Detent pawl

Abstract

A detent pawl with a detent and a bellows-type suction element, the detent having a suction surface and a rotatably mounted lever with a projection, and the bellows-type suction element having a front face that is in suctioning contact with the suction surface of the detent; and a detent pawl mechanism comprising a detent pawl and a vacuum pump.

Description

[0001] pawl

[0002] The present invention relates to a locking pawl. In particular, the invention relates to a releasable locking pawl for securely locking products or product carriers in a production facility, wherein the locking pawl can preferably be unlocked or actuated by means of negative pressure.

[0003] Locking mechanisms, particularly pawls and grippers, are known in various forms from the prior art. For example, pawls are used as part of a rotary locking mechanism to allow a ratchet wheel to rotate in one direction and prevent it from rotating in the other. Such pawls are often mechanically designed and are pressed against the ratchet wheel, for example, by a spring. In many applications, it is necessary to unlock the rotary locking mechanism, i.e., to allow the ratchet wheel to rotate in both directions. Such a function can be implemented by equipping the pawl with a mechanically, electrically, or pneumatically actuated mechanism that can move the pawl out of the engagement area of ​​the ratchet wheel.

[0004] Furthermore, pawls are known in manipulators, in transport or production systems, which are used in addition to or alternatively to a gripper in order to implement a gripping or securing mechanism. In particular, workpieces or products can be locked to a stop by means of a pawl and thus securely held in a predetermined position, whereby machining steps on a workpiece or rotary or linear movements of a workpiece or product locked to a movable unit can be carried out. In these applications, it is necessary to provide a release mechanism for the pawl so that the workpieces or products can be released again when necessary. Known pawls, in particular on movable manipulators or handling devices, are therefore designed such that they are pre-tensioned in a closed position and can be unlocked or released via an actuator.can be opened to pick up or release a workpiece or product. Alternatively, a workpiece or product can also be picked up without actively actuating a release mechanism. The opening of the pawl can also be forced by the geometry of the pawl. The geometry of the pawl should then be designed such that the closed pawl is moved into an open position when it is pressed against the workpiece or product to be picked up with a minimum force which, taking leverage ratios into account, overcomes the preload force. Release mechanisms for pawls are known from the prior art in various designs. For example, a release mechanism can be implemented mechanically using cables and springs.Alternatively, pneumatically or hydraulically actuated unlocking mechanisms are known, in which the locking pawl is coupled to a cylinder and can be unlocked by a corresponding cylinder stroke. Electric motor-actuated mechanisms are also known, in which the locking pawl is mechanically connected to a servo motor.

[0005] Common to these systems is a complex mechanical design, the use of expensive and heavy components, and limited application in wet or humid environments. These disadvantages are at least partially exacerbated when such locking pawls are used on moving system components, such as components of a reversible or multi-axis handling system. The known locking pawls with release mechanisms, which require a complex mechanical design, not only increase costs but also significantly increase the weight of a handling system and limit the design options, as it is always important to ensure that sufficient installation space is available for the mechanical coupling to an actuator.An additional disadvantage, particularly when used in medical technology systems, clean room applications or in food processing, is that the known systems usually require large-area lubrication, which must be sealed against the environment in a particularly complex manner.

[0006] Therefore, there is a need for a cost-effective, lightweight locking pawl with a simple release mechanism that can be implemented in a small and as flexible a space as possible. This need cannot be met by the current state of the art.

[0007] It is therefore an object of the present invention to provide a locking pawl with a release mechanism that is improved over the prior art and overcomes the disadvantages highlighted above. In particular, the object of the present invention may be to provide a releasable locking pawl that is preferably inexpensive to manufacture, preferably has a low mass, and preferably can be implemented in a small installation space, including the actuator or connection to an actuator required in the immediate vicinity of the locking pawl.

[0008] This object is achieved by the present invention by a pawl with a pawl and a bellows suction cup, wherein the pawl has a suction surface and a rotatably mounted pawl lever (lever) with a nose, and the bellows suction cup has an end face that is in suction-capable contact with the suction surface of the pawl. Preferably, the suction surface can be arranged on the pawl lever, more preferably designed as a single piece together with the pawl lever and / or fixedly connected to the pawl lever. In other words, the suction surface is preferably rotatable together with the pawl lever and / or the entire pawl is preferably rotatably mounted. Preferably, the bellows suction cup can be part of a release mechanism of the pawl. The pawl can then preferably also be referred to as a releasable pawl or pawl with release mechanism.The use of a bellows suction cup can preferably represent a cost-effective implementation of the releasable locking pawl, more preferably in a small installation space. The use of a bellows suction cup can preferably contribute to reducing the number of parts in the releasable locking pawl.

[0009] A latch lever having a nose can preferably be understood to mean a component that has a projection. In this sense, a latch lever having a nose can be a hook, an angle, or a lever having a bulge. Preferably, the projection of the latch lever referred to as the nose can be significantly smaller than the remaining part of the latch lever. The nose can preferably be suitable for engaging in a notch or contacting a flat surface. Furthermore, the nose can preferably have a flat plane, which is more preferably arranged at an angle to a longitudinal axis of the latch lever, more preferably at an angle between 70° and 110°. Preferably, the flat plane of the nose can be suitable for contacting a flat surface of an object or engaging in a notch of an object.

[0010] Preferably, the latch lever can be arranged eccentrically to a rotational axis of the latch lever and / or the pawl. Further preferably, the nose of the latch lever can be arranged on a side of the latch lever facing the rotational axis. The eccentric arrangement of the latch lever can preferably force the latch lever toward a locked or closed position. This arrangement can advantageously contribute to a fail-safe function of the pawl.

