WO2018153829A1

WO2018153829A1 - Robot gripper for handling flexible, flat material web pieces

Info

Publication number: WO2018153829A1
Application number: PCT/EP2018/054076
Authority: WO
Inventors: Sven Brudniok
Original assignee: Kuka Deutschland Gmbh
Priority date: 2017-02-27
Filing date: 2018-02-20
Publication date: 2018-08-30
Also published as: DE102017203124A1

Abstract

The invention relates to a robot gripper (11) for handling flexible, flat material pieces (20), the gripper having: a gripper main body (12) which has a connection flange (13) which is designed to fasten the robot gripper (11) to a tool flange (8) of a robot arm (2); a base member (14) which is mounted on the gripper main body (12) rotatably about a first rotation axis (D1) by means of a first revolute joint (15.1) which can automatically be moved by a first drive motor (A1) of the robot gripper (11); an intermediate member (18) which is mounted on the base member (14) rotatably about a second rotation axis (D2), which is parallel to the first rotation axis (D1), by means of a second revolute joint (15.2) which can automatically be moved by a second drive motor (A2) of the robot gripper (11); an end member (17) which is mounted on the intermediate member (18) rotatably about a third rotation axis (D3), which is parallel both to the first rotation axis (D1) and to the second rotation axis (D2), by means of a third revolute joint (15.3) which can automatically be moved by a third drive motor (A3) of the robot gripper (11); a material pickup roller (16.1) fastened to the end member (17); and a holding strip (16.2) which is fastened to the gripper main body (12) and the longitudinal extent of which extends parallel to the material pickup roller (16.1).

Description

Robot gripper for handling limp, flat material web blanks

The invention relates to a robot gripper for handling of limp, flat material web blanks, comprising a gripper base body, which has a connecting flange, which is designed for attachment of the robot gripper to a tool flange of a robot arm. The invention also relates to a robot arm, comprising a Robotersteu ^¬ augmentation, one controlled by the robot controller, the robot, which comprises a tool flange and the tool flange rotationally driving a flange axis Flanschantriebsmotor, and having such a robot gripper.

From EP 0421167 A2 a method for picking up, transporting and setting down flat workpieces of textile material, plastic or other means of Na ^¬ spindles detectable materials is known in which the needles wegstrebenden wherein held by a handling device needle gripper, in groups and in each other, Directions are arranged and movable, are brought into a position parallel to the workpiece for picking up or delivering the workpiece and in which the needle grippers are ver ^¬ after detection of the workpiece in a workpiece base reducing other position ver ^¬ set, in which the transporting and settling of the workpiece he follows. From DE 20 2014 103 132 Ul an application tool for a flexible workpiece, in particular a fiber composite ^¬ body is known, in which the application tool is designed as combi ^¬ tool for surface receiving the flexible workpiece and for spatially forming the recorded workpiece on an external forming tool wherein the Ap ^¬ plikationswerkzeug up a deformation performance and controllably settable and reconfigurable forming head has. In this case, the forming member may be formed as a vacuum mattress with egg ^¬ ner vacuum device.

The object of the invention is to provide a robot gripper for handling limp, flat material web blanks, which can be used very flexibly, i. is suitable for handling a variety of different types of pliable, flat material web blanks, and is structurally simple and reliable.

This object is inventively achieved by Robotergrei- fer for handling non-rigid, flat material web blanks, comprising a gripper base body having a connecting flange which is ausgebil ^¬ det for fixing of the robot gripper to a tool flange of a robot arm, and comprising:

a base member, which is mounted rotatably on the gripper base body about a first rotation axis by means of a first rotary joint, which is automatically adjustable by a first drive motor of the robot gripper,

- an intermediate member which Lenk means of a second rotary encoders, which is automatically adjustable by a second drive motor of the robot gripper in order, is rotatably mounted on the base ^¬ membered a second rotational axis, which is aligned parallel to the first axis of rotation, and

- An end member, which is rotatably supported by a third rotary joint, which is automatically adjustable by a third drive motor of the robot gripper, about a third axis of rotation, which is aligned parallel to both the first axis of rotation and to the second axis of rotation on the intermediate member, further comprising a material- ^receiving roll fastened to the end member, which has a jacket wall which is designed for adhering holding of a pliable, flat material web blank accommodated by the material take-up roll, and a holding tongue fastened to the grab body te, which extends with its longitudinal extent parallel to the material-receiving roller.

The limp, sheet-like material web blanks can be, for example, textile materials, which can be produced in particular from fibers or threads and, for example, can be braided, woven, knitted or felted. The non-rigid, flat material web blanks may, for example, also non-woven fabrics or cloths to be that does not not ^¬ sarily made of natural fibers or synthetic fibers consist müs- sen, but also paper, mineral fillers and art ^¬ materials may have, or may have such layers.

A bending slackness of the flat material web blanks is at least understood to mean that they have such a non-elastic deformation that they at least can be wound insbeson ^¬ particular to an inventive material take-up reel 90 degrees or at least approximately 90 degrees or slightly more than 90 degrees.

Under a material web cutting sections or sections of so-called continuous webs can be understood inter alia, ie, parts that are made of a continuous web. In this case, the term "blank" is not restricted to the fact that the parts would have to be produced by cutting from the continuous web., Rather, the web web sections, depending on the material, can also be produced for example by Stan ^¬ zen, sawing or other separating machining methods.

A receiving a non-rigid, flat material web blank takes place in that the pliable, planar material web blank remains hanging on a wall of the casing material on ^¬ acquisition roller or remains adhered. The jacket wall of the material take-up roll can accordingly, depending on each material to be recorded and / or its structure and structure, be designed differently. However, the jacket wall of the material take-up roll is always to be designed so that the pliable, flat material web section sticks or sticks to the jacket wall, ie receives a positive or positive connection, so can be absorbed by the material take-up roll, characterized in that the material take-up roll with its shell wall the surface of the limp, flat material web blank unrolls, in particular unrolling unrolled. The adhesive force on the man ^¬ telwand of the material take-up roll can be switched on and / or switched off. For example, the adhesive force can be generated by negative pressure on a porous or provided with through openings material receiving roller, wherein the negative pressure can be switched off and / or switched.

Alternatively or additionally, the adhesive force can be generated for example by an electrostatic field, which can be switched from ^¬ switchable and / or. For this purpose, the material take-up roll may have printed conductors, between which an electric field is generated.

Behind the jacket wall of the material take-up roll insulated tracks can be arranged, which are connected to an electrical energy source such that an elec ^¬ rostatic field is generated, which causes the male to be flat, flat material web blank is moved up to the shell wall of the material take-up roll.

As an alternative or in addition, the Bernoulli effect can be used to draw a pliable, flat material web blank by means of negative pressure against the jacket wall of the material take-up roll, which negative pressure is generated by an accelerated (air) flow along the jacket wall of the material take-up roll. The accelerated (air) Flow can be applied, for example, from a nozzle ^¬ who flows out of the air.

