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WO2015094375A1 - Système de préhension électro-adhésif modulaire - Google Patents

Système de préhension électro-adhésif modulaire Download PDF

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Publication number
WO2015094375A1
WO2015094375A1 PCT/US2013/077280 US2013077280W WO2015094375A1 WO 2015094375 A1 WO2015094375 A1 WO 2015094375A1 US 2013077280 W US2013077280 W US 2013077280W WO 2015094375 A1 WO2015094375 A1 WO 2015094375A1
Authority
WO
WIPO (PCT)
Prior art keywords
electroadhesive
gripping system
frame
electroadhesive gripping
cartridge
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2013/077280
Other languages
English (en)
Inventor
Harsha Prahlad
Eric Winger
Robert Roy
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Grabit LLC
Original Assignee
Grabit LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Grabit LLC filed Critical Grabit LLC
Priority to PCT/US2013/077280 priority Critical patent/WO2015094375A1/fr
Publication of WO2015094375A1 publication Critical patent/WO2015094375A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0085—Gripping heads and other end effectors with means for applying an electrostatic force on the object to be gripped
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/20—Electromagnets; Actuators including electromagnets without armatures
    • H01F7/206—Electromagnets for lifting, handling or transporting of magnetic pieces or material
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
    • H01L21/6831—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using electrostatic chucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers

Definitions

  • the present invention relates to automated manufacturing. More particularly, the present invention relates to, in an automated manner, picking up substrates or sub-assembly components, for example, parts that form all or part of an assembly, and providing a modular system for acquiring or moving said items in a manufacturing process.
  • chemical adhesives can leave residues and tend to attract dust and other debris that reduce effectiveness. Chemical adhesives can also require a significant amount of added force to undo or overcome a grip or attachment to an object once such a chemical adhesive grip or attachment is applied, since the gripping interaction and force is typically not reversible in such instances.
  • an electroadhesive gripping system used in manufacturing for acquiring or moving items a manufacturing process, having a frame, a cartridge, an electroadhesive film with one or more electrodes at or near the electroadhesive gripping surface, and a power supply, wherein the system may be constructed in a modular fashion to simplify construction and maintenance. Some components may be disposable or require more frequent repair than other components.
  • Modular assembly and modular component construction simplifies and expedites maintenance, and reduces overall costs of operation.
  • an electroadhesive gripping system comprising: a frame having a superior surface and an inferior surface; a cartridge having a superior and inferior surface wherein the superior surface is detachably connectable to the inferior surface of said frame; an
  • electroadhesive film with one or more electrodes at or near the gripping surface, and a backing surface of said electroadhesive film at least partially covering and connectable to the inferior surface of said cartridge, or optionally extending over a portion of the superior surface of said frame; and a power supply coupled to the superior surface of said frame, configured to apply voltage to the one or more electrodes of the electroadhesive film, wherein at least a portion of said connecting interface of said electroadhesive film is in direct contact with said power supply.
  • the frame further comprises side walls comprising interior and exterior faces, creating a cavity within the frame between the inferior surface and the interior faces of said sides.
  • the cartridge fits, at least partially, within, and conforms with the cavity of the frame.
  • the electroadhesive gripping system further comprises a deformable or conformable layer dispersed between the inferior surface of the cartridge and the backing surface of the electroadhesive film.
  • the electroadhesive gripping system the frame is load-bearing.
  • the frame is metallic.
  • the frame may be magnetic.
  • the frame may be non-metallic or electrically non-conductive.
  • the electroadhesive film comprising one or more electrodes at or near the surface and having a connecting interface also comprises at least one contact pad that connect to the one or more electrodes.
  • the contact pad may be patterned on the film as a separate area, or may include separate mechanical or electrical features attached to the film, these features comprising: a conductive area or pattern; a pogo pin; a leaf spring; a carbon brush; a spring contact; a metallic contact button; a wiring connector; a wiring harness; a rare earth magnet; a ferrite magnet; an alnico magnet; or a ferromagnetic contact.
  • the power supply also comprises at least one contact point for connecting and transferring power to the at least one contact pad of the connecting interface of the electroadhesive film and transferring voltage to the electrodes.
  • the contact point may comprise: a pogo pin; a leaf spring; a carbon brush; a spring contact; a metallic contact button; a wiring connector; a wiring harness; a rare earth magnet; a ferrite magnet; an alnico magnet; or a ferromagnetic contact.
  • the contact point(s) and/or contact pad(s) comprise electrical insulators.
  • the entire connecting interface of the electroadhesive film may be insulated from the frame.
  • the power supply is separable from the frame.
  • any of the embodiments of the electroadhesive gripping system described herein comprise at least one attachment mechanism to retain the adjoining surfaces of the various components, at least partially, within intimate contact with each other.
  • the various adjoining surfaces may include: the power supply and the frame; the power supply and the electroadhesive film connecting interface; the frame and the cartridge; the cartridge and the deformable layer; the cartridge and the electroadhesive film; the deformable layer and the electroadhesive film; the electroadhesive film and the frame; or the connecting interface and the frame.
  • the attachment mechanism may include: a chemical adhesive; a mechanical fastener; a heat fastener (e.g.: welded, spot welded, or spot-melted location); dry adhesion; Velcro; suction / vacuum adhesion; magnetic attachment, electromagnetic attachment or tape (e.g.: single- or double-sided).
  • a chemical adhesive e.g.: a chemical adhesive
  • a mechanical fastener e.g.: welded, spot welded, or spot-melted location
  • dry adhesion e.g.: Velcro
  • suction / vacuum adhesion e.g.: single- or double-sided
  • the attachment mechanism may create a permanent, temporary or even a removable form of attachment.
  • an electroadhesive gripping system comprising: a frame having a superior surface and an inferior surface; a cartridge having a superior surface and inferior surface, detachably connectable to the inferior surface of the frame; an electroadhesive film with one or more electrodes at or near the gripping surface, and a backing surface of said electroadhesive film at least partially covering and detachably connected to the inferior surface of said cartridge, and comprising a first connecting interface; and a power supply comprising a second connecting interface configured to apply voltage to the one or more electrodes of the electroadhesive film through the second connecting interface.
  • the frame further comprises side walls comprising interior and exterior faces, creating a cavity within the frame between the inferior surface and the interior faces of said sides.
  • the cartridge fits, at least partially, within, and conforms with the cavity of the frame.
  • the electroadhesive gripping system the frame is load-bearing.
  • the frame is metallic.
  • the frame may be magnetic.
  • the frame may be non-metallic or electrically non-conductive.
  • the electroadhesive gripping system further comprises a deformable or conformable layer dispersed between the superior surface of the cartridge and the backing surface of said electroadhesive film.
  • the cartridge and said electroadhesive film combine as a separable cartridge sub-assembly.
  • the cartridge, said deformable or conformable layer, and said electroadhesive film combine as yet another type of separable cartridge sub-assembly.
  • the power supply is separable from the frame. In still other embodiments, the power supply is completely remote and detached from the frame: For example, wherein the power supply is located on the robotic arm or base of the robotic arm holding the electroadhesive gripping system, and power is applied from the power supply to the electroadhesive gripper via wired connections or through a wiring harness.
  • the first or second connecting interface of the system is electrically insulated from said frame when assembled.
  • the entire connecting interface of the electroadhesive film may be insulated.
  • the first or second connecting interface may comprise at least one of: a wire; a connector; a pogo pin; a leaf spring; a carbon brush; a spring contact; a metallic contact button; a wiring connector; a wiring harness; a rare earth magnet; a ferrite magnet; an alnico magnet; or a ferromagnetic contact.
