DE102016115102A1 - Device for holding and / or deforming an object - Google Patents

Abstract

Device (1) for holding and / or deforming an object, which has at least one molding pad (2), - on which a bearing surface (12) for positioning on a surface of the object is located and - in a malleable state and in a dimensionally stable Condition can be brought, wherein the mold cushion (2) has at least two chambers (6, 8), of which - a first chamber (6) on the contact surface (12) is arranged and - a second chamber (8) on the first chamber ( 6) and separated from the contact surface (12) by the first chamber (6), wherein the first chamber (6) and the second chamber (8) comprise a deformable, for example flowable filler, in particular a particulate filler (4) Include gel or a liquid.

Description

The invention relates to a device for holding and / or deforming an object, which has at least one molding pad on which a contact surface for arranging on a surface of the object is and which can be brought into a moldable state and in a dimensionally stable state. Such a device is for example from the US 4,561,686 known. Process-oriented handling of objects, such as moving or backing up at a defined position, is an integral part of most industrial and logistics processes (see also VDI 2860 "Handling" ). These objects, also referred to below as handling objects, may be, for example, semi-finished products, raw or finished parts, that is, workpieces, components or tools. In many applications, care must be taken that the handling object to be moved is not damaged. This applies, for example, to already painted body parts in vehicle construction, in which the paint may not be damaged. Likewise, for example, food or very thin, delicate objects must be moved carefully.

In other fields of application, there is the problem that the objects to be moved are limp or unstable, ie not dimensionally stable, since they are, for example, textiles, foils or flat lightweight components. This is the case in particular in the production of fiber composite components, in which individual fiber layers have to be draped exactly in the forms provided for this purpose. The transition from 2-dimensional layers to 3-dimensional objects occurs. In the prior art, therefore, various devices are known which have a molding pad in which, for example, a granulate or a powdery filler is located. About a vacuum source, the interior of the mold cushion is acted upon by a negative pressure. In this case, the gas contained, usually air, is removed from the mold cushion and there is a form and / or frictional engagement between the individual particles of the filling material, so that the mold cushion is then in a dimensionally stable state. In this way, the molded cushion can initially be adapted very gently to an object to be gripped, since only a small force is transmitted by the movable and flowable filling material. In this adapted and deformed state, the mold cushion is then subjected to negative pressure, thus fixing the once taken shape. The workpiece can be transported and handled this way. Once the workpiece is stored, the mold cushion can be returned to the moldable state again to grab a new component, possibly other contour.

From the DE 195 46 456 A1 a similar device is known. Also, it has a moldable cushion, which can be brought into a dimensionally stable state. Via a further vacuum source, a negative pressure can be applied in a closed space between a bearing surface of the molding pad and the object on which it rests, through which the object to be handled can be transported particularly gently. From the DE 10 2012 003 094 A1 is a corresponding device known, which is also generic. It also has a frame, by which the shaped cushion is clamped in an original size, so that the gripping of especially flat objects is further simplified. A similar device is also from the EP 2 632 654 B1 in which a wide variety of gripping tools can be arranged on the contact surface of the molding pad. This principle is also from the WO 2012/055788 A1 as well as the WO 2016/005322 A1 known.

However, a disadvantage of all known devices is that the device can hardly be used flexibly. If, for example, particularly hot workpieces are to be transported, a separate device or at least one separate molded cushion must be held in order to withstand the increased temperature requirements. However, such a special device is expensive to purchase and must be purchased in addition to a conventional device known in the art.

In particular, in the field of mail order, for example, at large online retailers, today a variety of products are sold, which must be packed ready for shipment. These may be garments, such as T-shirts or pants, animal feed, electronic devices and other items, but which must be taken from a single central warehouse and thus packed ready for shipment on a single packaging line. There is therefore a need for a device with which a wide variety of objects can be grasped. This is only partially the case with a device of the prior art, since the requirements for the different objects can be very different. Thus, it is necessary for some objects, the contour to be detected with the shape of the cushion as closely as possible, while in other objects a rough adaptation is sufficient. The articles may differ greatly in size and shape as well as in strength and elasticity, so that a gripping device known in the art may be well suited for one type of article while unsuitable for the other.

