Vacuum handling device

Abstract

The invention relates to a vacuum handling device (1) with a first vacuum generating device (3) and a second vacuum generating device (5), wherein the first vacuum generating device (3) - in a first operating state of the vacuum handling device (1) - is fluidically connected to a suction gripper (9) in order to supply the suction gripper (9) with vacuum for gripping an object, wherein the second vacuum generating device (5) - in order to generate a vacuum in a fluid reservoir (15) - is operatively connected to the fluid reservoir (15), wherein the fluid reservoir (15) is designed and configured to supply the suction gripper (9) - in a second operating state of the vacuum handling device (1) - with vacuum.

Description

The invention relates to a vacuum handling apparatus for gripping an object.Vacuum handling apparatuses of the above-mentioned type are known from the prior art. These serve for the handling of objects, for example in the field of production, in particular component production. Firstly, accidents can occur if the vacuum handling device collides with persons. Secondly, objects gripped by the vacuum handling device can fall down, as a result of which the object and / or persons can be damaged. In order to avoid collisions with persons, various monitoring and safety systems are known. For example, sensor or warning systems can be provided which detect potential collisions and initiate suitable emergency measures.These known vacuum handling systems, however, are often not reliable enough, despite corresponding safety systems, to guarantee object and personnel safety.The object of the invention is therefore to further improve the safety during the handling of objects and in particular to prevent an object held by the vacuum handling device from falling down.This object is achieved according to the invention by a vacuum handling device having the features of claim 1. The vacuum handling apparatus comprises a first vacuum generating device and a second vacuum generating device. The first vacuum generating device is fluidically connected to a suction gripper-in a first operating state of the vacuum handling device-in order to supply the suction gripper-in particular for gripping an object-with vacuum. The second vacuum generating device is operatively connected to a fluid reservoir-for generating a vacuum in the fluid reservoir. The fluid reservoir is fluidically connected to the suction gripper-in a second operating state of the vacuum handling device-in order to supply the suction gripper with vacuum. The vacuum handling apparatus may include the suction gripper.The proposed configuration with two negative pressure generating devices and fluid storage means realizes a multiple safeguarding of the generated negative pressure, so that even in the event of a failure of the first negative pressure generating device a negative pressure for gripping the object is present and can be provided. Overall, this creates a very secure vacuum handling device. By providing a fluid reservoir cooperating with the second vacuum generating device, a prompt provision of auxiliary vacuum is made possible-for example in the event of a failure of the first vacuum generating device. In particular, a time period until the supply of negative pressure can be bridged by the second negative pressure generating device.A vacuum generating device is understood here in particular to mean a device which is designed and configured to generate a vacuum by supplying energy, in particular compressed air.In this case, the first vacuum generating device and a first vacuum supply line to the suction gripper form part of a first vacuum supply line. The second vacuum generating device, the fluid reservoir and a second vacuum supply line leading to the suction gripper are part of a second vacuum supply line. The two vacuum supply lines are preferably configured independently of one another, so that they function independently of one another electrically and / or with respect to the vacuum provision for the suction gripper. If a component of the first vacuum supply line fails, the second vacuum supply line is not impaired thereby and can provide a sufficient vacuum independently of the first vacuum supply line in order to hold the object on the suction gripper.In this case, it is provided that a change in the operating states leads to the active vacuum supply path likewise changing, wherein the first vacuum supply path is preferably active in the first operating state and the second vacuum supply path is active in the second operating state.Preferably, it is provided here that the first vacuum generating device and in particular the first vacuum supply line is designed and configured as a primary supply. The second vacuum generating device and in particular the second vacuum supply line are designed and configured as an auxiliary supply. This means that the vacuum handling device is designed and configured to apply a vacuum to the suction gripper by means of the first vacuum generating device during the control operation. If a fault occurs in this case, the vacuum handling apparatus can be put into the second operating state, so that the auxiliary supply provided by means of the second vacuum generating device is started.The second operating state thus corresponds in particular to a fail-safe operation in the event that the first vacuum generating device fails and / or an undesired pressure drop occurs at the suction gripper, for example due to leaks. The first operating state, on the other hand, means in particular a fault-free operation in contrast with an intact energy supply for the first