Suction grippers and vacuum handling devices

Abstract

The invention relates to a suction gripper (10) for gripping and manipulating objects by means of negative pressure, comprising a base part (20), the suction gripper having a suction side (14) with a suction surface (16) providing a suction cross section (18) for sucking up the object, the suction gripper having at least one sliding element (24) which can slide relative to the base part, the base part and the at least one sliding element being configured such that they jointly provide the suction surface (16), and the suction cross section (18) of the suction surface can be adjusted by sliding the at least one sliding element relative to the base part. Furthermore, the invention relates to a negative pressure manipulation device comprising the suction gripper and a control device.

Description

Technical Field

[0001] The invention relates to a suction gripper according to the preamble of claim 1 and a vacuum manipulation device according to claim 11 . Background Art

[0002] Such a suction gripper is used to grip objects by means of negative pressure and is used, for example, as an end effector in a negative pressure manipulation device for manipulating objects. A suction gripper generally has a suction surface that provides a suction cross section for adsorbing and holding the object. In order to be able to adsorb objects reliably, it is important that the suction cross section matches the geometric shape and size ratios of the object to be gripped as well as possible. If the suction cross section is, for example, too small, then in some cases it may not be possible to provide sufficient gripping force to reliably manipulate the object. On the other hand, if the suction cross section is too large or has a mismatched shape, so that the suction surface, for example, partially protrudes from the object to be gripped, then unexpected leakage may result when adsorbing the object. In addition, the protruding section of the suction gripper may form an interfering contour during the gripping process.

[0003] In this context, it is known in practice to use suction grippers with different suction cross-section sizes and to replace them accordingly depending on the geometry and properties of the object to be gripped. However, this often leads to disadvantageous downtimes during the gripping process.

[0004] Suction grippers are also known in which individual areas of the suction surface can be selectively activated and deactivated. For example, suction points present in the suction surface can be configured to be individually activatable and deactivatable. However, such suction grippers are associated with considerable structural complexity. Furthermore, deactivated suction areas can create interfering contours when gripping small objects.

[0005] A suction gripper is described in DE 10 2018 120 155 A1, which comprises a base and a suction body. The suction body provides a suction surface and comprises a plurality of radially arranged rods and a flexible and airtight wall extending between the rods. The rods are arranged so that the size of the suction surface can be adjusted by supporting the rods. This creates a larger overall height and causes deformation of the large material area when adjusting the size of the suction surface, which can lead to material fatigue. Summary of the Invention

[0006] The object of the present invention is to provide a gripper for objects of different shapes and size ratios, which gripper has a long service life and enables reliable gripping.

[0007] This object is achieved by a suction gripper having the features of claim 1 .

[0008] The suction gripper is configured to grip and manipulate an object by means of negative pressure. The suction gripper comprises a base part, which in particular comprises a negative pressure interface for providing negative pressure to the suction gripper.

[0009] The suction gripper also has a suction side with a suction surface, wherein the suction surface provides an effective suction cross section for sucking objects. The suction surface can be particularly flat. However, it is also conceivable that the suction surface is curved.

[0010] In addition, the suction gripper also has at least one sliding member, which can slide relative to the base member. In particular, the at least one sliding member is fixed on the base member in the following manner, that is, the at least one sliding member can slide relative to the base member.

[0011] The base part and the at least one sliding part are configured so that they jointly provide a suction surface, in particular define the suction surface. In addition, the base part and the at least one sliding part are configured so that the suction cross section of the suction surface can be adjusted by sliding the at least one sliding part relative to the base part.

[0012] In such a suction gripper, the suction cross section can be flexibly adapted to the available gripping surface of the object in a simple manner. In particular, the gripping force can be maximized depending on the available gripping surface. This enables reliable gripping. When the suction cross section is adjusted by sliding the sliding member relative to the base member, material fatigue and wear can be significantly reduced. In addition, interfering contours during the gripping process can be reduced. For example, the suction cross section can be adjusted in such a way that the suction surface of the suction gripper does not extend beyond the object to be gripped. Overall, such a structural design thus enables objects of different sizes and properties to be reliably gripped using a single suction gripper. Therefore, in particular, there is no need to replace the gripper.

