Abstract
The invention relates to a gripping device (1) and a method for the monitored movement of objects (2), preferably sheet metals, comprising a system control (3) configured for processing object data (31) and controlling a gripping module (4), wherein the gripping module (4) has at least two gripping jaws (5) formed to cooperate with one another, which form an intermediate receiving space (6) for receiving at least parts of an object (2) to be monitored and transported, and the gripping jaws (5) are formed such that, by applying a pre-definable clamping force (7), at least a friction-type connection between the gripping jaws (5) and at least parts of the object (2) is made possible, whereby the object (2) is movable, and at least one sensor element (8) for collecting object data (31) of the object (2) to be moved and monitored, wherein the at least one sensor element (8) is arranged on at least one gripping jaw (5) with its sensor region (9) facing the receiving space (6), and is formed such that it detects, by means of at least temporary collection of the object data (31), a relative movement and/or relative velocity (26) of the object (2) with respect to at least one of the gripping jaws (5).
Claims
1. A gripping device (1) for the monitored movement of objects (2), preferably sheet metals, comprising a system control (3) configured for processing object data (31) and controlling a gripping module (4), wherein the gripping module (4) has at least two gripping jaws (5) formed to cooperate with one another, which gripping jaws (5) form an intermediate receiving space (6) for receiving at least parts of an object (2) to be monitored and transported, and the gripping jaws (5) are formed such that, by applying a pre-definable clamping force (7), at least a friction-type connection between the gripping jaws (5) and at least parts of the object (2) is made possible, whereby the object (2) is movable, as well as at least one sensor element (8) for collecting object data (31) of the object (2) to be moved and monitored, wherein the at least one sensor element (8) is arranged on at least one gripping jaw (5) with its sensor region (9) facing the receiving space (6), and is formed such that it detects, by means of at least temporary collection of the object data (31), a relative movement and/or relative velocity (26) of the object (2) with respect to at least one of the gripping jaws (5), wherein, on at least one inner surface (10), facing the receiving space (6), of at least one gripping jaw (5), a friction lining (22) is arranged for increasing the friction of the gripping jaw (5) to at least parts of the object surface (2) and wherein at least one gripping jaw (5) comprises at least one securing means (17) formed thereon and the friction lining (22) is formed in the direction of the clamping force (7), between a rest position (18) and an active position (19), to be movable and preloaded with a spring force (44), wherein, in the rest position (18), the friction lining (22) is arranged to protrude beyond the securing means (17), and, in an active position (19), the friction lining (22) is arranged offset back relative to the securing means (17) for applying an at least punctiform securing force (20) to at least parts of an object surface (2).
2. The gripping device (1) according to claim 1, wherein the sensor element (8) is configured to at least periodically collect a position and/or a location of the object (2) as object data (31).
3. The gripping device (1) according to claim 1, wherein the sensor element (8) is formed to be at least an optoelectronic, preferably laser optic and/or acoustic and/or capacitive and/or inductive sensor element (8).
4. The gripping device (1) according to claim 1, wherein two sensor elements (8) are arranged to be connected with the system control (3) in a signal-based redundancy.
5. The gripping device (1) according to claim 1, wherein the inner surfaces (10) of the gripping jaws (5) are formed to be at least partially alignable to be parallel to one another.
6. The gripping device (1) according to claim 5, wherein at least one gripping jaw (5) is formed to be rotatable about a clamp axis (11) and has at least one angle correction means (16) for increasing the clamping force on the object to be gripped.
7. The gripping device (1) according to claim 6, wherein the gripping device (1) is formed to be a pincer gripper (12) which preferably has two gripping jaws (5) and/or pincers (14) rotatable about the clamp axis (11).
8. The gripping device (1) according to claim 5, wherein at least one gripping jaw (5) is formed to be displaceable in parallel to the second gripping jaw (5).
9. The gripping device (1) according to claim 8, wherein the gripping device is (1) formed as a plate gripper (13) which has two gripping jaws (5) and/or plates (15) which are movable normal with respect to a clamp axis (11).
