A GRIPPING TOOL, A SYSTEM AND A CLAMPING TOOL, AN EXCHANGE STATION, AND A METHOD OF HANDLING OBJECTS USING THE SYSTEM OR CLAMPING TOOL

Abstract

The present invention relates to a gripping tool, a system, a clamping tool and a method of handling objects, where the gripping tool comprises a transmission mechanism arranged in a housing, wherein the transmission mechanism is coupled to a plurality of arms located outside the housing. One or more gripping elements are arranged on each arm. The gripping elements are releasable connected to the arm to enable a quick and easy repositioning and/or exchange of the gripping elements. An exchange station may be used to reposition or exchange the gripping element.

Claims

1. A gripping tool for handling objects in a process, comprising: a housing defining a longitudinal axis of the gripping tool, a drive mechanism arranged with the housing, an interface arranged at one end of the housing, the interface being configured to be coupled to a matching interface of a machine or to be arranged on a surface, a plurality of arms being arranged at an opposite end of the housing, each arm comprising at least one gripping element configured to be brought into contact with the object, each arm is configured to be rotated around a rotation axis, when activated by the drive mechanism, in or out of contact with an object in a radial plane perpendicular to the longitudinal axis, wherein each arm comprises a body extending from a first end to a second end and having a top side, a bottom side, a first side and a second side, wherein each arm comprises one mounting position for the at least one gripping element arranged in the top side, wherein the at least one gripping element is releasably connected to that arm via a quick-release coupling.

2. The gripping tool according to claim 1, wherein each arm comprises a plurality of mounting positions for selectively positioning the at least one gripping element along a length of the arm.

3. The gripping tool according to claim 1, wherein the quick-release coupling comprises a first coupling part arranged on the arm and a second connecting part arranged on the at least one gripping element, wherein one of the first and second coupling parts comprises at least one locking element configured to interlock the first and second coupling parts relative to each other.

4. The gripping tool according to claim 3, wherein the quick-release coupling further comprises a release element configured to contact the least one locking element, where the release element is configured to move the at least one gripping element towards the locked or unlocked position upon activation.

5. The gripping tool according to claim 1, 4, wherein the at least one gripping element comprises a recess arranged in an external surface, wherein the recess is configured to engage a matching flange on an exchange station.

6. The gripping tool according to claim 1, wherein the at least first gripping element is shaped as a finger or an elongated gripping element extending along at least a part of a length of the arm.

7. The gripping tool according to claim 1, wherein the at least first gripping element is configured to be operated within a full gripping range of the gripping tool while maintaining each arm in the same radial position relative to each rotation axis.

8. A system configured to handle objects in a process, comprising: a machine configured to process an object, the machine comprises at least one interface configured to be coupled to at least one tool, the at least one tool being a gripping tool according to claim 1, the machine further comprises an energy source for supplying power to the gripping tool and a controller configured to at least control the operation of the gripping tool.

9. The system according to claim 8, wherein the machine is a robot unit with at least one robotic arm, wherein the robotic arm extends from a base end to a free end, the matching interface being located at the free end of the robotic arm.

10. A clamping tool configured to handle objects in a process, the clamping tool being configured to be arranged on a surface, the clamping tool comprising: a gripping tool according to claim 1, a local controller configured to control the operation of the gripping tool, wherein the local controller is electrically connected to at least one of a remote user interface or a local user interface, at least one of a local energy source or coupling elements configured to be connected to an external energy source, the local or external energy source being configured to supply power to the clamping tool.

11. The clamping tool according to claim 10, characterised wherein the clamping tool further comprises an adaptor element having a bottom surface shaped to be arranged on the surface, the adaptor element further has a top surface configured to be coupled to or integrated into the interface of the gripping tool.

12. An exchange station configured to interact with the gripping tool according to claim 1, wherein the exchange station comprises: a support element, at least one holding element arranged on a top surface of the support element, the at least holding element being configured to engage a matching holding element on at least one gripping element.

13. The exchange station according to claim 12, wherein the at least one holding element is arranged in a recess in the top surface, wherein the recess is configured to receive a top end of the at least one gripping element.

14. The exchange station according to claim 12, wherein the support element is a base configured to be positioned on or fixed to a reference surface, or the support element comprises an interface configured to be coupled to a matching interface of a machine.

15. A method of handling objects in a process using a system according to claim 8, comprising the steps of: placing the gripping tool in an unloaded state; activating a release connection between the arm and a first gripping element to remove said first gripping element; repositioning said first gripping element in a second mounting position on the arm, and/or positioning a second gripping element in the first mounting position or in a second mounting position on the arm; and reconnecting the first or second gripping element to the arm by locking the release connection.

16. The method according to claim 15, wherein the method further comprises: said removing the first gripping element and said reconnecting the first or second gripping element is performed manually.

