Method for automatically handling a panel removed from a panel store and associated surface gripper

Abstract

The invention relates to a method for automatically handling a panel (2) removed from a panel store (1), having, inter alia, the following steps: a surface gripper (4) is automatically pivoted by automatically controlling a robot (3) in such a way that the main surface (HO) of the panel (2) received by the surface gripper (4) points downwards; the at least one surface gripping element (5) of the surface gripper (4) is automatically relatively adjusted with respect to a sliding plane (6) of the surface gripper (4) in such a way that the at least one surface gripping element (5) is released from the panel (2) and the panel (2) comes to lie on the sliding plane (6); and, on the basis of an inclined orientation of the sliding plane (6) of the surface gripper (6), which inclined orientation differs from the horizontal orientation, the panel (2) independently slides on the sliding plane (6) of the surface gripper (4) as a result of the influence of gravity on the panel (2) until the panel (2) independently sliding on the sliding plane (6) rests against at least one stop device (11) of the surface gripper (4). The invention also relates to an associated surface gripper (4).

Description

[0001] Method for automatically handling a disk removed from a disk storage device and associated surface grippers

[0002] The invention relates to a method for automatically handling a disk removed from a disk storage device. The invention also relates to a corresponding area gripper.

[0003] DE 10 2019 112 867 A1 describes a robot gripper with a receptacle designed to be connected to an industrial robot and with at least one suction unit designed to be connected to a vacuum source, wherein the suction unit has a suction surface on which a preferably plate-shaped workpiece, which preferably consists at least partially of wood, wood-based materials, plastic, aluminum or the like, can be held by means of negative pressure, and wherein the robot gripper has a substantially straight contact edge in an edge section, and wherein the robot gripper further comprises an actuator designed to tilt the suction unit relative to the receptacle about a first tilting axis.

[0004] The object of the invention is to create a method for automatically handling a disk taken from a disk storage device, in which a disk to be handled can be automatically aligned with respect to a surface gripper in a simple and reliable manner.

[0005] The task is solved by an automated procedure.

[0006] Handling a copy taken from a disk storage device

[0007] Plate, comprising the steps: - automatic picking up of a plate from a disk storage device by means of a surface gripper automatically guided by a robot, which has at least one surface gripping element designed to grasp the plate on its exposed main surface, for automatic handling by the robot, picking it up from the disk storage device,

[0008] - automatic swiveling of the surface gripper by automatically controlling the robot in such a way that the plate picked up by the surface gripper points downwards with its main surface facing downwards,

[0009] - automatic relative adjustment of the at least one surface gripping element of the surface gripper with respect to a sliding plane of the surface gripper such that the at least one surface gripping element is released from the plate and the plate comes to lie on the sliding plane ,

[0010] - based on an inclined orientation of the sliding plane of the surface gripper that deviates from the horizontal orientation, the plate slides automatically on the sliding plane of the surface gripper due to the influence of gravity on the plate until the plate sliding automatically on the sliding plane comes into contact with at least one stop device of the surface gripper.

[0011] In a wide variety of applications, discs must be removed from a disc storage system and precisely positioned for a subsequent work step. Robots equipped with a surface gripper suitable for disc handling on their tool flange can be used to automate such processes. Surface grippers are preferably used where the discs cannot be gripped laterally at their edges, but only at their flat main surfaces.

[0012] While robots generally possess very high positioning accuracy, enabling them to precisely position and align the gripper in space, it is possible that the robot must automatically retrieve the next plate from a disk storage system, and that the plate is not held in a precisely known position. For example, the disk storage system might contain a stack of several plates, where the plates are not perfectly aligned but are at least slightly offset from one another. Several plates might also be stacked at slightly different angles. Even plates stored upright in the disk storage system may have different positions.

[0013] Another problem can arise if, for example, due to axis limitations, the robot cannot move the guided surface gripper into the required position and / or orientation from which the surface gripper should pick up the plate in the desired position and orientation relative to the surface gripper. With the method according to the invention, in this case, the plate can initially be picked up by the surface gripper in a position and orientation other than the desired one, and only then, after picking up the plate onto the surface gripper, can it be automatically repositioned into the desired position and orientation relative to the surface gripper.

[0014] Unless the robot is equipped with sophisticated sensors that can precisely determine the position and orientation of a specific plate before it is picked up, and thus automatically adjust the gripper's position based on this information, the plate will not always be picked up by the gripper in the same position and orientation. Instead, each plate will be picked up by the gripper with varying degrees of accuracy.

[0015] At the destination for carrying out the next work step, it may be necessary for the robot to place or set down the plate, handled by the surface gripper, in a predetermined, specific, and precise position and orientation. To avoid the need for complex sensors for this automatic step of placing or setting down the plate using the robot-guided surface gripper, the invention proposes a method and an associated surface gripper with which a repeatable, unambiguous alignment of the plate, particularly with regard to both its relative position and orientation to the surface gripper, can be carried out directly while the robot-guided surface gripper is carrying the plate.

