Vent valve for negative pressure applications

Abstract

Venting valve (10) for negative pressure applications, in particular for venting a suction gripping device, comprising: - a valve housing (12) with a vacuum channel (14) and at least one air inlet (16) via which the vacuum channel (14) can be connected to a ventilation environment (18), in particular the atmosphere; - a valve body (20) for shutting off and opening a flow connection between the vacuum channel (14) and the ventilation environment (18), wherein the valve body (20) is adjustable along a switching direction (22) between a closed position in which the flow connection is shut off and a release position in which the flow connection is released, wherein the valve body (22) is arranged section by section in the ventilation environment (18) such that a ventilation pressure prevailing in the ventilation environment (18) acts on the valve body (20), wherein the valve body (20) is designed such that, at least in the closed position, as a result of the application of the ventilation pressure, forces acting both in the switching direction (22) and forces acting against the switching direction (22) are exerted on the valve body (20),wherein the forces acting in the switching direction (22) and the forces acting against the switching direction (22) differ from each other by a maximum of 20%, further in particular by a maximum of 10%, further in particular by a maximum of 5%, further in particular by a maximum of 1%, preferably cancel each other out.

Description

[0001] The invention relates to a venting valve for vacuum applications, in particular for venting a vacuum handling device, and to a vacuum handling device comprising such a venting valve.

[0002] Vacuum handling devices are known in many different forms from the prior art and are used for gripping and handling objects using negative pressure. Such vacuum handling devices are used in a wide variety of applications and include, for example, one or more suction gripping devices for suctioning an object, as well as a vacuum generating device that supplies the suction gripping devices with negative pressure. The suction gripping device can, in particular, be mounted on a manipulator, for example, a robot, and can be displaced by the latter.

[0003] Such vacuum handling devices usually have a ventilation valve so that the suction gripping device can be ventilated when necessary, e.g. to place an object, and thus to cancel the suction effect.

[0004] Such ventilation valves typically have an air inlet connected to the atmosphere and a valve body for selectively opening or closing the air inlet. A corresponding actuator can be provided to move the valve body.

[0005] The invention addresses the problem of enabling reliable and energy-efficient ventilation of a negative pressure system in a structurally simple and compact manner.

[0006] This object is achieved according to the invention by a venting valve having the features of claim 1. This is a valve device designed to vent a vacuum channel, in particular a vacuum distribution system. In particular, the venting valve is designed to vent a vacuum handling device, for example, a suction gripper device.

[0007] The venting valve comprises a valve housing. A vacuum channel is formed in the valve housing. In particular, the valve housing has at least one vacuum connection, via which the vacuum channel can be connected to a vacuum distribution system, for example, a vacuum generation device or a suction gripping device. In some embodiments, it may be advantageous for the valve housing to have a first vacuum connection and a second vacuum connection. The at least one air inlet and the valve body can then be arranged, in particular, in a flow path between the first and second vacuum connections.It is conceivable, for example, that the venting valve is provided in a flow path between a vacuum generating device and a suction gripping device, wherein the first vacuum connection is connected to the vacuum generating device and the second vacuum connection is connected to the suction gripping device.

[0008] The valve housing has at least one air inlet, via which the vacuum channel can be connected to a ventilation environment for ventilation. The ventilation environment can be the atmosphere. In this respect, atmospheric air can flow into the vacuum channel via the at least one air inlet to ventilate the vacuum channel. The ventilation environment can also be a pressure chamber for a pressurized fluid. For example, the valve housing can have a pressurized fluid connection, in particular a compressed air connection, for connection to a pressurized fluid source, in particular a compressed air source. In this respect, pressurized fluid, in particular compressed air, can flow into the vacuum channel via the at least one air inlet to ventilate the vacuum channel.

[0009] The ventilation valve also has a valve body, in particular a valve piston, which is designed to selectively block or open a flow connection between the vacuum channel and the ventilation environment through the at least one air inlet. The valve body is preferably arranged in sections within the vacuum channel.

[0010] The valve body can assume a blocking position in which the flow connection is interrupted, i.e., the vacuum channel is separated from the ventilation environment, and a release position in which the flow connection is opened, i.e., the vacuum channel is fluidly connected to the ventilation environment. The valve body is adjustable along a switching direction between the blocking position and the release position, in particular, it can be transferred in the switching direction from the blocking position to the release position.

