element of the lateral cross slide detent element are formed as bolts, which can engage in detent recesses of the support stand and / or in detent recesses of the lateral cross slide. Here, the term bolt is to be interpreted only functionally and does not mean to be structurally restrictive. This term includes any bolt-like operating element extending along an axis. In particular, the cross section of the bolt does not necessarily have to be circular, but can be, for example, oval or rectangular. At the user-side end of the bolt, a kind of dished head or a T-shaped grip can be formed in order to enable the user to operate the bolt quickly and reliably. The bolt can preferably engage in a snap-in and / or frictional manner with the detent recess. As soon as the bolt engages in the detent recess, a relative movement or displacement is prevented.

[0026] It would further be advantageous if the bolt is manually operable and is formed with a spring-loaded actuation mechanism, preferably a spring element which engages in one of the detent recesses by means of a spring force acting in the axial direction of the bolt. The bolt is thus at rest in the locking position and can be extracted or removed from the respective detent recess by the user pulling it along the fixing axis of the bolt against the spring force. The adjustment of the adjusting slide or the lateral cross slide can preferably be performed with both hands. With one hand, the operator pulls the bolt from its resting position, i.e. out of the detent recess of the current adjustment position, and moves the adjusting slide or the lateral cross slide to a new adjustment position. The reaching of the adjustment position can preferably be read by the operator from a scale. As soon as the new adjustment position is reached, the operator releases the bolt or the detent element, which comes to rest in the new detent recess by automatic return of the spring and engages therein. The user may also have to push the bolt into the locking hole in order to lock it. This prevents the adjusting slide or the lateral cross slide from being unintentionally displaced or relatively displaced.

[0027] Furthermore, the detent recess of the support base and / or the detent recess of the lateral cross slide can be formed as a locking hole, with which the bolt can engage at least approximately in a complementary manner.

[0028] Furthermore, the detent recesses of the support base and / or the detent recesses of the lateral cross-slide can be formed by racks with toothed grooves, into which the bolts can engage at least approximately complementary. The engagement of the bolts in the toothed grooves can then be achieved by frictional engagement, which makes the fixation even more secure. It is particularly advantageous here to form the guides of the lateral cross-slides in particular as racks.

[0029] It has also proved to be advantageous if the adjusting slide fastening element comprises at least one screw, by means of which a clamping force can be applied between one of the adjusting slides and the support base. Alternatively or additionally, the lateral cross slide fastening element can comprise at least one screw, by means of which a clamping force can be applied between at least one of the lateral cross slides and one of the adjusting slides. Adjusting slide fastening elements or lateral cross slide fastening elements acting by one or more screw connections can ensure a particularly stable and high strength, which above all reduces the risk of unintentional loosening and thus the associated accidents.

[0030] According to one development, the adjusting slide fastening element comprises at least one clamping lever, eccentric lever or tension lever, by means of which a clamping force can be applied between one of the adjusting slides and the support base. Alternatively or additionally, the transverse cross slide fastening element can comprise at least one clamping lever, eccentric lever or tension lever, by means of which a clamping force can be applied between at least one of the transverse cross slides and one of the adjusting slides. By combining a screw connection with a manually operable locking mechanism, such as a lever, a particularly stable fastening can be achieved. Above all, this reduces the risk of unintentional loosening and thus of accidents associated therewith, while at the same time allowing the adjusting slide and the transverse cross slide to be quickly loosened and adjusted. It would also be possible to design the clamping lever, eccentric lever or tension lever in combination with a screw.

[0031] According to one embodiment, the adjustment slide fastening element and / or the lateral cross slide fastening element can comprise a pneumatic fastening element and thus can be fastened pneumatically. In this way the fastening can be automated. By providing a pneumatic fastening element, the fastening can be performed more quickly and, if necessary, very accurately and reliably. Furthermore, a high degree of safety can be ensured by fastening the slides pneumatically. It is also possible not only to fasten the at least two adjustment slides and the at least one lateral cross slide pneumatically but also to automate and displace them pneumatically.

[0032] According to an advantageous development, it can be provided that the adjusting slide guide is formed as a prism track for matingly engaging with a part of the adjusting slide. Preferably, the adjusting slide guide is formed as a prism track for matingly engaging with parts of the two adjusting slides. Here, the term part means that not the entire adjusting slide but only a part of it is accommodated or held in the adjusting slide guide. This part or part can be, for example, a kind of slide block. Preferably, each adjusting slide has two such parts or slide blocks, each slide block being guided in one of the adjusting slide guides. In this way, a particularly good stability and a precise guiding or displacement can be ensured. A smooth running is ensured, since both slide guides function, so to speak, as rails. This is particularly noticeable if the adjusting slide is very long and thus extends longitudinally along the second direction.

[0033] In particular, it may be advantageous if the guide of at least one lateral cross-slide is at least partially formed with a hollow profile section, which hollow profile section is formed as a vacuum duct. In this case, the vacuum duct is fluidly connected with the supply element and with at least one holding element arranged on the lateral cross-slide. The supply element may comprise a vacuum supply module, a valve terminal and a vacuum pipe, which is preferably flexible or hose-like. The valve terminal may be arranged advantageously on the upper side of the support platform. Preferably, the guide of at least one lateral cross-slide is formed as a hollow profile section. Such a hollow profile section may define a duct, in particular a vacuum duct, in which a vacuum pipe may be arranged. The vacuum duct may extend longitudinally along the second direction in the hollow profile section and may be fluidly connected with a holding element positioned on the lateral cross-slide. In this case, the holding element is preferably formed as a vacuum holding element. The vacuum pipe preferably extends longitudinally along the second direction in one of the adjustment slides. Furthermore, the negative pressure pipe is positioned in the negative pressure duct so as to be movable along the second direction. The negative pressure supply module is fluidly connected to the holding element by the negative pressure line and the negative pressure pipe via the valve terminal.

[0034] It may be advantageous if at least one helical supply tube is formed, which is provided for applying a negative pressure to at least one holding element. In this case, the at least one helical supply tube can be arranged on the underside of the support table in alignment along the first direction. It has also proven advantageous if the at least one helical supply tube is at least partially penetrated by a guide part of at least one lateral cross slide. By providing a helical, coiled or helically wound, preferably flexible or hose-like supply tube, the respective guide part can function as a sort of carrier for applying a negative pressure, for example for activating or deactivating a holding element. Here, the helical shape allows the adjustment slide and the lateral cross slide to be adjusted or withdrawn without additional auxiliary tools or additional structural elements. Furthermore, the supply tube provided in this way can be arranged in a space-saving manner, and the risk of undesired jamming, pinching or damage can be avoided or even prevented. Moreover, this makes it possible to dispense with structurally complex or wear-prone sealing elements between the mutually telescopically adjustable hollow profile parts. Moreover, a spiral supply tube so arranged is particularly easily accessible in the event that maintenance or repair becomes necessary.

[0035] According to one development, the supply element includes a valve terminal, which is fluidically connected to the holding element via a shut-off valve. The valve terminal can be arranged advantageously on the upper surface of the support base. The individual valves of the valve terminal can each be fluidically connected to one, possibly several, holding elements. In this case, the holding elements can advantageously be formed as vacuum holding elements. The vacuum supply module is fluidically connected to the holding elements via the valve terminal. It is particularly advantageous here if the holding elements can be activated or deactivated as required by the associated valves of the valve terminal. Shutting off the individual holding elements in this way can additionally expand the possibilities for use and adjustment of the gripping device. In this case, the valves arranged in the valve terminal can be formed, for example, mechanically acting or with a spring return mechanism. Preferably, the valves can be separately energized and activated or deactivated by a control. Such a design would be very safe in operation, especially since a power failure is not dangerous or would not lead to the workpiece being unintentionally removed from the holding element, in contrast to spring return valves.