For this purpose, the robot gripper having an air nozzle, which is associated with the hollow cylindrical material receiving roller such that the air nozzle generates an air flow along the shell ^¬ wall of the material pickup roller, which is adapted to produce a negative pressure between the male limp, flat material web blank and the jacket wall of the material pickup roller which causes the increasing pliable, flat material web blank to be moved up against the jacket wall of the material take-up roll. The air nozzle is accordingly formed using the

Bernoulli effect to move the slippery, flat material web blank to the mantle wall of the material take-up roll. The nozzle may in particular opposite to ei ^¬ ner side of the retaining strip material on ^¬ acquisition roller be disposed. Thus, even one of the retaining strip assigned end portion of the male pliable, flat material web blank can be lifted to the material take-up roll by the air flow of the air nozzle, although the air nozzle is disposed on a side opposite this end portion of aufzuneh ^¬ menden pliable, flat material web blank side of the material take-up roll. By virtue of the first rotary joint, which is automatically adjustable by the first drive motor of the robot gripper, being rotatably mounted on the gripper base body about the first rotation axis, the intermediate member is rotatable by means of the second rotary joint, which is automatically adjustable by a second drive motor of the robot gripper , about the second axis of rotation, which is aligned parallel to the first axis of rotation, is rotatably mounted on the base member, and by the end member with ^{¬ means of} the third pivot joint, the third of the drive motor gate of the robot gripper is automatically adjustable to the third axis of rotation, which is aligned parallel to both the first axis of rotation and the second axis of rotation, is rotatably mounted on the inter mediate ^¬ member, and the end member has the material receiving roller, in particular carries, the Mate ^¬ rialaufnahmerolle are both automatically ge ^¬ rotate around its roll axis, as will be automatically adjusted in their position relative to the retaining strip. Accordingly, the material of the pickup roller Rol ^¬ lenachse can be automatically adjusted in their relative positive on to the retaining strip. This makes it possible to automate not only the material take-up roller with a desired pressing force on the surface of the take ^¬ be ^¬ presses the pliable, planar sheet of material cut but the material take-up roll can be moved sheet-like material web blank also at a desired speed relative to the surface of the male limp. In addition, the rotational speed, acceleration or deceleration of the rotation of the material take-up roll about the roller axis can be automatically adjusted, controlled and / or regulated.

The holding bar can the web of material blank which is already rolled up on the material take-on the Materi ^¬ alaufnahmerolle clamp to prevent slippage of material ^¬ ground-blank from the material take-up roll. To make this possible, the facing material of the take-up reel side of the support bar can have a contour that the material web blank which is wound on the material on ^¬ exception roll conforms.

By the retaining strip is attached to the gripper body, and the robot gripper is designed for attachment, for example on a rotatable tool flange of a robot arm, the retaining strip can be repositioned by a rotation of the tool flange of the robot arm. It can also the Material take-up roll are repositioned by the robot arm. At the same time, then, in turn, the material take-up roll can be repositioned relative to the retaining strip and that by the first, second and third drive motor of the robot gripper. Further, the robot gripper may be mounted on a flange of a robot which these Liberty ^¬ can move over several degrees of freedom, for example, five, six or seven degrees, whereby the robot can move the holding bar of the Ro ^¬ botergreifers according to its possibilities of movement free in its movement space and align ,

Preferably, the first drive motor, the second on ^¬ drive motor and the third drive motor provided on the robot gripper.

The gripper base body can have a substantially rotationally symmetrical basic shape. The rotationally symmetrical basic shape can be in all variants, for example, the shape of a substantially straight circular cylinder. The gripper base body may be designed, for example, substantially circular disk-shaped. However, the rotationally symmetrical basic shape can also be, for example, frustoconical or barrel-shaped. On a circular first end face of the gripper body of the connecting flange can be arranged ^¬ . On one of the first circular end face opposite, circular end face, the material receiving roller with its roller axis can extend vertically out of the plane of the second end face out. The longitudinal extent of the material take-up roll, that is to say the roll axis, can extend in particular parallel to the axis of symmetry of the connecting ^flange , ie also parallel to a rotational axis of the tool flange of the robot arm, to which the robot gripper can be connected. In a specific embodiment of the invention, the robot gripper may comprise a roller carrier having the material-receiving roller, which is aligned about the third axis of rotation, which is parallel to both the first axis of rotation and the second axis of rotation, by means of the third rotary joint, which is automatically adjustable by the third drive motor. be rotatably mounted on an intermediate member of the robot gripper, which intermediate member in turn by means of the second rotary joint about the second axis of rotation is rotatably mounted on the base member.

In such an embodiment, the members of the robot gripper form, which elements are formed by the gripper base body, the base member, the intermediate member and the roller carrier, a kinematic chain of links pivotally moved by the first pivot joint, the second pivot and the third rotary ^¬ joint can be. In that regard, the material take-up roll of the gripper body can be drehverstellt bezüg ^¬ Lich in three degrees of freedom. The three axes of rotation of the first rotary joint, the second rotary joint and the third rotary joint are aligned parallel to each other. As a result, thereby the mounted on the Rollenträ ^¬ ger material receiving part in the plane of the second end face of the gripper base body not only occupy any position and thereby have any orientation up, but reach any position on any movement paths. Thus, the material take-up reel may have relative to the retaining strip a universal freedom of movement in the plane, that produce any sort of relative Konstellati ^¬ ones of material take-up roller and the retaining strip. The base member may have a rotationally symmetrical Außenmantel- wall on which the base member is completely rotatably mounted within the outer contour of the gripper body, the intermediate member of the robot gripper may have a rotationssym ^¬ metric outer jacket wall, on which the intermediate member is completely rotatably mounted within the outer contour of the base member, and the roller carrier of the robot gripper may have a rotationally symmetrical outer shell wall.

The intermediate member may have a diameter which corresponds at least substantially to the radius of the gripper body. The axis of rotation of the intermediate member, that is, the second axis of rotation may be at least approximately or exactly half the length of the radius of the gripper body. The roller carrier can have the smallest possible diameter, and accordingly the axis of rotation of the roller carrier, ie the third axis of rotation, can be arranged as far as possible in the vicinity of the outer circumference of the intermediate element. The material on ^¬ acquisition roller may be attached to the roller carrier in such an arrangement that the central axis of the roller Mate rialaufnahmerolle is aligned along the third axis of rotation. By adjusting the third pivot joint, the material take-up reel can be rotated about its geometric axis role accordingly, without the position of the material on ^¬ exception roll with respect to the gripper base body and the intermediate member changed rule. The kinematic conditions result from the distances between the axes of rotation. Decisive are the absolute lengths between the first and second axes of rotation and between the second and third axes of rotation and the relationship to one another. In particular, the material take-up roll may have an outer diameter on its casing wall which is at least large enough for the casing wall to project beyond the outer contour of the gripper base body in certain positions of the second joint or in all positions of the second joint on one side of the robot gripper.

