WO2023117324A1 - Handling system - Google Patents

Abstract

Disclosed is a handling system (1) comprising a handling device (2) which has a handling unit (3) and a linear unit (4). The handling unit (3) includes a base unit (5), a pivot arm (6) that can pivot with respect to the base unit, and a gripper unit (7) that can pivot with respect to the pivot arm. The base unit (5) can be driven in an X-axis direction by the linear unit (4) to make base unit linear movements (18). In order to reposition objects (8) between a supply position (15) and a release position (16), a drive device (22) of the handling system can be controlled by means of an electronic control device (23) such that the gripper unit (7), in order to pick up or set down an object (8), performs a purely linear Y-working movement (62) in a Y-axis direction orthogonal to the X-axis direction on the basis of pivot arm pivot movements (42), gripper unit pivot movements (44) and base unit linear movements (18) taking place in a superimposed manner.

Description

handling system

The invention relates to a handling system

- with a handling device that has a handling unit that has a base unit, a swivel arm and a gripping unit, the gripping unit being designed for gripping and releasing an object to be handled,

- Wherein the swivel arm can be swiveled with respect to the base unit by executing swivel arm swivel movements about a first swivel axis in a first swivel plane, with the first swivel plane extending parallel to a x-y axis spanned by an x-axis and a y-axis orthogonal thereto -plane extends and the first pivot axis extends in the axial direction of a z-axis orthogonal to the x-y plane,

- wherein the gripping unit can be pivoted with respect to the pivot arm by executing the gripping unit - pivoting movements about a second pivot axis that is spaced apart from the first pivot axis and runs parallel in a second pivot plane, the second pivot plane also extending parallel to the x-y plane,

- Wherein the gripping unit for gripping an arranged in a ready position Obj ects, for holding the Obj ects when repositioning from the ready position into a delivery position spaced apart in this respect and for releasing the gripped Obj ects in the delivery position is trained ,

- Unit with a drive device for generating the Schwenkarm- pivoting movements and the gripping - pivoting movements

- and with an electronic control device for controlling the drive device in such a way that the gripping unit assumes a working position when picking up the object in the ready position and when delivering the gripped object in the delivery position, which is defined by an x-axis position along a x-axis direction of the x-axis and is defined by a y-axis position along a y-axis direction of the y-axis.

A handling system of this type known from US Pat. No. 5,271,292 has a handling device with a handling unit designed as a robot, which has a support arm protruding from a base unit, on which a swivel arm is mounted so that it can swivel about a first swivel axis. A gripping unit is mounted on the swivel arm so that it can swivel about a second swivel axis parallel to the first swivel axis. By means of a drive device containing several drive units, pivoting arm movements about the first pivot axis and gripping unit - pivoting movements about the second pivot axis can be caused, with the corresponding control being carried out by an electronic control device.

DE 195 14 812 A1 describes an industrial robot that has a base that carries a pivotable first arm on which a second arm is mounted in a likewise pivotable manner, at the end of which a working shaft rotatable about a further axis is arranged.

DE 10 2007 049 168 B4 discloses a handling system which is designed to consist of deep-drawn products reposition existing objects from a delivery position in a thermoforming machine to a delivery position in a processing station. A handling device is provided for the repositioning, which has a displacement unit with at least one horizontally aligned guide - has on which a handling unit is mounted in a linearly displaceable manner, which has a vertically displaceable and hori zontally pivotable head, which is equipped with receiving means for gripping the objects to be repositioned ect is equipped.

The invention is based on the task of creating a compact handling system that requires little space and allows an exact transfer of obj ects between a ready position and a delivery position, so that it is particularly suitable for use in the presentation of goods in shopping and Pick-up stations is well suited.

To solve this problem is provided in a handling system in connection with the features mentioned,

- that the base unit can be moved and positioned by means of a linear unit of the handling device by executing base unit - linear movements in the x-axis direction of the x-axis, wherein the base unit - linear movements can be generated by the drive device controlled by the electronic control device,

- and that the drive device can be actuated or is actuated by the electronic control device in such a way that the gripping unit, when moving into a working position and/or moving out of a working position for the purpose of picking up or delivering an object, performs a purely linear y working movement in the y-axis direction with constant x-axis position,

- where the linear y- Working movement of the gripping unit controlled by the electronic control device, overlapping gripping unit - swivel movements, swivel arm swivel movements and base unit linear movements results.

The handling system according to the invention makes it possible to reposition objects of any type, for example packaged food, between a ready position and a delivery position, with the process of removing from the ready position and/or the process of storing in the delivery position using a linear y- Working movement designated pure linear movement of the gripping unit in the y-axis direction of a Cartesian x-y-z coordinate system of the handling system can be executed, i.e. with a constant x-axis position, i.e. without a superimposed movement in the x-axis direction. An essential aspect of the invention in this respect is that for this purely linear working movement of the gripping unit, which takes place exclusively in the y-axis direction, which is referred to as the y-working movement, no linear unit working in the y-axis direction is used, but the constant x-axis position is ensured by the fact that the gripping unit - pivoting movements and the pivoting arm - pivoting movements of a linear unit of the handling device can be caused base unit -linear movements of the base unit are superimposed, which take place in the x-axis direction of the x-axis of the coordinate system of the handling system. The linear y working movement of the gripping unit, which the gripping unit executes in order to be positioned in a working position in which it can pick up and/or release an object, results from overlapping gripping unit - pivoting movements, pivoting arm Pivoting movements and base unit -linear movements, which are controlled by the electronic control device by appropriate control of the movable - Chen components cooperating drive device is controlled or controlled. Such a structure and sequence of movements enables a handling system that has very small dimensions, especially in the y-axis direction, since the handling unit for performing the linear y-working movement takes up little space due to the swiveling components in the y-axis direction. The handling system can be used for any handling measures in which objects are to be repositioned between a provision position and a delivery position that is spaced apart in this regard, with a particular suitability for use in the provision of goods in the food sector being emphasized, where the handling system can be used to store food products Move formed objects from a supply shelf to a retail shelf accessible to customers. In the handling system according to the invention, unfavorable dead space can be reduced to the width of the gripping unit and, if required, objects can be used on both sides of an x-z plane in which the base unit linear movements take place for picking up and delivering objects Realize work areas.