[0036] Furthermore, a further adjusting slide can be formed, which has a first guide bar and a second guide bar. Both guide bars are movable along a first direction. In this case, the adjusting slide can be pulled out linearly along the first direction relative to the support base by the guide bars. The guide bars are preferably guided, in particular by through-passes on the end faces of the support base or by prismatic or profile tracks in the support base. However, it would also be possible for the guide bars to be arranged on the upper surface of the support base or to be guided by guide elements positioned on the upper surface of the support base. This development allows the adjustability of the gripping device to be additionally expanded in a simple manner. Preferably, one or both guide bars are also formed with a further first scale, i.e. a scale which indicates to the user in which adjustment position the further adjusting slide is currently located. In order to save costs, it is expedient for the further adjusting slide to be formed at least approximately identically in structure to the first and second adjusting slides. Advantageously, the guide bars of the further adjusting slides are offset from one another so that they do not interfere with one another and, in particular, do not form undesirable additional interference contours even in the advanced or pushed-in state.

[0037] Furthermore, at least one further lateral cross slide can be formed, on which at least one holding element is arranged and which is at least partially accommodated or held in a lateral guide of a further adjusting slide. The lateral cross slide can be moved in the lateral guide relative to the adjusting slide along a second direction, and the guide part accommodated or held in the at least one lateral guide of the further adjusting slide has a specific profile shape, in particular a hollow profile shape, which can be linearly pulled out in the lateral guide or can be linearly pushed in again. Preferably, all adjusting slides of the gripping device and all lateral cross slides accommodated or held in the adjusting slides and which can be pulled out are of the same or at least approximately the same construction. This reduces storage costs and often significantly simplifies possible maintenance and repair work.

[0038] A vacuum pipe is formed parallel to the guide bar, which can be led out linearly relative to the support base, and which is fluidly connected to the supply element and to at least one holding element on a lateral cross slide arranged on the further adjustment slide. The supply element can also, however, comprise a further vacuum pipe arranged in a further vacuum duct in the guide bar, preferably with a hollow cross section. Alternatively, the further vacuum pipe can be arranged parallel to the guide bar in the support base. Preferably, the further vacuum pipe is positioned between the guide bars when observing the support base from the underside. The further vacuum pipe is arranged on the further adjustment slide, and the holding element positioned on the further lateral cross slide is fluidly connected to the valve terminal or the vacuum supply module via a vacuum tube, preferably flexible in shape, and via a further vacuum pipe.

[0039] According to an advantageous development, at least one spiral supply tube can be at least partially passed through at least one guide bar of the adjustment slide or at least one spiral supply tube can be arranged between both guide bars.

[0040] At least one energy chain is provided which is supported movably along a first direction, which energy chain is provided for displacing the adjustment slide and / or for displacing the guide bar, and at least one preferably flexible or hose-like vacuum tube can also be guided in the energy chain. By providing the energy chain for displacing the adjustment slide or the guide bar, the movability or adjustability can be made more precise. Energy chains are also known in the art as energy guide chains, E-chains or drag chains. Such an arrangement can be moved particularly precisely and can also be designed relatively space-saving. Furthermore, the spiral supply tube is well protected from damage by this design.

[0041] Apart from this, the object of the invention is also achieved by a manipulator provided for receiving and releasing again a preferably plate-shaped workpiece to be transported, which manipulator comprises a gripping device provided according to one of the claims.

[0042] The construction and advantages of such a manipulator have been fully described in the preceding portions of this specification, to which reference is now made.

[0043] For a better understanding of the invention, a more detailed explanation will now be made with reference to the following figures.

[0044] The figures are each shown in a simplified schematic representation. [Brief description of the drawings]

[0045] [Figure 1] FIG. 1 is a perspective view looking towards the top of a gripping device for manipulating a workpiece during processing on a processing machine. [Diagram 2] FIG. 2 shows a perspective view of the gripping device according to FIG. 1 looking towards the bottom. [Diagram 3] FIG. 3 shows the gripping device according to FIG. 1 as seen from below. [Figure 4] FIG. 4 is a cross-sectional view of the support base and the adjusting slide in the region of the adjusting slide detent element according to FIG. [Diagram 5] FIG. 5 is an alternative cross-sectional view of the support base and the adjusting slide in the region of the detent element of the adjusting slide according to FIG. [Figure 6] FIG. 6 shows a detailed three-dimensional view of the gripping device according to FIG. 2 with a feed element, seen towards the bottom. [Figure 7] FIG. 7 shows a longitudinal section of a lateral guide between the adjusting slide and two lateral cross slides according to FIG. [Figure 8] FIG. 8 is a top view of an alternative embodiment of the gripping device. [Figure 9] FIG. 9 shows the gripping device according to FIG. 8 as seen from below. [Figure 10] FIG. 10 is a three-dimensional view of an adjustment slide with two lateral cross slides. [Figure 11] FIG. 11 is a three-dimensional view of another embodiment of the gripping device as seen from above. [Figure 12] FIG. 12 is a perspective view of the gripping device according to FIG. 11, seen towards the bottom. [Figure 13] FIG. 13 is a three-dimensional view of another adjustment slide with two lateral cross slides. [Figure 14] FIG. 14 is a bottom perspective view of another embodiment of the gripping device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0046] First, it should be noted that the same elements in the different embodiments described are given the same reference numbers or names. In this case, the disclosure contained in the entire description can be applied mutatis mutandis to the same elements having the same reference numbers or names. Words indicating positions selected in the description, such as top, bottom, side, etc., are also based on the displayed figures directly described, and these words indicating positions are applied mutatis mutandis to the new positions when the positions are changed.

[0047] Hereinafter, the term "particularly" should be understood to denote possible more specific configurations or more detailed descriptions of objects or method steps, but not necessarily mandatory preferred embodiments or mandatory manners thereof. As used herein, the terms "comprises," "has," "has," "includes," "included," "included," and all variations thereof imply non-exclusive inclusions.

[0048] In order to avoid unnecessary repetition, most of Figures 1, 2 and 3, as well as the cross-sectional view of Figure 3 shown in Figures 4 and 5, will be referred to in the following description, and the same parts will be given the same reference numerals and names.

[0049] 1 to 5 show a gripping device 1 for manipulating, i.e. transporting or receiving and releasing, handing over or setting aside, a preferably plate-shaped workpiece 2 during processing in a processing machine. For this purpose, the gripping device 1 comprises as a central element a support base 4 for a holding element 3 with a connection 5. With the help of this connection 5 the gripping device 1 can be fixed, for example, to a manipulator, in particular to an articulated arm 6 of an articulated-arm robot. The holding element 3 is connected to the support base 4 so that it can be adjusted relative to the support base 4.

[0050] The support base 4 has a bottom surface 17 and a top surface 41 opposite to the bottom surface 17. A connection 5 is formed on the top surface 41 of the support base 4 for connecting the gripping device 1 with a manipulator. The connection 5 may be any type of connecting element known per se. For example, a screw connection or also a bayonet connection can be provided, but a flange connection is also conceivable. Furthermore, it would also be possible for the gripping device 1 to be fixed, i.e. permanently or non-separably arranged, to the manipulator.

[0051] The gripping device 1 has a number of holding elements 3 for directly abutting or directly clamping the workpiece 2. The workpiece 2 is shown diagrammatically in FIG. 1 as a sheet metal workpiece by dashed lines. The holding elements 3 can be activated or deactivated as required by a feed element 27, which for simplicity is not shown in FIGS. 1-5, so that the workpiece 2 can be picked up or put down again. The holding elements 3 are connected to the support table 4 and have contact surfaces 7. These contact surfaces 7 are directed away from the underside 17 of the support table 4 and delimit or define a common flat contact plane 8. The holding elements 3 shown can be vacuum holding elements, each having a suction cup with a contact surface 7 for abutting the workpiece 2. The workpiece 2 received by activating the holding elements 3 is fed into the processing area of ​​the processing machine.