10. (canceled)
11. The gripping device (1) according to claim 1, wherein the rest position (18) can be taken at a clamping force that is lower relative to the spring force (44) and, the active position (19) can be taken at a clamping force that is higher relative to the spring force (44).
12. The gripping device (1) according to claim 1, wherein the at least one securing means (17) for applying the at least punctiform securing force (20) on at least parts of the object surface (2) is formed in the shape of a spike and/or a hook.
13. The gripping device (1) according to claim 1, wherein the friction lining (22) is formed to be movable by a hydraulic, pneumatic, mechanical and/or electromechanical spring means.
14. The gripping device (1) according to claim 1, wherein the gripping module (4) is formed as a gripping tool of an at least biaxial movable manipulator (23), preferably of a multiaxial robot.
15. The gripping device (1) according to claim 14, wherein the manipulator (23) is formed to be movable along a travel path (25) for increasing a movement region (24) of the manipulator (23).
16. The gripping device (1) according to claim 14, wherein the at least biaxially movable manipulator (23) has at least one laser optical safety scanner (39) connected with the system control (3) for detecting a possible foreign body in a pre-definable warning region (32) and a pre-definable stopping region (33).
17. A method for the monitored movement of objects (2), preferably sheet metals, comprising the method steps of: providing the gripping device (1) according to claim 1, comprising a gripping module (4), which has at least two gripping jaws (5) formed to cooperate with one another, which gripping jaws (5) form an intermediate receiving space (6) for receiving at least parts of an object (2) to be monitored and transported, and the gripping jaws (5) are formed such that, by applying a pre-definable clamping force (7), at least a friction-type connection be-tween the gripping jaws (5) and at least parts of the object (2) is made possible, whereby the object (2) is movable, and at least one sensor element (8) for collecting object data (2) of the object (2) to be moved and monitored, wherein the at least one sensor element (8) is ar-ranged on at least one gripping jaw (5) with its sensor region (9) facing the receiving space (6), and is configured to detect, by means of at least temporary collection of the object data (2) , a relative movement and/or relative velocity (26) of the object (2) with respect to at least one of the gripping jaws (5); providing at least the object (2) to be moved; gripping the object (2) to be moved by means of gripping jaws (5) of the gripping device (1); moving the object (2) according to a pre-definable movement sequence, wherein collecting movement data (40) of the gripping device (1) takes place and at least periodically evaluating the movement data (40) by a system control (3) takes place, and collecting object data (31) of the gripped and moved object (2) by means of at least one sensor element (8) takes place, and at least periodically evaluating the object data (2) takes place in the system control (3); and at least periodically comparing the object data (2) with the movement data (40) is used for detecting a potential deviation which corresponds to a relative movement and/or relative velocity (26) of the object (2) to be moved relative to at least one of the gripping jaws (5), and wherein no deviation corresponds to a normal operation and the predefined movement sequence is terminated; or in the event of a detected deviation, an initiation of at least one, preferably multiple, countermeasure(s) (29) takes place via the system control (3).
18. The method according to claim 17, wherein the position and/or location of the object (2) is collected at least periodically by the sensor element (8) as object data (2).
19. The method according to claim 17, wherein the sensor element (8) determines the object data (2) at least optoelectronically, preferably laser optical and/or acoustically and/or capacitively and/or inductively.
20. The method according to claim 17, wherein the initiation of the at least one countermeasure (29) takes place in two stages dependent on the ex-tent of the relative velocity (26), wherein at least one countermeasure (29) of a first stage is initiated upon reaching a first threshold value (41), and wherein at least one countermeasure (29) of a second stage is initiated upon reaching a second threshold value (42).
21. The method according to claim 17, wherein, as at least one countermeasure (29) of the first stage (27) is initiated from the group: increasing the clamping force (7) of the gripping jaws (5), and/or decelerating a travel velocity (30) of the gripping device (1); active position (19) of the securing means (17); triggering a first optical warning signal; triggering a first acoustic warning signal; lowering the moved object (2) in the vertical direction.