[0011] The valve body is arranged such that it is arranged in sections in the ventilation environment and preferably in sections in the negative pressure channel, so that a ventilation pressure prevailing in the ventilation environment acts on the valve body.

[0012] The valve body is designed and arranged such that, at least in the closed position, as a result of the application of the ventilation pressure, both forces acting in the switching direction and forces acting against the switching direction are exerted on the valve body. This can be achieved, in particular, by having opposing end faces of the valve body along the switching direction connected to the ventilation environment and thus fluidly connected to each other.

[0013] According to the invention, the valve body is designed such that the forces acting in the switching direction as a result of the application of the ventilation pressure and the forces acting counter to the switching direction as a result of the application of the ventilation pressure differ from one another by a maximum of 20%, further in particular by a maximum of 10%, further in particular by a maximum of 5%, further in particular by a maximum of 1%, and preferably cancel each other out.

[0014] This can be realized, for example, in that first surface sections are provided on the valve body, which are oriented in the switching direction, and in that second surface sections are provided on the valve body, which are oriented opposite to the switching direction, wherein the first and second surface sections are fluidically connected to the ventilation environment in the blocking position of the valve body, and wherein a sum of all first surface sections and a sum of all second surface sections is the same or a surface difference between the sums is a maximum of 20%, further in particular a maximum of 10%, further in particular a maximum of 5%, further in particular a maximum of 1%.

[0015] In this context, a surface section "oriented in the switching direction" refers to a surface section to which the ventilation pressure exerts a force acting opposite to the switching direction on the valve body. A surface section "oriented opposite to the switching direction" is understood to mean a surface section to which the ventilation pressure exerts a force acting in the switching direction on the valve body.

[0016] The valve body thus has pressure-balanced surfaces. This reduces the force required to switch the vent valve, i.e., to move the valve body between the closed and released positions. This enables energy-efficient operation. In particular, the actuators for adjusting the valve body can be relatively small, which facilitates a cost-effective and compact design.

[0017] Preferably, the valve body is arranged in sections within the vacuum channel, so that a negative pressure prevailing in the vacuum channel acts on the valve body. Particularly preferably, the valve body extends through the vacuum channel along the switching direction.

[0018] In order to further reduce a switching force, it can then further be advantageous if the valve body is designed in such a way that, at least in the blocking position, as a result of the application of the negative pressure, forces acting both in the switching direction and forces acting against the switching direction are exerted on the valve body, wherein the forces acting in the switching direction and the forces acting against the switching direction differ from one another by a maximum of 20%, more particularly by a maximum of 10%, more particularly by a maximum of 5%, more particularly by a maximum of 1%, preferably cancel each other out.

[0019] In this respect, even those surface sections on which a negative pressure prevailing in the negative pressure channel acts in the blocking position of the valve body can be pressure-balanced.

[0020] An exemplary embodiment can consist in that third surface sections are provided on the valve body, which are oriented in the switching direction, and in that fourth surface sections are provided on the valve body, which are oriented opposite to the switching direction, wherein the third and fourth surface sections are fluidly connected to the vacuum channel in the blocking position of the valve body, wherein a sum of all third surface sections and a sum of all fourth surface sections is the same or a surface difference between the sums is a maximum of 20%, further in particular a maximum of 10%, further in particular a maximum of 5%, further in particular a maximum of 1%.

[0021] In the release position, the first, second, third and fourth surface sections can then be subjected to the ventilation pressure, ie to the same pressure.

[0022] Preferably, opposite end faces of the valve body are fluidly connected to one another along the switching direction. For example, it is conceivable that a fluid connection between the opposite end faces of the valve body is realized by connecting both end faces to the atmosphere.

[0023] It is also conceivable that a flow connection between the end faces is realized by forming a flow channel between the end faces, particularly in the valve housing. The flow channel can then be supplied with a pressurized fluid, in particular compressed air, via a pressurized fluid connection, for example.

[0024] The valve body can be designed in different ways. For example, the valve body can be designed as a valve piston. The valve body can be formed in one piece. The valve body can also be composed of several separately provided parts. For example, it is conceivable for the valve body to have a base body, in particular a one-piece base body, and one or more seals arranged thereon.

[0025] The valve body is particularly designed such that fluid flow through the valve body is blocked along the switching direction. In this respect, the valve body, in particular, has no internal fluid guide along the switching direction.