[0052] By adjusting the holding elements 3 relative to the support table 4, the position of the holding elements 3 can be changed so as to at least approximately correspond to the shape or area of ​​the workpiece 2 or of the gripped surface of the workpiece 2. That is to say, in the case of small workpieces 2 the relative distance between the holding elements 3 can be made small, whereas in the case of large workpieces 2 the relative distance can be adjusted correspondingly larger.

[0053] The gripping device 1 comprises at least one first adjusting slide 9 and a second adjusting slide 10. The two adjusting slides 9, 10 can be moved along a first direction 13 in adjusting slide guides 11, 12 between the adjusting slides 9, 10 and the support base 4, respectively. For this purpose, at least two adjusting slide guides 11, 12 are formed on the underside 17 of the support base 4. The at least two adjusting slides 9, 10 are at least partially accommodated in the adjusting slide guides 11, 12, respectively, and can be moved along the first direction 13 in the adjusting slide guides 11, 12 relative to the support base 4. At least one of the adjusting slides 9, 10 is formed with at least one lateral guide 15. In Figs. 1 to 5, the two adjusting slides 9, 10 are each formed with two lateral guides 15 parallel to one another. Furthermore, a total of four lateral cross slides 14 are shown in Figs. 1 to 5, on each of which at least one holding element 3 is formed. In the embodiment shown, a single retaining element 3 is positioned at an end portion of each lateral cross slide 14. The lateral cross slides 14 are at least partially housed in respective lateral guides 15. Furthermore, the lateral cross slides 14 are movable or movable and adjustable along a second direction 16 in these lateral guides 15 relative to the respective adjustment slides 9, 10. The first direction 13 and the second direction 16 are mutually orthogonal. In the figure, the first direction 13 is aligned along the X-axis and the second direction 16 is aligned along the Y-axis.

[0054] The at least one or four lateral cross slides 14 shown in Figures 1 to 5 are each formed with a guide part 42. Each guide part 42 is accommodated in or movably guided in a respective lateral guide 15 and is formed so as to have a profile shape, in particular a hollow profile shape. The guide part 42 can be linearly pulled out of the lateral guide 15 and can also be linearly pushed back in again.

[0055] Figure 2 shows the gripping device 1 according to Figure 1 in a perspective view seen obliquely from below, i.e. towards the underside 17 of the support base 4. Figure 3 shows the gripping device 1 according to Figures 1 and 2 in a view seen from below, i.e. towards the underside 17 of the support base 4.

[0056] According to an embodiment, the adjusting slides 9, 10 are each formed with two mutually parallel lateral guides 15, in which a retractable lateral cross slide 14 is accommodated. At least one holding element 3 is arranged on each lateral cross slide 14, which holding element 3 is formed on end sections of the two lateral cross slides 14 that are directed away from one another. A further holding element 3 could also be positioned directly on the support base 4, and thus non-displaceably. It is also conceivable that a further holding element 3 is positioned directly on one or both adjusting slides 9, 10, and thus displaceably along the first direction 13. However, these developments are not shown.

[0057] Equidistant between the two mutually parallel lateral guides 15 there can be located a lateral axis 43 oriented along the first direction 13. The holding elements 3 positioned on the two lateral cross slides 14 are positioned such that the centre 44 of the respective holding element lies on the lateral axis 43. This is particularly clearly shown in FIG.

[0058] The adjusting slides 9, 10 can each be formed with an adjusting slide fixing element in the form of an adjusting slide detent element 18 which can be operated independently of one another and can be designed to releasably fix the adjusting slides 9, 10 to the support base 4, if desired. Alternatively or additionally, the adjusting slides 9, 10 can be formed with one or more lateral cross slide detent elements in the form of lateral cross slide detent elements 22 which can be designed to releasably fix at least one lateral cross slide 14 to the adjusting slides 9, 10, if desired. In particular, in Figures 2 to 5, the adjusting slide detent element 18 and the lateral cross slide detent element 22 are illustrated. If the adjusting slides 9, 10 are each formed with two lateral cross slides 14, these two lateral cross slides 14 can be simultaneously or jointly fixable to a single lateral cross slide detent element 22. Alternatively, however, each lateral cross slide 14 may have its own lateral cross slide detent element 22, as shown in FIG.

[0059] The support base 4 can be formed with at least a first scale 21 along the first direction 13. The support base 4 can further be formed with a number of detent recesses that are equidistant from one another along the first direction 13 and that are arranged one behind the other along the first direction 13. Preferably, the first scale 21 and the detent recesses associated with the first scale 21 are arranged adjacent to one another. The scale lines of the first scale 21 correspond to the locking holes 20. This makes it easy for the user to adjust the desired X-position for the holding element 3 along the first direction 13. This can be particularly well seen in FIGS. 2 and 3. Here, the underside 17 of the support base 4 is provided with two differently written or scales that are offset from one another by the width of an adjustment slide. The directional indicators 46 facilitate the user to adjust the scales correctly. This is particularly advantageous if the user is specified by a computer program to obtain the required adjustment parameters. In this case, the first scale 21 can start from a zero value, but can also range from a negative start value to a positive end value, as shown in FIG. 3.

[0060] It can be seen in both figures 2 and 3 that the two adjusting slides 9, 10 can be moved in a first direction 13 on the underside 17 of the support base 4 with the aid of adjusting slide guides 11, 12 formed as linear guides. For this purpose, the adjusting slide guides 11, 12 comprise prism tracks for matingly engaging with parts of the two adjusting slides 9, 10. As an alternative to the illustrated T-shaped cross-section of the adjusting slide guides 11, 12, they can also be formed by dovetail guides. The parts engaging in the adjusting slide guides 11, 12 can be, for example, sliding blocks or rolling elements.

[0061] The detent elements of the adjustment slide detent element 18 can engage in detent recesses of the support base 4. Alternatively or additionally, the lateral cross slide 14 can be formed with a second scale 23 along the second direction 16. This second scale 23 is also clearly visible in Figs. 2 and 3. The lateral cross slide 14 can be formed with a number of detent recesses equidistantly spaced apart from one another along the second direction 16, and the detent elements of the lateral cross slide detent element 22 can engage in detent recesses of the lateral cross slide 14. These detent recesses are arranged in respective guide parts 42 of the lateral cross slide 14 and can be seen in particular in the representation of Fig. 2. The detent recesses of the support base 4 and of the lateral cross slide 14 can be formed as locking holes 20, 24, respectively.

[0062] The first scale 21 and the second scale 23 may be arranged parallel to a contact plane 8 as shown in FIGS. 2 and 3, the contact plane 8 being visible when observing the underside 17 of the support base 4.

[0063] In particular, in figures 4 and 5 a possible functioning mechanism of the adjusting slide detent element 18 and the lateral cross slide detent element 22 is illustrated using the adjusting slide detent element 18. Of course, the illustrated locking mechanism can be used not only for the adjusting slide detent element 18 but also for the lateral cross slide detent element 22. Figures 4 and 5 each show a cross section of the gripping device 1. The cut locations are indicated by Roman numerals in figure 3. The detent element of the adjusting slide detent element 18 shown in figures 4 and 5 can form a bolt 19. This bolt 19 can engage in a detent recess in the support base 4.

[0064] Similarly to what was described in connection with the positioning of the adjusting slides 9, 10 on the support base 4, a lateral cross slide detent element 22 and a second scale 23 are also provided for positioning the respective lateral cross slide 14 on the respective adjusting slide 9, 10. In the operative position, the lateral cross slide detent element 22 thus engages in a locking hole 24 formed in the lateral cross slide 14 (FIG. 2). The locking holes 24 of the lateral cross slide 14 are arranged on the lateral cross slide 14 equidistantly offset from one another along the second direction 16, Y direction. With the aid of the lateral cross slide detent element 22, the lateral cross slide 14 can be fixed on the respective adjusting slide 9, 10 in a corresponding number of locking positions. In this case, the manner of operation of the second lateral cross slide detent element 22 for positioning the lateral cross slide 14 on the respective adjusting slide 9, 10 can be formed in a similar manner to what was previously described with reference to FIGS. 4 and 5 for the adjusting slide detent element 18.

