Gripper for test samples, positioning device for raw samples, handling system for raw samples and test samples, and test system for viscoelastic materials
A skewer-type gripper for one-sidedly receiving a test sample positioned in a defined manner and still compressed by plungers in a punching device and consisting of viscoelastic materials with an upper side and an edge area. The gripper has a base and skewer-type means arranged in a plane therein, which can pierce into the edge area of the still compressed test sample parallel to the upper side. The skewer-type means are configured in such a way that the test sample can be received and held in a torque-proof manner by the skewer-type means. The gripper is configured and set up for horizontally receiving the test sample from a punching device, and the gripper or skewer-type means can be exposed to a feed force for this purpose.
1. A multifunctional gripper ( 16 ) for a robot arm ( 31 ), comprising:
a first effector ( 4 ) with gripping jaws ( 5 , 5 ′) that are moved toward each other in pairs for receiving and handling, by moving, positioning and securing, a raw sample ( 2 ) before and while punching a test sample ( 3 ),
a second effector ( 6 ) with a skewer-type gripper ( 6 ) for receiving and handling by transferring the test sample ( 3 ) after punching, wherein the skewer-type gripper ( 6 ) is configured for one-sidedly receiving the test sample ( 3 ) positioned in a defined manner and still compressed by plungers ( 26 , 27 ) in a punching device ( 32 ), the test sample consisting of sticky viscoelastic materials of up to 100° C. and having an upper side ( 3 a ) and an edge area ( 3 b ) of 5 to 18 mm, wherein the gripper ( 6 ) has a base ( 6 a ) and at least one skewer ( 7 , 7 ′, 7 ″, 7 ″′) with an expansion arranged in a single plane therein, said at least one skewer being configured to pierce into the edge area ( 3 b ) of the still compressed test sample ( 3 ) with the plane of expansion parallel to the upper side ( 3 a ), wherein the gripper ( 6 ) is configured and set up for horizontally receiving the test sample ( 3 ) from the punching device ( 32 ), and the gripper ( 6 ) is exposed to a feed force of up to eight kilograms, wherein the skewer is a hollow needle pressurized with compressed air,
a third effector ( 13 ) with a suction gripper for handling, by transferring and positioning, the test sample ( 3 ),
a fourth effector ( 14 ) with a suction gripper for handling by transferring the raw sample ( 2 ),
wherein each of the effectors ( 4 , 6 , 13 , 14 ) is arranged and designed so that it is controlled in terms of its position, its position relative to the raw sample ( 2 ) or test sample ( 3 ), its alignment, contact force and movement.
2. The multifunctional gripper ( 16 ) according to claim 1 ,
characterized in that
each of the gripping jaws ( 5 , 5 ′) has a marginal recess ( 17 ) in its gripping range, and is thereby divided at least partially in two.