Use of a handling system for manipulating workpieces made of flexible materials and a slide for a handling system

Abstract

The invention relates to the use of a handling system (1; 31; 61; 81) for manipulating flexible workpieces (51, 52), which has a drive table (12) with a surface (13) and a slide drive (14) arranged below the surface (13), as well as a first slide (21; 41; 71) which is moved by the slide drive (14) by first drive forces in a first spatial direction (54) and by second drive forces in a second spatial direction (55) which is oriented transversely to the surface (13) and forms a variable-size working gap (18) with the surface (13) which is temporarily larger than the thickness of a first workpiece (51), wherein the first slide (21; 41; 71) is moved over the first workpiece (51) by first drive forces in order to subsequently reduce the working gap (18), so that the first slide (21; 41;71) rests on the first workpiece (51) to exert a normal force on the first workpiece (51) directed towards the surface (13).

Description

[0001] The invention relates to the use of a handling system for manipulating workpieces made of flexible materials and a slide for a handling system.

[0002] WO 2013 / 059934 A1 discloses a handling system with a stator and a movable carriage, wherein the stator comprises a plurality of coils shaped to include a plurality of linear coil tracks in one or more layers and overlapping in a Z-direction, and wherein the movable carriage has a plurality of magnet arrangements which in turn may comprise a plurality of magnetization segments generally extending linearly in one direction, each magnetization segment having a magnetization direction orthogonal to the direction in which it extends and at least two of the magnetization directions being different from each other, wherein one or more amplifiers are connected to the coils to selectively drive current in the coil tracks and thereby cause a relative movement between the stator and the movable carriage.

[0003] From DE 20 2018 103 803 U1, a gripper arrangement for lifting a flexible semi-finished product from a base is known, wherein the gripper arrangement comprises a flexible semi-finished product lying on a base and at least one pair of grippers with a suction or needle gripper and with at least one clamping gripper, wherein the suction or needle gripper is pivotable about an axis between a receiving position for receiving an edge of the flexible semi-finished product and a transfer position for transferring the edge of the flexible semi-finished product to the clamping gripper.

[0004] DE 10 2017 100 620 A1 relates to a product gripper for picking up a product comprising at least a first partial portion and a second partial portion. This gripper includes at least a first receiver with a first receiving surface for picking up the first partial portion, at least a second receiver with a second receiving surface for picking up the second partial portion, and a drive means for moving the receivers between a first position in which the first receiving surface and the second receiving surface are arranged on opposite sides of the product to be picked up, and a second position in which the receiving surfaces are at least partially located under the partial portions. The first receiver is designed such that the first receiving surface with the first partial portion is movable substantially perpendicularly relative to the second receiving surface and / or is arranged offset in this direction relative to the second receiving surface.

[0005] DE 10 2015 221 800 B4 discloses a gripping device for temporarily securing a workpiece, comprising a gripper designed to apply a gripping force to a workpiece and comprising a first magnetic device, and a second magnetic device designed for magnetic interaction with the first magnetic device to exert lifting and gripping forces on the first magnetic device, wherein one of the magnetic devices comprises a permanent magnet arrangement with a predefinable magnetic field line pattern, and wherein the other magnetic device comprises a superconductor provided with a magnetic field imprint adapted to the magnetic field line pattern, designed for relative positioning of the magnetic devices in at least one preferred position, and wherein at least one of the magnetic devices is assigned a magnetic positioning means.which is designed for the local introduction of a magnetic flux onto at least one of the magnetic devices for initiating a pivoting movement onto the gripper.

[0006] DE 20 2012 013 474 U1 discloses a multi-opening vacuum tool comprising a distributed vacuum tool section that includes a plate with a plurality of openings extending through an inner plate surface and an outer plate surface, wherein air can flow through the plurality of openings from the outer plate surface to the inner plate surface when the distributed vacuum tool section is activated; and a refined vacuum tool section, wherein the refined vacuum tool is physically coupled to the first vacuum tool.

[0007] EP 3 993 958 B1 discloses a positioning device for gripping a flexible flat workpiece, comprising a manipulation surface on which the flat workpiece can be provided, a camera configured to generate an image of the flat workpiece present on the manipulation surface, a first manipulator carrying a first gripper, and a second manipulator carrying a second gripper, wherein the first gripper and the second gripper are each configured to grip at least a section of the flat workpiece provided on the manipulation surface, and wherein a drop section is provided for the flat workpiece, as well as a ventilation unit comprising a plurality of outlet openings that limits the drop section at least in sections, and a control unit.

