DE102017203124A1 - Robot gripper for handling limp, flat material web blanks - Google Patents

Abstract

The invention relates to a robot gripper (11) for handling non - rigid, flat material blanks (20), comprising a gripper base body (12) having a connection flange (13) for attaching the robot gripper (11) to a tool flange (8) of a robot arm (2), and comprising a base member (14), which by means of a first pivot joint (15.1), which is automatically adjustable by a first drive motor (A1) of the robot gripper (11) to a first axis of rotation (D1) rotatably mounted on the gripper body (12) is mounted, an intermediate member (18) by means of a second rotary joint (15.2), which is automatically adjustable by a second drive motor (A2) of the robot gripper (11) to a second axis of rotation (D2), which is parallel to the first Rotary axis (D1) is aligned, is rotatably mounted on the base member (14), and an end member (17) by means of a third pivot joint (15.3) that of a third drive motor (A3) of the robot gripper (11) is automatically adjustable to a third axis of rotation (D3), which is parallel to both the first axis of rotation (D1) and the second axis of rotation (D2) is rotatably mounted on the intermediate member (18), further comprising a on the end member (17) fixed material receiving roller (16.1) and a gripper base (12) fixed to the retaining strip (16.2), which extends parallel to the material receiving roller (16.1) with its longitudinal extent.

Description

The invention relates to a robot gripper for handling of limp, flat material web blanks, comprising a gripper base body, which has a connecting flange, which is designed for attachment of the robot gripper to a tool flange of a robot arm. The invention also relates to a robot comprising a robot controller, a robot arm controlled by the robot controller, which comprises a tool flange and a flange drive motor rotating the tool flange about a flange axis, and which has such a robot gripper.

From the EP 0 421 167 A2 is a method for receiving, transporting and settling of flat workpieces made of textile material, plastic or other detectable by needles materials known in which held by a handling device needle gripper whose needles are arranged in groups and in mutually wegstrebenden directions and movable in a to Workpiece parallel position for picking up or delivering the workpiece are brought and in which the needle gripper are placed after detecting the workpiece in a workpiece base surface reducing other position in which the transporting and settling of the workpiece.

From the DE 20 2014 103 132 U1 is an application tool for a flexible workpiece, in particular a fiber composite body is known, in which the application tool is designed as a combination tool for surface receiving the flexible workpiece and for spatially forming the recorded workpiece on an external forming tool, wherein the application tool a controllable deformable and solidifiable and reconfigurable forming head having. In this case, the forming member may be formed as a vacuum mattress with a vacuum device.

The object of the invention is to provide a robot gripper for handling limp, flat material web blanks, which can be used very flexibly, i. is suitable for handling a variety of different types of pliable, flat material web blanks, and is structurally simple and reliable.

• - ein Basisglied, welches mittels eines ersten Drehgelenks, das von einem ersten Antriebsmotor des Robotergreifers automatisch verstellbar ist, um eine erste Drehachse drehbar am Greifergrundkörper gelagert ist,
• - ein Zwischenglied, welches mittels eines zweiten Drehgelenks, das von einem zweiten Antriebsmotor des Robotergreifers automatisch verstellbar ist, um eine zweite Drehachse, die parallel zur ersten Drehachse ausgerichtet ist, am Basisglied drehbar gelagert ist, und
• - ein Endglied, das mittels eines dritten Drehgelenks, das von einem dritten Antriebsmotor des Robotergreifers automatisch verstellbar ist, um eine dritte Drehachse, die parallel sowohl zur ersten Drehachse als auch zur zweiten Drehachse ausgerichtet ist, an dem Zwischenglied drehbar gelagert ist, des Weiteren aufweisend eine am Endglied befestigte Materialaufnahmerolle, die eine Mantelwand aufweist, die ausgebildet ist, zum anhaftenden Halten eines von dem Materialaufnahmerolle aufgenommenen biegeschlaffen, flächigen Materialbahnzuschnitt, und eine am Greifergrundkörper befestigte Halteleiste, die sich mit ihrer Längserstreckung parallel zur Materialaufnahmerolle erstreckt.

This object is achieved according to the invention by robotic grippers for handling limp, flat material web blanks, comprising a gripper base body having a connecting flange, which is designed to fasten the robot gripper to a tool flange of a robot arm, and comprising:

• a base member, which is mounted rotatably on the gripper base body about a first rotation axis by means of a first rotary joint, which is automatically adjustable by a first drive motor of the robot gripper,
• - An intermediate member, which is rotatably supported by a second rotary joint, which is automatically adjustable by a second drive motor of the robot gripper, about a second axis of rotation, which is aligned parallel to the first axis of rotation, on the base member, and
• - An end member, which is rotatably supported by a third rotary joint, which is automatically adjustable by a third drive motor of the robot gripper, about a third axis of rotation, which is aligned parallel to both the first axis of rotation and to the second axis of rotation on the intermediate member, further comprising a material take-up roll secured to the end member and having a shell wall adapted to adhe- sively hold a pliable sheet material web blank received by the material take-up roll; and a retaining strip secured to the grab body extending parallel to the material take-up roll with its longitudinal extent.

The pliable, flat material web blanks can be, for example, textile fabrics, which can be produced in particular from fibers or threads and, for example, can be braided, woven, knitted or felted. The pliable, flat material web blanks can be, for example, nonwovens or wipes, which need not necessarily consist of natural fibers or synthetic fibers, but may also include paper, mineral fillers and plastics or may have such layers.

A bending slit of the flat material web blanks is to be understood at least such that they have such a non-elastic deformability that they can be wound in particular at least about a material take-up roll according to the invention by 90 degrees or at least approximately 90 degrees or slightly more than 90 degrees.

Under a material web blank, inter alia, sections or sections of so-called continuous webs can be understood, i. Parts made from a continuous web. The term "blank" is not limited to the fact that the parts would have to be made by cutting from the continuous web. Rather, the material web blanks, depending on the material, for example, be made by punching, sawing or other separating processing methods.

A picking up of a limp, flat material web blank takes place in that the pliable, flat material web blank remains caught or sticking to a jacket wall of the material picking roll. The jacket wall of the material take-up roll can accordingly be designed differently depending on the respective material to be picked up and / or its structure and construction. However, the jacket wall of the material take-up roll is always to be designed so that the pliable, flat material web section sticks or sticks to the jacket wall, ie receives a positive or positive connection, so can be absorbed by the material take-up roll, characterized in that the material take-up roll with its shell wall the surface of the limp, flat material web blank unrolls, in particular unrolling unrolled. The adhesive force on the jacket wall of the material take-up roll can be switched on and / or switched off. For example, the adhesive force can be generated by negative pressure on a porous or provided with openings material receiving roller, wherein the negative pressure can be switched off and / or switched.

Alternatively or additionally, the adhesive force can be generated, for example, by an electrostatic field which can be switched off and / or switched on. For this purpose, the material take-up roll may have printed conductors, between which an electric field is generated.

Behind the jacket wall of the material take-up roll insulated tracks can be arranged, which are connected to an electrical energy source such that an electrostatic field is generated, which causes the male pliable, flat material web blank is moved up to the jacket wall of the material take-up roll.

Again alternatively or additionally, the Bernoulli effect can be used to draw a pliable, flat material web blank by means of negative pressure to the jacket wall of the material take-up roll, which negative pressure is generated by an accelerated (air) flow along the jacket wall of the material take-up roll. The accelerated (air) flow can be applied for example by a nozzle, flows out of the air.