For example, the base member may comprise a forwardly in the direction of th axis of rotation ers ^¬ height which is at most as large as pointing in the direction of the first rotation axis height of the gripper base body. The intermediate link of the robot tergreifers may have a white ^¬ send in direction of the second rotation axis height which is at most as large as pointing in the direction of the first rotation axis height of the base ^¬ member. The roller carrier of the robot gripper may have a pointing in the direction of the third axis of rotation height that is at most as large as the pointing in the direction of the second axis ^¬ axis height of the intermediate member. This results in a low overall height of the robot gripper.

In another specific embodiment of the Ro can be designed botergreifer such that the first hinge comprises a base member surrounding the first bearing, in particular ^¬ sondere first rolling bearing with an inner ring, an inner ring raceway for rolling bodies, comprising an outer ring and an outer ring raceway, wherein the inner ring is fastened to the rotationally symmetrical outer jacket wall of the base member or the inner ring raceway is formed on the rotationally symmetrical outer jacket wall of the base member, and the second pivot joint has a second bearing surrounding the intermediate member, in particular second rolling bearing having an inner ring, an inner ring raceway for rolling elements, an outer ring and having an outer ring raceway, the inner ring to the rotationally symmetrical outer casing wall of the intermediate member is be ^¬ cements or the inner ring raceway is formed on the rotationally symmetrical outer casing wall of the intermediate member, and the dr Itte rotary joint has a roller bearing surrounding third bearing, in particular third roller bearing having an inner ring, an inner ring raceway for rolling elements, an outer ring and an outer ring raceway, wherein the inner ring is attached to the rotationally symmetrical outer shell wall of the roller carrier or the inner ring raceway formed on the rotationally symmetrical outer shell wall of the roller carrier is.

By such a bearing design, in particular Wälzlagerge ^¬ staltung or plain bearing design can be a particularly rigid Arrangement of first pivot, second pivot and third pivot can be achieved. Accordingly, the second Wälz ^¬ bearing is so far completely surrounded by the first roller bearing and the third rolling bearing completely surrounded by the second roller bearing and in consequence completely by the first rolling bearing. In a modified embodiment of the Robotergrei ^¬ fers one or more of the rolling bearings, in particular all bearings can be replaced by plain bearings.

The specific embodiments of the robot gripper with respect to the material take-up roll and with regard to the holding strip will now be described below.

The lateral surface of the material take-up roll can exert on the ge ^¬ entire contact surface, or parts thereof, which may be varied depending on the application, the material web cutting an attractive force that can be switched on and off, which can be varied in its strength and the optionally also can be inverted as a repulsive force.

The material take-up roll may have a circular cylindrical casing wall, whose cylinder axis extends parallel to the third axis of rotation and which is provided with a Anhaftfläche formed, for adhering holding the bending ^¬ flaccid sheet-like material web blank on the lateral wall of the material-receiving roller. Accordingly, the surface of the roll can be coated with a material which interlocks with the material web blank and with which it is possible to apply a normal force.

As an adhesion surface, any configuration can be understood in which a peeling force acts between the surface, ie, the jacket wall of the material-receiving roll and the material web. Thus, for example, the adhesive force can be achieved by negative pressure on a porous or perforated membrane. terialaufnahmerolle be generated, the negative pressure from ^¬ switchable and / or can be connected. Alternatively or additionally, the adhesive force can be generated for example by an electro ^¬ static field, which can be switched off and / or switched. These can behind the jacket wall of the

Material pick-up roller insulated tracks may be arranged, which are connected to an electrical source. Again, alternatively or additionally, the Bernoulli effect can be used to make a pliable, planar Materialbahnzu- cut by means of vacuum to the circumferential wall of the material on ^¬ transfer roller to pull, which negative pressure is produced by an accelerated (air) flow along the shell wall of the material-receiving roller. The accelerated (air) flow can be applied for example by a nozzle, flows out of the air.

The adhesion surface may have a surface texture adapted to the special properties of the slippery, flat material web blank. The effect of the adhesion surface can be based, for example, on a mechanical adhesion or a specific adhesion.

The Anhaftfläche example, can have an adhesive layer on ^¬ having a felt layer, a Velcro layer aufwei ^¬ sen or have an electrostatic layer.

In a specific embodiment, the Materialaufnah- can merolle, additionally or alternatively to other retaining effects, be formed as a hollow cylinder and having a rigid annular casing wall, which distributed around the circumference is provided angeord ^¬ Neten holes forming suction nozzles of the hollow cylindrical inside because of a Materialaufnah- role upcoming air vacuum, for sucking a voltage applied to the annular ring wall portion of the bending ^¬ flabby, flat material web blank are formed. Alternatively or in addition to a negative air pressure, the material receiving roller may be formed as a hollow cylinder and having a rigid annular wall, which is provided with distributed around the order ^¬ arranged holes, the suction nozzles form, due to a pending in the interior of the hollow cylindrical material intake air excess pressure, to repel formed on the circular ring ^wall Ab¬ section of the limp, flat material ^web blank are formed. In a specific refinement, the flow in the individual bores, or in groups of the bores, can be set separately, ie the flow at the individual bores or at groups of the bores can exert an attractive, a repelling or a neutral effect on the pliable material.

In a specific other embodiment, the material-receiving roller, complementary or alternative to other holding ^¬ effects, have a circular cylindrical jacket wall, the cylinder axis extending parallel to the third axis of rotation and which is distributed around the circumference arranged arranged needles and / or hooks, which are formed in a state adjacent to the jacket wall of a section of the limp, flat material web blank to penetrate and / or penetrate the section of the non-rigid, flat material web blank, for positive retention of the portion of the non-rigid, flat material web blank on the jacket wall of the material take-up roll.

The material take-up roll may have a roll width which corresponds to a blank width of the limp, sheet-like material web blank, or which is larger or smaller than the blank width of the limp, flat material web blank. In a particular other embodiment, an air flow may be directed perpendicular to the axis of the material take-up roll between the web sheet and the material take-up roll. The air is supplied via a nozzle, which is attached to the main body of the gripper. In the gap Zvi ^¬'s web blank and the material take-up roll, the air flow is accelerated, which leads to a reduction of the pressure below the ambient pressure. The pressure difference results in a normal force between the material web blank and the material take-up roll, which leads to a lifting of the material web blank at this point.

The retaining strip may extend with its longitudinal extent over the entire width of the material-receiving roller parallel thereto. The retaining strip may have a first outer surface, which is circular arc-shaped in cross-section and which extends in the longitudinal extent of the retaining strip groove-shaped, such that the first outer surface has a missen ^¬ mate ^¬ rialaufnahmerolle adapted shape. The first outer surface can accordingly in cross section

Have circular arc whose radius corresponds to the radius of the material-receiving roller or at least approximately corresponds to the radius of the material-receiving roller or is slightly larger. The retaining strip can be fastened to the gripper base body in such a way that the material receiving roller can also be moved flush against the retaining strip by means of the first, second and third drive motor of the robot gripper, such that the first outer surface of the retaining strip can lie flat against the lateral wall of the material receiving roller. The retaining strip may comprise a first outer surface opposite ^¬ disposed second outer surface to form ei ^¬ nes acute angle between the first outer surface and the second outer surface at a common edge ^{zusammenge ¬} leads are. The second outer surface may be flat. Since the first outer surface and the second outer surface form an acute angle, a hollow blade is formed on the retaining strip to that extent.