vacuum generation device, wherein in particular no faults in the pressure generation were detected.A fluid storage is understood here in particular to mean a storage device which is designed and configured to store a fluid in particular free of flow and preferably over a longer period of time. In order that the storage of the fluid can take place as free of flow as possible, all inlets and outlets of the fluid reservoir are preferably embodied such that they can be closed-for example by means of suitable valve devices. As a result, the fluid reservoir provides a closed volume when the inlets and outlets are closed, in particular in order to provide the reduced pressure required for gripping the object.The fluid reservoir is preferably scaled in such a way that it can bring about the full functionality of the suction gripper. In particular, the fluid reservoir has a volume which exceeds a line volume of the vacuum supply line, in particular by a multiple. At least, however, the fluid reservoir is scaled such that sufficient negative pressure can be provided for gripping the object in order to prevent the object from dropping at least temporarily, preferably for a period of at least one second, preferably at least 3 seconds, preferably at least 10 seconds.In the first operating state, the first vacuum generating device is fluidically connected to the suction gripper via the first vacuum supply line. It is possible that the first vacuum supply line is not directly connected to the suction gripper, but is connected to a connection part for the suction gripper, wherein the connection part is connected to the suction gripper in terms of flow. Preferably, however, the first vacuum supply line is connected directly to the suction gripper, so that the risk of leaks is reduced.In the second operating state, the second vacuum generating device is connected in terms of flow to the suction gripper via the second vacuum supply line. In this case, the second vacuum supply line preferably has at least two subsection, wherein a first subsection fluidically connects the second vacuum generating device to the fluid reservoir, and wherein a second subsection fluidically connects the fluid reservoir to the suction gripper. Here, too, it is possible for the second vacuum supply line, in particular the second subsection, not to be connected directly to the suction gripper, but rather to be connected to the connection part for the suction gripper. However, it is also preferred here that the second vacuum supply line is connected directly to the suction gripper.The first and / or second vacuum supply lines can thus be formed in particular in multiple parts, so that the first and / or second vacuum supply line each have a plurality of individual lines.According to a further development of the invention, it is provided that the fluid reservoir is arranged fluidically between the suction gripper, in particular a suction connection opening of the suction gripper, and the second vacuum generating device, in particular a suction connection opening of the second vacuum generating device. This provides an arrangement which is not prone to failure and further increases the safety level of the vacuum handling apparatus.The fluid reservoir can be arranged between the suction gripper and the second vacuum generating device in such a way that there is no direct connection between the second vacuum generating device and the suction gripper.Preferably, the fluid reservoir, in particular an evacuation connection opening, is fluidically connected to a suction connection opening of the second vacuum generation device, wherein the second vacuum generation device is designed and configured to provide a vacuum at its suction connection opening during operation of the second vacuum generation device. In this respect, the fluid reservoir can be supplied with negative pressure by means of the second negative pressure generating device in order to evacuate the fluid reservoir.Furthermore, the fluid reservoir, in particular a vacuum connection opening, is preferably connected to the suction gripper in terms of flow.It is also conceivable for an alternative line path to be provided, via which-in the manner of a bypass-the second vacuum generating device can be connected directly to the suction gripper in terms of flow and is connected with a corresponding valve position, wherein the fluid reservoir is bypassed. As an alternative or in addition to the safety by means of the fluid reservoir, it is thereby possible to directly apply a negative pressure generated by the second negative pressure generating device to the suction gripper in such a way that the flow through the fluid reservoir does not have to be. As a result, the reliability is further increased.According to a further development of the invention, it is provided that a non-return valve is arranged fluidically between the fluid reservoir and the suction gripper, which non-return valve is aligned in such a way that a return flow from the fluid reservoir in the direction of the suction gripper is prevented. This prevents a pressure drop at the suction gripper.According to a further development of the invention, it is provided that the second vacuum generating device is designed as a pneumatically operated, in particular compressed air operated, vacuum generating device.In particular, the second vacuum generating device is designed to generate vacuum from positive pressure, for example as an ejector. In this case, an overpressure is preferably applied to a drive opening of the second negative pressure generating device.According to a further development of the invention, it is provided