HANDLING SYSTEM COMPRISING TUBE LIFTER AND MANIPULATOR WITH GEARBOX

Abstract

The invention relates to a handling system comprising a tube lifter with a lifting tube which has a tube interior, and with an end effector, which is mounted on the lifting tube so as to be rotatable about an end effector axis of rotation, a manipulator for displacing the end effector, a coupling device for coupling the tube lifter to the manipulator, wherein the coupling device has a first tube lifter coupling portion and a second manipulator coupling portion, wherein the first and second coupling portions can be connected to one another by means of a connecting device, wherein the manipulator has a driven rotary element which is rotatable about a manipulator axis of rotation, wherein the coupling device comprises a gearbox which is designed to translate a rotary movement of the rotary element about the manipulator axis of rotation into a rotary movement of the end effector about the end effector axis of rotation in the connected state of the first and second coupling portions.

Claims

1. A handling system, comprising: a tube lifter with a lifting tube which has a tube interior and with an end effector, in particular a suction gripping device, which is mounted on the lifting tube so as to be rotatable about an end effector axis of rotation; a manipulator, in particular a robot, for displacing the end effector, in particular in a plane orthogonal to the end effector axis of rotation; a coupling device for coupling the tube lifter to the manipulator, wherein the coupling device has a first coupling portion on the tube lifter side and a coupling portion on the manipulator side, wherein the first and the second coupling portions can be connected to one another by means of a connecting device, in particular in a repeatedly detachable manner, wherein the manipulator has a driven rotary element which is rotatable about a manipulator axis of rotation, wherein the coupling device comprises a gearbox which is designed to translate a rotary movement of the rotary element about the manipulator axis of rotation into a rotary movement of the end effector about the end effector axis of rotation in the connected state of the first and second coupling portions.

2. The handling system according to claim 1, wherein the gearbox is designed such that a rotational movement of the end effector about the end effector axis of rotation is decoupled from a movement of the first and second coupling portions.

3. The handling system according to claim 1, wherein the manipulator is designed as a robot, in particular a 6-axis robot, with a robot arm and a robot wrist, wherein the rotary element is driven by a robot axis of rotation of the robot wrist, in particular by the last axis of the robot along the kinematic chain.

4. The handling system according to claim 1, the gearbox comprising: an end-effector-side first gearbox element, in particular first gear, which is coupled to the end effector so that it cannot rotate about the end effector axis of rotation, and a manipulator-side second gearbox element, in particular second gear, which is driven via the rotary element of the manipulator, wherein the first gearbox element and the second gearbox element, in particular the first gear and the second gear, are in engagement with one another, in particular mesh with one another, in the connected state of the first and second coupling portions.

5. The handling system according to claim 4, the gearbox also comprising a manipulator-side third transmission element, in particular third gear, which is coupled to the rotary element in a rotationally fixed manner and is in engagement, in particular meshing, with the second transmission element, in particular second gear, such that the second transmission element, in particular second gear, can be driven by the third transmission element, in particular third gear.

6. The handling system according to claim 4, wherein the first gearbox element, in particular the first gear, has a longitudinal extension along the end effector axis of rotation such that the second gearbox element, in particular the second gear, in engagement, in particular in the meshing state, is displaceable axially along the end effector axis of rotation relative to the first gearbox element, in particular to the first gear.

7. The handling system according to claim 1, wherein the first coupling portion is axially displaceable relative to the lifting tube along the end effector axis of rotation, in particular is mounted axially displaceably on the lifting tube.

8. The handling system according to claim 7, wherein the tube lifter has a valve device for controlling flow connections, in particular arranged on or in the lifting tube, wherein the first coupling portion cooperates with the valve device in such a way that the valve device can be actuated, in particular controllably, by moving the first coupling portion along the end effector axis of rotation.

9. The handling system according to claim 8, wherein the valve device has a lifting tube ventilation valve for ventilating the tube interior, wherein the first coupling portion interacts with the lifting tube ventilation valve in such a way that, by displacing the first coupling portion along the end effector axis of rotation, a ventilation position of the lifting tube ventilation valve can be changed.

10. The handling system according to claim 8, wherein the first coupling portion is coupled to the valve device via a control lever, wherein the control lever is mounted on the lifting tube so as to be pivotable about a control lever pivot axis, wherein the control lever has an actuating portion which interacts with the valve device in such a way that the valve device can be actuated by pivoting the control lever about the control lever pivot axis, wherein the control lever can be pivoted about the control lever pivot axis by axial displacement of the first coupling portion along the end effector axis of rotation.

11. The handling system according to claim 10, wherein the control lever has a control curve, in particular in the form of an control slot, wherein at least one control element is provided on the first coupling portion, which element engages in the control curve, wherein a pivot position of the control lever about the control lever pivot axis, and therefore a valve position of the valve device is adjustable depending on a position of the control element along the control curve.

