SCHLAUCHHEBER

Description

[0001] The invention relates to a hose lifter according to the preamble of claim 1.

[0002] Tube lifters are vacuum handling devices that can be used to lift, relocate, and then set down loads using negative pressure. The lifting force is exerted by a lifting tube, which can be shortened by applying negative pressure to its interior and lengthened again by releasing the negative pressure within it, possibly under the influence of gravity. An end effector for gripping an object is usually located at one end of the lifting tube. This can be, for example, a mechanical gripping device, but in particular, a suction gripping device.

[0003] To connect the end effector to the lifting hose, a coupling device is provided, by means of which the end effector can be connected to the lifting hose. Various solutions are known for this purpose. For example, it is known to screw the end effector to the lifting hose. DE 10 2008 028 205 C5 also discloses a coupling device in which the suction gripper has four evenly spaced locking pins that engage in keyhole-like receiving openings on the underside of the coupling. By twisting the suction gripper in a bayonet-like manner, a connection can then be established between the end effector and the lifting hose.

[0004] US 2019 / 344453 A1 also discloses a holding device for a suction gripper in a vacuum handling device. The holding device comprises a sliding seat receptacle arranged on a base and a sliding shoe arranged on the suction gripper, which can be inserted into the sliding seat receptacle in a specific orientation. This document discloses a tube lifter according to the preamble of claim 1.

[0005] From CN 114 104 936 A, a plasterboard suspension is also known, which comprises a suspension body and a vacuum adsorption unit.

[0006] These solutions typically require the precise insertion of one connecting section into the other, which complicates handling when coupling a suction gripper, since, for example, the end effector can only be connected to the lifting hose in a very specific rotational position. Furthermore, the known designs are comparatively complex and require a high level of construction.

[0007] The invention is based on the object of improving the coupling of an end effector to a lifting hose, in particular enabling a simple and intuitive coupling of an end effector to the lifting hose. Furthermore, a simple and robust design is desirable.

[0008] This object is achieved according to the invention by a tube lifter having the features of claim 1.

[0009] The tube lifter comprises a lifting hose that extends along a preferably vertical longitudinal axis. The lifting hose, in particular, has a hose interior. The lifting hose can be shortened, in particular, by applying negative pressure to the hose interior.

[0010] The tube lifter also comprises an end effector, in particular a gripping device for gripping an object. The tube lifter preferably comprises a suction gripping device, for example a surface suction gripper, elastomer suction cup, or a suction spider.

[0011] The tube lifter also comprises a coupling device for coupling the end effector to the lifting hose, in particular for a repeatedly detachable connection. The end effector can be coupled to the lifting hose by means of the coupling device, in particular for a repeatedly detachable connection. The coupling device comprises a first coupling section on the lifting hose side, which is connected to the lifting hose, and a second coupling section on the end effector side, which is connected to the end effector.

[0012] One of the two coupling sections, i.e., either the first coupling section or the second coupling section, has an insertion section, and the other coupling section, i.e., the second or the first coupling section, has a receiving section for receiving the insertion section. The receiving section and the insertion section are designed, in particular coordinated with one another, in such a way that the insertion section can be inserted, in particular pushed, into the receiving section in a preferably linear insertion direction, and by this insertion, in particular pushing, of the insertion section into the receiving section in the insertion direction, the first coupling section and the second coupling section, and thus the end effector and the lifting hose, can be connected to one another.In this respect, the insertion section and the receiving section are designed in particular such that by inserting, in particular pushing, the insertion section into the receiving section in the insertion direction, a connection can be established between the end effector and the lifting hose, in particular the end effector can be fastened to the lifting hose.

[0013] The insertion section and the receiving section are also designed in such a way, in particular matched to one another in such a way that the insertion section can be inserted, in particular pushed, into the receiving section along the insertion direction in any rotational position about an end effector rotational axis orthogonal to the insertion direction.

[0014] Such a design enables particularly simple coupling of the end effector to the lifting hose, since to connect the end effector and the lifting hose, only the first coupling section and the second coupling section need to be moved relative to each other along the insertion direction. In particular, after inserting the insertion section into the receiving section, no additional actions are required to establish a connection between the end effector and the lifting hose. Because the insertion section can be inserted into the receiving section at any rotational position around the end effector's rotational axis, complex alignment of the end effector relative to the lifting hose is eliminated, making coupling even simpler and more intuitive.In particular, this makes it possible, conversely, for the receiving section to be pushed onto the insertion section from different angles around the end effector rotation axis along a feed direction opposite to the insertion direction, and thus for the insertion section to be inserted into the receiving section.

