GRIPPER JAW, TOOL, TOOL SYSTEM AND METHOD FOR OPERATING A TOOL SYSTEM

Abstract

The invention relates to a gripper jaw for a robot gripper, the gripper jaw having a first gripper jaw interface corresponding with the robot gripper and a second gripper jaw interface corresponding with tools of a tool set, the gripper jaw interfaces each being used as a mechanical interface, as a signal interface and as a power interface; to a tool for a gripper jaw of this type the tool having a tool interface corresponding with the second gripper jaw interface; to a tool system, the tool system comprising at least one gripper jaw of this type and a tool set with tools of this type; and to a method for operating a tool system of this type, wherein first a tool is selected, thereafter said tool is picked up from a predefined position, thereafter said tool is used and thereafter said tool is deposited in the predefined position.

Claims

1. A gripper jaw for a robot gripper, the gripper jaw having a first gripper jaw interface corresponding with the robot gripper and a second gripper jaw interface corresponding with tools of a tool se wherein the gripper jaw interfaces are used respectively as a mechanical interface, a signal interface and/or a power interface.

2. The gripper jaw according to claim 1, wherein a gripper jaw interface used as a signal interface and/or as a power interface operates pneumatically, hydraulically and/or electrically,

3. The gripper jaw according to claim 1, wherein a gripper jaw interface used as a mechanical interface is used for centering.

4. A tool for the gripper jaw according to claim 1, wherein the tool has a tool interface corresponding with the second gripper jaw interface.

5. The tool according to claim 4, wherein the tool has a support device for positioning.

6. The tool according to claim 4, wherein the support device can be adjusted between a support position and a working position.

7. The tool according to claim 4, wherein the tool is used for gripping, holding, fixing, processing, measuring, dosing and/or as an adapter.

8. A tool system, having at least one gripper jaw according to claim 1 and a tool set with tools according to claim 4.

9. A method for operating a tool system according to claim 8, wherein a tool is firstly selected, then picked up from a predetermined position, then used and then deposited in a predetermined position.

10. The gripper jaw according to claim 2, wherein a gripper jaw interface used as a mechanical interface is used for centering.

11. A tool for the gripper jaw according to claim 2, wherein the tool has a tool interface corresponding with the second gripper jaw interface.

12. The tool according to claim 11, wherein the tool has a support device for positioning.

13. The tool according to claim 5, wherein the support device can be adjusted between a support position and a working position.

14. The tool according to claim 11, wherein the support device can be adjusted between a support position and a working position.

15. The tool according to claim 12, wherein the support device can be adjusted between a support position and a working position.

16. The tool according to claim 5, wherein the tool is used for gripping, holding, fixing, processing, measuring, dosing and/or as an adapter.

17. The tool according to claim 6, wherein the tool is used for gripping, holding, fixing, processing, measuring, dosing and/or as an adapter.

18. The tool according to claim 11, wherein the tool is used for gripping, holding, fixing, processing, measuring, dosing and/or as an adapter.

19. The tool according to claim 12, wherein the tool is used for gripping, holding, fixing, processing, measuring, dosing and/or as an adapter.

20. The tool according to claim 13, wherein the tool is used for gripping, holding, fixing, processing, measuring, dosing and/or as an adapter.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0026] In the following exemplary embodiments of the invention are described in more detail with reference to the Figures, in a schematic manner and by way of example:

[0027] FIG. 1 shows a gripper jaw for a robot gripper in two different axonometric views,

[0028] FIG. 1 shows a robot gripper with a gripper jaw,

[0029] FIG. 3 shows a tool system with gripper jaw and tools,

[0030] FIG. 4 shows a tool system with gripper jaw and tools,

[0031] FIG. 5 shows a gripper jaw for a robot gripper,

[0032] FIG. 6 shows a robot gripper with gripper jaws and

[0033] FIG. 7 shows a robot gripper with gripper jaws and a tool.

DETAILED DESCRIPTION OF THE FIGURES

[0034] FIG. 1 shows a gripper jaw 100 for a robot gripper in two different axonometric views.

[0035] The gripper jaw 100 has a mechanical interface 102, a signal interface 104 and a power interface 106 for the robot gripper, which are referred to in combination as first gripper jaw interface 108. The mechanical interface 102, the signal interface 104 and the power interface 106 for the robot gripper are configured to be structurally separate here.

[0036] The gripper jaw 100 has a mechanical interface 110, a signal interface 112 and a power interface 114 for a tool of a tool set, which is referred to in combination as second gripper jaw interface 116. The mechanical interface 110, the signal interface 112 and the power interface 114 for a tool are configured to be structurally combined here.

[0037] The first gripper jaw interface 108 corresponds functionally and is geometrically complementary to a gripping section of the robot gripper, The second gripper jaw interface 116 corresponds functionally and is geometrically complementary to the tools of the tool set.

[0038] FIG. 2 shows a robot gripper 200 with two finger-like gripping sections 202, 204 displaceable relative to one another and a gripper jaw 206, like gripper jaw 100 according to FIG. 1.