Advantageous developments of the invention emerge from the dependent claims.

Preferably, the drive device can be controlled by the electronic control device or is controlled during use in such a way that the angular orientation of the gripping unit within the second pivoting plane remains constant during the linear y working movement. There is therefore no pivoting movement of the gripping unit around an axis oriented in the z-axis direction. This is expediently expressed in an overall constant spatial alignment of the gripping unit during the linear y-work movement.

The gripping unit is expediently equipped with a gripping structure designed for releasably gripping the object to be repositioned. The gripping structure is implemented, for example, as a mechanical parallel gripper or as a vacuum-based suction gripper. In any case, the gripping structure has an object receiving area which is at a distance from the second pivot axis and also faces away from the second pivot axis, in which the object to be repositioned is placed when it is picked up in the ready position by appropriate positioning of the gripping unit. When using the handling system, the object to be repositioned is gripped by the gripping unit with the object receiving area leading in the ready position. The object receiving area is formed, for example, by the front end area of a gripping space located between two gripping arms of the gripping structure. The drive device can be controlled by the electronic control device or is controlled when using the handling system in such a way that the rotational angle position of the object receiving area within the second pivot plane remains constant during the linear y working movement. During the linear y working movement, there is no pivoting movement of the object recording area in space.

As has already been mentioned, the gripping structure preferably has two gripping arms which project away from the second pivot axis and extend side by side, which delimit the object receiving area. These gripping arms can be moved towards and away from one another by means of appropriate drive equipment in the gripping unit such that the width of the object receiving area for gripping or releasing an object can be changed. It is preferably also controlled by the electronic control device, which controls an actuating device which can be used to cause the movements of the gripper arm.

In a configuration of the handling system that is considered favorable, the swivel arm has a proximal arm end section and a distal arm end section spaced apart in relation to this. The swivel arm preferably has a linear extension between the two arm end sections. With its proximal arm end section, the swivel arm is mounted on the base unit so that it can swivel about the first swivel axis. The gripping unit is mounted on the distal arm section of the pivoting arm in a manner that can pivot about the second pivoting axis.

A preferred embodiment of the base unit contains a base arranged on the linear unit responsible for the base unit linear movements and a support arm which protrudes from the base in a base plane parallel to the x-y plane and is rigidly connected to the base. The base and support arm therefore always carry out uniform movements during the basic unit linear movement. The support arm preferably projects away from the base in the y-axis direction. The support arm has a distal arm end section which is at a distance from the base and on which the pivot arm is mounted with its proximal arm end section so that it can pivot about the first pivot axis. All pivot axes therefore run parallel to one another and at right angles to the x-y plane, so that there is a SCARA functionality.

The linear unit expediently has an output member which is attached to a guide structure of the linear unit is slidably mounted in the x-axis direction. The driven element can be driven to perform linear driven movements in the x-axis direction by the drive device. The base unit of the handling unit is arranged on the driven member, so that its driven movements directly cause the base unit linear movements.

In a preferred embodiment of the handling system, there is the possibility of additionally displacing the handling unit as a whole, and thus also its gripping unit, in an axis direction of the z-axis of the coordinate system of the handling system, referred to as the z-axis direction. The z-axis preferably runs vertically. It is thus possible to reposition objects between provision positions and delivery positions located at different altitudes. The movement in the z-axis direction, referred to below as vertical movement, can be superimposed on a transitional movement of the gripping unit taking place between two linear y working movements.

The drive device is expediently composed of several independent drive units that are distributed in a decentralized manner. In this regard, it is advantageous if the drive device has a first drive unit designed to generate the swivel arm swivel movements, a second drive unit designed to generate the gripping unit swivel movements and a third drive unit designed to generate the base unit linear movements. Each of these multiple drive units is electrically connected to the electronic controller, be it wired or wireless. The drive units are, in particular, electric drive units that contain a purely electrically actuatable drive unit, which is in particular a Electric motor and preferably an electric stepping motor. In principle, however, there is also the alternative possibility of equipping at least one drive unit with an electrically controllable, fluid-actuated and, in particular, pneumatically actuated drive unit.

The first drive unit expediently has a first drive unit arranged on the base unit, while the second drive unit has a second drive unit also arranged on the base unit and there in particular in the region of the first pivot axis. The first drive unit is drivingly coupled to generate the pivoting arm pivoting movements via a first traction mechanism with the pivoting arm, while the second drive unit for generating the gripping unit pivoting movements is drivingly coupled to the gripping unit via a second traction mechanism. In particular, a belt drive and in particular a toothed belt drive is recommended as the traction drive.

The gripping unit is preferably of the fluid actuated and more preferably of the pneumatically actuated type. An actuating device suitable for actuating the gripping unit expediently has at least one fluid-actuated drive, the operation of which can be brought about fluidly by means of an electrically controllable control valve device. Alternatively, the gripping unit can also be designed as a gripping unit that can be actuated purely electrically and can have, for example, at least one electrically actuatable spindle drive for causing the gripping function.

The handling system can be designed in such a way that the gripping unit for picking up a ready - Development position indenden obj ect and for delivering an obj ect in the delivery position within the xy plane, that is, with respect to the second pivot axis, has the same angular orientation. This allows objects to be picked up and delivered on one and the same side of the linear unit, for example. However, an embodiment is preferred in which the gripping unit for picking up and delivering an object can be pivoted or is pivoted through 180° with respect to the second pivot axis. This allows handling operations on both sides of an x-z plane extending along the linear unit.

