Holding device for gripping workpieces with complex shapes or deformable surfaces

Patent metadata

Field	Value
Publication number	US-9555550-B2
Application number	US-201514727948-A
Country	US
Kind code	B2
Filing date	Jun 2, 2015
Priority date	Jun 5, 2014
Publication date	Jan 31, 2017
Grant date	Jan 31, 2017

Abstract

A holding device ( 10 ) having a plurality of gripping devices ( 18 ) which are arranged displaceable relative to each other on a support structure ( 12 ) in such manner that by their displacement gripping devices ( 18 ) are adjustable to a free-form surface. The support structure ( 12 ) comprises a plurality of mutually associated movable support elements ( 22 ) on which are arranged gripping devices ( 18 ), wherein a plurality of support elements ( 22 ) are arranged in a row and are connected to form a carrying chain ( 24 ) such that the carrying chain ( 24 ) is form-adjustable by the movement of the support elements ( 22 ) relative to each other.

First claim

The invention claimed is:

1. A holding device having a plurality of gripping devices which are arranged movably relative to each other on a support structure in such a manner that by a displacement of the gripping devices relative to each other, the gripping devices can be adapted to a free-form surface,
wherein the support structure includes a plurality of associated support elements, wherein a gripping device is disposed on each of the support elements, wherein a plurality of support elements are arranged in a row and are connected to form a carrying chain, and wherein the support elements are movably connected with each other by a deformable connecting element which is provided between each two adjacent support elements of the carrying chain, such that the carrying chain is form-adjustable by the movement of the support member relatively to each other.

2. The holding device as set forth in claim 1 , characterized in that a form-adjustable rip-like arm is provided which extends from a support element of the carrying chain in the lateral direction to the carrying chain.

3. The holding device as set forth in claim 1 , wherein a plurality of further support elements are movably connected with one another to form a rip-like chain, and wherein the ribbed chain extends from a support element of the carrying chain along a lateral direction to the carrying chain.

4. The holding device as set forth in claim 3 , wherein the rip-like chain has a bending actuator, by which the ribbed chain is deflectable in a curved shape.

5. The holding device as set forth in claim 4 , wherein the bending actuator has at least one rotationally drivable spindle which acts at least between two adjacent support elements of the rip-like chain acts in such a manner that by turning the spindle the support elements are angled with respect to each other.

6. The holding device as set forth in claim 3 , wherein, for at least one of the support elements of the carrying chain, in each case two rip-like chains are provided.

7. The holding device as set forth in claim 3 , wherein a deformable connecting element is provided between each two support members adjacent in a rip-like chain, by which the adjacent support members of the rip-like chain are movably connected with one another.

8. The holding device as set forth in claim 1 , wherein the connecting element has a neutral position from which it is elastically deformable and is formed such that it exerts a counter force against deformation out of the neutral position.

9. The holding device as set forth in claim 1 , wherein the connecting elements are formed such that the adjacent support elements in the carrying chain can be mutually angled.

10. The holding device as set forth in claim 9 , wherein the connecting elements are designed as a joint or hinge.

11. The holding device as set forth in claim 1 , wherein driven actuators are provided for displacement of at least two support elements of the carrying chain.

12. The holding device as set forth in claim 1 , wherein the gripping devices are configured to exert a variable gripping strength independently of each other.

13. The holding device as set forth in claim 1 , wherein sensors are provided on the support elements, wherein the sensors are configured to measure forces acting on the support elements, especially for forces acting along the carrying chain and/or forces acting along the lateral direction to the carrying chain.

Assignees

• Schmalz J Gmbh

Inventors

• Eisele Thomas
• Kuolt Harald
• Eberle Marcus
• Dunkmann Walter
• Defranceski Aline
• Fritz Florian
• Reinisch Hermann

Classifications

• B25J15/0052 Primary

  multiple gripper units or multiple end effectors · CPC title

• B25J15/0033

  with gripping surfaces having special shapes · CPC title

• B29C70/54

  Component parts, details or accessories; Auxiliary operations {, e.g. feeding or storage of prepregs or SMC after impregnation or during ageing} · CPC title

• B25J15/0616

  with vacuum · CPC title

• B25J15/0061

  mounted on a modular gripping structure · CPC title