[0013] It is possible to provide only one sliding element. However, it can also be advantageous to provide multiple sliding elements that can slide relative to the base element along corresponding sliding paths. The sliding paths of the individual sliding elements can, for example, extend along mutually parallel or identical sliding axes. It is also conceivable for the sliding axes to extend obliquely relative to one another, for example, converging toward one another in a star shape. In particular, it is also possible for the sliding paths to extend along sliding curves that are designed as arcs.

[0014] In a design in which the suction gripper has a plurality of sliding elements, the sliding movements of the sliding elements can be separated from one another. In this case, the sliding elements can be configured to slide independently of one another relative to the base element. It is also possible that the sliding elements are linked to one another.

[0015] Preferably, a first region of the suction cross section is provided by the base element, and at least one further region of the suction cross section is formed in a variable size depending on the sliding configuration of the at least one sliding element relative to the base element. In this regard, the suction cross section comprises a first region assigned to the base element and at least one further region provided by the sliding configuration of the sliding element relative to the base element. In other words, it is particularly possible to create an additional suction cross section and thus increase the effective suction cross section by moving the base element and the at least one sliding element apart. In particular, the first region of the suction cross section is effectively provided by the base element, and the at least one further region of the suction cross section is provided by the at least one sliding element.

[0016] An advantageous design provides that the base element and the at least one sliding element can be at least partially inserted and pulled apart. The base element and the at least one sliding element are particularly designed such that the suction cross section of the suction surface decreases when inserted and increases when pulled apart. In particular, the at least one sliding element at least partially surrounds the base element, or vice versa. With such a design, interfering contours during gripping are particularly small.

[0017] For a reliable functioning of the sliding movement of the at least one sliding element, it is particularly advantageous if the at least one sliding element is mounted so as to be slidingly displaceable on the base element.

[0018] Preferably, the base member has a guide surface and the sliding member has a corresponding mating surface, so that when the sliding member slides, its mating surface is guided by the guide surface. For example, the guide surface can be provided by a wall defining the base member, in particular, by a housing wall of the base member. The mating surface can then be provided by a wall defining the at least one sliding member, in particular, by a housing wall of the at least one sliding member.

[0019] Another particularly preferred structural design is that the guide surface and the matching surface are at least partially configured as parallel surfaces, that is, at least partially extend parallel to each other. Here, the parallel surfaces can be flat or arched. In particular, free-form surfaces are also conceivable.

[0020] Preferably, the suction surface is surrounded by a sealing lip. In particular, the sealing lip comprises at least two sealing lip segments that can be at least partially inserted in an interlaced manner and can be pulled apart again. In this case, the first sealing lip segment is provided in particular by the base member, and the second sealing lip segment is provided in particular by the at least one sliding member. In such a structural design, an additional suction cross section is provided when the sealing lip segments are pulled apart, and this additional suction cross section is generally surrounded by the corresponding sealing lip, thereby generally expanding the effective suction cross section. When the sealing lip segments are inserted in an interlaced manner, the suction cross section then becomes smaller again. Preferably, the sealing lip segments abut against each other in such a way that they seal against each other, but still allow relative movement between the base member and the at least one sliding member. The sealing lip can, for example, be made of an elastomer. It is also possible that the sealing lip is made of engineering foam.

[0021] The suction surface can be provided, for example, in the form of a suction bell via a suction opening which is surrounded by the sealing lip. However, other structural designs are also conceivable.

[0022] For example, the suction surface can also be provided by a suction plate having a plurality of suction holes. The suction plate preferably comprises at least two suction plate segments that are slidable relative to each other, preferably at least partially interlaced and retractable. The first suction plate segment is preferably provided by the base element, while the second suction plate segment is preferably provided by the at least one sliding element. The contact surface of the suction plate, which is intended to rest against the object to be gripped, is preferably formed from a flexible backing, such as foam.