22. The method according to claim 17, wherein, as at least one countermeasure (29) of the second stage (28) is initiated from the group: stopping the movement of the gripping device (1); triggering a first or a second—different from the first—optical warning signal; triggering a first or a second—different from the first—acoustic warning signal.
23. The method according to claim 21, wherein, in the active position (19) of the at least one securing means (17), the clamping force (7) is abruptly increased such that the spring force (44) acting on the friction lining is overcome, such that the friction lining (22) is moved out of its rest position (18) and the at least one securing means (17) protrudes abruptly relative to the friction lining (22) and is brought into contact with at least parts of the object surface (2), applying an additional securing force (20).
24. The method according to claim 23, wherein the at least one securing means (17) at least partially penetrates in at least parts of the object surface (2), whereby a plastic deformation of parts of the object surface (2) occurs.
25. The method according to claim 17, wherein at least one second sensor element (8) for collecting object data (31) is used.
26. The method according to claim 17, wherein, during an operation of the gripping device (1), a detection of a possible foreign body in a pre-definable warning region (32) and a stopping region (33) is carried out by a laser optical safety scanner (39) connected to the system control (3).
27. The method according to claim 26 wherein, upon a detection of a foreign body in the warning region (32), the countermeasures (29) of the first stage (27) are initiated.
28. The method according to claim 26, wherein, upon a detection of a foreign body in the stopping region (33), the countermeasures (29) of the second stage (28) are initiated.
29. The method according to claim 17, wherein the manipulator (23), in order to increase its movement region (24), moves along a travel path (25) during the movement of the object (2).
Description
[0083] These show in a respectively very simplified schematic representation:
[0084] FIG. 1 An embodiment of a gripping device which has gripped on an object by means of gripping module;
[0085] FIG. 2 a schematic representation of possible relative movements of an object and/or sheet metal relative to the gripping device in linear (a) relative movement, or rotating (b) relative movement;
[0086] FIG. 3 exemplary embodiments for gripping modules, wherein the gripping jaws are designed as pincers (a) (b) or plates (c) (d);
[0087] FIG. 4 exemplary embodiments for gripping modules, wherein the angle correction means are designed as a pivotable gripping plate (a) (b) or an elastic body (c) (d) on a gripping module;
[0088] FIG. 5 a schematic representation of the detection of relative movements and initiation of countermeasures (a) to (c);
[0089] FIG. 6 a schematic sectional representation of a gripping module with securing means in the rest position (a) and/or an active position (b);
[0090] FIG. 7 an exemplary embodiment of an automated processing center as seen from a bird's-eye perspective, with movement region, warning region, stopping region of a safety scanner of the gripping device;
[0091] FIG. 8 an exemplary embodiment of an automated processing center with a laterally movable gripping device.
[0092] First of all, it is to be noted that in the different embodiments described, equal parts are provided with equal reference numbers and/or equal component designations, where the disclosures contained in the entire description may be analogously transferred to equal parts with equal reference numbers and/or equal component designations. Moreover, the specifications of location, such as at the top, at the bottom, at the side, chosen in the description refer to the directly described and depicted figure, and in case of a change of position, are to be analogously transferred to the new position.
[0093] FIG. 1 represents an exemplary embodiment of a gripping device 1 according to the invention, which comprises a gripping module 4 and a system control 3. The gripping module 4 has at least two gripping jaws 5 that are formed to cooperate with one another and which grip an object 2 on at least a part of the object surface 21. It can be seen well in FIG. 1 that the object 2 can have almost any desired shape, as long as an engaging of the gripping jaws 5 is made possible. The represented component and/or object 2 is an example for a semi-finished product from an angled sheet metal, which, in a forming machine and/or bending machine 36. is fed to the next forming step.