[0026] Preferably, the switching direction is oriented orthogonally to a longitudinal extension of the vacuum channel.

[0027] In an advantageous embodiment, the vacuum channel can be delimited along the switching direction by a first wall and an opposite second wall. Preferably, a first wall opening is provided in the first wall, and a second wall opening is provided in the second wall. The first and second wall openings can each form an air inlet.

[0028] Preferably, the valve body has a first sealing section, in particular in the form of a first radial projection, which is arranged outside the vacuum channel, in particular in the ventilation environment. Preferably, the valve body also has a second sealing section, in particular in the form of a second radial projection, which is axially offset from the first sealing section along the switching direction and is arranged within the vacuum channel.

[0029] For example, the valve body can have a base body extending in particular along the switching direction, wherein the first sealing section is formed by a first radial projection on the base body, and the second sealing section is formed by a second radial projection on the base body.

[0030] The first sealing section can cooperate, in particular, with the first of the two walls. Preferably, a first sealing device is arranged between the first sealing section and the first wall such that, in the blocking position of the valve body, a vacuum chamber is formed between the first sealing section (arranged outside the vacuum channel) and the first wall, which vacuum chamber is radially delimited by the first sealing device and is connected to the vacuum channel through the first wall opening.

[0031] The second sealing section can cooperate, in particular, with the second of the two walls. Preferably, a second sealing device is arranged between the second sealing section and the second wall such that, in the blocking position of the valve body, a pressure chamber is formed between the second sealing section (arranged within the vacuum channel) and the second wall, which pressure chamber is radially delimited outwardly by the second sealing device and is connected to the ventilation environment through the second wall opening.

[0032] Preferably, a surface defined by the first sealing device orthogonal to the switching direction and a surface defined by the second sealing device orthogonal to the switching direction are of equal area. When the sealing devices are configured as an O-ring, in particular, a diameter of the O-ring of the first sealing device and a diameter of the O-ring of the second sealing device can be identical.

[0033] The first and second sealing devices can be designed in various ways. For example, the first and / or second sealing devices can each be provided by at least one sealing element, in particular a sealing ring, e.g., an O-ring. Such a design is particularly robust. It is conceivable for the sealing devices, in particular sealing elements, to have sealing surfaces orthogonal to the switching direction. It is also conceivable for the sealing surfaces to be oriented at an angle of 30° to 60°, preferably 45°, to the switching direction. The first and / or second sealing devices can also be designed as a foam seal, which, for example, facilitates compensation of tolerances and thus ensures reliable sealing.

[0034] The sealing devices, in particular sealing elements, can be part of the valve body. However, the sealing devices, in particular sealing elements, can also be provided on the walls defining the vacuum channel.

[0035] Preferably, the valve body is biased into the blocking position ("normally close") or the release position ("normally open"), so that the valve body is in the blocking position or the release position in a resting configuration. This can be achieved, for example, by the venting valve having a force application device designed to bias the valve body toward the blocking position or the release position. For example, the force application device can be designed as a spring device. The spring device can, in particular, comprise a compression spring. The compression spring can then preferably be arranged in the vacuum channel.

[0036] Preferably, the ventilation valve also comprises an actuator for driving an adjustment movement of the valve body along the switching direction. The actuator can fundamentally be designed in different ways. In an advantageous embodiment, the actuator can comprise an actuating element, in particular an actuating rod or armature, which engages the valve body, in particular is connected to the valve body.

[0037] The actuating element can be driven in various ways, i.e., adjustable along the switching direction. It has proven particularly advantageous if the actuator comprises a lifting magnet, in particular a monostable or bistable one. The lifting magnet can, for example, comprise an armature, in particular a magnet armature, connected to the valve body, which is displaceable along the switching direction and comprises a magnetically polarizable, in particular ferromagnetic, material. The lifting magnet then preferably also comprises an electromagnetic coil for driving a displacement movement of the armature and thus of the valve body along the switching direction. The lifting magnet can optionally also have a spring device that acts on the armature along the switching direction.In addition, the solenoid can optionally have a first permanent magnet that holds the armature in the release position and / or a second permanent magnet that holds the armature in the blocking position. In this way, the ventilation valve can be held in the release position and / or blocking position without power. In this respect, a locking or holding function can be provided by the actuator.

