Two-system gripper having high gripping force

Abstract

The invention relates to a two-system gripper having a magnetic gripper which comprises at least one permanent magnet and having a suction gripper for redundant or supplementary use in the same gripping space. All of said permanent magnets form an annular magnet. The annular magnet can be moved out of a gripping end-of-stroke position in a first stroke direction by means of a pneumatically actuated reciprocating piston, and the annular magnet can be returned to the gripping end-of-stroke position in an opposite second stroke direction. Furthermore, the suction gripper comprises a suction nozzle which, in the gripping end-of-stroke position, opens into the space surrounded by the annular magnet. The present invention increases the gripping force of a two-system gripper.

Description

[0001] 02-08-2024-38.9S3101-HauP Pos t-0012 PCT / DE2024 / 000061 X5121=WO G. and M. Zimmer 23.07.24 77866 Rheinau Dual-System Gripper with High Gripping Force Description: The invention relates to a dual-system gripper with a magnetic gripper having at least one permanent magnet and with a suction gripper for redundant or supplementary use in the same gripping space. Such a gripper is known from the subsequently published DE 10 2022 004 603. The present invention is based on the problem of increasing the gripping force of a dual-system gripper. 02-08-2024-389S3101 -HauP Pt-0013 PCT / DE2024 / 000061 X5121=WO This problem is solved with the features of the main claim. For this purpose, all of the mentioned permanent magnets form an annular magnet. The annular magnet can be displaced from a gripping stroke end position in a first stroke direction by means of a pneumatically actuated lifting piston, and the annular magnet can be returned to the gripping stroke end position in an opposite second stroke direction. In addition, the suction gripper has a suction nozzle which, in the gripping stroke end position, opens into the space surrounded by the annular magnet. Both gripping devices, the magnetic gripper and the suction gripper, operate in the identical gripping space. A gripped item can thus be picked up either by one gripping device or by the other gripping device. It is also conceivable to pick up a gripped item using both gripping devices together.The single- or multi-part ring-shaped magnet is arranged in the gripping stroke end position close to the object to be gripped, so that the object to be gripped immerses in the space surrounded by the ring-shaped magnet. The area of ​​the magnetic field with the highest magnetic field strength thus penetrates the object to be gripped. The suction nozzle opens into this area so that no moments act on the object to be gripped when the object is picked up. To release the magnetic gripper from the object, the ring-shaped magnet is lifted in a first direction, e.g. in a longitudinal direction of the two-system gripper, relative to the housing of the two-system gripper using pneumatic pressure. After being released from the object, the ring-shaped magnet can be returned to the gripping stroke end position, e.g. by means of at least one spring energy store or pneumatically.02-08-2024-389S3101-HauPtPmst-0014 PCT / DE2024 / 000061 X5121=WO Further details of the invention emerge from the subclaims and the following description of schematically illustrated embodiments.Figure 1: Two-system gripper from the gripped product side; Figure 2: Figure from the connection side; Figure 3: Longitudinal section of the two-system gripper without magnetic field sensor system; Figure 4: Longitudinal section, offset by 45 degrees to Figure 3; Figure 5: Longitudinal section, offset by 90 degrees to Figure 3; Figure 6: Reciprocating piston unit; Figure 7: Rear view of the reciprocating piston unit from Figure 6; Figure 8: Two-system gripper with raised reciprocating piston unit; Figure 9: Cross section of the ring seal; Figure 10: Proximity sensor system; Figure 11: Length compensation assembly; Figure 12: Section of the length compensation assembly from Figure 11; Figure 13: Base plate with two centering pins; Figure 14: Base plate with three centering pins; Figure 15: Base plate with four centering pins; Figure 16: Variant of a two-gripper system; Figure 17: Longitudinal section of the two-gripper system from Figure 16; Figure 18: Piston guide pin; Figure 19: Section of the reciprocating piston unit.Figures 1 and 2 show a two-system gripper (10) from the gripping material side (11) and from the connection side (12). In the following, the side facing the gripping material (not shown here) is referred to as the gripping material side (11). Using the connection side (12), the two-system gripper (10) is attached, for example, to an arm (not shown here) of an industrial robot. For example, a length compensation assembly (160), see Figures 11 and 12, can be arranged between the connection side (12) and the industrial robot as part of the two-system