DE102009016333A1 - Gripper for arrangement with a robot arm with independently drivable blades - Google Patents

Abstract

The present application relates to a gripper for placement on a robotic arm which picks up products at a first location and deposits or dumps them again at a second location and which has two blades which upon receiving the products toward each other and when discarding or depositing the products moving away from each other again.

Description

The The present application relates to a gripper for placement on a Robotic arm of the products at a first location each receives and at a second place each drops or drops and the has two blades which, when receiving the products on each other to and when dropping or dropping the products again from each other are movable away.

The generic gripper is from the EP 1 685 045 B1 known. There, a gripper is described which has two blades which are movable relative to each other. However, the gripper described there has the disadvantage that it can not center the products within the gripper.

It was therefore the object of the present invention, a gripper to provide that the disadvantages of the state the technology does not have.

Solved The task with a gripper, for placement on a robot arm takes the products at a first location each and a second Each place again drops or throws and has two blades, when picking up the products towards each other and when discarding or putting the products away from each other, each blade is provided with its own drive. The Blades can be made of any known to those skilled in the art Material are made, but are preferably made of plastic.

The The present invention relates to a gripper for mounting on a Robot arm. The gripper is thus in at least one spatial direction, preferably in all three spatial directions, movable and / or at least one, preferably a plurality of spatial axes rotatably provided. The movement of rotating and / or moving may be superimposed be. With the gripper, products are each stored in a first place, for example, a conveyor belt, taken and at a second location, For example, a package, each filed again or dropped. Deposition according to the invention means that the product during dropping with either the gripper or with the second place in Contact stands.

throw off For the purposes of the invention, the product means neither temporarily the gripper still touches the second place, d. H. Completely is in the air.

at the product may be any known to those skilled in the art Act product. Preferably, however, the product is a serving consisting of one, preferably several pieces of food, especially food slices. These food slices can be any configuration, d. H. for example stacked or shingled. At the food it is preferably sausage, cheese, ham or the like, d. H. especially protein foods. Of the Gripper can be one or more products or portions at the same time pick up. Several grippers according to the invention can be attached to the robot arm be provided.

Of the Gripper according to the invention has two blades placed on the right and left of the product before shooting and then move towards each other, sliding under the product, to take it. The robotic arm then lifts the gripper together with the product and transport them to a second location. After or while the gripper from the robot arm in the area of the second Ortes is (has been) moved, move these shovels fall apart and the product is discarded or thrown off.

According to the invention each bucket now has its own drive. This is the blades completely independently of each other and can move for example, for centering the product below the mid-perpendicular of the gripper can be used without the additional centering necessary are.

Preferably Each gripper is individually controllable or adjustable. Preferably the gripper is therefore connected to a control unit, which preferably also controls or controls the robot arm. taxable For the purposes of the invention, the blade means a position command gets from the control unit without having to check with a feedback will determine if the bucket has exactly this position. adjustable in the sense of the present invention, however, means that a Position command is issued to the gripper and checked by means of feedback will determine if the bucket has actually taken that position and if not, this shovel is driven until it is up has reached the position. Preferably, each has Shovel and / or their drive each have a donor, the one Signal generated, with which an exact position determination of the respective Shovel is possible.

In order to It is possible that each bucket is precisely position controlled is. Furthermore, it is optionally possible, also the speed with which the blade is to reach the respective position to control or to settle.

In a preferred embodiment synchronized the drives of the two blades. This preferred embodiment of the present invention is particularly advantageous if it is possible to position the gripper exactly centered over the respective product or if the gripper according to the invention additionally comprises positioning means.

In Another preferred embodiment is the drives the two blades are not synchronized. This preferred embodiment is particularly advantageous if it is not possible the middle of the gripper just above the middle of each Position the product.

In Another preferred embodiment is with a or a plurality of sensors, for example a camera, in particular a line scan camera, and / or an incremental encoder the location of the Product and / or its movement determined in the area of the first place and pass this result to a controller that, for example, the Shovels and / or the centering then each controls so that the product in a very specific place, especially exactly between the two blades and / or exactly midway below the mid-perpendicular of the gripper is located. The information of the sensor can also be used to gripper relative to the product in the first place align so that its central axis as possible located exactly above the center axis of the product.

Preferably it is the drive via a hydraulic or Pneumatic drive. Preferably, this is a controlled hydraulic or pneumatic drive, d. H. not a drive that only between two endpoints back and forth. With a regulated Pneumatic or hydraulic drive, it is possible the respective Position bucket accurately. This is preferable on the pneumatic or hydraulic drive or on the respective blade a donor arranged the connected control unit Position of the respective hydraulic or pneumatic drive and / or transmitted to the shovel.

