Sucker gripping system

Abstract

A suction cup gripping system (100) comprises a plurality of suction cup gripping devices (1), each provided with: a gripping suction cup (2) having an internal cavity (3); a venturi vacuum generator (10) connectable to a compressed air line (30) and to the interior cavity (3) to generate a partial vacuum in the interior cavity; a relief valve (11) connected to the interior cavity (3) and operable to connect the interior cavity (3) to an external environment or a compressed air line (30) to eliminate a partial vacuum in the interior cavity (3); a check valve (12) interposed between the venturi vacuum generator (10) and the internal cavity (3), the gripping system (100) comprising: valve means (37, 38) connected to the venturi vacuum generator (10) and to the release valve (11) of the suction cup gripping device (1); a manifold (50) connected to the inner cavity (3); a vacuum sensor (13) connected to the manifold (50); and a control unit (40) connected to the valve means (37, 38) and the vacuum sensor (13) and configured to control the valve means (37, 38) so as not to supply compressed air to the venturi vacuum generator (10) when the vacuum sensor (13) detects that the partial vacuum value is greater than or equal to a defined first threshold value (P1).

Description

Technical Field

[0001] The present invention relates to a gripping system and a device for handling and moving an object, and in particular to a suction cup gripping system suitable for gripping and moving an object. Background Art

[0002] Gripping and moving systems are known and widely used, which use suction cups to grip objects by firmly attaching the suction cups to a substantially flat and non-porous surface external to the object.

[0003] These suction cup gripping systems are widely used, for example, in automatic machines for sheet metal cutting and / or punching, in particular for loading the metal sheet onto the table of the machine and for removing from this table the finished piece thus obtained after cutting and / or punching.

[0004] As is known, the creation of a negative pressure inside a suction cup arranged in contact with the outer surface of an object generates a gripping force which, if greater than the weight of the object itself, allows the object to be firmly held and then lifted and moved relatively safely. The negative pressure or partial vacuum is achieved in the cavity formed by the suction cup and the outer surface of the object by connection to a vacuum source, typically a vacuum pump.

[0005] For this purpose, a vacuum pump or a Venturi vacuum generator or ejector is usually used, which uses compressed air and the Venturi principle to generate a vacuum. More precisely, such a pump comprises a Venturi nozzle or tube (converging / diverging pipe) fed by and passing through compressed air and connected to the inside of the suction cup at a narrowing or constriction of the Venturi nozzle or tube that generates a negative pressure or partial vacuum.

[0006] A valve is usually provided on the compressed air supply line, and the valve is configured and can be selectively operated to: supply compressed air to the venturi ejector and generate the vacuum required for the suction cup to grasp and move the workpiece, or stop the compressed air supply and ventilate the suction cup, that is, connect the suction cup to the external environment to allow the suction cup to release the workpiece.

[0007] Since the Venturi vacuum generator has no moving parts and is not subject to wear and tear and also has reduced size and weight, the Venturi vacuum generator is economical and reliable. In addition, unlike a rotary vacuum pump, the Venturi vacuum generator can work in a discontinuous manner, that is, it only works when the suction cup requires negative pressure. Considering the reduced volume of the internal cavity of the suction cup, the Venturi vacuum generator can achieve negative pressure in a very short time.

[0008] A disadvantage of gripping systems with a suction cup and a Venturi vacuum generator is that the negative pressure or partial vacuum in the suction cup must be maintained by supplying compressed air to the Venturi ejector for the entire duration of the gripping and movement of the object. In the case of gripping and movement systems in which the grip on the workpiece must be maintained for a relatively long period of time (e.g. 20 s to 30 s), the consumption of compressed air and therefore the electrical energy required to produce said compressed air by a suitable compressor is very high, so that the operation of such a system is very expensive. Summary of the invention

[0009] The object of the present invention is to improve suction cup gripping systems, in particular suction cup gripping systems which are associated with a Venturi vacuum generator and are therefore supplied and operated by compressed air.

[0010] Another object is to achieve a device and a suction cup gripping system that allow a significant reduction in the consumption of compressed air during operation, in particular during the gripping and movement of objects.

[0011] A further object is to provide a suction cup gripping system that allows objects of various sizes and weights to be gripped and held securely, reliably and safely.

[0012] Another object is to produce a gripping system with a simple, strong and economical structure.

[0013] In a first aspect of the present invention, a suction cup gripping system according to claim 1 is provided.