[0011] Preferably, the bellows suction cup can alternatively also be referred to as a vacuum suction cup, bellows suction cup, vacuum lifter, or suction gripper. Bellows suction cups can preferably be suitable for gripping and / or lifting loads or objects with smooth surfaces by means of negative pressure. Preferably, the operating principle of a vacuum suction cup can correspond to that of a suction cup, wherein more preferably a negative pressure in the vacuum suction cup can be maintained even with less than ideally smooth surfaces by means of a vacuum pump. Preferably, the bellows suction cup can have a bellows and a connection for connection to an actuator such as a vacuum pump or an ejector. Preferably, the bellows of the bellows suction cup can serve to preload the locking pawl into a locked position. In other words, the bellows can preferably assume the function of a spring.

[0012] The end face of the bellows suction device can preferably be an end face of the bellows. The end face can preferably be fluid-tight and / or air-tight with the suction surface. The locking pawl can preferably also have a pressure ring which is suitable for sealing and / or air-tightly fixing the end face to the suction surface. The end face can preferably be sealed from the suction surface in such a way that no liquids or moisture from the environment can penetrate into the bellows. The seal can preferably also be provided when there is no negative pressure in the bellows. In other words, the end face can be fluid-tight with the suction surface, preferably regardless of the pressure prevailing in the bellows, more preferably so that no liquid or moisture is sucked in even when the bellows suction device is activated, i.e. when there is a negative pressure in the bellows.This is particularly advantageous for use in humid environments or wet areas.

[0013] Preferably, the end face of the bellows suction cup can be reversibly inclined by at least 2°, more preferably by at least 4°. In other words, in an initial position of the bellows, the end face can preferably lie in an initial plane, wherein a central axis of the bellows in the initial position is perpendicular to this initial plane. The end face can be reversibly inclined with respect to the defined initial plane, preferably wherein the inclination relative to the initial position is at least 2°, more preferably at least 4°. Preferably, the use of a bellows and / or the ability of the bellows suction cup to be reversibly inclined at different angles can contribute to the dispensing with a mechanism that allows a tilting movement of the locking pawl or enforces this by means of rigid connections.In other words, the inclination capability of the front surface can preferably contribute to the fact that the releasable pawl can be implemented in a small installation space and / or can be constructed with few components and therefore with low weight.

[0014] The bellows suction device can preferably comprise a component that limits compression of the bellows and / or prevents folds of the bellows from folding inward due to a negative pressure prevailing in the bellows. The component can preferably be porous and / or more preferably permeable to air, particularly preferably comprising an open-pore material.

[0015] Preferably, the bellows can execute a stroke of at least 2 mm, more preferably at least 5 mm. Taking into account the leverage ratios between the intake surface and the nose, the stroke is preferably greater than an under-engagement of the nose. In this context, under-engagement can be defined as the part of the nose intended to be in contact with an object to be locked.

[0016] Preferably, the end face of the bellows suction cup can have an outer diameter in the range of 40 mm to 90 mm, more preferably in the range of 25 mm to 60 mm and particularly preferably in the range of 10 mm to 30 mm.

[0017] The pawl can preferably assume a closed and an open position. The pawl, preferably the pawl lever, more preferably the nose, can preferably be designed to lock an object in the closed position and / or to release an object in the open position. In other words, the pawl can preferably assume a closed and an open position, wherein the pawl can more preferably be brought into the open and / or closed position by rotating the pawl, preferably by rotating the pawl lever. The closed position can preferably be a locking position. More preferably, the bellows suction cup can be arranged on the pawl in such a way that a restoring force of the bellows generates a first moment M1 with respect to a rotational axis of the pawl, which moment acts in the direction of the closed position.In other words, the bellows suction cup can preferentially contribute to preloading the pawl into the closed position. The pawl can therefore preferably be forced into the closed position as long as no further external forces are applied to the system. This can preferentially contribute to a fail-safe mechanism.

[0018] Preferably, the eccentricity of the latch lever can generate a second moment M2 with respect to the rotational axis, which acts in the direction of the closed position. In particular, the second moment M2 can preferably be generated by positioning a support point of an object to be picked up on the nose in such a way that the support point is spaced from the rotational axis in the direction of the latch lever. In other words, it is preferred that the underhand grip extends along the nose in such a way that at least a part of the underhand grip lies in a region between a plane running parallel to the latch lever or perpendicular to the nose / object contact surface and through the rotational axis, and the latch lever.

[0019] Preferably, the pawl can have a stop that is fixedly mounted relative to the rotational axis of the pawl. Preferably, the pawl can be in contact with the stop in the closed position, and more preferably, the pawl can have no contact with the stop in the open position. Preferably, the stop can define or limit a closed position of the pawl lever or a closed position of the pawl, and thus preferably also define a position of the receiving point and / or the underhand grip.

[0020] Preferably, the bellows suction cup can be mounted in a fixed position relative to the rotational axis of the pawl, preferably in a holder that is fixed relative to the rotational axis. This can preferably simplify the supply of vacuum or compressed air to the bellows suction cup and / or can preferably lead to a simple construction of at least part of the actuator system or the connection to an actuator, in particular via a compressed air or vacuum hose.

[0021] The latch lever can preferably be made of stainless steel, particularly preferably 1.4404, and / or the bellows suction cup can preferably be made of an elastomer, particularly preferably silicone. These materials can preferably be particularly suitable for ensuring low particle abrasion during operation of the releasable latch. Further preferably, the materials used can contribute to the safety latch described here being food-safe and / or being certified according to Good Manufacturing Practice (GMP) regulations.

[0022] Preferably, the intake surface can have a surface quality with a mean roughness Ra of a maximum of 0.8 pm and / or an average roughness depth Rz of a maximum of 6.5 pm. Further preferably, the intake surface can have a flatness of 0.3 mm, particularly preferably 0.1 mm. These surface qualities can preferably offer an optimal compromise between manufacturing costs and the required surface quality for the sealing function.