[0038] Furthermore, it may be advantageous if the ventilation valve has a locking device, particularly acting on the valve body and / or the actuating element, by means of which the valve body can be locked in the release position and / or the blocking position. The locking device can, for example, be designed to lock the valve body or the actuating element by magnetic action, friction, and / or positive locking.

[0039] For example, it is conceivable that the locking device comprises one or more permanent magnets which are designed, in particular arranged on the valve housing, the actuating element and / or the valve body, to hold the valve body in the release position and / or the blocking position, in particular against an action by the force application device.

[0040] Alternatively or additionally, the locking device can comprise at least one friction element, in particular a friction sleeve, which is designed to clamp the valve body or the actuating element in the release position and / or in the blocking position. It is conceivable that a friction force exerted by the friction element acts independently of a displacement position along the switching direction. For example, the friction element can be an O-ring arranged around the actuating element or the valve body and exerts a friction force on the actuating element or the valve body.

[0041] It is also conceivable for a friction force exerted by the friction element to act only in the respective end position (release position or blocking position). This can be achieved, for example, by providing the at least one friction element on the valve housing and the valve body and / or the actuating element having a radial bulge such that the bulge interacts with the at least one friction element, preferably exclusively, in the release position and / or in the blocking position of the valve body. Alternatively, the at least one friction element can be provided on the valve body and / or the actuating element, and the valve housing can have a local bulge such that the bulge interacts with the at least one friction element, preferably exclusively, in the release position and / or in the blocking position.

[0042] Alternatively or additionally, the locking device can comprise at least one displaceable clamping element which is designed, in particular, to be acted upon in the direction of a clamping position in such a way as to hold the valve body in a clamping manner when the blocking position and / or the release position is reached.

[0043] Alternatively or additionally, the locking device can have at least one displaceable locking element which is or can be acted upon in the direction of a clamping position in such a way that, upon reaching the blocking position and / or the release position, it engages or locks into a corresponding locking receptacle, in particular on the actuating element, and thus fixes the valve body along the switching direction.

[0044] In this respect, fixation by force fit (clamping element) or form fit (locking element) is possible. The clamping element or the locking element can be loaded in different ways. Advantageous implementations can include one or more of the following components: a spring-loaded ball, a spring-loaded pin or a spring-loaded piston, a so-called "compliance mechanism" (e.g., a spring steel or plastic clip arranged perpendicular to the locking receptacle, which engages the locking receptacle), or a pneumatically displaceable element, e.g., one coupled to a pneumatic cylinder.

[0045] Alternatively or additionally, the locking device can comprise an inflatable fixing element, particularly one that is inflated by means of compressed air. The fixing element is particularly designed such that, when inflated, it presses against the actuating element, thus clamping it in place. Inflation of the fixing element can then be controlled as needed, e.g., by a trigger mechanism that is automatically activated upon reaching the release and / or locking positions.

[0046] Within the scope of an advantageous development, several of the ventilation valves described above can be interconnected. The invention also relates in particular to a valve device comprising at least two fluidically connected ventilation valves of the type described above. The ventilation valves are preferably arranged such that the vacuum channel of a first ventilation valve is fluidly connected to the vacuum channel of the second ventilation valve via a connecting channel. In particular, the connecting channel has a suction connection for connection to a suction gripping device. It is particularly advantageous if the ventilation environment of the first ventilation valve is the atmosphere and if the ventilation environment of the second ventilation valve is a pressure chamber that can be pressurized with pressurized fluid via a pressurized fluid connection.

[0047] The invention also relates to a vacuum handling device comprising a suction gripping device for sucking an object, a vacuum generating device for supplying the suction gripping device with vacuum and at least one venting valve or valve device as described above, wherein the venting valve or valve device is arranged in a flow path between the suction gripping device and the vacuum generating device.

[0048] The invention is explained in more detail below with reference to the figures. They show: Fig. 1A,B simplified schematic representations of an exemplary embodiment of a ventilation valve in the blocking position (view A) and in the release position (view B); Fig. 2 simplified schematic representation of another exemplary embodiment of a ventilation valve in the blocking position; Fig. 3 the ventilation valve according to Fig. 2 in a plan view; Fig. 4-6 simplified schematic representations to explain an exemplary design of an actuator for adjusting the ventilation valve between the blocking position and the release position; Fig. 7 simplified schematic representation of an exemplary design of a valve device.

[0049] The Fig. 1 shows a simplified schematic representation of an exemplary embodiment of a ventilation valve, which is designated overall by the reference numeral 10.

