Gripping device, handling device and method for tightly packing objects on a set-down surface

Abstract

The invention relates to a gripping device (10) for arranging objects (12) on a set-down surface (14), the gripping device (10) comprising: an attachment point (16) for attaching to a manipulator of a handling device, a gripper (18) for gripping objects (12), a compensation unit (24) having at least one fastening part (34) and at least one compensation part (36), wherein the compensation part (36) is displaceable relative to the fastening part (34) along an x axis and / or along a y axis and / or along a z axis between a basic position and a compensation position, and also a rotary drive (20) for rotating the gripper (18) about an axis of rotation (22); and the invention further relates to a handling device and to a method for tightly packing objects on a set-down surface.

Description

[0001] Title: Gripping device, handling device and

[0002] Method for densely packing objects on a storage surface

[0003] Description

[0004] The invention relates to a gripping device, a handling device and a method for tightly packing objects on a storage surface.

[0005] In logistics, objects must be arranged on the storage surface, for example, when loading pallets with boxes. With automated pallet loading, it is desirable for the boxes to be packed tightly on the pallet to optimize transport space and ensure low transport costs. This is often not the case with automated systems, because, for example, grippers, due to their dimensions, cannot position the boxes against those already arranged on the pallets, and / or the gripper's rigidity can shift boxes already on the pallets.

[0006] The invention is based on the objective of providing a gripping device, a handling device and / or a method for tightly packing objects on a storage surface.

[0007] The problem underlying the invention is solved by a gripping device with the features of claim 8. The invention relates to a gripping device for arranging objects on a storage surface, the gripping device comprising: a connection point for connecting to a manipulator of a handling device, a gripper for gripping objects, a compensating unit with a mounting part and a compensating part, wherein the compensating part is displaceable relative to the mounting part along an x-axis and / or along a y-axis and / or along a z-axis between a basic position and a compensating position, a rotary drive for rotating the gripper about a rotational axis, wherein the rotational axis preferably runs parallel to or along the z-axis, and a coupling device arranged along the rotational axis between the rotary drive and the gripper.

[0008] Due to the compensating unit and the coupling device, the gripping device exhibits advantageous flexibility, allowing the object to precisely align itself with objects already arranged on the storage surface. Consequently, a high packing density is achieved when gripping objects onto the storage surface using this device. Furthermore, the rotating mechanism enables optimal alignment of the object for placement on the storage surface and for aligning it with other objects already there.

[0009] When transporting and storing objects, it is desirable to arrange them on a support surface in a space-saving manner to optimally utilize the available space and increase the stability of the arrangement. The invention maximizes the utilization of the storage area, increases the stability of the arrangement through the dense packing of the objects, and offers high flexibility for application to various types of storage surfaces and objects.

[0010] The objects in question can be goods carriers, such as containers, trays, or boxes. The storage surface can be part of a loading aid, such as a pallet or a roll container.

[0011] The gripper can be designed as a vacuum gripper, a magnetic gripper, or an adhesion gripper. These should preferably be suitable for placing objects on a surface close to other objects. The gripping device can preferably be arranged on a manipulator, such as a robot arm or the cantilever arm of a forklift.

[0012] An advantageous aspect of the invention provides that the rotary drive is arranged between the connection point and the compensating unit, or between the compensating unit and the gripper. Alternatively, the compensating unit is arranged, in particular, between the rotary drive and the gripper. It is advantageous if the compensating unit is arranged as close as possible to the gripper so that a slight compensating movement is possible. Accordingly, gripped objects can also conform to light objects already arranged on the support surface without the gripped object displacing or slipping them. It is further advantageous if the connection point is arranged between the rotary drive and the compensating unit.

[0013] An advantageous aspect of the invention provides that the rotary drive has a driven gear for interaction with a drive unit. It is further advantageous if the rotary drive also has a drive gear of the drive unit, wherein the driven gear can be driven by the drive gear, in particular by means of a belt. Such a belt drive enables simple and precise rotation of the gripped object, so that it can be placed on the storage surface close to other objects, regardless of the access direction. The driven gear and / or the drive gear preferably have external teeth. The belt preferably has internal teeth that interact with the external teeth of the driven gear and / or the drive gear. The drive gear is preferably laterally offset perpendicular to the axis of rotation.

[0014] An advantageous aspect of the invention provides that the coupling device is designed as a rotary coupling, in particular as an electromagnetic coupling, for coupling and decoupling the rotary drive and the gripper. In the decoupled state of the coupling device, there is a rotary freewheel for the compensating unit and / or the gripper and / or the gripped object. This allows the object to easily and securely engage with other objects on the storage surface. This also ensures a tight packing of the objects on the storage surface.

[0015] An advantageous aspect of the invention provides that the gripping device has a rotation sensor, in particular an absolute rotary encoder, for detecting the rotational movement of the gripper in freewheeling mode. Consequently, the rotational position of the gripper and / or the compensating unit is always known.

[0016] An advantageous aspect of the invention provides that the gripping device has a control unit for controlling the rotary drive, wherein the control unit controls the rotary drive depending on the rotational movement detected by the rotation sensor such that the gripper, particularly after being placed down, is returned from a rotational position to a home position. This ensures that after the gripped object is placed down, the gripper and / or the compensation unit is rotated back to a known home position. Consequently, further objects can then be gripped with repeatable accuracy.

[0017] An advantageous aspect of the invention provides that the compensating unit has a clamping device for clamping and releasing the compensating part relative to the mounting part along the x-axis and / or along the y-axis and / or along the z-axis. It is advantageous if the movement along each axis (x, y, z) can be locked independently. It is further advantageous if a separate clamping unit of the clamping device is provided for each axis. Thus, the object can be positioned against another object on the support surface along the x-axis and subsequently against another object on the support surface along the y-axis. After positioning along an axis, e.g., x or y, the compensating position along that axis can then be locked. This ensures that no other objects on the support surface slip.

[0018] The compensating unit may further include a return mechanism, in particular a centering pin, for returning the compensating element from the compensating position to the home position. This mechanism may preferably be designed such that the return can only occur jointly or independently in each axis. The return mechanism is preferably pneumatically or hydraulically operable. The compensating unit preferably has a compensating housing. The compensating unit preferably has a fluid connection on one side of the housing for the fluidic supply of the return mechanism.

[0019] An advantageous aspect of the invention provides that the gripper is designed as a bellows suction cup and / or as a surface suction cup and / or as an adhesion gripper and / or as a magnetic gripper. The bellows suction cup preferably has at least one suction cup for gripping the object. The at least one suction cup preferably runs parallel to the axis of rotation and / or to the z-axis. The surface suction cup preferably has a fluid-permeable foam element.

[0020] An advantageous aspect of the invention provides that the gripper, in particular the vacuum gripper, has several suction cups, wherein the suction cups are arranged offset from one another, particularly along the x-axis and / or along the y-axis. Due to the offset arrangement of the suction cups, even objects with slots or recesses can be gripped securely. Accordingly, the suction cups do not run along a linear axis.

