CN104973421B - For fixing the holding meanss of article - Google Patents

Abstract

The present invention relates to a kind of holding meanss (1) for being used to fix article, it has keeping body (4), keeping body is provided with retaining surface (6) at active side (5) place, and it is formed by attaching structure (7) at least in part.Attaching structure (7) allows to releasably secure article (2) based on adhewsive action.The multiple blow-off outlets (17) being two-dimensionally or three-dimensionally distributed in retaining surface (6) are vented to retaining surface (6), and blow-off outlet is attached to structure (7) encirclement and can blowing out pressurised air in order to disengage the article (2) fixed by attaching structure (7) planar at blow-off outlet respectively.

Description

For fixing the holding meanss of article

Technical field

The present invention relates to a kind of holding meanss, and it is carried：Keeping body (Haltekoerper), it has extremely at active side The retaining surface partially formed by attaching structure, the attaching structure are suitable for releasably securing article based on adhewsive action； And with least one blowout passage through keeping body, it is vented to at least one blow-off outlet (Ausblasoeffnung) Retaining surface.

Background technology

A kind of holding meanss as known to the U1 of file DE 20 2,009 016 463 have keeping body, and it is arranged in construction For at the bearing structure of executor and it has attaching structure at active side, the attaching structure is suitable for treating based on attachment fixation The article of conveying.The attaching structure is especially configured so that attachment is mainly produced by Van der Waals for, non-so as to exist Often securely fix the possibility with positioning object.However, the advantages of high confining force producible based on adhewsive action with should Problem is associated, i.e., currently fixed article is located in purpose is only capable of extremely difficult disengage.Therefore in file DE 20 2009 It is proposed to be manufactured the keeping body with attaching structure by elastomeric material and made its bending in order to which article disengages in 016 463 U1. However, it is practicable that such operation is only associated with the article of relative stiffness.Soft article participates in attaching structure Deform and therefore slowly can not or can only be disengaged from attaching structure.

Therefore a kind of holding meanss of the type mentioned by beginning are proposed in the A1 of file WO 2013/034635, its Attaching structure with referred to as nanostructured and cause the article of attachment by loading article with compressed air wherein Disengage.Compressed air is blown into by by the suction chamber of fixed article covering, being taken out before the suction chamber through reach through hole Vacuum, with the grasping of auxiliary items.

The content of the invention

Therefore present invention aims at a kind of holding meanss based on attachment work are provided, using the holding meanss especially also It can not only reliably fix and and can enough simply puts down soft article.

In order to realize the purpose, it is arranged to reference to the mentioned feature of beginning, is two-dimensionally or three-dimensionally distributed in retaining surface Multiple blow-off outlets be vented to retaining surface, blow-off outlet is attached to structure and surrounds and disengaged at blow-off outlet by attached respectively Fixed article can blowing out pressurised air with structure planar.

In order to perform pursued function, holding meanss are suitably equipped with compressed air-blowing out device, and it is at least Be connected to during the operation of holding meanss at blowout passage and its this make the in check compression of at least one blowout passage Air loading is possibly realized, if pressed so that the article fixed to attachment should disengage again before so always causes at blow-off outlet Contracting air comes out.

Even if the face formula distribution of a large amount of blow-off outlets enables these articles to have the article of soft characteristic large area reliable Ground is such situation from retaining surface disengaging, such as in film or film packaging.Had according to retaining surface flat or not Flat extension, blow-off outlet are distributed in retaining surface and by limiting the attaching structure bag of retaining surface with two dimension or three-dimensional Enclose.Compressed air at blow-off outlet out by so far fixed article from attaching structure pressure from, wherein, what multiple point-like occurred Compressed air power is combined with the article of softness and causes local peeling effect, and it has with article is bent and from attaching structure Identical effect when leaving behind.The distributed model for the blow-off outlet being distributed in retaining surface can consider article to be releasably secured Profile, select in the case of structure and uniformity, wherein, not only uniform but also uneven opening distribution is possible 's.By means of uneven distributed model, especially contact has the advantage, i.e., can be advantageous to what is peeled off when the article of softness departs from Effect.In the place that bigger blow-off outlet distribution density compared with other face sections be present, make soft article first from holding Emaciated face is from so that the effect then by remaining blow-off outlet is removed by the fully attaching structure with retaining surface and at this.

