Vacuum handling device and vacuum handling system for gripping an object

Abstract

The invention relates to a vacuum handling device (1) with a base body (3), a pivoting arm (5) pivotably mounted on the base body (3), and at least two suction points for gripping an object, wherein the vacuum handling device (1) preferably has a first suction point (7) on the base body (3), wherein the pivoting arm (5) has a second suction point (9), wherein the second suction point (9) is arranged on the pivoting arm (5) in such a way that its length can be adjusted such that a distance between the second suction point (9) and the base body (3) can be set to a first distance and a second distance in a pneumatically driven manner, wherein the pivoting arm (5) can be pivoted between a first pivoting position and a second pivoting position in a pneumatically driven manner.

Description

The invention relates to a vacuum handling device for gripping an object and to a vacuum handling system comprising a plurality of such vacuum handling devices.Vacuum handling apparatus and systems of the above type are known in the art. These serve for the handling of objects, for example in the field of production, in particular component production. For gripping objects, a plurality of different vacuum handling devices are known, each of which is designed to match a specific object. However, if the requirement exists that various objects be graspable at short intervals of time, it is inconvenient to replace the vacuum handling device used with an alternative vacuum handling device adapted to the object, whereby the handling process and / or the production are completely shut down. In addition, it is logistics and complicated and expensive to operate, to prepare several different types of vacuum hand-handling devices and use them on a need-specific basis.Also known in this context are variably adaptable vacuum handling devices, which are adapted to a respective object geometry by providing a plurality of adjustable suction points of the vacuum handling device, which are displaced depending on the object geometry. However, such vacuum handling apparatus are too slow depending on the application.The invention is therefore based on the object of accelerating the handling of a sequence of different objects and of keeping the required operational and financial expenditure as low as possible.This object is achieved according to the invention by a vacuum handling device having the features of claim 1. The vacuum handling device has a base body, a pivot arm pivotably mounted on the base body and at least two suction points for gripping an object, wherein the vacuum handling device preferably has a first suction point on the base body, wherein the pivot arm has a second suction point, wherein the second suction point is arranged on the pivot arm such that it can be adjusted in length such that a distance between the second suction point and the base body can be adjusted to a first distance and a second distance in a pneumatically driven manner, wherein the pivot arm can be pivoted between a first pivot position and a second pivot position in a pneumatically driven manner. This allows very rapid adjustment and thus adaptation to a changed object geometry.Preferably, the second suction point is arranged at the first distance and / or at the second distance in an end position--with respect to the length adjustment direction--at the end. In a first end position, the second suction point is thus arranged at the first distance from the base body. In a second end position, the second suction point is arranged at the second distance from the base body. The end position is understood to be a position in which a further displacement in at least one direction of the longitudinal direction, i.e. in the direction away from the base body and / or in the direction toward the base body, is blocked in such a way that a further displacement in this direction is impossible.A longitudinal direction is understood here in particular to mean a direction from the first distance position to the second distance position or vice versa, i.e. from the second distance position to the first distance position. A length thus refers in particular to a distance of the second suction point and / or a length of the pivot arm as a whole.A pivot position is understood here in particular to mean a position of the pivot arm which can be reached by pivoting the pivot arm about a pivot axis, wherein the pivot movement takes place in the circumferential direction about the pivot axis. The pivot positions represent an end position in a respective pivot direction, in which the pivot arm is fixed. For fixing, a fixing device can be provided which mechanically and / or pneumatically fixes the pivot arm in the first and / or second pivot position. Alternatively or additionally, the pivot arm is pneumatically fixed in the two pivot positions.The end positions mentioned above with respect to the longitudinal adjustment as well as with respect to the pivoting are preferably to be understood in such a way that a movement, i.e. a length adjustment and a pivoting, can take place exclusively between these end positions, so that the end positions each represent end points with respect to the respective movement-length adjustment or pivoting.In this case, an angle is enclosed between the first pivot position and the second pivot position, which angle is preferably smaller than 180°, further preferably smaller than 90°, particularly preferably smaller than 45°.The pivot arm is preferably pivotably fastened to the base body in a pivot point in such a way that the pivot axis reaches through at least one section of the base body. As a result, an orientation of the pivot arm starting from the base body can be adjusted.The pivot arm is attached pneumatically to the base body in such a way that it can be pivoted in such a way that-starting from the pivot axis and thus starting from the base body-a direction of the second suction point can be adjusted pneumatically between a first direction and a second direction. This makes it possible to change between the first and second pivoted positions particularly quickly, in particular back and forth.The pivoting movement is preferably limited by an in particular physical stop structure, so that the pivoting arm, when being displaced into the first pivoting position, abuts a first stop structure and, in the first pivoting position, preferably abuts the first stop structure, and, when being displaced into the second pivoting position, abuts a second stop structure and, in the second pivoting position, preferably abuts the second stop structure.The vacuum handling device is preferably designed and configured such that at least one pivoting movement-i.e. from the first pivoting position into the second pivoting position and / or from the second pivoting position into the first pivoting position-can be carried out pneumatically. Particularly preferably, the pivot arm is pivotable in both directions-i.e. from the first pivot position into the second pivot position and from the second pivot position into the first pivot position-pneumatically driven. As a result, the pneumatic elements which are present in any case can be used at least partially multiple times, with the result that the advantages associated with the pneumatic actuation, in particular the speed during the pivoting of the pivot arm, are associated with comparatively little outlay and costs.Alternatively preferably, the pivot arm is pivotable from the first pivot position into the second pivot position in a pneumatically driven manner, wherein a spring