[0023] Preferably, the latch can further comprise a latch actuation, wherein the latch actuation is preferably fixedly connected to the latch lever and / or is preferably designed as a single piece with the latch lever. Preferably, the latch actuation can be designed as a latch actuation lever. Preferably, the suction surface can be arranged on the latch actuation lever, and the suction surface and / or the latch actuation lever can be arranged at an angle relative to the latch lever, preferably at an angle between 0° and 270°, more preferably at an angle between 50° and 190°, and particularly preferably at an angle between 70° and 110°. Preferably, the arrangement of the suction surface on an actuation lever arranged at an angle relative to the latch lever can be advantageous in order to achieve a small installation space. Furthermore, the position of the center of gravity of the latch can preferably be influenced by means of the actuation lever.Preferably, the latch can be constructed such that the center of gravity is located at a position such that a weight force acting at the center of gravity generates a moment M4 with respect to the axis of rotation, which moment preferably acts in the direction of a closed position of the latch when the latch is oriented such that the weight force of an object held by the latch acts on the nose of the latch.

[0024] Preferably, the pawl can further comprise a sensor suitable for detecting whether the pawl is in the open position. Alternatively or preferably, the pawl can comprise a sensor suitable for detecting whether the pawl is in the closed position. Alternatively or preferably, the pawl can comprise a sensor suitable for detecting the position of the pawl. The use of a sensor can preferably increase the safety, in particular the operational reliability, of the pawl or the system. Furthermore, the use of a sensor can serve to directly detect malfunctions. An inductive sensor can preferably be used. An inductive sensor can be particularly advantageous with regard to high reliability and / or arrangement in a small installation space.

[0025] The locking pawl according to the invention can preferably be suitable for locking an object in a manufacturing or production facility. Within the scope of the invention, the object can preferably be a workpiece, a product, or a product carrier; alternatively, the object can also be a ratchet wheel. Particularly preferably, the object can be a tray for holding contact lenses, a wafer or a holder for a wafer, a semiconductor element, or an LCD panel. The locking pawl can preferably be suitable for locking the object to a movable part of the facility. The locking pawl can preferably be suitable for use in a manipulator, in particular in a handling device, preferably a rotary, turning, or multi-axis handling device. In other words, the locking pawl can be suitable for locking the object to a manipulator or to a handling device, preferably a rotary, turning, or multi-axis handling device.Further preferably, the locking pawl can be actuated to release a locked object. Particularly preferably, the locking pawl can automatically pick up or lock an object, in other words, preferably without the need for active actuation.

[0026] The invention further relates to a pawl system with a pawl, which is preferably designed according to one or more of the criteria outlined above. The pawl system according to the invention additionally comprises an actuator, preferably a pump, more preferably a vacuum pump or an ejector.

[0027] Preferably, the pawl in the pawl system can assume a closed and an open position, wherein the connection between the vacuum pump and the bellows suction cup can be interrupted, and wherein the pawl is in the closed position when the connection is interrupted and in the open position when a negative pressure is applied to the bellows suction cup. Preferably, the closed position can be a blocking position. Preferably, the negative pressure can be a pressure difference of at least -100 mbar, more preferably at least -200 mbar, and most preferably at least -400 mbar compared to ambient pressure. Such a design can contribute to the safety of the pawl system because, when the line is interrupted, the pawl system is in a closed position and the system therefore meets the fail-safe criteria.

[0028] Preferably, the negative pressure in the pawl system can generate a third moment M3, which acts in the direction of the open position, wherein more preferably at least:

[0029] IM3I > I Ml + M2 / .

[0030] If the pawl is designed such that a weight force acting at the center of gravity of the pawl—depending on the pawl's spatial orientation—can generate a moment M4 with respect to the rotational axis, which acts toward a closed position at least in one possible orientation of the pawl, the negative pressure should preferably be designed such that this counterforce can also be overcome, so that the pawl can be reliably opened at any time, preferably regardless of its spatial orientation. The following moment M3 can then preferably apply:

[0031] IM3I > / Ml + M2 + M4I.

[0032] The pawl system can preferably have at least one additional pawl according to one of the criteria outlined above, wherein at least two, preferably all, pawls of the pawl system have a common coupling to the actuator and / or a shared supply line. In other words, preferably at least two, more preferably all, pawls of the pawl system are connected to a vacuum pump or a valve via a shared line and / or via a shared connection. This can advantageously contribute to a reduction in the number of parts used. Furthermore, the system can thereby be designed to be preferably more cost-effective and / or preferably lighter and / or preferably implementable in a more flexible installation space.

[0033] Preferably, at least two pawls can be arranged in the pawl system at a distance from one another such that the lugs of the pawls, in a closed position, can contact a flat surface of an object that can be arranged between the pawls. Preferably, at least one pawl / object contact point can thus be defined on each lug. Preferably, a connecting line between the contact points of two lugs can be parallel to a frame. Preferably, the frame can represent a counter-stop for an object to be locked with the pawls. Further preferably, the axis of rotation can be formed in the frame and / or the frame can be firmly connected to the holder. In other words, the object can preferably be locked between the lugs and the frame.

[0034] The locking pawl system according to the invention can preferably be suitable for locking an object in a manufacturing or production facility. Within the scope of the invention, the object can preferably be a workpiece, a product, or a product carrier; alternatively, the object can also be a ratchet wheel. Particularly preferably, the object can be a tray for holding contact lenses, a wafer or a holder for a wafer, a semiconductor element, or an LCD panel. The locking pawl system can preferably be suitable for locking the object to a movable part of the facility. The locking pawl system can preferably be suitable for use in a manipulator, in particular in a handling system, preferably a rotary, turning, or multi-axis handling system. In other words, the locking pawl system can be suitable for locking the object to a manipulator or to a handling system, preferably a rotary, turning, or multi-axis handling system.Further preferably, the locking pawl system can be actuated to release a locked object. Particularly preferably, the locking pawl system can automatically pick up or lock an object, in other words, preferably without requiring active actuation.

