• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a gripping device (1) and a method for the monitored movement of objects (2), preferably sheets, comprising a system controller (3), which is designed for processing object data (31) and control of a gripping module (4) Gripping module (4), at least two mutually cooperatively formed gripping jaws (5) which form an intermediate receiving space (6) for receiving at least parts of an object to be monitored and transported (2). On at least one of the receiving space (6) facing inner surface (10) of at least one gripping jaw (5) is a friction lining (22), to increase the friction of the gripping jaw (5) on at least parts of the object surface (2), arranged, wherein at least one Gripping jaw (5) at least one securing means (17) formed thereon and the friction lining (22) in the direction of the clamping force (7), between a rest position (18) and an active position (19), designed to be movable and biased by a spring force (44) is. In the rest position (18) in this case the friction lining (22) the securing means (17) is outstanding and in the active position (19), for exercising an at least punctiform securing force (20) on at least parts of an object surface (2), the friction lining ( 22) arranged offset back relative to the securing means (17).
    公开号:AT521039A4
    申请号:T50273/2018
    申请日:2018-04-04
    公开日:2019-10-15
    发明作者:
    申请人:Trumpf Maschinen Austria Gmbh & Co Kg；
    IPC主号:
    专利说明:

    The invention relates to a device and a method for the monitored movement of objects, preferably sheets. The gripping device and the method in which the gripping device is used comprise a sensor arranged on a gripping module, which can detect a relative movement and / or relative speed of the object to be moved relative to the gripping device and can initiate suitable countermeasures.
    The invention further relates to a securing means, which is designed as part of the gripping device to occupy an active position in case of need, in which a retaining force to an additional securing force can be applied to the object to be moved.
    In the forming industry, many efforts have been made in recent years to make the addition, manipulation and / or removal of parts to be formed faster and also safer for the process and the people involved, such as a plant operator. For some applications where often monotonous or often repetitive tasks must be performed, the use of automated systems or robotic systems has prevailed. Likewise, from an ergonomic point of view, it makes sense to move very heavy and / or sharp-edged objects through gripping devices instead of accepting a risk of injury to a system operator.
    Numerous types of robotic and / or associated gripping devices are known to those skilled in the art, which cooperate with automated forming / processing equipment and the like, and which are connected to a plant controller for monitoring and controlling the individual plant components.
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    Especially in sheet metal forming, suction pads are often used to move the metal sheets in order to pick up the forming sheet metal and transport it to its destination. DE 102006025387 B3, for example, presents a method for the monitored transport of metal sheets, in which the detection of unwanted double sheets by sensors is made possible. However, the use of suction pads requires a minimum surface area for a suction head and requires clean surfaces. In addition, the use of suction pads for high gripping and movement speeds is only partially suitable. For this reason, increasingly today pliers grippers are used, which allow smaller attack surfaces and also allow more varied movements. Moreover, the speed of the gripping and / or traversing movements can be increased by the use of gripping modules which have at least two gripping jaws. In this case, however, the risk may arise that an object, such as a sheet metal and / or sheet metal part, can slip through the rapid movements of the gripping device within this and in the worst case, even ejected from the gripping device.
    Usually, an automated machining center, such as a bending machine with associated manipulator for moving parts or objects, is operated within a protective fence intended to prevent inadvertent entry of foreign bodies, in particular persons, within the machining area. In addition, a protective fence arrangement or housing can serve to intercept a "flung out" of the gripping device object and thus to ensure safety in the fenced processing area. Processing areas delimited by the protective fences often have to be extensively secured in several places in order to allow temporary access to the processing area. This may be necessary to achieve e.g. a provision of raw material or semi-finished at a removal for the gripping device, or analogous to the removal of machined objects or parts of a tray to allow. A protective fence represents a drainage technical disadvantage. Furthermore, the construction of a protective fence with time and cost associated with the construction. At ei3 / 58
    N2017 / 33200-AT-00 nem Moving a machining center, at least consisting of a gripping device, a manipulator and a processing machine, the safety fence must be newly set up and set up each time.
    The object of the present invention was to overcome the disadvantages of the prior art and to provide a cost-effective device and a method by means of which a simple detection of unwanted relative movements and / or relative speeds of objects to be moved within a gripping device during predetermined movements allows becomes. Associated with this is the task, if necessary, to initiate suitable countermeasures on the gripping device and / or associated components of a forming system. Furthermore, the task of safety and / or quality of the processing plant or its periphery, and thus also for persons to increase and among other things operating, standstill, repair and / or material costs, to save and be able to dispense with elaborate protective fences.
    This object is achieved by an apparatus and a method according to the claims.
    The gripping device according to the invention for the monitored movement of objects, preferably sheets, comprises a system control which is designed for processing object data and controlling a gripping module and / or further system components. The gripping module has at least two mutually cooperatively formed gripping jaws on which form an intermediate receiving space for receiving at least parts of an object to be monitored and transported, in particular a sheet metal part. The jaws of the gripping module are designed such that by applying a predetermined clamping force at least a frictional connection between the gripping jaws and at least parts of the object is made possible, whereby the object is movable, so graspable and transportable. Furthermore, the gripping device comprises at least one sensor element for detecting the object data of the object to be moved and monitored. Under object data can be next to local and / or La4 / 58
    N2017 / 33200-AT-00 geinformationen, so position data relative to the sensor array, also an object speed to be meant. The at least one sensor element is arranged on at least one gripping jaw with its sensor area facing the receiving space and designed such that a relative speed of the object with respect to at least one of the gripping jaws is detected by at least temporary detection of the object data.
    The method according to the invention for the monitored movement of objects, preferably metal sheets, therefore comprises the method steps:
    Providing a gripping device according to one of claims 1 to 16,
    - Providing at least the object to be moved;
    - Grasping the object to be moved by means of gripping jaws of the gripping device;
    - Movement of the object according to a predetermined movement sequence, wherein a detection of movement data of the gripping device takes place and an at least periodic evaluation of the movement data is performed by a plant control and
    - A detection of object data of the picked and moved object by means of at least one sensor element is carried out and at least a periodic evaluation of the object data in the plant control; and
    an at least periodical adjustment of the object data with the movement data is used to detect any deviation which corresponds to a relative speed and / or relative movement of the object to be moved relative to at least one of the gripper jaws, and wherein
    - No deviation corresponds to a normal operation and the predetermined movement is terminated; or
    - At a detected deviation initiation of at least one, preferably several, countermeasure is carried out by the plant control.
    The gripping device according to the invention can be designed to perform multiaxial movements in space, which means that the gripping device is preferably designed as part of a multi-axis manipulator or robot. The movements of the gripping device can according to the required Be5 / 58
    N2017 / 33200-AT-00 processing steps of an object, in particular a sheet metal part, are specified. The motion sequences are made available and processed as movement data in a system control. Such system controls are known in the art, as well as multi-axis manipulators or robots, which is why there is no further description. The movement data of the gripping device is at least at periodic intervals, on command of the plant control and / or e.g. A plant operator also acyclic, and in the limit, continuously determined and the plant control made available.
    The movement data comprise the movement speed and / or movement direction and / or the acceleration of the gripping device or of the gripping module, as a result of which the exact position of the gripper jaws can be predetermined and / or measured and thus known as a function of time. The detection of the movement and / or position data of the gripping device is generally carried out by sensors, as they are known in the art and are therefore not further explained.
    The described arrangement of gripping jaws and the at least one sensor element with its sensor area in the receiving space, only a measurement of the object data and thus the detection of a relative movement and / or relative speed of the object relative to the gripping device is accessible. In the context of this invention, the term relative movement is representative of the relative speed but also relative acceleration of the object. The detection of this object data of the picked and moved object by means of at least one sensor element is at least periodically, but can also be caused acyclically by the plant control and carried out continuously in the limiting case. The motion and object data can thus be detected and controlled by the system controller and can be compared with each other at least periodically.