[0014] In a second aspect of the present invention, a suction cup gripping system according to claim 9 is provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The invention may be better understood and implemented with reference to the accompanying drawings, which show exemplary and non-limiting embodiments of the invention, in which:

[0016] - Figure 1 is a front view of a gripping device of a suction cup gripping system of the present invention;

[0017] - Figure 2 yes Figure 1 A top plan view of a gripping device;

[0018] - Figure 3 is in accordance with Figure 1 A cross-sectional view of plane III-III;

[0019] - Figure 4 is associated with the support structure of the suction cup gripping system Figure 1 A stereoscopic view of a gripping device;

[0020] - Figure 5The present invention includes multiple Figure 1 Pneumatic diagram of the suction cup gripping system of the gripping device;

[0021] - Figure 6 yes Figure 5 A stereoscopic diagram of the suction cup gripping system;

[0022] - Figure 7 is a pneumatic diagram of a variant of the suction cup gripping system of the present invention;

[0023] - Figure 8 It is a pneumatic diagram of another variant of the suction cup gripping system. DETAILED DESCRIPTION

[0024] Reference Figures 1 to 4 , showing a suction cup gripping device 1 of a suction cup gripping system 100 of the present invention; the suction cup gripping device 1 or gripping device comprises at least one gripping suction cup 2 or suction cup, the gripping suction cup 2 or suction cup being provided with an internal cavity 3 and being suitable for abutting against an outer surface 51 of an object 50 to be gripped, the object 50 to be gripped being in particular a horizontal and / or flat object having a non-porous outer surface, such as, for example, a metal sheet or a workpiece obtained by cutting and / or stamping a metal sheet.

[0025] The gripping device 1 further comprises a venturi vacuum generator 10 or venturi ejector which can be connected to a line or source 30 of compressed air and is in flow connection with the internal cavity 3 of the suction cup 2. The venturi vacuum generator 10 is of a known type and is not described in further detail, and is configured to generate a negative pressure or a partial vacuum in the internal cavity 3 when it is supplied with compressed air and when the suction cup 3 is engaged with the outer surface 51 of the object 50. More precisely, the narrowing portion of the converging / diverging duct of the venturi vacuum generator 10 is in flow connection with the internal cavity 3 of the suction cup 2, generating a negative pressure or a partial vacuum in the narrowing portion when compressed air passes through it.

[0026] The Venturi vacuum generator 10 is, for example, of a multi-stage type, and in particular, the Venturi vacuum generator 10 includes two or three stages for achieving a higher partial vacuum value or negative pressure value in the internal cavity 3, which partial vacuum value or negative pressure value is, for example, included between -0.85 kPa and -0.65 kPa, that is, in absolute value, included between 0.15 kPa (bar) and 0.35 kPa (bar).

[0027] The gripping device 1 further comprises a release valve 11 and a check valve 12. The release valve 11 is in fluid connection with the internal cavity 3 and is operable to connect the internal cavity 3 to the external environment or a compressed air source 30 to eliminate the partial vacuum within the internal cavity 3 and thus allow the object to be released. The check valve 12 or one-way valve is in fluid connection with the venturi vacuum generator 10 and the internal cavity 3 and is interposed between the venturi vacuum generator 10 and the internal cavity 3 and is configured to prevent air from entering the internal cavity 3 when the venturi vacuum generator 10 is not supplied with compressed air, as better explained below.

[0028] The gripping device 1 comprises a housing 4 , for example fixed to a connecting element 5 of the suction cup 2 , the housing 4 being suitable for housing and accommodating a venturi vacuum generator 10 , a release valve 11 and a non-return valve 12 .

[0029] The shell 4 having, for example, a prismatic shape includes a first connection part 6, a second connection part 7, and a third connection part 8. The first connection part 6 is connected to the supply inlet flow of the Venturi vacuum generator 10, the second connection part 7 is connected to the release valve 11 flow, and the third connection part 8 is used to connect the internal cavity 3 of the suction cup 2 to the Venturi vacuum generator 10 and the release valve 11 flow.

[0030] The housing 4 is further provided with a fourth connection 9 which is in flow connection with the venturi vacuum generator 10 and the inner chamber 3 .

[0031] The housing 4 further comprises a fifth connection 19 which is connected to the discharge outlet flow of the Venturi vacuum generator 10 .

[0032] The first connection 6 can be connected to a compressed air line 30 , in particular via a first supply conduit 41 , for supplying compressed air to the Venturi vacuum generator 10 , thereby generating a partial vacuum in the inner cavity 3 of the suction cup 2 .