  • the power supply is separable from the frame.
  • any of the embodiments of the electroadhesive gripping system described herein comprise at least one attachment mechanism to retain the adjoining surfaces of the various components, at least partially, within intimate contact with each other.
  • the various adjoining surfaces may include: the power supply and the frame; the cartridge and the deformable layer; the deformable layer and the electroadhesive film, or the cartridge and the electroadhesive film.
  • the attachment mechanism may include: a chemical adhesive; a mechanical fastener; a heat fastener (e.g.: welded, spot welded, or spot-melted location); dry adhesion; Velcro; suction / vacuum adhesion; magnetic or electromagnetic attachment or tape (e.g.: single- or double-sided).
  • a chemical adhesive e.g.: a chemical adhesive
  • a mechanical fastener e.g.: welded, spot welded, or spot-melted location
  • dry adhesion e.g.: Velcro
  • suction / vacuum adhesion e.g.: single- or double-sided
  • magnetic or electromagnetic attachment or tape e.g.: single- or double-sided
  • an electroadhesive gripping system comprising an electroadhesive gripping system comprising: a frame having a superior surface and an inferior surface; a cartridge having a superior surface and inferior surface detachably connectable to said inferior surface of said frame; an electroadhesive film with one or more electrodes at or near a gripping surface, a backing surface at least partially covering and detachably connectable to the inferior surface of said cartridge and comprising a first connecting interface; a power supply comprising a second connecting interface configured to apply voltage to the one or more electrodes of the
  • an electroadhesive gripping system comprising any of the configurations described herein, and further comprising at least one detachable interface.
  • the detachable interface is between the power supply and frame. In other embodiments the detachable interface is between the frame and the cartridge, or the frame and the cartridge assembly.
  • the at least one detachable interface utilizes an attachment mechanism comprising at least one of: a chemical adhesive; a mechanical fastener; Velcro; tape; a magnet; or an electroadhesive surface.
  • the magnets may comprise: a rare earth magnet; a ferrite magnet; an alnico magnet; an electromagnets; or a ferromagnetic contact.
  • the attachment mechanism may pertain to the method of attaching the detachable interface to the gripping system components, or in some cases the attachment mechanism may pertain to the method of attaching the detachable interfaces themselves together.
  • the at least one detachable interface further comprises a magnetic shim plate. Still further the magnetic shim plate is coupled to the superior surface of the cartridge. In other embodiments the magnetic shim plate is coupled to the inferior surface of the frame.
  • an attachment mechanism such as: a chemical adhesive; a mechanical fastener; a dry adhesion surface; vacuum or suction; Velcro; tape; or a magnet may be utilized to adhere or couple the shim plate to the mating component surface.
  • the attachment mechanism may create a permanent, temporary or even a removable form of attachment.
  • the shim plate may not be magnetic. In some embodiments the shim plate may be a metal plate; a non-metallic plate; or a non-magnetic plate.
  • the electroadhesive gripping system comprising a detachable interface with a shim plate
  • yet another detachable attachment mechanism is utilized between said shim plate and the opposing coupling surface on the other side of the detachable interface.
  • the additional attachment mechanism may comprise: a (temporary) chemical adhesive; a mechanical fastener; a magnet; dry adhesion; Velcro; suction / vacuum adhesion; or tape.
  • the magnets may comprise: a rare earth magnet; a ferrite magnet; an alnico magnet; an electromagnets; or a ferromagnetic contact.
  • the detachable interface may comprise two shim plates: wherein at least one side of the detachable interface comprises (at least one) first shim plate coupled to the inferior surface of the frame and (at least one) second shim plate coupled to the superior surface of the cartridge or cartridge assembly.
  • the at least one detachable interface comprising said first and second shim plate could comprise at least one of: a metal plate; a magnetic plate; a non-metallic plate; or a nonmagnetic plate.
  • any of the preceding shim plate embodiments having a detachable interface there may exist another attachment mechanism between the shim plates themselves comprising at least one of: magnets; electrostatic adhesion; Van-der-Waals forces; dry adhesion; vacuum / suction; a temporary adhesive; a meltable adhesive; and a mechanical fastener.
  • electroadhesive film may be the same or different from a power supply mechanism configured for activating the electrostatic adhesion forces for the detachable interface comprising said first and second shim plates.
  • the power supply of any of the systems having a detachable interface may have a power supply that is separable from the frame.
  • the means or method of separation of the power supply may or may not be the same as the detachable interface.
  • the electroadhesive gripping system may include a conformable / deformable layer between the cartridge and electroadhesive film.
  • Said conformable / deformable layer may comprise: foam, a polymer, an elastomeric material, or a bladder.
  • the bladder may be a hydraulic or pneumatic bladder.
  • the bladder may be filled with a compressible or loosely packed material, such as polymer beads, sand, Styrofoam, beans, husks or other similar material, that would provide compliance to the electroadhesive gripper film surface, allowing for better conformance to a non-smooth or non-flat foreign surface.
  • FIG. 1 A is a side cross-section of an example electroadhesive device.
  • FIG. IB illustrates in side cross-sectional view the example electroadhesive device of FIG. 1 A adhered to a foreign object
  • FIG. 1C illustrates in side cross-sectional close-up view an electric field formed in the foreign object of FIG. IB as result of the voltage difference between electrodes in the adhered example electroadhesive device
  • FIG. 2A illustrates in side cross-sectional view an example pair of electroadhesive gripping surfaces having single electrodes thereon.
  • FIG. 2B illustrates in side cross-sectional view the example pair of electroadhesive gripping surfaces of FIG. 2A with voltage applied thereto.
  • FIG 3 A illustrates in top perspective view an example electroadhesive gripping surface in the form of a sheet with electrodes pattered on top and bottom surfaces thereof.
  • FIG. 3B illustrates in top perspective view another example electroadhesive gripping surface in the form of a sheet with electrodes patterned on the top and bottom surfaces thereof.
  • FIG. 3C illustrates in top perspective view another example electroadhesive gripping surface in the form of a sheet with electrodes patterned on the top and bottom surfaces thereof and also comprising an additional insulating layer to protect the electrodes.
  • FIG. 4A illustrates in a side section view an example electroadhesive gripping system comprising a representative frame with integral cartridge and film, and a separable power supply.
  • FIG. 4B illustrates in a side section view an example electroadhesive gripping system comprising a representative frame with side walls, an integral cartridge and film, and a separable power supply.
  • FIG. 4C illustrates in a side section view, an example cartridge with an integral intermediate deformable / conformable layer and film.
  • FIG. 4D illustrates in side view, an exploded assembly of a representative electroadhesive gripping system similar to FIGS. 4 A and / or 4B.
  • FIG. 4E illustrates in plan view, one possible configuration of a connecting interface for an electroadhesive film
  • FIG. 5A illustrates in a side section view an example electroadhesive gripping system comprising a representative frame with a detached cartridge assembly and film, and an optionally separable power supply.
  • FIG. 5B illustrates in a side section view, an example electroadhesive gripping system comprising a detachable cartridge assembly with an intermediate deformable / conformable layer and film.
  • FIG. 6A is an illustrative isometric view of a power supply.
  • FIG. 6B is a representative illustration of an insulated contact point for a power supply.
  • FIG. 7A illustrates in a side section view an example electroadhesive gripping system with a representative frame illustrating one form of a detachable interface comprising an attachment mechanism such as a magnet, and a detachable cartridge assembly and film, with a detachable interface comprising a shim plate, and an optionally separable power supply.