[0021] The gripper preferably has a gripper housing. A media connection, in particular a vacuum connection, is preferably arranged on one side of the gripper housing. The media connection, in particular the vacuum connection, is preferably arranged on the same side of the housing as the fluid connection of the compensation unit. This allows for a particularly large rotation angle, especially in a range between -90° and +90°, for the gripper.

[0022] The gripping device preferably includes a position measuring system for detecting the absolute position of the gripper and / or for detecting the relative position of the compensating part to the mounting part and / or for detecting the piston position of the return device. The position measuring system preferably includes an X-measuring unit, a Y-measuring unit, a Z-measuring unit and / or a piston measuring unit, these preferably being arranged in grooves on the outer surface of the compensating housing.

[0023] The problem underlying the invention is also solved by a gripping device for arranging objects on a storage surface according to claim 1. The gripping device preferably comprises a connection point for attachment to a manipulator of a handling device, preferably a gripper for gripping objects, preferably a compensating unit with at least one mounting part and at least one compensating part, wherein the compensating part is displaceable relative to the mounting part along an x-axis and / or along a y-axis and / or along a z-axis between a basic position and a compensating position. The gripping device further preferably comprises a rotary drive for rotating the gripper about a rotational axis. The rotary drive can be designed as an actuator, in particular a servo motor.

[0024] The connection point and / or the compensating unit form a compensating device. The rotary drive and / or the gripper form a gripping device. The compensating device, in particular the connection point and / or the compensating unit, and the gripping device, in particular the rotary drive and / or the gripper, are arranged perpendicular to the axis of rotation and spaced apart from each other.

[0025] When used in a high-bay warehouse, vertical space is limited. The proposed arrangement perpendicular to the axis of rotation has the advantage of a particularly flat gripping device. Therefore, the gripping device can also be used in storage areas with low vertical height.

[0026] It is advantageous if the gripper is arranged laterally offset from the axis of rotation. This causes the geometric compensation axis and the geometric drive axis to diverge. Consequently, the compensation unit is no longer arranged along the axis of rotation above the vacuum gripper. This allows for greater flexibility in the arrangement of the components in relation to the gripped objects. As a result, the gripping device can be built even flatter. It is advantageous if, during operation of the gripping device, the gripper and the compensation unit, in particular the compensation element, are accessible from the object side.

[0027] It is advantageous if a connecting element connects the compensating device, in particular the compensating unit, and the gripping device, in particular the rotary drive. The connecting element secures the compensating device, in particular the compensating unit, preferably the compensating part, and the gripping device, in particular the rotary drive, preferably the mounting part, against movement. It is advantageous if the connecting element is arranged, at least partially, between the compensating device and the gripping device.

[0028] The distance between the compensation unit and the rotary drive preferably defines the maximum distance parallel to the x-axis or the y-axis between the basic position and the compensation position.

[0029] It is advantageous if the connecting element is designed as a deflecting arm, in particular with at least one arc section. Alternatively, the connecting element is designed as a yoke, in particular a Z-shaped one.

[0030] The gripping device, particularly according to claim 1 or claim 8, preferably comprises a detection device for detecting objects and / or a lighting device for illuminating objects and / or the surroundings of the gripping device. Accordingly, the gripping device can detect the position of an object to be gripped, a gripped object, and / or a placed object, and / or whether an object is present. A lighting device improves the reliability of the detection device.

[0031] Preferably, the detection device and / or the lighting device are rotatable, particularly by means of the rotary drive. Consequently, a further area around the gripping device can be detected.

[0032] Preferably, the rotary drive can comprise a fixed part and a rotating part that is rotatable relative to the fixed part about the axis of rotation, wherein the gripper and the detection device and / or the illumination device are rotationally fixed to the rotating part. Accordingly, the gripper, the detection device and / or the illumination device are rotated synchronously, in particular by means of a common rotary drive. Consequently, objects can be selectively detected and / or illuminated even after the gripper has rotated.

[0033] The detection device and / or the lighting device is, at least in a basic position, directed in a direction which is directed by the compensation device, in particular the connection interface and / or the compensation unit.

[0034] Preferably, a connecting element, in particular a yoke, is arranged along the force flow between the gripper and the compensating unit. The connecting element, in particular the yoke, preferably connects the rotary drive and the compensating unit, in particular a compensating part of the compensating unit. The connecting element, in particular the yoke, is preferably designed as an angle element, in particular a Z-shaped one. The connecting element, in particular the yoke, is preferably designed as a single piece or in multiple parts. The connecting element, in particular the yoke, is preferably separate from the compensating unit, in particular from the

[0035] The connecting element, in particular the yoke, preferably comprises a first yoke section, a second yoke section, and / or a third yoke section connecting the first and second yoke sections. The first yoke section is preferably oriented towards the compensating element and / or rigidly connected to the compensating element. The second yoke section is preferably oriented towards the rotary drive and / or the gripper and / or rigidly connected to the gripper.

[0036] The first yoke section and / or the second yoke section are preferably arranged perpendicular to the axis of rotation. The third yoke section is preferably arranged parallel to the axis of rotation.

[0037] The first yoke section can be formed as a single unit with a compensating element of the compensating unit, in particular with the second compensating element of the second compensating unit. The second and third yoke sections can be formed as single units. The first yoke section can be formed separately from the second and third yoke sections. The third yoke section can be formed as a single unit with a fixed part of the rotary drive.

[0038] Along the force flow, the components are preferably arranged in the following sequence: connection point, compensating unit, connecting element (in particular, yoke), rotary drive, gripper. It is further advantageous if the gripper and the compensating unit are arranged such that they intersect a horizontal plane parallel to the axis of rotation. This provides a gripping device with a reduced installation space and a particularly flat design. Instead of being arranged along the z-axis, the compensating unit and the vacuum gripper are distributed across the XY plane.

[0039] When using a connecting element, especially a yoke, a bearing bridge can be omitted. In this case, the connecting element, especially the yoke, serves as the drive carrier.

[0040] The drive for the gripping device can preferably be designed as a servo motor. This offers the advantages of an actuator while potentially eliminating the need for an additional sensor in the form of a rotation sensor. Instead of a multi-part and geometrically distributed rotary drive, particularly a toothed belt drive, a compact drive is provided. This allows the drive to be positioned closer to the gripper. In an embodiment with a servo motor as the drive and / or a connecting element, particularly a yoke, as the connection between the compensating device and the gripping device, a coupling device, especially a magnetic coupling, can be omitted.In summary, this allows for the provision of a lightweight and low-profile gripping device, which results in improved dynamics of the overall system and reduced moment load at the connection point to a manipulator of a handling device, in particular to a robot arm or a cantilever arm of a forklift. The description further includes a single connecting element, in particular a yoke, with one or more or all of the features described above.