    Especially in sheet metal processing, e.g. when bending, pressing or punching, the required movements can be very diverse and make the vote of the forming or processing machine with an addition / manipulation and / or removal device required. An advantage of the gripping device according to the invention or the method is that the risk of Ver6 / 58
    N2017 / 33200-AT-00 slipping of an object, preferably a sheet or sheet metal part, is efficiently reduced, whereby the travel speed of the gripping device can be optimized. This means that for each object the traversing speed can be increased so far that no slipping out of the receiving space takes place, since a detection of a relative movement and / or relative speed of the object is promptly recognized by the system controller and at least one suitable countermeasure is initiated. An thereby faster and more accurate positioning of an object to be moved to, within and / or from the processing machine can increase productivity and reduce operating costs.
    Another advantage of the gripping device according to the invention or of the method according to the invention is that the construction of a protective fence, for the purpose of stopping any ejected plates in their movement, can be dispensed with. In addition, the probability of erroneously placed objects is significantly reduced before a subsequent processing step, as e.g. in sheet metal / parts can happen if they are not aligned correctly to a bending line. The gripping device or the method can thus also increase the quality of the components and reduce possible costs for repair, maintenance, standstill or material.
    The idea according to the invention allows the person skilled in the art to determine the size of the gripping device itself, which also scales the size of the receiving space which arises between the at least two gripping jaws. The gripping device will often not capture the entire object along one edge, but will be smaller in at least one direction relative to the object to be moved. It is easy to imagine a small strip, which is clamped by two gripping jaws whose width is greater than the width of the strip. Therefore, the gripping device can also be made larger in one direction relative to the object or at least parts of an object. However, it is advantageous if, when gripping at least parts of the object, not only the at least one sensor element recognizes "that" an object is gripped, but also what weight and / or / 58
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    Shape and / or position which have at least parts of the object relative to the gripping device.
    Therefore, it may be expedient if the sensor element is designed to detect at least periodically a position and / or a position and / or weight of the object as object data.
    This has the advantage that due to the at least one sensor element an incorrect position in the horizontal direction, but also incorrect position in the vertical and / or horizontal direction, that is, e.g. can be recognized by "skew" oriented blanks or semi-finished with respect to the gripping tool. A correction of the gripping device can be automatically initiated by the system controller in order to correctly align the object for a subsequent process step. In addition, e.g. by determining the weight of a double sheet detection done. These measures can therefore make a decisive contribution to increasing safety and quality.
    Furthermore, it can be provided that the sensor element is designed as at least one optoelectronic, preferably laser-optical and / or acoustic and / or capacitive and / or inductive sensor element.
    This measure allows the person skilled in the art to optimize a design of the gripping device, depending on the material and / or the surface condition of the objects to be moved. For electrically conductive and magnetic materials, e.g. inductive sensor elements are used. Acoustic sensor elements can also be used for electrically nonconductive and / or nonmagnetic materials. Capacitive sensor elements are also set almost no restrictions by electrical conductivity and / or magnetic properties. Proximity switches, distance sensors, and particularly preferably acceleration sensors come into question here as capacitive sensor elements as at least one sensor element. Optoelectronic sensor elements have the advantage that they are cheap and versatile and also virtually no restrictions by electrical conductivity and / or magnetic Eigen8 / 58
    N2017 / 33200-AT-00 subject to the material of the object to be moved. As optoelectronic sensor elements, e.g. imaging sensor elements such as a CCD camera and the like can be used. Likewise, simpler light sensors are conceivable as optoelectronic sensor elements. Particularly preferred are laser-optical sensor elements, since their wavelength and / or energy range can be selected relatively independent of scattered light and / or shadowing. This can reduce the influence of any surface contaminants or specular surfaces which can lead to blurs in the detection of relative velocity. Moreover, a very high precision and detection speed of a relative movement and / or relative speed of an object can be achieved with laser-optical sensor elements.
    In addition, it can be provided that two sensor elements are arranged connected in a signal redundancy with the plant control.
    Signal-based redundancy is understood to mean that both sensor elements are assigned to the same object or the same part of an object to be moved, and their measurement signals can be recorded and evaluated by the system controller, preferably at the same time. This measure can increase the process reliability in the event that a sensor element should be damaged or dirty. Moreover, such an arrangement is suitable for detecting a non-linear movement of an object. This can e.g. be a twisting movement or a lateral slippage about an axis of rotation within the gripping device. In the limiting case, an axis of rotation of the object could coincide with an axis of the sensor element in the direction of its sensor region, as a result of which the relative movement of the object is not detected as a "linear relative velocity" at a first sensor element. However, a second adjacent adjacent sensor element would be able to detect the relative movement and / or relative speed of the object through the redundancy circuit.
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    Also advantageous is an expression, according to which it can be provided that the inner surfaces of the gripping jaws are at least partially aligned parallel to each other.
    The formation of gripping jaws, which at least partially parallel to each other or parallel alignable, sections and thus at least partially aligned in parallel has the advantage that the at least one sensor element a constant orientation, ie a constant sensor area, relative to male objects of different sizes having. This adaptation allows a high quality of the measurement of the at least one sensor element, even if the receiving space has to be different in size, because e.g. Object size varies. Furthermore, the surface pressure on the object can be reduced in comparison to a punctiform contact surface, due to the formation of parallel inner surfaces or contact surfaces of the gripping jaws. This can be advantageous especially with sensitive object surfaces. In addition, it can be avoided by the parallel inner surfaces, that there is an unwanted lateral lowering of the object after picking up when the object is taken away from its center of gravity. Such lowering into one side could cause the object to be held and moved in a "leaning" plane, whereby a subsequent processing step may not be performed, or may be poorly performed, or may require additional correction of the position. In sum, parallel sections thus lead to a faster, more precise and thus more reliable positioning and detection of the objects to be moved, whereby costs can be saved and the quality can be increased.
    According to a development, it is possible, at least one gripping jaw is designed to be rotatable about a clamping axis and at least one angle correction means to increase the clamping force on the object to be gripped.
    One or more such angle correction means are preferably arranged on an end portion of a gripping jaw. An angle correction means serves the inner surface of the end portion of the gripping jaw to the surface of at least one part / 58
    Align N2017 / 33200-AT-00 of the object in parallel. Thus, an angle between the end portion and the clamping axis is corrected and the force applied to the jaw over the angle correction means always normal to the object surface. An angle correction means is preferably formed only on that / those gripping jaws, on which no sensor element is arranged, whereby the sensor area of the at least one sensor element is not impaired on a corresponding gripping jaw. Furthermore, it is achieved that the receiving space between at least two gripping jaws for objects of different sizes can be varied. Such angle correction means may e.g. a pivotable handle plate, which adapts to the orientation of the jaw or the object surface. Likewise, an angle correcting means can also be designed as an elastic body on the inner surface of a gripping jaw such that it adapts parallel to the object surface during a closing movement of the gripping jaws at least along a contact line, preferably a contact surface. A rubber blade or the like are particularly well conceivable here.
    Furthermore, it may be expedient if the gripping device is designed as a forceps gripper, which preferably has two gripping jaws or pliers rotatable about the clamping axis.
    For some applications, there may be advantages if all jaws or pliers are rotatable about a common clamping axis, since in this way the center of the receiving space between the end portions of the jaws with a normal to the clamping axis is always in the same plane. A very homogeneous application of force to the surface of the object is thereby made possible, which can contribute to increasing the quality. Furthermore, objects which can locally be gripped by the forceps-shaped gripping jaws also have a larger dimension than the receiving space between the gripping jaws. This is particularly advantageous in the case of sheet metal part forming, since the sheet is thus held between the gripping jaws, but e.g. a deformed edge between the jaws, so behind the receiving space, and can be positioned in front of the clamping axis. Thus even complicated forms of objects are tangible.
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    It may alternatively be provided that at least one gripping jaw is designed to be displaceable parallel to the second gripping jaw.