[0015] The insertion section and the receiving section are preferably designed such that the insertion section can be inserted, in particular pushed, into the receiving section along the insertion direction, along only one insertion direction, but in any rotational position about an end effector rotation axis orthogonal to the insertion direction. In this respect, pushing the insertion section into the receiving section can be possible exclusively along a single direction, the insertion direction, but the insertion section can be rotated as desired about a rotation axis orthogonal to the insertion axis. The insertion direction is preferably oriented orthogonally to the lifting tube longitudinal axis, in particular horizontally. The end effector rotation axis is then preferably oriented parallel to the lifting tube longitudinal axis.

[0016] Advantageously, the first coupling section on the lifting tube side comprises the receiving section, and the second coupling section on the end effector side comprises the insertion section. Such a configuration facilitates, for example, connecting an end effector stored in an end effector magazine to the lifting tube from different rotational directions about the end effector's rotation axis.

[0017] A particularly intuitive operation can result if the receiving section has a stop for the insertion section, wherein the stop limits an insertion distance of the insertion section in the receiving section in the insertion direction and thus defines an end position of the insertion section in the receiving section in the insertion direction.

[0018] Advantageously, the receiving portion comprises a guide slot extending axially along the insertion direction. The guide slot provides, in particular, a linear guide for the insertion portion along the insertion direction. The guide slot can be formed by a recess in the first or second coupling portion.

[0019] Preferably, the guide slot comprises an open end (receiving opening) for inserting the insertion section and a closed end that limits the insertion path of the insertion section into the receiving section in the insertion direction. The closed end thus forms a stop for the insertion section. The stop, in particular, defines an end position of the insertion section in the receiving section in the insertion direction. Such a configuration makes a coupling process even more intuitive, since the operator only needs to move the first coupling section and the second coupling section relative to one another along the insertion direction to couple the end effector to the lifting tube until they feel resistance from the stop.

[0020] As mentioned above, the proposed coupling device enables the end effector to be inserted into the receiving section in any desired rotational position about an end effector rotational axis orthogonal to the insertion direction. Furthermore, it may also be advantageous if the insertion section and the receiving section are designed such that the insertion section and the receiving section—and thus the first and second coupling sections—are rotatable relative to one another about the end effector rotational axis, even when the insertion section has already been inserted into the receiving section, in particular when it is in the end position at the stop. In this respect, the end effector can also be rotated relative to the lifting tube in the coupled state. In this way, it is possible, for example, to still change the rotational position of the end effector, and thus of an object connected to the end effector, in the held state, e.g.to transfer the object to a defined storage position.

[0021] In this context, it may be advantageous if the insertion section is designed to be rotationally symmetrical about the end effector axis of rotation, at least in sections, i.e. at least over an angular range about the end effector axis of rotation.

[0022] In order to promote rotatability even when the insertion section rests against the stop or the closed end of the guide slot, it can be advantageous if the stop is provided by a wall of the guide slot, wherein the wall is designed to be complementary to a wall delimiting the insertion section about the axis of rotation, in particular having the negative shape of the latter.

[0023] Preferably, the insertion section and the receiving section are designed, in particular coordinated, such that the insertion section, when received in the receiving section, is held in a form-fitting manner along the end effector's axis of rotation, i.e., in particular in the vertical direction. This effectively prevents the end effector from accidentally falling off, for example, due to gravity.

[0024] Advantageously, the insertion section can have a projection which extends in a projection direction away from the end effector (when the insertion section is arranged on the end effector-side coupling section) or the lifting tube (when the insertion section is arranged on the lifting tube-side coupling section). Preferably, the projection direction and the end effector rotation axis run collinearly, i.e. along an identical axis. If the projection is arranged on the end effector, it is particularly advantageous if the projection extends in the projection direction away from a side of the end effector which is facing away from or opposite a gripping means of the end effector, e.g., a suction body.

[0025] The receiving section, in particular the guide slot, can then be designed such that the receiving section, in the inserted state of the insertion section (i.e. when the insertion section is pushed into the receiving section), engages behind or around the projection at least in sections, preferably such that the insertion section is held in a form-fitting manner in the receiving section along the end effector rotation axis.

[0026] In this context, it may be advantageous if the projection widens radially at least in sections, particularly continuously or discontinuously, when viewed in the projection direction. In this respect, the projection can be designed such that at least one first position of the projection, which follows a second position along the projection direction, the radial extension of the projection is greater than in the second position.

[0027] In an advantageous embodiment, the projection can expand continuously, at least in sections, in the projection direction. In particular, the projection can expand conically, at least in sections, in the projection direction, which facilitates simple production of the projection.

[0028] It is also possible for the projection to have at least one radial projection or a radially projecting step along its longitudinal extension in the projection direction. For example, the projection can have a base portion extending along the projection direction, in particular along the end effector rotation axis, and a projection portion adjoining the base portion in the projection direction, wherein the projection is radially widened in the projection portion at least along an angular range around the end effector rotation axis. In this respect, the projection can have a radial widening along its extension in the projection direction, at least in a projection portion which is axially downstream of a base portion of the projection in the projection direction.In such a configuration, it may be advantageous if the receiving section is designed such that it engages behind or surrounds the projection section in the inserted state of the insertion section in the receiving section.

