Suction gripper with a flexibly deformable suction body wall and with a deformation device for deforming the suction body wall

Abstract

The invention relates to a suction gripper (10) for gripping an object by means of negative pressure, comprising an elastomer suction body (14) which extends along a main direction (16), wherein the elastomer suction body has a base section (18) and a flexibly deformable suction body wall (20) extending from the base section, which delimits a suction chamber (24) open through a suction opening (26), further comprising a deformation device (36) which is designed to deform the suction body wall, in particular before a gripping object is sucked in, in order to change a configuration of the suction opening, in particular its shape and size. The invention also relates to a method for gripping a gripping object with such a suction gripper and to a handling system with such a suction gripper.

Description

[0001] The invention relates to a suction gripper for gripping an object by means of negative pressure, a method for gripping an object using such a suction gripper and a handling system comprising such a suction gripper.

[0002] Suction grippers are known in many different forms from the prior art and are used, for example, to handle stacked, rigid and / or flexible workpieces. Suction grippers that have an elastomeric suction body that defines a suction chamber open through a suction opening have become particularly established. The suction opening is usually surrounded by a sealing lip of the suction body, which is placed or pressed against the surface of an object to grip it. After the sealing lip is placed against the object, the interior of the suction chamber is subjected to negative pressure (e.g., by a pump, a blower, an ejector, or a vacuum reservoir), thus sucking in the object.

[0003] To compensate for unevenness on the surface of the object to be gripped, known suction bodies typically exhibit a certain degree of deformability, allowing the sealing lip to adapt to the surface contour of the object to be gripped, at least to a certain extent. However, this adaptability is generally limited, so gripping objects of different sizes and / or shapes regularly requires changing the suction body, which can lead to downtime in the process.

[0004] In this context, DE 10 2018 120 155 B4, for example, proposes a suction body with several radially arranged struts, between which a flexible and airtight film is arranged, defining a suction surface. By folding and unfolding the struts, the size of the suction surface can be changed. However, the structure is comparatively complex and limited to changing the size of the suction surface.

[0005] From DE 44 44 960 A1, a suction gripper is also known which has an elongated adaptation element extending substantially in a longitudinal direction of the suction gripper, wherein the adaptation element can be changed in its width by applying negative pressure and / or can be moved over its length in a connection region to a nozzle wall or a second adaptation element relative to the nozzle wall or the second adaptation element.

[0006] From CN 1 13 924 194 A, a suction device with a deformable membrane is also known, wherein, in order to grip an object, the deformable membrane is positioned next to the object, the deformable membrane is modified so that it adapts to the object and forms a seal with the object, and then a suction force is exerted on the object.

[0007] From DE 102 24 598 C1, a gripping device for picking up piece goods is also known, comprising a holding force supply device in the form of a suction tube and a gripping head with an airtight flexible sleeve for at least partially enclosing the piece goods, wherein the sleeve is connected to the holding force supply device.

[0008] From DE 10 2012 012 289 A1, a robot with a gripper arm having at least two gripper arm members is also known, wherein a gripping device is attached to one gripper arm member, wherein the gripping device has a cushion made of a flexible material which is at least partially filled with a granulate with adjustable strength.

[0009] From DE 10 2020 111 694 B3, a suction gripper for gripping and handling an object by means of negative pressure is also known, wherein the suction gripper has a suction side with a suction surface which provides a suction cross-section for sucking up the object, wherein the suction gripper has at least one sliding part which is displaceable relative to a base part, wherein the base part and the at least one sliding part are designed such that they jointly provide the suction surface and by displacing the at least one sliding part relative to the base part, the suction cross-section of the suction surface can be adjusted.

[0010] EP 4 230 364 A1 also discloses a lifting device equipped with a pad.

[0011] From FR 3 075 084 A1, a vacuum gripper is also known which comprises a structure and an annular apron which is connected to the structure via its inner peripheral edge, wherein the structure can be connected to a vacuum generator in order to generate a vacuum on the side of the inner side of the apron which is to face the gripping zone.

[0012] The invention is concerned with the task of gripping objects of different nature, in particular of different shape and size, safely and cost-effectively.

[0013] This object is achieved according to the invention by a suction gripper having the features of claim 1. The suction gripper is designed to grip an object using negative pressure. In this respect, the suction gripper is designed to suction onto an object, e.g., a workpiece.

[0014] The suction gripper comprises an elastomer suction body, preferably formed in one piece, in particular monolithic. The elastomer suction body extends along a central axis or main direction. The elastomer suction body has a base section (also referred to as the suction cup neck) and a suction body wall, in particular formed in one piece with the base section. The suction body wall extends away from the base section. The suction body wall delimits a suction chamber (also referred to as the suction interior or suction volume), which is open through a suction opening. The suction chamber can be subjected to negative pressure, in particular through the base section. The suction body wall delimits the suction opening. In particular, the suction body wall has, at a free end facing away from the base section, a contact section (also referred to as a sealing lip) for contact with the object to be gripped, wherein the contact section encloses the suction opening.The absorbent body wall preferably completely encompasses the main direction. In particular, the absorbent body wall is continuous, i.e., uninterrupted. The absorbent body wall has, in particular, an inner side facing and delimiting the suction chamber and an outer side facing away from the suction chamber. The absorbent body wall is designed to be flexible, in particular elastically reversible, deformable, so that a configuration of the suction opening, in particular its size and shape, can be changed by deforming the absorbent body wall. In particular, the elastomer absorbent body has a thinner wall thickness in the region of the absorbent body wall than in the region of the base section.