17. The method according to claim 15, wherein the method further comprises: said activating of the release connection is performed by moving the arm, e.g. axially, relative to an exchange station to bring the first gripping element into a holding position on the exchange station; repositioning the arm relative to the exchange station to align the first or second gripping element relative to the first or second mounting position on the arm, said reconnecting of the first or second gripping element is performed by further moving the arm, e.g. axially, relative to the exchange station to bring the first or second gripping element into the first or second mounting position on the arm.

Description

DESCRIPTION OF THE DRAWING

[0125] The invention is described by example only and with reference to the drawings, wherein:

[0126] FIG. 1 shows an exemplary embodiment of a robot unit with a gripping tool,

[0127] FIG. 2 shows the robot unit of FIG. 1 with an object,

[0128] FIG. 3 shows a side view of the robot unit with the object,

[0129] FIGS. 4a-b show a first embodiment of the arms with gripping fingers in a retracted position and in an extended position,

[0130] FIGS. 5a-b show a second embodiment of the arms with gripping fingers in a retracted position and in an extended position,

[0131] FIG. 6 shows a first embodiment of a release connection between the arm and the gripping element in a locked state,

[0132] FIG. 7 shows the gripping element removed from the arm,

[0133] FIG. 8 shows a second embodiment of the release connection between the arm and the gripping element in a locked state,

[0134] FIG. 9 shows the gripping element removed from the arm,

[0135] FIG. 10 shows the arm with a first gripping finger and a second gripping finger being shorter than the first gripping finger,

[0136] FIG. 11 shows a first embodiment of an elongated gripping element arranged on the arm,

[0137] FIGS. 12a-f show six alternative embodiments of the gripping element,

[0138] FIGS. 13a-c show the positioning of the gripping element on the exchange station,

[0139] FIGS. 14a-b shows an alternative embodiment of the arm with an elongated hole,

[0140] FIG. 15 shows a further alternative embodiment of the arm with the elongated hole,

[0141] FIG. 16 shows a clamping tool with the gripping tool holding an object,

[0142] FIG. 17 shows a tool connecter for mounting multiple tools,

[0143] FIG. 18 shows a method of repositioning the gripping element,

[0144] FIG. 19 shows another robot unit with the exchange station coupled to robotic arm, and

[0145] FIG. 20 shows the robot unit of FIG. 19 from the side.

[0146] In the following text, the figures will be described one by one and the different parts and positions seen in the figures will be numbered with the same numbers in the different figures. Not all parts and positions indicated in a specific figure will necessarily be discussed together with that figure.

REFERENCE LIST

[0147] 1. Robot unit [0148] 2. Gripping tool [0149] 3. Robotic arm [0150] 4. Base [0151] 5. Local controller [0152] 6. Objects [0153] 7. Housing [0154] 8. First interface [0155] 9. Second interface [0156] 10. Transmission mechanism [0157] 11. Arms [0158] 12. Gripping fingers [0159] 12a. First gripping finger [0160] 12b. Second gripping finger [0161] 13. Second end [0162] 14. Release connection [0163] 15. First coupling part [0164] 16. Second coupling part [0165] 17. Locking element [0166] 18. Flange [0167] 19. Recess [0168] 20. Release element [0169] 21. Pin [0170] 22. Recess [0171] 23. Top side [0172] 24. Elongated gripping element [0173] 25. Second end [0174] 26. First end [0175] 27. Bottom end [0176] 28. Exchange station [0177] 29. Base [0178] 30. Recess [0179] 31. Flanges [0180] 32. Elongated hole [0181] 33. Slots [0182] 34. Clamping tool [0183] 35. Surface [0184] 36. Adapter element [0185] 37. Tool connector

DETAILED DESCRIPTION OF THE INVENTION

[0186] FIG. 1 shows an exemplary embodiment of a robot unit 1 with a gripping tool 2 coupled to a robotic arm 3 of the robot unit 1. Here, the robotic arm 3 extends from a base 4 to a free end at which the interface 9 is arranged. The robot unit 1 further comprises a local controller 5 configured to control the operation of the robotic arm 3 and the gripping tool 2.

[0187] FIGS. 2 and 3 show the robot unit 1 with an object 6 gripped by the gripping tool 2. The gripping tool 2 comprises a housing 7 having a first end and an opposite second end. The first end is formed as first interface 8 configured to be mounted to a matching second interface 9 of the robotic arm 3. A transmission mechanism 10 is arranged inside the housing 7 and connected to a number of arms 11 via individual rotation shafts (not shown). The transmission mechanism 10 is further configured to receive power via the first and second interface 8, 9.