that an overpressure accumulator for operating the second underpressure generating device and thus in particular for generating the underpressure is fluidically connected to the second underpressure generating device. As a result, the dependence on an electrical voltage supply is reduced and overall flexible operation is made possible.In this case, it is preferably provided that the second vacuum generating device is operated in the second operating state with the overpressure provided by the overpressure accumulator. Thus, in the second operating state, the overpressure accumulator is preferably connected in terms of flow to the second underpressure generating device, in particular its drive opening.According to a further development of the invention, it is provided that a pressure regulating device, which is designed in particular as a pressure reducer, is arranged between the overpressure accumulator and the second underpressure generating device. As a result, the safety is further increased and a negative pressure generated by the second negative pressure generating device can be generated at a constant level, in particular over a longer period of time.The fluid reservoir embodied as a vacuum reservoir can be embodied in particular separately from the fluid reservoir embodied as a positive pressure reservoir. Alternatively, only a single fluid accumulator is provided, which is operated as an overpressure accumulator in a first operating mode and as an underpressure accumulator in a second operating mode.According to a further development of the invention, it is provided that a non-return valve is arranged fluidically between the first vacuum generating device and the suction gripper, which non-return valve is oriented in such a way that a reverse flow from the direction of the first vacuum generating device is prevented, in particular in the second operating state. As a result, in particular in the second operating state, the negative pressure for holding the object can be reliably provided, such that the object can be securely held, and leaks in the direction of the first negative pressure generating device are avoided.The check valve is preferably arranged between the first vacuum generating device and a branch line leading to the fluid reservoir.According to a further development of the invention, it is provided that the second vacuum generating device is designed as an electrically operated vacuum generating device. As a result, a negative pressure can be generated by the provision of electrical energy, so that the negative pressure handling device can be used in a versatile manner.Alternatively or additionally, the first vacuum generating device is designed as an electrically operated vacuum generating device.The vacuum handling device preferably has a first energy supply device, in particular an electrical voltage source, which provides the electrical energy required for operating the first vacuum generating device and is correspondingly electrically operatively connected to the first vacuum generating device. Furthermore, the vacuum handling device preferably has a second energy supply device, in particular an electrical voltage source, which provides the electrical energy required for operating the second vacuum generating device and is correspondingly electrically operatively connected to the second vacuum generating device. As a result, two vacuum generation devices electrically operated independently of one another are provided, so that the vacuum generation is autonomous in each case.Alternatively, it is possible for the two vacuum generating devices to be supplied with energy by the same energy supply device, whereby overall lower costs are caused and a compact construction is made possible.According to a further development of the invention, it is provided that an electrical storage device is provided and is configured to supply the second vacuum generating device with electrical energy in the second operating state. This realizes a further fail-safe measure which increases the operational safety of the vacuum handling apparatus.The vacuum handling device preferably has a third energy supply device which is designed and configured to charge the electrical storage. This further increases redundancy and autarchy. Alternatively, the first and / or second energy supply device is designed and configured to charge the electrical storage device, as a result of which synergies are used and costs are reduced.According to a further development of the invention, it is provided that an in particular connectable, electrical energy supply is designed and configured to charge the electrical storage device in particular in the first operating state and / or to operate the second vacuum generating device. The electrical energy supply mentioned here preferably comprises the previously mentioned first and / or second energy supply device. This allows particularly efficient operation, wherein no separate energy supply device is required for the electrical storage.The electrical energy supply is in particular designed as a battery or as a mains connection. Alternatively or additionally, the electrical energy supply can have an in particular mobile charging device, in particular for charging the electrical storage. The electrical energy supply is preferably designed such that it can be connected to the electrical storage device in order to charge the electrical storage device and is disconnected from the electrical storage device in at least one other operating state in which the device is not charged.Furthermore, the electrical storage can be charged during normal operation of the vacuum