A GRIPPING TOOL, A SYSTEM, A CLAMPING UNIT, AND A METHOD OF HANDLING OBJECTIONS IN A PROCESS

Abstract

A gripping tool (2), a system, a clamping unit (35) and a method of handling objects (6), where the gripping tool (2) comprises a transmission mechanism arranged in a housing (7), wherein the transmission mechanism is coupled to a plurality of arms (11) located outside the housing (7). The arms (11) extend in a radial plane from a first end (15) to a second end (16), where one or more gripping fingers (12) are arranged on each arm (11). The gripping fingers (12) may be repositioned on the arm (11), or multiple gripping fingers (12) may be arranged on the same arm (11). The arm (11) preferably has a bent or curved profile where the bending line or curvature is facing a central longitudinal axis (A) of the housing (7).

Claims

1. A gripping tool for handling objects in a process, comprising: a housing defining a longitudinal axis (A) 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 a first gripping element configured to be brought into contact with the object, each arm is configured to be rotated around a rotation axis (B) when activated, each arm having a body extending in a radial plane from a first end to a second end, the radial plane being perpendicular to the longitudinal axis (A), wherein the drive mechanism is configured to rotate the at least first gripping element in and out of contact with the object in the radial plane, the body has a first side facing the longitudinal axis and further an opposite second side facing away from the longitudinal axis, wherein the first side of the body has a first tangent at a first position and a second tangent at a second position, wherein the first tangent intersecting the second tangent at an intersecting point, the intersecting point is located within an imaginary circle with a radius extending from the longitudinal axis (A) to the rotation axis (B) of that arm when the arms are in a retracted position.

2. The gripping tool according to claim 1, wherein the first side has a curved profile extending between the first and second ends or a bending profile defined by at least a first line segment and a second line segment.

3. The gripping tool according to claim 1, wherein at least a second gripping element is arranged on the arm, wherein the second gripping element is arranged at an intermediate position between the first and second ends of the arm.

4. The gripping tool according to claim 1, wherein at least the first gripping element is releasable connected to the arm by a mechanical coupling, preferably a quick release fastener or a clamping element.

5. The gripping tool according to claim 3, wherein the first gripping element has a first height measured in the longitudinal direction and the second gripping element has a second height measured in the longitudinal direction, wherein the first height equals to or differs from the second height.

6. The gripping tool according to claim 1, wherein the arms in the retracted position are positioned relative to each other so that at least one gripping element on each arm is contacting each other, and/or the first side of one arm is at least partly contacting the first side of an adjacent 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 (B).

8. 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 outwards from a top side of the arm.

9. The gripping tool according to claim 1, wherein the at least first gripping element can be selectively arranged in a plurality of individual positions on the arm and/or in an elongated positioning element on the arm.

10. 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.

11. The system according to claim 10, 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.

12. A clamping unit configured to handle objects in a process, the clamping unit being configured to be arranged on a surface, the clamping unit comprising: a gripping tool according to claim 1, a local controller configured to control the operation of the gripping tool, wherein the 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 unit.

13. The clamping unit according to claim 12, wherein the clamping unit 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.

14. A method of handling objects in a process using a system according to claim 10, comprising the steps of: moving either the gripping tool into position relative to a selected object or the object into position relative to the gripping tool, activating the gripping tool to rotate the gripping fingers in a radial plane into contact with the selected object, performing a process on the object or a process that involves the object, further activating the gripping tool to rotate the gripping fingers out of contact with the selected object in the radial plane.

15. A method of handling objects in a process using a clamping unit according to claim 12, comprising the steps of: moving either the gripping tool into position relative to a selected object or the object into position relative to the gripping tool, activating the gripping tool to rotate the gripping fingers in a radial plane into contact with the selected object, performing a process on the object or a process that involves the object, further activating the gripping tool to rotate the gripping fingers out of contact with the selected object in the radial plane.