The scheme that is advantageously improved of the present invention is drawn by dependent claims.

Blow-off outlet is especially arranged so that it is attached to structure and circumferentially surrounded without unoccupied place respectively at retaining surface.For reality Existing such structure, is suitably disposed with the attachment film with attaching structure at the active side of keeping body, and it is in order to form Blow-off outlet is by multipunching.

Retaining surface is preferably flat face, at which into the blow-off outlet pass-out of two-dimentional distribution, wherein, it can relate to rule Or irregular distributed model.When blow-off outlet be arranged in multiple openings rows parallel to each other (its respectively comprising spaced apart from each otherly Multiple blow-off outlets on a straight line) in when, be considered as particularly advantageous.

If holding meanss should be used to fixing its have the article of uneven outer surface and such as arching (particular with The article of spherical or column outer surface), retaining surface is with especially having same uneven moulding and such as convex or concavity Ground arching.In this case, blow-off outlet is equally distributed in retaining surface, wherein, but it has corresponding to the moulding of retaining surface Three-dimensional distribution.

In order to start the disconnecting process of article preferably in one or more regions of article, when blow-off outlet is with different It is favourable when distribution density is distributed in retaining surface.Thus, retaining surface can for example have at least one retaining surface section, at it The quantity of middle unit area blow-off outlet is different from, is especially greater than at least another retaining surface section.

Retaining surface is generally limited by surrounding its peripheral edge (Umfangsrand).Here, the distribution density of blow-off outlet exists It can be more than than at least another retaining surface section closer at least one retaining surface section of peripheral edge in another retaining surface In section.For example, the distribution density of blow-off outlet is more than in the face region in center in the region at the close edge of retaining surface.

If retaining surface had the profile (folding corner region herein completely can be rounded) of rectangle and by the week of respective rectangular Rim edge limits, and the blow-off outlet distribution density in the region of one in four edge sections of peripheral edge can be more than In remaining region of retaining surface.Thus, one such as in the edge section of the narrow side of the peripheral edge to retaining surface is related Blow-off outlet distribution density in the retaining surface section of connection has the distribution density bigger than in remaining region so that with compression Air starts by the disengaging of fixed article in the case of loading all blow-off outlets simultaneously in the region of larger distribution density.

In a suitable design of retaining surface, multiple openings that blow-off outlet is arranged parallel to each other are arranged, and it is distinguished Multiple blow-off outlets on line comprising spaced apart from each other, wherein, opening row have respectively first row end and on This opposite second row end, wherein, identical direction is pointed in the first row end of all opening rows.So here, each Be open row the end section associated with first row end in it is multiple and suitably it is all opening rows blow-off outlets each other with The smaller distance arrangement than in remaining length sections for being arranged in opening.

Blow-off outlet may also be arranged so that the spacing in same opening row between adjacent blow-off outlet in row side Change upwards, especially become increasing or less and less.

In the suitable improvement project of the present invention, retaining surface is with four folding corner regions, (it can be fallen completely Circle) rectangle profile, wherein, at least two circumferences in retaining surface in the region of adjacent folding corner region and suitably Blow-off outlet distribution density in each in four folding corner regions of retaining surface is more than in remaining region in retaining surface.At this Can cause such disconnecting process of fixed article in situation, i.e., article simultaneously by multiple folding corner regions from retaining surface here Disengage and especially gradually peel off.

Blow-off outlet can also be distributed in retaining surface with uniform distribution density.Especially recommend herein uniform two dimension or Three-dimensional model, in particular according to the form of matrix.

In order to cause in certain region in retaining surface it is different it is big push power open, blow-off outlet can have relative to each other Different big open cross-section.In this case, can also retaining surface be limited in the case that blow-off outlet is uniformly distributed One or more regions, wherein by the compressed air of blowout by article ratio more strongly pressed in other regions from.If All blow-off outlets have identical cross section each other, then specifically ensure that the particularly simple manufacture of holding meanss.

