Gripping device and method for gripping and lifting a grating element

Abstract

The invention relates to a gripping device (10) for gripping and lifting a grating element (18), comprising: - at least three actuators (12), which are arranged on a circular line about a central axis (M) and each having at least one gripping element (14), which can be actuated thereby, for interlockingly securing the grating element (18) on the gripping device (10), - at least one contact surface (16), which is arranged in a first plane on an underside of the gripping device (10) facing the grating element (18), for contacting the grating element (18); wherein the gripping elements (14) for securing the grating element (18) extend from the actuators (12) through the first plane in the direction of the grating element (18) and ends of the gripping elements (14) facing away from the actuators (12) are arranged such that they can be moved parallel to the first plane in a second plane. The invention also relates to a method for gripping and lifting a grating element (18) by means of a gripping device (10) of this type.

Description

[0001] P241635

[0002] 1

[0003] Gripping device and method for

[0004] Grasping and lifting a grid element

[0005] The invention relates to a gripping device and a method for gripping and lifting a grid element.

[0006] It is well known that the handling of grid elements is heavily reliant on manual processes. In many industries that use grid elements (e.g., made of metal, plastic, or other materials), there are significant limitations regarding automation. In practice, grid elements are often handled manually because they must be considered flexible. This includes both inserting and removing grid elements, for example, in manufacturing processes or packaging. Employees grasp the grid elements with their bare hands or simple tools and position them according to requirements.

[0007] In this context, a grid element is understood to be a planar or plate-shaped component that has a grid structure as a whole or has a grid structure only in at least one part of its surface.

[0008] The at least one sub-area can be located in a central area and / or in an edge area of ​​the planar component. A grid structure is formed from grid openings connecting the top and bottom surfaces of the planar component and from struts arranged between the grid openings. The grid openings can have identical sizes and shapes when viewed from a top view of a flat surface of the grid element, or they can differ in size and shape due to an irregular arrangement of the struts.

[0009] There is a need to simplify the handling of grid elements.

[0010] CN 114378800 A discloses a gripping device designed for underwater use. The gripping device has a plurality of gripping fingers. P241635

[0011] 2

[0012] of different lengths, which can be opened and closed similarly to the fingers of a hand in order to wedge an object between them.

[0013] The object of the present invention is to propose a flexible gripping device that enables flexible handling of grid elements, even those with different sized grid openings. Furthermore, the object of the invention is to provide an automated method for gripping and lifting a grid element.

[0014] The present problem is solved for the gripping device by the features of independent claim 1. The problem is solved for the method by the features of claim 9. Advantageous embodiments are specified in the dependent claims, the description, and the drawing. Where technically feasible, the teachings of the dependent claims can be combined arbitrarily with the teachings of the main and dependent claims.

[0015] The task is therefore solved by a gripping device for grasping and lifting a grid element, comprising:

[0016] - at least three actuators arranged on a circular line around a central axis, each with at least one gripping element that can be actuated by it for the positive locking of the grid element to the gripping device,

[0017] - at least one contact surface arranged in a first plane on an underside of the gripping device facing the grid element for contacting the grid element;

[0018] wherein the gripping elements for locking the grid element extend from the actuators through the first plane in the direction of the grid element and the ends of the gripping elements facing away from the actuators are arranged to be displaceable parallel to the first plane in a second plane.

[0019] The problem is solved for the inventive method for gripping and lifting a grid element by means of an inventive gripping device by placing the contact surface on the top of the grid element, wherein P241635

[0020] 3

[0021] at least two of the gripping elements engage in grid openings of the grid element, wherein the gripping elements are moved away from the central axis by means of the actuators and wherein the grid element is locked against the contact surface by means of the gripping elements.

[0022] The gripping device and the process are specifically designed for the automated gripping and lifting of a grid element. The gripping device consists of several actuators that control flexible gripping elements. These gripping elements are positioned to extend through the first layer and securely and positively grip the grid element. Simultaneously, there are contact points on the contact surface that improve stability during gripping and locking. At least two gripping elements work together to lock the grid element. The gripping device is particularly suitable for the automated gripping and lifting of grid elements, such as metal or plastic grids.