[0033] The second connection portion 7 in the illustrated embodiment can also be connected to a compressed air pipeline 30, in particular by means of a second supply pipe 42, to deliver compressed air to the release valve 11, which, when activated, delivers air into the internal cavity 3 to eliminate the partial vacuum in the internal cavity 3 and thus allow the object to be released.

[0034] The third connection 8 is connected to the Venturi vacuum generator 10 , in particular to a narrowed portion of the Venturi vacuum generator 10 , via a first conduit 14 and to the release valve 11 via a second conduit 15 which is connected to the first conduit 14 at a branch point 16 .

[0035] The fourth connection 9 connects the venturi vacuum generator 10 and the internal cavity 3 to a manifold 50 provided with a vacuum sensor 13 or directly to the vacuum sensor 13 as better explained in the following description.

[0036] The fifth connection 19 connected to the exhaust outlet flow of the venturi-vacuum generator 10 may be connected to, for example, a silencer 17 to reduce the noise generated by the compressed air leaving the venturi-vacuum generator 10 and dispersing into the environment.

[0037] The check valve 12 is inserted into the first conduit 14 in a portion of the first conduit 14 between the venturi-vacuum generator 10 and the branch point 16 .

[0038] The filter 18 is inserted into the first pipe 14 in a portion between the branch point 16 and the third connection portion 8 .

[0039] The release valve 11 is, for example, a pneumatic valve, in particular a two-way, two-position, pneumatically operated valve. Specifically, the release valve 11 is usually closed, that is, when the release valve 11 is not pneumatically supplied and controlled, the release valve 11 closes the flow connection between the second connection part 7 and the internal chamber 3. On the contrary, when the release valve 11 is supplied with compressed air from the pneumatic supply line 30, the release valve 11 is switched to the open operating position, thereby opening the flow connection between the second connection part 7 and the internal chamber 3, so that the compressed air enters the internal chamber.

[0040] The housing 4 further comprises a fastening element 28 for connecting the gripping device 1 to the suction cup gripping system 100. In particular, the fastening element 28 is aligned with and opposite to the connecting element 5 of the suction cup 2.

[0041] Special reference Figure 3 The suction cup 2 comprises a body 20 provided with an upper portion 21 and a deformable central portion 22, in particular capable of being compressed and / or squeezed in a direction parallel to the longitudinal axis X of the suction cup 2 and defining an internal cavity 3. A connecting element 5 is connected to the upper portion 21 and provided with an internal duct 25 for passing air.

[0042] The central portion 22 comprises a peripheral edge 22a surrounding a lower entrance to the internal cavity 3 and configured to abut against an outer surface 51 of an object 50 to be picked up.

[0043] The suction cup 2 further comprises a stop element 23 positioned in the internal cavity 3 and fixed to the upper portion 21 and adapted to abut against the outer surface 51 of the object 50 when the suction cup 2 is engaged with said outer surface 51 and the internal cavity 3 is under negative pressure, so as to limit deformation or squeezing of the central portion 22. The stop element 23 comprises a corresponding central duct 24 provided with an axial opening 26 and lateral openings 27 for passing air.

[0044] Reference Figure 5 The suction cup gripping system 100 or gripping system of the present invention comprises a plurality of gripping devices 1 and valve devices 37, 38, wherein the plurality of gripping devices 1 are, for example, seven gripping devices 1, as described above and in Figures 1 to 4 As shown in FIG. 1 , the valve devices 37 , 38 are flow-connected to the Venturi vacuum generator 10 and the release valve 11 of the gripping device 1 for selectively supplying compressed air to the Venturi vacuum generator 10 or the release valve 11 .

[0045] Specifically, each gripping device 1 includes: at least one gripping suction cup 2, which is suitable for abutting against the outer surface 51 of the object 50 to be gripped and is provided with an internal cavity 3; a Venturi vacuum generator 10, which can be connected to the compressed air pipeline 30 and is connected to the flow of the internal cavity 3 to generate a negative pressure or a partial vacuum in the internal cavity 3 when it is supplied with compressed air and when the gripping suction cup 3 is engaged to the outer surface 51 of the object 50; a release valve 11, which is connected to the flow of the internal cavity 3 and can be operated to connect the internal cavity to the external environment or the compressed air pipeline 30 to eliminate the partial vacuum in the internal cavity 3; and a check valve 12, which is connected to the flow of the Venturi vacuum generator 10 and the internal cavity 3 and is placed between the Venturi vacuum generator 10 and the internal cavity 3, and the check valve 12 is configured to prevent air from entering the internal cavity 3 when the Venturi vacuum generator 10 is not supplied with compressed air.