For this purpose, the robot gripper may comprise an air nozzle, which is associated with the hollow cylindrical material receiving roller such that the air nozzle generates an air flow along the jacket wall of the material take-up roll, which is adapted to generate a negative pressure between the male, flat material web blank and the jacket wall of the material take-up roll causes the male to be flattened, flat material web blank is moved up to the jacket wall of the material take-up roll. The air nozzle is accordingly designed, using the Bernoulli effect, to move the male, flat material web blank to be picked up onto the jacket wall of the material take-up roll. In particular, the air nozzle can be arranged on a side of the material take-up roll opposite the holding strip. Thus, even one of the retaining strip assigned end portion of the male pliable, flat material web blank can be lifted to the material take-up roll by the air flow of the air nozzle, although the air nozzle is disposed on a side opposite this end portion of the slippery, flat material web blank side of the material take-up roll.

By the base member by means of the first rotary joint, which is automatically adjustable by the first drive motor of the robot gripper, about the first axis of rotation rotatably mounted on the gripper body, the intermediate member by means of the second rotary joint, which is automatically adjustable by a second drive motor of the robot gripper to the second The axis of rotation, which is aligned parallel to the first axis of rotation, is rotatably mounted on the base member, and by the third link, which is automatically adjustable by the third drive motor of the robot gripper, the third end about the third axis of rotation parallel to both the first axis of rotation and the second axis of rotation is aligned, is rotatably mounted on the intermediate member, and the end member has the material receiving roller, in particular carries, the material take-up roller can be rotated both about its roller axis automatically, as well as automatically adjusted in their relative position to the retaining strip. Accordingly, the roll axis of the material take-up roll can be automatically adjusted in its relative position to the support bar. As a result, not only the material take-up roll with a desired pressing force can be automatically pressed onto the surface of the slippery, flat material web blank, but the material take-up roll can also be moved at a desired speed relative to the surface of the slippery, flat material web blank. In addition, the rotational speed, acceleration or deceleration of the rotation of the material take-up roll about the roller axis can be automatically adjusted, controlled and / or regulated.

The retaining strip can clamp the material web blank, which is already rolled up on the material take-up roll, onto the material take-up roll in order to prevent the material web blank from slipping off the material take-up roll. Around to allow this, the material receiving roller side facing the retaining strip have a contour which conforms to the material web blank, which is wound on the material take-up roll.

In that the retaining strip is fastened to the gripper base body, and the robot gripper for fixing e.g. is formed on a rotatable tool flange of a robot arm, the retaining strip can be repositioned by a rotation of the tool flange of the robot arm. In this case, the material take-up roll can be repositioned by the robot arm. At the same time, then, in turn, the material take-up roll can be repositioned relative to the retaining strip and that by the first, second and third drive motor of the robot gripper. Furthermore, the robot gripper may be attached to a flange of a robot that can move it over several degrees of freedom, e.g. can move five, six or seven degrees of freedom, with which the robot can move the holding bar of the robot gripper according to its movement possibilities freely in its movement space and align.

Preferably, the first drive motor, the second drive motor and the third drive motor are provided on the robot gripper.

The gripper base body may have a substantially rotationally symmetrical basic shape. The rotationally symmetrical basic shape can be in all variants, for example, the shape of a substantially straight circular cylinder. The gripper base body may be designed, for example, substantially circular disk-shaped. However, the rotationally symmetrical basic shape can also be, for example, frustoconical or barrel-shaped. On a circular first end face of the gripper body of the connecting flange can be arranged. On one of the first circular end face opposite, circular end face, the material-receiving roller can extend with its roller axis perpendicularly from the plane of the second end face out. The longitudinal extent of the material take-up roll, that is to say the roll axis, can in particular be parallel to the axis of symmetry of the connecting flange, i. also parallel to an axis of rotation of the tool flange of the robot arm to which the robot gripper is connectable extend.

In a specific embodiment of the invention, the robot gripper may comprise a roller carrier having the material-receiving roller, which is aligned about the third axis of rotation, which is parallel to both the first axis of rotation and the second axis of rotation, by means of the third rotary joint, which is automatically adjustable by the third drive motor. be rotatably mounted on an intermediate member of the robot gripper, which intermediate member in turn by means of the second rotary joint about the second axis of rotation is rotatably mounted on the base member.

In such an embodiment, the links of the robotic gripper, which members are formed by the gripper body, the base member, the intermediate member and the roller carrier, form a kinematic chain of links which can be rotatably adjusted by the first pivot joint, the second pivot joint and the third pivot joint , In that regard, the material take-up roll can be rotationally adjusted in a total of three degrees of freedom with respect to the gripper body. The three axes of rotation of the first rotary joint, the second rotary joint and the third rotary joint are aligned parallel to each other. As a result, characterized mounted on the roller carrier material take-up roll in the plane of the second end face of the gripper body not only take any position and thereby have any orientation, but reach each position on any trajectories. Thus, the material take-up roll may have universal in-plane freedom of movement relative to the support bar, i. Create any kind of relative constellations of material take-up roll and retaining strip.

The base member may comprise a rotationally symmetrical outer shell wall on which the base member is fully rotatably supported within the outer contour of the gripper body, the intermediate member of the robot gripper may comprise a rotationally symmetrical outer shell wall on which the intermediate member is rotatably mounted completely within the outer contour of the base member, and the roller carrier of Robot gripper may have a rotationally symmetrical outer shell wall.

The intermediate member may have a diameter which corresponds at least substantially to the radius of the gripper body. The axis of rotation of the intermediate member, that is, the second axis of rotation may be at least approximately or exactly half the length of the radius of the gripper body. The roller carrier may have the smallest possible diameter and accordingly, the axis of rotation of the roller carrier, that is, the third axis of rotation as far as possible pulled in the vicinity of the outer periphery of the intermediate member may be arranged. The material take-up roll may be secured to the roll carrier in such an arrangement that the central roll axis of the material take-up roll is aligned along the third axis of rotation. By adjusting the third pivot joint, the material take-up roll can accordingly be rotated about its geometric roller axis, without the position of the material take-up roll with respect to the gripper body and the intermediate member changed. The kinematic conditions result from the distances between the axes of rotation. Decisive are the absolute lengths between the first and second axes of rotation and between the second and third axes of rotation and the relationship to one another. In particular, the material take-up roll may have an outer diameter on its casing wall which is at least large enough for the casing wall to project beyond the outer contour of the gripper base body in certain positions of the second joint or in all positions of the second joint on one side of the robot gripper.

For example, the base member may have a pointing in the direction of the first axis of rotation height that is at most as large as pointing in the direction of the first axis of rotation height of the gripper body. The intermediate member of the robot gripper may have a pointing in the direction of the second axis of rotation height which is at most as large as the pointing in the direction of the first axis of rotation height of the base member. The roller carrier of the robot gripper may have a height pointing in the direction of the third axis of rotation which is at most as large as the height of the intermediate element pointing in the direction of the second axis of rotation. This results in a low overall height of the robot gripper.