mechanism is provided for restoring the pivot arm from the second pivot position into the first pivot position, wherein the spring mechanism pushes the pivot arm back in the direction of the first pivot position. As a result, additional more complicated pneumatic elements can be avoided and costs and / or construction outlay can thus be kept low.Preferably, the return of the pivot arm from the second pivot position into the first pivot position is also driven pneumatically in addition to or as an alternative to the spring-driven return, so that overall a reliable and rapid return can be effected.Particularly preferably, exactly two pivot positions of the pivot arm are provided. Alternatively or additionally, it is preferred that exactly two distances, i.e. the first distance and the second distance between the second suction point and the base body, are adjustable in a pneumatically driven manner. This creates a vacuum handling device, by means of which the swivel arm can be swivelled very quickly, with the design outlay being kept low.Alternatively, at least one first locking element, which can also be referred to as a swivel lock, is provided and arranged in such a way that the swivel arm can be adjusted into a third swivel position in a pneumatically driven manner. In this case, the pivot arm is brought to a standstill during pivoting and when the first locking element is actuated in the third pivot position. Preferably, the first locking element can be actuated manually, electrically and / or pneumatically.According to a specific development of the invention, it is provided that the base body has a step. In this case, the base body is particularly preferably constructed in an angular and / or L-shaped manner. The pivot arm is disposed on an upper side of the step and preferably extends parallel to a surface of the upper side in a direction parallel to the surface. The first suction point is preferably arranged on an underside of the base body facing away from the upper side, in particular opposite the lower side. The underside is preferably located in a plane perpendicular to the pivot axis together with a fastening point of the pivot arm at which the second suction point is arranged.Particularly preferably, the first suction point is provided by a first suction body formed separately from the base body and the second suction point is provided by a second suction body formed separately from the pivot arm. As a result, in particular in the event of a defect or in order to adapt the vacuum handling device to an alternative use, the suction bodies can be easily exchanged without having to exchange the complete vacuum handling device. Since the aforementioned underside of the base body and the fastening point lie in the same plane, structurally identical parts can additionally be used as the first and second suction bodies without the geometry of the vacuum handling device resulting therefrom being changed as a result.Alternatively, the second suction point is formed directly on the pivot arm and in one piece with this pivot arm, and / or the first suction point is formed directly on and in one piece with the base body, whereby additional components are avoided.Furthermore, it is preferred that exactly two distances for the second suction point are adjustable, wherein the pneumatic longitudinal adjustment is limited by stop structures, whereby two opposite end positions are defined, in which the two distances, i.e. the first and the second distance between the second suction point and the base body, are realized.Alternatively, at least a third distance is adjustable in a pneumatically driven manner, wherein the third distance is adjustable by actuating a second locking element, which can also be referred to as a longitudinal locking mechanism. The second locking element is designed and configured to stop the suction point at the third distance from the base body when the suction point is displaced from the first distance into the second distance or from the second distance into the first distance. The second locking element can preferably be actuated manually, electrically and / or pneumatically. Preferably, the second suction point is located at the third distance in an intermediate position between the first and second end positions. As a result, the vacuum handling device can be adapted to different objects even more flexibly.Preferably, the vacuum handling apparatus comprises a vacuum supply device for supplying the suction points with vacuum. For this purpose, pressure lines are provided which connect a vacuum side of the vacuum supply device to the first and second suction points, in particular in terms of flow. As a result, a negative pressure can be applied at the first and second suction point and the object can thus be sucked in and gripped.According to a further development of the invention, it is provided that the first suction point and / or the second suction point are designed to be vertically adjustable, preferably pneumatically driven, transversely to the longitudinal direction and transversely to the pivoting direction. As a result, the suction points can be placed in a particularly precise manner and can be individually adjusted, so that a more complex, in particular three-dimensional object surface can also be securely gripped.A height adjustment is understood here in particular to mean an adjustment of the suction points in the direction of a suction direction and / or in the direction of the pivot axis, wherein the height adjustment preferably represents a linearly one-dimensional translatory movement. The height adjustment is preferably effected transversely to a pivoting plane in which the pivot arm is pivoted and / or transversely to the longitudinal adjustment. In particular, the height adjustment does not take place in the same direction as the pivoting and not in the same direction as the longitudinal adjustment.According to a further development of the invention, it is provided that the first suction point is arranged at the base body in a fixed position, at least in the longitudinal direction and in the pivoting direction. As a result, the vacuum handling apparatus is more robust and less prone to defects overall, while still achieving the desired flexibility to handle various types and shaped objects.Preferably, the first suction point is arranged offset to the pivot axis, so that the pivot axis does not pass through the first suction point.The first suction point is therefore neither pivotable nor adjustable with respect to its distance. Preferably, the first suction point is also not designed to be adjustable with respect to height adjustment. As a result, the vacuum handling device is overall very stable and simple to construct, so that the production costs are also lower.Alternatively, however, the first suction point is at least pivotable and / or height-adjustable. As a result, the vacuum handling device can be adapted to different application purposes even more flexibly.According to a further development of the invention, it is provided that the base body has a pneumatically displaceable control element for pivoting the pivot arm, which control element engages with a rotary gate part connected to the pivot arm in a rotationally fixed manner, wherein a rotation of the rotary gate part can be effected by linear displacement of the control element, in particular in the direction of the pivot axis. This enables a rapid, pneumatically driven pivoting, wherein-because of the rotary gate part-the design outlay required for this is low and the stability is high.The rotary gate part preferably has a straight