WO2013034615A1

WO2013034615A1 - Gripper

Info

Publication number: WO2013034615A1
Application number: PCT/EP2012/067358
Authority: WO
Inventors: Rüdiger SPILLNER; Christian Eschey
Original assignee: Technische Universität München
Priority date: 2011-09-06
Filing date: 2012-09-06
Publication date: 2013-03-14
Also published as: DE102011082211A1

Abstract

Gripper for gripping or handling at least one object (25) having at least one gripping element (14, 114) for the form-locked, friction-locked and/or materially bonded gripping or handling of at least one object (25), at least one mechanical control (40), the control (40) initiating the gripping and/or release of the gripping element (14, 114) after an actuation force (F1, F3), directed essentially at the object to be gripped or handled (25), is transferred to the control.

Description

grab

The present invention relates to a gripper, a hoist and a method for gripping an article or objects.

Handling objects with gripping systems is a standard task, e.g. in production and automation technology, packaging technology and logistics. Common electrical and pneumatic gripping systems basically require the supply of electrical energy, substance (s) and / or control signals to turn on the mechanism of action of the gripper or to maintain the mechanism of action during the transport of the article.

The connection of such gripping systems to a manipulator (e.g., an industrial robot) therefore requires that the supply of energy, matter (s), and / or control signals be ensured. Furthermore, the control of the gripping function must be adapted to the handling process. So is u.a. ensure that the gripper system is closed and opened at the desired time. These requirements make it difficult to integrate electrical and pneumatic grippers into existing systems and manipulators. In addition, there are considerable costs in the provision, u.a. for control architecture, supply lines and generators, and in operation, i.a. by electricity costs and maintenance costs (for example in case of leaks in the compressed air supply).

Other gripping systems, which do not require the supply of electrical energy, supplies and / or control signals are known, but can at best perform individual sub-steps of the handling process and therefore require external control or intervention. Thus, for example, by means of a stone scissors objects are kept purely mechanical, but before or after the actual holding stone scissors must be opened. The use of such gripping systems in automated processes is therefore hardly possible. DE 44 15 874 AI relates to a method for converting objects and a corresponding device. The gripping device has narrow gripping members and a pressure element which pushes the gripped objects from the gripping device after opening the gripping device, so as to prevent jamming of the gripped object in the gripping device, if the object has laterally projecting parts in the gripping area.

The previous solutions do not allow a satisfactory, simple and cost-effective integration of grippers into automated processes and automated manipulators. Since the grippers are not self-sufficient, the supply of energy, substance (s) and / or control signals is particularly often required. In addition, the downstream manipulators must be adapted to the respective gripper. All this often requires a complex control architecture.

The invention has for its object to provide an alternative or improved gripper, a corresponding hoist and a method for gripping or handling of an object or more objects available, in particular, the disadvantages of the known devices to be eliminated. This object is solved by the subject of the claims. Preferred embodiments can be found in the dependent claims.

The invention has the preferred advantages of providing a gripper that is simple in construction yet allows for reliable gripping. The object to be grasped is the trigger for the gripping process, without requiring complex sensors and / or controls or resources. Thus, grippers and hoists according to the invention are preferably easy to integrate into automated processes and can also be retrofitted to existing manipulators. Furthermore, grippers and hoists according to the invention are preferably also usable in dangerous, such as explosive media, such as in mining, in a simple and safe manner.

The invention is based on the basic idea to provide a gripper for gripping or handling at least one object. The grapple has at least one Gripping element for positive, positive and / or cohesive gripping or handling at least one object and at least one mechanical control, wherein the control causes the gripping and / or release of the gripping element after a substantially to be gripped or handled object directional release force is transmitted to the controller.

According to embodiments of the invention, the controller converts the gripping element or the release of the gripping element via a mechanism, which is preferably a latching mechanism and more preferably a bistable latching mechanism or a latching mechanism with a bistable element. Such a bistable latching mechanism or such a bistable element is preferably a mechanism or an element which, due to its elastic property, its geometry and / or its mounting, has such a kinematics that, similar to a (binary) switch, two states exist the state change triggered by deflection of a part and preferably carried out by the residual stress. The mechanism or element therefore "snaps" from one state to another by actuation at a suitable location.

The gripper according to the invention preferably allows a gripping, releasing and / or restoring the starting position via a single mechanism. The gripping, loosening and / or restoring the starting position is therefore preferably possible with the gripper according to the invention via the same mechanism.

The force required to grip, release and / or restore the home position is preferably introduced and stored in the mechanism substantially by the movement of the gripper relative to the object to be handled, so that the mechanism for gripping, releasing and / or restoring the home position, in particular for Releasing and / or restoring the starting position, no energy (mechanical and / or electrical) and no supplies need to be supplied.

Preferably, the controller converts the gripping or releasing via a locking mechanism with crown wheels or sprockets. Those skilled in the art will recognize that in addition to the mechanisms described below numerous mechanical devices or arrangements, the provide the bistable functionality required, known, or readily devised for the invention. Also grippers with other than the described mechanisms are therefore encompassed by the scope of the claims.

According to embodiments of the invention, the gripper according to the invention further comprises a transmission element for transmitting the release force from the object or from the gripping element to the control. The transmission element preferably transmits the force directly from the object or from the gripping element to the controller.

The transmission element is designed or provided according to a first preferred embodiment as a contact element for contacting the object. The controller causes the gripping and / or release of the gripping element in this case preferably after the object has been contacted by the contact element and in each case an essentially directed to the object release force has been exceeded.