[0046] The gripping system 100 also includes a manifold 50 and a vacuum sensor 13, wherein the manifold 50 is flow-connected to the internal cavity 3 of the suction cup 2 of the plurality of gripping devices 1, in particular, is flow-connected to the internal cavity 3 of the suction cup 2 of the plurality of gripping devices 1 via corresponding measuring pipes 43, and the vacuum sensor 13 is flow-connected to the manifold 50 and is suitable for measuring the partial vacuum value within the manifold 50, and is therefore also suitable for measuring the partial vacuum value within the internal cavity 3 of the suction cup 2.

[0047] The gripping system 100 further comprises a control unit 40 connected to the valve devices 37, 38 and the vacuum sensor 13, and configured to control the valve devices 37, 38 so that: when the pressure sensor 13 detects a partial vacuum value in the manifold 50 and thus detects a partial vacuum value in the internal cavity 3 of the suction cup 2 greater than or equal to a defined first threshold value P1, i.e., the absolute pressure in the internal cavity 3 of the suction cup 2 is lower than the first defined threshold value P1, compressed air is not supplied to the venturi vacuum generator 10 of the gripping device 1. The first threshold value P1 is, for example, -0.80 kPa and -0.65 kPa in relative value, or 0.20 kPa in absolute value.

[0048] The control unit 40 may be a control unit of an operating machine, such as a machine for cutting and / or punching metal sheets, on which the gripping system 100 of the present invention is mounted and operates.

[0049] It should be noted that the plurality of gripping devices 1 of the gripping system 1 of the invention define a gripping zone or gripping area: the plurality of gripping devices 1 are supplied with compressed air by the same valve device 37, 38 and share a single vacuum sensor 13 mounted on a manifold 50 to which the venturi vacuum generators 10 of the gripping devices 1 are connected. In particular, the gripping system 100 allows to simultaneously pick up or move one or more objects 50 contained in the gripping zone.

[0050] The valve arrangement 37, 38 comprises in particular a pair of valves activated and operated by the control unit 40, in particular a pair of electrically operated valves of the known two-way and two-position type, connected to the compressed air supply line 30 and to the exhaust line 31. For example, the valve arrangement comprises a pair of pneumatic valves with indirectly operated solenoids, i.e. pneumatically switched to two operating positions on the basis of an electrical signal sent by the control unit 40. In particular, the valves are connected to the pneumatic switching line 33 and to the switched exhaust line 32.

[0051] In the embodiment shown, the valve arrangement comprises a first valve 37 associated with the venturi vacuum generator 10 and a second valve 38 associated with the release valve 11 .

[0052] The first valve 37 is, for example, of a normally open type, i.e., when the first valve 37 is not electrically activated, the first valve 37 keeps the flow connection between the pneumatic supply line 30 and the Venturi vacuum generator 10 open, and when the first valve 37 is activated, the first valve 37 connects the Venturi vacuum generator to the exhaust line 31.

[0053] In contrast, the second valve 38 is of the normally closed type, i.e., when the second valve 38 is not activated, the second valve 38 keeps the release valve 11 in flow connection with the exhaust line 31 , and when the second valve 38 is electrically activated, the second valve 38 connects the release valve 11 to the pneumatic supply line 30 .

[0054] Each gripping device 1 further comprises a respective regulating nozzle 35 with a calibrated hole, in particular having a size comprised between 0.2 mm and 0.4 mm, in particular having a size equal to 0.3 mm, said regulating nozzle 35 being in flow connection with and interposed between the internal cavity 3 of the suction cup 2 and the manifold 50 and adapted to limit the air flow entering the manifold 50, in particular when the respective suction cup 2 is not engaged with the outer surface 51 of the object 50. More precisely, the regulating nozzle 35 with a calibrated hole for the air flow to pass makes it possible to limit the vacuum loss in the manifold 50 when the associated gripping device 1 is not gripping an object 50, since this reduces the air sucked in by the other gripping devices 1 through said suction cup 2 which is not gripping.

[0055] In particular, each regulating nozzle 35 is connected to the fourth connection 9 of the housing 4 of the respective gripping device 1 and is in flow connection with the venturi vacuum generator 10 and the inner chamber 3. Thus, the regulating nozzle 35 is inserted in the respective measuring conduit 43 placed between the fourth connection 9 and the manifold 50.