[0008] From EP 2 660 030 A1, a method for the automated smoothing of a surface of a plastic injection-molded part is known, comprising the following steps: providing a tool with a first smoothing surface; holding the plastic injection-molded part with a holding tool; bringing the first smoothing surface and the plastic injection-molded part into contact; moving the first smoothing surface and the plastic injection-molded part relative to each other in a contact position at a relative speed of at most 1 m / s; breaking the contact between the first smoothing surface and the plastic injection-molded part.

[0009] The object of the invention is to specify a novel use of such a handling system and a slide for use with such a handling system.

[0010] This problem is solved according to a first aspect of the invention by using the known handling system for manipulating workpieces made of flexible materials, wherein the handling system comprises a drive table and a first slide, wherein the drive table comprises a surface for supporting flexible materials and a slide drive arranged below the surface, wherein the first slide is arranged above the surface and is designed for contactless power transmission with the slide drive, wherein the slide drive is designed to provide first drive forces to the first slide in a first spatial direction that is aligned parallel to the surface, as well as to provide second drive forces to the first slide in a second spatial direction that is aligned transversely to the surface.wherein the first slide forms a working gap with the surface by providing second driving forces, which is greater than the thickness of a first workpiece resting on the surface, that the first slide is moved over the first workpiece by providing first driving forces, that the working gap of the first slide is reduced by changing the second driving forces, so that the first slide comes into contact with the first workpiece at least partially in order to exert a normal force directed towards the surface on the first workpiece.

[0011] The designation "first slide" used in the description and in the claims does not require that a further slide must necessarily be present, but it also does not exclude the possibility that a further slide is present.

[0012] The use of the known handling system according to the invention provides for either clamping a workpiece made of a flexible material, or several workpieces made of flexible materials, or a combination of a workpiece made of a flexible material and a workpiece made of a dimensionally stable material, in a fixed position using the first slide of the handling system, or moving it from a first position to a second position on the surface of the drive table. Such manipulations of the at least one workpiece can be used, for example, in the processing of woven materials, knitted materials, nonwovens, and film materials. This applies particularly when the workpiece or workpieces are to be processed in an industrial production process, for example, in the manufacture of clothing or bags.This assumes that the workpiece or workpieces, which may be fabrics for clothing, everyday objects, decorative elements or fabrics for upholstering furniture or components for motor vehicles, have a small thickness with a large surface area and a low resistance to bending.

[0013] For the manipulation of at least one workpiece, also referred to as the first workpiece, without necessarily requiring a further workpiece, the handling system according to the invention provides that the first slide, in addition to linear movement in at least one spatial direction parallel to the surface of the drive table, can also be moved in a second spatial direction oriented transversely to the surface of the drive table. This enables the first slide to pass over the workpiece resting on the surface of the drive table without contact, allowing it to be freely positioned relative to the workpiece.Furthermore, the workpiece can be fixed to the surface of the drive table, at least by friction, and possibly also by form, using the first slide, in order to carry out a machining process for the workpiece in which reaction forces act on the workpiece which, without being fixed to the drive table, could lead to an undesired movement of the workpiece, thus jeopardizing the machining process.

[0014] To secure the workpiece to the drive table in this manner, the first slide is positioned at a distance from the drive table surface greater than the thickness of the workpiece resting on the surface. This distance is achieved by appropriately controlling a slide drive integrated into the drive table. Subsequently, the slide can be moved to a position above the workpiece by appropriately controlling the slide drive. In a further step, the distance between the slide and the drive table surface is reduced until the slide rests on the workpiece. This exerts a normal force, perpendicular to the drive table surface, from the first slide onto the workpiece, thereby enabling the transmission of frictional forces between the workpiece, the first slide, and the drive table surface.

[0015] Depending on the design of the first slide and the slide drive, this normal force can depend solely on the weight force transmitted from the first slide to the first workpiece. Preferably, the slide drive is designed such that, in addition to the vertically downward acting weight force of the first slide, it also exerts an attractive force acting in the same direction on the first slide, thereby enabling higher frictional forces between the first slide, the first workpiece, and the surface of the drive table.