Attaching structure is preferably configured so that it is suitable for releasably securing article based on Van der Waals for.So Attaching structure construction can especially correspond to it is illustrated in the mentioned U1 of file DE 20 2,009 016 463 of beginning Construction.Attaching structure especially with much larger number it is microcosmic upper very little, can be described as the projection of nanometer projection, it is with higher Distribution density is arranged with very small spacing each other.These nanometer of projection especially with cylindricality or the profile of rod and that This is abreast orientated.

When in order to provide attaching structure, with the attachment film being fixed at keeping body, (it especially can be with releasable side Formula is arranged at keeping body) when, it is favourable, so as to which it can easily be changed in abrasion condition.

Preferably, holding meanss include the positioner of keeping body of the carrying provided with attaching structure, and it allows to for root According to the keeping body for needing the mobile and positioning as needed of the fixed article at which of positioning that there is attaching structure.Especially thus Also holding meanss can be applied releasably can to capture and transport on one's own initiative article using it as grabbing device.

But in principle, holding meanss may also be configured so that keeping body keeps its position and can for example filled according to clamping The mode put is utilized, and workpiece can be releasably securable at its during processing.

Another favourable design of holding meanss is arranged to, and aspirator be present, it is configured to the crawl in article During cause swabbing action through blow-off outlet so that article to be fixed is pulled at retaining surface.Acted as in attaching structure With afterwards, aspirator can be cut off again, to save energy.Such method of operation is intentional particularly with the soft article of crawl Justice.In order to disengage by fixed article later, identical blow-off outlet can be used in the region of retaining surface blowout by means of Compressed air that compressed air-blowing out device is provided and so far it will be pressed by fixed article in order to be unclamped at retaining surface From.

Brief description of the drawings

Next the present invention is elaborated with reference to the accompanying drawings.Wherein：

Fig. 1 shows preferable first of the holding meanss according to the present invention with schematical side view and cross-section Form of implementation, wherein, article to be fixed is represented with chain-dotted line,

Fig. 2 so that the bottom view of the holding meanss in Fig. 1 is shown to the visual angle of retaining surface according to arrow II,

Fig. 3 shown to the top view corresponding to Fig. 2 of retaining surface in the form of implementation of the modification of keeping body, and

Fig. 4 shows the top view of the retaining surface of another form of implementation to the keeping body according to the present invention, wherein, herein Blow-off outlet is different from being distributed in retaining surface with uniform distributed model in Fig. 2 and 3 form of implementation.

Embodiment

The overall holding meanss represented with reference 1 allow to arbitrarily fixture product 2 for a long time, one of those It is shown in dash-dot lines in accompanying drawing.Fixed effect is based on attachment.

Holding meanss 1 have holding unit 3, and it has keeping body 4, and keeping body 4 is in operation towards article 2 to be fixed Active side 5 at be provided with retaining surface 6.Retaining surface 6 at least partially and preferably is worked attached by attachment on the whole at it Structure 7 to be formed.

The article 2 being temporarily forced at attaching structure 7 is attached to structure 7 and therefore by the keeping body 4 with attaching structure 7 Releasably fix.

Retaining surface 6 or attaching structure 7 are suitably to maintain the part on 4 single part of keeping body of unit 3. Herein more particularly to thin-film component, it below its attachment characteristic due to that should be referred to as attachment film 8.Attachment film 8 is with rear side Pellicular front 12 be preceding placed at the bearing-surface 13 towards active side 5 of keeping body 4 and for example by bond connection or Person is connected by releasable attachment or fastening connection (Klettverschlussverbindung) is fixed at keeping body 4.

Draw attachment film 8 not to scale in terms of its thickness in figure.In fact, film thickness is under any circumstance Only part millimeter.

Retaining surface 6 and the face of pellicular front 12 of rear side are oppositely oriented.The attaching structure 7 of retaining surface 6 for example can be by self-adhesion face To be formed.But such design is considered as particularly advantageous, i.e., attaching structure 7 can be based on Van der Waals for apply can The fixed effect of release.The latter is applied to the embodiment.