[0041] Preferably, a media connection and / or a media line, particularly for the gripper, is routed through the rotary drive. For example, a vacuum line for a vacuum gripper can thus be routed through the rotary drive. It is advantageous if a rotary feedthrough for the media connection and / or the media line is provided in the rotary drive. A fixed part and a rotating part of the rotary drive are preferably hollow and cylindrical. The rotating part is preferably arranged in the fixed part or vice versa. The rotary feedthrough is preferably arranged in the fixed part and / or the rotating part. The rotary feedthrough for the media line preferably has a nozzle section for guiding the media line and / or a rotary receptacle for receiving the media line. The rotary receptacle is preferably non-rotatably connected to the rotating part.

[0042] The media connection is preferably located on the side of the rotary drive facing the compensation device. The media line preferably connects to the media connection. The media line preferably runs through the fixed part and / or a cover part of the rotary drive. The fixed part and / or the cover part preferably has a nozzle section on its inside, through which the media line is guided, at least partially, into an interior space of the rotary drive. The media line protrudes from the nozzle section and is received in a rotary mount. The media line is connected to the rotary part by means of the rotary mount. In this way, the gripper can be supplied with media, such as vacuum, despite the gripper's rotational freedom around the axis of rotation.By not placing the media connection directly on the gripper, but rather guiding it to the gripper via the rotary drive (on the inside), the gripper can be used with greater flexibility and a smaller interference contour.

[0043] The problem underlying the invention is also solved by a handling device with the features of claim 14. The invention relates to a handling device with a gripping device according to one of the preceding claims. The handling device preferably has a manipulator, such as a robot arm or a cantilever arm of a forklift truck, on which the gripping device is arranged with the attachment point. The manipulator grips the gripping device at the attachment point.

[0044] The problem underlying the invention is also solved by a method with the features of claim 15. The invention is directed to a method for arranging objects on a storage surface with a gripping device, in particular according to one of the preceding claims, comprising the following steps:

[0045] Gripping the object by means of a gripping tool, in particular a vacuum gripper, the gripping device, rotation of the gripping tool and the gripped object by means of a rotational drive of the gripping device around a rotational axis,

[0046] Decoupling the rotary drive and the gripping tool to achieve a rotary freewheel of the

[0047] gripping tool and the gripped object, and handling of the gripped object, so that the gripped object contacts objects already arranged on the storage surface and rotates from a basic position to a rotational position through the contact around the axis of rotation, so that the gripped object can nestle close to the objects already arranged on the storage surface through the rotational free movement.

[0048] Due to its free rotation, the grasped object exhibits advantageous flexibility, allowing it to precisely conform to objects already arranged on the storage surface. Consequently, a high packing density is achieved when packing objects on the storage surface. The rotational position preferably represents the optimal alignment with the objects already arranged on the storage surface.

[0049] An advantageous aspect of the method is that, during the rotational free-running phase, the gripper's rotational movement is detected by a rotation sensor. After the object is placed on the support surface, the gripper is rotated back from its rotational position to its home position by means of the rotary drive. This ensures that, after the gripped object is placed, the vacuum gripper and / or the compensating unit rotates back to a pre-defined home position. Consequently, further objects can then be gripped with repeatable accuracy.

[0050] An advantageous aspect of the method is that the gripping device includes a compensation unit with a

[0051] The device comprises a mounting part and a compensating part, wherein the compensating part is displaceable relative to the mounting part along an x-axis and / or along a y-axis between a basic position and a compensating position, wherein the grasped object is first moved along the x-axis so that the grasped object contacts objects already arranged on the storage surface, and is then moved along the y-axis so that the grasped object contacts objects already arranged on the storage surface. Accordingly, the arrangement on the storage surface can be stepwise, with the object first being brought close to a first adjacent object along the x-axis and then to a second adjacent object along the y-axis.

[0052] An advantageous aspect of the method is that, after the gripped object has moved along the x-axis, the compensating unit is clamped in such a way that further compensating movement along the x-axis is blocked. Thus, the alignment with the first adjacent object remains stored.

[0053] An advantageous aspect of the method is that the gripping device includes a compensating unit with a mounting part and a compensating part, wherein the compensating part is displaceable relative to the mounting part along a z-axis between a home position and a compensating position, and the gripped object is moved along the z-axis against the support surface such that the compensating part is displaced along the z-axis from the home position to the compensating position. Thus, despite tolerances, it is ensured that the object is already in contact with the support surface and does not fall onto the support surface when the gripping device is released. This guarantees that the object does not move along the x-axis and / or the y-axis after being released from the vacuum device.

[0054] Preferably, a control unit of the gripping device and / or the handling device is designed such that it controls the gripping device to carry out the described procedure.

[0055] Further advantages, features, and details will become apparent from the following description, in which various embodiments of the invention are illustrated with reference to the drawing. The features mentioned in the claims and the description can each be essential to the invention individually or in any combination.

[0056] They show:

[0057] Fig. 1-7 shows a first embodiment of a gripping device according to the invention;

[0058] Fig. 8 shows a storage situation of an object on a

[0059] From length area;

[0060] Fig. 9 shows a sectional view of a coupling device.

[0061] Figs. 10-12 show a second embodiment of an inventive gripping device;

[0062] Figs. 13-14 show a third embodiment of a gripping device according to the invention; and

[0063] Figures 15-16 show a fourth embodiment of a gripping device according to the invention. The gripping device 10, as shown in Figures 1 to 7, is designed to handle or grip objects 12, in particular cartons, and then place them on a storage surface 14, e.g., a pallet. It is advantageous if the objects 12 are packed as close together as possible on the storage surface 14. The storage surface 14 preferably runs parallel to the x- and y-axes during placement. The object 12 is gripped by the gripping device 10, preferably on a top surface 13 that runs parallel to the x- and y-axes.

[0064] The storage surface 14 and / or the pallet are preferably part of a warehouse, in particular a high-bay warehouse with several stacked storage locations. For efficient use, it is advantageous if the storage locations are limited in vertical height, which defines the requirements for the gripping device 10 with regard to a low-profile design.

[0065] The gripping device 10 is attached to a manipulator (not shown) of a handling device by means of a connection point 16. The manipulator can be, for example, a robot arm or a cantilever arm of a forklift. For gripping the objects 12, the gripping device 10 has a gripper in the form of a vacuum gripper 18. This can alternatively also be designed as a magnetic gripper or an adhesion gripper.

[0066] To align the gripped object 12, the gripping device 10 according to Figs. 1 to 16 has a rotary drive 20, wherein the gripped object 12 can be rotated about a rotation axis 22 parallel to the z-axis by means of the rotary drive 20. To allow the gripped object 12 to move out of the way when contacting other objects 12, the gripping device 10 also has a compensating unit 24. The compensating unit 24 preferably enables compensating movement along an x-axis, along a y-axis perpendicular to the x-axis, and along a z-axis perpendicular to both the x-axis and the y-axis. Furthermore, to enable a rotational compensating movement, or... In order to enable a rotational alignment of the gripped object 12 with adjacent objects 12 on the storage surface 14, the gripping device 10 further comprises a coupling device 26 which enables a rotational freewheel of the gripped object 12.

