Handling device

Abstract

A handling device (1) configured to pick up and set down objects (2), in particular food products (3). The handling device (1) comprises a frame (4) and a pick-up device (5). The pick-up device (5) is movable and / or comprises a movable element (16). The handling device (1) further comprises an actuator (8) configured to move the movable element (16) and / or the pick-up device (5) relative to the frame (4). The actuator (8) is configured to move the movable element (16) and / or the pick-up device (5) away from a starting position (6) when an overpressure or a negative pressure is applied to it. The actuator (8) comprises a pressure chamber (10) configured to change its shape when the overpressure or the negative pressure is applied.

Description

The invention relates to handling devices for articles, in particular food products.For example, EP 3 296 238 A1 discloses a receiving device for packages. As disclosed therein, conventional devices often include pneumatic cylinders that may be configured to drive various structures of the devices. Handling devices with pneumatic cylinders have the disadvantage that a seal is necessary for sealing the piston rod. In particular in hygienically demanding environments, but also in very dirty environments, the relative movement between the seal and the piston rod can lead to problems, for example in that abrasion or damaged parts of the seal contaminate the hygienic environment or because the wear can be increased by contamination of the piston rod in dirty environments.Furthermore, pneumatic actuators are known which can be produced by additive methods. In particular, pneumatic actuators are known which are based on deformable, elastic chambers and can be produced, for example, by selective laser sintering. Although such actuators per se are now part of the prior art, optimization potentials still exist in their application fields and structural detailsIt is an object of the invention to provide an improved handling device which is better suited for use in demanding environments, in particular hygienic or dusty environments.A handling device is disclosed which is configured to receive and deposit articles, in particular food products. The handling device comprises a frame and a receiver. The receiver is movable and / or comprises a movable element. The handling device further comprises an actuator configured to move the movable element and / or the receiver relative to the frame. The actuator is configured to move the movable element and / or the receiver away from a starting position when an overpressure or a negative pressure is applied to it. The actuator includes a pressure chamber configured to change shape upon application of the positive pressure or the negative pressure.The shape-changeable pressure chamber makes it possible for the handling device to be configured without friction pairings between piston rods and seals. This enables the source of the above-mentioned risks of errors to be eliminated. In addition, actuators with the disclosed pressure chamber may be lighter than conventional pneumatic cylinders, whereby higher movement accelerations and / or movement speeds and / or are made possible and / or the energy requirement may be reduced. The receiver can be configured to engage with the object, in particular with the food product, and to detachably connect the object, in particular the food product, to the handling device. The receiver may be configured to engage with one or more items, in particular the food products, preferably simultaneously. The handling device may comprise one or more pick-ups.Pick-ups can comprise, for example, one or more grippers, suction devices or suction cups or blades. The pick-up itself can be movable, in particular movable relative to the frame, for example in order to move and / or rotate the object to be picked up relative to the frame. Alternatively or additionally, the receiver can comprise one or more movable elements, for example. Gripping arms and / or slides. A pressure that is higher than an atmospheric pressure in the vicinity of the actuator can be considered as the overpressure. A pressure lower than an atmospheric pressure in the vicinity of the actuator may be considered as the negative pressure.In particular in the case of handling devices in which the actuator is configured to move the movable element and / or the pick-up away from a starting position when an overpressure is applied to it, it may be advantageous if the actuator is configured to move the movable element and / or the pick-up in a direction towards the starting position when the previously applied overpressure is reduced.In particular in the case of handling devices in which the actuator is configured to move the movable element and / or the receiver away from a starting position when a negative pressure is applied to it, it may be advantageous if the actuator is configured to move the movable element and / or the receiver in a direction towards the starting position when a difference between the previously applied negative pressure and an ambient pressure of the actuator is reduced.The actuator may be configured to move the movable element and / or the receiver in a direction towards the initial position upon application of a negative pressure, in particular in variants in which the actuator is configured to move the movable element and / or the receiver away from an initial position when an overpressure is applied thereto. This allows the movement back to the initial position to be accelerated.The actuator may be configured to move the movable element and / or the receiver in a direction towards the initial position upon application of an overpressure, in particular in variants in which the actuator is configured to move the movable element and / or the receiver away from an initial position when a negative pressure is applied thereto. This allows the movement back to the initial position to be accelerated.The actuator may be a linear actuator. A linear actuator can be considered to be an actuator which is configured to move the movable element and / or the receiver along a linear direction.The pressure chamber can be configured for supplying compressed air and / or for evacuating. In particular when handling food products, compressed air can be advantageous as pressure medium, since it represents a lower risk of contamination, for example, with respect to oils. The pressure chamber can be airtight up to a specific overpressure and / or up to a specific underpressure, for example by using a corresponding material, suitable shaping, suitable selection of the material thickness and / or suitable connections. Advantageously, the pressure chamber can comprise an elastically deformable material, e.g. silicone, polyamide and / or thermoplastic polyurethane.The pressure chamber can comprise, for example, a bellows.Advantageously, the actuator may