Gripping tool which can be used by a manipulator device for picking up and handling pieces

1 . A gripping tool which can be used by a manipulator device for picking up and handling pieces, said gripping tool comprising:

a supporting frame ( 9 ), provided with an attachment flange ( 12 ) for connection to the manipulator device;

a plurality of gripping devices ( 50 ), carried by the supporting frame ( 9 ) so as to be adjustable in position with respect to the supporting frame ( 9 );

at least one sensor(S) associated with the gripping devices ( 50 ), to detect a presence of a piece engaged by the gripping devices,

wherein:

the plurality of gripping devices ( 50 ) are distributed in groups, each group being constituted by one or more gripping devices ( 50 ),

the one or more gripping devices ( 50 ) of each group of gripping devices are mounted on a single supporting body (P) made in one-piece by an additive manufacturing technology,

said supporting body (P) of each group of gripping devices ( 50 ) is mounted on said supporting frame ( 9 ) so as to be adjustable in position with respect to the supporting frame ( 9 ) along three mutually orthogonal axes (x, y, z),

said supporting body (P) of each group of gripping devices ( 50 ) made in one-piece by an additive manufacturing technology comprises a configuration defining at least two locating surfaces ( 25 , 27 , 31 , 32 , 33 , or 34 ), which are to come in contact with the piece to be engaged, the configuration of said at least two locating surfaces ( 25 , 27 , 31 , 32 , 33 , or 34 ) adapted to a configuration of the piece to be engaged, so as to constitute a reference for proper positioning of the piece to be engaged along said three mutually orthogonal axes (x, y, z) with respect to said supporting body (P),

said gripping tool being characterized in that the single supporting body (P) of each group of gripping devices ( 50 ) comprises one or more connecting portions (B) in a one-piece construction, said one or more connecting portions each define a cavity within which a supporting rod ( 18 ) is secured, each supporting rod is carried by the supporting frame ( 9 ) so as to be adjustable in position relative to the supporting frame.

2 . The gripping tool according to claim 1 , wherein the single supporting body (P) supports said at least one sensor(S).

3 . The gripping tool according to claim 1 , wherein the one or more connecting portions (B) of each single supporting body (P) comprises two connecting portions (B); and

the supporting rod ( 18 ) comprises a pair of supporting rods, each supporting rod of the pair of supporting rods is connected to a respective of the two connecting portions of the single supporting body, the pair of supporting rods are carried by the supporting frame and are adjustable in position relative to the supporting frame.

4 . The gripping tool according to claim 3 , comprising:

an auxiliary supporting tube having a first axis, the auxiliary supporting tube is supported by the supporting frame, the pair of supporting rods supporting the single supporting body for each group of the gripping devices are lockable to the auxiliary supporting tube allowing adjustment in position of the single supporting body relative to the auxiliary supporting tube parallel to a respective axis of each supporting rod of the pair of supporting rods and a parallel to the first axis of the auxiliary supporting tube.

5 . The gripping tool according to claim 4 , comprising:

a main supporting tube having a second axis oriented at an angle relative to the first axis of the auxiliary supporting tube, the main support tube is supported by the supporting frame,

wherein the auxiliary supporting tube is lockable to the main supporting tube allowing adjustment in position of the auxiliary supporting tube relative to the main supporting tube along the second axis.

6 . The gripping tool of claim 5 , wherein the angle of the second axis of the main supporting tube relative to the first axis of the auxiliary supporting tube is 90 degrees, and

wherein the first axis of the auxiliary supporting tube is oriented orthogonally to the respective axis of each supporting rod.

7 . A gripping tool which can be used by a manipulator device for picking up and handling pieces, said gripping tool comprising:

a supporting frame ( 9 ), provided with an attachment flange ( 12 ) for connection to the manipulator device;

a plurality of gripping devices ( 50 ), carried by the supporting frame ( 9 ) so as to be adjustable in position with respect to the supporting frame ( 9 );

at least one sensor(S) associated with the gripping devices ( 50 ), to detect a presence of a piece engaged by the gripping devices,

wherein:

the plurality of gripping devices ( 50 ) are distributed in groups, each group being constituted by one or more gripping devices ( 50 ),

the one or more gripping devices ( 50 ) of each group of gripping devices are mounted on a same supporting body (P) made in one-piece by an additive manufacturing technology, said supporting body (P) of each group of gripping devices ( 50 ) is mounted on said supporting frame ( 9 ) so as to be adjustable in position with respect to the supporting frame ( 9 ) along three mutually orthogonal axes (x, y, z),

said supporting body (P) of each group of gripping devices ( 50 ) made in one-piece by an additive manufacturing technology comprises a configuration defining at least two locating surfaces ( 25 , 27 , 31 , 32 , 33 , or 34 ), which are to come in contact with the piece to be engaged, the configuration of said at least two locating surfaces ( 25 , 27 , 31 , 32 , 33 , or 34 ) adapted to a configuration of the piece to be engaged, so as to constitute a reference for proper positioning of the piece to be engaged along said three mutually orthogonal axes (x, y, z) with respect to said supporting body (P),

said gripping tool being characterized in that the supporting body (P) of each group of gripping devices ( 50 ) comprises one or more connecting portions (B) in a one-piece construction, said one or more connecting portions each define a cavity within which a supporting rod ( 18 ) is secured, each supporting rod is carried by the supporting frame ( 9 ) so as to be adjustable in position relative to the supporting frame,

wherein said plurality of gripping devices ( 50 ) are magnetic-effect gripping devices each comprising a supporting casing ( 2 ) and a magnet ( 3 ), the magnet is pneumatically movable within the supporting casing ( 2 ) between an operative position adjacent to a front end ( 4 ) of the supporting casing ( 2 ), which is configured to engage the piece to be engaged, and an inoperative position spaced rearwardly with respect to said front end ( 4 ) of the supporting casing ( 2 ), said gripping tool being characterized in that the supporting casing ( 2 ) of each magnetic-effect gripping device ( 50 ) is rigidly connected to a respective supporting body (P).

