GRIPPING DEVICE AND SYSTEM COMPRISING A GRIPPING DEVICE

Abstract

The invention relates to a gripping device (12) comprising a main body (58) which can be coupled to a robot, at least one adapter portion (66, 67) which is movable on the main body along a gripping axis (42), and at least one gripping element (38, 39) which can be detachably locked to the adapter portion, wherein the adapter portion comprises a locking mechanism (68a, 68b) having at least one locking element (70a, 70b) which, in a locking position, locks the gripping element to the adapter portion, wherein an unlocking element (76a, 76b) is arranged on the main body, and wherein the locking mechanism can be moved along the gripping axis into an unlocking position in which the unlocking element transfers the locking element from its locking position into a release position in which the gripping element can be detached from the adapter portion.

Claims

1-19. (canceled)

20. A gripping apparatus (12) comprising a base member (58) which can be connected to a robot (14), at least one adapter portion (66, 67) which is movable on the base member (58) along a gripping axis (42), and at least one gripping element (38, 39) which can be releasably locked on the adapter portion (66, 67), wherein the adapter portion (66, 67) comprises a locking device (68a, 68b) having at least one locking element (70a, 70b) which locks the gripping element (38, 39) to the adapter portion (66, 67) in a locking position, wherein the locking device (68a, 68b) can be moved along the gripping axis (42) into an unlocking position in which the locking element (70a, 70b) can be moved out of the locking position into a release position, in which the gripping element (38, 39) can be released from the adapter portion (66, 67), wherein the gripping apparatus (12) has a drive unit (102) for driving the at least one adapter portion (66, 67) and the at least one gripping element (38, 39) along the gripping axis (42) in such a manner that the locking device (68a, 68b) can be moved into the unlocking position, wherein an unlocking element (76a, 76b) is arranged on the base member (58), and wherein the unlocking element (76a, 76b) in the unlocking position of the locking device (68a, 68b) contacts the locking element (70a, 70b) and moves the locking element (70a, 70b) out of the locking position into the release position.

21. The gripping apparatus (12) as claimed in claim 20, wherein the gripping apparatus (12) has a monitoring device (106) which monitors the location and/or position of the adapter portion (66, 67) and/or the location and/or position of the locking element (70a, 70b) and/or the presence of a gripping element (38, 39) on the adapter portion (66, 67).

22. The gripping apparatus (12) as claimed in claim 20, wherein the gripping apparatus (12) comprises a control device (104), wherein the control device (104) is configured to control the drive unit (102) and/or the monitoring device (106).

23. The gripping apparatus (12) as claimed in claim 20, wherein the unlocking position of the locking device (68a, 68b) corresponds to an end or reversal position of the adapter portion (66, 67) along the gripping axis (42).

24. The gripping apparatus (12) as claimed in claim 20, wherein the locking device comprises a pretensioning element which urges the locking element into the locking position.

25. The gripping apparatus (12) as claimed in claim 20, wherein the locking device (68a, 68b) has at least one stop (90) which is arranged on the base member (58) and which limits a movement path of the locking element (70a, 70b).

26. The gripping apparatus (12) as claimed in claim 20, wherein the locking element (70a, 70b) can be moved during a movement between the locking position and the release position along a movement axis (74a, 74b) which is orientated parallel with the gripping axis (42).

27. The gripping apparatus (12) as claimed in claim 20, wherein the locking element (70a, 70b) cooperates with a locking portion (78) which is associated with the gripping element (38, 39), wherein the locking element (70a, 70b) and the locking portion are connected to each other in a positive-locking manner in the locking position of the locking element (78), wherein the positive-locking connection is active along a positive-locking axis (80) which extends at an angle to the gripping axis (42).