[0023] An advantageous improvement is that the base member and / or the at least one sliding member have a housing with a negative pressure chamber, wherein the negative pressure chamber has a suction opening oriented in the direction of the suction plate. Preferably, the suction opening is arranged and constructed so that it is covered by the suction plate in the configuration of the suction gripper in which the suction plate segments are inserted alternately, and is at least partially opened in the configuration of the suction gripper in which the suction plate segments are pulled apart. In this case, in the configuration in which the suction plate segments are pulled apart, the suction opening can provide an additional suction cross section, thereby generally expanding the effective suction cross section. In the configuration of the suction gripper in which the suction plate segments are inserted alternately, the suction opening can also be used, for example, to provide negative pressure for only a portion of the suction holes.

[0024] To prevent unintended leakage, it can be advantageous if the suction gripper includes a sealing device for sealing the base part and the at least one sliding part relative to each other. Such sealing can be achieved by sealing lip segments (elastomer / foam elements) or suction plate segments that abut or overlap each other. It is also possible for the sealing device to include at least one deployable sealing membrane ("rolling membrane") that connects the base part and the at least one sliding part to each other. In particular, the at least one deployable sealing membrane is designed to be flexible when the suction gripper is not under negative pressure, which facilitates the sliding of the at least one sliding part relative to the base part.

[0025] It is possible that the at least one sliding member is configured to be manually slidable relative to the base member. For example, it is conceivable that the suction cross section is first adjusted by sliding the at least one sliding member relative to the base member and then locking the at least one sliding member in this sliding configuration by a corresponding fastening mechanism.

[0026] One advantageous aspect is that the suction gripper includes an actuator for driving the sliding movement of the at least one sliding element relative to the base element. This allows the suction cross section to be variably adjusted, in particular automatically, in a simple manner. The actuator particularly includes at least one actuator, which can be operated in various ways, such as pneumatically, electrically, electromechanically (for example, when using a shape memory material), and / or hydraulically. A control device can also be provided to control the actuator, which can particularly be a component of the vacuum manipulation device (see below).

[0027] Furthermore, in a design of the suction gripper with an actuator, it can be advantageous if the suction gripper includes a sensor system with at least one sensor for indirectly or directly detecting the relative position of the base element and the at least one sliding element. This allows for a precise adjustment of the suction cross section.

[0028] The object mentioned at the outset is also achieved by a vacuum manipulation device according to claim 11 .

[0029] The vacuum manipulation device comprises the aforementioned suction gripper with an actuator according to claim 10 and a control device. The control device is particularly configured to control the actuator to drive the sliding movement between the base element and the at least one sliding element. Such a vacuum manipulation device enables automated, task-dependent adjustment of the suction cross section. In particular, the control device may include a permanent data memory in which control data, in particular, can be stored or has been stored, based on which the actuator can be controlled to cause the at least one sliding element to slide. It is also conceivable that the control device has an input interface via which an operator can control the actuator. For example, it is conceivable that the operator can input information about the object to be gripped (e.g., dimensions, weight, etc.) via the input interface, and the control device then automatically determines a suitable sliding configuration or suction cross section and controls the actuator accordingly.

[0030] Within the scope of an advantageous structural design, the negative pressure manipulation device may further include a sensor device that cooperates with the control device to detect the geometric shape of the object to be grasped or the surface of the object suitable for grasping. The sensor device is configured as a camera device, for example. In this case, the communication between the sensor device and the control device can be wired or wireless. The sensor device (for example a camera device) is particularly configured to detect the external shape of the object to be grasped, or in particular to detect a suitable grasping surface. For this purpose, the camera device may include a correspondingly arranged camera. The control device cooperates with the sensor device or the camera device in particular in the following manner, that is, the control device controls the actuator in the following manner according to the detected external shape of the object, in particular according to the size of the detected grasping surface, that is, adjusts the suction cross section adapted to the size of the suction surface. Such a structural design makes it possible to adjust the suction cross section as needed according to the external shape of the object to be grasped. Particularly preferably, the camera device is designed and arranged in such a way that it can detect an object which follows an object already gripped by the suction gripper in the conveying direction in which the object is conveyed to the suction gripper.

