Gripper device and manipulator having gripper device

Abstract

The present invention relates to a gripper device (1) for gripping, holding, and placing a workpiece (2), and a manipulator (4) having the gripper device (1). The gripper device (1) has a coupling interface (3) for fixing to the manipulator (4) and a pliers gripper (5) with two pliers arms (6, 7). The pliers arms (6, 7) are movable relative to one another by a pliers drive (8) and, in their closed position (9), define a clamping plane (10) extending between them. In their closed position (9), the pliers arms (6, 7) define a pliers longitudinal axis (11) that is parallel to the pliers arms (6, 7) and extends within the clamping plane (10). The gripper device (1) further comprises an adhesive gripper (12) with at least one vacuum gripper element (13) or at least one magnetic gripper element (14), the adhesive gripper (12) having an adhesive working surface (15) for holding the workpiece (2) and being slidably movable along an adjustment axis (17) by means of an adjustment drive (16) between a working area (18) and a waiting area (19) in the direction of the pliers longitudinal axis (11) relative to the pliers gripper (5). The clamping surface (10) and the adhesive working surface (15) are oriented at right angles to each other, and the adhesive working surface (15) extends at right angles to the pliers longitudinal axis (11).

Description

[Technical Field]

[0001] The present invention relates to a gripper device and a manipulator having a gripper device for gripping, holding and positioning workpieces, in particular sheet metal workpieces. [Background technology]

[0002] According to the prior art, manipulators with vacuum gripper devices or with suction grippers are typically used to grip workpieces, such as sheet metal workpieces, from a stack of workpieces. However, vacuum gripper devices are often not very effective or are completely unsuitable for carrying out processing steps after gripping and lifting, such as in a bending machine, so the workpiece to be manipulated is often transferred to a second manipulator, which is configured with a pliers gripper. This type of approach can be effective, especially for small or curved workpieces. However, two manipulators are expensive and require a large amount of space. Furthermore, there is a risk of collision, and the manipulators' freedom of movement can be limited.

[0003] To address these drawbacks, experts are familiar with combinations of manipulator devices, in which the individual manipulators are designed both for gripping with a suction gripper and for gripping with a pliers gripper. However, the gripping and suction functions of the known designs are limited and therefore not a perfect, satisfactory solution.

[0004] For example, Patent Document 1 introduces a bending robot with a combined pliers gripper and suction gripper head, where the suction gripper is arranged on a slidable frame and the adhesive action plane of the suction gripper is oriented parallel to the clamping plane of the pliers gripper.

[0005] Patent Document 2 also discloses a combined gripper device in which a suction gripper is formed at the front end of a pliers gripper. Movement of the pliers arms simultaneously moves the force-coupled suction gripper, which is firmly attached to the front end of the pliers arms of the pliers gripper. The adhesive action plane of the suction gripper is oriented perpendicular to the clamping plane of the pliers gripper.

[0006] Patent Document 3 discloses an automatic sorting device for workpieces. The sorting device, mounted on a slide rail, includes a shell clamping jaw and a vacuum suction head group, which are respectively arranged on two opposing sides of the automatic sorting device. Both the shell clamping jaw and the vacuum suction head group have corresponding lift drive devices, two symmetrical claw hooks are arranged on the shell clamping jaw, and the vacuum suction head group has multiple vacuum suction heads connected to an exhaust device. The slide rail is arranged according to the automatic sorting device so that the sorting device is freely movable, the shell clamping jaw and the vacuum suction head group, each with its corresponding air cylinder, can be lifted separately, and the trays or workpieces can be selectively moved. The multiple vacuum suction heads are arranged so that the workpieces can be lifted or sucked to various positions.

[0007] Patent Document 4 shows a gripper for a pallet manipulator. The gripper has a connection point for fastening to the manipulator, as well as a plurality of pliers grippers and a plurality of adhesive grippers. The pliers grippers each have two pliers arms movable relative to one another, which, in their closed position, define a clamping plane or pliers longitudinal axis extending between the pliers arms. The adhesive grippers have an adjustment drive for positioning the pliers grippers between a working zone and a standby zone in the direction of the pliers longitudinal axis. The clamping plane is perpendicular to the adhesive working plane, which is perpendicular to the pliers longitudinal axis.

[0008] Patent Document 5 shows a gripper for moving an object. The gripper has a pliers gripper with a connection point for fixing to a manipulator and two pliers arms, and two adhesive grippers. These adhesive grippers are horizontally slidably arranged on a horizontal beam. The pliers arms are vertically adjustable on guides using threaded rods and have multiple cylinders that are used to clamp or hold an object with the pliers arms.