The release force is preferably stored substantially in an energy store of the mechanism (eg, an energy store of the controller). The stored energy in the energy storage can preferably be used for gripping, loosening and / or restoring the starting position, so that the gripper for gripping, loosening and / or restoring the starting position no further energy and / or supplies must be supplied. The energy store is preferably loaded upon actuation of the transmission element up to one, preferably the first, switching position.

The gripper according to this preferred embodiment could therefore also be defined as a gripper for gripping or handling at least one object which has at least one gripping element for frictionally, positively and / or materially gripping or handling at least one article and at least one contact element for contacting the at least one object to be gripped or handled, wherein the contact element causes a gripping and / or a release (eg a release with restoration of the starting position) of the gripping element after the object has been contacted by the contact element and in each case a triggering force directed substantially to the object was exceeded. The triggering force results in this Embodiment of the invention, when the contact element, the object to be gripped or handled, for example, contacted directly.

The release force or the triggering forces can therefore also be referred to as contact force or contact forces. On the other hand, of course, the triggering force may also be essentially contactless, e.g. be transmitted by magnetic or electrical repulsion on the contact element or on the transmission element.

The gripper according to the invention according to the first preferred embodiment of the invention preferably has an open position in which the gripping element is locked. The gripper according to the invention is preferably brought in the open position (eg by an actuator or manipulator, such as a downstream manipulator) to an object to be gripped, so that the contact element contacts the object and a trigger or contact force F on the transmission or on the contact element is exerted and transmitted to the controller.

The control of the gripper according to the invention is preferably provided or designed so that after the contact of the contact element with the object and exceeding a substantially directly to the object directed trigger or contact force Fl, the gripping of the gripping element is caused. Preferably, the locking of the gripping element is achieved when the triggering or contact force Fl is exceeded by the controller. More preferably, the locking of the gripping element is achieved by the movement of the contact element is allowed when the force transmitted from the transmission element or from the contact element to the control force exceeds the trigger or contact force Fl or another triggering or contact force F3. For reasons of safety, this other triggering or contact force F3 can be selected to be greater than F1 in order to make it more difficult to disengage from gripping. In this case, preferably the movement of the transmission or of the contact element relative to the gripper, the gripping elements and / or the control is allowed. The movement of the manipulator is preferably maintained until the triggering or contact force F1 is exceeded.

The gripping element of a gripper according to the invention is preferably connected to the transmission or contact element, that it due to the relative movement of the Transmission or contact element on the object to be moved to move (translation and / or rotation) and this force and / or positively engages. Thus, the gripping element can be pivoted, for example. It is on the transmission or. Contact element acting trigger or contact force preferably at least partially transmitted to the gripping element. The gripping element can be pivotally mounted, for example, via a joint which is fixedly connected to the remaining gripper or the gripper housing and connected to the transmission or contact element by means of an intermediate member which is articulated to the contact element and axially displaceable on the gripping element become.

Likewise, however, other configurations of the gripping elements are possible. Thus, the gripping elements may e.g. have one or more transmission members which are connected via a hinge directly to the contact element and wherein the transmission members by elements (eg fixed or rotatable rollers), which are substantially stationary with respect to the gripper, upon movement of the contact element relative to the gripper due to their shape to be moved to the object to be gripped. The rollers force the gripping elements to assume a different angular position, depending on the position of the contact element.

Optionally, the transmission member may have a curved shape and / or a cross-section which becomes larger in the longitudinal direction of the transmission member. The return of the gripper element to open the gripper can e.g. can be achieved via a spring, which can be provided for example between the transmission member and a stationary point or between the transmission members of two different gripping elements.

Other gripper elements may have one or more completely or highly compliant or bendable transmission members, which may be provided or formed, for example, in the form of a bent clip or in the form of a clasp section, wherein the clasp or the clasp section by elements (eg fixed or rotatable mounted rollers), which are substantially stationary with respect to the gripper, is held as a loop and wherein the clasp or the clasp portion is connected to the contact element, for example, directly and / or firmly. The movement of the contact element therefore leads directly to the closing or opening of the clasp, wherein the maximum opening width of the clasp in the open position and the minimum opening width in the closed position over the length of the clasp and the gap width between the stationary elements is conditional.

The gripper according to the invention may comprise a single gripping element or individual gripping elements which clamp the object to be gripped against surfaces of the gripper which are substantially fixed. Preferably, however, the gripper has at least two gripping elements in order to hold the object to be gripped. The at least two gripping elements can be arranged symmetrically or asymmetrically. Thus, the gripping elements may e.g. symmetrical about the contact element to the area of the gripper, which receives the object to be gripped, or arranged around any plane and preferably implemented as needed.

The gripping elements may enclose the article when gripped from the outside and / or engage in bores, cavities, etc. of the article and e.g. generate an outward force.

The grippers according to the invention preferably have a gripping mechanism which has at least one gripping element. The gripping element of a gripper according to the invention preferably has at least one gripping jaw and at least one resilient transmission element. The gripping jaw is provided or adapted to grip the article, and can be adapted to the object to be gripped or used universally. The resilient transmission member transmits the force to the jaw. Due to the flexibility, the forces acting on the object when gripping are reduced. The compliance can also be provided elsewhere in the kinematic chain of the gripping mechanism. Thus, alternatively and / or additionally, other parts of the gripping element and / or other elements of the gripper, which are connected to the gripping element, be formed resiliently. These include u.a. Control, contact element and joints. Gripping jaw and transfer member can be made integral or non-positively composed of different parts or materials, or material.