gripper (10). The dual-system gripper (10) has a magnetic gripper (34) and a suction gripper (35). The items picked up by the dual-system gripper (10) include batteries, for example. These can be picked up individually or in groups. They can be gripped in an upright or lying position.A group of batteries can be designed as a common block of interconnected individual batteries or as individual batteries. When picking up individual batteries, a group of dual-system grippers (10) can be used, the longitudinal axes of which are arranged parallel to one another and the sides of the material to be gripped (11) of which are tangent to a common plane. The individual battery can be cylindrical, cuboid, etc. In the exemplary embodiment, the dual-system gripper (10) has a cylindrical envelope contour. An ellipsoidal, ovaloid, cuboid, etc. shape of the envelope contour is also conceivable. In the illustrations in Figures 1 and 2, the dual-system gripper (10) has a housing (21) with two housing sections (41, 61). A first housing section (41) borders the connection side (12). This first housing section (41) is hereinafter referred to as distributor section (41).The second housing section (61) borders the gripping material side (11). This second housing section (61) is referred to below as the piston section (61). The distributor gate (41) and the piston section (61) are connected to one another, e.g., by means of screws (22). 02-08-2024-3 853101-HauP. Pas t 0016PCT / DE2024 / 000061 X5121=WO Figures 3 - show sectional views of the dual-system gripper (10). The sectional planes of the views in Figure 3 are offset from one another by 45 degrees with respect to the center line (33), for example. The figure shows a longitudinal section whose sectional plane is offset by 90 degrees from the view in Figure 3. On the connection side (12), the distribution section (41) has, for example, two threaded holes (42) and two centering holes (43). A sensor channel (31) is arranged centrally and penetrates the housing (21) in the longitudinal direction (15) of the dual-system gripper (10). In addition, the connection side (12) has two pneumatic connections (13, 14). A first pneumatic connection (13) is a pressure connection (13). It is part of a pressure line (17) that connects the connection side (12) to a pressure chamber (28) arranged within the housing (21).A second pneumatic connection (14) is a suction connection (14). It is part of a suction line (18) that penetrates the housing (21) of the dual-system gripper (10) from the connection side (12) to the gripped product side (11). The suction line (18) ends on the gripped product side (11) in a suction nozzle (19). Both pneumatic connections (13, 14) can be sealed on the connection side (12) using O-rings (16). In the area of ​​the outer surface (23) of the housing (21), a magnetic sensor system (150) protrudes from the connection side (12). The magnetic sensor system (150) is arranged in a retaining groove (24) of the housing (21), e.g. designed as a C-groove (24). The magnetic sensor system (150) has a support rod (151) and a magnetic field sensor (152) arranged at its end. An exhaust air filter (25) and two plugs (26, 27) are arranged on the outer surface (23). A first plug (26) closes the pressure line (17) at the outer surface (23).The second plug (17) closes the suction line (18) at the outer surface (23). The exhaust air filter (25) is connected to a compensation chamber (29) arranged within the housing (21) by means of an exhaust line (45). The gripping material side (11) carries an annular seal (131), see Figure 9. This has a multi-stage construction and is attached to the piston section (61) of the housing (21). The annular seal (131) defines a gripping material contact surface (62). The gripping material contact surface (62) has a two-stage construction. It has an outer ring support surface (63) and an inner, e.g. circular, depression (64). The diameter of the depression is, for example, 54% of the diameter of the gripping material contact surface (62). The depth of the depression (64) is, for example, 4.5% of the diameter of the gripping material contact surface (62). The sensor channel (31) ends centrally in the depression (64). In this, for example,inductive sensor (141) of the sensor system (140), see Figure 10, can be arranged. The suction nozzle (19) is located off-center in the recess (64). Two sealing plugs (65) close the mounting screws (22) of the housing (21). The distributor section (41) has a distributor housing (44) through which sections of the suction line (18), the pressure line (17), and the sensor channel (31) pass. The blow-out line (45) is also located in the distributor housing (44). The channel shown on the left in the figure is the suction line (18). It is pivoted in the distributor housing (44), with a radial channel (46) on the outer surface (23) being closed by the plug (26). Below the swivel (47), the center-to-center distance of the suction line (18) is reduced to 45% of the center-to-center distance on the connection side (12). 