  • FIG. 7B illustrates in a side section view an example detachable cartridge assembly with an intermediate deformable or conformable layer between the cartridge and the film, and a detachable interface comprising a shim plate.
  • FIG. 8A illustrates in a side section view an example electroadhesive gripping system with a representative frame illustrating another form of detachable interface comprising a first shim plate, and a detachable cartridge assembly and film, with a detachable interface comprising a second shim plate, and an optionally separable power supply.
  • FIG. 8B illustrates in a side section view an example electroadhesive gripping system with a representative frame illustrating another form of detachable interface comprising a first shim plate, and a detachable cartridge assembly with an intermediate deformable or conformable layer between the cartridge and the film, with a detachable interface comprising a second shim plate.
  • An electroadhesive surface can include electrodes that are configured to induce an electrostatic attraction with nearby objects upon application of voltage to the electrodes.
  • Systems described herein may also employ a load-bearing frame that is coupled to an electroadhesive gripping surface in combination with a cartridge.
  • the cartridge and associated cartridge subassemblies provide the system with flexible modular options for component sub-assembly configurations that can improve performance, increase system functionality, reduce maintenance and operational expenses, and provide more flexible uses in a variety of different product applications, all within one system.
  • the cartridge concept reduces maintenance costs by reducing the amount of time and individual component costs associated with repairing or replacing a single sub-component of a system versus a major component, or the entire system, when only a sub-component has failed within the system.
  • the cartridge and the various assembly options provides the user with a flexible range of configurations that can be utilized within a manufacturing process, or multiple assembly lines having a variety of parts.
  • One core system (a "permanent" frame) can be utilized in multiple locations with a variety of different cartridge assembly configurations. This type of configuration lends itself to Just-In-Time (JIT) manufacturing and low-volume production manufacturing with quick production turn-over cycles.
  • JIT Just-In-Time
  • Electro-adhesion refers to the mechanical coupling of two objects using electrostatic forces. Electro-adhesion as described herein uses electrical control of these electrostatic forces to permit temporary and detachable attachment between a foreign substrate and a pick-up surface of an electro-adhesion-enabled pick-up tool. This electrostatic adhesion holds the foreign substrate and the pick-up surface together or increases the traction or friction between the foreign substrate and the surface of the pick-up plate due to electrostatic forces created by an applied electric field. The surface of the pick-up plate is placed against or nearby a surface of a foreign substrate. An electrostatic adhesion voltage is then applied via electrodes using external control electronics in electrical communication with the electrodes.
  • the electrostatic adhesion voltage uses alternating positive and negative charges on neighboring electrodes. As a result of the voltage difference between electrodes, one or more electro -adhesive forces are generated, which electro-adhesive forces act to hold the surface of the plate and the foreign substrate against one another. Due to the nature of the forces being applied, it will be readily appreciated that actual contact between the surface of the pick-up surface and the foreign substrate is not necessary. For example, a piece of paper, thin film, or other material or substrate may be placed between the pick-up surface of the plate and the foreign substrate. The electrostatic force maintains the current position of the pick-up surface of the plate relative to the surface of the foreign substrate. The overall electrostatic force may be sufficient to overcome the gravitational pull on the foreign substrate, such that the pick-up tool may be used to hold the foreign substrate aloft.
  • pick-up surface As the term is used herein, "pick-up surface”, “electroadhesion surface”, “gripper surface”, pick-up or gripping surface “blanket”, and variations thereof are intended to be synonymous, and refer to the electroadhesion film surface of the electroadhesion gripping system.
  • the pick-up surface of the system includes electrodes on an outside surface of an insulating material, or at or near the electroadhesion gripping surface of the electroadhesion film. This aspect is well suited for controlled attachment to insulating and weakly conductive inner materials of various foreign substrates.
  • the electrodes may be embedded within an insulating material so as to provide insulation both between the electrodes, and between the electrodes and the foreign substrate.
  • the insulating material may further comprise multiple separate layers of insulation, each providing different properties that are beneficial to the overall application.
  • a shorter distance between the surface of the pick-up plate and the surface of a foreign substrate results in a stronger electro-adhesive force between the objects. Accordingly, a deformable surface adapted to at least partially conform to the surface of the foreign substrate may be used.
  • an electrostatic adhesion voltage refers to a voltage that produces a suitable electrostatic force to couple the pick-up surface of the plate to a foreign substrate.
  • the minimum voltage needed for the pick-up surface will vary with a number of factors, such as: the size of the pick-up surface, the material conductivity and spacing of electrodes, the insulating material, the foreign substrate material, the presence of any disturbances to electro-adhesion such as dust, other particulates or moisture, the weight of any substrates being supported by the electro- adhesive force, compliance of the electro-adhesive device, the dielectric and resistivity properties of the foreign substrate, and the relevant gaps between electrodes and the foreign substrate surface.
  • an electro-adhesive pick-up surface can take the form of a substantially planar panel or sheet having a plurality of electrodes thereon.
  • the electro -adhesive pick-up surface may take a fixed shape that is matched to the geometry of the foreign substrate most commonly lifted or handled by the pick-up tool.
  • the electrodes may be enhanced by various means, such as by being patterned on an adhesive device surface to improve electro -adhesive performance, or by making them using soft or flexible materials to increase compliance and thus conformance to irregular surfaces on foreign substrates.
  • an electro-adhesive pick-up surface can take the form of a substantially planar panel or sheet having a plurality of electrodes thereon, resting over a cartridge having an intermediate layer or space or bladder that is deformable or conformable to rough or irregular surfaces or shapes of a foreign object.
  • the ability to better conform the electroadhesive film to the rough or irregular surfaces or shapes of a foreign object improves the adhesion bond and performance of the system.
  • deformable and conformable are intended to be interpreted synonymously; meaning: corresponding in form, compliant, ability to adapt; capable of being reshaped. And conversely, it is implied and directly suggested that these terms also mean the ability to return to their original shape, with in the elastic limits of the material.
  • the present disclosure relates in various embodiments to systems, devices and methods involving electroadhesive or electrostatic applications.
  • various embodiments relates in various embodiments to systems, devices and methods involving electroadhesive or electrostatic applications.
  • various embodiments relates in various embodiments to systems, devices and methods involving electroadhesive or electrostatic applications.
  • various embodiments relates in various embodiments to systems, devices and methods involving electroadhesive or electrostatic applications.
  • various embodiments relates in various embodiments to systems, devices and methods involving electroadhesive or electrostatic applications.
  • electroadhesive or electrostatic systems or devices can include electrodes adapted to deliver an electrostatic force suitable to adhere separate objects together.
  • a secondary adhesion component such as a base surface, may be included that facilitates the use of a secondary force or manner in addition to the electrostatic force to adhere the separate objects together.
  • a base surface or other secondary adhesion component can include a soft pad material having multiple modes of adhesion to a foreign object.
  • Electroadhesive device 10 includes one or more electrodes 18 located at or near an "electroadhesive gripping surface" 11 thereof, as well as an insulating material 20 between electrodes and a backing 24 or other supporting structural component.
  • the insulating material 20 may extend outward from the electrode and be present between the electrodes and the foreign substrate.
  • the insulator 20 may actually be comprised of several different layers of insulators.
  • electroadhesive device 10 is shown as having six electrodes in three pairs, although it will be readily appreciated that more or fewer electrodes can be used in a given electroadhesive device. Where only a single electrode is used in a given electroadhesive device, a complimentary electroadhesive device having at least one electrode of the opposite polarity is preferably used therewith. With respect to size, electroadhesive device 10 is substantially scale invariant. That is, electroadhesive device sizes may range from less than 1 square centimeter to greater than several meters in surface area. Even larger and smaller surface areas are also possible, and may be sized to the needs of a given application.