Description

DESCRIPTION OF THE DRAWING

[0116] The invention is described by example only and with reference to the drawings, wherein:

[0117] FIG. 1 shows an exemplary embodiment of a robot unit with a gripping tool,

[0118] FIG. 2 shows the robot unit of FIG. 1 with an object,

[0119] FIG. 3 shows a side view of the robot unit with the object,

[0120] FIGS. 4a-b show a first embodiment of the arms with gripping fingers in a retracted position and in an extended position,

[0121] FIGS. 5a-b show a second embodiment of the arms with gripping fingers in a retracted position and in an extended position,

[0122] FIG. 6 shows the arm with two positions for placement of the gripping finger,

[0123] FIG. 7 shows a second embodiment of the arm having a triangular body,

[0124] FIG. 8 shows a third embodiment of the arm having a curved body,

[0125] FIG. 9 shows a fourth embodiment of the arm with multiple positions for placement of the gripping finger,

[0126] FIG. 10 shows the arm with a first gripping finger and a second gripping finger being shorter than the first gripping finger,

[0127] FIG. 11 shows the arm with a first gripping finger and a second gripping finger being greater than the first gripping finger,

[0128] FIGS. 12a-f show six alternative embodiments of the gripping finger,

[0129] FIG. 13 shows the arm with an alternative embodiment of the gripping finger,

[0130] FIGS. 14a-b show a first embodiment of an elongated gripping element arranged on the arm,

[0131] FIGS. 15a-b shows a second embodiment of the elongated gripping element arranged on the arm,

[0132] FIG. 16 shows a fifth embodiment of the arm with an elongated positioning element,

[0133] FIG. 17 shows an alternative embodiment of the elongated positioning element,

[0134] FIG. 18 shows a clamping tool with the gripping tool holding an object, and

[0135] FIG. 19 shows a tool connecter for mounting multiple tools.

[0136] 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

[0137] 1. Robot unit [0138] 2. Gripping tool [0139] 3. Robotic arm [0140] 4. Base [0141] 5. Local controller [0142] 6. Objects [0143] 7. Housing [0144] 8. First interface [0145] 9. Second interface [0146] 10. Transmission mechanism [0147] 11. Arms [0148] 12. Gripping fingers [0149] 12a. First gripping finger [0150] 12b. Second gripping finger [0151] 13. Second end [0152] 14. Body [0153] 15. First end [0154] 16. Second end [0155] 17. First side [0156] 18. Second side [0157] 19. Rotation shaft [0158] 20. Outermost position [0159] 21. Intermediate position [0160] 22. Intersecting point [0161] 23. Bottom side [0162] 24. Top side [0163] 25. Gripping finger [0164] 26. Releasable connection [0165] 27. Arm [0166] 28. Elongated gripping element [0167] 29. Local top side [0168] 30. Local second end [0169] 31. Local first end [0170] 32. Arm [0171] 33. Elongated positioning element [0172] 34. Slots [0173] 35. Clamping unit [0174] 36. Surface [0175] 37. Adapter element [0176] 38. Tool connecter

DETAILED DESCRIPTION OF THE INVENTION

[0177] FIG. 1 shows an exemplary embodiment of a robot unit 1 with a gripping tool 2 mounted 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.

[0178] 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.

[0179] 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 (shown in FIG. 4a) 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.

[0180] FIGS. 4a-b show a first embodiment of the arms 11 each fitted with a gripping finger 12 arranged at an intermediate position on the arm 11. FIG. 4a shows the arms 11 and gripping fingers 12 rotated into an extended position while FIG. 4b shows the arms 11 and the gripping fingers 12 rotated into a retracted position.

[0181] The arms 11 and gripping fingers 12 are rotated relative to the second end 13 of the housing 7 within the radial plane. In FIG. 4a, the gripping fingers 12 are rotated to an extended position indicating a local maximum gripping position. In FIG. 4b, the gripping fingers 12 are rotated to a retracted position where the gripping fingers 12 are brought into contact with each other. This position indicates a minimum gripping position of the gripping tool 2.