[0050] The ventilation valve 10 is designed in particular for ventilating a suction gripping device (not shown).

[0051] The ventilation valve 10 has a valve housing 12 (in Fig. 1 only partially shown), in which a vacuum channel 14 is formed.

[0052] The ventilation valve 10 also has an air inlet 16, via which the vacuum channel 14 can be connected to a ventilation environment 18, in particular the atmosphere.

[0053] The ventilation valve 10 also comprises a valve body 20 for blocking and releasing a flow connection between the vacuum channel 14 and the ventilation environment 18. The valve body 20 is movable along a switching direction 22 between a blocking position (cf. Fig. 1A), in which the flow connection is blocked, and a release position (cf. Fig. 1B), in which the flow connection is released, adjustable.

[0054] In the example, the valve body 20 is designed as a valve piston which extends with a base section 24 in the switching direction 22 and passes through the vacuum channel 14 along the switching direction 22.

[0055] A first radial projection 26 and a second radial projection 28 are provided on the base portion 24, axially spaced from the first radial projection 26 in the switching direction 22. The first radial projection 26 forms a first sealing portion 30 of the valve body 20, and the second radial projection 28 forms a second sealing portion 32 of the valve body 20.

[0056] As from Fig. 1, the first projection 26 (first sealing section 30) is arranged outside the vacuum channel 14 in the ventilation environment 18 and the second projection 28 (second sealing section 32) is arranged inside the vacuum channel 14.

[0057] The vacuum channel 14 is delimited along the switching direction 22 by a first wall 34 and an opposite second wall 36.

[0058] A first sealing device 38 is arranged between the first sealing section 30 and the first wall 34 (outside the vacuum channel 14), and a second sealing device 40 is arranged between the second sealing section 32 and the second wall 36 (inside the vacuum channel 14).

[0059] The sealing devices 38, 40 are each designed, for example, in the form of an O-ring. In embodiments not shown, the sealing devices 38, 40 can also be designed, for example, as flat gaskets.

[0060] The sealing devices 38, 40 are, for example, part of the valve body 20.

[0061] As with a comparison of the Fig. 1A and Fig. 1B, starting from the locking position according to Fig. 1A by displacing the valve body 20 in the switching direction 22, the second sealing device 40 is lifted from the second wall 36, so that the vacuum channel 14 is fluidly connected to the ventilation environment 18 via the air inlet 16.

[0062] As mentioned above, the ventilation environment 18 can be the atmosphere. For example, it is conceivable that the valve housing 12 has a ventilation chamber (not shown), which in turn is connected to the environment of the ventilation valve via a ventilation opening.

[0063] It is also conceivable that the ventilation environment 18 is a compressed air environment. For example, it is conceivable that the valve housing 12 has a compressed air chamber (not shown), which in turn is connected to an external compressed air supply via a compressed air connection.

[0064] As in Fig. 1, the valve body 20 is arranged in sections in the ventilation environment 18, so that a ventilation pressure prevailing in the ventilation environment 18 acts on the valve body 20. First surface sections 42 are provided (e.g., the Fig. 1 upper end faces 44), which are oriented in the switching direction 22, and second surface sections 46 (e.g. the Fig. 1 lower end faces 48), which are oriented opposite to the switching direction 22.

[0065] By applying the ventilation pressure, forces acting opposite to the switching direction are exerted on the valve body 20 via the first surface sections 42 and forces acting in the switching direction 22 are exerted via the second surface sections 46.

[0066] As mentioned above, the valve body 20 is designed such that a sum of all first surface sections 42 and a sum of all second surface sections 46 differ from one another by a maximum of 20%, more particularly by a maximum of 10%, more particularly by a maximum of 5%, more particularly by a maximum of 1%, and are in particular equal. In this respect, the valve body 20 is designed such that the forces acting in the switching direction and the forces acting opposite to the switching direction differ from one another by a maximum of 20%, more particularly by a maximum of 10%, more particularly by a maximum of 5%, more particularly by a maximum of 1%, and preferably cancel each other out. In this respect, the valve body 20 preferably has pressure-balanced surfaces.

[0067] In this way, the force required to adjust the valve body 20 along the switching direction 22 can be reduced.

[0068] The Fig. 2 shows a further exemplary embodiment of a ventilation valve 10. To avoid repetition, aspects which are identical in function to the embodiment according to Fig. 1A and Fig. 1B are not described in detail again.

