Suction gripper with self-holding function, gripping module with multiple suction grippers, and suction gripping device with multiple gripping modules
Patent Information
- Authority / Receiving Office
- DE · DE
- Patent Type
- Patents
- Current Assignee / Owner
- J SCHMALZ GMBH
- Filing Date
- 2023-04-11
- Publication Date
- 2026-07-23
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
[0001] The invention relates to a suction gripper according to the preamble of claim 1. The invention also relates to a Gripping module with a plurality of such suction grippers and a suction gripping device with a plurality of gripping modules.
[0002] Suction grippers of the type mentioned above comprise a gripper body and a suction unit, which is arranged along a lifting axis is mounted on the gripper body so that it can be moved. The suction unit comprises in particular a Reciprocating piston and a suction body for sucking up an object, e.g. an elastomer suction cup. The suction unit is usually designed to be switched between an axially retracted passive configuration and an axially extended active configuration, whereby a vacuum supply of the suction body in the Active configuration is enabled and passive configuration is disabled.
[0003] Such suction grippers can, for example, be part of a higher-level gripping module, which has a plurality With such a gripping module, it is then possible to selectively extend individual Suction units allow the gripping module to be flexibly adapted to different geometries of objects to be gripped. that the suction unit in the active configuration is extended relative to the passive configuration, the The (unused) suction gripper in the passive configuration does not create any interference contour when gripping an object.
[0004] In order to transfer the suction unit from the passive configuration to the active configuration and also during a To keep the device in this extended configuration during operation, it is known, for example from EP 3 483 097 A2, to However, such a design has the disadvantage that in case of failure of the Compressed air supply, e.g. in the event of a power failure, the suction unit no longer operates reliably in the active configuration is held and thus a grasped object can fall off.
[0005] The present invention is concerned with the task of providing a suction gripper of the type mentioned at the outset, energy-saving, compact and cost-effective way to achieve a reliable self-holding function in the active configuration make possible.
[0006] This object is achieved according to the invention by a suction gripper having the features of claim 1. The Suction cup is designed to suck and handle an object. The suction cup comprises a Gripper body with a housing, preferably extending longitudinally along a lifting axis. The housing has a vacuum connection for connection to an external vacuum supply.
[0007] The suction gripper also comprises a suction unit. The suction unit comprises a reciprocating piston and a the suction body coupled to the reciprocating piston.
[0008] The reciprocating piston can be designed in several parts. For example, the reciprocating piston can have one or more Sealing devices, such as O-rings, can also be provided. The piston can also be constructed as a single piece.
[0009] The suction body is designed to engage with an object to be grasped. In this respect, the suction body or a suction opening of the suction body a suction point of the suction gripper. The suction body can be, for example, a Elastomer suction cups or bellows suction cups. The suction body is preferably located at one axial end of the piston The suction body is preferably supplied with negative pressure through the piston. The suction body is preferably arranged outside the housing.
[0010] The suction unit is mounted on the gripper body along a lifting axis in such a way that the Suction unit in an extension direction and a retraction direction opposite to the extension direction relative to the The suction unit can be axially retracted relative to the gripper body. passive configuration and an active configuration axially extended relative to the gripper body. Active configuration, a flow connection is established between the vacuum port and the suction body and In the passive configuration, this flow connection is blocked. In this respect, a vacuum supply of the Absorbent body is enabled in the active configuration and disabled in the passive configuration. In particular, the passive configuration and the active configuration for end positions of the reciprocating piston along the stroke axis.
[0011] The housing has a housing interior in which the reciprocating piston is guided displaceably along the stroke axis The housing interior thus forms a kind of cylinder chamber for the reciprocating piston. The housing interior can have a circular cross-section. In this respect, the housing can be designed as a hollow cylinder. The housing interior can also have a square cross-section.
[0012] The reciprocating piston is designed and provided in the housing interior in such a way that it the housing interior into a first chamber (first vacuum chamber) and a second chamber (second The first vacuum chamber and the second vacuum chamber are at least limited in sections by surface sections of the reciprocating piston. The first vacuum chamber and the second Vacuum chambers are particularly located between the piston and an inner wall of the housing trained.