[0039] FIG. 3 and FIG. 4 show respectively a robot gripper 300 and a tool system 322 with gripper jaws 304, 306, like gripper jaw 100 according to FIG. 1, and tools 308, 310, 312, 314, 316, 318. The tools each have a tool interface corresponding with the second gripper jaw interface of the gripper jaws 304, 306.

[0040] The tool 318 has a leg-like support device 32( )which is adjustable between a support position and a working position. In the support position the tool 318 can thus be deposited in predetermined positions of a working surface such that accessibility to the tool interface is ensured in order for the gripper jaw 304, 306 to pick it up. In the working position unhindered use of the tool is made possible. The support device can be adjusted by means of a gripper jaw. The support device can be configured to be leg-like. The support device can be foldable, retractable or attachable.

[0041] The tools 308, 310, 312, 314, 316, 318 can be used if necessary and form a tool set 302.

[0042] FIG. 5 shows a gripper jaw 400 for a robot gripper. The gripper jaw 400 has a gripping side 402, a rear side 404, a proximal end 406 and a distal end 408. The gripper jaw 400 is tapered at the distal end 408 both in its width, transverse to the gripper closing direction and to the longitudinal direction, and also in its thickness, in gripper closing direction. On the gripping side 402 the gripper jaw 400 has a gripping surface 410 which is made from an elastic material, such as foam rubber, rubber or silicone.

[0043] The gripper jaw 400 has a mechanical interface 412, an electronic interface and/or communication interface 414 and a pneumatic interface 416 for a tool of a tool set. The electronic interface and/or communication interface 414 and/or the pneumatic interface 416 can be a signal interface or a power interface.

[0044] The mechanical interface 412 is formed by means of two recesses 418, 420, which are each accessible in gripper closing direction and open on the outside transverse to the gripper closing direction and to the longitudinal direction. The recesses 418, 420 are used for form-fitting connection with a tool transverse to the gripper closing direction.

[0045] On the gripping side 402 the recesses 418, 420 each have effective inlet ramps in the gripper closing direction in order to make it easier to pick up a tool. The electronic interface and/or communication interface 414 is arranged on the rear side on the recess 418 and is thus set back and protected from the gripping surface. The pneumatic interface 416 has an opening leading into the gripping surface 410, which is sealed in contact with a tool by means of the elastic material of the gripping surface 410. On the rear side 404 the gripper jaw 400 has a mechanical interface for the robot gripper.

[0046] FIG. 6 shows a robot gripper 422 with two gripper jaws 400. The gripper jaws 400 are each screwed with their rear side 404 to a gripping section 424, 426 of the robot gripper 422. Each of the gripper jaws 400 has a mechanical interface 412, but only one of the gripper jaws 400 has an electronic interface and/or communication interface and a pneumatic interface. In addition, reference is made in particular to 2 and FIG. 5 and the associated description.

[0047] 7 shows the robot gripper 422 with gripper jaws 400 and a tool 428. The tool 428 has a tool interface which is formed by means of two plate-like interface elements 430, 432. The interface elements 430, 432 each have corresponding projections, such as 434, 436, geometrically complementary to the recesses 418, 420 of the gripper jaw 400. At least the interface element 430 also has an electronic interface and/or communication interface and a pneumatic interface. In addition, reference is made in particular to FIG. 2, FIG. 3, FIG. 4, FIG. 5 and FIG. 6 as well as the associated description.

[0048] “Can” refers in particular to optional features of the invention, Accordingly there are also further developments and/or embodiments of the invention, which additionally or alternatively have the respective feature or the respective features.

[0049] From the combinations of features disclosed herein, isolated features can also be selected and used in combination with other features to delimit the subject-matter of the claims to resolve any structural and/or functional relationship that may exist between the features.

REFERENCE SIGNS

[0050] 100 gripper jaw

[0051] 102 mechanical interface

[0052] 104 signal interface

[0053] 106 power interface

[0054] 108 first gripper jaw interface

[0055] 110 mechanical interface

[0056] 112 signal interface

[0057] 114 power interface

[0058] 116 second gripper jaw interface

[0059] 200 robot gripper

[0060] 202 gripping section

[0061] 204 gripping section

[0062] 206 gripper jaw

[0063] 300 robot gripper

[0064] 302 tool set [0065] 304 gripper jaw

[0066] 306 gripper jaw

[0067] 308 tool

[0068] 310 tool

[0069] 312 tool

[0070] 314 tool

[0071] 316 tool

[0072] 318 tool

[0073] 320 support device

[0074] 522 tool system

[0075] 400 gripper jaw

[0076] 402 gripping side

[0077] 404 rear side

[0078] 406 end

[0079] 408 end

[0080] 410 gripping surface

[0081] 412 mechanical interface

[0082] 414 electronic interface, communication interface

[0083] 416 pneumatic interface

[0084] 418 recess

[0085] 420 recess

[0086] 422 robot gripper

[0087] 424 gripping section

[0088] 426 gripping section

[0089] 428 tool

[0090] 430 interface element

[0091] 432 interface element

[0092] 434 projection

[0093] 436 projection