[0031] As an option, the vacuum manipulation device may further include an actuator, in particular in the form of a robot, for moving the at least one suction gripper within a space. Furthermore, it may be advantageous if the vacuum manipulation device additionally includes a sensor device cooperating with the control device to detect the distance between the suction surface and the object to be gripped. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be described in detail below with reference to the accompanying drawings.

[0033] The accompanying drawings show:

[0034] Figure 1a , b schematically shows a side view of a suction gripper in a structural design with a sliding member ( Figure 1a ) and top view ( Figure 1b );

[0035] Figure 2a , b schematically shows a bottom view of another structural design of the suction gripper with a sliding member, wherein the sliding member is inserted ( Figure 2a ) and the sliding piece is pulled out ( Figure 2b );

[0036] Figure 3a , b schematically shows a top view of a suction gripper in another structural design with two sliding members, wherein the sliding member is inserted ( Figure 3a ) and the sliding piece is pulled out ( Figure 3b );

[0037] Figure 4 yes Figure 3a The suction gripper shown is along Figure 3a An enlarged portion of the sectional view taken along the section line IV-IV;

[0038] Figure 5a , b schematically shows a bottom view of a suction gripper in a construction design with a suction plate, wherein the suction plate segments are staggered ( Figure 5a ) and the suction plate section is pulled apart ( Figure 5b );

[0039] Figure 6 A top view schematically showing the structural design of a suction gripper with three sliding elements;

[0040] Figure 7 A schematic top view of a suction gripper in a design with four slides;

[0041] Figure 8 A schematic top view of a suction gripper in another design with two slides;

[0042] Figure 9 is a schematic diagram of a negative pressure manipulation device including a suction gripper.

[0043] In the following description and in the figures, identical or corresponding features are respectively provided with the same reference numerals. DETAILED DESCRIPTION

[0044] Figure 1a and 1b A simplified schematic diagram of a suction gripper 10 in a first configuration is shown for gripping and manipulating an object 12 (in Figure 9), the structure and basic functions of the suction gripper 10 are intended to be explained based on this construction design.

[0045] The suction gripper 10 has a suction side 14 with a suction surface 16 , which provides an effective suction cross section 18 for sucking up the object 12 (described in more detail below).

[0046] The suction gripper 10 comprises a base part 20, which preferably has a negative pressure interface 22 for connecting to an external negative pressure supply device (not shown). In addition, the suction gripper 10 also comprises a sliding part 24, which can slide relative to the base part 20 along a sliding axis 26. Figure 1a and 1b The dot-dash line in FIG. 2 shows the sliding configuration of the sliding element 24. The base element 20 and the sliding element 24 together provide the suction surface 16, as will be explained in more detail below.

[0047] Exemplarily preferably, the base member 20 and the sliding member 24 each have a housing 28, 30, which can be inserted and pulled apart telescopically. Figure 1b As can be seen in FIG, in the example shown, the sliding element 24 at least partially surrounds the base element 20. However, other configurations are also conceivable, such as a configuration in which the base element 20 surrounds the sliding element 24 (see the design according to FIG. 2).

[0048] Preferably, the sliding member 24 is fixed to the base member 20 in a slidable manner. For this purpose, the base member 20 has a guide surface 32, and the sliding member 24 has a corresponding mating surface 34, so that when the sliding member 24 slides, its mating surface 34 is guided on the guide surface 32. Exemplarily preferably, the guide surface 32 and the mating surface 34 are at least partially configured as parallel surfaces. Here, the parallel surfaces can be, for example, flat (see Figures 1 to 7) or curved (see Figure 8 , which will be explained in detail below). In an embodiment not shown, the parallel surfaces may also be configured as free-form surfaces having irregular curves.