[0013] The first vacuum chamber and the second vacuum chamber are designed in such a way that they can be changed a displacement position of the piston along the stroke axis are variable in size. In particular, a Chamber volume can be changed by changing the displacement position of the piston along the stroke axis.
[0014] The piston has an internal vacuum guide (fluid guide). The vacuum guide can in particular an axial, in particular concentric, bore. The vacuum guide is designed in such a way that the first vacuum chamber and the second vacuum chamber are connected via the vacuum guide, in particular both in both in the passive configuration and in the active configuration, are fluidly connected to each other. In other words, the first vacuum chamber and the second vacuum chamber are through the reciprocating piston are fluidly connected to each other. In particular, the pressure in both chambers is always the same.
[0015] The suction gripper is designed in such a way that in the active configuration a flow connection between the both vacuum chambers (the first vacuum chamber and the second vacuum chamber) and the Vacuum connection is established and in the passive configuration this flow connection is blocked.
[0016] In addition, the reciprocating piston and the two vacuum chambers are designed, in particular dimensioned, that by applying negative pressure to the two vacuum chambers a force is exerted on the piston in extension direction is exerted.
[0017] The reciprocating piston is thus moved by the effect of the negative pressure in the vacuum chambers in the direction of the Active configuration or held in the active configuration. In this way, a self-holding function provided without the need for additional actuators, e.g. additional compressed air supply, in order to to keep the suction cup in the active configuration. The proposed solution is, in contrast to the known Solutions are particularly effective in the event of a power outage, e.g. in the event of a power outage, which The self-locking function can also be activated by a locking mechanism in the active configuration according to the ballpoint pen principle or supported by a backdrop.
[0018] Preferably, the first vacuum chamber and the second vacuum chamber are each separated in sections by Surface sections of the reciprocating piston, whereby the surface sections form effective surface sections, onto which a The prevailing negative pressure in the two vacuum chambers acts. In particular, the first (effective) surface sections which are oriented in such a way that by the action of a prevailing pressure in the vacuum chambers Negative pressure on these first (effective) surface sections exerts a force on the piston in the extension direction and second (active) surface sections, which are oriented in such a way that by the action of the The negative pressure prevailing in the vacuum chambers exerts a force on these second (effective) surface sections on the The stroke piston is applied in the retraction direction. An advantageous implementation of the self-locking function can then consist in the fact that a sum of all first (effective) surface sections is greater than a sum of all second (effective) Surface sections so that the net force effect in the extension direction predominates.
[0019] In particular, those surface sections of the reciprocating piston which form the first vacuum chamber limit, mainly second surface sections, and those surface sections of the reciprocating piston, which delimit the second vacuum chamber are mainly first surface sections, or vice versa. The first surface sections are particularly oriented in the extension direction, a surface normal therefore shows in particular in the extension direction. The second surface sections are particularly oriented in the retraction direction, a surface normal This particularly points in the direction of entry. The first and / or second surface sections can be regularly shaped, in particular planar. The first and / or second surface sections can be in a plane extend orthogonally to the lifting axis. The first and / or second surface sections can also extend to the lifting axis be inclined. The first and / or second surface sections may also be irregularly shaped. Surface sections of the same type can be provided by different components of the reciprocating piston.
[0020] Preferably, the first vacuum chamber and the second vacuum chamber are designed such that when Transferring the suction unit from the passive configuration into the active configuration, the volume of the first vacuum chamber increases and a The volume of the second vacuum chamber is reduced. In particular, the first vacuum chamber and the second Vacuum chambers are arranged axially offset from each other along the stroke axis. Preferably, the second Vacuum chamber should be arranged behind the first vacuum chamber when viewed in the extension direction.
[0021] The first vacuum chamber can be axially offset at least in sections along the stroke axis to the The first vacuum chamber is preferably arranged between a suction body opposite end of the piston and an inner wall of the housing. In this respect, In the active configuration, the first vacuum chamber provides an air cushion behind the reciprocating piston, which provides collision protection when the suction cup is placed on an object. In this way, both the object and the suction cup are protected.
