Valve device for arrangement in or on a pneumatic clamping or gripping device and pneumatic clamping or gripping device

Abstract

Valve device (10) for arrangement in or on a pneumatic clamping or gripping device (12), with at least two valves (46, 46.1, 46.2) extending substantially parallel to a longitudinal axis (44), each switchable between an open position and a closed position, each providing a valve inlet (48) and each a valve outlet (50), with at least one input port (36) to which at least one input line (52) extending substantially parallel to the longitudinal axis (44) is connected, with at least one inlet line (54) arranged in a first plane (56) extending substantially perpendicular to the longitudinal axis (44), into which the at least one inlet line (52) opens and which leads to at least one valve inlet (48), with at least two output lines (60, 60.1, 60.2) extending substantially parallel to the longitudinal axis (44), each of which terminates in an output port (32, 32.1, 32.2), with at least two outlet pipes (58, 58.1, 58.2) arranged in a second plane (62) which is substantially perpendicular to the longitudinal axis (44), wherein each of the outlet lines (58, 58.1, 58.2) connects to a valve outlet (50) and leads into one of the output lines (60, 60.1, 60.2), with a printed circuit board (64) extending in a third plane (66) perpendicular to the longitudinal axis (44) and comprising control electronics for controlling the valves (46, 46.1, 46.2), wherein a third distance (80) between the third plane (66) and the output outlets (32, 32.1, 32.2) is greater than a first distance (76) between the first plane (56) and the output outlets (32, 32.1, 32.2) and / or than a second distance (78) between the second plane (62) and the output outlets (32, 32.1, 32.2), wherein the at least one inlet line (54) comprises a first line section (70) and at least one further line section (70), wherein the first line section (70) and the at least one further line section (70) enclose an angle greater than 0° and less than 180°.

Description

[0001] The invention relates to a valve device for arrangement in or on a pneumatic clamping or gripping device. The invention also relates to a pneumatic clamping or gripping device with a valve device.

[0002] Modern pneumatic clamping or gripping devices require a large number of pneumatic connections to ensure functionality, such as opening and closing, backpressure monitoring, and air transfer. These devices are used in systems such as 4- or 5-axis machining centers, where such a large number of pneumatic connections cannot always be provided. Rotary distributors, in particular, limit the maximum number of pneumatic connections. Prior art includes valve devices that provide multiple outlet lines with a single pneumatic inlet line.

[0003] From DE3917242A1, a solenoid valve manifold with several solenoid valves is known. From DE102007055460A1, a valve block with two valves is known, wherein the valves are configured for the mechanical and pneumatic connection of the valve block to a consumer.

[0004] DE 10 2014 003 852 A1 discloses a fluid-actuated switching valve with two switching elements that are movable in a housing, wherein a pressure port can be connected to a consumer port by means of a switching element and wherein the pressure port and the consumer port are provided on one side of the housing.

[0005] DE 10 2017 109 291 B4 discloses a gripping device with two push-button connections for opening and closing the gripping jaws. DE 10 2006 049 012 A1 discloses a valve arrangement for the variable clamping of hydraulic drives with two separately actuated valve slides.

[0006] The invention is based on the objective of providing a valve device as described above, which is space-saving and easy to manufacture.

[0007] The problem is solved by a valve assembly with the features of claim 1. The valve assembly comprises at least two valves extending substantially parallel to a longitudinal axis, each switchable between an open position and a closed position, wherein the valves each comprise a switching element which is movable, in particular in a direction extending substantially parallel to the longitudinal axis, into the open position and into the closed position. The valves each comprise a valve inlet and each valve outlet. The valve assembly provides at least one inlet port to which, for example, a pneumatic connection line of a system can be connected. An inlet line extending substantially parallel to the longitudinal axis is connected to each of the at least one inlet port.The valve assembly includes at least one inlet line arranged in a first plane extending substantially perpendicular to the longitudinal axis, each line leading to at least one valve inlet. The at least one inlet line opens into the at least one inlet line. The inlet line fluidically connects the inlet port and the inlet line. The inlet line fluidly connects the inlet line and the valve inlet.

[0008] The arrangement of planes, lines and components that are essentially parallel or essentially perpendicular is to be understood in the broadest sense, wherein the planes, lines and components preferably enclose an angle between -30° and 30°, preferably 0° in the case of an essentially parallel arrangement and between 60° and 120°, preferably 90° in the case of an essentially perpendicular arrangement.