28. The gripping apparatus (12) as claimed in claim 20, wherein the gripping apparatus (12) has at least one retention device (92) which is independent of the locking device (68a, 68b) for retaining the at least one gripping element (38, 39) on the at least one adapter portion (66, 67), wherein the retention device (92) has positive-locking elements (94, 96) which are associated with the gripping element (38, 39) and the adapter portion (66, 67) and which are positive-locking with respect to each other along the gripping axis (42) in a state thereof joined together.

29. The gripping apparatus (12) as claimed in claim 28, wherein the positive-locking elements (94, 96) comprise a first positive-locking element (94) which has a receiving region for receiving a projection which is formed on or by a second positive-locking element (96).

30. The gripping apparatus (12) as claimed in claim 20, wherein the adapter portion (66, 67) has at least one reduced pressure connection (100) which communicates with a reduced pressure device of the gripping element (12).

31. The gripping apparatus (12) as claimed in claim 20, wherein the unlocking element (76a, 76b), when the base member (58) is connected to a robot (14), follows a handling movement of the robot (14).

32. The gripping apparatus (12) as claimed in claim 20, wherein the unlocking element (76a, 76b) is arranged in a non-movable manner on the base member (58) and/or wherein the unlocking element (76a, 76b) is independent of a movement of the adapter portion (66, 67) relative to the base member (58).

33. The gripping apparatus (12) as claimed in claim 20, wherein the gripping apparatus (12) has two gripping elements (38, 39) which form a gripping element pair (40), wherein the gripping elements (38, 39) can be releasably locked to respective adapter portions (66, 67) of the base member (58) and the gripping elements (38, 39) can be moved along the gripping axis (42) in mutually opposite directions.

34. A system (10) comprising a gripping apparatus (12) as claimed in claim 33 having a first gripping element pair (40), further comprising a second gripping element pair (41), a store (46) and a robot (14), wherein the base member (58) of the gripping apparatus (12) is arranged on an active region (36) of the robot (14).

35. The system as claimed in claim 34, wherein the store (46) has storage portions (50a, 50b) which are each constructed to store a gripping element pair (40, 41).

36. The system as claimed in claim 35, wherein in a state of a gripping element pair (40, 41) stored on one of the storage portions (50a, 50b), this gripping element pair (40, 41) is retained in or on the store (46) in a positive-locking manner.

37. The gripping apparatus (12) as claimed in claim 27, wherein the positive-locking axis (80) extends perpendicularly to the gripping axis (42).

38. The system (10) as claimed in claim 34, wherein the first gripping element pair (40) or the second gripping element pair (41) is releasably locked to the adapter portions (66, 67) of the base member (58) and wherein the other gripping element pair is stored in the store (46).

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Additional features and advantages of the invention are set out in the following description and the illustration of a preferred exemplary embodiment with drawings. In the drawings:

[0044] FIG. 1 shows a perspective view of a system having a gripping apparatus;

[0045] FIG. 2 shows a perspective view of the gripping apparatus according to FIG. 1;

[0046] FIG. 3a shows a plan view of the gripping apparatus according to a plane of section denoted III in FIG. 2, wherein two gripping elements of the gripping apparatus are illustrated by way of example in a first gripping position;

[0047] FIG. 3b shows a cutout, denoted IIIb in FIG. 3a, as an enlarged illustration;

[0048] FIG. 4a shows a plan view corresponding to FIG. 3, wherein the gripping elements are depicted in an additional open gripping position, which can still just be used;

[0049] FIG. 4b shows a cutout, which is denoted IVb in FIG. 4a, as an enlarged illustration;

[0050] FIG. 5a shows a plan view corresponding to FIG. 4a, wherein the gripping elements are further opened by an actuation path of a locking device of the gripping apparatus;

[0051] FIG. 5b shows a cutout, which is denoted Vb in FIG. 5a, as an enlarged illustration;

[0052] FIG. 6 shows a front view of the gripping apparatus according to FIG. 5a, but without any gripping elements; and

[0053] FIG. 7 shows a plan view of one of the gripping elements.