tubular shape which extends in the circumferential direction about a central axis and in particular at a constant distance from the central axis. In a wall of the tubular rotary gate part, an elongate gate guide slot is formed which extends at least in sections transversely to the central axis. The slotted guide slot extends both in the direction of the central axis and in the circumferential direction about the central axis, so that a rotation of the rotary slotted guide part about the central axis can be effected by means of a sliding block engaging therein, which is displaced in the direction of the central axis. The sliding block mentioned here is formed on a surface of the actuator. The actuator preferably has a cylindrical base body which preferably engages with an exact fit in the tubular rotary slide part and can be displaced therein along the central axis, wherein the slide block is positively guided in the slide guide slot, in particular on two sides, in order to effect the rotation of the rotary slide part.A linear displacement of the actuator is understood here in particular to mean a displacement along the central axis of the rotary gate part. The rotation-resistant connection provided here to the rotary gate part relates in particular to a rotation about the central axis of the rotary gate part.Preferably, the central axis of the rotary gate part corresponds-in the mounted state-to the pivot axis and / or a central axis of the in particular cylindrical actuator.For the linear displacement of the actuator, and thus for pivoting the pivot arm, a first pressure chamber is preferably provided here, which is arranged-with respect to the central axis-on a first side of the actuator and is connected fluidically to a surface of the actuator. The first pressure chamber can be acted upon by an overpressure and / or underpressure in order to exert a force on the actuator at least on one side. Preferably, the first pressure chamber can be supplied either only with overpressure or only with underpressure, so that no pressure change is required for control and the displacement of the actuator can take place solely by actuating valves and thus particularly quickly. Furthermore, only a single overpressure supply or underpressure supply is thereby required. Particularly preferably, the first pressure chamber is connected in particular fluidically to the negative pressure supply device, which likewise supplies the suction points with negative pressure. Alternatively, a separate pressure supply device is provided, which is connected in terms of flow to the first pressure chamber.According to a further development of the invention, it is provided that the base body has a first spring element which can be tensioned by pneumatic displacement of the actuator and, in the tensioned state, exerts a spring force on the actuator, by means of which the actuator is forced back into an initial position. The starting position referred to here preferably relates to an starting position with respect to a pivoted position of the pivot arm. Since the pneumatic displacement of the actuator leads to a pivoting of the pivot arm, the spring element is placed in the tensioned state, in particular during this pivoting of the pivot arm. This creates a cost-effective and structurally simple recovery of the control element.The vacuum handling device preferably has a second spring element which, after a pneumatically driven displacement, forces the suction point back into a starting position--with regard to the distance. The second spring element is preferably arranged on or in the pivot arm.Furthermore, the vacuum handling device preferably has a third and / or fourth spring element which is fastened in the region of the suction point, in particular on or in the pivot arm and / or one of the suction bodies, and is configured to urge the first and / or second suction point back into a starting position--with regard to the height adjustment--after a pneumatically driven height adjustment.According to a further development of the invention, it is provided that the control element is designed as a double-acting cylinder which can be pneumatically pressurized on two sides. As a result, a very rapid adaptation to specific objects which are to be gripped by means of the vacuum handling device is possible in both pivot directions.Preferably, the return of the actuator to the starting position is assisted, in addition to the pneumatic driven return, by an in particular mechanical spring mechanism. As a result, resetting can take place more quickly and reliably.Preferably, a second pressure chamber is provided, which is formed in the base body and is connected fluidically to a second side of the actuator, wherein the second side is formed opposite the first side of the actuator with respect to a direction of the central axis. As a result, a force in a first direction can be exerted on the actuator by means of the first pressure chamber and a force in a second direction opposite to the first direction can be exerted on the actuator by means of the second pressure chamber. As a result, the actuator can be displaced in two opposite directions in a pneumatically driven manner, as a result of which the pivot arm can be pivoted in both pivot directions, that is to say from the first pivot position into the second pivot position and from the second pivot position into the first pivot position, in a pneumatically driven manner.For supplying the second pressure chamber, it is preferably fluidically connectable to the negative pressure supply device and / or the separate pressure supply device, in particular fluidically connected in at least one valve position of a control valve device.Preferably, a third and / or fourth pressure chamber is provided for adjusting a length of the pivot arm, wherein the third and / or fourth pressure chamber can be supplied with compressed air and is connected fluidically to a length control element. Preferably, the pivot arm or the second suction point can be adjusted in length or adjusted in distance by means of the third or fourth pressure chamber in at least one direction, but preferably by means of the third and fourth pressure chamber in both directions.Further pressure chambers, in particular a fifth and / or sixth pressure chamber for the first suction point and / or a seventh and eighth pressure chamber for the second suction point, are also preferably provided. The fifth and / or sixth pressure chamber is designed and configured to set a height of the first suction point. Furthermore, the seventh and / or eighth pressure chamber are formed and configured to set a height of the second suction point.The third, fourth, fifth, sixth, seventh and / or eighth pressure chamber can also preferably be fluidically connected to the reduced-pressure supply device and / or the separate pressure supply device, and in each case are fluidically connected in at least one valve position of the control valve device.The first suction point and / or the second suction point are preferably pneumatically driven in a height-adjustable manner in at least one direction, wherein in the case of only one-sided pneumatic adjustability, the resetting takes place by means of a spring mechanism. Particularly preferably, both suction points are pneumatically driven vertically adjustable in both directions by means of the fifth, sixth, seventh and eighth pressure chambers.According to a further development of the invention, it is provided that the pivot arm has a first arm element and a second arm element for adjusting the distance between the base body and the second suction point, wherein