Gripping tool, system and clamping tool, exchange station and method for handling objects using said system or clamping tool - Patents.com

Abstract

The present invention relates to a gripping tool, system, clamping tool, and method for handling an object, wherein the gripping tool includes a transmission mechanism disposed within a housing, the transmission mechanism coupled to a plurality of arms positioned outside the housing. One or more gripping elements are disposed on each arm. The gripping elements are releasably coupled to the arms to allow for quick and easy repositioning and / or replacement of the gripping elements. An exchange station can be used to reposition or replace the gripping elements.

Description

[Technical field]

[0001] The present invention relates to a gripping tool, preferably a gripping tool with multiple gripping elements, configured to be coupled to a machine arm or disposed on a surface, the gripping tool comprising a plurality of arms rotatably connected to a housing of the gripping tool, each arm having at least one gripping point for gripping an object. [Background technology]

[0002] It is known to use a gripping tool mounted on a robot arm of a robot for handling objects during assembly, processing, sorting and packaging. The gripping tool is fitted with two or more gripping arms, each designed to grip a specific object at a gripping point. The gripping arms are configured to move between various positions during the gripping process, where the operation of the gripping tool is controlled by a local controller in the robot unit. Optionally, the local controller can receive commands from a central controller.

[0003] The robot arm, including each interface, is fitted with one or more joints, each of which provides the robot arm with at least a certain degree of freedom (DOF). Typically, robot arms have 5-7 DOF, although some robot arms only have 2 or 3 DOF. The design of the gripping tool as well as the robot unit are selected based on the size, shape and weight of the object intended to be handled by the robot unit.

[0004] It is known to use sensors and / or cameras to monitor the axial movement of the robot arm and thus the gripping tool. Signals from these sensors or cameras are then used by a local controller to properly position the gripping arm in relation to a particular object. The local controller may alternatively use a two-dimensional or three-dimensional map of the object to position the gripping tool.

[0005] US Patent Publication No. 2013 / 0341944 by Robert Bosch GmbH discloses a gripping device for handling robots with a protection device, the gripping device including three arms all connected to a common transmission mechanism arranged in its housing. Each arm has an elongated body extending in a radial plane, one end of which is connected to a rotating shaft of the transmission mechanism by a clamping arrangement and the other end of which is connected to a gripping finger. The gripping finger is connected to the arm by means of a snap-in connection designed to provide a safety overload protection. The arm has an open recess in a lateral surface to accommodate the finger, which is held in place by the snap-in connection.

[0006] The arm must be manually replaced with a longer arm to grip very large objects. A sensor must be disposed in the arm to detect an overload condition on the fingers, which is used by the controller to trigger an emergency stop of the gripping device to prevent the fingers from being forced out of engagement with the arm.

[0007] EP 2390068 B1 by Schunk GmbH discloses a gripping device with three arms all connected to a pneumatically operated transmission mechanism, each arm having an L-shaped body, where the bend between the legs faces outward from a central longitudinal axis. One leg of the arm is connected to a rotating shaft of the transmission mechanism, and the other leg of the arm is connected at its free end to a gripping finger. The gripping finger is disposed on the side of the arm that is rotated to contact the object. The arm is fixed in relation to the rotating shaft by a locking pin disposed in a recess in both the rotating shaft and the arm. The gripping device is stated to be capable of gripping circular objects with an outer diameter of 0-100 mm and annular objects with an inner diameter of 10-125 mm.

[0008] However, the '611 patent is silent about how the gripping fingers are held in place within their respective arms, nor does it allude to or suggest interchangeability of the gripping fingers. The illustrated configuration suggests that the gripping fingers are rigidly attached to or form an integral part of the arms.

[0009] Another example of a gripping device is the Model 3FG15 manufactured by OnRobot, which includes three arms all connected to a common transmission mechanism inside the housing. Each arm has a generally L-shaped body extending in a longitudinal plane, where one end is fitted with a small disk connected to a rotating shaft of the transmission mechanism. The gripping device has a gripping range of 20-160 mm, but the arms must be moved manually in relation to the disk to operate the gripping fingers within the full gripping range. Furthermore, the gripping fingers are held in place by screws, thus requiring tools to replace the gripping fingers as well.

[0010] Gripping devices with similar arms extending in a longitudinal plane are disclosed in CN103963067, US4598942 and US4765669. In the above-mentioned gripping devices, the gripping process is performed in a radial plane. CN103963067, US4598942 and US4765669 further disclose that each finger is slidably disposed in a recess in the front plate, where a socket is mounted on the top of the finger and a ball is mounted in the socket for engaging with a matching recess in an internal disk located above the finger.

[0011] EP 0 074 542 A1 discloses a gripping tool with three rotatable arms each coupled to a rotating shaft of a rotating mechanism. A stop element with three radial fingers is attached to the center of the gripping tool, where each gripping finger abuts the inner curvature of the radial fingers. The arms of EP 0 074 542 A1 have a single recess for receiving the gripping fingers, where a small screw on the arm is used to lock the gripping fingers inside the recess.

[0012] DE 3312673 A1 discloses a gripping tool including a drive mechanism arranged inside a housing, the drive mechanism being connected to three arms on which gripping fingers are attached. The arms are clamped onto respective rotating shafts, and the gripping fingers are screwed onto the opposite ends of the respective arms. Therefore, a tool is required when replacing the gripping fingers.

[0013] Therefore, a need exists for a gripping or clamping tool with improved flexibility, range of motion and lifting capabilities. [Prior art documents] [Patent documents]

[0014] [Patent Document 1] US Patent Application Publication No. 2013 / 0341944 [Patent Document 2] European Patent No. 2390068 [Patent Document 3] China Patent Application Publication No. 103963067 [Patent Document 4] US Patent Publication No. 4,598,942 [Patent Document 5] US Patent Publication No. 4,765,669 [Patent Document 6] European Patent Application Publication No. 0074542 [Patent Document 7] DE 3312673 A1 Summary of the Invention [Problem to be solved by the invention]

[0015] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide a gripping tool which is able to solve the above-mentioned problems.

[0016] Another object of the present invention is to provide a gripping tool that is operable within the entire gripping range.

[0017] It is a further object of the present invention to provide a gripping tool that allows adjustment of the gripping finger position without the use of tools.