[0009] The valve assembly provides at least two outlet lines extending substantially parallel to the longitudinal axis, each leading into an outlet port. In a second plane extending substantially perpendicular to the longitudinal axis, at least two outlet lines are arranged, each of which connects to a valve outlet and leads into one of the other outlet lines. Each outlet line fluidically connects a valve outlet and an outlet line, and each outlet line fluidly connects an outlet line and an outlet port.

[0010] The first and second planes each run essentially perpendicular to the longitudinal axis, with each plane and the longitudinal axis forming an angle between 60° and 120°, preferably 90°. The conductors preferably extend in a straight line along each conductor axis.

[0011] In the closed position of a valve, the corresponding valve inlet and outlet are fluidically separated. Consequently, in the closed position, the inlet and outlet ports associated with the valve are fluidically separated. In the open position of a valve, the corresponding valve inlet and outlet are fluidically connected. Therefore, in the open position, the inlet and outlet ports associated with the valve are fluidically connected.

[0012] The valves can preferably be designed as screw-in valves, with fluid flow provided only from the valve inlet to the valve outlet. The valves can also preferably be designed as electrically actuated solenoid valves, which have a switching element that can be moved by means of a controllable electromagnet.

[0013] Due to the arrangement of the valves essentially perpendicular to the first and second planes, and the corresponding arrangement of the connections and lines, the valve assembly has a particularly flat profile along its longitudinal axis. Furthermore, this design allows for particularly easy installation and removal of the valves along the longitudinal axis.

[0014] It is conceivable that at least one valve is arranged substantially parallel to the first plane and / or the second plane, i.e., radially within the valve assembly. Preferably, the valves can be arranged in a star configuration. The valves can be arranged between the first plane and the second plane, wherein the valve inlet is fluidically connected via a further line to at least one inlet line in the first plane, and wherein the valve outlet is fluidically connected via a further line to at least one outlet line in the second plane.

[0015] Advantageously, the first and second levels are spaced apart. This allows for multiple inlet and outlet lines to be provided in each level without increasing the installation space of the valve assembly perpendicular to its longitudinal axis. Furthermore, this allows the inlet and outlet lines to be positioned further apart within the valve assembly if required by manufacturing tolerances or component stability.

[0016] It is conceivable that at least two valves are connected in series, one being a 2 / 2-way valve and the other a 3 / 2-way valve. The valve outlet of the first valve in the series is fluidically connected to the valve inlet of the second valve in the series. This fluidic connection can be established by means of at least one additional line from the second level to the first level. Consequently, the lines can be shut off. With more than two valves connected in series, more than one additional line connecting the first and second levels can be provided.

[0017] An advantageous further development of the invention provides for a first distance between the first level and the outlet ports, as well as a second distance between the second level and the outlet ports. The first distance between the first level and the outlet ports is preferably smaller than the second distance between the second level and the outlet ports. Such an arrangement allows the use of standardized valves, in particular screw-in valves or check valves, which preferably permit fluid flow against the screw-in direction. Consequently, the valves can be arranged such that, in the open position of the valves, fluid flow is permitted against the screw-in direction, i.e., from the inlet line to the outlet line.

[0018] It is advantageous if the valves extend substantially parallel to the longitudinal axis between the first plane and the inlet ports. The valves are preferably offset perpendicular to the longitudinal axis next to the inlet ports. The valves are also preferably offset perpendicular to the longitudinal axis next to the outlet ports.

[0019] Advantageously, the first distance and / or the second distance is greater than or equal to the distance between the first plane and the second plane. Advantageously, the distance between the first plane and the second plane is less than or equal to the longitudinal extent of the valves, which runs substantially parallel to the longitudinal axis.

[0020] A further advantageous development of the invention provides that the valve inlets are arranged in the first plane and / or the valve outlets are arranged in the second plane. Accordingly, the inlet lines can be connected directly to the valve inlets and the outlet lines directly to the valve outlets.

[0021] It is advantageous if at least two outlet ports are arranged on a first circular arc, the first circular arc being arranged around the longitudinal axis. If more than one inlet port is provided, it is advantageous if at least two inlet ports are arranged on a second circular arc, the second circular arc being arranged around the longitudinal axis. This allows for easy mounting of the valve assembly to a pneumatic clamping or gripping device.