[0094] FIG. 1 further shows that the gripping device 1 can have an at least biaxial, movable manipulator 23, which is designed as a multiaxial robot in the exemplary embodiment. The cantilever and/or robot arm of the manipulator 23 is designed to be rotatable by 360°, as well as vertically and horizontally pivotable and/or retractable and extendible. In the present example, this means that the manipulator 23 is designed to have six axes. The fact that the manipulator 23 and/or the gripping device 1 has multiple axes is schematically adumbrated by the combined x-, y-, z-axis symbol with the respective rotation arrows in FIG. 1 and FIG. 2 and is the preferred variant for all embodiments according to the invention. Furthermore, the gripping module 4 is formed in the object-facing end of the manipulator 23, whereby the gripping device 1 gains a high degree of versatility. The drive of the manipulator 23 and of the gripping module 4 is preferably designed to be electromechanical. A clamping force 7 can be applied, separately by its own drive, to the gripping jaws 5 and thus to the object 2.
[0095] As it is adumbrated in FIG. 1 to FIG. 5 as well as FIG. 7 and FIG. 8, the system control 3 can be arranged on or in the gripping device 1 as a component of the same. However, it is equally conceivable that the system control 3 is arranged to be decentralized from the gripping device 1 and e. g. is arranged in a display or operating element not further represented.
[0096] FIG. 1 when viewed in combination with FIG. 3 further schematically adumbrates that a receiving space 6 is delimited by the cooperating gripping jaws 5 in the region in which they can receive an object 2 on their inner surfaces 10. Furthermore, sensor elements 8 are arranged on a gripping jaw 5 such that their sensor region 9 is facing the object surface 21 of the object 2 to be moved in the receiving space 6.
[0097] The following discussion of FIG. 2 and FIGS. 1, 3, 4, 7 and 8 describes by way of example how the collection of movement data 40 of the gripping device 1 and/or the gripping module 4 and an at least periodical evaluation of these movement data by the system control takes place. Furthermore, a collection of object data 31 of the gripped and moved object 2 by means of at least one sensor element 8 and an at least periodical evaluation of the object data 31 takes place in the system control 3. Thus, an at least periodical comparison of the object data 31 with the movement data 40 is made possible to detect a possible deviation, which corresponds to a relative velocity 26 of the object 2 to be moved relative to at least one of the gripping jaws 5 and therefore to the gripping module 4 and/or the gripping device 1 and to initiate suitable countermeasures 29.
[0098] FIG. 2 serves for illustrating some possible modes of movement of an object 2 gripped and moved by the gripping device 1. The range of the detection of relative velocities 26 of an object 2 to be moved, made possible by the gripping device 1 according to the invention, is only adumbrated schematically here. The gripping device 1 and/or the gripping module 4 can move along and/or about multiple axes. The movements of the gripping module 4 and/or the gripping device 1 in the space are controlled by the system control 3 according to a pre-definable movement sequence and at least periodically provided by sensors not further depicted and the system control 3 in the form of movement data 40.
[0099] In FIGS. 2a and 2b, a travel velocity 30 of the gripping module 4 about an imagined vertical axis is described by way of example. This angular velocity of the represented example, however, is to be understood such that linear movements of the gripping module 4 can also have, in an analogous manner, a travel velocity 30 and/or corresponding movement directions. The movement data 40 available in the system control 3 thus comprise the local velocities and the corresponding position of the gripping device 1 and/or of the gripping module 4 at a certain point in time. Relative movements and/or relative velocities 26 deviating from this, thus can be derived by the person skilled in the art analogously to the exemplary situations shown.
[0100] The sensor elements 8, represented in a dotted fashion in FIG. 2, are arranged in one of the two represented gripping jaws 5 of the gripping module 4 and allow a collection of the object data of the gripped and moved object 2. From the exemplary arrangement of sensor elements 8, it can be seen that the adjacent arrangement having sensor regions 9, each facing the receiving space 6, makes a redundancy circuit possible.
[0101] FIGS. 2a and 2b represent, with the aid of a sheet metal, the intended movement of an object 2 with a travel velocity 30 of the gripping module 4, wherein a relative movement and/or relative velocity 26 in the centrifugal direction 35 occurs.
