[go: up one dir, main page]

EP1638739A1 - Manipulator-guided gripping device having a deflection safety device that can prevent collisions - Google Patents

Manipulator-guided gripping device having a deflection safety device that can prevent collisions

Info

Publication number
EP1638739A1
EP1638739A1 EP04739651A EP04739651A EP1638739A1 EP 1638739 A1 EP1638739 A1 EP 1638739A1 EP 04739651 A EP04739651 A EP 04739651A EP 04739651 A EP04739651 A EP 04739651A EP 1638739 A1 EP1638739 A1 EP 1638739A1
Authority
EP
European Patent Office
Prior art keywords
gripping device
parts
securing
gripping
securing parts
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04739651A
Other languages
German (de)
French (fr)
Inventor
Botho Kikut
Elmar Nüchter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE20314896U external-priority patent/DE20314896U1/en
Application filed by KUKA Schweissanlagen GmbH filed Critical KUKA Schweissanlagen GmbH
Publication of EP1638739A1 publication Critical patent/EP1638739A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a manipulator-guided gripping device (1) for motor vehicle body parts. The gripping device (1) comprises a number of device parts (6, 7) and a safety device (9), which serves to determine geometrical changes of the device parts (6, 7, 8), and has at least one deflection safety device (10), which prevents collisions, on the device parts (6, 7, 8). The deflection safety device (10) is mounted on a junction point (23) between the device parts (6, 7, 8).