[0188] As indicated in FIG. 3, the arms 11 form a radial plane in which each arm is rotated around a rotation axis defined by the rotation shaft thereof. The radial plane is perpendicular to a longitudinal axis (marked in FIG. 5a with “A”) of the gripping tool 2 extending through the first and second ends. The radial plane is arranged at a minimum distance from another radial plane defined by the first and second interfaces 8, 9.

[0189] FIGS. 4a-b show a first configuration of the arms 11 each fitted with a gripping element 12 arranged at an intermediate position on the arm 11. Here, the gripping elements 12 are shaped as fingers. FIG. 4a shows the arms 11 and gripping elements 12 rotated into an extended position while FIG. 4b shows the arms 11 and the gripping elements 12 rotated into a retracted position.

[0190] The arms 11 and gripping elements 12 are rotated relative to the second end 13 of the housing 7 within the radial plane. Each arm 11 comprises a body extending from a first end to a second end and has a top side, a bottom side, a first side and a second side. In FIG. 4a, the gripping elements 12 are rotated to an extended position indicating a local maximum gripping position. In FIG. 4b, the gripping elements 12 are rotated to a retracted position. This position indicates a minimum gripping position of the gripping tool 2.

[0191] FIGS. 5a-b show a second configuration of the arms 11 each fitted with a gripping element 12′ arranged at an outermost position on the arm 11. FIG. 5a shows the arms 11 and gripping elements 12′ rotated into an extended position while FIG. 5b shows the arms 11 and the gripping elements 12′ rotated into a retracted position.

[0192] The arms 11 and gripping elements 12′ are rotated relative to the second end 13 of the housing 7 within the radial plane. In FIG. 5a, the gripping elements 12′ are rotated to an extended position indicating a maximum gripping position of the gripping tool 2. In FIG. 5b, the gripping elements 12′ are rotated to a retracted position. This position indicates a local minimum gripping position.

[0193] FIG. 6 shows a first embodiment of a release connection 14 between the arm 11 and the gripping element 12 in the form of a quick-release coupling. The release connection 14 comprises a first coupling part 15 arranged on the arm 11 and a second coupling part 16 arranged on the gripping element 12. Here, the quick-release coupling is formed by a hole in the arm 11 and the second coupling part 16 is formed by a pin projecting from a bottom end of the gripping element 12.

[0194] The second coupling part 16 comprises at least one locking element 17 configured to interlock the first and second coupling parts 15, 16 relative to each other. Here, the locking element 17 is a ball. The locking element 17 is configured to engage an internal flange 18 projecting from an inner surface of the hole. This locks the coupling parts 15, 16 and thus the gripping element 12 to the arm 11.

[0195] A recess 19 is formed in the top end of the gripping element 12 and configured to engage flanges on an exchange station (shown in FIG. 8).

[0196] The gripping element 12 further comprises a release element 20 arranged in an internal chamber of the gripping element 12. The release element 20 is moveable arranged inside the chamber and is contacting the locking elements 17.

[0197] FIG. 7 shows the gripping element 12 removed from the arm 11. The coupling parts 15, 16 of FIG. 6 are unlocked by activating the release element 20, which in turn prompts the locking elements 17 to retract into the pin. The gripping element 12 is removed by simply moving the gripping element 12 out of the hole and away from the arm 11.

[0198] FIG. 8 shows a second embodiment of the release connection 14′ between the arm 11′ and the gripping element 12′ in the form of another quick-release coupling. Here, the first coupling part 15 is formed by a pin 21 projecting from the top side of the arm 11′.

[0199] The second coupling part 16′ is formed by a cavity in the bottom end of the gripping element 12′. The locking elements 17′ are arranged in a side surface of the cavity and extends into a matching recess 22 located on a side surface of the pin 21.

[0200] FIG. 9 shows the gripping element 12′ removed from the arm 11′. The coupling parts 15′, 16′ of FIG. 8 are unlocked by activating the release element 20′, which in turn prompts the locking elements 17′ to retract into the side walls of the gripping element 12′. The gripping element 12′ is removed by simply moving the gripping element 12′ away from the pin 21.

[0201] FIG. 10 shows the arm 11 with a first gripping finger 12a arranged at the second end. A second gripping finger 12b is further arranged at the intermediate position. The first and second gripping fingers 12a, 12b are releasable connected to the arm 11.

[0202] The arm 11 has a thickness measured between a bottom side and a top side 23. The first gripping finger 12a has a first height measured from the top side 23 to an end surface of the gripping finger 12a. The second gripping finger 12b has a second height measured from the top side 23 to an end surface of the gripping finger 12b. Here, the first height is greater than the second height.

[0203] FIG. 11 shows a first embodiment of an elongated gripping element 24 arranged on the arm 11. Here the elongated gripping element 24 is releasably connected to the arm 11 by means of two release connections 14 as mentioned above.