[0102] The depiction in FIG. 2a shows by way of example that the object 2 and/or the sheet metal is moved, in the centrifugal direction 35, out of its original receiving position, shown in dashed lines. The situation is represented such that the relative movement takes place in a substantially linear fashion, with a relative velocity 26 of the object 2 relative to the gripping jaw 5 and/or to the gripping module 4. In the course of this, the relative movement and/or relative velocity 26 of the sheet metal takes place orthogonally to the direction of movement of the gripping device 1 and can be detected by both sensor elements 8, shown in a dotted fashion.
[0103] In FIG. 2b, a borderline case is represented by way of example, in which the object 2 and/or an end of the sheet metal is rotated out of the gripping module 4 in the direction of the travel velocity 30. In doing so, a relative movement and/or relative velocity 26 is caused, which comes to a rotation or turning movement about the axis of one of the sensor elements 8 and/or its sensor region 9. This relative movement 26, however, can be detected efficiently by means of a signal-based redundancy circuit with the second, adjacent sensor element 8 in order to initiate suitable countermeasures.
[0104] The FIGS. 3a to 3d represent, by way of example, some embodiments of gripping modules 4 with differently arranged and/or formed gripping jaws 5. A clamp axis 11 is represented, around which at least one gripping jaw 5 and/or relative to which clamp axis 11 at least one gripping jaw 5 is formed to be displaceable. All represented exemplary embodiments have two sensor elements 8 although the invention can also be executed with only one and/or also with multiple sensor elements 8. The representations also show gripping jaws 5 which are formed to be furcate, which, within the scope of the invention, is also transferable to all embodiments of gripping jaws 5.
[0105] In FIG. 3a, a pincer gripper 12 is represented, wherein a gripping jaw 5 is equipped with two sensor elements 8 and to which a corresponding gripping jaw 5 is arranged to be rotatable about the clamp axis 11. Analogously to this, the pincer gripper 12, too, is formed with two to one another two gripping jaws 5 and/or pincers 14 rotatable about the clamp axis 11. In both cases, the receiving space 6 is formed in the region where the two gripping jaws 5 meet and in which an object 2 can be received.
[0106] In FIGS. 3c and 3d, two possible embodiments for plate grippers 13 are depicted, in which the clamp axis 11 can vary in terms of the position of the gripping jaws 5 and/or plates 15. The embodiment in FIG. 3c merely shows a displaceable gripping jaw 5 and/or plate 15 which can be displaced in parallel to the clamp axis 11 and the corresponding plate 15 This relatively simple form offers cost-related advantages. In FIG. 3d is an example of two gripping jaws 5 and/or plates 15 that are displaceable in parallel to one another.
[0107] FIGS. 4a to 4d show some possible exemplary embodiments for gripping modules 4 whose inner surfaces 10 of the gripping jaws 5 are formed to be at least partially alignable to be parallel to one another. These embodiments are fully compatible with the embodiments of FIG. 1 to FIG. 3, in particular, however, advantageous when using pincer-shaped gripping jaws 5 and/or pincers 14.
[0108] FIGS. 4a to 4d represent very simple examples of a pincer gripper which has a gripping jaw 5 and/or pincer 14 rotatable about the clamp axis 11. In order to compensate for different sheet metal thicknesses and/or object diameters or thicknesses, it is possible to obtain, by means of angle correction means 16, a parallel rest and/or gripping area for the clamping force 7 between the movable gripping jaw 5 and/or the pincer 14 to the object 2 and/or sheet metal. The functionality of the at least one sensor element 8, represented in dashed lines, is ensured by this measure as a parallel object surface 21 with respect to the sensor region 9 ensures a high measuring certainty and precision.
[0109] The angle correction means 16 can be formed very simply by means of a pivotable gripping plate as depicted in FIGS. 4a and 4b. Thus, instead of the inner surface 10 of the pincer 14, the angle correction means 16 is always in a parallel contact with at least a part of the object surface 21 as it adapts to the orientation of the gripping jaw 5 and/or the object surface 21. As per FIG. 4c and FIG. 4d, an angle correction means 16 can also be formed to be an elastic body on the inner surface of a gripping jaw 5 and/or pincer 14 and adapt, upon a closing movement of the gripping jaws 5, at least along a contact line, preferably contact surface, parallel to the object surface 21 of the object 2 to be gripped. As per the exemplary representations, a thinner sheet metal or also object 2, as shown in FIGS. 4b and 4d, can be contacted and held with a clamping force 7 just as well as a comparatively thick sheet metal and/or object 2, as shown in FIGS. 4a and 4c.