12. The handling system according to claim 1, wherein the end effector is connected to the lifting tube via a connecting rod, wherein the connecting rod is connected to the end effector at a first end in a rotationally fixed manner and is connected to the lifting tube, in particular at the end, at a second end so as to be rotatable about the end effector axis of rotation, wherein the first coupling portion is arranged between the first end and the second end of the connecting rod.

13. The handling system according to claim 12, wherein the first coupling portion surrounds the connecting rod in such a way that the connecting rod and the first coupling portion can be displaced relative to one another both translationally along the end effector axis of rotation and rotationally about the end effector axis of rotation.

14. The handling system according to claim 12, the gearbox comprising: an end-effector-side first gearbox element, in particular first gear, which is coupled to the end effector so that it cannot rotate about the end effector axis of rotation, and a manipulator-side second gearbox element, in particular second gear, which is driven via the rotary element of the manipulator, wherein the first gearbox element and the second gearbox element, in particular the first gear and the second gear, are in engagement with one another, in particular mesh with one another, in the connected state of the first and second coupling portions, wherein the first gearbox element, in particular the first gear, is arranged coaxially to the connecting rod and/or is connected to the connecting rod in a rotationally fixed manner.

15. The handling system according to claim 1, wherein the connecting device is designed to be controllable in such a way that it can be selectively activated or deactivated, wherein a controller, in particular manipulator controller, is provided for controlling the connecting device.

Description

[0047] FIG. 1 is a sketched representation of an embodiment of a handling system with tube lifter and manipulator;

[0048] FIG. 2a-b are sketched representations of the handling system according to FIG. 1 with the tube lifter coupled (view a) and with the tube lifter uncoupled (view b) in a side view;

[0049] FIG. 3a-b are sketched representations of the handling system according to FIG. 1 with the tube lifter coupled (view a) and with the tube lifter uncoupled (view b) in a plan view;

[0050] FIG. 4 is a detailed view of the handling system according to FIG. 1 to explain the gearbox; and

[0051] FIG. 5 is a detailed view of the handling system according to FIG. 1 in the region of the control lever.

[0052] In the following description and in the figures, identical reference signs are in each case used for identical or corresponding features.

[0053] FIG. 1 shows a handling system, which is denoted as a whole by reference sign 10. The handling system 10 comprises a tube lifter 12 and a manipulator 14.

[0054] The manipulator 14 is designed as a robot, preferably as a collaborative robot. In the example shown, the manipulator 14 is designed as a 6-axis robot.

[0055] The tube lifter 12 comprises a lifting tube 16, which extends along a lifting tube longitudinal axis 18. The lifting tube 16 encloses a tube interior 20. The lifting tube 16 can be shortened by applying a vacuum to the tube interior 20 and can be extended again by ventilating the tube interior 20. For this purpose, the handling system 10 can comprise a vacuum generating device (not shown).

[0056] The tube lifter 12 also comprises an end effector 22 for gripping an object. In the example shown, the end effector 22 is designed as a suction gripping device 24 for suctioning onto an object (not shown).

[0057] The end effector 22 is rotatable relative to the lifting tube 16 about an end effector axis of rotation 26 which, in the example, is collinear with the lifting tube longitudinal axis 18.

[0058] By way of example and preferably, the end effector 22 is connected to a lower end of the lifting tube 16 via a connecting rod 28. At an upper end (not shown) of the lifting tube 16, it can be connected to a frame or support (not shown).

[0059] The connecting rod 28 extends along the end effector axis of rotation 26 (lifting tube longitudinal axis 18). The connecting rod 28 is rotatably coupled to the end effector 22 at a first (lower) end 30 and is rotatably mounted about the end effector axis of rotation 26 on the lifting tube 16 at a second (upper) end 32. In this respect, the connecting rod 28 is rotatable relative to the lifting tube 16 about the end effector axis of rotation 22.

[0060] In the example, the connecting rod 28 comprises an internal fluid guide (not visible) for supplying the end effector 22 with negative pressure. The fluid guide extends, for example and preferably, from the first end 30 to the second end 32 of the connecting rod 28, wherein the fluid guide is fluidly connected at the first end 30 to the end effector 22 and at the second end 32 to the tube interior 20 of the lifting tube 16. Thus, the end effector 22 can be supplied with negative pressure through the tube interior 20 of the lifting tube 16 (explained in more detail below). In embodiments not shown, the fluid guide can also run outside the connecting rod 28.

[0061] The tube lifter 12 can be coupled to the manipulator 14 via a coupling device 34 so as to be repeatedly detachable. FIG. 1 shows the coupling device 34 in a connected state of manipulator 14 and tube lifter 12.