[0015] The suction gripper also comprises a deformation device designed to deform the suction body wall, in particular starting from an undeformed initial configuration, in order to change the configuration of the suction opening, in particular its shape and size. The deformation device can in particular be designed to locally compress the suction body wall.

[0016] Such a suction gripper enables objects of different sizes and shapes to be gripped in a simple and cost-effective manner. In particular, the shape of the suction opening can be adapted to the geometry of the gripped object before the gripping object is suctioned onto it, thus promoting a reliable seal between the elastomer suction body and the gripped object. The proposed design with a deformable elastomer suction body and deformation device allows even irregular shapes to be easily reproduced.

[0017] The elastomer suction body can be made of polyurethane (PU) or nitrile rubber (NBR), for example. In particular, the elastomer suction body is designed as an injection-molded part. The elastomer suction body can have a connection nipple for connection to a vacuum supply. The connection nipple can be arranged on the base section, in particular, enclosed by the base section around the main direction, e.g., overmolded. The connection nipple can also be formed by the base section.

[0018] The suction opening can have different shapes in the undeformed initial configuration of the elastomer suction body. Preferably, the suction opening is rotationally symmetrical about the main direction in the initial configuration.

[0019] Preferably, the elastomer suction body, in particular the suction body wall, widens in an undeformed initial configuration, starting from the base section in the direction of the suction opening, in particular in a funnel shape. In this respect, the elastomer suction body can be designed in particular such that an opening cross-section of the suction chamber increases, preferably continuously, in the course from the base section to the suction opening.

[0020] The deformation device can be mounted on the elastomer absorbent body, in particular on the base section. Alternatively, the deformation device can also be provided separately from the elastomer absorbent body. For example, it is conceivable that the elastomer absorbent body and the deformation device are mounted on a common support.

[0021] The deformation device can be designed to deform the absorbent body wall symmetrically with respect to the main direction.

[0022] Advantageously, the deformation device can be configured to asymmetrically deform the suction body wall, in particular starting from an initial configuration symmetrical with respect to the main direction, in order to obtain, in particular, a suction opening that is asymmetrical in shape. This promotes reliable gripping of asymmetrically shaped objects, for example, objects with different extensions in different directions.

[0023] Within the scope of an advantageous development, the deformation device can be designed to deform the suction body wall in such a way that the suction opening is reduced in size in a first direction orthogonal to the main direction and enlarged in a second direction orthogonal to the main direction. For example, the deformation device can be designed to deform the suction body wall, in particular starting from an initial configuration symmetrical about the main direction, in such a way that the suction opening has a substantially oval cross-section.

[0024] According to the invention, the deformation device comprises at least one deformation element that is adjustable for deforming the absorbent body wall relative to the elastomer absorbent body. In particular, the at least one deformation element can be applied against the absorbent body wall, in particular an outer side of the absorbent body wall.

[0025] The at least one deformation element can be manually adjustable. The suction gripper, in particular the deformation device, can also have an actuator for driving an adjustment movement of the at least one deformation element. The actuator can be operated, for example, by an electric motor, pneumatically, hydraulically, or electromagnetically.

[0026] Preferably, the at least one deformation element is arranged outside the suction chamber. This minimizes any interference contour in the suction chamber, which is advantageous for reliable suction of the gripped object. Furthermore, such a configuration makes it possible to press opposing sections of the suction body wall together until they make contact, thus dividing the suction chamber, at least locally, into several partial suction chambers.

[0027] In particular, the absorbent body wall has an inner side facing the suction chamber and delimiting it and an outer side facing away from the suction chamber, wherein the at least one deformation element acts on the outer side of the absorbent body wall.

[0028] Furthermore, it may be advantageous if the at least one deformation element can assume a rest configuration in which the at least one deformation element is spaced apart from the absorbent body wall. In this respect, the at least one deformation element may, in particular, not be permanently coupled to the absorbent body wall. This makes it possible, for example, to easily replace the elastomer absorbent body, e.g., in the event of wear.

[0029] The at least one deformation element can be designed in different ways. The at least one deformation element can be plate-shaped. The at least one deformation element can be rod-shaped. The at least one deformation element can be formed in one or more pieces.

[0030] The at least one deformation element can be rigid or elastic. Within the scope of an advantageous embodiment, the at least one deformation element can have an extension in the main direction, wherein the at least one deformation element has varying elasticity over the course of its extension in the main direction, in particular, the elasticity of the deformation element increases in the main direction.

[0031] As described above, the at least one deformation element is designed to be adjustable relative to the elastomer absorbent body. According to the invention, the at least one deformation element is adjustable relative to the elastomer absorbent body in a second direction inclined, in particular orthogonal, to the main direction. Alternatively or additionally, the at least one deformation element is designed to be rotatable or tiltable about a third direction orthogonal to the main direction. In addition, the at least one deformation element can be adjustable relative to the elastomer absorbent body in a first direction parallel to the main direction.