[0022] It is conceivable that the suction body can be supplied with negative pressure via its own negative pressure supply line. Preferably, the suction body can be supplied with negative pressure through the piston. A possible The realization form can be that the vacuum guide of the reciprocating piston, which the first and the second Vacuum chamber is fluidly connected to each other, additionally has a, in particular axial, suction opening, which is fluidly connected to the suction body. With such a design, no additional Vacuum guidance for the suction body is required, which allows for a particularly compact and cost-effective design Within the scope of an advantageous embodiment, the vacuum guide can be a, in particular terminal, Suction opening which is fluidly connected to the suction body, a supply opening which is connected to the first vacuum chamber, and a, in particular radial, vacuum opening, which is connected to the second vacuum chamber. To prevent objects from being sucked into the piston, The suction opening can be fitted with a sieve.
[0023] In an advantageous further development, the first vacuum chamber can have a chamber opening, which is fluidly connected to the vacuum connection. The chamber opening can in particular be arranged be that it is closed by the piston in the passive configuration of the suction unit. For example, it is It is conceivable that the piston has a sealing device, in particular at an end of the piston opposite the suction body. piston, which is designed to seal the chamber opening in the passive configuration. In this way, a vacuum supply of the two vacuum chambers and preferably of the suction body in the Passive configuration is prevented. The chamber opening is preferably arranged in such a way that it can be opened by moving the piston is opened from the passive configuration in the extension direction, i.e. towards the active configuration. In this respect, By moving the piston from the passive configuration in the extension direction, a vacuum supply of the Vacuum chambers (and thus the self-holding function described above) and in particular additionally a Vacuum supply to the suction body can be activated.
[0024] Preferably, the suction unit is in the passive configuration. In particular, the suction unit can be an initial configuration are in the passive configuration. Advantageously, the suction unit can be A cost-effective and functionally reliable The realization form can, for example, consist in a spring acting along the stroke axis, in particular A compression spring is provided which forces the suction unit into the passive configuration. The spring can, for example, be arranged in the second vacuum chamber. In particular, the spring can radially enclose the reciprocating piston.
[0025] In advantageous embodiments, the housing can have an overpressure connection, in particular a compressed air connection, for connection to an external overpressure supply, in particular compressed air supply.
[0026] In an advantageous further development, the reciprocating piston can be provided in the housing interior in such a way In addition to the two vacuum chambers, a pressure chamber is formed, which is connected to the In this respect, the piston can move the housing interior into a first vacuum chamber, a pressure chamber and a second vacuum chamber. This does not exclude the possibility further chambers are planned.
[0027] The overpressure chamber is preferably designed in such a way that the reciprocating piston, by applying pressure to the Overpressure chamber with compressed air, can be moved in the extension direction, i.e. in the direction of the active configuration, in particular against the optional spring loading. The compressed air can serve in particular as an activation impulse to to open the above-mentioned chamber opening and thus create negative pressure in the vacuum chambers and preferably into the suction body. This is particularly advantageous if the suction unit, as mentioned above, is loaded into the passive configuration. The compressed air pulse can then be used in particular to serve to overcome the pressure.
[0028] In an advantageous embodiment, the overpressure chamber is viewed along the stroke axis between the first vacuum chamber and the second vacuum chamber.
[0029] In order to seal the overpressure chamber against the underpressure chambers, the piston can have a first Sealing device, e.g. O-ring, which is designed to seal the first vacuum chamber against the pressure chamber, and a second sealing device, e.g. O-ring, which is designed to To seal the pressure chamber against the second vacuum chamber.
[0030] A particularly advantageous construction can result from the housing having a first Housing interior section and a second, particularly axially arranged behind it in the extension direction Housing interior section. The two housing interior sections are preferably connected to each other.
[0031] In particular, the first vacuum chamber can be formed in the first housing interior section and the second vacuum chamber and in particular the overpressure chamber can be arranged in the second housing interior section In particular, the first housing interior section provides the first vacuum chamber and the second housing interior section, the second vacuum chamber and in particular the pressure chamber.