[0009] Patent Document 6 shows a robot gripper for receiving a turbine disk part. This robot gripper for receiving a turbine disk part includes a mounting base, a clamping cylinder mechanism, and a suction disk mechanism. A robot coupling block is disposed on the upper surface of the mounting base. The clamping cylinder mechanism includes a three-jaw air cylinder. A fixed block is disposed on the underside of the mounting base. The three-jaw air cylinder is fixed to the underside of the fixed block. A gripper is disposed on the three-jaw air cylinder. The suction disk mechanism includes a ring-shaped mounting plate. A plurality of synchronized stroke air cylinders are disposed on the underside of the mounting base. The ring-shaped mounting plate is connected to the output rods of the synchronized stroke air cylinders. The ring-shaped mounting plate can move upward and downward without hindrance relative to the clamping cylinder mechanism. A plurality of downwardly facing suction disk mechanisms are evenly distributed on the ring-shaped mounting plate. The gripper structure can suck the fixing ring with the suction disk mechanism or clamp the turbine housing with the clamp cylinder mechanism, and can switch between the suction disk mechanism and the clamp cylinder mechanism by controlling the suction disk mechanism to move upward or downward around the periphery. This robot gripper is suitable for gripping two kinds of workpieces, so that the manufacturing efficiency is effectively improved and an integrated thinking is provided for the automatic turbine disk assembly manufacturing line.

[0010] Patent Document 7 shows a gripper for handling packets with a parallelogram-type clip rod and a robot-controlled drive. It has clamping plates and a longitudinally displaceable arm. The packet gripper mechanism is mounted between the clamping plates and has a suction mechanism with four suction cups, which are connected to two guides (one of which is hollow) via a suction box and to the vacuum connection end of the robot system. The guides are supported by plain bearings and have threads and rotatable adjusting nuts driven by a belt and a motor.

[0011] Patent Document 8 shows a device having a gripping mechanism including extendable fingers and describes a method of manipulating an object while using the gripping mechanism. An example device can have a frame, a pair of carriages coupled to the frame and movable by one or more drive units, a set of paired fingers, and rods that couple the paired fingers to the paired carriages. The one or more drive units can be driven to move the fingers toward and away from each other. [Prior art documents] [Patent documents]

[0012] [Patent Document 1] Japanese Patent Application Publication No. 2019-014027 [Patent Document 2] Chinese Patent Application Publication No. 108927822 [Patent Document 3] Chinese Patent Application Publication No. 104555419 [Patent Document 4] China Utility Model Registration No. 204036462 [Patent Document 5] China Utility Model Registration No. 206426101 [Patent Document 6] Chinese Patent Application Publication No. 108789464 [Patent Document 7] Dutch Patent Application Publication No. 8601306 [Patent Document 8] U.S. Patent No. 10,059,007 Summary of the Invention [Problem to be solved by the invention]

[0013] The object of the present invention is to overcome the drawbacks of the prior art and to provide means by which workpieces for processing machines, in particular bending machines, can be manipulated in a fast and efficient manner. [Means for solving the problem]

[0014] This problem is solved by a gripper device and a manipulator as claimed in the claims.

[0015] The present invention relates to a gripper device for gripping, holding, and mounting a workpiece, particularly a sheet metal workpiece, comprising a coupling interface for fastening to a manipulator and a pliers gripper with a first pliers arm and a second pliers arm. The pliers arms are movable relative to one another by a pliers drive and, in their closed position, define a clamping plane extending between them. In their closed position, the pliers arms define a pliers longitudinal axis extending parallel to the pliers arms and in the clamping plane. The gripper device also comprises an adhesive gripper with at least one vacuum gripper member or at least one magnetic gripper member. The adhesive gripper has an adhesive working plane for holding the workpiece and is slidably movable relative to the pliers gripper in the direction of the pliers longitudinal axis between a working area and a waiting area along an adjustment axis by an adjustment drive. The clamping plane and the adhesive working plane are oriented perpendicular to one another, and the adhesive working plane extends perpendicular to the pliers longitudinal axis.

[0016] The inventive design of the gripper device allows for two complete grippers, i.e., two grippers that are fully functional in themselves, to be realized within a single, structurally integrated, or combined gripper device. The concept of a "complete gripper" is understood to mean a pincer gripper device or adhesive gripper device that is at least approximately identical in its functionality, stability, and freedom of movement to a single, structurally independent pincer gripper device or adhesive gripper device. That is, the functional range of the pincer gripper of the inventive gripper device is not affected, or is only affected to a small extent, by the common design with the adhesive gripper. The same applies to the adhesive gripper.

[0017] The functions of both the pincer gripper and the adhesive gripper are not limited compared to two separate or independently configured gripper devices, each attached to its own manipulator. This means that mutual blocking of the grippers is at least largely avoided. By the inventive arrangement of the two grippers, mutual interference, and in particular collisions, are at least largely prevented, or in particular completely reduced. The inventive arrangement is therefore attractive due to the large degree of freedom of movement of the two grippers.

[0018] In particular, when the adhesive gripper is moved into its waiting area, it can be processed by the pliers gripper without any restriction of movement. The pliers gripper is not blocked by the vacuum or magnetic gripper element itself or by any pneumatic lines provided. Furthermore, re-gripping, and thus direct transfer of the workpiece from the adhesive gripper to the pliers gripper and vice versa, is also possible. This is because the adhesive gripper can slide along its adjustment axis in the direction of the pliers' longitudinal axis, and the clamping plane and the adhesive working plane are oriented perpendicular to each other. This means that the grippers can be used simultaneously as needed. Lost time due to intermediate work steps, such as setting down the workpiece, is therefore reduced.