[0029] In particular, the projection can have a substantially T-shaped cross-section. A particularly simple-to-manufacture design can result, for example, if the projection has a first cylinder section and a second cylinder section axially adjacent to the first cylinder section in the projection direction, wherein a diameter of the second cylinder section is larger than a diameter of the first cylinder section. The receiving section can then be designed in particular such that it engages behind or surrounds the second cylinder section when the insertion section is inserted. The cylinder can be designed as a solid cylinder or as a hollow cylinder.

[0030] A particularly reliable mounting of the end effector on the lifting tube can be achieved if the receiving section and the insertion section are designed to be complementary or substantially complementary to one another when viewed in a cross-section along the insertion direction, preferably such that the insertion section is held in a form-fitting manner in the receiving section along the end effector's rotation axis. In particular, the receiving section can have a negative shape of the insertion section when viewed in a cross-section along the insertion direction.

[0031] Within the scope of an advantageous further development, the coupling device can be designed such that in at least one inserted position of the insertion section in the receiving section, preferably in the end position of the insertion section (i.e. when the insertion section rests against the stop or against the closed end of the guide slot), a fluid connection is established between the lifting hose and the end effector. In particular when the end effector is designed as a suction gripping device, it is thus possible to supply the suction gripping device with negative pressure via the coupling device. In this context, it is particularly advantageous if the lifting hose has a hose interior and the fluid connection is fluidly connected to the hose interior, in particular such that the end effector can be supplied with negative pressure through the hose interior.In this way, additional, especially external, fluid lines can be eliminated, which further simplifies coupling of the end effector and also reduces interfering contours during gripping.

[0032] In this context, it can be advantageous if the insertion section has a first fluid opening, in particular a bore, and the receiving section has a second fluid opening, in particular a bore, such that at least in an inserted position of the insertion section in the receiving section, preferably in the end position of the insertion section in the receiving section, a flow connection is established between the first and the second fluid opening, in particular the first and the second fluid opening are aligned with one another, furthermore in particular are arranged coaxially to one another, in particular coaxially to the end effector axis of rotation. The first fluid opening is preferably arranged centrally, in particular concentrically to the end effector axis of rotation on the insertion section. As explained above, the projection can be formed by a hollow cylinder.Then, for example, it is conceivable for an axial cylinder opening of the hollow cylinder to provide the first fluid opening. Depending on the arrangement, the first or second fluid opening is fluidly connected either to the end effector, e.g., a suction gripping device, or to the lifting hose. It can be particularly advantageous if the insertion section is arranged on the end effector and the first fluid opening is fluidly connected to the end effector, and if the receiving section is arranged on the lifting hose and the second fluid opening is fluidly connected to the lifting hose, in particular to a hose interior of the lifting hose.

[0033] In an advantageous further development, the coupling device can have a rotary locking device. The rotary locking device is particularly designed to secure the end effector against rotation about the end effector's rotational axis in the coupled state (i.e., when the insertion section is inserted into the receiving section, in particular when the insertion section is in the end position).

[0034] The rotary locking device can preferably be designed to lock the end effector in a locking configuration. For example, the rotary locking device can have at least one locking element, in particular one that is translationally or rotationally displaceable, and at least one locking receptacle for lockingly receiving the locking element. The locking element and the locking receptacle are preferably designed and arranged such that the locking element engages in the locking receptacle in at least one rotational position of the insertion section about the end effector's axis of rotation. In order to enable rotary locking in different rotational positions of the end effector about the end effector's axis of rotation, the locking device can have a plurality of locking elements. The locking elements can in particular be arranged distributed along a circumference around the end effector's axis of rotation.

[0035] The at least one locking element can be arranged on the lifting tube side, for example, on the receiving section. Then, the at least one locking receptacle can be arranged on the end effector side, in particular on the insertion section. For example, it is conceivable for the at least one locking receptacle to be formed as a local recess in the insertion section. It is also conceivable for the at least one locking element to be arranged on the end effector side and the at least one locking receptacle to be arranged on the lifting tube side.

[0036] Within the scope of an advantageous further development, the rotary locking device can be designed such that a rotary lock can be activated (rotational movement of the end effector about the end effector rotation axis is blocked) and deactivated again (rotational movement of the end effector about the end effector rotation axis is released) by axial displacement of the insertion section relative to the receiving section along the insertion direction, in particular can be activated by displacement in the insertion direction and deactivated again by displacement counter to the insertion direction. This facilitates easy end effector replacement, since in particular no additional manual steps are required to release the rotary locking device. It is particularly advantageous if the rotary locking device is designed such that displacement of the end effector counter to the insertion direction (e.g. to uncouple the end effector) is not blocked.

