DE102020202084A1 - Gripper device for an assembly system and assembly system with such a gripper device - Google Patents

Abstract

The invention relates to a gripper device (2) for an assembly system, in particular for gripping body parts with different surface geometries, with at least one coupling element (4) which can be fixed or fixed to a component of the assembly system, with at least one gripping means (6) through which a body part can be received and releasably fixed and is held during assembly of the body part, and with at least one gripper arm (8) which can be arranged or arranged movably on the coupling element (4), on which the gripping means (6) can be fixed or fixed and which of an adjustment mode in which the gripper arm (8) can be moved relative to the coupling element (4) can be converted into at least one working mode in which the gripper arm (8) is fixed against moving relative to the coupling element (4) Assembly system with such a gripper device (2).

Description

The invention relates to a gripper device for an assembly system and to an assembly system with such a gripper device.

In the automotive industry, robot-guided robotic grippers are used to transport body parts. These body parts can differ greatly from one another and vary in their external geometry. In order to be able to pick up the body parts, component-specific robot grippers are used in known gripper devices.

When assembling different body parts, this means that different robot grippers are required which are adapted to the geometry of the respective body part, which means that when the body part is changed, the robot grippers must be replaced at so-called change stations. This results in high costs even for the handling of similar body parts.

In order to be able to adapt the robot gripper for picking up body parts to different surface geometries, so-called racks are known from the prior art, in which several gripping means are fixed on a rigid, frame-like structure, which can be adjusted transversely or obliquely to the frame surface to compensate for slight differences in geometry .

The object of an exemplary embodiment of the invention is to propose a gripper device for an assembly system and an assembly system with such a gripper device, by means of which an adaptation of the gripper device to body parts of different surface geometries is simplified.

This object is achieved by a gripper device for an assembly system, in particular for gripping body parts with different surface geometries, with at least one coupling element that can be fixed or fixed to a component of the assembly system, with at least one gripping means by which a body part can be picked up and releasably fixed is held as well as during the assembly of the body part, and with at least one gripper arm which can be arranged or arranged movably on the coupling element, on which the gripping means can be fixed or fixed and which is from an adjustment mode in which the gripper arm is movable relative to the coupling element in at least one Working mode can be transferred in which the gripper arm is fixed relative to the coupling element against moving.

Because the gripper device comprises a gripper arm which can be moved relative to the coupling element in an adjustment mode, the gripper device can be easily and flexibly adapted to different surface geometries of body parts. Because the gripper arm can be transferred into a working mode in which the gripper arm is fixed against moving relative to the coupling element, sufficient stability for holding the body part can be ensured in the working mode.

The component of the assembly system on which the coupling element of the gripper device can be fixed can, for example, comprise an assembly robot.

The gripper device, in particular the coupling element, the at least one gripper arm and the at least one gripping means, can comprise any material, provided that the individual components have sufficient stability and strength. It proves to be advantageous if the material comprises a metal, in particular aluminum, a plastic and / or a carbon fiber reinforced material.

In principle, the gripper arm can be designed as desired, provided that it can be moved relative to the coupling element in the setting mode. It proves to be advantageous if the gripper arm comprises at least two arm elements which can be moved relative to one another in the setting mode and are fixed against moving relative to one another in the working mode.

In such a case, it is conceivable that one of the arm elements is fixed on the coupling element in a rotationally fixed manner and, for example, forms a type of base which is detachably or non-detachably connected to the coupling element.

Furthermore, it is conceivable that the gripping means can be arranged non-rotatably or movably relative to the arm element of the gripper arm on the further arm element on which the gripping means is fixed. Furthermore, the gripping means can also be fixed rigidly and immovably on the further arm element.

The at least two arm elements can be moved relative to one another in the setting mode. Here, the relative movement of the arm elements to one another can include a translational movement in which the two arm elements are moved relative to one another in one direction of movement. In such a case, the arm elements can be telescoped into one another, for example.

In one embodiment of the gripper device it is provided that the gripper arm has at least one at least between each two of the comprises at least two arm elements arranged joint, by means of which the at least two arm elements are rotatable relative to one another about a rotation or pivot axis.

As a result, the two arm elements can be moved relative to one another in a guided manner. In further exemplary embodiments of the gripper device, for example, a joint can be provided between the gripper arm and the coupling element and / or between the gripper arm and the gripping means.

