Suction grabber

Abstract

The present invention relates to a suction gripper (10) for sucking objects (90), which has a suction body (12), which defines a suction inner space (14), the suction body having a first wall section (16) and a second wall section (18), the wall sections being connected to each other via a folding portion (20), a suction opening (22) being constructed in the first wall section, the first wall section surrounding the suction opening and the suction body being open through the suction opening, and a connecting joint (24) being provided on the second wall section, characterized in that the suction body is flexibly constructed in the following manner: when the suction gripper is placed with the suction opening on the object to be sucked, the first wall section is deformed relative to the suction opening in the following manner: the end (28) of the first wall section facing away from the suction opening is transferred toward the object, so that the first wall section at least partially rests with its outer side (26) on the object to be gripped.

Description

Technical Field

[0001] The invention relates to a suction gripper for sucking objects. Background Art

[0002] Suction grippers of the type mentioned above are typically used to suction objects when operated with a handling device. The suction gripper has a suction body that delimits an interior suction space and has a suction opening. The suction gripper rests on the object, for example, with a sealing section, for suction. The suction gripper is connected to the handling device via a connecting connector provided on the suction body. The handling device thus enables manipulation of the object being sucked by the suction gripper.

[0003] During passive operation of the suction gripper, the suction gripper, for example, rests and presses against the surface of an object with its sealing section, for example by applying external pressure to the suction gripper. For example, it can be configured so that some of the air in the suction interior escapes and, when the suction body is relaxed, an initial, relatively low suction negative pressure is generated in the suction interior. Depending on the design, the air escapes, for example, laterally between the sealing section and the object or through a connecting joint. To perform an operation using the operating device, the suction gripper is then raised in the opposite direction of the previously applied external pressure. In the initial suction state of the suction body, this raising causes the weight of the object to act as a pulling force on the suction gripper. This pulling force causes the suction body to elastically deform, increasing the volume of the suction interior, and therefore further reducing the pressure level in the suction interior, ultimately providing a strong negative pressure for sufficient holding force.

[0004] In active operation of the suction gripper, the suction gripper rests against the workpiece, and the pressure level in the suction interior is reduced by a pump, blower, ejector, or vacuum reservoir, for example, via a fluid channel in a connection. As long as the volume flow drawn from the suction interior in this way remains higher than the volume flow resulting from leakage between the sealing section and the workpiece, the workpiece can remain attached to the suction gripper indefinitely.

[0005] Further suction grippers are known from DE 10 2019 133 542 A1, DE 60 2004 012 823 T2, DE 101 35 404 B4, DE 4430 381 A1, US Pat. No. 4,600,229 A and US Pat. No. 2,850,279 A. Summary of the Invention

[0006] The object of the present invention is to provide a suction gripper with good holding properties, so that the suction gripper enables reliable handling of objects in an energetically advantageous manner.

[0007] The object is achieved by the suction gripper of the present invention. Therefore, a suction gripper for sucking objects, in particular workpieces, is proposed, which has a suction body that defines a suction internal space, and the suction body has a first wall section and a second wall section. These wall sections are connected to each other via a folded portion. A suction opening is constructed in the first wall section, the first wall section surrounds the suction opening and the suction body is open (outwardly) through the suction opening. A connecting joint is provided on the second wall section. The suction body is flexibly constructed so that when the suction gripper is placed on the object to be sucked through the suction opening, the first wall section is deformed relative to the suction opening, so that the end of the first wall section facing away from the suction opening is transferred toward the object, for example, by a pivoting movement or a flipping movement of the first wall section relative to the suction opening, so that the first wall section is at least partially, preferably completely, in contact with the object to be gripped with its outer side. The outer side of the first wall section at least partially constitutes a sealing section.

[0008] When the suction gripper is placed onto the object to be gripped, the air between the first wall section and the object is displaced or squeezed (radially) outward, particularly from the suction opening. This allows a sealing section or surface to be formed between the outer side of the first wall section and the object. The air previously located between the first wall section and the object does not need to be evacuated separately by the suction gripper; rather, it is displaced "automatically" when the suction gripper is placed. This results in a smaller dead volume and faster evacuation of the suction gripper, particularly pre-evacuation by pressing the suction gripper against the object. This makes the suction gripper particularly energy-efficient.