[0016] The panel can be, for example, a gypsum fiberboard, a plasterboard, an oriented strand board (OSB), or an LVL panel. Such panels are used, for example, in modular house construction. The inventive method and the inventive surface gripper are therefore applicable, for example, in automated modular house construction. However, the inventive method and the inventive surface gripper can also be used for other handling tasks where panels are provided in relatively inaccurate positions and are to be automatically moved by robots with a predetermined positional accuracy. Depending on the application, the panels can also be plastic or metal panels.

[0017] In the case of a stack of plates where several plates are stacked vertically and lying flat on top of each other, the exposed main surface of the topmost plate is the main surface facing upwards.

[0018] In the case of a disk storage system where several disks are stored upright next to each other, the storage system can include an inclined shelf or a vertical disk storage system in which several disks are placed upright on one side edge in a support or frame and, for example, leaned against a supporting wall. In such cases, the exposed main surface is formed by a laterally accessible main surface of the foremost disk. The surface gripper is positioned laterally against the accessible main surface of the foremost disk in order to pick up this foremost disk and remove it from the disk storage system.

[0019] The exposed main surface of the panel can be its front side. In an installed state, the front side of a panel can be, in particular, its visible side. For example, in the case of a panel forming a wall surface in modular house construction, the front side of the panel can be the side that, when installed, faces into the room enclosed by the walls of the house. Accordingly, the panel can have a back side facing away from the front, which may, for example, be equipped with electrical wiring, sockets, water pipes, and / or heating pipes.

[0020] The area gripper may optionally have only a single area gripping element. Alternatively, the area gripper may have several area gripping elements. These multiple area gripping elements may, for example, be individually configured depending on the shape of the plate, or they may be arranged in a matrix-like, uniformly distributed manner at equal intervals on the area gripper.

[0021] After the surface gripper has picked up the platter from the disk storage, the robot is automatically controlled, i.e., programmatically, to move the platter picked up by the surface gripper out of the disk storage. Once the platter picked up by the surface gripper has been removed from the disk storage, the surface gripper automatically pivots, according to the invention, so that the platter picked up by the surface gripper faces downwards with its main surface. Since the at least one surface gripping element engages this main surface to hold the platter, this means that the surface gripper is automatically pivoted in such a way that the platter no longer hangs from the at least one surface gripping element, but rests on it. This also means that the platter rests on the entire surface gripper and is not attached to it.

[0022] Since the plate now rests on the surface gripper, the at least one surface gripping element can be released from the plate. According to the invention, this is achieved by automatically adjusting the at least one surface gripping element of the surface gripper relative to a sliding plane of the surface gripper such that the at least one surface gripping element is released from the plate and the plate comes to rest on the sliding plane.

[0023] In other words, at least one surface gripping element is removed from the plate, and the plate thereby comes to lie on the sliding plane of the surface gripper and is no longer in contact with the at least one surface gripping element.

[0024] In this process, the surface gripper is positioned in space by automatically controlling the robot in such a way that the sliding plane of the surface gripper is oriented in a direction that deviates from an exact horizontal orientation. Accordingly, the sliding plane can form an inclined plane on which the plate placed by the at least one surface gripping element falls due to

[0025] The influence of gravity automatically propels the slide down the slope of the slide.

[0026] The stop device slips.

[0027] The surface gripper is to be aligned in space by automatically controlling the robot in such a way that the stop device extends along the lowest point of the sliding plane.

[0028] In a common design, where the plate is rectangular or square, two stop devices, for example in the form of two stop strips, can be provided. The sliding surface can also have a rectangular or square base shape, accordingly having four sides. The two stop strips can be formed on two abutting sides. Thus, a first stop strip extends along the first side edge of the sliding surface, and a second stop strip extends along a second side edge adjacent to the first. The first and second stop strips are therefore arranged at right angles to each other on the sliding surface.The two straight lines along which the first and second stop rails extend intersect at a point that forms a corner of the rectangular or square sliding plane. In this specific embodiment, the surface gripper must be positioned in space such that this corner of the rectangular or square sliding plane is located at the lowest point of the sliding plane. This results in a rectangular or square plate lying on the inclined sliding plane—that is, a plate that slides automatically—moving with one corner of the plate towards the corner of the sliding plane until the plate is flush against both the first and second stop rails. It is clear to a person skilled in the art that the first and second stop rails do not necessarily both have to extend precisely to the corner of the sliding plane.Rather, the first stop strip and / or the second stop strip can extend only over a portion of the sliding surface. The first stop strip and / or the second stop strip need not be continuous strips, but can, for example, be formed from a multitude of discrete stop points lying on a common straight line, such as prongs, pins, or rollers, which together constitute a stop strip. The first stop strip and / or the second stop strip can optionally be rigidly or adjustably mounted on a base body of the surface gripper.

[0029] In another embodiment, where the plate is not rectangular or square, but, for example, circular with a predetermined diameter, the stop device can be formed by just two bars, particularly round bars, which are arranged on the surface gripper with respect to the sliding plane such that, in the desired, predetermined target position of the circular plate on the sliding plane, they bear tangentially in line contact with the circumferential surface of the circular plate when the plate, after sliding, comes to rest against the stop device, i.e., against the two bars. The number, shape, and / or position of the stop devices can be adapted accordingly, depending on the shape, in particular the contour, of the plates to be handled.