[0032] In a particularly advantageous development, the deformation device can have two deformation elements arranged on opposite sides of the elastomer suction body. The two deformation elements can, in particular, be designed to engage opposite outer sides of the suction body wall. This makes it possible, for example, to locally compress the suction body wall and thus change the configuration of the suction opening.

[0033] The two deformation elements can be provided as separate components. The two deformation elements can also be provided by sections of a higher-level deformation part.

[0034] The two deformation elements can be arranged at a fixed distance from each other.

[0035] Within the scope of an advantageous embodiment, a distance between the deformation elements in a (second) direction orthogonal to the main direction can be smaller than an outer diameter of the elastomer absorbent body, in particular of the absorbent body wall, in the region of the suction opening in the initial configuration of the elastomer absorbent body. In particular, a distance between the deformation elements in a (second) direction orthogonal to the main direction is smaller than a diameter of the suction opening in its initial configuration. In such an embodiment, it can be advantageous if the deformation elements are adjustable (jointly or independently of one another) in a (first) direction parallel to the main direction. By adjusting the deformation elements along the first direction, the absorbent body wall can be deformed, in particular compressed, and thus a configuration of the suction opening can be changed.

[0036] The two deformation elements can also be adjustable relative to each other.

[0037] Within the scope of an advantageous embodiment, a distance between the deformation elements can be adjustable in a (second) direction orthogonal to the main direction, in particular in order to deform the absorbent body wall, in particular to compress it at least locally.

[0038] Within the scope of a further advantageous embodiment, the deformation elements can be adjustable relative to the elastomer suction body, in particular independently of one another, in a (first) direction parallel to the main direction and in a (second) direction inclined to the main direction, in particular orthogonal to the main direction. This makes it possible, for example, to first position the deformation elements to a specific deformation position (height) along the main direction (e.g., in an upper or lower third of the suction body wall along its extension from the base section to the suction opening), and then to compress the suction body wall orthogonally to the main direction. In this way, the shape of the suction opening can be adjusted particularly flexibly.

[0039] The deformation elements can be mounted on a support, in particular such that the deformation elements grip the elastomer absorbent body, in particular the absorbent body wall, in a clamp-like manner. The deformation elements can be connected to one another via a connecting element, in particular a connecting plate, extending orthogonally to the main direction.

[0040] The deformation elements can be formed by sections of a U-shaped or substantially U-shaped deformation part which surrounds the elastomer absorbent body.

[0041] Within the scope of a further advantageous embodiment, the deformation device can have a deformation part, in particular a plate-shaped, which preferably encompasses the elastomer suction body at least partially around the main direction. The deformation part preferably has a recess, in particular a through-opening, into which the elastomer suction body can be inserted. The recess, in particular opening, has a smaller opening width in at least one direction than the suction opening in its initial configuration. The deformation part is adjustable relative to the elastomer suction body, in particular along a (first) direction parallel to the main direction, so that the suction body wall is deformed by the interaction of the suction body wall with the walls of the deformation part that delimit the recess, in particular the through-opening (in this respect forming deformation elements).

[0042] The recess (opening) can be symmetrical, e.g., round. For example, the deformation element can be ring-shaped. The recess (opening) can also be asymmetrical. For example, the recess can be designed as an elongated hole.

[0043] Within the scope of a further advantageous embodiment, the at least one deformation element can be movement-coupled, in particular fixedly connected, to the elastomer absorbent body, in particular to the absorbent body wall. Deformation of the absorbent body wall can then be brought about, for example, by tilting the at least one deformation element about a tilting direction orthogonal to the main direction. One possible implementation provides that the at least one deformation element is designed as a pocket into which an actuating element (coupling element) can be inserted to exert a tilting movement on the deformation element. In particular, several such deformation elements fixedly connected to the elastomer absorbent body can be provided, which are distributed in particular about the main direction.

[0044] Within the scope of a further advantageous embodiment, the deformation device can be designed to deform the suction body wall in such a way, in particular to locally compress a contact section (sealing lip) of the suction body wall that delimits the suction opening in such a way that the suction opening is divided into at least two partial suction openings. This makes it possible, for example, to reliably grip piece goods that are smaller in size than the undeformed suction opening (such piece goods could generally not be adequately sealed in the undeformed state). One possible implementation provides that the deformation device has at least two independently adjustable deformation elements that act on different positions on the suction body wall and are in particular designed and arranged to deform the suction body wall from different directions.

[0045] Advantageously, a control device can be provided for controlling the deformation device, in particular the optional actuator system for adjusting the at least one deformation element. The control device can be part of the suction gripper. The control device can also be part of a higher-level control device, e.g., a control device of a handling system in which the suction gripper is installed. The control device can be configured to control the deformation device depending on geometric information, in particular geometric data, relating to the gripping object to be gripped.

[0046] The above-mentioned object is also achieved by methods for gripping an object using a suction gripper described above. The advantages and features described above in connection with the suction gripper per se can also serve to configure the methods, so reference is made to the above disclosure in this regard.

[0047] The method initially comprises providing an object to be gripped and providing a suction gripper as described above. According to the modification, before the object to be gripped, in particular before the object is even contacted by the suction gripper, a configuration of the suction opening is changed by deforming the suction body wall using the deformation device, in particular depending on the geometry of the object to be gripped. Only then is the elastomer suction body placed on the object to be gripped (with the suction opening) and the object to be gripped is sucked in, in particular by applying negative pressure to the suction chamber.