In another preferred embodiment is in the drive to an electric motor drive, in particular an electric electromotive linear drive, for example an electrolinear cylinder. This motor drive is also preferably adjustable and in particular so adjustable that with the Electromotive drive a very specific position of the blade is approachable and also verifiable by means of a giver is, whether this position has been reached exactly. Most notably Preferably, the electromotive drive is about a nearly frictionless drive.

It I would like to point out once again that it is advantageous can be the speed at which the particular bucket of the one is moved to the next position to settle, optionally also to regulate differently per blade, for example the distance the scoop must travel before it the product reaches, with a comparatively high speed to bridge and taking under the respective Product at a comparatively slow speed. However, other speed profiles are also conceivable.

According to one another preferred embodiment or according to a Another object of the present invention, the gripper a positive and / or non-positive connection with the robot arm on, which can be mounted or removed without tools. This will be the set-up times needed to make the robotic arm equipped with another gripper, considerably reduced.

Preferably the gripper additionally has an energy connection. This energy can take the form of electrical or mechanical energy, such as or negative pressure can be provided.

According to one preferred embodiment of the present invention occurs at least substantially simultaneously with the shape and Traction and the energy connection very particularly preferred with the same movement, with which also the form and adhesion is generated between the robot arm and the gripper.

In a preferred embodiment of the invention Gripper is the connection between the robot arm and the gripper executed as a pipeline, by the under- and / or overpressure from a corresponding source to the gripper is conductive.

In another preferred embodiment of the present invention Invention, the gripper on a hold-down, in particular at and / or after picking up the product a certain pressure Exercise on this and / or it leads, so that the Product does not evade the closing movement of the blades. The hold-down can also be used exclusively for this purpose will push the product out of the gripper or push it. In this case, the hold-down comes only then with the product in contact after the blades are closed. The hold down usually works with one of the two faces of the product together, preferably with the support opposite Area of the product.

Preferably, this hold-down egg NEN drive on. This drive can be any drive familiar to the person skilled in the art, which moves the hold-down device at least along a spatial direction, in particular back and forth. For example, the drive is a linear motor, in particular a virtually frictionless motor (magnetic levitation drive) or a gas or liquid based drive. Preferably, the drive of the hold-down is controllable or regulated. For this purpose, the gripper is connected to a control / regulation unit which, with particular preference, also controls / regulates the robot arm. This control can control the drive so that the hold-down takes a very specific position or moves back and forth between two positions. The drive can be position-controlled or operated with limit switches. Preferably, the drive or the hold-down on a donor, which emits signals on the respective position of the blank holder, so that the controller knows at any time, where the hold-down is.

Preferably the hold-down is provided elastically. This may cause the Adjust the shape of the hold-down to the shape of the product to be handled. Furthermore, this preferred embodiment of the present Invention has the advantage that the pressure or the force that the hold-down on the product is exercised, restricted and / or controlled can be.

In Another preferred embodiment of the present invention Invention, the drive changes the shape and / or volume the hold-down reversible. As a result, the hold-down to the respective Product, especially its height customizable. differences in the amount of the respective products and / or positioning errors of the gripper are irrelevant. The gripper can always have the same basic position Approach relative to the product, without the product too strong to compress or apply too little pressure on the product. Furthermore, the hold-down can also or exclusively for ejecting / pushing out the product be used the gripper. In addition, the hold-down in this preferred embodiment with the product stay in touch until this filed again in its second location is. As a result, the hold-down, for example, the product in Insert a packaging tray and this, at least to a certain extent, for example, push into a packaging tray. This preferred embodiment of the present invention increases the precision and speed of the Picking up and / or dropping the product.

In a preferred embodiment of the present invention The hold-down is reversible inflatable. This inflation can with a liquid or a gas. Reversible Inflatable within the meaning of the invention means that the hold-down having a cavity filled with gas or a liquid felt and / or out of the gas or a liquid can be removed. As a result, each change Shape and / or the volume of the blank holder. The reversible inflation The hold-down can for example be regulated so that within the holddown a certain pressure sets that the hold-down a certain shape and / or a specific volume and / or that a certain force and / or that a certain Impulse is exerted on the product.

In Another preferred embodiment, the hold-down Shaping and / or Reibschlussmittel on. These funds improve the Power transmission between the hold-down and the product and are also capable of guiding the product in some way.