[0110] The functional principle of the gripping device 1 and/or the method according to the principle is to be briefly explained with the aid of FIGS. 5a to 5c. The y-axes indicate correlating velocities and/or movements, while the x-axes define the common time axis for the respective partial representations. The top row of the respective partial figure shows possible travel velocities 30 and/or collected movement data 40 of the gripping module 4 as a function of the time. These are collected by sensors, not depicted, of the gripping device 1 and made accessible to the system control 3. Thus, the bottom row schematically represents temporally corresponding relative velocities 26 and/or the measured object data 31, which are collected by at least one sensor element 8 of the gripping module 4 and are also transmitted to the system control 3. The dashed lines indicate reference lines for ease of orientation.
[0111] FIG. 5a represents a possible case in which the movement of the gripping module 4 causes a slipping of the object 2. In a first step, which equates to the removal of a gripped object 2 from a removal point 37, the travel velocity 30 is slowly increased. After this phase of removal or starting up, the travel velocity 30 is increased up to a maximum which is maintained for a certain time in order to transport the object 2 to its destination as quickly as possible. In this phase, the sensor element 8 detects a relative velocity 26 which can be seen from the zero line as a deviation of the corresponding lower partial figure. The object 2 is made to carry out a relative movement and/or a relative velocity 26, evidently due to the movement of the gripping module 4. The measured object data 31 suggest, due to the increasing incline, that the object 2 moves continuously faster relative to the gripping jaw 5 and thus to the gripping module 4 and/or the gripping device 1, up to a point at which it escapes from the gripping device 1 in an uncontrolled manner, which is adumbrated by the dotted line. The movement data 40 of the gripping module 4 suggest that no countermeasures 29 have been initiated as the travel velocity 30 of the gripping module 4 in the top partial figure of FIG. 5a initially stays constant to then slow down when nearing the target position. The representation in FIG. 5a therefore represents the undesirable case of the uncontrolled loss of an object 2 and/or sheet metal from the gripping device.
[0112] FIG. 5b, on the other hand, shows that, upon increasing the travel velocity 30, i. e. upon a first increase of the movement data 40 when starting up the gripping module 4 in the top partial figure, a corresponding relative velocity 26 by the collection of object data 31 takes place. In this case, at least a first countermeasure of the first stage 27 is initiated upon reaching a first threshold value 41. In the specific example, the travel velocity 30 is reduced and maintained at a constant value in order to stop the relative movement and/or relative velocity 26 of the object 2. Compared to the example in FIG. 5a the travel velocity 30 is at a lower, constant level and is maintained for a longer period to achieve the same travel.
[0113] However, it has proven advantageous if at least one countermeasure of a first stage is initiated already upon a deviation of more than 0.1 mm/s (millimeters/second) as the first threshold value 41. Thus, countermeasures of the first stage are initiated with deviations of 0.1 to approximately 2.0 mm/s, preferably to 1.0 mm/s, while at least one countermeasure of a second stage is initiated upon deviations of more than 2.1 mm/s, preferably already 1.1 mm/s, as a second threshold value 42. Such a case is represented schematically in FIG. 5c. Analogously to FIGS. 5a and 5b, the travel velocity 30 of the gripping module 4 is increased. The increase of the relative velocity 26 of the object 2, however, is very fast, the countermeasures 29 of the first stage initiated upon reaching the first threshold value 41 do not suffice, whereby the relative velocity 26 further increases and the second threshold value 42 is reached. This initiates the at least one countermeasure 29 of the second stage 28, whereby an abrupt stop of the gripping module 4 and thus, a halt of the travel velocity 30 is caused. This is followed by a stop to the relative velocity 26 and efficiently prevents the object 2 from slipping out of the gripping module 4.