The retaining strip may have a on the first outer surface ^¬ arranged, extending along the common edge adhesive coating. The adhesive coating may cause an increase in the friction at the top of the common edge or on the hollow blade in order to promote stripping of Materialbahnzu ^{¬ sections} or improve.

The second outer surface and / or the third outer surface can be planar and on the second outer surface ver ^¬ divides projections arranged or rotatably mounted rollers have. The projections or rotatably mounted rollers can improve sliding of the second outer surface on a surface of a material web blank, in particular by reducing the friction.

In all embodiments of the robot gripper, the first drive motor may be designed for force-controlled and / or torque-controlled actuation, the second drive motor for force-controlled and / or torque-controlled actuation, and / or the third drive motor for torque and / or torque-controlled actuation Be designed to drive. This means that the first drive motor can be designed for force-controlled and / or torque-controlled activation. Alternatively or additionally, the second drive motor may be designed for force-controlled and / or torque-controlled activation. Furthermore, as an alternative or in addition thereto, the third drive motor can be designed for force-controlled and / or torque-controlled actuation. In the case of force-controlled and / or torque-controlled activation of the drive motors of the robot gripper, the rotary joints of the robot gripper can be parameterized with regard to their rigidity. In all embodiments, the power and / or moment-controlled driving of the drive motors of the robot gripper can take place by means of impedance regulation or admittance control. Specifically, a robot controller of a robot may be arranged to move the robot gripper in particular by means Impe ^¬ danzregelung or admittance. The object according to the invention is also achieved by a robot, comprising a robot controller, a robot arm controlled by the robot controller, which comprises a tool flange and a flange driving the flange around a flange axis and having a robot gripper attached to the tool flange of the robot arm according to one or more embodiments, as described, wherein the robot controller is adapted to drive the motors of the robot arm to position the retaining strip attached to the gripper body, in particular suitable for the respective robotic application, relative to the pliable material to be picked up, and the robot control is arranged, the base member by means of first Antriebsmo ^¬ sector about the first axis of rotation, the intermediate member by means of the second drive motor about the second axis of rotation and the end member by means of the third drive motor to the third rotation ^¬ axis automatically dr to rotate the material take-up roll around its roll axis and adjust it relative to the holding strip.

Robot arms with associated robot controls, in particular industrial robots, are working machines which can be equipped with tools for the automatic handling and / or machining of objects and which are arranged in several axes of motion, for example with regard to orientation, position and position. beitsablauf programmable. Industrial robots usually comprise a robot arm with several joints associated members and programmable robot controllers (CONT ^¬ ervorrichtungen) which automatically controlling to move a robot flange of the robot arm in the room and to move during operation, the movement sequences of the robot arm. The members are to over drive motors, in particular electric drive motors, which are driven by the Robo ^¬ ters control, in particular with respect to the movement axes of the industrial robot, which represent the degrees of freedom of motion ^¬ joints moved.

The robot controller can also be set up

- To bring the material pick-up roll in touching contact to a pliable, flat material web blanks, and

- The material take-up roll parallel to the plane in which the pliable, flat material web blank is to move, and at the same time to rotate the material take-up roll about its roll axis, such that the pliable, flat material web blank on the jacket wall of Materi ^¬ alaufnahmerolle, in particular slip-free, at least wrapped by 90 degrees, and

- To move the robot gripper to transport the picked up by the material pickup roller pliable, flat material sheet blank from a sampling point to a delivery point. Alternatively, the non-rigid, flat material web cutting, the material on ^¬ acquisition reel, in particular a slip-free to be wound also by less than 90 ° on the outer wall. The winding can be limited to the extent to which the retaining strip secures the bending ^¬ slack material web ^blanks .

The robot controller may also, alternatively or additionally, be configured to collapse the material take-up roll with the recorded pliable, flat material web blanks on a storage surface on which the bending ^¬ flaky, flat material web blank is to be stored to move, and at the same time the material take-up roll to rotate back about its roll axis, such that the bending ^¬ flabby, flat material web blanks of the Roof wall of the material take-up roll is unrolled and unwound onto the storage surface.

The robot controller can also, alternatively or additionally, be set up,

- Introduce the retaining strip between the uppermost layer of pliable, flat material web blanks and a lying immediately below the top layer further position of another pliable, flat material web blank on a stack of several layers of pliable, flat material web blanks, and

- During a movement of the material take-up roll to receive the uppermost layer of pliable, flat material web blanks from the stack, to press the retaining strip from above against the top of lying under the top layer further layer of a pliable, flat material web blank to the other position on the Stack to ^{¬ back} hold.

The robot controller may be arranged to the cost of materials transfer roller to be brought into a touching contact with a bending sleep ^¬ fen, sheet-like web material blank, and the Ma ^¬ terialaufnahmerolle gen parallel to the plane in which the bie ^¬ geschlaffe, sheet-like material web blank is to bewe ^¬ and geleichzeitig the material take-up reel lenachse their ROL to rotate, such that the pliable, planar material web blank on the lateral wall of the Materialaufnah ^¬ merolle a piece is wound, and pushes the retaining strip to a portion of web material blank which on the outer wall is wound, and the retaining strip the Ma ^¬ terialbahnzuschnitt fixed there. Further winding can take place by rolling the material take-up roll tangentially on the material web blank, together with the retaining strip that is invariable in its position.

The robot controller may also be alternatively or additionally, arranged to press during a deposition of a captured on the material receiving reel-rigid, flat material web blank holding slat from above against the top surface of an already partially abgeleg ^¬ th on the tray surface portion of the non-rigid, flat material web blank, to prevent a resumption of the deposited part of the limp, flat material web blank on the material take-up roll. Specific embodiments of the invention are explained in greater detail by ^¬ following description with reference to the accompanying figures. Concrete features of these exemplary embodiments, regardless of the specific context in which they are mentioned, if appropriate also individually or in other combinations, may represent general features of the invention.

In the drawings: Figure 1 is a perspective view of a Industriero ^¬ boters in the form of a six-axis articulated robot;.

FIG. 2 is a schematic sectional view of a robot gripper according to the invention; FIG.