02-08-2024-38953111-HauPtPusi-0018 PCT / DE2024 / 000061 X5121=WO The pressure line (17) is shown on the right side of the figure.This has, for example, the same cross-section as the suction line (18). In the exemplary embodiment, the pressure line (17) has a similar pivot (48) to the suction line (18). The associated radial channel (49) is closed by means of the plug (27). The piston section (61) has a piston housing (71). The piston housing (71) is, for example, cylindrical in shape. It is attached in a sealed manner to the distributor housing (44). The piston housing (71) has an outer wall (72) and a base plate (73). The length of the wall (72) in the longitudinal direction (15) corresponds, for example, to 95% of the diameter of the two-system gripper (10). The base plate (73) delimits the housing (21) of the two-system gripper (10) on the gripped material side (11). It has a lateral edge ( 74) and a central pin ( 75).The pin (75) is penetrated in the longitudinal direction (15) by both the sensor channel (31) and the suction line (18). The gripping material side (11) of the base plate (73) has the gripping material contact surface (62). The ring seal (131) is fixed, for example, in a form-fitting manner to the edge (74) of the base plate (73). A piston guide pin (81) is located between the distributor housing (44) and the pin (75). It is fastened to the distributor housing (44) together with the base plate (73) and the wall (72) of the piston housing (71) by means of the assembly screws (22). The piston guide pin (81) has a cylindrical guide section (82) and a stop collar (83). The suction line (18), the pressure line (17), and the sensor channel (31) are arranged parallel to one another in the piston guide pin (81). A port (84) for the pressure line (17) is provided in the stop collar (83).The suction line (18) is sealed to the distributor housing (44) and the base plate (73) by means of sealing rings (85, 86). The pressure line (17) is sealed between the piston guide pin (81) and the distributor housing (44) by means of a sealing ring (87). The sensor channel (31) has a stop shoulder (76) at the transition from the piston guide pin (81) to the pin (75) of the base plate (73). A reciprocating piston unit (91) is guided on the piston guide pin (81) and the piston housing (71) so as to be displaceable in the longitudinal direction (15). The figures and show such a reciprocating piston unit (91) in two isometric views. The reciprocating piston unit (91) comprises a reciprocating piston (92), a magnet carrier (111), and at least one permanent magnet (121) fixed in the magnet carrier (111). Three spring elements (95) serve to provide support in the housing (21) of the dual-system gripper (10). These are designed as compression springs in the exemplary embodiment.The reciprocating piston (92) is ring-shaped. In the exemplary embodiment, it is made of aluminum. In a plane normal to the longitudinal direction (15), it can be round, oval, elliptical, rectangular, etc. On its outer surface (96), it has two guide rings (97), with which the reciprocating piston unit (91) is guided in the piston housing (71). Between the guide rings (97) is a quad ring (98), which seals the reciprocating piston (92) to the piston housing (71). On its inner wall, the reciprocating piston (92) has another quad ring (99), which seals the reciprocating piston (92) to the piston guide pin (81). 02-08-2024-388S3101-HauPtgost-0020 PCT / DE2024 / 000061 X5121=WO The reciprocating piston (92) has an annular collar (101) on its inner wall (102). With this annular collar (101), the reciprocating piston unit (91) rests, for example, against the stop collar (83) of the piston guide pin (81) in the gripping stroke end position (93) shown in the figure.At its lower end in this illustration, the reciprocating piston (92) has a circumferential conical section (104) on its inner wall (102). The imaginary center line of this conical section (104) coincides with the center line (33) of the dual-system gripper (10). The opening angle of the conical section (104) is, for example, 60 degrees. The magnet carrier (111) is attached to the reciprocating piston (92) by means of three piston screws (105). The heads (106) of the piston screws (105) are sealed to the reciprocating piston (92) by means of O-rings (107). The magnet carrier (111) has a ring-shaped design. It is made of a ferromagnetic material, e.g., S235JR according to EN 10025-2 with the material number 1.0038. The magnet carrier (111) can also be made of a different material, e.g., case-hardened steel 16 MnCr 5 (material number 1.7131). The use of a different material, e.g.,A magnetizable steel containing iron, nickel, or cobalt is conceivable. On its side facing away from the reciprocating piston (92), the magnet carrier (111) has a circumferential groove (112). This groove (112) has a constant, U-shaped