In a further specific embodiment, the robot gripper may be designed such that the first rotary joint has a first bearing surrounding the base member, in particular first rolling bearing having an inner ring, an inner ring raceway for rolling elements, an outer ring and an outer ring raceway, wherein the inner ring on the rotationally symmetrical outer shell wall of the base member is attached or the inner ring raceway is formed on the rotationally symmetrical outer shell wall of the base member, and the second pivot has a second bearing surrounding the intermediate second bearing, in particular second rolling bearing having an inner ring, an inner ring raceway for rolling elements, an outer ring and an outer ring raceway, wherein the inner ring is attached to the rotationally symmetrical outer circumferential wall of the intermediate member or the inner ring raceway is formed on the rotationally symmetrical outer circumferential wall of the intermediate member, and the third rotary gels k has a third bearing surrounding the roller carrier, in particular third roller bearing having an inner ring, an inner ring raceway for rolling elements, an outer ring and an outer ring raceway, wherein the inner ring is attached to the rotationally symmetrical outer shell wall of the roller carrier or the inner ring raceway is formed on the rotationally symmetrical outer shell wall of the roller carrier ,

By such a bearing design, in particular rolling bearing design or sliding bearing design, a particularly rigid arrangement of the first pivot, second pivot and third pivot can be achieved. Accordingly, the second rolling bearing is so far completely surrounded by the first roller bearing and the third rolling bearing completely surrounded by the second rolling bearing and in consequence completely by the first rolling bearing. In a modified embodiment of the robot gripper, one or more of the roller bearings, in particular all roller bearings can be replaced by plain bearings.

The specific embodiments of the robot gripper with respect to the material take-up roll and with regard to the holding strip will now be described below.

The lateral surface of the material take-up roll can exert an attractive force on the material web blank on the entire contact surface, or on parts thereof, which can be varied according to the application, which can be switched on and off, which can be varied in thickness and which, if necessary can be inverted as a repulsive force.

The material take-up roll can have a circular cylindrical jacket wall, the cylinder axis of which extends parallel to the third axis of rotation and which is provided with an adhesion surface which is designed to adhere the pliable, flat material web blank adhering to the jacket wall of the material take-up roll. The surface of the roll may accordingly be coated with a material which interlocks with the material web blank and with which it is possible to apply a normal force.

As an adhesion surface, any configuration can be understood in which between the surface ie the shell wall of the material-receiving roller and the material web a peeling force acts. Thus, for example, the adhesive force can be generated by negative pressure on a porous or provided with openings material receiving roller, the negative pressure can be switched off and / or switched. Alternatively or additionally, the adhesive force can be generated, for example, by an electrostatic field which can be switched off and / or switched on. For this purpose, insulated conductor tracks can be arranged behind the jacket wall of the material take-up roll, which are connected to an electrical source. Again alternatively or additionally, the Bernoulli effect can be used to pull a pliable, flat material web blank by means of negative pressure to the jacket wall of the material take-up roll, which negative pressure by an accelerated (air) flow along the Mantle wall of the material pickup roller is generated. The accelerated (air) flow can be applied for example by a nozzle, flows out of the air.

The adhesion surface may have a surface texture adapted to the special properties of the slippery, flat material web blank. For example, the effect of the adhesion surface may be based on mechanical adhesion or specific adhesion.

The adhesive surface may comprise, for example, an adhesive layer, have a felt layer, have a Velcro layer or have an electrostatic layer.

In a specific embodiment, the material take-up roll, in addition or as an alternative to other holding effects, be formed as a hollow cylinder and having a rigid annular wall, which is provided with distributed around the circumference arranged holes forming suction nozzles, which are due to a pending inside the hollow material receiving roller air vacuum, are designed for sucking a voltage applied to the annular ring wall portion of the limp, flat material web blank. Alternatively or in addition to an air vacuum, the material-receiving roller may be formed as a hollow cylinder and having a rigid annular wall, which is provided with distributed around the circumference arranged holes which form intake nozzles, due to a pending in the interior of the hollow cylindrical material intake air overpressure, to repel one of the annular shell wall adjacent section of the limp, flat material web blank are formed. In a specific development, the flow in the individual bores, or in groups of bores can be set separately, i. the flow at the individual holes, or at groups of holes, can exert an attractive, a repulsive or a neutral effect on the pliable material.

In a specific other embodiment, the material-receiving roller, in addition or as an alternative to other holding effects, have a circular cylindrical jacket wall whose cylinder axis extends parallel to the third axis of rotation and which is provided with distributed around the circumference arranged needles and / or hooks which are formed in a state applied to the casing wall of a portion of the limp, flat material web blank to penetrate and / or penetrate the portion of the limp, flat material web blank, for positive retention of the portion of the pliable, flat material web blank on the jacket wall of the material take-up roll.

The material take-up roll may have a roll width which corresponds to a blank width of the limp, sheet-like material web blank, or which is larger or smaller than the blank width of the limp, flat material web blank.

In a particular other embodiment, an air flow may be directed perpendicular to the axis of the material take-up roll between the web sheet and the material take-up roll. The air is supplied via a nozzle, which is attached to the main body of the gripper. In the gap between the material web blank and the material take-up roll, the air flow is accelerated, which leads to a reduction of the pressure below the ambient pressure. Due to the pressure difference results in a normal force between the material web blank and the material take-up roll, which leads to a lifting of the material web blank at this point.

The retaining strip may extend with its longitudinal extent over the entire width of the material-receiving roller parallel thereto.

The retaining strip may have a first outer surface which is circular arc-shaped in cross-section and which extends in the longitudinal extent of the retaining strip channel-shaped, such that the first outer surface has a shape adapted to the jacket wall of the material take-up roll.

The first outer surface may accordingly have in cross-section a circular arc whose radius corresponds to the radius of the material-receiving roller or at least approximately corresponds to the radius of the material-receiving roller or is slightly larger. The retaining strip may be attached to the gripper body in such a way that the material-receiving roller can also be moved flush against the retaining strip by means of the first, second and third drive motor of the robot gripper, such that the first outer surface of the retaining strip can lie flat against the lateral wall of the material-receiving roller.

The retaining strip may have a second outer surface opposite the first outer surface, which are joined together to form an acute angle between the first outer surface and the second outer surface at a common edge. The second outer surface may be flat. Since the first outer surface and the second outer surface form an acute angle, a hollow blade is formed on the retaining strip to that extent.

The retaining strip may have an adhesive coating arranged on the first outer surface and extending along the common edge. The adhesive coating may cause an increase in the friction at the top of the common edge or on the hollow blade in order to promote or improve stripping of material web blanks.

The second outer surface and / or the third outer surface may be planar and have projections or rotatably mounted rollers distributed on the second outer surface. The projections or rotatably mounted rollers can improve sliding of the second outer surface on a surface of a material web blank, in particular by reducing the friction.

In all embodiments of the robotic gripper, the first drive motor may be designed for force-controlled and / or torque-controlled actuation, the second drive motor for force-controlled and / or torque-controlled actuation, and / or the third drive motor for force-controlled and / or torque-controlled actuation be. This means that the first drive motor can be designed for force-controlled and / or torque-controlled activation. Alternatively or additionally, the second drive motor may be designed for force-controlled and / or torque-controlled activation. Furthermore, as an alternative or in addition thereto, the third drive motor can be designed for force-controlled and / or torque-controlled actuation.

In the case of force-controlled and / or torque-controlled activation of the drive motors of the robot gripper, the rotary joints of the robot gripper can be parameterized with regard to their rigidity. In all embodiments, the force- and / or torque-controlled activation of the drive motors of the robot gripper can take place by means of impedance regulation or admittance control. In particular, a robot controller of a robot can be set up to move the robot gripper in particular by means of impedance regulation or admittance regulation.