[0049] The housing 28 of the base part 20 and the housing 30 of the sliding part 24 in particular jointly define a vacuum chamber 36 which is open in the direction of the suction side 14 via a suction opening 38 (see Figure 2a and 2b The suction opening 38 is surrounded by a sealing lip 40 which is designed to rest against the object 12 to be gripped. In this respect, the suction opening 38 provides a suction surface 16 in the manner of a suction bell.

[0050] For example, from Figure 2bAs can be seen in the figure, the sealing lip 40 has a first sealing lip section 42 and a second sealing lip section 44. In the example shown, the first sealing lip section 42 is assigned to the base part 20, while the second sealing lip section 44 is assigned to the sliding part 20. The sealing lip sections 42, 44 are designed so that they can be inserted and pulled apart again at least partially. Figure 2a and 2b A bottom view of the suction gripper 10 is shown, wherein Figure 2a The suction gripper 10 is shown in a configuration in which the sealing lip segments 42, 44 are partially interleaved. Figure 2b It is shown in the configuration in which the sealing lip segments 42, 44 are pulled apart. Figure 2a and 2b As can be seen in FIG, a first region 18-1 of the suction cross section 18 is provided by the base part 20. When the sliding element 24 is pulled out, a further region 18-2 of the suction cross section 18 is provided. In other words, by pulling out the sliding element 24, an additional region of the suction cross section 18 can be formed and the size of the suction surface 16 can be adjusted in this way.

[0051] The sealing lip 40 may be formed, for example, from an engineered foam (in Figure 2a and 2b ). It is also possible that the sealing lip 40 is made of an elastomer. Figures 3a to 4 The figures show a top view of an embodiment of a suction gripper 10 with two sliding elements 24-1, 24-2, showing such a construction design with an elastomer sealing lip 40. Here, the two sliding elements 24-1, 24-2 can slide relative to the base element 20 along a common sliding axis 26. As can be seen from Figure 4 As can be seen in FIG, the sealing lip sections 42 , 44 bear against one another in particular in such a way that they seal one another while nevertheless allowing a relative movement between the base part 20 and the sliding part 24 .

[0052] Figure 5a and 5b Another embodiment of the suction gripper 10 is shown, in which the suction surface 16 is provided by a suction plate 46. The suction plate 46 includes a plurality of suction holes 48 through which objects 12 can be sucked. In the example shown, the suction plate 46 is formed by two suction plate segments 50, 52 that can be inserted at least partially into one another. In the example shown, the first suction plate segment 50 is substantially U-shaped, while the second suction plate segment 52 is substantially T-shaped, wherein the longer leg of the T-shaped suction plate segment 52 can be inserted into the U-shaped suction plate segment 50.

[0053] In particular, the first suction plate section 50 is provided by the base part 20 and the second suction plate section 52 is provided by the at least one sliding element 24. In this regard, the configuration of the suction plate 46 can be changed by sliding the sliding element 24 relative to the base part 20.

[0054] Figure 5a The suction plate 46 is shown in a first configuration in which the suction plate segments 50 , 52 are completely interleaved. Figure 5b The suction plate 46 is shown in a second configuration in which the suction plate segments 50 , 52 are extended.

[0055] If you can Figure 5a and 5b As can be seen in FIG, the suction plate 46 is particularly configured so that in a first configuration in which the suction plate segments 50, 52 are inserted one above the other (see FIG. Figure 5a ) The suction port 38 of the negative pressure chamber 36 (at Figure 5a In the second configuration (not visible in FIG), the suction plate segments 50, 52 are covered, while in the second configuration (see FIG. Figure 5b ) so that the suction opening 38 is at least partially exposed. In the second configuration, the suction opening 38 provides an additional suction cross section 18 for sucking the object 12, thereby generally enlarging the effective suction cross section 18.