[0048] In this respect, the elastomer suction body, especially the suction opening, is "preformed" before the actual gripping process. This promotes a reliable seal between the elastomer suction body, especially the sealing lip, and the gripping object – and thus a reliable gripping of the gripping object.

[0049] The deformation of the suction body wall preferably occurs depending on the geometry of the object to be gripped. For example, it is conceivable that geometry information is first provided. In particular, geometry data can be provided on a non-volatile memory device of a control device (see above), and the deformation device can be controlled depending on this geometry data.

[0050] Within the scope of an advantageous development, the geometry information can be determined before changing the configuration of the suction opening. For example, it is conceivable that a geometry, in particular an external shape or outer contour, of an object to be gripped is detected by means of a detection device, in particular comprising at least one camera. The deformation of the suction body wall can then take place depending on the detected geometry.

[0051] It is also conceivable that, before changing the configuration of the suction opening, the gripping object to be gripped, or at least the type of gripping object, is identified by means of an identification device. The deformation device can then be controlled, for example, depending on information, in particular geometric information, stored in a database, e.g., in a non-volatile memory device of a control device, relating to the identified gripping object or gripping object type. For example, it is conceivable that, after identifying the gripping object, geometric data relating to this gripping object is provided or read out, based on which the deformation device is then controlled.

[0052] The identification device can, for example, be a barcode scanner which is designed to identify a barcode arranged on a gripping object.

[0053] Within the scope of an advantageous embodiment, the at least one deformation element can be adjustable in a first direction parallel to the main direction and in a second direction inclined, in particular orthogonal, to the main direction relative to the elastomer absorbent body, wherein in order to deform the absorbent body wall, the at least one deformation element is first positioned along the first direction relative to the elastomer absorbent body (in particular without this leading to a deformation of the absorbent body wall), and is then displaced in the second direction relative to the elastomer absorbent body in order to deform, in particular to compress, the absorbent body wall.

[0054] The above-mentioned object is also achieved by a handling system comprising a suction gripper described above and a manipulator, in particular a robot, for displacing the suction gripper. The advantages and features described above in connection with the suction gripper per se can also be used to configure the handling system, so reference is made to the above disclosure in this regard.

[0055] Preferably, the handling system also comprises a control device for controlling the deformation device of the suction gripper and the manipulator. It is also conceivable for the suction gripper to have a sub-controller for controlling the deformation device, which sub-controller interacts with the control device of the handling system. The control device is configured, in particular, to carry out one of the methods described above. In particular, the control device has a non-volatile data storage device on which control instructions are stored, in particular saved, which, in particular when executed by a data processing system of the control device, cause the control device to carry out one of the methods described above.

[0056] The handling system may also comprise a detection device as mentioned above for detecting the geometry of an object to be gripped. For example, the detection device may comprise one or more cameras.

[0057] The handling system may also include an identification device as mentioned above for identifying an object to be gripped. For example, the identification device may be a barcode reader or barcode scanner.

[0058] The handling system can also have a vacuum generating device for generating negative pressure, which is fluidly connected to a vacuum connection of the suction gripper, in particular to the suction chamber.

[0059] The invention is explained in more detail below with reference to the figures.

[0060] They show: Fig. 1 a simplified schematic representation of a first exemplary embodiment of a suction gripper in a partial sectional view; Fig. 2 simplified schematic representations to explain the functioning of the deformation device of the suction gripper according to Fig. 1; Fig. 3 to 10 simplified schematic representations of further exemplary embodiments of a suction gripper in different functional positions; Fig. 11 simplified schematic diagrams to explain an exemplary application situation of a suction gripper according to Fig. 10; Fig. 12 simplified schematic representation of an exemplary embodiment of a handling system comprising a suction gripper according to Fig. 1; and Fig. 13 simplified schematic representation of a further exemplary embodiment of a handling system comprising a suction gripper according to Fig. 1.

[0061] In the following description and in the figures, the same reference symbols are used for identical or corresponding features.

[0062] The Fig. 1 shows a simplified schematic side view of an exemplary embodiment of a suction gripper, which is designated overall by the reference numeral 10. The suction gripper 10 is designed for sucking and thus gripping a gripping object 12 (in Fig. 1 not shown).

[0063] The suction gripper 10 has an elastomer suction body 14. In the example, the elastomer suction body 14 extends along a central axis 15. The elastomer suction body 14 has a base section 18 and a suction body wall 20 extending away from the base section 18. A main direction 16 runs along the central axis 15 and points from the base section 18 toward the suction body wall 20. The base section 18 and the suction body wall 20 are preferably formed in one piece, in particular monolithically. For example, the elastomer suction body 14 can be an injection-molded part.

[0064] As from Fig. 1, the suction body wall 20, with its inner side 22, defines a suction chamber 24. The suction body wall 20 preferably completely encompasses the main direction 16. The suction chamber 24 has a suction opening 26, which is delimited by a contact section 28 of the suction body wall 20. The contact section 28 serves to engage the gripping object 12 and thus forms a sealing lip 30.

[0065] The base section 18 is designed in particular for connection to an external vacuum supply (not shown). As shown in Fig. 1, the base section 18 has an internal channel 32 via which the suction chamber 24 can be supplied with negative pressure.