Farther Preferably, the gripper has a product centering, in particular interacts with the scope of the product and ensures that this occupies a very specific position in the gripper, preferably is arranged centrally between the two blades. Furthermore, can this product centering serve to different parts of the product, For example, food slices in a certain position to each other to bring and / or keep. This is especially true for food slices, partly lying on each other, d. H. stacked, desirable. The Product centering also holds the product, d. H. acts as Abutment, while gripping the product by the blades. moreover is it possible with product centering the product at Dropping / dropping, especially when placing / dropping in a packaging tray at least temporarily, so that they are in the packaging tray can be stored and / or dropped very accurately. The product centering Also ensures that the product when transferring does not slip from the first to the second location within the gripper.

Preferably, the gripper according to the invention has two product centerings, which are respectively arranged to the right and left of the product. Preferably, at least one product centering touches the product linear, more preferably flat. Further preferably, product concentration exerts a slight pressure on the product. Preferably, the product centering is in each case connected to a blade. This compound can be rigid but also elastic. However, the product centering is in each case in each case adjustably connected to the blade. In another preferred embodiment, the product center is tion provided integrally with the blade. The product centering may be biased toward the product, or the product may elastically deform the product center when gripping the product.

In A preferred embodiment is the product centering each independently of the blade movable and very special preferably drivable. This preferred embodiment The present invention has the advantage that product concentration temporally and / or locally independent of the grasping of the product can be done by the blades. For example The product can be centered during or before it is grabbed by the grippers. Furthermore, by way of example, the Product centering still lead the product, d. H. with this, especially with its extent still in contact, although the Shovels are already moved under the product or have been. These Embodiment has in particular when dropping / dropping Advantages of the product because it makes it possible to do so Product very targeted in one place, for example in a packaging tray appeal. The product will not be dropped uncontrolled or filed but to the second place, for example, in a packaging tray guided.

In In another preferred embodiment, the movement of the bucket and the centering, each on one side of the product are coupled together and in particular so coupled, that, when closing the blades, the closing movement the centering only after the closing movement the particular blade has already been used and particularly preferred before it is finished. Preferably, the centering moves only then away from the product after the blades are already with have begun their opening movement, but particularly preferred before it is finished. In particular, the respective approaches Centering the product on just before the bucket is closed Has reached the end position. Conversely, the respective centering moves just away from the product just before the scoop opens Has reached the end position. Very particularly preferred are the blade and the centering driven by a common drive, wherein the movement of shovel and centering is different. It is possible the movement of the centering of the movement derive the blade.

at the drive of the centering can be any, the Professional known, drive act. For example, it may be to act a hydraulic or a pneumatic drive. Another example is the electric motor drive, especially preferably a linear drive that works almost smoothly (magnetic levitation drive). Each centering preferably has its own drive. Preferably is every drive and / or product centering with one encoder equipped, which sends a signal about the respective position the respective product centering to a controller, which preferably also controls the robot arm. This signal can Conclusions about the position of the product allow within the gripper, for example, if this is not centric is arranged between the two grippers. This information can be important when storing / dropping the product. Preferably the drive is controlled so that the respective product centering either placed accurately or between two endpoints and can be moved forth.

Preferably, this hold-down is also operated with the positive and negative pressure. In the following, the invention is based on the 1 to 4 explained. These explanations are merely exemplary and do not limit the general inventive concept. The explanations apply equally to all objects according to the invention.

1 shows a first embodiment of the gripper according to the invention.

2 shows a further embodiment of the gripper according to the invention.

3 and 4 show the connection between gripper and robot arm.

1 shows a first embodiment of the gripper according to the invention 1 that with a connection 7 attachable to a robot arm. The gripper has two blades 2 on, each longitudinally displaceable along a linkage 6 are stored. The blades each have their own drive 5 on, with which they are individually driven.

2 and 2a show a further embodiment of the invention of the gripper. In the present case, the blades have 2 a common drive 5 that directly on top, which is directly between the two blades 2 acting in their product facing area 19 , the front end, preferably comparatively flexible and / or slightly angled down to simplify the gripping of the product. This area is particularly suitable for receiving food portions consisting of several slices and loosely piled up the slices, a process which the person skilled in the art will refer to as "shaved". In this presentation form loosely piled up portions are produced, which consist of very thinly cut and singly or multiply folded juxtaposed slices be stand, such as cooked ham. By means of the linkage 17 the two blades are synchronized with each other. This linkage 17 has a pivot lever mounted in the region of the mid-perpendicular 17 ' on, at its first and at its second end, each with a lever 17 '' is rotatably connected. This lever 17 '' is also each with one of the blades 2 connected. Through this linkage 17 causes the opening movement initially comparatively fast and then slowing down. The reverse applies to the closing movement, which is getting faster and faster towards the end. The opening and closing movement preferably takes place according to a cosine function.