[0037] In a configuration of the rotary locking device with a locking element and locking receptacle, these can be designed in particular such that the locking element can be inserted into the locking receptacle in at least one rotational position of the end effector about the end effector's rotational axis along the insertion direction, thus activating a rotary lock. In this context, it can be particularly advantageous if the locking element is arranged at the closed end of the guide slot (receiving section) and the at least one locking receptacle is arranged at the insertion section, or vice versa.

[0038] The locking element is preferably mounted so as to be translationally or rotationally displaceable, in particular pivotable, in particular between a locking position in which the locking element engages in the locking receptacle, and a release position in which the locking element does not engage in the locking receptacle. Furthermore, it can be advantageous if the locking element is biased, in particular prestressed, preferably spring-biased, into the locking position. The locking element can then be designed such that the locking element can be transferred into the release position by being biased in the insertion direction against the prestress. In designs with a translationally displaceable locking element, a displacement axis can therefore run parallel to the insertion direction. In designs with a pivotably mounted locking element, a pivot axis can run, in particular, orthogonal to the insertion direction.As explained in more detail below, such a design facilitates simple and intuitive operation of the tube lifter. In this context, it can be particularly advantageous if the locking element, in the release position, is arranged flush with a wall forming the stop for the receiving section of the guide slot.

[0039] Within the scope of an advantageous development, the coupling device can have an axial locking device designed to secure the insertion section, when inserted into the receiving section, against displacement out of the receiving section, i.e., counter to the insertion direction. The axial locking device thus forms a type of loss prevention device for the insertion section and thus for the end effector. Locking preferably occurs in a horizontal direction. In particular, the axial locking device can be designed to secure the insertion section against displacement within the receiving section counter to the insertion direction.

[0040] It is particularly advantageous if the axial locking device is designed such that it locks automatically when a predetermined insertion position of the insertion section in the receiving section is reached, in particular when the end position is reached (i.e. when the insertion section rests against the stop of the receiving section or the guide slot). In this respect, after the insertion section has been inserted into the receiving section, the insertion section can be locked automatically, in particular without the operator having to perform any additional manual actions. For example, it is conceivable for the axial locking device to have one or more locking lugs or pivot bolts which are acted upon, in particular spring-biased, in a locking position. The locking device can in particular be designed such that a lock can be released manually, for example by actuating a button.

[0041] Within the scope of an advantageous development, the tube lifter can also have an operating device with an operating handle, in particular one that can be grasped with one hand, for moving the lifting hose. The operating device is arranged, in particular held, at one end of the lifting hose. In this respect, the operating device is arranged, in particular, between the lifting hose and the end effector. In a design with an operating device, the coupling section on the lifting hose side, in particular the receiving section, can then be arranged on the operating device. For example, it is conceivable that the receiving section, in particular the guide slot, is formed in a housing of the operating device.

[0042] The invention is explained in more detail below with reference to the figures. They show: Fig. 1 shows a sketched representation of an embodiment of a hose lifter; Fig. 2 shows a sketched representation to explain the coupling device in a perspective view; Fig. 3a, b shows sketched representations of the end effector with the end effector-side coupling section in a perspective view (view a) and in a side view (view b); Fig. 4a, b shows sketched representations of the operating device with the lifting hose-side coupling section in a perspective view (view a) and in a sectional view (view b); Fig. 5 shows a sketched representation of the coupling device in the connected state of the first and second coupling sections in a sectional view; Fig. 6a, b shows sketched representations to explain the functioning of the coupling device; Fig. 7 shows a sketched representation of an assembly of a further embodiment of a hose lifter with a rotary locking device in a sectional view; and Fig.8a sketched representation of the hose lifter according to . Fig. 7 in a perspective view.

[0043] In the following description and in the figures, the same reference symbols are used for identical or corresponding features.

[0044] The Figure 1 shows an embodiment of a hose lifter, which is designated overall by the reference numeral 10. In the example shown, the hose lifter 10 is part of a higher-level handling system 100. The handling system 100 comprises a manipulator 102, to which the hose lifter 10 is mounted. The manipulator 102 is designed, for example, as a column-mounted jib crane.

[0045] The tube lifter 10 comprises a lifting tube 12, which extends along a lifting tube longitudinal axis 14. As can be seen from Figure 1As can be seen, the longitudinal axis 14 of the lifting hose 12 corresponds to the vertical. The lifting hose 12 encloses a hose interior, which is evacuated during operation by means of a vacuum supply (not shown in detail). Depending on the pressure level in the hose interior, the lifting hose 12 is reversibly shortened or lengthened, e.g., under the effect of gravity.