The axis of rotation or pivoting can run parallel, transversely or obliquely to a direction of longitudinal extent of the adjoining arm elements

In order to be able to adapt the gripper device to different body parts with different surface geometries in a simple manner, it proves to be advantageous if the arm elements can be moved manually and / or automatically relative to one another in the setting mode and / or if the gripper device comprises at least one locking means by which the Arm elements of the gripper arm can be transferred manually or automatically from the setting mode to the working mode and back and are fixed against moving relative to one another in the working mode.

If the arm elements can be adjusted manually in the setting mode, they can be adapted to the respective body part by an operator. By providing at least one securing means, the arm elements can in this case be secured against movement in a simple manner.

If the arm elements are automatically movable relative to one another in the setting mode and are automatically fixed against moving relative to one another in the working mode, the gripper device can be aligned without an operator.

In particular, if the arm elements are automatically movable relative to one another and can be fixed against moving relative to one another, it proves to be advantageous if the gripper device comprises at least one drive unit which has at least one drive means which is located on or in the gripper arm, in particular in the region of at least one of the at least one joint is arranged and assigned or assigned to the joint, and by means of which the two arm elements can be automatically moved relative to one another in the setting mode and automatically fixed against moving relative to one another in the working mode, in particular wherein the drive means comprises the locking means.

As a result, the arm elements can be automatically moved relative to one another in a simple manner, or can be fixed against moving relative to one another.

The drive means can comprise a mechanical, hydraulic, pneumatic and / or electromagnetic drive means. If the drive means comprises an electromagnetic drive means, it can for example comprise a direct drive.

The gripper arm can be designed with multiple axes and have more than two arm elements. In such a case, it can be provided that the gripper arm has a multi-axis design and comprises several gripper arms, the at least one of the two gripper arms comprising an n-th arm element and the other of the two arm elements comprising an (n + 1) -th arm element, the (n + 1) -th arm element is fixed rotatably about an n-th joint with an n-th axis of rotation or pivot axis and / or at least one n-th drive means of the drive unit can be arranged or is arranged on the n-th joint.

“N” is understood to be a natural whole number. Here, “n” can basically include a number from 1 to an infinite number and thus describe an n-axis gripper arm.

If the gripper arm has a 6-axis design, the gripper arm comprises, for example, a first arm element designed as a base, on which a second arm element can be rotatably fixed about a first joint, which is arranged between the first arm element and the second arm element. The second arm element can be connected to a third arm element, a second joint being arranged between the second arm element and the third arm element, about which the third arm element can be rotated. The third arm element can be connected to a fourth arm element, a third joint being provided between the third arm element and the fourth arm element so that the fourth arm element can be rotated relative to the third arm element. The fourth arm element can be connected to a fifth arm element via a fourth joint. The fifth arm element can be connected to a sixth arm element via a fifth joint.

By means of the joint, the arm elements are each rotatably mounted about a rotation or pivot axis. The axis of rotation or pivoting can be arranged parallel to a direction of longitudinal extension of at least one of the arm elements or can run obliquely or transversely to the direction of extension of the at least one of the arm elements.

In order to ensure automatic operation of the gripper device, the gripper device can comprise at least one control unit which the at least one gripper arm can be transferred into a working position by means of the at least one drive means, in which the body part can be picked up, held and released again by the gripping means, by which the gripping means can be controlled for picking up, holding and releasing again and by which the gripper arm can be controlled from Setting mode can be transferred to working mode and back, the control unit being able to assign at least one sensor means by which the approach of the gripper device to a body part and the picking up of a body part by the at least one gripping means can be detected.

The control unit can be, for example, an absolute value encoder.

The fact that the individual components of the gripper device can be controlled by the control unit and that the control unit can be assigned a sensor means with which an approach of the gripper device to a body part and a pick-up of a body part by the at least one gripper means can be detected, the gripper device can simply set automatically and precisely position the body part for assembly.

The gripping means can be implemented in any technical way, provided that it fulfills the function of picking up a body part, holding it and being able to detach it from it again. Adaptation to different geometrical surfaces can easily be ensured if the gripper device has at least one negative pressure unit generating negative pressure and / or if the gripping means has at least one negative pressure section comprising an opening, wherein the at least one opening of the gripping means can be or is connected to the negative pressure generating negative pressure unit, wherein the body part can be fixed on the latter by setting a negative pressure on the negative pressure section and can be detached from the negative pressure section again by setting an ambient pressure or positive pressure on the negative pressure section.