[0065] According to the embodiment of FIG. 4, the detent element can comprise a bolt 19 supported in the adjusting slide 10 and spring-loaded in the axial direction. In this case, the end of the bolt 19 facing the underside 17 of the support base 4 enters one of the locking holes 20 formed in a row in the support base 4. The bolt 19 thereby forms a lock, whereby the adjusting slide 10 is fixed to the support base 4 against displacement along the first direction 13. The adjusting slide detent element 18 is then in its activated or engaged position. To adjust the adjusting slide 10 and thus the holding element 3 connected thereto, the actuation of the adjusting slide detent element 18 can be stopped, the user can pull the bolt 19 back from the position engaged in the locking hole 20 and then displace the adjusting slide 10 in the direction of the first direction 13. Finally, when the desired position of the holding element 3 or the adjusting slide 10 has been reached, the user can release the bolt 19, which again activates the adjusting slide detent element 18, so that the bolt 19 engages in one of the other locking holes 20. Due to the spring-loaded bolt 19, the adjusting slide detent element 18 remains in its actuated locked position. According to this embodiment, the adjusting slide detent element 18 is formed as a locking detent element acting in a mating manner, and the bolt 19 functions as a lock. The locking holes 20 provided on the underside of the support base 4 are arranged at equal intervals in a row along the first direction 13 (X direction), as shown in Figures 2 and 3.

[0066] FIG. 5 shows an alternative embodiment of the adjusting slide detent element or the lateral cross slide detent element 22. FIG. 5 also shows a cross section of the support base 4 and the adjusting slide 10 of the gripping device 1 shown in FIG. 3. According to this embodiment, the underside 17 of the support base 4 is formed with teeth or racks 25 oriented parallel to the first direction 13 or X-direction. In this working position, the bolts 19 of the adjusting slide detent element 18 engage in tooth grooves 26 of the racks 25. In this way, the adjusting slide 10 is fixed against displacement in the X-direction 13. This embodiment is a frictional fixation, since the tooth flanks of the racks are inclined obliquely. The detent recesses of the support base 4 can thus be formed by the racks 25 with tooth grooves 26. In this case, the bolts 19 can be engaged in the tooth grooves 26 in an approximately complementary manner. However, the detent recesses of the lateral cross slides 14 can also be formed by the racks 25 with tooth grooves 26. Particularly preferably, the guide parts 42 of the lateral cross slides 14 can be formed as racks 25.

[0067] Furthermore, with reference to the following figures 6 and 7, a supply element 27 for activating and deactivating the holding element 3 of the gripping device 1 is described. In this case, the gripping device 1 is a so-called negative pressure or vacuum gripper, the holding element 3 comprising a suction cup which can be activated or deactivated via a corresponding pipe system. Figure 6 shows a detail of the gripping device 1 according to figure 2 with the supply element 27 in a perspective view. In the example of the second adjustment slide 10, the cross-sectional view shown in figure 7 additionally shows the components of the supply element 27 of the holding element 3. Here, it is advantageous if the holding element 3 is formed as a negative pressure holding element.

[0068] The supply element 27 can thus comprise a vacuum supply module or unit (not shown), a valve terminal 28 and a preferably flexible or hose-like vacuum pipe 29. The valve terminal 28 can advantageously be arranged on the upper surface 41 of the support base 4. The guide part 42 of the at least one lateral cross-slide 14 can be formed at least partially with a hollow profile part 45, as can be seen in particular from FIG. 7. This hollow profile part 45 can form a vacuum duct 30, in which an expandable or pushable and retractable vacuum pipe 31 can be arranged. The vacuum duct 30 can be fluidly connected with the supply element 27 and with at least one holding element 3 arranged on the lateral cross-slide 14. The vacuum duct 30 can extend longitudinally in the hollow profile part 45 along the second direction 16 and can be fluidly connected with the holding element 3 positioned on the lateral cross-slide 14. Furthermore, the vacuum pipe 31 is positioned in the vacuum duct 30 so as to be movable along the second direction 16. The vacuum supply module is fluidly connected via a valve terminal 28 to one or more holding elements 3 by means of a vacuum line 29 and a vacuum pipe 31. It is also possible for the valve terminal 28 to be fluidly connected to the individual holding elements 3 via corresponding shut-off valves.

[0069] This fluid connection for supplying the holding element 3 with underpressure is shown in particular in Fig. 7, which shows a longitudinal section through two lateral guides 15 between two adjusting slides 10 and two lateral cross slides 14 according to a cut plane parallel to the XY plane or contact plane 8. The lateral cross slides 14 are adjustably and extrudeably supported in a direction oriented parallel to the second direction 16 on each of the two lateral guides 15 of the adjusting slide 10. As part of the supply element 27 of the gripping device 1, a underpressure duct 30 is formed inside the lateral cross slide 14. On the other hand, a underpressure pipe 31 is formed which is respectively connected to the adjusting slide 10 and which protrudes into the interior of the underpressure duct 30. In this case, the longitudinal direction of the vacuum duct 30, as well as the longitudinal direction of the vacuum pipe 31, is aligned parallel to the withdrawal or second direction 16 of the respective lateral cross slide 14 of the adjusting slide 10, so that the section of the tube 29 so formed is extrudable or extendable when adjusting the lateral cross slide 14. If necessary, a seal 32 is formed between the respective vacuum duct 30 of the lateral cross slide 14 and the associated vacuum pipe 31.

[0070] 8 and 9 show another, possibly independent embodiment of the gripping device 1, where the same reference numbers or names are used for the same elements as in the previous figures, and in order to avoid unnecessary repetition, reference is made to or is made to the preceding detailed description.

[0071] In this embodiment, in addition to the adjusting slides 9, 10 movably fixed to the underside 17 of the support base 4 according to Figures 1 and 2, two further adjusting slides 33 are provided, each of which can be advanced at an end face of the support base 4. These further adjusting slides 33 each include a first guide bar 34 and a second guide bar 35, which are parallel to the first direction 13. Through passages or holes for accommodating the guide bars 34, 35 are formed in the end faces 39, 40 of the support base 4. The two further adjusting slides 33 can be pushed out or linearly pulled out along the first direction 13 relative to the support base 4 by the guide bars 34, 35.

[0072] The two further adjusting slides 33 can accommodate two further transverse cross slides 36, preferably along the second direction 16, for at least one retaining element 3 in each case. Correspondingly, in the end-accessible adjusting slide 33, the transverse cross slide 36 can also be moved in the second direction 16 perpendicular to the first direction 13 at the adjusting slide 33. As in the case of the adjusting slides 9, 10 connected to the underside of the support base 4, the end-accessible adjusting slide 33 or the transverse cross slide 36 connected thereto can also be releasably fixed in one of a number of predefined locking positions as required. For this purpose, between the support base 4 and the guide bars 34, 35 of the adjusting slide 33 and also between the transverse cross slide 36 and the adjusting slide 33, respectively, adjusting slide detent elements 18 and transverse cross slide detent elements 22 as described above with reference to Figures 4 and 5 are formed, but are not shown in Figure 8. As shown in FIG. 9, when the support base 4 is observed from the underside 17, the guide bars 34, 35 can be formed with a first scale 21 to indicate the adjustment position.

[0073] A vacuum pipe 37 can be formed parallel to the guide bars 34, 35, which can be led out linearly relative to the support base 4. The vacuum pipe 37 can be fluidly connected as a component of the supply element 27 with a holding element 3 provided on at least one lateral cross slide 36 arranged on the further adjustment slide 33. In this case, the supply element 27 can include a further vacuum pipe 37, which can be arranged in a further vacuum duct 30, preferably in the guide bars 34, 35 of hollow profile shape. This variant is not shown. Alternatively, according to Figs. 8 and 9, the further vacuum pipe 37 can be arranged in the support base 4, parallel to the guide bars 34, 35. Preferably, the further vacuum pipe 37 is positioned between the two guide bars 34, 35, when the support base 4 is observed from the underside 17. Furthermore, a further vacuum pipe 37 is fixed to the further adjusting slide 33, and the holding element 3 arranged on the further lateral cross slide 36 is fluidly connected to the valve terminal 28 or the vacuum supply module via a vacuum tube 29, which is preferably flexible in shape, and a further vacuum pipe 37.

