Method for removing a component from a parts reservoir, gripping fingers for a gripper of a robot arm, gripper for a robot arm

摘要

A method for removing a cylinder-like component (16) standing upright in a parts reservoir (18) and having an axially parallel end projection (163) on its upper end face (162) by means of a first and a a second adjusting element (21, 22) comprising gripper (20), wherein the adjusting elements (21, 22) can be moved in a collinear relative movement perpendicular to the axis of rotation and are each equipped with a gripping finger (10) and one of the gripping fingers (10) is configured is as a gripping finger with a front contact area (14) serving to make positive contact with the component to be removed, from the inner wall of which a stop (142) facing the front edge (143) protrudes at an axial distance from its front edge (143), and a rear coupling that transmits force and torque to the associated actuating element (21) is used end coupling area (12) which is coupled to the first adjusting element (21) in a force and torque transmitting manner, axially parallel to the axis of rotation and with its inner wall facing the second adjusting element (22), the method comprising the following steps: - Positioning the gripper ( 20) vertically above the component (16), the clear width between the front edges (143) of the gripping fingers (10) being greater than the cylinder diameter of the component (16) and at the same time the stop (142) radially inward over the diameter of the upper one Front side (162) of the component (16) protrudes, - perpendicular lowering of the gripper (20) until the front boundary surface (144) of the stop (142) strikes the upper front side (162) of the component (16), - turning the gripper (20) around the axis of rotation until the lateral boundary surface (145) of the stop (14) strikes the front projection (163) of the component (16), - moving the adjusting elements (21, 22) of the gripper (20) together until the inner walls(141) the gripping fingers (10) rest non-positively on the outer wall of the component (16), - vertical lifting of the gripper (20) together with the non-positively fixed component (16) on its gripping fingers (10).