Robot gripper for handling objects, in particular containers

Patent metadata

Field	Value
Publication number	US-10737397-B2
Application number	US-201816605438-A
Country	US
Kind code	B2
Filing date	Apr 10, 2018
Priority date	Apr 20, 2017
Publication date	Aug 11, 2020
Grant date	Aug 11, 2020

Abstract

A robot gripper for handling objects having at least one retaining foot by means of a robot. A gripper main part has a connection flange designed to secure the robot gripper to a tool flange of a robot arm, and a counter bearing that is connected to the gripper main part and has a cutout. The shape and size of the cutout is adapted to the retaining foot of the object to receive same in a formfitting manner. An actuator is arranged on the gripper main part, preferably in an adjustably mounted manner, and is designed to press against the retaining foot in a clamping position to fix the retaining foot against the counter bearing, and to release the retaining foot in a release position such that the counter bearing can be adjusted relative to the retaining foot to allow the retaining foot to be released from the robot gripper.

First claim

What is claimed is:

1. A robot gripper for handling objects with a robot, wherein the objects include at least one retaining foot having a head portion, the robot gripper comprising:
a gripper body comprising a connection flange configured for fastening the robot gripper to a tool flange of a robot arm;
a counterstay connected to the gripper body and comprising a cutout;
the shape and size of the cutout adapted to the retaining foot of the object such that the cutout is able to receive the retaining foot in a form-fitting manner; and
an actuator arranged on the gripper body, the actuator operable to press against the retaining foot of the object in a clamping position of the actuator, in order to fix the retaining foot against the counterstay, and to release the retaining foot in a release position of the actuator, such that the counterstay is adjustable relative to the retaining foot whereby the retaining foot of the object may be detached from the robot gripper.

2. The robot gripper of claim 1 , wherein the actuator is adjustably mounted on the gripper body.

3. The robot gripper of claim 1 , wherein:
the cutout of the counterstay is configured as a window cutout that is closed around the peripheral edge thereof;
an inner contour of the window cutout at least substantially corresponds to an outer contour of the head portion of the retaining foot of the object; and
the counterstay further includes at least one latching recess configured to engage at least one projection defined by a contour shape of an outer contour of the head portion of the retaining foot in a locking position of the robot gripper.

4. The robot gripper of claim 1 , wherein:
the counterstay is fastened to the robot gripper at a distance from the gripper body such that a free space is formed between the counterstay and the gripper body; and
the free space is sized and arranged to facilitate rotating the robot gripper relative to the retaining foot of the object when the head portion of the retaining foot has entered the free space of the robot gripper, beyond the cutout of the counterstay.

5. The robot gripper of claim 3 , wherein the counterstay further comprises an inner wall that faces the gripper body and forms at least one latching recess for the head portion of the retaining foot of the object, or the at least one projection of the head portion of the retaining foot of the object.

6. The robot gripper according of claim 1 , wherein the actuator is a punch that is mounted in the center of the robot gripper so as to be axially adjustable, and comprising a punch head configured to press against a corresponding seat on the head portion of the retaining foot of the object.

7. The robot gripper of claim 1 , wherein the actuator is mounted on the gripper body so as to be biased by a spring device such that, in the clamping position of the actuator, the spring device generates a spring force that presses the actuator automatically against the head portion of the retaining foot of the object.

8. The robot gripper of claim 1 , further comprising a securing means configured for automatically locking the actuator in the clamping position thereof.

9. The robot gripper of claim 1 , further comprising a centering pin extending axially therefrom, wherein at least one of:
the centering pin comprises a centering cone on a free front end thereof; or
the centering pin forms a guide on which the actuator is guided in an axially adjustable manner.

10. The robot gripper of claim 1 , further comprising at least one sensor configured to sense a relative position of the robot gripper with respect to the object in at least one measured variable.

11. The robot gripper of claim 10 , wherein the sensor is configured as a camera that is oriented such that an optical axis thereof extends parallel with respect to a lateral longitudinal edge of the object.

12. The robot gripper of claim 10 , wherein:
the sensor is configured as a camera that is oriented such that an optical axis thereof extends in a direction transverse to a lateral longitudinal edge of the object; and
the robot gripper further comprises at least one deflection mirror that is configured to deflect light from a direction extending parallel to the lateral longitudinal edge of the object into the direction extending transverse to the lateral longitudinal edge of the object and in which direction the optical axis of the camera extends.

13. The robot gripper of claim 1 , further comprising a second sensor that is configured and arranged so as to monitor, for obstacles, a space located to a side of an object gripped by the robot gripper.

14. The robot gripper of claim 1 , further comprising a third sensor that is configured and arranged so as to monitor the presence of the object.

15. The robot gripper of claim 14 , wherein the third sensor is configured and arranged so as to monitor the presence of the retaining foot of the object on the counterstay of the robot gripper.

16. A method for handling objects with a robot, wherein the objects have at least one retaining foot having a head portion and the robot includes a robot arm having a plurality of links connected by joints that move the links under the control of a robot controller, the method comprising:
moving a robot gripper with the robot arm controlled by the robot controller toward the retaining foot of an object to be received, until a cutout of a counterstay of the robot gripper is aligned with the retaining foot;
pressing the robot gripper against the retaining foot of the object with the robot arm controlled by the robot controller, such that an adjustable actuator of the robot gripper is pressed against the retaining foot of the object, whereby the actuator is adjusted by the pressing and, as a result, a bias is generated between the actuator and the counterstay and, in the process, the head portion of the retaining foot penetrates through the cutout of the counterstay and into a free space of the robot gripper;
rotating the robot gripper relative to the retaining foot of the object with the robot arm controlled by the robot controller, until at least one projection of the head portion of the retaining foot engages behind the cutout of the counterstay and pivots into at least one latching recess of the counterstay; and
fixing the object relative to the robot gripper in an arrangement in which the at least one projection of the head portion of the retaining foot engages behind the cutout of the counterstay and is pivoted into the at least one latching recess of the counterstay by a movement of the robot gripper that opposes the pressing, such that a remaining bias of the actuator braces the retaining foot between the actuator and the counterstay.

17. The method of claim 16 , further comprising:
automatically locking the actuator by a securing means in the configuration where the at least one projection of the head portion of the retaining foot engages behind the cutout of the counterstay and is pivoted into the at least one latching recess of the counterstay; and
fixing the object relative to the robot gripper by pressing the adjustable actuator of the robot gripper against the retaining foot of the object.

18. The method of claim 16 , wherein moving the robot gripper toward the retaining foot of an object to be received comprises moving the robot arm under force/torque control of the robot controller to thereby move a centering pin fastened to the robot gripper toward the object, with the centering pin touching the head portion of the retaining foot of the container, until the cu

Assignees

• Kuka Deutschland Gmbh

Inventors

• Glatz Hans
• Schukow Eugen
• Akbas Adil

Classifications

• H10P72/7602

  the wafers being placed on a robot blade or gripped by a gripper for conveyance · CPC title

• H10P72/53

  using optical controlling means · CPC title

• H10P72/1918

  characterised by coupling elements, kinematic members, handles or elements to be externally gripped · CPC title

• H10P72/3221 Primary

  Overhead conveying · CPC title

• B25J19/023

  including video camera means · CPC title