[0016] Providing such an attractive force via the slide drive is particularly advantageous when the surface of the drive table is not perfectly horizontal. This means the weight of the first slide is not at a precise 90-degree angle to the surface, which can result in an undesirable force component acting on the first workpiece parallel to the surface of the drive table. The attractive force provided by the slide drive increases the frictional force between the first slide, the first workpiece, and the surface of the drive table to such an extent that the weight component parallel to the surface does not cause unwanted displacement of the first slide and the first workpiece.Furthermore, it can be assumed that the slide drive can always precisely position the slide with respect to the surface of the drive table, regardless of the orientation of the drive table.

[0017] Advantageous further developments of the invention are the subject of the dependent claims.

[0018] It is advantageous to apply initial drive forces to the first workpiece simultaneously with the application of the normal force. These initial drive forces, aligned parallel to the surface of the drive table, can, for example, cause the first slide to move together with the first workpiece. To achieve this, it must be ensured that, firstly, the frictional forces between the first workpiece and the surface of the drive table caused by the normal force are less than the initial drive forces, and secondly, that the frictional forces between the first slide and the first workpiece caused by the normal force are greater than the frictional forces between the first workpiece and the surface of the drive table.Such a simultaneous change in position for the first slide and the first workpiece can be used, for example, to transport the first workpiece from a first machining position to a second machining position.

[0019] Alternatively, it can be provided that the first drive forces, aligned parallel to the surface of the drive table, are intended solely to move the first slide, while the first workpiece remains stationary. In this case, it must be ensured that, on the one hand, the frictional forces between the first workpiece and the surface of the drive table, caused by the normal force, are greater than the first drive forces, and that, on the other hand, the frictional forces between the first slide and the first workpiece, caused by the normal force, are less than the frictional forces between the first workpiece and the surface of the drive table. A position change limited to the first slide can, for example, be used to smooth the first workpiece.

[0020] Preferably, at least one projection is formed on the underside of the first slide, opposite the surface of the drive table, and that the application of the normal force from the first slide to the first workpiece enables a positive-locking force transmission from the projection to the first workpiece in the direction of the first drive forces. Preferably, the at least one projection is designed to engage the surface of the first workpiece in order to cause a local elastic deformation, thereby creating a positive lock between the projection and the first workpiece in the direction of the first drive force. By way of example, the projection is designed in the form of a cylindrical or conical mandrel. Preferably, several projections, in particular a plurality of projections, are arranged on the underside of the first slide.For example, the underside of the first slide is flat and the at least one projection extends in a normal direction to the underside. Additionally or alternatively, the at least one projection can be oriented at an angle to the underside of the first slide or have a hook-shaped curvature.

[0021] It is advantageous if the first workpiece is partially fixed to the surface of the drive table by a second slide, while the first slide transmits initial drive forces to the first workpiece via friction or positive locking. Preferably, the second slide is configured in the same way as the first slide and can, for example, exert normal forces on the first workpiece by means of attractive forces provided by the slide drive, thus fixing the first workpiece to the surface of the drive table. Once the first workpiece is fixed in this manner, an additional initial drive force can be applied to the first workpiece using the first slide, which can also exert normal forces on it.

[0022] In a further development of the invention, it is provided that the first slide and a second slide each introduce normal forces and first driving forces onto the first workpiece in order to cause a smoothing or bulging of an area of ​​the first workpiece arranged between the first slide and the second slide.

[0023] If the first drive force is directed in a spatial direction that increases the distance between the first and second slides, a tensile force results on the area of ​​the first workpiece that extends between the first and second slides. For example, this can smooth the first workpiece so that it lies flat against the surface of the drive table along its entire length. Alternatively, the attractive force provided by the slide drive and the resulting normal force can be selected such that no relative movement occurs between the first slide and the first workpiece when the first drive force is applied. This can, for example, achieve elastic clamping of the area of ​​the first workpiece that extends between the first and second slides.Alternatively, the attractive force provided by the slide drive and the resulting normal force can be chosen such that when the first driving force is applied, a relative movement takes place between the first slide and the first workpiece, thereby producing a smoothing movement similar to that which could also be performed manually by a user with the palm of their hand.

[0024] If the initial drive forces are directed in a spatial direction that reduces the distance between the first and second slides, an elastic deformation of the first workpiece occurs, for example, a localized bulging of the area of ​​the first workpiece that extends between the first and second slides. This approach can be chosen, for instance, if a fold projecting upwards from the drive table is to be formed on the first workpiece in the area between the first and second slides, which can then be sewn or welded shut, for example, by a machining center.