DETAILED DESCRIPTION

[0054] FIG. 1 illustrates a system which is generally designated 10. The system 10 comprises a gripping apparatus 12 and a robot 14 which preferably has a plurality of degrees of freedom of movement. The system 10 is arranged, for example, in an aseptic production environment.

[0055] A preferably fixed frame 16 of the robot 14 has a frame axis 18 which is preferably orientated vertically. The frame 16 is configured in two pieces. A first frame member 20 which is secured, for example, to a retention member (not illustrated) or an underlying surface of the production environment is non-movable. The first frame member 20 forms a base of the robot 14. A second frame member 22 which is arranged along the frame axis 18 adjacent to the first frame member 20 is rotatable about the frame axis 18 and relative to the first frame member 20. The second frame member 22 forms a shoulder of the robot 14, wherein the frame axis 18 forms the first axis of preferably six axes of the robot 14.

[0056] The robot 14 has a robot arm 26 which is articulated to the second frame member 22 in a movable manner via a first articulation 24. The robot arm 26 has three arm portions 30a, 30b, 30c which are connected to each other in an articulated manner via intermediate articulations 28a, 28b. Articulation rotation axes 32a, 32b, 32c which are associated with the first articulation 24 and the intermediate articulations 28a, 28b preferably extend transversely, in particular perpendicularly, to the frame axis 18.

[0057] The robot arm 26 has an end 34, which faces away from the frame 16 and on which an active region 36 of the robot 14 is arranged. The gripping apparatus 12 is arranged on the active region 36.

[0058] The gripping apparatus 12 has two releasably lockable gripping elements 38 and 39. The two gripping elements 38 and 39 form a gripping element pair 40. The gripping elements 38 and 39 are movable in mutually opposite directions, along a gripping axis 42. The gripping axis 42 is orientated, for example, orthogonally to the frame axis 18.

[0059] The multi-articulation robot 14 allows the gripping apparatus 12 to be brought inside the production environment into any position and orientation. In the embodiment illustrated in the drawings, the gripping apparatus 12 has gripping elements 38 and 39 which are constructed to grip a petri-dish-like object 44. A gripping movement of the gripping elements 38 and 39 is carried out along the gripping axis 42. As soon as the gripping elements 38 and 39 have gripped the object 44, the robot 14 can handle the object 44 together with the gripping apparatus 12.

[0060] The system 10 further has a store 46 and a storage container 48 with objects 44 which can be removed therefrom. The store 46 and the storage container 48 are arranged within handling range of the robot 14.

[0061] The store 46 preferably has at least two mutually separated storage portions 50a, 50b. The storage portions 50a, 50b are each constructed to store at least one gripping element pair 40. To this end, each of the storage portions 50a, 50b has at least two, for example, bolt-like positive-locking elements 52a, 52b. Each of the gripping elements 38 and 39 of a gripping element pair 40 has positive-locking elements 54a, 54b which correspond to these positive-locking elements 52a, 52b and which, for example, are in the form of cylindrical recesses 56a and 56b. The gripping elements 38 and 39 of a gripping element pair 40 are retained with the recesses 56a, 56b thereof on the positive-locking elements 52a, 52b in a positive-locking manner and consequently stored on or in the store 46 or in one of the storage portions 50a, 50b and releasably fixed at that location.

[0062] FIG. 2 illustrates the gripping apparatus 12 of the system 10 and a gripped object 44. The gripping apparatus 12 has a block-like base member 58. At a first side 60, facing the robot 14, of the base member 58, a robot interface 62 is constructed. The base member 58 can be releasably connected to the active region 36 of the robot 14 via the robot interface 62.

[0063] Two adapter portions 66 and 67 which are stored on the base member 58 are arranged adjacent to an additional side 64 of the base member 58. The adapter portions 66 and 67 are movable in mutually opposite movement directions, which are parallel with the gripping axis 42, relative to the base member 58.