comprise a restoring element, which may be configured to bias the movable element and / or the receiver towards the initial position. This allows the movement back to the starting position to be supported and / or accelerated. Compared to the application of a negative pressure mentioned above, the provision of a resetting element can be advantageous since the control effort for switching over the pressure can be dispensed with. In addition, a restoring element can reduce the reaction time compared to variants with reduced pressure generation. As creating vacuum may require time. It can be particularly advantageous if the restoring element is arranged in the pressure chamber. Contamination of the reset element by food product and / or vice versa can thus be reduced or avoided, whereby hygiene can be improved and / or the cleaning of the actuator can be facilitated. It can be particularly preferred if the restoring element is integrated into the pressure chamber. Additionally or alternatively, the restoring element or an additional restoring element can be arranged outside the pressure chamber and / or at least partially surround the pressure chamber. Restoring elements arranged both in the pressure chamber and outside the pressure chamber can be designed in one piece with the pressure chamber or as a part separate from the pressure chamber. The restoring element can comprise, for example, an elastic material and / or a spring.The pressure chamber can be produced by an additive manufacturing method, in particular 3D-printed. As a result, the shape of the pressure chamber can be more free, more flexible and better adaptable to the intended use.The invention relates to a handling device of the type described above. FIG. 1 shows a schematic perspective view of a handling device in a starting position. FIG. 2 is a schematic perspective view of the handling device of FIG. 1 in an extended position. FIG. 3 shows a schematic sectional view of the handling device, wherein the course of the sectional plane in FIG. 1 is indicated by the line III-III. FIG. 4 shows a schematic sectional view of the handling device, wherein the course of the sectional plane in FIG. 2 is indicated by the line IV-IV. FIG. 5 shows the view from FIG. 4 according to a further exemplary embodiment. FIG. 6 shows a schematic sectional view of a pressure chamber according to a further exemplary embodiment. FIG. 7 shows a schematic side view of a pick-up of a handling device according to a further exemplary embodiment.FIG. 1 shows a handling device 1 in a schematic perspective view. The handling device 1 can be configured to pick up and place objects 2, such as rod-shaped food products 3 (see FIG. 3 in each case), for example in the present exemplary embodiment. The handling device 1 can comprise a frame 4. The handling device 1 can comprise one or more pick-ups 5, in particular four pick-ups 5, as shown in FIG. 1. Each of the receivers 5 can be configured to engage with the object 2, in particular with the food product 3, and to detachably connect the object 2, in particular the food product 3, to the handling device 1. As in the exemplary embodiment shown, the receiver 5 can be configured to engage with a plurality of articles 2, in particular the food products 3, preferably simultaneously.Each of the receivers 5 can be movable, in particular movable relative to the frame 4. For example, the pick-ups 5 can be movable away from a starting position 6, as is illustrated by way of example in FIG. 1, in particular towards an extended position 7, as is illustrated by way of example in FIG. 2. As can best be seen in FIGS. 3 and 4, the handling device 1 can furthermore comprise an actuator 8. The actuator 8 may be configured to move the receiver 5 away from the starting position 6 when an overpressure is applied to it. The actuator 8 may be configured to move the receiver 5 towards the initial position 6 when no positive pressure is applied to it. As in the present exemplary embodiment, the actuator 8 can be a linear actuator 9.The actuator 8 may comprise one or more pressure chambers 10. As in the exemplary embodiment from FIG. 1, the actuator 8 can comprise, for example, two pressure chambers 10. Each of the pressure chambers 10 may be configured to change shape upon application of positive pressure.FIG. 4 shows, by way of example, the pressure chambers 10 with a shape modified by applying an overpressure. In FIG. 3, the pressure chambers 10 are also shown by way of example, without applied overpressure. As can also be seen in FIGS. 3 and 4, the pressure chamber 10 can comprise a bellows 11. The movement of the pick-ups 5 towards the starting position 6 can be achieved by elastic material behavior of the pressure chamber 10 or the pressure chambers 10. For example, each of the pressure chambers 10 may comprise an elastically deformable material, e.g. silicone, polyamide and / or thermoplastic polyurethane.FIG. 5 shows the handling device 1 according to a further exemplary embodiment. As shown in this exemplary embodiment, the actuator 8 can additionally comprise a restoring element 12 or, as shown in FIG. 5, a plurality of restoring elements 12. The restoring element 12 can be configured to bias the pick-up 5 or the pick-ups 5 towards the starting position 6. As shown in FIG. 5, the restoring element 12 can comprise a spring 13, for example a helical spring. As can likewise be seen in FIG. 5, the restoring element 12, in particular the spring 13, can be arranged in the pressure chamber 10 and / or integrated into the pressure chamber 10.FIG. 6 shows a schematic sectional view of a further exemplary embodiment of the pressure chamber 10 with an alternative or additional restoring element 12. As in this embodiment, the restoring element 12 can surround the pressure chamber 10. For example, the restoring element can comprise a capsule 14. The capsule 14 may be made of an identical material as the pressure chamber 10, or the capsule 14 and the pressure chamber 10 may be made of different materials. By virtue of its shape and / or material selection and / or filling, the capsule 14 can be configured to prestress the receptacle 5 towards the starting position 6.FIG. 7 shows a further exemplary embodiment of a pick-up 5 in a schematic side view. As can be seen in FIG. 5, the pick-up 5 can comprise a gripper 15. As shown in this exemplary embodiment, the receiver 5 can comprise a movable element 16, in particular a gripping arm 17, or a plurality of movable elements 16, in particular a plurality, for example two, gripping arms 17. The actuator 8, in particular the pressure chamber 10, can be configured to move the movable element 16, in particular the gripping arm 17, or the movable elements 16, in particular the gripping arms 17, away from the illustrated starting position, for example by applying a negative pressure.References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedEP 3 296 238 A1