the first arm element is fastened to the base body, and wherein the second arm element is mounted displaceably along the first arm element at least in sections, in particular along a guide section. This allows flexible positioning of the second suction point arranged on the pivot arm.The second suction point is preferably arranged on the second arm element, so that the second suction point is pivotable on the one hand on account of the pivotability of the first arm element and on the other hand can be adjusted in length on account of the length adjustability of the second arm element.Particularly preferably, the second suction point is arranged at a terminal end section of the second arm element facing away from the base body, so that the vacuum handling device has a large action radius.The first arm element is an elongate arm element, in particular a straight arm element, on the base body side, by means of which the base body is connected to the second arm element. The first arm element is pivotable relative to the base body. Preferably, the first arm element is not adjustable in length. The first arm element is preferably formed in one piece, wherein it is possible that-in particular in order to implement further functions and / or for fastening and / or detection purposes-further elements are attached to the first arm element. This overall creates a stable, first arm element.The second arm element is length-adjustable relative to the base body with respect to a longitudinal extent of the pivot arm and is preferably formed in a straight and / or one piece. In this case, the second arm element is preferably attached to the first arm element in such a way that the first arm element can be displaced on the second arm element relative to the second arm element in the direction of the longitudinal extent of the pivot arm. As a result, the first arm element and the second arm element together form a telescopic rod, wherein the second arm element serves as a longitudinally adjustable telescopic arm.Preferably, the second arm element is fixed to the first arm element in a rotationally fixed manner. Furthermore, the first arm element is preferably arranged parallel to, in particular on a common longitudinal axis with, the second arm element. As a result, the pivot arm is stable overall and joints spaced apart from the base body are avoided.According to a special development of the invention, it is provided that the second arm element is mounted in a rotationally fixed manner with respect to the first arm element. Preferably, the first arm element is also arranged in a rotationally fixed manner relative to the base body. The stability of the pivot arm is thereby further increased.Preferably, the arm elements have two guide elements engaging one another for preventing rotation, wherein a first guide element is arranged on the first arm element and a second guide element is arranged on the second arm element, wherein the guide elements extend in the direction of the distance adjustment and / or parallel to the longitudinal extension of the first and / or second arm part. In particular, the guide elements can be designed as guide rods or guide rails.The term "rotationally secure" is understood here to mean that the respective element is fixed with respect to a rotation about its own longitudinal axis. In particular, this is understood to mean that a rotation in the circumferential direction about the longitudinal adjustment direction is avoided by at least one fixing structure and / or one fastening element.According to a further development of the invention, it is provided that the first arm element and / or the second arm element has an oval, in particular ellipsoidal, cross section at least in sections. As a result, the stability of the arm elements per se is increased, wherein the oval cross section can simultaneously contribute to the anti-rotation protection.The oval cross section discussed here is understood in particular to mean a cross section perpendicular to the longitudinal axis of the first and / or second arm element.Preferably, a large half axis of the oval, in particular ellipsoidal, cross section is oriented at an angle to the direction of the suction direction and / or-during gripping and handling of the object-in the direction of a load force, wherein the angle is less than 45°, preferably less than 30°, preferably less than 10°, preferably less than 3°. Particularly preferably, the large half axis is aligned exactly in the suction direction or in the direction of the load force or parallel thereto. As a result, the pivot arm is particularly stable.Preferably, the portion with the oval cross section passes through a non-round opening. Particularly preferably, the non-round opening is formed asymmetrically, in particular rectangularly with unequal side lengths and / or oval. Particularly preferably, at least three, preferably all four vertices of the oval cross section abut an inner side of the opening, such that a rotation of the first and / or second arm element is blocked by the contact of the vertices with the inner side of the opening.According to a further development of the invention, it is provided that an in particular second guide section of the second arm element reaches through an in particular first, oval opening of the first arm element and is guided through the in particular first oval opening during the pneumatic setting of the distance along the in particular second guide section. Alternatively or additionally, it is provided that an in particular first guide section of the first arm element reaches through an in particular second oval opening of the second arm element and, during the pneumatic setting of the distance along the in particular first guide section, is guided through the in particular second oval opening. By engaging the first or second guide section into the second or first opening, the rotation resistance and at the same time a variant of the telescopic function that is not prone to errors is provided, in which the actual guidance takes place in a protected manner in the interior of one of the two arm parts.The oval openings and the guide sections are preferably designed with an exact fit with respect to one another, so that the guide sections can be inserted into the respective openings in a rotationally secure manner and can be longitudinally displaced therein. In particular, the first, oval opening is therefore formed with an exact fit to the second guide section and the second, oval opening is formed with an exact fit to the first guide section.Preferably, the entire guide section has the oval cross section, so that a continuous and non-rotatable guide is provided overall. The guide section extends at least over a length which corresponds to a maximum length change of the length-adjustable pivot arm. The guide section is in particular at least as large as the difference in absolute value between the first and second distances. Preferably mechanical stopper elements are provided at a beginning and at an end of the guide section, respectively, which prevent a further linear displacement. For this purpose, the stopper elements preferably have a radial extent, in particular a diameter which is greater than the first oval opening or greater than the second oval opening.According to a further development of the invention, it is provided that a control device is provided which is designed and configured to bring the pivot arm into a first configuration position and into a second configuration position. As a result, the vacuum handling device can be used flexibly and can be adapted quickly and automatically