DE202005007347U1 - Robot tool for holding and transporting containers has tool connector element at end of arm remote from support element so that container is connected or disconnected by swivelling support arm - Google Patents

Abstract

The robot tool has a tool connector element on a horizontal support element (22) which is swivel connected to a vertical extending support arm. At the end of one arm remote from the support element is a connecting element (18,20) which is adapted to the container so that the container can be connected to or disconnected from the connecting element by swivelling the support arm. The connecting element can be connected to the container through positive locking or force locking action.

Description

The The invention relates to a robot tool for picking up and transporting a container with a tool connection element on a horizontally extending Support element with which tool connection element a connection enabled with a robot is.

robot are generally known and universally applicable machines that preferred in industrial manufacturing processes or machining processes be used. The flexibility in the use of such robots will be raised, by a robot body preferably standardized configured while at this robot body a Tool connection point is defined, on which a corresponding Robot tool for whose special task can be connected. By attaching The robot is then available for a variety of tools special task prepared.

When Tools for Lifting tasks are in particular hook and gripper generally known.

outgoing From the aforementioned prior art it is the object of the invention to specify a robot tool with which to pick up and transport a container preferably simply possible is.

The The object is achieved by a Robot tool for picking up and transporting a container with solved the features mentioned in claim 1.

Therefore The invention relates to a robot tool characterized is that at least one vertically extending support arm with the Supporting element is pivotally connected to that of the support element opposite end of the at least one support arm adapted to the container Connecting element is attached, and that by a pivoting movement the at least one support arm of the container with the connecting element connectable or detachable is.

One particular advantage here is that the robot tool is configured so that by a simple pivoting movement of at least one support arm the robot tool with the container safely connected is. The manual since then usual attach a load on a hook or a comparatively complicated one Gripping movement of a gripping tool is advantageously avoided.

In an advantageous embodiment of the robot tool takes place the pivoting movement of the at least one support arm in the direction of Container.

The vertical orientation of the at least one support arm is according to Achieved pivoting movement in a simple manner, so the position, in the container connected to the connecting element.

A advantageous development of the robot tool according to the invention is characterized characterized in that the carrying element together with the connecting element L-shaped or is hook-shaped, and that by the pivoting movement a corresponding shape on the container, in particular a nose, a groove, a rim or a Randanformung, is engaged by the connecting element.

The Shaping on the container is usually above its center of gravity. This is a safe and stable Lifting the container guaranteed. Then the shape is on the container accordingly easy to reach.

In addition is It is advantageous if in the horizontal area of the connecting element on the to the container pointing end a blocking element is arranged, in particular a Locking nose, which solve one prevents the connection between the connecting element and the container, in the case that the connecting element is loaded by the weight of the container is.

With Such a blocking element in particular two advantages achieved. On the one hand, the blocking element acts as a mechanical obstacle against an accidental release of the container from the connecting element, so that the danger is avoided the container Total can be solved by the robot tool. On the other hand is through the Blocking element defines a horizontal area on the connecting element, namely between the locking element and the support arm in which example the Forming with the robot tool in contact. By appropriate Choice of dimensions of this area is the approved game or the wished Game between robot tool and container adjustable.

The Interaction between robot tool and container can be further improved by: the blocking element is an inclined plane to an imaginary vertical line has, that the plane on the side facing away from the container of the blocking element is arranged, and that the angle between the plane and the vertical Line so chosen is that in the event that after undercutting after lifting of the container the formation comes into contact with the plane, the container through its weight is moved to a stable transport position.

By appropriate choice of the angle ensures that the container anyway and automatically by its weight in the aforementioned desired or defined range in the horizontal portion of the connecting element is movable. On In any case, the defined transport position is achieved in this way.

It has been found to be an angle between 20 degrees and 30 Degrees for the usual use cases of such a robot tool is completely sufficient, wherein However, it should not be excluded that the angle is between 0 degrees and 45 degrees and optionally still, depending on the sliding friction coefficient between container material and material of the connecting element, even larger angles come into question.

A further advantageous embodiment of the robot tool according to the invention is characterized in that the support element at least one Clamping device is mounted, that through the at least one Clamping device, if necessary, a force between the support element and the container is applicable, and that the necessary counterforce to compensate the force through the contact surface of Conduit and molding is passed.

By the above features ensures that the container in any case in a predeterminable transport position, in the case, that the connecting element with the container after raising in connection stands. This is a release of the container latched from this transport position. By the admission with an additional Force on the container in a twisted direction down through the clamping device is applied, the transport container is so to speak with the desired Clamped area on the connecting element. In a corresponding embodiment of the connecting element as proposed above it is no longer mechanically possible, container and robot tool readily to solve.