[0022] It is further advantageous if the valves are arranged within a further circular arc around the longitudinal axis. This further circular arc preferably corresponds to the first and / or second circular arc with respect to its diameter and / or center point. By arranging the valves within this further circular arc, they are particularly well protected from external influences, especially from the housing.

[0023] The valve assembly preferably comprises a cylindrical housing with a top surface associated with the outlet ports, a bottom surface associated with the at least one inlet port, and a circular housing shell. The housing also preferably comprises a base and a cover, with the lines being provided in the base. The at least one inlet line is preferably inserted into the housing from the bottom, particularly by means of a bore. The at least one inlet line is preferably inserted into the housing from the outer shell, particularly by means of a bore. At least one of the outlet lines is preferably inserted into the housing from the outer shell, particularly by means of a bore. At least one of the outlet lines is preferably inserted into the housing from the top, particularly by means of a bore.Preferably, a recess, in particular a bore, is provided in the housing for each valve. If the lines and the recess are drilled into the housing, they are preferably designed as blind holes. The at least one inlet line and / or at least one of the outlet lines are preferably closed with a plug on the housing side. By inserting the lines from the housing side, the lines can be manufactured particularly easily and cost-effectively. Alternatively, it is conceivable that the valve assembly or a part of the valve assembly, in particular the area around the first level and / or second level, is manufactured using an additive manufacturing process. Alternatively, the valve assembly can be manufactured using a layered construction, particularly in the area of ​​the first level and / or the second level.Two housing parts can be joined together with a flat gasket, with open pipe sections provided in one or both housing parts, forming closed pipes when joined. It is also conceivable that the valve assembly is designed in three parts in the area of ​​the first and / or second level, with one housing part providing pipe sections open at the top and bottom, which are closed by an upper and a lower housing part with flat surfaces. Flat gaskets can also be used. In this case, easily machined plastic sheets can be used, from which the pipe sections can be punched or laser-cut.

[0024] The at least one inlet line comprises a first line section and at least one further line section, wherein the first line section and the at least one further line section enclose an angle, the angle being greater than 0° and less than 180°, and in particular, the angle being in a range between 30° and 150°, preferably between 60° and 120°. The at least one inlet line is formed from a network of lines, wherein several bores introduced into the outer casing form the at least one inlet line section by section. Consequently, a complex network of lines for the at least one inlet line can be easily manufactured. It is conceivable that the outlet lines could also be manufactured from such a network of lines.The use of a pipe network for the at least one inlet line and / or the outlet lines creates a pneumatic connection between, preferably, only one inlet port, the lines, and the preferably multiple valves. Particular care must be taken to ensure that the respective outlet lines are separated from their associated return lines, so that a valve outlet is connected to only one return line and thus to only one return line. An exception can be made by a valve used for a blow-off function, in which case this valve outlet may be fluidically connected to multiple return lines. Designing the inlet line and / or the outlet line as a pipe network allows for a complex arrangement of the lines to be implemented cost-effectively and in a space-saving manner.

[0025] The pipe sections are preferably arranged such that the at least one inlet pipe is fluidically connected to at least two valve inlets. This allows several outlet ports to be supplied with a single fluid flow via one inlet port. It is also conceivable that at least one through-pipe is provided in the valve assembly, which is designed without a valve. This at least one through-pipe leads directly from the underside to the top side, e.g., for the lubrication of the clamping or gripping device.

[0026] The valve assembly comprises a printed circuit board extending in a third plane, essentially perpendicular to the longitudinal axis, containing control electronics for controlling the valves. A third distance between the third plane and the outlets is greater than the first and / or second distance. The control electronics are connected to the valves via connecting cables. This allows the valves to be electrically controlled close to the valves with low latency. In the installed state, the printed circuit board and / or the valves are preferably covered and / or secured by the housing cover. The printed circuit board is preferably arranged between the housing cover and the housing base. The electronic control of the valve assembly can be implemented either within the valve assembly itself or externally via a separate operating unit.

[0027] A space-saving further development of the invention provides that the circuit board has recesses surrounding the valves. The recesses can be designed to be either free of play or with play in relation to the valves.