    This very easy-to-implement form of a plate gripper allows a parallel picking up of objects, preferably sheets, and thus can be produced cost-effectively, since only one gripping jaw must be designed to be displaceable parallel to the second jaw.
    In addition, it may be provided that the gripping device is designed as a plate gripper, which has two gripping jaws or plates which are movable normally relative to a clamping axis.
    The formation of two mutually displaceable gripping jaws on the gripping module allows the center of the receiving space between the jaws in a plane with an imaginary extension of the gripping device remains. Thus, the introduction of force is independent of the component thickness or a local diameter of an object to be moved and can be very homogeneous on the object surface, which can contribute to increasing the quality. Furthermore, the plate-shaped gripping jaws or gripping plates are particularly suitable for sheet transport or sheet metal manipulation, since the sheet is held between the plates with a comparatively large area, whereby a large resistance to slipping is ensured.
    In particular, it may be advantageous if a friction lining, for increasing the friction of the gripping jaw to at least parts of the object surface, is arranged on at least one inner surface of at least one gripping jaw facing the receiving space.
    Increasing the friction between jaws and the parts of the object surface on which they attack is a particularly preferred measure to achieve a gentle treatment of the object surface. In addition, the security when gripping and against slipping of the object is increased. There are friction linings conceivable for this, which have a coefficient of friction with respect to steel, which is higher than that of steel against steel. Preference is given / 58
    N2017 / 33200-AT-00 elastic polymers are used, which have a sufficiently high coefficient of friction with respect to steel, since the shape of this relatively simple and they are relatively easily replaceable and inexpensive.
    Furthermore, it can be provided that at least one gripping jaw comprises at least one securing means formed thereon in the direction of the receiving space and a friction lining designed to be movable in the direction of the clamping force. The friction lining is biased by a spring force and designed to be movable between a rest position and an active position. The rest position corresponds to the situation that the spring force on the friction lining is less than the clamping force of the gripping device, whereby only the friction lining with at least parts of the object surface is in contact and the at least one securing means remains set back relative to the surface of the friction lining. In the active position, wherein the clamping force exceeds the spring force of the friction lining, the at least one securing means emerges from the surface of the friction lining, whereby a securing force is applied at least punctiformly through at least parts of the object surface.
    This securing means is thus during a normal operation in a rest position under the inner surface of the gripping jaw, or at most in the same plane of the inner surface or the friction lining, hidden so as not to damage the object surface. Upon detection of a deviation between object data and movement data, which corresponds to a relative movement or relative speed of the object to be moved, countermeasures are initiated by the system controller. One of these countermeasures may be the active position of the securing means, wherein the friction lining is moved by its application of a clamping force exceeding the spring force from its rest position and thus the securing means abruptly emerges relative to at least parts of the inner surface and / or the friction lining of the gripping jaw. In this case, the securing means, in addition to the inner surfaces with at least parts of the object surface is brought into contact by a predetermined securing force. This embodiment can cause an increase in the local surface pressure without / 58
    N2017 / 33200-AT-00 the object must be damaged. This can contribute to increasing process and plant safety.
    According to a particular embodiment, it is possible that the at least one securing means for exercising an at least punctiform securing force on at least parts of an object surface is formed like a spike and / or hook.
    It has proven to be advantageous if the securing means can act with a locally increased securing force on the object, which performs an unintentional relative movement. The object to be moved is thus no longer held solely by a frictional connection between the jaws with a holding force, but in addition a positive connection is secured by the substantially punctiform acting securing force. Here, the holding force must be significantly greater than the spring force. In this case, the securing means hemispherical and / or claw-shaped and / or thorn or hook-shaped, whereby the securing effect can be increased. A plastic deformation of the object surface can be accepted due to the increased security. The friction lining, respectively the securing means, can after the described countermeasure be reset to the rest position or rest position by acknowledging an error message, replacing the damaged component or object, etc.
    According to an advantageous development can be provided that the friction lining is designed to be movable by a hydraulic, pneumatic, mechanical and / or electromechanical spring means.
    It has proved to be advantageous that the spring force is applied via an additional and / or independently controllable drive. The jaws and / or the gripping module or the gripping device are normally driven hydraulically and / or by electric motor. It can be provided that the friction lining is mounted via a spring means such that a spring force acts on the friction lining in the direction of the receiving space and independently of e.g. one / 58
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    Supply the gripper jaws and / or the gripping module is. It is possible to apply the spring force hydraulically via a separate hydraulic line, which is not connected to the hydraulic system of the gripping device. It is also conceivable that spring means is supplied via an independent of the drive of the remaining gripping module pneumatic line. Alternatively, or as supportive, the friction lining may be biased with a spring means, e.g. mechanically formed via a relatively simple spring element, such as a screw or leaf spring, with a spring force. It is also conceivable that the spring means and the friction lining are made in one piece of a resilient, preferably synthetic plastic, material which intrinsically has the predetermined spring force. In the active position of the securing means, a clamping force is exerted on the object surface, which exceeds the spring force of the spring means on the friction lining, whereby the securing means is pressed against the object surface.
    Furthermore, it can be provided that the gripping module is designed as a manipulator which is movable at least two axes, preferably as a multi-axis robot.
    An automated machining center, which comprises a plurality of components, such as an object supply or removal, a processing machine, a storage for the finished objects, the gripping device according to the invention is particularly advantageously that part of a mobile, preferably multi-axis robot, which serves as a gripping tool. This increases the degrees of freedom of the gripping device in interaction with a multi-axis robot and makes it possible to increase the travel speed of the gripping module or of the robot, without the object slipping off.
    In addition, it can be provided that the manipulator along a trajectory to increase a range of movement of the manipulator, is designed to be movable.
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    This is a cost effective and relatively easy to implement measure to adapt the range of motion of a manipulator to the needs of an automated machining center. This measure is particularly advantageous to keep the overall dimensions of the robot or manipulator low, but to increase the range along a, preferably horizontal, travel distance. The direction of travel can be specified by the system controller.
    Also advantageous is an embodiment, according to which it can be provided that the at least biaxially movable manipulator has at least one laser-optical safety scanner connected to the system controller for detecting a possible foreign body in a predefinable warning area and a predefinable stop area.
    The laser-optical security scanner is preferably arranged on a raised position of the robot such that a free visual connection to the processing area is ensured. That is, the laser optical safety scanner is preferably mounted on top of an arm of the robot, or on a turret of the robot, at a location that allows the warning area and stop area to be in line-of-sight with the security scanner. The laser-optical security scanner can be used e.g. throw a net of light rays or beams onto the floor of the processing area, which is detected by the security scanner when a foreign object enters.
    A warning area and a stop area can be defined in advance, which are stored in the plant control and define the processing area as a kind of "fictitious safety fence". The center of the warning and stop area should be the vertical axis of rotation of the robot, with the beginning of the warning area farther away than the stop area. It has proven to be advantageous for personal safety that the warning area at least the range of movement of the robot and thus the gripping device and the maximum dimensions of each moving parts in the horizontal direction and an additional safety distance of 0.5 to 5.0 m (meters), preferably 1.5 bis 2.5 m, has. The stop area is adjacent to the warning area or also / 58
    N2017 / 33200-AT-00 with this overlapping and is by the range of motion robot and thus the gripping device and the maximum dimensions of each moving parts in the horizontal direction and a lower additional safety distance of 0.2 to 2.0 m, preferably 0.5 to 1.0 m Are defined.
    The warning area defines a processing area in which upon detection of a foreign body at least one countermeasure is initiated, which corresponds to a first stage, and from the group: increasing the clamping force of the jaws, and / or slowing a Verfahrgeschwindikeit the gripping device, and / or triggering a first optical warning signal, and / or triggering a first audible warning signal, and / or lowering the moving object in the vertical direction, is initiated. Analogously, the stop area defines a processing area in which upon detection of a foreign body at least one countermeasure is initiated, which corresponds to a second stage, and from the group: stopping the movement of the gripping device or the robot, and / or active position of the securing means, and or triggering a first or second, different from the first, optical warning signal, and / or triggering a first or second, different from the first, audible warning signal; is initiated. In this way it can be achieved that the security for persons is made possible even at high speeds of movement of the gripping device and can be dispensed with a protective fence.