[0030] Due to the minimal number of stop devices, the plate handled by the surface gripper is automatically aligned in a predefined position and orientation relative to a fixed reference point of the surface gripper by sliding on the sliding plane and contacting the minimal number of stop devices. After such alignment of the plate on the surface gripper according to the invention, the plate is then also in a defined position and orientation relative to a known reference point of the robot. This known reference point of the robot can, for example, be the predefined coordinate system in the tool flange of the robot.

[0031] With such a procedural, automatic alignment of the handled plate, the robot can precisely position and position the plate by automatically moving the surface gripper at a target location where a further work step with the plate is to be carried out.

[0032] In a further development of the method, after the plate has automatically slipped on the sliding plane, a further automatic relative adjustment of the at least one surface gripper element of the surface gripper with respect to the sliding plane of the surface gripper can take place such that the at least one surface gripper element grips the plate standing against the at least one stop device by activating the at least one surface gripper element, so that the plate is captured by the surface gripper in order to be able to swivel the surface gripper together with the plate into any desired orientation and move it to a storage location by automatically controlling the robot.

[0033] Once the plate has automatically slid towards at least one stop device and thus assumed a defined position and orientation, the at least one surface gripper can grip the plate again, so that the surface gripper can subsequently be brought into any desired orientation and the plate does not detach from the surface gripper. Accordingly, the surface gripper can also be pivoted again into a position in which the plate is located below the surface gripper, i.e., the plate is suspended from the surface gripper.

[0034] In a first embodiment variant, the relative adjustment of the at least one surface gripping element with respect to the sliding plane can be achieved by rigidly attaching the sliding plane to a base body of the surface gripper and by mounting the at least one surface gripping element adjustably on the base body of the surface gripper.

[0035] In a second embodiment, the relative adjustment of the at least one surface gripping element with respect to the sliding plane can be achieved by rigidly attaching the at least one surface gripping element to a base body of the surface gripper and adjustingly mounting the sliding plane on the base body of the surface gripper.

[0036] In a third variant, the relative

[0037] Adjustment of the at least one surface gripping element with respect to the sliding plane is achieved by both the sliding plane being adjustable on the base body of the surface gripper and the at least one surface gripping element being adjustable on the base body of the surface gripper.

[0038] For the automatic adjustment of the sliding surface and / or the at least one surface gripper, the surface gripper can, for example, have at least one automatically controllable pneumatic cylinder. The pneumatic cylinder can, in particular, be a multi-position cylinder, i.e., the pneumatic cylinder can be designed and configured such that it can assume, for example, three different cylinder positions. In a first cylinder position, the at least one surface gripper can be in an extended position in which the effective surface of the at least one surface gripper protrudes significantly beyond the surface of the sliding surface. In this extended position, the at least one surface gripper can pick up a plate from the plate storage.In a second cylinder position, the at least one surface gripping element can be in a central position in which the effective surface of the at least one surface gripping element is located in the plane of the sliding surface. In this central position, the plate thus lies preferably flush on the sliding surface. In a third cylinder position, the at least one surface gripping element can be in a retracted position in which the effective surface of the at least one surface gripping element is located below the plane of the sliding surface, so that the plate continues to rest on the sliding surface, but the effective surface of the at least one surface gripping element is no longer in contact with the plate. In this retracted position, the...

[0039] The plate is no longer held by at least one surface gripping element, and the effective surface of the surface gripping element does not hinder the plate from sliding automatically on the sliding plane.

[0040] Preferably, in the extended position, the surface gripper can grasp the plate from the plate storage. Subsequently, the surface gripper can be moved to the central position, particularly before the surface gripper is pivoted to align the plate with its main surface facing downwards. Finally, once the plate rests on the sliding surface after the surface gripper has pivoted, the surface gripper can be moved back to the retracted position. After the plate has been automatically aligned on the surface gripper according to the invention, the surface gripper can be moved back to the central position to hold the plate securely before the surface gripper is moved to the target location or the storage point.Once the storage location is reached, the surface gripping element can return to its extended position in order to place or set down the plate there.

[0041] Instead of a pneumatic cylinder, an electromechanical actuator can optionally be used in a modified version. Several area gripping elements can be moved automatically together by a single actuator, pneumatic cylinder, or electromechanical actuator. Alternatively, one or more area gripping elements can be grouped together, and at least two different groups of actuators can each be moved automatically and independently by an equal number of actuators. Each actuator can have one or more pneumatic cylinders or electromechanical actuators.

[0042] In another design variant, only two positions for the actuator, particularly for one or more pneumatic cylinders or electromechanical actuators, may suffice. In this respect, they can be designed and configured so that either the middle position or the extended position is omitted.