Exemplarily, attaching structure 7 includes the multiple projections for the microcosmic upper very little being finely distributed, below because it is smaller Size be also referred to as nanometer projection 14.These nanometer of projection 14 is drawn greatly enlargedly in Fig. 2 to 4.In practice, protect Holding the every square centimeter of face 6 preferably has at least 10000 and nanometer projection 14 especially as 20000 to 30000, and its is outstanding Its elongatedly come design and for example with pillar or rod moulding.The surface texture of the restriction attaching structure 7 of retaining surface 6 is outstanding It imitates the surface texture of gecko's foot.It is such to be that the article of attachment exists based on the advantages of attaching structure 7 for adhering to work Qi Chu is also remained adhered in the case of not lasting energy supply, so as to realize the fortune of the very high energy efficiency of holding meanss 1 OK.

Suitably, holding meanss 1 are equipped with carrying keeping body 4 and the positioner 15 of therefore holding unit 3.Keeping body 4 Suitably therefore it is fixed on releasably and removably at positioner 15.In order to be fixed on the positioning only represented with chain-dotted line At device 15, keeping body 4 has fixed interface 19, and the complementary fixed interface that it can be with positioner 15 releasably joins Knot.

Holding unit 3 can be moved and positioned corresponding to the motion possibility of positioner 15.The mobility is by means of more Individual double-head arrow 16 indicates.When holding unit 3 in this way multidimensional and preferably not only translationally but also rotatably may be used herein It is favourable during motion.

Positioner 15 can be executor or robot.It for example can be the alignment system of multiaxis, and it has any Quantity can electrically and/or can pass through fluid force manipulate Linear actuator and/or rotating driver.

In the scope of positioning motion 16, holding unit 3 can preceding be placed to article to be positioned with its retaining surface 6 At 2 so that it, which passes through constructed adhesive force and is kept unit 3, captures and then fixed.Thus, the embodiment Holding meanss 1 are also referred to as grabbing device.

In unshowned embodiment, static utilization of the holding meanss 1 designed for holding unit 3, such as so as to will be with Different modes are fixed at retaining surface 6 come the article positioned during process.

Retaining surface 6 is not the face continuously closed but has multiple openings, and it is referred to as blow-off outlet due to its application 17.These blow-off outlets 17 are distributed in this embodiment in the retaining surface 6 with plane development with the distributed model of two dimension.Scheming In 1 to 3 embodiment, blow-off outlet 17 is irregularly distributed in retaining surface 6, blow-off outlet 17 in the fig. 4 embodiment be present Regular distribution.

Thus blow-off outlet 17 is placed such that it is attached to structure 7 and surrounded respectively in retaining surface 6.Preferably, at least It is multiple and suitably all blow-off outlets 17 by attaching structure 7 circumferentially without unoccupied place surround.

Attaching structure 7 suitably has stretching in addition to break-through its blow-off outlet 17 zero-clearance.

In principle, the profile of blow-off outlet 17 is arbitrary.Such as it can relate to elongated and/or angular open cross-section. When the ringed and preferably circular opening surface of blow-off outlet 17 (this is applied to all embodiments) tool, it is considered as suitable.

Blow-off outlet 17 can have cross section that is different big each other and/or being differently molded.All blow-off outlets 17 are not only Design with identical shape of cross section and with identical cross sectional dimensions is preferable.This is applied to these Embodiment.

When attaching structure 7 is the part of attachment film 8, blow-off outlet 17 is suitably by the face formula point of attachment film 8 The perforation of cloth produces.In order to manufacture, attachment film 8 also non-perforated first can be led to before it is applied at keeping body 4 Blanking method is crossed as needed to perforate.

In the unshowned embodiment of holding meanss 1, it is fixed in other words with having column that keeping body 4 is configured to crawl Or spheric the outer surface of the dimensionally stable of arching article.In such a case, retaining surface 6 has complementally arching Profile so that the blow-off outlet 17 being distributed in retaining surface 6 has three-dimensional distribution.