A preferred embodiment of the handling system provides, in addition to the handling device, a supply magazine and a delivery magazine for objects, with the handling device being arranged between these two magazines in the y-axis direction. The objects are in the delivery magazine when they take up their ready position and in the delivery magazine when they take up their delivery position. In the simplest case, the two magazines are designed as shelves in which the objects are placed loosely, so that they can be easily removed by the gripping unit and placed back after they have been repositioned.

In this context, it is advantageous if a space is formed between the supply magazine and the delivery magazine, which has a space width in the y-axis direction, the linear unit being arranged in the space and extending there in the x-axis direction. The intermediate space is expediently accessible in order to ensure accessibility of the handling unit for maintenance or conversion purposes and in order to obtain easy access to the stored objects in the event of a fault. The invention is explained in more detail below with reference to the attached drawing. In this show :

FIG. 1 shows a section of a preferred embodiment of the handling system according to the invention in a perspective view with the focus on the handling device of the handling system,

FIG. 2 shows a longitudinal section of the arrangement from FIG. 1 according to the section line I I - I I there, and

Fig. 3-12 highly schematized top views of the handling system according to the invention looking in the direction of the z-axis, with a selection of successive operating phases being shown which the handling system can go through in a repositioning process relating to an object.

The handling system, designated in its entirety by the reference numeral 1, will be described with reference to an x-y-z Cartesian coordinate system defined by an x-axis , a y-axis orthogonal thereto, and one to both the x-axis and the y-axis orthogonal z-axis . Directions that run in the axial direction of one of these Cartesian axes are also referred to below as just the x-axis direction, y-axis direction and z-axis direction for the sake of simplicity. Positions that are taken in the axis direction of one of these Cartesian axes are also referred to below as x-axis positions, y-axis positions and z-axis positions for the sake of simplicity.

In a preferred application of the handling system 1 embodied in the illustrated embodiment, the z-axis extends vertically. The handling system 1 has a handling device 2 illustrated in FIGS. 1 and 2 in a preferred embodiment, which has a handling unit 3 and a linear unit 4 as essential components.

The handling unit 3 has a base unit 5 , a swivel arm 6 and a gripping unit 7 . The gripping unit 7 is equipped with a gripping structure 11 with which an object 8 to be repositioned within the framework of handling can be gripped and released again after the repositioning.

Objects 8 to be repositioned are indicated only schematically in the drawing. The objects 8 can be of any type and can, for example, be workpieces if the handling system 1 is used in areas of manufacturing technology, for example. However, a preferred area of use is the handling of packaged foodstuffs, in particular to prepare them for sale. The illustrated handling system 1 is designed in particular for such handling tasks.

In the illustrated preferred embodiment, the handling system 1 has a supply magazine 12, which can be seen in FIGS. 3 to 12, and a delivery magazine 13, which is also illustrated in these aforementioned figures. Both magazines 12, 13 are designed as shelves, for example, which have a storage surface 14 pointing vertically upwards in the z-axis direction, on which the objects 8 to be repositioned can be placed or placed next to one another loosely.

In Figures 3 to 12 several obj ects 8 can be seen, which are parked on the Abstellf surface 14 of the supply magazine 12, where they are each one as a supply - position 15 designated position. A provision position 16 illustrated with dots in the drawing designates a location at which an object 8 was located before it was removed. With the aid of the handling device 2 , the objects 8 can be gripped one after the other in their ready position and brought into the delivery magazine 13 as part of a repositioning movement. Objects 8 placed in the delivery magazine 13 assume a delivery position 16 there, with a delivery position 16 illustrated with dots in the drawing denoting the point at which an object 8 removed from its ready position is placed in the delivery magazine 13 by an operational sequence that will be explained later is delivered .

In an application in the food trade, packaged food can be made available invisibly for the customer in the delivery magazine 12, which is successively brought into the delivery magazine 13 by the handling device 2 as required, where it is accessible for customers to view and remove for the purpose of their purchase.

The two magazines 12, 13 are spaced apart from one another in the y-axis direction. Between them there is an intermediate space 17 which has a certain intermediate space width in the y-axis direction and in which the handling device 2 is placed.

The handling unit 3 is attached to the linear unit 4 via its base unit 5 in such a way that an actuation of the linear unit 4 can cause a linear movement of the base unit 5 in the x-axis direction, with the possible linear movements being referred to as base unit linear movements 18, which are shown in of the drawing are illustrated by a double arrow . Within the framework of the basic unit -Linear movements 18, the base unit 5 can be linearly displaced in either one of two possible directions and, if required, positioned in any desired a-axis position along the x-axis.

The base unit linear movements 18 can be generated by a drive unit, referred to below as the third drive unit 22c for better differentiation, of a drive device 22 belonging to the manipulator 2, which is composed of several individual drive units 22a, 22b, 22c, for example.

For the desired mode of operation, the drive device 22 can be controlled electrically by means of an electronic control device 23 of the handling system 1 . For example, the electronic control device 23 is electrically connected to the third drive unit 22c for this purpose. Electrical control lines used for this are indicated at 24c.

The linear unit 8 has, for example, a longitudinal axis 21 which runs parallel to the x-axis.

The linear unit 4 preferably contains a guide structure 25 extending in the x-axis direction and an output member 26 which is mounted on this guide structure 25 so as to be displaceable in the x-axis direction and is only shown in FIGS. 1 and 2 in the drawing. The output member 26 can be driven by the third drive unit 22c to perform linear output movements 27 in the x-axis direction, during which it is precisely guided by the guide structure 25 . For example, the linear unit 4 is equipped with a toothed belt drive, which has a toothed belt 28 engaging the driven member 26, which is driven by the third drive unit 22c can be driven to perform a revolving movement around rollers that are not illustrated in more detail, during which it takes the output member 26 with it, generating a linear output movement 27 .