[0028] Advantageously, the valve assembly includes at least one pressure sensor for detecting the pressure in at least one of the following lines: in the at least one inlet line, in the at least one inlet line, in at least one of the outlet lines, and in at least one of the output lines. By arranging at least one pressure sensor close to the line, the pressure at the output port for the consumer, preferably for the clamping or gripping device, can be specifically adjusted.

[0029] Advantageously, the valve device provides an evaluation unit for evaluating the signals from the at least one pressure sensor and / or the valves, wherein the evaluation unit is preferably arranged in the housing.

[0030] The problem underlying the invention is also solved by a pneumatic clamping or gripping device with a valve assembly according to claim 14. The pneumatic clamping or gripping device comprises at least two pressure ports. The valve assembly is connected to the at least two pressure ports via the output ports. The pressure ports are preferably adjacent to each other or are connected to each other via an additional hose. The valve assembly can also be used to supply several pneumatic clamping or gripping devices. The clamping or gripping device can be a zero-point clamping system, a weighing plate, a clamping tower, or a clamping station.

[0031] Further details and advantageous embodiments of the invention can be found in the following description, which provides a more detailed description and explanation of an exemplary embodiment. The figures show: Fig. 1a a schematic side view of the top of a pneumatic clamping device with a valve device according to the invention; Fig. 1b a schematic side view of the underside of the valve assembly according to Fig. 1a; Fig. 2a a schematic view of the top of the valve assembly according to Fig. 1a; Fig. 2b a schematic view of the underside of the valve assembly according to Fig. 1a; Fig. 3 a schematic sectional view of a valve assembly according to the invention as shown in section III in Fig. 2a; Fig. 4a a schematic sectional view of the first level of the valve assembly according to Fig. 1a according to section IVa-IVa in Fig. 3; Fig. 4b a schematic sectional view of the second level of the valve assembly according to Fig. 1a according to section IVb-IVb in Fig. 3; and Fig. 4c a schematic sectional view of the third level of the valve assembly according to Fig. 1a according to section IVc-IVc in Fig. 3.

[0032] In Fig. 1a and Fig. Figure 1b shows a valve device 10 according to the invention, which is arranged on a pneumatic clamping or gripping device 12. The clamping or gripping device 12 comprises a clamping device housing 14 and two jaws 18 movable along a clamping axis 16. Clamping or gripping fingers can be arranged on the jaws 18 for clamping or gripping objects.

[0033] The valve assembly 10 comprises a cylindrical housing 20 with a top surface 22 facing the clamping or gripping device 12, a bottom surface 24 facing away from the clamping or gripping device 12, and a circular housing shell 26. The housing 20 includes a housing base 28, which has a recess on its bottom surface 24 into which a substantially circular housing cover 30 can be inserted and fastened. Thus, the interior of the housing is easily accessible by removing the housing cover 30.

[0034] In Fig. Figure 2a shows the top surface 22 of the valve assembly 10. The valve assembly 10 comprises eight outlet ports 32 arranged on the top surface 22, although more than eight outlet ports 32 may be provided depending on the size of the housing 20. Consequently, consumers with up to eight pressure connections can be supplied. The outlet ports 32 can be arranged arbitrarily on the top surface 22. In the valve assembly 10 shown, seven of the eight outlet ports 32 are arranged along a first circular arc 34 extending around a longitudinal axis 44 of the valve assembly 10. The longitudinal axis 44 is arranged perpendicular to the clamping axis 16. One outlet port 32 is arranged within the first circular arc 34. The valve assembly 10 is fluidically connected to the clamping or gripping device 12 by means of the outlet ports 32.

[0035] In Fig. Figure 2b shows the underside 24 of the valve assembly 10. The valve assembly 10 comprises two inlet ports 36 arranged on the underside 24. The inlet ports 36 can be arranged arbitrarily on the underside 24, wherein the two inlet ports 36 are arranged according to Fig. 2b are arranged along a second circular arc 38 extending around the longitudinal axis 44 of the valve assembly 10. A machine-side fluid supply (not shown) can be fluidically connected to the valve assembly 10 via the inlet ports 36. This valve assembly 10 can supply eight outlet ports 32 with two inlet ports 36. Consequently, the valve assembly 10 significantly reduces the number of pneumatic supply lines that would need to be provided on the machine side. The valve assembly 10 can be fastened to the clamping or gripping device 12 by means of the fastening screws 40. The housing cover 30 can be fastened to the housing base 28 by means of the cover screws 42.