By providing a negative pressure unit that generates negative pressure and that the gripping means has a negative pressure section which can be connected to the negative pressure generating negative pressure unit, the gripping means can easily pick up and fix body parts with different surface geometries by setting the negative pressure at the negative pressure section. In such a case, a complex gripping mechanism, by means of which, for example, a positive or frictional connection is generated by means of a rear grip or the like, can be dispensed with.

In a further development of the last-mentioned embodiment, it proves to be advantageous if the negative pressure unit generating the negative pressure is arranged in or on the gripping means and / or if the negative pressure unit generating the negative pressure comprises a component that is separate from the gripping means and spaced from it.

If the vacuum unit is arranged in or on the gripping means, there is no need to lay additional hoses that connect the vacuum unit and the gripping means. This allows an assembly environment to be displayed in a more tidy manner.

If the negative pressure generating negative pressure unit comprises a component which is separate from the gripping means and at a distance from the latter, the gripping means can be designed to be weight-reduced and simple.

In order to at least reduce the risk of damage to a surface of the body part, a further development of the last-mentioned embodiment provides that the gripping means comprises at least one elastic support element, which is arranged between the body part and the vacuum section at least when the body part is fixed.

In a further development of the last-mentioned embodiment, it proves to be advantageous if the elastic support element comprises a, in particular at least regionally soft, porous and air-permeable plastic, foam and / or a cellulose material, such as a sponge, and / or a bellows, in particular double bellows.

If the elastic support element comprises, for example, a porous and air-permeable plastic, foam and / or a cellulose material such as a sponge, the support surface between the gripping means and the body part can be increased. If the elastic support element comprises a bellows, in particular a double bellows, the gripping means can be embodied with a reduced area. In such a case, body parts with complex and delicate surface geometry can be fixed in a simplified manner on the gripping device.

In particular when the elastic support element comprises a bellows, in particular double bellows, it proves to be advantageous if the gripping device has at least one rod-shaped support element arranged on the gripping means, in particular a plurality of rod-shaped support elements arranged on the gripping means, which when the body part is picked up from a basic position, in which the at least one support element is spaced apart from the surface of the body part, can be transferred into at least one support position and can be fixed therein, in which the at least one support element is attached to the Surface of the body part is set lying against moving.

As a result, on the one hand, the body part is sucked in by the vacuum section on the gripping means and clamped onto the support elements for support.

The support elements can comprise a coating or a damping element on the side facing the body part in order to prevent damage to the surface of the body parts.

In order to enable the support elements to be automatically applied to the surface of the body element, in one embodiment the gripper device comprises at least one drive element which can be controlled by the control unit and through which the at least one rod-shaped support element arranged on the gripping means, in particular the plurality of rod-shaped support elements arranged on the gripping means Support elements, can be transferred from the basic position to the support position and back.

In principle, it is conceivable that the gripper device only comprises a coupling element and a gripper arm with a gripping means.

In addition, one embodiment of the gripper device comprises at least two gripper arms, which are arranged on opposite sides of the coupling element, and at least two gripping means, one gripping means being fixed to a gripper arm in each case.

In addition, embodiments of the gripper device are conceivable in which four gripper arms are arranged on the coupling element and each gripper arm is assigned a gripping means.

This allows the stability when picking up a body part to be increased further.

Finally, the object is achieved by an assembly system, in particular for assembling body parts with different surface geometries, with at least one component, in particular a multi-axis assembly robot, and with at least one gripping device with at least one of the aforementioned features, which can be fixed on the assembly robot by the at least one coupling element .

Further features, details and advantages of the invention emerge from the attached patent claims, from the drawing and the following description of a preferred embodiment of the gripper device.

• 1 Eine perspektivische Draufsicht auf ein Ausführungsbeispiel einer Greifereinrichtung;
• 2 Eine perspektivische Seitenansicht auf ein erstes Ausführungsbeispiel eines Greifmittels der Greifereinrichtung gemäß 1;
• 3 Eine perspektivische Seitenansicht auf ein zweites Ausführungsbeispiel eines Greifmittels der Greifereinrichtung gemäß 1.

In the drawing shows:

• 1 A perspective top view of an embodiment of a gripper device;
• 2 A perspective side view of a first embodiment of a gripping means of the gripper device according to FIG 1 ;
• 3 A perspective side view of a second embodiment of a gripping means of the gripper device according to FIG 1 .