handling device, so that no separate charging process is required. Particularly preferably, the vacuum handling device is configured such that the electrical storage is always charged, so that the energy required for fail-safe operation can be provided by the electrical energy supply at any time.According to a further development of the invention, it is provided that a control device is provided which is designed and configured to set, in the first operating state, a first valve position in which a first flow path between the first vacuum generating device and the suction gripper is open, and, in the second operating state, a second valve position in which a second flow path between the fluid reservoir and the suction gripper is open. As a result, it is possible to change rapidly and in particular automatically between the first and second operating states, with the result that the safety is further increased.For this purpose, the vacuum handling device preferably has a valve device which comprises in particular at least one valve, in particular a switching valve. The valve device can be brought into the first valve position and the second valve position.The first flow path extends in particular along the first vacuum supply line from the first vacuum generating device at least as far as the connection part for the suction gripper, preferably as far as the suction gripper. The second flow path extends in particular along the second vacuum supply line from the second vacuum generating device at least as far as the connection part for the suction gripper, preferably as far as the suction gripper.Preferably, the vacuum handling device for opening and closing the first or second flow path comprises at least one switching valve. Particularly preferably, the vacuum handling device has a first switching valve which is arranged in the first flow path and is configured to open and block the first flow path. Preferably, the vacuum handling device comprises a second switching valve arranged in the second flow path and configured to open and block the second flow path. The second switching valve is preferably arranged in the second flow path in terms of flow between the fluid reservoir and the suction gripper, wherein furthermore preferably a third switching valve is arranged in the second flow path in terms of flow between the fluid reservoir and the second vacuum generating device. The third switching valve can then serve to fluidically separate the fluid reservoir from the second negative pressure generating device, in particular after a negative pressure has been generated in the fluid reservoir when the second switching valve is closed. When the third switching valve is closed-in particular when no alternative line path is implemented in the sense of the bypass-the fail-safe operation can thus take place solely via the fluid reservoir, wherein a pressure drop in the fluid reservoir in the direction of the second vacuum generating device is avoided.A valve position is understood here in particular to mean a switching position of the first, second and / or third switching valve. In the first valve position and thus the first operating state, the first switching valve is preferably opened, wherein the second switching valve and / or the third switching valve is closed. In the second valve position and thus in the second operating state, the first switching valve is preferably closed, wherein the second switching valve is open. Preferably, the third switching valve is also opened in the second valve position.An open or opened flow pad or valve is understood here in particular to mean that at least one flow direction, in particular the flow direction away from the suction gripper or in the direction of the first or second vacuum generating device, is released in a flow-permeable manner. In particular, it is also possible for both flow directions-i.e. in the direction of the suction gripper and in the direction away from the suction gripper-to be released by the respective switching valves, wherein in the case check valves are preferably arranged in the flow paths.The electrical energy supply, in particular the first, second or third energy supply device or a fourth energy supply device, is preferably designed and configured to supply the control device with energy.According to a further development of the invention, it is provided that sensor elements are provided in order to detect a pressure change-in particular a reduction of the negative pressure, i.e. a nominally increasing pressure-at the suction gripper and / or a malfunction of the first negative pressure generating device. As a result, a failure of the first vacuum generating device can be quickly detected and suitable countermeasures can be initiated, so that the work safety is high.Preferably, a plurality of sensor elements are provided and configured for detecting the same parameter, so that the detection is effected redundantly.According to a further development of the invention, it is provided that the control device is operatively connected to the sensor elements and is designed and configured to put the vacuum handling device into the second operating state upon detection of the pressure drop and / or the malfunction. As a result, the safety device is further automated and the safety of the vacuum handling device is thus increased.