[0002]

Claims

A handling device (1) configured to pick up and place articles (2), in particular food products (3), wherein the handling device (1) comprises a frame (4) and a receiver (5) and the receiver (5) is movable and / or comprises a movable element (16), and wherein the handling device (1) further comprises an actuator (8) configured to move the movable element (16) and / or the receiver (5) relative to the frame (4), wherein the actuator (8) is configured to move the movable element (16) and / or the receiver (5) away from a starting position (6) when an overpressure or a underpressure is applied thereto, wherein the actuator (8) comprises a pressure chamber (10) configured to change its shape upon the application of the overpressure or the underpressure.The handling device according to claim 1, wherein the actuator (8) is configured to move the movable element (16) and / or the receiver (5) away from a starting position (6) when an overpressure is applied thereto, and to move the movable element (16) and / or the receiver (5) in a direction towards the starting position (6) when the previously applied overpressure is reduced.The handling device according to claim 1, wherein the actuator (8) is configured to move the movable element (16) and / or the receiver (5) away from a starting position (6) when a negative pressure is applied thereto, and to move the movable element (16) and / or the receiver (5) in a direction towards the starting position (6) when a difference between the previously applied negative pressure and an ambient pressure of the actuator (8) is reduced.The handling device according to one of the preceding claims, wherein the actuator (8) is a linear actuator (9).Handling device according to one of the preceding claims, wherein the pressure chamber (10) is configured for supplying compressed air and / or for evacuating.The handling device according to any of the preceding claims, wherein the pressure chamber (10) comprises an elastically deformable material, e.g. silicone, polyamide and / or thermoplastic polyurethane.Handling device according to one of the preceding claims, wherein the pressure chamber (10) comprises a bellows (11).The handling device according to any one of the preceding claims, wherein the actuator (8) comprises a restoring element (12) which is configured to bias the movable element (16) and / or the receiver (5) towards the initial position (6).The handling device according to claim 8, wherein the restoring element (12) is arranged in the pressure chamber (10).Handling device according to claim 8 or 9, wherein the restoring element (12) is integrated into the pressure chamber (10).The handling device according to any one of claims 8 to 10, wherein the restoring element (12) comprises an elastic material and / or a spring (13).Handling device according to one of the preceding claims, wherein the pressure chamber (10) is produced by an additive manufacturing method, in particular 3D-printed.

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