[0069] As from Fig. 2, the ventilation valve 10 is designed such that in the blocking position between the first sealing section 30 and the first wall 34 a first chamber 50 delimited by the first sealing device 38 is formed.

[0070] The chamber 50 is fluidly connected to the vacuum channel 14 via a first wall opening 52 formed in the first wall 34. Thus, the chamber 50 is subjected to negative pressure in the blocking position.

[0071] Analogously, a second chamber 54 delimited by the second sealing device 40 is formed between the second sealing section 32 and the second wall 36.

[0072] The second chamber 54 is connected to the ventilation environment 18 via a second wall opening 56 formed in the second wall 36. Thus, the chamber 52 is subjected to ventilation pressure in the closed position.

[0073] As from Fig. 2, in addition to the first and second surface sections described above, third surface sections 58 are provided on the valve body 20 (for example the surface sections 60 of the second radial projection 28 oriented in the switching direction 22), which are oriented in the switching direction 22 and on which a negative pressure prevailing in the negative pressure channel 14 acts in the blocking position of the valve body 20.

[0074] In addition, fourth surface sections 62 are provided (e.g. the surface sections 64 of the first radial projection 26 delimiting the first chamber 50 in the switching direction 22), which are oriented opposite to the switching direction 22 and on which a negative pressure prevailing in the negative pressure channel 14 acts in the blocking position of the valve body 20.

[0075] As mentioned above, the valve body 20 is preferably designed such that a sum of all third surface sections 58 and a sum of all fourth surface sections 62 differ from one another by a maximum of 20%, more particularly by a maximum of 10%, more particularly by a maximum of 5%, more particularly by a maximum of 1%, and in particular are equal. In this respect, the valve body 20 is designed such that the forces acting in the switching direction and the forces acting opposite to the switching direction differ from one another by a maximum of 20%, more particularly by a maximum of 10%, more particularly by a maximum of 5%, more particularly by a maximum of 1%, and preferably cancel each other out. In this respect, the valve body 20 preferably has pressure-balanced surfaces.

[0076] In the release position (see Fig. 3) The vacuum channel 14 is then connected to the ventilation environment 18 via the wall openings 52, 56. The wall openings 52, 56 thus form the fluid inlet 16 of the ventilation valve 10 described above.

[0077] As mentioned above, the ventilation valve 10 preferably also comprises an actuator 66 for displacing the valve body 20 along the switching direction 22.

[0078] As in Fig. 4, the actuator 66 can comprise, for example, a lifting magnet 68, which acts on the valve body 20 via an actuating element 70, for example in the form of an armature.

[0079] As mentioned above, the valve body 20 can also be spring-loaded into the blocking position or the release position, so that the vent valve 10 is either closed or open in an unactuated initial state.

[0080] Optionally, the ventilation valve 10 can also have a locking device 72 by means of which the valve body 20 can be locked in the release position and / or in the blocking position.

[0081] When designing according to Fig. 4, such a locking device 72 is implemented, for example, by a permanent magnet 74, which holds the valve body 20 in the release position.

[0082] Alternatively or additionally, the locking device 72 may have further configurations.

[0083] For example, in Fig. 5, the locking device 72 can have at least one friction element 76, for example in the form of a friction sleeve, which is designed to clamp the actuating element 70 in the release position and / or in the blocking position.

[0084] In Fig. 5, two friction elements 76-1, 76-2 are provided as an example, so that the valve body 20 can be fixed both in the release position and in the blocking position.

[0085] For example, the actuating element 70 may have a radial bulge 78 such that the bulge 78 cooperates with the first friction element 76-1 in the release position of the valve body 20 and with the second friction element 76-2 in the blocking position of the valve body 20.

[0086] As in Fig. 6, the locking device 72 can - alternatively or in addition to the friction elements 76-1, 76-2 - have at least one displaceable locking element 80 which, when the locking position and / or the release position is reached, engages in a corresponding locking receptacle 82-1, 82-2 on the actuating element 70. The friction elements 76-1, 76-2 and the locking element 80 can additionally be spring-loaded against the actuating element 70.

[0087] The Fig. Figure 7 shows an exemplary embodiment of a valve device 100, which has two ventilation valves 10-1, 10-2 described above. The vacuum channels 14 of the ventilation valves 10-1, 10-2 are fluidly connected via a connecting channel 102, wherein the connecting channel 102 has a suction connection 104 for connection to a suction gripping device (not shown).