Claims

- 22 -PATENTANSPRÜCHE - 22 PATENT CLAIMS
1.) Manipulatorgeführte Greifeinrichtung (1) für Werkstücke, insbesondere Karosserieteile im Karosserierohbau, wobei die Greifeinrichtung (1) mehrere Vorrichtungsteile (6,7,8) und eine Sicherungseinrichtung (9) zum Feststellen von Geometrieänderungen aufweist, dadurch g e k e n n z e i c h n e t, dass die Sicherungseinrichtung (9) mindestens eine ausweichfähige Auslenksicherung (10) an den Vorrichtungsteilen (6,7,8) aufweist.1.) Manipulator-guided gripping device (1) for workpieces, in particular body parts in the body shell, the gripping device (1) having a plurality of device parts (6, 7, 8) and a securing device (9) for detecting changes in geometry, characterized in that the securing device ( 9) has at least one deflectable deflection protection (10) on the device parts (6, 7, 8).
2.) Greifeinrichtung nach Anspruch 1, dadurch g e k e n n z e i c h n e t, dass die2.) Gripping device according to claim 1, characterized g e k e n n z e i c h n e t that the
Auslenksicherung (10) an einer Verbindungsstelle (23) zwischen den Vorrichtungsteilen ( 6, 7, 7 ' , 7" , 8 ) angeordnet ist.Deflection protection (10) is arranged at a connection point (23) between the device parts (6, 7, 7 ', 7 ", 8).
3.) Greifeinrichtung nach Anspruch 1 oder 2, dadurch g e k e n n z e i c h n e t, dass die Auslenksicherung (10) mindestens zwei aneinander nach ein oder mehreren Achsen bei Überlast ausweichfähig gelagerte Sicherungsteile (11,12) aufweist.3.) Gripping device according to claim 1 or 2, characterized in that the deflection safety device (10) has at least two safety parts (11, 12) which are mounted to one another according to one or more axes in the event of overload.
4.) Greifeinrichtung nach Anspruch 1, 2 oder 3, dadurch g e k e n n z e i c h n e t, dass die Sicherungsteile (11,12) durch Spann- und Reibschluss miteinander verbunden sind.4.) Gripping device according to claim 1, 2 or 3, characterized in that the securing parts (11, 12) are connected to one another by tension and friction locking.
5.) Greifeinrichtung nach Anspruch 1, 2 oder 3, dadurch g e k e n n z e i c h n e t, dass die Sicherungsteile (11,12) formschlüssig durch mindestens ein ausweichfähiges Rastelement (13) miteinander verbunden sind. - 23 -5.) Gripping device according to claim 1, 2 or 3, characterized in that the securing parts (11, 12) are positively connected to one another by at least one evasive locking element (13). - 23 -
6.) Greifeinrichtung nach einem der vorhergehenden6.) Gripping device according to one of the preceding
Ansprüche, dadurch g e k e n n z e i c h n e t, dass die Sicherungsteile (11,12) jeweils mit einem Vorrichtungsteil ( 6, 7 , 7 ' , 7" , 8) verbunden sind.Claims, characterized in that the securing parts (11, 12) are each connected to a device part (6, 7, 7 ', 7 ", 8).
7.) Greifeinrichtung nach einem der vorhergehenden7.) Gripping device according to one of the preceding
Ansprüche, dadurch g e k e n n z e i c h n e t, dass das Rastelement (13) zwischen den Sicherungsteilen (11,12) angeordnet ist.Claims, characterized in that the latching element (13) is arranged between the securing parts (11, 12).
8. ) Greifeinrichtung nach einem der vorhergehenden8.) Gripping device according to one of the preceding
Ansprüche, dadurch g e k e n n z e i c h n e t, dass das Rastelement (13) mit einem elastischen Spannelement (20) gehalten ist.Claims, characterized in that the latching element (13) is held with an elastic tensioning element (20).
9.) Greifeinrichtung nach einem der vorhergehenden9.) Gripping device according to one of the preceding
Ansprüche, dadurch g e k e n n z e i c h n e t, dass das Rastelement (13) und das Spannelement (20) auf eine im Normalbetrieb die Sicherungsteile (11,12) haltende Kraft eingestellt sind.Claims, characterized in that the latching element (13) and the tensioning element (20) are set to a force holding the securing parts (11, 12) in normal operation.
10.) Greifeinrichtung nach einem der vorhergehenden10.) Gripping device according to one of the preceding
Ansprüche, dadurch g e k e n n z e i c h n e t, dass die Sicherungsteile (11,12) als Sphäre (15,15") und als umgebende Fassung (14,14') ausgebildet sind.Claims, characterized by the fact that the securing parts (11, 12) are designed as a sphere (15, 15 ") and as a surrounding frame (14, 14 ').
11.) Greifeinrichtung nach einem der vorhergehenden11.) Gripping device according to one of the preceding
Ansprüche, dadurch g e k e n n z e i c h n e t, dass die Sphäre als Gelenkkugel (15) und die Fassung als gerader Rohrabschnitt (14) ausgebildet sind.Claims, characterized by the fact that the sphere is designed as a joint ball (15) and the socket as a straight tube section (14).
12.) Greifeinrichtung nach einem der vorhergehenden12.) Gripping device according to one of the preceding
Ansprüche, dadurch g e k e n n z e i c h n e t, dass die Sphäre als ringförmiger Bund (15') mit balliger Außenseite und die Fassung als umgebende Kalotte ( 14 ' ) mit komplementär verrundeter Innenseite ausgebildet sind. - 2A -Claims, characterized in that the sphere is designed as an annular collar (15 ') with a spherical outside and the socket as a surrounding dome (14') with a complementarily rounded inside. - 2A -