[0046] In the example, the lifting hose 12 is attached to the manipulator 102 at a first (upper) end 16 and can thus be displaced by the manipulator 102. In embodiments not shown, it is also conceivable that the lifting hose 12 is connected to another support or frame at its upper end 16.

[0047] The tube lifter 10 also includes an end effector 18 for gripping an object (not shown). The end effector 18 is repeatedly and detachably connected to the lifting tube 12 via a coupling device 20 (explained in more detail below). By shortening the lifting tube 12, the end effector 18 and an object held by the end effector 18 can be lifted.

[0048] By way of example and preferably, the end effector 18 is designed as a suction gripping device 22 for sucking up an object. Specifically, the suction gripping device 22 has a suction body 24 for engaging an object to be gripped (see FIG. Fig. 3b ). As explained in more detail below, the suction gripping device 22 can preferably be supplied with negative pressure through the hose interior of the lifting hose 12.

[0049] In order to move the lifting tube 12 and the end effector 18, an operating device 26 is provided, which is arranged at the second (lower) end 28 of the lifting tube 12 between the lifting tube 12 and the end effector 18. As can be seen from Figure 2 As can be seen, the operating device 26 has a handle 30, which is particularly shaped such that an operator can grip it with one hand.

[0050] As mentioned above, the end effector 12 can be repeatedly and detachably connected to the lifting tube 12 via a coupling device 20. The coupling device 20 has a first coupling section 32 on the lifting tube side and a second coupling section 34 on the end effector side. In the example, the first coupling section 32 on the lifting tube side is arranged on the operating device 26. In this respect, the end effector 18 can be connected to the operating device 26 (and via the latter to the lifting tube 12) by means of the coupling device 20.

[0051] The end-effector-side second coupling section 34 comprises an insertion section 36, and the lifting tube-side first coupling section 32 has a corresponding receiving section 38 for receiving the insertion section 36. In embodiments not shown, a reverse arrangement is also possible. In this respect, the end-effector-side second coupling section 34 can comprise the receiving section 38, and the lifting tube-side first coupling section 32 can comprise the insertion section 36.

[0052] As explained in more detail below, the insertion section 36 and the receiving section 38 are coordinated with one another in such a way that the insertion section 36 can be inserted into the receiving section 38 along only one insertion direction 40, but in any rotational position about an end effector rotational axis 42 orthogonal to the insertion direction 40.

[0053] The insertion direction 40 is, by way of example, preferably orthogonal to the lifting tube's longitudinal axis 14 and thus runs horizontally in the example. Accordingly, the end effector's rotation axis 42 runs parallel to the lifting tube's longitudinal axis 14 and thus vertically in the example (cf. Fig. 2 ).

[0054] The insertion section 36 has a projection 44 which extends away from the end effector 18 in a projection direction 46 which is in particular collinear with the end effector rotation axis 42 (cf. Fig. 2 and 3a ), in the example from an upper side 48 of the end effector 18 (suction gripping device 22) facing away from the suction body 24.

[0055] As from Figure 3b As can be seen, the projection has a radial projection 50. By way of example and preferably, the projection 44 is rotationally symmetrical about the end effector rotation axis 42.

[0056] In the specific example, the projection 44 has a first cylinder section 52 and a second cylinder section 54 adjoining the first cylinder section 52 in the projection direction, wherein a diameter of the second cylinder section 54 is larger than a diameter of the first cylinder section 52. The second cylinder section 54 (projection section) forms the radial projection 50.

[0057] As from Fig. 5 As can be seen, the insertion section 36 (projection 44) has a substantially T-shaped cross-section when viewed along the insertion direction 42.

[0058] In embodiments not shown, it is also conceivable, for example, that the projection 44 widens conically in the projection direction 46.

[0059] The receiving section 38 is preferably designed to be complementary to the insertion section 36, so that the insertion section 36 is held in the receiving section 38 in a form-fitting manner along the end effector rotation axis 42 or the lifting tube longitudinal axis 14 in the inserted state.

[0060] For example, from Figure 4a As can be seen, the receiving section 38 comprises a guide slot 56 which extends along the insertion direction 42. The guide slot 56 forms a linear guide for the insertion section 36 and thus defines the insertion direction 42. In the example, the guide slot 56 is formed as a recess 58 in a housing section 60 of the operating device 26.

[0061] As in Fig. 4bAs shown, the guide slot 56, viewed along the insertion direction 42, has a cross-section that is substantially complementary to the insertion section (in the example, substantially C-shaped), so that the receiving section 38, in the inserted state of the insertion section 36, encompasses the radial projection 50 (second cylinder section 54) of the insertion section 36 with a wall 62. In this respect, a positive connection effective along the end effector rotation axis 42 or the lifting tube longitudinal axis 14 is formed (cf. Fig. 5 ).