    The warning area and / or stop area need not necessarily be concentric and / or symmetrical away from the vertical axis of rotation of the manipulator or robot. It is quite possible that the dimensions of the finished parts are substantially smaller than those of the semifinished product or sheet, whereby the tray can be closer to the robot, as the recording. As a result, an asymmetric processing and thus warning and / or stop area can be defined, which allows a more compact arrangement of adjacent machining centers than would be possible with symmetrical areas.
    Moreover, the warning and / or stop areas are not stationary in the context of the invention, but can be moved relative to this, in particular in combination with a manipulator movable along a travel distance, and / 58
    N2017 / 33200-AT-00 therefore have a movable fixed point. This makes it possible, even during the process, to exchange objects provided, e.g. Semi-finished or finished parts, can be performed when the warning area and / or stop area are located from the respective area, since the manipulator and thus the processing area of it is removed. This would not be possible with a fixed safety fence, but would require complicated and expensive transfer stations.
    The method according to the invention for the monitored movement of objects, preferably sheets, comprises the following method steps:
    Providing a gripping device according to one of the abovementioned features, thus at least comprising a gripping module which has at least two mutually cooperatively formed gripping jaws which form an intermediate receiving space for receiving at least parts of an object to be monitored and transported, and the gripping jaws are designed such in that at least one frictional connection between the gripping jaws and at least parts of the object is made possible by applying a predefinable clamping force, and at least one sensor element for detecting object data of the object to be moved and monitored, wherein the at least one sensor element adjoins at least one gripping jaw with its sensor region arranged facing the receiving space and is formed by at least temporary detection of the object data, a relative movement and / or relative speed of the object with respect to at least to detect one of the jaws;
    - Providing at least the object to be moved;
    - Grasping the object to be moved by means of gripping jaws of the gripping device;
    - Movement of the object according to a predetermined movement, wherein
    - A detection of movement data of the gripping device takes place and
    - An at least periodic evaluation of the movement data is done by a plant control and
    - A detection of object data of the sensed and moving object by means of at least one sensor element takes place and / 58
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    - An at least periodic evaluation of the object data in the plant control takes place; and
    an at least periodical adjustment of the object data with the movement data is used to detect a possible deviation, which corresponds to a relative speed of the object to be moved relative to at least one of the gripping jaws, and wherein
    - No deviation corresponds to a normal operation and the predetermined movement is terminated; or
    - At a detected deviation initiation of at least one, preferably several, countermeasure is carried out by the plant control.
    A number of advantages and features of the method according to the invention have been previously mentioned at a suitable location for the gripping device and their operation, which is why they are not repeated here.
    However, it is of practical importance if a number of limit values are defined for determining the deviation between the movement data and object data in the system control, which ensure a relative movement and / or relative speed of the object, preferably of the sheet to be moved. In this case, a certain tolerance limit can be provided. Optimized limit values for the initiation of countermeasures of the first stage, as well as higher limit values for the initiation of countermeasures of the second stage compared to the first limit values, can be stored in the plant control. Different processes or sequences of motion and objects may require different limits.
    According to a development, it is thus possible for the initiation of the at least one countermeasure to take place in two stages depending on the extent of the relative speed, at least one countermeasure of a first stage being initiated when a first threshold value is reached, and at least one countermeasure of a second threshold being reached when a second threshold value is reached Stage is initiated.
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    The initiation of the at least one countermeasure depending on the extent of the relative velocity is preferably carried out at a first limit value of the relative velocity of 0.1-2.0 mm / s or a second limit value of the relative velocity of more than 2.1 mm / s, particularly preferably 1.0 mm / s.
    The use of such safety thresholds serves to increase process and personal safety. In addition, the second stage initiation of countermeasures allows the processing step to be carried out, among other things. can still be done without a process stop or abort is required.
    The grouping of countermeasures of the first and second groups has previously been described for use in the detection of a foreign object in the warning or stop area and is therefore not repeated here, but referred to. The initiation of the countermeasures is carried out according to the invention at least one stage, preferably two stages. It can thus be deposited in the plant control for which sequence of movements or which methods, optimized first and second limits are defined in order to initiate the at least one countermeasure of the first and / or second stage. It should be noted at this point, however, that especially the increase in the clamping force and / or the slowing down of the travel speed of the gripping device can enable the processing step to be completed. Furthermore, a securing means may additionally be brought into contact with the object on the inner surface of the gripping jaws, in which the holding force is significantly increased and overcomes the spring force on the friction lining, whereby a securing force can be applied in addition to the holding force of the gripping jaws. A system operator can detect any manual corrective action by detecting an audible and / or visual warning. The lowering of the moving object in the vertical direction downwards has as a countermeasure primarily the advantage that in the worst case of slipping of the object this has a predetermined trajectory down and thus not uncontrollably thrown over the warning and / or stop area and thus the processing area of the machining center can be.
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    In addition, it should be mentioned here that upon detection of a relative movement and / or relative speed, which requires at least a countermeasure of the second stage, ie by reaching the second limit value, the countermeasure can be initiated immediately. For the second visual and / or audible warning signal, a different warning signal should be used than would be used in the warning zone or when initiating a first-stage countermeasure. This measure prevents confusion. By stopping the movement of the gripping device, a slipping of the object can be efficiently avoided.
    It may also be expedient if, in the active position of the at least one securing means, the clamping force is increased via the spring force acting on the friction lining, whereby the friction lining is moved from its rest position, in which the securing means is concealed in the direction of the receiving space, such that at least one securing means abruptly emerges relative to the friction lining. As a result, the at least one securing means can be abruptly brought into contact with at least parts of the object surface, with application of an additional securing force.
    This local increase of the surface pressure on the component can lead to a reduction of the relative movement and / or relative speed of the component, since the clamping force of the gripping jaws is supplemented by the securing force of the at least one securing means. The securing force can be selected at a height in order to avoid a plastic deformation of the object to be moved.
    In addition, it can be provided that the at least one securing means at least partially penetrates into at least parts of the object surface. As a result, a plastic deformation of the gripped parts of the object surface occurs and in addition to the frictional connection of the jaws and the object takes place in this way a positive connection.
    For this purpose, the clamping force must clearly exceed the spring force of the spring means on the friction lining. Although damage to the surface of the object / 58
    N2017 / 33200-AT-00 or of the component to be manufactured, this countermeasure effectively prevents the object from slipping out of the gripping device in the limiting case. This countermeasure is associated with the above description advantageously only at elevated detected relative movements and / or relative speed of more than the second limit of 2.1 mm / s, preferably more than 1.0 mm / s, as a countermeasure second stage to initiate.
    According to a particular embodiment, it is possible for at least one second sensor element to be used for detecting the object data.
    The corresponding mode of action and their individual advantages have been previously mentioned on the device side, which is why there is no repetition.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    In each case, in a highly simplified, schematic representation:
    1 embodiment of a gripping device which has grasped an object by means of gripping module;
    2 schematic representation of possible relative movements of an object or sheet relative to the gripping device in linear (a) relative movement, or rotating (b) relative movement;
    Fig. 3 embodiments for gripping modules, wherein the gripping jaws as pliers (a) (b) or plates (c) (d) are executed;
    4 shows exemplary embodiments of gripper modules, the angle correcting means being designed on a gripping jaw as a pivotable gripping plate (a) (b) or elastic body (c) (d);
    Fig. 5 is a schematic representation of the detection of relative movements and initiation of countermeasures (a) to (c);
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    6 is a schematic sectional view of a gripping module with securing means in the rest position (a) or an active position (b);
    7 shows an exemplary embodiment of an automated processing center from a bird's-eye view with a movement area, warning area and stop area of a security scanner of the gripping device;
    Fig. 8 Ausführungsseispiel an automated machining center with sideways movable gripping device.