Keeping body 4 is blown passage 18 and run through, and blowout passage 18 one end has an input port 22 and the other end and attaching structure 7 All blow-off outlets 17 be in and fluidly connect.On the other hand, blowout the multiple branches in the inside of keeping body 4 of passage 18, as this It is shown in dash-dot line in Fig. 1.Preferably, blowout passage 18 is vented to bearing-surface 13 with multiple outlets 23, wherein, outlet 23 Distributed model correspond to through attachment film 8 blow-off outlet 17 distributed model.Ensure in this way, blowout passage 18 with it is attached All blow-off outlets 17 for structure 7 connect.

Suitably, holding meanss 1 yet include one compressed air-blowing out device 24, its (especially at input port 22) connection It is connected at the inside blowout passage 18 of keeping body 4.

Blowout passage 18 can be controlled by means of compressed air-blowing out device 24, that is to say, that as needed to compress sky Gas is loaded, and compressed air is provided by compressed air source 25.Such compressed air loading of blowout passage 18 causes, and compression is empty Air-flow flows out to blow-off outlet 17 and through blow-off outlet 17 at retaining surface 6.The pressure of compressed air is applied to pressing herein It is fixed on the article 2 at retaining surface 6 and presses it from so that article 2 disengages from attaching structure 7 from retaining surface 6.

The large area distribution of blow-off outlet 17 is had that effect herein, i.e., if article 2 is flexibility and especially (such as thin It is such situation in film packaging) there is soft characteristic so article 2 reliably can also be removed from retaining surface 6.

Suitably, compressed air-blowing out device 24 has the control being linked between blowout passage 18 and compressed air source 25 Valve gear 26 processed, loaded by means of the compressed air of its controllable blowout passage 18.Control valve gear 26 can especially occupy one and blow Out position, it opens fluidly connecting between compressed air source 25 and blowout passage 18 in the position.In addition, it can be occupied One closed position, it interrupts this and fluidly connected in the position.As long as article 2 should be attached to structure 7 and fix, just control valve is allowed to fill 26 are put to stay in a closed position.

It should be understood that blowing out passage 18 instead of only one, multiple blowout passages can be also constructed in keeping body 4. If there is multiple blowout passages, each in these blowout passages can be connected with the only one in blow-off outlet 17 or with multiple Connect.In this manner, being particularly present multigroup blow-off outlet 17 possibility associated from different blowout passages 18, blowout passage can Loaded by means of the compressed air-blowing out device 24 correspondingly constructed with default temporal order with compressed air, so as to Such as the compressed air in order at blow-off outlet 17 can be caused to flow out.

Alternatively, holding meanss 1 can yet be at least multiple and preferably complete in blow-off outlet 17 equipped with aspirator 27 Portion can be loaded with negative pressure by means of it.Exist in this way and born in order to which the crawl of auxiliary items 2 temporarily produces in blow-off outlet 17 The possibility of pressure, the negative pressure are responsible for making article 2 be sucked on one's own initiative at attachment surface 6.Once article 2 is attached to structure 7 and fixed, Can deactivate aspirator 27 again.

Suitably, swabbing action is caused in the case of at least one blowout passage 18 using this.In this manner, save The single suction channel in keeping body 4.

Exemplarily, aspirator 27 and compressed air source 25 are connected at control valve gear 26 in parallel, except this two Control valve gear 26 also to occupy a suction position outside the individual switching position having been mentioned, control valve gear 26 will in the position Aspirator 27 is connected with blowout passage 18.Aspirator 27 is, for example, vavuum pump or jet pump.

An embodiment of holding meanss 1 as seen from Figure 4, wherein blow-off outlet 17 holding is distributed in uniform distribution density On face 6.

Being uniformly distributed for blow-off outlet 17 is preferably shown, and blow-off outlet 17 is arranged in the crosspoint of the cell structure of imagination In, the cell structure forms by one group of first grid line 28 and perpendicular to second group of second grid line 29 of this orientation, wherein, Distance between the first adjacent grid line 28 and between the second adjacent grid line 29 etc. is big.