The gripper according to the invention preferably also has a closed position in which the gripping element is essentially locked. The lock prevents the Gripping element due to an elastic restoring force of the gripping mechanism is opened. The elastic restoring force preferably results from the elastic deformation of the transmission members. In addition, however, other suitable elements of the gripping mechanism can be made elastically deformable. For example, deformable gripping jaws, spring-mounted joints or an elastically deformable contact element can be provided. In addition, the elasticity of regular joints or the restoring force of the locking mechanism can be exploited, which can be stored according to preferred embodiments of the invention via a spring in the housing. The control of the gripper is preferably provided or designed so that the closed gripping element is locked in the closed position after falling below a triggering or contact force F2. Preferably, the trigger or contact force F2 is exceeded when the gripper lifts the object to be gripped after grasping or moves. Depending on the configuration of the latching mechanism, however, the gripping element can also already be locked directly upon or after closing the gripper element.

The release force Fl can be used according to embodiments of the invention for gripping the object to be handled and / or locking the mechanism. Furthermore, the triggering force can be at least partially stored in the energy storage of the mechanism and used for a release or restoring the starting position, without having to be supplied with energy and / or supplies. The energy storage device can be formed by an elastically deformable transfer member, elastically deformable gripping jaws, spring-loaded joints, an elastically deformable contact element, elastically deformable elements of the control (for example springs, for example spiral springs) and / or other elements of the mechanism.

The gripper according to the invention preferably returns to an open position or the starting position when the gripped object is deposited at a destination (eg a storage area). For this, the control of the gripper is preferably provided or designed so that after the contact of the contact element with the object and exceeding a directed to the object triggering or contact force F3, the release of the lock is caused. When the gripper is subsequently guided away from the gripped object (eg by means of a manipulator), the gripping elements are preferably due to an elastic restoring force of the gripping mechanism opened again. The control of the gripper according to the invention is preferably provided or designed so that the gripping elements are then locked again in the open position. This is preferably done when a triggering or contact force F4 is exceeded.

The release or contact force F3, which causes the release of the lock, of course, can also be applied dynamically. A corresponding release force, for example, in a jerky movement of the gripper arise when the inertia of the article mass, the mass of the contact element and / or another flywheel is utilized. Thus, e.g. jaw-like movement of the gripper also makes it possible to open the gripper "in the air." The settling of the object at the destination is therefore not absolutely necessary for releasing the gripper.

The release force F3 can be used according to embodiments of the invention for releasing the locking and / or for restoring the starting position of the gripper (opening the gripper). The force can be stored at least partially in the energy storage of the mechanism, so that no energy (mechanical and / or electrical) and / or no supplies must be supplied to release the gripper and / or to restore the starting position. Preferably, both the triggering force Fl and the triggering force F3 are stored at least partially or essentially in the energy store. The stored energy can cause an elastic restoring force, which can lead to the release of the respective triggering force when falling below the triggering force Fl for locking or falling below the triggering force F3 to solve the locking of the mechanism.

If the contact element is loaded below the release force F1, it is preferable not to lock in the closed position. The gripper therefore preferably remains open or opens again in this case. If the contact element is loaded below the release force F3, it is preferably not a solution of the lock and / or a lock in the open position. The gripper is therefore preferably closed in this case. If the objects to be gripped or handled have a comparable or known size, the contact element can also contact a surface on which the object is to be placed and / or parked.

According to a further embodiment of the invention, the at least one gripping element is provided or formed as a suction cup. To grasp the object, the suction cup is preferably moved to the point of exceeding a triggering force on the object. The suction cup is preferably deformed elastically, whereby a medium (for example air), is displaced from the space between the suction cup and the object and a resulting negative pressure allows the lifting of the object with the gripper.

The triggering force can be transferred from the suction cup to the controller in various ways. Among other things, it is possible that the object is only contacted by the suction cup. The transfer member may in this case be integral with the suction cup or as a separate component to which the suction cup transmits the force (e.g., directly or via a spring). Alternatively, the transmission element can also be designed as a contact element, which contacts the object directly.

The suction cup has, according to a preferred variant of this embodiment, at least one defined opening, which is preferably closed when the suction cup is moved toward the object, so that a negative pressure in the suction cup can be generated. The opening can for example be closed and / or sealed by a closure element connected to the control, wherein the closure element can also be formed integrally with the transmission element. If a release force Fl, which is transmitted, for example, from the suction cup via the transmission element to the control, is reached or exceeded, the closure element is preferably locked in a first position in which it closes the opening of the suction cup. The generated negative pressure therefore remains largely preserved and the object can be lifted and / or transported. The opening of the suction cup is preferably released again when the gripped object deposited at a destination (eg a shelf) and the gripper is withdrawn. For this purpose, the control of the gripper is preferably provided or designed so that after releasing a further release force F3, the release of the locking of the closure element is caused. Consequently, a fluid surrounding the suction cup can flow into the suction cup, so that the negative pressure is compensated and the suction cup can be lifted off.

According to a further preferred variant of the embodiment, the opening of the suction bell is connected via a channel or via a line directly to a vent in the controller. The vent is preferably closed when a triggering force F1, e.g. is transmitted from the suction cup directly to the controller (integrally formed transmitting element), is reached or exceeded, and opened when another force is transmitted to the controller, which reaches a triggering force F3 or exceeds.

The term "venting" is not intended to exclude other fluids or gases from flowing through the aperture and / or the channel The gripper may be used in a medium other than air and, in particular, may be used underwater.

According to a further variant of the embodiment of the invention, in which the gripping element is designed as a suction cup, the suction cup has no opening. The suction cup is instead deformed to release the object. For example, the controller may be provided or designed so that the transmission element is pressed on exceeding a corresponding release force when depositing the object so much on the suction cup, that the suction cup is leaking at a contact surface to Transportgut.