[0035] The present invention further includes the following aspects:

[0036] 1. A pawl having a pawl and a bellows suction cup, wherein the pawl has a suction surface and a rotatably mounted lever with a nose, and the bellows suction cup has an end surface which is in suction contact with the suction surface of the pawl.

[0037] 2. A pawl according to aspect 1, wherein the lever is arranged eccentrically to a rotation axis of the pawl.

[0038] 3. Locking pawl according to one of aspects 1 or 2, wherein the bellows suction cup has a bellows and a connection, preferably a suction nipple, for connection to a vacuum pump.

[0039] 4. Pawl according to one of the preceding aspects, wherein the end face is hermetically sealed with the suction surface.

[0040] 5. A pawl according to any one of the preceding aspects, further comprising a pressure ring adapted to seal the end face to the intake surface.

[0041] 6. Locking pawl according to one of the preceding aspects, wherein the end face of the bellows suction cup can be reversibly inclined by at least 2°, preferably by at least 4°.

[0042] 7. Locking pawl according to one of the preceding aspects, wherein the bellows suction device has a component which limits compression of the bellows and / or prevents the folds from turning inwards due to a negative pressure prevailing in the bellows, wherein the component is preferably permeable to air and / or has porous, preferably open-pore material.

[0043] 8. Pawl according to one of aspects 3 to 7, wherein the bellows can execute a stroke of at least 2 mm, preferably at least 5 mm, preferably wherein the stroke, taking into account leverage ratios between the suction surface and the nose, is greater than an under-grip of the nose. Pawl according to one of the preceding aspects, wherein the end face of the bellows suction cup has an outer diameter in the range from 40 mm to 90 mm, more preferably from 25 mm to 60 mm and particularly preferably from 10 mm to 30 mm. Pawl according to one of the preceding aspects, wherein the pawl can assume a closed and an open position and wherein the bellows suction cup is arranged on the pawl in such a way that a restoring force of the bellows generates a first moment M1 with respect to a rotational axis of the pawl, which moment acts in the direction of the closed position.Pawl according to one of aspects 2 to 10, wherein the pawl can assume a closed and an open position, and wherein the eccentricity of the lever generates a second moment M2 with respect to the axis of rotation, which moment acts in the direction of a closed position. Pawl according to one of the preceding aspects, wherein the pawl has a stop which is fixedly mounted with respect to the axis of rotation of the pawl, and preferably, wherein the pawl is in contact with the stop in a closed position, and further preferably, wherein the pawl has no contact with the stop in an open position. Pawl according to one of the preceding aspects, wherein the bellows suction cup is fixedly mounted with respect to the axis of rotation of the pawl. Pawl according to one of the preceding aspects, wherein the pawl comprises stainless steel, preferably 1.4404, and / or wherein the bellows suction cup comprises an elastomer, preferably silicone.A locking pawl according to one of the preceding aspects, wherein the suction surface has a surface quality with a mean roughness Ra of at most 0.8 μm and / or an average roughness depth Rz of at most 6.5 μm. 16. A locking pawl according to one of the preceding aspects, wherein the suction surface has a flatness of 0.3 mm, preferably 0.1 mm.

[0044] 17. A pawl according to any one of the preceding aspects, wherein the pawl further comprises a pawl actuation, wherein the suction surface is arranged on the pawl actuation and wherein the suction surface and / or the pawl actuation is arranged at an angle relative to the lever, preferably at an angle between 0° and 270°, more preferably at an angle between 50° and 190° and particularly preferably at an angle between 70° and 110°.

[0045] 18. The pawl according to any one of the preceding aspects, further comprising a sensor adapted to detect whether the pawl is in an open or a closed position, wherein the sensor is preferably an inductive sensor.

[0046] 19. Pawl system comprising a pawl according to any one of the preceding aspects and a vacuum pump connected to the bellows suction cup.

[0047] 20. A pawl system according to aspect 19, wherein the pawl can assume a closed and an open position, wherein the connection between the vacuum pump and the bellows suction cup can be interrupted, and wherein the pawl is in the closed position when the connection is interrupted and is in the open position when a negative pressure is applied to the bellows suction cup, wherein the negative pressure is preferably at least -100 mbar, more preferably at least -200 mbar and most preferably at least -400 mbar.

[0048] 21. A pawl system according to aspect 20, wherein the negative pressure generates a third moment M3 acting in the direction of the open position, wherein more preferably: | M3| > | M1 + M2| .

[0049] 22. A pawl system according to any one of aspects 19 to 21, comprising at least one further pawl according to any one of aspects 1 to 16, wherein at least two, preferably all, pawls of the pawl mechanism are connected to the vacuum pump via a shared line and / or via a common connection. 23. A pawl system according to aspect 22, wherein the at least two pawls are arranged spaced apart from one another such that the lugs, in a closed position, can contact a flat surface of an object that can be arranged between the pawls.

[0050] A preferred embodiment of the invention is described below with reference to the following figures. The figures show:

[0051] Figure 1 is a schematic representation of a pawl according to a preferred embodiment of the present invention;

[0052] Figure 2 is a sectional view of the pawl of Figure 1 in a closed position;

[0053] Figure 3 is a sectional view of the pawl from Figure 1 in an open position;

[0054] Figure 4 shows a detailed view of the cross-sectional view from Figure 2;

[0055] Figure 5 shows the sectional view from Figure 2, supplemented by a force release section; and

[0056] Figure 6 shows the sectional view from Figure 3, supplemented by a force release section.