Figure 3 is a schematic bottom view of the robot ^¬ claw according to FIG 2 with its three axes of rotation..; Figure 4 is a schematic bottom view of the robot ^¬ claw according to FIG 2 with various exemplary forms of movement for the material-receiving roller relative to the retaining strip of the robot gripper..;

5 shows a schematic representation of the robot gripper in its mounting arrangement on a tool flange of a robot arm; Fig. 6 is a schematic view of the robot gripper according to

5 shows a first situation in which the retaining strip engages under the uppermost layer of a material web blank; Fig. 7 is a schematic view of the robot gripper according to

5 in a second situation in which the material take-up roller detects the uppermost layer of the material web cut ^¬ ; Fig. 8 is a schematic view of the robot gripper according to

Figure 5 in a third situation in which the material take-up roller picks up the uppermost layer of the material web ^¬ blank. Fig. 9 is a schematic view of the robot gripper according to

Fig. 5 in a fourth situation in which the retaining strip is pivoted to the opposite side of the material ^¬ receiving roller; Fig. 10 is a schematic view of the robot gripper according to

Fig. 5, in which the different forces are shown on retaining strip and material take-up roll, which can be automatically controlled and / or regulated ^¬ sets are; Fig. 11 is a schematic view of a first execution variant ^¬ a retaining strip of the robot gripper according to Figure 5, with fixed projections or rollers.

12 is a schematic view of a second embodiment ^¬ variant of a retaining strip of the robot gripper of Figure 5, with rotatably mounted rollers and a tensioned around the rollers belt.

Figure 13 is a schematic view of a third execution variant ^¬ a retaining strip of the robot gripper according to Figure 5, with an adhesive coating..; 14 shows a schematic representation of a sequence for picking up an uppermost layer of a pliable, flat material web blank from a stack by the robot gripper according to the invention; Fig. 15 is a schematic representation of how the retaining strip and the material-receiving roller can be moved against each other;

16 is a schematic representation of a sequence for depositing a recorded position of a pliable, flat material web ^blank onto a depositing surface by the robot gripper ^according to the invention;

17 shows a schematic representation of a sequence for receiving a topmost layer of a limp, flat material web blank from a stack by clamping it by means of a retaining strip; and

18 is a schematic representation of a sequence for receiving a topmost layer of a limp, flat material web cut from a stack supported by the Bernoulli effect.

FIG. 1 shows a robot 1 which has a robot arm 2 and a robot controller 10. The robot arm 2 comprises, in the case of the present embodiment a plurality of, after ^¬ stacked and by means of joints Jl to J6 rotatably interconnected members LI to L7.

The robot controller 10 of the robot 1 is designed or adapted to perform a robot program, by which the joints Jl can be automated to J6 of the robot arm 2 according to the Roboterpro ^¬ program or automatic adjusted ^¬ table in a manual drive operation or rotationally moved. For this purpose, the robot controller 10 is connected to controllable electric motors M1 to M6, which are designed to adjust the joints J1 to J6 of the robot 1.

In the case of the present embodiment of an industrial robot la, the links LI to L7 are a frame 3 and a carousel 4 rotatably mounted relative to the frame 3 about a vertical axis AI. Further links of the robot arm 2 are a rocker arm 5, an arm release ^¬ ger 6 and a preferably multi-axis robot hand 7 with egg ^¬ ner designed as a tool flange 8 fastening device for fastening a robot gripper of the present invention 11. the rocker 5 is at the lower end, ie ^¬ on the joint J2 of the rocker 5 on the carousel 4 about a preferably hori horizontal pivot axis A2 pivotally mounted.

At the upper end of the rocker 5, the rocker 5 in turn is pivotally mounted on the first joint J3 about a likewise preferably horizontal axis A3 of the arm extension 6. This end carries the robot hand 7 with its preferably three axes of rotation A4, A5, A6. The joints Jl to J6 are replaced by because one of the electric motors Ml to M6 can be driven programmatically by the robot controller 10. In general, a transmission can be provided between each of the links LI to L7 and the respectively associated electric motors M1 to M6.

The robot gripper 11 has in the case of the present embodiment to a gripper base body 12 comprises a connection flange 13 which is formed ^¬ for fixing of the robot gripper 11 to the tool flange 8 of the robot arm. 2 The robot gripper 11 also has a base member 14, which by means of a first pivot joint 15.1, which is automatically adjustable by a first drive motor AI, about a first axis of rotation Dl is rotatably mounted on the gripper body 12. The robot gripper 11 further has a material take-up roller 16.1, which is rotatably mounted with respect to the base member 14 by means of a second pivot 15.2, which is automatically adjustable by a second drive motor A2, about a second axis of rotation D2, which is aligned parallel to the first axis of rotation Dl , The robot gripper 11 also has at least one retaining strip 16. 2, which is fastened to the gripper base body 12.

In the case of the present embodiment has the Ro ^¬ botergreifer 11 a roller carrier 17 on which the material take-up reel is attached 16.1. The roller carrier 17 is rotatable by means of a third rotary joint 15.3 which is automatically adjustable by a third drive motor A3 about a third axis of rotation D3, which is aligned parallel to both the first axis of rotation Dl and the second axis of rotation D2, to an intermediate member 18 of the robot gripper 11 stored. The intermediate member 18 is in turn by means of the second Drehge ^¬ steering 15.2 about the second axis of rotation D2 rotatably mounted on the base ^¬ member 14. In such an embodiment, the members of the robot gripper 11 form, which elements are formed by the gripper body 12, the base member 14, the intermediate member 18 and the rollers ^¬ carrier 17 countries a kinematic chain of Glie-, by the first pivot 15.1, the second Drehge ^¬ steering 15.2 and the third pivot 15.3 can be rotatably adjusted, as indicated in particular in Fig. 3. In that regard, the material take-up roller 16.1 in total ^¬ three degrees of freedom with respect to the gripper body 12 are drehverstellt. The three axes of rotation Dl, D2 and D3 of the first pivot 15.1, the second pivot 15.2 and the third pivot 15.3 are aligned parallel to each other. As a result, characterized mounted on the Rollenträ ^¬ ger 17 material pickup roller 16.1 in the plane of the second end face of the gripper body 12 not only take any position and have any arbitrary Orien ^¬ tion, but reach each position on any trajectories, such as for example in Fig. 4 is shown. This applies in particular if the distances between the first rotation axis D 1 and the second rotation axis D 2 or between the second rotation axis D 2 and the third rotation axis D 3 are the same. If the length ratios are different, this has the consequence that areas in the center of Robo ^¬ tergreifers 11 may possibly not be approached. Thus, the material take-up roll ^16. 1 can have a universal freedom of movement in the plane relative to the holding ^web 16. ² , ie execute any type of movement.