[0067] The connection point 16 is designed as a mounting plate with mounting holes, as shown in Figures 1 to 7, to which the manipulator can be attached. The connection point 16 is preferably arranged along the axis of rotation 22 between the rotary drive 20 and the compensating unit 24, in particular between the coupling device 26 and the compensating unit 24.

[0068] The rotary drive 20 is designed as a belt drive, with only one output wheel 28 of the belt drive shown in Figures 1 to 7. The output wheel 28 preferably interacts with a drive wheel 28 of the belt drive via a belt. The rotary drive 20 is preferably arranged on the side of the connection point 16 facing away from the vacuum gripper 18. The output wheel 28 is preferably non-rotatably connected to a rotary shaft 30. The rotary shaft 30 is rotatably mounted either in the connection point 16 or in a bearing bridge 32. The bearing bridge 32 is also arranged at the connection point 16 and projects away from the vacuum gripper 18 relative to the connection point 16. The bearing bridge 32 is designed such that the belt can lead from the output wheel 28 to the drive wheel 28 (not shown), which is arranged offset from the axis of rotation 22. The bearing bridge 32 preferably serves as a drive support.

[0069] The coupling device 26 is designed as a rotary coupling, in particular as an electromagnetic rotary coupling, according to Figures 1 to 7. The coupling device 26 can be designed according to Figure 9 with a drive element 100, an output element 102, a clutch disc 104, and / or a switchable electromagnet 106, wherein, in the engaged state, the output element 102 is pulled axially against the clutch disc 104 by means of a friction plate 108, so that a force-fit power transmission occurs between the drive element 100 and the output element 102. In the disengaged state, the clutch disc 104 and the output element 102 are spaced apart from each other, so that no power transmission occurs between the drive element 100 and the output element 102. In this case, the output element 102 is in a rotary freewheel state. The gripping device 10 can, for example, hold the output gear 28 or .The rotating shaft 30 may be configured as the drive element 100 of the clutch device 26, and a mounting part 34 of the compensating unit 24 as the output element 102, or vice versa. The clutch device 26 is preferably also arranged on a side of the connection point 16 facing away from the vacuum gripper 18. The clutch disc 104 may additionally have bearing sections 110, wherein preferably the drive element 100 and / or the output element 102 are each rotatably mounted on a bearing section 110, in particular by means of a bearing element 112. The drive element 100, the output element 102, and / or the clutch disc 104 may be designed to be rotationally symmetrical about the axis of rotation 22. The drive element 100, the output element 102 and / or the electromagnet 106 are preferably arranged radially outside the axis of rotation 22, each in relation to the associated bearing section 110.

[0070] The compensating unit 24, as shown in Figures 1 to 16, comprises a mounting part 34 and a compensating part 36A, wherein the compensating part 36 is displaceable relative to the mounting part 34 along the x-axis, along the y-axis, and along the z-axis between a basic position and a compensating position. The compensating unit 24 is preferably modular and multi-part, wherein a first compensating unit 24A can be configured for compensating along the z-axis and a second compensating unit 24B for compensating along the x-axis and the y-axis.

[0071] The first compensating unit 24A, as shown in Figures 1 to 16, has a first mounting part 34A and a first compensating part 36A, wherein the first compensating part 36A is displaceable along the z-axis between a lower first basic position and an upper first compensating position.

[0072] Mounting part 34, in particular the first mounting part 34A, is frame-shaped and / or, as shown in Figures 1 to 7, has a recess for routing manipulator-side, in particular robot-side (supply) lines. For this purpose, the first compensating unit 24A has guide pins 37, or vice versa, rigidly connected to the first mounting part 34A and guided in the first compensating part 36A, as well as spring elements 38 for returning to the first basic position. Consequently, the first compensating unit 24A can enable a compensating movement of the vacuum gripper 18 along the z-axis. Preferably, the output element of the coupling device 26 is connected to the first mounting part 34A of the first compensating unit 24A. The first compensating unit 24A preferably has end stops (not shown), in particular elastomeric elements, for limiting the compensating movement along the z-axis.

[0073] The second compensating unit 24B, as shown in Figures 1 to 16, comprises a second mounting part 34B and a second compensating part 36B, wherein the second compensating part 36B is displaceable along the x-axis and along the y-axis between an inner second basic position and an outer second compensating position. In the second basic position, the compensating part 36, in particular the second compensating part 36B, is arranged concentrically to the axis of rotation 22, as shown in Figures 1 to 7. Furthermore, as shown in Figures 3 and 5, the second compensating unit 24B comprises a guide frame 40, wherein at least one first linear guide 42 extending parallel to the x-axis is provided between the second mounting part 34B and the guide frame 40, and at least one second linear guide 44 extending parallel to the y-axis is provided between the guide frame 40 and the second compensating part 36B.The at least one first linear guide 42 and the at least one second linear guide 44 are preferably arranged in a common guide plane 46, wherein the guide plane 46 preferably runs perpendicular to the axis of rotation 22. Preferably, the first compensating element 36A and the second mounting element 34B are formed in one piece. The second compensating element 36B is preferably rigidly connected to the gripper housing 48 of the vacuum gripper 18.

[0074] The compensating unit 24, as shown in Figures 1 to 16, forms a connected module with the first compensating unit 24A and the second compensating unit 24B. The compensating unit 24 can alternatively comprise only the first compensating unit 24A or only the second compensating unit 24B. Consequently, the second compensating unit 24B can enable compensating movement of the vacuum gripper 18 along the x-axis and the y-axis. Preferably, the second compensating element 36B is connected to a gripper housing 48 of the vacuum gripper.

[0075] Accordingly, the power transmission according to Fig. 1 to 7 proceeds in the sequence from the rotary drive 20 via the coupling device 26, via the compensating unit 24 and via the gripper housing 48 to the vacuum gripper 18.

[0076] The compensating unit 24, in particular the second compensating unit 24B, preferably has a pneumatically operated return device 50 as shown in Figures 1 to 16, which returns the second compensating part 36B to the second basic position. For this purpose, the return device 50 has a centering pin (not shown) and a pin receptacle (not shown). The centering pin is preferably fixedly connected to the second mounting part 34B and / or the pin receptacle is preferably fixedly connected to the second compensating part 36B or vice versa. The centering pin and / or the pin receptacle preferably have conical surfaces which ensure centering when the centering pin is inserted into the pin receptacle. The centering bolt is preferably pneumatically displaceable parallel to the axis of rotation 22 and / or to the z-axis and in particular thus insertable into and out of the bolt receptacle.The return mechanism 50 can also be used to lock the compensating element 36 in the home position. The second compensating unit 24B preferably has end stops (not shown) for limiting the compensating movement along the x-axis and / or the y-axis. The compensating unit 24 preferably has a compensating housing 52 with a first shell side 54, wherein a fluid connection 56 for the fluidic supply of the return mechanism 50 is arranged on the shell side 54.