[0114] The discussion on the initiation and sequence of countermeasures 29 in FIG. 5 with respect to reaching first and second threshold values 41, 42 is to be transferred analogously to the gripping of a foreign body in the warning region 32 and/or stopping region 33 of the gripping device 1.
[0115] In order to increase the safety, a securing means 17 can be arranged on or within at least one gripping jaw 5. As it is shown in a sectional representation in FIGS. 6a and 6b, the two gripping jaws 5 apply a clamping force 7, of which only one side is depicted for the sake of clarity, to the object 2 and/or its object surface 21. Furthermore, it is clearly evident that two sensor elements 8 are arranged in the respective lower gripping jaw 5 and that their sensor region 9 is facing the object 2. In the exemplary embodiment of FIG. 6, a friction lining 22 for increasing the friction between gripping jaw 5 and object 2 is affixed to the side of the gripping jaw 5 that faces the object 2.
[0116] From FIG. 6a, the normal or rest position 18 of the securing means 17 can be seen, in which position it is arranged to be hidden below the friction lining 22 in order to not damage the object surface 21. The represented form of the securing means 17 as a spike, as well as the preloaded spring means 43, represented as spring elements, are to be understood merely as exemplary, simple, mechanical embodiments for the functional principle of the securing means 17 and/or the mounted friction lining 22. The spring means 43 can also be replaced by or combined with a pneumatic, hydraulic and/or electromechanical drive for applying the spring force 44 to the friction lining 22. Likewise, it is conceivable that the spring means 43 is formed in a single piece with a spring-elastic friction lining 22 for applying the spring force 44. The effective direction of the clamping force 7 is only depicted from one side for the sake of clarity. However, it is clear to the person skilled in the art that the clamping force 7 can be applied to the object 2 from both gripping jaws 5.
[0117] Upon reaching a first threshold value 41 or second threshold value 42, the at least one securing means 17 can, as a countermeasure 29, be brought into an active position 19 and protrude abruptly relative to at least parts of the friction lining 22 of the gripping jaw 5 in order to contact at least parts of the object surface 21 with a pre-definable securing force 20. As it is represented in FIG. 6a, the friction lining 22 and/or the securing means 17 are positioned in the rest position 18 as long as the clamping force 7 acting on the object 2 is lower than the spring force 44 acting on the friction lining 22. An increase of the clamping force 7 up to the level of the spring force 44 causes a non-destructive contacting, not depicted, of the object 2 by the securing means 17, whereby an additional securing force 20 can be applied to at least parts of the object surface 21. The additional securing force 20 allows for a deceleration of the relative movement and/or relative velocity 26 of an object 2 as it is represented, for example, in FIG. 5b.
[0118] In FIG. 6b, a further example for a possible active position 19 of the securing means 17 is represented, wherein the at least one securing means 17 penetrates in at least parts of the object surface 21. This is achieved by means of a significant, abrupt increase of the clamping force 7 relative to the spring force 44. Thereby, a plastic deformation of the gripped parts of the object surface 21 is initiated, which cases an interlocking connection in addition to the friction-type connection of the gripping jaws 5 and the object 2. This countermeasure 29 depends on the amount of the clamping force 7 and can be recorded in the system control 3, just like a pre-definable securing force 20.
[0119] In FIG. 7 and FIG. 8, further and possibly independent embodiments of the gripping device 1 are shown, wherein again, equal reference numbers and/or component designations are used for equal parts as in the preceding FIG. 1 to FIG. 6. In order to avoid unnecessary repetitions, it is pointed to the detailed description in the preceding figures, in particular the discussion on the initiation and sequence of countermeasures 29 of FIG. 5 with respect to reaching first and second threshold values 41, 42.
[0120] In FIG. 7 and FIG. 8, an automated processing center having a bending machine 36 with an associated, multiaxial manipulator 23 for parts and/or objects 2 to be moved is represented by way of example. Furthermore, a removal point 37 with objects 2 arranged thereon, i. e. the semi-finished parts, is represented, and a rest 38 for the finished processed objects 2. The movement region 24 of the gripping device 1, which comprises the multiaxial manipulator 23, is shown hatched. Within this movement region 24, a movement of the gripping module 4 with or without a gripped object 2 is possible.