In the fig. 4 embodiment, retaining surface 6 has the profile of rectangle.If retaining surface 6 is for example into circular contour, blowout Being uniformly distributed for mouth 17 can be for example achieved in, i.e., blow-off outlet 17 is placed in multiple circumferences concentrically with respect to one another.

One design of holding meanss 1 is considered as particularly advantageous, and blow-off outlet 17 is with different distribution densities wherein It is distributed in retaining surface 6.This is applied to Fig. 1 to 3 embodiment.

In the embodiment of fig. 2, retaining surface 6 has the first retaining surface section 32 surrounded with chain-dotted line, wherein unit The quantity of area blow-off outlet 17 is different from remaining another second retaining surface section 33, and the second retaining surface section 33 is in order to more Good identification is equally surrounded with chain-dotted line.Preferably, the distribution density of blow-off outlet 17 is more than in the first retaining surface section 32 In second retaining surface section 33.

In the embodiment shown in figs. 2 and 3, retaining surface 6 has the rectangle with longitudinal axis 34 and the transversal line 35 perpendicular to this Profile.Retaining surface 6 is correspondingly limited by the peripheral edge 36 to stretch with rectangle around respectively.In addition, the design is said The bright embodiment for being also applied for Fig. 4.

In the embodiment of fig. 2, the first retaining surface section 32 and one in the end section of two narrow sides of retaining surface 6 It is associated.The length measured in the axial direction of longitudinal axis 34 of first retaining surface section 32 is herein suitably than the second retaining surface area Section 33 it is shorter, wherein, be particularly present 1/3:2/3 length ratio.

If it is considered that the peripheral edge 36 of rectangle, then its by total of four respectively in couples with respect to and the edge section put 36a, 36b, 36c, 36d are formed, wherein, respectively with respect to and edge section 36a, 36b or 36c, 36d put are stretched in parallel with each other Prolong.It is relative with first edge section 36a and be equipped with parallel second edge section 36b, and with perpendicular to the 3rd side that this stretches Edge section 36c is relative and is equipped with the 4th edge section 36d.

In the embodiment of fig. 2, the distribution density of the blow-off outlet 17 near first edge section 36a is more than in retaining surface In the remaining area of 6 connection at which.

Preferably, the first and second edge section 36a, the 36b ratios to stretch parallel to transversal line 35 are parallel to longitudinal axis 34 The third and fourth edge section 36c, 36d to stretch is shorter.In the embodiment of fig. 2, the first retaining surface section 32 occupies an area Domain, it is by first edge section 36a and the partial-length of the two the third and fourth edge sections 36c, 36d of connection at which Expansion.

Fig. 3 embodiment comprising four the first retaining surface sections 37 surrounded respectively with chain-dotted line, is blown out wherein altogether The distribution density of mouth 17 is more than in remaining retaining surface section.This four the first retaining surface sections 37 are suitably by the guarantor of rectangle Four folding corner regions 39 for holding face 6 are formed.Unlike this, the design of remodeling is also possible, wherein with larger First retaining surface section 37 of distribution density is restricted to two adjacent folding corner regions in the axial direction of transversal line 35 of retaining surface 6 On 39.

Also realize that an opening is distributed in the embodiments of figure 3, (it is than another guarantor at least one retaining surface section wherein Face section is held closer to peripheral edge 36) in blow-off outlet 17 distribution density be more than in another retaining surface section.Specifically Ground, i.e., herein the first retaining surface section 37 associated with folding corner region 39 than remaining retaining surface section closer to peripheral edge 36 Place.

In a favourable distribution of blow-off outlet 17, blow-off outlet 17 is arranged to multiple rows parallel to each other, and it is referred to alternatively as Opening row 38.Fig. 2 shows a possible form of implementation for this.Here, blow-off outlet 17 is unified into four opening rows 38, its longitudinal axis 44 are shown in dash-dot lines and it is suitably orientated parallel to the longitudinal axis 34 of retaining surface 6.Horizontal spacing, i.e. in transversal line 35 The spacing between adjacent opening row 38 measured on axial direction suitably waits big.In each opening row 38, multiple blow-off outlets 17 arrange spaced apart from each otherly.