Depending on the setting of a downstream manipulator described grippers can be moved to reach the triggering forces or beyond the object.

The control of the gripper according to the invention preferably implements the gripping or releasing of the gripping elements mechanically, more preferably via a latching mechanism. This is preferably a bistable latching mechanism, the two stable Has detent positions to lock the gripper in two positions, the open and the closed position, substantially stable.

The locking mechanism is any mechanism that has the required functionality. Mechanisms are particularly suitable in which the exceeding and falling below predefined forces leads to the engagement or locking of the contact element or an associated part of the gripping mechanism.

If a latching mechanism is used as the controller, the mechanism may e.g. a movable member having a stepped groove or stepped projections, which interacts with the contact element or a part of the gripping mechanism connected to the contact element. The groove or the projections of the movable control or latching element preferably interact with a portion or end of the contact element, which does not come into contact with the object to be gripped. The groove or the projections are preferably designed so that the contact element can move depending on the position in the groove or depending on the position of the projections in certain directions or is substantially locked. The lock does not necessarily have to be positive. The movement may e.g. be prevented by a corresponding force or bias substantially. Furthermore, adhesion by material adhesion (for example, adhesion with thixotropic liquids) is also possible in principle.

When the respective contact forces F1, F2, F3 and / or F4 are exceeded or fallen below, the relative position of the latching element to the transmission element or the latching element to the contact element preferably changes. Further preferably, the movable detent member is moved, rotated and / or translated relative to the end of the transmission member which interacts with the movable detent member.

The translation of the triggering or contact forces or of the movements (for example a translation) of the transmission element into a rotation and / or displacement for adjusting the movable latching element is preferably achieved by means of an adjusting mechanism. This can be realized for example by means of different sprocket or crown wheel configurations. Preferably, the adjustment mechanism has three superimposed sprockets on. Not all sprockets necessarily have teeth along the entire circumference. Depending on the selected adjustment mechanism, one or more of the sprockets may consist of a single tooth or individual teeth. Various types of such adjustment mechanisms are known in the art and are used for example in common pens.

Alternatively or additionally, the contact element or a part of the gripping mechanism connected thereto can also be moved relative to the latching element in order to lock or release the gripping elements when the respective contact forces are exceeded or fallen short of

If a latching mechanism is provided which has a first switching point at a first immersion depth and a second switching point at a second immersion depth, it can be achieved that the contact element or the gripping element is locked when the contact element reaches the first immersion depth. A lifting of the object is not required in this case for locking the gripping element. The opening of the gripping element can be achieved by a renewed or deeper immersion of the contact element.

Instead of the contact element, other elements of the gripping mechanism can be locked. Thus, e.g. Also, at least one gripping element interact directly or indirectly with the controller and / or a detent element.

The invention further relates to a hoist with one or more grippers according to one or more of the embodiments of the invention. The hoist may comprise a manipulator which moves the gripper to the object to be gripped before grasping it until an essentially triggering force of the control is exceeded and / or moves the gripper to a positioning surface after grasping it until it reaches a position Essentially triggered triggering force of the control is exceeded. The hoist may be provided so that no supply of resources is provided.

In addition, the invention also relates to a method for gripping or handling (at least one object) with a gripper according to one of the embodiments of the invention with the steps: providing at least one gripping element for force, positive and / or cohesive gripping or handling at least one object, providing at least one mechanical control, wherein the gripper is moved to grasp and / or release of the gripping element to the object and the control causes the gripping and / or release of the gripping element, after a substantially directed to the object triggering force is transmitted to the controller. The method may further comprise any further method steps required to provide a gripper according to the invention or its use for gripping an article.

Preferred embodiments of the gripper according to the invention are described below by way of example with reference to the drawings. Show it:

Figure la is a schematic representation of a gripping mechanism of a gripper according to the invention;

Figure 2a is a schematic representation of a gripper according to the invention in an open position (position 0);

Figure 2b is a schematic representation of a gripper according to the invention in a closed position (position 1) before lifting the object; Figure 2c is a schematic representation of a gripper according to the invention in a closed position (position 2) after lifting the object; Figure 2d is a schematic representation of a gripper according to the invention in a closed position (position 3) after settling object; Figure 3 is a schematic representation of a controller and a gripper according to the invention;

Figure 4a-4d are schematic representations of a first adjusting mechanism for

Adjustment of the movable control element of an inventive

gripper;

Figure 5a-5f are schematic representations of a second adjusting mechanism for

Adjustment of the movable control element of a gripper according to the invention;

Figure 6 is a schematic representation of the crown wheels of a controller of a gripper according to the invention; Figures 7a-7e are schematic representations of a transition of the control of Figure 6 from layer 2 to layer 0;

Figures 8a-8b are schematic representations of another gripping mechanism of a gripper according to the invention;

Figures 9a-9b are schematic representations of another gripping mechanism of a gripper according to the invention;

Figure 10 is a schematic representation of another gripping mechanism of a gripper according to the invention;

Figure I is a schematic representation of a gripper according to the invention, in which the gripping element is designed as a suction cup, in an open position (position 0);

Figure Ib a schematic representation of a gripper according to the invention, in which the gripping element is designed as a suction cup, in a closed

Position (position 1) before lifting the object;

Figure 11c is a schematic representation of a gripper according to the invention, in which the gripping element is designed as a suction cup, in a closed

Position (position 2) after lifting the object;

Figure ld is a schematic representation of a gripper according to the invention, in which the gripping element is designed as a suction cup, in a closed position

Position (position 3) after weaning item;

Figures 12a-12b is a schematic representation of the crown wheels of a controller of a gripper according to the invention, wherein a vent is provided in the controller.