[0057] An exemplary embodiment of the locking pawl according to the invention is shown in Figure 1. The pawl 1 is mounted on a rotational axis (not shown) in the frame 11 of a production system (not shown in detail). Thus, the pawl 1 can lock an object 13 to the frame 11 with a nose 3. The object 13 can, as indicated in Figure 1, be a product carrier with a flat primary side 131 and a product carrier section 132. The pawl has a pawl lever 2 on which the nose 3 is formed. Furthermore, the pawl has a pawl actuating lever 4 on a side of the pawl lever 2 facing away from the nose 3, to which a bellows suction cup 5 is suction-connected. The pawl 1 is preferably formed in one piece; in other words, the pawl lever 2 and the pawl actuating lever 4 are preferably formed integrally. Alternatively, the latch lever 2 and the latch operating lever 4 can also be separate components that are firmly connected to each other.The bellows suction cup 5, which is in suction contact with the latch lever 4, is mounted in a holder 14 and has a connection 54 to which it can be connected to an ejector, a suppression pump, or a vacuum pump. The holder 14 can be part of the frame 11 or firmly connected to the frame 11, for example, screwed or welded to the frame 11. A sensor 6, which can detect the position of the latch 1, is also provided in the holder 14. In the illustrated embodiment, the sensor 6 detects whether the latch actuating lever 4 is within its detection range or not. This information can be used to determine whether the latch 1 is in a closed position—as shown—meaning the nose 3 is locking the object 13—or whether the latch 1 is in an open position, meaning the object 13 is released. In the embodiment shown, the sensor 6 is designed as an inductive sensor.Alternatively, a photoelectric sensor, an ultrasonic sensor, or a mechanical switch can also be used. In the embodiment shown, both the latch 1 and the frame 11 and the holder 14 are made of stainless steel, here 1.4404. Alternatively, these components can also be made of other stainless steels or other, preferably rust-proof, materials such as ceramic, plastic, aluminum, titanium, or stainless steels.

[0058] The object 13, which is locked to the frame 11 by means of the latch 1, is, in the illustrated embodiment, a specimen slide, a so-called tray, with an at least partially flat primary side 131 that can be in contact with the nose 3 of the latch 1 (provided the latch 1 is closed). In Figure 1, the latch 1 or the entire frame 11 with the latch 1 is shown in a closed standard position. Standard position means that the frame 11 with the latch 1 is oriented in space such that the object 13 located on the frame 11 and locked by the latch 1 rests on the frame. A weight of the object 13 acts on the frame 11 and preferably not on the nose 3 of the latch 1. In the closed standard position, the latch is in its closed position, i.e., the nose 3 is located above the frame 11.In other words, the acceleration due to gravity g in the standard, preferably closed, position acts in a direction from the nose 3 to the frame 11.

[0059] In order to force the latch 1 from the closed position shown in Figure 1 to an open position, an additional external force must be applied to the system. Preferably, a vacuum can be applied to the port 54 of the bellows suction cup. When a vacuum is applied to the bellows suction cup 5, it contracts. The suction-capable connection to the latch actuating lever 4 causes the latch actuating lever 4 to follow the movement of the bellows suction cup 5, thus rotating the latch 1 about its axis of rotation. This rotational movement causes the object 13 to be released from the nose 3. In other words, with reference to Figure 1, the latch actuating lever 4 is pulled downward, moving the latch lever 2 away from the object 13 and thus causing the nose 3 to release the primary side of the object 131 or the object 13.The latch 1 is described in further detail in the following sectional views, particularly in Figures 2 and 3 in its closed and open positions, respectively.

[0060] The sectional view shown in Figure 2 shows the pawl 1 in its closed position and in an overhead position. The overhead position results from the rotation of the entire assembly comprising frame 11, pawl 1 and bracket 14 from the standard position around a horizontal axis by 180°. In other words, the acceleration due to gravity g acts in the opposite direction in the overhead position as in the standard position. Preferably, a weight force of the object 13 acts on the nose 3 and more preferably not on the frame 11. When using the pawl in a handling system, preferably a rotating or reversing handling system or in a multi-axis handling system, a reliable function and / or operation of the pawl is required in both the standard position and the overhead position.

[0061] The individual components and the functioning of the pawl with release mechanism are described in detail using the closed overhead position shown in Figure 2. The pawl 1 is rotatably mounted on the axis 15 located in the frame 11. In alternative embodiments, the pawl 1 could also be connected to a shaft which is rotatably mounted in the frame 11. In the closed position of the pawl, in other words in the locked position, the nose 3 is located under a preferably flat locking surface of the frame 11. If - as shown in Figure 2 - an object 13 is locked between the locking surface of the frame 11 and the nose 3, the nose 3 engages under the object 13. The pawl lever 2 is in contact with a pawl stop 12 formed by the frame 11. The nose 3 has a preferably flat surface 10 which, in this view, points upwards and on which the object 13 can be positioned.On the side of the nose 3 facing away from the flat surface 10, a chamfer or rounded portion 9 is provided. This rounded portion 9 means that when the locking pawl is placed in a closed position from above with a minimum force over an object 13 to be picked up without holding an object 13, the locking pawl is guided or moved by the object 13 to be picked up via the rounded portion 9 into a partially open position, so that the object 13 can engage between the nose 3 of the locking pawl and the locking surface of the frame 11 without the locking pawl having to be actively actuated. In order to release the object 13 again if necessary, the locking pawl according to the invention has a release mechanism comprising the bellows suction cup 5. As can be seen in Figure 2, the release mechanism engages the pawl actuating lever 4 with the bellows suction cup 5.The bellows suction cup 5 has a bellows 51 that is in contact with a suction surface, wherein the suction surface is realized in a recess 8 of the latch actuating lever 4. A pressure ring 7 is screwed onto the latch actuating lever 4, which locks the bellows 51 in the recess 8. The recess 8 and pressure ring 7 are designed such that the bellows 51 forms an absorbent, in other words airtight, seal with the suction surface. Preferably, a sealing lip on the end face of the bellows 51 can be compressed only to the extent necessary to achieve the sealing contact and not excessively squeezed. Furthermore, an inclination of the bellows 51 or an inclination of the end face of the bellows 51 by an angle of at least 2°, preferably of at least 4°, can preferably remain possible.This preferably enables a safe or fail-safe functioning of the unlocking mechanism, further preferably a long service life of the bellows and further preferably a construction of the locking pawl in a small.