[0043] The surface gripper can have a first stop device designed to stop the plate in a first direction of movement of the plate on the sliding plane, and the surface gripper can have a second stop device different from the first stop device designed to stop the plate in a second direction of movement of the plate on the sliding plane different from the first direction of movement, such that after the plate has automatically slipped on the sliding plane of the surface gripper due to the influence of gravity on the plate, the plate comes to a stop in contact with both the first stop device and the second stop device.

[0044] This design is particularly advantageous when the plate is rectangular or square. Two stop devices can be provided, for example, in the form of two stop strips. The sliding surface can also have a rectangular or square base shape, accordingly possessing four sides. The two stop strips can be formed on two abutting sides. More precise details of such designs can be found in the following sections.

[0045] Stop strips have already been described above.

[0046] The at least one stop device can be automatically adjustable between a storage position, in which a stop surface of the stop device lies outside the sliding plane, and an operating position, in which the stop surface of the stop device lies on the sliding plane and / or within the sliding plane, and the stop surface can be moved into its storage position during the automatic picking up of the plate from the plate storage and be moved into its operating position after the automatic pivoting of the surface gripper, and / or after the automatic relative adjustment of the at least one surface gripping element of the surface gripper with respect to the sliding plane of the surface gripper and / or during the automatic sliding of the plate on the sliding plane of the surface gripper.

[0047] An adjustable stop mechanism can be advantageous for reducing the interference contour of the gripper when it removes a plate from the plate storage. This adjustability allows the stop mechanism to be moved behind the surface of the sliding surface and / or behind the surface of the at least one gripping element. The stop mechanism can be adjustable either only in a direction perpendicular to the surface, or it can be adjustable both perpendicular and transversely to the surface, allowing it to be positioned completely concealed behind the gripper, particularly behind the sliding surface.

[0048] In order to fulfill its stop function when the plate slides automatically on the sliding surface, the stop device with its stop surface can be moved back into the functional position in which the stop surface limits the sliding surface.

[0049] The sliding surface and / or the stop surface may have rollers, allowing the plate to roll on these rollers during automatic sliding. The rollers serve to reduce friction between the main surface of the handled plate, i.e., the plate's contact surface, and the sliding surface.

[0050] Advantageously, the rolling elements of the sliding surface can be formed by mounted balls, so that the sliding surface can be designed in the manner of a ball bearing table. The stop surface can advantageously be provided with cylindrical rollers as rolling elements.

[0051] As an alternative to rolling elements, the sliding surface and / or the stop surface can have sliding elements, allowing the plate to slide along the sliding surface during automatic sliding. For example, the sliding surface can be provided with a plastic layer, in particular a PTFE layer.

[0052] In another alternative design, to improve the sliding properties, the sliding surface can optionally be designed in the form of an air cushion, in which air escapes through a large number of openings in a closed sliding surface, so that a plate placed on it is slightly lifted due to the air pressure building up underneath and can slide almost frictionlessly on the sliding surface.

[0053] The at least one surface gripping element can be a suction element pressurized with negative pressure air, which the surface gripper uses to hold the plate to the at least one surface gripping element by means of a suction effect when the surface gripper picks up the plate from the plate storage.

[0054] As an alternative to a suction element, the at least one surface gripping element can be an ejector element pressurized with pressurized air, through which the surface gripper holds the plate on the at least one surface gripping element by means of a suction effect when the surface gripper picks up the plate from the plate storage.

[0055] To pick up a ferromagnetic plate, the at least one surface gripping element can be an electromagnetic holding element, by which the surface gripper holds the plate by magnetic force on the at least one surface gripping element when the surface gripper picks up the plate from the disk storage.

[0056] The task is also solved by a surface grabber, in particular a surface grabber for carrying out a procedure according to one of the described procedure variants, comprising:

[0057] - a base body with a connection device for attaching the surface gripper to a tool flange of a robot, - at least one surface gripper element mounted on the base body, which is designed to receive a plate on one of its main surfaces in order to hold the plate on the surface gripper,

[0058] - a sliding plane mounted on the base body, designed for the automatic sliding of the plate on the sliding plane of the surface gripper due to the influence of gravity on the plate, when the sliding plane assumes an inclined orientation in space that deviates from the horizontal orientation,

[0059] - at least one stop device mounted on the base body, which is designed to stop the plate moving on the sliding plane in a predetermined stop position in an operating position of the stop device, and

[0060] - An adjusting device configured for automatically adjusting the at least one surface gripping element of the surface gripper relative to the sliding plane of the surface gripper such that, in a holding state of the adjusting device, the at least one surface gripping element rests against the main surface of the plate to hold the plate in place by means of the surface gripping element, and the sliding plane is separated from the main surface of the plate, and in a release state of the adjusting device, the at least one surface gripping element is separated from the main surface of the plate, and the plate rests on the sliding plane for automatic sliding due to the influence of gravity. As already described above in relation to the method according to the invention and explained in more detail in each instance, the surface gripper can be implemented in different, alternative, or supplementary embodiments.These alternative or supplementary training courses are summarized again below.

[0061] At least one surface gripping element can be attached to a first adjusting carrier, which is adjustably mounted on the base body of the surface gripper.