[0056] Figures 6 to 8 A simplified schematic diagram of another embodiment of a suction gripper 10 with multiple slides 24 is shown. Figures 6 to 8 The suction gripper 10 can, in principle, be constructed as described above in the form of a suction bell with a sealing lip 40 (see Figures 2a to 4 ) and / or in the form of a suction plate 46 (see Figure 5a and 5b ).

[0057] Figure 6 The suction gripper 10 is shown in a design having three slides 24-1, 24-2, and 24-3. In the example shown, the base element 20 comprises three legs 54-1, 54-2, and 54-3 arranged in a star shape, wherein a slide 24-1, 24-2, and 24-3 is slidably secured to each leg 54-1, 54-2, and 54-3. The respective sliding axes 26-1, 26-2, and 26-3 of the slides 24-1, 24-2, and 24-3 extend converging toward one another in a star shape.

[0058] Figure 7The suction gripper 10 is shown with a design having four slides 24-1, 24-2, 24-3, 24-4. The base element 20 comprises four legs 54-1, 54-2, 54-3, 54-4 arranged in a cross. A slide 24-1, 24-2, 24-3, 24-4 is slidably secured to each leg 54-1, 54-2, 54-3, 54-4. In this regard, two slides 24-1, 24-2, 24-3, 24-4 can slide along a common sliding axis 26-1, 26-2.

[0059] Figure 8 Another embodiment of the suction gripper 10 is shown, which includes two sliders 24-1 and 24-2. In the example shown, the base element 20 and the sliders 24-1 and 24-2 are arcuate. In this regard, the guide surface 32 of the base element 20 and the mating surfaces 34 of the sliders 24-1 and 24-2 are correspondingly arched, allowing the sliders 24-1 and 24-2 to slide relative to the base element 20 along an arcuate sliding curve.

[0060] In the illustrated construction, a sealing device (not shown) may be provided for relative sealing between the base member 20 and the sliding member 24. For example, the sealing device may include at least one expandable sealing membrane that connects the base member 20 and the at least one sliding member 24 to each other.

[0061] In principle, it is possible that the at least one sliding element 34 is designed to be manually slidable. However, the suction gripper 10 preferably comprises an actuator (not shown) for driving the sliding movement of the at least one sliding element 24 relative to the base element 20 .

[0062] For controlling the actuators, a control device 56 can be provided, which is in particular a component of a vacuum manipulation device 58 for manipulating the object 12 .

[0063] Figure 9 Such a vacuum manipulation device 58 is shown. The vacuum manipulation device 58 comprises the above-mentioned suction gripper 10 with an actuator and the above-mentioned control device 56.

[0064] In an exemplary embodiment, the suction gripper 10 is fixed to a robot 60 for moving the suction gripper 10 in space. The robot 60 can be controlled by a correspondingly configured robot control system 62.

[0065] The control device 56 is designed to control an actuator to control the sliding movement of the at least one sliding element 24 relative to the base element 20. In the example shown, the control device 56 includes a permanent data memory 64 in which control data for controlling the actuator can be or have been stored. Grip object data defining the operating task to be performed can also be stored.

[0066] As an option, the vacuum manipulation device 58 may further include a sensor device 66 that cooperates with the control device 56 and is configured to detect the grippable surface or outer shape of the object 12 to be gripped, in particular, to detect the size of the available gripping surface 68. The sensor device 66 is particularly a camera device that includes a correspondingly configured camera 70. Preferably, the camera 70 is configured to detect an object 12 that follows an object 12 already gripped by the suction gripper 10 along a conveying direction 72 (in which the object 12 is conveyed to the suction gripper 10, for example, by a conveying device 74).

[0067] The control device 56 preferably cooperates with the sensor device 66 in the following manner, i.e., the control device 56 controls the actuator as follows based on the external shape of the object 12 detected by the sensor device 66, in particular the size of the detected gripping surface 68, i.e., adjusts the suction cross section 18 to match the size of the gripping surface 68.