[0018] It is a further object of the present invention to provide a gripping tool that allows for easy replacement of gripping fingers. [Means for solving the problem]

[0019] The object of the present invention is to provide a gripping tool for handling objects during a process, comprising: - a housing defining a longitudinal axis of the gripping tool; a drive mechanism disposed with the housing; - an interface disposed at one end of the housing, the interface being configured to be coupled to a matching interface of a machine or disposed on a surface; - a plurality of arms disposed at opposite ends of the housing, each arm including at least one gripping element configured to contact an object, where each arm is configured to be rotated about an axis of rotation upon actuation by a drive mechanism to contact or disengage from the object in a radial plane perpendicular to the longitudinal axis, each arm including a body extending from a first end to a second end and having a top side, a bottom side, a first side and a second side; A gripping tool comprising: - a gripping tool, characterized in that each arm comprises an assembly position for at least one gripping element arranged on the top side, and the at least one gripping element is releasably connected to the arm via a quick-release coupling.

[0020] The term "releasably connected" should be understood herein as a gripping element and arm specifically designed to be detached to allow replacement or repositioning of the gripping element, and the term "quick release" should be understood as a connection that can be operated without the use of tools such as a screwdriver or wrench.

[0021] This provides an alternative design of a gripping tool for robotic or clamping applications that has improved flexibility compared to conventional gripping tools of the same type, has a compact and lightweight design, and offers increased lifting capabilities.

[0022] The gripping tool has a protective housing extending longitudinally from a first end to a second end. The housing also extends radially and forms an outer surface and an inner surface, where the inner surface, the first and second ends together form an internal chamber. The housing may be made of any suitable material, preferably a lightweight material, such as a plastic material, a fiber-reinforced material or a metal, such as aluminum or stainless steel. In this way, the drive mechanism, electrical components and other sensitive components can be shielded from dust, moisture, harmful gases and other particles present in the environment in which the gripping tool is installed.

[0023] The first end may be adapted to form an interface for assembling the gripping tool to a machine or adapter element, as described below. The interface may include coupling elements for supplying pressurized air or oil, power and / or control signals to the gripping tool. This allows the gripping tool to be powered by an external energy source, thus saving weight and cost. This also allows for simple and quick assembly of the gripping tool. Alternatively, the gripping tool may include an internal energy source, such as a battery, a photovoltaic cell, or a combination thereof.

[0024] The second end may include an end plate for closing the internal chamber. A rotating shaft may extend through the end plate, allowing the arm to be coupled to a drive mechanism. An opening in the end plate may be further sealed to prevent dust, moisture, harmful gases and other particles from entering the internal chamber. Alternatively, the arm may be coupled to a pin protruding from the end plate, and an actuator may be coupled to the arm to actuate the arm. A linear actuator, a hydraulic actuator, a pneumatic actuator, or an electromechanical actuator may be used to rotate the arm about the protruding pin. This allows only electrical cables or fluid hoses to extend through the end plate, thus enhancing the sealing of the end plate.

[0025] Each arm has a body extending from a first end to a second end within a radial plane. The first end is configured to be coupled to a rotating shaft or protruding pin to allow the arm to rotate within the radial plane. The second end forms a free end of the arm. The body further has a top side, a bottom side, a first side and a second side. When in the retracted position, the second end is positioned within a minimum radial distance from a central longitudinal axis of the housing and thus the gripping tool. When in the extended position, the second end is positioned within a maximum radial distance from the central longitudinal axis.

[0026] Each arm may be arranged relative to an end plate and may rotate about a local axis of rotation defined by its rotation shaft or protruding pin. At least two arms, preferably three arms, are coupled to a drive mechanism or individual actuator. The local axis of rotation for each arm may be located at a constant radial distance, preferably an equal radial distance, from the longitudinal axis. The radial plane may be located at a constant longitudinal distance from the machine interface. Due to the compact and lightweight design, this longitudinal distance is reduced to a minimum, which allows for a higher lifting capacity.

[0027] The gripping element can have a recess disposed in an outer surface that is shaped to engage with at least one protruding flange on the replacement station. The recess can be positioned at a top end of the gripping element. The at least one flange can be disposed within a recess in the replacement station, where the recess can be shaped to receive the top end of the gripping element. This allows the gripping element to be positioned within the replacement station when not in use or during repositioning.

[0028] An actuating element on the gripping finger may be engaged when the gripping finger is moved into the recess, automatically unlocking the coupling. The gripping finger may be moved, e.g., slid, along the recess until the flange engages the recess on the gripping finger, allowing the gripping finger to remain in its unlocked state. The arm may then be removed from the gripping finger, or vice versa, allowing the gripping finger to be repositioned or replaced.

[0029] The size and shape of the recesses can be adapted to the particular design of the gripping fingers. Alternatively, the recesses can be shaped to accommodate different shapes of gripping fingers.

[0030] According to one embodiment, one of the first and second connecting portions is a hole and the other is a pin protruding from a surface of the arm or gripping element.

[0031] The configuration of the release connection may be adapted to the shape and size of the arms and / or gripping elements, or alternatively, the configuration of the release connection may be standardized to accommodate different designs of arms and / or gripping elements.

[0032] In one embodiment, the mounting points may be formed by a plurality of individual holes arranged in the top surface of the arm. Alternatively, the mounting points may be formed by elongated holes, in which case it is possible to place the gripping element at any position along the local length of the elongated hole. The holes or elongated holes may be cavities (non-through holes) or through holes. The elongated holes may include splices having a plurality of slots each defining a selective position for the gripping element. An optional flange may be arranged inside the hole, which protrudes from the inner surface of the hole. The hole or the internal flange may thus act as a first connecting part.

[0033] The gripping element may include a pin protruding from a bottom surface of the gripping element. The pin may be configured to be inserted into the aforementioned hole on the arm. The pin may form an internal chamber in which the release element may be disposed. The locking element may be disposed in a local outer surface on the pin and may interact with the release element. The pin may have a local height smaller than the local depth of the hole such that the locking element is hidden inside the hole. The pin may also have a local height larger than the local depth of the hole such that the locking element may contact the bottom surface of the arm. The pin may thus act as a second coupling part.

[0034] In another embodiment, the mounting points may be formed by a plurality of individual pins, e.g. clamp pins, arranged on the top surface of the arm. The pins may be formed integrally with the arm or may be attached to the arm. The pins may have a local recess arranged in a local outer surface for partially accommodating a locking element on the gripping element. Thus, the pins may act as a first coupling part.

[0035] The gripping element may include a cavity disposed in a bottom surface configured to receive the above-mentioned pin on the arm. The cavity may thus act as a second coupling part. The gripping element may form an internal chamber in which the release element may be disposed. Alternatively, the release element may be a movable sleeve disposed on an outer surface of the gripping element. The locking element may be disposed on or in an inner surface of the cavity and interact with the release element.

[0036] However, other configurations of quick release connections may be used as well.

[0037] According to one embodiment, at least a first gripping element is shaped as a finger or elongated gripping element extending along at least a portion of the length of the arm.