[0062] The sliding surface can be attached to a second adjustable support, which is adjustableally mounted on the base body of the surface gripper.

[0063] The surface gripper can have a first stop device designed to stop the plate in a first direction of movement of the plate on the sliding plane, and the surface gripper can have a second stop device different from the first stop device designed to stop the plate in a second direction of movement of the plate on the sliding plane different from the first direction of movement.

[0064] The at least one stop device can be automatically adjustable between a storage position, in which a stop surface of the stop device lies outside the sliding plane, and an operating position, in which the stop surface of the stop device lies on the sliding plane and / or within the sliding plane. The sliding plane and / or the stop plane can have rollers designed to roll the plate on the rollers during automatic sliding of the plate on the sliding plane.

[0065] As an alternative to rolling elements, the sliding plane and / or the stop plane can have sliding elements designed to slide along the plate during the automatic sliding of the plate on the sliding plane.

[0066] The at least one surface gripping element can be a suction element pressurized with negative pressure air, which is designed to hold the plate to the at least one surface gripping element by means of a suction effect.

[0067] As an alternative to a suction element, the at least one surface gripping element can be an ejector element pressurized with pressurized air, which is designed to hold the plate to the at least one surface gripping element by means of a suction effect.

[0068] To hold a ferromagnetic plate, the at least one surface gripping element can be an electromagnetic holding element, which is designed to hold the plate to the at least one surface gripping element by magnetic force.

[0069] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Specific features of these exemplary embodiments can, regardless of the specific context in which they are mentioned, and optionally also individually or in further combinations, represent general features of the invention. The figures show:

[0070] Fig. 1 shows a flowchart of the steps in the methods according to the invention,

[0071] Fig. 2 shows a perspective view of an exemplary device according to the invention.

[0072] Area grabber in a rear view

[0073] Fig. 3 shows a perspective view of the exemplary device according to the invention.

[0074] Surface gripper according to Fig. 2 in a front view,

[0075] Fig. 4 a schematic representation of a

[0076] Robot, to whose tool flange the surface gripper according to Fig. 2 is attached for automatic handling, in an orientation of the plate with its main surface pointing upwards,

[0077] Fig. 5 a schematic representation of the

[0078] Robot, to whose tool flange the surface gripper according to Fig. 2 is attached for automatic handling, in an orientation of the plate with its main surface pointing downwards,

[0079] Fig. 6 shows a side view of an exemplary

[0080] Disk storage device, in which several disks are mounted vertically for individual automatic removal by the

[0081] robots are available

[0082] Fig. 7 shows a partial view of the surface gripper according to Fig. 3 in an embodiment with a fixed first stop device and an adjustable second stop device mounted on the surface gripper in its storage position.

[0083] Fig. 8 shows a partial view of the surface gripper according to Fig. 3 in the embodiment with the fixed first

[0084] Stop device and the second stop device, adjustable and mounted on the surface gripper, in their

[0085] Operational position

[0086] Fig. 9 shows a partial view of the surface gripper according to Fig. 3 with a plate resting on the sliding plane of the surface gripper in one of the surface gripping elements of the

[0087] The surface gripper's arrangement of the plate prevents the plate from automatically sliding towards the first and second stop devices, and

[0088] Fig. 10 shows a partial view of the surface gripper according to Fig. 3 with a plate resting on the sliding plane of the surface gripper in an arrangement of the plate released by surface gripping elements of the surface gripper after the plate has automatically slid to be flush against the first and second stop devices.

[0089] Figure 1 schematically illustrates a process for the automatic handling of a disk 2 taken from a disk storage device 1 (Figure 6) in a flowchart of the steps. The reference numerals not shown in Figure 1 can be found in Figures 2 to 9.

[0090] In a first step S1 of the process, a plate 2 of a disk storage device 1 is automatically picked up by means of a surface gripper 4 automatically guided by a robot 3, which has at least one surface gripping element 5 designed to grasp the plate 2 on its exposed main surface HO, for automatic handling by means of the robot 3, from the disk storage device 1.

[0091] In a second step S2 of the process, the area gripper 4 is automatically pivoted by automatically controlling the robot 3 such that the plate 2 picked up by the area gripper 4 faces downwards with its main surface HO. Fig. 4 shows the area gripper 4 in an orientation before pivoting. In the present embodiment shown in Fig. 4, the main surface HO of the plate 2, to which the area gripper 4 engages, faces upwards in its orientation before pivoting. This means that the plate 2 is suspended from the area gripper 4. Fig. 5 shows the area gripper 4 in an orientation after pivoting. In the present embodiment shown in Fig. 5, the main surface HO of the plate 2, to which the area gripper 4 engages, faces downwards in its orientation after pivoting. This means that the plate 2 rests on the area gripper 4.

[0092] In a third step S3 of the method, the at least one surface gripping element 5 of the surface gripper 4 is automatically adjusted relative to a sliding plane 6 of the surface gripper 4 such that the at least one surface gripping element 5 is released from the plate 2 and the plate 2 comes to rest on the sliding plane 6. In the case of the embodiment of the surface gripper 4 according to Fig.