The present invention is therefore based on the object, a device for holding and / or deforming the object according to the preamble of claim 1 further so that it can be used flexibly and yet inexpensive to produce.

The invention solves this problem by a device according to the preamble of claim 1, which is characterized in that the molded cushion has at least two chambers, of which a first chamber is arranged on the contact surface and a second chamber is disposed on the first chamber and is at least partially separated from the contact surface by the first chamber, wherein the first chamber and the second chamber include a deformable, for example flowable filler, in particular a particulate filler, a gel or a liquid.

The deformable filler must be capable of conforming to a contour of an object to be held and / or deformed when the molding pad is in the malleable state. By contrast, in the dimensionally stable state of the molded cushion, the filler must be solidified to the extent that further deformation of the molded cushion does not occur due to the forces occurring when the device is used as intended. For example, the deformable filler may also be a plastic or a foam which is compressed and thus deformed when the device is placed on the object to be held or deformed. For example, by applying a negative pressure, the thus deformed filler can be fixed in its deformed shape and so the molded cushion can be converted into the dimensionally stable state.

Between the two chambers is advantageously arranged a release layer, for example in the form of a textile or a film. This separating layer may, like the molded cushion and the contact surface, be elastic and / or flexible as well as airtight or permeable to air. The release layer nevertheless leads to a stabilization of the molded cushion and in particular ensures that the deformable, for example, flowable filler, which is located in the first and the second chamber, distributed to different areas of the molding pad, in particular for contact with flat objects of Advantage is. In addition, a mixing of the deformable, for example flowable fillers is prevented.

Advantageously, the first chamber and the second chamber contain different fillers, which differ in particular by the average size of the particles and / or at least one physical property, for example magnetizability or heat resistance.

In order to reproduce the contour and the geometric shape of the object or object to be gripped in as much detail as possible, it is advantageous if the particles of the particulate filler are formed as small as possible or the filler is a gel or a liquid.

In a device of the prior art, however, this would have the disadvantage that, in case of doubt, very large shaped cushions would have to be completely filled with the very small particles, which would result in a large amount of the particles and, consequently, relatively high costs and a high weight , By virtue of the embodiment according to the invention having two adjacently arranged chambers, it is possible, for example, for the chamber facing the contact surface to be formed with smaller particles, so that the most accurate and precise shaping of the contact surface of the molded cushion against the object to be gripped is possible.

Alternatively or additionally, for example, the particles or other fillers differ in physical property, such as heat resistance. In this way, it is possible to design only a relatively small proportion of the filler within the molded cushion particularly heat-resistant, which is advantageous because such materials are expensive. In the second chamber, which is separated from the contact surface by the first chamber, the heat generated when gripping a hot object, compared with the first chamber is attenuated, so that the particulate filler to be used must not be made quite so heat resistant.

According to the invention, the first chamber is arranged on the contact surface. This does not necessarily mean that the contact surface forms the outermost wall of the first chamber. It is quite possible and possibly advantageous to arrange functional intermediate layers, for example a 3D spacer fabric or knitted fabric, in order, for example, to arrange a vacuum gripper between the contact surface of the molded cushion and the wall of the first chamber facing the contact surface. Of course, it is also possible that the contact surface forms a wall of the first chamber.

The second chamber is separated according to the invention by the first chamber of the contact surface. This does not necessarily mean that there is only one wall between the first chamber and the second chamber. It is quite possible to arrange intermediate layers or other elements here as well. In addition, it is not necessary that the second chamber is completely separated from the contact surface by the first chamber. For example, it is possible that the first chamber does not cover the entire surface the contact surface bears against the contact surface or faces it. It is quite possible that, for example, the second chamber is arranged on the side facing away from the contact surface of the first chamber, the distance to this contact surface is formed very small.

Advantageously, the mean size of the particles of particulate filler in the first chamber is smaller than in the second chamber.