[0056] The vacuum sensor 13 comprises, for example, a vacuum switch of known type suitable for detecting the first threshold value P1 and the further first threshold value P1′ and for sending the relevant signals to the control unit 40 for controlling the valve means 37, 38 so as to maintain a partial vacuum value in the manifold 50 and therefore in the internal cavity 3 of the suction cup 2, which is substantially equal to the first threshold value P1 or the further first threshold value P1′ depending specifically on the characteristics of the object 50 to be picked up and moved.

[0057] Thus, the vacuum switch 13 is able to automatically detect two different vacuum values ​​to allow the gripping force of the suction cup 2 to be managed, for example according to the thickness of the object to be moved (sheet, plate, slab, etc.). For example, a first threshold value P1 may be a lower vacuum value suitable for picking up and moving thin sheets (maximum 0.8 mm), in particular without deforming them, while a further threshold value P1' may be a higher vacuum value suitable for picking up and moving sheets with a thickness greater than 0.8 mm to 1 mm.

[0058] like Figure 6As shown in FIG. 1 , the suction cup gripping system 100 of the present invention comprises a support frame 101 configured to support a plurality of gripping devices 1 , wherein the plurality of gripping devices 1 are arranged to be spaced apart in particular in a plurality of parallel rows.

[0059] During the gripping and movement of a single object 50, for example, provided with an outer surface 51, which is suitable for interacting with the gripping suction cups 2, i.e., the outer surface 51 is, for example, a flat and non-porous surface, the operation of the gripping system 100 of the present invention provides an initial step of approaching and positioning the gripping device 1, in which the suction cups 2 are positioned on the outer surface 51. More precisely, the peripheral edge 22a of the central portion 22 of each suction cup 2 abuts against the outer surface 51 of the object 50.

[0060] It should be noted that, since the plurality of gripping devices 1 of the gripping system 100 define a gripping area, the gripping system 100 of the present invention allows a plurality of different objects present in the gripping area to be gripped and thus moved.

[0061] In order to grip the object 50, the first valve 37 is arranged in an open position to supply compressed air from the supply line 30 to the venturi vacuum generator 10, which draws air from the internal cavity 3 of the suction cup 2 of the gripping device 2 to generate a negative pressure, thereby allowing the suction cup 2 to be firmly attached to the outer surface 51 of the object 50. In this way, each gripping device 2 generates a gripping force that is directly proportional to the pressure difference between the ambient pressure and the pressure inside the suction cup 2.

[0062] If the total gripping force exerted by all gripping devices 1 acting simultaneously on the object 50 is greater than the weight of the object 50 , the gripping system 100 , fixed to a suitable handling device, is allowed to lift and move the object 50 .

[0063] When the negative pressure value or partial vacuum value in the internal cavity 3 of the suction cup 2 measured by the vacuum sensor 13 connected to the control unit 40 reaches and exceeds the first threshold value P1 (e.g. equal to -80 kPa) or another first threshold value P1' to generate the required gripping force, the first valve 37 can be switched to the closed position by the control unit 40. In this way, the valve 37 no longer supplies unused compressed air to the venturi vacuum generator 10, which will be dispersed into the environment. In fact, the compressed air escapes to the external environment through the fifth connection 19 of the housing 4 after passing through the convergent / divergent duct of each venturi vacuum generator 10.

[0064] However, the inner chamber 3 of the suction cup 2 of the gripping device 1 is maintained at a negative pressure due to the corresponding non-return valve 12 which closes the first duct 14 and prevents air from entering said inner chamber 3 .

[0065] Extensive tests conducted by the applicant have shown that, with each gripping suction cup 2 attached to the outer surface 51 of an object 50 and an initial negative pressure value of approximately -0.89 kPa, this negative pressure gradually and slowly decreases over time, i.e. the absolute pressure in the internal cavity 3 increases over time. More precisely, it has been found that the negative pressure and therefore the relative gripping force are maintained at a value that allows the object 50 to be held and moved reliably and safely for at least 20 min / 25 min, a time that is much longer than the average duration of the process for gripping and moving metal sheets and the produced objects, for example in a machine for cutting and / or punching metal sheets.