13.) Greifeinrichtung nach Anspruch 12, dadurch g e k e n n z e i c h n e t, dass der Bund (15') und die umgebende Kalotte (14') im wesentlichen die gleiche Breite aufweisen.13.) Gripping device according to claim 12, characterized in that the collar (15 ') and the surrounding spherical cap (14') have essentially the same width.
14.) Greifeinrichtung nach einem der Ansprüche 1 bis 9, dadurch g e k e n n z e i c h n e t, dass die Sicherungsteile (11,12) als Scheibenaufnahmen (16,17) mit parallelen Arbeitsflächen ausgebildet sind.14.) Gripping device according to one of claims 1 to 9, characterized in that the securing parts (11, 12) are designed as disk receptacles (16, 17) with parallel working surfaces.
15.) Greifeinrichtung nach einem der vorhergehenden15.) Gripping device according to one of the preceding
Ansprüche, dadurch g e k e n n z e i c h n e t, dass die Sicherungsteile (11,12) eine Stelleinrichtung (33) zur reproduzierbaren gegenseitigen Positionierung aufweisen.Claims, characterized in that the securing parts (11, 12) have an actuating device (33) for reproducible mutual positioning.
16.) Greifeinrichtung nach einem der vorhergehenden Ansprüche, dadurch g e k e n n z e i c h n e t, dass die Sicherungsteile (11,12) ein oder mehrere Melder (24) aufweisen, die Auslenkungen der Sicherungsteile (11,12) feststellen und signalisieren.16.) Gripping device according to one of the preceding claims, characterized in that the securing parts (11, 12) have one or more detectors (24) which determine and signal deflections of the securing parts (11, 12).
17.) Greifeinrichtung nach einem der vorhergehenden17.) Gripping device according to one of the preceding
Ansprüche, dadurch g e k e n n z e i c h n e t, dass der Melder (24) exzentrisch zur Mittelachse (38) der Sicherungsteile (11,12) angeordnet ist.Claims, characterized in that the detector (24) is arranged eccentrically to the central axis (38) of the security parts (11, 12).
18.) Greifeinrichtung nach einem der Ansprüche 1 bis 16, dadurch g e k e n n z e i c h n e t, dass der Melder (24) zentrisch in der Mittelachse (38) der Sicherungsteile (11,12) angeordnet und als Bestandteil der Stelleinrichtung (33) ausgebildet ist. - 25 -18.) Gripping device according to one of claims 1 to 16, characterized in that the detector (24) is arranged centrally in the central axis (38) of the securing parts (11, 12) and is designed as a component of the actuating device (33). - 25 -
19.) Greifeinrichtung nach Ansprüche 18, dadurch g e k e n n z e i c h n e t, dass der Melder (24) ein federnd beweglich in einem endseitigen Rohrabschnitt (43) des Schafts (37) gelagertes Druckstück (44) aufweist, dessen vorstehendes19.) Gripping device according to claim 18, characterized in that the detector (24) has a resiliently movably mounted pressure piece (44) in an end tubular section (43) of the shaft (37), the above
Kopfteil (45) formschlüssig mit einer Aufnahme (47) an einem Vorsprung (39) des anderen Sicherungsteils (11) in Eingriff tritt, wobei an der Kontaktstelle ein Mikroschalter (48) angeordnet ist.Head part (45) positively engages with a receptacle (47) on a projection (39) of the other securing part (11), a microswitch (48) being arranged at the contact point.
20.) Greifeinrichtung nach einem der vorhergehenden20.) Gripping device according to one of the preceding
Ansprüche, dadurch g e k e n n z e i c h n e t, dass die Melder (24) mit einer Prozesssteuerung (26) verbunden sind.Claims, characterized in that the detectors (24) are connected to a process control (26).
21.) Greifeinrichtung nach einem der vorhergehenden21.) Gripping device according to one of the preceding
Ansprüche, dadurch g e k e n n z e i c h n e t, dass die Greifeinrichtung (1) ein Gestell (4) mit ein oder mehreren Greif- oder Spannelementen (6) und mit einer Andockstelle (5) zur Verbindung mit einem mechanischen Manipulator (2), insbesondere einem mehrachsigen Industrieroboter, aufweist.Claims, characterized in that the gripping device (1) has a frame (4) with one or more gripping or clamping elements (6) and with a docking point (5) for connection to a mechanical manipulator (2), in particular a multi-axis industrial robot ,
22. ) Greifeinrichtung nach einem der vorhergehenden Ansprüche, dadurch g e k e n n z e i c h n e t, dass das Gestell (4) mehrere Gestellrohre (7,8) aufweist.22.) Gripping device according to one of the preceding claims, characterized in that the frame (4) has a plurality of frame tubes (7, 8).
23.) Greifeinrichtung nach Anspruch 15, dadurch g e k e n n z e i c h n e t, dass die Gestellrohre (7,8) geteilt sind, wobei zwischen den Rohrstücken23.) Gripping device according to claim 15, characterized in that the frame tubes (7, 8) are divided, between the tube pieces
(7 ',7") eine Auslenksicherung (10) angeordnet ist. (7 ', 7 ") a deflection protection (10) is arranged.
EP04739651A 2003-06-17 2004-06-07 Manipulator-guided gripping device having a deflection safety device that can prevent collisions Withdrawn EP1638739A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE20309435 2003-06-17
DE20314896U DE20314896U1 (en) 2003-06-17 2003-09-24 Manipulator-controlled gripper device for workpieces especially in car body building has securing device with deflection safeguard to allow colliding part to escape without damaging gripper
PCT/EP2004/006113 WO2004110705A1 (en) 2003-06-17 2004-06-07 Manipulator-guided gripping device having a deflection safety device that can prevent collisions