The handling unit 3 is arranged with its base unit 5 on the output member 26 so that it participates in the linear output movements 27 , from which the mentioned base unit linear movements 18 result.

For example, the base unit 5 has a base 31 via which it is attached to the output member 26 . A support arm 32 of the base unit 5, which is rigidly connected to the base 31 and preferably has a linear longitudinal extension, protrudes from the base 31, wherein it extends in a base plane 33, indicated by dot-dashed lines, which is parallel to one of the x-axis and the y -Axis common on tense x-y plane

34 is aligned. The support arm 32 expediently projects away from the base 31 in the y-axis direction, with its distal arm end section 35 spaced apart from the base 31 preferably facing the dispensing magazine 13 .

The swivel arm 6 preferably has a linear extension and has a proximal arm end section 36 with respect to the base unit 5 and a distal arm end section 37 spaced apart with respect thereto. With its proximal arm end section 36, the swivel arm 6 is at the distal arm end section

35 of the support arm 32 is pivotably mounted in such a way that it can be pivoted back and forth about a first pivot axis 38 with respect to the base unit 5 . The first pivoting axis 38 extends in the z-axis direction, which is orthogonal to the xy plane 34, so that the pivoting movements that can be carried out by the pivoting arm 6 and are referred to as pivoting arm pivoting movements 42 gene take place in a parallel to the xy plane 34 first pivot plane 43 indents.

The gripping unit 7 can be pivoted about a second pivot axis 39 on the distal arm end section 37 of the pivot arm 6

5 stored . The second pivot axis 39 , like the first pivot axis 38 , is oriented orthogonally to the x-y plane 34 while being spaced from the first pivot axis 38 . Pivoting movements about the second pivoting axis 39, referred to as gripping unit pivoting movements 44, are carried out by the gripping unit 7 in a second pivoting plane 45, which, like the first pivoting plane 43, is aligned parallel to the x-y plane 34.

The gripping unit 7 is pivotably mounted with respect to the pivoting arm 6 on a fastening section 46 of the gripping unit 7 . The fastening section 46 is arranged in the axial direction of the second pivot axis 39 adjacent to the distal arm end section 37 of the pivot arm 6 . The gripping structure 11 is arranged on the attachment section 46 , in particular in a manner in which it projects away from the attachment section 46 in a radial direction with respect to the second pivot axis 39 , in accordance with the illustrated exemplary embodiment. On a front side facing away from the second pivot axis 39, the gripping structure 11 defines an object receiving area 47, which is designed to at least partially receive an object that is to be gripped or has been gripped.

The gripping unit 7 has a gripping unit longitudinal axis 48 which extends in the second pivoting plane 45 in the radial direction with respect to the second pivoting axis 39 , intersecting the second pivoting axis 39 and the object receiving area 47 . At the gripping unit - pivoting movements 44 pivots thus the object receiving area 47 with a radial spacing around the second pivot axis 39 .

The gripping structure 11 preferably has two gripping arms 52 that protrude away from the second pivot axis 39, or more precisely from the fastening section 46 in the second pivot plane 45, which extend alongside one another, in particular with an alignment parallel to the longitudinal axis 48 of the gripping unit. These two gripping arms 45 each have a free end region facing away from the fastening section 46, and in particular with these free end regions they delimit the object receiving region 47 located between them.

The gripper arms 52 can be driven to gripper arm movements 53 indicated by double arrows, through which the width of the object receiving area 47 can be changed. In this way, an object 8 introduced into the object receiving area 47 can be selectively gripped and held and also released again.

The gripping unit 7 has an actuating device 54 for causing the gripping arm movements 53 . The fastening section 46 belongs to the actuating device 54 and is formed, for example, by a housing 54a of the actuating device 54 . Inside the housing 54a there are actuating means 55 which are drivingly connected to the two gripping arms 52 and which, depending on the type of gripping unit 7, can be actuated electrically or with fluid power in order to cause the gripping arm movements 53.

By way of example, the gripping unit 7 is of a fluid-actuated and in particular of a pneumatically-actuated type. The actuating means 55 contain in this combination In particular, there is at least one drive piston that can be displaced by fluid power and that is drivingly coupled to the gripping structure 11 . An actuating fluid can be supplied and discharged in a controlled manner via fluid lines 56 , which are only indicated schematically, for example compressed air hoses, in order to bring about the movements of the gripping arm 53 . For fluid control, there is an electrically actuatable control valve device 57 connected to the fluid lines 56, which is connected to the electronic control device 23 via electrical control lines 24d in order to receive electrical control signals that actuate it.

The design of the gripping unit 7 described makes it possible to grip an object 8 located in a ready position 15 according to the operating phases of FIGS Hold on to the repositioning process and finally release it again when a desired release position is reached according to the operating phases illustrated in FIGS. 11 and 12.

The already mentioned drive device 22 is designed not only to generate the base unit linear movements 18 but also to generate the swivel arm swivel movements 42 and the gripping unit swivel movements 44 . It should be mentioned at this point that the pivoting movements can of course be carried out both clockwise and counterclockwise in relation to the respectively assigned pivot axis 38 , 39 .

The drive device 22 preferably contains separate drive units for generating the two pivoting movements 42 , 44 . So it contains a first drive unit 22a for generation of the pivoting arm pivoting movements 42 and a separate second drive unit 22b in this regard for generating the gripping unit pivoting movements 44 . The two drive units 22a, 22b are electrically connected to the electronic control device 23 via electrical control lines 24a, 24b, as is the third drive unit 22c assigned to the linear unit 4, in order to receive control signals controlling the respective operation and also to send feedback signals to the electronic control device 23 transfer back . Such feedback signals contain, in particular, position information about the instantaneous x-axis position of the base unit 5 and the instantaneous pivoting position of the pivoting arm 6 and the gripping unit 7 .