[0066] Since the time required to achieve the required negative pressure inside each suction cup 2 is very fast, with the help of the gripping system 100 of the present invention, it is only necessary to supply compressed air to the Venturi vacuum generators 10 of multiple gripping devices 1 for a very small part of the process of gripping and manipulating the object. Compared with known suction cup gripping systems, this allows a significant reduction (up to 90%) in the consumption of compressed air and therefore a significant reduction in the consumption of electrical energy required to produce compressed air.

[0067] After the object 50 is picked up, the object 50 can be safely lifted and / or moved.

[0068] If during the movement the vacuum sensor 13 connected to the manifold 50 detects a decrease in the negative pressure or partial vacuum inside the manifold 50, i.e. an increase in the absolute pressure, and therefore inside the suction cups 2, and this decrease exceeds a second threshold value P2, for example equal to -60 kPa, the control unit 40 switches the first valve 37 to the open position again in order to supply compressed air from the supply line 30 to the venturi-vacuum generator 10 of the gripping device 1, which starts to suck air from the internal cavity 3 by placing it under negative pressure until the first threshold value P1 is reached. More precisely, if the vacuum sensor 13 detects a relative vacuum value inside the manifold 50, for example equal to -0.55 kPa, and therefore below a second threshold value P2, for example equal to -60 kPa, the first valve 37 is switched to the open position.

[0069] In the case of a partial vacuum, the second threshold value P2, for example -60 kPa, is smaller than the first threshold value P1, for example -80 kPa.

[0070] It should be noted that, thanks to the regulating nozzle 35 with calibrated holes associated with each gripping device 1, the vacuum loss in the manifold 50 is limited in the case where the suction cup 2 of a gripping device 1 is not engaged with the external surface 51 of the object 50 and does not impair the normal operation of the remaining gripping devices 1 whose suction cups 2 are attached to the object 50. In fact, extensive tests carried out by the Applicant have shown that the regulating nozzle 35 minimizes the air sucked in by the other gripping devices 1 through the suction cups 2 that are not gripping.

[0071] In order for the suction cup 2 to release and disengage from the object 50 , the control unit 40 activates the second valve 38 , ie the second valve 38 is electrically switched to an open position to connect the release valve 11 of the gripping unit 1 to the compressed air supply line 30 .

[0072] The compressed air provided by the second valve 38 activates each release valve 11 by moving it to an open position in which the inner cavity 3 of the corresponding suction cup 2 is connected to the compressed air supply line 30. The blowing of the compressed air inside the suction cup 2 immediately separates the suction cup 2 from the outer surface 51 of the object 50.

[0073] Alternatively, the release valve 11 may be switched to an open position in which it places the inner chamber 3 of the suction cup 2 in flow connection with the external environment, ie with the positive atmospheric pressure.

[0074] Thus, thanks to the gripping system 100 of the present invention, the compressed air consumption during operation can be significantly reduced, in particular during the gripping and movement of one or more objects included in the gripping area defined by the plurality of gripping devices 1. Furthermore, objects of various sizes and weights can be gripped, held and moved securely, reliably and safely.

[0075] 7, there is shown a variation of the suction cup gripping system 100 of the present invention, which is similar to that described above and in Figure 5 and 6 The embodiment shown in FIG. 1 differs in that this variant comprises a single gripping device 1 provided with a plurality of gripping suction cups 2 connected to the same venturi vacuum generator 10 and to the same release valve 11. The gripping device 1 further comprises a check valve 12, which is fluidically connected to the venturi vacuum generator 10 and the internal cavity 3 of the suction cup 2 and is placed between the venturi vacuum generator 10 and the internal cavity 3 of the suction cup 2, and a vacuum sensor 13, which is fluidically connected to the internal cavity 3 and is suitable for measuring the partial vacuum value in the internal cavity. The vacuum sensor 13 is fluidically connected to the internal cavity 3 of the suction cup 3 via the fourth connection 9 of the housing 4.

[0076] The gripping suction cups 2 are connected to each other and to the third connection portion 8 via a connection pipe 44 .

[0077] The venturi-vacuum generator 10 is of a multi-stage type, and specifically includes three stages.

[0078] The operation of this variation of the suction cup gripping system 100 of the present invention is substantially identical to that described above and in Figure 5 and Figure 6 The operation of the gripping system is shown in FIG.

[0079] In particular, also in this case, the plurality of suction cups 2 defines a gripping zone or gripping area, thereby allowing the gripping system 100 of the invention to simultaneously pick up and move one or more objects 50 contained in said gripping zone.