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 schematic illustration of a first exemplary embodiment of a vacuum handling device; FIG. 2 is a schematic illustration of a second embodiment of a vacuum handling apparatus; and FIG. 3 shows a schematic illustration of a third exemplary embodiment of a vacuum handling device.FIG. 1 shows a vacuum handling apparatus 1 with a first vacuum generating device 3 and a second vacuum generating device 5.The first vacuum generating device 3 is connected to a suction gripper 9 via a first vacuum supply line 7. The first vacuum generation device 3 is provided here in particular as a primary vacuum generation device and supplies the suction gripper 9 with a vacuum in a first operating state, in particular in normal operation, so that an object can be gripped by means of the suction gripper 9.The suction gripper 9 is additionally connected to the second vacuum generating device 5 via a second vacuum supply line 11. The second vacuum generating device 5 is provided here in particular as an auxiliary supply device, which is used in particular when a fault is detected with respect to the primary vacuum generating device.Furthermore, FIG. 1 shows a check valve 12 which prevents a reverse flow from the direction of the first vacuum generating device 3, in particular in a second operating state in which the vacuum supply of the suction gripper 9 takes place via the second vacuum supply line 11. As is shown in FIG. 1, the check valve 12 is arranged between the first vacuum generating device 3 and a branch line, where the line branches in the direction of the second vacuum generating device 5 and in the direction of the suction gripper 9. As a result, the second vacuum supply line 11 is not blocked by the check valve 12.The second vacuum supply line 11 comprises here in particular two partial sections, namely a first partial section 13 which connects the second vacuum generating device 5 to a fluid reservoir 15, and a second partial section 17 which connects the fluid reservoir 15 to the suction gripper 9.The first vacuum generating device 3 is here connected in terms of flow-related connection to the suction gripper 9 in the first operating state of the vacuum handling apparatus 1, so that the suction gripper 9 is supplied with a vacuum generated by the first vacuum generating device 3.The fluid reservoir 15 is designed and configured here to supply the suction gripper 9 with negative pressure in the second operating state, so that an object held on the suction gripper 9 does not fall down, or at least falls down only with a delay.The second vacuum generating device 5 is designed to generate a vacuum in the fluid reservoir 15. The second vacuum generating device 5 is thus indirectly fluidically connectable to the suction gripper 9 as well and is preferably fluidically connected in the second operating state.In addition, FIG. 1 shows a further nonreturn valve 16, which is arranged in the second subsection 17 of the second negative-pressure supply line 11 and is configured to prevent a reverse flow from the fluid reservoir 15 in the direction of the suction gripper 9.FIG. 2 shows a second exemplary embodiment of the vacuum handling apparatus 1, which-in particular in addition to the features explained with reference to FIG. 1-has an electrical energy supply 19 which is designed and configured to supply the second vacuum generating device 5 with electrical energy at least in the second operating state. In this case, the second vacuum generating device 5 is designed in particular as an electrically operated pump.In the exemplary embodiment shown in FIG. 2, the energy supply takes place in particular indirectly in that an electrical storage unit 21 is connected to the second vacuum generation device 5 and is configured to supply the second vacuum generation device 5 with energy in the second operating state. Thus, even in the event of a complete power failure, the suction gripper 9 can be supplied with a reduced pressure and thus a safety device is provided.In this case, the electrical energy supply 19 is in particular designed and configured to charge the electrical storage 21 if necessary. For this purpose, a switch 23 is provided, with which the connection between the electrical storage 21 and the electrical energy supply 19 can be established and disconnected.The electrical energy supply 19 can simultaneously be designed and configured to supply the first vacuum generating device 3 and the second vacuum generating device 5 with energy.Alternatively, in particular in the case that the second vacuum generating device 5 is designed as a compressed-air-operated ejector, instead of the electrical accumulator 21, an overpressure accumulator 24 is operatively connected to the second vacuum generating device 5 in order to supply it with compressed air at least temporarily in the second operating state and thus to enable temporary operation even in the event of a failure of the entire external electrical supply and / or external compressed-air supply.FIG. 3 shows a further exemplary embodiment of the vacuum handling device 1, wherein here - preferably in addition to the elements shown in FIGS. 1 and / or 2 - a switching valve 25 is arranged in the second subsection 17 of the second vacuum supply line 11, which switching valve, by actuation, blocks or releases the flow path between the suction gripper 9 and the fluid reservoir 15.For the actuation of the switching valve 25, the latter is operatively connected to a control device 27. Optionally, the control device 27 is further configured to actuate a further switching valve, not shown here, in the first vacuum supply line. As a result, the second vacuum supply line 11 can be blocked in the first operating state by means of the control device 27 and the first vacuum supply line 7 can be released and the second vacuum supply line 11 can be released and the first vacuum supply line 7 can be blocked in the second operating state.