[0074] Alternatively, but not shown, it would be advantageous if the further lateral cross slide 36 is formed with a vacuum pipe 31 movable in the vacuum duct 30, as shown in Figure 7, which vacuum pipe 31 fluidly connects the holding element 3 with a further vacuum pipe 37. The operating principle of the supply pipe between the further adjusting slide 33 and the lateral cross slide 36 connected thereto will then be explained in the same way as described above with reference to Figure 7.

[0075] FIG. 9 is a bottom view of the gripping device 1 according to the embodiment shown in FIG. 8. For greater clarity, the supply element 27 of the vacuum supply system for the holding element 3 is not shown. As in the embodiment according to FIGS. 1 to 5, two adjustment slides 9, 10 are arranged on the underside 17 of the support base 4. In this case, the adjustment slides 9, 10 are connected to the support base 4 with the aid of adjustment slide guides 11, 12 and can be moved along 13 in these adjustment slide guides 11, 12. The adjustment slide guides 11, 12 can be fixed in one of several locking positions with the aid of adjustment slide detent elements 18 or with the aid of locking holes 20 in the underside 17 of the support base 4 as required. The adjustment slides 9, 10 furthermore have lateral cross slides 14 with a respective holding element 3 which can be advanced in opposite directions along the second direction 16. Between the adjusting slides 9, 10 and the lateral cross slide 14, respectively, lateral cross slide detent elements 22 are formed, by means of which the lateral cross slides 14 or also their retaining elements 3 can be fixed in one of a number of predefined locking positions as required. A user can find the desired X or Y position for adjusting the retaining elements 3 on the first scale 21 and the second scale 23 applied to the underside of the support base 4 or on the lateral cross slide 14. Here, the area available on the support base 4 for adjusting the adjusting slides 9, 10 extends over the length 38 of the support base 4 along the first direction 13.

[0076] It is also possible that the adjusting slide fixing elements or the lateral cross slide fixing elements are not formed as adjusting slide detent elements 18 and lateral cross slide detent elements 22, but that they can be fixed by means of screws 47. This variant is also clearly shown in Fig. 9, and in the case of fixing by means of screws 47, no locking holes are basically required. By means of the screws 47, a clamping force can be applied between the adjusting slides 9, 10 and the support base 4 or between at least one lateral cross slide 14 and the adjusting slides 9, 10.

[0077] As already explained with reference to FIG. 8, the gripping device 1 according to this embodiment comprises, in addition to the two adjusting slides 9, 10 provided on the underside 17 of the support base 4, another adjusting slide 33, which can be advanced from the support base 4 at its end side in the first direction 13 by means of two guide bars 34, 35. Here, the guide bars 34, 35 of the adjusting slide 33 are aligned parallel to the adjusting slide guides 11, 12 of the adjusting slides 9, 10 at the underside 17 of the support base 4. This means that the direction of adjustment is the same as that of each of the adjusting slides 9, 10, i.e. the first direction 13 (X direction). Now, as shown in FIG. 9, the gripping device 1 according to this embodiment has another adjusting slide 33 both at the first end side 39 and at the second end side 40. These adjusting slides 33 are formed with two lateral cross slides 36 which can be advanced in opposite directions, which are guided by respective guides 42. A lateral cross slide detent element 22 is provided for fixing the lateral cross slide 36 to the adjusting slide 33 as required. On the other hand, an adjusting slide detent element 18 is likewise provided between the guide bar 34 of the adjusting slide 33 and the support base 4. In this case, a first scale 21 is attached to the guide bar 34 in order to find the desired position in the X-direction. Like the lateral cross slide 14, the further lateral cross slide 36 also has a scale 23. By arranging the adjusting slide detent element 18 and the lateral cross slide detent element 22 and also the first scale 21 and the second scale 23 in the manner shown in FIG. 9, the advantage is obtained that the user can carry out the position adjustment of the holding element 3 in a single position, i.e. looking at the underside 17 of the support base 4.

[0078] Figure 10 shows an embodiment of an adjustment slide 9, 10, 33 with two extendable lateral cross slides 14, 36. Here, the guide parts 42 of the lateral cross slides 14, 36 are accommodated in two lateral guides 15. These guide parts 42 are profile-shaped and can be linearly withdrawn from the lateral guides 15 along the second direction 16. In order to avoid unnecessary repetition, the description of the previous figures is followed here too.

[0079] The adjusting slide 9, 10, 33 is formed with two lateral cross slide fastening elements for releasably fastening the two lateral cross slides 14, if necessary. These lateral cross slide fastening elements are each formed with two screws 47, by means of which a clamping force can be applied between the lateral cross slide 14, 36 and the adjusting slide 9, 10, 33. In addition, the lateral cross slide fastening elements each include an eccentric lever 49, which is articulated to the two screws 47. In FIG. 10, the lateral cross slide 14, 36 illustrated on the left is shown in the pushed-out state, whereas the lateral cross slide 14, 36 on the right is shown in the fully pushed-in state. The eccentric lever 49 of the lateral cross slide 14, 36 on the left is closed, whereby the lateral cross slide fastening elements are fixed. The eccentric lever 49 of the lateral cross slide 14, 36 on the right is shown in the open or erected state. In this released or unlocked condition, adjustment or linear displacement of the right lateral cross-slide 14, 36 or its guide portion 42 is possible.

[0080] It goes without saying that the illustrated lateral cross-slide fixing elements can be formed in the same or similar manner as the adjusting slide fixing elements for releasably fixing the adjusting slides 9, 10 to the support base 4, if required.

[0081] Figures 11 and 12 show two perspective views of another embodiment of the gripping device 1. These perspective views correspond, for example, to those of Figures 1 and 2. In the description of Figures 11 and 12, reference is also made to the previous description in order to avoid unnecessary repetition.

[0082] The gripping device 1 includes, by way of example, a total of four adjusting slides 9, 10, 33. In this case, the two middle adjusting slides 9, 10 can each be accommodated at least partially in at least one of the adjusting slide guides 11, 12, as shown. In particular, the two middle adjusting slides 9, 10 are guided, for example, in grooves of profiled guide rails on both longitudinal sides of the support base 4. To increase stability and smooth running, the two middle adjusting slides 9, 10 are guided in grooves on the lower and upper sides of the two adjusting slide guides 11, 12, which are each formed as profiled guide rails. The two middle adjusting slides 9, 10 are movable 13 along a first direction 13 relative to the support base 4 in the adjusting slide guides 11, 12. Every adjusting slide 9, 10, 33 includes two linearly movable or extractable lateral cross slides 14, 36, respectively. Each of the lateral cross slides 14, 36 has a respective holding element 3 at its end portion. Here, the holding elements 3 are fixed to the respective lateral cross-slides 14, 36 by means of angled plate members. The angled shape makes it possible to ensure that the holding elements 3 increase the overall thickness or height of the gripping device 1 as little as possible and that no undesirable interference contours are formed.

[0083] The two further outer adjustment slides 33, similar to Fig. 8, each include a first guide bar 34 and a second guide bar 35, which are movable along the first direction 13, and which are guided in particular by a prismatic track or other profiled track in the support base 4. The two outer adjustment slides 33 can be linearly drawn out along the first direction 13 relative to the support base 4 by the guide bars 34, 35.

