Shape-adapting gripping system

Abstract

Shape-adapting gripping system (1) comprising a flexibly designed film (2) and a flexibly deformable structure (10), wherein the structure (10) is made of a modeling compound and is non-hardening and comprises wax, potato starch or kaolin, wherein the film (2) has a first surface (3) facing the structure (10) for contact with the deformable structure (10) and a second surface (4) facing away from the structure (10) for at least partial contact with a workpiece (20), wherein the film (2) and the structure (10) are further operatively connected to each other in such a way as tothat when the shape of the structure (10) changes, the film (2) in the contact area with the structure (10) adapts to the shape of the structure (10), and that the second surface (4) is microstructured to form van der Waals forces, and wherein an adhesive (5) is arranged to attach the film (2) to the structure (10) on the first surface (3) of the film (2) and / or on at least partial areas of the lateral surface of the structure (10).

Description

[0001] The invention relates to a shape-adapting gripping system for gripping workpieces.

[0002] Nowadays, it is common practice to use microstructured films, so-called gecko films, to grip and hold workpieces with smooth and slippery surfaces very energy-efficiently, flexibly, and without leaving any residue, thanks to the van der Waals forces that arise between the structured film and the workpiece. The adhesive force is strongly influenced by several factors: Firstly, the surface properties of the workpiece play a significant role; the smoother the surface, the better the film's adhesion. Secondly, the contact area and even force distribution between the film and the workpiece are crucial.

[0003] This means that the size of the effective contact area between the Gecko film and the workpiece, and how evenly the force is applied across this area, plays a crucial role in adhesion. In practice, this means that the surface of the workpiece and the counterpart to which the Gecko film adheres must be uniform, and especially parallel. However, this is often difficult to guarantee because the workpieces and the counterparts to which the microstructured film is attached often do not have exactly the same shape.

[0004] From DE 20 2009 016 463 U1 a handling system with a holding device is known. The holding device can be controlled into an active state generating holding forces at an attack point of an object and an ineffective release state releasing the attack point.

[0005] From JP 2006 - 326 802 A a device is known which can adhere to an object surface and detach itself from the object surface.

[0006] From DE 10 2012 001 095 A1 a gripping device for planar attachment to a surface of a gripping object is known.

[0007] DE 10 2008 053 ​​278 A1 is a handling device for objects with flat, in particular smooth, surfaces.

[0008] It is therefore the object of the present invention to at least partially overcome the disadvantages described above when gripping and lifting workpieces using microstructured films. In particular, it is the object of the present invention to provide a shape-adapting gripping system that enables the secure gripping and lifting of workpieces of various shapes using a microstructured film.

[0009] The foregoing problem is solved by a shape-adapting gripping system according to the invention and the features of claim 1. Further features and details of the invention will become apparent from the dependent claims, the description and the drawings.

[0010] This means that the object of the invention is solved by a shape-adapting gripping system comprising a flexible film and a flexibly deformable structure. The flexible film has a first surface facing the flexibly deformable structure for contact with it. Furthermore, the film has a second surface facing away from the structure for at least partial contact with a workpiece. The film and the structure are also operatively connected in such a way that, if the shape of the structure changes, the film adapts to the shape of the structure in the contact area, and the second surface is microstructured to generate van der Waals forces.

[0011] A flexibly deformable structure means that the structure can assume various shapes or external configurations, and these shapes are modifiable. This means that the structure can change its shape when pressure is applied to it from the outside. Due to its deformability, the structure can adapt to the shape of a workpiece's surface when placed against it. Because the film is also flexible and bonded to the structure, the gripping system—that is, the flexibly deformable structure together with the flexible film—can precisely adapt to the workpiece's shape when the shape-adapting gripping system is applied. This allows the shape-adapting gripping system to grasp and lift not only workpieces with flat surfaces, but also workpieces with uneven surfaces, such as those that are convex or concave.Due to the flexibility of both the film and the structure, the shape-adapting gripping system can precisely conform to the surface of a workpiece when the gripping system is pressed against the surface of the workpiece under pressure. The film can, for example, be made of silicone. The film preferably also has a reduced thickness. For example, the film can be between 0.2 mm and 1 mm thick.