[0062] Installation space can be realized.

[0063] As can be seen in the sectional view in Figure 2, an air-permeable component 53 is located in the bellows 51. The component 53 serves to ensure that the folds of the bellows 51 do not collapse due to the negative pressure prevailing in the bellows, even when sucked in, and it limits the stroke of the bellows (as can be clearly seen in Figure 3). The component 53 is preferably open-pored or otherwise air-permeable so that a negative pressure can be generated in the entire belly of the bellows 51. The bellows 51 is coupled to a suction nipple 52. Bellows 51 and suction nipple 52 preferably form the bellows suction cup 5. The suction nipple 52 is firmly anchored in the holder 14 and preferably has the connection 54. The suction nipple 52 is preferably coupled to a suction cup, a vacuum pump, or an ejector.

[0064] Figure 3 shows the same sectional view as Figure 2, but here the pawl is in an open position. In other words, the pawl in Figure 3 is shown in the open, overhead position. As can be seen, a vacuum is applied to the suction nipple 52 and thus to the bellows 51, whereby the bellows 51 is compressed and pulled together to a stop formed by the open-pore component 53. Since the bellows suction cup is hermetically coupled to the pawl actuating lever 4, the bellows suction cup pulls the pawl actuating lever 4 with it, in this case upwards. Due to the mounting of the pawl 1 on the rotation axis 15, the entire pawl 1 rotates with the movement of the pawl actuating lever 4, so that the pawl lever 2 is also moved counterclockwise away from the pawl stop 12 and thus from the picked-up object 13 and releases the object 13.In particular, the compression of the bellows suction cup 5 moves the latch lever 2 so far away from the object 13 that the entire underhand grip of the nose 3 is moved away from under the object 13, completely releasing it in one direction—here, a downward direction. In particular, the comparison of Figure 2 and Figure 3 shows how the inclination of the end face of the bellows suction cup has changed between the closed and open positions of the pawl. The use of commercially available bellows or bellows suction cups, made of silicone, for example, enables such an inclination without the bellows being subjected to excessive stress and rapid wear. The stress on the bellows can preferably be reduced by a suitable connection to the suction surface, for example, by the described preferred locking of the bellows in a recess 8 by means of the pressure ring 7.The pressure ring 7 can preferably be screwed to the pawl actuating lever 4 (see screw heads in Figure 1). As already described, the pawl 1 is in a closed position as long as no negative pressure is applied to the bellows suction cup 5, and is moved into an open position, as shown in Figure 3, by actively switching on the negative pressure to the bellows suction cup 5. This mode of operation ensures that the pawl 1 has a fail-safe property. At least in the overhead position, preferably also in the standard position, and more preferably regardless of the orientation of the pawl 1 in space, the pawl 1 is always in a closed state or returns to this state if the negative pressure fails. Thus, an object 13 locked by the pawl 1 is preferably never unintentionally released.This functionality can preferably be referred to as a fail-safe feature and can be particularly safety-relevant when the pawl 1 is in the overhead position. Preferably, the fail-safe feature of the pawl is influenced by preferred geometric properties of the pawl itself, at least in the overhead position, and more preferably independently of the spatial orientation of the pawl 1. These will be discussed in more detail with reference to the following figures.

[0065] Figure 4 shows a detail of the sectional view from Figure 2 with the pawl 1 in a closed position. The pawl lever 2 is arranged eccentrically to the rotation axis 15. In particular, the pawl 1 is designed such that the pawl lever 2, which in the closed position is located at the pawl stop 12 of the frame 11, has such an underhand grip with respect to the object 13 to be locked that - at least in the overhead position - the flat surface 10 of the nose 3 has a contact point with the object 13. The contact point is spaced from a plane 151, which preferably runs perpendicular to the flat surface 10 and through the rotation axis 15, in the direction of the pawl lever 2. The plane 151 is preferably a vertical plane through the rotation axis 15; the vertical plane is preferably defined when the pawl is in the overhead position. In other words, the contact point is located on a side of the vertical plane 151 facing the latch lever 2.The lever arm of the contact point relative to the rotational axis 15 is represented by the distance Xi. This geometry allows for a preferential moment M2 to be realized in the overhead position. This moment acts clockwise relative to the rotational axis 15 due to the weight force exerted by the object 13 on the nose 3, helping to hold the pawl in a closed position. In other words, the described position of the contact point or the positive distance Xi contributes to a self-locking effect of the pawl with the object 13 locked therein.

[0066] Furthermore, Figure 3 clearly shows how the pawl 1 locks the object 13. While the nose 3 locks a primary side 131 and the frame 11 can be in contact with the secondary side 134 of the object 13, the pawl lever 2 is only in contact with the pawl stop 12 of the frame 11 and has a tolerance distance from a peripheral side surface 133 of the object 13. The forces acting on the pawl or on a pawl system in the open and closed state are explained below with reference to Figures 5 and 6.