[0182] FIGS. 5a-b show a second embodiment of the arms 11 each fitted with a gripping finger 12′ arranged at an outermost position on the arm 11. FIG. 5a shows the arms 11 and gripping fingers 12′ rotated into an extended position while FIG. 5b shows the arms 11 and the gripping fingers 12′ rotated into a retracted position.

[0183] The arms 11 and gripping fingers 12′ are rotated relative to the second end 13 of the housing 7 within the radial plane. In FIG. 5a, the gripping fingers 12′ are rotated to an extended position indicating a maximum gripping position of the gripping tool 2. In FIG. 5b, the gripping fingers 12′ are rotated to a retracted position where the arms 11 partly parallel to each other. This position indicates a local minimum gripping position.

[0184] FIG. 6 shows a first embodiment of the arm 11 where the arm 11 has a body 14 extending in the radial plane. Here, the arm 11 has a bending profile. The body 14 extends from a first end 15 to a second end 16, and has a first side 17 and a second side 18. The first end 15 is connected to the rotation shaft 19 which defines a rotation axis for that arm 11.

[0185] The arm 11 has a first or outermost position 20 for placement of the gripping finger 12, as indicated in FIGS. 5a-b. The arm 12 further has a second or intermediate position 21 for an alternative placement of the gripping finger 12, as indicated in FIGS. 4a-b.

[0186] The first side 17 is formed by a first line segment and a second line segment intersecting each other at an intersecting point 22. Here, the intersecting point 22 is formed by the bending line of the first side 17. The two line segments form an obtuse angle α. This intersecting point 22 is located within an imaginary circle with a radius extending from the central longitudinal axis, A, to the rotation axis, B, of the arm 11, as indicated in FIG. 5a.

[0187] FIG. 7 shows a second embodiment of the arm 11′ having a triangular body 14′. The first side 17 is also formed by two line segments having an obtuse angle α at the bending line. The second side 18′ is formed by a straight line extending between the first and second ends 15′, 16′.

[0188] FIG. 8 shows a third embodiment of the arm 11″ having a curved body 14″. Here the first side 17′ has a curved surface profile extending from the first end 15″ to the second end 16″. The second side 18″ also has a curved surface profile extending from the first end 15″ to the second end 16″. The first side 17′ has a first tangent at a first position and a second tangent at a second position, where the two tangents intersect at the intersecting point 22. The two tangents form an obtuse angle α.

[0189] The first position is preferably located at or near the first end 15″. The second position is preferably located at or near the second end 16″.

[0190] FIG. 9 shows a fourth embodiment of the arm 11′ with multiple positions for placement of the gripping finger 12. Here, three positions are shown, but the arm 11″ may comprise additional positions.

[0191] An outermost position is located at the second end 16 while an innermost position is located towards the first end 15, e.g. at the bending.

[0192] FIG. 10 shows the arm 11 with a first gripping finger 12a arranged at the second end 16. A second gripping finger 12b is further arranged at the intermediate position 21. The arm 11 has a thickness measured between a bottom side 23 and a top side 24. The first gripping finger 12a has a first height measured from the top side 24 to an end surface of the gripping finger 12a. The second gripping finger 12b has a second height measured from the top side 24 to an end surface of the gripping finger 12b. Here, the first height is greater than the second height.

[0193] FIG. 11 shows the arm 11 with another first gripping finger 12a′ arranged at the second end 16. Another second gripping finger 12b′ is further arranged at the intermediate position 21. The first gripping finger 12a′ has a first height measured from the top side 24 to an end surface of the gripping finger 12a′. The second gripping finger 12b′ has a second height measured from the top side 24 to an end surface of the gripping finger 12b′. Here, the second height is greater than the first height.