[0025] In a further embodiment of the invention, a second slide is arranged adjacent to an outer edge of the first workpiece, and the first slide brings the outer edge of the first workpiece close to the second slide in such a way that the workpiece partially slides onto the second slide. By way of example, in a subsequent step, the area of ​​the first workpiece resting on the second slide can be raised by increasing the distance of the second slide from the surface of the drive table, such that, using a third slide, a second workpiece can be pushed at least partially under the second slide and the area of ​​the first workpiece resting on it.Alternatively, it can be provided that the first slide fixes the first workpiece to the surface of the drive table and the second slide is moved to the outer edge of the first workpiece in such a way that the second workpiece can slide onto the surface of the second slide in certain areas.

[0026] It is advantageous if the outer edge of the first workpiece at least partially overlaps the second slide and is clamped between the first and second slides. This allows the first workpiece to be moved across the surface of the drive table with a synchronous movement of the first and second slides. In particular, it can be provided that the distance between the surface of the drive table and the first and second slides can be increased to partially or completely lift the first workpiece, for example, to partially or completely place it onto a second workpiece.

[0027] In an advantageous embodiment of the invention, a processing machine from the group consisting of sewing machines, riveting machines, welding machines, gluing machines, and cutting machines processes the workpiece, which is fixed to the drive table by the first slide. The first slide can be used to feed the first workpiece into a processing area of ​​the processing machine and / or to ensure that the first workpiece is fixed to the drive table during processing by the processing machine and / or to enable its transport to another processing machine or a workpiece storage location after processing.

[0028] In principle, it can be assumed that in the industrial processing of workpieces using machine tools, the feeding and / or removal of workpieces into and out of the machining area of ​​the respective machine tool is desirable. Furthermore, depending on the specific machining process, it can also be advantageous to fix the workpiece during the machining process in order to absorb any reaction forces that may arise during machining, which would otherwise lead to undesirable displacement of the workpiece.

[0029] Preferably, the first slide moves the workpiece relative to a processing machine via the drive table. This is of interest, for example, in sewing, gluing, or welding processes, where movement of the workpiece relative to a stationary processing machine is typically required.

[0030] The object of the invention is achieved according to a second aspect of the invention with a slide for a handling system, wherein the slide comprises a base body on which a carrier system for contactless power transmission with a slide drive of a drive table and a movably mounted gripping part are arranged, in particular designed as a permanent magnet arrangement or as a superconductor arrangement, and wherein an actuating element is arranged on an underside of the base body, which is coupled to the gripping part and which is designed for initiating movement on the gripping part, in particular depending on a distance between the base body and a drive table.

[0031] For example, the base body is plate-shaped, resembling a cuboid, and has a recess in which a support system is arranged. This support system can be, for instance, a permanent magnet arrangement and / or a superconductor arrangement, each designed for magnetic interaction with the slide drive. Furthermore, a movable gripper is mounted on the base body, which, during a relative movement, particularly a pivoting movement, can selectively release or lock a workpiece or a component to be processed in conjunction with the workpiece, such as a rivet, relative to the base body.In order to easily achieve the relative movement of the gripping part to the base body, an actuating element is arranged on an underside of the base body, which, when the slide is used as intended in conjunction with a drive table, projects from the underside of the base body towards the drive table.

[0032] Furthermore, it is provided that the gripping element and the actuating element are coupled in such a way that a relative movement of the actuating element with respect to the underside results in a relative movement of the gripping element with respect to the base body. For example, it can be provided that at the maximum distance of the slide from the drive table, the actuating element is not in mechanical contact with the surface of the drive table and thus assumes a neutral position, which also corresponds to a neutral position of the gripping element. As the distance between the slide and the surface of the drive table decreases, the actuating element comes into contact with the surface of the drive table and can be moved relative to the base body as the slide approaches the drive table further. This movement of the actuating element also causes a relative movement of the gripping element.

[0033] In an advantageous embodiment of the slide, a spring is assigned to the gripping element and / or the actuating element, which determines a preferred position for the gripping element. The spring can be, for example, a helical spring, a spiral spring, or a torsion bar. The spring, which preferably acts on the gripping element with an internal preload, ensures that the gripping element assumes a preferred position without force transmission from the actuating element. This preferred position is, for example, a pivot position in which the gripping element has a maximum distance from the surface of the drive table.

