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EP-4741116-A1 - SYSTEM COMPRISING A STORAGE DEVICE FOR AN END EFFECTOR OF A MANIPULATOR

EP4741116A1EP 4741116 A1EP4741116 A1EP 4741116A1EP-4741116-A1

Abstract

The invention relates to a system (1) comprising a storage device (4) for an end effector (3) of a manipulator and an adjustment device (2) associated with the storage device (4) for adapting the end effector (3), wherein the end effector (3) comprises a support element (5) and a gripper element (6) coupled thereto, wherein the gripper element (6) is guided and displaceable along the support element (5) and can be fixed in position relative to the support element (5) by means of a holding device (7) on the support element (5), wherein the adjustment device (2) comprises a fixing element (8) for fixing the position of the gripper element (6) and a locking device (9) operatively coupled to the holding device (7) for fixing or releasing the holding device (7), wherein the position fixing of the gripper element (6) on or relative to the support element (5) can be released by means of the locking device (9) in operative connection with the holding device (7). The invention further relates to a method for adapting the end effector (3).

Inventors

  • KOVJENIC, Nenad

Assignees

  • TRUMPF Maschinen Austria GmbH & Co. KG.

Dates

Publication Date
20260513
Application Date
20251106

Claims (10)

  1. The system (1) comprises a storage device (4) for an end effector (3) of a manipulator and an adjustment device (2) associated with the storage device (4) for adapting the end effector (3), wherein the end effector (3) comprises a support element (5) and a gripper element (6) coupled thereto, wherein the gripper element (6) is guided and displaceable along the support element (5) and can be fixed in position relative to the support element (5) by means of a holding device (7) on the support element (5), characterized in that the adjusting device (2) comprises a fixing element (8) for fixing the position of the gripper element (6) and a locking device (9) that can be coupled operatively to the holding device (7) for fixing or releasing the holding device (7), wherein the fixing of the position of the gripper element (6) on or relative to the support element (5) can be released and/or established by means of the locking device (9) in operative connection with the holding device (7).
  2. The system (1) according to claim 1, characterized in that the end effector (3) comprises a further support element (10), in particular a longitudinal beam, wherein the support element (5), in particular a crossbeam, is guided and displaceable along the further support element (10) and can be fixed in position relative to the further support element (10) by means of the holding device (7) or a further holding device on the further support element (10).
  3. Plant (1) according to one of the preceding claims, characterized in that the adjusting device (2) comprises a frame structure (11) and a crossbeam (12), wherein the crossbeam (12) is guided and displaceable on the frame structure (11), and wherein the fixing element (8) and the locking device (9) are each guided and displaceable on the crossbeam (12).
  4. System (1) according to one of the preceding claims, characterized in that the fixing element (8) is at least partially form-complementary to the gripper element (6), so that the gripper element (6) can be fixed in position in at least one spatial direction by means of the fixing element (8).
  5. System (1) according to one of the preceding claims, characterized in that a detachable connection between the support element (5) and the gripper element (6) can be established by means of the locking device (9) in operative connection with the holding device (7).
  6. System (1) according to one of the preceding claims, characterized in that the gripper element (6) can be displaced by moving the fixing element (8) relative to the end effector (3) or vice versa in the released state of the holding device (7) relative to the support element (5).
  7. Method for adapting an end effector (3) of a manipulator of a system (1) with an adjustment device (2) assignable to a storage device (4) of the system (1), - wherein the end effector (3) comprises a support element (5) and a gripper element (6), wherein the gripper element (6) is guided and displaceable along the support element (5) and can be fixed in position relative to the support element (5) by means of a holding device (7) on the support element (5), - wherein the adjusting device (2) comprises a fixing element (8) and a locking device (9), the method comprising the following process steps: - Positioning the end effector (3) in the immediate vicinity of the adjustment device (2), in particular in the storage device (4); - Fixing or positioning the gripper element (6) by means of the fixing element (8); - Releasing the gripper element (6) by releasing the holding device (7) using the locking device (9); - Relocating the gripper element (6); - Fixing the gripper element (6) by fixing the holding device (7) using the locking device (9).
  8. Method according to claim 7, characterized in that the gripper element (6) is displaced by a movement of the end effector (3) by means of the manipulator (4).
  9. Method according to claim 7, characterized in that the gripper element (6) is displaced by a movement of the fixing element (8) by means of the adjusting device (2).
  10. Method according to one of claims 7 to 9, characterized in that the holding device (7) has a screw connection for fixing and releasing the gripper element (6), wherein the screw connection is fixed or released by means of the locking device (9).