[0084] The adjusting slides 9, 10, 33 are each formed with an adjusting slide fastening element which can be operated independently of one another and which is designed to releasably fasten the adjusting slides 9, 10, 33 to the support base 4, if required. Furthermore, the adjusting slides 9, 10, 33 are formed with lateral cross slide fastening elements which are designed to releasably fasten the lateral cross slides to the adjusting slides 9, 10, 33, if required. The adjusting slide fastening elements and also the lateral cross slide fastening elements are each formed with a clamping lever 48 by means of which a clamping force can be applied between the adjusting slides 9, 10, 33 and the support base 4, in particular between the adjusting slides 9, 10, 33 and the adjusting slide guides 11, 12, and between the adjusting slides 9, 10, 33 and the guide bars 34, 35. Furthermore, a clamping force can be applied between the lateral cross slides 14, 36 and one of the adjusting slides 9, 10. In Fig. 11, almost all of the clamp levers 48 are shown in the fixed state. Only the clamp lever 48 of the outer lateral cross slide 36, which is shown in the pushed-out state, is shown in the open state, thereby allowing displacement or adjustment.

[0085] 11 and 12 also show that the supply tube 50 can be formed in the form of a spiral or coil and flexible in shape. The spiral supply tube 50 for supplying the holding elements 3 arranged on the transverse cross slides 14, 36 can be at least partially pierced by a respective guide part 42 of each transverse cross slide 14, 36. However, it is also possible that the adjustment slide 9, 10, 33 has at least two transverse cross slides 14, 36 which are parallel to one another and movable relative to one another according to the example of FIG. 12, and that the spiral supply tube 50 is at least partially pierced by a guide part 42 of the respective adjacent or parallel transverse cross slide 14, 36. In both of the above mentioned variants, the spiral supply tube can be stretched or unfolded when pulling or pushing linearly.

[0086] Furthermore, the helical supply tube 50 can be at least partially penetrated by at least one of the guide bars 34, 35 of the adjustment slides 9, 10, 33, or, as shown, the helical supply tube 50 can be arranged between two guide bars 34, 35.

[0087] In FIG. 13, another adjusting slide 9, 10, 33 with two lateral cross slides 14, 36 is shown in a three-dimensional view. In order to avoid unnecessary repetition, the previous parts of the description, in particular the description of FIG. 10, are again followed. In this case, for positioning the holding elements 3, each of the lateral cross slides 14, 36 is provided with a number of positioning holes 53, into which the holding elements 3 can be fixed. In this way, the holding elements 3 can be adapted as required to the respective workpiece shape of the workpiece 2 to be manipulated. Furthermore, it is also possible to arrange a number of holding elements 3 and, if necessary, holding elements 3 of different sizes. In FIG. 13, it is also shown that the lateral cross slide fixing elements can include pneumatic fixing elements 52. Of course, the adjusting slide fixing elements can also include pneumatic fixing elements 52. Here, a helical supply tube 50 is formed by way of example, which is intended to supply the holding elements 3 with underpressure. Advantageously, the helical supply tube 50 can also be used to supply the pneumatic fixing elements 52. The helical feed tube 50 is passed through the guide portions 42 of the lateral cross slides 14, 36, respectively.

[0088] FIG. 14 shows another embodiment of the gripping device 1 in a three-dimensional view in accordance with the representation of FIG. 12. Here too, reference is made or made to the previous description, in particular the description of FIG. 12, in order to avoid unnecessary repetition. In particular in FIG. 14, energy chains 51 are formed which are supported movably along the first direction 13. Here, the energy chains 51 can be arranged on the support base 4. These energy chains 51 are formed for displacing the adjustment slides 9, 10 and for displacing the guide bars 34, 35. Guided in the energy chains 51 are one or more vacuum tubes 29. These vacuum tubes 29 are also fluidly connected with a helical supply tube 50 which passes through the guide parts 42 of the lateral cross slides 14, 36. In contrast to this, FIGS. 11 and 12 show that the helical supply tube 50 can be arranged on the support base 4 in order to supply the vacuum to the lateral cross slides 14, 36 or to the holding element 3. These helical supply tubes 50 are also in fluid communication with the helical supply tubes 50 which pass through the guide portions 42 of the lateral cross slides 14,36.

[0089] The examples show possible embodiments, and it is noted at this point that the invention is not limited to the specifically illustrated embodiments, but rather the individual embodiments can be combined with one another in various ways, this variation being within the capabilities of a person skilled in the art based on the teachings of the technical practice of the present invention.

[0090] The scope of protection is defined by the claims. However, in order to interpret the claims, the detailed description and the drawings must be taken into account. Individual features and combinations of features of the different embodiments shown and described may in themselves form independent inventive solutions. The problems underlying these independent inventive solutions can be read off from this description.

[0091] All references to ranges of values ​​in the specific descriptions should be understood to include any and all subranges based on that reference, for example, a reference of 1 to 10 should be understood to include all subranges from a lower limit of 1 to an upper limit of 10, i.e., all subranges beginning at a lower limit of 1 or more and ending at an upper limit of 10 or less, such as, for example, 1 to 1.7 or 3.2 to 8.1 or 5.5 to 10.