[0066] By way of example and preferably, the suction body wall 20 widens in a funnel shape toward the suction opening 26 (in the main direction 16). In this respect, an opening cross-section of the suction chamber 24 increases in the course from the base section 18 to the contact section 28. By way of example, the suction body wall 20 extends rotationally symmetrically, in particular conically, around the main direction 16. In embodiments not shown, however, it is also possible for the suction body wall 20 to extend non-rotationally symmetrically around the main direction 16.

[0067] As in Fig. 1 by the dashed lines, the absorbent body wall 20 in the example is designed such that a wall thickness 34 (material thickness) of the absorbent body wall 20 decreases along its course in the direction from the base section 18 to the suction opening 26, i.e. in the main direction 16. By way of example and preferably, a material thickness decreases without curvature, in particular linearly. In this respect, a wall thickness 34 in the region of the contact section 28 is comparatively small, while a wall thickness 34 (material thickness) in a wall section adjacent to the base section 18 is comparatively thick. In embodiments not shown, the absorbent body wall 20 can also have other wall thicknesses 34.

[0068] The suction gripper 10 also comprises a deformation device 36 which is designed to deform the suction body wall 20 and thus to change a configuration of the suction opening 26, in particular its shape (explained in detail below).

[0069] When designing according to Fig. 1, the deformation device 36 comprises two deformation elements 38, which are arranged on opposite sides of the elastomer absorbent body 14. In other embodiments (see below), the deformation device 36 can also have more or fewer deformation elements 38.

[0070] The deformation elements 38 are arranged outside the suction chamber 24 and are designed to engage an outer side 40 of the suction body wall 20.

[0071] The deformation elements 38 are arranged adjustable relative to the elastomer suction body 14. As in Fig. 1, it is possible - depending on the design - for example, that the deformation elements 38 are arranged along a first direction parallel to the main direction 16 (in Fig. 1 by the double arrow 42). Alternatively or additionally, it is also possible for the deformation elements 38 to be adjustable in a second direction orthogonal to the main direction 16 (in Fig. 1 by the double arrow 44). Alternatively or additionally, it is also conceivable that the deformation elements 38 are rotatable and / or tiltable in a third direction (in Fig. 1 indicated by the double arrow 46).

[0072] As mentioned above, the suction gripper 10 preferably comprises an actuator 48 (in Fig. 1 only schematically indicated) to drive an adjustment movement of the deformation elements 38 relative to the elastomer suction body 14. The actuator 48 can, for example, be operated by an electric motor, pneumatically, hydraulically, or electromagnetically.

[0073] In the example according to Fig. 1, the deformation elements 38 are connected to the actuators 48 via corresponding brackets 50. As described below with respect to the Fig. 3 ff., the deformation elements 38 can also take on other configurations.

[0074] When designing according to Fig. 1, a distance 52 of the deformation elements 38 from one another along the second direction 44 is smaller than a diameter 54 of the suction opening 26 in its (undeformed) initial configuration, so that a displacement of the deformation elements 38 in the main direction 16 results in the suction body wall 20 being compressed by the deformation elements 38 (see below).

[0075] An exemplary application situation of the suction gripper 10 according to Fig. 1 is explained below with reference to the Fig. 2, which shows in the columns different functional states of the suction gripper 10. In the first row, the suction gripper 10 is always shown in a side view according to Fig. 1, the second line shows a schematic representation of the configuration of the suction opening 26 and the third line shows an exemplary interaction with a gripping object 12.

[0076] The first column shows the suction gripper 10 in an initial configuration, in which the deformation elements 38 are in a resting configuration spaced from the suction body wall 20. As can be seen from row 2, the suction opening 26 in the initial configuration in the example is rotationally symmetrical (round) around the main axis 16.

[0077] The second column shows the suction gripper 10 in a first deformation configuration, in which, compared to the initial configuration, the deformation elements 38 are displaced in the main direction 16 (first direction 42) so that they rest against the outer side 40 of the suction body wall 20 and slightly compress the suction body wall 20. As can be seen from line 2, this leads to a deformation of the suction opening 26, which now assumes a slightly oval shape.

[0078] Such a configuration of the suction opening 26 may, for example, be suitable for gripping elongated gripping objects 12 (see column 2, last line). As described above, the elastomer suction body 14 is deformed, in particular before the elastomer suction body 14 is placed on the gripping object 12.

[0079] The third column shows the suction gripper 10 in a second deformation configuration, in which, compared to the first deformation configuration, the deformation elements 38 are displaced even further in the main direction 16 (first direction 42), so that the suction body wall 20 is compressed even further. As can be seen from line 2, such a deformation of the suction body wall 20 leads to an even more oval suction opening 26, which is now clearly asymmetrically shaped with a long axis and a short axis. Such a configuration of the suction opening 26 can, for example, be suitable for gripping even more elongated objects 12 (see column 3, last line).

[0080] The Fig. 3 to 8 show further exemplary embodiments of a suction gripper 10 with deformation device 36, wherein the same reference numerals designate the same or corresponding components. The embodiments according to Fig. 3 to 6 have, for example, the same elastomer suction body 14 as the embodiment according to Fig. 1, so that in order to avoid repetition, reference is made to the above disclosure and only the differences in the design of the deformation device 36 are described below.