1, the gripping mechanism 10 of a gripper according to a first embodiment of the invention is shown schematically. The gripping mechanism 10 preferably has a contact element 11. On the side of the gripper, which is directed towards the object to be gripped 25, the contact element 11 preferably has at least one end 12 for contacting the article 25. The contact element 11 preferably further comprises at least one further end 13 which directly and / or over other parts of the control or the gripping mechanism 10 interacts with the controller. The gripping mechanism 10 further includes a gripping member 14 having a gripping jaw 16 and a compliant transfer member 15. The gripping element 14 is preferably pivotally mounted via a hinge 17. The hinge 17 may be substantially fixedly connected to the gripper (eg the housing of the gripper). Although the embodiment shown has two symmetrically arranged gripping elements 14, the invention is not limited thereto. The gripper may also comprise a single, three, four or more gripping elements which may or may not be arranged symmetrically.

The contact element 11 is preferably mechanically connected to the gripping element 14 or the gripping elements in such a way that the gripping elements are moved or swiveled toward the object to be gripped when the contact element 11, due to a contact force caused by the contact with the gripping element Item 25 is caused to move. More preferably, a longitudinal movement of the contact element 11 is mechanically translated into a pivoting of the gripping elements. The contact element 11 can be connected via an intermediate member 18 with the gripping member 14. The intermediate member 18 is preferably connected via a hinge 20 hingedly connected to the contact element 11 and a bearing 19 slidably connected to the gripping member 14.

Figures 2a to 2d show schematically a preferred Positiomerungsprozess with the gripper according to the invention and the respective states of the controller 40. It should be noted that the control states in Figures 2a to 2d illustrate only a movement of the contact element, which is preferably caused by the control , Preferred mechanisms that cause such a sequence of movements are not shown and will be explained in more detail below with reference to FIGS. 3, 4a to 4d and 5 a to 5f.

As shown in Figure 2a, the gripper is first in the open position (position 0) by a manipulator (not shown) at a speed v out to the object to be gripped. The control is in a first stable position 0, in which the contact element 11 (and thus the gripping elements 14) is locked. The controller 40 is preferably provided or formed so that after the contact of the contact element 11 with the article 25 and exceeding a first contact force Fl directed to the object, the gripping of the gripping elements 14 is caused by the controller 40 (Figure 2b). For this purpose, the locking of the contact element 11 is preferably achieved when the contact force Fl is exceeded, so that the contact element 11 can move as a result of the contact force. Due to the movement of the contact element 11, the gripping elements 14 and the gripping jaws 16 are pressed against the object 25 (position 1).

If a resilient member is used as a transmission member 15, it comes when closing the jaws 16 to a bias and / or elastic deformation of the transmission member 15. This is advantageous because the forces acting on the object 25 when reaching the switching position 2 forces are reduced. Instead of or in addition to a resilient transmission member 15, however, a compliance or elasticity can be provided at other locations of the kinematic chain of the gripping mechanism 10. For this purpose, e.g. the contact element 11, the gripping jaws 16, the intermediate members 18 and / or the joints 17, 20 into consideration. The contact force Fl can therefore be stored at least partially in the gripping mechanism 10.

If no compliance is required in the particular application, the gripping mechanism 10 can also be made substantially rigid.

Further, as shown in Figure 2c, the controller 40 is preferably arranged to cause locking of the gripping mechanism 10 in the closed position (position 2) after lifting the article. This is preferably done when the contact force falls below a second contact force F2 due to the lifting. Depending on the configuration of the latching mechanism, the gripping element 14 can, however, already be locked directly upon or after closing the gripping element 14.

If the selected control mechanism for locking requires a partial return of the contact element 11, the compliance of the gripping mechanism 10 can prevent unwanted loosening of the handle. Thus, a possible provision, for example, about an at least partial recovery of the yielding Transfer elements 15 are compensated. Likewise, deformable gripping jaws, spring-mounted joints or an elastically deformable contact element can be provided or the elasticity of regular joints or the restoring force of the detent mechanism can be utilized.

After closing the gripping elements 14 or after lifting the article 25, the controller 40 is therefore preferably in a second stable position 2, in which the contact element 11 (and thus the gripping elements 14) is locked.

The controller 40 is also preferably provided or formed so that when settling the article 25, the solution of the locking of the gripping mechanism 10 and thus the opening of the gripping elements 14 causes (Figure 2d). This is preferably done after contact of the contact element 11 with the article 25 and exceeding a directed to the object contact force F3. The object 25 and the gripper which holds it, is preferably moved by a downstream manipulator on a shelf or a contact surface 30 to. The movement of the downstream manipulator is preferably maintained until the contact force F3 is exceeded. The contact force F3 can also be stored at least partially in the gripping mechanism 10.

Finally, the controller 40 is preferably provided to subsequently cause locking of the gripping mechanism 10 in the open position (position 0). Preferably, the gripping mechanism 10 is locked in the open position when it is moved away from the object to be gripped 25 after opening (for example, by a downstream manipulator) and / or the contact force falls below a fourth contact force F4. The gripping mechanism 10 and the gripping elements 14 preferably return to the starting position (FIG. 2a).