The base member 14 has in the case of the present example approximately exporting ^¬ a rotationally symmetrical outer casing wall to which the base member is completely rotatably mounted within the 14 Au ^¬ ßenkontur of the gripper base body 12th The intermediate member 18 of the robot gripper 11 has a rota tion ^¬ symmetrical outer casing wall to which the intermediate ^¬ member 18 completely within the outer contour of the base member 14 is rotatably mounted. The roller carrier 17 of the Robo ^¬ tergreifers 11 has a rotationally symmetrical outer sheath ^¬ wall, on which the roller carrier is completely rotatably mounted within the outer contour 17 of the intermediate member 18th As can be seen in particular in Fig. 2, the base ^¬ member 14 a pointing in the direction of the first axis of rotation Dl height Hl, which is at most as large as the facing in Rich ^¬ processing of the first axis of rotation Dl height HO of the Grei ^¬ fergrundkörpers 12. The intermediate member 18 of the robot gripper 11 in this case also has a height H2 pointing in the direction of the second axis of rotation D2 which is at most as large as the height Hl of the base member 14 pointing in the direction of the second axis of rotation D2. The roller carrier 17 of the robot gripper 11 has a height H3 pointing in the direction of the third axis of rotation D3 which is at most as large as the height H2 of the intermediate element 18 pointing in the direction of the third axis of rotation D3.

In a specific embodiment 15.1, the first rotary ^¬ articulated to a base member 14 surrounding first rolling bearing 19.1 with an inner ring, an inner ring raceway for rolling bodies, an outer ring and an outer ring raceway, the inner ring to the rotationally symmetrical outer circumferential wall of the base member is attached 14th Alternatively, the inner ring raceway can be formed on the rotationally symmetrical outer jacket wall of the base member 14.

In this case, the second rotary joint 15.2 a surrounding the intermediate member 18 second rolling bearing 19.2 with an inner ring, an inner ring raceway for rolling elements, an outer ring and an outer ring raceway, wherein the inner ring on the rotationally symmetrical onsymmetrischen outer shell wall of the intermediate member 18 is fastened ^¬ taken. Alternatively, the inner ring raceway may be formed on the rotationally symmetrical outer casing wall of the intermediate member 18 from ^¬. In addition, the third rotary joint 15.3 has a Rollenträ ^¬ ger 17 surrounding third roller bearing 19.3 with an inner ring, an inner ring raceway for rolling elements, an outer ring and an outer ring raceway, wherein the inner ring on the rotation tion symmetric outer shell wall of the roller support 17 is strengthened ^¬ . Alternatively, the inner ring raceway may be formed on the rotationally symmetrical outer circumferential wall of the roller carrier 17.

FIG. 5 shows the robot gripper 11 guided by the robot arm 2, as exemplarily placing its material take-up roll 16.1 on a limp, flat material web blank 20 in order to receive it by a rotational movement of the material take-up roll 16.1. In the case of the present From ^¬ management example of the diameter of the material containment is roll 16.1 so large that the outer wall over the outer contour of the gripper base body can also be 12 to rest on the bie ^¬ geschlaffen, sheet-like material web blank 20, without the gripper base body 12 the limp, flat material web blank 20 touched. In Fig. 6 to Fig. 10, various movements of the material take-up roll 16.1 and Hal ^¬ teleiste 16.2 are shown in frontal view.

The retaining strip 16. 2 can form an anvil and is fastened to the gripper base body 12 of the robot gripper 11. The retaining strip 16.2 is thus arranged rigidly to the robot flange. The retaining strip 16.2 is so far moved by the robot arm 2. The material-receiving roller 16.1 can move freely on a plane of movement of the robot gripper 11. The Mate ^¬ rialaufnahmerolle 16.1 may, for example parallel to the aufzuneh- Menden limp, moving sheet material web blank 20 and exert on these example, the required contact pressure. The material take-up roll 16. 1 can thus be rolled over the bendable, flat material web ^blank 20, such that this material web blank 20 is wound up without slippage, while the retaining strip 16.2 holds the next layer, as indicated in particular in Fig. 6. The retaining strip 16.2 pushes a due to a motion of the robot arm 2 between a top layer and an immediately underlying layer of a stack of several non-rigid, flat material web blanks 20 and isolated as the uppermost layer of a pliable, sur fa ^¬ speaking material web blank 20. The material take-up reel 16.1 has a circular cylindrical

Mantle wall whose cylinder axis extends parallel to the third axis of rotation D3 and which is hen with an adhesive surface ^¬ hen, which is designed for adherent holding the bie ^¬ slacken, flat material web blank 20 on the mantle wall of the material receiving roller 16.1, as in particular Fig. 7 can be seen. The material take-up roll 16.1 thus absorbs the uppermost layer of a limp, flat Mate ^¬ rialbahnzuschnitts 20 and lifts them from the stack.

The retaining strip 16.2 is moved by the robot arm 2 and can follow the material take-up roll 16.1. The material ^{receiving ¬} roll 16.1 moves relative to the gripper body 12 and thus relative to the retaining strip 16.2. Although the robot arm 2 is stationary in the situation according to FIGS. 6 and 7 and the retaining strip 16. 2 is also stationarily positioned (in order to fix the stack), the material take-up roll 16. 1 can be moved relative to the stack and in particular with the received uppermost layer of a limp, planar material ^{web to ¬ section} 20 are lifted from the stack and lifted, although the retaining strip 16.2 is positioned stationary. In Fig. 8 it is shown how the recorded pliable, planar material web blank 20 can be further wound on the material on ^¬ exception roll 16.1 and led away. As shown in Fig. 9, the retaining strip 16.2 can be pivoted to the other side of the material take-up roller 16.1, for example, to support a deposition of Materialbahnzu ^{¬ section} 20 by holding, or to a winding of the uppermost material ^web blank starting from the opposite side of the material web To ensure ge ^¬ without having to reorient the gripper by 180 °.

To measure the contact pressure of the material take-up roller 16.1 on the material of the pliable, flat material web blank 20 and the force with which the retaining strip 16.2 holds the remaining stack, for example, a force measuring device between the tool flange 8 and robot gripper 11 may be arranged. Since the material take-up roll 16.1 slippage rolls and the distances between the two contacts points and the tool flange 8 is known to both forces over a measurement of the resulting torque and the resultant force can be shown as in Fig. 10, determined on the tool ^¬ flange 8 of the robot arm 2 become. To measure the contact pressure of the material take-up roller on the stack 16.1 and the force with which the holding strip 16.2 holds the stack firmly ^¬, also internal forces can be measured in the robot gripper. 11

In general, the retaining strip 16.2 may have a first outer surface 16a which is circular-arc-shaped in cross-section and which extends in the longitudinal extent of the retaining strip 16.2 groove-shaped, such that the first outer surface 16a has a shape adapted to the jacket wall 21 of the material receiving roller 16.1. Fig. 11 shows a first embodiment variant of the retaining ^¬ bar 16.2 of the robot gripper 11, with the first Außenflä ^¬ surface 16a and the second outer surface 16b, wherein the second at the Outside surface 16b projections 22 or rollers are fixed. These projections 22 or rollers may also be attached to the outer wall 16 c to allow equal gripping on the opposite side, see Fig. 8 and 9. Fig. 12 shows a second embodiment variant of the retaining ^¬ bar 16.2 of the robot gripper 11, with the first Außenflä ^¬ surface 16a and the second outer surface 16b, which are rotatably mounted on the second outer surface 16b of rollers 23. A belt can be stretched around these rollers, which can rest flush on the counterpart. These rollers 23 may also be attached to the outer wall 16. C to allow equal gripping on the opposite side, see FIGS. 8 and 9.