Publications (1)

Publication Number Publication Date
EP1638739A1 true EP1638739A1 (en) 2006-03-29

Family

ID=33553661

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04739651A Withdrawn EP1638739A1 (en) 2003-06-17 2004-06-07 Manipulator-guided gripping device having a deflection safety device that can prevent collisions

Country Status (3)

Country Link
US (1) US20060181092A1 (en)
EP (1) EP1638739A1 (en)
WO (1) WO2004110705A1 (en)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITTO20050337A1 (en) * 2005-05-17 2006-11-18 Ol Ci Srl SUPPORT EQUIPMENT FOR A ROBOT GRIPPING ORGAN
US7609020B2 (en) * 2006-07-11 2009-10-27 Delaware Capital Formation, Inc. Geometric end effector system
DE102006052902B4 (en) * 2006-11-08 2016-03-03 Deutsches Zentrum für Luft- und Raumfahrt e.V. Wheel-mounted industrial robot, end-effector, and method of mounting a wheel by a wheel-mounted industrial robot
FR2915415B1 (en) * 2007-04-24 2010-02-19 Henri Moysan MULTIPURPOSE AND MODULAR PREHENSER FOR GEOMETRY IN ASSEMBLY AND HANDLING.
FR2915412B1 (en) * 2007-04-24 2010-02-19 Henri Moysan MULTIPURPOSE AND MODULAR FIXED OR MOBILE ASSEMBLY TOOLS FOR GEOMETRY AND POSITIONING.
DE102007057910A1 (en) * 2007-11-28 2009-06-10 Zis Industrietechnik Gmbh Device for protecting moving, preferably reaction force-free machining heads
US8478443B2 (en) * 2009-02-09 2013-07-02 Kawasaki Jukogyo Kabushiki Kaisha Robot system
GB201013819D0 (en) * 2010-08-18 2010-09-29 Johnson & Allen Ltd Articulation assembly
DE102010063202A1 (en) * 2010-12-16 2012-06-21 Robert Bosch Gmbh Protective device for a gripping device on a handling device, in particular a handling robot
DE102011008194A1 (en) * 2011-01-10 2012-07-12 Thyssenkrupp System Engineering Gmbh Mounting device with an overload safety coupling for holding at least one tool member in a vehicle body manufacturing system
AT516097B1 (en) * 2014-07-03 2016-09-15 Blue Danube Robotics Gmbh Protection method and protective device for handling equipment
US9724831B2 (en) 2015-08-28 2017-08-08 Te Connectivity Corporation Robotic gripper mechanism
DE102016106689A1 (en) * 2016-04-12 2017-10-12 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik attenuator
US10500735B1 (en) 2018-07-13 2019-12-10 Dexterity, Inc. Robotic toolset and gripper
EP4015163B1 (en) * 2020-12-17 2024-02-07 C.R.F. Società Consortile per Azioni Gripping tool
IT202100016373A1 (en) * 2021-06-22 2022-12-22 Forel S P A Unipersonale DEVICE AND PROCEDURE FOR THE DISCHARGE OF INSULATED GLASS FROM A PRODUCTION LINE OF THE SAME AND THE SUBSEQUENT CONDITIONING