In the illustrated embodiment, the supply positions 15 and the delivery positions 16 of the objects 8 are at the same height in the z-axis direction. Accordingly, it is advantageous if the height position of the handling device 2 viewed in the z-axis direction does not change during a handling cycle that repositions an object 8 . It is therefore possible to use a linear unit 4 for realizing the manipulator 2, in which the base unit is fastened immovably to the output member 26 in the z-axis direction.

In comparison, however, the exemplary handling device 2 offers the possibility of varying the height position of the handling unit 3 and thus in particular also of the gripping unit 7 in the z-axis direction, so that there is the advantageous possibility of objects 8 provided or to be handed over at different heights to reposition . This vertical movement and positioning option is realized, for example, in that the base unit 5 can be moved with its base 31 in the z-axis direction on the output member 26 of the linear unit. unit 4 is arranged. The possible z displacement movements 60 are illustrated in the drawing by a double arrow. For example, the base 31 is slidably mounted with a carriage section 31a on the driven member 26 extending in the z-axis direction, with a further drive unit of the drive device 22, which is not illustrated in any more detail, which is also connected to the electronic control device 23, performing the z-travel movements 60 and positioning in the desired z-axis positions.

In order to pick up an object 8 in its ready position 15 for the purpose of a repositioning process, the gripping unit 7 is moved into a working position 61, which can be seen in Figures 5 and 6, by appropriate electrical activation of the drive device 22, so that the object 8 is in the object receiving area 47 the gripping structure 11 is located. For better differentiation, this working position 61 is also referred to below as the pick-up working position 61a.

To deliver the previously gripped and then repositioned object 8 in a delivery position 16, the gripping unit 7 is positioned by the appropriately controlled drive device 22 in another working position 61, which can be seen in Figures 11 and 12, which is characterized in that the object 8 assumes the desired delivery position 16 and at the same time is still in the object receiving area 47 of the gripping structure 11 . For better differentiation, this working position 61 is also referred to below as delivery working position 61b.

Each working position 61, 61a, 61b of the gripping unit 7 is defined in the xy plane 34 by two coordinates, namely by an x-axis position along the x-axis direction of the x-axis and by a y-axis position along the y-axis. axis direction of the y-axis . These xy coordinates differ in the pick-up working position 61a from the delivery working position 61b.

A special feature of the handling system 1 is that, during a handling cycle intended to reposition an object 8, the drive device 22 is controlled by the electronic control device 23 in such a way that the gripping unit 7 moves both when moving into a working position 61 and when moving out of a Working position 61 for picking up or delivering an object 8 executes a purely linear working movement 62 indicated by arrows, which takes place with a constant x-axis position in the y-axis direction, i.e. without any superimposed movement in the x-axis direction, and which, for better distinction, is called the y-work movement.

For better distinction, the linear y-working movement 62 taking place in the direction of a ready position 15 or delivery position 16 is also referred to below as a linear retraction working movement 62a, and the linear y-working movement 62 moving away from a ready position 15 or delivery position 16 is also referred to as a linear extension - Working movement 62b called.

In principle, the gripping unit 7 could also be moved in and out of the supply magazine 12 and the delivery magazine 13 solely by the pivoting arm pivoting movements 42 and the gripping unit pivoting movements 44 in the y-axis direction; would be connected to a superimposed movement in the x-axis direction. Due to the base unit linear movements 18 that can be generated in addition, the pivot movements 42, 44 in the x-axis direction can called movements of the base unit 5, however, are compensated in such a way that the gripping unit 7 only changes its y-axis position during the linear y-working movements 62, but keeps the x-axis position constant.

In FIGS. 4 to 7 and 10, the linear travel path 63 of the gripping unit 7 is indicated by a dot-dash line, along which the gripping unit 7 moves during its purely linear y working movements 62.

The electronic control device 23 is equipped with an integrated control functionality, which - in particular also taking into account the feedback signals mentioned above - is designed to control the drive device 22 and, for example, the three drive units 22a, 22b, 22c in such a way that overlapping gripping unit - pivoting movements 44, swivel arm swivel movements 42 and base unit linear movements 18 take place, with the superimposition of movements resulting in the purely linear y working movement 62 of the gripping unit 7 .

Due to the purely linear y working movement 62 oriented in the y-axis direction, objects 8 can be reliably repositioned without affecting neighboring objects 8 even if the ready positions 15 and/or delivery positions 16 within the magazines 12, 13 are very close together lay .

The electronic control device 23 is preferably also designed in such a way that the drive device 22 is actuated in such a way that the angular orientation of the gripping unit 7 within the second pivoting plane 45 remains constant during the linear y working movement 62 . So it finds during the linear y-working movement there is no pivoting of the gripping unit 7 about any axis parallel to the z-axis. As a result, objects 8 can be picked up and delivered in a particularly precise, targeted manner. In particular, the actuation of the drive device 22 takes place in such a way that the rotational angle position of the object-taking region 47 assumed within the second pivoting plane 45 remains constant during the linear y working movement 62 . The longitudinal axis 48 of the gripping unit mentioned above accordingly retains its parallelism to the y-axis in the illustrated exemplary embodiment during each linear y-work movement 62 .

In particular, FIGS. 1 and 2 show a preferred structural implementation of the handling system 1.

Accordingly, the existing drive units 22a, 22b, 22c are preferably designed as purely electric drive units, although in principle fluid-actuated designs could also be used.