The controller 40 of a gripper according to the invention is preferably a mechanical mechanism, more preferably a detent mechanism. FIG. 3 schematically shows a controller 40 of a gripper according to the invention in the form of a latching mechanism. The locking mechanism may, for example, have a control or latching element 41, with which the end 13 of the contact element 11 (shown in phantom) interacts. The locking element 41 may have a stepped groove or stepped projections. The groove or the projections are preferably designed or formed so that the end 13 of the contact element 11 with the locking element 41 stably engages in at least two layers. These layers are identified in FIG. 3 as stable layers 0 and 2. As shown, the end 13 of the contact element 11 is locked by the latching element 41 in the stable positions 0 and 2, preferably in at least one direction of movement. It is therefore a bistable latching mechanism. The latching element 41 may be cylindrical and the groove or the projections may be provided along a cylindrical outer and / or inner wall of the latching element 41.

If a latching element 41 is used to control the gripper mechanism 10, the controller 40 is preferably designed or constructed so that when the contact forces Fl and / or F3 or the corresponding travel ranges are exceeded, the relative position of the latching element 41 and the end 13 of the contact element 11 adjusted. Furthermore, the controller 40 is preferably designed so that the relative position of the locking element 41 and the end 13 of the contact element 11 is adjusted when falling below the contact forces F2 and / or F4. Thus, the detent element 41 may be e.g. be designed or trained so that it moves when exceeding or falling below the respective contact forces, twisted and / or shifts. Alternatively and / or additionally, the contact element 11, the end 13 of the contact element 11 or other parts of the gripping mechanism 10, which are connected thereto, move relative to the latching element 41. The relative position of the latching element 41 and the end 13 of the contact element 11 is not necessarily the same as before when reaching a stable position 0 after passing through a latching cycle.

The illustrated mechanism 40 therefore has at least two stable states (the layers 0 and 2), wherein the state change is triggered by deflection of the contact element 11. The mechanism 40 "snaps" by actuation of the contact element 11 from one stable state to the other, when a corresponding release force is achieved.

When the respective contact forces are exceeded or fallen below, it is preferable for an axial movement of the contact element 11, which is converted by an adjusting mechanism 50 into a rotation and / or displacement of a movable part (eg of the latching element 41). Such mechanisms can by means of various sprocket or Kronradkonfigurationen be realized and are known in the art, for example from pens. To realize an adjustment mechanism preferably three superimposed sprockets are used. These need not necessarily all have teeth along the entire circumference. Depending on the selected adjustment mechanism, one or more of the sprockets may consist of a single tooth or individual teeth. "Sprockets" and "crown wheels" are considered in the context of the invention as interchangeable elements. As far as technically feasible, a "sprocket" or a "crown wheel" in each of the embodiments described or described to be replaced by the respective other element.

A first embodiment of the adjusting mechanism 50 of a gripper according to the invention is shown schematically in FIGS. 4a to 4d. The adjusting mechanism 50 has two fixed sprockets 51 and 53 and an axially displaceable and rotatable sprocket 52. The movable ring gear 52 is pressed onto the fixed ring gear 51 by a restoring force (for example, by the bias of a spring, not shown). The sprocket 53 is rotated relative to the sprocket 51 / offset. The twist may e.g. half a tooth length.

The movable ring gear 52 rotates when a restoring force is exceeded and the ring gear 52 is displaced along the axis 54 and pressed against the ring gear 53 (Figure 4b). The movable ring gear 52 then rotates again when the restoring force is exceeded and the ring gear 52 is pressed back onto the ring gear 51. If the locking element 41 is connected to the movable ring gear 52 or made integral therewith, the rotation of the ring gear leads to the adjustment of the locking position.

A further embodiment of an adjusting mechanism 50 according to the invention is shown schematically in FIGS. 5a to 5f. The adjusting mechanism 50 has at least one first, axially displaceable and rotationally fixed ring gear 51, a second, axially displaceable and rotatable ring gear 52 and a third, fixed ring gear 53. The teeth of the first ring gear 51 have a slope cd which is less than the slope a2 of the teeth of the third ring gear 53. The second ring gear 52 has teeth on both sides, with the teeth contacting the first ring gear 51 having the inclination cd and the teeth contacting the third ring gear 53 stand, which have slope a2. The teeth of the first sprocket 51 and the teeth of the third sprocket 53 are preferably at least slightly rotated / offset from each other. As the sequence in FIGS. 5a-5f shows, rotation of the rotatable second toothed rim 52 occurs when it is pressed against the fixed third toothed ring 53 by the axially displaceable first toothed rim 51. The embodiment therefore allows the adjustment of the detent position when a certain contact force is exceeded.

Figure 6 shows a schematic representation of the crown wheels of a preferred controller 40 of a gripper according to the invention, wherein the teeth of the respective Kronräder projected is shown as a circle. The first crown wheel 51 is provided or formed such that the tooth or ring gear 52, which is preferably connected to the contact element 11, can engage in a first stable position 0 and a second stable position 2.

The relative position of the tooth 52 to the first crown wheel 51 is preferably not the same in the first stable layer 0 and the second stable layer 2. Preferably, the tooth 52 projects further into the first crown wheel 51 in the stable position 2, so that the contact element 11 is pushed deeper into the gripping mechanism 10 in the stable position 2. The first crown wheel 51 therefore preferably has a toothing with changing tooth depths (see FIG. 6). The third crown wheel 53 may have a uniform toothing.