[0077] Preferably, the compensating unit 24, in particular the second compensating unit 24B, has a clamping device (not shown) for clamping the compensating movement along the x-axis and / or along the y-axis. The compensating movement along the axes can preferably be clamped independently of each other.

[0078] The vacuum gripper 18 is designed as a bellows gripper with suction cups 58, as shown in Figures 1 to 7. Alternatively, the vacuum gripper 18 can also be designed as a surface gripper with a foam element. It is advantageous if the suction cups 58, as shown in Figure 7, are not arranged along a linear axis along the x-axis and / or along the y-axis. In Figure 7, the suction cups 58 are arranged linearly along the x-axis and offset along the y-axis. This allows for the secure gripping of objects 12 that, for example, have slots running parallel to the x-axis and / or the y-axis. For this purpose, the gripper housing 48 has several suction cup receptacles. The vacuum gripper 18 is fluidically connected to a vacuum supply, in particular the handling device, by means of at least one vacuum connection 60. The vacuum connection 60 is preferably arranged on a second shell side 62 of the gripper housing 48 .The fluid connection 56 and the vacuum connection 60 are preferably arranged on the same side of the casing and / or directed towards the fluid supply and / or vacuum supply of the handling device. A channel system is preferably formed within the gripper housing 48, which connects the vacuum connection 60 to the individual suction cups 58. Switching valves can also be arranged in the gripper housing 48 for switching the suction cups 58 together or independently.

[0079] A flexible hose is preferably arranged at each of the at least one vacuum port 60 and / or at each of the at least one fluid port 56. Thus, the vacuum gripper 18 can achieve rotation angles between -90° and +90°.

[0080] The gripping device 10 further comprises a rotation sensor 64 with an absolute rotary encoder and an encoder, which together enable precise angle measurement and position determination of the output gear 28. The absolute rotary encoder includes a rotating coding disk, which is preferably arranged directly on the output gear 28. This coding disk is provided with a unique pattern sequence that uniquely encodes the angular position. An optical or magnetic scanning system reads this pattern and converts it into a digital signal that represents the exact angular position of the output gear 28 at any given time. The encoder, which is integrated into the rotation sensor 64, serves to additionally detect the rotational speed and to improve positional accuracy. It can be designed as an incremental encoder that detects the relative movement of the output gear 28 by means of a counting method.The combination of absolute rotary encoder and encoder makes it possible to precisely determine both the absolute position and the direction and speed of movement of the output gear 28. This is achieved by processing the signals in a downstream control unit, which uses the acquired data to control the rotary drive 20, the balancing unit 24, and the vacuum gripper 18.

[0081] The gripping device 10 also includes a position measuring system 66 for detecting the position of the vacuum gripper 18 along the x-axis and / or along the y-axis and / or along the z-axis, as well as for detecting the piston position of the return device 50. The position measuring system 66 has a position measuring unit 68 in the form of a magnetic field sensor or a Hall effect sensor for each axis and the piston position. The magnetic field sensors detect the change in the magnetic field generated by the movement of a magnet attached to the component being monitored. For position determination along the x-, y-, and / or z-axis, an array of Hall effect sensors is strategically arranged around the return device 50 so that the relative position of the magnets with respect to the magnetic field sensors can be detected in x, y, and z.The position measuring units 68 are preferably arranged in sensor grooves 70 on the outer surface of the compensating housing 52. The position of the vacuum gripper 18 and / or the gripped object 12 can then be determined from the information generated by the position measuring system 66. To detect the piston position of the centering pin of the return device 50, an additional magnetic field sensor is positioned along the axis of rotation 22. The magnetic field sensor detects the position of the centering pin, so that it can be determined whether the compensating part 36 is in its home position. Figures 8a-d show the orientation of the gripped object 12 when placed on the support surface 14. It should be noted that, for illustrative purposes, the objects 12 on the support surface 14 are shown spaced apart from each other. In reality, the objects 12 are ideally arranged adjacent to each other on the storage surface 14.This dense packing of the objects 12 on the storage surface 14 is achieved with the method according to the invention.

[0082] The gripping device 10 grasps the object 12 and moves it towards the storage surface 14. To this end, a control unit (not shown) of the gripping device 10 first activates the vacuum gripper 18, causing it to suction and grasp the object 12. The object 12 is then rotated by the rotary drive 20 into a suitable orientation in which it can be placed on the storage surface 14. However, this orientation does not correspond to the optimal orientation of the object 12, since, firstly, the object 12 has manufacturing tolerances, may be flexible, or the adjacent objects 12 on the storage surface 14 may not be optimally aligned. Therefore, before the object 12 is placed on the storage surface 14, and especially before the gripped object 12 comes into contact with an object 12 already on the storage surface 14, the compensating unit 24 is unlocked and the coupling device 26 is disengaged, as shown in Fig. 8a.Consequently, object 12 can be moved linearly along the x-axis, y-axis, and z-axis by contacting another object 12 and rotated about the axis of rotation 22 (rotational freewheeling). This is necessary to easily align object 12 with an object 12 already arranged on the storage surface 14 and thus achieve a high packing density. The control unit then directs the manipulator so that the grasped object 12 is initially moved opposite to the y-axis towards an adjacent first object 12A. Through contact with the first object 12A, the grasped object 12 aligns itself parallel to the contact surface of the two adjacent objects 12, as shown in Fig. 8c. Therefore, an optimal packing density with respect to the first object 12A is advantageously achieved. To prevent the first object 12 from being displaced by the grasped object 12, the balancing unit 24 allows a balancing movement along the y-axis.The control unit then controls the compensating unit 24 and / or the clamping device, preferably such that the compensating element 36 is clamped along the y-axis, thus preventing any compensating movement along the y-axis. This stores the optimal orientation with respect to the first object 12A. For further positioning, the control unit controls the manipulator so that the gripped object 12 is moved further along the x-axis towards an adjacent second object 12B. Here, too, the gripped object 12 conforms optimally to the second object 12B due to the linear and rotational degrees of freedom, so that ultimately the gripped object 12 is in the optimal placement position with a high packing density. Slippage of the second object 12B is prevented by the compensating unit 24 and the possible compensating movement along the x-axis.Of course, the movement can also occur first along the x-axis and then along the y-axis. Alternatively, the gripped object 12 can also be moved simultaneously in a superimposed movement perpendicular to both the x-axis and the y-axis to the placement position. The manipulator then passes over the placement position, specifically the placement height, along the z-axis. This ensures that the gripped object 12 rests on the placement surface 14 and does not fall onto it, potentially displacing itself or other objects 12. This passage is made possible by the compensation unit 24 and the compensating movement along the z-axis. The gripped object 12 is not damaged despite being passed over the placement surface along the z-axis. The control unit then activates the vacuum gripper 18 to release the object 12. The placement process is thus complete.