In addition, the foregoing distributed architecture is also applied for Fig. 4 embodiment, there the second grid line 29 limit it is multiple each other The longitudinal axis of parallel opening row 30.

Fig. 2 embodiment is returned to, each opening row 38 has the first row end associated with first edge section 36a The 38a and second row end 38b associated with second edge section 36b.Preferably, in each opening row 38, with first The blow-off outlet 17 in the associated end sections of end 38a is arranged each other with than the residue length section along corresponding opening row 38 Smaller spacing arrangement.

As this is shown in the embodiments of figure 3, if existed in four folding corner regions 39 of retaining surface 6 than in retaining surface The distribution density of bigger blow-off outlet 17 in 6 remaining region, when in the axial direction in longitudinal axis 34 with respect to and put first keep Each extended between face section 32 be parallel to longitudinal axis 34 orientation opening row 38 when be favourable.

In order that the article 2 being attached at the attaching structure 7 of retaining surface 6 disengages, suitably loaded simultaneously with compressed air All blow-off outlets 17 for being vented to retaining surface 6.In the fig. 4 embodiment, this causes, and the article 2 of attachment is substantially on keeping Pushed open in the parallel orientation in face 6 from retaining surface 6.Its basis is being uniformly distributed for blow-off outlet 17.

In the embodiment of fig. 2, retaining surface 6 is more strongly perforated in side ratio in remaining region.In this manner, article 2 enhancing ground first are open in the region of the first retaining surface section 32 so that it is approximate from the first edge section 36a side Here gradually peeled off towards second edge section 36b direction.This is also shown by arrow 43 in Fig. 1.

In the fig. 3 embodiment, the opening collection bigger than in remaining region in the folding corner region 39 of retaining surface 6 be present Moderate.Here, article 2 is peeled off from this four folding corner regions towards its middle section.It is article 2 herein first by from guarantor The folding corner region 39 for holding face 6 unclamps and then also unclamped more and more in its lap region.

It should be understood that in the scope of the basic conception of the different distributions density of blow-off outlet 17 blow-off outlet 17 it is arbitrary Other distributed models are also still possible, to ensure the disconnecting process optimal on attaching structure 7 of article 2.Basic idea phase Ying Shi, blow-off outlet 17 with greater density, i.e. with larger concentration degree where, the compressed air being applied on article 2 Pressure ratio is bigger in other regions, so as to provide that article 2 disengages from the selectivity of retaining surface 6 as needed.

Retaining surface 6 can have arbitrary profile trend.It for example can also be polygon and/or circular.

Claims (20)

1. a kind of holding meanss, it is carried：Keeping body (4), the keeping body have retaining surface (6) at active side (5) place, and it is extremely Partially formed by attaching structure (7), the attaching structure is suitable for releasably securing article (2) based on adhewsive action； And with least one blowout passage (18) through the keeping body (4), it is vented to at least one blow-off outlet (17) The retaining surface (6), it is characterised in that be provided with the multiple blow-off outlets being two-dimensionally or three-dimensionally distributed in the retaining surface (6) (17), the plurality of blow-off outlet is vented to the retaining surface (6) and surrounded and in the blowout by the attaching structure (7) respectively At mouthful can blowing out pressurised air with order to disengage by the attaching structure (7) planar fixed article (2), wherein described Blow-off outlet (17) is distributed in the retaining surface (6) with different distribution densities.

2. holding meanss according to claim 1, it is characterised in that multiple blow-off outlets (17) are by the attaching structure (7) Surrounded around without unoccupied place.

3. holding meanss according to claim 1 or 2, it is characterised in that the attaching structure (7) is integrally fixed at the guarantor The part of the attachment film (8) at body (4) place is held, the attachment film (8) is worn to form the blow-off outlet (17) by multiple Hole.

4. holding meanss according to claim 1 or 2, it is characterised in that the retaining surface (6) is flat face, into two dimension The blow-off outlet (17) of distribution pass-out at the face.