[0093] In Figure 3, the sliding plane 6 is defined by support points 7, all of which lie in the same plane. For clarity, not all support points 7 are labeled in Figure 3. The support points 7 can be arranged on a second adjustable beam 8.2 as shown. The second adjustable beam 8.2 can comprise several frame components 9 and support plates 10.

[0094] In a fourth step S4 of the process, based on an inclined orientation of the sliding plane 6 of the surface gripper 4 that deviates from the horizontal orientation, the plate 2 slides automatically on the sliding plane 6 of the surface gripper 4 due to the influence of gravity on the plate 2, as illustrated for example by Fig. 9, until the plate 2 is on the sliding plane.

[0095] 6. The automatically sliding plate 2 rests against at least one stop device 11 of the surface gripper 4, as illustrated, for example, by Fig. 10.

[0096] In a further development of the basic method, in a fifth step S5, after the automatic sliding of the plate 2 on the sliding plane 6, a further automatic relative adjustment of the at least one surface gripping element 5 of the surface gripper 4 with respect to the sliding plane 6 of the surface gripper 4 can take place such that the at least one surface gripping element 5 grips the plate 2 abutting the at least one stop device 11 by activating the at least one surface gripping element 5, so that the plate 2 is grasped by the surface gripper 4 in order to be able to swivel the plate 2 into any orientation and move it to a storage location by automatically controlling the robot 3.

[0097] The robot 3 can comprise a robot arm 3a and a robot controller 3b. The robot arm 3a can have several segments, and the segments can have joints that are adjustable relative to each other. The joints can be equipped with drive motors, in particular electric drive motors, which can be automatically controlled by the robot controller 3b so that, depending on a robot program, the joints of the robot arm can be automatically adjusted to change the pose of the robot arm 3a and thereby automatically handle the surface gripper 4 guided by the robot arm 3a.

[0098] As shown in particular in Figs. 7 to 10, the surface gripper 4 in the present embodiment has a first stop device 11a, which is designed to stop the plate 2 in a first direction of movement Bl of the plate 2 on the sliding surface 6, and the surface gripper 4 has a second stop device 11b, different from the first stop device 11a, which is designed to stop the plate 2 in a second direction of movement B2 of the plate 2 on the sliding surface 6, different from the first direction of movement Bl, such that after the plate 2 has automatically slipped on the sliding surface 6 of the surface gripper 4 due to the influence of gravity on the plate 2, as illustrated in Fig. 9, the plate 2 comes to a stop abutting both the first stop device 11a and the second stop device 11b, as illustrated in Fig. 10.

[0099] In the case of the present embodiment, the first stop device 11a is designed as a group of several discrete stop points and the second stop device 11b is designed as a one-piece, continuous stop strip.

[0100] In the present embodiment, the second stop device 11b is automatically adjustable on the surface gripper 4 between a storage position, as shown in Fig. 7, in which a stop surface 13 of the second stop device 11b lies outside the sliding plane 6, and an operating position, as shown in Fig. 8, in which the stop surface 13 of the second stop device 11b lies on the sliding plane 6 and / or within the sliding plane 6.

[0101] The locking position of the second stop device 11b can be seen in Fig. 7 by the fact that a base support 12 of the second stop device 11b is moved in its plane El relative to a plane E2 of the sliding plane 6 in an adjustment direction V perpendicular to the sliding plane 6 by a

[0102] The vertical distance H is set back in depth. In this case, plane El and plane E2 do not coincide, i.e., they do not lie in the same plane.

[0103] The operating position of the second stop device 11b is recognizable in Fig. 8 by the fact that the base support 12 of the second stop device 11b in its plane El coincides in height with the plane E2 of the sliding plane 6 in an adjustment direction V perpendicular to the sliding plane 6, i.e., the plane El and the plane E2 both lie in the same plane. In this embodiment, the second stop device 11b has not only a stop surface 13, but also a support surface 14, which supports the bearing point 7, just as the support plates 10 support the bearing point 7 of the sliding plane 6.

[0104] During the automatic picking up of the plate 2 from the plate storage 1, the stop surface 13 is moved into its holding position as shown in Fig. 7, so that the stop surface 13 does not collide with the plate storage 1 when the robot 3 moves the area gripper 4 to the plate storage 1 to remove a plate 2. After the plate 2 has been removed from the plate storage 1, and in particular after the automatic pivoting of the area gripper 4, and / or after the automatic relative adjustment of the at least one area gripping element 5 of the area gripper 4 with respect to the sliding plane 6 of the area gripper 4, and / or during the automatic sliding of the plate 2 on the sliding plane 6 of the area gripper 4, the stop surface 13 is moved into its operating position as shown in Figs. 8, 9 and 10.The sliding plane 6 and, if applicable, also the stop plane accordingly has roller bodies 15 as support points 7, so that the plate 2 can roll on the roller bodies 15 during the automatic sliding (Fig. 9, Fig. 10).

