Gripping device and a method for receiving piece objects

• US 10,183,845 B2
• Filed: 02/03/2016
• Issued: 01/22/2019
• Est. Priority Date: 02/06/2015
• Status: Active Grant

• Current Assignee: Fraunhofer Gesellschaft Zur Foerderung Der Angewandten Forsching E.V.
• Original Assignee: Fraunhofer Gesellschaft Zur Foerderung Der Angewandten Forsching E.V.
• Inventors: Wrycza, Philipp, Fiedler, Martin, Rotgeri, Mathias, Doltgen, Martin
• Primary Examiner(s): Kramer, Dean J
• Application Number:
  US15/549,011
• Publication Number:
  US 20180029845A1
• Time in Patent Office: 1,084 Days
• Field of Search: 294 8235, 294 90, 294113, 2441724
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B66C 1/66 for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof

Abstract

A gripping device and method for receiving piece objects from above is described. The gripping device includes movable gripping elements for gripping the piece object by way of an inwards movement of the gripping elements, wherein the gripping elements are arranged around a receiving opening which is delimited by the gripping elements, and the gripping device below the receiving opening includes a guide which surrounds the receiving opening for the lateral guidance of the gripping device with the approach of the gripping device onto the piece object. An inner diameter of the guide at a lower end of the guide is larger than a largest possible diameter of the receiving opening, wherein the inner diameter of the guide tapers upwards.

Claims

1. A transport system comprising:

an unmanned aircraft; and

a gripping device configured to receive piece objects from above, the gripping device including movable gripping elements for gripping the piece object by way of an inwards movement of the gripping elements,

wherein the gripping device is rigidly connected to the unmanned aircraft,

wherein the gripping elements are arranged around a receiving opening which is delimited by the gripping elements, wherein the gripping device below the receiving opening comprises a guide which surrounds the receiving opening for the lateral guidance of the gripping device given an approach of the gripping device onto the piece object, wherein an inner diameter of the guide at a lower end of the guide is larger than a largest possible diameter of the receiving opening and wherein the inner diameter of the guide tapers upwards,

wherein the gripping device is configured to fasten to or suspend from a lower side of the unmanned aircraft and to configured to be accessible from below or be a portion of a fuselage of the unmanned aircraft, the portion being accessible from below.

2. The transport system of claim 1, wherein the gripping elements are each arranged in a manner pivotable about a vertical axis (6) at one end for an iris-shutter-like size reduction or enlargement of the receiving opening.

3. The transport system of claim 1, wherein the guide is shaped in the shape of a lateral surface of a truncated cone.

4. The transport system of claim 1, wherein the gripping device comprises a drive (8) for synchronously moving the gripping elements.

5. The transport system of claim 1, wherein the gripping device further comprises an optical data detector, wherein the optical data detector is configured to detect data represented on a received piece object.

6. The transport system of claim 1, wherein the guide comprises a single-part or multi-part standing surface at a lower end, wherein the standing surface lies in a plane that is parallel to a plane within which the gripping elements are movable.

7. The transport system of claim 1, further comprising an adapter, wherein the adapter is configured for being fastened to the piece object, wherein the adapter at least in an upper region has a diameter that is smaller than the largest possible diameter of the receiving opening, and wherein the adapter in the upper region comprises an engagement surface for the gripping elements, said engagement surface being delimited to the top by a lateral projection.

8. The transport system of claim 7, wherein a height difference between the engagement surface and a lower side of the adapter is just as large or slightly larger than a distance between the plane within which the gripping elements are movable and the plane in which a standing surface lies.

9. A method for receiving piece objects using the transport system of claim 1 for gripping the piece object by way of an inwards movement of the gripping elements, the method comprising using the gripping device approaching the piece object from above, centering the receiving opening over an exposed part of the piece object or over an adapter which is fastened to the piece object, by way of a lateral guidance on the guide, lowering the gripping device in a manner such that the gripping elements surround the exposed part of the piece object or the adapter fastened to the piece object, whereupon the gripping elements are moved inwards so that the gripping device subsequently holds the exposed part of the piece object or the adapter that is fastened to the piece object, so that the piece object is lifted given a subsequent upwards movement of the gripping device.

10. The method for receiving piece objects of claim 9, comprising lowering the gripping device until a single-part or multi-part standing surface at a lower end of the guide lies on an upper side of the piece object.