[0034] Advantageous applications of the invention and an advantageous embodiment of the invention are illustrated in the drawing. This shows: Fig. 1 A purely schematic top view of a handling system comprising a drive table with a sewing machine attached to it, as well as a first carriage and a second carriage, the first carriage and the second carriage each being shown in two different positions, Fig. 2 a purely schematic side view of a processing zone of the in the Fig. 1 handling system shown with the first slide and the second slide, Fig. 3 to 5 purely schematic side views of a second embodiment of a handling system with a first slide and a second slide, Fig. 6 to 8 purely schematic side views of a third embodiment of a handling system with a first slide, a second slide and a third slide, Fig. Figures 9 to 11 are purely schematic side views of a fourth embodiment of a handling system with a first and a second slide, each equipped with a gripping function.

[0035] One in the Fig. The handling system 1 shown comprises a drive table 12, designed purely by way of example with a flat surface 13, to which a sewing machine 2, shown only schematically, is attached and which has a sewing arm 4 arranged above the surface 13. Furthermore, the handling system 1 comprises, purely by way of example, a first carriage 21 and a second carriage 22, wherein both the first carriage 21 and the second carriage 22 are shown in the illustration of the Fig. Figure 1 shows the slides in two different positions. For illustrative purposes, the first slide 21 and the second slide 22 are each cuboid in shape and are arranged according to the embodiment shown in Figure 1. Fig. 1 is used to move a strip-shaped first workpiece 51 and a strip-shaped second workpiece 52 along a conveyor path 7 through a processing zone 3 of the sewing machine 2. An overlap area 53, in which the first workpiece 51 is partially placed onto the second workpiece 52, is sewn together using the sewing machine 2. The resulting seam 8 runs parallel to the conveyor path 7.

[0036] For example, the first workpiece 51 and the second workpiece 52 are placed on the surface 13 of the drive table 12 by a conveying device (not shown), such as an industrial robot. For illustrative purposes, the overlap 53 is created when the two workpieces 51 and 52 are placed on the surface 13. Subsequently, the first slide 21 and the second slide 22 are moved from a rest position (not shown), located away from the two workpieces 51 and 52, by secondary drive forces supplied by a [missing information - likely a component] located in the Fig. 2 schematically shown slide drive 14 are provided in a manner that is in the Fig. The second carriage 21 and the second carriage 22 are raised in the second spatial direction 55 shown, which is oriented transversely to the surface 13. The second driving forces are dimensioned such that both the first carriage 21 and the second carriage 22 occupy a distance from the surface 13, also referred to as the working gap 18, which is greater than the thickness of the two workpieces 51 and 52. Subsequently, first driving forces are introduced onto the two carriages 21 and 22 by the carriage drive 14, these first driving forces being oriented in a first spatial direction 54 that is parallel to the one shown in the diagram. Fig. The conveyor path 7 shown in diagram 1 is aligned. As soon as the two slides 21, 22 have arrived over the two workpieces 51, 52, the second drive forces are reduced so that the first slide 21 is lowered onto the first workpiece 51 and the second slide 22 is lowered onto the second workpiece 51, thus reducing the working gap 18.

[0037] By way of example, first projections 25 are formed on a first underside 23 of the first slide 21 and second projections 26 are formed on a second underside 24 of the second slide 22, which lead to elastic deformations of the two workpieces 51, 52 when the two slides 21, 22 are lowered onto the two workpieces 51, 52, thereby creating a toothed connection between the two slides 21, 22 and the two workpieces 51, 52.This gearing allows the initial drive forces exerted by the carriage drive 14 on the two carriages 21, 22 to be positively transmitted to the two workpieces 51, 52, enabling them to be moved along the conveying path 7 across the surface 13. Within the processing zone of the sewing machine 2, they are partially held down by a presser foot 6, and a sewing operation is performed using a sewing needle 5 oscillating transversely to the surface 13, an upper thread (not shown) guided by the sewing needle 5, and a lower thread (not shown) guided in the drive table 12. This requires synchronous movement of the two carriages 21, 22, which is achieved by the carriage drive 14.