The control of Figure 6 is shown in Figure 7a in the second stable layer 2, which may correspond, for example, the closed switching position 2 of the gripper. If the tooth or ring gear 52, which is connected to the transmission element or with the contact element 11, as shown in Figure 7b displaced in the direction of the third ring gear 53, the tooth 52 is deflected out of the stable layer 2 and as shown in Figure 7c pushed over the crest of the first crown wheel 51. As shown in FIG. 7e, due to the elastic restoring force of the mechanism 40, the tooth 52 subsequently snaps into a first stable position 0, in which the gripper according to the invention is in the open position 0, for example. The restoring force of the mechanism 40 may for example also result from a spring 24, which may be provided between the sprocket 52 and one end 12 of the contact element 11, as shown in FIG. In FIGS. 8 a and 8 b, a gripping mechanism of a gripper according to a further embodiment of the invention is shown schematically in an open or a closed position. This gripping mechanism also preferably has a contact element 11, which may have an end 12 for contacting the object 25. An opposite end 13 of the contact element 11 preferably interacts directly and / or via further intermediate parts with the controller 40.

The gripping mechanism 10 of Figures 8a and 8b further includes a gripping member 14 having a gripping jaw 16 and a fully compliant transmission member 15, the gripping jaw 16 also being integrally formed with the transmission member 15. The resilient transmission member 15 is preferably substantially fixedly connected to the contact element 11 and is held in a loop-shaped state by at least two stationary rollers 21, which are substantially stationary with respect to the gripper or with respect to the gripping mechanism 10. Preferably, the transfer member 15 forms a clip, the gripping jaws 16 being secured to opposite ends of the clip. The distance between the gripping jaws 16 therefore changes when the contact element 11 is moved relative to the gripper and thus also relative to the rollers 21. As shown in Figure 8b, the gripping jaws 16 are further closed (position 2 of the gripper) when the controller 40 is in the second stable layer 2.

Of course, a corresponding gripping element 14 can also be composed of a single clasp half or of a plurality of mutually offset clasp halves. The rollers 21 can be replaced by other stationary elements of any shape.

Figures 9a and 9b show a further gripping mechanism of a gripper according to the invention. The gripping mechanism preferably has a contact element 11, wherein more preferably at least one gripping element 14 is connected via a hinge 23 to the contact element 11. The gripping element 14 may have a transmission member 15 and a gripping jaw 16. The jaw 16 may also be integrally formed with the transmission member 15 (see Figure 9b). Preferably, the gripping mechanism 10 has two such gripping elements 14. The gripping members 14 of the embodiment of Figs. 9a and 9b preferably interact with rollers 21 which are stationary with respect to the gripping mechanism 10 so as to close the gripping jaws 16 as the contact member 11 is slid into the gripper through the item 25 (see Fig. 9b ). The transmission members 15 may therefore be substantially rigid and preferably along a longitudinal axis have a curved shape and / or a variable cross-section, through which the desired closing behavior can be ensured. A spring 22 may be provided between the gripping members 14 to ensure recovery of the gripping members 14 upon opening of the gripper. Of course, the rollers 21 may be replaced by other components that are stationary with respect to the gripping mechanism 10.

FIG. 10 shows a schematic representation of a further gripping mechanism 10 of a gripper according to the invention. This differs from the gripping mechanisms 10 of Figures 1 and 2a to 2d in that the hinge 17 has a spring 24 which supports the elastic return of the gripping mechanism 10. Other components of the mechanism 10, such as the transfer member 15, can therefore be made both flexible and relatively rigid. The gripping mechanism 10 of Figure 10 has a single gripping member 14 which engages the article 25, for example, magnetically. The gripping mechanism 10 may also have a plurality of gripping elements 14.

Even if reference has been made in the foregoing description to the contact element 11, it is not absolutely necessary for it to actually contact the object 25 to be gripped or handled. As already described above, contactless transmission of the force / forces to the controller 40 is also possible, for example by magnetic repulsion of the end 12 from the object 25.

In Figures 1 la to 1 ld, a gripping mechanism 110 of a gripper according to a further embodiment of the invention is shown schematically. The gripping mechanism 110 has a gripping element in the form of a suction cup 114. The suction cup 114 further preferably has a defined opening 121 which can be sealed by a closure element 112. The closure element is preferably connected directly to the transmission element 11 1, but may also be provided as a separate part connected to the control 40 (not shown). Preferably, at least a portion of the force acting from the article 25 on the suction cup 114 is transmitted to the controller 40 via the transmission element 111. For this purpose, the transmission element 111 can be connected to the suction bell 114, for example via a spring 124 and a stop 123. The controller 40 is preferably provided or formed such that the closure element 112 is locked when a defined release force of the controller 40 is reached or exceeded.

As shown in FIG. 11a, the gripper is initially guided in the open position (position 0) by a manipulator (not shown) at a speed v to the object 25 to be gripped. The controller 40 is in a first stable position 0, in which the transmission element 111 (and thus the closure element 112) is movable. The opening 121 of the suction cup 114 is preferably not closed by the closure element 112.

As shown in Figure I Ib, the suction cup 114 is preferably provided so that it deforms when it is pressed onto the object 25 (position 1). In this case, the medium in which the gripper is used (for example a fluid) is pressed out of the space between the suction cup 114 and the object 25. Preferably, the opening 121 is closed by the closure element 112 when the suction cup 114 is pressed onto the object 25. A spacer 122 may be provided to prevent excessive compression of the suction cup 114.