[0032] The first and the second housing interior section can have the same or in the have essentially the same cross-sectional area, in particular the same diameter. It is particularly advantageous However, if a cross-sectional area of the first housing interior section is smaller when viewed along the stroke axis as a cross-sectional area of the second housing interior section, in particular an inner diameter of the first housing interior section is smaller than the inner diameter of the second housing interior section. Such Design promotes the above-mentioned force effect in the extension direction, as this makes it easier different effective area ratios can be represented.
[0033] As mentioned above, in the second housing interior section, the second vacuum chamber and the A possible implementation can be that the piston has a radial projection in sections along its longitudinal extent such that the second The housing interior section is divided into the second vacuum chamber and the overpressure chamber. The radial The projection can in particular provide surface sections which form the second vacuum chamber and the Limit the pressure chamber in sections. In a design with a spring device, the spring can in particular with a first end supported on the radial projection and with a second end on the housing.
[0034] A sealing device, in particular the above-mentioned second Sealing device to seal the overpressure chamber against the second underpressure chamber. For example, it is conceivable that a groove is provided on the radial projection into which a sealing element, e.g. O-ring is inserted.
[0035] The second vacuum chamber and in particular the overpressure chamber can move the reciprocating piston around the stroke axis In this respect, the second vacuum chamber and especially the pressure chamber can be used as an annular chamber around the lifting axis must be designed.
[0036] In a general aspect, the suction gripper may have an anti-rotation device which a rotation of the suction unit around the lifting axis, in particular a rotation of the lifting piston around the lifting axis, blocked.
[0037] The above-mentioned object is also achieved by a gripping module comprising a plurality of the above-mentioned described suction grippers. The gripping module comprises in particular a module body to which the suction grippers Preferably, the suction grippers are mounted next to each other on the module body in such a way that the lifting axes The suction cups run parallel to each other. The suction cups described above in connection with the suction cup as such The advantages and optional features described can also be used to design the gripping module.
[0038] The gripping module can in particular comprise one or more valve devices, in particular one valve device per Suction grippers for controlling a compressed air supply and / or vacuum supply. In addition, the The gripping module must have a control device to control the valves. To avoid current peaks, the The control device must be designed in such a way that it can control the valve devices in a timely manner The control device can be connected wirelessly to a higher-level control unit, e.g. a higher-level handling system into which the gripping module is integrated.
[0039] The gripping module can in particular have one or more main vacuum connections, which are connected via a Vacuum distribution system connected to the vacuum connections of the suction grippers. The gripping module can in particular have one or more main compressed air connections, which are connected via an overpressure distribution system to the The main vacuum connections and main compressed air connections can be provided in particular on the module body.
[0040] The valve devices and / or the control device can be provided in particular in the module body. In this way, the gripping module can be divided into a control assembly (valve device + control device) and a Suction cup assembly (suction gripper). In case of spare parts, both assemblies can be separated from each other be exchanged.
[0041] The gripping module can also include one or more sensors. For example, each suction gripper and thus Each suction point must be assigned a sensor via which the assigned suction point can be monitored (individually), e.g. regarding a functional state (passive / active configuration). The at least one sensor can be For example, it could also be a sensor for distance monitoring or collision warning.
[0042] In an advantageous further development, the gripping module can additionally comprise grippers of other types. For example, it is conceivable that the gripping module additionally includes one or more magnetic grippers.
[0043] The above-mentioned object is also achieved by a suction gripping device comprising a plurality of the gripping modules described above. The gripping modules are preferably attached to the suction gripping device arranged side by side and connected to each other. For example, it is conceivable that the module bodies of the The gripping modules are interlocked with each other. The components described above in connection with the suction gripper and the gripping module Such described advantages and optional features can also be used to design the suction gripping device.
[0044] The invention is explained in more detail below with reference to the figures. They show: Fig. 1 sketched representation of a design of a suction gripper in a sectional view with suction unit in the passive configuration; Fig. 2 sketched representation of the suction gripper according to Fig. 1 in a sectional view with suction unit in the Active configuration; Fig. 3 sketched representation of a gripping module in a perspective view; Fig. 4 sketched representation of the gripping module according to Fig. 3 in a bottom view; Fig. 5 sketched representation of a suction gripping device in a perspective view; and Fig. 6 sketched representation of the suction gripping device according to Fig. 5 in a side view.