[0038] By way of example, the carriage drive 14 comprises a plurality of magnetic coils 15 arranged below the surface 13 of the drive table 12 with their coil axes 16 aligned parallel to each other and electrically contacted on a control board 17 (shown only schematically). Local magnetic fields can be generated by supplying, in particular controlled, electrical currents from the control board 17 to the magnetic coils 15. These fields interact with the support systems 27 of the carriages 21, 22 to produce the desired driving forces. The support systems 27 are, by way of example, an arrangement of several permanent magnets 28. The control board 17 enables movement of the carriages 21, 22 both parallel to and perpendicular to the surface 13 by appropriately controlling the magnetic coils 15.Furthermore, the control board 17 can also control the magnetic coils 15 in such a way that the first carriage 21 and / or the second carriage 22 perform a tilting movement, as shown purely by way of example in the . Fig. Figures 4 to 8, which are discussed in more detail below, illustrate this. The control board 17 can, for example, include one or more microprocessors (not shown) configured to execute computer programs for controlling the magnetic coils 15 in response to movement commands for the two carriages 21, 22. These microprocessors (not shown) can, for example, contain control algorithms for the controlled operation of the magnetic coils 15. For this purpose, the control board 17 can include sensor devices (not shown) that can directly or indirectly detect the position and spatial orientation of the two carriages 21, 22.

[0039] During the Fig. In the second embodiment of a handling system 31 shown in Figures 3 to 5, for the sake of clarity only the drive table 12, which is identical to that of the first handling system 1, as well as a first slide 41, a second slide 42, and the first workpiece 51 are shown. The two slides 41 and 42 differ from the slides 21 and 22 according to the Fig. 1. The respective, purely exemplary cuboid-shaped base bodies 47, 48 are provided with a casing 45, 46. The first casing 45 covers the first underside 43 of the first base body 47. Furthermore, the second casing 46 covers the second underside 44 of the second base body 48. The casings 45, 46 are, for example, made of a plastic material selected such that high frictional force can be transmitted between the slides 41, 42 and the first workpiece 51. The casings 45, 46 taper with increasing distance from the respective base body 47, 48 and come to a point, thereby ensuring advantageous flexibility at an unnamed outer edge of the respective casing 45, 46.Furthermore, the profiling of the casings 45, 46 also facilitates the sliding of the first workpiece 51 onto the respective slides 41, 42 (not shown), since the casings 45, 46 can be used in the manner of a ramp.

[0040] The objective of the in the Fig. The use of the two slides 41 and 42 shown in Figures 3 to 5 lies in smoothing the first workpiece 51, which initially rests unevenly on the surface 13 of the drive table 12. For this purpose, the first slide 41 is first raised by the slide drive 14 above the surface 13 of the drive table 12 until it can be moved over the first workpiece 51 without contact. The first slide 41 is then lowered onto the first workpiece 51. Optionally, the first slide 41 can be provided with support solely from its own weight on the first workpiece 51, thereby generating a normal force acting between the surface 13, the first workpiece 51, and the first slide 41. This normal force, depending on the coefficients of friction between the surface 13 and the first workpiece 51, as well as between the first workpiece 51 and the first casing 45, secures the first workpiece 51 to the surface 13.Additionally, the slide drive 14 can be configured to exert attractive forces on the first slide 41, thereby increasing the normal force and the resulting frictional forces. In a subsequent step, the second slide 42 is raised by the slide drive 14 above the surface 13 of the drive table 12 to such an extent that it can be moved over the first workpiece 51 without contact.

[0041] Subsequently, the second slide 42 is subjected to magnetic forces by the slide drive 14 in such a way that it performs a tilting movement, whereby only an outer surface of the second casing 46 facing the first slide 41 comes into contact with the first workpiece 51, as shown in the Fig. Figure 4 is shown. Subsequently, the second slide 42 is moved away from the first slide 41 in the tilted position by the magnetic forces of the slide drive 14, whereby a tensile force can be exerted on the first workpiece 51 due to the frictional forces between the second slide 42 and the first workpiece 51. This allows the Fig. 5. Smoothing of the first workpiece 51 is achieved.

[0042] During the Fig. In the third embodiment of a handling system 61 shown in Figures 6 to 8, for the sake of clarity only the drive table 12, which is identical to that of the first processing system 1, as well as a first slide 71, a second slide 72, and the first workpiece 51 and the second workpiece 52 are shown. The two slides 71 and 72 differ from the slides 41 and 42 according to the Fig. 2. This is achieved by providing the respective, purely exemplary cuboid-shaped base bodies 77, 78 with a casing 75, 76 having a semi-cylindrical profile. This allows for a defined linear contact of the respective slide 71, 72 on the respective workpiece 51, 52. The third handling system 61 is used purely by way of example as follows: first, the first workpiece 51 is frictionally secured to the surface 13 of the drive table 12 with the first slide 71. Then, with the aid of the second slide 72, the second workpiece 52 is moved on the first workpiece 51 in such a way that it can slide over the first slide with a second outer edge 57 and completely cover it, so that the second outer edge 57 comes into contact with the first workpiece 51.