[0036] In Fig. Figure 3 shows a schematic longitudinal section through the valve assembly 10. For simplified illustration, the longitudinal section shows an inlet port 36 and two outlet ports 32.1, 32.2 of the valve assembly 10, even though these would not be partially visible in the actual longitudinal section III. As previously described, the valve assembly 10 has, according to Fig. 2a and Fig. 2b has a total of two input terminals 36 and eight output terminals 32. In Fig. Figure 3 shows two valves 46.1, 46.2 of the valve assembly 10 schematically. According to Fig. In Figure 4c, the valve assembly 10 comprises eight valves 46. The valves 46, 46.1, 46.2 are arranged parallel to the longitudinal axis 44. Each valve 46, 46.1, 46.2 includes a switching element 47, which can be switched between an open position and a closed position parallel to the longitudinal axis 44. Each valve 46, 46.1, 46.2 includes a valve inlet 48 and a valve outlet 50. The valves 46 are arranged according to Fig. 4c is arranged within a third circular arc 71 extending around the longitudinal axis 44 of the valve arrangement 10 in the valve assembly 10.

[0037] A valve intake 48 is according to Fig. 3 is fluidically connected to an inlet port 36 by means of an inlet line 52 and an inlet line 54. The inlet line 52 connects to the inlet port 36 and extends parallel to the longitudinal axis 44. Fig. 4a leads into the entrance line 54 and the first level 56. The entrance line 54 is according to Fig. 3 arranged in a first plane 56 perpendicular to the longitudinal axis 44 and leads according to Fig. 4a to the respective valve inlet 48, wherein in Fig. 4a the valves 46 and the respective valve inlet 48 are not shown.

[0038] The valve inlets 48 are according to Fig. 3 are also arranged in the first level 56. The inlet lines 54 are arranged according to Fig. 3 and Fig. 4a arranged such that these lead to several valve inlets 48, in which in Fig. The sectional view shown in section 3 leads to the two valve inlets 48. Accordingly, in Fig. 3 the valve inlets 48 of valves 46.1, 46.2 are fluidically connected to the inlet port 36. According to Fig. 4a and Fig. 4b the two inlet ports 36 are fluidically connected to eight valve inlets 48.

[0039] According to Fig. 4a The inlet lines 54 are formed by a pipe network. The valve assembly 10 comprises an inlet line 54, which is inserted completely straight by means of a single blind hole and leads to two valve inlets 48. The valve assembly 10 comprises two further inlet lines 54, which have several pipe sections 70.

[0040] The pipe sections 70 are each formed by a blind hole. Consequently, an inlet pipe 54 can be formed from several blind holes. For this purpose, the blind holes are inserted into the valve assembly 10 such that they intersect. As a result, the pipe sections 70 form an angle α that is greater than 0° and less than 180°. Thus, a fluid can be conveyed to three valves 46 via one inlet pipe 52 and three pipe sections 70. Furthermore, a fluid can be conveyed to three additional valves 46 via the second inlet pipe 52 and two further pipe sections 70, each formed by two blind holes. The blind holes are each sealed on the outer surface with a plug 61. Due to the blind holes, a complex pipe network can be manufactured simply, quickly, and cost-effectively.

[0041] According to Fig. 3 The valve outlet 50 of the valve 46.1 is fluidically connected to an outlet port 32.1 by means of an outlet line 58.1 and an outlet line 60.1. The outlet line 58.1 connects to the valve outlet 50 of the valve 46.1 and is arranged in a second plane 62 perpendicular to the longitudinal axis 44, opening into the outlet line 60.1. Fig. Figure 4b also shows how the valve outlet 50 is fluidically connected to the outlet line 60 via the outlet line 58. The valve outlet 50.1 is according to Fig. 3 is also arranged in the second plane 62. The outlet line 60.1 extends parallel to the longitudinal axis 44 and leads to the outlet port 32.1. Accordingly, the valve outlet 50 of the valve 46.2 is fluidically connected to an outlet port 32.2 by means of an outlet line 58.2 and an outlet line 60.2. The connection of the valve outlet 50 of the valve 46.2 with the outlet port 32.2, in particular the arrangement of the outlet lines 58, has been shown for better illustration in Fig. 3 also shown, although, as in Fig. 4b, this would actually only be visible in a different section plane.