[0092] Finally, as a formality, some elements have been represented not to scale and / or enlarged and / or reduced in order to make the structure easier to understand. The present application also includes the following aspects. [Aspect 1] A gripping device (1) provided for receiving and releasing again a workpiece (2), preferably in the form of a plate, to be conveyed, A support base (4) having a lower surface (17) and an upper surface (41) opposite to the lower surface (17), the support base (4) has a connection portion (5) on the upper surface (41) or is connectable to a connection portion (5), the connection portion (5) being provided for connecting the gripping device (1) to a manipulator; The support base (4) has at least two adjustable slide guides (11, 12) on the lower surface (17); A plurality of holding elements (3), A workpiece (2) is provided for holding the workpiece (2), Connected to the support base (4), a plurality of holding elements (3) each having a contact surface (7) facing away from the lower surface (17) of the support base (4) and straddling a common contact plane (8); a supply element (27) arranged to activate and deactivate said holding element (3); At least two adjustable slides (9, 10), The adjustment slides (9, 10) are each at least partially received or held in at least one of the adjustment slide guides (11, 12); The adjustment slides (9, 10) are movable relative to the support base (4) along a first direction (13) within the adjustment slide guides (11, 12); at least two adjustment slides (9, 10), at least one of which is provided with at least one lateral guide (15); At least one lateral cross slide (14), At least one holding element (3) is arranged on the lateral cross slide (14), The lateral cross slide (14) is at least partially received or held in the lateral guide (15); the lateral cross slide (14) comprises at least one lateral cross slide (14) movable relative to the adjustment slides (9, 10) along a second direction (16) within the lateral guide (15); In the gripping device (1), the first direction (13) and the second direction (16) are perpendicular to each other. A gripping device (1), characterized in that the guide portion (42) of the at least one lateral cross slide (14) is received or held in the at least one lateral guide (15) and is formed in a profile shape, and the guide portion (42) is linearly extractable within the lateral guide (15). [Aspect 2] The gripping device (1) according to aspect 1, characterized in that at least one of the adjustment slides (9, 10) has two mutually parallel lateral guides (15), a retractable lateral cross slide (14) is accommodated in each lateral guide (15), and at least one of the holding elements (3) is arranged on each lateral cross slide (14), the holding elements (3) being formed on the end portions of the two lateral cross slides (14) facing away from each other. [Aspect 3] The gripping device (1) according to aspect 1 or 2, characterized in that the adjusting slides (9, 10) each comprise an adjusting slide fixing element which is independently operable and which is arranged to releasably fix the adjusting slides (9, 10) to the support base (4) as required, and / or the adjusting slides (9, 10) comprise a lateral cross slide fixing element which is arranged to fix at least one lateral cross slide (14) to the adjusting slides (9, 10) as required. Aspect 4 A gripping device (1) according to any one of aspects 1 to 3, characterized in that at least one first scale (21) is provided on the support base (4) along the first direction (13) and / or a second scale (23) is provided on at least one lateral cross slide (14) along the second direction (16), the first scale (21) and the second scale (23) being preferably arranged parallel to the contact plane (8) and visible when looking at the underside (17) of the support base (4). Aspect 5 5. The gripping device (1) according to aspect 3 or 4, characterized in that the adjusting slide fixing element is provided as an adjusting slide detent element (18) and / or the lateral cross slide fixing element is provided as a lateral cross slide detent element (22), the support base (4) comprises a plurality of detent recesses equidistantly spaced from one another along the first direction (13), the detent elements of the adjusting slide detent element (18) being engageable with the detent recesses of the support base (4), the at least one lateral cross slide (14) comprises a plurality of detent recesses equidistantly spaced from one another along the second direction (16), and the detent elements of the lateral cross slide detent element (22) being engageable with the detent recesses of the lateral cross slide (14). Aspect 6 The gripping device (1) according to aspect 5, characterized in that the detent element of the adjustment slide detent element (18) and / or the detent element of the lateral cross slide detent element (22) are provided as bolts (19), which are engageable with the detent recesses of the support base (4) and / or the detent recesses of the lateral cross slide (14). Aspect 7 The gripping device (1) according to any one of aspects 3 to 6, characterized in that the adjusting slide fixing element has at least one screw (47) and a clamping force can be applied between one of the adjusting slides (9, 10) and the support base (4) by means of the at least one screw (47) and / or the lateral cross slide fixing element has at least one screw (47) and a clamping force can be applied between the at least one lateral cross slide (14) and one of the adjusting slides (9, 10) by means of the at least one screw (47). Aspect 8 8. The gripping device (1) according to any one of aspects 3 to 7, characterized in that the adjusting slide fixing element has at least one clamp lever (48), eccentric lever (49) or tension lever by means of which a clamping force can be applied between the adjusting slide (9, 10) and the support base (4) and / or the lateral cross slide fixing element has at least one clamp lever (48), eccentric lever (49) or tension lever by means of which a clamping force can be applied between the at least one lateral cross slide (14) and one of the adjusting slides (9, 10). Aspect 9 The gripping device (1) according to any one of aspects 3 to 8, characterized in that the adjustment slide fixing element and / or the lateral cross slide fixing element comprises a pneumatic fixing element (52). Aspect 10 A gripping device (1) according to any one of aspects 1 to 9, characterized in that the adjusting slide guides (11, 12) are provided as prism tracks for form-fitting engagement with portions of the adjusting slides (9, 10), in particular, the adjusting slide guides (11, 12) are provided as prism tracks for form-fitting engagement with portions of the adjusting slides (9, 10). Aspect 11 A gripping device (1) according to any one of aspects 1 to 10, characterized in that the guide portion (42) of the at least one lateral cross slide (14) at least partially comprises a hollow profile portion (45), which is provided as a negative pressure duct (30), which is fluidly connected to the supply element (27) and to at least one holding element (3) arranged on the lateral cross slide (14). Aspect 12 A gripping device (1) according to any one of aspects 1 to 11, characterized in that at least one spiral supply tube (50) is provided, said at least one spiral supply tube (50) being provided for applying negative pressure to at least one holding element (3). Aspect 13 The gripping device (1) described in aspect 12, characterized in that the at least one spiral supply pipe (50) is at least partially penetrated by the guide portion (42) of the at least one lateral cross slide (14). Aspect 14 The gripping device (1) according to any one of aspects 1 to 13, characterized in that the supply element (27) has a valve terminal (28) which is fluidly connected to the holding element (3) via a shut-off valve. Aspect 15 15. The gripping device (1) according to any one of aspects 1 to 14, characterized in that a further adjusting slide (33) is provided, the further adjusting slide (33) having a first guide bar (34) and a second guide bar (35), the first guide bar (34) and the second guide bar (35) being movable along the first direction (13), in particular guided by through passages provided in the end faces (39, 40) of the support base (4) or by a prismatic or profiled track in the support base (4), the further adjusting slide (33) being linearly withdrawable relative to the support base (4) along the first direction (13) by means of the first guide bar (34) and the second guide bar (35). Aspect 16 The gripping device (1) according to aspect 15, characterized in that at least one further lateral cross slide (36) is provided, on which at least one holding element (3) is arranged, the at least one further lateral cross slide (36) is at least partially accommodated in a lateral guide (15) of a further adjusting slide (33) and is movable along the second direction (16) relative to the further adjusting slide (33) in the lateral guide (15), and the guide part (42) of the further adjusting slide (33) is accommodated in the at least one lateral guide (15) and has a profile shape, in particular a hollow profile shape, and the guide part (42) is linearly extractable in the lateral guide (15). Aspect 17 The gripping device (1) described in aspect 16, characterized in that a negative pressure pipe (37) is arranged parallel to the first guide bar (34) and the second guide bar (35) and can be pulled out linearly relative to the support base (4), the negative pressure pipe (37) is fluidly connected to the supply element (27) and is fluidly connected to the at least one holding element (3) arranged on the other lateral cross slide (36) arranged on the other adjustment slide (33). Aspect 18 The gripping device (1) according to any one of aspects 15 to 17, characterized in that at least one spiral supply tube (50) is at least partially penetrated by at least one of the first guide bar (34) and the second guide bar (35) of the adjustment slide (9, 10), or the at least one spiral supply tube (50) is arranged between the two first guide bars (34) and the second guide bars (35). Aspect 19 A gripping device (1) according to any one of aspects 1 to 18, characterized in that at least one energy chain (51) supported movably along the first direction (13) is provided, the energy chain (51) being provided for moving the adjustment slide (9, 10) and / or for moving the first guide bar (34) and the second guide bar (35), and at least one negative pressure tube (29) is guided within the energy chain (51). Aspect 20 A manipulator having a gripping device (1) arranged to receive and release again a workpiece (2) to be transported, preferably in the form of a plate, The manipulator, wherein the gripping device (1) is provided according to any one of aspects 1 to 19. [Explanation of symbols] [Explanation of symbols]

[0093] 1 Gripping device 2 Workpiece 3 Retention elements 4 Support stand 5 Connection 6 Articulated Arm 7 Contact surface 8 contact plane 9 Adjustment Slide 10 Adjustment Slide 11 Adjustment slide guide 12 Adjustment slide guide 13 1st direction (X direction) 14 Lateral Cross Slide 15 Horizontal guide 16 Second direction (Y direction) 17 Bottom side 18 Adjustable Slide Detent Element 19 Volts 20 Locking hole 21 First Scale 22 Lateral cross-slide detent element 23 Second Scale 24 Locking hole 25 racks 26 Tooth space 27 Supply factors 28 Valve terminal 29 Negative pressure tube 30 Negative pressure duct 31 Negative pressure pipe 32 Seal 33 Alternative Adjustment Slide 34 Guide bar 35 Guide bar 36 Another lateral cross slide 37 Negative Pressure Pipe 38 Length 39 End face 40 End face 41 Top side 42 Guide section 43 Horizontal axis 44 Center of Retaining Element 45 Hollow profile section 46 direction display 47 Screw 48 Clamp lever 49 Eccentric Lever 50 spiral supply tube 51 Energy Chain 52 Pneumatic fixing element 53 Positioning hole

Claims

1. A gripping device (1) provided for receiving and releasing again a workpiece (2), preferably in the form of a plate, to be conveyed, A support base (4) having a lower surface (17) and an upper surface (41) opposite to the lower surface (17), a support base (4) having a connection portion (5) on said upper surface (41) or connectable to said connection portion (5), said connection portion (5) being provided for connecting said gripping device (1) to a manipulator; A plurality of holding elements (3), A holding device is provided for holding the workpiece (2), Connected to the support base (4), a plurality of holding elements (3) each having a contact surface (7) facing away from the lower surface (17) of the support base (4) and straddling a common contact plane (8); a supply element (27) arranged to activate and deactivate said holding element (3), The support base (4) is provided with at least two adjustable slide guides (11, 12) on the lower surface (17); At least two adjustment slides (9, 10) are provided, The adjustment slides (9, 10) are each at least partially received or held in at least one of the adjustment slide guides (11, 12); the adjusting slides (9, 10) are movable relative to the support base (4) along a first direction (13) within the adjusting slide guides (11, 12); At least one of said adjustment slides (9, 10) is provided with at least one lateral guide (15), At least one lateral cross slide (14) is provided, At least one holding element (3) is arranged on the lateral cross slide (14), The lateral cross-slide (14) is at least partially received or held in the lateral guide (15); the lateral cross slide (14) is movable relative to the adjustment slides (9, 10) along a second direction (16) within the lateral guide (15); The first direction (13) and the second direction (16) are perpendicular to each other, a guide portion (42) of the at least one lateral cross slide (14) is received or held in the at least one lateral guide (15) and is formed with a profile shape; The gripping device (1), characterized in that the guide part (42) is linearly extractable within the lateral guide (15).