1 shows an overall with the reference number 2 provided gripper device for an assembly system (not shown explicitly in the figures) for gripping body parts (not shown in the figures) with different surface geometries. The gripper device 2 comprises a coupling element 4th that can be fixed to a component of the assembly system.

In addition, the gripper device includes 2 a gripping means 6th , through which the body part can be taken up and releasably fixed. The gripping means 6th is via a gripper arm 8th on the coupling element 4th set. The gripper arm 8th can be moved on the coupling element 4th arranged. The gripper arm is in a setting mode 8th relative to the coupling element 4th movable and in a working mode relative to the coupling element 4th set against moving.

1 shows an embodiment of the gripper device 2 , in which a coupling element 4th and two gripping means 6th as well as two gripper arms 8th are provided.

The gripper arm 8th includes in the in 1 embodiment shown six arm elements each 10 , between each of which a joint 12th is arranged. Through the joints 12th are the adjacent arm elements 10 in the setting mode each rotatable relative to one another about a rotation or pivot axis. Here, the axis of rotation or swiveling can be parallel, transverse or oblique to a direction of longitudinal extension of the arm elements 10 get lost.

Around the arm elements 10 To be able to move relative to one another comprises the gripper device 2 a drive unit 14th who have multiple drive means 16 having. These are inside the gripper arms 10 in the area of the joints 10 arranged and move the arm elements 10 in setting mode relative to each other and place the gripper arms 8th in the working mode against moving relative to each other.

The in 1 The embodiment shown comprises each gripper arm 8th a 6-axis robotic arm.

This in 1 shown gripping means 6th is explained in the following based on the detailed representation in 2 described in more detail.

The gripping means 8th includes a vacuum section 18th that has at least one opening 20th (in 2 not shown) with a negative pressure generating negative pressure unit 22nd is connectable. The vacuum generating vacuum unit 22nd is with the in 2 embodiment shown in the gripping means 8th arranged.

Between the vacuum section 18th and the body part is an elastic support element 24 educated. The in 2 The embodiment shown comprises the elastic support element 24 a porous and air-permeable plastic, foam and / or a cellulose material such as a sponge. This allows the gripping means 6th lie flat against a surface of the body part and by generating a negative pressure by the negative pressure generating negative pressure unit 22nd act with a high suction force on the body part.

3 shows a second embodiment of the gripping means 8th , in which the elastic support element 24 is formed by a bellows, in particular double bellows. Through this, the body part is attached to the gripping means 8th sucked. To fix the body part, the includes gripping means 8th in the embodiment according to 3 a plurality of rod-shaped support members 26th on which the body part when fixing on the gripping means 8th is present. The rod-shaped support elements 26th are through drive elements 28 controllable. As a result, the support elements are from a basic position in which the support elements 26th are spaced from the surface of the body part, can be transferred into a supporting position and can be fixed therein, in which the support elements 26th rest on the surface of the body part.

To the individual components of the gripper device 2 The gripper device includes the ability to automatically control and adjust 2 a control unit 30th .

The features of the invention disclosed in the above description, in the claims and in the drawing can be essential both individually and in any combination in the implementation of the invention in its various embodiments.

List of reference symbols

2

Gripper device

4th

Coupling element

6th

Gripping means

8th

Gripper arm

10

Arm element

12th

joint

14th

Drive unit

16

Drive means

18th

Vacuum section

20th

opening

22nd

Vacuum unit

24

Support element

26th

Support element

28

Drive element

30th

Control unit

Claims (15)