[0081] Analogous to Fig. 2 show the Fig. 3 to 8 in the different columns different functional states of the deformation device 36, wherein the upper row shows the suction grippers 10 in side view and the lower row shows the suction grippers 10 in plan view (partially sectioned).

[0082] Fig. Figure 3 shows an exemplary embodiment of a suction gripper 10, in which the deformation elements 38 are rod-shaped and are arranged at a fixed distance from one another via a connecting element 56 (or carrier). Fig. 1, the distance 52 between the deformation elements 38 is smaller than a diameter 54 of the suction opening 26 in its initial configuration (see left column). The connecting element 56 and thus the deformation elements 38 are displaceable along the main direction 16 (first direction 42) (manually or by a corresponding actuator (not shown)), so that upon reaching a certain position along the main direction 16, the deformation elements 38 touch the outer side 40 of the suction body wall 20 and upon further displacement, deform the suction body wall 20. Analogous to Fig. 2 also shows Fig. 3 in the second and third columns two deformation configurations which differ in the position of the deformation elements 38 along the main direction 16 and thus in a degree of deformation of the absorbent body wall 20.

[0083] Fig. 4 shows a further exemplary embodiment of a suction gripper 10, in which the deformation elements 38 are plate-shaped. For example, the deformation elements 38 are arranged at a fixed distance 52 from one another via a connecting element 56. The connecting element 56 extends, for example, orthogonally to the main direction 16 and spans the base section 18. As shown in Fig. 4, bottom line, it may be advantageous in such a configuration if the base section 18 has a lateral vacuum connection 58. Analogous to the configuration according to Fig. 3, a distance 52 of the deformation elements 38 in the second direction 44 (orthogonal to the main direction 16) is smaller than a diameter 54 of the suction opening 26 in its initial configuration, so that by displacing the deformation elements 38 along the main direction 16, the suction body wall 20 can be deformed and thus a shape of the suction opening 26 can be changed (see columns).

[0084] As mentioned above, the plate-shaped deformation elements 38 can be rigid or elastic. The deformation elements 38 can have uniform properties or locally varying properties. For example, the deformation elements 28 can be designed such that elasticity increases along the main direction 16.

[0085] Fig. 5 shows a further exemplary embodiment of a suction gripper 10, in which the deformation elements 38 are formed by the legs 60 of a U-shaped deformation part 62 (e.g., a U-shaped rod). A distance 52 between the legs 60 in the second direction 44 (orthogonal to the main direction 16) is again smaller than a diameter 54 of the suction opening 26 in its initial configuration, so that by displacing the deformation elements 38 along the main direction 16, the suction body wall 20 can be deformed and thus a shape of the suction opening 26 can be changed.

[0086] Fig. 6 shows a further exemplary embodiment of a suction gripper 10, in which the deformation elements 38 are formed by sections of a plate-shaped deformation part 64. The deformation part 64 has an opening 66 into which the elastomer suction body 14 can be inserted. In the example, the opening 66 is formed asymmetrically with a short axis and a long axis. An opening width 68 along the short axis (and thus a distance 52 between the sections forming the deformation elements 38) is again smaller than a diameter 54 of the suction opening 26 in its initial configuration, so that by displacing the deformation part 64 along the main direction 16, the suction body wall 20 can be deformed and thus a shape of the suction opening 26 can be changed (cf. columns according to Fig. 6).

[0087] Fig. 7 shows a further exemplary embodiment of a suction gripper 10, in which the deformation device 36 has two deformation elements 38, which are adjustable orthogonally to the main direction 16 (in the second direction 44) relative to one another and relative to the elastomer suction body 14. The deformation elements 38 can optionally also be adjustable along the main direction 16 relative to the elastomer suction body 14. The left column shows the suction gripper 10 again in an initial configuration, in which the deformation elements 38 exert no force on the suction body wall 20, so that - in the example - the suction opening is rotationally symmetrical. The middle column shows the suction gripper 10 in a first deformation configuration, in which a distance L1 between the deformation elements 38 is reduced compared to the distance L0 between the deformation elements 28 in the initial configuration, and thus the suction body wall 20 is slightly compressed.As can be seen from row 2, the suction opening 26 assumes a slightly oval shape in this deformation configuration. The third column shows a second deformation configuration, in which a distance L2 between the deformation elements 38 is further reduced compared to the distance L1 between the deformation elements 28 in the first deformation configuration, thus compressing the suction body wall 20 even further. This results in the suction opening 26 assuming an even more oval, asymmetrical shape.

[0088] As in Fig. 7, the absorbent body wall 20 can optionally have a stiffening in the form of a locally greater wall thickness in a contact area 70 for the deformation elements 38.

[0089] Fig. Figure 8 shows a further exemplary embodiment of a suction gripper 10, in which the deformation device 36 has two deformation elements 38 that are firmly connected to the suction body wall 20, in particular formed integrally, and which are adjustable via an actuator 48. In the specific example, the deformation elements 38 are designed as pockets 72, into which corresponding, e.g., rod-shaped, actuating elements 74 (coupling elements) can be inserted. The actuating elements 74 can also be formed integrally with the deformation elements 38. As in Fig. As shown schematically in Fig. 8, by tilting the actuating elements 74 the suction body wall 20 can be deformed and thus a shape of the suction opening 26 can be changed.