[0045] In the following description and in the figures, identical or corresponding features the same reference symbols are used in each case.
[0046] Fig. 1 shows an embodiment of a suction gripper, which is designated overall by the reference numeral 10 The suction gripper 10 comprises a gripper base body 12 and a suction unit 14.
[0047] The suction unit 14 comprises a reciprocating piston 16 and a Suction body 18. The suction unit 14 is mounted on the gripper base body 12 so as to be movable along a lifting axis 20 and adjustable in an extension direction 22 and in a retraction direction 24 opposite to the extension direction 22.
[0048] As explained in more detail below, the suction unit 14 can have a passive configuration (see Fig. 1) and a Active configuration for sucking an object (see Fig. 2).
[0049] As shown in Fig. 1, the gripper body 12 has a housing 26, which is elongated along the lifting axis 20. The housing 26 defines a housing interior 28 in which the lifting piston 16 of the Suction unit 14 is guided displaceably. In the specific example, the housing interior 28 has a first Housing interior section 30 and a second one arranged behind it in the extension direction 22 Housing interior section 32. By way of example and preferably, viewed along the stroke axis 20, a Cross-sectional area of the first housing interior section 30 is smaller than a cross-sectional area of the second Housing interior section 32 (see Fig. 1).
[0050] In the example shown, the first housing interior section 30 and the second Housing interior section 32 is cylindrical. In the case of a configuration not shown, it is also conceivable that the housing interior 28 has a square cross-section or irregular cross-section.
[0051] As shown in Fig. 1, the reciprocating piston 16 is designed such that the housing interior 28 is divided into a first Vacuum chamber 34, a second vacuum chamber 36 and one between the first vacuum chamber 34 and the second Vacuum chamber 36 arranged overpressure chamber 38 is divided. As can be seen from a comparison of Fig. 1 and Fig. 2 As can be seen, the chambers 34, 36, 38 are opened by changing a displacement position of the piston 16 along the Lifting axis 20 can be adjusted in size.
[0052] In the specific example, the reciprocating piston 16 separates a region of the first Housing interior section 30, which area forms the first vacuum chamber 34.
[0053] In the second housing interior section 32, the reciprocating piston 16 has a radial projection 42, which second housing interior section 32 is divided into the overpressure chamber 38 and the second underpressure chamber 36. Sealing the overpressure chamber 38 against the second vacuum chamber 36 is a second sealing device 44 For example, the second sealing device 44 is designed in the form of an O-ring 46, which is inserted into a groove 48 in the radial projection 42 is arranged.
[0054] To supply the suction gripper 10 with negative pressure, the housing 26 has a negative pressure connection 50 (in the Figures only indicated), which in operation, for example, with an external vacuum generating device is connected.
[0055] As can be clearly seen in Fig. 2, for example, the first vacuum chamber 34 has a chamber opening 52, which the vacuum connection 50. The piston 16 also has an internal Vacuum guide 54, via which the first vacuum chamber 34 is connected to the second vacuum chamber 36 is flow-connected, so that the second vacuum chamber 36 via the first vacuum chamber 34 and the Vacuum guide 54 can be supplied with negative pressure. In the first vacuum chamber 34 and in the second In particular, the same pressure always prevails in the vacuum chamber 36.
[0056] In concrete terms, the vacuum guide 54 has a supply opening 56 which is inserted into the first vacuum chamber 34, and a, for example radial, vacuum opening 58, which opens into the second The vacuum chamber 36 opens into the vacuum guide 54. The pressure chamber 38 can be bridged become.
[0057] By way of example and preferably, the vacuum guide 54 is also fluidly connected to the suction body 18, so that the suction body 18 can be supplied with negative pressure through the vacuum guide 54. In the specific example the vacuum guide 54 has a suction opening 60 at its axial end facing the suction body 18. By way of example and preferably, the suction opening 60 is provided with a sieve 62 to prevent objects from being sucked into the To prevent vacuum guidance 54.