2. 2. The gripping device (1) according to claim 1, characterized in that at least one of the adjustment slides (9, 10) is provided with two mutually parallel lateral guides (15), a retractable lateral cross slide (14) is accommodated in each lateral guide (15), and at least one of the holding elements (3) is arranged on each lateral cross slide (14), the holding elements (3) being formed on the end portions of the two lateral cross slides (14) facing away from each other.

3. 3. The gripping device (1) according to claim 1 or 2, characterized in that the adjusting slides (9, 10) each comprise an adjusting slide fixing element which is independently operable and which is arranged to releasably fix the adjusting slides (9, 10) to the support base (4) as required, and / or the adjusting slides (9, 10) comprise a lateral cross slide fixing element which is arranged to fix at least one of the lateral cross slides (14) to the adjusting slides (9, 10) as required.

4. 4. The gripping device (1) according to claim 3, characterized in that the adjusting slide fixing elements of the adjusting slides (9, 10) are provided as adjusting slide detent elements (18) and / or the lateral cross slide fixing elements of the adjusting slides (9, 10) are provided as lateral cross slide detent elements (22), the support base (4) comprises a plurality of detent recesses equidistantly spaced from one another along the first direction (13), the detent elements of the adjusting slide detent element (18) being engageable in the detent recesses of the support base (4), and the at least one lateral cross slide (14) comprises a plurality of detent recesses equidistantly spaced from one another along the second direction (16), the detent elements of the lateral cross slide detent element (22) being engageable in the detent recesses of the lateral cross slide (14).

5. 5. The gripping device (1) according to claim 4, characterized in that the detent element of the adjusting slide detent element (18) and / or the detent element of the lateral cross slide detent element (22) are provided as bolts (19), which are engageable in the detent recesses of the support base (4) and / or the detent recesses of the lateral cross slide (14).

6. 4. The gripping device (1) according to claim 3, characterized in that the adjusting slide fixing elements of the adjusting slides (9, 10) have at least one screw (47) and a clamping force can be applied between one of the adjusting slides (9, 10) and the support base (4) by means of the at least one screw (47) and / or the lateral cross slide fixing elements of the adjusting slides (9, 10) have at least one screw (47) and a clamping force can be applied between the at least one lateral cross slide (14) and one of the adjusting slides (9, 10) by means of the at least one screw (47).

7. 4. The gripping device (1) according to claim 3, characterized in that the adjusting slide fastening elements of the adjusting slides (9, 10) have at least one clamping lever (48), eccentric lever (49) or tension lever by means of which a clamping force can be applied between the adjusting slide (9, 10) and the support base (4) and / or the lateral cross slide fastening elements of the adjusting slides (9, 10) have at least one clamping lever (48), eccentric lever (49) or tension lever by means of which a clamping force can be applied between the at least one lateral cross slide (14) and one of the adjusting slides (9, 10).

8. 4. The gripping device (1) according to claim 3, characterized in that the adjusting slide fastening elements of the adjusting slides (9, 10) and / or the lateral cross-slide fastening elements of the adjusting slides (9, 10) comprise pneumatic fastening elements (52).

9. A gripping device (1) as claimed in any one of claims 1 to 3, characterized in that at least one first scale (21) is provided on the support base (4) along the first direction (13) and / or a second scale (23) is provided on at least one lateral cross slide (14) along the second direction (16), the first scale (21) and the second scale (23) being preferably arranged parallel to the contact plane (8) and visible when looking at the underside (17) of the support base (4).

10. The gripping device (1) according to any one of claims 1 to 9, characterized in that the adjusting slide guides (11, 12) are provided as prism tracks for form-fitting engagement with parts of the adjusting slide (9, 10), in particular the adjusting slide guides (11, 12) are provided as prism tracks for form-fitting engagement with parts of the adjusting slide (9, 10).

11. 11. The gripping device (1) according to claim 1, characterized in that the guide portion (42) of the at least one lateral cross-slide (14) at least partially comprises a hollow profile portion (45), which is provided as a negative pressure duct (30), which is fluidly connected to the supply element (27) and to at least one holding element (3) arranged on the lateral cross-slide (14).

12. The gripping device (1) according to any one of claims 1 to 11, characterized in that at least one spiral supply tube (50) is provided, said at least one spiral supply tube (50) being provided for applying a negative pressure to the at least one holding element (3).

13. 13. The gripping device (1) according to claim 12, characterized in that the at least one helical supply pipe (50) is at least partially penetrated by the guide part (42) of the at least one lateral cross-slide (14).

14. The gripping device (1) according to any one of claims 1 to 13, characterized in that the supply element (27) has a valve terminal (28) which is fluidly connected to the holding element (3) via a shut-off valve.

15. 15. The gripping device (1) according to claim 1, characterized in that a further adjusting slide (33) is provided, which has a first guide bar (34) and a second guide bar (35), which are movable along the first direction (13), in particular guided by through passages provided in the end faces (39, 40) of the support base (4) or by a prismatic or profiled track in the support base (4), and in that the further adjusting slide (33) can be linearly withdrawn relative to the support base (4) along the first direction (13) by means of the first guide bar (34) and the second guide bar (35).

16. 16. The gripping device (1) according to claim 15, characterized in that at least one further lateral cross slide (36) is provided, on which at least one holding element (3) is arranged, the at least one further lateral cross slide (36) is at least partially accommodated in a lateral guide (15) of the further adjusting slide (33) and is movable along the second direction (16) relative to the further adjusting slide (33) in the lateral guide (15), and a guide part (42) of the further lateral cross slide (36) is accommodated in the at least one lateral guide (15) and has a profile shape, in particular a hollow profile shape, and the guide part (42) is linearly extractable in the lateral guide (15).

17. 17. The gripping device (1) according to claim 16, characterized in that a negative pressure pipe (37) is arranged parallel to the first guide bar (34) and to the second guide bar (35) and can be withdrawn linearly relative to the support base (4), the negative pressure pipe (37) being fluidly connected to the supply element (27) and to the at least one holding element (3) arranged on the further lateral cross slide (36) arranged on the further adjustment slide (33).

18. The gripping device (1) according to any one of claims 15 to 17, characterized in that at least one spiral supply pipe (50) is at least partially passed through at least one of the first guide bar (34) and the second guide bar (35) of the adjustment slide (9, 10) or the at least one spiral supply pipe (50) is arranged between the two first guide bars (34) and the second guide bars (35).

19. 19. The gripping device (1) according to claim 1, characterized in that at least one energy chain (51) supported movably along the first direction (13) is provided, which energy chain (51) is provided for moving the adjusting slide (9, 10) and / or for moving a first guide bar (34) and a second guide bar (35) of a further adjusting slide (33), and at least one negative pressure tube (29) is guided in the energy chain (51).

20. A manipulator having a gripping device (1) arranged for receiving and releasing again a workpiece (2) to be transported, preferably in the form of a plate, Manipulator, characterized in that the gripping device (1) is provided according to any one of claims 1 to 19.

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