[0009] The suction gripper can assume a non-suction configuration, in which the (suctioned) object is attached to the suction gripper, and a suction configuration. In the non-suction configuration, the first wall section can have a bowl-shaped or conical design. In the suction configuration, the first wall section can have a disc-shaped design. The non-suction configuration and the suction configuration are to be understood as final configurations. The suction gripper can also assume intermediate configurations between the final configurations.

[0010] If the suction body is sealed against the surface of the object using the outer side of its first wall section or its sealing section and is initially pressed, the suction body can be essentially sealed relative to the surface of the object through its suction inner space. In principle, slight leakage of the suction inner space is possible here. If the suction gripper is then pulled away from the surface of the object again by means of its connecting joint and / or if the object is pulled on the suction gripper in contact due to its gravity, this is accompanied by a flexible, particularly elastic deformation of the suction body. The volume difference of the suction inner space between the configuration in which the suction body is initially pressed against the object and the configuration in which the object is held by the suction body then leads to the formation of a high negative pressure and therefore to the formation of a firm hold of the object on the suction gripper.

[0011] The suction body can be made at least partially or completely of a flexible and / or elastic material, in particular of an elastomer. The suction body can in particular have a wall that delimits the suction opening and the suction interior, or the suction body can be configured as a wall that delimits the suction opening and the suction interior. Furthermore, the suction body can have a circular or oval cross-section that is continuous, in particular along its height. This results in a suction body that is spherically shaped in the non-suctioned configuration.

[0012] Arranging the connection joint on a second wall section of the suction body that delimits the suction interior space can particularly mean that the second wall section surrounds the connection joint, in particular, is arranged to extend around the connection joint. Preferably, the connection joint passes through the wall section. The second wall section therefore particularly refers to a wall section of the suction body that extends radially away from the connection joint. The connection joint can be arranged in the center of the second wall section.

[0013] The second wall section and / or the connecting connection is arranged in particular opposite the suction opening, in particular when there is a non-suctioned configuration and a suctioned configuration of the suction body.

[0014] The connection can be provided, in particular, for fastening the suction gripper to a handling device and / or for pneumatically connecting the suction interior to the surroundings or a vacuum supply device, in particular a pump, a blower, an ejector and / or a vacuum reservoir. This allows for simple handling of the suction gripper and / or for providing evacuation for active operation of the suction gripper.

[0015] Accordingly, it can be provided that the suction gripper is operated in an active manner. The connecting connector can accordingly have a fluid connection to the suction interior. Thus, connecting the connecting connector to the vacuum supply device can establish a vacuum connection between the suction interior and the vacuum supply device. The vacuum applied in the suction interior specifically causes the suction gripper to remain in the suction configuration or in an intermediate configuration.

[0016] It can be provided that the first wall section has a sealing element on its outer side at the suction opening and / or at its end facing away from the suction opening, in particular surrounding the first wall section. This reduces leakage on the outer side of the first wall section or at the sealing section. The sealing element or elements can each be designed as a seal or a sealing lip.

[0017] The sealing element at the suction opening can be partially permeable to air or air. This increases the effective area (suction area) of the suction gripper. Thus, even after the suction gripper has been placed on the object, a complete vacuum can be drawn on the outside of the first wall section or in the sealing section. For this purpose, the sealing element can, for example, be of generally porous design or have small channels extending through the sealing element.

[0018] The first wall section can be air-permeable or air-permeable, and / or a small channel extending from the outside through the wall section to the suction interior can be formed in the first wall section. This allows one or more flow connections from the outside of the first wall section to the suction interior to be formed. This allows the negative pressure to be distributed over the outside or in the sealing section, thereby increasing the holding force.

[0019] It can be provided that the first wall section has (additional) adhesion surfaces, friction surfaces, sealing surfaces, microstructures, and / or gecko structures on its outer side. This allows for the transmission of additional forces when the suction gripper is placed on the workpiece. For example, adhesion pads, foam structures, or expandable soft structures can be provided.

[0020] The first wall section can have an extension, by means of which the first wall section at the end facing away from the suction opening is at least partially extended beyond the fold. This increases the outer effective portion or sealing portion. This allows for a higher force (gripping force) to be transmitted. This allows for better gripping of larger and / or heavier objects. "Partially extended" means that the first wall section is extended at least partially, preferably completely around its circumference.