[0012] To ensure the parallelism of the workpiece surface and the microstructured film, a flexibly deformable structure is attached to the flexible film. The pressure applied to the shape-adapting gripping system when a workpiece is contacted causes the structure and the film to optimally adapt to the shape of the workpiece, thereby maximizing the contact area between the workpiece and the film. This enables very good, reliable adhesion of the workpiece to the film and thus to the gripping system. This adhesion is achieved through the microstructured secondary surface of the film. In particular, this secondary surface features microscopically small adhesive elements that generate van der Waals forces.

[0013] The combination of microstructured film and a flexibly deformable structure enables the contacting of workpieces with uneven surfaces and the compensation of minor deviations from parallelism, such as slight tilting in machinery. The surface of the gripping system with the "gecko film" can adapt to the workpiece. This ensures a uniformly applied contact surface and, consequently, a strong grip. Because the structure is flexibly deformable, the process is repeatable, meaning the gripping system can handle different workpieces sequentially. Even workpieces with slightly different geometries can be contacted by a single shape-adapting gripping system in this way.

[0014] It is also possible to release the connection between the shape-adapting gripping system and a gripped workpiece, since tensile forces can also be transmitted via the operative connection between the film and the structure.

[0015] According to the invention, a shape-adapting gripping system is provided in that the structure comprises a modeling compound, in particular is formed entirely from a modeling-like compound. This ensures that the structure is flexibly deformable.

[0016] According to the invention, the structure of the shape-adapting gripping system is designed to be non-hardening.

[0017] According to the invention, the structure, in particular the modeling clay, contains wax. This ensures that the modeling clay, and thus the structure, does not harden. Alternatively or additionally to wax, the modeling clay can also contain potato starch or kaolin.

[0018] According to the invention, a shape-adapting gripping system is provided with an adhesive for attaching the film to the structure. This adhesive is applied to the first surface of the film and / or to at least partial areas of the structure's outer surface. The adhesive ensures that the film is permanently and firmly held to the structure. The adhesive also enhances the flexibility of both the film and the structure. For the purposes of this invention, an adhesive is defined as a material that can bond components through surface adhesion and internal strength. The adhesive can be, for example, a physically bonding adhesive or a chemically curing adhesive, such as a polymerization adhesive, a polycondensation adhesive, or a polyaddition adhesive.

[0019] According to a preferred embodiment of the invention, in a shape-adapting gripping system, the adhesive can be an adhesive film, in particular a double-sided adhesive film. An adhesive film ensures that the adhesive effect to the structure or to the microstructured film is uniform throughout; the forces to be transmitted must be greater than those between the microstructured film and the workpiece.

[0020] Furthermore, in a shape-adapting gripping system, it is advantageously provided that the microstructured surface of the film has between 15,000 and 35,000 holding elements per cm. 2 , in particular between 25,000 and 35,000 retaining elements per cm 2 , exhibits. Such a microstructured film adheres very well to all smooth and flat surfaces, even if they are wet, greasy or soapy.

[0021] Another advantage of the shape-adapting gripping system is that it can be removed from the workpiece without leaving any residue. Furthermore, gripping with the shape-adapting gripping system also works in a vacuum.

[0022] Furthermore, in a shape-adapting gripping system, it is advantageously provided that a gripping device is arranged on the object for gripping the gripping system. For example, a gripping device can be arranged on the side of the object where no film is applied. Preferably, the shape-adapting gripping system is designed as a stamp by means of the gripping device.

[0023] Furthermore, the microstructured film is particularly washable, thus ensuring consistent conditions. The second surface of the film is especially preferably self-cleaning.