cross-section. In the exemplary embodiment, the groove (112) has a rectangular cross-sectional area with a depth of six millimeters and a radial extension of five millimeters. The limiting web (113) defining the inside of the groove (112) has a thickness of 1.5 millimeters in the exemplary embodiment. The outer limiting web (114) of the groove (112) has a thickness of, for example, 1.9 millimeters. This outer boundary web (114) can, for example, have 10 additional slots arranged concentrically to the groove (112). For example, these slots have the same depth as the groove (112).The total height of the magnet carrier (111) oriented in the longitudinal direction (15) is, for example, twice the depth of the groove (112). At least one permanent magnet (121) is located in the groove (112). All of these permanent magnets (121) form an annular magnet (126). In the exemplary embodiment, the annular magnet (126) is designed as a single piece as a ring magnet (126). However, it is also conceivable to use a multi-piece ring magnet. The annular magnet (126) has two magnetic poles (122, 123) which are offset from one another in the longitudinal direction (15). For example, the positive pole (122) points in the direction of the base plate (73), the negative pole (123) in the direction of the reciprocating piston (92). In the illustration, the positive pole (122) lies in a common plane with the limiting webs (113, 114) of the magnet carrier (111). The ring-shaped magnet (126) adheres, for example, by means of its magnetic force in the groove (112).It has a cylindrical inner surface (124) and an outer surface (125) arranged concentrically to this. The inner diameter of the ring magnet (126) is, for example, 78% of the outer diameter. In the exemplary embodiment, the width of the ring magnet in the radial direction is 80% of the width of the groove (112) in the same direction. In the exemplary embodiment, the ring magnet (126) has the same distance from the two concentrically arranged groove walls (115, 116) of the groove (112). The outer surface (125) of the ring magnet (121) is surrounded by a first separating gap (117) which is delimited by the outer groove wall (115). The inner surface (124) and the inner groove wall (116) delimit a second separating gap (118). The two separating gaps (117, 118) are air gaps in the example. However, they can also be filled with a non-magnetizable material, e.g.Plastic, filled. In the exemplary embodiment, the ring magnet (126) has a constant cross-section along its circumference. For example, its height is 1.5 times its width. The inner diameter of the ring magnet (126) is, for example, larger than the diameter of the recess (64) of the dual-system gripper (10). In the example shown, the inner diameter is 25% larger than the diameter of the recess (64). In the exemplary embodiment, the ring magnet (126) is formed in one piece. However, it is also conceivable to form the ring magnet (126) in two parts, three parts, etc. The ring magnet (126) used in the exemplary embodiment shown is a neodymium-iron-boron magnet with an internal magnetic flux density of, for example, 1.17 volt-seconds per square meter. It has, for example, a mass of 18 grams and, for example, a lifting force of 68 Newtons.In the exemplary embodiment, the reciprocating piston unit (91) is loaded by means of the three spring elements (95) in the direction of the gripping stroke end position (93). In this gripping stroke end position (93), shown in Figure 3, the annular magnet (126) has the smallest distance from the base plate (73). In the longitudinal direction (15), the distance of the annular magnet (126) from the gripping material contact surface (62) of the base plate (73) is less than the depth of the recess (64). In the exemplary embodiment, in the gripping stroke end position (93), the distance of the annular magnet (126) from the gripping material contact surface (62) is less than 60% of the depth of the recess (64). Instead of using spring elements (95), the reciprocating piston unit (91) can also be loaded into the gripping stroke end position (93) using pneumatic pressure. It is also conceivable to arrange the reciprocating piston (92) at a distance from the magnet carrier (111), e.g., by means of a rod.In order to move the reciprocating piston unit (91) out of the illustrated gripping stroke end position (93), the pressure connection (13) is loaded by means of pneumatic pressure. The pneumatic medium, e.g. air, flows into the pressure chamber (28), which is delimited by the reciprocating piston unit (91), the housing (21), the piston guide pin (81) and the base plate (73). The reciprocating piston unit (91) is raised in a lifting direction (37) to release the gripping, whereby the spring elements (95) are loaded. The figure shows the two-system gripper (10) with raised reciprocating piston unit (91). The reciprocating piston unit (91) is, for example, in a release stroke end position (108). The