[0023] When actuated, the actuators move the gripping elements with their ends parallel to the first plane in the second plane. When picking up a grid element, the gripping elements move away from the central axis of the gripping device. When placing a grid element, the gripping elements move towards the central axis of the gripping device. This can be achieved either by the actuators or passively by spring elements that exert a restoring force on the gripping elements.

[0024] A stable locking mechanism is achieved, preventing the grid element from slipping. The position of the grid element does not change during gripping.

[0025] The gripping device can be coupled, in particular on its side facing away from the gripping elements, to a robot unit for raising and lowering the gripping device.

[0026] After the gripper is lifted, the grid element is transported to a predetermined position and placed back down there. The P241635

[0027] 4

[0028] The gripping device can be adapted to grid elements with different or differently sized grid openings.

[0029] The gripping elements are designed in particular as delicate fingers or rods that can engage in the grid openings of the grid element when the gripping device is lowered towards the grid element and can be moved within a grid opening during actuation by the actuators until they bump against a bridge that limits the grid opening and preferably lift this bridge and press it from below against the contact surface.

[0030] The connection between the gripping elements and the actuators enables precise control of the gripping process. This allows for secure and precise locking of the grid element. The arrangement of the gripping elements, in combination with the contact surface, ensures a stable gripping process, regardless of the size of the grid openings in the grid element.

[0031] This creates an innovative solution for the automated gripping and lifting of grid elements. The gripping device is characterized by its versatility, precision, and adaptability, providing a robust foundation for a wide range of industrial applications.

[0032] The following sections explain advantageous aspects and subsequently describe preferred modified embodiments. Explanations, particularly regarding advantages and definitions of features, are essentially descriptive and preferred, but not limiting, examples. If an explanation is limiting, this will be explicitly stated.

[0033] Where ordinal numbers, for example "first", "second", etc., are used, for instance to designate a component, an element, a process step, or a process action, these ordinal numbers are intended solely for differentiation in the designation and do not indicate any dependencies or sequences. This means, in particular, that, for example, a device does not need to have a "first component" to have a "second component". A device can also have a "first component", P241635

[0034] 5

[0035] and may have a "third component" without necessarily having a "second component". Multiple units of the same ordinal number are also possible, for example, multiple "first components".

[0036] The gripping device is integrated in particular into an automated robot system, especially an axis system, both electrical and pneumatic, which enables the movement of the gripping device in space and the gripping and handling of the picked-up grid element without manual intervention.

[0037] Preferably, five actuators are arranged on the gripping device. The actuators extend radially outwards from the central axis along their longitudinal axis. The actuators are arranged on a holding device.

[0038] Alternatively or additionally, the actuators can be designed as mechanical, electrical, or pneumatic actuators. This allows for a high degree of flexibility in the choice of drive type, enabling the gripping device to be adapted to various industrial requirements. In particular, this allows the gripping device to be easily and flexibly integrated into existing systems.

[0039] Alternatively or additionally, the gripping elements can be arranged interchangeably on the actuators. In particular, the positioning and / or orientation of the gripping elements on the actuators is determined by the shape and / or size of the grid opening to be gripped. This interchangeability allows for the use of different gripping elements, which can vary in size, shape, and / or material. This enables the gripping elements to be adapted to different grid opening sizes and grid element materials. The interchangeability of the gripping elements thus increases the versatility and service life of the gripping device. P241635

[0040] 6

[0041] Alternatively or additionally, the gripping device can be designed to grasp and lift the topmost grid element of a multitude of stacked grid elements. For this purpose, the distance between the first and second levels is chosen to correspond to the thickness of the grid element to be picked up. This enables the separation of a single grid element from a stack. This feature facilitates the automation of production processes involving stacked grid elements.