[0088] By connecting two ventilation valves 10-1, 10-2, a 3 / 2-way valve is created in a structurally simple manner.

Claims

[1] Ventilation valve (10) for negative pressure applications, in particular for ventilating a suction gripping device, comprising: - a valve housing (12) with a vacuum channel (14) and at least one air inlet (16), via which the vacuum channel (14) can be connected to a ventilation environment (18), in particular the atmosphere, for ventilation; - a valve body (20) for blocking and releasing a flow connection between the vacuum channel (14) and the ventilation environment (18), wherein the valve body (20) is adjustable along a switching direction (22) between a blocking position in which the flow connection is blocked and a release position in which the flow connection is released, wherein the valve body (22) is arranged in sections in the ventilation environment (18) so that a ventilation pressure prevailing in the ventilation environment (18) acts on the valve body (20), wherein the valve body (20) is designed such that, at least in the blocking position, forces acting in the switching direction (22) and also forces acting counter to the switching direction (22) are exerted on the valve body (20) as a result of the application of the ventilation pressure,wherein the forces acting in the switching direction (22) and the forces acting opposite to the switching direction (22) differ from each other by a maximum of 20%, further in particular by a maximum of 10%, further in particular by a maximum of 5%, further in particular by a maximum of 1%, preferably canceling each other out. [2] Ventilation valve (10) according to claim 1, wherein first surface sections (42) are provided on the valve body (20), which are oriented in the switching direction (22), and wherein second surface sections (46) are provided on the valve body (20), which are oriented opposite to the switching direction (22), wherein the first and second surface sections (42, 46) are fluidically connected to the ventilation environment (18) in the blocking position of the valve body (20), wherein a sum of all first surface sections (42) and a sum of all second surface sections (46) differ from one another by a maximum of 20%, further in particular by a maximum of 10%, further in particular by a maximum of 5%, further in particular by a maximum of 1%, in particular are equal to one another. [3] Ventilation valve (10) according to claim 1 or 2, wherein the valve body (20) is arranged in sections in the vacuum channel (14) so ​​that a negative pressure prevailing in the vacuum channel (14) acts on the valve body (20), wherein the valve body (20) is designed such that, at least in the blocking position, as a result of the application of the negative pressure, forces acting both in the switching direction (22) and forces acting counter to the switching direction (22) are exerted on the valve body (20), wherein the forces acting in the switching direction (22) and the forces acting counter to the switching direction (22) differ from one another by a maximum of 20%, more particularly by a maximum of 10%, more particularly by a maximum of 5%, more particularly by a maximum of 1%, preferably canceling one another out. [4] Ventilation valve (10) according to the preceding claim, wherein third surface sections (58) are provided on the valve body (20), which are oriented in the switching direction (22), and wherein fourth surface sections (62) are provided on the valve body (20), which are oriented opposite to the switching direction (22), wherein the third and fourth surface sections (58, 62) are fluidly connected to the vacuum channel (14) in the blocking position of the valve body (20), wherein a sum of all third surface sections (58) and a sum of all fourth surface sections (62) differ from one another by a maximum of 20%, further in particular by a maximum of 10%, further in particular by a maximum of 5%, further in particular by a maximum of 1%, in particular are the same. [5] Ventilation valve (10) according to one of the preceding claims, wherein the ventilation environment (18) is the atmosphere. [6] Ventilation valve (10) according to one of the preceding claims, wherein the switching direction (22) is oriented orthogonally to a longitudinal extension of the vacuum channel (14) [7] Ventilation valve (10) according to one of the preceding claims, wherein the valve body (20) passes through the vacuum channel (14) in the switching direction (22). [8] Ventilation valve (10) according to one of the preceding claims, wherein the vacuum channel (14) is delimited by a first wall (34) and an opposite second wall (36), wherein the valve body (20) has a first sealing section (30), in particular in the form of a first radial projection (26), which is arranged outside the vacuum channel (14) and in particular cooperates with a first of the two walls, and wherein the valve body (20) has a second sealing section (32), in particular in the form of a second radial projection (28), which is arranged inside the vacuum channel (14) and in particular cooperates with a second of the two walls. [9] Ventilation valve (10) according to the preceding claim, wherein the first wall (34) has a first wall opening (52), wherein a first sealing device (38), in particular an O-ring, is provided between the first sealing section (30) and the first wall (34) in