Claims

1. A suction gripper (10) for gripping and manipulating an object (12) by means of negative pressure, the suction gripper comprising: a base part (20) and a suction side (14) having a suction surface (16) providing a suction cross section (18) for sucking up the object (12), Its characteristics are: The suction gripper (10) has at least one sliding element (24) which is slidable relative to the base element (20). The base part (20) and the at least one sliding part (24) are configured such that they jointly provide the suction surface (16), and the suction cross section (18) of the suction surface (16) can be adjusted by sliding the at least one sliding part (24) relative to the base part (20). The base part (20) and the at least one sliding part (24) are capable of at least partially being inserted in an interlaced manner and being pulled apart again, wherein the base part (20) and the at least one sliding part (24) are constructed so that the suction cross section of the suction surface becomes smaller when they are inserted in an interlaced manner and the suction cross section increases when they are pulled apart.

2. The suction gripper (10) according to claim 1, wherein A first region (18-1) of the suction cross section (18) is provided by a base part (20), and at least one further region (18-2) of the suction cross section (18) is provided in a variable size depending on a sliding configuration of the at least one sliding part (24) relative to the base part (20).

3. The suction gripper (10) according to claim 1, wherein: The at least one sliding element (24) is slidably supported on the base element (20).

4. The suction gripper (10) according to claim 1, wherein The base part (20) has a guide surface (32) and the sliding part (24) has an associated mating surface (34), so that when the sliding part (24) slides, its mating surface (34) is guided on the guide surface (32), wherein the guide surface (32) and the mating surface (34) are at least partially configured as parallel surfaces.

5. The suction gripper (10) according to claim 1, wherein The suction surface (16) is surrounded by a sealing lip (40), which has at least two sealing lip segments (42, 44) that can be inserted at least partially in an offset manner, wherein the first sealing lip segment (42) is provided by the base part (20) and the second sealing lip segment (44) is provided by the at least one sliding part (24).

6. The suction gripper (10) according to claim 1, wherein The suction surface (16) is provided by a suction plate (46) having a plurality of suction holes (48), The suction plate (46) includes at least two suction plate segments (50, 52) that can slide relative to each other. The first suction plate section (50) is provided by the base element (20), and the second suction plate section (52) is provided by the at least one sliding element (24).

7. The suction gripper (10) according to claim 6, wherein: The suction plate segments (50, 52) can be inserted at least partially in an interlaced manner.

8. The suction gripper (10) according to claim 6, wherein The base part (20) and / or the at least one sliding part (24) have a housing (28, 30) with a negative pressure chamber (36), The negative pressure chamber (36) has a suction port (38). The suction opening (38) is arranged and constructed so that it is covered by the suction plate (46) in a configuration in which the suction plate segments (50, 52) of the suction gripper (10) are inserted in an interlaced manner, and is at least partially open in a configuration in which the suction plate segments (50, 52) of the suction gripper (10) are pulled apart.

9. The suction gripper (10) according to claim 1, wherein A sealing device is provided for sealing the base member (20) and the at least one sliding member (24) relative to each other.

10. The suction gripper (10) according to claim 9, wherein The sealing device comprises at least one expandable sealing membrane, which connects the base part (20) and the at least one sliding part (24) to each other.

11. The suction gripper (10) according to any one of the preceding claims, further comprising an actuator for driving a sliding movement of the at least one sliding element (24) relative to the base element (20).

12. A vacuum operation device (58), comprising a suction gripper (10) according to claim 11 and a control device (56), wherein: The control device (56) is configured to control an actuator to drive a sliding movement between the base member (20) and the at least one sliding member (24).

13. The vacuum manipulation device (58) according to claim 12 further comprises a sensor device (66) cooperating with the control device (56), the sensor device being configured to detect a grippable surface and / or an outer shape of an object (12) to be gripped.

14. The negative pressure operation device (58) according to claim 13, wherein: The sensing device (66) is a camera device.

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