to the various fields of application.Preferably, the first and second configuration positions are selected from a total of four possible specific configurations, with regard to the pivot and distance setting. The vacuum handling device is thus designed and configured such that exactly two distances and exactly two pivot positions can be adjusted. This enables simple and rapid control, since each distance and each pivot position represents an end position with respect to the direction of movement.In this case, it is preferably provided that the first configuration position and / or the second configuration position contains at least one setting with respect to the length setting and at least one setting with respect to the pivot position and preferably additionally at least one setting with respect to the height setting. The first configuration position and / or the second configuration position therefore comprise, on the one hand, a length setting and a pivot position of the pivot arm. The control device is thus designed and configured to obtain one or more items of information relating to the length setting, the pivot position and / or the height setting and to bring the pivot arm and / or the suction points of the vacuum handling device into a target position, namely the first or second configuration position, in accordance with the obtained information.According to a further development of the invention, it is provided that the vacuum handling device has at least one sensor which is designed and configured to detect a parameter of the object to be gripped and wherein the sensor is operatively connected to the control device in order to set the vacuum handling device, in particular a distance of the second suction point and / or a pivot position of the pivot arm, taking into account the one parameter. This allows automated detection of objects to be handled and a setting of the vacuum handling device adapted thereto.A parameter is understood here in particular to mean an object type, an object size, an object shape and / or an object orientation.The recognized parameter is preferably assigned to one of the configuration positions, namely the first or the second configuration position, wherein the control device is designed and configured to set the first or second configuration position as a function of the recognized parameter.The vacuum handling device is preferably designed and configured to automatically record the parameter and, after the record-taking into account the parameter-automatically set a configuration position assigned to the parameter, namely the first or second configuration position. Furthermore, the vacuum handling device is preferably designed and configured to detect a further parameter of a further object, and after the detection of the further parameter-taking into account the further parameter-automatically set a configuration position assigned to the further parameter, in particular the first or second configuration position, wherein particularly preferably the configuration position assigned to the further parameter is different from the previously set configuration position of the first detected parameter. As a result, it is possible to change between different configuration positions quickly and as a function of an object property which is determined by the parameter, such that different objects can be gripped and displaced in each case in an optimum manner.Alternatively or additionally, the sensor is designed and configured to perform collision monitoring with external objects and / or persons.According to a further development of the invention, it is provided that the base body has at least one control valve for controlling the first suction point and / or second suction point. In particular, a first control valve is provided for controlling the first suction position and a second control valve is provided for controlling the second suction position. By arranging the control valve on or in the base body, it is avoided that switching elements are mounted on movably mounted parts, in particular the pivot arm, so that overall a robust construction is provided. In particular, owing to the high positioning speeds due to the pneumatics during the adjustment of the pivot arm, damage to the control valve is thereby avoided.Preferably, the control device is designed and configured to actuate the at least one control valve. The first control valve is designed and configured to block and release a fluidic connection between the vacuum supply device and / or the separate pressure supply on the one hand and the first suction point on the other hand. As a result, the first control valve regulates whether an overpressure or a negative pressure is present at the first suction point. Accordingly, the second control valve is designed and configured to block and release a fluidic connection between the vacuum supply device and / or the separate pressure supply on the one hand and the second suction point on the other hand. As a result, the second control valve regulates whether an overpressure or a negative pressure is present at the second suction point.The control valve device is preferably provided with a plurality of valves, wherein preferably all valves of the control valve device can be operated by means of the control device. The control valve device preferably comprises at least one first valve for adjusting the pivot position of the pivot arm, at least one second valve for adjusting the distance of the second suction point, at least one third valve for adjusting the height of the first suction point and / or at least one fourth valve for adjusting the height of the second suction point.The first valve is preferably designed and configured to block and release a fluidic connection-starting from the vacuum supply device and / or the separate pressure supply device-to the first and / or second pressure chamber. Furthermore, the second valve is preferably designed and configured to block and release a fluidic connection to the third and / or fourth pressure chamber. Furthermore, the third valve is preferably designed and configured to block and release a fluidic connection to the fifth and / or sixth pressure chamber. Furthermore, the fourth valve is preferably designed and configured to block and release a fluidic connection to the seventh and / or eighth pressure chamber.Particularly preferably, all valves, in particular the first, second, third and fourth valves, are arranged on or in the base body, wherein preferably no valves are arranged on movable elements and / or particularly preferably no control valve is arranged on the pivot arm.Preferably, the first, second, third, fourth valve and / or the at least one control valve are each designed as a bistable valve which - after switching into a first valve position - maintains the first valve position without energy supply and - after switching into a second valve position - maintains the second valve position without energy supply.According to a further development of the invention, it is provided that the vacuum handling device is designed and configured so as not to supply at least one suction point with vacuum when gripping the object. This further increases the flexibility in gripping objects. In particular in the case that, due to the object geometry, one of the suction points cannot be brought into contact with the object, this prevents the non-contacted suction point from being suctioned into the empty space.The vacuum handling device is preferably designed and configured to block a fluidic connection to the relevant suction point, which is not supplied with