[0038] Preferably, the gripping elements may be shaped as gripping fingers having a predetermined cross-section and a predetermined contour along its longitudinal axis. The gripping fingers may have any suitable cross-sectional and / or longitudinal contour. In examples, the gripping fingers may have a circular, elliptical, polygonal, triangular, rectangular or another suitable cross-section. The gripping elements may have a constant contour along their longitudinal axis, or alternatively, the contour may vary along the longitudinal axis. This allows the gripping fingers to have a body adapted to contact one or more desired types of objects.

[0039] The gripping element may be shaped as an elongated gripping element having a predetermined profile. The elongated gripping element may extend longitudinally from a local first end to a local second end and further extend heightwise from a bottom side to a top side. The elongated gripping element may have a stepped profile that tapers from the first end to the second end or vice versa.

[0040] The arms and / or the gripping elements may be made of any suitable material, preferably a lightweight material, such as a plastic material, a fiber-reinforced material or a metal, such as aluminum or stainless steel. However, other materials can also be used. Furthermore, the gripping elements may be covered with a soft material, a material with a higher coefficient of friction than the rest of the gripping element, or a material with a rough surface or surface microstructure. Alternatively, the gripping elements may be made of a soft material, a material with a high coefficient of friction, or a material with a rough surface or surface microstructure. Such materials are known to the person skilled in the art and will not be described in further detail.

[0041] The number of gripping elements on each arm can be selected depending on the particular application and size of the object. For example, a single gripping element or multiple gripping elements can be disposed on an arm. The gripping elements can extend perpendicular to the radial plane or can be disposed at an angle to the radial plane.

[0042] The local position of the gripping element on the arm can be adapted to the particular application and dimensions of the object. Optionally, the free end of the arm, for example the second end, can also act as a gripping element. This allows the gripping tool to grip objects of different sizes and shapes.

[0043] The first gripping element can be disposed at an outermost position on the arm, for example at the second end, which allows the gripping tool to grip large objects. Alternatively or additionally, one or more second gripping elements can be disposed at one or more intermediate or innermost positions on the arm, which allows the gripping tool to grip small and medium objects.

[0044] According to one embodiment, at least the first gripping element is configured to be moved through the full gripping range of the gripping tool while maintaining each arm in the same radial position relative to each axis of rotation.

[0045] Unlike conventional gripping tools, the present gripping tool is operable within its entire gripping range without having to adjust the radial position of the arms.

[0046] This may be accomplished by having two or more gripping elements on each arm, where the innermost gripping element can be rotated to a minimum gripping position and the outermost gripping element can be rotated to a maximum gripping position, the minimum and maximum gripping positions together defining the maximum or total gripping range of the gripping tool.

[0047] When a single gripping element is attached to an arm, the retracted and extended positions of the arm together define a local gripping range for the gripping tool, and the gripping tool can be operated within the entire gripping range by simply repositioning the gripping element.

[0048] The object of the invention is also to provide a system adapted for handling an object during a process, comprising: - a machine configured to process an object; Including, - the machine includes at least one interface configured to be coupled to at least one tool as described above; the machine further includes an energy source for powering said gripping tool and a controller configured to control the operation of at least said gripping tool, This is also achieved by the system.

[0049] Thus, a system with improved gripping flexibility and increased lifting capacity is provided, which is capable of gripping objects of different sizes and shapes without the use of tooling, simply by replacing or repositioning the gripping elements.

[0050] The first end of the gripping tool can be assembled on the machine without tools, for example by means of a screw connection or a release connection. Alternatively, fasteners can be used to assemble the gripping tool to the machine. The gripping tool can thus be driven by an energy source located in the machine. This also allows for easy and quick assembly of the gripping tool.

[0051] The machine includes a matching interface configured to be coupled to the interface of the upper gripping tool. The interface may further include electrical and / or hose coupling elements for connecting the drive mechanism of the gripping tool to an energy source in the machine. The energy source may be configured to provide pneumatic, hydraulic or electric power to the gripping tool. This allows power to be provided to the gripping tool via the machine.

[0052] The machine further includes a controller configured to control the operation of at least the gripping tool. The machine may be fitted with suitable means for manipulating, machining and / or processing the object. The operation of these means may likewise be controlled by the controller. The gripping tool may load an object into the machine, hold the object during a process and / or unload a processed object from the machine. The machine may be any machine in which the gripping tool is used and in which a process is performed on an object or in which the object forms part of the process.

[0053] Optionally, the controller may be electrically connected to one or more sensors in the gripping tool via an interface, and the controller may use these sensor signals to control the axial movement of the gripping tool and / or the actuation of the gripping elements.

[0054] According to one embodiment, the machine is a robotic unit with at least one robotic arm, where the robotic arm extends from a base end to a free end and a matching interface is located at the free end of the robotic arm.

[0055] The robot unit, i.e., the first robot unit, includes one or more robot arms each extending from a base end to a free end. The robot arms may include one or more joints to allow movement in multiple axes. The controller is further configured to control the movement of the robot arms and also the movement of a gripping tool attached to the robot arms. Thus, the robot tool may have a compact and lightweight configuration.

[0056] The controller may be connected to a user interface configured to allow an operator or an artificial intelligence (AI) to program and / or operate the robotic unit. The user interface may be a user terminal located on the robotic unit. The user interface may also be a remote terminal or computing device. The robotic unit may be programmed and operated using known techniques or AI systems.

[0057] The machine or robot unit may be fitted with one or more sensors for sensing the axial movement of the tool. The sensors may be accelerometers, gyroscopes or other suitable sensors, allowing the controller to monitor the axial movement of the robot arm and therefore the tool based on signals from these sensors.

[0058] Alternatively or additionally, the gripping tool may be fitted with one or more sensors for detecting the position of the gripping tool relative to the object. The sensors may be visual, tactile, ultrasonic, proximity, force-torque or another suitable sensor. The sensors may be electrically connected to the controller via an interface. This allows the controller to correctly position the gripping tool relative to the object based on the sensor signals. The controller may optionally use a two-dimensional or three-dimensional map of the object to correctly position the gripping tool.

[0059] The controller can adjust the position of the gripping tool so that it is aligned with the center of gravity of the object. The controller can use signals from the force torque sensors to detect any misalignment between the gripping tool and the object and / or any load that extends the safety threshold. The controller can then reposition the gripping tool accordingly. Alternatively, the object can be gripped even if there is a misalignment of the gripping tool. The local controller can then compensate for the misalignment by adjusting the orientation of the object.