[0080] Reference Figure 8 , shows another variant 100 of the suction cup gripping system 100 of the present invention, which differs from the embodiment described above and shown in Figure 7 only in that the gripping device 1 includes a single gripping suction cup 2 acting on the object 50 to be picked up and a two-stage Venturi vacuum generator 10.

[0081] The operation of this further variation of the suction cup gripping system 100 of the present invention is substantially identical to the operation of the gripping system described above and shown in FIG. 7 .

Claims

1. A suction cup gripping system (100), the suction cup gripping system (100) comprising: - a plurality of suction cup gripping devices (1), each of the suction cup gripping devices (1) comprising: - at least one gripping suction cup (2) adapted to come into contact with an outer surface (51) of an object (50) to be gripped and provided with an inner cavity (3); a venturi vacuum generator (10) connectable to a compressed air line (30) and in flow connection with the inner cavity (3), The venturi vacuum generator (10) is configured to generate a partial vacuum in the interior cavity (3) when the venturi vacuum generator (10) is supplied with the compressed air and when the suction cup (3) is engaged with the outer surface (51) of the object (50); a release valve (11) in flow connection with the internal cavity (3) and capable of being selectively operated to connect the internal cavity to the external environment or to connect the internal cavity to the compressed air line (30) in order to eliminate the partial vacuum in the internal cavity (3); a check valve (12) which is in flow connection with the venturi vacuum generator (10) and the inner chamber (3) and is disposed between the venturi vacuum generator (10) and the inner chamber (3), and is configured to prevent air from entering the inner chamber (3) when the venturi vacuum generator (10) is not supplied with compressed air; - valve means (37, 38) connected in flow connection with the venturi vacuum generator (10) and the release valve (11) of the suction cup gripping device (1) for selectively supplying compressed air to the venturi vacuum generator (10) or the release valve (11); - a manifold (50) in flow connection with the inner cavity (3) of the suction cup (2) of the suction cup gripping device (1); a vacuum sensor (13) which is fluidically connected to the manifold (50) and is suitable for measuring a partial vacuum value in the manifold (50); - a control unit (40) connected to the valve device (37, 38) and the vacuum sensor (13), and configured to control the valve device (37, 38) so as not to supply compressed air to the Venturi vacuum generator (10) when the vacuum sensor (13) detects that at least one partial vacuum value in the manifold (50) is greater than or equal to a defined first threshold value (P1).

2. The suction cup gripping system (100) according to claim 1, wherein: The vacuum sensor (13) comprises a vacuum switch, which is suitable for detecting the first threshold value (P1) and the further first threshold value (P1') and sending a relevant signal to the control unit (40) to control the valve device (37, 38) so as to maintain a partial vacuum value substantially equal to the first threshold value (P1) or the further first threshold value (P1') in the manifold (50) and in the internal cavity (3) of the gripping suction cup (2).

3. The suction cup gripping system (100) according to claim 1 or 2, wherein: Each suction cup gripping device (1) comprises a corresponding regulating nozzle (35), the regulating nozzle (35) having a calibrated hole, in particular, the calibrated hole having a size between 0.2 mm and 0.4 mm, in particular, the calibrated hole having a size equal to 0.3 mm, the regulating nozzle (35) being connected to the inner cavity (3) of the gripping suction cup (2) and the manifold (50) flow and being arranged between the inner cavity (3) of the gripping suction cup (2) and the manifold (50), and the regulating nozzle (35) being suitable for restricting the airflow entering the manifold (50), in particular, the regulating nozzle (35) being suitable for restricting the airflow entering the manifold (50) when the gripping suction cup (2) is not engaged with the outer surface (51) of the object (50).

4. The suction cup gripping system (100) according to any of the preceding claims, wherein: Each suction cup gripping device (1) comprises a housing (4) which is fixed to a connecting element (5) of the gripping suction cup (2) and is suitable for housing and accommodating at least the Venturi vacuum generator (10), the release valve (11) and the non-return valve (12).

5. The suction cup gripping system (100) according to claim 4, wherein: The shell (4) of each suction cup gripping device (1) comprises: a first connection part (6), the first connection part (6) is connected to the venturi vacuum generator (10) in a flow connection, in particular, the first connection part (6) is used to allow compressed air to enter via a corresponding first supply pipe (41); a second connection part (7), the second connection part (7) is connected to the release valve (11) in a flow connection, in particular, the second connection part (7) is used to allow compressed air to enter via a corresponding second supply pipe (42); a third connection part (8), the third connection part (8) is used to connect the internal cavity (3) to the venturi vacuum generator (10) and the release valve (11) in a flow connection.