  • FIG. IB depicts in elevated cross-sectional view of the example electroadhesive device 10 of FIG. 1A adhered to a foreign object 14.
  • Foreign object 14 includes surface 12 and inner material 16.
  • Electroadhesive gripping surface 1 1 of electroadhesive device 10 is placed against or nearby surface 12 of foreign object 14.
  • An electrostatic adhesion voltage is then applied via electrodes 18 using external control electronics (not shown) in electrical communication with the electrodes 18.
  • the electrostatic adhesion voltage uses alternating positive and negative charges on neighboring electrodes 18.
  • electroadhesive forces act to hold the electroadhesive device 10 and foreign object 14 to each other. Due to the nature of the forces being applied, it will be readily appreciated that actual contact between electroadhesive device 10 and foreign object 14 is not necessary. Rather sufficient proximity to allow the electric field based electroadhesive interaction to take place is all that is necessary. For example, a piece of paper, thin film, or other material or substrate may be placed between electroadhesive device 10 and foreign object 14.
  • contact is used herein to denote the interaction between an electroadhesive device and a foreign object
  • actual direct surface to surface contact is not always required, such that one or more thin objects such as an insulator, can be disposed between an device or electroadhesive gripping surface and the foreign object.
  • an insulator between the gripping surface and foreign object can be a part of the device, while in others it can be a separate item or device.
  • the electroadhesive gripping surface there may be a gap between the electroadhesive gripping surface and the object being gripped and this gap can be decreased upon activation of the electroadhesive force.
  • the electroadhesive force can cause the electroadhesive gripping surface to move closer to the exterior surface of the object being gripped so as to close the gap.
  • the electroadhesive attraction can cause the gripping surface to move toward the exterior surface of the object being gripped at multiple points across the surface area of the gripping surface.
  • the compliant gripping surface to conform can the exterior surface microscopically, mesoscopically, and/or macroscopically.
  • Such local gap-closing by the gripping surface can thereby cause the gripping surface to (at least partially) conform to the exterior surface of the object.
  • Electroadhesive gripping surfaces with sufficient flexibility to conform to local non- uniformities, surface imperfections and other micro-variations and/or macro-variations in exterior surfaces of objects are referred to herein as compliant gripping surfaces. However, it is understood that any of the gripping surfaces described herein may exhibit such compliance whether specifically referred to as compliant gripping surfaces or not.
  • FIG. 1C illustrates in elevated cross-sectional close-up view an electric field formed in the foreign object of FIG. IB as a result of the voltage difference between electrodes in the adhered example electroadhesive device 10.
  • an electric field 22 forms in the inner material 16 of the foreign object 14.
  • the electric field 22 locally polarizes inner material 16 or induces direct charges on material 16 locally opposite to the charge on the electrodes of the device 18 and thus causes electrostatic adhesion between the electrodes 18 (and device 10) and the induced charges on the foreign object 14.
  • the induced charges may be the result of a dielectric polarization or from weakly conductive materials and electrostatic induction of charge.
  • the induced charges may completely cancel the electric field 22.
  • the internal electric field 22 is zero, but the induced charges nonetheless still form and provide electrostatic force to the electroadhesive device.
  • the electrostatic adhesion voltage provides an overall electrostatic force, between the electroadhesive device 10 and inner material 16 beneath surface 12 of foreign object 14, which electrostatic force maintains the current position of the electroadhesive device relative to the surface of the foreign object.
  • the overall electrostatic force may be sufficient to overcome the gravitational pull on the foreign object 14, such that the electroadhesive device 10 may be used to hold the foreign object aloft.
  • a plurality of electroadhesive devices may ⁇ be placed against foreign object 14, such that additional electrostatic forces agamst the object can be provided.
  • the combination of electrostatic forces may be sufficient to lift, move, pick and place, or otherwise handle the foreign object.
  • Electroadhesive device 10 may also be attached to other structures and hold these additional structures aloft, or it may be used on sloped or slippery surfaces to increase norma! or lateral friction forces.
  • Electrodes 18 Removal of the electrostatic adhesion voltages from electrodes 18 ceases the electrostatic adhesion force between electroadhesive device 10 and the surface 12 of foreign object 14. Thus, when there is no electrostatic adhesion voltage between electrodes 18, electroadhesive device 10 can move more readily relative to surface 12. This condition allows the electroadhesive device 10 to move before and after an electrostatic adhesion voltage is applied.
  • Well controlled electrical activation and de-activation enables fast adhesion and detachment, such as response times less than about 50 milliseconds, for example, while consuming relative!)' small amounts of power.
  • Electroadhesive device 10 includes electrodes 18 on an outside surface 11 of an insulating material 20. This embodiment is well suited for controlled attachment to insulating and weakly conductive inner materials 16 of various foreign objects 14. Other electroadhesive device 10 relationships between electrodes 18 and insulating materials 20 are also contemplated and suitable for use with a broader range of materials, including conductive material s. For example, a thin electrical ly insulating material (not shown) can be located on the surfaces of the electrodes.
  • insulating surfaces may also be used in certain cases, (such as illustrated by layer 49 in FIG. 3C), and the material on either side of the electrodes may be different from each other.
  • a shorter distance between surfaces 11 and 12 as well as the material properties of such an electrically insulating material results in a stronger electroadhesive attraction between the objects due to the distance dependence of the field-based induced electroadhesive forces.
  • a deformable surface 11 adapted to at least partially conform to the surface 12 of the foreign object 14 can be used.
  • an electrostatic adhesion voltage refers to a voltage that produces a suitable electrostatic force to couple electroadhesive device 10 to a foreign object 14.
  • the minimum voltage needed for electroadhesive device 10 will vary with a number of factors, such as: the size of electroadhesive device 10, the material conductivity and spacing of electrodes 18, the insulating material 20, the foreign object material 16, the presence of any disturbances to electroadhesion such as dust, other particulates or moisture, the weight of any objects being supported by the electroadhesive force, compliance of the electroadhesive device, the dielectric and resistivity properties of the foreign object, and/or the relevant gaps between electrodes and foreign object surface.
  • the electrostatic adhesion voltage includes a differential voltage between the electrodes 18 that is between about 500 volts and about 15 kilo volts. Even lower voltages may be used in micro applications. In one embodiment, the differential voltage is between about 2 kilovolts and about 5 kilovolts. Voltage for one electrode can be zero. Alternating positive and negative charges may also be applied to adjacent electrodes 18. The voltage on a single electrode may be varied in time, and in particular may be alternated between positive and negative charge so as to not develop substantial long-term charging of the foreign object. The resultant clamping forces will vary with the specifics of a particular electroadhesive device 10, the material it adheres to, any particulate disturbances, surface roughness, and so forth. In general, electroadhesion as described herein provides a wide range of clamping pressures, generally defined as the attractive force applied by the electroadhesive device divided by the area thereof in contact with the foreign object.
  • electroadhesive device 10 provides electroadhesive attraction pressures between about 0.7 kPa (about 0.1 psi) and about 70 kPa (about 10 psi), although other amounts and ranges are certainly possible.
  • the amount of force needed for a particular application may be readily achieved by varying the area of the contacting surfaces, varying the applied voltage, and/or varying the distance between the electrodes and foreign object surface, although other relevant factors may also be manipulated as desired.