[0060] The object of the invention is also to provide a clamping tool adapted for handling an object during a process, the clamping tool being adapted to be disposed on a surface, the clamping tool comprising: - a gripping tool as described above, - a local controller configured to control operation of the gripping tool, the local controller being electrically connected to at least one of the remote user interface or the local user interface; - at least one of the coupling elements configured to be coupled to a local or external energy source, the local or external energy source being configured to power the clamping tool; and This is achieved by a clamping tool including:

[0061] Thus, a gripping tool is provided that has improved gripping flexibility and increased lifting capabilities, that is capable of gripping objects of different sizes and shapes, and that is adapted to be disposed on different surfaces to facilitate its placement.

[0062] The clamping tool may include couplings for supplying pressurized air or oil, power and / or control signals to the gripping tool. This allows the gripping tool to be powered by an external energy source, thus saving weight and cost. Alternatively, the gripping tool may include an internal energy source, such as a battery, photovoltaic cell, or a combination thereof. This allows the gripping tool to be configured as a stand-alone unit.

[0063] The clamping tool has a local controller, for example disposed within the gripping tool and configured to control the operation of the clamping tool, and is electrically connected to the energy source. The local controller may be a microprocessor, an electrical circuit, a programmable logic circuit, or another suitable controller. The local controller may further be electrically connected to the sensors within the gripping tool mentioned above, where the local controller uses these sensor signals to control the operation of the gripping tool.

[0064] According to one embodiment, the clamping tool further includes an adapter element having a bottom surface shaped to be disposed on a surface, the adapter element further having a top surface configured to be coupled to or integrated into an interface of the gripping tool.

[0065] The housing and optionally the first end of the gripping tool may be made of a heavy material, such as cast iron or steel, or may have an increased wall thickness, so that the first end forming the interface may simply be shaped to rest on a particular surface, such as a table.

[0066] The first end may also be shaped as a bracket configured to be assembled onto a surface by fasteners, or a clamping tool may be used to secure the bracket to the surface. The first end may alternatively include a suction cup, high friction pad, magnets and / or spikes. This allows the clamping tool to be placed on low friction surfaces, inclined surfaces, and even vertical surfaces.

[0067] The clamping tool may further include an adapter element configured to be attached to the first end of the gripping tool, or alternatively, the adapter element may be integrated within the first end. The adapter element may have a bottom side shaped to be brought into contact with a surface. The adapter element may further have a top side shaped to be attached to the gripping tool or shaped to form the first end of a housing for the gripping tool. The adapter element may be configured to allow the gripping tool to be properly oriented in relation to the surface.

[0068] The bottom and top sides may be disposed parallel or at an angle such that the gripping tool is tilted relative to the surface. The adapter element may include an adjustable mechanism such that the top side can be tilted about one or more tilt axes. This allows the gripping tool to be properly oriented relative to the surface so that the object is optimally positioned for processing.

[0069] The gripping tool further includes a user interface configured to allow an operator to operate the gripping tool. The user interface may be a user terminal, a graphical user interface, a push button or another suitable user interface. Alternatively or additionally, the gripping tool may include a wireless transceiver, e.g. an antenna, for wireless communication with a remote device, e.g. a user terminal or a computing device. The computing device may be a tablet, a smart phone, a laptop, a PDA, a phablet, or another suitable computing device. The computing program or application may be configured to run on the computing device and thus communicate with the local controller via suitable control signals. This allows the operator to operate the gripping tool, preferably intuitively.

[0070] The object of the invention is also to provide an exchange station adapted to interact with a gripping tool as described above, comprising: - a supporting element; - at least one retaining element disposed on a top surface of the support element, the at least one retaining element being configured to engage with a matching retaining element on the at least one gripping element; This is accomplished by an exchange station including:

[0071] This increases the versatility of the gripping tool, since it can be used in conjunction with a replacement station to reposition and / or replace the gripping elements. The replacement station can temporarily hold the gripping elements during repositioning. The replacement station can also hold a gripping element kit for the purpose of replacing the gripping elements on the gripping tool.

[0072] The support element includes a top surface having one or more holding positions for holding one or more gripping elements. Each holding position can be dedicated to holding a gripping element having a specific design. Each holding position can act as a universal holding position for holding gripping elements having different designs. This allows the exchange station to be adapted to accommodate different gripping elements.

[0073] The holding location may be formed by a coupling part configured to interlock with a matching coupling part on the gripping element. The two coupling parts may form a release connection, preferably a quick-release connection. In an example, the coupling part of the exchange station may be a pin, e.g. a clamping pin, protruding from its top surface. This allows for quick and easy removal or positioning of the gripping element without the use of tools.

[0074] According to one embodiment, the at least one holding element is disposed in a recess in the top surface, where the recess is configured to receive a top end of the at least one gripping element.

[0075] The top surface preferably includes a recess or recesses each shaped to receive a top end of a gripping element. The recesses may have a predetermined shape and dimensions that match those of the top end of the gripping element. This allows the gripping element to be positioned in the exchange station while still locked to the arm. This in turn allows the arm of the gripping tool to be repositioned in relation to the gripping element.

[0076] The bottom surface of the recess can optionally be used to activate a release element of the gripping element when the gripping element is inserted into the recess, so that the gripping element can be automatically unlocked when positioned in the exchange station, allowing the gripping element to be removed from the arm without having to manually activate the release connection.

[0077] The retaining element may be a local flange protruding from an inner surface of the recess, where the local flange is configured to engage the recess on the top end of the gripping element. The recess may be an elongated recess with a flange disposed on one end, which allows the gripping element to be inserted at the other end and then slid along the recess until the flange engages the recess on the gripping element. The gripping element is thus held in place on the exchange station.

[0078] According to one embodiment, the support element is a base configured to be positioned on or fixed to a reference surface, or the support element includes an interface configured to be coupled to a matching interface of a machine as previously described.

[0079] The support element may be formed as a base, e.g., a plate, on which the individual holding positions can be positioned. A single holding position or multiple holding positions can be arranged on the base. The base may be configured to provide easy access to the individual holding positions as well as the individual gripping elements. This allows for easy storage of the various gripping elements. This in turn allows for easy replacement or repositioning of the gripping elements.

[0080] The base may be adapted to be fixed in relation to a reference surface, for example by an integrated or separate clamp or by a fastener. The base may also be glued or welded to the reference surface. Other techniques may also be used. Optionally, the base may include a set of support feet or mounting brackets for positioning or mounting the exchange station. In an example, the base may be disposed on a machine, for example a robotic unit, to allow an operator or a robotic arm to interact with the exchange station. Thus, the exchange station may act as a stationary unit.

[0081] The base may also include a matching interface on the above-mentioned machine or another machine, for example an interface configured to be coupled to a free end of a robot arm. The exchange station may thus be positioned in relation to a gripping tool with the machine. In an example, the base may be coupled to an interface on a machine, for example a robot arm of a second robot unit, which may interact with a gripping tool positioned on the first robot unit. The exchange station may thus act as a mobile unit.

