Additively manufactured actuator

Abstract

A method for the additive manufacturing of an actuating element (7), comprising at least one deformable body (3) with a circumference, comprising at least one cavity (4) that can be placed under an overpressure or underpressure relative to an ambient pressure, made of a first plasticizable and / or solidifiable mass, and at least two opposing bodies (1, 2) made of at least a second plasticizable and / or solidifiable mass that are non-deformable relative to the deformable body (3) and are positively connected to the deformable body (3), wherein the deformable body (3) is arranged between the non-deformable bodies (1, 2), characterized in that it comprises the following step: - layer-by-layer removal of the deformable body (3), wherein this body has either a recess (5) or projection (6) at several opposite positions on its circumference, and simultaneous layer-by-layer removal of the at least two non-deformable bodies (1, 2), wherein these have projections (6) or recesses (5) corresponding to the recess (5) or projection (6) of the deformable body (3), which are positively connected to each other during the removal of the first plasticizable and / or solidifiable mass and the at least second plasticizable and / or solidifiable mass.

Description

Field of invention

[0001] The present invention relates to a method for the additive manufacturing of an actuating element according to claim 1, an actuating element manufactured according to the method according to claim 5, a gripper comprising at least one actuating element according to the invention according to claim 11 and a method for operating an actuating element according to the invention according to claim 13. State of the art

[0002] In product manufacturing, various types of grippers are used to transport and position components during the production process. These grippers operate according to different principles, such as mechanical gripping, suction gripping, or magnetic attraction.

[0003] DE 10 2018 205 337 A1 discloses a gripping device for grasping objects, comprising a base body, a gripping jaw, a connecting section, a hinge, and a gripping section. The connecting section is coupled to the base body, and the hinge connects a first end face associated with the connecting section to a second end face opposite the first end face and associated with the gripping section. The hinge is designed for elastic pivoting of the gripping section relative to the connecting section. A measuring device is designed for distance detection between the end faces and comprises a coil arrangement and a control circuit. The control circuit is designed for detection and evaluation of electrical coil signals, and the coil arrangement is associated with at least one of the end faces.

[0004] DE 10 2019 003 714 A1 describes a gripping device consisting of a single-piece component, comprising a base body, a base body movable relative to the base body, and at least two gripping elements for grasping objects. Each gripping element has a gripping jaw, a support arm, and a bending arm, the support arm being connected to the base body and the bending arm to the base body. Furthermore, the gripping jaws are movable relative to each other for gripping objects by means of a relative movement between the base body and the base body via an operative connection between the support arm and the base body, and between the bending arm and the base body.

[0005] DE 10 2019 119 125 A1 describes a gripping device for grasping objects, comprising a sleeve-like base body, a permanent magnet housed within the base body, and an armature element arranged coaxially to the permanent magnet. The armature element is designed to be movable between a first position close to the permanent magnet and a second position farther away from it. The sleeve-like base body includes at least two gripping fingers, each connected to the armature element via an actuating bridge. When the armature element is moved into the first position, the gripping fingers move towards each other to a gripping position. When the armature element is moved into the second position, the gripping fingers move away from each other to a release position. The gripping device includes a switchable coil designed to generate a magnetic field opposite to that of the permanent magnet when switched on.

[0006] DE 10 2012 001 773 A1 proposes a gripping device comprising a gripper jaw carrier and a gripper jaw that can be mounted to it by plug-in assembly. For locking, the gripper jaw includes a locking element suspended from a second spring arm, and for actuating this locking element, a release element pivotally suspended from a first spring arm is provided. All components are formed in one piece with a mounting shoe that can be inserted into a plug-in receptacle in the gripper jaw carrier.

[0007] The documents mentioned have in common that at least parts of the gripping devices described therein, in particular parts of the actuating elements, are manufactured using an additive manufacturing process.