The first drive unit 22a responsible for generating the swivel arm swivel movements 42 has a first drive unit 64 arranged on the base unit 5 , with this first drive unit 64 being placed in the area of the base 31 . The second drive unit 22b responsible for generating the gripping unit pivoting movements 44 has its own second drive unit 65 , which is also arranged on the base unit, but in the area of the distal arm end section 35 and thus in the area of the first pivot axis 38 . Attaching the two drive units 64 , 65 to the base unit 5 reduces the masses to be moved during the pivoting movements 42 , 44 . Both drive units 64 , 65 are formed by electric motors, for example, and in particular by servomotors.

Each drive unit 64, 65 has a rotationally drivable drive shaft 64a, 65a, the longitudinal axis of which runs in the z-axis direction, the longitudinal axis of the drive shaft 64a of the first drive unit 64 being the first pivot axis 38 and the drive shaft 65a of the second drive unit 65 being the second pivot axis 39 Are defined .

The first drive unit 64 is drivingly coupled to the swivel arm 6 via a first traction mechanism 66 in order to generate the swivel arm swivel movements 42 . The second drive unit 65 is drivingly coupled to the gripping unit 7 via a second traction mechanism 67 in order to generate the gripping unit pivoting movements 44 .

To implement the first traction mechanism 66, a first deflection pulley 68 is arranged in a rotationally fixed manner on the drive shaft 64a of the first drive unit 64, while a second deflection pulley 69 is arranged coaxially on the drive shaft 65a of the second drive unit 65, but without a connection to this drive shaft 65a, so that the second deflection disk 69 can be rotated freely in this regard. A self-contained first traction means 72 is looped around the two deflection pulleys 68 , 69 , which transmits a rotational movement of the first deflection pulley 68 generated by the first drive unit 64 to the second deflection pulley 69 . The second deflection disk 69 is firmly connected to a fastening flange 73, which is arranged on the base unit 5 at the bottom in the z-axis direction and on which the swivel arm 6 is fastened with its proximal arm end section 36. Actuation of the first drive unit 64 thus leads to a rotation of the fastening flange 73 through the mediation of the first traction mechanism 66, which results in the pivoting arm pivoting movement 42 of the pivoting arm 6 fixed thereto.

The drive shaft 65a of the second drive unit 65 projects downward from the base unit 5 with a drive portion 74 in the z-axis direction. A third deflection pulley 75 is seated in a rotationally fixed manner on this drive section 74, which also belongs to the second traction mechanism 67, as does a fourth deflection pulley 76, which is arranged rotatably at a distance from it on the distal arm end section 37 of the swivel arm 6, and a second traction mechanism 77, which surrounds the third and fourth deflection pulleys 75 , 76 is looped around .

The fourth deflection pulley 76 is non-rotatably seated on an output shaft 78 whose longitudinal axis is aligned in the z-axis direction and which is mounted on the swivel arm 6 such that it can rotate about its longitudinal axis, this longitudinal axis defining the second swivel axis 39 .

A driven section 82 protrudes downwards from the swivel arm 6 in the z-axis direction and carries the gripping unit 7 . The latter is mounted, for example, with its fastening section 46 on the output section 82 so that it executes the gripping unit pivoting movement 44 when the output shaft 78 rotates.

The two traction mechanisms 66 , 67 are preferably in the form of toothed belt drives, with the deflection pulleys 68 , 69 , 75 , 76 being in the form of toothed belt pulleys and the two traction mechanisms 72 , 77 being in the form of toothed belts. The traction mechanism 66, 67 can be dispensed with if the drive units 64, 65 are used as direct drives. In this case, the first drive unit 64 is located on the distal arm end section 35 of the base unit 5 and drives the fastening flange 73, while the second drive unit 65 is arranged on the distal arm end section 37 of the swivel arm 6 and drives the output shaft 78.

A process sequence that preferably takes place when using the described handling system 1 is explained below. A handling cycle for repositioning an object 8 from the ready position 15 to the delivery position 16 is described.

FIG. 3 shows an initial situation in which the gripping unit 7 is positioned in the intermediate space 17 and is already in an orientation in which the gripping unit—longitudinal axis 48 runs in the y-axis direction and the object—receiving area 47 is in a position to be repositioned. arranged in a ready position obj ect opposite 8 in the y-axis direction. A first dot-dash position line 83 extending in the y-axis direction marks the position along the x-axis direction occupied by the base unit 5 and more precisely by the first pivot axis 38, referred to as the x-axis position.

Starting from the first operating phase in FIG. 3, which defines a starting position, a linear retraction is achieved by a coordinated and, if necessary, superimposed actuation of the three drive units 22a, 22b, 22c, of which only the third drive unit 22c is shown in FIGS - Working movement 62a of the gripping unit 7 is caused, in which the object receiving area 47 moves along the linear travel path 63 to the object to be repositioned j ect approximates 8 . In relation to the top view shown, this is achieved by pivoting the pivoting arm 6 counterclockwise and, in this regard, pivoting the gripping unit 7 clockwise, which is superimposed, with the execution of a base unit linear movement 18 in the sense of a removal from the linear travel path 63, i.e. in the exemplary embodiment directed to the right. In FIG. 4 it can be seen how the x-axis position of the base unit 5 changes from the first position line 83 to a second position line 84 spaced apart in this regard. The gripping unit 7 performs a purely linear retraction working movement 62a, which it continues until the end of a third operating phase illustrated in FIG.

During the third operating phase, the gripping unit 7 moves along the linear travel path 63 until the gripping unit 7 has reached its pick-up working position 61a according to FIG. 5, which is defined by certain x-y coordinates. The pivoting arm pivoting movements 42 and the gripping unit pivoting movements 44 retain their pivoting direction compared to the second phase of operation in FIG approximates the linear travel 63 . In doing so, the base unit 5 changes its x-axis position from the second position line 84 to a third position line 85 .