The object according to the invention is also achieved by a robot, comprising a robot controller, a robot arm controlled by the robot controller, which comprises a tool flange and a flange driving the flange around a flange axis and having a robot gripper attached to the tool flange of the robot arm according to one or more embodiments, as described, wherein the robot controller is adapted to drive the motors of the robot arm to position the holding bar fixed to the gripper body, particularly for the respective robot application, relative to the pliable material to be picked up, and the robot controller is arranged to fix the base member by means of the first drive motor about the first axis of rotation, the intermediate member by means of the second drive motor about the second axis of rotation and the end member by means of the third drive motor to rotate about the third axis of rotation automatically to the Material take-up roll to rotate around its roller axis and adjust relative to the retaining strip.

Robot arms with associated robot controls, in particular industrial robots are working machines that can be equipped for the automatic handling and / or machining of objects with tools and are programmable in several axes of motion, for example, in terms of orientation, position and workflow. Industrial robots typically include a robotic arm with multiple articulated links and programmable robotic controls that, during operation, automatically control the movements of the robotic arm to position and move a robotic flange of the robotic arm in space. The members are for this purpose via drive motors, in particular electric drive motors, which are controlled by the robot controller, in particular with respect to the axes of movement of the industrial robot, which represent the degrees of freedom of movement of the joints moves.

• - die Materialaufnahmerolle in einem berührenden Kontakt zu einem biegeschlaffen, flächigen Materialbahnzuschnitt zu bringen, und
• - die Materialaufnahmerolle parallel zur Ebene, in der sich der biegeschlaffe, flächige Materialbahnzuschnitt befindet, zu bewegen, und geleichzeitig die Materialaufnahmerolle um ihre Rollenachse zu drehen, derart, dass der biegeschlaffe, flächige Materialbahnzuschnitt auf der Mantelwand der Materialaufnahmerolle, insbesondere schlupffrei, wenigstens um 90 Grad aufgewickelt wird, und
• - den Robotergreifer zu bewegen, um den von der Materialaufnahmerolle aufgenommenen biegeschlaffen, flächigen Materialbahnzuschnitt von einer Entnahmestelle an eine Abgabestelle zu transportieren. Alternativ kann der biegeschlaffe, flächige Materialbahnzuschnitt auf der Mantelwand der Materialaufnahmerolle, insbesondere schlupffrei auch um weniger als 90° aufgewickelt werden. Das Aufwickeln kann sich insoweit auf die Stelle beschränken, an der die Halteleiste den biegeschlaffen Materialbahnzuschnitt sichert.

The robot controller can also be set up

• - To bring the material pick-up roll in touching contact to a pliable, flat material web blanks, and
• - The material take-up roll parallel to the plane in which the pliable, flat material web blank is located, and at the same time to rotate the material take-up roll about its roll axis, such that the pliable, flat material web blank on the jacket wall of the material take-up roll, in particular slip-free, at least by 90 Degree is wrapped, and
• - To move the robot gripper to transport the picked up by the material pickup roller pliable, flat material web blank from a sampling point to a delivery point. Alternatively, the pliable, flat material web blank can be wound on the jacket wall of the material take-up roll, in particular without slippage, by less than 90 °. The winding can be limited to the extent to which the retaining strip secures the limp material web blanks.

The robot controller can also, alternatively or additionally, be set up to move the material take-up roll together with the picked limp, flat material web blank over a depositing surface on which the pliable, flat material web blank is to be deposited, and at the same time to rotate the material take-up roll back about its roll axis in such a way that the pliable, flat material web blank is unrolled from the casing wall of the material take-up roll and unwound onto the depositing surface.

• - an einem Stapel von mehreren Lagen von biegeschlaffen, flächigen Materialbahnzuschnitten, die Halteleiste zwischen der obersten Lage der biegeschlaffen, flächigen Materialbahnzuschnitte und einer unmittelbar unter der obersten Lage liegenden weiteren Lage eines weiteren biegeschlaffen, flächigen Materialbahnzuschnitts einzuführen, und
• - während eines Bewegens der Materialaufnahmerolle, um die oberste Lage der biegeschlaffen, flächigen Materialbahnzuschnitte von dem Stapel aufzunehmen, die Halteleiste von oben gegen die Oberseite der unter der obersten Lage liegenden weiteren Lage eines biegeschlaffen, flächigen Materialbahnzuschnitts zu drücken, um die weitere Lage auf dem Stapel zurückzuhalten.

The robot controller can also, alternatively or additionally, be set up,

• - Introduce the retaining strip between the uppermost layer of pliable, flat material web blanks and a lying immediately below the top layer further position of another pliable, flat material web blank on a stack of several layers of pliable, flat material web blanks, and
• - During a movement of the material take-up roll to receive the uppermost layer of pliable, flat material web blanks from the stack, to press the retaining strip from above against the top of lying under the top layer further layer of a pliable, flat material web blank to the other position on the Restrain pile.

The robot controller may be configured to bring the material take-up roll in contacting contact with a pliable, flat web of material and to move the material take-up roll parallel to the plane in which the pliable sheet material blank is located, and at the same time rotate the material take-up roll about its roll axis such that the pliable, flat material web blank is wound up a piece on the jacket wall of the material take-up roll and presses the retaining strip onto a section of the material web blank which is wound onto the jacket wall, and the retaining strip fixes the material web blank there. Further winding can take place by rolling the material take-up roll tangentially on the material web blank, together with the retaining strip which is invariable in its position.

The robot controller can also, alternatively or additionally, be set up to press the retaining strip from above against the upper side of a part of the pliable, flat material web blank that has already been partially deposited on the deposition surface while depositing a pliable, flat material web blank received on the material take-up roll To prevent resumption of the deposited part of the limp, flat material web blank on the material take-up roll.

Concrete embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Concrete features of these exemplary embodiments, regardless of the specific context in which they are mentioned, if appropriate also individually or in other combinations, may represent general features of the invention.