Gripper device (2) for an assembly system, in particular for gripping body parts with different surface geometries, with at least one coupling element (4) which can be fixed or fixed to a component of the assembly system, with at least one gripping means (6) by which a body part can be picked up and is releasably fixable and is held during the assembly of the body part, and with at least one gripper arm (8) which can be arranged or arranged movably on the coupling element (4), on which the gripping means (6) can be fixed or fixed and which is of an adjustment mode in which the gripper arm (8) is movable relative to the coupling element (4), can be transferred into at least one working mode in which the gripper arm (8) is fixed against moving relative to the coupling element (4). Gripper device (2) Claim 1 , characterized in that the gripper arm (8) comprises at least two arm elements (10) which can be moved relative to one another in the setting mode and are fixed against moving relative to one another in the working mode. Gripper device (2) Claim 2 , characterized in that the gripper arm (8) comprises at least one joint (12) arranged at least between two of the at least two arm elements (10), by means of which the at least two arm elements (10) can be rotated relative to one another about a rotation or pivot axis. Gripper device (2) according to at least one of the Claims 2 or 3 , characterized in that the arm elements (10) can be moved manually and / or automatically relative to one another in the setting mode and / or that the gripper device (2) comprises at least one locking means by which the arm elements (10) of the gripper arm (8) can be manually or automatically from setting mode to Work mode and can be transferred back and are set in the work mode against moving relative to one another. Gripper device (2) Claim 4 , characterized by at least one drive unit (14) which has at least one drive means (16) which is arranged on or in the gripper arm (8), in particular in the region of at least one of the at least one joint (12) and can be or assigned to the joint (12) and by means of which the two arm elements (10) can be automatically moved relative to one another in the setting mode and automatically fixed against moving relative to one another in the working mode, in particular wherein the drive means (16) comprises the locking means. Gripper device (2) according to at least one of the preceding claims, characterized in that the gripper arm (8) is multi-axis and comprises several gripper arms (8), wherein the at least one of the two gripper arms (8) an n-th arm element (10) and the further of the two arm elements (10) comprises an (n + 1) -th arm element (10), the (n + 1) -th arm element (10) about an n-th joint (12) with an n-th rotation - or pivot axis is rotatably fixed and / or at least one n-th drive means (16) of the drive unit (14) can be or is arranged on the n-th joint (12). Gripper device (2) Claim 5 or 6th , characterized by at least one control unit (30) by means of which the at least one gripper arm (8) can be transferred by means of the at least one drive means (16) into a working position in which the body part can be picked up, held and released again by the gripping means (6) , by which the gripping means (6) can be controlled for picking up, holding and releasing again and by means of which the gripper arm (8) can be transferred from the setting mode to the working mode and back, the control unit (30) being able to assign at least one sensor means through which a Approaching the gripping device (8) to a body part and picking up a body part by means of which at least one gripping means (6) can be grasped. Gripper device (2) according to at least one of the preceding claims, characterized by at least one negative pressure unit (22) generating negative pressure and / or in that the gripping means (6) has at least one negative pressure section (18) comprising an opening (20), the at least one The opening (20) of the gripping means (6) can be or is connected to the negative pressure unit (22) generating negative pressure, the body part being fixable on the negative pressure section (18) by setting a negative pressure and by setting an ambient pressure or positive pressure on the negative pressure section (18). from the vacuum section (18) can be released from this again. Gripper device (2) Claim 8 , characterized in that the negative pressure unit (22) generating the negative pressure is arranged in or on the gripping means (6) and / or that the negative pressure unit (22) generating the negative pressure comprises a component which is separate from the gripping means (6) and at a distance from it. Gripper device (2) Claim 8 or 9 , characterized in that the gripping means (6) comprises at least one elastic support element (24) which is arranged between the body part and the vacuum section (18) at least when the body part is being fixed. Gripper device (2) Claim 10 , characterized in that the elastic support element (24) comprises a, in particular at least regionally soft, porous and air-permeable plastic, foam and / or a cellulose material such as a sponge and / or a bellows, in particular double bellows. Gripper device (2) according to at least one of the preceding claims, characterized by at least one rod-shaped support element (26) arranged on the gripping means (6), in particular a plurality of rod-shaped support elements (26), which when the body part is picked up from a basic position in which the at least a support element (26) is spaced from the surface of the body part, can be transferred into at least one support position and can be fixed therein, in which the at least one support element (26) is fixed against moving against the surface of the body part. Gripper device (2) Claim 12 , characterized by at least one drive element (28) which can be controlled by the control unit (30) and by which the at least one rod-shaped support element (26) arranged on the gripping means (6), in particular the plurality of rod-shaped support elements (26), from the basic position can be transferred into the support position and back. Gripper device (2) according to at least one of the preceding claims, characterized by at least two gripper arms (8) which are arranged on opposite sides of the coupling element (4), and by at least two gripping means (6), one gripping means (6) in each case a gripper arm (8) is set. Assembly system, in particular for assembling body parts with different surface geometries, with at least one component comprising one, in particular multi-axis, assembly robot and with at least one gripper device (2) according to one of the Claims 1 until 14th , which can be fixed by the at least one coupling element (4) on the assembly robot.

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