[0042] The outlet lines 58 are each formed by a straight blind hole drilled into the casing. It is conceivable that the outlet lines 58 could also be formed by a network of lines corresponding to the inlet lines 54. Fig. As can be seen in Figure 4b, only one valve outlet 50 is fluidically connected to an outlet line 60 via an outlet line 58. This ensures that a pneumatically actuated function can be effected on the clamping or gripping device 12 via an outlet connection 32.

[0043] According to Fig. 3, Fig. 4a and Fig. 4b The inlet line 52 is inserted into the housing 20, in particular into the housing base 28, by means of straight blind holes drilled into the underside, the inlet line 54 and the outlet lines 58, 58.1, 58.2 into the outer casing, and the outlet lines 60, 60.1, 60.2 into the housing base 28 into the upper side. Furthermore, the inlet lines 54 and the outlet lines 58, 58.1, 58.2 are closed with plugs 61.

[0044] Due to the arrangement of the inlet lines 36 in the first level 56 and the outlet lines 32 in the second level 62, a particularly space-saving valve device 10 is realized.

[0045] At the inlet line 52, the inlet line 54, the outlet line 58 and the outlet lines 60, as in Fig. 3, each with a pressure sensor 63 for detecting the pressure.

[0046] In Fig. 3 and Fig. Figure 4c shows that a printed circuit board 64 extending in a third plane 66 perpendicular to the longitudinal axis 44 is provided. The printed circuit board 64 is arranged between the housing base 28 and the housing cover 30. The printed circuit board 64 has recesses 72 surrounding the valves 46. The printed circuit board 64 also includes control electronics for controlling the valves 46. Furthermore, the printed circuit board 64 includes an evaluation unit 68 for evaluating the signals from the pressure sensors 63 and the valves 46, in particular their open and closed positions. The evaluation unit 68 can also be arranged on a fourth plane spaced apart from the third plane 66. It is conceivable that the valves 46 are connected to control electronics via cables without a printed circuit board 64. The evaluation of the signals from the valves 46 and the pressure sensors 63 can also be performed on the machine side.

[0047] In Fig. 1b, Fig. 2b and Fig. Figure 4c shows a plug connector 74 of the valve assembly 10. A plug can be connected to plug connector 74, through which the valve assembly 10 is powered and / or through which data can be transmitted to and from the valve assembly 10 via a wired connection. Alternatively, a battery system can be installed in the valve assembly 10. Alternatively, data transmission can be wireless. The evaluation unit 68 can preprocess the signals from the valves 48 and the pressure sensors 63. Internal evaluation, particularly regarding the back pressure, is also possible using the control electronics and / or the evaluation unit 68.

[0048] The valve assembly 10 is designed such that two outlet ports 32 can be supplied with a fluid, in particular with compressed air provided by the machine, via an inlet port 36, and six further outlet ports 32 can be supplied with a fluid, in particular with compressed air provided by the machine, via a further inlet port 36. By means of the control electronics arranged on the circuit board 64, the valves 46 can be electrically switched to the open and closed positions as desired, such that an inlet port 36 is fluidically connected to an outlet port 32, that an inlet port 36 is fluidically connected to no outlet port 32, or that an inlet port 36 is fluidically connected to several outlet ports 32. This applies accordingly to each further inlet port 36.

[0049] The first level 56, the second level 62, and the third level 66 are located between the top 22 and the bottom 24. The first distance 76 between the first level 56 and the top 22 is smaller than the second distance 78 between the second level 62 and the top 22. The second distance 78 between the second level 62 and the top 22 is smaller than the third distance 80 between the third level 66 and the top 22. The fourth distance 82 between the first level 56 and the second level 62 is smaller than the first distance 76 between the first level 56 and the top 22. The fourth distance 82 between the first level 56 and the second level 62 is smaller than the fifth distance 84 between the second level 62 and the third level 66. The valves 46 extend between the bottom 24 and the first level 56. The inlet line 52 extends between the bottom 24 and the first Level 56 and crosses the second level 62.The output lines 60 extend between the second level 62 and the top 22 and cross the first level 56.