[0058] As can be seen from Fig. 1 and Fig. 2, the reciprocating piston 16 has, at its end facing away from the suction body 18, axial end a third sealing device 64, which is designed to seal the Seal the chamber opening 52 and thus provide a vacuum supply to the vacuum chambers 34, 36 and the suction body 18. By moving the piston 16 in the extension direction 22 (see Fig. 2), the third Sealing device 64 is lifted from the chamber opening 52, so that now negative pressure is introduced via the negative pressure connection 50 into the first vacuum chamber 34 and from there via the vacuum guide 54 into the second vacuum chamber 36 and the suction body 18 can flow in.
[0059] As indicated only schematically in Fig. 1, the housing 26 in the example also comprises an optional Overpressure connection 66, which is fluidly connected to the overpressure chamber 38. If the overpressure chamber 38 is When compressed air is applied, the compressed air acts on the piston 16, in particular the radial projection 42, so that the Reciprocating piston 16 is moved in the extension direction 22. By applying excess pressure to the pressure chamber 38, in particular compressed air, the piston 16 can be adjusted along the stroke axis 20 (described in more detail below) explained).
[0060] As shown in Fig. 1 and Fig. 2, the suction gripper 10 also comprises a spring device 68, which is designed to force the piston 16 into the passive configuration (see Fig. 1). The spring device 68 comprises, for example, a compression spring 70, which is only partially shown in the figures. The compression spring 70 is in Example arranged in the second vacuum chamber 36 and is supported with a first end on a The inner wall of the housing 26. The second end of the compression spring 70 is supported on the radial projection 42 (for the sake of clarity, only a partial section of the spring 70 is shown in the figures).
[0061] In the passive configuration shown in Fig. 1 (initial configuration), the piston is actuated by the spring 70 (in Fig. 1 not shown completely) in the retraction direction 24 such that the reciprocating piston 16 with the third sealing device 64 the chamber opening 52 sealingly abuts the housing 26. In this configuration, a The vacuum supply is interrupted. If the pressure chamber 38 is now subjected to overpressure, at least for a short time, that the piston 16 moves against the spring loading in the extension direction 22, the chamber opening 52 opened so that negative pressure flows into the first vacuum chamber 34 and subsequently via the vacuum guide 54 into the second vacuum chamber 36 and the suction body 18.
[0062] As mentioned above, the vacuum chambers 34, 36 and the reciprocating piston 16 are dimensioned such that the negative pressure then present in the vacuum chambers 34, 36 exerts a force in the extension direction 22 on the Reciprocating piston 16 is exerted.
[0063] In the example, this is realized in that the reciprocating piston has first surface sections 72, which are so oriented, by the action of the negative pressure prevailing in the vacuum chambers 34, 36 on the first Surface sections 72 exert a force on the reciprocating piston 16 in the extension direction 22. In the example, such first surface sections 72 are formed, for example, by the axial end faces 74 of the radial projection 42, which limit the second vacuum chamber 36.
[0064] In addition, second surface sections 76 are provided, which are oriented in such a way that by the action of the the vacuum chambers 34, 36 prevailing negative pressure on the second surface sections 76 a force effect on the piston 16 in the retraction direction 22. In the example, such second surface sections 76 are, for example, formed by the axial end face 78 of the reciprocating piston 16 (see Fig. 2), which forms the first vacuum chamber 34 limit.
[0065] A sum of all first surface sections 72 is greater than a sum of all second surface sections 76, so that a net force effect occurs in the extension direction 22. This force effect is insofar a force effect due to the In particular, after a first activation pulse by the compressed air, (to lift the third sealing device 64 from the chamber opening 52) is no longer absolutely necessary, the Maintain compressed air supply to transfer the suction unit 14 into the active configuration and to hold.
[0066] To prevent leakage of negative pressure, optional additional sealing devices 80 are included in the example. which seal the piston 16 against the housing 26.
[0067] Fig. 3 shows a sketched representation of a design of a gripping module, which is in total equipped with the Reference numeral 100. The gripping module comprises a plurality, in the example shown 12, of the above described suction grippers 10. The suction grippers 10 are mounted on a module body 102 such that the lifting axes 20 the suction grippers 10 run parallel to each other.