    By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and these position information in a change in position mutatis mutandis to transfer to the new location.
    FIG. 1 shows an exemplary embodiment of a gripping device 1 according to the invention, which comprises a gripping module 4 and a system controller 3. The gripping module 4 has at least two cooperatively formed gripping jaws 5, which grasp an object 2 on at least part of the object surface 21. It can be clearly seen from FIG. 1 that the object 2 can have virtually any shape, as long as engagement of the gripping jaws 5 is made possible. The illustrated component or object 2 is an example of a semi-finished product from an angled sheet, which is supplied in a forming machine or bending machine 36 to the next forming step.
    From Fig. 1 it can further be seen that the gripping device 1 may have an at least two-axis movable manipulator 23, which is formed in the embodiment as a multi-axis robot. The boom or robotic arm of the manipulator 23 is rotatable by 360 °, as well as vertically and horizontally pivotable and / or trained on and pulled out. That means in / 58
    N2017 / 33200-AT-00 present example, that the manipulator 23 is formed six-axis. The multiaxiality of the manipulator 23 and / or the gripping device 1 is indicated schematically by the combined x, y, z axis symbol with the respective rotation arrows in FIGS. 1 and 2 and is the preferred variant for all embodiments according to the invention. Furthermore, in the object-facing end of the manipulator 23, the gripping module 4 is formed, whereby the gripping device 1 attains a high degree of versatility. The drive of the manipulator 23 and the gripping module 4 is preferably formed electromechanically. A clamping force 7 can be applied separately from a separate drive on the jaws 5 and thus on the object 2.
    As indicated in FIGS. 1 to 5, as well as in FIGS. 7 and 8, the system control 3 can be arranged as part of the gripping device 1 on or in this position. However, it is also conceivable that the system control 3 is arranged in a decentralized manner by the gripping device 1, and e.g. is arranged in a display or control element not shown.
    In Fig. 1 in conjunction with Fig. 3 is further indicated schematically that a receiving space 6 is limited by the cooperating gripping jaws 5 in the area where they can receive an object 2 on their inner surfaces 10. Furthermore, sensor elements 8 are arranged on a gripping jaw 5 such that their sensor region 9 faces the object surface 21 of the object 2 to be moved in the receiving space 6.
    The following discussion of FIG. 2, as well as FIGS. 1, 3, 4, 7 and 8, describes by way of example how the acquisition of movement data 40 of the gripping device 1 or the gripping module 4 and at least periodic evaluation of this movement data is carried out by the system control. Furthermore, there is a detection of object data 31 of the picked and moved object 2 by means of at least one sensor element 8 and an at least periodic evaluation of the object data 31 in the system controller 3. Thus, an at least periodic adjustment of the object data 31 with the movement data 40 is made possible by any Deviation, which is a relative speed 26 of the object 2 to be moved relative to at least one of the gripping jaws 5, and thus the gripping module / 58
    N2017 / 33200-AT-00 or the gripping device 1, corresponds to detect and initiate appropriate countermeasures 29.
    FIG. 2 serves to illustrate some possible types of movement of an object 2 grasped and moved by the gripping device 1. The bandwidth of the detection of relative speeds 26 of an object 2 to be moved by the gripping device 1 according to the invention is indicated only schematically here. The gripping device 1 or the gripping module 4 can move along or about several axes. The movements of the gripping module 4 or the gripping device 1 in space are controlled according to a predeterminable sequence of movements of the system controller 3 and detected as motion data 40 of sensors not shown and provided the system controller 3 at least periodically available.
    In FIGS. 2 a and 2 b, a travel speed 30 of the gripping module 4 about an imaginary vertical axis is described by way of example. However, this angular velocity of the example shown is to be understood so that linear movements of the gripping module 4 in an analogous manner can have a travel speed 30 or corresponding directions of movement. The motion data 40 available in the system controller 3 thus comprise the local speeds and the corresponding position of the gripper device 1 or of the gripper module 4 at a specific point in time. Deviating relative movements and / or relative speeds 26 can thus be derived analogously to the exemplary situations shown by the person skilled in the art.
    The sensor elements 8 shown in dotted lines in FIG. 2 are arranged in one of the two gripping jaws 5 of the gripping module 4 and permit detection of the object data of the gripped and moved object 2. It can be seen from the exemplary arrangement of the sensor elements 8 that the adjacent arrangement each with the receiving space 6 facing sensor areas 9, a redundancy circuit allows.
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    FIGS. 2 a and 2 b illustrate the intended movement of an object 2 with a travel speed 30 of the gripping module 4 on the basis of a sheet, wherein a relative movement and / or relative speed 26 occurs in the centrifugal direction 35.
    The illustration in FIG. 2a shows by way of example that the object 2 or the sheet in the centrifugal direction 35 is moved out of its original receiving position, which is shown in broken lines. The situation is illustrated such that the relative movement with a relative speed 26 of the object 2 takes place essentially linearly relative to the gripping jaw 5 or to the gripping module 4. The relative movement and / or relative speed 26 of the sheet takes place orthogonally to the direction of movement of the gripping device 1 and can be detected by both dotted sensor elements 8.
    In FIG. 2 b, a limiting case is shown by way of example, in which the object 2, or one end of the sheet, is unscrewed from the gripping module 4 in the direction of the travel speed 30. This leads to a relative movement and / or. Relative speed 26 which a rotational or rotational movement about the axis of one of the sensor elements 8 and its sensor area 9 comes. However, this relative movement 26 can be efficiently detected by the signal redundancy circuit with the second, adjacent sensor element 8 to initiate appropriate countermeasures.
    FIGS. 3 a to 3 d illustrate exemplary embodiments of gripping modules 4 with differently arranged or formed gripping jaws 5. A clamping axle 11 is shown around which at least one gripping jaw 5 or relative to which clamping axis 11 at least one gripping jaw 5 is designed to be displaceable , All illustrated embodiments have two sensor elements 8, although the invention with only one or more sensor elements 8 is feasible. The illustrations also form gripping jaws 5, which are fork-shaped, which is transferable in the context of the invention for all embodiments of gripping jaws 5.
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    In Fig. 3a, a forceps gripper 12 is shown, wherein a gripping jaw 5 is equipped with two sensor elements 8 and to which a corresponding gripping jaw 5 is arranged rotatably about the clamping axis 11. Similarly, the forceps gripper 12 is formed in Fig. 3b with two mutually two rotatable about the clamping axis 11 gripping jaws 5 and pliers 14. In both cases, the receiving space 6 is formed in the region of the coincidence of the two gripping jaws 5, in which an object 2 can be received.
    FIGS. 3c and 3d show two possible embodiments of plate grippers 13, in which the clamping axis 11 can vary with the position of the gripping jaws 5 or plates 15. The embodiment in FIG. 3 c has only one displaceable gripping jaw 5 or plate 15, which is displaceable parallel to the clamping axis 11 and the corresponding plate 15. This relatively simple form offers cost advantages. In Fig. 3d is an example of two mutually parallel movable jaws 5 and plates 15th
    FIGS. 4a to 4d illustrate some possible exemplary embodiments for gripping modules 4 whose inner surfaces 10 of the gripping jaws 5 are designed to be at least partially alignable parallel to one another. These embodiments are fully compatible with the embodiments of FIGS. 1 to 3, but in particular advantageously with forceps-shaped gripping jaws 5 or pliers 14.
    FIGS. 4 a to 4 d illustrate very simple examples of a forceps gripper which have a gripping jaw 5 or forceps 14 rotatable about the clamping axis 11. To compensate for different sheet thicknesses or object diameter or thicknesses, it is possible by angle correction means 16 a parallel edition -bzw. Attack area for the clamping force 7 between the movable gripping jaw 5 and the pliers 14 to achieve object 2 or sheet metal. The functionality of the at least one sensor element 8 shown by dashed lines is ensured by this measure, since a parallel object surface 21 with respect to the sensor region 9 ensures high measuring reliability and precision.