[0043] Subsequently, a third slide 79 is moved over the first workpiece 51, clamping the second workpiece 52 to the first slide 71. The third slide 79 is designed in the same way as the first slide 71 and the second slide 72, so a more detailed description is unnecessary.

[0044] The in the Fig. The fourth handling system 81 shown in sections 9 to 11 differs from the handling systems according to the Fig. 1 to 8 by the design of the slide 82, which is described in more detail below. The slide 82, like the slides 21, 22, 41, 42, 71, 72, comprises a cuboid base body 83 in which a support system (not shown), for example, permanent magnets, is arranged. Accordingly, the slide 82 can be moved in magnetic interaction with the slide drive (not shown) of the drive table 12 both parallel to and transverse to the surface 13 of the drive table 12. By way of example, pivotally movable gripping elements 84, 85 are arranged at opposite end regions of the base body 83, the pivot axes 86, 87 of which are aligned parallel to each other and transverse to the plane of representation. Fig. 9 to 11. The gripping parts 84 and 85 are coupled to each other via a pull band 91 and a spring 92 running essentially parallel to the pull band 91, wherein both the pull band 91 and the spring 92 are each fixed eccentrically on the respective gripping part 84, 85.

[0045] Preferably, the pull cord 91 and the spring 92 are matched to each other such that the gripping elements 84 and 85, without the influence of external forces on the pull cord 91 and the spring 92, perform the function described in the Fig. Assume the rest position shown in 11, in which the spring 92 assumes a minimum length and the tension band 91 is taut. To prevent a pivoting movement of the gripping parts 84, 85 from the rest position according to the Fig. To effect the action 11, an actuating element 88, purely exemplary in its strip-like form, is assigned to the base body 83. This actuating element 88 is arranged below the underside 89 of the base body 83 and is oriented, purely exemplary, parallel to the underside 89. Extending from the actuating element 88 are several connecting rods 90, each oriented parallel to one another and transverse to the actuating element 88. These connecting rods are designed to press the pull cord 91 into a wave structure 93 formed above the pull cord 91. This introduces tensile forces onto the pull cord 91, causing the gripping elements 84, 85 to move from their rest position according to the Fig. 11 can be brought into a functional position against the tensile force of the spring 92, as described in the Fig. 9 and Fig. 10 is shown.

[0046] To induce this pivoting movement of the gripping parts 84, 85, it is sufficient for the slide drive 14 to increase an attractive force on the slide 82 to such an extent that, as the slide 82 approaches the surface 13, the tension band 91 is pressed into the shaft structure 93. To ensure that the gripping parts 84, 85 return from their functional position according to the Fig. 9 and Fig. 10 into the resting position according to the Fig. To bring about 11, it is sufficient to lift the slide 82, whereby, due to the spring action of the spring 92 and the tensile force exerted on the pull cord 91, a displacement of the actuating element 88 with the connecting rod 90 attached to it is effected.

[0047] As can be seen from the depiction of the Fig. 9 and Fig. 10, a workpiece 94 is taken between two identically designed slides 82, with the opposing gripping elements 84, 85 of the two slides 82 each being in the functional position. Between the position of the two slides 82 according to the Fig. 9 and the position of the two slides 82 according to the Fig. In section 10, the two slides 82 are moved parallel to the surface 13 without changing the pivot position of the gripping elements 84 and 85. This allows the workpiece 94 to be positioned at the desired location. Subsequently, the two slides 82 are raised by the slide drive 14, causing the respective gripping elements 84 and 85 to pivot in opposite directions, and the workpiece 94 is placed onto the surface of the first workpiece 51.