[0008] DE 10 2007 057 350 A1 describes a fluidically driven actuating device comprising a base element, a rigid actuating element movable relative to the base element, and a flexible hose element. A cavity is formed between the base element, the actuating element, and the hose element, which can be pressurized with a fluid, for example, compressed air. A first end of the hose element is connected to the base element, and a second end of the hose element is connected to the first end of the actuating element. According to the invention, when the cavity is pressurized with a fluid, the hose element deforms, causing the actuating element to move relative to the base element.

[0009] German patent DE 10 2005 056 846 A1 discloses a linear drive with an actuator that can be filled with a medium and a method for manufacturing the actuator, which is designed in the form of at least one volume-enclosing bellows and is capable of expanding along a linear axis defined by its bellows-like design when filled with the medium and of contracting automatically in the opposite direction along the linear axis when the volume is emptied. The actuator further comprises two mounting flanges that are connected to the bellows at opposite points along the linear axis. The mounting flanges can be manufactured integrally and materially bonded to the bellows using a generative, i.e., layer-by-layer, additive, manufacturing process made of plastic.

[0010] US Patent 2017 / 0120535 A1 discloses a deformable structure and a method for producing the deformable structure by depositing layers in an additive manufacturing process from a hardening material and a non-hardening material, wherein the deposition creates a volume defined by the hardening material and containing the non-hardening material within that volume. The hardening and non-hardening materials are deposited layer by layer simultaneously. The hardening material can consist of two plastics with different elasticities that are metallurgically bonded together.By means of the consolidating material with different elasticity, a bellows can be formed, the surfaces of which consist of rigid material and the corners connecting the surfaces of elastic material, and which is filled with a pressurizable fluid so that the bellows can expand and contract.

[0011] From DE 10 2010 034 024 A1, a bellows arrangement is known which has at least two nested bellows, each connected at its end face by a rigid, plate-like connecting element, thus forming a closed volume that can be pressurized with a fluid to cause the bellows and the two plate-like connecting elements to contract or expand. The deformable bellows with the rigid connecting elements can be manufactured in one piece and with a material bond using an additive manufacturing process and can be made of plastic.

[0012] WO 2009 / 013751 A2 discloses a system and method for the solid freeform fabrication of an object. The system comprises a solid freeform fabrication device with multiple output heads and a material feeder configured to feed multiple materials to the fabrication device.

[0013] DE 44 32 253 A1 discloses a mechanism for motion and force transmission, preferably for miniaturized motion systems, consisting of a movable structure comprising drive and working sections. All sections of the movable structure are interconnected in a continuous material bond, and the relative compliance of the individual sections differs, i.e., the individual sections exhibit different elasticities. The mechanism can have an elliptical frame structure. A retaining section is attached to one side of the frame structure, which is elastically compliant in the radial load direction, and two working elements are attached to the opposite side. When the elliptical frame structure is subjected to internal pressure from a fluidic medium, the ellipse deforms and approaches a circular shape.The working elements move towards each other and act as grippers.

[0014] US Patent 6,176,113 B1 discloses an inflatable device for easily and efficiently repairing a dent, crease, or other surface irregularity in a vehicle component, or alternatively, for easily and efficiently supporting, lifting, or moving an object into a desired position. The device comprises an accordion-style inflatable air reservoir and an air hose assembly adapted for attachment to the reservoir to introduce pressurized air into the reservoir for inflation. The accordion-style air reservoir has two integrally connected and opposing rigid end faces, one of which rests on a stable counter-support and the other end face resting against the object to be repaired or supported.This end face can be connected to the lid, which has a shape adapted to the object, with two projections of the end face engaging in two grooves of the lid. The accordion-like air reservoir and the end faces can be made of vulcanized rubber or plastic; the end faces can also be made of metal. The lid can be made of hard rubber or hard plastic.

[0015] From DE 35 02 575 A1, a short-stroke clamping element for applying a clamping or holding force to a workpiece is known, featuring a pressure chamber that can be pressurized with compressed air. The clamping element has a rectangular, closed frame shape with four plastic walls, the end faces of which are closed. Each wall is movably connected to the adjacent walls via elastic sections of the wall. The interior forms a closed pressure chamber, which, when pressurized with fluid pressure, moves the movable wall away from or towards the pressure chamber. The clamping element is a single piece and is constructed with a material bond.