[0019] The fact that two grippers can be used as complete grippers reduces the number of necessary re-gripping or repositioning steps, thereby making the entire handling and machining process more efficient. Because the clamping plane and the attachment plane are perpendicular to each other and the attachment plane extends perpendicular to the longitudinal axis of the pliers, fewer manipulator movements or less repositioning of the manipulator are required to perform the required work steps. Furthermore, the displacement distance for the entire gripper device to be performed by the manipulator can be kept as short as possible. This is especially true after a machining or bending step has been performed, after which the workpiece or bent sheet metal part has legs bent at their edges. This reduces the clock time for machining the workpiece, thereby improving the economy of the process.

[0020] Furthermore, the two grippers are at least approximately equally loadable and stable, and therefore capable of handling the same workpiece weight, so that damage and accidents to the manipulator and endangerment of the operator due to overloading can be at least approximately prevented.

[0021] The movement of the adhesive gripper along the adjustment axis can be infinitely variable, so that the optimum or desired position can be adjusted. The waiting area or the working area can preferably be areas along the adjustment axis, respectively. Preferably, the adhesive gripper cannot be operated when it occupies a position in the waiting area. Preferably, the adhesive gripper can take multiple preferred positions within the working area and can move between the axially outermost working area and the axially innermost working area.

[0022] The expert knows many configurations of adhesive grippers and pincer grippers, which will not be discussed in detail in this document. Both the negative pressure gripper element and the magnetic gripper element can be pneumatically activated. The negative pressure gripper element can be configured as a suction gripper having at least a cup-shaped suction element, and the magnetic gripper element can have a permanent magnet, which can be moved by a pressure-activatable piston or cylinder.

[0023] Also advantageously, one configuration is whereby the second pliers arm can be fixedly disposed relative to the pliers drive and the first pliers arm can be movably mounted relative to the second pliers arm.

[0024] The pliers arms configured in this way can reduce or especially prevent the risk of collision between the pliers gripper and the adhesive gripper. This is also due to the fact that this type of arrangement can be easily controlled mechanically, especially when the adhesive gripper is arranged below or near the fixed and therefore non-moving pliers arms. In this case, the pliers gripper and the adhesive gripper can also be positioned very close or even at the very edge of each other, as the case may be. This allows for a compact design of the gripper arrangement.

[0025] It may also be advantageous if the pivot axis of the first pliers arm is perpendicular to the longitudinal axis of the pliers and parallel to or in the clamping plane, and the pliers arm is configured to be pivotable about the pivot axis, which may be particularly advantageous even if one of the pliers arms is configured fixedly and the other is configured movable.

[0026] Furthermore, it can be advantageous if the pliers longitudinal axis and the adjustment longitudinal axis are positioned coaxially. This can increase the load capacity of the gripper device or manipulator, and in some cases, heavier or larger workpieces can also be handled. Furthermore, the gripper device can be constructed more compactly when the axes are arranged coaxially, which can additionally reduce the risk of collisions or moving blocks. In particular, a coaxial arrangement can also enable or facilitate rotation of the workpiece, which can additionally expand the usability of the gripper device.

[0027] Furthermore, the pliers longitudinal axis and the adjustment axis can be positioned at different positions. This type of development can be effective in expanding the usability of the pliers gripper, for example, making it possible to realize a larger opening width of the pliers arms.

[0028] Furthermore, at least three vacuum gripper elements or at least three magnetic gripper elements can be formed, which are arranged in a ring shape around the pliers gripper axis. It may also be advantageous if the vacuum gripper elements or magnetic gripper elements are arranged around the pliers gripper when the adhesive gripper is being moved into the working area. This type of arrangement can represent a particularly load-bearing arrangement. By positioning multiple gripper elements in a ring shape and centered around the pliers gripper, a large number of gripper elements can be realized. A satisfactory adhesive gripper can thus be realized, which is also suitable for manipulating large, flat, or bulky workpieces. Furthermore, this arrangement can be used to facilitate transfer from the pliers gripper to the adhesive gripper and vice versa. Preferably, the vacuum gripper elements or magnetic gripper elements can be arranged at equal intervals relative to the adjustment axis. This is particularly true even when the pliers longitudinal axis and the adjustment axis are positioned coaxially.

[0029] According to a development, the longitudinal axis of the pliers and the central axis of the coupling interface to the manipulator can be positioned coaxially, thus realizing a highly loadable position for the gripper device, formed in the center of the outermost manipulator arm.

[0030] Furthermore, the first and second pliers arms can be linearly movable relative to each other, so that workpieces with various workpiece depths or thicknesses can be securely gripped and a constant pressure can be ensured.

[0031] Furthermore, when the adhesive gripper is in the outermost working area, the adhesive working plane can extend beyond the front end of the pliers gripper in the direction of the adjustment axis. This allows the adhesive gripper to move widely outward, and therefore extends beyond the tip or front end of the pliers gripper, making it possible to grip the workpiece more easily in some cases. This prevents possible interference or movement restrictions caused by the pliers gripper.

[0032] According to a special embodiment, the pliers arms can be prevented from moving to a partially or fully open position when the adhesive gripper is moved into the working area by at least one stop or blocking member or by a control device, thus realizing an effective safety feature for collision avoidance or prevention.