[0067] Figure 5 shows, at least in part, the forces and lever arms that are particularly relevant for holding the pawl 1 or the pawl system in a closed position in the illustrated overhead position. Preferably, the clockwise / counterclockwise directions of rotation, the directions of the acting forces (up / down), and the designations of the moments (positive / negative) refer to the cross-sections shown in Figures 5 and 6 and thus to the orientations of the pawl 1 shown there.

[0068] A restoring force of the bellows 51 acting on the pawl actuating lever 4 acts with a spring force FF, which, through the lever arm x2, generates a first moment Ml with respect to the rotational axis 15, which forces the pawl 1 into a closed position. According to Figure 5, Ml acts clockwise, i.e., is positive. In other words, the bellows 51 acts as a spring, which preloads the pawl into a locked position. The pawl and / or the pawl system according to the invention can therefore preferably be designed without additional springs, in particular without an additional tension, compression, and / or torsion spring. Particularly preferably, the pawl and / or the pawl system can not comprise a disc, leaf, and / or spiral spring. In other words, the pawl according to the invention can preferably be preloaded solely by a spring action of the bellows, preferably into the locked position.

[0069] In addition to the restoring force of the bellows 51, a weight force FG,K of the pawl itself acts on the center of gravity of the pawl 1, which acts with a lever arm X4 with respect to the rotation axis 15 and induces a moment M4, which preferably acts in the same direction as Ml and preferably forces the pawl into a closed position. With reference to Figure 5, M4 is therefore also preferably positive. As already described with reference to Figure 3, a moment M2 is also induced with respect to the rotation axis 15, which is induced by the weight force Fs.obj of the object 13, which acts on a point on the nose 3, which forms a lever arm Xi with respect to the rotation axis 15. The moment M2 preferably acts in the same direction as the moments Ml and M4. With reference to Figure 5, M2 is therefore preferably positive.Preferably, the eccentricity of the ratchet lever 2 can, independently of the above-described function of inducing a moment M2, alternatively or additionally influence the center of gravity of the pawl 1. Thus, the moment M4 can also preferably be dependent on the eccentricity of the ratchet lever. The described moments can be mathematically formulated as follows:

[0070] Mi = F F * x2;

[0071] M2= Fß,obj * Xi; M4 = FG,K * X4.

[0072] Consequently, pawl 1 is always in a closed position when in the overhead position, provided no additional external forces are actively applied to the system. Preferably, the restoring force of bellows 51 induces a moment greater in magnitude than the weight of pawl 1, so that:

[0073] | Mi| > | M4| .

[0074] This ensures that the latch 1 is always in the closed position, preferably even in the standard position shown in Figure 1, and more preferably regardless of its spatial orientation, at least provided no additional external forces act on the system. In the standard position, preferably no moment M2 is induced with respect to the rotation axis 15, since the weight of the object 13 acts on the frame 11 and not on the nose 3.

[0075] Figure 6 shows, at least in part, a force equilibrium of the particularly relevant forces acting to move the latch 1 or the latch mechanism into an open position in the illustrated overhead position or to hold it in the open position. Due to a negative pressure created in the bellows suction cup 5 or the negative pressure applied to the bellows suction cup 5, a vacuum force Fv acts, pulling the latch actuating lever toward the suction cup nipple 52, here upwards. This vacuum force Fv induces a moment M3 with respect to the rotation axis 15, which results from the vacuum force Fv multiplied by the lever arm x2, mathematically formulated:

[0076] M3= Fv * x2.

[0077] The moment M3 is preferably greater than the moment M1, which is still induced by the preload force FF of the bellows 51 itself via the same lever arm x2 with respect to the rotation axis 15. In addition, the moment M3 must preferably also overcome the weight force FG,K of the pawl, or overcome the moment M4, which acts in the overhead position opposite to the moment M3 with respect to the rotation axis 15.

[0078] Figure 6 shows the latch in the open position, which is why the cutout does not show the moment M2. However, in order to move the latch from a closed to an open position, the previously shown moment M2, which is induced by the weight of the object 13 with respect to the rotation axis 15, must initially be overcome in the overhead position. Therefore, a negative pressure created in the bellows suction cup must preferentially generate the vacuum force Fv, which induces a moment M3 that is greater in magnitude than the moments from the restoring force M1, from the latch weight force M4, and from the object weight force M2, mathematically expressed: | M3 | > | M1 + M2 + M4| .

[0079] If the latch 1 is designed in an alternative embodiment such that the weight of the latch 1 itself does not induce a moment with respect to the axis of rotation, then at least the following must apply:

[0080] | M3 | > | M1 + M2 | .

[0081] If the moment M3 meets these conditions, the handle can be opened in any position, regardless of its orientation in space.

[0082] A geometric design as described preferably results in a self-locking pawl that can be unlocked by means of a bellows suction cup, is simple and constructed from a few cost-effective components and is safe in operation and, according to the fail-safe principle, even in the event of failure.

[0083] The statements regarding a pawl in Figures 1 to 6 can preferably also be applied to the pawl system according to the invention. In addition to the pawl 1, the pawl system also comprises a vacuum pump. The pawl system preferably has at least two pawls, each constructed according to the described design. With reference to Figure 1, a pawl system according to the invention can preferably be implemented by attaching a further pawl 1 to a side of the frame 11 or the object 13 opposite the pawl 1. Preferably, both pawls 1 installed in the pawl system can be coupled to the same vacuum pump or the same ejector, preferably controlled via the same valve, and preferably, at least partially, share the same lines.A particular advantage of such a pawl system is that only the bracket 14 and the connector 53 are rigid components, although they are located in the immediate vicinity of the pawls themselves. The pawls can be connected to each other with flexible hoses and can also be connected to a vacuum pump or ejector via flexible hoses. This allows the coupling of the pawls to the actuator or actuator system to be extremely flexibly adapted to given installation spaces. Furthermore, the hoses are lightweight and cost-effective.