[0016] Mechanical grippers typically use actuators that either partially or completely encircle the element to be moved, thus generating a mechanical pressure force on an outer surface of the element, or generate a mechanical pressure force on an inner surface of the element, thus clamping it against the inner surface by means of the actuators. These mechanical grippers all share the characteristic that a radial force, either inwards or outwards, is generated by the actuators. However, due to the design of the actuators, variations in the forces generated by individual actuators can occur, potentially disrupting the gripping process. This can result in the element not being held securely, its positioning within the gripper being incorrect, or even falling out of the gripper. Summary of the invention

[0017] The invention is therefore based on the objective of providing a method for the additive manufacturing of a fluid pressure-sensitive actuating element, a fluid pressure-sensitive actuating element manufactured according to the method, comprising a gripper, at least one fluid pressure-sensitive actuating element, and a method for operating a fluid pressure-sensitive actuating element, wherein a process-reliable movement of the movable parts of the actuating elements is enabled and no undefined deformation of the fluid pressure-bearing parts of the actuating element takes place. Description of the invention

[0018] This problem is solved by a method for the additive manufacturing of a fluid-pressure-sensitive actuating element according to claim 1. The method comprises at least one deformable body, having a circumference and comprising at least one cavity that can be subjected to overpressure or underpressure relative to ambient pressure, as a soft component made of a first plasticizable and / or hardenable mass, and at least two opposing bodies, which are indeformable relative to the deformable body and are positively connected to the deformable body, as hard components made of at least a second plasticizable and / or hardenable mass, wherein the deformable body is arranged between the indeformable bodies, comprising the step: - layer-by-layer removal of the deformable body, wherein this body has either a recess or projection at several, preferably two, opposite positions on its circumference, and simultaneous layer-by-layer removal of the at least two non-deformable bodies, wherein these have projections or recesses corresponding to the recess or projection of the deformable body, which are positively connected to each other during the removal of the first plasticizable and / or solidifiable mass and at least the second plasticizable and / or solidifiable mass.

[0019] The problem is also solved by a fluid-pressure-controlled actuating element manufactured according to the method of claim 5. The actuating element comprises at least one deformable body, comprising at least one cavity and having a circumference, made of a first plasticizable and / or hardenable mass, and several, preferably two, opposing bodies, which are non-deformable relative to the deformable body and are positively connected to the deformable body, made of at least a second plasticizable and / or hardenable mass, wherein the deformable body is arranged between the non-deformable bodies. - the deformable body has either a recess or projection at several, preferably two, opposite positions on its circumference, and the at least two non-deformable bodies have projections or recesses corresponding to the recess or projection of the deformable body, which are positively connected to each other.

[0020] The problem is also solved by a gripper with at least one actuating element that can be subjected to fluid pressure according to claim 11.

[0021] Finally, the problem is solved by a method for operating a fluid pressure-sensitive actuator according to claim 13, comprising the steps: - either introducing a fluid, in particular air, into the at least one cavity of the deformable body and creating an overpressure therein relative to an ambient pressure, causing several, preferably both, non-deformable bodies to move away from each other, and - Extracting the fluid from the at least one cavity of the deformable body and creating an ambient pressure therein, causing the several, preferably the two, non-deformable bodies to move relative to each other, - or dispensing a fluid, in particular air, from the at least one cavity of the deformable body and creating a negative pressure therein relative to an ambient pressure, whereby several, preferably both, non-deformable bodies move relative to each other, and - Introducing the fluid into at least one cavity of the deformable body and creating an ambient pressure therein, causing the several, preferably the two, non-deformable bodies to move away from each other.

[0022] The positive-locking connection advantageously creates a defined relationship between the at least one softer, deformable body (the soft component) and the corresponding harder, less deformable bodies (the hard component), thus enabling reliable control of the actuators. The soft component can, as needed, act almost like a spring, passively clamping a component to be gripped without pressure or under low pressure, and releasing it as an actuator when the actuator(s) are pressurized. This also advantageously works in reverse, with the actuator actively clamping under pressure and passively opening when pressure is removed. This is advantageously achieved through the restoring forces of the preferably elastic soft component.