[0083] Due to the decoupling of the coupling device 26 before the gripped object 12 is placed down, and the resulting rotational freewheeling, the vacuum gripper 18 is in any angular position within a range between -90° and +90° (rotational position). Therefore, it is advantageous if the change in angle during rotational freewheeling is detected by the rotation sensor 64 before the coupling device 26 is decoupled. The coupling device 26 can then be re-engaged. Consequently, the control unit actuates the rotary drive 20 such that the vacuum gripper 18 is rotated back from the rotational position to its known home position. Thus, another object 12 can be gripped with the gripping device 10 with repeatable accuracy. After placement, the clamping device can preferably be unlocked, allowing free movement in the x and y directions.

[0084] A second embodiment of the gripping device 10 is shown in Figures 10 to 12. The gripping device 10 also has a connection point 16 in the form of a mounting flange. A compensating unit 24 with a first compensating unit 24A and a second compensating unit 24B is connected to the connection point 16. The connection point 16 is preferably formed integrally with the first mounting part 34A of the first compensating unit 24B. A connecting element, in particular a Z-shaped yoke 120, in the form of an angle element, is arranged on the second compensating unit 24B, in particular on the second mounting part 34B or on the second compensating part 36B. The rotary drive 20 and the vacuum gripper 18 are arranged on the connecting element, in particular the yoke 120. The rotary drive 20 is arranged between the vacuum gripper 18 and the compensating unit 24 and / or the connecting element, in particular yoke 120.The connecting element, in particular yoke 120, is preferably designed such that the compensating unit 24 is arranged laterally offset from the axis of rotation 22. Accordingly, in the second basic position, the center point of the compensating part 36, in particular of the second compensating part 36B, is also arranged at a distance from the axis of rotation 22. The connecting element, in particular yoke 120, is further preferably designed such that the compensating unit 24 and the rotary drive 20 and / or the vacuum gripper 18 intersect a horizontal plane 122 extending perpendicular to the axis of rotation 22. Accordingly, a particularly low-profile gripping device 10 can be provided.

[0085] The connecting element, in particular yoke 120, preferably comprises, as shown in Figures 10 and 11, a first yoke section 124 facing the compensating unit 24, a second yoke section 126 facing the rotary drive 20, and a third yoke section 128 connecting the first yoke section 124 and the second yoke section 126. The first yoke section 124 preferably extends along a first yoke plane 130A. The second yoke section 126 preferably extends along a second yoke plane 130B. The third yoke section 128 preferably extends along a third yoke plane 130C. The first yoke plane 130A and / or the second yoke plane 130B preferably run perpendicular to the axis of rotation 22. The third yoke plane 130C preferably runs parallel to the axis of rotation 22, wherein the third yoke section 128 spatially separates the compensating unit 24 from the vacuum gripper 18 and / or the rotary drive 20.The vacuum gripper 18 preferably intersects the first yoke plane 130A. The connection point 16 and / or the compensating unit 24, in particular the first mounting part 34A, preferably intersect the second yoke plane 130B. The rotary drive 20 and / or the compensating unit 24, in particular the second compensating unit 24B, preferably the first compensating part 36A and / or the second mounting part 34B and / or the second compensating part 36B, are preferably arranged between the first yoke plane 130A and the second yoke plane 130B. The first yoke plane 130A is preferably arranged between an object 12 to be gripped and the second yoke plane 130B. The second yoke level 130B is preferably arranged between a connectable manipulator or a robot arm or a cantilever arm of a forklift truck and the first yoke level 130A. The horizontal plane 122 preferably runs between the first yoke level 130A and the second yoke level 130B.The third yoke level 1300 preferably runs between the compensating unit 24 and the rotary drive 20 and / or the vacuum gripper 18 .

[0086] The first yoke section 124 is preferably formed integrally with the second compensating part 36B of the second compensating unit 24B, as shown in Figures 10 and 11. The second yoke section 126 and the third yoke section 128 are formed according to Figures 10 and 11.

[0087] Fig. 10 is formed in one piece. The first yoke section 124 is formed separately from the third yoke section 128.

[0088] As shown in Figures 10 and 12, a drive interface 132 for the power supply and / or the control of the rotary drive 20 is arranged on the second yoke section 126. The drive interface 132 is also designed for attaching the rotary drive 20 to the yoke 120. A position measuring system 66 and / or a camera system can also be arranged on the second yoke section 126.

[0089] When using a connecting element, in particular a yoke 120, a bearing bridge 32 can be omitted. In this case, the connecting element, in particular a yoke 120, serves as a drive carrier for receiving the compensating unit 24, the rotary drive 20 and the vacuum gripper 18.

[0090] The rotary drive 20 can preferably be designed as an actuator, in particular as a servo motor. This offers the advantages of an actuator and potentially eliminates the need for an additional sensor in the form of the rotation sensor 64. Instead of a multi-part and geometrically distributed rotary drive 20, especially in the form of a toothed belt drive, a compact drive is provided. This allows the drive to be positioned closer to the vacuum gripper 18. In the second embodiment, a coupling device 26, in particular a magnetic coupling, can also preferably be omitted.In summary, this makes it possible to provide a lightweight and flat gripping device 10, which results in improved dynamics of the overall system and reduced moment load at the connection point to a manipulator of a handling device, in particular to a robot arm or a cantilever arm of a forklift truck.

[0091] The gripping device 10 according to the second embodiment can be designed analogously to the first embodiment, apart from the features described.

[0092] Accordingly, the gripping device 10 according to the second embodiment is also suitable for the method according to the invention. To decouple the rotary drive 20 and the vacuum gripper 18, the servo motor is switched to freewheel mode, so that a rotary freewheel of the vacuum gripper 18 and the gripped object 12 is also achievable. It is evident from this that a coupling device 26 is not necessarily required for decoupling in the second embodiment.

[0093] The gripping device 10 according to the first embodiment can also be designed with a connecting element, in particular a yoke 120, and an actuator as a rotary drive 20. In that case, a coupling device 26 and / or a bearing bridge 32 may, but need not, be additionally provided.

[0094] According to Figures 13 and 14, the third embodiment of the gripping device 10 also has a connection interface 16, a compensating unit 24, a rotary drive 20, and a gripper 18. The connection interface 16 and the compensating unit 24 form a compensating device 200. The rotary drive 20 and the gripper 18 form a gripping device 202. The third embodiment is basically designed like the second embodiment, unless otherwise specified or evident in the figures. The compensating device 200 and the gripping device 202 are arranged perpendicular to the axis of rotation 22 and spaced apart from each other. Consequently, the gripping device 10 can be built particularly flat and is especially well suited for use in high-bay warehouses.

[0095] The connection interface 200, in particular the first or second compensating part 34B, 36B, and the gripping device 202, in particular the rotary drive 20, are connected to each other by means of the connecting element 120.

[0096] The connecting element 120 preferably has a first connection interface 204 and a second connection interface 206. The first connection interface is arranged on the compensating unit 24, in particular on the first or second compensating part 34B, 36B, preferably in a fixed position. The second connection point 206 is arranged on the gripping device 202, in particular on a holding area 208 of the rotary drive 20 facing away from the gripper 18, preferably in a fixed position. Thus, a secure and rigid connection between the compensating device 200 and the gripping device 202 is ensured.