6. The suction cup gripping system (100) of claim 4 or claim 5 when claim 3 is relied upon in claim 4, wherein: The housing (4) of each suction cup gripping device (1) further comprises a fourth connection portion (9) for connecting the regulating nozzle (35) to the venturi vacuum generator (10) and the inner chamber (3).

7. The suction cup gripping system (100) according to any of the preceding claims, wherein: The release valve (11) of each suction cup gripping device (1) comprises a pneumatic valve, in particular, the pneumatic valve is a two-way and two-position pneumatically operated valve.

8. The suction cup gripping system (100) according to any of the preceding claims, comprising a support frame (101), the support frame (101) being adapted to support a plurality of the suction cup gripping devices (1).

9. A suction cup gripping system (100), the suction cup gripping system (100) comprising: - at least one suction cup gripping device (1), said suction cup gripping device (1) comprising: - a plurality of gripping suction cups (2) adapted to abut against an outer surface (51) of an object (50) to be gripped and provided with corresponding internal cavities (3); a venturi vacuum generator (10) connectable to a compressed air line (30) and in flow connection with the inner cavity (3), the venturi vacuum generator (10) being configured to generate a partial vacuum in the inner cavity (3) when the venturi vacuum generator (10) is supplied with the compressed air and when the gripping suction cup (3) engages with the outer surface (51) of the object (50); a release valve (11) which is in flow connection with the internal cavity (3) and which can be operated to connect the internal cavity to the external environment or to connect the internal cavity to the compressed air line (30) in order to eliminate the partial vacuum in the internal cavity (3); a check valve (12) in flow connection with the venturi vacuum generator (10) and the inner chamber (3) and disposed between the venturi vacuum generator (10) and the inner chamber (3), and configured to prevent air from entering the inner chamber (3) when the venturi vacuum generator (10) is not supplied with compressed air; a vacuum sensor (13) which is in flow connection with the inner cavity (3) and is suitable for measuring a partial vacuum value in the inner cavity (3); - valve means (37, 38) connected in flow connection with the venturi vacuum generator (10) and the release valve (11) for selectively supplying compressed air to the venturi vacuum generator (10) or the release valve (11); - a control unit (40), the control unit (40) being connected to the valve device (37, 38) and the vacuum sensor (13), and the control unit (40) being configured to control the valve device (37, 38) so as not to supply compressed air to the Venturi vacuum generator (10) when the vacuum sensor (13) detects that the partial vacuum value in the internal cavity (3) is greater than or equal to a defined first threshold value (P1).

10. The suction cup gripping system (100) according to claim 9, wherein: The suction cup gripping device (1) comprises a housing (4), which is suitable for accommodating and housing at least the Venturi vacuum generator (10), the release valve (11) and the check valve (12).

11. The suction cup gripping system (100) according to claim 10, wherein: The housing (4) comprises: a first connection part (6), the first connection part (6) being fluidly connected to the Venturi vacuum generator (10), in particular, the first connection part (6) being used to allow compressed air to enter via a corresponding first supply pipe (41); a second connection part (7), the second connection part (7) being fluidly connected to the release valve (11), in particular, the second connection part (7) being used to allow compressed air to enter via a corresponding second supply pipe (42); and a third connection part (8), the third connection part (8) being used to fluidly connect the internal cavity (3) to the Venturi vacuum generator (10) and the release valve (11).

12. The suction cup gripping system (100) according to claim 11, wherein: The housing (4) further comprises a fourth connection portion (9) for connecting the vacuum sensor (13) to the Venturi vacuum generator (10) and the internal cavity (3).

13. The suction cup gripping system (100) according to any one of claims 9 to 12, wherein: The release valve (11) comprises a pneumatic valve, in particular, the pneumatic valve is a two-way and two-position pneumatically operated valve.

14. The suction cup gripping system (100) according to any preceding claim, wherein: The valve arrangement (37, 38) comprises a pair of valves operated and controlled by the control unit (40), in particular, the pair of valves are a pair of two-way and two-position electrically controlled valves connected to the pneumatic supply line (30) and to the exhaust line (31).

15. The suction cup gripping system (100) according to any preceding claim, wherein: The Venturi vacuum generator (10) is of a multi-stage type, and in particular, the Venturi vacuum generator (10) includes two stages or three stages.

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