Method for gripping an object and suction gripper
The invention relates to a method for gripping an object by a handling system, including a robot with at least one robot arm, a gripping device which is connected to the robot arm and has a pneumatically operated suction gripper having an elastically deformable contact portion for contact with an outer surface of the object to be gripped, an identifier for identifying the outer surface of the object to be gripped and a controller which interacts with the identifier and is designed to control the robot.
1. A method for gripping an object by means of a handling system-, comprising:
(a) a robot with at least one robot arm;
(b) a gripping device connected to the robot arm, comprising a pneumatically operated suction gripper having a wall which extends away from a connection nipple and opens into an elastically deformable contact portion for contacting an outer surface of an object to be gripped, the wall delimiting a suction interior, the contact portion delimiting a suction opening of the suction interior;
(c) an identification means for identifying an outer surface of an object to be gripped;
a control means which interacts with the identification means {-6} and is designed to control the robot;
the method comprising the following steps:
(a) identifying an outer surface of an object to be gripped;
(b) distinguishing between planar portions of the outer surface on the one hand and convex elevations or outer edges on the other;
(c) making the suction gripper approach the outer surface of the object to be gripped by means of the robot;
wherein, the suction gripper is made to approach the outer surface of the object to be gripped in such a way that at least a part of the contact portion of the suction gripper clings to a convex elevation or outer edge of the outer surface.
2. The method according to claim 1 , wherein the suction gripper is made to approach the outer surface of the object in such a way that the convex elevation or outer edge stretches across the suction opening.
3. The method according to claim 1 , wherein the suction gripper is made to approach one such convex elevation or outer edge at which a radius of curvature of the outer surface is below a predetermined threshold value.
4. The method according to claim 1 , wherein the suction gripper is made to approach the outer surface of the object in such a way that the contact portion of the suction gripper clings to a plurality of outer edges which converge in a star shape.
5. The method according to claim 1 , wherein the suction gripper is made to approach the outer surface of the object in such a way that at least a section of the approach path extends in parallel with an edge normal of the outer edge.
6. The method according to claim 1 , wherein the suction gripper is made to approach the outer surface of the object to be gripped in such a way that the suction gripper travels in one of a circular or elliptical or spiral orbital path around an edge normal of the outer edge.
7. The method according to claim 1 , wherein the suction gripper is made to approach one such convex elevation or outer edge of the outer surface which separates at least two planar portions of the outer surface from one another.
8. A handling system, comprising:
a. a robot with at least one robot arm;
b. a gripping device connected to the robot arm, comprising a pneumatically operated suction gripper having a wall which extends away from a connection nipple and opens into an elastically deformable contact portion for contacting an outer surface of an object to be gripped, the wall delimiting a suction interior, the contact portion delimiting a suction opening of the suction interior;
c. an identification means for identifying an outer surface of an object to be gripped;
d. a control means which interacts with the identification means and is designed to control the robot;
e. wherein the identification means and the control means comprise instructions that when executed cause the identification means and control means to perform the following:
i. identifying an outer surface of an object to be gripped;
ii. distinguishing between planar portions of the outer surface on the one hand and convex elevations or outer edges on the other; and
iii. making the suction gripper approach the outer surface of the object to be gripped by means of the robot;
f. wherein, the suction gripper is made to approach the outer surface of the object to be gripped in such a way that at least a part of the contact portion of the suction gripper clings to a convex elevation or outer edge of the outer surface.