Claims

[1] Valve device (10) for arrangement in or on a pneumatic clamping or gripping device (12), with at least two valves (46, 46.1, 46.2) extending substantially parallel to a longitudinal axis (44), each switchable between an open position and a closed position, each providing a valve inlet (48) and each a valve outlet (50), with at least one input port (36) to which at least one input line (52) extending substantially parallel to the longitudinal axis (44) is connected, with at least one inlet line (54) arranged in a first plane (56) extending substantially perpendicular to the longitudinal axis (44), into which the at least one inlet line (52) opens and which leads to at least one valve inlet (48), with at least two output lines (60, 60.1, 60.2) extending substantially parallel to the longitudinal axis (44), each of which terminates in an output port (32, 32.1, 32.2), with at least two outlet pipes (58, 58.1, 58.2) arranged in a second plane (62) which is substantially perpendicular to the longitudinal axis (44), wherein each of the outlet lines (58, 58.1, 58.2) connects to a valve outlet (50) and leads into one of the output lines (60, 60.1, 60.2), with a printed circuit board (64) extending in a third plane (66) perpendicular to the longitudinal axis (44) and comprising control electronics for controlling the valves (46, 46.1, 46.2), wherein a third distance (80) between the third plane (66) and the output outlets (32, 32.1, 32.2) is greater than a first distance (76) between the first plane (56) and the output outlets (32, 32.1, 32.2) and / or than a second distance (78) between the second plane (62) and the output outlets (32, 32.1, 32.2), wherein the at least one inlet line (54) comprises a first line section (70) and at least one further line section (70), wherein the first line section (70) and the at least one further line section (70) enclose an angle greater than 0° and less than 180°. [2] Valve assembly (10) according to claim 1, wherein the first level (56) and the second level (62) are spaced apart from each other. [3] Valve assembly (10) according to claim 1 or 2, wherein a first distance (76) between the first level (56) and the outlet ports (32, 32.1, 32.2) is smaller than a second distance (78) between the second level (62) and the outlet ports (32, 32.1, 32.2). [4] Valve assembly (10) according to one of the preceding claims, wherein the valves (46, 46.1, 46.2) extend parallel to the longitudinal axis (44) between the first plane (56) and the inlet ports (36). [5] Valve assembly (10) according to one of the preceding claims, wherein a fourth distance (82) between the first plane (56) and the second plane (62) is equal to or less than the longitudinal extent of the valves (46, 46.1, 46.2) parallel to the longitudinal axis (44). [6] Valve assembly (10) according to one of the preceding claims, wherein the valve inlets (48) are arranged in the first plane (56) and / or the valve outlets (50) are arranged in the second plane (62). [7] Valve assembly (10) according to one of the preceding claims, wherein at least two outlet ports (32, 32.1, 32.2) are arranged on a first circular arc (34) about the longitudinal axis (44). [8] Valve assembly (10) according to one of the preceding claims, wherein the valves (46, 46.1, 46.2) are arranged within a third circular arc (71) around the longitudinal axis (44). [9] Valve assembly (10) according to one of the preceding claims, comprising a housing (20) with a top surface (22) associated with the outlet ports (32, 32.1, 32.2), with a bottom surface (24) associated with the at least one input port (36) and with a housing shell (26). [10] Valve device (10) according to the previous claim, wherein the line sections (70) are arranged such that the at least one inlet line (54) is fluidically connected to at least two valve inlets (48). [11] Valve assembly (10) according to the previous claim, wherein the circuit board (64) comprises recesses (72) surrounding the valves (46, 46.1, 46.2). [12] Valve assembly (10) according to one of the preceding claims, comprising at least one pressure sensor (63) for detecting the pressure in at least one of the following lines: in the at least one inlet line (52), in the at least one inlet line (54), in at least one of the outlet lines (58, 58.1, 58.2), in at least one of the outlet lines (60, 60.1, 60.2). [13] Valve assembly (10) according to one of the preceding claims, comprising an evaluation unit (68) for evaluating the signals of the at least one pressure sensor (63) and / or the valves (46, 46.1, 46.2). [14] Pneumatic clamping or gripping device with pressure connections comprising a valve assembly (10) according to one of the preceding claims, wherein the output connections (32, 32.1, 32.2) of the valve assembly (10) are fluidically connectable to the pressure connections of the clamping or gripping device (12).

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