[0062] Because the insertion section 36 (projection 44) is rotationally symmetrical about the end effector rotation axis 42, the insertion section 36 and thus the end effector 18 can still be rotated about the end effector rotation axis 42 even in the connected state, i.e. when the insertion section 36 is inserted into the receiving section 38.

[0063] As in Figure 4aAs shown, the guide slot 56 (receiving section 38) has an open end 64 for inserting the insertion section 36 and a closed end 66. The closed end 66 forms a stop 68 for the insertion section 36 and thus defines an end position of the insertion section 36 in the receiving section 38.

[0064] In the example, the stop 68 is formed by a wall 70 of the guide slot 56. The wall 70 is, for example, and preferably complementary to a wall 72 (cf. Fig. 3b ). The wall 70 of the guide slot 56 is thus also rotationally symmetrical about the end effector rotation axis 40 (cf. Fig. 4a and 4b ).

[0065] As from Figure 4aAs can be seen, the guide slot 56 (receiving section 38) is particularly oriented relative to the operating device 26 such that the open end 64 of the guide slot 56 faces away from an operator who grips the handle 30, i.e., is located at the front of the operating device 26 (proximal). In embodiments not shown, the guide slot 56 can also be rotated by 180° about the end effector rotation axis 42. In this respect, the guide slot 56 (receiving section 38) can face an operator who grips the handle 30 (distal).

[0066] As in the Figures 6a and 6billustrated, in order to couple the end effector 18 to the lifting tube 12, an operator only has to insert the insertion section 36 along the insertion direction 40 into the receiving section 38, for example by displacing the operating device 26 (and thus the receiving section 38) relative to the end effector 18 in a feed direction 73 opposite to the insertion direction 40 (in Fig. 6a to the left). Because the insertion section 36 is rotationally symmetrical about the end effector rotation axis 42, the receiving section 38 can be pushed over the insertion section 36 from different angles about the end effector rotation axis 42 in the feed direction 73.

[0067] In the embodiment shown, the coupling device 20 is also designed such that in the end position of the insertion section 36 in the receiving section 38, a fluid connection 74 is established between the lifting hose 12, in particular the hose interior of the lifting hose 12, and the end effector 18, in particular the suction body 24 (cf. Fig. 5 ). As mentioned above, the fluid connection 74 enables the end effector 18, in particular the suction body 24, to be supplied with negative pressure through the hose interior of the lifting hose 12.

[0068] As from Figure 5 As can be seen, the insertion section 36 has a first fluid opening 76 and the receiving section 38 has a second fluid opening 78 such that when the insertion section 36 is in the end position, i.e. when it rests against the stop 68 (wall 70), a flow connection is established between the first fluid opening 76 and the second fluid opening 78.

[0069] The first fluid opening 76 is fluidly connected to the suction body 24 via a first fluid channel 80. Preferably, the first fluid opening 76 is arranged concentrically around the end effector rotation axis 42. In this specific example, the first fluid opening 76 and the first fluid channel 80 are formed by a recess, in particular a bore, in the projection 44. The first and second cylinder sections 52, 54 are therefore hollow cylinder sections.

[0070] The second fluid opening 78 on the receiving section 38 is fluidly connected to the interior of the lifting hose 12 via a second fluid channel 82. By way of example and preferably, the second fluid channel 82 can extend through the handle 30 of the operating device 26. The handle 30 can thus be designed as a hollow body.

[0071] To seal the first and second fluid openings 76, 78, the projection 44 may have a sealing portion 84. As shown in the Figures 3and 5 As shown, the sealing section 84 can adjoin the radial projection 50 (projection section or second cylinder section 54), particularly when viewed in the projection direction 46. By way of example and preferably, the sealing section 84 is also rotationally symmetrical about the end effector rotation axis 42. The receiving section 38 (guide slot 56) can then have a complementary recess 86 (cf. Fig. 4a and 5 ).

[0072] In embodiments not shown, it is also possible that no fluid connection 74 is provided, for example, if the end effector 18 is configured as a mechanical gripper. The fluid connection 74 is therefore optional.

[0073] The Figures 7 and 8show a further embodiment of a tube lifter 10, in which the coupling device 20 has a rotary locking device 88. The rotary locking device 88 is designed to secure the end effector 18 in the coupled state against rotation about the end effector rotation axis 42.

[0074] In the illustrated example, the rotary locking device 88 is designed as a locking device, comprising a locking element 90 and at least one, in the example four, locking receptacles 92 for lockingly receiving the locking element 90. The locking element 90 is arranged, for example, on the lifting tube side, and the locking receptacles 92 are arranged on the end effector side. However, in embodiments not shown, a reverse arrangement is also possible.