  • an electrostatic adhesion force is the primary force used to hold, move or otherwise manipulate a foreign object, rather than a traditional mechanical or "crushing" force
  • the electroadhesive device 10 can be used in a broader set of applications. For example,
  • electroadhesive device 10 is well suited for use with rough surfaces, or surfaces with macroscopic curvature or complex shape.
  • surface 12 includes roughness greater than about 100 microns.
  • surface 12 includes roughness greater than about 3 mil limeters.
  • electroadhesive device 10 can be used on objects that are dusty or dirty, as well as objects that are fragile. Objects of varying sizes and shapes can also be handled by one or more electroadhesive devices, as set forth in greater detail below.
  • electroadhesive device 10 having electroadhesive gripping surface 1 1 of FIG. 1 A is shown as having six electrodes 18, it will be understood that a given electroadhesive device or gripping surface can have just a single electrode. Furthermore, it wil l be readily appreciated that a given electroadhesive device can have a plurality of different electroadhesive gripping surfaces, with each separate electroadhesive gripping surface having at least one electrode and being adapted to be placed against or in close proximity to the foreign object to be gripped.
  • electroadhesive device electroadhesive gripping unit and electroadhesive gripping surface are all used herein to designate electroadhesive components of interest, it will be understood that these various terms can be used interchangeably in various contexts.
  • electroadhesive device might comprise numerous distinct gripping surfaces, these different gripping surfaces might also be considered separate “devices” or alternatively “end effectors” themselves.
  • Embodiments with multiple different gripping surfaces may be considered as one single device or may also be considered as numerous different devices acting in concert.
  • FIGS. 2 A and 2B an example pair of electroadhesive devices or gripping surfaces having single electrodes thereon is shown in side cross-sectional view.
  • FIG. 2A depicts electroadhesive gripping system 50 having electroadhesive devices or gripping surfaces 30, 31 that are in contact with the surface of a foreign object 14, while FIG. 2B depicts activated
  • Electroadhesive gripping system 50 includes two electroadhesive devices or gripping surfaces 30, 31 that directly contact the foreign object 14. Each electroadhesive device or gripping surface 30, 31 has a single electrode 18 coupled thereto. In such cases, the electroadhesive gripping system can be designed to use the foreign object as an insulation material. When voltage is applied, an electric field 22 forms within foreign object 14, and an electrostatic force between the gripping surfaces 30, 31 and the foreign object is created. Various embodiments that include numerous of these single electrode electroadhesive devices can be used, as will be readily appreciated.
  • an electroadhesive gripping surface can take the form of a flat panel or sheet having a plurality of electrodes thereon.
  • the gripping surface can take a fixed shape that is matched to the geometry of the foreign object most commonly lifted or handled.
  • a curved geometry can be used to match the geometry of a cylindrical paint can or soda can.
  • the electrodes may be enhanced by various means, such as by being patterned on an adhesive device surface to improve electroadhesive performance, or by making them using soft or flexible materials to increase compliance and thus conformance to irregular surfaces on foreign objects.
  • FIGS. 3 A - 3C two examples of electroadhesive gripping surfaces in the form of flat panels or sheets with electrodes patterned on surfaces thereof are shown in top perspective view.
  • FIG. 3A shows electroadhesive gripping surface 60 in the form of a sheet or flat panel with electrodes 18 patterned on top and bottom surfaces thereof.
  • Top and bottom electrodes sets 40 and 42 are interdigitated on opposite sides of an insulating layer 44.
  • insulating layer 44 can be formed of a stiff or rigid material.
  • the electrodes as well as the insulating layer 44 may be compliant and composed of a polymer, such as an acrylic elastomer, to increase compliance.
  • the modulus of the polymer is below about 10 MPa and in another preferred embodiment it is more specifically below about 1 MPa.
  • Various known types of compliant electrodes are suitable for use with the devices and techniques described herein, and examples are described in U.S. Patent No. 7,034,432, which is incorporated by reference herein in its entirety and for all purposes.
  • Electrode set 42 is disposed on a top surface 23 of insulating layer 44, and includes an array of linear patterned electrodes 18, (and may also include an additional outer insulating layer 49, as illustrated in FIG. 3C).
  • a common electrode 41 electrically couples electrodes 18 in set 42 and permits electrical communication with all the electrodes 18 in set 42 using a single input lead to common electrode 41.
  • Electrode set 40 is disposed on a bottom surface 25 of insulating layer 44, and includes a second array of linear patterned electrodes 18 that is laterally displaced from electrodes 18 on the top surface. Bottom electrode set 40 may also include a common electrode (not shown). Electrodes can be patterned on opposite sides of an insulating layer 44 to increase the ability of the gripping surface 60 to withstand higher voltage differences without being limited by breakdown in the air gap between the electrodes, as will be readily appreciated.
  • Electroadhesive gripping surface 61 comprises a sheet or flat panel with electrodes 18 patterned only on one surface thereof. Electroadhesive gripping surface 61 can be substantially similar to electroadhesive gripping surface 60 of FIG. 3 A, except that electrodes sets 46 and 48 are interdigitated on the same surface 2.3 of a compliant insulating layer 44. No electrodes are located on the bottom surface 25 of insulating layer 44.
  • This particular embodiment decreases the distance between the positive electrodes 18 in set 46 and negative electrodes 18 in set 48, and allows the placement of both sets of electrodes on the same surface of electroadhesive gripping surface 61. Functionally, this eliminates the spacing between the electrodes sets 46 and 48 due to insulating layer 44, as in embodiment 60. It also eliminates the gap between one set of electrodes (previously on bottom surface 25) and the foreign object surface when the top surface 23 adheres to the foreign object surface. In some cases, the top (electrode) surface 23 may be further coated with an insulating material (as depicted by layer 49, and illustrated in FIG. 3C), so that the electrode sets 46 and 48 are completely sandwiched (e.g., encapsulated) between insulating materials.
  • an electroadhesive device or gripping surface may comprise a sheet or veil type grasper that is substantially flexible in nature.
  • a substantially flexible backing structure can be used, such that all or a portion of the veil type device or gripping surface can substantially flex or otherwise conform to a foreign object or objects, as may be desired for a given application.
  • Creating electroadhesive grippers that facilitate such conforming or compliance to a foreign object can be achieved, for example, by forming the electroadhesive layer or gripping surface out of thin materials, by using foam or elastic materials, by butting out flaps or extensions from a primary electroadhesive sheet, or by connecting the sheet only at a few selected underlying locations, rather than to an entire rigid backing, among other possibilities.
  • electroadhesive gripping surfaces in the form of flat panels or sheets depict bars or stripes for electrodes
  • any- suitable pattern for electrodes could also be used for such a sheet-type electroadhesive gripping surface.
  • a sheet-type electroadhesive gripping surface could have electrodes in the form of discrete squares or circles that are distributed about the sheet and polarized in an appropriate manner, such as in an evenly spaced "polka-dot" style pattern.
  • Other examples such as two sets of electrodes patterned as offset spirals can also be used.
  • a resulting flexible and compliant electroadhesive gripping surface "blanket” would be able to conform to the irregular surfaces of a relatively large object while providing numerous different and discrete electroadhesive forces thereto during voltage application.
  • an intermediate baffle or bladder layer may be provided as a substantially flexible backing layer under a flexible and somewhat elastic electroadhesive gripping film layer.
