Gripping Device with Movable Support Chain for Freeform Surfaces
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Solution Overview
Problem
Existing holding devices with multiple gripping elements are complex, sluggish, and expensive, making it difficult to adapt to free-form surfaces and handle flexible or deformable workpieces effectively, especially in processes like fiber composite production where precise, reproducible shaping is required.
Innovation Solution
A holding device with a support structure comprising a chain of movable support elements and rib arms, where gripping devices can be displaced relative to each other to adapt to free-form surfaces, with a bending actuator allowing the rib arms to be shaped and actuators enabling controlled deformation, allowing for flexible and reliable gripping of complex surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If holding devices with multiple individually driven gripping elements are used to adapt to free-form surfaces, then the gripping surface can be adapted to complex shapes, but the device becomes complex, sluggish, and expensive
Solution Approach 1:
The support structure is divided into multiple support elements arranged in rows and columns, with connecting elements between adjacent support elements. This segmentation allows the gripping surface to adapt to free-form surfaces through relative movement of individual support elements, while each element can be controlled independently to reduce overall system complexity compared to fully individually driven gripping elements.
Solution Approach 2:
The support elements are designed to be movable relative to one another through the connecting elements, enabling dynamic adaptation of the gripping surface to free-form shapes. This dynamic configuration allows the device to change its geometry in response to different workpiece shapes without requiring a completely redesigned structure for each application.
2Manufacturing precision
If complex holding devices with individually driven tappets are used for precise shaping, then shaping precision can be achieved, but the device becomes sluggish and expensive
Solution Approach 1:
Instead of driving all support elements individually, the invention drives only selected support elements to achieve the desired gripping surface adaptation. This partial action approach maintains sufficient shaping precision for fiber composite production while reducing the number of actuators required, thereby improving operational speed and reducing costs.
Solution Approach 2:
The connecting elements between support elements are designed to automatically transmit movement and maintain geometric relationships without requiring active control of each element. When selected support elements are driven, the connecting elements passively coordinate the movement of adjacent elements, enabling precise shaping without the need for complex coordinated control of all elements.
3Adaptability or versatility
If all support elements are actively driven to adapt the gripping surface, then complete shape control is achieved, but the number of actuators increases and complexity increases
Solution Approach 1:
The support structure is segmented into multiple independently controllable support elements, but only selected elements are actively driven. The connecting elements between support elements enable the undriven elements to follow the movement of driven elements through passive mechanical coupling, reducing the total number of actuators while maintaining complete shape control capability.
Solution Approach 2:
The connecting elements act as intermediaries between driven and undriven support elements. These connecting elements transmit and coordinate movements without requiring active control, enabling the undriven elements to contribute to shape adaptation while minimizing the number of actuators needed in the system.
Data Source
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AI summary
The invention relates to a holding device (10) with a plurality of gripping devices (18) which are arranged on a support structure (12) in such a way that the gripping devices (18) can be adapted to a freeform surface by their displacement. The support structure (12) comprises a plurality of mutually movably connected support elements (22) on which gripping devices (18) are arranged, wherein several of the support elements (22) are arranged in a row and connected to form a support chain (24) such that the support chain (24) can be adapted to the shape of a freeform surface by moving the support elements (22) relative to each other.