[0064] A locking device 68a, 68b is associated with each of the two adapter portions 66, 67. These locking devices 68a, 68b can be integrated in the adapter portions 66, 67 (indicated by broken lines in FIG. 2).

[0065] The locking devices 68a, 68b each have a locking element 70a, 70b. The locking elements 70a, 70b each extend parallel with the gripping axis 42, project through a respective recess 72a, 72b out of a respective adapter portion 66, 67 and are movable relative to the respective adapter portion 66, 67.

[0066] The locking elements 70a, 70b are particularly movable along a respective movement axis 74a and 74b (cf. FIG. 4a) which are each orientated particularly parallel with the gripping axis 42.

[0067] Each locking device 68a, 68b is used to lock a gripping element 38, 39 to one of the adapter portions 66, 67 in a releasable manner. The locking devices 68a, 68b move together with the respective adapter portion 66, 67 along the gripping axis 42.

[0068] In order to unlock a gripping element 38, 39, two unlocking elements 76a and 76b which are secured to the base member 58 are provided. The unlocking elements 76a and 76b are, for example, in the form of bolt-like stops which project into a movement space of the adapter portions 66, 67. The unlocking elements 76a, 76b project, for example, perpendicularly above the additional side 64 of the base member 58. The unlocking elements 76a and 76b move together with the base member 58 of the gripping apparatus 12 and consequently follow a handling movement of a robot 14.

[0069] In the state illustrated in FIG. 3a, for example, the gripping elements 38, 39 take up a first gripping position, wherein the gripping elements are locked to the respective adapter portions 66, 67.

[0070] FIGS. 3a and 3b illustrate the base member 58 and the adapter portion 66 in section. FIG. 3b illustrates the locking device 68a to an enlarged scale.

[0071] The adapter portion 67 and the locking device 68b have a mirror-symmetrical construction which is identical to the adapter portion 66 and the locking device 68a.

[0072] In the state illustrated in FIG. 3b, the locking element 70a takes up a locking position, in which the locking element 70a cooperates in a positive-locking manner with a locking portion 78 which is associated with the gripping element 38.

[0073] The locking portion 78 is illustrated alone in FIG. 7. The positive-locking connection of the locking element 70a with the locking portion 78 is preferably active along a positive-locking axis 80 which is orientated, for example, perpendicularly to the gripping axis 42. The locking portion 78 has a groove 82 which is annularly circumferential and which extends round the positive-locking axis 80.

[0074] The locking element 70a has a locking region 88 which is arranged at the end. In the locking position of the locking element 70a, this locking region 88 cooperates, when viewed along the positive-locking axis 80, in a positive-locking manner with the groove 82 of the locking portion 78 of the gripping element 38.

[0075] In this manner, the gripping element 38 is locked to the adapter portion 66. This state of the locking device 68a is illustrated in FIG. 3b.

[0076] The locking element 70a has a recess 84 which is arranged centrally in the longitudinal extent. In a release position of the locking element 70a, the recess 84 is arranged at the height of the groove 82 of the locking portion 78 of the gripping element 38, cf. FIG. 5b. In this state, the locking region 88 is arranged outside the groove 82 of the locking portion 78 of the gripping element 38 so that the positive-locking connection can be released and so that the gripping element 38 can be released along the positive-locking axis 80 from the adapter portion 66.

[0077] The locking device 68a has a pretensioning element 86 which is preferably in the form of a pressure spring. The pretensioning element 86 is, for example, arranged at an end, which is opposite the unlocking element 76a, of the locking element 70a. The locking element 70a is pretensioned via the pretensioning element 86 along the movement axis 74a into the locking position thereof.

[0078] The locking device 68a further comprises a stop 90 which is securely connected to the adapter portion 66 and which is in the form of a bolt, for example. The stop 90 is particularly orientated transversely relative to the movement axis 74a of the locking element 70a and projects into the recess 84 of the locking element 70a.

