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

Abstract

A manipulator-guided gripping device ( 1 ) for motor vehicle body parts includes 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 ). At least one deflection safety device ( 10 ), which prevents collisions, is provided 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 ).

1 . A manipulator-guided gripping device for workpieces and body parts in a body shell, the gripping device comprising: a plurality of device parts; a safety means for detecting changes in geometry, including at least one deflectable safety device at the device parts.  
     
     
         2 . A gripping device in accordance with  claim 1 , wherein the deflectable safety device is arranged at a junction point between the device parts.  
     
     
         3 . A gripping device in accordance with  claim 1 , wherein the deflectable safety device has at least two said safety device parts that are mounted such that they can deflect along one or more axes in case of overload.  
     
     
         4 . A gripping device in accordance with  claim 3 , wherein the safety device parts are connected to one another by clamping connection and frictional connection.  
     
     
         5 . A gripping device in accordance with  claim 3 , wherein the safety device parts are connected to one another in a positive-locking manner by at least one said deflectable locking element.  
     
     
         6 . A gripping device in accordance with  claim 3 , wherein the safety device parts are connected to a device part each.  
     
     
         7 . A gripping device in accordance with  claim 5 , wherein the locking element is arranged between the safety device parts.  
     
     
         8 . A gripping device in accordance with  claim 5 , wherein the locking element is held with an elastic clamping element.  
     
     
         9 . A gripping device in accordance with  claim 8 , wherein the locking element and the clamping element are set to a force that holds the safety device parts during normal operation.  
     
     
         10 . A gripping device in accordance with  claim 1 , wherein the safety device parts are designed as a sphere and as a socket surrounding same.  
     
     
         11 . A gripping device in accordance with  claim 10 , wherein the sphere is designed as a joint ball and the socket is designed as a straight tube section.  
     
     
         12 . A gripping device in accordance with  claim 10 , wherein the sphere is designed as a ring-shaped collar with a spherical outer side and the socket is designed as a calotte surrounding same with an inner side rounded in a complementary manner.  
     
     
         13 . A gripping device in accordance with  claim 12 , wherein the collar and the calotte surrounding same have essentially the same width.  
     
     
         14 . A gripping device in accordance with  claim 3 , wherein the safety device parts are designed as disk mounts with parallel working surfaces.  
     
     
         15 . A gripping device in accordance with  claim 3 , wherein the safety device parts have an adjusting means for reproducible mutual positioning.  
     
     
         16 . A gripping device in accordance with  claim 3 , wherein the safety device parts have one or more detectors, which detect and signal deflections of the safety device parts.  
     
     
         17 . A gripping device in accordance with  claim 16 , wherein the detector is arranged eccentrically in relation to the central axis of the safety device parts.  
     
     
         18 . A gripping device in accordance with  claim 16 , wherein the detector is arranged centrally in the central axis of the safety device parts the safety device parts have an adjusting means for reproducible mutual positioning and the detector is designed as a part of the adjusting means.  
     
     
         19 . A gripping device in accordance with  claim 18 , wherein the detector has a pressure piece, which is mounted in an elastically movable manner in an end-side tube section of the shaft and whose projecting head part engages a mount at a projection of the other safety device part in a positive-locking manner, wherein a microswitch is arranged at the contact point.  
     
     
         20 . A gripping device in accordance with  claim 16 , wherein the detectors are connected to a process control.  
     
     
         21 . A gripping device in accordance with  claim 1 , further comprising: a frame with one or more said gripping or clamping elements and with a docking point for connection to a mechanical manipulator in the form of a multiaxial industrial robot.  
     
     
         22 . A gripping device in accordance with  claim 1 , wherein the frame has a plurality of said frame tubes.  
     
     
         23 . A gripping device in accordance with  claim 15 , wherein the frame tubes are divided and wherein a deflectable safety device is arranged between the tube sections.