[0097] The connecting element 120 has an arc section 210 between the first and second connection interfaces 204, 206, which creates a height offset between the first and second connection interfaces 204, 206, or the lower end of the compensating unit 24 (second compensating part 36B), and the holding area 208 of the rotary drive 20. For connecting different grippers 18, the rotary drive can have a quick-release fastener (not shown). This allows the gripper 18, especially the vacuum gripper, to be changed quickly, reliably, and automatically. In the fourth embodiment according to Figures 15 and 16, an alternative gripper 18 in the form of a surface gripper is shown. Accordingly, the gripper 18 on the gripping device 10 can be easily exchanged depending on the application and object. The fourth embodiment is otherwise identical to the third embodiment.

[0098] The rotary drive 20 and / or the compensating unit 24 and / or the connecting element 120 are designed according to Figures 14 and 16 such that the rotary drive 20 is arranged flush with the compensating unit 24 or that the rotary drive 20 projects relative to the compensating unit 20 parallel to the axis of rotation 22, in particular downwards. Therefore, wider grippers 18 can also be used on the gripping device 10 without a collision with the laterally offset compensating unit 24.

[0099] The gripping devices 10 shown in Figures 1 to 16 can include a detection device 212 for detecting objects 12 and a lighting device 214 for illuminating objects 12 and / or the area around the gripping device 10 and / or the shelf space. Thus, the gripping device can detect the position of an object to be gripped, a gripped object, and / or a placed object, and / or whether an object is present. A lighting device improves the reliability of the detection device. The detection device 212 and the lighting device 214 are described in more detail below with reference to Figures 13 and 14. Accordingly, the detection device 212 and the lighting device 214 are fixedly arranged on a cover part 216 of the rotary drive 20. The cover part 216 is connected to a fixed part 218 of the rotary drive 20.The rotary drive 20 further comprises a rotating part 220, which is rotatable relative to the fixed part 218. When the rotating part 220 is rotated, the detection device 212 and the lighting device 214 remain in their position.

[0100] Alternatively, the detection device 212 and the lighting device 214 can be rotatable. The rotary drive 20 can serve as a common drive for the gripper 18 and the detection device and / or the lighting device 214. For this purpose, the detection device 212 and the lighting device 214 can be guided in the cover part 216 and connected to the rotating part 220 of the rotary drive 20 in a rotationally fixed manner. Accordingly, the detection device 212 and the lighting device 214 are aligned together with the gripper 18. Consequently, the detection device can always focus on what the gripper 18 is directed towards. Therefore, objects 12 can be targeted and / or illuminated even after the gripper 18 has rotated. Preferably the detection device 212 and / or the lighting device is connected to the rotating part 220 by means of a drive shaft not shown.The drive shaft can be screwed to the detection device 212, the lighting device, and / or the rotating part 220. The detection device 212 and / or the lighting device 214 is, at least in a basic position, directed in a direction away from the compensating device 200, in particular the connection interface 16 and / or the compensating unit 24. Since the detection device 212 and / or the lighting device 214 is arranged higher than the gripper 18, the detection device 212 and / or the lighting device 214 are preferably directed obliquely downwards.

[0101] As shown in Figures 14 and 16, a media connection 222 and a connecting media line 224 for the gripper 18 are routed through the rotary drive 20. For example, a vacuum for a vacuum gripper can thus be supplied through the rotary drive 20. Consequently, the gripper 18 has a smaller interference contour and can therefore be used in confined spaces, such as high-bay warehouses.

[0102] It is advantageous if a rotary feedthrough 226 for the media line 224 is provided in the rotary drive 20. The cover part 216, the fixed part 218, and the rotary part 220 are at least partially rotationally symmetrical and / or hollow. The rotary part 220 is preferably arranged at least partially within the fixed part 218. The cover part 216 closes a cavity of the rotary drive 20 on its upper side. The rotary feedthrough 226 is arranged on its lower side within the cavity of the rotary drive 20. The rotary feedthrough 226 has a nozzle section 228 for guiding the media line 224. Furthermore, the rotary feedthrough 226 has a rotary receptacle 230 for receiving the media line 224. The media line 224 passes through the cover part 216 into the nozzle section 228 and then into the cavity of the rotary drive 20. There it interferes with the recording 230.The media line 224 is rotationally fixed to the cover part 216 and / or the fixed part 218 and / or the nozzle section 228. The rotary mount 230 is rotatable and rotationally fixed to the rotating part 220. The media line 224 contacts the rotary mount 230, which forms a pivot bearing that allows relative movement between the media line 224 and the rotary mount 230. The rotary feedthrough 226 can also be provided in other embodiments.

[0103] Reference numeral list Gripping device 44 Second linear guides Object 35 46 Guide level A First object 48 Gripping housing B Second object 50 Reset device Top of object 52 Compensation housing Storage surface 54 First side of casing Connection point 40 56 Fluid connection Vacuum gripper 58 Suction cups Rotary drive 60 Vacuum connection Rotary axis 62 Second side of casing Compensation unit 64 Rotation sensor A First 45 66 Position measuring system

[0104] Compensation unit 68 Position measuring unit B Second 70 Sensor slots

[0105] Compensating unit 100 Drive element Coupling device 102 Output element Output gear 50 104 Coupling disc Rotating shaft 106 Electromagnet Bearing bridge 108 Friction plate Mounting part 110 Bearing sections A first 112 Bearing means

[0106] Fastening part 55 120 Connecting element B second 122 Horizontal plane

[0107] Mounting part 124 First yoke section Compensating part 126 Second yoke section A First compensating part 128 Third yoke section B Second compensating part 60 130A First yoke level Guide bolts 130B Second yoke level Spring elements 130C Third yoke level Guide frame 132 Drive interface First linear guides 200 Compensating device 10 214 Lighting

[0108] 202 Gripping device

[0109] 204 first connection - 216 cover part

[0110] Interface 218 Fixed part 206 Second connection 220 Rotating part

[0111] Interface 15 222 Media connection

[0112] 208 Stopping area 224 Media line

[0113] 210 arc section 226 rotary feedthrough

[0114] 212 Detection device 228 Nozzle section

[0115] 230 rotary recording

Claims

Patent claims 1. Gripping device (10) for arranging objects (12) on a storage surface (14), the gripping device (10) comprising: - a connection point (16) for connection to a manipulator of a handling device, - a gripper(18) for gripping objects (12) , - a compensating unit (24) with at least one mounting part (34) and at least one compensating part (36), wherein the compensating part (36) is displaceable relative to the mounting part (34) along an x-axis and / or along a y-axis and / or along a z-axis between a basic position and a compensating position, - a rotary drive (20) for rotating the gripper (18) about a rotational axis (22), and wherein the connection point (16) and / or the compensation unit (24) form a compensation device (200), wherein the rotary drive (20) and / or the gripper (18) form a gripping device (202), wherein the compensation device (200) and the The gripping device (202) is arranged perpendicular to the axis of rotation (22) at intervals from each other.