[0021] It can be provided that a mechanical gripping device for gripping and / or enclosing the object to be sucked is mounted on the extension. This facilitates a secure grip of the object. The mechanical gripping device can have fingers and / or fins or be designed as fingers and / or fins.

[0022] It can be provided that a (further) channel is formed in the first wall section, which extends from the suction inner space to the outside of the extension of the first wall section. This also contributes to the reliable suction of objects, because the negative pressure can be guided into the outer area of the first wall section (large effective suction surface).

[0023] The first wall section can be designed such that, when placed against an object, a profile that slopes (radially) outwards or tapers from the suction opening is formed on the outside of the first wall section. Thus, as in a Bernoulli suction gripper, the air flowing toward the center generates an additional negative pressure. This facilitates reliable suction of objects by the suction gripper. The profile that slopes (radially) outwards or tapers from the suction opening can be achieved by appropriately shaping the first wall section or by reducing its thickness.

[0024] An insert can be provided in the suction opening of the suction body, which closes the suction opening and has an actuable valve or non-return valve. This allows the suction gripper to be operated passively without the need for an additional vacuum generator. The negative pressure is generated by initially pressing the suction gripper onto the object to be suctioned and, if necessary, by subsequently lifting the object with the aid of the suction gripper. The insert represents, in particular, an additional sealing element. In addition to the actuable valve or non-return valve, the insert can, if necessary, have a sensor system, such as a pressure sensor. A flow guide from the suction interior to the exterior surface can also be provided.

[0025] It can be provided that, when the suction gripper is in contact with the object, the (maximum) cross-section of the suction interior of the suction body is smaller than the effective suction surface on the outer surface of the suction gripper. This contributes to a favorable ratio between the internal volume of the suction interior and the sealing section or suction surface. This contributes to energy-efficient operation.

[0026] It can be provided that the second wall section is designed as a bellows having at least one outer fold and at least one inner fold. In particular, the bellows can also be designed with at least two or more outer folds and at least two or more inner folds. The suction body has a smaller circumference at the inner folds than at the outer folds and, in the case of a circular cross-section, a smaller diameter than at the outer folds. By unfolding the bellows, a particularly large maximum volume of the suction interior of the suction body can be achieved.

[0027] The second wall section can be configured to be at least partially stiffer than the first wall section. This allows for high stability of the second wall section and high flexibility of the first wall section. The high flexibility of the first wall section can thus be used for rapid and energy-efficient deformation of the first wall section from the un-suctioned configuration to the suctioned configuration of the suction body. Conversely, the second wall section can stabilize the suction body as a whole, particularly when placed against an object to be suctioned. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Further details and advantageous embodiments of the invention can be gathered from the following description, with the aid of which exemplary embodiments of the invention are described and explained in greater detail.

[0029] In the attached figure:

[0030] Figure 1 shows a cross-sectional view of a suction gripper in a non-suction configuration;

[0031] Figure 2 Shown Figure 1 a cross-sectional view of the suction gripper shown in the suction configuration;

[0032] Figure 3 Shown Figure 1 A cross-sectional view of a possible design of the suction gripper shown in a non-suction configuration;

[0033] Figure 4 Shown Figure 3 a cross-sectional view of the suction gripper shown in a non-suction configuration;

[0034] Figure 5 Shown Figure 3 A cross-sectional view of a possible design of a suction gripper is shown. DETAILED DESCRIPTION

[0035] Figure 1 The figure shows a cross-sectional view of the suction gripper 10 in a non-suction configuration, wherein the suction gripper 10 touches the object 90 to be suctioned but has not yet suctioned it (the suction gripper 10 merely rests against the object 90). The suction gripper 10 has a suction body 12. In this example, the suction body 12 is designed as a whole to be elastic and flexible. For example, the suction body 12 can be composed of an elastomer. In the present case, the suction body 12 can also be understood as a wall.

[0036] The suction body 12 delimits a suction interior 14 . The suction body 12 has a first wall section 16 and a second wall section 18 , wherein the wall sections 16 , 18 are connected to one another via a fold 20 .

[0037] An intake opening 22 is formed in the first wall section 16 , which surrounds the intake opening and through which the intake body 12 is open to the outside, ie, to the surroundings. In this example, the intake opening 22 is arranged centrally in the first wall section 16 .