[0062] The coupling device 34 comprises a first coupling portion 36 on the tube lifter side and a second coupling portion 38 on the manipulator side (described in more detail below).

[0063] In the example, the first coupling portion 36 is held on the lifting tube 16 via a control lever 42 (explained in more detail below). In embodiments not shown, the first coupling portion 36 can also be connected to the lifting tube 16 in another way, for example by being held on the connecting rod 28. The manipulator-side second coupling portion 38 is preferably firmly connected to the manipulator 14, for example via a mount 40.

[0064] As can be seen in FIG. 1, the first coupling portion 36 is, as an example and preferably, arranged between the first end 30 of the connecting rod 28 and the second end 32 of the connecting rod 28. In the specific example, the first coupling portion 36 is arranged on the connecting rod 28 so as to be displaceable both translationally along the end effector axis of rotation 26 and rotationally about the end effector axis of rotation 26.

[0065] For example, the first coupling portion 36 encompasses the connecting rod 28 so that the first coupling portion 36 is displaceable along the end effector axis of rotation 26 relative to the connecting rod 28, and, moreover, the connecting rod 28 is rotatable about the end effector axis of rotation 26 relative to the first coupling portion 36. In this respect, a displacement movement of the manipulator 14 in a plane orthogonal to the end effector axis of rotation 26 can be transmitted to the lifting tube 16 (for example, in order to move the end effector 22 to a desired position to deposit a gripped object). A displacement movement of the manipulator 14 along the end effector axis of rotation 26, however, leads to an axial displacement of the first coupling portion 36 relative to the lifting tube 16.

[0066] The first and the second coupling portions 36, 38 can be connected to one another via a connecting device 44 so as to be repeatedly detachable, and therefore the manipulator 14 and the tube lifter 12 can be coupled to one another so as to be repeatedly detachable.

[0067] In the example shown, the connecting device 44 comprises an electromagnet that can be activated or deactivated as required (for example integrated in the first and/or second coupling portion 36, 38). As mentioned above, the electromagnet is designed and arranged such that, in an activated operating state of the electromagnet, the first and the second coupling portion 36, 38 are connected to one another and, in a deactivated operating state of the electromagnet, the first and the second coupling portion 36, 38 can be detached from one another, in particular without tools. In order to supply the electromagnet with power at least for a short time, even in the event of a power failure, the connecting device 44 can optionally have an energy storage device (not shown), in particular in the form of a capacitor. In embodiments not shown, the connecting device 44 can also comprise other connecting mechanisms.

[0068] The coupling device 34 also comprises a gearbox 46 (detail view FIG. 4), which is designed to translate a rotational movement of a rotary element 48 of the manipulator 14 about a manipulator axis of rotation 50 into a rotational movement of the end effector 22 about the end effector axis of rotation 26.

[0069] In the example shown, the rotary element 48 is formed by a robot axis of rotation 52 of the wrist 54 of the robot 14. Specifically, the robot axis of rotation 52 is the last axis along the kinematic chain of the robot.

[0070] An exemplary and preferred embodiment of the gearbox 46 is explained below with reference to FIG. 4.

[0071] As can be seen in FIG. 4, the gearbox 46 comprises a first transmission element 56 on the end effector side, a second transmission element 58 on the manipulator side and a third transmission element 60 on the manipulator side. In the example shown, the transmission elements 56, 58, 60 are each designed as gears. In this respect, the gearbox 46 comprises a first gear 62 on the end effector side, a second gear 64 on the manipulator side and a third gear 66 on the manipulator side. In embodiments not shown, however, it is also conceivable for the transmission elements 54, 56, 58 to be designed in the form of friction wheels.

[0072] In the example, the end-effector-side first gear 62 is arranged concentrically around the connecting rod 28 and is connected thereto so that it cannot rotate about the end effector axis of rotation 26. In this respect, a rotational movement of the first gear 62 about the end effector axis of rotation 26 is transferred into a rotational movement of the connecting rod 28 and thus of the end effector 22 about the end effector axis of rotation 26.

[0073] The manipulator-side third gear 66 is rotationally fixedly coupled to the rotary element 48 (robot axis of rotation 52) and is thus driven about the manipulator axis of rotation 50.

[0074] As shown in FIG. 4, the second gear 64 is designed to transmit a torque between the first gear 62 and the third gear 66. For example, the second gear 64 is held on the second coupling portion 38, in particular the mount 40, about an axis of rotation 68 parallel to the manipulator axis of rotation 50.