In the case of the exemplary embodiments illustrated, the retaining strip 16. 2 has a second outer surface 16 b lying opposite the first outer surface 16 a, which are joined together to form an acute angle between the first outer surface 16 a and the second outer surface 16 b at a common edge 24. As can be seen in FIG. 13, the retaining strip 16. 2 can have an adhesive coating 25 arranged on the first outer surface 16 a and extending along the common edge 24.

FIG. 14 schematically shows a sequence for picking up an uppermost layer of a limp, flat material web blank 20 from a stack 26 by the robot gripper 11 according to the invention.

The sequence in FIG. 17 illustrates how the material on ^¬ transfer roller is brought into a touching contact with the bending ^¬ flaccid sheet-like material web blank 20 16.1, and as the material take-up roll 16.1 parallel to the plane in which the pliable, planar material web blank 20 is located, is moved and as the material on geleichzeitig ^¬ acquisition roller is rotated about its roll axis 16.1, in such a way that the pliable, flat material web blank 20 is wound on the casing wall 21 of the material take-up roll 16.1 a piece, and the retaining strip 16.2 presses on a piece of pliable, flat material web blank 20, which is a piece wound on the casing wall 21, and there by means of the retaining strip 16.2 is fixed. The sequence of FIG. 18 illustrates how the robot gripper has an air nozzle 30, the hollow cylindrical material on ^¬ transfer roll 16.1 is assigned in such a way the that the air nozzle 30 generates an air flow along the lateral wall 21 of the material on ^¬ transfer roll 16.1, which is adapted between the On ^¬ increasing sluggish, flat material web blank 20 and the casing wall 21 of the material-receiving roller 16.1 to generate a negative pressure, which causes the aufzuneh- mender fl exible, flat material web blank 20 is moved up to the casing wall 21 of the material pickup roller 16.1. The air nozzle 30 is accordingly designed, using the Bernoulli effect, to move the slippery, flat material web blank 20 to be received against the jacket wall 21 of the material take-up roll 16.1. The air nozzle 30 is arranged in the case of the present embodiment on one of the retaining strip 16.2 opposite side of the material-receiving roller 16.1. Thus, even one of the retaining strip 16.2 assigned end portion of the male bending slippery, flat material web blank 20 to the Materi ^¬ alaufnahmerolle be 16.1 raised by the air flow of the air nozzle 30, although the air nozzle 30 at a this end portion of the male slippery, flat material web blank 20 opposite side the material receiving roll 16.1 is arranged.

The robot controller 11 is accordingly set up

to bring the material take-up roll 16.1 in touching contact with a pliable, flat material web blank 20, and - The material take-up roller 16.1 parallel to the plane in which the pliable, flat material web blank 20 is ^¬ to move, and at the same time to rotate the material recording ^¬ role 16.1 to its role axis, such that the pliable, flat material web blank 20 on the Man ^¬ telwand 21 of the material take-up roll 16.1 is wound at least 90 degrees, and

to move the robot gripper 11 in order to transport the pliable, flat material web blank 20 received by the material take-up roll 16.1 from a removal point (FIG. 14) to a delivery point (FIG. 16).

The robot controller 11 is set up in the case of the present embodiment,

- Introduce the retaining strip 16.2 between the uppermost layer of pliable, flat material web blanks 20 and a lying immediately below the top layer further position of another pliable, flat material web blank 20 on a stack 26 of several layers of pliable, flat material web blanks 20, and

- During movement of the material take-up roller 16.1 to receive the uppermost layer of pliable, flat material web blanks 20 of the stack 26 to push the retaining strip 16.2 from above against the top of lying below the top layer further position of a pliable, flat material web blank 20 to In addition, retaining strip 16.2 may be designed to press against the part of the material web blank which is wound on the material take-up roll.

Fig. 15 shows how the retaining strip 16.2 and the Ma ^¬ terialaufnahmerolle 16.1 can be moved against each other. In the Fig. 16 is a sequence for storing a recorded position of a non-rigid, flat material web blank 20 on a support surface 27 through the erfindungsge ^¬ MAESSEN robot gripper 11 is shown schematically. The robot controller 11 is, in the case of the present embodiment configured this case, flexurally limp material take-up roll 16.1 together with the captured moving sheet material web blank 20 on a support surface 27 on wel ^¬ cher of pliable, planar material web blank 20 is to be laid off, and geleichzeitig the Materi ^¬ alaufnahmerolle 16.1 to rotate back about their role axis, such that the pliable, flat Materialbahnzu ^{¬ section} 20 of the shell wall 21 of the material take-up roll 16.1 unrolled and unwound onto the support surface 27. The robot controller 11 can thereby be arranged pliable during the deposition of the aufgenom on the material receiving reel 16.1 ^¬ menen, sheet-like material web blank 20, the retaining strip 16.2 to from above against the top side of a on the storage surface already partially stored portion of the non-rigid, flat material web blank 20 Press to prevent a resumption of the deposited portion 20a of the bending slippery ^¬ fen, flat material web blank 20 on the Materialauf ^¬ takeover role 16.1.

Claims

claims

1. robot gripper for handling of limp, flat material web blanks (20), comprising a gripper base body (12), which has a connecting flange (13), which is used for fastening the robot gripper (11) to a tool flange (8) of a robot arm (2) is formed, and comprising:

- A base member (14), which by means of a first pivot joint (15.1), that of a first drive motor

(AI) of the robot gripper (11) is automatically adjustable, about a first axis of rotation (Dl) is rotatably mounted on the gripper body (12),

- An intermediate member (18), which by means of a second rotary joint (15.2), that of a second drive motor

(A2) of the robot gripper (11) is automatically adjustable, about a second axis of rotation (D2), which is aligned parallel to the first axis of rotation (Dl) is rotatably mounted on the base member (14), and

- An end member (17) by means of a third Drehge ^¬ lenks (15.3), which is automatically adjustable by a third drive motor (A3) of the robot gripper (11) to a third axis of rotation (D3) parallel to both ers ^¬ th Axis of rotation (Dl) and to the second axis of rotation (D2) is aligned, on the intermediate member (18) rotatably ge ^¬ stored, further comprising a on the end member (17) fixed material receiving roller (16.1), which has a jacket wall which is formed , limp to adhere ^¬ taken to keep one of the material-receiving roller (16.1), sheet-like web material blank (20), and on the gripper base body (12) buildin ^¬ preferential retaining strip (16.2) which extend with their longitudinal extension parallel to the material-receiving roller (16.1) he ^¬ stretches. Robot gripper according to claim 1, characterized in that the material receiving roller (16.1) has a kreiszylind ^{¬ ¬} mische jacket wall (21) whose cylinder axis extends parallel to the third axis of rotation (D3) and which is provided with an adhesive surface, which is formed for adherent holding of the limp, flat material web blank (20) on the jacket wall (21) of the material take-up roll (16.1).