It has proven to be particularly preferable if the device has at least one vacuum source which is set up to pressurize at least the first chamber, but preferably the first chamber and the second chamber, with negative pressure in order to move the molding pad from the moldable state into the dimensionally stable one To bring state. Advantageously, an air-permeable membrane is arranged between the first chamber and the second chamber. In this way, it is possible to suck air from the first chamber through the second chamber and thus to apply both chambers simultaneously with a negative pressure.

Preferably, all chambers of the molding pad are surrounded by a peripheral sheath. The peripheral envelope may in this case, for example, form the outermost boundary of the molded cushion, in which all the chambers are arranged. This has the advantage, for example, that changes in the requirements, for example, temperature resistance or other physical properties of the molding pad only the peripheral shell must be replaced, which is preferably easy to remove and replace. This can be done for example via magnetic closures, Velcro or snaps, so that a replacement is easy, fast and easy. The chambers of the molded cushion are protected by the peripheral shell, preferably against extreme physical effects, in particular high heat, and can be used for a wide variety of applications.

The molding pad of the device preferably has at least one third chamber, which is at least partially separated from the contact surface by at least the first chamber and the second chamber and has, for example, an airtight envelope. Of course, it is possible to arrange more than two or three, for example, five or seven chambers in ever greater distance from the contact surface and to use so different particulate fillers in many different gradations. The more chambers are arranged in the molding pad, the greater the number of separating layers between the individual chambers, so that an uncontrolled mixing of the fillers is prevented and at the same time a mechanical stabilization of the molding pad is achieved. These additional chambers are preferably arranged within the peripheral envelope.

Not all existing chambers must be permeable to air. It may well be useful to provide one or more chambers with an airtight envelope, so as to reduce, for example, the volume to be evacuated in the mold cushion.

In a preferred embodiment, at least one membrane or intermediate layer, which is arranged between two adjacent chambers, is provided with a structure or preformed. In this way it can be achieved, for example, that a better "gearing" between two adjacent chambers is achieved or a special distribution of the filler located in at least one of the participating chambers is achieved. It is thus possible, for example, to take particular objects in this way.

Advantageously, the contact surface is at least partially made of an air-permeable material. In this way, by a negative pressure, which is generated in the interior of the molded cushion, the object to be gripped acted and sucked. In this point, the one in the DE 10 2012 003 094 A1 described embodiment of advantage.

Preferably, at least one fastening device, in particular a pocket, which is formed such that an additional contact element can be arranged on the contact surface is located on the contact surface. The at least one contact element can also be attached in another way, for example by attaching or Ankletten. Advantageously, a part of the contact surface is covered by the additional contact element. This is advantageous, for example, when a relatively small object is to be grasped with a device having a relatively large shaped cushion with a relatively large contact surface, so that the contact surface, in particular in the case that it consists of an air-permeable material, is too large for the object to be gripped. In this case, a part of the contact surface can be covered by contact elements, which can be arranged in at least one pocket or at least one fastening device, so that the openings present in the air-permeable material are covered and sealed. This ensures that the contact surface is permeable to air only in the area that is actually required for gripping the object, so that the at least one contact element acts as a template or aperture. Alternatively or additionally, however, the contact elements may also be designed to be permeable to air in order to continue to allow a corresponding flow of air. The contact elements may then have other properties, for example an increased heat resistance, or be electrically conductive, magnetic or magnetizable. In addition, they can have a sensory effect.

Preferably, the individual chambers of the molding pad are releasably attached to each other or to another element of the device. In this way, they can be easily replaced, so that the device is flexible. Also, the individual chambers can be removed for repairs or maintenance. In addition, additional chambers can be added or unneeded chambers removed.

The releasable attachment can be made, for example, in the form of Velcro fasteners, snaps, snap or clip connections, or magnetic. In this way, the mold cushion can be individually assembled from several available chambers for the particular application required to account for the physical requirements, such as heat, electrical conductivity, magnetization or the like, as well as, for example, the required accuracy with which to mold the shaped cushion to the shape of the objects to be held and / or deformed.