[0033] In a preferred development, the pliers drive and the adjustment drive can be activated independently of each other and simultaneously, thus facilitating the transfer of workpieces from the pliers gripper to the attachment gripper or vice versa, i.e., this development provides additional flexibility in the use of the gripper device.

[0034] It can be particularly advantageous if the pliers drive and / or the adjustment drive have a pressure-driven cylinder, preferably a pneumatic cylinder.

[0035] Furthermore, the pressure-operated cylinder can be supplied with pressure by means of a joint pressure line, in which case at least one valve can be formed in the pressure line and can be controlled by a control device. In particular, the formation and supply of a joint pressure line also allows for a structurally simple design and therefore a compact assembly. This can further positively affect the degree of freedom of movement of the adhesive gripper and the pincer gripper. Preferably, the valve is formed as a switching valve, which can enable selective pressure supply between the adjusting drive and the pincer drive. In some cases, it may be advantageous if the gripper element can also be supplied with pressure by means of a valve or a switching valve.

[0036] Furthermore, the valve can also be configured to simultaneously supply a pressure-driven cylinder and at least one vacuum gripper device or at least one magnetic gripper device.

[0037] One advantageous configuration is that the pressure-driven cylinder of the adjusting drive has an annular cylinder space that is arranged around the pressure-driven cylinder of the pliers drive, with the cylinder axis of the pressure-driven cylinder being positioned coaxially with the adjusting axis, thereby enabling a more compact design and reducing the risk of collisions or travel restrictions.

[0038] The invention also relates to a manipulator having a gripper device for gripping, holding and positioning workpieces, in particular sheet metal workpieces, wherein the gripper device is configured according to one of the claims, the associated advantages of which can be seen from the preceding description.

[0039] For a better understanding of the present invention, the invention will now be described in detail with reference to the following figures.

[0040] The figures are each highly simplified, schematic representations. [Brief explanation of the drawings]

[0041] [Figure 1] FIG. 1 is a side view showing a bending machine and a manipulator having a gripper device with adhesive grippers in the working area. [Figure 2] FIG. 2 is another side view of the manipulator and bending machine shown in FIG. 1 with the adhesive gripper in the waiting area. [Figure 3] FIG. 3 shows a perspective view of a gripper device having magnetic gripper members. [Figure 4] FIG. 4 shows in perspective view another gripper device having a negative pressure gripper member. [Figure 5] FIG. 5 is a cross-sectional view showing another gripper device in a first position. [Figure 6] FIG. 6 is a cross-sectional view of the gripper device of FIG. 5 in a second position. [Figure 7] FIG. 7 is a cross-sectional view of the gripper device of FIG. 5 in a third position. [Figure 8] FIG. 8 is a cross-sectional view showing another gripper device in a first position. [Figure 9] FIG. 9 is a cross-sectional view of the gripper device of FIG. 8 in a second position. [Figure 10] FIG. 10 is a cross-sectional view of the gripper device of FIG. 8 in a third position. DETAILED DESCRIPTION OF THE INVENTION

[0042] It should be noted at the outset that in differently described embodiments, identical parts are provided with the same reference signs or part names, and in such cases the disclosure contained in the entire description can be meaningfully transferred to identical parts having the same reference signs or part names. Also, positional descriptions, such as top, bottom, side, etc., selected in the description relate to the figures directly described and shown, and this positional description can be meaningfully transferred to a new position if the position is changed.

[0043] 1 and 2 show, by way of example, two gripping or operating positions of a manipulator 4 with a gripper device 1. The manipulator 4 performs a working movement or operation on a workpiece 2, which is arranged for processing in a bending machine 29 shown by way of example. Of course, instead of the bending machine 29, other processing machines can also be provided. In the example shown, the workpiece 2 is a sheet metal workpiece bent into an L-shape.

[0044] The gripper device 1 has a coupling interface 3 for fastening to a manipulator 4 as shown. The gripper device 1 further comprises a pliers gripper 5, which has a first pliers arm 6 and a second pliers arm 7. The pliers arms 6, 7 are movable relative to one another by a pliers drive 8 and, in their closed position 9, define a clamping plane 10 extending between the pliers arms 6, 7. The pliers arms 6, 7 further define, in their closed position 9, a pliers longitudinal axis 11 extending parallel to the pliers arms 6, 7 and in the clamping plane 10.

[0045] The gripper device 1 further comprises an adhesive gripper 12 with at least one vacuum gripper element 13 or at least one magnetic gripper element 14, whereby the adhesive gripper 12 in FIGS. 1 and 2 is formed as a vacuum gripper element 13. The adhesive gripper 12 has an adhesive working surface 15 for holding the workpiece 2 and is slidable by an adjustment drive 16 along an adjustment axis 17 in the direction of the pliers longitudinal axis 11 relative to the pliers gripper 5 between a working area 18 and a waiting area 19. In FIG. 1, the adhesive gripper 12 has been moved into position in the working area 18 and holds or positions the workpiece 2 in an exemplary bending machine 29 or on a lower tool 30 of the bending machine 29. Holding can be achieved by supplying vacuum to the vacuum gripper element 13. In FIG. 2, the adhesive gripper 12 is shown in a position in the waiting area 19. The workpiece 2 is then held in the bending machine 29 by the pliers gripper 5. 1 and 2 also show that the clamping plane 10 and the adhesive working plane 15 are oriented perpendicular to each other and that the adhesive working plane 15 extends perpendicular to the longitudinal axis 11 of the pliers.