[0023] Advantageously, a lifting action for gripping or releasing is achieved by a change in volume of the deformable body 3, preferably designed as a tube with a cavity 4, which is preferably subjected to pressure or vacuum for this purpose. The deformation of the deformable body 3 triggers a relative movement of the indeformable bodies 1, 2, which is used for gripping, releasing, or opening. The movement can advantageously be directed inwards or outwards, depending on the requirements.

[0024] Advantageous further developments are the subject of the dependent patent claims.

[0025] In a preferred embodiment for the function of the deformable body, the deformable body is manufactured in a spherical or cylindrical shape, e.g. in the form of a hose, in order to advantageously obtain a shape best suited for applying overpressure, pressure or underpressure.

[0026] In a preferred embodiment for the manufacture and function of the indeformable bodies, either the at least two indeformable bodies are manufactured in the form of a cuboid, or one of the indeformable bodies is manufactured in the form of a cuboid and the other in the form of a U-shape with three cuboid-shaped sides. This advantageously results in a clear relative movement of the bodies to each other and thus guidance of the actuating elements.

[0027] In a preferred embodiment for the function of the actuating element, the deformable body is made of a soft, plasticizable and / or hardenable mass, and the non-deformable bodies are made of a comparatively hard, plasticizable and / or hardenable mass. The soft mass can thus advantageously provide the necessary elasticity for movement, while the hard mass, due to the resulting relative movement between the non-deformable bodies, can be used as a load-bearing element and as a guide and / or gripping element.

[0028] Preferably, the deformable body has a spherical or cylindrical shape, and a pressurized fluid, in particular air, can be supplied to the at least one cavity. This advantageously allows for a defined actuating function and, if necessary, also an actuating force of the actuating element.

[0029] Preferably, either the two indeformable bodies have a cuboid shape, or one of the indeformable bodies has a cuboid shape and the other of the indeformable bodies has a U-shaped shape with three cuboid sides, wherein the two indeformable bodies are movably mounted relative to each other along a straight path. Advantageously, this results in a clear relative movement of the bodies to each other and thus guidance of the actuating elements.

[0030] Preferably, the deformable body has more than one cavity. This advantageously allows for improved operation and control of the actuator.

[0031] In a preferred embodiment for the function of the actuating element, the deformable body comprises thermoplastic elastomers and the non-deformable bodies comprise thermoplastics. This material selection advantageously enables good function and a durable design of the actuating element.

[0032] In a preferred embodiment, the actuating elements are arranged along a line, preferably along a straight line or along a circular line. This advantageously allows for the realization of various gripper configurations that can be adapted to the respective application.

[0033] Preferably, to operate the actuating element, the distance between the at least two indeformable bodies is set by the restoring forces of the preferably elastic deformable body, and without the presence of the fluid in the at least one cavity, which is under overpressure or underpressure relative to the ambient pressure, either in a rest state or an operating state. This advantageously results in a pressureless position as a "safe" position.

[0034] The features listed individually in the patent claims can be combined in a technologically meaningful way and can be supplemented by explanatory facts from the description and by details from the figures, showing further embodiment variants of the invention. Brief description of the characters

[0035] The invention will now be explained in more detail with reference to an embodiment illustrated in the accompanying figures. These show: Fig. 1 a side view of an actuating element according to the invention in a working position or rest position, Fig. 2 a side view of an actuating element according to the invention in a rest position or working position, Fig. 3 a three-dimensional view of a circularly closed gripper with actuating elements according to the invention, Fig. 4 a top view of the gripper Fig. 3, Fig. 5a a side view of a straight gripper with actuating elements according to the invention, Fig. 5b a top view of the gripper from Fig. 5a. Description of preferred embodiments

[0036] Before the invention is described in detail, it should be noted that it is not limited to the respective components of the device or the respective process steps, as these components and processes can vary. The terms used here are intended solely to describe particular embodiments and are not used restrictively. Furthermore, where the singular or indefinite articles are used in the description or in the claims, this also refers to the plural of these elements, unless the overall context clearly indicates otherwise.