  • This substantially flexible backing layer should provide reversible
  • Said conformable / deformable layer may comprise: foam, a polymer, an elastomeric material, or be in the form of a bladder. Still further the bladder may be a hydraulic or pneumatic bladder. Still further, the bladder may be filled with a compressible or loosely packed material, such as polymer beads, sand, Styrofoam, beans, husks or other similar material, that would provide compliance to the electroadhesive gripper film surface, allowing for better conformance to a non-smooth or non-flat foreign surface.
  • any suitable pattern for electrodes could also be used for such a flexible baffle-sheet-type electroadhesive gripping surface.
  • a sheet-type electroadhesive gripping surface could utilize electrodes in the form of discrete squares or circles that are distributed about the sheet and polarized in an appropriate manner, such as in an evenly- spaced "polka-dot” style pattern, or where electrodes are distributed thereabout in the form of discrete discs, a resulting flexible and compliant electroadhesive gripping surface "blanket” would be able to conform to the irregular surfaces of a relatively large object while providing numerous different and discrete electroadhesive forces thereto during voltage application.
  • an electroadhesive gripping system comprising: a frame having a superior surface and an inferior surface; a cartridge having a superior and inferior surface wherein the superior surface is detachably connectable to the inferior surface of said frame; an electroadhesive film with one or more electrodes at or near the gripping surface, and a backing surface of said electroadhesive film at least partially covering and connectable to the inferior surface of said cartridge, or optionally extending over a portion of the superior surface of said frame; and a power supply coupled to the superior surface of said frame, configured to apply voltage to the one or more electrodes of the electroadhesive film, wherein at least a portion of said connecting interface of said electroadhesive film is in direct contact with said power supply.
  • FIGS 4A through 4E are illustrations of several variations of one version of the inventive modular electroadhesive gripping system. Illustrative details of the embodiment variations are delineated more clearly in the exploded detail of FIGS. 4D and 4E.
  • FIG. 4A is an example of an electroadhesive gripping system 100 comprising: a frame 101 having a superior surface 102, and an inferior surface 104; a cartridge 110 having a superior 111, inferior 112 and side surfacesl 13, detachably connected to the inferior surface 104 of the frame 101; an electroadhesive film 120 with one or more electrodes (not shown) at or near the gripping surface 120a, and a backing surface 120b of said electroadhesive film 120, at least partially covering the inferior surface 112 of said cartridge 110, and at least a portion of said electroadhesive film comprising a connecting interface 125, in this case extends over at least a portion of the superior surface 102 of said frame; a power supply 130 coupled to the superior surface 102 of said frame 101, configured to apply voltage to the one or more electrodes of the electroadhesive film 120, wherein at least a portion of said connecting interface 125 of the electroadhesive film is interspersed between an inferior surface
  • the superior and inferior surfaces of the frame may be incomplete surfaces, meaning that the surfaces may be partial surfaces resulting in an opening that creates a hollow space through the frame.
  • either the superior, or inferior, or both the superior and inferior surfaces of the frame may consist of an inwardly facing lip that runs completely around the frame on the planar surface that is the superior or inferior surface of the frame.
  • the lip may be as small as .25 inches in width or may cover almost the entire surface.
  • the frame further comprises side walls comprising interior and exterior faces, creating a cavity within the frame between the inferior surface and the interior faces of said sides.
  • the cartridge fits, at least partially, within, and conforms with the cavity of the frame.
  • FIG. 4B is an alternate example of an electroadhesive gripping system 100 shown in
  • FIG. 4A comprising: a frame 101 having a superior surface 102, sides 103 with interior 103a and exterior 103b faces, and an inferior surface 104, creating a cavity 105 within said frame 103 between said inferior surface 104 and the interior faces 103a, 103b of said sides; a cartridge 110 having a superior 111, inferior 112 and side surfaces 113 fitting at least partially within said cavity 105; an electroadhesive film 120 with one or more electrodes (not shown) at or near the gripping surface 120a, and a backing surface 120b of said electroadhesive film 120 wrapped around said frame 101, at least partially covering the inferior 112, side 113 and superior 111 surface of said cartridge 110, and the exterior faces 103b of said sides 103 of said frame 101, and wherein at least a portion of said electroadhesive film comprising a connecting interface 125, extends over the superior surface 102 of said frame; a power supply 130 coupled to the superior surface 102 of said frame 101, configured to apply voltage to the one
  • the electroadhesive gripping system further comprises a deformable or conformable layer dispersed between said cartridge and said electroadhesive film.
  • FIG. 4C illustrates a comparable system with the addition of a conformable / deformable layer 115 sandwiched between the cartridge and the electroadhesive film.
  • the deformable foam, polymer, elastomeric material layer, a bladder or baffle layer may be provided as a substantially flexible backing layer under a flexible and somewhat elastic electroadhesive gripping film layer.
  • the frame is load-bearing: Meaning the frame is capable of supporting loads heavier than the electroadhesive gripping system itself.
  • the frame is metallic.
  • the frame may be magnetic.
  • the frame may be non-metallic or electrically non-conductive.
  • the electroadhesive film 120 comprising one or more electrodes (not shown) at or near the surface and having a connecting interface 125 also comprises contact pads 126 that connect to the one or more electrodes.
  • the contact pads may comprise by way of non-limiting example: conductive areas or patterns; pogo pins; leaf springs; carbon brushes; spring contacts; metallic contact buttons 126a; wiring connectors; a wiring harness; rare earth magnets; ferrite magnets; alnico magnets;
  • the power supply 130 also comprises contact points 132 for connecting and transferring power to the contact pads 126 of the connecting interface 125 of the electroadhesive film 120 and transferring voltage to the electrodes, as illustrated in FIGS. 6A & 6B.
  • the contact points may comprise by way of non-limiting example: pogo pins 132a; leaf springs; carbon brushes; spring contacts;
  • FIG. 6 illustrates just one possible arrangement of contact points 132, 132a on the inferior surface 131 of power supply 130.
  • the connecting interfaces between the power supply and the electroadhesive film may also include wiring connectors and / or a wiring harness on both components, in lieu of pogo pins; leaf springs; carbon brushes; spring contacts; metallic contact buttons; rare earth magnets; ferrite magnets; alnico magnets; electromagnetic or ferromagnetic contacts.
  • the connecting interfaces between the power supply and the electroadhesive film may include some combination of wiring connectors and / or a wiring harness between multiple components, in addition to pogo pins; leaf springs; carbon brushes; spring contacts; metallic contact buttons; rare earth magnets; ferrite magnets; alnico magnets; electromagnetic or ferromagnetic contacts.
  • wiring connectors and / or a wiring harness between multiple components, in addition to pogo pins; leaf springs; carbon brushes; spring contacts; metallic contact buttons; rare earth magnets; ferrite magnets; alnico magnets; electromagnetic or ferromagnetic contacts.
  • the contact pads 126 and/or contact points 132 comprise electrical insulators 127, 133 respectively.
  • the entire connecting interface 125 of the electroadhesive film 120 may be insulated from the frame 103.
  • the power supply is separable from the frame.
  • any of the embodiments of the electroadhesive gripping system described herein comprise at least one attachment mechanism to retain the adjoining surfaces of the various components, at least partially, within intimate contact with each other.
  • the various adjoining surfaces may include: the power supply and the frame; the power supply and the electroadhesive film connecting interface; the frame and the cartridge; the cartridge and the deformable layer; the cartridge and the electroadhesive film; the deformable layer and the electroadhesive film; the electroadhesive film and the frame; or the connecting interface and the frame.
  • dry adhesion or dry glue refers to an adhesion product based upon the adaptations of geckos' feet that allow them to climb sheer surfaces such as vertical glass. Synthetic equivalents use carbon nanotubes as synthetic setae on reusable adhesive patches.