[0079] The stop 90 is used to limit a movement path of the locking element 70a along the movement axis 74a and to define the end positions of the locking element 70a. In the locking position (cf. FIG. 3b) and in the release position (cf. FIG. 5b), the stop 90 abuts with different external faces against one of the two end delimitations of the recess 84, respectively.

[0080] The gripping apparatus 12 has retention devices 92 which are independent of the locking device 68a, 68b and which are active between an adapter portion 66, 67 and a gripping element 38, 39.

[0081] The retention devices 92 are used to releasably retain the gripping element 38 and 39 on the adapter portion 66 and 67 and prevent the gripping element 38 and 39 from falling from the adapter portion 66 and 67 in an uncontrolled manner in a state in which the locking element 70a and 70b takes up its release position.

[0082] Each retention device 92 has positive-locking elements 94 and 96. For example, the positive-locking elements 94 are in the form of receiving regions which are provided in the adapter portions 66, 67 and which serve to receive positive-locking elements 96 which are in the form of projections and are provided on the gripping elements 38, 39.

[0083] The positive-locking elements 94, 96 are constructed in such a manner that each gripping element 38 and 39 is guided along at least one guiding axis 98 on the adapter portion 66 and 67 by means of the positive-locking elements 94, 96. The at least one guiding axis 98 is particularly orientated perpendicularly to the gripping axis 42. In the release position of the locking element 70a, 70b, the gripping element 38, 39 can be removed from the adapter portion 66, 67 along the guiding axis 98.

[0084] The adapter portions 66, 67 further have openings 97 for introducing the locking portions 78, cf. FIG. 6.

[0085] At least one adapter portion 66, 67 advantageously has at least one reduced pressure connection 100 which communicates with a reduced pressure device (not illustrated in the drawings) of the gripping element 38. The reduced pressure device allows an object to be gripped exclusively by means of reduced pressure. Alternatively, the reduced pressure device allows mechanical gripping of an object to be supported by means of reduced pressure.

[0086] The gripping apparatus 12 has a drive unit 102 which is used to drive the adapter portions 66, 67 along the drive axis 42, cf. FIG. 3. The drive unit 102 is particularly arranged inside the base member 58. The drive unit 102 comprises, for example, an electric motor.

[0087] The drive unit 102 drives both adapter portions 66 and 67, for example, via a wheel gear mechanism or traction means mechanism, for example, by a toothed rack being arranged on each of the adapter portions 66 and 67, which toothed racks mesh with circumferentially offset portions of a drive wheel of the drive unit 102.

[0088] By means of the drive unit 102, both a gripping movement for gripping and releasing an object 44 and an actuation movement for moving the locking devices 68a and 68b out of a locking position into an unlocking position can be carried out. In the unlocking position, the locking elements 70a and 70b are each in the release position thereof.

[0089] During a gripping movement, the adapter portions 66 and 67 are moved toward each other with the gripping elements 38 and 39; when an object 44 is released and during movement into an unlocking position, the adapter portions 66 and 67 are moved away from each other with the gripping elements 38 and 39.

[0090] Optionally, the gripping apparatus 12 has a control device 104. This is illustrated schematically in FIG. 3a. The control device 104 is arranged, for example, in the base member 58 and constructed to control the drive unit 102. The movement of the adapter portions 66 and 67 and the gripping elements 38 and 39 along the gripping axis 42 can be controlled with the control device.

[0091] Optionally, the gripping apparatus 12 has a monitoring device 106. This device is schematically illustrated in FIG. 3a. The monitoring device 106 comprises, for example, a camera system and/or at least one sensor which is in the form, for example, of an inductive, optical and/or capacitive sensor.

[0092] The monitoring device 106 monitors a position and/or location of the adapter portions 66, 67 and/or a position and/or location of the locking element 70a, 70b and/or a presence of the gripping elements 38, 39 on the respective adapter portions 66 and 67.

