SAUGGREIFER

Description

[0001] The invention relates to a suction gripper for sucking an object according to the preamble of claim 1.

[0002] Suction grippers of the type mentioned above are generally used to grip an object during handling using a handling device. The suction grippers have a suction body that defines a suction chamber and has a suction opening. The suction gripper is applied to the object for suction, e.g., with a sealing section. The suction gripper is connected to the handling device via a connection nipple arranged on the suction body. The handling device thus enables the handling of the object gripped by the suction gripper.

[0003] In passive operation of the suction gripper, the suction gripper is placed with a sealing section, for example, on a surface of the object and pressed down, e.g. by applying an external pressure force to the suction gripper. In this case, it can be provided, for example, that some of the air in the suction chamber escapes and, when the suction body relaxes, an initial, comparatively low suction negative pressure is created in the suction chamber. Depending on the design, the air escapes, for example, laterally between the sealing section and the object, or through the connection nipple. The suction gripper is then lifted for handling by means of the handling device against the direction of the previously applied external pressure force. In the initially suctioned state of the suction body, the lifting causes the weight of the object to act as a tensile force on the suction gripper.The tensile force causes an elastic deformation of the suction body, an increase in the volume of the suction chamber and thus a further reduction of the pressure level in the suction chamber, so that finally a strong negative pressure is provided for a sufficient holding force.

[0004] During active operation of the suction gripper, the suction gripper is applied to the workpiece, and the pressure level in the suction chamber is reduced by a pump, blower, ejector, or vacuum reservoir, e.g., through a fluid channel in the connection nipple. As long as the volume flow extracted from the suction chamber in this way is kept higher than the volume flow generated by leakage between the sealing section and the workpiece, the workpiece can adhere to the suction gripper indefinitely.

[0005] Suction grippers with the features of the preamble of claim 1 are known from WO 2022 / 020176 A1 and JP 5 950995 B2.

[0006] The object of the invention is to provide a suction gripper with good holding properties so that the suction gripper enables reliable handling of objects in an energetically favorable manner.

[0007] The problem is solved by a suction gripper according to claim 1. Accordingly, a suction gripper for suctioning an object, in particular a workpiece, is proposed, wherein the suction gripper has a suction body which delimits a suction interior, wherein the suction body has a first wall section and a second wall section. The wall sections are connected to one another via a fold. A suction opening is formed in the first wall section, which suction opening surrounds the first wall section and through which the suction body is open (to the outside). A connection nipple is arranged on the second wall section. The suction body is designed to be flexible in such a way that when the suction gripper is placed with the suction opening on the object to be sucked, the first wall section deforms relative to the suction opening in such a way that the end of the first wall section facing away from the suction opening is displaced towards the object, e.g.by a pivoting or folding movement of the first wall section relative to the suction opening, so that the outer side of the first wall section rests against the object to be gripped, at least in sections, preferably completely. The outer side of the first wall section forms a sealing section, at least in sections.

[0008] When the suction gripper is placed on the object to be gripped, air located between the first wall section and the object is displaced or pressed (radially) outward, particularly starting from the suction opening. A sealing section or sealing surface can thus form between the outer side of the first wall section and the object. The air previously located between the first wall section and the object does not need to be evacuated by the suction gripper, but is displaced "automatically" when the suction gripper is placed on the object. This results in a smaller dead volume and faster evacuation of the suction gripper, particularly a pre-evacuation by pressing the suction gripper onto the object. This makes the suction gripper particularly energy-efficient.

[0009] The suction gripper can assume a non-suction-engaged configuration and a suction-engaged configuration, in which a (suction-engaged) object adheres to the suction gripper. In the non-suction-engaged configuration, the first wall section can have a bowl-shaped or conical shape. In the suction-engaged configuration, the first wall section can have a disc-shaped shape. The non-suction-engaged configuration and the suction-engaged configuration are to be understood as final configurations. The suction gripper can also assume intermediate configurations between the final configurations.

[0010] If the suction body is placed sealingly against a surface of the object with the outer side of its first wall section or its sealing section and initially pressed against it, the suction body's suction interior can be essentially sealed against the surface of the object. In principle, a slight leakage from the suction interior may be possible. If the suction gripper is then pulled away from the object's surface again using its connection nipple and / or if the object pulls on the applied suction gripper due to its weight, this results in a flexible, particularly elastic, deformation of the suction body.The difference in the volume of the suction interior between a configuration in which the suction body is initially pressed against the object and a configuration in which the object is held by the suction body then leads to the formation of a high negative pressure and thus a secure hold of the object on the suction gripper.