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4673329A (en) * 1984-04-06 1987-06-16 Mitsubishi Denki Kabushiki Kaisha Arm device for industrial robot
DE3641368A1 (en) * 1986-12-03 1988-06-09 Mannesmann Ag STORAGE FOR A GRIPPER OR THE LIKE
DE3907553A1 (en) 1989-03-09 1990-09-13 Eckard Design Gmbh UNLOCKABLE CLUTCH IN OVERLOAD
JP2541779B2 (en) 1994-04-18 1996-10-09 株式会社ケージーケー Robot wrist protector
DE29718726U1 (en) * 1997-10-10 1999-02-18 KUKA Schweissanlagen GmbH, 86165 Augsburg Interchangeable coupling
DE20004369U1 (en) 2000-03-10 2001-07-19 KUKA Schweissanlagen GmbH, 86165 Augsburg Positioning scaffold
FR2818180B1 (en) 2000-12-20 2003-04-25 Genus Technologies GRIP DEVICE INTENDED TO BE MOUNTED ON A ROBOT ARM

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2004110705A1 *

Also Published As

Publication number Publication date
WO2004110705A9 (en) 2006-03-16
WO2004110705A1 (en) 2004-12-23
US20060181092A1 (en) 2006-08-17

Similar Documents

Publication Publication Date Title
EP1638739A1 (en) Manipulator-guided gripping device having a deflection safety device that can prevent collisions
US4470180A (en) Device for restraining an object or objects therein
DE102010014152B4 (en) load cell
DE102015001504B4 (en) Protective housing for robot grippers
DE10361132B4 (en) Method for monitoring the movement of a moving in several degrees of freedom moving danger object of a handling device, such as handling mass and / or movable mass
EP0702161A2 (en) Ball joint and a manufacturing method therefor
EP3069830B1 (en) Gripper element having an elastically deformable bending element in a preferred direction and support
EP3075497A1 (en) Coupling device and method of coupling
DE102008016604A1 (en) Method for peculiar collision monitoring of manipulator, particularly robot, involves determining geometric body, which encloses element of manipulator
WO2015139717A1 (en) Assembly device for replacing a gripper tip of a gripper finger for a robotic system
EP2801453A2 (en) Compensation device
EP2564994A1 (en) Coupling device for automated coupling of a tool holder to a tool carrier
DE4240814A1 (en) Pneumatic operated robotic hand for handling items for electrolytic treatment - has improved resistance to contamination by liquids and solids, and has a simple construction
CN105619453A (en) Collision protection device
DE3120492A1 (en) MEASURING DEVICE FOR MECHANICAL WORKPIECES
WO2017190822A1 (en) Connecting device, in particular in the form of a hose coupling
KR101412528B1 (en) Industrial transfer parallel robot
DE20314896U1 (en) Manipulator-controlled gripper device for workpieces especially in car body building has securing device with deflection safeguard to allow colliding part to escape without damaging gripper
DE19924147C2 (en) Unit for connecting a measuring tool to a measuring head moved by a measuring robot
AU654584B2 (en) Life cycle indicator torsion spring
JP2539580B2 (en) Robot hand shock absorption structure
GB1561703A (en) Clamping sealing bellows
DE10208513A1 (en) Handling device in a treatment device having a closed housing
DD253001A1 (en) DEVICE FOR PREVENTING TOOL OR WORK PROPERTY IN A MOTION FLOW
WO2006100454A1 (en) Locking mechanism

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20051207

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PL PT RO SE SI SK TR

DAX Request for extension of the european patent (deleted)
17Q First examination report despatched

Effective date: 20070828

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: KUKA SYSTEMS GMBH

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20110101

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230528