[0082] According to one embodiment, the exchange station is configured to hold a gripping element kit dedicated to a gripping tool or a set of gripping elements for one type of object.

[0083] The base may preferably be configured to hold a gripping element kit dedicated to a gripping tool. The individual gripping elements have different heights and / or different contours. The gripping elements may be arranged in a predetermined pattern on the base to allow easy access to each gripping element. Preferably, the distance between adjacent gripping elements in the form of rows and / or columns is adaptable to allow the gripping tool to interact with a selected gripping element without other gripping elements restricting the interaction.

[0084] The base may also be configured to hold a small number of gripping elements, for example a single gripping element, where "small number" refers to a subset of the total number of gripping elements. The gripping element may be selected depending on the size and dimensions of the object intended to be processed. In this way, the size and weight of the exchange station is reduced.

[0085] Optionally, two or more exchange stations may interact with the gripping tool described above. A first exchange station may be dedicated to holding said gripping element kit, while at least one second exchange station may be dedicated to holding at least said small number of gripping elements. Alternatively, a first exchange substation may be dedicated to holding a first set of gripping elements for a first type of object, and at least one second exchange substation may be dedicated to holding at least one second set of gripping elements for at least one second type of object. This allows the use of dedicated exchange stations for different types of objects. Likewise, this allows the use of one exchange station for repositioning of gripping elements and another exchange station for replacement of gripping elements.

[0086] The object of the invention is also to provide a method for handling an object during a process using a system or a clamping tool as described above, comprising the steps of: - placing the gripping tool in an unloaded state; - actuating a release connection between the arm and the first gripping element to remove said first gripping element; - repositioning the first gripping element to a second assembly position on the arm; and / or - positioning a second gripping element at the first assembly location or at a second assembly location on the arm; - and reconnecting the first or second gripping element to the arm by locking the release connection; This is achieved by a method comprising:

[0087] This provides a method of object manipulation that allows the above-mentioned gripping tool to grip objects of different sizes and shapes. This increases the flexibility of the gripping tool, since no tooling is required to adapt the gripping fingers to a specific object. Similarly, this increases the gripping capacity compared to conventional gripping tools, since the distance between the radial plane of the arm and the machine interface is minimized, thus reducing bending moments.

[0088] The gripping tool is adapted to handle a different object before processing by simply removing the gripping element from the arm by activating the release connection. The gripping element is then repositioned on the arm in relation to another assembly position. Alternatively or additionally, another gripping element is positioned in the same or another assembly position. The gripping element is again coupled to the arm by simply locking the release connection. In this way, there is no need to reposition the arm on the disk. The adjustment can be performed manually without tools.

[0089] The objects may be fed, either individually or in groups, to a load position relative to the machine. The gripping tool may then be moved into a predetermined position relative to the selected object. A drive mechanism may rotate the gripping element to an open position. The gripping tool may be moved further toward the object and the gripping element may be moved into contact with the object to apply a gripping force.

[0090] The object can then be lifted from that position and machine-manipulated to a new position and / or orientation. The gripping tool can then be moved further toward an unloading position. The gripping elements can then be moved off the object and the gripping tool can be moved away from the object. The process can then be repeated for the next object.

[0091] Instead, the object can be moved into a predetermined position relative to the gripping elements. The gripping elements can be rotated into an open position prior to positioning the object. The gripping elements can then be rotated into contact with the object. The object can then be subjected to a suitable process while being held in place by the gripping tool. The gripping elements can then be rotated out of the way of the object, and the processed object can be removed from the gripping tool.

[0092] The objects can have a circular or elliptical cross-section, or a polygonal cross-section. These objects can be suitably gripped by the gripping fingers contacting the outer surface of the object. The gripping tool can have a first gripping range when the gripping elements are moved into contact with the outer surface of the object.

[0093] The gripping tool may also be configured to grip the object by rotating the gripping fingers into contact with the inner surface of the object. The object may also include an open space, such as a cavity or through hole, where the gripping fingers are in contact with the inner surface of the space. The gripping tool may have a second gripping range when the gripping elements are moved into contact with the inner surface of the object.

[0094] According to one embodiment, - the steps of detaching the first gripping element and reconnecting the first or second gripping element are performed manually.

[0095] To unlock the release connection, the operator simply activates a release element in the connection. Alternatively, the release connection can be activated by applying a pulling force to the gripping fingers that is greater than the locking force. The old gripping element can then be removed from the arm. The operator can then position the new gripping element in the same or a new assembly position on the arm. The operator can lock the release connection by simply terminating the activation of the release element of the gripping element. Alternatively, the release connection can be relocked by pressing the gripping element into engagement with the coupling part on the arm. In this way, the operator can replace or reposition the gripping element manually without tools.

[0096] According to one embodiment, - actuation of the release coupling is effected by moving the arm, for example axially, relative to the exchange station to bring the first gripping element into a holding position on the exchange station; - the method further comprises the step of repositioning the arm relative to the exchange station to align the first or second gripping element relative to a first or second assembly location on the arm; - the recoupling of the first or second gripping element is carried out by further moving the arm, for example axially, in relation to the exchange station to bring the first or second gripping element into the first or second assembly position on the arm.

[0097] The gripping elements can likewise be exchanged or repositioned automatically by means of an exchange station, where the exchange station can be kept stationary whilst the gripping tools can be moved.

[0098] The robot unit can move the robot arm into alignment with a holding position on the exchange station. The gripping element is then moved into a recess on the exchange station. The release connection can then be automatically activated. The gripping element can then be moved along the recess via the robot arm until a flange on the recess engages with the recess on the gripping element. The gripping element can then be removed from the arm by moving the robot arm away from the exchange station. Alternatively, the coupling part of the release connection can be unlocked as the arms are moved away by applying a pulling force on the arms that is greater than the locking force.

[0099] The arm can then be repositioned relative to another gripping element on the replacement station. A robotic arm can be used to align the new gripping element with an assembly location on the arm. The arm can then be moved towards the new gripping element until the mating portion of the gripping element and the arm engage one another. The robotic arm can then move the gripping element back along the recess such that the flange disengages from the recess. The arm and gripping element can then be moved away from the replacement station. The release coupling can thus be automatically locked. Alternatively, the mating portion of the release coupling can be locked as the robotic arm moves the arm into engagement with the gripping element.

[0100] Alternatively, the replacement station may be positioned relative to the gripping tool, where the replacement station may be coupled to a robot arm of a second robot unit. The gripping element can be removed in a process similar to that described above, except that the gripping tool can be kept stationary while the replacement station can be moved.