[0024] Thanks to van der Waals forces, an electrostatic interaction occurs, creating an intermolecular attraction similar to that of a magnet, allowing workpieces to be lifted using the shape-adapting gripping system. Gripping and lifting with this system works on all flat surfaces and, due to its flexibility, also on uneven, smooth surfaces such as glass, painted metal, marble, ceramic, plastic, and even skin.

[0025] The present invention is explained in more detail with reference to the accompanying drawings. These schematically depict: Fig. 1. A side view of a shape-adapting gripping system and a workpiece, Fig. 2 a side view of the shape-adapting gripping system and the workpiece according to Fig. 1 in the gripping position, Fig. 3 a side view of the foil of the shape-adapting gripping system according to Fig. 1, Fig. 4 a side view of another shape-adapting gripping system and a workpiece shaped like a sphere, Fig. 5 a side view of the shape-adapting gripping system and the workpiece according to Fig. 4 in the gripping position, Fig. 6. A side view of a third shape-adapting gripping system before the film is adhered to the flexible structure. Fig. 7 a side view of the shape-adapting gripping system according to Fig. 6 after the foil has been glued to the flexible structure.

[0026] Elements with the same function and mode of operation are in the Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 to Fig. 7 with the same reference numerals.

[0027] In Fig. Figure 1 schematically depicts a shape-adapting gripping system 1 and a workpiece 20, which is to be gripped by the shape-adapting gripping system 1, in a side view. The shape-adapting gripping system 1 comprises a flexibly deformable structure 10 and a flexibly formed, microstructured film 2 that is operatively connected to a region of the structure 10. That is, the film 2 is operatively connected to the structure 10 in such a way that if the shape of the structure 10 changes, the film 2 adapts to the shape of the structure 10 in the contact area. The shape-adapting gripping system 1 enables the workpiece 20 to be gripped and lifted securely by means of the microstructured film 2. The shape of the workpiece 20, in particular its surface, can also be uneven, for example, curved. Fig. Figure 2 schematically shows the shape-adapting gripping system 1 and the workpiece 20 according to Fig. 1 in the gripping state, that is, in the state in which the workpiece 20 can be lifted by the shape-adapting gripping system 1. The gripping or lifting of the workpiece 20 is made possible by the second surface 4 of the film 2, since this is microstructured to generate van der Waals forces.

[0028] Due to its deformability, structure 10 can adapt to the shape of the workpiece surface when it is placed against the workpiece 20. Both film 2 and structure 10 are flexible. Film 2 is operatively bonded to structure 10, so that when the shape-adapting gripping system 1 is placed against the workpiece 20, the flexibly deformable structure 10, together with the flexible film 2, can precisely adapt to the surface of the workpiece 20.

[0029] In Fig. Figure 3 shows only the side view of sheet 2 of the shape-adapting gripping system 1 according to Fig. 1 shown. The second surface 4 of the film 2 is designed such that it has microscopically small adhesive elements 6 to form van der Waals forces, see Fig. 6. After the shape-adapting gripping system 1 is pressed against the workpiece 20, the workpiece adheres to the shape-adapting gripping system 1 on the second surface 4 of the film 2 due to van der Waals forces. That is, the film 2 has a first surface 3 facing the structure 10 for contact with the deformable structure 10 and a second surface 4 facing away from the structure 10 for at least partial contact with the workpiece 20.

[0030] In Fig. 4 and Fig. Figure 5 schematically shows, in a side view, another shape-adapting gripping system 1 and a workpiece 20 shaped like a sphere. The workpiece 20 does not have a flat surface. Fig. Figure 4 shows the shape-adapting gripping system 1 before the workpiece 20 is gripped by the shape-adapting gripping system 1. Fig. Figure 5 shows the shape-adapting gripping system 1 and the workpiece 20 in the gripping state, in which the workpiece 20 can be lifted by the shape-adapting gripping system 1 due to the van der Waals forces exerted by the film 2. Fig. Figure 5 clearly shows how both the structure 10 and the foil 2 connected to the structure 10 were flexibly deformed and adapted to the contour of the surface of the workpiece 20.