  • the attachment mechanism may include: a chemical adhesive; such as an adhesive glue layer; a mechanical fastener; such as screws, bolts, nuts, rivets, etc; a heat fastener (e.g.: welded, spot welded, or spot- melted location); dry adhesion; such as dry glue, or soft sheeting held by Van der Waals forces or carbon nanotubes, (sometimes referred to as "artificial gecko"); Velcro; suction / vacuum adhesion; magnetic attachment or tape (e.g.: single- or double-sided).
  • the attachment mechanism may create a permanent, temporary or even removable form of attachment.
  • an electroadhesive gripping system 200 comprising: in some aspects, a permanent frame assembly 1000, comprising a frame 101 having a superior surface 102, sides 103 with interior 103a and exterior 103b faces, and an inferior surface 104, creating a cavity 105 within said frame 101 between said inferior surface 104 and the interior faces 103 a of said sides 103; a power supply 130 coupled to the superior surface 102 of said frame 101 comprising contact points 132 for transferring voltage, said contact points 132 protruding through an opening 102a in said frame 101; a cartridge 110 having a superior 111, inferior 112, and side 113 surfaces fitting at least partially within said frame cavity 105 comprising: an electroadhesive film 120 with one or more electrodes (not shown) at or near the gripping surface 120a, and a backing surface 120b of the electroadhesive film 120 wrapped around
  • an electroadhesive gripping system comprising an electroadhesive gripping system comprising: a frame having a superior surface and an inferior surface; a cartridge having a superior surface and inferior surface detachably connectable to said inferior surface of said frame; an electroadhesive film with one or more electrodes at or near a gripping surface, a backing surface at least partially covering and detachably connectable to the inferior surface of said cartridge and comprising a first connecting interface; a power supply comprising a second connecting interface configured to apply voltage to the one or more electrodes of the
  • the connecting interface between the electroadhesive film and the power supply may be comprised of a wiring harness or similar quick-disconnect assembly mechanism in lieu of contact pads and contact points.
  • the frame 101 is load- bearing: Meaning the frame is capable of supporting loads heavier than the electroadhesive gripping system frame itself.
  • the frame is metallic. In still other words,
  • the frame may be magnetic. In yet other embodiments, the frame may be non- metallic or electrically non-conductive. As stated previously, each option provides potential advantages over another in a given manufacturing environment, or with a different set of subassembly components.
  • the electroadhesive gripping system further comprises a deformable or conformable layer 115 dispersed between said cartridge and said electroadhesive film.
  • FIG. 5B illustrates a comparable system with the addition of a conformable / deformable layer 115 sandwiched between the cartridge and the electroadhesive film.
  • the deformable foam, polymer, elastomeric material layer, a bladder or baffle layer may be provided as a substantially flexible backing layer under a flexible and somewhat elastic electroadhesive gripping film layer.
  • the cartridge and said electroadhesive film combine as a separable cartridge sub-assembly 215a.
  • the cartridge, said deformable or conformable layer, and said electroadhesive film combine as yet another type of separable cartridge sub-assembly 215b.
  • the connecting interface of the electroadhesive film is electrically insulated from said frame when assembled.
  • the contact points 132 of the power supply 130 are electrically insulated 132a from said frame 101.
  • the contact points 132 may comprise by way of non-limiting example: pogo pins 132a; leaf springs; carbon brushes; spring contacts; metallic contact buttons; wiring connectors; a wiring harness; rare earth magnets; ferrite magnets; alnico magnets; or ferromagnetic contacts.
  • the contact pads 126 of the electroadhesive film connecting interface 125 are also electrically insulated.
  • the contact pads 126 may comprise by way of non-limiting example: pogo pins; leaf springs; carbon brushes; spring contacts; metallic contact buttons 126a; wiring connectors; a wiring harness; rare earth magnets; ferrite magnets; alnico magnets; or ferromagnetic contacts.
  • the entire connecting interface of the electroadhesive film may be insulated from the frame.
  • the power supply is separable from the frame.
  • alternative embodiments of the frame assembly 1000 as illustrated in FIGS 5 A, 7 A, or 8 A could comprise a frame without sides or a cavity, as illustrated in FIG. 4A.
  • the connecting interface between the electroadhesive film and the power supply may be comprised of a wiring harness or similar quick-disconnect assembly mechanism in lieu of contact pads and contact points.
  • the system may have multiple power supply units to apply voltage to different components or sub-assembly units of the system at different times.
  • connecting interfaces may be applied to different power supply units within the same system, depending on the location of the power supply relative to the component being supplied by the power supply unit.
  • a detachable power supply connected to the frame may utilize a wireless connecting interface with contact points and contact pads; whereas a remote power supply mounted on the base or robotic arm of the system may utilize a wiring harness or similar quick-disconnect system for applying power to a sub-assembly or component of the system where there is inadequate room for a power supply to be directly attached.
  • any of the embodiments of the electroadhesive gripping system described herein comprise at least one attachment mechanism to retain the adjoining surfaces of the various components, at least partially, within intimate contact with each other.
  • the various adjoining surfaces may include: the power supply and the frame; the cartridge and the deformable layer; the deformable layer and the electroadhesive film, the cartridge and the connecting interface, or the cartridge and the electroadhesive film.
  • the attachment mechanism may include: a chemical adhesive; such as an adhesive glue layer; a mechanical fastener; such as screws, bolts, nuts, rivets, etc; a heat fastener (e.g.: welded, spot welded, or spot- melted location); a track based or mechanically nesting system, dry adhesion; such as dry glue, soft surfaces adhering using passive van der Waals forces or carbon nanotubes; Velcro; suction / vacuum adhesion; or tape (e.g.: single- or double-sided), magnetic or electromagnetic attachment.
  • the attachment mechanism may create a permanent, temporary or even removable form of attachment.
  • a mechanical fastener may be desirable for attach the power supply to the frame, whereas it may be preferable to have any combination of permanent, temporary, or removable chemical adhesive between adjacent layers of the cartridge and conformable layer, cartridge and electroadhesive film, or conformable layer and electroadhesive film.
  • heat fastened connections between various components such as insulators and contacts.
  • more conventional or cost-conservative attachment mechanisms such as tape, Velcro or even suction pads may be desired.
  • more advanced methods of adhesion such as dry adhesion may be preferable in wet environments or where elaborate frame or component materials might require more creative or expensive attachment means.
  • electroadhesive gripping systems Provided herein are variations of an electroadhesive gripping system comprising any of the configurations described herein, and further comprising at least one detachable interface 150.
  • a detachable interface is any modular system connection point, intended to be easily separable for inspection, repair, or replacement.
  • connection interface points are normally strategically designed and placed to easily allow an operator to manipulate the connection when necessary, but to remain and maintain a stable connection between two components when in normal use.
  • the detachable interface 150 is between the power supplyl30 and frame 101 as illustrated in any of FIGS 5, 7 & 8. In other embodiments the detachable interface 150 is between the permanent frame assembly 1000, or the frame 101 and the cartridge assembly 215, 315, 415 as illustrated in FIGS. 5, 7 & 8.
  • the at least one detachable interface utilizes an attachment mechanism comprising at least one of: a chemical adhesive; a dry glue or dry adhesion fastening mechanism; a mechanical fastener; Velcro; tape; a magnet; or an electroadhesive surface.
  • the magnets may comprise: a rare earth magnet; a ferrite magnet; an alnico magnet; an electromagnets; or a ferromagnetic contact.