[0194] FIG. 12a-f show six alternative embodiments of the gripping finger 25. Here, the gripping finger 25 is a separate finger configured to be mounted to the arm 11 at a selected position 20, 21, 21′ via a releasable connection 26. Here, the releasable connection 26 is a quick release fastener.

[0195] In example, the first gripping finger 12a may be firmly connected to the arm 11 while the second gripping finger 12b may be releasable connected to the arm 11, or vice versa. Alternatively, both the first and second gripping fingers 12a, 12b may be releasable connected or firmly connected to the arm 11.

[0196] In FIG. 12a, the gripping finger 12, 25 has a circular cross-sectional profile. The gripping finger 12, 25 has in FIG. 12b a circular cross-sectional profile with a flat sub-surface for contacting an adjacent gripping finger 12, 25 when rotated into the retracted position. In FIG. 12c, instead of a flat sub-surface the gripping finger 12, 25 have a projecting portion. Here, the projecting portion has a triangular shape, but other shapes may be used.

[0197] The gripping finger 12, 25 has in FIG. 12c a squared or rectangular cross-sectional profile. The gripping finger 12, 25 has in FIG. 12d a triangular cross-sectional profile. Finally, the gripping finger 12, 25 has in FIG. 12e a polygonal cross-sectional profile.

[0198] Although the gripping finger 12, 25 in FIGS. 12a-e has a constant profile along the height, the profile of the gripping finger 12, 25 may vary along the height. In example, the gripping finger 12, 25 may have cone-shaped or tapered profile in height direction.

[0199] FIG. 13 shows the arm 11 with an alternative embodiment of the gripping finger 12′, where the gripping finger 12′ has an increased cross-sectional profile compared to the cross-sectional profile shown in FIGS. 4a-5b. Here, the diameter of the gripping finger 12′ is greater than the thickness of the arm 11.

[0200] FIGS. 14a-b show a first embodiment of an elongated gripping element 28 arranged on the arm 27. Here the elongated gripping element 28 is integrated with arm 27 to form a single piece, but the elongated gripping element 28 may also be release connected to the arm 27 as mentioned above.

[0201] The elongated gripping element 28 extends along the top side 24 of the arm 27 from a local first end 31 to a local second end 30. The elongated gripping element 28 has a height measured from the top side 24 to a local top side 29. Here, the elongated gripping element 28 has stepped profile that tapers from the local second end 30 to the local first end 31.

[0202] FIGS. 15a-b shows a second embodiment of the elongated gripping element 28′ arranged on the arm 27. Here, the elongated gripping element 28′ has stepped profile that tapers from the local first end 31 to the local second end 30.

[0203] FIG. 16 shows a fifth embodiment of the arm 32 with an elongated positioning element 33. Here the elongated positioning element is formed as an elongated through hole.

[0204] The gripping fingers 12, 25 or the gripping element 28 can be selectively arranged in any position along the length of the elongated positioning element 33. The gripping finger 12, 25 or the gripping element 28 is here held in a selected position by friction, a press-fit or clamps.

[0205] FIG. 17 shows an alternative embodiment of the elongated positioning element 33′ on the arm 32′. Here the elongated positioning element 33′ comprises a plurality of slots 34 each defining a selective position for the gripping finger 12, 25 or the gripping element 28. The gripping finger 12, 25 or the gripping element 28 is here held in place by a box joint.

[0206] FIG. 18 shows a clamping unit 35 with the gripping tool 2′ holding an object 6 where the clamping unit 35 is arranged on a surface 36. The clamping unit 35 comprises an adapter element 37 configured to be placed on the surface 36 and to be coupled to the first end of the gripping tool 2′.

[0207] The clamping unit 35 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 unit 35. The operation of the gripping tool is controlled by the local controller.

[0208] FIG. 19 shows a tool connecter 38 for mounting multiple tools, preferably multiple gripping tools 2. The tool connecter 38 is configured to be mounted to a machine, preferably the robotic arm 3 of the robot unit 1.