Claims

Vacuum handling apparatus (1) having a first vacuum generating device (3) and a second vacuum generating device (5), wherein the first vacuum generating device (3) - in a first operating state of the vacuum handling apparatus (1) - is fluidically connected to a suction gripper (9) in order to supply the suction gripper (9) with vacuum, wherein the second vacuum generating device (5) is operatively connected to a fluid reservoir (15) - in order to generate a vacuum in this fluid reservoir (15) - wherein the fluid reservoir (15) - in a second operating state of the vacuum handling apparatus (1) - is fluidically connected to the suction gripper (9) in order to supply the suction gripper (9) with vacuum.Vacuum handling apparatus (1) according to claim 1, wherein the fluid reservoir (15) is arranged fluidically between the suction gripper (9) and the second vacuum generating device (5).Vacuum handling device (1) according to one of the preceding claims, wherein a non-return valve (16) is arranged fluidically between the fluid reservoir (15) and the suction gripper (9), which non-return valve is aligned in such a way that a return flow from the fluid reservoir (15) in the direction of the suction gripper (9) is prevented.Vacuum handling apparatus (1) according to one of the preceding claims, wherein the second vacuum generating device (5) is designed as a pneumatically operated, in particular compressed air operated, vacuum generating device.The vacuum handling apparatus (1) according to claim 4, wherein a positive pressure accumulator (24) is provided, which is fluidically connected to the second vacuum generating device (5) for operation of the second vacuum generating device (5).Vacuum handling apparatus (1) according to claim 5, wherein a pressure regulating device, in particular designed as a pressure reducer, is arranged between the positive pressure accumulator (24) and the second vacuum generating device (5).Vacuum handling apparatus (1) according to one of the preceding claims, wherein a non-return valve (12) is arranged fluidically between the first vacuum generating device (3) and the suction gripper (9), which non-return valve is oriented in such a way that a return flow from the direction of the first vacuum generating device (3), in particular in the second operating state, is prevented.Vacuum handling apparatus (1) according to one of the preceding claims, wherein the second vacuum generating device (5) is designed as an electrically operated vacuum generating device.Vacuum handling apparatus (1) according to claim 8, wherein an electrical storage device (21) is provided and is configured to supply the second vacuum generating device (5) with electrical energy in the second operating state.Vacuum handling apparatus (1) according to claim 9, wherein an in particular connectable, electrical energy supply (19) is formed and configured to charge the electrical storage device (21), in particular in the first operating state, and / or to operate the second vacuum generating device (5).Vacuum handling apparatus (1) according to one of the preceding claims, wherein a valve device is provided which has a first valve position and a second valve position, wherein in the first valve position a first flow path between the first vacuum generating device (3) and the suction gripper (9) is open, and wherein in the second valve position a second flow path between the fluid reservoir (15) and the suction gripper (9) is open, and wherein a control device (27) is provided which is designed and configured to bring the valve device into the first valve position in the first operating state and to bring it into the second valve position in the second operating state.Vacuum handling apparatus (1) according to one of the preceding claims, wherein sensor elements are provided to detect a pressure change at the suction gripper (9) and / or a malfunction of the first vacuum generating device (3).Vacuum handling device (1) according to claim 11 or 12, wherein the control device (27) is operatively connected to the sensor elements and is designed and configured to put the vacuum handling device (1) into the second operating state upon detection of the pressure change and / or the malfunction.