    The angle correction means 16 can be very easily formed by a pivotable handle plate, as shown in Fig. 4a and 4b. Instead of the inner surface / 58
    N2017 / 33200-AT-00 of the forceps 14 is thus the angle correction means 16 always in parallel contact with at least a part of the object surface 21, since it adjusts the alignment of the jaw 5 and / or the object surface 21. As in FIGS. 4c and 4d, an angle correcting means 16 can also be designed as an elastic body on the inner surface of a gripping jaw 5 or pliers 14 and, during a closing movement of the gripping jaws 5, at least along a contact line, preferably a contact surface, parallel to the object surface 21 of FIG Adjust object 2 to be taken. As in the exemplary illustrations, a thinner sheet or object 2, as shown in FIGS. 4b and 4d, can be just as well contacted and held with a clamping force 7 as a comparatively thick sheet or object 2, as in FIGS. 4a and 4c shown.
    The mode of operation of the gripping device 1 or of the method according to the invention will be explained briefly with reference to FIGS. 5 a to 5 c. The y-axes indicate correlating velocities or movements, while the x-axes define the common time axis for the respective sub-images. In the upper row of the respective subfigure, possible traversing speeds 30 or detected movement data 40 of the gripping module 4 are mapped as a function of time. These are detected by sensors, not shown, of the gripping device 1 and the plant control 3 made accessible. In the lower row, temporally corresponding relative speeds 26 or the measured object data 31 are schematically represented, which are detected by the at least one sensor element 8 of the gripping module 4 and also transmitted to the system controller 3. The dashed lines indicate reference lines for better orientation.
    FIG. 5 a shows a possible case in which the movement of the gripping module 4 leads to a slipping of the object 2. In a first step, which corresponds to the removal of a gripped object 2 from a removal 37, the travel speed 30 is slowly increased. After this removal or start-up phase, the travel speed 30 is increased up to a maximum, which is held for a certain time in order to transport the object 2 as fast as possible to its destination. In this phase, the sensor element 8 is a / 58
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    Detected relative speed 26, which can be seen as the deviation of the corresponding lower part of the figure from the zero line. The object 2 is apparently caused by the movement of the gripping module 4 to perform a relative movement and / or relative speed 26. The measured object data 31 can be concluded by the increasing slope on the fact that the object 2 moves faster and faster relative to the gripping jaw 5, and thus to the gripping module 4 and the gripping device 1, to a point where it leaves the gripping device 1 uncontrolled what indicated by the dotted line. The movement data 40 of the gripping module 4 suggest that no countermeasures 29 have been initiated, since the traversing speed 30 of the gripping module 4 in the upper part of FIG. 5a remains constant for the time being, in order then to slow down when approaching the target position. The illustration in FIG. 5a thus represents the undesired case of the uncontrolled loss of an object 2 or sheet from the gripping device.
    FIG. 5b, on the other hand, shows that when the travel speed 30 is increased, that is to say a first increase in the movement data 40 when the gripping module 4 starts in the upper subfigure, a corresponding relative speed 26 takes place due to the acquisition of the object data 31. In this case, upon reaching a first limit value 41, at least one countermeasure of the first stage 27 is initiated. In the concrete example, the travel speed 30 is reduced and kept at a constant value in order to stop the relative movement and / or relative speed 26 of the object 2. Compared to the example in Fig. 5a, the travel speed 30 is at a lower, constant level and is held longer to achieve the same travel.
    However, it has proven to be advantageous if at least one countermeasure of a first stage is initiated at a deviation of more than 0.1 mm / s (millimeters / second) as the first limit value 41. Countermeasures of the first stage are thus initiated at deviations of 0.1 to about 2.0 mm / s, preferably up to 1.0 mm / s, while at deviations of more than 2.1 mm / s, preferably already 1.1 mm / s, as the second limit 42 at least one Countermeasure of a second stage is initiated. Such a case is schematically in / 58
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    Fig. 5c shown. Analogous to FIGS. 5a and 5b, the travel speed 30 of the gripping module 4 is increased. However, the increase in the relative speed 26 of the object 2 is very fast. The countermeasures 29 of the first stage introduced when the first limit value 41 is reached are insufficient, as a result of which the relative speed 26 continues to increase and the second limit value 42 is reached. This initiates the at least one countermeasure 29 of the second stage 28, which results in an abrupt stop of the gripping module 4 and thus a stopping of the travel speed 30. This is followed by a stop of the relative speed 26 and effectively prevents the object 2 from slipping out of the gripping module 4.
    The discussion of the initiation and sequence of countermeasures 29 of FIG. 5 with regard to the achievement of first and second limit values 41, 42 is to be transmitted analogously to the detection of a foreign body in the warning area 32 or stop area 33 of the gripping device 1.
    To increase the security, a securing means 17 can be arranged on or within at least one gripping jaw 5. As shown in FIGS. 6a and 6b in a sectional view, the two gripping jaws 5 exert a clamping force 7, which for the sake of clarity is only shown on one side, on the object 2 or its object surface 21. Furthermore, it is clear that two sensor elements 8 are arranged in the respective lower gripping jaw 5 and whose sensor area 9 faces the object 2. In the exemplary embodiment of FIG. 6, a friction lining 22 for increasing the friction between gripping jaw 5 and object 2 is attached to the side of the gripping jaw 5 facing the object 2.
    From Fig. 6a, the normal or rest position 18 of the securing means 17 can be seen, in which it is arranged concealed from the friction lining 22unterhalb to the object surface 21 is not damaged. The illustrated shape of the securing means 17 as a mandrel, as well as the prestressed spring means 43 shown as spring elements are to be understood merely as exemplary simple, mechanical design for the functioning of the securing means 17 and the mounted friction lining 22. The spring means 43 can for applying the / 58
    N2017 / 33200 AT-00
    Spring force 44 on the friction lining 22 also be replaced by a pneumatic, hydraulic and / or electromechanical drive or combined with it. It is also conceivable that the spring means 43 is formed integrally with a resilient friction lining 22 for applying the spring force 44. The effective direction of the clamping force 7 is drawn in favor of the overview only from one side. However, it is clear to the person skilled in the art that the clamping force 7 of both gripping jaws 5 can be applied to the object 2.
    Upon reaching a first limit value 41 or second limit value 42, the at least one securing means 17 can be brought into an active position 19 as a countermeasure 29 and emerge abruptly relative to at least parts of the friction lining 22 of the gripping jaw 5 with a predeterminable securing force with at least parts of the object surface 21 to get in touch. As in
    Fig. 6a shows the friction lining 22 and the securing means 17 in the rest position 18 as long as the clamping force 7 on the object 2 is less than the spring force 44 on the friction lining 22. An increase in the clamping force 7 to the height of the spring force 44 causes a not shown, non-destructive, contacting the object 2 by the securing means 17, whereby an additional securing force 20 can be applied to at least parts of the object surface 21. The additional securing force 20 makes it possible to slow down the relative movement and / or relative speed 26 of an object 2, such as e.g. shown in Fig. 5b.
    FIG. 6 b shows another example of a possible active position 19 of the securing means 17, wherein the at least one securing means 17 penetrates at least parts of the object surface 21. This is achieved by a significant, sudden increase in the clamping force 7 relative to the spring force 44. As a result, a plastic deformation of the gripped parts of the object surface is initiated, which in addition to the frictional connection of the gripping jaws 5 and the object 2 causes a positive connection. This countermeasure 29 depends on the height of the clamping force 7 and, like a predefinable securing force 20, can be stored in the system controller 3.
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    FIGS. 7 and 8 show a further embodiment of the gripper device 1, which may be independent of itself, wherein the same reference numerals are again used for the same parts as in the preceding FIGS. 1 to 6. In order to avoid unnecessary repetition, reference is made to the detailed description of the preceding figures, in particular the discussion of the initiation and sequence of countermeasures 29 of FIG. 5 with regard to the achievement of first and second limits 41, 42.