5. holding meanss according to claim 1 or 2, it is characterised in that the retaining surface (6) has such at least one Individual retaining surface section (32,37), i.e., the quantity of blow-off outlet (17) described in unit area at least one retaining surface section Different from least another retaining surface section.

6. holding meanss according to claim 1 or 2, it is characterised in that the retaining surface (6) by peripheral edge (36) Lai Limitation, wherein, the distribution density of the blow-off outlet (17) than another retaining surface section closer to the peripheral edge (36) It is more than at least one retaining surface section (37) in another retaining surface section.

7. holding meanss according to claim 1 or 2, it is characterised in that the retaining surface (6) has the profile of rectangle simultaneously And limited by the peripheral edge (36) of the rectangle with four edge sections (36a, 36b, 36c, 36d) to stretch at an angle to each other System, wherein, it is more than in one (36a) of the distribution density of the blow-off outlet (17) in edge section region described Retaining surface (6) is connected in the region at this edge section (36a) place.

8. holding meanss according to claim 1 or 2, it is characterised in that the blow-off outlet (17) is arranged parallel to each other Multiple openings row (38), its respectively comprising multiple blow-off outlets (17) on line spaced apart from each otherly, wherein, it is described Opening row (38) has the second row end (38b) of the first row end (38a) and pass of sensing equidirectional each other conversely, And wherein, the blow-off outlet (17) of multiple opening rows (38) is in the opening row (38) and first row end (38a) phase Arranged each other with the distance smaller than in remaining length sections for arranging (38) in the opening in the end section of association.

9. holding meanss according to claim 1 or 2, it is characterised in that the retaining surface (6), which has, carries four corners The profile of the rectangle in region (39), wherein, at least two folding corner regions (39) adjacent in the circumference of the retaining surface (6) Region in the blow-off outlet (17) distribution density be more than in remaining region of the retaining surface (6).

10. holding meanss according to claim 1 or 2, it is characterised in that all blow-off outlets (17) have identical each other Cross section.

11. holding meanss according to claim 1 or 2, it is characterised in that the attaching structure (7) is configured so that it It is suitable for fixing article based on Van der Waals for.

12. holding meanss according to claim 1 or 2, it is characterised in that there is the holding meanss carrying to be provided with attachment The positioner (15) of the keeping body (4) of structure (7), can be moved simultaneously by the positioner (15) keeping body (4) And it can position.

13. holding meanss according to claim 1 or 2, it is characterised in that the holding meanss have can couple or by Compressed air-the blowing out device (24) at least one blowout passage (18) place is connected in, it is configured to controllably with compression Air loads the article (2) that at least one blowout passage (18) is attached to the retaining surface (6) place with disengagement.

14. holding meanss according to claim 1 or 2, it is characterised in that the holding meanss have aspirator (27), it is configured to controllably to be fixed in the retaining surface to aspirate with least one blowout passage (18) of negative pressure loading (6) article (2) at place.

15. holding meanss according to claim 2, it is characterised in that all blow-off outlets (17) are by the attaching structure (7) Surrounded around without unoccupied place.

16. holding meanss according to claim 8, it is characterised in that the blow-off outlet (17) of all opening rows (38) is in institute State opening row (38) the end section associated with the first row end (38a) in each other with than it is described opening arrange (38) smaller distance arrangement in remaining length sections.

17. holding meanss according to claim 9, it is characterised in that in four folding corner regions of the retaining surface (6) It is each in region described in blow-off outlet (17) distribution density be more than in remaining region of the retaining surface (6).

18. holding meanss according to claim 4, it is characterised in that the blow-off outlet (17) is arranged to multiple put down each other Capable opening row (30,38), it is respectively comprising multiple blow-off outlets (17) on a line spaced apart from each otherly.

19. holding meanss according to claim 11, it is characterised in that the attaching structure (7) has with higher point Multiple nanometers of projections (14) of cloth density arrangement.

20. holding meanss according to claim 12, it is characterised in that the holding meanss (1) are configured to can pine Turn up the soil crawl and transport article (2) grabbing device.