Robot gripper according to claim 1 or 2, characterized in that the material-receiving roller (16.1) is formed hohlzy ^¬ lindrisch and has a rigid Kreisringman ^¬ telwand which distributed around the circumference is provided attached ^¬ arranged holes form the suction nozzles, which due to the Inside of the hollow cylindrical material take-up roll (16.1) pending air negative pressure, for sucking a lying on the annular wall portion of the limp, flat material web blank (20) are formed and / or on ^{¬ base} in the interior of the hollow cylindrical material take-up roll (16.1) pending air ^overpressure for Ab ^¬ abutting a voltage applied to the circular ring ^wall Ab¬ section of the pliable, flat Materialbahnzu ^¬ cut (20) are formed.

Robot gripper according to one of claims 1 to 3, characterized in that the robot gripper has an air nozzle which is associated with the hollow cylindrical Materialaufnahmerol ^¬ le (16.1) such that the air nozzle generates an air flow along the jacket wall of the material receiving roller (16.1), which is suitable to produce a negative pressure between the slippery, flat material web blank to be picked up and the jacket wall of the material take-up roll (16.1), which causes the slippery, flat material web cut to the shell wall of the Materialaufnahmerol ^¬ le (16.1) is moved up.

Robot gripper according to one of claims 1 to 4, characterized in that the material ^¬ take-up roll (16.1) insulated conductor tracks are arranged one behind the casing wall, which are Schlos ^¬ sen to an electrical power source such that an electrostatic field is generated, which causes the male bending ^¬ sagging, sheet-like web material blank to the casing ^¬ wall of the material receiving roller (16.1) is moved up.

Robot gripper according to one of claims 1 to 5, characterized in that the material receiving roller (16.1) has a circular cylindrical jacket wall (21) whose cylinder axis extends parallel to the third axis of rotation (D3) and which is arranged with distributed around the circumference ^{angeordne ¬} th needles and / or hook is provided, which are formed adjacent to one on the lateral wall (21) state of a portion of the non-rigid, sheet-like Ma ^¬ terialbahnzuschnitts (20) to penetrate the portion of the bending ^¬ flaccid sheet-like material web blank (20) and / or invading , For the positive retention of the portion of the pliable, flat material web blank (20) on the casing wall (21) of the Ma ^¬ material receiving roller (16.1).

Robot gripper of any of claims 1 to 6, characterized in that the retaining strip (16.2) has a first outer surface (16a) formed kreisbo ^¬ genförmig in cross section and extending in Längserstre ^¬ ckung the retaining strip (16.2) extending channel-shaped, in such a way that the first outer surface (16a) has a to Man ^¬ telwand (21) of the material-receiving roller (16.1) adapted shape. Robot gripper according to one of claims 1 to 7, characterized in that the retaining strip (16.2) one of the first outer surface (16a) opposite second outer ^¬ surface (16b) forming an acute angle between the first outer surface (16a) and the second outer surface (16b) are brought together at a common edge (24).

Robot gripper according to claim 8, characterized in that the retaining strip (16.2) has a on the first outer surface (16a) arranged along the common edge (24) extending adhesive coating (25).

Robot gripper according to claim 8 or 9, characterized in that the second outer surface (16b) and / or the third outer surface (16 c) is flat and arranged on the second outer surface (16 b) arranged pre ^¬ jumps (22) or rotatably mounted Rollers (23) or belt has.

A robot, comprising a robot controller (10), a robot arm controlled by the robot controller (10)

(2) comprising a tool flange (8) and a flange drive motor rotationally driving the tool flange (8) about a flange axis, and comprising a robot gripper attached to the tool flange (8) of the robot arm (2) according to any one of claims 1 to 10, wherein the robot controller (10) is arranged to drive the on ^¬ drive motors of the robot arm (2) to the attached to the gripper body (12) retaining strip

(16.2) relative to the position to be accommodated pliable material, and the robot controller (10) is arranged, the base member (14) by means of the first drive motor (AI) about the first axis of rotation (Dl), the intermediate member (18) by means of the second drive motor (A2) about the second axis of rotation (D2) and the end member (17) by means of the third drive motor (A3) to rotate about the third axis of rotation (D2) to rotate the material receiving roller (16.1) and relative to the holding ^¬ bar (16.2 ) to adjust.

Robot according to claim 11, characterized in that the robot controller (10) is arranged

- To bring the material take-up roll (16.1) in a touching contact to a pliable, flat material web blank (20), and

- The material take-up roll (16.1) parallel to the plane in which the pliable, flat Materialbahnzu ^{¬ section} (20) is to move, and at the same time the material take-up roll (16.1) to its roller axis to dre ^¬ hen, such that the pliable, flat ^¬ material web blank (20) on the mantle wall (21) of material ^¬ pickup roller (16.1) is wound, and

- To move the robot gripper (11) to transport the picked up by the material pickup roller (16.1) pliable, flat material web blank (20) from a removal ^{¬ point} to a delivery point.

- The material take-up roll (16.1) parallel to the plane in which the pliable, flat Materialbahnzu ^{¬ section} (20) is to move, and at the same time the material take-up roll (16.1) to its roller axis to dre ^¬ hen, such that the pliable, flat ^¬ material web blank (20) on the mantle wall (21) of material ^¬ take-up roll (16.1) a piece is wound, and the retaining strip (16.2) presses on a portion of the material ^¬ sheet blank, aufgewi ^¬ on the shell wall is aufgewi ^¬ , and the retaining strip fixed the material web blank there.

Robot according to one of claims 11 to 13, characterized in that the robot controller (10) is arranged, the material take-up roll (16.1) together with the recorded pliable, flat material web blank (20) via a storage surface (27) on wel ^¬ cher the pliable , Material sheet blank (20) is to be stored to move, and at the same time the material take-up roll (16.1) to rotate back ^¬ about their role axis, such that the pliable, flat material web blank (20) of the casing wall (21) of the material receiving roller (16.1 ) is unrolled and unwound on the Abla ^¬ gefläche (27).

Robot according to one of claims 11 to 14, characterized in that the robot controller (10) is set up,

- On a stack (26) of several layers of pliable, flat material web blanks (20), the retaining strip (16.2) between the uppermost layer of pliable, flat material ^web blanks (20) and ei ^¬ ner immediately below the uppermost layer lying another layer to introduce slippery, flat material web blank (20), and

during movement of the material take-up roll

(16.1) to the top layer of the non-rigid, flat material web blanks (20) from the stack (26) increase on ^¬, the retaining strip (16.2) from above against the top side of the lying under the uppermost layer another layer of a pliable, planar Materialbahnzu- To press section (20) to retain the further position on the stack (26).