• 1 eine perspektivische Darstellung eines Industrieroboters in Art eines Sechsachs-Knickarmroboters;
• 2 eine schematische Schnittdarstellung eines erfindungsgemäßen Robotergreifers;
• 3 eine schematische Ansicht von unten auf den Robotergreifer gemäß 2 mit seinen drei Drehachsen;
• 4 eine schematische Ansicht von unten auf den Robotergreifer gemäß 2 mit verschiedenen beispielhaften Bewegungsformen für die Materialaufnahmerolle relativ zur Halteleiste des Robotergreifers;
• 5 eine schematische Darstellung des Robotergreifers in seiner Anbauanordnung an einem Werkzeugflansch eines Roboterarms;
• 6 eine schematische Ansicht des Robotergreifers gemäß 5 in einer ersten Situation, in der die Halteleiste die oberste Lage eines Materialbahnzuschnitts untergreift;
• 7 eine schematische Ansicht des Robotergreifers gemäß 5 in einer zweiten Situation, in der die Materialaufnahmerolle die oberste Lage des Materialbahnzuschnitts erfasst;
• 8 eine schematische Ansicht des Robotergreifers gemäß 5 in einer dritten Situation, in der die Materialaufnahmerolle die oberste Lage des Materialbahnzuschnitts aufnimmt;
• 9 eine schematische Ansicht des Robotergreifers gemäß 5 in einer vierten Situation, in der die Halteleiste auf die gegenüberliegende Seite der Materialaufnahmerolle umgeschwenkt ist;
• 10 eine schematische Ansicht des Robotergreifers gemäß 5, in der die unterschiedlichen Kräfte an Halteleiste und Materialaufnahmerolle aufgezeigt sind, die automatisch gesteuert und/oder geregelt eingestellt werden können;
• 11 eine schematische Ansicht einer ersten Ausführungsvariante einer Halteleiste des Robotergreifers gemäß 5, mit fest angeordneten Vorsprüngen oder Rollen;
• 12 eine schematische Ansicht einer zweiten Ausführungsvariante einer Halteleiste des Robotergreifers gemäß 5, mit drehbar gelagerten Rollen und einem um die Rollen gespannten Riemen;
• 13 eine schematische Ansicht einer dritten Ausführungsvariante einer Halteleiste des Robotergreifers gemäß 5, mit einem Haftbelag;
• 14 eine schematische Darstellung einer Sequenz zum Aufnehmen einer obersten Lage eines biegeschlaffen, flächigen Materialbahnzuschnitts von einem Stapel durch den erfindungsgemäßen Robotergreifer;
• 15 eine schematische Darstellung, wie die Halteleiste und die Materialaufnahmerolle gegeneinander bewegt werden können;
• 16 eine schematische Darstellung einer Sequenz zum Ablegen einer aufgenommenen Lage eines biegeschlaffen, flächigen Materialbahnzuschnitts auf eine Ablagefläche durch den erfindungsgemäßen Robotergreifer;
• 17 eine schematische Darstellung einer Sequenz zum Aufnehmen einer obersten Lage eines biegeschlaffen, flächigen Materialbahnzuschnitts von einem Stapel durch Einklemmen mittels einer Halteleiste; und
• 18 eine schematische Darstellung einer Sequenz zum Aufnehmen einer obersten Lage eines biegeschlaffen, flächigen Materialbahnzuschnitts von einem Stapel unterstützt durch den Bernoulli-Effekt.

Show it:

• 1 a perspective view of an industrial robot in the manner of a six-axis articulated robot;
• 2 a schematic sectional view of a robot gripper according to the invention;
• 3 a schematic view from below of the robot gripper according to 2 with its three axes of rotation;
• 4 a schematic view from below of the robot gripper according to 2 with various exemplary forms of movement for the material take-up roll relative to the support strip of the robot gripper;
• 5 a schematic representation of the robot gripper in its mounting arrangement on a tool flange of a robot arm;
• 6 a schematic view of the robot gripper according to 5 in a first situation, in which the retaining strip engages under the uppermost layer of a material web blank;
• 7 a schematic view of the robot gripper according to 5 in a second situation, in which the material take-up roll detects the uppermost layer of the material web blank;
• 8th a schematic view of the robot gripper according to 5 in a third situation in which the material take-up roll receives the uppermost layer of the material web blank;
• 9 a schematic view of the robot gripper according to 5 in a fourth situation, in which the retaining strip is pivoted on the opposite side of the material-receiving roller;
• 10 a schematic view of the robot gripper according to 5 in which the different forces on retaining strip and material take-up roll are shown, which can be adjusted automatically and / or regulated;
• 11 a schematic view of a first embodiment of a retaining strip of the robot gripper according to 5 with fixed projections or rollers;
• 12 a schematic view of a second embodiment of a retaining strip of the robot gripper according to 5 with rotatably mounted rollers and a belt tensioned around the rollers;
• 13 a schematic view of a third embodiment of a retaining strip of the robot gripper according to 5 , with an adhesive coating;
• 14 a schematic representation of a sequence for receiving a top layer of a pliable, flat material web blank from a stack by the robot gripper according to the invention;
• 15 a schematic representation of how the retaining strip and the material-receiving roller can be moved against each other;
• 16 a schematic representation of a sequence for depositing a recorded position of a pliable, flat material web blank on a storage surface by the robot gripper according to the invention;
• 17 a schematic representation of a sequence for receiving an uppermost layer of a pliable, flat material web blank of a stack by clamping by means of a retaining strip; and
• 18 a schematic representation of a sequence for receiving a top layer of a pliable, flat material web blank of a stack supported by the Bernoulli effect.

The 1 shows a robot 1 who has a robotic arm 2 and a robot controller 10 having. The robot arm 2 comprises in the case of the present embodiment, a plurality of successively arranged and by means of joints J1 to J6 rotatably interconnected members L1 to L7.

The robot controller 10 of the robot 1 is configured to execute a robot program through which the joints J1 to J6 of the robot arm 2 can be automated according to the robot program or automatically adjusted or rotated in a manual operation. This is the robot controller 10 connected to controllable electric motors M1 to M6, which are formed, the joints J1 to J6 of the robot 1 to adjust.

The links L1 to L7 are in the case of the present embodiment of an industrial robot 1a around a frame 3 and a relative to the frame 3 about a vertically extending axis A1 rotatably mounted carousel 4 , Further links of the robot arm 2 are a swingarm 5 , a jib 6 and a preferably multi-axis robotic hand 7 with a tool flange 8th executed fastening device for fastening a robot gripper 11 according to the invention. The rocker 5 is at the lower end, ie at the joint J2 of the rocker 5 on the carousel 4 pivotally mounted about a preferably horizontal axis of rotation A2.

At the upper end of the swingarm 5 is at the first joint J3 of the swingarm 5 again about a likewise preferably horizontal axis A3 of the arm boom 6 pivoted. This carries the end of the robot hand 7 with its preferably three axes of rotation A4, A5, A6. The joints J1 to J6 are each through one of the electric motors M1 to M6 via the robot controller 10 Programmable driven. In general, a transmission can be provided between each of the members L1 to L7 and the respectively associated electric motors M1 to M6.

The robot gripper 11 has in the case of the present embodiment, a gripper body 12 on, which has a connection flange 13 includes, for attaching the robot gripper 11 on the tool flange 8th of the robot arm 2 is trained. The robot gripper 11 also has a base member 14 on, which by means of a first pivot joint 15.1 , which is automatically adjustable by a first drive motor A1, about a first axis of rotation D1 is rotatably mounted on the gripper body 12. The robot gripper 11 further includes a material take-up roll 16.1 on, by means of a second rotary joint 15.2 , which is automatically adjustable by a second drive motor A2, about a second axis of rotation D2, which is aligned parallel to the first axis of rotation D1, with respect to the base member 14 is rotatably mounted. The robot gripper 11 also has at least one retaining strip 16.2 on, on the gripper body 12 is attached.

In the case of the present embodiment, the robot gripper 11 a roll carrier 17 on where the material take-up roll 16.1 is attached. The roller carrier 17 is by means of a third rotary joint 15.3 , which is automatically adjustable by a third drive motor A3 to a third axis of rotation D3, which is aligned parallel to both the first axis of rotation D1 and the second axis of rotation D2, on an intermediate member 18 of the robot gripper 11 rotatably mounted. The intermediate link 18 is in turn by means of the second rotary joint 15.2 rotatable about the second axis of rotation D2 on the base member 14 stored.