[0046] The pliers longitudinal axis 11 and the adjustment axis 17 can be positioned at different positions. Alternatively, however, it is also conceivable that the pliers longitudinal axis 11 and the adjustment axis 17 are positioned coaxially. The pliers longitudinal axis 11 and the central axis 20 of the coupling interface 3 to the manipulator 4 can be positioned coaxially.

[0047] The first pliers arm 6 and the second pliers arm 7 can be configured to be linearly movable relative to one another. In this case, they can be moved synchronously, but also independently and individually. Preferably, the application working plane 15 extends beyond the front end 22 of the pliers gripper 5 in the axial direction of the adjustment axis 17 when the application gripper 12 is in its axially outermost working area 18, as shown in FIG. 1. The pliers drive 8 and the adjustment drive 16 can be activated independently of one another and simultaneously.

[0048] Figures 3 and 4 show, in perspective views, two possible embodiments of the gripper device 1, whereby the gripper device 1 in Figure 3 is formed with an adhesive gripper 12 with magnetic gripper members 14, and the gripper device 1 in Figure 4 has an adhesive gripper 12 with negative pressure gripper members 13. To avoid unnecessary repetition, reference is made to or is made to the detailed description in the preceding Figures 1 and 2, whereby the same reference numerals or component names are used for the same parts as in the preceding Figures 1 and 2.

[0049] The gripper device 1 in Figures 3 and 4 has a coupling interface 3 for fastening to a manipulator 4, a pliers gripper 5 and an adhesive gripper 12. The pliers gripper 5 is formed with a first pliers arm 6 and a second pliers arm 7, which are movable relative to one another by a pliers drive 8 and which, in their closed position 9, define a clamping plane 10 extending between the pliers arms 6, 7. Furthermore, in their closed position 9, the pliers arms 6, 7 define a pliers longitudinal axis 11 which is parallel to the pliers arms 6, 7 and extends in the clamping plane 10. The adhesive gripper 12 is formed with at least one negative pressure gripper member 13, as shown in the example in Figure 4, or at least one magnetic gripper member 14, as shown in the example in Figure 3. The adhesive gripper 12 in this case has an adhesive working plane 15 for holding the workpiece 2, and the adhesive gripper 12 is slidably movable relative to the pliers gripper 5 in the direction of the pliers longitudinal axis 11 along an adjustment axis 17 between a working area 18 and a waiting area 19 by means of an adjustment drive 16. As in Figures 1 and 2, the clamping plane 10 and the adhesive working plane 15 are oriented at right angles to each other, and the adhesive working plane 15 extends at right angles to the pliers longitudinal axis 11.

[0050] In the two gripper devices 1 in Figures 3 and 4, it is shown that the second pliers arm 7 can be arranged fixedly relative to the pliers drive 8, and the first pliers arm 6 is mounted movably relative to the second pliers arm 7. In order to avoid collisions and also to increase freedom of movement, the adhesive gripper 12 can then be arranged below the fixed second pliers arm 7, as shown in Figure 3. The two Figures 3 and 4 also show that the swing axis 21 of the first pliers arm 6 can be formed perpendicular to the pliers longitudinal axis 11 and parallel to the clamping plane 10 or in the clamping plane 10, in which case the first pliers arm 6 can be formed swingable about the swing axis 21.

[0051] While in the gripper device 1 in Fig. 3 the pliers longitudinal axis 11 and the adjustment axis 17 are positioned at different positions, in Fig. 4 the pliers longitudinal axis 11 and the adjustment axis 17 are shown positioned coaxially. According to the embodiment in Fig. 4, at least three - or in some examples as many as six - negative pressure gripper members 13 can be formed, which can be arranged in a ring shape around the pliers longitudinal axis 11. In that case, the negative pressure gripper members 13 can be spaced at equal intervals from the adjustment axis 17 or the central axis of the ring-shaped adhesive gripper 12.

[0052] FIGS. 5, 6, and 7 show cross-sectional views of another gripper device 1, which is configured similarly to the embodiment shown in FIG. 3. Three possible positions or working positions of the gripper device 1 are shown by way of example. FIGS. 8, 9, and 10 likewise show cross-sectional views of another gripper device 1, which can be compared with that shown in FIG. 4. The same working positions as in FIGS. 5, 6, and 7 are shown. Here, reference is again made to the preceding description to avoid unnecessary repetition. In the embodiment shown in FIGS. 5 to 10, the clamping plane 10 and the attachment plane 15 are oriented perpendicular to each other, and the attachment plane 15 extends perpendicular to the pliers longitudinal axis 11. It should be noted here that the following functional description of the gripper device 1, e.g., its drive and its gripper members, should be considered merely as examples, and all possible configurations are of course possible. For example, numerous effective configurations are possible for driving the drive and for activating the gripper members.