[0011] The suction body can be formed at least partially or entirely from a flexible and / or elastic material, in particular from an elastomer. The suction body can, in particular, have a wall delimiting the suction opening and the suction interior, or be designed as a wall delimiting the suction opening and the suction interior. The suction body can furthermore have a round or oval cross-section, in particular one that is continuous along its height. This results in a suction body that has a bulbous shape in the non-suctioned configuration.

[0012] The fact that the connection nipple is arranged on the second wall section of the suction body that delimits the suction interior can mean, in particular, that the second wall section surrounds the connection nipple, in particular, is arranged so as to extend around the connection nipple. The connection nipple preferably penetrates said wall section. Accordingly, the second wall section refers, in particular, to a wall section of the suction body that extends radially away from the connection nipple. The connection nipple can be arranged at a center of the second wall section.

[0013] The second wall section and / or the connection nipple are arranged in particular opposite the suction opening, in particular both in the non-suctioned configuration and in the suctioned configuration of the suction body.

[0014] The connection nipple can be configured, in particular, for attaching the suction gripper to a handling device and / or for pneumatically connecting the suction interior to the environment or a vacuum supply, in particular a pump, a blower, an ejector, and / or a vacuum reservoir. Accordingly, the suction gripper can be easily handled and / or an evacuation system can be provided for active operation of the suction gripper.

[0015] Accordingly, the suction gripper can be actively operated. The connection nipple can accordingly have a fluid connection to the suction chamber. This allows the connection nipple, when connected to the vacuum supply, to establish a vacuum connection between the suction chamber and the vacuum supply. A vacuum applied to the suction chamber causes the suction gripper to remain in the suctioned configuration or in an intermediate configuration.

[0016] The first wall section has a sealing element on its outer side at the suction opening, and optionally at its end facing away from the suction opening, in particular one that extends circumferentially around the first wall section. This reduces leakage occurring on the outer side of the first wall section or at the sealing section. The sealing element(s) can each be designed as a seal or as a sealing lip.

[0017] The sealing element is partially gas-permeable at the suction opening, especially air-permeable.

[0018] This increases the effective area (suction area) of the suction gripper. Thus, after the suction gripper is placed on the object, the outside of the first wall section or the sealing section can also be completely evacuated. For this purpose, the sealing element can, for example, be designed to be porous or have small channels extending through the sealing element.

[0019] It can be provided that the first wall section is gas-permeable or air-permeable and / or that small channels are formed in the first wall section, extending from the outside through the wall section to the suction chamber. This allows one or more flow connections to be formed from the outside of the first wall section to the suction channel chamber. The negative pressure can thus be distributed on the outside or in the sealing section, increasing the holding force.

[0020] The first wall section can be provided with (additional) adhesive surfaces, friction surfaces, sealing surfaces, microstructures, and / or gecko structures on its outer side. This allows additional forces to be transmitted when the suction gripper is placed on the workpiece. For example, adhesive pads, foam structures, or inflatable, soft structures can be provided.

[0021] The first wall section can have an extension by means of which the first wall section is extended beyond the fold at least in sections at the end facing away from the suction opening. This allows the effective part of the outer side or the sealing section to be enlarged. Thus, higher forces (gripping forces) can be transmitted. Larger and / or heavier objects can thus be gripped more easily. "Extended in sections" means that the first wall section is extended at least in sections, preferably completely around its circumference.

[0022] Mechanical gripping devices for gripping and / or enclosing the object to be suctioned can be attached to the extension. This promotes secure gripping of the object. The mechanical gripping devices can comprise fingers and / or finrays or be designed as fingers and / or finrays.

[0023] It can be provided that (further) channels are formed in the first wall section, extending from the suction interior to the outside of the extension of the first wall section. This also contributes to reliable suction of the object, since negative pressure can be directed into the outer areas of the first wall section (large effective suction area).

[0024] It can be provided that the first wall section is designed such that, when applied to the object, a conical contour sloping (radially) outwards from the suction opening is created on the outside of the first wall section. Thus, as with a Bernoulli suction cup, additional negative pressure can be generated by the air flowing towards the center. This contributes to the object being reliably sucked onto the suction cup. The conical contour sloping (radially) outwards from the suction opening can be formed by appropriately shaping the first wall section or by reducing the thickness of the first wall section.

[0025] An insert can be arranged in the suction opening of the suction body, which closes the suction opening and has a controllable valve or a check valve. This allows the suction gripper to also be operated passively, in which no additional vacuum generator is required. Negative pressure is generated by initially pressing the suction gripper onto the object to be sucked in and, if necessary, by subsequently lifting the object using the suction gripper. The insert, in particular, represents an additional sealing element. In addition to a controllable valve or check valve, the insert can, if necessary, have a sensor, e.g., a pressure sensor. A flow guide from the interior of the suction chamber to the outer surface can also be provided.