[0101] Additionally, the gripping elements can be repositioned or replaced in a process similar to that described above, except that the gripping tool can remain stationary while the replacement station can be moved, thus providing an alternative method of repositioning and / or replacing the gripping elements.

[0102] One or more robot units can be used to operate the gripping tool and the exchange station. This allows for an automated process in which the gripping tool has the ability to automatically adapt its gripping elements to handle different types of objects. The operator is then free to perform other tasks, for example to control the feeding of objects to the machine or the gripping tool. Furthermore, no specialists are required to operate and adapt the gripping tool, and therefore it can be done by workers in the factory. This saves costs and reduces downtime.

[0103] It is likewise possible to couple the gripping tool to the tool connector in order to assemble multiple tools, for example multiple gripping tools or a combination of a gripping tool and another tool. Preferably, the tool connector can be configured in such a way that at least two tools are assembled simultaneously, but it is also possible to assemble three, four or more tools. The tool connector can be arranged between the gripping tool and the machine interface. The tool connector can be shaped so that the radial plane of the arm can be arranged perpendicular to the machine interface. Alternatively, the radial plane of the arm can be arranged at an acute angle of, for example, 30 to 60 degrees to the machine interface. This allows multiple gripping tools to be coupled to the machine simultaneously, where the gripping tools can be operated simultaneously or individually.

[0104] The present invention will now be described, by way of example only, and with reference to the drawings in which: [Brief description of the drawings]

[0105] [Figure 1]FIG. 1 shows an exemplary embodiment of a robotic unit with a gripping tool. [Diagram 2] FIG. 2 shows the robotic unit of FIG. 1 with an object. [Diagram 3] FIG. 3 shows a side view of the robotic unit with an object. [Figure 4a-4b] Figures 4a-b show a first embodiment of the arm with the gripping fingers in retracted and extended positions. [Figure 5a-5b] Figures 5a-b show a second embodiment of the arm with the gripping fingers in retracted and extended positions. [Figure 6] FIG. 6 shows a first embodiment of a release connection between the gripping element and the arm in a locked state. [Figure 7] FIG. 7 shows the grasping element detached from the arm. [Figure 8] FIG. 8 shows a second embodiment of a release connection between the gripping element and the arm in a locked state. [Figure 9] FIG. 9 shows the grasping element detached from the arm. [Figure 10] FIG. 10 shows an arm with a first gripping finger and a second gripping finger that is shorter than the first gripping finger. [Figure 11] FIG. 11 shows a first embodiment of an elongated grasping element disposed on an arm. [Fig. 12a-12f] Figures 12a-f show six alternative embodiments of the gripping element. [Figures 13a-13c] Figures 13a-c show the positioning of the gripping elements on the exchange station. [Figure 14] FIG. 14 shows an alternative embodiment of the arm with an elongated hole. [Figure 15] FIG. 15 shows a further modified embodiment of an arm with an elongated hole. [Figure 16] FIG. 16 shows a clamping tool with a gripping tool for holding an object. [Figure 17] FIG. 17 shows a tool connector for assembling multiple tools. [Figure 18] FIG. 18 illustrates a method for repositioning the grasping elements. [Figure 19] FIG. 19 shows another robotic unit with a change station coupled to a robotic arm. [Figure 20] FIG. 20 shows the robot unit of FIG. 19 from a side view.

[0106] In the following, the figures will be described one by one, and various parts and positions found in the figures will be numbered with the same numbers in the different figures. All parts and positions labeled in a particular figure will not necessarily be discussed in conjunction with that figure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0107] 1 shows an exemplary embodiment of a robotic unit 1 with a gripping tool 2 coupled to a robotic arm 3 of the robotic unit 1, where the robotic arm 3 extends from a base 4 to a free end at which an interface 9 is arranged. The robotic unit 1 further includes a local controller 5 configured to control the operation of the robotic arm 3 and the gripping tool 2.

[0108] 2 and 3 show a robot unit 1 with an object 6 gripped by a gripping tool 2. The gripping tool 2 includes a housing 7 having a first end and an opposite second end. The first end is formed as a first interface 8 configured to be assembled to a matching second interface 9 of a robot arm 3. A transmission mechanism 10 is disposed inside the housing 7 and is coupled to several arms 11 via respective rotating shafts (not shown). The transmission mechanism 10 is further configured to receive power via the first and second interfaces 8, 9.

[0109] As shown in Fig. 3, the arm 11 defines a radial plane in which the arm is rotated about an axis of rotation defined by its rotating shaft. The radial plane is perpendicular to the longitudinal axis (marked "A" in Fig. 5a) of the gripping tool 2 that extends through the first and second ends. The radial plane is disposed at a minimum distance from another radial plane defined by the first and second interfaces 8, 9.

[0110] Figures 4a-b show a first configuration of arms 11 each fitted with a gripping element 12 disposed at an intermediate position on arm 11, where gripping elements 12 are shaped as fingers. Figure 4a shows arm 11 and gripping element 12 rotated to an extended position, while Figure 4b shows arm 11 and gripping element 12 rotated to a retracted position.

[0111] The arms 11 and gripping elements 12 are rotated relative to the second end 13 of the housing 7 in a radial plane. Each arm 11 includes a body extending from a first end to a second end and includes a top side, a bottom side, a first side and a second side. In FIG. 4a, the gripping elements 12 are rotated to an extended position indicating a local maximum gripping position. In FIG. 4b, the gripping elements 12 are rotated to a retracted position indicating a minimum gripping position of the gripping tool 2.

[0112] Figures 5a-b show a second configuration of the arm 11, each fitted with a gripping element 12' disposed at an outermost position on the arm 11. Figure 5a shows the arm 11 and gripping element 12' rotated to an extended position, while Figure 5b shows the arm 11 and gripping element 12' rotated to a retracted position.

[0113] The arm 11 and the gripping element 12' are rotated in a radial plane relative to the second end 13 of the housing 7. In Fig. 5a the gripping element 12' is rotated to an extended position which marks the maximum gripping position of the gripping tool 2. In Fig. 5b the gripping element 12' is rotated to a retracted position which marks the local minimum gripping position.

[0114] 6 shows a first embodiment of a release connection 14 between the arm 11 and the gripping element 12 in the form of a quick release connection. The release connection 14 comprises a first connection part 15 disposed on the arm 11 and a second connection part 16 disposed on the gripping element 12, where the quick release connection is formed by a hole in the arm 11 and the second connection part 16 is formed by a pin protruding from a bottom end of the gripping element 12.