[0053] In particular, in Figures 5, 6, and 7, the pliers arms 6, 7 are shown as not being movable into a partially or fully open position 25, as controlled by the control device 24, when the adhesive gripper 12 is moved into the working area 18. Alternatively, in Figures 8 and 9 and particularly in Figure 10, the pliers arms 6, 7 are shown as not being movable into a partially or fully open position 25 by at least one stop or blocking member 23 when the adhesive gripper 12 is moved into the working area 18. In this case, the stop or blocking member 23 is only shown roughly in Figures 8, 9, and 10. That is, the stop or blocking member 23 can prevent or block the movement of the pliers drive 8 or the pressure-driven cylinder 26 of the pliers drive 8 when the adhesive gripper 12 is moved completely outward. However, alternatively and not shown in the figures, the stop or blocking member 23 can be the adhesive gripper 12 itself or the workpiece on which the adhesive gripper 12 is formed. This means that, for example if it is formed in the shape of a ring, an undesired opening of the pliers arms 6, 7 can be prevented.

[0054] Preferably, the pliers drive 8 and the adjustment drive 16 each have a pressure-driven cylinder 26, which is preferably a pneumatic cylinder. Preferably, these pressure-driven cylinders 26 can be supplied with pressure using a joint pressure line. In this case, at least one valve can be arranged in the pressure line, which can be controlled using the control device 24. In some cases, this valve can also be configured to simultaneously supply pressure to the pressure-driven cylinder 26 and at least one negative pressure gripper member 13 or at least one magnetic gripper member 14. However, it can also be advantageous if at least one negative pressure gripper member 13 or at least one magnetic gripper member 14 is driven by negative pressure. For reasons of clarity, FIGS. 5 to 10 are only schematic representations or cross-sectional views. For this reason, neither control lines nor pressure lines or valves are shown.

[0055] 8, 9 and 10 show that the pressure-driven cylinder 26 of the adjusting drive 16 can have an annular cylinder space 27, which can be arranged around the pressure-driven cylinder 26 of the pliers drive 8, in which case the cylinder axis 28 of the pressure-driven cylinder 26 can be positioned coaxially with the adjusting axis 17.

[0056] 5, 6 and 7, the magnetic gripper element 14 is shown, highly diagrammatically and by way of example only, in the form of a hollow cylinder 31 and has a cylindrical permanent magnet 32, which is housed in the hollow cylinder 31 together with a pressure-applying element 33. When pressure is applied to the pressure-applying element 33, this element is moved together with the permanent magnet 32 into or at least in the vicinity of the adhesion plane 15, whereby the workpiece 2 can be magnetically held on the adhesion plane 15. Alternatively, the vacuum gripper element 13, also shown highly diagrammatically in FIGS. 8, 9 and 10, is provided with suction cups 34.

[0057] 5 and 8 each show the same working position, in which the adhesive gripper 12 has been moved into its waiting area 19. The pressure-actuated cylinder 26 of the adjustment drive 16 is not supplied with pressure. The pressure-actuated cylinder 26 of the pliers drive 8 is supplied with pressure in this working position, which results in the closing of the pliers arms 6, 7. The pliers gripper 5 is therefore in its closed position 9. For example, the pressure-actuated cylinder 26 can be designed to be single-acting and can be held in this position by a return spring mechanism—not shown in the figures. Of course, it is also conceivable, and in some cases advantageous, for the pressure-actuated cylinder 26 to be designed to be double-acting.

[0058] 6 and 9, the adhesion gripper 12 is shown in the same position as in FIGS. 5 and 8. In this case, however, the pressure-driven cylinder 26 of the pliers drive 8 is no longer supplied with pressure and is therefore shown in its inactive position. With the pressure-driven cylinder 26 of the pliers drive 8 in its inactive position, the first pliers arm 6 opens, in which case it is swung along its swing axis 21. The pliers gripper 5 is therefore in its open position 25.

[0059] 7 and 10, the pressure-driven cylinder 26 of the pliers gripper 5 is pressure-fed, as in FIG. 5 or 8, so that the first pliers arm 6 is closed or the pliers gripper 5 is in its closed position 9. The pressure-driven cylinder 26 of the adhesive gripper 12 is in its outermost position, so that the adhesive gripper 12 has moved into the working area 18. The adhesive gripper 12 then extends beyond the front end 22 of the pliers gripper 5 in the direction of the adjustment axis 17.

[0060] The examples illustrate possible implementation variations, which are hereby recorded, but the present invention is not limited to the implementation variations specifically shown, but rather the individual implementation variations can be combined with each other in various ways, and these variations are within the discretion of a person skilled in the art based on the teachings for technical operation of the present invention.

[0061] The scope of protection is defined by the claims. However, the description and drawings should be used to interpret the claims. Individual features and feature combinations comprising the various embodiments shown and described may represent independent inventive solutions in themselves. The problem underlying the independent inventive solution can be read from the description.