[0068] As mentioned above, the gripping module 100 may also comprise one or more valve devices (not shown) for controlling a compressed air supply and / or one or more valve devices for controlling a Vacuum supply of the suction grippers 10. For example, the gripping module 100 can have a or several main pressure ports 104 and / or one or more main vacuum ports 106, via which the gripping module 100 can be supplied with overpressure or negative pressure.
[0069] As shown schematically in Fig. 3, the gripping module 100 comprises, for example, an electrical interface 108, which, for example, can be used to supply the valves with power. In addition, it is conceivable that the electrical interface 108 control commands from a higher-level control device to the valve devices be transferred.
[0070] As mentioned above, the gripping module 100 can additionally have its own control device (not shown) for Control of the valve devices. Then the electrical interface 108 can be designed, for example, to connect the integrated control device to a higher-level control device
[0071] Fig. 4 shows the gripping module 100 according to Fig. 3 in a bottom view. As can be seen from Fig. 4, in the In the example shown, the suction grippers 10 are arranged in a regular grid. In some embodiments, it is also conceivable that the suction grippers 10 are arranged irregularly.
[0072] In the illustrated embodiment, all suction bodies 18 are also identically designed, in particular the same diameter. In embodiments not shown, it is also conceivable that a gripping module 100 suction cups 10 with differently designed suction bodies 18, in particular suction bodies 18 of different diameters, are provided.
[0073] It is also conceivable that several of the gripping modules 100 described above can be combined to form a higher-level An exemplary embodiment of such a suction gripping device is shown in Fig. 5 and is designated overall by the reference number 200. As can be seen from Fig. 5, the gripping modules 100 in the suction gripping device 200 are arranged side by side in particular in such a way that a flat suction surface is formed is.
[0074] As shown schematically in Fig. 6, it is conceivable that the suction gripping device 200 has an electrical supply line 202, a compressed air supply line 204 and a vacuum supply line 206. QUOTES CONTAINED IN THE DESCRIPTION
[0000] This list of documents submitted by the applicant was generated automatically and is intended solely for This list is not part of the German patent or trademark law. Utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature
[0000] EP 3483097 A2
[0004]
Claims
1. Suction gripper (10) for sucking and handling an object, comprising - a gripper base body (12) with a housing (26) which has a vacuum connection (50), - a suction unit (14) comprising a reciprocating piston (16) and a movement-coupled with the reciprocating piston (16) Suction body (18), wherein the suction unit (14) is arranged on the gripper base body (12) along a lifting axis (20) in such a way is mounted displaceably in such a way that it can be moved in an extension direction (22) and in a direction opposite to the extension direction (22) retraction direction (24) relative to the gripper base body (12), wherein the suction unit (14) has an axially retracted passive configuration and an axially extended active configuration, whereby in the Active configuration a flow connection is established between the vacuum connection (50) and the suction body (18) and in the passive configuration this flow connection is blocked, characterized in that the housing (26) has a housing interior (28) in which the reciprocating piston (16) is guided displaceably along the reciprocating axis (20), wherein the reciprocating piston (16) divides the housing interior (28) into a first vacuum chamber (34) and a second vacuum chamber (36), wherein the first vacuum chamber (34) and the second vacuum chamber (36) are Changing a displacement position of the lifting piston (16) along the lifting axis (20) can be changed in size, wherein the reciprocating piston (16) has an internal vacuum guide (54) via which the first vacuum chamber (34) and the second vacuum chamber (36) are fluidly connected to each other, wherein in the active configuration a Flow connection between the two vacuum chambers (34, 36) and the vacuum connection (50) is established and in the passive configuration this flow connection is blocked, whereby the piston (16) and the two Vacuum chambers (34, 36) are designed such that by applying pressure to the two vacuum chambers (34, 36) a force is exerted on the reciprocating piston (16) in the extension direction (22) using negative pressure.