[0026] It can be provided that the (maximum) cross-section of the suction interior of the suction body is smaller than the effective suction area on the outer surface of the suction gripper when the suction gripper is applied to the object. This contributes to a favorable ratio between the internal volume of the suction interior and the sealing section or the suction area. This promotes energy-efficient operation.

[0027] It can be provided that the second wall section is designed as a bellows with at least one outer fold and at least one inner fold. In particular, the bellows can also be designed with at least two or more outer folds and at least two or more inner folds. The absorbent body has a smaller circumference at the inner folds and, in the case of a round cross-section, a smaller diameter than at the outer folds. By unfolding the bellows, a particularly large maximum volume of the suction interior of the absorbent body can be achieved.

[0028] It can be provided that the second wall section is at least partially stiffer than the first wall section. This enables high stability at the second wall section and high flexibility at the first wall section. Thus, the high flexibility of the first wall section can be used for rapid and energy-efficient deformation of the first wall section to change from the non-suctioned configuration to the suctioned configuration of the suction body. In contrast, the second wall section can stabilize the suction body overall, and especially when applied to the object to be suctioned.

[0029] Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which embodiments of the invention are described and explained in more detail.

[0030] They show: Figure 1 shows a cross-sectional view of a suction gripper in a non-suctioned configuration; Figure 2 shows a cross-sectional view of the suction gripper from Fig.1 in a suctioned configuration; Figure 3 a cross-sectional view of a possible design of the suction gripper from Fig.1 in a non-suctioned configuration; Figure 4 a cross-sectional view of the suction gripper from Fig.3 in a non-suctioned configuration; Figure 5 shows a cross-sectional view of a possible design of the suction gripper from Fig.3 .

[0031] Figure 1shows a cross-sectional view of a suction gripper 10 in a non-suctioned configuration, in which the suction gripper 10 is touching an object 90 to be suctioned, but is not yet suctioning it (the suction gripper 10 is just resting against the object 90). The suction gripper 10 has a suction body 12. In the example, the suction body 12 is designed to be elastic and flexible overall. For example, the suction body 12 can be made of an elastomer. The suction body 12 can also be understood as a wall in the present case.

[0032] The absorbent body 12 defines a suction interior 14. The absorbent body 12 has a first wall section 16 and a second wall section 18, wherein the wall sections 16, 18 are connected to one another via a fold 20.

[0033] A suction opening 22 is formed in the first wall section 16, which surrounds the first wall section 16 and through which the suction body 12 is open to the outside, i.e., to the environment. In the example, the suction opening 22 is arranged centrally in the first wall section 16.

[0034] A connection nipple 24 is arranged on the second wall section 18. In the example, the connection nipple 24 is arranged centrally of the second wall section 18. In the example, the connection nipple 24 is enclosed in the second wall section 18. A handling device (not shown) can be connected to the connection nipple 24 to move the suction gripper 10. Once the suction gripper 10 has suctioned the object 90, the object 90 can also be handled via it.

[0035] The first wall section 16 has, in the example, a sealing element 30 on its outer side 26 at the suction opening 22, which extends around the first wall section 16. Furthermore, the first wall section 16 has, on its outer side 26 at its end 28 facing away from the suction opening 22, a further sealing element 32 extending around the first wall section 16. The sealing elements 30, 32 can each be designed as a seal or a sealing lip.

[0036] The sealing element 30 at the suction opening 22 can be gas-permeable or air-permeable, for example, through a porous design or through channels formed in the sealing element 30 (not shown). The first wall section 16 itself can also be gas-permeable. Alternatively or additionally, channels can be formed in the first wall section 16, which extend from the outer side 26 through the wall section 16 to the suction interior 14 (not shown). Optionally, the first wall section 16 can have adhesion surfaces, friction surfaces, sealing surfaces, microstructures, and / or gecko structures on its outer side 26, as explained above (not shown).

[0037] The first wall section 16 can be designed such that (as in a Bernoulli suction gripper) when applied to the object 90, a contour sloping outwards from the suction opening 22 results on the outer side 26 of the first wall section 16, as explained above (not shown).

[0038] In the example, the second wall section 18 is at least partially stiffer than the first wall section 16. The second wall section 18 can be designed as a bellows with at least one outer fold and at least one inner fold (not shown).

[0039] As explained above, Fig.1 a non-suctioned configuration of the suction gripper 10, in which the suction gripper 10 rests with the suction opening 22 against the object 90 to be sucked, but does not (yet) suck it. The first wall section 16 has a bowl-shaped configuration in this configuration (cf. Fig.1 ).

[0040] The suction body 12 is designed to be flexible such that when the suction gripper 10 is placed, for example by appropriate pressure, with the suction opening 22 onto the object 90 to be sucked, the first wall section 16 deforms relative to the suction opening 22 in such a way that the end 28 of the first wall section 16 facing away from the suction opening 22 is displaced towards the object 90 to be sucked, so that the first wall section 16, with its outer side 26, at least partially rests against the object 90 to be gripped. In this configuration, the first wall section 16 has a disc-shaped configuration (cf. Fig.2 ).