The two gripping arms 52 are moved apart during this process, so that the object receiving area 47 is widened and the object 8 can be received unhindered.

This is followed by the fourth operating phase illustrated in FIG. 6, in which the spatial positions of the base units Unit 5, the swivel arm 6 and the gripping unit 7 do not change and the object receiving area 47 is narrowed merely by performing gripping arm movements 53 and the object 8 which is still in the ready position 15 is gripped.

This is followed by the fifth operating phase illustrated in FIG. 7, in which the gripping unit 7 executes a linear extending working movement 62b along the linear travel path 63, taking the gripped object 8 with it, which consequently consists of the only indicated by dots Ready treatment position 15 is removed. The fifth operating phase ends with an operating state corresponding to the first operating phase according to FIG. 3, but with the difference that the gripping unit 7 now holds an object 8 firmly.

Compared to the retracting working movement 62a according to FIG. 5, the directions of the swivel arm swivel movement 42, the gripping unit swivel movement 44 and the base unit linear movement 18 are oriented in opposite directions in the fifth operating phase of FIG.

In the subsequent sixth operating phase of FIG. 8, the base unit 5 continues the base unit linear movement 18 continuously, while at the same time the pivoting arm 6 and the gripping unit 7 are pivoted in the opposite pivoting direction compared to the movement sequences of the fifth operating phase of FIG. In the process, the gripping unit leaves its longitudinal axis 48 in parallel with respect to the y-axis. In contrast to the first to fifth operating phases of FIGS. 3 to 7, the gripping unit does not serve - pivoting movement 44 to maintain a constant spatial position in the xy plane, but to pivot the gripping unit 7 in the xy plane for the purpose of change the alignment of the object receiving area 47 in which the object 8 to be repositioned is arranged.

9 follows, which ends with the longitudinal axis 48 of the gripping unit running parallel to the y-axis again, with the object receiving area 47, which is still equipped with the object 8, simultaneously moving at the same time Repositioning desired, in Figure 9 shown dotted delivery position 16 facing. The object receiving area 47 and said release position 16 are at the same height relative to one another in the x-axis direction.

In the eighth operating phase which now follows and is illustrated in FIG. 10, a new retraction working movement 62a starts as a new linear y-working movement 62, in which the gripping unit 7 moves along the linear travel path 63 towards the projected release position 16 without any spatial change in orientation. Opposite pivoting arm pivoting movements 42 and gripping unit pivoting movements 44 take place, with a base unit linear movement 18 superimposed in this regard, which means that the base unit 5 moves its x-axis position based on that assumed in the seventh operating phase fourth position line 86 changed to a fifth position line 87 spaced apart in this regard.

FIG. 11 shows a ninth operating phase, which marks the end of the eighth operating phase of FIG. 10 and accordingly the end of the linear retraction working movement 62a. Here the gripping unit 7 is in its delivery working position 61b, in which the object 8 that is still held has reached the delivery position 16 . The delivery working position 61b is defined by xy coordinates that differ from those of the pick-up work position 61a. During the preceding retraction work movement 62a, swivel arm swivel movements 42 and gripping unit swivel movements 44 have taken place in the manner already explained, with a superimposed base unit linear movement 18 taking place to the effect of kinematic compensation such that the gripping unit 7 keeps its x-axis position constant maintains . During the transition from the eighth operating phase to the ninth operating phase, the base unit 5 has shifted from the fifth position line 87 to a sixth position line 88 , ie has approached the second pivot axis 39 .

In order to complete the repositioning process, the gripping structure 11 is then opened according to the tenth operating phase illustrated in FIG.

This is followed by a process analogous to the fifth operating phase according to FIG. 7, in which the gripping unit 7—but now without the previously released object 8—is shifted into the area of the intermediate space 17 as part of a linear extension working movement 62b. From there, a new handling cycle can be started by appropriately controlling the various drive units 22 a , 22 b , 22 c and the actuating device 54 .

The handling cycle explained above makes it clear that the gripping unit 7 can easily be pivoted by 180° with respect to the second pivot axis 39 to pick up an object 8 located in a ready position 15 and to deliver this object 8 to a delivery position 16 can . This pivoting by 180° means, for example, that the object receiving area 47 can point in opposite directions in the axial direction of the y-axis. Based on an x-axis and the y-axis spanned, the longitudinal axis 21 of the linear unit 8 containing x-z plane can be achieved by pivoting by 180 ° that the Obj ect receiving area 47 in the y-axis direction either on is positioned on one or the other side of the linear unit 8 . By way of example, this allows easy operation of the supply magazine 12 and the delivery magazine 13 , which are arranged on opposite sides of the linear unit 8 .