[0037] The in the Fig. 1 and Fig. The actuating element 7 shown in Figure 2 is manufactured using a method for the additive manufacturing of a fluid-pressure-sensitive actuating element. The actuating element 7 comprises at least one deformable body 3, which includes a cavity 4 and has a circumference and is made of a first plasticizable and / or hardenable mass. The cavity 4 can be subjected to an overpressure or underpressure relative to ambient pressure. Furthermore, it comprises at least two opposing bodies 1, 2, which are non-deformable relative to the deformable body 3 and are positively connected to it. These bodies are made of at least a second plasticizable and / or hardenable mass. The deformable body 3 is arranged between the non-deformable bodies 1, 2.

[0038] The term "plasticizable mass" is to be understood broadly and includes, in particular, but not exclusively, not only plastics, silicone, or other thermoplastic and / or elastomeric materials, but also, for example, ceramic, metallic, and / or powdered masses, as well as paper, cellulose, starch, cork, etc., and also mixtures of such plasticizable materials. In principle, this can also refer to materials that have already been plasticized or to plastic masses that harden spontaneously or with the use of additives after application.

[0039] A fluid is understood to be a preferably gaseous or liquid substance which can be subjected to overpressure or underpressure or to a pressure difference in order to actuate the actuating element 7, in order to deform the deformable body as a result of the pressure change.

[0040] In this specific embodiment, two opposing, non-deformable bodies 1 and 2 are associated with the deformable body 3. In principle, however, more than two non-deformable bodies can also be associated with the deformable body. In such a case, the non-deformable bodies 1 and 2 are arranged around the circumference of the deformable body 3 in such a way that the deformability and elasticity of the deformable body ensure the function of the actuating element 7. "Opposite" with respect to the non-deformable bodies can also mean that they are arranged around the deformable body 3 at an angular distance.

[0041] The procedure includes the following step: Layer-by-layer, preferably droplet-shaped or strand-shaped, application of the deformable body 3, e.g., on a slide, wherein the body has either a recess 5 or a projection 6 at several, preferably two, opposite positions on its circumference. Furthermore, the at least two non-deformable bodies 1, 2 are simultaneously applied layer by layer, preferably in a droplet or strand shape, e.g., on the slide, wherein these have corresponding projections 6 or recesses 5 corresponding to the recess 5 or projection 6 of the deformable body 3. These are positively connected to each other during the application of the first plasticizable and / or solidifiable mass and at least the second plasticizable and / or solidifiable mass.

[0042] If necessary, a support material can be used during the manufacturing of the actuator body, for example to support overhangs. This support material is washed out or dissolved and thus removed after the manufacturing process, for example using water and / or a solvent.

[0043] For the manufacture and function of the deformable body 3, it is particularly advantageous if it is produced in a spherical or cylindrical shape. This can, for example, lead to a tube-like shape for the deformable body 3. This particularly facilitates reliable radial movement of the moving parts of the actuating elements 7 and avoids undefined deformation of the fluid pressure-bearing parts of the actuating element.

[0044] It is particularly advantageous for the manufacture and function of the indeformable bodies 1, 2 if either the at least two indeformable bodies 1, 2 are manufactured in the form of a cuboid, or if one of the indeformable bodies 1, 2 is manufactured in the form of a cuboid and the other of the indeformable bodies 1, 2 is manufactured in a U-shape with three cuboid-shaped sides. The actuating element 7 can be manufactured particularly easily with these shapes, and these simple shapes also further increase process reliability. The deformable body 3 can thus be guided efficiently by the indeformable bodies 1, 2.

[0045] It is advantageous for the function of the actuating element 7 if the deformable body 3 is made as a soft component from a soft, plasticizable and / or hardenable mass, and the non-deformable bodies 1, 2 are made as a hard component from a comparatively hard, plasticizable and / or hardenable mass. The soft, plasticizable and hardenable mass of the deformable body 3 is particularly easy to deform under pressure, and the hard, plasticizable and hardenable mass of the non-deformable bodies 1, 2 is particularly well protected against damage during the operation of the actuating element 7. This ensures the desired actuation by the actuating element.