[0093] The monitoring device 106 advantageously communicates with the control device 104. Consequently, the control device 104 can control the drive unit 102 and take into consideration parameters which are detected by the monitoring device 106. In particular, consequently, the gripping of an object 44 and the unlocking of the gripping elements 38 and 39 can be carried out without any monitoring by the operator.

[0094] FIGS. 3a and 3b illustrate the locking device 68a in a state in which the locking element 70a takes up a locking position. On this basis, FIGS. 4a and 4b and FIGS. 5a and 5b illustrate states which the locking device 68a takes up during the movement of the locking element 70a into the release position thereof, starting from the beginning of an actuation movement (cf. FIGS. 4a and 4b) up to the end of the actuation movement (cf. FIGS. 5a and 5b).

[0095] In order to move the locking devices 68a and 68b into the respective unlocking position, the adapter portions 66 and 67 are driven via the drive unit 102 and moved apart from each other along the gripping axis 42. In FIGS. 4a and 4b, the adapter portions 66, 67 take up with the locking elements 70a, 70b positions in which end faces 108a, 108b, which project out of the adapter portions 66 and 67, of the locking elements 70a, 70b contact the associated unlocking elements 76a, 76b, respectively. Preferably, the contact is carried out without transverse force within actuation planes 110 which are orientated perpendicularly to the gripping axis 42.

[0096] In the state according to FIGS. 4a and 4b, the locking elements 70a, 70b are still in the locking position. The state according to FIGS. 4a and 4b corresponds to a maximum usable spacing, for a gripping operation, of the gripping elements 38, 39.

[0097] If the adapter portions 66, 67 are driven in such a manner that they move from the state according to FIGS. 4a and 4b further in the direction toward the unlocking elements 76a, 76b, the respective contacts of the locking elements 70a, 70b with the associated unlocking elements 76a, 76b cause the locking elements 70a, 70b no longer to move together with the adapter portions 66, 67, but instead along the movement axes 74a, 74b thereofcounter to the movement direction of the adapter portions 66, 67into the adapter portions 66, 67. In this manner, the locking elements 70a, 70b are moved into the respective release position thereof. The maximum movement path of the locking elements 70a, 70b is defined by the stop 90, as already explained above.

[0098] After a contact of the locking elements 70a, 70b with the respective unlocking elements 76a, 76b has been brought about from a spacing, during the movement of the locking elements 70a, 70b into the respective release position thereof no relative movement takes place any more between the locking elements 70a, 70b and the associated unlocking element 76a, 76b. Friction and material abrasion are thereby avoided, which is particularly advantageous for using the gripping apparatus 12 in an aseptic environment.

[0099] During the movement of the locking elements 70a and 70b into the respective release position thereof, the pretensioning elements 86 are further compressed counter to the direction of the respective pretensioning force thereof.

[0100] In the release position of the locking elements 70a, 70b, the locking devices 68a, 68b take up the unlocking position thereof, cf. FIGS. 5a and 5b. The gripping elements 38, 39 are unlocked in this unlocking position and can be released from the adapter portions 66, 67 or initially still retained at that location, using the retention devices 92.

[0101] Optionally, the robot 14 brings the gripping elements 38, 39 of the first gripping element pair 40 to the store 46, for example, to a free storage portion 50a of the store 46.

[0102] The robot 14 can subsequently take up the gripping elements of a second gripping element pair 41 from the other storage portion 50b and there initiallyusing the retention devices 92continue to retain them in a releasable manner.

[0103] If the drive unit 102 then moves the adapter portions 66, 67 out of the unlocking position again, however, the pretensioning elements 86 move the locking elements 70a and 70b into the respective locking position thereof so that a state, which is illustrated, for example, in FIGS. 4a and 4b, is reached again.

[0104] In the exemplary embodiment illustrated in the drawings, the gripping apparatus 12 is in the form of an external gripper. It will be understood that the gripping apparatus 12 can also be in the form of an internal gripper.