[0115] The second connecting part 16 includes at least one locking element 17 configured to interlock the first and second connecting parts 15, 16 with each other. Here, the locking element 17 is a ball. The locking element 17 is configured to engage with an internal flange 18 protruding from an inner surface of the hole. This locks the connecting parts 15, 16 and thus the gripping element 12 to the arm 11.

[0116] A recess 19 is formed in the top end of the gripping element 12 and is configured to engage a flange on a replacement station (shown in FIG. 8).

[0117] The gripping element 12 further includes a release element 20 disposed within the interior chamber of the gripping element 12. The release element 20 is movably disposed within the chamber and is in contact with the locking element 17.

[0118] Figure 7 shows the gripping element 12 removed from the arm 11. The coupling parts 15, 16 of Figure 6 are unlocked by actuating the release element 20 which urges the locking element 17 to retract itself into the pin. The gripping element 12 is removed by simply moving it out of the hole and away from the arm 11.

[0119] FIG. 8 shows a release connection between the arm 11' and the gripping element 12' in the form of an alternative quick release connection. of A second embodiment is shown, where the first connecting part 15 is formed by a pin 21 protruding from the top side of the arm 11'.

[0120] The second coupling portion 16' is formed by a cavity in the bottom end of the gripping element 12'. The locking element 17' is disposed in a lateral surface of the cavity and extends into a matching recess 22 located on the lateral surface of the pin 21.

[0121] Figure 9 shows the gripping element 12' detached from the arm 11'. 15 , 16' are unlocked by actuating release element 20' which urges locking element 17' to retract itself within the side wall of gripping element 12'. Grip element 12' is removed by simply moving gripping element 12' away from pin 21.

[0122] FIG. 10 shows an arm 11 with a first gripping finger 12a disposed at a second end. b are further disposed at an intermediate position. The first and second gripping fingers 12a, 12b are releasably connected to the arm 11.

[0123] The arm 11 has a thickness measured between a bottom side and a top side 23. The first gripping finger 12a has a first height measured from the top side 23 to an end surface of the gripping finger 12a. The second gripping finger 12b has a second height measured from the top side 23 to an end surface of the gripping finger 12b, where the first height is greater than the second height.

[0124] 11 shows a first embodiment of an elongated gripping element 24 disposed on an arm 11. Here, the elongated gripping element 24 is releasably connected to the arm 11 using two release connections 14 as described above.

[0125] The elongated gripping element 24 extends along the top side 23 of the arm 11 from a local first end 26 to a local second end 25. The elongated gripping element 24 has a height measured from the top side 23 to the local top side, where the elongated gripping element 24 has a stepped profile that tapers from the local second end 25 to the local first end 26.

[0126] 12a-f show six variant embodiments of the gripping element 12. Here, the gripping element 12 is shaped as a finger, where the bottom end 27 of the gripping element 12 is shaped to form a first connecting portion.

[0127] In Fig. 12a, the gripping element 12 has a circular cross-sectional profile. In Fig. 12b, the gripping element 12 has a circular cross-sectional profile with a flat auxiliary surface for contacting an adjacent gripping element 12 when rotated into the retracted position. In Fig. 12c, instead of a flat auxiliary surface, the gripping element 12 has a protruding portion. Here, the protruding portion has a triangular shape, although other shapes can also be used.

[0128] The gripping element 12 is shown in FIG. d The gripping element 12 has a square or rectangular cross-sectional profile in FIG. e Finally, in FIG. f, the gripping element 12 has a polygonal cross-sectional profile.

[0129] Figure 12a~ f While in FIG. 1, the gripping elements 12 have a constant profile along their height, the profile of the gripping elements 12 may vary along their height. In some instances, the gripping fingers 12 may have a conical or tapered profile along their height.

[0130] Figures 13a-c are gripping tools 2 1 shows a first embodiment of an exchange station 28 configured to interact with the gripping element 12. The exchange station 28 includes a single holding position for holding the gripping element 12.

[0131] The exchange station 28 comprises a support element 29 in the form of a base. A single recess 30 is disposed in the base 29, where the recess 30 forms an assembly location. The recess 30 is shaped as an elongated recess including a flange 31 at one end. The flange 31 is configured to engage the recess 19 on the gripping element 12.

[0132] The top end of the gripping element 12 is positioned relative to the recess 30 as shown in Figure 13b. The top end is then moved into the recess 30. The release element 20 is thus brought into contact with the bottom surface of the recess 30, which automatically unlocks the coupling parts 15, 16.

[0133] The gripping element 12 is moved, eg, slid, along the length of the recess 30 up to the flange 31 to engage the recess 19 on the gripping element 12 .

[0134] The arm 11 may then be removed from the grasping element 12 and the arm 11 repositioned in relation to another grasping element (not shown).

[0135] 14 illustrates an alternative embodiment of arm 11'' having elongated slots 32 formed within the body of arm 11''. Slots 32 define a plurality of mounting locations for selectively positioning gripping elements 12 along the length of arm 11''.

[0136] The gripping element 12 may be selectively disposed at any position along the length of the elongated slot 32. The gripping element 12 is held in the selected position by a locking force.

[0137] Figure 15 shows the arm 11’’’ An alternative embodiment of the above slot 32' is shown, where the slot 32' includes a plurality of slots 33 each defining an alternative position for the gripping element 12. The gripping elements 12 are now held in place by splices.

[0138] 16 shows a clamping element 34 with a gripping tool 2′ holding an object 6, where the clamping element 34 is disposed on a surface 35. The clamping element 34 includes an adapter element 36 configured to be mounted on the surface 35 and coupled to a first end of the gripping tool 2.

[0139] The clamping element 34 has an internal energy source that powers the gripping tool 2 and a user interface (not shown). The user interface is electrically connected to a local controller disposed within the clamping element 34. The operation of the gripping tool 2 is controlled by the local controller.

[0140] FIG. 17 shows a multiple tool, preferably multiple gripping tools. 2 3 shows a tool connector 37 for assembling the tool. The tool connector 37 is configured to be assembled to a machine, preferably to the robot arm 3 of the robot unit 1.

[0141] Figure 18 ((A)~(F)) 18 shows how the gripping element 12 can be repositioned on the arm 11 using the exchange station 28. The arm 11 is shown in FIG. (A)18. The cartridge 10 is aligned with a selected holding location on the replacement station 28 as shown in FIG. (B) As shown in Fig. 13c, the gripping element 12 is moved into the recess 30, thus actuating the release element 20. The gripping element 12 is slid into engagement with the flange 31 within the recess 30.

[0142] Next, Figure 18(C)~(D) As shown in FIG. 18, the arm 11 is moved away from the gripping element 12 and repositioned relative to the exchange station 28. (E) As shown in FIG. 1, the arm 11 is moved into engagement with the gripping element 12. The arm 11 and gripping element 12 are then moved out of engagement with the flange 31. Finally, the arm 11 and gripping element 12 are moved away from the exchange station 28.