With the help of the attached figures, an embodiment of the present invention will be explained in more detail below. It shows:

1 The schematic sectional view through a device according to a first embodiment of the present invention,

2 The schematic sectional view through a device according to a further embodiment of the present invention,

3 - The schematic sectional view through a device according to another embodiment of the present invention and

4 - The schematic representation of a device in a handling system.

1 shows a device 1 according to a first embodiment of the present invention. It has a shape cushion 2 that with a particulate filler 4 is filled. The shape pillow 2 has in the illustrated embodiment, a first chamber 6 , a second chamber 8th and a third chamber 10 , At the in 1 bottom side of the first chamber 6 there is a contact surface 12 which is designed to be arranged on a surface of a object to be held and / or deformed, which is not shown in the figures. It may have an air-permeable portion, be completely permeable to air or have another attachment means.

In the in 1 the embodiment shown is the first chamber 6 , the second chamber 8th and the third chamber 10 each with a particulate filler 4 filled, wherein the size of the individual particles of the respective particulate filler is different. The third chamber 10 is with the particulate filler 4 filled, which has the largest particles, while the first chamber 6 contains the smallest particles. In this way, a good conformability to the outer contour of the object to be gripped, held and / or deformed is achieved.

Between the first chamber 6 and the second chamber 8th as well as between the second chamber 8th and the third chamber 10 there is one membrane each 14 , which is preferably also designed to be permeable to air. Both the membrane 14 as well as the outer shell of the first chamber 6 in the embodiment shown, the contact surface 12 are via a quick release 16 on a support element 18 arranged. The quick release 16 For example, it may be a magnetic fastener or a clamped connection that is designed to be easily detached, for example, to locate further chambers or the outer shell of the first chamber 6 and / or at least one of the membranes 14 to remove and thus reduce the number of chambers.

In the upper area of the support element 18 is a connection 20 shown, to which a vacuum source is connected, which is not shown. About this connection 20 can therefore air out of the mold cushion 2 be sucked, whereby the molding pad is transferred from the moldable state shown in a dimensionally stable state. So that the particulate filler 4 not with through the connection 20 is exhausted, the device has 1 over a grid 22 ,

2 shows a further embodiment of the device 1 , The shape pillow 2 is again on the quick release 16 on the carrier element 18 arranged and with the particulate filler 4 filled. Also in 2 shown device 1 has the connection 20 , the grid 22 and the contact surface 12 , It can be seen, however, that the in 2 shown device 1 several first chambers 6 having, with the particulate filler 4 are filled. Inside the shape pillow 2 are the membranes 14 which are now wavy and contact areas 24 form, in each of which two membranes 14 connected to each other. This creates several first chambers 6 , several second chambers 8th , several third chambers 10 and in the embodiment shown a large fourth chamber 26 , It can be seen that the second chambers 8th in each case at least for a large part through the first chambers 6 from the contact surface 12 are separated.

3 shows the device 1 according to another embodiment of the present invention. It is different from the one in 1 example shown in that the first chamber 6 not over the quick release 16 with the carrier element 18 is connected, but via fasteners 28 , at the second chamber 8th is arranged. These connecting elements may for example be releasable connecting elements, so that the different chambers can be easily detached from each other.

One recognizes in 3 that the first chamber 6 not with a particulate filler 4 is filled, as is the case with the second chamber 8th and the third chamber 10 the case is. Rather, the first chamber 6 with a foamy filler 30 filled, which is however also deformable. Due to its special properties, it serves, for example, as a heat shield for the second chamber 8th and the third chamber 10 and the particulate fillers therein 4 ,

The three chambers 6 . 8th . 10 be from a perimeter shell 32 surround. There are pockets on it 34 in which additional contact elements 36 can be arranged. These may be, for example, airtight, magnetic or magnetizable, electrically conductive or sensor-based, where they may act in particular as temperature sensors, pressure sensors or sensors for electrical current or voltage. Of course, several different sensory acting contact elements 36 usable at the same time.