Furthermore, the gripper still has centering means 18 up, here rigid with the shovels 2 is connected, the position of which is adjustable relative to the vertical portion of the blade by means of the screws. In addition, the gripper has a hold-down 10 on the vertical serrated portion also occupying a centering and leading function.

3 and 4 show the compound of the invention 7 between the robot arm 3 and a connecting element 12 in that it is arranged on the gripper. Both the robot arm 3 as well as the connecting element 12 are designed tubular at this point, in the present case, the tube has a round cross section, but other cross sections are conceivable. The outer diameter of the tube of the connecting element 12 is dimensioned so that it is form-fitting with the tubular part 3 the robot arm cooperates. In particular, the outer diameter of the connecting element 12 in the connection area 13 so dimensioned that it is at least partially gas-tight with the inner diameter of the tubular part 3 cooperates with the robot, the connection can allow certain leaks. By the tubular design of both the connecting element 12 as well as the part 3 of the robot arm, it is possible simultaneously with the positive and non-positive connection between the connecting element and the robot arm 3 The gripper simultaneously with energy here in the form of negative and positive pressure by the double arrow 11 presented to supply. To the connecting element 12 axially in the tubular part 3 secure the robot arm, the connection has a bar 14 on and the bolt is also characterized by the double arrow transverse to the axial direction of the tubular part 3 displaceable. In 3 is drawn the unlocked position in which the connecting element 12 in the tubular part 3 can be inserted by the bolt 14 in the slot 15 is introduced. Once the tubular part 3 with the stop 16 of the connecting element 12 cooperates, the bolt is in his in 4 shown locked position spent in the locking contours 8th . 9 with the locking counterpart 10 interlocking interacts. To prevent the lock from coming loose automatically, ie the latch 14 in the 3 shown occupying position, the compound according to the invention a spring means, here an O-ring, on which the bolt 14 biased into its locking position.

1

grab

2

shovel

3

robot arm

4

Biasing means O-ring

5

Drive, Cylinder / piston, linear drive

6

guide linkage

7

connection to the robot arm

8th

locking profile

9

locking profile

10

Locking counterpart, locking opening

11

About-, vacuum

12

Connecting element, tubular connecting element

13

connecting area

14

bars

15

slot

16

attack

17

linkage

18

centering

19

flexible Area

20

Stripper plate

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - EP 1685045 B1 [0002]

Claims (14)

Gripper ( 1 ) for placement on a robotic arm which picks up products at a first location and respectively deposits or dumps them at a second location, and the two blades ( 2 ), which are movable away from one another when receiving the products towards each other and when ejecting or depositing the products, characterized in that each blade has its own drive ( 5 ) is provided. Gripper according to claim 1, characterized in that each drive ( 5 ) is individually controllable or controllable. Gripper according to one of the preceding claims, characterized in that each blade is position controlled. Gripper according to one of the preceding claims, characterized in that the drives are synchronized. Gripper according to claim 1-3, characterized in that the drives ( 5 ) are not synchronized. Gripper according to one of the preceding claims, that the drive ( 5 ) is in each case a hydraulic or pneumatic drive. Gripper according to one of claims 1-5, characterized in that the drive in each case an electric motor Drive, in particular an electric motor linear drive is. Gripper according to claim 7, characterized that he works almost frictionless. Gripper according to one of the preceding claims or according to the preamble of claim 1, characterized in that it forms a positive and non-positive connection ( 7 ) with the robot arm, which is the tool-free mountable and disassembled. Gripper according to claim 9, characterized in that that the gripper additionally has an energy connection. Gripper according to claim 10, characterized that simultaneously with the form and / or adhesion and the power connection he follows. Gripper according to one of the preceding claims, characterized in that the connection ( 7 ) is designed as a pipeline, by the positive and / or negative pressure ( 11 ) is conductive to the gripper. Gripper according to one of the preceding claims, characterized in that it comprises a hold-down. Gripper according to claim 13, characterized in that the hold-down with the positive and / or negative pressure ( 11 ) is operated.