[0143] 19-20 show another robot unit 1' with a robot arm, in which an exchange station 28' is coupled to an interface on its free end. The exchange station 28' comprises a number of holding positions for the individual gripping elements 12. [Explanation of symbols]

[0144] 1. Robot Unit 2. Gripping tool 3. Robotic Arm 4. Bass 5. Local Controller 6.Object 7. Housing 8. First Interface 9. Second Interface 10. Transmission mechanism 11. Arm 12. Grasping fingers 12a. First gripping finger 12b. Second gripping finger 13. Second end 14. Unlink 15. First connecting part 16. Second connecting part 17. Locking elements 18. Flanges 19. Depression 20. Release elements 21. Pin 22. Depression 23.Top side 24. Elongated gripping elements 25. Second end 26. First end 27.Bottom edge 28. Exchange Station 29. Bass 30. Depression 31. Flange 32. Slotted hole 33. Slots 34. Gripping tool 35.Surface 36. Adapter Element 37. Tool Connector

Claims

1. A gripping tool (2) for handling an object (6) during a process, comprising: a housing (7) defining the longitudinal axis of said gripping tool (2); a drive mechanism arranged with said housing (7); an interface (8) arranged at one end of said housing (7) and adapted to be coupled to a matching interface (9) of a machine or to be arranged on a surface; a plurality of arms (11) disposed at opposite ends of said housing (7), each arm (11) including at least one gripping element (12) configured to contact said object (6), each arm (11) configured to be rotated about an axis of rotation when actuated by said drive mechanism to contact or disengage from said object (6) in a radial plane perpendicular to said longitudinal axis, each arm (11) including a body extending from a first end to a second end and having a top side, a bottom side, a first side and a second side; A gripping tool comprising: a gripping tool (2), characterized in that each arm (11) comprises an assembly position for the at least one gripping element (12) arranged on the top side, the at least one gripping element (12) being releasably connected to the arm (11) via a quick release coupling (14), and the at least one gripping element (12) comprises a recess (19) arranged in its outer surface, the recess (19) being configured to engage with a matching flange (31) on a replacement station (28).

2. 2. A gripping tool (2) according to claim 1, characterized in that each arm (11) includes a plurality of mounting locations for selectively positioning the at least one gripping element (12) along the length of the arm (11).

3. 3. A gripping tool (2) according to claim 1 or 2, characterized in that the quick release coupling (14) comprises a first coupling part (15) arranged on the arm (11) and a second coupling part (16) arranged on the at least one gripping element (12), one of the first and second coupling parts (15, 16) comprising at least one locking element (17) configured to interlock the first and second coupling parts (15, 16) with respect to each other.

4. 4. The gripping tool (2) according to claim 3, wherein the quick release coupling (14) further comprises a release element (20) configured to contact the at least one locking element (17), the release element (20) being configured to move the at least one gripping element (12) towards a locked or unlocked position upon actuation.

5. 5. A gripping tool (2) according to any one of claims 1 to 4, characterized in that the at least one gripping element (12) is shaped as a finger or an elongated gripping element (24) extending along at least a portion of the length of the arm (11).

6. 6. A gripping tool (2) as claimed in any one of claims 1 to 5, characterized in that the at least one gripping element (12) is configured to be moved within the entire gripping range of the gripping tool (2) while maintaining each arm (11) in the same radial position relative to each axis of rotation.

7. 1. A system configured for handling an object (6) during a process, comprising: a machine configured to process an object (6), Including, the machine comprises at least one interface (9) adapted to be coupled to at least one tool, said at least one tool being a gripping tool (2) according to any one of claims 1 to 6, said machine further comprising an energy source for powering said gripping tool (2) and a controller (5) configured to control the operation of at least said gripping tool (2); system.

8. 8. The system according to claim 7, characterized in that the machine is a robot unit (1) with at least one robot arm (3), the robot arm (3) extending from a base end (4) to a free end, the matching interface (9) being located at the free end of the robot arm (3).

9. A clamping tool (34) configured for handling an object (6) during a process, the clamping tool (34) configured to be disposed on a surface (35), comprising: - a gripping tool (2) according to any one of claims 1 to 6, a local controller configured to control the operation of said gripping tool (2), said local controller being electrically connected to at least one of a remote user interface or a local user interface; at least one of a local energy source or a coupling element configured to be coupled to an external energy source, said local or external energy source being configured to power said clamping tool (34); A clamping tool (34) including:

10. 10. The clamping tool (34) of claim 9, further comprising an adapter element (36) having a bottom surface shaped to be disposed on the surface, the adapter element (36) further having a top surface configured to be coupled to or integrated into the interface (8) of the gripping tool (2).

11. An exchange station (28) adapted for interaction with a gripping tool (2) according to any one of claims 1 to 6, a support element (29), at least one retaining element disposed on a top surface of said support element (29), said at least one retaining element being adapted to engage with a matching retaining element on at least one gripping element (12); Including exchange station.

12. 12. The exchange station (28) of claim 11, characterized in that the at least one holding element is disposed in a recess in the top surface, the recess being configured to receive a top end of the at least one gripping element (12).

13. The exchange station according to claim 11 or 12, characterized in that the support element (29) is a base configured to be positioned on or fixed to a reference surface, or the support element (29) comprises an interface configured to be coupled to a matching interface of a machine according to claim 7 or 8.

14. A method for handling an object (6) during a process using a system according to claim 7 or 8 or a clamping tool (2) according to claim 9 or 10, comprising: - placing said gripping tool (2) in an unloaded state; - activating the quick release connection (14) between said arm (11) and the first gripping element (12) to detach said first gripping element (12); - repositioning said first gripping element (12) on said arm (11) to a second assembly position; and / or - positioning a second gripping element (12) in the first assembly position or in a second assembly position on said arm (11); - and reconnecting said first or second gripping element (12) to said arm (11) by locking said quick release coupling (14), The method includes:

15. the steps of detaching the first gripping element (12) and reconnecting the first or second gripping element (12) are performed manually; The method according to claim 14, characterized in that

16. - actuation of the quick release coupling (14) is effected by moving the arm (11), for example axially, relative to the exchange station (28) to bring the first gripping element (12) into a holding position on the exchange station (28); - repositioning the arm (11) relative to the exchange station (28) in order to align the first or second gripping element (12) relative to the first or second assembly position on the arm (11); - recoupling of the first or second gripping element (12) is performed by further moving the arm (11), for example axially, relative to the exchange station (28) to bring the first or second gripping element (12) into the first or second assembly position on the arm (11); The method according to claim 14, characterized in that

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