[0075] In the specific example, the locking receptacles 92 are arranged on the insertion section 36. By way of example and preferably, the locking receptacles 92 are arranged distributed along a circumference around the end effector rotation axis 42.

[0076] The locking element 90 and the locking receptacles 92 are designed such that when the locking element 90 is received in one of the locking receptacles 92, a rotational movement of the end effector 18 about the end effector rotation axis 42 is blocked.

[0077] As from Fig. 7 As can be seen, the locking element 90 is arranged, by way of example and preferably, in the region of the closed end 66 of the guide slot 56 (receiving section 38). As mentioned above, the locking element 90 is arranged such that, by axially displacing the end effector 18 in the insertion direction 40, the locking element 90 can be inserted into the locking receptacle 92, thus activating a rotary lock.

[0078] By way of example and preferably, the locking element 90 is pivotally mounted about a pivot axis, so that the locking element 90 can be moved out of the Fig. 7 The locking position shown (in which the locking element 90 engages in one of the locking receptacles 92 and thus blocks rotation of the end effector 18 about the end effector rotation axis 42) can be transferred or pivoted into a release position in which the locking element 92 no longer engages in the locking receptacle 92 (and thus rotation of the end effector 18 about the end effector rotation axis 42 is possible). In embodiments not shown, the locking element 90 can also be mounted so as to be translationally displaceable.

[0079] By way of example and preferably, the locking element 92 is biased into the locking position. In the example, a spring device 94 is provided for this purpose. The locking element 92 can thus be pivoted in the direction of the release position against the bias of the spring device 94. As mentioned above, in the release position, the locking element 90 is preferably arranged flush with the wall 66, which forms the stop 70 for the insertion section 36 (cf. Fig. 4a ).

[0080] If, for example, the insertion section 36 is inserted into the receiving section 38 in such a rotational position about the end effector rotation axis 42 that a section 96 arranged between two locking receptacles 92 faces the locking element 90 (the locking element 90 is therefore not aligned with any locking receptacle 92; for example, if the end effector is in Fig. 8by 45° about the end effector rotation axis 42), the locking element 90 is pivoted about the pivot axis against the spring preload until finally the insertion section 36 rests against the wall 66 (end position).

[0081] In order to activate the rotary locking device 88, the end effector 18 (and thus the insertion section 36) can then be rotated about the end effector rotation axis 42 until one of the locking receptacles 92 is aligned with the locking element 90 and the locking element 90 snaps into this locking receptacle 92 due to the spring preload.

[0082] As from Fig. 7As can be seen, the coupling device 20 also comprises an optional axial locking device 98, which is designed to prevent a displacement of the insertion section 36 out of the receiving section 38, in particular a displacement of the insertion section 36 from the end position opposite to the insertion direction 40. In the example, the axial locking device 98 comprises a pivot bolt 100, which is pivotably mounted on the operating device 26 about a pivot axis 102. The pivot bolt 100 is in Fig. 7shown in a locking position, in which the pivot bolt 100 interacts with a locking section 104 of the insertion section 36 in such a way, in particular in a form-fitting manner, that a displacement of the insertion section 36 counter to the insertion direction 40 is blocked. In order to release the axial locking device 98, the pivot bolt 100 can then be pivoted about the pivot axis 102 in such a way (e.g. by actuating the actuating section 106; in Fig. 7 clockwise) so that the locking portion 104 can slide past the pivot bolt 100.

[0083] By way of example and preferably, the pivot bolt 100 is biased into the locking position, e.g. by means of a spring device 108. The axial locking device 98 is designed such that it is automatically triggered when the insertion section 36 is in the end position.

[0084] Such an axial locking device 98 can also be used in the configuration according to the Figures 1 to 6 be provided.

Claims

1. Tube lifter (10), comprising - a lifting tube (12) extending along a lifting tube longitudinal axis (14); - an end effector (18), in particular a suction gripping device (22); - a coupling device (20), by means of which the end effector (18) can be coupled to the lifting tube (12), the coupling device (20) having a lifting tube-side first coupling portion (32) and an end effector-side second coupling portion (34), one of the coupling portions (34) having an insertion portion (36)and the other coupling portion (32) having a receiving portion (38) for receiving the insertion portion (36), the insertion portion (36) and the receiving portion (38) being designed such that the insertion portion (36) can be inserted into the receiving portion (38) in an insertion direction (40), in particular only one insertion direction, which is preferably orthogonal to the lifting tube longitudinal axis (14), and the end effector (18) and the lifting tube (12) being connectable to one another by inserting the insertion portion (36) into the receiving portion (38) in the insertion direction (40), characterized in that the insertion portion (36) can be inserted into the receiving portion (38) in the insertion direction (40) in any rotational position about an end effector rotation axis (42) which is orthogonal to the insertion direction (40), and the insertion portion (36) being formed at least in portions so as to be rotationally symmetrical about the end effector rotation axis (42).