[0105] In the present embodiment, the several surface gripping elements 5 are designed as suction elements 21 pressurized with negative pressure air, by means of which the surface gripper 4 holds the plate 2 by a suction effect on the suction elements when the surface gripper 4 picks up the plate 2 from the plate storage 1.

[0106] In the present embodiment, the area gripper 4 has in particular a base body 16 (Fig. 2) with a connection device 17 for attaching the area gripper 4 to a tool flange 18 (Fig. 4) of the robot 3.

[0107] The surface gripper 4 also has the surface gripping elements 5 mounted on the base body 16, which are designed to pick up the plate 2 on its main surface HO in order to hold the plate 2 on the surface gripper 4.

[0108] The sliding plane 6 is mounted on the base body 16 and is designed for the automatic sliding of the plate 2 on the sliding plane 6 of the surface gripper 4 due to the influence of gravity on the plate 2, when the sliding plane 6 assumes an inclined orientation in space that deviates from the horizontal orientation, as is shown in particular by Fig. 9 and Fig. 10.

[0109] The second one, which is adjustable on the base body 16

[0110] The stop device 11b and the first stop device 11a attached to the base body 16 are each designed to stop the plate 2 moving on the sliding plane 6 in a predetermined stop position in a respective operating position, as shown in Fig. 10.

[0111] To carry out the third process step S3, the surface gripper 4 has an adjustment device 19, which is designed for the automatic relative adjustment of the at least one surface gripping element 5 of the surface gripper 4 with respect to the sliding plane 6 of the surface gripper 4 such that in a holding state of the adjustment device 19 the at least one surface gripping element 5 rests against the main surface HO of the plate 2 in order to hold the plate 2 by means of the surface gripping element 5 and the sliding plane 6 is separated from the main surface HO of the plate 2, and in a release state of the adjustment device 19 the at least one surface gripping element 5 is separated from the main surface HO of the plate 2 and the plate 2 rests on the sliding plane 6 for automatic sliding due to the influence of gravity.In the illustrated embodiment, the adjusting device 19 comprises several pneumatic cylinders 20, each of which is equipped with an adjustable suction element 21.

[0112] Instead of a single adjustability, the several suction elements 21 can optionally also be attached to a common first adjustment carrier 8 . 1 ( Fig. . 2 ), which can be adjustably mounted on the base body 16 of the surface gripper 4 .

Claims

Patent claims 1. Method for automatically handling a disk (2) removed from a disk storage device (1), comprising the steps: - automatic picking up of a plate (2) of a disk storage device (1) by means of a surface gripper (4) automatically guided by a robot (3), which has at least one surface gripping element (5) designed to pick up the plate (2) from the disk storage device (1) by grasping it on its exposed main surface (HO), for automatic handling by means of the robot (3), - automatic swiveling of the surface gripper (4) by automatically controlling the robot (3) such that the plate (2) picked up by the surface gripper (4) points downwards with its main surface (HO), - automatic relative adjustment of the at least one surface gripping element (5) of the surface gripper (4) with respect to a sliding plane (6) of the surface gripper (4) such that the at least one surface gripping element (5) is released from the plate (2) and the plate (2) comes to lie on the sliding plane (6), - based on an inclined orientation of the sliding surface that deviates from the horizontal orientation (6) of the area gripper (4) , automatic sliding of the plate (2) on the sliding plane (6) of the area gripper (4) due to the influence of gravity on the plate (2) , until the plate (2) sliding automatically on the sliding plane (6) comes into contact with at least one stop device (11) of the area gripper (4 .

2. Method according to claim 1, characterized in that after the automatic sliding of the plate (2) on the sliding plane (6), a further automatic relative adjustment of the at least one surface gripping element (5) of the surface gripper (4) with respect to the sliding plane (6) of the surface gripper (4) takes place such that the at least one surface gripping element (5) grips the plate (2) abutting the at least one stop device (11) by activating the at least one surface gripping element (5), so that the plate is grasped by the surface gripper in order to be able to pivot the plate (2) into any orientation and move it to a storage location by automatically controlling the robot (3).

3. Method according to claim 1 or 2, characterized in that the surface gripper (4) has a first stop device (11a) designed to stop the plate (2) in a first direction of movement (Bl) of the plate (2) on the sliding plane (6) and the surface gripper (4) has a second stop device (11b) different from the first stop device (11a) designed to stop the plate (2) in a second direction of movement (B2) different from the first direction of movement (Bl) The plate (2) is designed on the sliding surface (6) such that, after the plate (2) slides automatically on the sliding surface (6) of the surface gripper (4) due to the influence of gravity on the plate (2), the plate (2) comes to a stop against both the first stop device (11a) and the second stop device (11b).

4. Method according to one of claims 1 to 3, characterized in that the at least one stop device (11) is located between a storage position in which a stop surface (13) of the stop device (11) is located outside the sliding plane (6), and in an operating position in which the stop surface (13) of the stop device (11) is located on the sliding plane (6) and / or within the sliding plane (6), is automatically adjustable and mounted on the surface gripper (4), and the stop surface (13) is moved into its storage position during the automatic picking up of the plate (2) from the plate storage (1) and is moved into its operating position after the automatic pivoting of the surface gripper (4), and / or after the automatic relative adjustment of the at least one surface gripping element (5) of the surface gripper (4) with respect to the sliding plane (6) of the surface gripper (4) and / or during the automatic sliding of the plate (2) on the sliding plane (6) of the surface gripper (4).