vacuum, in this case, in particular by setting the first or second control valve in a blocking position.The object is also achieved in particular by providing a vacuum handling system having at least two vacuum handling devices according to one of the embodiments described above, wherein the base bodies of the vacuum handling devices are fastened to one another. The at least two vacuum handling devices in this case comprise in particular a first and a second vacuum handling device. This creates a vacuum handling system with a larger number of suction points, so that even larger and / or complicated-shaped objects can be gripped.Preferably, a first pivot arm of the first vacuum handling device and a second pivot arm of the second vacuum handling device are oriented in opposite directions in at least one pivot position, preferably in a rest position, starting from the base bodies fastened to one another. Preferably, the first base body of the first vacuum handling device is fastened at its rear side facing away from the first pivot arm to a rear side of the second base body of the second vacuum handling device facing away from the second pivot arm. This realizes a large span, so that even large objects can be gripped securely and flexibly.Furthermore, the vacuum handling system preferably has a third vacuum handling device with a third base body and a third pivot arm and a fourth vacuum handling device with a fourth base body and a fourth pivot arm, wherein the third vacuum handling device is arranged and fastened to the first base body of the first vacuum handling device in the same direction as the first vacuum handling device, in particular to a side wall of the first base body. In this case, the fourth vacuum handling device is arranged on the second base body in the same direction as the second vacuum handling device, in particular on a side wall of the second base body, wherein a rear side of the fourth base body facing away from the fourth pivot arm faces a rear side of the third base body facing away from the third pivot arm.Particularly preferably, the vacuum handling devices are all connected to one another, wherein an upper and / or a lower cover element is preferably provided, which are fastened on an upper side and / or lower side of the respective base bodies and thus fix these to one another. The upper sides and lower sides are preferably oriented transversely, in particular perpendicularly, to the rear sides and / or the side walls and / or the pivot axes. This realizes a compact, stable and flexibly adaptable design.In particular, it is provided that the above-described vacuum handling device forms a functional unit in a larger vacuum handling system, which is constructed in modular fashion from a plurality of vacuum handling devices. In this case, in particular each of the vacuum handling devices can be controlled independently of the other vacuum handling devices, in particular in such a way that the respective pivot arm can be moved in and out, pivoted and / or the suction points can be adjusted in height, and / or in such a way that the respective suction points can be activated and deactivated, in particular by individually blocking or releasing the respective control valves.According to a further development of the invention, it is provided that the vacuum handling system is designed and configured to set a first or second stroke at the first or second suction point differently from a further stroke at one of the other suction points. A stroke is understood here in particular to mean a height setting. As a result, the vacuum handling system can be adapted to a plurality of different object geometries, in particular different surface geometries of the objects, so that these objects can be securely gripped and displaced. In particular, collisions between the suction points and the object can thereby also be avoided, especially in cases in which one of the suction points is inactive and is not to be used for gripping the object.In this case, it is preferably provided that the first and / or second stroke relate to a height setting of the first and / or second suction point of the first vacuum handling device, wherein the further stroke relates to a height setting of a suction point of another vacuum handling device, in particular of the second, third or fourth vacuum handling device.Particularly preferably, the first stroke, the second stroke and / or the further stroke is set in dependence on the parameter detected by the sensor.According to a further preferred development of the invention, it is provided that the control device is designed and configured to bring the first vacuum handling device into a first configuration position and to bring the second vacuum handling device into a second configuration position. It is provided that the first configuration state is different from the second configuration state. As a result, the vacuum handling system can be flexibly adapted to different object geometries, so that the objects can be securely gripped and displaced.Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which the embodiment of the invention shown in the figures is described and explained in more detail.The following are shown: FIG. 1 shows a vacuum handling device in a perspective view in a first pivoted position; FIG. 2 shows the vacuum handling device shown in FIG. 1 with an extended telescopic arm; FIG. 3 shows a top view of the vacuum handling device in a second pivoted position; FIG. 4 shows a top view of the vacuum handling device in the second pivot position with the telescopic arm extended; FIG. 5 shows a top view of the vacuum handling device in the first pivoted position; FIG. 6 shows a plan view of the vacuum handling device in the first pivot position with the telescopic arm extended; FIG. 7 is a cross-sectional view of the vacuum handling apparatus; FIG. 8 is a longitudinal section through the vacuum handling apparatus; FIG. 9 is an enlarged detail view of the longitudinal section shown in FIG. 8 ; FIG. 10 is a perspective view of a vacuum handling system having a plurality of vacuum handling devices; FIG. 11 is a perspective view of the vacuum handling system shown in FIG. 10 with various configuration positions of the vacuum handling devices.FIG. 1 shows a vacuum handling device 1 with a base body 3, on which a swivel arm 5 is pivotably mounted. The vacuum handling device 1 has two suction points, namely a first suction point 7 and a second suction point 9. The first suction point 7 is arranged on the base body 3 itself and thus stationary with respect to the latter. The second suction point 9 is arranged both pivotably and adjustably in distance with respect to the base body 3 and the first suction point 7 by being fastened to the pivot arm 5. In the exemplary embodiment illustrated in FIG. 1, the second suction point 9 is arranged in particular on an end section 11 of the pivot arm 5 which is radially terminal to the pivot axis S, such that the vacuum handling apparatus 1 has a long range.The base body 3 here has in particular an L-like angular shape with a first angular arm 13 and a second angular arm 15. The first angle arm 13 is oriented transversely, here in particular perpendicularly to the second angle arm 15, and extends parallel to the pivot axis S. The second angle arm 15 is thereby oriented perpendicularly to the pivot axis S and intersects the latter.The first suction point 7 and the second suction point 9 are designed and configured to suck an object, not shown here, by means of a negative pressure applied to the suction points and to keep it stationary with respect to the respective