In such an embodiment, the members of the robot gripper form 11 which links through the gripper body 12, the base member 14 , the intermediate link 18 and the roll carrier 17 formed, a kinematic chain of links passing through the first pivot 15.1 , the second pivot 15.2 and the third pivot 15.3 can be adjusted rotatably, as in particular 3 is indicated. In that regard, the material take-up roll 16.1 be rotationally adjusted in total three degrees of freedom with respect to the gripper body 12. The three axes of rotation D1, D2 and D3 of the first pivot 15.1 , the second swivel joint 15.2 and the third pivot 15.3 are aligned parallel to each other. As a result, this can affect the roll carrier 17 mounted material take-up roll 16.1 in the plane of the second end face of the gripper body 12 not only occupy any position and have any orientation, but reach each position on any trajectories, such as in 4 is shown. This applies in particular when the distances between the first axis of rotation D1 and the second axis of rotation D2 or between the second axis of rotation D2 and the third axis of rotation D3 are the same. If the aspect ratios are different, this will result in areas in the center of the robot gripper 11 if necessary, can not be approached.

So can the material take-up roll 16.1 relative to the retaining strip 16.2 have a universal freedom of movement in the plane, ie perform any kind of movement.

The basic link 14 has in the case of the present embodiment, a rotationally symmetrical outer shell wall, on which the base member 14 completely within the outer contour of the gripper body 12 is rotatably mounted. The intermediate link 18 of the robot gripper 11 has a rotationally symmetrical outer jacket wall, on which the intermediate member 18 completely rotatably mounted within the outer contour of the base member 14. The roller carrier 17 of the robot gripper 11 has a rotationally symmetrical outer jacket wall on which the roller carrier 17 completely within the outer contour of the intermediate member 18 is rotatably mounted.

As in particular in 2 can be seen, the base member 14 a pointing in the direction of the first axis of rotation D1 height H1, which is at most as large as the pointing in the direction of the first axis of rotation D1 height H0 of the gripper body 12 , The intermediate link 18 of the robot gripper 11 in this case also has a height H2 pointing in the direction of the second axis of rotation D2 which is at most as large as the height H1 of the base member pointing in the direction of the second axis of rotation D2 14 , The roller carrier 17 of the robot gripper 11 has a height H3 pointing in the direction of the third axis of rotation D3 which is at most as large as the height H2 of the intermediate element pointing in the direction of the third axis of rotation D3 18 ,

In a special embodiment, the first rotary joint 15.1 a the base member 14 surrounding first rolling bearing 19.1 with an inner ring, an inner ring raceway for rolling elements, an outer ring and an outer ring raceway, wherein the inner ring on the rotationally symmetrical outer circumferential wall of the base member 14 is attached. Alternatively, the inner ring raceway on the rotationally symmetrical outer shell wall of the base member 14 be educated.

In this case, the second rotary joint 15.2 a second roller bearing surrounding the intermediate member 18 19.2 with an inner ring, an inner ring raceway for rolling elements, an outer ring and an outer ring raceway, wherein the inner ring on the rotationally symmetrical outer shell wall of the intermediate member 18 is attached. Alternatively, the inner ring raceway on the rotationally symmetrical outer shell wall of the intermediate member 18 be educated.

In addition, the third swivel joint 15.3 a the roller carrier 17 surrounding third rolling bearing 19.3 with an inner ring, an inner ring raceway for rolling elements, an outer ring and an outer ring raceway, wherein the inner ring on the rotationally symmetrical outer shell wall of the roller carrier 17 is attached. Alternatively, the inner ring raceway on the rotationally symmetrical outer shell wall of the roller carrier 17 be educated.

The 5 shows the robot arm 2 guided robotic gripper 11 how he got his material picking up 16.1 for example, on a limp, flat material web blank 20 touches this by a rotational movement of the material pickup roller 16.1 take. In the case of the present embodiment, the diameter of the material take-up roll is 16.1 so large that the jacket wall on the outer contour of the gripper body 12 can stand out to cut on the pliable, flat material web 20 to be able to rest without the gripper body 12 the limp, flat material web blank 20 touched.

In 6 to 10 are in frontal views different movements of material pickup roller 16.1 and retaining strip 16.2 shown.

The retaining strip 16.2 can form an anvil, and is attached to the gripper body 12 of the robot gripper 11 attached. The retaining strip 16.2 is thus arranged rigidly to the robot flange. The retaining strip 16.2 is so far moved by the robot arm 2. The material take-up roll 16.1 can be on a plane of movement of the robot gripper 11 move freely. The material take-up roll 16.1 can eg parallel to the male limp, flat material web blanks 20 move and exert on this example the required contact pressure. The material take-up roll 16.1 can thus on the pliable, flat material web blank 20 be rolled, such that this material web blank 20 is wound without slippage while the retaining strip 16.2 the next situation holds, as in particular in 6 is indicated. The retaining strip 16.2 slides due to a movement of the robot arm 2 between an uppermost layer and an immediately underlying layer of a stack of several limp, flat material web blanks 20 and so singles the top layer of a limp, flat material web blank 20 ,

The material take-up roll 16.1 has a circular cylindrical jacket wall whose cylinder axis extends parallel to the third axis of rotation D3 and which is provided with an adhesion surface, which is designed for adherent holding the pliable, flat material web blank 20 on the jacket wall of the material take-up roll 16.1 as this particular in 7 you can see. The material take-up roll 16.1 thus takes the top layer of a limp, flat material web blank 20 and lifts them off the stack.

The retaining strip 16.2 is from the robot arm 2 moves and can the material take-up roll 16.1 consequences. The material take-up roll 16.1 moves relative to the gripper body 12 and thus relative to the retaining strip 16.2 , Although the robot arm 2 in the situation according to 6 and 7 stands still and also the retaining strip 16.2 is stationarily positioned (to fix the stack), the material take-up roll 16.1 be moved relative to the stack and in particular with the recorded topmost position of a pliable, flat material web blank 20 lifted from the pile and lifted, although the retaining strip 16.2 is stationarily positioned. In 8th is shown as the recorded pliable, flat material web blank 20 continue on the material take-up roll 16.1 can be wound up and taken away.

As in 9 is shown, the retaining strip 16.2 on the other side of the material take-up roll 16.1 be pivoted, for example, a drop of the material web blank 20 To support by holding, or to ensure a winding of the uppermost material sheet blank starting from the opposite side of the material web blank, without having to perform a reorientation of the gripper by 180 °.

For measuring the contact pressure of the material take-up roll 16.1 on the material of the limp, flat material web blank 20 and the power with the retaining strip 16.2 holds the remaining stack, for example, a force measuring device between the tool flange 8th and robotic grippers 11 be arranged. Because the material take-up roll 16.1 unwinding without slippage and the distances between the two contact points and the tool flange 8th known, both forces can be measured by the resulting moment and the resulting force, as in 10 shown on the tool flange 8th of the robot arm 2 be determined. For measuring the contact pressure of the material take-up roll 16.1 on the stack and the force with the retaining strip 16.2 holds the stack, can also internal forces in the robot gripper 11 be measured.

Generally, the retaining strip 16.2 a first outer surface 16a have, which is circular arc-shaped in cross-section and extending in the longitudinal extent of the retaining strip 16.2 extends in a groove shape, such that the first outer surface 16a a to the shell wall 21 the material take-up roll 16.1 has adapted shape.

The 11 shows a first embodiment of the retaining strip 16.2 of the robot gripper 11 , with the first outer surface 16a and the second outer surface 16b , wherein on the second outer surface 16b projections 22 or rollers are fixed. These projections 22 or rolls can also be on the outside wall 16.c be attached to a same gripping on the opposite side, see 8th and 9 to enable.