    FIGS. 7 and 8 show by way of example an automated machining center with a bending machine 36 with an associated, multi-axis manipulator 23 for parts or objects 2 to be moved. Furthermore, a removal 37 with objects 2 arranged thereon, ie the semifinished product, are shown, as well as a deposit 38 for the finished objects 2. The movement region 24 of the gripping device 1, which comprises the multiaxial manipulator 23, is hatched. Within this movement range 24, a movement of the gripping module 4 with or without recorded object 2 is possible.
    In order to dispense with protective fencing according to the invention by the use of a gripping module 4 with at least one sensor element 8, the detection of inadvertently entering foreign bodies, in particular persons, within the processing area by a security scanner 39 is made. Instead of a protective fence surrounding the machining center, only a part of a protective fence flanking the bending machine 36 is shown.
    As can be seen in FIGS. 7 and 8, a stop area 33 and then a warning area 32 adjoin the movement area 24 of the gripping device 1, starting from the vertical axis of rotation of the manipulator 23. The warning area 32 starting further outwards defines a processing area within which the same measures are initiated upon detection of a foreign body as when reaching the first limit value 41 of a relative movement and / or relative speed 26 of the object 2. Thus, at least one countermeasure of the first stage is initiated , Analogously, the detection of a foreign body in the further inward stop region 33 of the gripping device 1/58
    N2017 / 33200-AT-00 to achieve the achievement of the second threshold 42 and the initiation of at least one countermeasure of the second stage.
    FIG. 8 shows a further exemplary embodiment, wherein a gripping device 1 comprises a manipulator 23 which moves sideways, ie horizontally, along a travel path 25 in a displacement direction 34. The gripping device 1 thus has different to a stationary operation, several warning 32, stop 33 or processing areas, which are shown schematically at the vertices of the trajectory 25. The movement region 24, as well as the stop regions 33 and the warning region 32 are accordingly moved along the travel path 25, corresponding to the position of the gripping device 1, and therefore have a kind of movable fixed point. To facilitate the overview, no movement region 24 is shown in FIG. 8, but with reference to FIG. 7, this is included. It is made possible by the extension of the processing area in a travel direction 34 or along a travel path 25 that even during the process an exchange of objects 2 provided, that is, for Semifinished or finished parts, can be performed when the movement area 24 and / or the warning area 32 and / or the stop area 33 are just removed and thus an area of the machining center is safely entered.
    The embodiments show possible embodiments, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual embodiments are mutually possible and this variation possibility due to the teaching of technical action by representational invention in Can the expert working in this technical field.
    The scope of protection is determined by the claims. However, the description and drawings are to be considered to interpret the claims. Individual features or combinations of features from those shown and described / 58
    N2017 / 33200-AT-00 different embodiments may represent for themselves inventive solutions. The task underlying the independent inventive solutions can be taken from the description.
    All statements of value ranges in the present description should be understood to include any and all sub-ranges thereof, e.g. is the statement 1 to 10 to be understood that all sub-areas, starting from the lower limit 1 and the upper limit 10 are included, ie. all sub-areas begin with a lower limit of 1 or greater and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.
    For the sake of order, it should finally be pointed out that for a better understanding of the construction, elements have been shown partially unevenly and / or enlarged and / or reduced in size.
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    LIST OF REFERENCE NUMBERS
    gripping device 31 object data object 32 warning area system control 33 stop area gripper module 34 traversing jaw 35 centrifugal accommodation space 36 bending machine clamping force 37 withdrawal sensor element 38 filing sensor range 39 security scanners palm 40 Transaction data clamp axis 41 first limit Clip-on chuck 42 second limit plate gripper 43 spring means tongs 44 spring force
    plate
    Angle correcting means Locking device Resting position Active position Securing force Object surface Friction lining Manipulator Movement range Travel distance Relative speed first stage second stage Countermeasure Travel speed
    权利要求:
    Claims (29)
    [1]
    claims
    1. Gripping device (1) for the monitored movement of objects (2), preferably sheets, comprising a system controller (3), which is designed for processing object data (31) and controlling a gripping module (4), wherein the gripping module (4), at least two mutually cooperatively formed gripping jaws (5) which form an intermediate receiving space (6) for receiving at least parts of a monitored and transported object (2), and the gripping jaws (5) are formed such that by applying a predetermined clamping force (7) at least one frictional connection between the jaws (5) and at least parts of the object (2) is made possible whereby the object (2) is movable, and at least one sensor element (8) for detecting the object data (31) to be moved and monitoring object (2), characterized in that the at least one sensor element (8) on at least one gripping jaw (5) with its sensor region (9) the A at least temporarily detecting the object data (31) to detect a relative movement and / or relative speed (26) of the object (2) with respect to at least one of the gripping jaws (5).
    [2]
    2. gripping device (1) according to claim 1, characterized in that the sensor element (8) is adapted at least periodically to detect a position and / or a position of the object (2) as object data (31).
    [3]
    3. gripping device (1) according to claim 1 or 2, characterized in that the sensor element (8) as at least one opto-electronic, preferably laser-optical and / or acoustic and / or capacitive and / or inductive sensor element (8) is formed.
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    [4]
    4. gripping device (1) according to one of the preceding claims, characterized in that two sensor elements (8) are arranged connected in a signal redundancy with the system control (3).
    [5]
    5. gripping device (1) according to one of the preceding claims, characterized in that the inner surfaces (10) of the gripping jaws (5) are at least partially aligned parallel to each other.
    [6]
    6. gripping device (1) according to claim 5, characterized in that at least one gripping jaw (5) about a clamping axis (11) is rotatable and to increase the clamping force on the object to be gripped at least one angle correction means (16).
    [7]
    7. gripping device (1) according to claim 6, characterized in that the gripping device (1) as a forceps gripper (12) is formed, which preferably has two around the clamping axis (11) rotatable gripping jaws (5) or pliers (14).
    [8]
    8. gripping device (1) according to claim 5, characterized in that at least one gripping jaw (5) parallel to the second gripping jaw (5) is designed to be displaceable.
    [9]
    9. gripping device (1) according to claim 8, characterized in that the gripping device (1) as a plate gripper (13) is formed, which has two normal to a clamping axis (11) movable gripping jaws (5) or plates (15).
    [10]
    10. gripping device (1) according to one of the preceding claims, characterized in that at least one of the receiving space (6) facing inner surface (10) at least one gripping jaw (5) a friction lining (22), to increase the friction of the gripping jaw (5) at least parts of the object surface (2) is arranged.
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    [11]
    11. gripping device (1) according to claim 10, characterized in that at least one gripping jaw (5) at least one securing means formed thereon (17) and the friction lining (22) in the direction of the clamping force (7), between a rest position (18) and an active position (19), movable and biased by a spring force (44) comprises, wherein in the rest position (18), which at a relative to the spring force (44) lower clamping force is ingestible, the friction lining (22) the securing means (17) is arranged overhanging, and in an active position (19), which at a relative to the spring force (44) higher clamping force is ingested to exercise an at least punctual securing force (20) on at least parts of an object surface (2) of the friction lining (22) relative to Secured means (17) is arranged offset back.
    [12]
    12. gripping device (1) according to claim 11, characterized in that the at least one securing means (17) for exercising the at least punctiform securing force (20) on at least parts of the object surface (2) dornund / or hook-shaped.
    [13]
    13. Gripping device (1) according to any one of claims 11 or 12, characterized in that the friction lining (22) is designed to be movable by a hydraulic, pneumatic, mechanical and / or electromechanical spring means.
    [14]
    14. gripping device (1) according to one of the preceding claims, characterized in that the gripping module (4) as a gripping tool of an at least two-axis movable manipulator (23), preferably a multi-axis robot is formed.
    [15]
    15. gripping device (1) according to claim 14, characterized in that the manipulator (23) along a travel distance (25) for increasing a movement range (24) of the manipulator (23), is designed to be movable.