suction point in the sucked-in state, in order thereby to fix and / or displace the object. For this purpose, the first suction point 7 has a first suction body 17 which is fastened at an upper end 19 to the base body 3 by at least one fastening means 21. In FIG. 1, the first absorbent body 17 is fastened to a first web 23 which originates from the second angle arm 15 and protrudes radially with respect to the pivot axis S and relative to the first angle arm 13, such that a part of the first absorbent body 17 is arranged in an indentation formed by the first web 23 and the second angle arm 15 and is therefore particularly protected.To increase the stability, the first web 23 is supported by two lateral support walls beveled at the lower end, wherein only one of the two support walls, namely the support wall 25 facing the observer, is visible in FIG. 1. The support walls are preferably formed integrally with the second angle arm 15 and thus the base body 3 as a whole.The first suction body 17 has at its lower end a preferably elastic sealing lip 27 which flexibly fits against a surface of the object when the object is gripped.A second suction body 29 preferably identical in construction to the first suction body 17 provides the second suction point 9 at its lower end. The second suction body 29 preferably likewise has an elastic sealing lip 31. At the upper end 33, the second suction body is fastened to the pivot arm 5, in particular the end section 11.As can be seen in particular in conjunction with FIG. 2, the pivot arm 5 is designed as a telescopic arm, which has a first arm element 35 on the base body side and a second arm element 37 engaging into the first arm element 35. In this case, the second arm element 37 engages in an oval opening 39 of the first arm element 35. During the pneumatic adjustment of the distance, the radially outer, second arm element 37 is guided by the oval opening 39 and held in a rotationally fixed manner. Alternatively or additionally, two mutually engaging guide elements can be formed on the first arm element 35 on the one hand and on the second arm element 37 on the other hand, along which the arm elements are guided against one another in such a way that rotation about their axis or in the circumferential direction about the distance adjustment direction is avoided.The pivot arm 5 is pivotably mounted here in particular in the step formed between the first angle arm 13 and the second angle arm 15. A pivot bearing 41 of the pivot arm 5 is arranged between an inner side of the second angle arm 15 and a second web 43 extending from the first angle arm 13. As a result, a recess is formed between the second web 43 and the second angle arm 15, in which recess the pivot arm 5 is freely pivotable in the circumferential direction about the pivot axis S with the exception of the first angle arm 13.While the vacuum handling device 1 is shown in a first pivoted position in FIGS. 1 and 2, which is also referred to as a resting position, FIGS. 3 and 4 show the vacuum handling device 1 in a second pivoted position. Between these two pivot positions, the vacuum handling device 1 is preferably pneumatically driven and pivotable without intermediate positions.The vacuum handling device 1 is preferably stopped by a first stop structure in the first pivot position and by a second stop structure in the second pivot position. As a result, the vacuum handling device 1 can be pivoted particularly quickly between the first and the second pivot position.FIGS. 5 and 6 show the vacuum handling device 1 in the same perspective as in FIGS. 3 and 4, wherein the vacuum handling device 1 is shown in FIGS. 5 and 6 however in the first pivoted position.Here, a spring mechanism with a spring element 45 can also be seen, which serves to return the pivot arm 5 from the second pivot position back into the first pivot position after the pivot arm 5 has been set into the second pivot position in a pneumatically driven manner. This spring mechanism can be provided alternatively or additionally to a pneumatic return.In FIG. 7, the vacuum handling device 1 is shown along a cross-sectional plane G-G, wherein the cross-sectional plane G-G is indicated in FIG. 5. In the cross-sectional view in FIG. 7, it can be seen that the pivot arm 5 has an oval cross-section, as a result of which, on the one hand, high stability and, on the other hand, rotation resistance is ensured.Both the first arm element 35 and the second arm element 37 are oval-shaped at least in this section shown in FIG. 7.Since a guide portion 47 of the second arm element 37 in FIG. 5 is completely inserted into the first arm element 35, the guide portion 47 extends beyond the cross-sectional plane G-G, so that the second arm element 37 can be seen as an inner oval in the cross-sectional view in FIG. 7.The guide section 47 can be seen in FIGS. 2, 4 and 6, since the second suction point 9 is shown there at the second distance from the base body 3, i.e. in the extended state.In addition to the cross-sectional plane G-G, a longitudinal sectional plane A-A is also indicated in FIG. 5. Fig. 8 shows the vacuum handling apparatus 1 along this longitudinal section A-A.It can be seen here that the first suction point 7 and the second suction point 9 are each designed to be height-adjustable. In particular, a first height control element 49 can be seen here in the upper region of the first suction body 17. This first height control element 49 can be driven pneumatically by applying an overpressure to a first pressure chamber arranged above the control element in FIG. 8. The height control element 49 is reset into the starting position by means of a pressure change in the pressure chamber, a further pressure chamber and / or a spring-driven reset mechanism.The second suction body 29 has a corresponding, second pressure chamber for driving a second height actuator 51 of the second suction body 29. For this purpose, the second pressure chamber can be pressurized with an overpressure. Since the two suction bodies, first suction body 17 and second suction body 29, are preferably of identical construction as in the exemplary embodiment shown here, the return to the starting position is also effected here with a pressure change in the second pressure chamber, a further pressure chamber and / or a spring mechanism.In addition, pressure guidance channels 53 can be seen in FIG. 8, via which the first suction point 17 and the second suction point 29 are supplied with a negative pressure for gripping the object. These pressure guidance channels 53 pass through the suction bodies along or parallel to a central axis and thus connect the suction points to further pressure guidance channels in the pivot arm 5 or the base body 3, so that overall the suction points are fluidically connectable to a vacuum supply device and are connected during operation of the vacuum handling device 1.In particular, the pressure guidance channels 53 can also be attached at least in sections on the outside of the suction bodies, the pivot arm 5 and / or the base body 3, whereby an additional anti-rotation protection takes place.Furthermore, a distance control element 55 for adjusting the first and / or second distance can be seen in FIG. 8. This spacing actuator 55 is pneumatically driven in that, in particular for setting the second spacing, a spacing pressure chamber adjacent to the spacing actuator 55, in particular arranged on the base body side, is subjected to an overpressure. For the return to the first distance, the distance pressure chamber is subjected to a negative pressure. Alternatively or additionally, the spacing actuator is