[0084] The described locking pawl 1 or the described locking pawl system is particularly advantageous in applications where they are attached to moving parts, for example, to a manipulator or a handling device. In these cases, the requirements for low weight are particularly high and the installation space is particularly limited. Furthermore, the locking pawl and the locking pawl system according to the invention can be used simply and cost-effectively in particularly clean environments, such as medical applications, clean rooms, or food processing. For example, the locking pawl 1 or the locking pawl system can be provided on a turning handler having the frame 11, as shown in Figure 1. The turning handler can be part of a system for producing contact lenses. Accordingly, the object 13 can be a tray, wherein the product carrier section 132 has a plurality of cups into which contact lenses can be inserted.The locking pawl or locking pawl system is particularly suitable for use in systems that already require a vacuum pump or ejector for other functions. This eliminates the need for a separate ejector for actuating the locking pawl or locking pawl mechanism, and the bellows suction cup(s) can be connected directly to the system's central vacuum. Thus, the locking pawl and locking pawl system according to the invention are particularly suitable for use in systems and / or manipulators in contact lens production, the production of semiconductors, especially wafers, as well as the production of solar panels or LCD screens.

Claims

Claims 1. A pawl having a pawl and a bellows suction cup, wherein the pawl has a suction surface and a rotatably mounted lever with a nose, and the bellows suction cup has an end surface which is in suction contact with the suction surface of the pawl.

2. A pawl according to claim 1, wherein the lever is arranged eccentrically to a rotational axis of the pawl.

3. A pawl according to one of claims 1 or 2, wherein the bellows suction device has a bellows and a connection for connection to a vacuum pump.

4. A pawl according to any one of the preceding claims, wherein the end face is hermetically sealed to the suction surface.

5. A pawl according to any one of the preceding claims, further comprising a pressure ring adapted to seal the end face to the intake surface.

6. Locking pawl according to one of the preceding claims, wherein the end face of the bellows suction cup can be reversibly inclined by at least 2°, preferably by at least 4°.

7. Locking pawl according to one of the preceding claims, wherein the bellows suction device has a component which limits compression of the bellows and / or prevents the folds from turning inwards due to a negative pressure prevailing in the bellows, wherein the component is preferably permeable to air and / or has porous, preferably open-pore material.

8. Pawl according to one of claims 3 to 7, wherein the bellows can execute a stroke of at least 2 mm, preferably at least 5 mm, preferably wherein the stroke is greater than an under-grip of the nose, taking into account lever ratios between the intake surface and the nose.

9. Pawl according to one of the preceding claims, wherein the end face of the bellows suction cup has an outer diameter in the range of 40 mm to 90 mm, more preferably from 25 mm to 60 mm and particularly preferably from 10 mm to 30 mm.

10. A pawl according to any one of the preceding claims, wherein the pawl can assume a closed and an open position and wherein the bellows suction cup is arranged on the pawl in such a pre-tensioned manner that a restoring force of the bellows generates a first moment Ml with respect to a rotational axis of the pawl, which moment acts in the direction of the closed position.

11. Pawl according to one of claims 2 to 10, wherein the pawl can assume a closed and an open position and wherein the eccentricity of the lever generates a second moment M2 with respect to the axis of rotation, which acts in the direction of a closed position.

12. A pawl according to any one of the preceding claims, wherein the pawl has a stop which is fixedly mounted with respect to the axis of rotation of the pawl and preferably, wherein the pawl is in contact with the stop in a closed position and further preferably, wherein the pawl has no contact with the stop in an open position.

13. A pawl according to any one of the preceding claims, wherein the bellows suction cup is mounted in a fixed position relative to the axis of rotation of the pawl.

14. Pawl according to one of the preceding claims, wherein the pawl comprises stainless steel, preferably 1.4404 and / or wherein the bellows suction cup comprises an elastomer, preferably silicone.

15. Pawl according to one of the preceding claims, wherein the suction surface has a surface quality with a mean roughness Ra of at most 0.8 µm and / or an average roughness depth Rz of at most 6.5 µm, preferably wherein the suction surface has a flatness of 0.3 mm, more preferably of 0.1 mm.

16. A pawl according to any one of the preceding claims, wherein the pawl further comprises a pawl actuation, wherein the suction surface is arranged on the pawl actuation and wherein the suction surface and / or the latch actuation is arranged at an angle relative to the lever, preferably at an angle between 0° and 270°, more preferably at an angle between 50° and 190° and particularly preferably at an angle between 70° and 110°.

17. A pawl according to any one of the preceding claims, further comprising a sensor adapted to detect whether the pawl is in an open or a closed position, wherein the sensor is preferably an inductive sensor.

18. A pawl system comprising a pawl according to any one of the preceding claims and a vacuum pump connected to the bellows suction cup.

19. A pawl system according to claim 18, wherein the pawl can assume a closed and an open position, wherein the connection between the vacuum pump and the bellows suction cup can be interrupted, and wherein the pawl is in the closed position when the connection is interrupted and is in the open position when a negative pressure is applied to the bellows suction cup, wherein the negative pressure is preferably at least -100 mbar, more preferably at least -200 mbar and most preferably at least -400 mbar.

20. A pawl system according to claim 19, wherein the negative pressure generates a third moment M3 acting in the direction of the open position, wherein more preferably: | M3| > | M1 + M2| .

21. A pawl system according to any one of claims 18 to 20, comprising at least one further pawl according to any one of claims 1 to 16, wherein at least two, preferably all pawls of the pawl mechanism are connected to the vacuum pump via a shared line and / or via a common connection.

22. A pawl system according to claim 21, wherein the at least two pawls are spaced apart from one another such that the lugs, in a closed position, can contact a flat surface of an object which can be arranged between the pawls.

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