Further advantageous embodiments of the system according to the invention are the other dependent claims refer to.

Based the embodiments illustrated in the drawings, the invention, advantageous embodiments and improvements of the invention, as well particular advantages of the invention will be explained and described in detail.

It demonstrate:

1 a material container in a transport tool,

2 a first support arm and

3 a second support arm.

1 shows a first arrangement 10 with one on the ground 12 standing material container 14 and with a lifting device 16 ,

The material container 14 is shown in section as a cuboid container, with its flat bottom part on the ground 12 while its vertically upper area is open and this area of shaping the wall of the material container 14 is designed as a peripheral edge with a downwardly directed collar, so that in this sectional view, the shape of a groove whose opening is directed vertically downwards, is shown. A typical embodiment of such a material container has dimensions of about 50 cm in length, 40 cm in width and 40 cm in height and a typical curb weight of about 6 kg and a loading capacity of about 4 kg, so that when loaded a total weight of about 10 kg results.

The lifting device 16 is in a connection position immediately above the material container 14 shown in which it is possible to pivot a first 18 and a second connection hook 20 perform. The lifting device 16 has as a first essential component of a horizontally arranged traverse 22 on whose length dimension is adapted to the container dimension. In addition, approximately in the middle of the vertical upper side of the traverse 22 a tool adapter 24 attached, which is attached, for example, at the free end of a robot arm at the tool connection point and is connectable to this. However, the robot is not shown in this figure, but its movement possibilities should be indicated by the arrows 26 be indicated, namely in this case, a free movement in the vertical and horizontal directions. In an open container as shown here, a tilting or pivoting movement due to the risk of unwanted emptying of the container is to be avoided.

On the ground 12 facing side, each at the outer end of the crossbar 22 is a first 28 and a second hook device 30 arranged.

Here is the first hook device 28 by means of a first joint 32 with the first connection hook 18 and according to the second hook device 30 by means of a second joint 34 with the second connection hook 20 connected. Here are the connection hooks 18 . 20 each connected to a drive, which is not shown in the figure, but by the need, a pivotal movement of the connecting hooks 18 . 20 is executable.

The first connection hook 18 is designed L-shaped, wherein the longer of the L-leg with the first joint 32 is connected and extends substantially in the vertical direction, and wherein the shorter, substantially horizontal L-leg perpendicular to the longer L-leg at the first joint 32 remote end is arranged. The first connection hook 18 is shown in a first position, in which the longer L-leg is pivoted approximately at an angle of 20 degrees from its vertical position and thus offers the possibility of the lifting device 16 immediately above the material container 14 to arrange without losing the material container 14 to touch, if also the second connection hook 20 located in a comparable pivoted position. The Verschwenkungsrichtung should by the second arrow 36 be indicated.

The second connection hook 20 is also similar L-shaped as the first connecting hook 18 , but with the difference that the arrangement in this view is mirror-inverted, that is, in such a way that in each case the free ends of the shorter legs of the L-shaped connecting hooks 18 . 20 facing each other. In addition, the second connection hook 20 shown in a second position, with the short leg of the L already at the edge of the material container 14 fully engages, such that the longer of the L-legs is exactly in a vertical position, viewed in the direction of its longitudinal extent.

From the selected representation it can be seen that in the case that also the first connection hook 18 pivoted to the second position of the material container 14 is enclosed by the lifting device as a whole so that it can be lifted. The games are between the connection hooks 18 . 20 and the material container 14 chosen so that it can not accidentally move out of the lifting device.

By lifting the lifting device 16 by a robot, automatically connects between the material container 16 and the connection hook 18 . 20 made by the edge of the material container 14 Automatically hangs up on the shorter of the L-shaped gifts by the lifting process.

Another possibility is the material container 14 to fix is that the shorter of the L-shaped legs are designed so that they already pivot the material container when pivoting in the holding position, ie the second position 14 Touch and such a connection is made.

In addition, in this figure, a first 38 and a second clamping device 40 symbolically represented, each in the immediate vicinity of the first 28 as well as the second hook device 30 and also with the crossbar 22 connected. Here are the clamping devices 38 . 40 arranged so that their position is adapted to the material container such that plunger 42 the clamping devices 38 . 40 directly on a corresponding edge portion of the material container 14 Act. Here are the clamping devices 38 . 40 shown only schematically as pneumatic or hydraulically driven devices, so that no details about the actual drive can be seen for this example. However, these are familiar to the expert. Moreover, the drive can just as well be done by electrical means. The corresponding terminals or supply lines for such a drive may be provided in a variety of ways either by the robot itself or by separate supply lines carrying the lifting device 16 be powered and powered.