[0046] The positive-locking connection creates a defined relationship between the at least one softer, deformable body 3 (the soft component) and the harder, less deformable bodies 1 and 2 (the hard component), enabling reliable control of the actuating elements 7. The soft component can thus act as a spring when needed, passively clamping a component to be gripped without pressure or under low pressure, and releasing it as an actuator when the actuating element(s) 7 are pressurized. Advantageously, the reverse is also possible: the actuating element 7 actively clamps under pressure and passively opens without pressure. This is advantageously achieved through the restoring forces of the preferably elastic soft component.

[0047] Advantageously, the gripping and releasing action is achieved by a change in volume of the deformable body, preferably designed as a tube with a cavity, which is preferably subjected to pressure or vacuum. The deformation of the deformable body triggers a relative movement of the indeformable bodies, which is used for gripping, releasing, or opening. The movement can advantageously be directed inwards or outwards, depending on the requirements.

[0048] The fluid-pressure-controlled actuator 7 is manufactured according to the method described above. It features, as shown in Fig. 1 and Fig. Figure 2 shows at least one deformable body 3 with at least one cavity 4. The body 3, which has a circumference, is made of a first plasticizable and / or hardenable material. Furthermore, the actuating element 7 has at least two opposing bodies 1, 2, which are non-deformable relative to the deformable body 3 and are positively connected to it by at least a second plasticizable and / or hardenable material. The deformable body 3 is arranged between the non-deformable bodies 1, 2.

[0049] The deformable body 3 has either a recess 5 or a projection 6 at several, preferably two, opposite positions on its circumference. The non-deformable bodies 1, 2 have projections 6 or recesses 5 corresponding to the recess 5 or projection 6 of the deformable body, which are positively connected to each other.

[0050] For the function of the deformable body 3, it is particularly advantageous if the deformable body 3 has a spherical or cylindrical shape and a pressurized fluid, in particular air, can be supplied to the at least one cavity 4. However, other fluids, in particular gases, can also be used.

[0051] Preferably either the at least two indeformable bodies 1, 2 have the shape of a cuboid or one of the indeformable bodies 1, 2 has the shape of a cuboid and the other of the indeformable bodies 1, 2 has a U-shaped shape with three cuboid sides.

[0052] The indeformable bodies 1 and 2 are mounted relative to each other along a straight path so that they can move freely. This mounting can be achieved, for example, by means of sliding or rolling bearings. If the indeformable bodies 1 and 2 do not have directly opposing surfaces, for example in the case of two plate-shaped bodies, their mounting can also be provided, for example, within a part of a gripper and therefore does not need to be integrated into the actuating element 7.

[0053] It is advantageous for the dimensional stability of the deformable body 3 if the deformable body 3 has more than one cavity 4. The partition walls of the cavities act as a stabilizing lattice and allow the deformable body 3 to exert a greater force on the indeformable bodies 1, 2 under prevailing ambient pressure in the cavities, or increase the restoring forces of the deformable body 3.

[0054] Preferably, the deformable body 3 is made of thermoplastic elastomers and the non-deformable bodies 1, 2 are made of thermoplastics. The deformable body 3 thus possesses elastic properties.

[0055] The Fig. 3 and Fig. Figure 4 shows a gripper comprising several fluid-pressure-sensitive actuating elements 7. These are arranged along a circular line in a closed ring. One of the at least two indeformable bodies 1 is designed as a fixed element, i.e., as a stationary ring. Several indeformable bodies 2 are arranged in a U-shape around this ring, with only every second indeformable body 2 being designed as a movable clamping element, i.e., as a gripper jaw. However, other arrangements of the movable clamping elements can also be selected, or all indeformable bodies 2 can be designed as movable clamping elements. The deformable body 3 is arranged as an actuator between the indeformable body 1, which is designed as a stationary ring, and the indeformable body 2, which is designed as a movable clamping element.