[0062] All references to value ranges within the specific descriptions include any and all subranges thereof, e.g., the reference 1 to 10 includes all subranges beginning with a lower limit of 1 and an upper limit of 10, i.e., all subranges beginning with a lower limit of 1 or greater and ending with an upper limit of 10 or less, e.g., 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

[0063] Finally, it should be pointed out that in order to better understand the structure, some of the elements are not shown to scale and / or are enlarged and / or reduced in size. The present invention has the following aspects (configurations). [Aspect 1] A gripper device (1) for gripping, holding and placing a workpiece (2), in particular a sheet metal workpiece, comprising: a coupling interface (3) for fixing to a manipulator (4); A pliers gripper (5) having a first pliers arm (6) and a second pliers arm (7), the first pliers arm (6) and the second pliers arm (7) are movable relative to one another by a pliers drive (8) and, in their closed position (9), define a clamping plane (10) extending between the first pliers arm (6) and the second pliers arm (7); a pliers gripper (5), in which the first pliers arm (6) and the second pliers arm (7) define a pliers longitudinal axis (11) in its closed position (9) that is parallel to the first pliers arm (6) and the second pliers arm (7) and extends in the clamping plane (10); An adhesive gripper (12) comprising at least one negative pressure gripper member (13) or at least one magnetic gripper member (14), The adhesive gripper (12) has an adhesive working surface (15) for holding the workpiece (2), The gripper device (1) is configured such that the adhesive gripper (12) is slidably movable relative to the pliers gripper (5) along an adjustment axis (17) in the direction of the pliers longitudinal axis (11) between a working area (18) and a waiting area (19) by means of an adjustment drive (16), The clamping plane (10) and the adhesive working plane (15) are oriented perpendicular to each other, and The gripper device (1) is characterized in that the adhesive action plane (15) extends perpendicular to the longitudinal axis (11) of the pliers. [Aspect 2] The gripper device (1) according to aspect 1, characterized in that the pliers longitudinal axis (11) and the adjustment axis (17) are positioned coaxially. [Aspect 3] The gripper device (1) according to aspect 1, characterized in that the pliers longitudinal axis (11) and the adjustment axis (17) are positioned at different positions. [Aspect 4] The gripper device (1) according to any one of aspects 1 to 3, characterized in that at least three negative pressure gripper members (13) or at least three magnetic gripper members (14) are formed, and these are arranged in a ring shape around the pliers longitudinal axis (11). [Aspect 5] The second pliers arm (7) is fixedly disposed relative to the pliers drive (8), and The gripper device (1) according to any one of aspects 1 to 4, wherein the first pliers arm (6) is attached so as to be movable relative to the second pliers arm (7). [Aspect 6] The gripper device (1) according to any one of aspects 1 to 5, characterized in that the pliers longitudinal axis (11) and the central axis (20) of the coupling interface (3) are positioned coaxially with respect to the manipulator (4). [Aspect 7] The gripper device (1) according to any one of aspects 1 to 6, characterized in that the swing axis (21) of the first pliers arm (6) is formed perpendicular to the pliers longitudinal axis (11) and parallel to the clamp plane (10) or within the clamp plane (10), and the first pliers arm (6) is formed to be swingable around the swing axis (21). [Aspect 8] The gripper device (1) according to any one of aspects 1 to 6, wherein the first pliers arm (6) and the second pliers arm (7) are linearly movable relative to each other. [Aspect 9] The gripper device (1) according to any one of aspects 1 to 8, characterized in that the adhesion action plane (15) extends beyond the front end (22) of the pliers gripper (5) in the direction of the adjustment axis (17) when the adhesion gripper (12) is in the axially outermost working area (18). [Aspect 10] The gripper device (1) according to any one of aspects 1 to 9, characterized in that the first pliers arm (6) and the second pliers arm (7) cannot move into a partially or fully open position (25) when the adhesive gripper (12) moves into the working area (18) by at least one stop member or blocking member (23) or by being controlled by a control device (24). [Aspect 11] The gripper device (1) according to any one of aspects 1 to 10, characterized in that the pincer drive (8) and the adjustment drive (16) can be activated independently of each other and simultaneously. [Aspect 12] The gripper device (1) according to any one of aspects 1 to 11, characterized in that the pliers drive (8) and / or the adjustment drive (16) have a pressure-driven cylinder (26), preferably a pneumatic cylinder. [Aspect 13] The gripper device (1) according to aspect 12, characterized in that the pressure-driven cylinder (26) can be supplied with pressure using a joint pressure conduit, and at least one valve is formed in the joint pressure conduit, and the at least one valve can be controlled by a control device (24). [Aspect 14] The gripper device (1) according to aspect 13, characterized in that the at least one valve is configured as follows: to simultaneously provide negative pressure to the pressure-driven cylinder (26) and to the at least one gripper member (13) or to the at least one magnetic gripper member (14). [Aspect 15] The gripper device (1) according to any one of aspects 12 to 14, characterized in that the pressure-driven cylinder (26) of the adjustment drive (16) has an annular cylinder space (27), the annular cylinder space (27) is arranged around the pressure-driven cylinder (26) of the pliers drive (8), and a cylinder axis (28) of the pressure-driven cylinder (26) is positioned coaxially with the adjustment axis (17). [Aspect 16] A manipulator (4) having a gripper device (1) for gripping, holding and placing a workpiece (2), in particular a sheet metal workpiece, A manipulator (4) characterized in that the gripper device (1) is formed according to any one of aspects 1 to 15. [Explanation of symbols]