2. Suction gripper (10) according to claim 1, wherein the first vacuum chamber (34) and the second vacuum chamber (36) are limited in sections by surface sections (72, 76) of the reciprocating piston (16), onto which a Vacuum chambers (34, 36) prevailing negative pressure acts, wherein first surface sections (72) are provided, which are oriented in such a way that by the action of a negative pressure prevailing in the vacuum chambers (34, 36) a force is exerted on the first surface sections (72) on the reciprocating piston (16) in the extension direction (22), and wherein second surface sections (76) are provided which are oriented such that by the action of the vacuum chambers prevailing negative pressure on the second surface sections (76) a force effect on the Reciprocating piston (16) in the retraction direction (24), wherein a sum of all first surface sections (72) is greater than a sum of all second surface sections (76).
3. Suction gripper (10) according to one of the preceding claims, wherein the first vacuum chamber (34) and the second Vacuum chamber (36) are designed such that when transferring the suction unit (14) from the passive configuration In the active configuration, the first vacuum chamber (34) is enlarged and the second vacuum chamber (36) reduced in size.
4. Suction gripper (10) according to one of the preceding claims, wherein the first vacuum chamber (34) has at least is arranged axially offset in sections to the reciprocating piston (16), in particular between a suction body (18) opposite end of the reciprocating piston (16) and an inner wall of the housing (26).
5. Suction gripper (10) according to one of the preceding claims, wherein the vacuum guide (54) of the reciprocating piston (16) has a, in particular axial, suction opening (60) which is fluidly connected to the suction body (18).
6. Suction gripper (10) according to one of the preceding claims, wherein the first vacuum chamber (34) has a chamber opening (52) which is fluidly connected to the vacuum connection (50), wherein the chamber opening (52) in the Passive configuration of the suction unit (14) by the reciprocating piston (16), in particular by a suction body (18) opposite end of the reciprocating piston (16) arranged sealing device (64) of the reciprocating piston (16), closed and can be opened by moving the lifting piston (16) from the passive position in the extension direction (22).
7. Suction gripper (10) according to one of the preceding claims, wherein the suction unit (14) is actuated into the passive position, in particular spring-loaded.
8. Suction gripper (10) according to one of the preceding claims, wherein the housing (26) has an overpressure connection (66), wherein the reciprocating piston (16) is provided in the housing interior (28) such that, in particular between the first vacuum chamber (34) and the second vacuum chamber (36), a pressure chamber (38) is formed, which is provided with the overpressure connection (66) is fluidly connected, wherein the overpressure chamber (38) is designed such that the reciprocating piston (16) is actuated by applying pressure to the overpressure chamber (38) with Compressed air can be displaced in the extension direction (22).
9. Suction gripper (10) according to the preceding claim, wherein the overpressure chamber (38) is arranged between the first vacuum chamber (34) and the second vacuum chamber (36), wherein the reciprocating piston (16) has a first Sealing device (40) which is designed to seal the first vacuum chamber (34) against the pressure chamber (38), and a second sealing device (44) which is designed to seal the overpressure chamber (38) against the second vacuum chamber (36) to be sealed.
10. Suction gripper (10) according to one of the preceding claims, wherein the housing (26) has a first Housing interior section (30) and a second, arranged axially behind it, in particular in the extension direction (11), Housing interior section (32), wherein the first vacuum chamber (34) is in the first Housing interior section (30) is formed and wherein the second vacuum chamber (36) and in particular the Overpressure chamber (38) is formed in the second housing interior section (32).
11. Suction gripper (10) according to the preceding claim, wherein, viewed along the stroke axis (20), a cross-sectional area of the first housing interior section (30) is smaller than a cross-sectional area of the second housing interior section (32).
12. Suction gripper (10) according to one of claims 10 or 11 when referring back to claim 8, wherein the lifting piston (16) in the second housing section (32) has a radial projection (42) which defines the second housing interior section (32) is divided into the second vacuum chamber (36) and the pressure chamber (38).
13. Suction gripper (10) according to one of the preceding claims, wherein the second vacuum chamber (36) and in particular the Overpressure chamber (38) encloses the reciprocating piston (16).
14. Gripping module (100), comprising a module body (102) and a plurality of suction grippers (10) according to one of the previous claims, wherein the suction grippers (10) are mounted on the module body (102) in such a way that the lifting axes (20) the suction grippers (10) run parallel to each other.
15. Suction gripping device (200) comprising a plurality of gripping modules (100) according to the preceding claim.