[0121] In order to be able to forgo safety fences by using a gripping module 4 having at least one sensor element 8, the detection of inadvertently entering foreign bodies, in particular persons, is performed by a safety scanner 39 within the processing region. In place of the safety fence surrounding the processing center, only a part of the safety fence flanking the bending machine 36 is represented.
[0122] As it can be seen in FIG. 7 and FIG. 8, a stopping region 33 and, after that, a warning region 32, starting from the vertical rotation axis of the manipulator 23, abut the movement region 24 of the gripping device 1. The warning region 32, which begins further outwardly, defines a processing region within which, upon detection of a foreign body, the same measures are initiated as when reaching a first threshold value 41 of a relative movement and/or relative velocity 26 of the object 2. Thus, at least one countermeasure of the first stage is initiated here. The detection of a foreign body in the stopping region 33, located further inwardly, of the gripping device 1 is to be transferred analogously to the reaching of the second threshold value 42 and the initiation of at least one countermeasure of the second stage.
[0123] FIG. 8 shows a further exemplary embodiment, wherein a gripping device 1 comprises a manipulator 23 movable along a travel path 25 laterally, meaning horizontally, in a travel direction 34. The gripping device 1 therefore has multiple warning 32, stopping 33 and/or processing regions, differently from a stationary operation, which regions are represented schematically at the corner points of the travel path 25. The movement region 24 and the stopping regions 33 and the warning region 32 are consequently moved along, along the travel path 25, corresponding with the position of the gripping device 1, and thus have a kind of movable fixed point. For the sake of ease of clarity, no movement region 24 is represented in FIG. 8, although it is hereby included with reference to FIG. 7. By extending the processing region in a travel direction 34 and/or along a travel path 25, it is made possible that, even during the process, an exchange of provided objects 2, meaning, for example semi-finished products or finished parts, can be performed when the movement region 24 and/or the warning region 32 and/or the stopping region 33 are momentarily located at a distance and therefore a region of the processing center can be entered hazard-free.
[0124] The exemplary embodiments show possible embodiment variants, and it should be noted in this respect that the invention is not restricted to these particular illustrated embodiment variants of it, but that rather also various combinations of the individual embodiment variants are possible and that this possibility of variation owing to the teaching for technical action provided by the present invention lies within the ability of the person skilled in the art in this technical field.
[0125] The scope of protection is determined by the claims. However, the description and the drawings are to be adduced for construing the claims. Individual features or feature combinations from the different exemplary embodiments shown and described may represent independent inventive solutions. The object underlying the independent inventive solutions may be gathered from the description.
[0126] All indications regarding ranges of values in the present description are to be understood such that these also comprise random and all partial ranges from it, for example, the indication 1 to 10 is to be understood such that it comprises all partial ranges based on the lower limit 1 and the upper limit 10, i.e. all partial ranges start with a lower limit of 1 or larger and end with an upper limit of 10 or less, for example 1 through 1.7, or 3.2 through 8.1, or 5.5 through 10.
[0127] Finally, as a matter of form, it should be noted that for ease of understanding of the structure, elements are partially not depicted to scale and/or are enlarged and/or are reduced in size.
LIST OF REFERENCE NUMBERS
[0128]
TABLE-US-00001 1 gripping device 2 object 3 system control 4 gripping module 5 gripping jaw 6 receiving space 7 clamping force 8 sensor element 9 sensor region 10 inner surface 11 clamp axis 12 pincer gripper 13 plate gripper 14 pincer 15 plate 16 angle correction means 17 securing means 18 rest position 19 active position 20 securing force 21 object surface 22 friction lining 23 manipulator 24 movement region 25 travel path 26 relative velocity 27 first stage 28 second stage 29 countermeasure 30 travel velocity 31 object data 32 warning region 33 stopping region 34 travel direction 35 centrifugal direction 36 bending machine 37 removal point 38 rest 39 safety scanner 40 movement data 41 first threshold value 42 second threshold value 43 spring means 44 spring force