5. Method according to one of claims 1 to 4, characterized in that the sliding plane (6) and / or the stop plane has roller elements (15) such that the plate (2) slides onto the surface automatically. rolling bodies (15) can roll, or the sliding plane (6) and / or the stop plane has sliding bodies, so that the plate (2) can slide along the sliding plane (6) during automatic sliding.

6. Method according to one of claims 1 to 5, characterized in that the at least one surface gripping element (5) is a suction element (21) pressurized with negative pressure air or an ejector element pressurized with positive pressure air, by which the surface gripper (4) holds the plate (2) by a suction action on the at least one surface gripping element (5) when the surface gripper (4) picks up the plate (2) from the plate storage (1).

7. Method according to any one of claims 1 to 5, characterized in that, for picking up a ferromagnetic plate (2), the at least one surface gripping element (5) is an electromagnetic holding element by which the surface gripper (4) holds the plate (2) by magnetic force on the at least one surface gripping element (5) when the surface gripper (4) picks up the plate (2) from the plate storage (1) records.

8. Area gripper (4), in particular area gripper (4) for carrying out a method according to one of claims 1 to 7, comprising: - a base body (16) with a connection device (17) for attaching the surface gripper (4) to a Tool flange (18) of a robot (3) , - at least one surface gripping element (5) mounted on the base body (16) which is designed to pick up a plate (2) on one of its main surfaces (HO) in order to hold the plate (2) on the surface gripper (4), - a sliding plane (6) mounted on the base body (16), which is designed for the automatic sliding of the plate (2) on the sliding plane (6) of the surface gripper (4) due to the influence of gravity on the plate (2), when the sliding plane (6) assumes an inclined orientation in space that deviates from the horizontal orientation, - at least one stop device (11) mounted on the base body (16) which is designed to stop the plate (2) moving on the sliding plane (6) in a predetermined stop position in an operating position of the stop device (11), and - an adjusting device (19) configured for automatically adjusting the at least one surface gripping element (5) of the surface gripper (4) relative to the sliding plane (6) of the surface gripper (4) such that, in a holding state of the adjusting device (19), the at least one surface gripping element (5) rests against the main surface (HO) of the plate (2) in order to hold the plate (2) by means of the surface gripping element (5), and the sliding plane (6) is separated from the main surface (HO) of the plate (2), and in a release state of the Adjustment device (19) that includes at least one surface gripping element (5) from the main surface (HO) of the Plate (2) is separated and the plate (2) rests on the sliding surface (6) due to the influence of gravity for automatic sliding on the sliding surface (6).

9. Surface gripper (4) according to claim 8, characterized in that the at least one surface gripping element (5) is attached to a first adjusting carrier (8.1) which is adjustably mounted on the base body (16) of the surface gripper (4).

10. Surface gripper (4) according to claim 8 or 9, characterized in that the sliding plane (6) is attached to a second adjusting carrier (8.2) which is adjustably mounted on the base body (16) of the surface gripper (4).

11. Area gripper (4) according to one of claims 8 to 10, characterized in that the area gripper (4) has a first stop device (11a) which is designed to stop the plate (2) in a first direction of movement (Bl) of the plate (2) on the sliding plane (6) and the area gripper (4) has a second stop device (11b) different from the first stop device (11a) which is designed to stop the plate (2) in a second direction of movement (B2) of the plate (2) different from the first direction of movement (Bl) on the sliding plane (6).

12. Area gripper (4) according to one of claims 8 to 11, characterized in that the at least one stop device (11) is located between a Custody position in which a stop surface (13) the anchoring device (11) outside the The sliding surface (6) is located, and in an operating position in which the stop surface (13) of the stop device (11) is located on the sliding surface (6) and / or within the sliding surface (6), is automatically adjustable on the surface gripper (4).

13. Surface gripper (4) according to one of claims 8 to 12, characterized in that the sliding plane (6) and / or the stop plane has roller bodies (15) designed for rolling the plate (2) on the roller bodies (15) during automatic sliding of the plate (2) on the sliding plane (6), or the sliding plane (6) and / or the stop plane has sliding bodies designed for sliding along the plate (2) during automatic sliding of the plate (2) on the sliding plane (6).

14. Surface gripper (4) according to one of claims 8 to 13, characterized in that the at least one surface gripping element (5) is a suction element (21) pressurized with negative pressure air or an ejector element pressurized with positive pressure air, which is designed to hold the plate (2) on the at least one surface gripping element (5) by a suction action.

15. Surface gripper (4) according to one of claims 8 to 13, characterized in that, for picking up a ferromagnetic plate (2), the at least one surface gripping element (5) is an electromagnetic holding element which is designed to hold the plate (2) on the at least one surface gripping element (5) by magnetic force.

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