[0064] 1 Gripper device 2 Workpiece 3 Bonded Interfaces 4 Manipulator 5 Pliers Gripper 6 First pliers arm 7 Second pliers arm 8 Pliers Drive 9 Closed position 10 Clamping plane 11 Pliers longitudinal axis 12 Adhesive Gripper 13 Negative pressure gripper member 14 Magnetic gripper member 15 Adhesion plane 16 Adjustable Drive 17 Adjustment axis 18 Working area 19 Standby area 20 Center axis 21 Swing axis 22 Front end 23 Stopper member or blocking member 24 Control device 25 Open position 26 Pressure-driven cylinder 27 Annular cylinder space 28 Cylinder axis 29 Bending Machine 30 Lower tool 31 Hollow cylinder 32 Permanent magnets 33 Pressure acting member 34 Suction Cup

Claims

1. A gripper device (1) for gripping, holding and placing sheet metal workpieces, comprising: a coupling interface (3) for fixing to a manipulator (4); A pliers gripper (5) comprising a first pliers arm (6) and a second pliers arm (7), the first pliers arm (6) and the second pliers arm (7) are movable relative to one another by a pliers drive (8) and, in their closed position (9), define a clamping plane (10) extending between the first pliers arm (6) and the second pliers arm (7); a pliers gripper (5), in which the first pliers arm (6) and the second pliers arm (7) define a pliers longitudinal axis (11) in its closed position (9) that extends parallel to the first pliers arm (6) and the second pliers arm (7) and in the clamping plane (10); An adhesive gripper (12) comprising at least one negative pressure gripper member (13) or at least one magnetic gripper member (14), The adhesive gripper (12) has an adhesive working surface (15) for holding a sheet metal workpiece; The adhesive gripper (12) is slidably movable relative to the pliers gripper (5) along an adjustment axis (17) in the direction of the pliers longitudinal axis (11) between a working area (18) and a waiting area (19) by means of an adjustment drive (16), The clamping plane (10) and the adhesive working plane (15) are oriented perpendicular to each other, and The gripper device (1) comprises an adhesive gripper (12) whose adhesive working plane (15) extends perpendicular to the longitudinal axis (11) of the pliers, The second pliers arm (7) is fixedly arranged relative to the pliers drive (8), and The first pliers arm (6) is movably mounted relative to the second pliers arm (7); The swing axis (21) of the first pliers arm (6) is formed perpendicular to the pliers longitudinal axis (11) and parallel to the clamp plane (10) or within the clamp plane (10), and the first pliers arm (6) is formed to be swingable around the swing axis (21); The adhesive gripper (12) having the adjustment axis (17) is disposed adjacent to the second pincer arm (7); When the adhesive gripper (12) moves into the working area (18), the movement of the pliers drive (8) is prevented or blocked by at least one stop member or blocking member (23) or controlled by a control device (24), so that the first pliers arm (6) and the second pliers arm (7) cannot move into a partially or fully open position (25). A gripper device (1) characterized in that

2. 2. Gripper device (1) according to claim 1, characterized in that the pliers longitudinal axis (11) and the adjustment axis (17) are positioned at different positions.

3. 3. The gripper device (1) according to claim 1 or 2, characterized in that at least three negative pressure gripper elements (13) or at least three magnetic gripper elements (14) are formed, which are arranged in a ring shape around the pliers longitudinal axis (11).

4. The gripper device (1) according to any one of claims 1 to 3, characterized in that the pliers longitudinal axis (11) and the central axis (20) of the coupling interface (3) are positioned coaxially with respect to the manipulator (4).

5. Gripper device (1) according to any one of claims 1 to 4, characterized in that the first pliers arm (6) and the second pliers arm (7) are linearly movable relative to each other.

6. The gripper device (1) according to any one of claims 1 to 5, characterized in that the adhesion action plane (15) extends beyond the front end (22) of the pliers gripper (5) in the direction of the adjustment axis (17) when the adhesion gripper (12) is in its axially outermost working area (18).

7. Gripper device (1) according to any one of the preceding claims, characterized in that the pincer drive (8) and the adjusting drive (16) can be activated independently of each other and simultaneously.

8. Gripper device (1) according to any one of claims 1 to 7, characterized in that the pliers drive (8) and / or the adjusting drive (16) have a pressure-driven cylinder (26), preferably a pneumatic cylinder.

9. 9. The gripper device (1) according to claim 8, characterized in that the pressure-driven cylinder (26) can be supplied with pressure by means of a joint pressure conduit, in which at least one valve is formed, and which at least one valve can be controlled by a control device (24).

10. 10. The gripper device (1) according to claim 9, characterized in that the at least one valve is configured so as to simultaneously provide pressure to the pressure-driven cylinder (26) and to the at least one negative pressure gripper member (13) or to the at least one magnetic gripper member (14).

11. 11. The gripper device (1) according to claim 8, wherein the pressure-driven cylinder (26) of the adjusting drive (16) has an annular cylinder space (27), the annular cylinder space (27) is arranged around the pressure-driven cylinder (26) of the pliers drive (8), and a cylinder axis (28) of the pressure-driven cylinder (26) is positioned coaxially with respect to the adjustment axis (17).

12. A manipulator (4) having a gripper device (1) for gripping, holding and placing a workpiece (2), in particular a sheet metal workpiece, A manipulator (4), characterized in that the gripper device (1) is formed according to any one of claims 1 to 11.

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