[0075] In the connected state of the first and second coupling portions 36, 38 (i.e., when the first coupling portion 36 and the second coupling portion 38 are connected to one another by means of the connecting device 44), the first gear 62 and the second gear 64 are in meshing engagement with one another (see FIG. 4), so that a torque can be transmitted between the robot axis of rotation 52 and the end effector 22. As mentioned above, a rotational movement of the end effector 22 about the end effector axis of rotation 26 is decoupled from a movement of the first and second coupling portions 36, 38. In other words, even if the manipulator 14 is otherwise stationary (i.e., without movement of any of the other robot axes), a rotational movement of the end effector 22 about the end effector axis of rotation 26 can be realized.

[0076] The first gear 62 and the first coupling portion 36 are displaceable relative to each other along the end effector axis of rotation 26. Since in the connected state of the first and second coupling portions 36, 38, the first coupling portion 36 is motion-coupled to the second gear 64 and the third gear 66, a displacement movement of the manipulator 14 along the end effector axis of rotation 26 leads to a relative movement of the second gear 64 relative to the first gear 62.

[0077] Such a relative movement in the meshing state of the gears 62, 64 is realized, for example, in that the first gear 62 has a longitudinal extension along the end effector axis of rotation 26 such that the second gear 64, while maintaining a torque transmission, is displaceable along the end effector axis of rotation 26 relative to the first gear 62 (see FIGS. 1 and 4).

[0078] As mentioned above, the first coupling portion 36 in the example is secured to the lifting tube 16 via a control lever 42. The control lever 42 is designed in particular to control a valve device 70 of the lifting tube 16. In embodiments not shown, the handling system 10 can also not have such a valve control function, in particular no control lever 42.

[0079] In the specific example, the valve device 70 comprises a lifting tube ventilation valve 72, which is designed to connect the tube interior 20 of the lifting tube 16 to an environment as required and thus to enable ambient air to flow into the tube interior 20. In this way, a change in the length of the lifting tube 16 can be controlled.

[0080] The valve device 70 can also comprise an optional end effector ventilation valve (not shown), which is designed to selectively open or close a flow connection between the tube interior 20 and the end effector 22 (in the example through the connecting rod 28).

[0081] As shown in FIG. 5, the control lever 42 is mounted on the lifting tube 16 so as to be pivotable about a control lever pivot axis 74. The control lever 42 is coupled to the lifting tube ventilation valve 72 by an actuating portion 76 in such a way that a ventilation position of the lifting tube ventilation valve 72 can be changed by pivoting the control lever 42 about the control lever pivot axis 74.

[0082] For example, the lifting tube ventilation valve 72 can be designed as a ventilation flap, the opening angle of which can be changed by changing a pivoting movement of the control lever 42 about the control lever pivot axis 74.

[0083] By way of example and preferably, a pivoting movement of the control lever 42 about the control lever pivot axis 74 can be driven by an axial displacement of the first coupling portion 36 along the end effector axis of rotation 26.

[0084] Specifically, the control lever 42 comprises a control curve 78, which in the example is designed as a control slot 80 in the form of an elongated hole. As shown in FIG. 5, the first coupling portion 36 engages with a control element 82 in the control curve 78. The control element 82 is designed, for example, in the form of a screw or bolt. In the course of an axial movement of the first coupling portion 36 along the end effector axis of rotation 26 (in FIG. 5 upward or downward), the control element 82 moves along the control curve 78 between a lowest position shown in FIG. 5 (furthest away from the lifting tube 16 along the end effector axis of rotation 26), in which the control element 82 rests against the lower end 84 of the control curve 78, and an uppermost position (not shown), in which the control element 82 rests against the upper end 86 of the control curve 78.

[0085] As shown in FIG. 5, the control curve 78 has an angled course, so that an axial movement of the first coupling portion 36 along the end effector axis of rotation 26 is translated into a pivoting movement of the control lever 42 about the control lever pivot axis 74, and in this way, the valve device 70 is actuated.

[0086] In the specific example, the control curve 78 has a first control curve portion 88, a second control curve portion 90 adjoining the first control curve portion 88, a third control curve portion 92 adjoining the second control curve portion 90, and a fourth control curve portion 94 adjoining the third control curve portion 92. As can be seen from FIG. 5, the control curve portions 88, 90, 92, 94 are arranged at an angle to one another, but are themselves preferably straight.

[0087] Depending on an inclination of the particular control curve portion 88, 90, 92, 94 relative to the end effector axis of rotation 26, a displacement of the first coupling portion 36 along the end effector axis of rotation 26 leads to a more or less rapid opening or closing movement of the lifting tube ventilation valve 72.

[0088] In the example shown (see FIG. 5), a further control lever 42 is provided, which is designed analogously to the first control lever 42. In embodiments not shown, the further control lever 42 can also be designed differently, for example can have a differently shaped control curve 78. In other embodiments not shown, however, it may also be that only one control lever 42 is provided.