such a way that in the blocking position of the valve body (20) between the first sealing section (30) and the first wall a vacuum chamber (50) delimited by the first sealing device (38) is formed, which is connected to the vacuum channel (14) through the first wall opening (52). [10] Ventilation valve (10) according to claim 8 or 9, wherein the second wall (36) has a second wall opening (56), wherein a second sealing device (40), in particular an O-ring, is provided between the second sealing section (32) and the second wall (36) in such a way that in the blocking position of the valve body (20) between the second sealing section (32) and the second wall (36) a pressure chamber (54) delimited by the second sealing device (40) is formed, which is connected to the ventilation environment (18) through the second wall opening (56). [11] Ventilation valve (10) according to claims 9 and 10, wherein a surface area delimited by the first sealing device (38) in a plane orthogonal to the switching direction (22) and a surface area delimited by the second sealing device (40) in a plane orthogonal to the switching direction (22) are identical to one another. [12] Ventilation valve (10) according to one of the preceding claims, further comprising a force application device, in particular in the form of a spring device, which is designed to act on the valve body (20) in the blocking position or the release position [13] Ventilation valve (10) according to one of the preceding claims, further comprising an actuator (66) for driving an adjusting movement of the valve body (20) along the switching direction (22), wherein the actuator (66) comprises an actuating element (70), in particular an actuating rod or armature, which acts on the valve body (20). [14] Ventilation valve (10) according to one of the preceding claims, further comprising a locking device (72), acting in particular on the valve body (20) and / or the actuating element (70), by means of which the valve body (20) can be locked in the release position and / or in the blocking position. [15] Ventilation valve (10) according to the preceding claim, wherein the locking device (72) comprises one or more permanent magnets (74) which are designed to hold the valve body (20) in the release position and / or the blocking position, in particular against an action by the optional force application device. [16] Ventilation valve (10) according to claim 14 or 15, wherein the locking device (72) comprises at least one friction element (76-1, 76-2), in particular a friction sleeve, which is designed to clamp the valve body (20) or the actuating element (70) in the release position and / or in the blocking position. [17] Ventilation valve (10) according to the preceding claim, wherein the at least one friction element (76-1, 76-2) is provided on the valve housing (12) and wherein the valve body (20) and / or the actuating element (70) have a radial bulge (78) such that the bulge (78) cooperates with the at least one friction element (76-1, 76-2) in the release position and / or in the blocking position of the valve body (20). [18] Ventilation valve (10) according to claim 16, wherein the at least one friction element (76-1, 76-2) is provided on the valve body (20) and / or the actuating element (70), and wherein the valve housing (12) has a local bulge (78) such that the bulge (78) cooperates with the at least one friction element (76-1, 76-2) in the release position and / or in the blocking position. [19] Ventilation valve (10) according to one of claims 14 to 18, wherein the locking device (72) has at least one displaceable clamping element which is designed, in particular, to be acted upon in the direction of a clamping position in such a way as to hold the valve body (20) in a clamping manner when the blocking position and / or the release position is reached. [20] Ventilation valve (10) according to one of claims 14 to 19, wherein the locking device (72) has at least one displaceable locking element (80) which is or can be acted upon in the direction of a clamping position such that it engages in a corresponding locking receptacle (82-1, 82-2) upon reaching the blocking position and / or the release position. [21] Ventilation valve (10) according to one of claims 14 to 20, wherein the locking device (72) comprises an inflatable fixing element, wherein the fixing element is designed such that, in the inflated state, it clamps the actuating element (70) or the valve body (20). [22] Valve device (100) comprising at least two venting valves (10-1, 10-2) according to one of the preceding claims, wherein the vacuum channel (14-1) of a first venting valve (10-1) is fluidly connected to the vacuum channel (14-2) of the second venting valve (10-2) via a connecting channel (102), wherein the connecting channel (102) has a suction connection (104) for connection to a suction gripping device. [23] A vacuum handling device comprising a suction gripping device for sucking an object, a vacuum generating device for supplying the suction gripping device with vacuum and a venting valve (10) according to any one of claims 1 to 21 or a valve device (100) according to the preceding claim, wherein the venting valve (10) or the valve device (100) is arranged in a flow path between the suction gripping device and the vacuum generating device.

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