[0042] Alternatively or additionally, the gripping device may include a control unit for actuating the actuators. In particular, the control unit is designed to synchronize the movements of the gripping elements via the actuators or to actuate the gripping elements independently of one another. This ensures precise and coordinated control of the gripping elements. Independent control increases flexibility, especially with irregular or damaged grid elements.

[0043] Alternatively or additionally, the gripping device can be equipped with a sensor unit for detecting the position and width of the grid openings of the grid element. This allows the gripping process to be adjusted accordingly and / or the locking of the grid element to be initiated, particularly immediately after contact is made. This further improves the automation of the gripping process by enabling dynamic adaptation to different grid types. The immediate initiation of the locking action after the contact surface is placed on the top of the grid element can also increase the process speed.

[0044] In a preferred embodiment, the actuators are configured to move the gripping elements in a first direction of movement to grasp a grid element, and preferably further configured to move the gripping elements also in the opposite direction to this first direction of movement to release the grid element. P241635

[0045] 7

[0046] Alternatively or additionally, the gripping elements may be biased, directly or indirectly, towards a predefined position by means of a spring force from a spring element. In particular, the gripping elements may be biased towards a position in which the grid element is locked by the gripping device or in a position in which the grid element is not locked by the gripping device. Specifically, the actuators are designed to counteract the spring force of the spring element when the gripping elements are actuated. The spring elements ensure reliable return of the gripping elements to their initial position. The spring force of the spring elements increases the safety of the gripping process, especially in the event of actuator failure. The spring element may be designed, in particular, as a coil spring or the like.

[0047] Alternatively or additionally, the actuators can be configured to move the gripping elements parallel to the first plane in the second plane when actuated. In particular, it is also possible for the actuators to rotate the gripping elements inwards or outwards when actuated. This allows for flexible and adaptable movement of the gripping elements, which can be adjusted to the geometry of the grid element.

[0048] Alternatively or additionally, each gripping element may be formed by a rod whose longitudinal axis is oriented at an acute angle to the first plane. Each gripping element has its end pointing away from the central axis M. A curved longitudinal axis of the rod is also possible. In particular, it is provided that the gripping elements extend through a grid opening of the grid element for locking purposes. For this, the end of the rod must have a diameter or dimension that is many times smaller than the dimension of the grid opening into which it is to engage. Specifically, it is provided that the gripping elements press the grid element from below against the contact surface of the gripping device to lock it. This ensures a secure P241635

[0049] 8

[0050] and ensures precise locking of the grid element, even with different grid opening sizes. The shape of the gripping elements enables the secure gripping of grid elements with complex geometries and grid opening arrangements.

[0051] A preferred technical solution is explained in more detail below with reference to the accompanying figure and a preferred embodiment. This shows

[0052] Figure 1 shows a perspective view of a first embodiment of a gripping device.

[0053] The described embodiment is merely an example that can be modified and / or supplemented in various ways within the scope of the claims. Each feature described for the embodiment can be used independently or in combination with other features in any other embodiment. Each feature described for an embodiment of a particular claim category can also be used analogously in an embodiment of a different claim category.

[0054] Figure 1 shows a perspective view of a first embodiment of a gripping device 10 for gripping and lifting a grid element 18.

[0055] There are five actuators 12 arranged on a circular path around a central axis M, each with at least one gripping element 14 that can be actuated by it for positive locking of the grid element 18 to the gripping device 10. Furthermore, at least one contact surface 16 is provided in a first plane on an underside of the gripping device 10 facing the grid element 18 for contacting the grid element 18.

[0056] The gripping elements 14 for locking the grid element 18 extend from the actuators 12 through the first plane towards the grid element 18. The ends of the gripping elements 14 facing away from the actuators 12 are arranged to be displaceable parallel to the first plane in a second plane. P241635

[0057] 9

[0058] Each gripping element 14 is formed by a rod whose longitudinal axis runs at an acute angle to the first plane and points away from the central axis M.