Description

The invention relates to a system with a storage device for an end effector of a manipulator, wherein the end effector is adaptable by means of an adjustment device so that workpieces with different geometries can be manipulated by means of the manipulator. Preferably, the system according to the invention can be a component of a system comprising a bending machine or a press brake and the manipulator. Alternatively, the system itself can also comprise a manipulator and a bending machine or a press brake, wherein workpieces can be fed to the bending machine or the press brake by means of the manipulator, or in which system workpieces can be processed by means of the manipulator in conjunction with the bending machine. From the JPH 11 216 695 A An end effector is known which has an adjustable gripping section which can be adjusted with a stop device or a guide arrangement. The object of the present invention was to overcome the disadvantages of the prior art and to provide a device and a method by which the adaptation of the end effector for different geometries of workpieces can be easily implemented. This problem is solved by a device and a method according to the claims. The system according to the invention comprises a storage device for an end effector of a manipulator and an adjustment device associated with the storage device for adapting the end effector, wherein the end effector comprises a support element and a gripper element, wherein the gripper element is guided and displaceable along the support element and can be fixed in position relative to the support element by means of a holding device on or with the support element, wherein the adjustment device comprises a fixing element for fixing the position of the gripper element and a locking device operatively coupled to the holding device for fixing or releasing the holding device, wherein the position fixing of the gripper element on the support element can be released and restored by means of the locking device in operative connection with the holding device. In this context, adaptation means that the gripper element is displaced relative to the support element and locked in such a way that the end effector is adapted to accommodate a geometrically different workpiece. The gripper element is coupled to the support element by means of the holding device, and this coupling can be selectively released and re-locked by means of the locking device. The holding device and the locking device can thus be brought into operative contact with each other to either release or lock the coupling between the gripper element and the support element. Various couplings are conceivable, such as a screw connection that can be released or tightened, for example, with a corresponding tool on the locking device. If the positional fixation of the holding device between the gripper element and the holding device is released, the gripper element can be displaced in at least one degree of freedom, for example, along the support element, whereby this displacement is preferably designed such that the gripper element remains captive and coupled to the support element. For example, a linear guide for the gripper element on the support element can be provided. If the coupling of the holding device is now fixed by means of the locking device, the gripper element is positioned correctly relative to the support element. In this sense, a support element can be understood as either a crossbeam or a base plate for receiving the holding device and thus the gripper element. For example, the position of a gripper element can be adapted via a guide for the holding device provided in the support element, i.e., in the base plate or on the crossbeam, such that the positional fixation of the holding device is released, in order to then be able to adapt the position of the gripper element relative to the support element by means of the adjustment device. The end effector can, for example, be picked up by a manipulator to perform tasks such as manipulating workpieces. A gripper element can have any design, provided that, in conjunction with a manipulator, it can pick up workpieces, allowing a workpiece to be picked up by the end effector and manipulated by the manipulator. For example, a gripper element can be a vacuum suction cup, a suction cup, a pincer gripper, or any similar gripper element, such as a... A magnetic gripper is understood to be used to pick up a workpiece. The invention is not limited to an embodiment with only one gripper element. For example, several support elements or components of the support element, such as several base plates, supports, or crossbeams of the end effector with gripper elements, or even a support element with several gripper elements, can be configured, wherein in any case the end effector remains adaptable according to the invention, so that the end effector can be adapted or adjusted to a wide variety of workpiece geometries by means of the adjustme