Claims

[1] Use of a handling system (1; 31; 61; 81) for manipulating workpieces (51, 52) made of flexible materials (51, 52), wherein the handling system (1; 31; 61; 81) comprises a drive table (12) and a first slide (21; 41; 71), wherein the drive table (12) comprises a surface (13) for supporting flexible materials (51, 52) and a slide drive (14) arranged below the surface (13), wherein the first slide (21; 41; 71) is arranged above the surface (13) and is configured for contactless power transmission with the slide drive (14), wherein the slide drive (14) is designed to provide first drive forces to the first slide (21; 41; 71) in a first spatial direction (54) oriented parallel to the surface (13), and to provide second driving forces on the first sled (21; 41;71) is formed in a second spatial direction (55) which is oriented perpendicular to the surface (13), ; characterized by , that the first slide (21; 41; 71) forms a working gap (18) with the surface (13) by providing the second driving forces, which is greater than a thickness of a first workpiece (51) resting on the surface (13), that the first slide (21; 41; 71) is moved over the first workpiece (51) by providing first driving forces, that the working gap (18) of the first slide (21; 41; 71) is reduced by changing the second driving forces, so that the first slide (21; 41; 71) comes into contact with the first workpiece (51) at least partially in order to exert a normal force on the first workpiece (51) directed towards the surface (13). [2] Use of the handling system (1; 31; 61; 81) according to claim 1, characterized by, that during the introduction of the normal force on the first workpiece (51) an introduction of first driving forces on the first workpiece (51) is carried out. [3] Use of the handling system (1; 31; 61; 81) according to claim 1 or 2, characterized by , that at least one projection (25) is formed on an underside (23; 43) of the first slide (21; 41; 71) which is opposite the surface (13) of the drive table (12) and that with the introduction of the normal force from the first slide (21; 41; 71) to the first workpiece (51) a positive-locking force transmission from the projection (25) to the first workpiece (51) in the direction of the first drive forces is enabled. [4] Use of the handling system (1; 31; 61; 81) according to claim 1, 2 or 3, characterized by, that the first workpiece (51) is partially fixed to the surface (13) of the drive table (12) by a second slide (22; 42; 72; 82), while the first slide (21; 41; 71; 81) performs a frictional or positive locking transmission of first drive forces to the first workpiece (51). [5] Use of the handling system (1; 31; 61; 81) according to claim 1, 2 or 3, characterized by , that the first slide (21; 41; 71) and a second slide (22; 42; 72; 82) each introduce normal forces and first driving forces onto the first workpiece (51) in order to cause a smoothing or bulging of an area of ​​the first workpiece (51) arranged between the first slide (21; 41; 71) and the second slide (22; 42; 72; 82). [6] Use of the handling system (1; 31; 61; 81) according to claim 1, 2 or 3, characterized by, that a second slide (22; 42; 72; 82) is arranged adjacent to an outer edge of the first workpiece (51) and that the first slide (21; 41; 71) brings the first workpiece (51) closer to the second slide (22; 42; 72; 82) with its outer edge in such a way that the first workpiece (51) slides onto the second slide (22; 42; 72; 82) in certain areas. [7] Use of the handling system (1; 31; 61) according to claim 6, characterized by , that the outer edge of the first workpiece (51) at least partially covers the second slide (22; 42; 72; 82) and is clamped between the first slide (21; 41; 71) and the second slide (22; 42; 72; 82). [8] Use of the handling system (1; 31; 61; 81) according to any one of the preceding claims, characterized by, that a processing machine (2) from the group: sewing machine, riveting machine, welding machine, gluing machine, cutting machine, processes the workpiece (51, 52) fixed to the drive table by the first slide (21; 41; 71). [9] Use of the handling system (1; 31; 61; 81) according to any one of the preceding claims, characterized by , that the first slide (21; 41; 71) moves the workpiece (51, 52) relative to a machine tool (2) over the drive table (12). [10] Slide (21, 22; 41, 42; 71, 72; 82) for a handling system (1; 31; 61; 81), with a base body (47, 48; 77, 78; 83) on which a support system (27), in particular designed as a permanent magnet arrangement or as a superconductor arrangement, for contactless power transmission with a slide drive (14) of a drive table (12) and a movably mounted gripping element (84, 85) are arranged, wherein an actuating element (88) is arranged on an underside of the base body (47, 48; 77, 78; 83) which is coupled to the gripping element (84, 85) and which is for initiating movement on the gripping element (84, 85), in particular depending on a distance between the base body (47, 48; 77, 78; 83) and a drive table (12). [11] Slide (21, 22; 41, 42; 71, 72; 82) according to claim 9, characterized by, that a spring (92) is assigned to the gripping part (84, 85) and / or the actuating element (88), which determines a preferred position for the gripping part (84, 85).

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