2. Tube lifter (10) according to claim 1, wherein the receiving portion (38) comprises a guide slot (56) which extends axially along the insertion direction (40).

3. Tube lifter (10) according to the preceding claim, the guide slot (56) comprising an open end (64) for insertion of the insertion portion (36) and a closed end (36), wherein the closed end (36) forms a stop (68) for the insertion portion (36), wherein the stop (68) defines an end position of the insertion portion (36) in the receiving portion (38) in the insertion direction (40).

4. Tube lifter (10) according to any of the preceding claims, wherein the insertion portion (36) and the receiving portion (38) are designed such that the insertion portion (36) can also be rotated relative to the receiving portion (38) about the end effector rotation axis (42) when it is inserted into the receiving portion (38).

5. Tube lifter (10) according to any of the preceding claims, wherein the insertion portion (36) and the receiving portion (38) are designed such that the insertion portion (36) is held in the receiving portion (38) in a form-fitting manner along the end effector rotation axis (42).

6. Tube lifter (10) according to any of the preceding claims, wherein the insertion portion (36) comprises a projection (44) which extends in a projection direction (46), which is in particular collinear with the end effector rotation axis (42), in particular away from the end effector (18) or the lifting tube (12).

7. Tube lifter (10) according to the preceding claim, wherein, in the inserted state of the insertion portion (36), the receiving portion (38) engages behind or surrounds the projection (44) at least in portions, in particular in such a way that the insertion portion (36) is held in the receiving portion (38) in a form-fitting manner along the end effector rotation axis (42).

8. Tube lifter (10) according to any of claims 6 or 7, wherein the projection (44) has a radial overhang and / or a substantially T-shaped cross section.

9. Tube lifter (10) according to any of the preceding claims, wherein the receiving portion (38) is designed to be complementary to the insertion portion (36) in a cross section viewed along the insertion direction (40), and in particular has a shape which is a negative of the insertion portion (36).

10. Tube lifter (10) according to any of the preceding claims, wherein the coupling device (20) is designed such that, in at least one insertion position of the insertion portion (36) in the receiving portion (38), preferably in the end position of the insertion portion (36) in the receiving portion (38), a fluid connection (74) between the lifting tube (12) and the end effector (18) is established, in particular wherein the insertion portion (36) comprises a first fluid opening (76), in particular a bore, which is in particular arranged concentrically around the end effector rotation axis (42), and wherein the receiving portion (38) comprises a second fluid opening (78), in particular a bore, such that, at least in the insertion position of the insertion portion (36) in the receiving portion, preferably in the end position of the insertion portion (36) in the receiving portion (38), a flow connection between the first fluid opening (76) and the second fluid opening (78) is established, in particular the first and the second fluid opening (76, 78) are aligned with one another, further in particular are arranged coaxially to one another.

11. Tube lifter (10) according to any of the preceding claims, wherein the coupling device (20) comprises a rotary locking device (88) which is designed to secure the end effector (18) against rotation about the end effector rotation axis (42) when the insertion portion (36) is inserted into the receiving portion (38), in particular when it is in the end position, in particular wherein the rotary locking device (88) is designed such that a rotary lock can be activated and deactivated again by axial movement of the insertion portion (36) relative to the receiving portion (38) along the insertion direction (40), in particular without blocking a movement of the end effector (18) counter to the insertion direction (40).

12. Tube lifter (10) according to the preceding claim, the rotary locking device (88) comprising a latching element (90) and at least one latching receptacle (92) for receiving the latching element (90), wherein the latching element (90) and the latching receptacle (92) are designed and arranged in such a way that the latching element (90) can be inserted into the latching receptacle (92) in at least one rotational position of the end effector (18) about the end effector rotation axis (42) along the insertion direction (42), and thus a rotary lock can be activated, in particular wherein the latching element (90) is held movably, in particular translationally or rotationally, between a locking position and a release position, wherein the latching element (90) is preloaded, in particular spring-preloaded, into the locking position, wherein the latching element (90) can be transferred into the release position counter to the preloading by being acted on in the insertion direction (40).

13. Tube lifter (10) according to any of the preceding claims, wherein the coupling device (20) comprises an axial locking device (98), which is designed to secure the insertion portion (36) against displacement from the receiving portion (38), in particular against displacement within the receiving portion (38) counter to the insertion direction (40), wherein the axial locking device (98) is designed such that it automatically locks when a predetermined insertion position of the insertion portion (36) in the receiving portion (38) is reached, in particular when the end position is reached.

14. Tube lifter (10) according to any of the preceding claims, additionally comprising an operating device (26) having an operating handle (30) for moving the lifting tube (12), wherein the lifting tube-side coupling portion (32) is arranged on the operating device (26).