  • the attachment mechanism may pertain to the method of attaching the detachable interface to the gripping system components, or in some cases the attachment mechanism may pertain to the method of attaching the detachable interfaces themselves together.
  • the at least one detachable interface further comprises a magnetic shim plate 117 on one assembly component and magnets on the opposing component. Still further the magnetic shim plate is coupled to the superior surface 111 of the cartridge 110 of the cartridge assy assembly 315 as shown in FIGS. 7 & 8. In other embodiments the magnetic shim plate is coupled to the inferior surface 104 of the frame 101.
  • an attachment mechanism such as: a chemical adhesive; a mechanical fastener; Velcro; tape; or a magnet may be utilized to adhere or couple the shim plate to the mating component surface.
  • the shim plate may not be magnetic.
  • the shim plate may be a metal plate; a non- metallic plate; or a non-magnetic plate.
  • an appropriate attachment mechanism such as those described above can be selected to create either a permanent or temporary form of attachment.
  • a second attachment mechanism may be utilized between said shim plate and the opposing coupling surface on the other side of the detachable interface.
  • the second attachment mechanism may comprise: a (temporary) chemical adhesive; a mechanical fastener; a magnet; dry adhesion; Velcro; suction / vacuum adhesion; or tape.
  • the magnets may comprise: a rare earth magnet; a ferrite magnet; an alnico magnet; an electromagnets; or a ferromagnetic contact.
  • each component of the detachable interface has a means of attaching to its host attachment surface and a secondary attachment mechanism for removable attachment to its mating detachable interface on the opposing component.
  • the detachable interface 150 may comprise two shim plates: wherein at least one side of the detachable interface comprises (at least one) first shim plate 117, wherein the superior surface 117a of the shim plate 117 is coupled to the inferior surface 104 of the frame 101, and (at least one) second shim plate 1 17, wherein the inferior surface 117b of the shim plate 117 is coupled to the superior surface 111 of the cartridge 110 or cartridge assembly 315a or 315b.
  • the at least one detachable interface comprising said at least one first shim plate 117 and at least one second shim plate 117 could comprise at least one of: a metal plate; a magnetic plate; a non-metallic plate; or a non-magnetic plate.
  • any of the preceding shim plate embodiments having a detachable interface 150 there may exist yet another attachment mechanism 108 between the shim plates themselves comprising by way of non-limiting example, at least one of: magnets 108a; electrostatic adhesion; Van-der- Waals forces; dry adhesion; vacuum / suction; a temporary adhesive; a meltable adhesive; and a mechanical fastener.
  • the power supply mechanism 130 of any one of the configurations described and configured for activating the electroadhesive film may be the same or different from a power supply mechanism configured for activating electrostatic adhesion forces for the detachable interface comprising said first and second shim plates or the electrostatic adhesion force between the electroadhesive film and the cartridge.
  • the power supply of any of the systems having a detachable interface may have a power supply that is separable from the frame. The means or method of separation of the power supply may or may not be the same as the detachable interface.
  • the electroadhesive gripping system may include a conformable / deformable layer between the cartridge and electroadhesive film.
  • Said conformable / deformable layer may comprise: foam, a polymer, an elastomeric material, or a bladder.
  • the bladder may be a hydraulic or pneumatic bladder.
  • the bladder may be filled with a compressible or loosely packed material, such as polymer beads, sand, Styrofoam, beans, husks or other similar material, that would provide compliance to the
  • electroadhesive gripper film surface allowing for better conformance to a non-smooth or non-flat foreign surface.

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Abstract

L'invention concerne une fabrication automatisée qui requiert souvent des outils fiables pour acquérir ou déplacer des articles au cours du processus de fabrication. Un dispositif de préhension électro-adhésif utilise des surfaces électro-adhésives pour acquérir et déplacer des articles d'une étape du processus à une autre. Une surface électro-adhésive peut comprendre des électrodes qui sont configurées pour induire une attraction électrostatique avec des objets proches lors de l'application d'une tension aux électrodes. Des systèmes de l'invention utilisent également un cadre de support de charge qui est couplé à une surface de préhension électro-adhésive. Des composants de ces systèmes électro-adhésifs peuvent être configurés de sorte à présenter une construction modulaire afin de simplifier la construction et l'entretien. Certains composants peuvent être jetables ou requièrent une réparation plus fréquente que d'autres composants. L'assemblage modulaire et la construction des composants simplifient l'entretient et réduisent tous les couts de fonctionnement.
PCT/US2013/077280 2013-12-20 2013-12-20 Système de préhension électro-adhésif modulaire Ceased WO2015094375A1 (fr)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9987755B2 (en) 2014-03-17 2018-06-05 Grabit, Inc. Eletroadhesive gripping system with smart brake and metering
US10745164B2 (en) 2014-04-21 2020-08-18 Grabit, Inc. Automated item handling with reconfigurable totes
US10800044B2 (en) 2017-08-28 2020-10-13 Laitram, L.L.C. Singulation of conveyed products using electroadhesion
WO2020214120A1 (fr) 2019-04-16 2020-10-22 Hi̇dropar Hareket Kontrol Teknoloji̇leri̇ Merkezi̇ Sanayi̇ Ve Ti̇caret Anonim Şirketi Procédé de génération de force d'attraction électrostatique contrôlable entre deux objets et d'obtention d'une adhérence à cette force d'attraction
US10987815B2 (en) 2016-01-12 2021-04-27 Grabit, Inc. Methods and systems for electroadhesion-based manipulation and mechanical release in manufacturing
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Publication number Priority date Publication date Assignee Title
US9987755B2 (en) 2014-03-17 2018-06-05 Grabit, Inc. Eletroadhesive gripping system with smart brake and metering
US10745164B2 (en) 2014-04-21 2020-08-18 Grabit, Inc. Automated item handling with reconfigurable totes
US10987815B2 (en) 2016-01-12 2021-04-27 Grabit, Inc. Methods and systems for electroadhesion-based manipulation and mechanical release in manufacturing
US11203123B2 (en) 2016-01-12 2021-12-21 Grabit, Inc. Methods and systems for combined negative pressure and electroadhesion-based manipulation in manufacturing
US11338449B2 (en) 2016-01-12 2022-05-24 Grabit, Inc. Methods and systems for electroadhesion-based manipulation in manufacturing
US10800044B2 (en) 2017-08-28 2020-10-13 Laitram, L.L.C. Singulation of conveyed products using electroadhesion
US11949350B2 (en) 2018-06-28 2024-04-02 3M Innovative Properties Company Flexible devices with jamming components
US12132419B2 (en) 2018-06-28 2024-10-29 3M Innovative Properties Company Low voltage electrostatic jamming device
WO2020214120A1 (fr) 2019-04-16 2020-10-22 Hi̇dropar Hareket Kontrol Teknoloji̇leri̇ Merkezi̇ Sanayi̇ Ve Ti̇caret Anonim Şirketi Procédé de génération de force d'attraction électrostatique contrôlable entre deux objets et d'obtention d'une adhérence à cette force d'attraction
US11381179B2 (en) 2019-04-16 2022-07-05 Hidropar Hareket Kontrol Teknolojileri Merkezi Sanayi Ve Ticaret Anonim Sirketi Method of generating a controllable electrostatic attraction force between two objects and providing adhesion with this attraction force
WO2024145660A3 (fr) * 2022-12-29 2024-08-29 Estat Actuation, Inc. Procédés pour empêcher une mise en court-circuit de bord et une mise en court-circuit répétée d'électrodes dans des embrayages électrostatiques

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