[0038] A connection joint 24 is provided on the second wall section 18. In this example, the connection joint 24 is provided in the center of the second wall section 18. In this example, the connection joint 24 is embedded in the second wall section 18. A manipulation device (not shown) can be connected to the connection joint 24 to move the suction gripper 10. Even when the suction gripper 10 has sucked up an object 90, the object 90 can still be manipulated using it.

[0039] In this example, the first wall section 16 has a sealing element 30 on its outer side 26 at the suction opening 22, which surrounds the first wall section 16. Furthermore, the first wall section 16 has a further sealing element 32 on its outer side 26 at its end 28 facing away from the suction opening 22, which surrounds the first wall section 16. The sealing elements 30, 32 can each be designed as a seal or a sealing lip.

[0040] The sealing element 30 at the suction opening 22 can be gas-permeable or air-permeable, for example, by a porous design or by channels (not shown) formed in the sealing element 30. The first wall section 16 itself can also be designed to be gas-permeable. Alternatively or in addition, channels can be formed in the first wall section 16, which extend from the outer side 26 through the wall section 16 to the suction interior 14 (not shown). Optionally, the first wall section 16 can have an adhesion surface, a friction surface, a sealing surface, a microstructure and / or a gecko structure on its outer side 26, as explained above (not shown).

[0041] The first wall section 16 can be constructed as follows: (as in a Bernoulli suction gripper) in the state resting against the object 90 , a contour sloping outwards from the suction opening 22 is formed on the outer side 26 of the first wall section 16 , as explained above (not shown).

[0042] In this example, the second wall section 18 is configured to be at least partially stiffer than the first wall section 16. The second wall section 18 can be configured as a bellows (not shown) having at least one outer fold and at least one inner fold.

[0043] As mentioned above, Figure 1 The non-suction configuration of the suction gripper 10 is shown, wherein the suction gripper 10 rests with the suction opening 22 on the object 90 to be suctioned, but is not (yet) suctioned. The first wall section 16 has a bowl-shaped design in this configuration (see Figure 1 ).

[0044] The suction body 12 is designed flexibly in such a way that when the suction gripper 10 is placed with the suction opening 22 onto the object 90 to be suctioned, for example by corresponding pressing, the first wall section 16 is deformed relative to the suction opening 22 in such a way that the end 28 of the first wall section 16 facing away from the suction opening 22 is moved toward the object 90 to be suctioned, so that the first wall section 16 rests at least partially with its outer side 26 on the object 90 to be gripped. In this configuration, the first wall section 16 has a disk-shaped design (see Figure 2 ).

[0045] When the suction gripper 10 is placed and pressed onto the object 90 to be sucked (from Figures 1 to 2The air between the first wall section 16 and the object 90 to be sucked in is forced radially outwards from the suction opening 22. Thus, a sealing section or sealing surface 34 is formed between the outer side 26 of the first wall section 16 and the object 90. The object 90 is thus sucked in by the suction gripper 10 (see Figure 2 ).

[0046] With the help of Figure 1 and Figure 2 A comparison shows that in the resting state of the suction gripper 10 , the maximum cross section of the suction interior 14 of the suction body 12 is smaller than the effective suction surface or sealing surface 34 on the outer surface 26 of the suction gripper 10 .

[0047] Figure 3 and Figure 4 A possible design scheme of the above-mentioned suction gripper 10 is shown. The suction gripper 10 is largely similar to the reference Figure 1 and Figure 2 The described suction gripper 10 is identical, so that reference is made to the exemplary embodiments there to avoid repetitions.

[0048] In contrast thereto, the first wall section 16 has an extension 36, by means of which the first wall section 16 at the end 28 facing away from the suction opening 22 is extended at least partially, but in this example completely around, beyond the fold 20. In this example, a further sealing element 32 is provided at the end 28 of the first wall section 16 facing away from the suction opening 22 and is therefore also located in the region of the extension. Figure 3 and Figure 4 It can be seen that the resulting sealing section or sealing surface 34 is enlarged by the extension 36 .

[0049] A mechanical gripping device for gripping and / or enclosing the object 90 to be suctioned, as described above (not shown), can be mounted on the extension 36. Independently of this, a channel can be formed in the first wall segment 16 that extends from the suction interior 14 to the outer side 26 of the extension 36 of the first wall segment 16. Thus, negative pressure can be introduced into the radially outer region of the first wall segment 16.