Claims

Expectations 1. handling system, - With a handling device (2) which has a handling unit (3) which has a base unit (5), a swivel arm (6) and a gripping unit (7), the gripping unit (7) for gripping and releasing a to be handled Object (8) is formed, - wherein the swivel arm (6) can be swiveled in relation to the base unit (5) by executing swivel arm swivel movements (42) about a first swivel axis (38) in a first swivel plane (43), the first swivel plane (43) being parallel to a extends from an x-axis and a y-axis orthogonal thereto on the spanned x-y plane (34) and the first pivot axis (38) extends in the axial direction of a z-axis orthogonal to the x-y plane (34), - wherein the gripping unit (7) can be pivoted in a second pivoting plane (45) with respect to the pivoting arm (6) by performing gripping unit pivoting movements (42) about a second pivoting axis (39) which is spaced apart from the first pivoting axis (38) and runs parallel , wherein the second pivot plane (45) also extends parallel to the x-y plane (34), - wherein the gripping unit (7) for gripping an object (8) arranged in a delivery position (15), for holding the object (8) when repositioning it from the delivery position (15) into a delivery position (16) spaced apart in this regard, and for releasing the gripped object Object (8) is formed in the delivery position (16), 33 - With a drive device (22) for generating the pivoting arm pivoting movements (44) and the gripping unit - pivoting movements (44), - And with an electronic control device (23) for controlling the drive device (22) in such a way that the gripping unit (7) when picking up the object (8) in the ready position (15) and when delivering the gripped object (8) in the delivery position ( 16) each occupies a working position (61) which is defined by an x-axis position along an x-axis direction of the x-axis and by a y-axis position along a y-axis direction of the y-axis, characterized in that - that the base unit (5) can be moved and positioned in the x-axis direction of the x-axis by means of a linear unit (4) of the handling device (2) by performing base unit linear movements (18), the base unit linear movements (18) being the drive device (22) controlled by the electronic control device (23) can be generated, - and that the drive device (22) can be controlled or is controlled by the electronic control device (23) in such a way that the gripping unit (7) moves into a working position (61) and/or or moving out of a working position (61) executes a purely linear y working movement (62) in the y axis direction with a constant x axis position, - The linear y working movement (62) of the gripping unit (7) taking place in the y-axis direction from the electronic control device (23) controlled, superimposed gripping unit pivoting movements (44), pivoting arm Pivoting movements (42) and base unit linear movements (18) result. 2. Handling system according to Claim 1, characterized in that the drive device (22) can be or is actuated by the electronic control device (23) in such a way that the angular orientation of the gripping unit (7) within the second pivot plane (45) is linear y work movement (62) remains constant. 3. Handling system according to claim 1 or 2, characterized in that the gripping unit (7) has a gripping structure (22) designed for releasably gripping the object (8) to be repositioned, which is spaced apart from the second pivot axis (39). and has an object receiving area (47) facing away from the second pivot axis (39), with which an object (8) located in the ready position (15) can be grasped in advance, the drive device (22) being controllable in this way by the electronic control device (23) or it is controlled that the rotational angle position of the object receiving area (47) assumed within the second pivoting plane (45) remains constant during the linear y working movement (62). 4. Handling system according to Claim 3, characterized in that the gripping structure (11) has two gripping arms (52) which project away from the second pivot axis (39) and extend side by side, which delimit the object receiving area (47) and which are used to change the The width of the object receiving area (47) can be moved relative to one another by means of an actuating device (54) which can cause gripping arm movements (53). 5. Handling system according to one of claims 1 to 4, characterized in that the swivel arm (6) has a proximal arm end section (36) and a spaced-apart distal arm end section (37), wherein it is connected to the proximal arm end section (36). the first pivot axis (38) is pivotally mounted on the base unit (5) and wherein the gripping unit (7) on the distal arm end portion (37) of the swivel arm (6) is pivotably mounted about the second pivot axis (39). 6. Handling system according to Claim 5, characterized in that the base unit (5) has a base (31) arranged on the linear unit (4) and a base (31) extending from the base (31) in a base plane (33 ) has protruding, rigidly connected to the base (31) support arm (32), wherein the support arm (32) has a to the base (31) spaced distal arm end portion (35) on which the pivot arm (6) with its proximal arm end section (36) is pivotably mounted about the first pivot axis (38). 7. Handling system according to one of claims 1 to 6, characterized in that the base unit (5) is arranged on a driven member (26) of the linear unit (4) on a guide structure (25) of the linear unit (4) in the x -Axis direction is displaceably mounted and which can be driven by the drive device (22) to linear output movements (27) in the x-axis direction, from which the base unit linear movements (18) result. 8. Handling system according to claim 7 in conjunction with claim 6, characterized in that the base unit (5) is arranged with its base (31) movable in the z -axis direction on the output member (26) of the linear unit (4), so that 36 the z-axis position of the handling unit (3) can be changed along the z-axis direction of the z-axis. 9. Handling system according to one of Claims 1 to 8, characterized in that the drive device (22) has a first drive unit (22a) designed to generate the pivoting arm pivoting movements (42), a first drive unit (22a) designed to generate the gripping unit pivoting movements (44). second drive unit (22b) and a third drive unit (22c) designed to generate the base unit linear movements (18), each drive unit (22a, 22b, 22c) being electrically connected to the electronic control device (23) and each drive unit ( 22a, 22b, 22c) is a purely electric drive unit. 10. Handling system according to Claim 9, characterized in that the first drive unit (22a) has a first drive unit (64) which is arranged on the base unit (5) and which, in order to generate the pivoting arm pivoting movements (42), via a first traction mechanism (66) is drivingly coupled to the swivel arm (6), the second drive unit (22b) having a second drive unit (65) which is arranged on the base unit (5) and there expediently in the area of the first swivel axis (38) and which is used to produce the gripping unit - Pivoting movements (44) via a second traction mechanism (67) with the gripping unit (7) is drivingly coupled. 11. Handling system according to one of claims 1 to 10, characterized in that the gripping unit (7) is of a fluid-actuated and in particular of a pneumatically-actuated type. 37 12. Handling system according to one of claims 1 to 11, characterized in that the gripping unit (7) for picking up an object (8) located in the ready position (15) and for delivering an object (8) in the delivery position (16) is pivotable or pivoted by 180° with respect to the second pivot axis (39). 13. Handling system according to one of claims 1 to 12, characterized in that the handling device (2) is arranged in the y-axis direction between a supply magazine (12) and a delivery magazine (13) for objects (8), the objects (8) when taking their ready position (15) in the ready magazine (12) and when taking their delivery position (16) in the delivery magazine (13), the two magazines (12, 13) being expediently designed as shelves. 14. Handling system according to claim 13, characterized in that the linear unit (4) extends in the x-axis direction in an intermediate space (17) present in the y-axis direction between the supply magazine (12) and the delivery magazine (13).