8 . A gripping tool which can be used by a manipulator device for picking up and handling pieces, said gripping tool comprising:

a supporting frame ( 9 ), provided with an attachment flange ( 12 ) for connection to the manipulator device;

a plurality of gripping devices ( 50 ), carried by the supporting frame ( 9 ) so as to be adjustable in position with respect to the supporting frame ( 9 );

at least one sensor(S) associated with the gripping devices ( 50 ), to detect a presence of a piece engaged by the gripping devices,

wherein:

the plurality of gripping devices ( 50 ) are distributed in groups, each group being constituted by one or more gripping devices ( 50 ),

the one or more gripping devices ( 50 ) of each group of gripping devices are mounted on a same supporting body (P) made in one-piece by an additive manufacturing technology,

said supporting body (P) of each group of gripping devices ( 50 ) is mounted on said supporting frame ( 9 ) so as to be adjustable in position with respect to the supporting frame ( 9 ) along three mutually orthogonal axes (x, y, z),

said supporting body (P) of each group of gripping devices ( 50 ) made in one-piece by an additive manufacturing technology comprises a configuration defining at least two locating surfaces ( 25 , 27 , 31 , 32 , 33 , or 34 ), which are to come in contact with the piece to be engaged, the configuration of said at least two locating surfaces ( 25 , 27 , 31 , 32 , 33 , or 34 ) adapted to a configuration of the piece to be engaged, so as to constitute a reference for proper positioning of the piece to be engaged along said three mutually orthogonal axes (x, y, z) with respect to said supporting body (P),

said gripping tool being characterized in that the supporting body (P) of each group of gripping devices ( 50 ) comprises one or more connecting portions (B) in a one-piece construction, said one or more connecting portions each define a cavity within which a supporting rod ( 18 ) is secured, each supporting rod is carried by the supporting frame ( 9 ) so as to be adjustable in position relative to the supporting frame,

wherein said supporting rod ( 18 ) is lockable in position along an axis of the supporting rod within a clamp ( 19 ), the clamp ( 19 ) is adjustable in position on a respective auxiliary supporting tube ( 20 ) along a first axis oriented orthogonal to the axis of the supporting rod ( 18 ), said auxiliary supporting tube ( 20 ) is adjustable in position along a second axis of a main supporting tube ( 17 ) oriented orthogonal to the first axis and oriented orthogonal to the axis of the supporting rod ( 18 ), the main supporting tube ( 17 ) carried by said supporting frame ( 9 ) of the gripping tool.

9 . A method of using a gripping tool associated with a manipulator device and is used to engage a piece and to position the piece in a correct assembling position on an element provided on a stationary fixture of an assembling station,

wherein the gripping tool comprises:

a supporting frame ( 9 ), provided with an attachment flange ( 12 ) for connection to the manipulator device;

a plurality of gripping devices ( 50 ), carried by the supporting frame ( 9 ) so as to be adjustable in position with respect to the supporting frame ( 9 );

at least one sensor(S) associated with the gripping devices ( 50 ), to detect a presence of the piece engaged by the gripping devices,

wherein:

the plurality of gripping devices ( 50 ) are distributed in groups, each group being constituted by one or more gripping devices ( 50 ),

the one or more gripping devices ( 50 ) of each group of gripping devices are mounted on a same supporting body (P) made in one-piece by an additive manufacturing technology,

said supporting body (P) of each group of gripping devices ( 50 ) is mounted on said supporting frame ( 9 ) so as to be adjustable in position with respect to the supporting frame ( 9 ) along three mutually orthogonal axes (x, y, z),

said supporting body (P) of each group of gripping devices ( 50 ) made in one-piece by an additive manufacturing technology comprises a configuration defining at least two locating surfaces ( 25 , 27 , 31 , 32 , 33 , or 34 ), which are to come in contact with the piece to be engaged, the configuration of said at least two locating surfaces ( 25 , 27 , 31 , 32 , 33 , or 34 ) adapted to a configuration of the piece to be engaged, so as to constitute a reference for proper positioning of the piece to be engaged along said three mutually orthogonal axes (x, y, z) with respect to said supporting body (P),

said gripping tool being characterized in that the supporting body (P) of each group of gripping devices ( 50 ) comprises one or more connecting portions (B) in a one-piece construction, said one or more connecting portions each define a cavity within which a supporting rod ( 18 ) is secured, each supporting rod is carried by the supporting frame ( 9 ) so as to be adjustable in position relative to the supporting frame, and

wherein in an initial calibration step of said station, once the manipulator device has moved to a predetermined programmed position, corresponding theoretically to the correct assembling position of the engaged piece, a position of the engaged piece with respect to the gripping tool is adjusted by adjusting a position of each of said supporting body (P) of the groups of gripping devices ( 50 ) with respect to said supporting frame ( 9 ), until a proper positioning of the engaged piece with respect to the element provided at the station is actually obtained.