[0056] Segmentation of actuators is possible, but it is also possible to use only a single actuator.

[0057] The Fig. 5a and Fig. Figure 5b shows part of a gripper in which the actuating elements 7 are arranged along a straight line. Several movable U-shaped, non-deformable bodies 2, serving as clamping elements, are arranged on one fixed, non-deformable body 1. Deformable bodies 1, serving as actuators, are arranged between the fixed element 1 and the clamping elements 2.

[0058] The one in the Fig. 5a and Fig. The gripper part shown in Figure 5b can be positioned opposite another stationary part of the gripper, so that force is primarily exerted on the element to be moved from only one side by the actuating elements 7. Alternatively, two or more of the gripper parts shown in the figures can be positioned opposite each other, so that force is exerted on the element to be moved from opposing actuating elements 7.

[0059] In principle, the actuating elements 7 can be arranged along a line that can have any shape, e.g., a curved shape. Possible embodiments include, in particular, round, semicircular, or straight shapes.

[0060] A procedure for operating an actuator 7 comprises the following steps: Introducing a fluid, in particular air, into the at least one cavity 4 of the deformable body 3 and creating an overpressure therein relative to an ambient pressure, whereby at least two non-deformable bodies 1, 2 move away from each other, or releasing a fluid, in particular air, from the at least one cavity 4 of the deformable body 3 and creating a negative pressure therein relative to an ambient pressure, whereby the at least two non-deformable bodies 1, 2 move towards each other, and Extracting the fluid from the at least one cavity 4 of the deformable body 3 and creating an ambient pressure therein, causing the at least two non-deformable bodies 1, 2 to move relative to each other, or introducing the fluid into the at least one cavity 4 of the deformable body 3 and creating an ambient pressure therein, causing the at least two non-deformable bodies 1, 2 to move relative to each other.

[0061] This means that a rest state of the actuator 7 can be characterized by the ambient pressure prevailing in cavity 4, and a working state of the actuator 7 can be characterized by either an overpressure or a negative pressure in cavity 4. The rest state, relative to the ambient pressure prevailing in cavity 4, is thus achieved through passive movement of the deformable body 3, caused by the restoring forces of the deformable body 3, i.e., a soft, plasticizable and / or hardenable mass, such as thermoplastic elastomers. The working state, on the other hand, is achieved through an active pressure prevailing in cavity 4 relative to the ambient pressure, either an overpressure or a negative pressure.

[0062] Fig. Figure 1 thus shows an actuating element 7 which either has an ambient pressure or an overpressure in the cavity 4 and is therefore either in a rest state or in a working state. Fig. Figure 2, however, shows an actuating element 7 that has either an ambient pressure or a negative pressure in the cavity 4 and is therefore in a rest state or an operating state. With reference to the one in the Fig. 3 and Fig. In the gripper shown in Figure 4, this means that the moving parts of the actuating elements 7 are movable either radially inwards by means of a negative pressure in the cavities or outwards by means of a positive pressure in the cavities.

[0063] Just as in the rest state described above, a distance between the at least two indeformable bodies 1, 2 in a working state can also be established by the shape of the deformable body 3 and without the presence of the fluid under overpressure or underpressure relative to the ambient pressure in the at least one cavity 4. In this case, the rest state is thus actively maintained with respect to the pressure in the cavity 4 by an overpressure or underpressure relative to the ambient pressure. The working state, on the other hand, is maintained with respect to the ambient pressure prevailing in the cavity 4 by a passive movement of the deformable body 3, caused by the restoring forces of the deformable body 3, i.e., the soft, plasticizable and / or hardenable mass, such as thermoplastic elastomers.

[0064] A gripper according to the invention thus enables an element to be gripped both by clamping from the outside and by clamping from the inside. For example, a pipe could be transported by the gripper with clamping from both the outside and the inside. Reference symbol list 1, 2 indeformable bodies 3 deformable bodies 4 cavities 5 Exclusion 6 Cantilever 7 Actuator

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