[0090] In the example according to Fig. 8, the deformation elements 38 are arranged in a wall section 76 of the absorbent body wall 20 adjacent to the base section 18. For example, the absorbent body wall 20 has a stiffener in this area 76 in the form of an increased wall thickness 34 (similar Fig. 7).

[0091] As in Fig. 9, the deformation elements 38 can also be arranged on a wall section adjacent to the contact section 28, i.e., closer to the suction opening 26. This makes it possible to deform the suction opening 26 asymmetrically and, for example, to locally lift the contact section 28 (sealing lip 20) from an original suction plane, e.g., to adapt to the contour of a gripping object 12 (cf. Fig. 9, area marked with arrow 78).

[0092] Fig. 10 shows further exemplary embodiments of a suction gripper 10 in a bottom view of the suction opening 26, in which the deformation device 36 is designed to locally compress the suction body wall 20 at least in the region of the contact section 28 and thus to divide the suction opening 26 into several partial suction openings.

[0093] The two left images of the Fig. 10 shows a first exemplary embodiment in which the deformation device 36 has two deformation elements 38, which can be moved toward one another orthogonally to the main direction 16 (along the second direction 44), so that the suction body wall 20 can be compressed locally, centrally in the example, starting from an initial configuration shown on the far left (see second figure from the left). In the compressed state, the suction opening 26 is then divided into two partial suction openings 26-1, 26-2.

[0094] The two right-hand images in Fig. 10 show further exemplary embodiments in which three or four deformation elements 38 are provided, so that the suction opening 26 can be divided into three or four partial suction openings 26-1, 26-2, 26-3, 26-4.

[0095] As in Fig. 11, such a configuration with partial suction openings 26-1, 26-2, 26-3, 26-4 makes it possible, for example, to selectively grip piece goods 80 which have small dimensions compared to the undeformed suction opening 26.

[0096] Fig. Figure 12 shows a simplified schematic representation of a handling system, which is designated overall by the reference numeral 100. The handling system 100 has a suction gripper 10 described above and a manipulator 102 for displacing the suction gripper 10. By way of example only, Fig. 12 the suction cup 10 according to Fig. 1. However, the suction gripper 10 can also take on other configurations described above.

[0097] The suction gripper 10 can be mounted on the manipulator 102, for example, via a generally known coupling device 104 (e.g., a quick-release coupling). The manipulator 102 can be designed as a robot, in particular a multi-axis robot.

[0098] In the example, the handling system 100 also includes a vacuum supply device 106 for supplying the suction gripper 10 with negative pressure. The vacuum supply device 106 includes, for example, a vacuum generator 107 (e.g., a pump), an optional valve device 109, and an optional pressure sensor 111.

[0099] The handling system 100 also includes a detection device 108 for detecting the geometry of a gripping object 12 to be gripped. For example, the detection device 108 may include one or more cameras 110 for capturing an image of the gripping object 12. The detection device 108 may also have an evaluation device for analyzing an image captured by the camera 110. The evaluation unit may be part of a control device 112 of the handling system 100 (see below).

[0100] As mentioned above, the handling system 100 may alternatively or additionally to the detection device 106 have an identification device for identifying a gripping object 12, for example in the form of a barcode reader.

[0101] The handling system 100 also includes a control device 112 for controlling the handling system 100. The control device 112 is designed, in particular, to control the manipulator 102, the vacuum supply device 106, and the detection device 108. The control device 112 is preferably also designed to control the deformation device 36, in particular an actuator system 48 of the deformation device 36. In the example shown, the suction gripper 10 has a sub-controller 114 that interacts with the control device 112 to control the deformation device 36.

[0102] As mentioned above, in order to grip a gripping object 12, the object can first be analyzed by means of the detection device 108, in particular its external shape. This can include, for example, capturing an image of the gripping object 12 using the camera 110 and subsequently analyzing the image using image processing methods. In particular, using the detection device 108, geometric data can be determined which represent a geometry, in particular the external shape of the gripping object 12. The geometric data can then be stored, for example, on a non-volatile memory device of the control device 112. Based on the geometric data, the deformation device 36 can then be controlled in order to adapt the suction opening 26 to a geometry of the gripping object 12 (see above for details).The suction gripper 10 can then be moved to the gripping object 12 by means of the manipulator 102, and the elastomer suction body 14 with the sealing lip 30 can be placed on the gripping object 12. The gripping object 12 can then be suctioned and, if necessary, relocated.

[0103] Fig. 13 shows a further exemplary embodiment of a handling system 100, which is identical to the handling system 100 according to Fig.12, but also has a conveying device 116 in the form of a continuous conveyor (e.g., conveyor belt) for conveying gripping objects 12 to a handling station. With such an embodiment, the geometry of the gripping object 12 can be characterized or at least identified, for example, at a detection station upstream of the handling station in the conveying direction 118, and then—in particular during further conveyance of the gripping object 12 to the handling station—the deformation device 36 can be controlled in order to adapt the suction opening 36 of the elastomer suction body 14 to the geometry of the gripping object 12.