designed to be double-acting in such a way that an overpressure is applied to a pressure chamber opposite the spacing pressure chamber, as a result of which only valve actuation and no pressure change are required for the spacing position change. To assist this, an additional spring mechanism can be provided which urges the distance setting element 55 and / or the second arm element 37 back in such a way that the second suction point 9 is set to the first distance, as a result of which-in the exemplary embodiment illustrated here-the telescopic arm is retracted.FIG. 9 shows the detail view C marked in FIG. 8, which shows a rotary slide guide for pivoting the pivot arm 5 in an enlarged illustration. In this case, the base body 3 has a pneumatically linearly displaceable actuator, which is also referred to here as a swivel actuator. The pivoting actuator engages in a rotary gate part 57, wherein the rotary gate part 57 is connected to the pivot arm 5 in a rotationally fixed manner via an upper extension 59. As can be seen in FIG. 9, the rotary slide part is here designed as a tubular part with slide guide slots 61 aligned obliquely. Since the rotary gate part 57 is arranged rotatably in the base body 3 with respect to the base body 3, a linear displacement of the pivoting actuator is converted into a rotational movement of the rotary gate part 57 and thus into a pivoting movement of the pivot arm 5.FIG. 10 now shows a perspective view of a vacuum handling system 63 with in particular four vacuum handling devices 1. The vacuum handling devices 1 are all fastened to one another in that an upper cover 67 is mounted on a respective upper side 65 of the four base bodies 3, which cover connects the vacuum handling devices 1 to one another.In this case, as illustrated in FIG. 11, the individual vacuum handling devices 1 can preferably each be individually controlled, such that a first vacuum handling device 1.1 of the vacuum handling system 63 can be adjusted to the first pivot position, i.e. the rest position just starting from the base body 3, and the first distance, i.e. with the telescopic arm retracted, while a second vacuum handling device 1.2 can be adjusted to the second pivot position, i.e. angled with respect to the first pivot position, and a second distance, i.e. with the telescopic arm extended. In addition, in FIG. 11, a third vacuum handling device 1.3 is set to the first pivot position and the second distance, and a fourth vacuum handling device is set to the second pivot position and the first distance.As a result, a larger number of first suction points 7 and second suction points 9 is provided and, overall, a plurality of possible combinations of pivot and spacing settings of the individual vacuum handling devices 1 is possible.

Claims

Vacuum handling device (1) having a base body (3), a pivot arm (5) pivotably mounted on the base body (3) and at least two suction points for gripping an object, wherein the vacuum handling device (1) preferably has a first suction point (7) on the base body (3), wherein the pivot arm (5) has a second suction point (9), wherein the second suction point (9) is arranged on the pivot arm (5) so as to be adjustable in length such that a distance between the second suction point (9) and the base body (3) is adjustable to a first distance and a second distance in a pneumatically driven manner, wherein the pivot arm (5) is pivotable between a first pivot position and a second pivot position in a pneumatically driven manner.Vacuum handling device (1) according to claim 1, wherein the first suction point (7) and / or the second suction point (9) are designed to be vertically adjustable transversely to the longitudinal direction and transversely to the pivoting direction, preferably pneumatically driven.Vacuum handling device (1) according to one of the preceding claims, wherein the first suction point (7) is arranged - at least in the longitudinal direction and in the pivoting direction - in a fixed manner on the base body (3).Vacuum handling device (1) according to one of the preceding claims, wherein the base body (3) has a pneumatically displaceable actuating element for pivoting the pivot arm (5), which actuating element engages with a rotary gate part (57) connected to the pivot arm (5) in a rotationally fixed manner, wherein a rotation of the rotary gate part (57) can be effected by linear displacement of the actuating element.Vacuum handling device (1) according to claim 4, wherein the base body (3) has a spring element (45), which can be tensioned by pneumatic displacement of the actuator, and in the tensioned state exerts a spring force on the actuator, by means of which the actuator is forced back into an initial position.Vacuum handling device (1) according to claim 4 or claim 5, wherein the actuator is designed as a double-acting cylinder which can be pneumatically pressurized on two sides.Vacuum handling device (1) according to one of the preceding claims, wherein the pivot arm (5) has a first arm element (35) and a second arm element (37) for adjusting the distance between the base body (3) and the second suction point (9), wherein the first arm element (35) is fastened to the base body (3), and wherein the second arm element (37) is mounted so as to be displaceable at least in sections along the first arm element (35).Vacuum handling device (1) according to claim 7, wherein the first arm element (35) and / or the second arm element (37) has an oval cross section at least in sections.The vacuum handling apparatus (1) according to claim 7 or claim 8, wherein a guide portion (47) of the second arm member (37) passes through an oval opening (39) of the first arm member (35) and is guided through the oval opening upon pneumatic adjustment of the distance along the guide portion (47).Vacuum handling device (1) according to one of the preceding claims, wherein a control device is provided which is designed and configured to bring the pivot arm (5) into a first configuration position and into a second configuration position.The vacuum handling device (1) according to claim 10, wherein the vacuum handling device (1) comprises at least one sensor which is designed and configured to detect a parameter of the object to be gripped and wherein the sensor is operatively connected to the control device in order to set the vacuum handling device (1), in particular a distance of the second suction point (9) and / or a pivot position of the pivot arm (5), taking into account the one parameter.Vacuum handling device (1) according to one of the preceding claims, wherein the base body (3) has at least one control valve for controlling the first suction point (7) and / or second suction point (9).The vacuum handling device (1) according to any one of the preceding claims, wherein the vacuum handling device (1) is configured and configured to not supply at least one suction point with vacuum when gripping the object.Vacuum handling system (63) comprising at least two vacuum handling apparatuses (1), in particular a first vacuum handling apparatus (1.1) and a second vacuum handling apparatus (1.2), according to one of the preceding claims, wherein the base bodies (3) of the vacuum handling apparatuses (1) are fastened to one another.The vacuum handling system (63) according to claim 14, wherein the vacuum handling system (63) is configured and configured to set a first or second stroke at the first suction point (7) or the second suction point (9) of the in particular first vacuum handling device (1.1) different from a further stroke at one of the other suction points.

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