Gripper apparatus

Patent metadata

Field	Value
Publication number	US-9308650-B2
Application number	US-201314423569-A
Country	US
Kind code	B2
Filing date	Aug 21, 2013
Priority date	Aug 31, 2012
Publication date	Apr 12, 2016
Grant date	Apr 12, 2016

Abstract

A gripper apparatus includes a receiving surface which faces an object for gripping purposes, and includes at least one electroadhesion section, which has at least one electrode, for exerting an electroadhesion force on the object. In order to reliably grip and hold an object, provision is made for the electroadhesion section for bearing against the object to be gripped to project beyond the receiving surface in the direction of the object which is to be gripped in such a way that a space which adjoins the receiving surface and the electroadhesion section is formed, and that the electroadhesion section is designed such that it can be deformed in such a way that it can be matched to the shape of the object which is to be gripped when it bears against said object.

First claim

What is claimed is:

1. A gripper apparatus for gripping and retaining objects, the gripper apparatus comprising: a receiving surface, which is used for gripping an object, and an electroadhesive gripper device having a plurality of separate electroadhesion sections, which can be activated and deactivated independently of one another wherein said separate electroadhesion sections have at least one electrode and having a shape, for exerting an electroadhesion force on the object, wherein the at least one electroadhesion section extends over the receiving surface toward the object that is to be gripped in order to be brought to bear on the object that is to be gripped, such that a free space bordering the receiving surface and the electroadhesion section is formed, and wherein the at least one electroadhesion section is configured such that the at least one electroadhesion section can be deformed, such that when the at least one electroadhesion section is brought to bear on the object that is to be gripped, the shape can be adapted to the object.

2. The gripper apparatus as set forth in claim 1 , wherein a least one additional gripper device is provided, independent of the electroadhesion, which is disposed on a section of the receiving surface bordering the free space, wherein the additional gripper device is a suction gripper, Bernoulli gripper, magnetic gripper, or needle gripper.

3. The gripper apparatus as set forth in claim 1 , wherein a releasing device is disposed on a section of the receiving surface bordering the free space, the releasing device configured for exerting a releasing force in order to release a retained object from the electroadhesion section.

4. The gripper apparatus as set forth in claim 1 , wherein the at least one electroadhesion section entirely encompasses the free space in a direction following the receiving surface.

5. The gripper apparatus as set forth in claim 1 , wherein the receiving surface is disposed on a suction cup of a suction gripper.

6. The gripper apparatus as set forth in claim 5 , wherein the at least one electroadhesion section is a sealing lip, such that a suction chamber of the suction cup can be sealed when brought to bear on the object.

7. The gripper apparatus as set forth in claim 1 , wherein the at least one electroadhesion section comprises a filling space encompassed by a plurality of malleable walls, wherein the filling space is filled with a granulate, an electrorheological fluid, or a magnetorheological fluid.

8. The gripper apparatus as set forth in claim 1 , wherein the at least one electroadhesion section is disposed on the receiving surface such that the at least electroadhesion section is releasably attached.

9. The gripper apparatus as set forth in claim 1 , wherein the plurality of separate at least one electroadhesion sections are disposed such that the receiving surface is subdivided into a plurality of retaining zones, wherein a respective free space is allocated to each of the plurality of retaining zones, which borders on a respective at least one electroadhesive section allocated to the respective retaining zone.

10. The gripper apparatus as set forth in claim 1 , wherein the gripper apparatus further comprises a controllable current conducted by the at least one electrode of the at least one electroadhesion section.

11. The gripper apparatus as set forth in claim 10 , wherein the at least one electroadhesion section is heated by the controllable current conducted by the at least one electrode of the at least one electroadhesion section.

Assignees

• Schmalz J Gmbh

Inventors

• Eisele Thomas
• Defranceski Aline

Classifications

• H10P72/78

  using vacuum or suction, e.g. Bernoulli chucks · CPC title

• H10P72/72

  using electrostatic chucks · CPC title

• B25J15/06

  with vacuum or magnetic holding means · CPC title

• B25J15/0066

  with different types of end effectors, e.g. gripper and welding gun (B25J15/0057 and B25J15/0061 take precedence) · CPC title

• B25J15/0085 Primary

  with means for applying an electrostatic force on the object to be gripped · CPC title