At the membrane 14 between the first chamber 6 and the second chamber 8th are additional elements 38 arranged, which can fulfill different tasks and, for example, can be designed as sensors.

4 shows the device 1 attached to a cantilever arm 40 is arranged and movable over this. About a hose 42 is it with a vacuum source 44 connected by the molded cushion 2 from the deformable state in the dimensionally stable state can be brought.

LIST OF REFERENCE NUMBERS

1

contraption

2

shape pillow

4

particulate filler

6

first chamber

8th

second chamber

10

third chamber

12

contact surface

14

membrane

16

quick release

18

support element

20

connection

22

grid

24

contact area

26

fourth chamber

28

 connecting member

30

 Foam-like filler

32

peripheral casing

34

 bag

36

 contact element

38

 additional element

40

 boom

42

 tube

44

 Vacuum source

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 4561686 [0001]
• DE 19546456 A1 [0003]
• DE 102012003094 A1 [0003, 0022]
• EP 2632654 B1 [0003]
• WO 2012/055788 A1 [0003]
• WO 2016/005322 Al [0003]

Cited non-patent literature

• VDI 2860 "Handling" [0001]

Claims (10)

Contraption ( 1 ) for holding and / or deforming an object which has at least one shape cushion ( 2 ), on which a contact surface ( 12 ) is arranged for placing on a surface of the object and - which can be brought into a moldable state and in a dimensionally stable state, characterized in that the molded cushion ( 2 ) at least two chambers ( 6 . 8th ), of which - a first chamber ( 6 ) is arranged on the contact surface and - a second chamber ( 8th ) at the first chamber ( 6 ) and through the first chamber ( 6 ) from the contact surface ( 12 ), the first chamber ( 6 ) and the second chamber ( 8th ) a deformable, for example flowable filler, in particular a particulate filler ( 4 ), a gel or a liquid. Contraption ( 1 ) according to claim 1, characterized in that the first chamber ( 6 ) and the second chamber ( 8th ) various deformable fillers ( 4 ), which differ in particular by the average size of the particles and / or at least one physical property, for example magnetizability or heat resistance. Contraption ( 1 ) according to claim 2, characterized in that the average size of the particles of the particulate filler ( 4 ) in the first chamber ( 6 ) is smaller than in the second chamber ( 8th ). Contraption ( 1 ) according to one of the preceding claims, characterized in that the device ( 1 ) at least one negative pressure source ( 44 ), which is set up, at least the first chamber ( 6 ), preferably the first chamber ( 6 ) and the second chamber ( 8th ), apply a negative pressure to the mold cushion ( 2 ) from the moldable state to the dimensionally stable state, preferably between the first chamber ( 6 ) and the second chamber ( 8th ) an air-permeable membrane ( 14 ) is arranged. Contraption ( 1 ) according to one of the preceding claims, characterized in that all the chambers ( 6 . 8th ) are surrounded by a peripheral envelope. Contraption ( 1 ) according to one of the preceding claims, characterized by at least one third chamber ( 10 ) from the contact surface ( 12 ) at least partially through at least the first chamber ( 6 ) and the second chamber ( 8th ) and preferably has an air-tight envelope. Contraption ( 1 ) according to one of the preceding claims, characterized in that at least one membrane ( 14 ) between two adjacent chambers ( 6 . 8th . 10 ), has a structure and / or is preformed. Contraption ( 1 ) according to one of the preceding claims, characterized in that the contact surface ( 12 ) consists at least partially of an air-permeable material. Contraption ( 1 ) according to one of the preceding claims, characterized in that on the contact surface ( 12 ) at least one fastening device, in particular a pocket, is arranged, through which an additional, preferably airtight contact element on the contact surface ( 12 ) can be arranged, the at least a part of the contact surface ( 12 ) covered. Contraption ( 1 ) according to one of the preceding claims, characterized in that at least one chamber ( 8th . 10 ) detachable on another chamber ( 6 . 8th ) is arranged.

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