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    [16]
    16. gripping device (1) according to one of claims 14 or 15, characterized in that the at least biaxially movable manipulator (23) at least one connected to the system controller (3), laser-optical security scanner (39) for detecting a possible foreign body in a predetermined warning area (32) and a predetermined stop area (33).
    [17]
    17. A method for the monitored movement of objects (2), preferably sheets, comprising the method steps:
    - Providing a gripping device (1) according to one of claims 1 to 16, comprising a gripping module (4) having at least two mutually cooperating gripping jaws (5) having an intermediate receiving space (6) for receiving at least parts of a monitored and forming transporting object (2), and the gripping jaws (5) are formed such that by applying a predetermined clamping force (7) at least one frictional connection between the gripping jaws (5) and at least parts of the object (2) is made possible whereby the object ( 2), and at least one sensor element (8) for detecting object data (2) of the object (2) to be moved and monitored, wherein the at least one sensor element (8) is connected to its sensor region (9) on at least one gripping jaw (5). arranged facing the receiving space (6) and is formed by at least temporary detection of the object data (2) is a relative movement and / or Relat ivgeschwindigkeit (26) of the object (2) with respect to at least one of the gripping jaws (5) to detect;
    - Providing at least the object to be moved (2);
    - Grasping the object to be moved (2) by means of gripping jaws (5) of the gripping device (1);
    - Movement of the object (2) according to a predetermined movement sequence, wherein
    - A detection of movement data (40) of the gripping device (1) takes place and - an at least periodic evaluation of the movement data (40) by a system controller (3) takes place and
    a detection of object data (31) of the picked up and moved object (2)
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    N2017 / 33200-AT-00 by means of at least one sensor element (8) takes place and
    - An at least periodic evaluation of the object data (2) in the plant control (3) takes place; and
    - an at least periodic adjustment of the object data (2) with the movement data (40) is used to a possible deviation of which a relative movement and / or relative speed (26) of the object to be moved (2) relative to at least one of the jaws (5) corresponds to detect and where --- no deviation corresponds to a normal operation and the predetermined movement is terminated; or
    --- At a detected deviation, an introduction of at least one, preferably several, countermeasure (29) by the system controller (3) takes place.
    [18]
    18. The method according to claim 17, characterized in that as object data (2) at least periodically the position and / or the position of the object (2) from the sensor element (8) are detected.
    [19]
    19. The method according to claim 17 or 18, characterized in that the sensor element (8) determines the object data (2) at least opto-electronically, preferably laser-optical and / or acoustic and / or capacitive and / or inductive.
    [20]
    20. The method according to any one of claims 17 to 19, characterized in that the initiation of at least one countermeasure (29) depending on the extent of the relative speed (26) takes place in two stages, wherein upon reaching a first limit value (41) at least one countermeasure (29) one at least one countermeasure (29) of a second stage is initiated upon reaching a second threshold (42).
    [21]
    21. The method according to any one of claims 17 to 20, characterized in that as at least one countermeasure (29) of the first stage (27), from the group:
    - Increasing the clamping force (7) of the jaws (5) and / or
    - Slowing a Verfahrgeschwindikeit (30) of the gripping device (1);
    40/58
    N2017 / 33200 AT-00
    - Active position (19) of the securing means (17);
    - triggering a first optical warning signal;
    - triggering a first audible warning signal;
    - Lowering the moving object (2) in the vertical direction; is initiated.
    [22]
    22. The method according to any one of claims 17 to 21, characterized in that as at least one countermeasure (29) of the second stage (28), from the group:
    - stopping the movement of the gripping device (1);
    Triggering a first or second, different from the first, optical warning signal;
    Triggering a first or second, different from the first, acoustic warning signal; is initiated.
    [23]
    23. The method according to any one of claims 21 or 22, characterized in that at the active position (19) of the at least one securing means (17) abruptly the clamping force (7) is increased such that the force acting on the friction lining spring force (44) is overcome, thereby the friction lining (22) is moved out of its rest position (18) and the at least one securing means (17) emerges abruptly relative to the friction lining (22) and is brought into contact with at least parts of the object surface (2) by applying an additional securing force (20) ,
    [24]
    24. The method according to claim 23, characterized in that the at least one securing means (17) at least partially penetrates at least parts of the object surface (2), whereby a plastic deformation of parts of the object surface (2) occurs.
    [25]
    25. The method according to any one of claims 17 to 24, characterized in that at least one second sensor element (8) for detecting the object data (31) is used.
    41/58
    N2017 / 33200 AT-00
    [26]
    26. The method according to any one of claims 17 to 25, characterized in that during operation of the gripping device (1) detection of a possible foreign body in a predetermined warning area (32) and a stop area (33) of one, with the plant control (3) , laser-optical security scanner (39) takes place.
    [27]
    27. The method according to claim 26, characterized in that upon detection of a foreign body in the warning area (32), the countermeasures (29) of the first stage (27) are initiated
    [28]
    28. The method according to any one of claims 26 or 27, characterized in that upon detection of a foreign body in the stop region (33), the countermeasures (29) of the second stage (28) are initiated.
    [29]
    29. The method according to any one of claims 17 to 28, characterized in that the manipulator (23) to increase its range of motion (24) during the movement of the object (2) along a travel path (25) moves.
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    同族专利:
    公开号 | 公开日
    EP3774198B1|2022-01-19|
    WO2019191794A1|2019-10-10|
    US20210107050A1|2021-04-15|
    JP2021520301A|2021-08-19|
    AT521039B1|2019-10-15|
    EP3774198A1|2021-02-17|
    CN111936275A|2020-11-13|
    引用文献:
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    US3904234A|1973-10-15|1975-09-09|Stanford Research Inst|Manipulator with electromechanical transducer means|
    US4725826A|1987-01-16|1988-02-16|Hunter Bryan D|Manipulator grip slip sensor|
    DE3710380A1|1987-03-28|1988-10-13|Fraunhofer Ges Forschung|Gripping device for an industrial robot|
    US4990815A|1989-07-11|1991-02-05|Lindner Douglas K|Robot gripper control system using PYDF piezoelectric sensors|
    DE102005032502B3|2005-07-12|2006-10-26|Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.|Slip sensor, for workpiece in robot gripper, has light source to provide reflection image onto sensor with predetermined threshold|DE102020110692A1|2020-04-20|2021-10-21|Schunk Gmbh & Co. Kg Spann- Und Greiftechnik|Modular gripping finger, gripping device and construction kit|JP2002166383A|2000-11-29|2002-06-11|Mitsubishi Heavy Ind Ltd|Tactile system for robot arm mechanism|
    DE102006025387B3|2006-05-31|2007-10-25|Pepperl + Fuchs Gmbh|Monitoring supply of sheet metal from stack to forming operation, includes arrangement of sensors to register sheet numbers and avoid inadvertent maloperation of handling equipment|
    JP6034892B2|2015-01-27|2016-11-30|ファナック株式会社|A robot system in which the brightness of the robot mount changes|
    DE102016206980B4|2016-04-25|2018-12-20|Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.|Method for handling a body and handling device|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50273/2018A|AT521039B1|2018-04-04|2018-04-04|Apparatus and method for monitoring relative movements|ATA50273/2018A| AT521039B1|2018-04-04|2018-04-04|Apparatus and method for monitoring relative movements|
    PCT/AT2019/060110| WO2019191794A1|2018-04-04|2019-04-02|Device and method for monitoring relative movements|
    EP19723626.8A| EP3774198B1|2018-04-04|2019-04-02|Device and method for monitoring relative movements|
    CN201980024317.XA| CN111936275A|2018-04-04|2019-04-02|Device and method for monitoring relative movement|
    US16/981,792| US20210107050A1|2018-04-04|2019-04-02|Device and method for monitoring relative movements|
    JP2020554257A| JP2021520301A|2018-04-04|2019-04-02|Equipment and methods for monitoring relative movement|
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