[0204] The elongated gripping element 24 extends along the top side 23 of the arm 11 from a local first end 26 to a local second end 25. The elongated gripping element 24 has a height measured from the top side 23 to a local top side. Here, the elongated gripping element 24 has a stepped profile that tapers from the local second end 25 to the local first end 26.

[0205] FIG. 12a-f show six alternative embodiments of the gripping element 12. Here, the gripping element 12 is shaped as a finger where the bottom end 27 of the gripping element 12 is shaped to form the first coupling part.

[0206] In FIG. 12a, the gripping element 12 has a circular cross-sectional profile. The gripping element 12 has in FIG. 12b a circular cross-sectional profile with a flat sub-surface for contacting an adjacent gripping element 12 when rotated into the retracted position. In FIG. 12c, instead of a flat sub-surface the gripping element 12 have a projecting portion. Here, the projecting portion has a triangular shape, but other shapes may be used.

[0207] The gripping element 12 has in FIG. 12c a square or rectangular cross-sectional profile. The gripping element 12 has in FIG. 12d a triangular cross-sectional profile. Finally, the gripping element 12 has in FIG. 12e a polygonal cross-sectional profile.

[0208] Although the gripping element 12 in FIGS. 12a-e has a constant profile along the height, the profile of the gripping element 12 may vary along the height. In example, the gripping finger 12 may have cone-shaped or tapered profile in height direction.

[0209] FIGS. 13a-c show a first embodiment of an exchange station 28 configured to interact with the gripping tool 1. The exchange station 28 comprises a single holding position for holding the gripping element 12.

[0210] The exchange station 28 comprises a support element 29 in the form of a base. A single recess 30 is arranged in the base 29, where the recess 30 forms the mounting position. The recess 30 is shaped as an elongated recess, which at one end comprises flanges 31. The flanges 31 are configured to engage the recess 19 on the gripping element 12.

[0211] The top end of the gripping element 12 is positioned relative to the recess 30, as shown in FIG. 13b. Then, the top end is moved into the recess 30. The release element 20 is thereby brought into contact with a bottom surface of the recces 30, which automatically unlocks the coupling parts 15, 16.

[0212] The gripping element 12 is moved, e.g. slid, along the length of the recess 30 unto the flanges 31 engages the recess 19 on the gripping element 12.

[0213] The arm 11 is afterwards removed from the gripping element 12 and the arm 11 can be repositioned relative to another gripping element (not shown).

[0214] FIG. 14 shows an alternative embodiment of the arm 11″ having an elongated hole 32 formed in a body of the arm 11″. The elongated hole 32 defines a plurality of mounting positions for selectively positioning the gripping element 12 along a length of the arm 11″.

[0215] The gripping element 12 can be selectively mounted in any position along the length of the elongated hole 32. The gripping element 12 is held in a selected position by a locking force.

[0216] FIG. 15 shows an alternative embodiment of the elongated hole 32′ on the arm 11″. Here the elongated hole 32′ comprises a plurality of slots 33 each defining a selective position for the gripping element 12. The gripping element 12 is here held in place by a box joint.

[0217] FIG. 16 shows a clamping tool 34 with the gripping tool 2 holding an object 6 where the clamping tool 34 is arranged on a surface 35. The clamping tool 34 comprises an adapter element 36 configured to be placed on the surface 35 and to be coupled to the first end of the gripping tool 2.

[0218] The clamping tool 34 has an internal energy source powering the gripping tool 2 and a user interface (not shown). The user interface is electrically connected to a local controller arranged inside the clamping tool 34. The operation of the gripping tool 2 is controlled by the local controller.

[0219] FIG. 17 shows a tool connecter 37 for mounting multiple tools, preferably multiple gripping tools 1. The tool connecter 37 is configured to be mounted to a machine, preferably the robotic arm 3 of the robot unit.

[0220] FIGS. 18a-f show a method of repositioning the gripping element 12 on the arm 11 using the exchange station 28. The arm 11 is aligned with a selected holding position on the exchange station 28 as shown in FIG. 18a. The gripping element 12 is moved into the recess 30 so the release element 20 is activated as shown in FIG. 18b. The gripping element 12 is slid into engagement with the flange 31 in the recess 30, as shown in FIG. 13c.

[0221] The arm 11 is then moved away from the gripping element 12 and repositioned relative to the exchange station 28 as shown in FIGS. c-d. The arm 11 is then moved into engagement with the gripping element 12 as shown in FIG. 18e. The arm 11 and gripping element 12 is then moved out of engagement with the flanges 31. Finally, the arm 11 and gripping element 12 are moved away from the exchange station 28.

[0222] FIGS. 19-20 show another robot unit 1′ having a robotic arm, where the exchange station 28′ is coupled to the interface on the free end. The exchange station 28′ comprises a plurality of holding positions for individual gripping elements 12.