2 shows a further embodiment of a connection hook in the form of a third connection hook 50 , which is designed similar L-shaped, as the first 18 and the second connection hook 20 , At the third connection hook 50 is a third joint 52 shown which has a hinge axis marked by a cross 54 has, which is perpendicular to the image plane. To this hinge axis is the third Ver connection hook 50 according pivotable. At the free end of the shorter L-shaped leg of the third connecting hook 50 is a first blocking element 56 appropriate. The one sloping surface 58 having approximately an angle of 45 degrees to the horizontal. In this way, after the pivoting of the L-shaped third connecting hook into the second and thus the lifting position for a container to be lifted, it is achieved in a simple manner that a rim, for example as formed as in 1 the edge of the material container 14 , an accidental pivoting of the third connection hook 50 or even a slipping of the container away from the third connection hook 50 , is avoided. A container wall or - depending on the design of the container - also a nose, a groove, a shelf or a Randanformung, stands with a first wing 60 in contact, namely those surface, on the shorter leg of the L-shaped third connecting hook 50 points upwards in this view. In addition, it is ensured in such a configuration that in the third connection hook 50 initiated forces are introduced into the vicinity of the vertically disposed leg, and thus a particularly favorable introduction of force is ensured.

3 shows a fourth connection hook 60 , which has approximately similar dimensions and comparable dimensions, as the third connecting hook 50 , but with the difference that the hook part has been bent from a metal strip, which is shown in this view as a section from the side. Typical for this are the rounded corners between the legs or the area of a locking nose 64 that has a similar function as the first locking element 56 Has. The locking nose 64 is bent so that an angle x between an imaginary vertical line and the locking nose, as in the 3 shown only 15 degrees. It has been found that at such an angle, the engagement of a corresponding shape on the container is particularly easy. As already in 2 However, the choice of a different angle is readily possible to also achieve a blocking effect, for example an angle of 45 degrees or even 60 degrees. At angles of α = 10 degrees to 20 degrees, however, there is added another advantage, which is the particularly simple threading of the locking element into the corresponding region of the formation on the container, namely in the area of the supporting surface 60 , consists.

10

first arrangement

12

ground

14

material containers

16

hoist

18

first connecting hook

20

second connecting hook

22

traverse

24

tool adapter

26

first arrows

28

first hook device

30

second hook device

32

first joint

34

second joint

36

second arrow

38

first clamping device

40

second clamping device

42

plunger

50

third connecting hook

52

third joint

54

joint axis

56

first blocking element

58

sloping surface

60

first wing

62

second wing

64

locking tab

Claims (9)

Robot tool for picking up and transporting a container ( 14 ) with a tool connection element on a horizontally extending support element, with which tool connection element a connection with a robot is made possible, characterized in that at least one vertically extending support arm is pivotally connected to the support element, that at the end remote from the support element of the at least one Supporting arm adapted to the container connecting element is mounted, and that by a pivoting movement of the at least one support arm of the container with the connecting element is connectable or detachable. Robot tool according to claim 1, characterized in that that the connecting element positively or non-positively connected to the container is. Robot tool according to claim 1 or 2, characterized in that that by a pivoting movement of the at least one support arm in Direction of the container the connection is made. Robot tool according to one of the preceding claims, characterized characterized in that the support element together with the connecting element L-shaped or hook-shaped is, and that by the pivotal movement an attractive shape on the container, in particular a nose, a groove, a rim or a Randanformung, is engaged by the connecting element. Robot tool according to claim 4, characterized in that in the horizontal region of the connecting element at the end facing the container, a blocking element ( 56 ) is arranged, in particular a locking nose ( 64 ), which prevents a release of the connection between the connecting element and the container, in the case that the connecting element is loaded by the weight of the container. Robot tool according to claim 5, characterized in that the blocking element ( 56 ) has a plane inclined to an imaginary vertical line, that the plane is on the side of the blocking element ( 56 ) is arranged, and that the angle between the plane and the vertical is selected such that in the event that the shape comes into contact with the plane after the bottom when lifting the container, the container is moved by its weight in a stable transport position , Robot tool according to claim 6, characterized in that that the angle between 10 and 20 degrees is selected. Robot tool according to one of claims 5 to 7, characterized in that on the support element at least one clamping device ( 38 . 40 ) at is brought that by the at least one clamping device ( 38 . 40 ) As needed, a force between the support member and the container can be applied, and that the counterforce required to balance the force is passed through the contact surface of the connecting element and molding. Robot tool according to claim 8, characterized in that the force of the at least one clamping device ( 38 . 40 ) can be applied by a pneumatic, hydraulic or electric drive.