[0050] Figure 5 Shown is a reference Figure 3 and Figure 4 A possible embodiment of a suction gripper 10 is described. This suction gripper is largely identical to the above-described embodiment, so that reference is made to the exemplary embodiments there to avoid repetitions.

[0051] In contrast, an insert 40 is provided in the suction opening 22, which closes the suction opening 22 and has an actuable valve or a non-return valve (not shown). The insert 40 represents an additional sealing element. In addition to the actuable valve or non-return valve, the insert 40 may, if necessary, have a sensor system, such as a pressure sensor. A flow guide (not shown) may also be provided from the suction interior 14 to the outer surface 26.

[0052] It goes without saying, refer to Figure 1 and Figure 2 The described suction gripper 10 can also be equipped with an insert 40 .

Claims

1. A suction gripper (10) for sucking an object (90), wherein: The suction gripper (10) has a suction body (12) which delimits a suction interior space (14), the suction body (12) having a first wall section (16) and a second wall section (18), the wall sections (16, 18) being connected to one another via a fold (20), a suction opening (22) being formed in the first wall section (16), the first wall section (16) surrounding the suction opening and the suction body (12) being open through the suction opening, and a connecting joint being provided on the second wall section (18) (24), characterized in that the suction body (12) is flexibly constructed in the following manner: when the suction gripper (10) is placed with the suction opening (22) on the object (90) to be sucked, the first wall section (16) is deformed relative to the suction opening (22) in the following manner: the end (28) of the first wall section (16) facing away from the suction opening (22) is transferred toward the object (90), so that the first wall section (16) at least partially rests with its outer side (26) on the object (90) to be gripped, The first wall section (16) is gas-permeable and / or channels are formed in the first wall section (16), which extend from the outside (26) through the first wall section (16) to the suction interior (14).

2. The suction gripper (10) according to claim 1, characterized in that The first wall section (16) has a sealing element on its outer side (26) at the suction opening (22) and / or at its end (28) facing away from the suction opening (22).

3. The suction gripper (10) according to claim 2, characterized in that The sealing element at the suction opening (22) is partially air-permeable.

4. The suction gripper (10) according to claim 1, characterized in that The suction object (90) is a workpiece.

5. The suction gripper (10) according to claim 1 or 2, characterized in that The first wall section (16) has an adhesion surface on its outer side (26).

6. The suction gripper (10) according to claim 1 or 2, characterized in that The first wall section (16) has an extension (36), by means of which the first wall section (16) is at least partially extended beyond the fold (20) at an end (28) facing away from the suction opening (22).

7. The suction gripper (10) according to claim 6, characterized in that A mechanical gripping device for gripping and / or enclosing the object (90) is mounted on the extension (36).

8. The suction gripper (10) according to claim 6, characterized in that Channels are formed in the first wall section (16) and extend from the suction interior (14) to the outer side (26) of an extension (36) of the first wall section (16).

9. The suction gripper (10) according to claim 1 or 2, characterized in that The first wall section (16) is designed in such a way that, in a state resting against the object (90), a contour sloping outwardly from the suction opening (22) is formed on the outer side (26) of the first wall section (16).

10. The suction gripper (10) according to claim 1 or 2, characterized in that An insert (40) is arranged in the suction opening (22), which closes the suction opening (22) and has an actuable valve or a non-return valve.

11. The suction gripper (10) according to claim 1 or 2, characterized in that When the suction gripper (10) is in contact with the object (90), the maximum cross section of the suction interior (14) of the suction body (12) is smaller than the effective suction surface on the outer side (26) of the suction gripper (10).

12. The suction gripper (10) according to claim 1 or 2, characterized in that The second wall section (18) is designed as a bellows having at least one outer fold and at least one inner fold.

13. The suction gripper (10) according to claim 1 or 2, characterized in that The second wall section (18) is designed to be at least partially harder than the first wall section (16).

14. The suction gripper (10) according to claim 2, characterized in that The first wall section (16) has a sealing element surrounding the first wall section (16) on its outer side (26) at the suction opening (22) and / or at its end (28) facing away from the suction opening (22).

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