2. Gripping device (10) according to claim 1, wherein a connecting element (120) compensating device (200) , in particular the balancing unit (24) , and the gripping device (202) , in particular the rotary drive (20) , connects.

3. Gripping device (10) according to one of the preceding claims, wherein the connecting element (120) has a first connection point (204) and a second connection point (206), wherein the first connection point (204) is on the compensating unit (24), in particular on the compensating part (34B, 36B), and / or the second connection point (206) is on the gripping device (202) , in particular on a holding area (208) of the rotary drive (20) facing away from the gripper (18) .

4. Gripping device (10) according to one of the preceding claims, wherein the rotary drive (20) is arranged flush with the compensating unit (24) or wherein the rotary drive (20) protrudes relative to the compensating unit (24) parallel to the axis of rotation (22).

5. Gripping device (10) according to one of the preceding claims, wherein the attachment point (16) , the gripper (18) and / or the compensating unit (24) are arranged laterally offset to the axis of rotation (22).

6. Gripping device (10) according to one of the preceding claims, wherein the gripping device (10) is designed such that the gripper (18) and the compensating unit (24) and / or the rotary drive (20) and the compensation unit (20) intersect a horizontal plane perpendicular to the axis of rotation (22).

7. Gripping device (10) for arranging objects (12) on a storage surface (14), the gripping device (10) comprising: - a connection point (16) for connecting to a Manipulator of a handling device, - a gripper (18) for gripping objects (12) , - a compensating unit (24) with at least one mounting part (34) and at least one compensating part (36), wherein the compensating part (36) is displaceable relative to the mounting part (34) along an x-axis and / or along a y-axis and / or along a z-axis between a basic position and a compensating position, - a rotary drive (20) for rotating the gripper (18) about a rotational axis (22) , and - a coupling device (26) arranged between the rotary drive (20) and the gripper (18) .

8. Gripping device (10) according to claim 7, wherein the rotary drive (20) is located between the connection point (16) and the compensation unit (24) or between the Compensating unit (24) and the vacuum gripper (18) is arranged or wherein the compensating unit (24) is arranged between the rotary drive (20) and the vacuum gripper (18).

9. Gripping device (10) according to claim 7 or 8, wherein the rotary drive (20) has an output wheel (28) for cooperating with a drive unit.

10. Gripping device (10) according to claim 9, wherein the rotary drive (20) further comprises a drive wheel (28) of the drive unit, wherein the output wheel (28) can be driven by the drive wheel (28), in particular by means of a belt.

11. Gripping device (10) according to one of claims 7 to 10, wherein the coupling device (26) is designed as a rotary coupling, in particular as an electromagnetic coupling, for coupling and decoupling the rotary drive (20) and the vacuum gripper (18).

12. Gripping device (10) according to one of the preceding claims, wherein the gripping device (10) has a rotation sensor (64), in particular an absolute rotary encoder, for detecting the rotational movement of the vacuum gripper (18) in rotary freewheeling.

13. Gripping device (10) according to claim 12, wherein the The gripping device (10) has a control unit for controlling the rotary drive (20), wherein the control unit controls the rotary drive (20) depending on the rotational movement detected by the rotation sensor (64) in such a way that the vacuum gripper (18) is returned from a rotational position to a home position (in particular after being placed down).

14. Gripping device (10) according to one of the preceding claims, wherein the compensating unit (24) has a clamping device for clamping and releasing the compensating part (36) relative to the fastening part (34) along the x-axis and / or along the y-axis and / or along the z-axis.

15. Gripping device (10) according to one of the preceding claims, wherein the gripper (18) is a bellows gripper with at least one suction cup (58) or a surface suction cup with at least one foam element or as is designed as an adhesion gripper or as a magnetic gripper for gripping objects (12).

16. Gripping device (10) according to claim 15, wherein the gripper (18) has several suction cups (58), wherein in particular the suction cups (58) are arranged offset from each other along the x-axis and / or along the y-axis.

17. Gripping device (10) according to one of the preceding claims, wherein the gripping device (10) further comprises: a detection device (212) for detecting objects (12), and / or a lighting device (214) for illuminating objects (12) and / or the surroundings of the gripping device (10).

18. Gripping device (10) according to claim 17, wherein the detection device (212) and / or the lighting device (214) is rotatable, in particular by means of the rotary drive (20).

19. Gripping device (10) according to claim 17 or 18, wherein the rotary drive (20) has a cover part (216), a fixed part (218) and a rotating part (220) rotatable relative to the fixed part (218) about the axis of rotation (22), wherein the gripper (18) and the detection device (212) and / or the lighting device (214) are connected to the rotating part (220) in a rotationally fixed manner.

20. Handling device with a gripping device (10) according to one of the preceding claims.

21. Method for arranging objects (12) on a storage surface (14) with a gripping device (10), in particular according to one of the preceding claims, comprising the following steps: - Grasping the object (12) by means of a gripper of the gripping device (10) , - Rotation of the gripper and the gripped object (12) by means of a rotation drive (20) of the gripping device (10) about a rotation axis (22) , - Decoupling the rotary drive (20) and the gripper (18) or adjusting the rotary drive (20) to achieve a rotary free movement of the gripper (18) and the gripped object (12), and - Handling the grasped object (12) so that the grasped object (12) contacts objects (12) already arranged on the storage surface (14) and is rotated from a home position to a rotation position around the axis of rotation (22) by means of the contact.

22. Method according to claim 21, wherein during the rotary free-running phase the rotational movement of the gripping device (10) is detected by means of a rotation sensor (64) and after the object (12) has been placed on the storage surface (14) the gripper (18) is rotated back from the rotation position to the home position by means of the rotation drive (20) around the rotation axis (22).

23. Method according to claim 21 or 22, wherein the The gripping device (10) has a compensating unit (24) with a fastening part (34) and a compensating part (36), wherein the compensating part (36) is relative the fastening part (34) can be moved along an x-axis and / or along a y-axis between a basic position and a compensation position, wherein the gripped object (12) is first moved along the x-axis so that the gripped object (12) contacts objects (12) already arranged on the storage surface (14), and is then moved along the y-axis so that the gripped object (12) contacts objects (12) already arranged on the storage surface (14).

24. Method according to claim 23, wherein after the movement of the gripped object (12) along the x-axis the compensating unit (24) is clamped in such a way that a compensating movement along the x-axis is blocked.

25. Method according to any one of claims 21 to 24, wherein the gripping device (10) has a compensating unit (24) with a fastening part (34) and a compensating part (36), wherein the compensating part (36) is displaceable relative to the fastening part (34) along a z-axis between a basic position and a compensating position, wherein the gripped object (12) is moved along the z-axis against the support surface (14) such that the compensating part (36) is moved along the z-axis from the basic position to the compensation position.

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