The controller 40 is preferably provided or formed so that after the contact of the suction cup 114 with the article 25 and exceeding a first contact force Fl directed to the object 25, the closure element 112 is locked at a desired immersion depth. For this purpose, the locking of the transmission element 111 is preferably caused when the triggering force F1 is exceeded, so that the closure element 112 can no longer move. The opening 121 therefore remains closed and the article 25 can be raised due to the resulting negative pressure (see Figure 11c). After locking the closure element 112, the controller 40 is therefore preferably in a second stable position 2, in which the opening 121 of the suction cup 114 is closed. Depending on the design of the selected controller 40, it is of course only possible to arrest the closure element 112 when a second force F2 is undershot. In this case, there is a slight return of the closure element 112 in the opening 121 before the gripping mechanism 110 reaches the closed position 2.

The controller 40 is preferably also provided or formed so that it causes the solution of the locking of the closure element 112 and the transmission element 111 when setting the article 25 (position 3). This is preferably done when the suction cup 114 is pressed again on weaning the article 25 and a 25 directed to the object release force F3 is reached or exceeded. The article 25 and the gripper holding it is preferably moved by a downstream manipulator on a storage area. The movement of the downstream manipulator is preferably maintained until the contact force F3 is exceeded.

If the gripper is withdrawn from the object 25 after releasing the lock, the closure element 112 leaves the opening 121 due to the elastic recovery of the suction cup 114 and releases it. The elastic recovery of the gripping mechanism 110 may be e.g. be supported by the spring 124. Since the medium surrounding the gripper can then flow into the suction cup 114, the negative pressure is compensated. The gripping mechanism 110 preferably returns to its initial position (position 0) and can be lifted off the article 25.

As the controller 40, any mechanism having the required functionality can be used, for example, the controls described so far being suitable. However, since the closure member 112 according to some of the embodiments must be displaced to close the suction cup 114 in the direction of the article 25, it should be noted in the case of these embodiments that the gripper in the first stable position 0 closed and open in the second stable layer 2 becomes. Figures 12a and 12b show a further preferred variant of the embodiment, which has a suction cup 114 as a gripping element, in which the opening 121 of the suction cup 114 via a channel or via a line directly to a vent 71 in the controller 40 is connected. Preferably, the vent 71 is opened when the controller 40 is in a first stable position 0, and closed when the controller 40 is in a second stable position 2. The suction cup 114 can therefore be pressed onto the object 25 as described above, lift it up and be removed again after the article 25 has settled again. As shown in FIGS. 12a and 12b, this can be achieved, for example, by providing the vent 71 at a location covered by the second sprocket 52 when it comes to lie in the second stable layer 2 of the controller 40.

The invention as well as the embodiments described in more detail therefore provide grippers that can be easily integrated into automation processes. The grippers can be designed so that they require no supply of energy, substance (s) and / or control signals. The grippers can therefore be integrated into existing processes without costly adaptation of subordinate manipulators.

Each of the above-described and other features and elements may be provided separately or in combination with other features and elements of the invention. In this sense, the above detailed description is merely intended to illustrate to those skilled in the art details for practicing preferred aspects of the present invention, and is not intended to limit the scope of the invention. This is defined exclusively by the claims. Combinations of features and steps explained in the above description may not be necessary to the implementation of the invention in the broadest sense, and have been included to exemplify specific embodiments only.

Various features of the illustrated examples and dependent claims may be combined in ways that have not been described individually to obtain further advantageous embodiments of the invention.

Claims

claims

Gripper for gripping or handling at least one article (25) with a) at least one gripping element (14, 114) for positively, positively and / or materially engaging or handling at least one article (25), b) at least one mechanical control (40)

wherein the control (40) causes the gripping element (14, 114) to engage and / or release after a triggering force (Fl, F3) directed substantially towards the object (25) to be gripped is applied to the controller (40). is transmitted.

A gripper according to claim 1, wherein the controller (40) translates the gripping or disengagement of the gripping member (14, 114) via a latching mechanism, preferably via a bistable latching mechanism and more preferably via a latching mechanism with crown wheels.

Gripper according to one of the preceding claims, wherein further a transmission element (11, 111) for transmitting the release force from the object (25) and / or from the gripping element (14, 114) on the controller (40) is provided or formed.

A gripper according to claim 3, wherein the transfer element is a contact element (11) for contacting the article (25) and the controller (40) causes the gripping element (14, 114) to engage and / or disengage after the article (25) of Contact element (11) has been contacted and in each case a substantially to the object (25) directed contact force (Fl, F3) was exceeded.

Gripper according to claims 1 to 3, wherein the gripping element is provided or formed as a suction cup (114).

Gripper according to claim 5, wherein a defined vent opening (121) in the suction cup (114) is provided or formed, wherein preferably the gripping by means of the suction cup (114) through the closure of the defined vent opening (121) or an associated vent channel (71) is implemented and / or wherein the release of the suction cup (114) through the opening of the defined vent opening (121) or a so connected venting channel (71) is implemented.

7. Gripper according to one of the preceding claims, wherein two gripping elements (14, 114) are provided or formed.

8. Hoist with a gripper according to one of the preceding claims.

9. A hoist according to claim 8, wherein the hoist comprises a manipulator, which moves the gripper before gripping the object to be gripped (25) until an object (25) directed triggering force (Fl) of the control is exceeded and / or the Gripper moves after gripping to a positioning surface (30) until a directed to the object (25) triggering force (F3) of the control is exceeded.

10. A method of gripping with a gripper according to any one of the preceding claims, comprising the steps of:

a) providing at least one gripping element (14, 114) for force, form and / or materially engaging or handling at least one object (25), b) providing at least one mechanical control (40), wherein

c) the gripper for gripping and / or releasing the gripping element (14, 114) to the object (25) is moved and

d) the controller (40) causes gripping and / or disengagement of the gripping member (14, 114) after a triggering force directed substantially toward the article (25) is transferred to the controller (40).