Claims

[1] Suction gripper (10) for gripping an object (12) by means of negative pressure, comprising - an elastomer suction body (14) which extends along a main direction (16), wherein the elastomer suction body (14) has a base section (18) and a flexibly deformable suction body wall (20) extending from the base section (18) and delimiting a suction chamber (24) open through a suction opening (26), - a deformation device (36) which is designed to deform the suction body wall (20), in particular before a gripping object (12) is sucked in, in order to change a configuration of the suction opening (26), in particular its shape and size, wherein the deformation device (36) has at least one deformation element (38) which is adjustable for deforming the suction body wall (20) relative to the elastomer suction body (14), wherein the at least one deformation element (38) is adjustable in a second direction (44) inclined to the main direction (16) and / or is designed to be rotatable or tiltable about a third direction orthogonal to the main direction (16). [2] Suction gripper (10) according to claim 1, wherein the deformation device (36) is designed to deform the suction body wall (20) asymmetrically, in particular such that the suction opening (26) is reduced in size in a first direction and enlarged in a second direction starting from an initial configuration, in particular a rotationally symmetrical configuration. [3] Suction gripper (10) according to claim 1 or 2, wherein the elastomer suction body (14) widens from the base section (18) in the direction of the suction opening (26), in particular in a funnel shape. [4] Suction gripper (10) according to one of the preceding claims, wherein the deformation device (36) also has an actuator (48) for adjusting the at least one deformation element (38). [5] Suction gripper (10) according to one of the preceding claims, wherein the deformation device (36) has at least two independently adjustable deformation elements (38) in order to deform the suction body wall (20) from different directions. [6] Suction gripper (10) according to one of claims 1 to 4, wherein the deformation device (36) has two deformation elements (38) arranged on opposite sides of the elastomer suction body (14) and in particular engaging on opposite outer sides (40) of the suction body wall (20). [7] Suction gripper (10) according to the preceding claim, wherein the deformation elements (38) are adjustable in a first direction (42) parallel to the main direction (16), wherein a distance (52) of the deformation elements (38) in a second direction (44) orthogonal to the main direction (16) is smaller than a diameter (54) of the suction opening (26) in its initial configuration, so that by adjusting the deformation elements (38) along the first direction (42) the suction body wall (20) is deformable, in particular compressible, in order to change a configuration of the suction opening (26). [8] Suction gripper (10) according to claim 6 or 7, wherein a distance (52) of the deformation elements (38) is adjustable in a second direction (44) orthogonal to the main direction (16) and thus the suction body wall (20) is deformable, in particular compressible, in order to change a configuration of the suction opening (26). [9] Suction gripper (10) according to one of claims 6 to 8, wherein the deformation elements (38) are plate-shaped and are connected to one another in particular via a connecting element (56) extending orthogonally to the main direction (16). [10] Suction gripper (10) according to one of claims 6 to 9, wherein the deformation elements (38) have a different elasticity in the course of their extension in the main direction (16), in particular an elasticity increases in the main direction (16). [11] Suction gripper (10) according to one of claims 6 or 7, wherein the deformation elements (38) are formed by sections of a substantially U-shaped deformation part (62). [12] Suction gripper (10) according to one of claims 6 or 7, wherein the deformation device (36) has a, in particular plate-shaped, deformation part (64), wherein the deformation part (64) has a, in particular asymmetrical, recess, in particular opening (66), into which the elastomer suction body (14) can be inserted, wherein the recess, in particular opening (66), has a smaller opening width (68) in at least one direction than the suction opening (26) in its initial configuration. [13] Suction gripper (10) according to one of the preceding claims, wherein the deformation device (36) is designed to deform the suction body wall (20) in such a way, in particular to compress a contact section (28) of the suction body wall (20) delimiting the suction opening (26) in such a way that the suction opening (26) is divided into at least two partial suction openings (26-1, 26-2, 26-3, 26-4). [14] Method for gripping a gripping object (12) with a suction gripper (10) according to one of the preceding claims, comprising: - changing a configuration of the suction opening (26) by deforming the suction body wall (20) by means of the deformation device (36), wherein the at least one deformation element (38) is adjusted relative to the elastomer suction body (14) in the second direction (44) and / or rotated or tilted about the third direction; - Placing the elastomer suction body (14) onto the gripping object (12) and sucking the gripping object (12). [15] Method according to the preceding claim, wherein the deformation of the suction body wall (20) takes place depending on a geometry of the gripping object (12) to be gripped. [16] A method according to claim 14 or 15, further comprising, before changing the configuration of the suction opening (26): a. Detecting a geometry of a gripping object (12) to be grasped by means of a detection device (108), in particular a camera (110). and / or b. Identifying the gripping object (12) to be gripped by means of an identification device, in particular reading out an identification feature of the object to be gripped by means of an identification device, e.g. barcode, and providing geometry information representing a geometry of the identified gripping object [17] Handling system (100), comprising: - a suction gripper (10) according to one of claims 1 to 13, - a manipulator (102) for moving the suction gripper (10) - (optional) a detection device (108) for detecting a geometry of a gripping object (12) to be gripped; - (optional) an identification device for identifying a gripping object (12) to be gripped; - a control device (112) for controlling the deformation device (36) of the suction gripper and the manipulator (102) and, optionally, the detection device (108), wherein the control device (112) is configured to carry out the method according to one of claims 14 to 16.

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