[0041] When placing and pressing the suction gripper 10 onto the object 90 to be sucked (transition from Fig.1 to Fig.2), air located between the first wall section 16 and the object 90 to be sucked in is displaced radially outward from the suction opening 22. A sealing section or sealing surface 34 is thus formed between the outer side 26 of the first wall section 16 and the object 90. The object 90 is thus sucked in by the suction gripper 10 (cf. Fig.2 ).

[0042] Based on a comparison of Fig.1 and Fig.2 It can be seen that the maximum cross-section of the suction interior 14 of the suction body 12 is smaller than the effective suction surface or sealing surface 34 on the outer surface 26 of the suction gripper 10 in the applied state of the suction gripper 10.

[0043] The Figures 3 and 4 show a possible design of the suction gripper 10 described above. The present suction gripper 10 largely corresponds to the one described with reference to the Figures 1 and 2described suction gripper 10, so that to avoid repetition, reference is made to the explanations there.

[0044] In contrast, the first wall section 16 has an extension 36, by means of which the first wall section 16 is extended beyond the fold 20 at least in sections at the end 28 facing away from the suction opening 22, but in the example completely circumferentially. The further sealing element 32 is arranged in the example at the end 28 of the first wall section 16 facing away from the suction opening 22 and is thus also located in the region of the extension. As can be seen from Fig.3 and 4 As can be seen, the resulting sealing section or sealing surface 34 is enlarged by the extension 36.

[0045] Mechanical gripping devices for gripping and / or enclosing the object 90 to be suctioned can be attached to the extension 36, as explained above (not shown). Independently of this, channels can be formed in the first wall section 16, extending from the suction interior 14 to the outer side 26 of the extension 36 of the first wall section 16. This allows negative pressure to be directed into the radially outer regions of the first wall section 16.

[0046] Figure 5 shows a possible design of the with reference to the Figures 3 and 4 described suction gripper 10. The suction gripper largely corresponds to the embodiment described above, so that in order to avoid repetition, reference is made to the explanations there.

[0047] In contrast, an insert 40 is arranged in the suction opening 22, which closes the suction opening 22 and has a controllable valve or check valve (not shown). The insert 40 represents an additional sealing element. In addition to a controllable valve or check valve, the insert 40 can optionally have a sensor, for example, a pressure sensor. A flow guide from the suction interior 14 to the outer surface 26 can also be provided (not shown).

[0048] It is understood that the one with reference to the Figures 1 and 2 described suction gripper 10 can be equipped with an insert 40.

Claims

1. Suction gripper (10) for suctioning an object (90), in particular a workpiece (90), the suction gripper (10) comprising a suction body (12) which delimits a suction chamber (14), the suction body (12) comprising a first wall portion (16) and a second wall portion (18), the wall portions (16, 18) being connected to one another via a fold (20), a suction opening (22) being formed in the first wall portion (16), which opening is surrounded by the first wall portion (16) and through which the suction body (12) is open, and a connection fitting (24) being arranged on the second wall portion (18), the suction body (12) being designed to be flexible in such a way that, when the suction gripper (10) is placed with the suction opening (22) on the object (90) to be suctioned, the first wall portion (16) deforms relative to the suction opening (22) in such a way that the end (28) of the first wall portion (16) facing away from the suction opening (22) is displaced toward the object (90) such that the first wall portion (16) at least partially rests with its outer side (26) against the object (90) to be gripped, the first wall portion (16) comprising a sealing element (30) on its outer side (26) at the suction opening (22), characterized in that the sealing element (30) at the suction opening (22) is partially gas-permeable.

2. Suction gripper (10) according to claim 1, characterized in that the first wall portion (16) comprises, at its end (28) facing away from the suction opening (22), a sealing element (32) which in particular extends around the first wall portion (16).

3. Suction gripper (10) according to any of the preceding claims, characterized in that the first wall portion (16) is gas-permeable and / or in that channels are formed in the first wall portion (16), which extend from the outer side (26) through the wall portion (16) to the suction chamber (14).

4. Suction gripper (10) according to any of the preceding claims, characterized in that the first wall portion (16) is designed in such a way that, when applied to the object (90), a conical is formed on the outer side (26) of the first wall portion (16), starting from the suction opening (22).

5. Suction gripper (10) according to any of the preceding claims, characterized in that the second wall portion (18) is designed as a bellows having at least one outer fold and at least one inner fold.

6. Suction gripper (10) according to any of the preceding claims, characterized in that the second wall portion (18), at least in portions, is stiffer than the first wall portion (16).