The 12 shows a second embodiment of the retaining strip 16.2 of the robot gripper 11 , with the first outer surface 16a and the second outer surface 16b , wherein on the second outer surface 16b roll 23 are rotatably mounted. A belt can be stretched around these rollers, which can rest flush on the counterpart. These roles 23 can also be on the outside wall 16.c be attached to a same gripping on the opposite side, see 8th and 9 to enable.

The retaining strip 16.2 has in the case of the illustrated embodiments, one of the first outer surface 16a opposite second outer surface 16b on, forming an acute angle between the first outer surface 16a and the second outer surface 16b on a common edge 24 are merged. As in 13 it can be seen, the retaining strip 16.2 one on the first outer surface 16a arranged along the common edge 24 extending adhesive coating 25 exhibit.

In the 14 is a sequence for picking up an uppermost layer of a pliable flat sheet blank 20 from a stack 26 by the robot gripper according to the invention 11 shown schematically.

The sequence of 17 illustrates how the material take-up roll 16.1 in a touching contact with the limp, flat material web blank 20 is brought, and how the material take-up roll 16.1 parallel to the plane in which the pliable, flat material web cut 20 is moved, and how at the same time the material take-up roll 16.1 is rotated about its roller axis, such that the pliable, flat material web blank 20 on the mantle wall 21 the material take-up roll 16.1 a piece is wound up, and the retaining strip 16.2 on a piece of limp, flat material web blank 20 press that on the mantle wall 21 a piece is wound up, and there by means of the retaining strip 16.2 is fixed. The sequence of 18 illustrates how the robot gripper an air nozzle 30 that of the hollow cylindrical material take-up roll 16.1 is assigned such that the air nozzle 30 an air flow along the jacket wall 21 the material take-up roll 16.1 generates, which is suitable between the male limp, sheet material web blank 20 and the jacket wall 21 the material take-up roll 16.1 create a negative pressure, which causes the male to be pliable, flat material web blanks 20 to the mantle wall 21 the material take-up roll 16.1 is moved up. The air nozzle 30 is accordingly formed using the Bernoulli effect the male limp, flat material web blank 20 to the mantle wall 21 the material take-up roll 16.1 zoom move. The air nozzle 30 is in the case of the present embodiment on one of the retaining strip 16.2 opposite side of the material take-up roll 16.1 arranged. Thus, even one of the retaining strip 16.2 assigned end portion of the male pliable, flat material web blank 20 to the material take-up roll 16.1 through the air flow of the air nozzle 30 be raised, although the air nozzle 30 at one of this end portion of the male sluggish, flat material web blank 20 opposite side of the material take-up roll 16.1 is arranged.

• - die Materialaufnahmerolle 16.1 in einem berührenden Kontakt zu einem biegeschlaffen, flächigen Materialbahnzuschnitt 20 zu bringen, und
• - die Materialaufnahmerolle 16.1 parallel zur Ebene, in der sich der biegeschlaffe, flächige Materialbahnzuschnitt 20 befindet, zu bewegen, und geleichzeitig die Materialaufnahmerolle 16.1 um ihre Rollenachse zu drehen, derart, dass der biegeschlaffe, flächige Materialbahnzuschnitt 20 auf der Mantelwand 21 der Materialaufnahmerolle 16.1 wenigstens um 90 Grad aufgewickelt wird, und
• - den Robotergreifer 11 zu bewegen, um den von der Materialaufnahmerolle 16.1 aufgenommenen biegeschlaffen, flächigen Materialbahnzuschnitt 20 von einer Entnahmestelle (14) an eine Abgabestelle (16) zu transportieren.

The robot controller 11 is accordingly set up

• - the material take-up roll 16.1 in a touching contact to a pliable, flat material web blank 20 to bring, and
• - the material take-up roll 16.1 parallel to the plane in which the pliable, flat material web cut 20 is moving, and at the same time the material take-up roll 16.1 to rotate about their roller axis, such that the pliable, flat material web blank 20 on the mantle wall 21 the material take-up roll 16.1 wound up at least 90 degrees, and
• - the robot gripper 11 to move to that of the material take-up roll 16.1 recorded limp, flat material web blank 20 from a sampling point ( 14 ) to a delivery point ( 16 ) to transport.

• - an einem Stapel 26 von mehreren Lagen von biegeschlaffen, flächigen Materialbahnzuschnitten 20, die Halteleiste 16.2 zwischen der obersten Lage der biegeschlaffen, flächigen Materialbahnzuschnitte 20 und einer unmittelbar unter der obersten Lage liegenden weiteren Lage eines weiteren biegeschlaffen, flächigen Materialbahnzuschnitts 20 einzuführen, und
• - während eines Bewegens der Materialaufnahmerolle 16.1, um die oberste Lage der biegeschlaffen, flächigen Materialbahnzuschnitte 20 von dem Stapel 26 aufzunehmen, die Halteleiste 16.2 von oben gegen die Oberseite der unter der obersten Lage liegenden weiteren Lage eines biegeschlaffen, flächigen Materialbahnzuschnitts 20 zu drücken, um die weitere Lage auf dem Stapel 26 zurückzuhalten Im Weitern kann die Halteleiste 16.2 ausgebildet sein, gegen den Teil des Materialbahnzuschnitts zu drücken, der auf der Materialaufnahmerolle aufgewickelt ist.

The robot controller 11 is set up in the case of the present embodiment,

• - on a pile 26 of several layers of limp, flat material web blanks 20 , the retaining strip 16.2 between the uppermost layer of the limp, flat material web blanks 20 and a lying directly below the top layer further layer of another pliable, flat material web blank 20 to introduce and
• during movement of the material take-up roll 16.1 to the uppermost layer of the limp, flat material web blanks 20 from the stack 26 to receive, the retaining strip 16.2 from above against the top of lying below the top layer further layer of a pliable, flat material web blank 20 to push to the more location on the stack 26 In addition, the retaining strip 16.2 be configured to press against the part of the material web blank, which is wound on the material take-up roll.

The 15 shows how the retaining strip 16.2 and the material take-up roll 16.1 can be moved against each other.

In the 16 is a sequence for depositing a recorded position of a limp, flat material web blank 20 on a shelf 27 by the robot gripper according to the invention 11 shown schematically.

The robot controller 11 In the case of the present exemplary embodiment, the material take-up roll 16. 1 is set up together with the pickled, flat material web blank 20 over a shelf 27 , on which the pliable, flat material web blank 20 be moved, and at the same time the material take-up roll 16.1 to turn back their role axis, such that the pliable, flat material web blank 20 from the mantle wall 21 the material take-up roll 16.1 unrolled and on the shelf 27 is handled.