[0059] The actuators 12 are pneumatically controlled. When actuated by the actuators 12, the gripping elements 14 are moved linearly outwards from the central axis M, parallel to the first plane, with their ends. Alternatively, the grid elements can be rotated outwards. For this, the gripping device 10 must first be lowered vertically onto the grid element 18, in particular by means of a robot system (not shown) which is connected to the gripping device 10 via a holding device 19 in the form of a plate. The individual gripping elements 14 engage in each grid opening of the grid element 18 and are moved away from the central axis M by means of the actuators 12. This allows the grid element 18 to be lifted by the gripping elements 14 and pressed from below towards the contact surface 16 of the gripping device 10.The resulting locking of the grid element 18 enables the lifting and transport of the grid element 18. For different grid elements, especially for different grid openings, the gripping elements 14 on the actuators can be exchanged and adapted to the grid element 14 to be gripped.

[0060] This provides an innovative solution for the automated gripping and lifting of grid elements 18. The gripping device 10 is characterized by its versatility, precision, and adaptability, and offers a robust basis for a wide variety of industrial applications. P241635

[0061] 10 reference marks

[0062] 10 Gripping device

[0063] 12 Actuator

[0064] 14 Gripping element

[0065] 16 contact area

[0066] 17 Holding device

[0067] 18 grid elements

[0068] M Central axis

Claims

P241635 11 Patent claims 1. Gripping device (10) for gripping and lifting a grid element (18), comprising: - at least three actuators (12) arranged on a circular line around a central axis (M), each with at least one gripping element (14) that can be actuated by it for positive locking of the grid element (18) on the gripping device (10), - at least one contact surface (16) arranged in a first plane on an underside of the gripping device (10) facing the grid element (18) for contacting the grid element (18); wherein the gripping elements (14) for locking the grid element (18) extend from the actuators (12) through the first plane in the direction of the grid element (18) and the ends of the gripping elements (14) facing away from the actuators (12) are arranged to be displaceable parallel to the first plane in a second plane.

2. Gripping device (10) according to claim 1, wherein the actuators (12) are designed as mechanical, electrical or pneumatic actuators (12).

3. Gripping device (10) according to claim 1 or 2, wherein the gripping elements (14) are arranged interchangeably on the actuators (12).

4. Gripping device (10) according to one of the preceding claims, wherein the gripping device (10) is designed to grip and lift an upper grid element (18) of a plurality of stacked grid elements (18), wherein a distance between the first level and the second level corresponds to a thickness of the grid element (18).

5. Gripping device (10) according to one of the preceding claims, wherein the gripping device (10) has a control unit for actuating the actuators (12), wherein the control unit is configured to synchronize the movement of the gripping elements (14) by means of the actuators (12) or to actuate the gripping elements (14) independently of one another. P241635 12 6. Gripping device (10) according to one of the preceding claims, wherein the gripping device (10) has a sensor unit for detecting a position and width of the grid openings of the grid element (18).

7. Gripping device (10) according to one of the preceding claims, wherein the gripping elements (14) are biased indirectly or directly in the direction of a predefined position by means of a spring force of a spring element, wherein in particular the gripping elements (14) are biased in the direction of a position in which the grid element (18) is locked by the gripping device (10) or in a position in which the grid element (18) is not locked by the gripping device (10), wherein the actuators (12) are designed to counteract the spring force of the spring element when the gripping elements (14) are actuated.

8. Gripping device according to one of the preceding claims, wherein each gripping element (14) is formed by a rod whose longitudinal axis is oriented at an acute angle to the first plane.

9. Method for gripping and lifting a grid element (18) by means of a gripping device (10) according to one of the preceding claims, wherein the contact surface (16) is placed on the top of the grid element (18), wherein at least two of the gripping elements (14) engage in grid openings of the grid element (18), wherein the gripping elements (14) are moved away from the central axis by means of the actuators (12) and wherein the grid element (18) is locked against the contact surface (16) by means of the gripping elements (14).

10. Method according to claim 9, wherein the actuators (12) displace the gripping elements (14) with their ends parallel to the first plane in the second plane when actuated.

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