[0031] In Fig. Figure 6 schematically shows a view of the second surface 4 of a film 2 of a shape-adapting gripping system 1. The second surface 4 has a multitude of microscopically small holding elements 6 to generate van der Waals forces. In particular, the second surface 4 of the film 2 has between 15,000 and 35,000 holding elements 6 per cm², especially between 25,000 and 35,000 holding elements 6 per cm². This allows the microstructured film 2 to adhere very well to all smooth and flat or uneven surfaces, even if they are wet, greasy, or soapy. The van der Waals forces of the microscopically small holding elements 6 create an electrostatic interaction that results in an intermolecular attraction similar to that of a magnet, enabling the shape-adapting gripping system 1 to pick up workpieces 20 of different shapes.

[0032] In Fig. Figure 7 schematically shows a third shape-adapting gripping system 1 in a side view before the film 2 is glued to the flexible structure 10. Fig. Figure 8 schematically shows the shape-adapting gripping system 1 according to Fig. 7 after the film 2 is adhered to the flexible structure 10. To attach the film 2 to the structure 10, an adhesive 5, here in the form of an adhesive film, is applied between the first surface 3 of the film 2 and sections of the outer surface of the structure 10. After pressing the film 2 onto the structure 10, the film 2 is firmly bonded to a section of the structure 10 due to the adhesive 5. Because both the film 2 and the structure 10 are designed to be flexibly deformable, the shape-adapting gripping system 1 is also flexible.

[0033] The in the Fig. 1, Fig. 2, Fig. 4, Fig. 5, Fig. 7 and Fig. The eight depicted structures 10 of the shape-adapting gripping system 1 are designed to be non-hardening. The structures 10 consist of modeling clay and can even be made entirely of modeling clay. The addition of wax to the modeling clay makes the structures 10 particularly flexible and prevents them from hardening.

[0034] The shape-adapting gripping system 1 according to Fig. 8 additionally features a gripping device 11 for gripping the gripping system 1. The gripping device 11 is arranged on the side of the structure 10 where no film 2 is arranged. Reference symbol list 1 shape-adapting gripping system 2 flexibly designed foils 3 first surface 4 second surface 5 Adhesive / Adhesive film 6 retaining elements 10 flexibly deformable structures 11 Gripping device 20 workpieces

Claims

[1] Shape-adapting gripping system (1) comprising a flexibly designed film (2) and a flexibly deformable structure (10), wherein the structure (10) is made of a modeling compound and is non-hardening and comprises wax, potato starch or kaolin, wherein the film (2) has a first surface (3) facing the structure (10) for contact with the deformable structure (10) and a second surface (4) facing away from the structure (10) for at least partial contact with a workpiece (20), wherein the film (2) and the structure (10) are furthermore operatively connected to each other in such a way as tothat when the shape of the structure (10) changes, the film (2) in the contact area with the structure (10) adapts to the shape of the structure (10), and that the second surface (4) is microstructured to form van der Waals forces, and wherein an adhesive (5) is arranged to attach the film (2) to the structure (10) on the first surface (3) of the film (2) and / or on at least partial areas of the lateral surface of the structure (10). [2] Shape-adapting gripping system (1) according to claim 1, characterized by , that the adhesive (5) is an adhesive film, in particular a double-sided adhesive film. [3] Shape-adapting gripping system (1) according to any one of the preceding claims, characterized by , that a gripping device (11) is arranged on the structure (10) for gripping the gripping system (1). [4] Shape-adapting gripping system (1) according to any one of the preceding claims, characterized by, that the second surface (4) of the film (2) is designed to be self-cleaning. [5] Shape-adapting gripping system (1) according to any one of the preceding claims, characterized by , that the shape-adapting gripping system (1) is designed as a stamp.

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