The robot controller 11 may be arranged while depositing the on the material take-up roll 16.1 recorded limp, flat material web blank 20 , the retaining strip 16.2 from above against the top of a partially deposited on the shelf surface part of the limp, flat material web blank 20 to press to resume the dropped part 20a the limp, flat material web blank 20 on the material take-up roll 16.1 to prevent.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 0421167 A2 [0002]
• DE 202014103132 U1 [0003]

Claims (15)

A robotic gripper for handling high-speed, flat material web blanks (20), comprising a gripper base body (12), which has a connecting flange (13) which is designed to fasten the robot gripper (11) to a tool flange (8) of a robot arm (2), and comprising: - A base member (14), which by means of a first rotary joint (15.1), which is automatically adjustable by a first drive motor (A1) of the robot gripper (11) to a first axis of rotation (D1) rotatably mounted on the gripper body (12), - An intermediate member (18) which by means of a second rotary joint (15.2), which is automatically adjustable by a second drive motor (A2) of the robot gripper (11), about a second axis of rotation (D2), which is aligned parallel to the first axis of rotation (D1) is rotatably mounted on the base member (14), and - An end member (17) by means of a third rotary joint (15.3), which is automatically adjustable by a third drive motor (A3) of the robot gripper (11) to a third axis of rotation (D3) which is parallel to both the first axis of rotation (D1) and to the second axis of rotation (D2) is rotatably mounted on the intermediate member (18), further comprising a material receiving roller (16.1) fixed to the end member (17) having a shell wall which is formed for adherent holding one of the pliable material sheet blank (20) accommodated in the material take-up roll (16.1), and a retaining strip (16.2) fastened to the gripper base body (12) and extending parallel to the material take-up roll (16.1) with its longitudinal extent. Robot gripper behind Claim 1 , characterized in that the material receiving roller (16.1) has a circular cylindrical jacket wall (21), the cylinder axis extending parallel to the third axis of rotation (D3) and which is provided with an adhesive surface, which is designed for adherent holding the pliable, flat material web blank ( 20) on the jacket wall (21) of the material take-up roll (16.1). Robot gripper behind Claim 1 or 2 , characterized in that the material receiving roller (16.1) is formed as a hollow cylinder and having a rigid annular wall, which is provided with distributed around the circumference arranged holes which form suction nozzles, due to a in the interior of the hollow cylindrical material receiving roller (16.1) pending air negative pressure, for suction formed on the annular ring wall portion of the pliable, flat material web blank (20) are formed and / or due to an inside of the hollow cylindrical material receiving roller (16.1) pending air pressure, for repelling a voltage applied to the annular ring wall portion of the pliable, flat material web blank (20) are. Robot gripper after one of the Claims 1 to 3 characterized in that the robotic gripper has an air nozzle associated with the hollow cylindrical material take - up roll (16.1) such that the air jet creates an airflow along the jacket wall of the material take - up roll (16.1) adapted to be sandwiched between the male, flat sheet material cut and the Mantle wall of the material take-up roll (16.1) to generate a negative pressure, which causes the male to be flattened, flat material web blank to the shell wall of the material take-up roll (16.1) is moved up. Robot gripper after one of the Claims 1 to 4 , characterized in that behind the jacket wall of the material take-up roll (16.1) insulated tracks are arranged, which are connected to an electrical energy source such that an electrostatic field is generated, which causes the male pliable, flat material web blank to the shell wall of the material take-up roll ( 16.1) is moved up. Robot gripper after one of the Claims 1 to 5 , characterized in that the material-receiving roller (16.1) has a circular cylindrical jacket wall (21) whose cylinder axis extends parallel to the third axis of rotation (D3) and which is provided with distributed around the circumference arranged needles and / or hooks, which are formed in a state of a portion of the non-rigid, flat material web blank (20) adjacent to the casing wall (21) penetrating and / or penetrating the portion of the non-rigid, flat material web blank (20) for positive holding of the portion of the non-rigid, flat material web blank (20) on the jacket wall (21) of the material take-up roll (16.1). Robot gripper after one of the Claims 1 to 6 , characterized in that the retaining strip (16.2) has a first outer surface (16a) which is circular arc-shaped in cross-section and which extends in the longitudinal extent of the retaining strip (16.2) channel-shaped, such that the first outer surface (16a) to a shell wall ( 21) of the material receiving roller (16.1) has adapted shape. Robot gripper after one of the Claims 1 to 7 characterized in that the retaining strip (16.2) has a second outer surface (16b) opposite the first outer surface (16a) which forms an acute angle between the first outer surface (16a) and the second outer surface (16b) at a common edge (16b). 24) are merged. Robot gripper behind Claim 8 , characterized in that the retaining strip (16.2) arranged on the first outer surface (16a), along the common edge (24) extending adhesive coating (25). Robot gripper behind Claim 8 or 9 , characterized in that the second outer surface (16b) and / or the third outer surface (16.c) is planar and on the second outer surface (16b) arranged distributed projections (22) or rotatably mounted rollers (23) or belt. A robot comprising a robot controller (10), a robot arm (2) controlled by the robot controller (10), comprising a tool flange (8) and a flange drive motor rotating the tool flange (8) about a flange axis, and having one on the tool flange (8). of the robot arm (2) fixed robotic gripper to one of Claims 1 to 10 wherein the robot controller (10) is arranged to drive the drive motors of the robot arm (2) to position the holding strip (16.2) fixed to the gripper body (12) relative to the pliable material to be picked up, and the robot controller (10) is arranged Base member (14) by means of the first drive motor (A1) about the first axis of rotation (D1), the intermediate member (18) by means of the second drive motor (A2) about the second axis of rotation (D2) and the end member (17) by means of the third drive motor (A3 ) to automatically rotate about the third axis of rotation (D2) in order to rotate the material take-up roll (16.1) and to adjust it relative to the holding strip (16.2). Robot after Claim 11 characterized in that the robot controller (10) is arranged to: - bring the material take - up roll (16.1) in contact contact with a pliable, flat material web blank (20), and - the material take - up roll (16.1) parallel to the plane in which the pliable, flat material web blank (20) is to move, and at the same time the material take-up roll (16.1) to rotate about its roll axis, such that the pliable, flat material web blank (20) on the jacket wall (21) of the material take-up roll (16.1) is wound, and - to move the robot gripper (11) in order to transport the pliable, flat material web blank (20) received by the material take-up roll (16.1) from a removal point to a delivery point. Robot after Claim 11 characterized in that the robot controller (10) is arranged to: - bring the material take - up roll (16.1) in contact contact with a pliable, flat material web blank (20), and - the material take - up roll (16.1) parallel to the plane in which the pliable, flat material web blank (20) is to move, and at the same time the material take-up roll (16.1) to rotate about its roll axis, such that the pliable, flat material web blank (20) on the jacket wall (21) of the material take-up roll (16.1) a piece wound is, and the retaining strip (16.2) presses on a portion of the material web blank, which is wound on the shell wall, and the retaining strip fixed the material web blank there. Robot after one of the Claims 11 to 13 , characterized in that the robot controller (10) is set up, the material take-up roll (16.1) together with the recorded limp, flat material web blank (20) via a storage surface (27) on which the pliable, flat material web blank (20) is to be stored, and at the same time to rotate the material take-up reel (16.1) about its reel axis such that the pliable, flat web of material blank (20) is unrolled from the mantle wall (21) of the material take-up reel (16.1) and unwound onto the support surface (27). Robot after one of the Claims 11 to 14 , characterized in that the robot control (10) is arranged, - on a stack (26) of several layers of pliable, flat material web blanks (20), the retaining strip (16.2) between the uppermost layer of the pliable, flat material web blanks (20) and a further layer of another pliable, flat material web blank (20) immediately below the uppermost layer, and - during movement of the material take-up roll (16.1) to receive the uppermost layer of the pliable, flat material web blanks (20) from the stack (26) to press the retaining strip (16.2) from the top against the top of the further layer of a pliable, flat material web blank (20) lying below the uppermost layer in order to retain the further layer on the stack (26).

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