US 12,128,549 B2
Handling device for repositioning objects
Leif Pudewills, Esslingen (DE); Markus Singer, Plochingen (DE); Tobias Waibel, Ostfildern (DE); Manuel Schön, Stuttgart (DE); and Ulrich Müller-Boysen, Esslingen (DE)
Assigned to Festo SE & Co. KG, Esslingen (DE)
Appl. No. 17/279,949
Filed by Festo SE & Co. KG, Esslingen (DE)
PCT Filed Sep. 5, 2019, PCT No. PCT/EP2019/073710
§ 371(c)(1), (2) Date Mar. 25, 2021,
PCT Pub. No. WO2020/064293, PCT Pub. Date Apr. 2, 2020.
Claims priority of application No. 10 2018 216 393.6 (DE), filed on Sep. 26, 2018.
Prior Publication US 2022/0032474 A1, Feb. 3, 2022
Int. Cl. B25J 15/00 (2006.01); B65G 47/90 (2006.01)
CPC B25J 15/008 (2013.01) [B65G 47/90 (2013.01)] 27 Claims
OG exemplary drawing
 
1. A handling device for repositioning objects with an adhesion gripping device which comprises a support structure, on which a fastening interface for fastening the adhesion gripping device to a positioning device is formed, by way of which positioning device the adhesion gripping device is movable and positionable whilst carrying out a handling movement, with at least one gripping unit which is arranged on the support structure and which comprises a supple adhesion tape which extends in a main plane of the adhesion gripping device between two holding regions which are distanced to one another, at least on one side comprises an adhesion surface and has a longitudinal section, said longitudinal section being passed through a working region of the gripping unit and forming a gripping section by way of which an object to be repositioned can be gripped and firmly held in a releasable manner in the working region by way of an adhesion action of the adhesion surface wherein the adhesion gripping device comprises a release device which is designed for releasing an object which is gripped by the gripping section of the adhesion tape, said release device comprising at least one release deflection element which is arranged in the working region of the gripping unit, is partially wrapped by the adhesion tape and is translationally movable relative to the support structure in the main plane for carrying out a release movement, and further comprising a release drive unit which is arranged on the support structure and by way of which a circulating movement of the gripping section around the release deflection element can be created, said circulating movement being accompanied by the release movement of the release deflection element and effecting an active pulling-away of the adhesion tape from the gripped object,
wherein the adhesion gripping device comprises several gripping units which are arranged on the support structure and which each comprise a separate working region through which a gripping section of an adhesion tape is passed and to which an individual release deflection element is assigned, and
wherein the working regions of several gripping units are arranged distanced to one another in a main direction which is parallel to the main plane of the adhesion gripping device.