pressure chamber (28), for example, has its maximum volume. The spring elements (95) are compressed. The ring magnet (126) has the maximum distance to the base plate (73). As soon as the pressure at the pressure connection (13)is reduced to the ambient pressure, the spring elements (95) return the reciprocating piston unit (91) to the gripping stroke end position (93). The reciprocating piston unit (91) is moved in a stroke direction (36) oriented in the longitudinal direction (15) for gripping in the direction of the base plate (73). A test magnet (94) is arranged on the reciprocating piston unit (91). This interacts with the magnetic sensor system (150). By means of the magnetic sensor system (15) and the test magnet (94), at least the upper stroke end position of the reciprocating piston unit (91) is monitored. In the exemplary embodiment, the gripping stroke end position (93) is also monitored. The magnetic field sensor (152) has, for example, an operating voltage between 10 and 30 volts. Its response sensitivity, for example, is 1.7*10 -3 volt-second per square meter. The travel distance of the magnetic field sensor ( 152), for example, is two millimeters.The magnetic field sensor (152) used in the exemplary embodiment is designed as a closer. The annular seal (131), see figure, has a fastening section (132) and a sealing section (133). With the fastening section (132), the annular seal (131) engages in a circumferential annular groove (77) of the base plate (73). The sealing section (133) has a support area (134) and a centering area (135). The centering area projects outwards at an angle of, for example, 14 degrees to the longitudinal direction (15). Figure 10 shows the structure of a proximity sensor system (140). This is used, for example, in the sensor channel (31) of the dual-system gripper (10). The proximity sensor system (140) has a mounting area (142), a compensation area (143), and a sensor area (144). The mounting area (142) is largely cylindrical. A cable duct (145) is arranged in the center.The fastening area (142) can be secured in the distributor housing (44) by means of a knurled nut (146). The compensation area (143) is formed by a spring element (147). The spring element (147) is a compression spring that is supported on the fastening area (142) and the sensor area (144). A sensor cable, for example, is guided in the cable duct (145), which runs in the compensation area (143), e.g., within the spring element (147). The sensor area (144) has a sensor body (149) with the inductive sensor (141) held therein. The sensor body (149) has a stop surface with which the built-in proximity sensor system (140) rests against the contact shoulder (76) of the piston housing (71). After assembly, the tip of the sensor (141) is flush with the recess (64) of the gripping material side (11).The proximity sensor system (140) shown here has an inductive proximity sensor (141). A capacitive sensor, a light sensor, etc. can also be used. For example, to grip a single battery, the dual-system gripper (10) is moved by the industrial robot over the battery, which is, for example, standing upright. The dual-system gripper (10) is lowered until it rests, for example, on the battery. If necessary, the position of the gripper (10) relative to the object to be gripped can be checked using the proximity sensor system (140). The reciprocating piston unit (91) with the ring magnet (126) is in the gripping stroke end position (93). The pressure connection (13) is depressurized. The suction connection (14) is pressurized with negative pressure, so that the suction nozzle (19) sucks in the object to be gripped. The dual-system gripper (10) engages the gripped object with the ring seal (131). The ring seal (131) can center the gripped object.The battery pole is inserted into the recess (64) so ​​that at least part of the battery is surrounded by the ring magnet (126). The magnetic field of the ring magnet (126) penetrates the object to be gripped. In addition, the suction nozzle (19) ensures that the dual-system gripper (10) rests against the object to be gripped. The object to be gripped can now be picked up and placed somewhere else. Gripping a battery with the mass pole facing upwards or a battery lying down is carried out analogously to the above description.02-08-2024-3 S3I01—a ptPpst-0026PCT / DE2024 / 000061 X5121=WO 15 After the object to be gripped has been set down, the negative pressure acting on the suction nozzle (19) is switched off. The pneumatic pressure present at the pressure connection (13) is increased. The lifting piston unit (91) is lifted against the pressure of the spring elements (95) in the release stroke direction (37), so that the magnetic field penetrating the gripped object is weakened.As soon as the reciprocating piston unit (91) has reached its release stroke end position (108), the test magnet (94) is positioned in front of the magnetic field sensor (152) of the magnetic sensor system (150). The magnetic field sensor (152) sends a release signal to a central controller. The industrial robot can now lift the dual-system gripper (10). As soon as the dual-system gripper (10) has left the area of ​​the gripped object, the pressure at the pressure connection (13) can be reduced or switched off. The reciprocating piston unit (91) is moved in the gripping stroke direction (36) to the gripping stroke end position (93) while relieving the spring elements (95). The air is displaced from the pressure chamber (28), for example, through the exhaust air filter (25) into the environment (). Figures 11 and 12 show a length compensation assembly (160). The length compensation assembly (160) can be fastened to the connection side (12) of the two-system gripper (10) shown in Figures 1 - 10.The length compensation assembly (160) has an adapter plate (161), a transition plate (162), and a compensation area (163). The adapter plate (161) has, for example, the same drilling and connection pattern as the connection side (12) of the dual-system gripper (10). By means of the adapter plate (161), the dual-system gripper (10), extended by the length compensation assembly (160), can be fastened to a cantilevered arm of an industrial robot. 02-08-2024- -88S3101-HamPtPost -0027 PCT / DE2024 / 000061 X5121=WO 16 The side of the transition plate (162) facing the connection side (12) is, for example, designed to be complementary to the connection side (12). For example, two centering bolts (166) secure the position of the transition plate (162) on the dual-system gripper (10). In the illustrated example, the compensation area (163) has two conduits (164, 171), each carrying a compensating spring (165).The respective compensating spring (165) surrounds the associated conduit (164, 171). It is designed as a compression spring and is supported on both the adapter plate (161) and the transition plate (162). The conduit pipes (164, 171) are each sealed in the adapter plate (161) and in the transition plate (162). The first conduit pipe (164), located on the left in the illustration in Figure 12, connects a suction connection (169) of the adapter plate (161) with the suction connection (14) of the connection side (12). The second conduit pipe (171), located on the right in this illustration, connects a pressure connection (172) of the adapter plate (161) with the pressure connection (13) of the connection side (12). When the dual-system gripper (10) contacts the workpiece, the length compensation assembly (160) can be compressed. For example, the pneumatic connections (169, 172) are inserted into the robot-side connection flange.The transmission of the pneumatic medium is not impaired. When using a dual-system gripper (10) with a length compensation assembly (160), a modified proximity sensor system (140) can be used. This has, for example, a spring element (147) that has at least the same stroke as the 02-08-2024-38953 0 I-Hau. Pms0028 PCT / DE2024 / 000061 X5121=WO 17 Length compensation of the length compensation assembly (160) is made possible. Figures 13 - 15 show base plates (73) of a dual-system gripper with external centering devices (78). The respective external centering device (78) comprises at least two centering pins (79) which are arranged on the base plate (73) of the dual-system gripper (10). In the illustrated embodiments, the centering pins (79) are screwed to the, for example, replaceable base plate (73). When gripping the gripped item, the centering pins (79) rest on the outside of the gripped item and center it. Figure 13 shows a base plate (73) with two opposing centering pins (79). Such an external centering device (78) is used, for example, to handle a group of batteries using several dual-system grippers (10). The batteries are arranged adjacent to one another and offset from one another.Figure 14 shows a base plate (73) with three centering pins (79). This can be used, for example, with a single two-system gripper (10) or in the edge area of ​​a group of batteries, each of which is centered with two or four centering pins (79). Figure 15 shows a base plate (73) with four centering pins (79). This can be used, for example, to center a group of batteries arranged in a matrix-like manner in rows and columns by means of several two-system grippers (10) arranged parallel to one another. U2O82O2438SS31O i HauP tPras t-0028 PCT / DE2024 / 000061 X5121=WO 18 An integrated voltage test can be provided on the gripped material side (11) of the base plate (73). For this purpose, the base plate (73) carries two spring-loaded contact plates. When the object is picked up, these contact plates contact areas of the battery that have different electrical potentials.The result of the voltage test can, for example, be a warning signal if a target voltage value is undershot. Measuring the voltage and, for example, forwarding the determined value to a gripped object-specific database is also conceivable. Figures 16 - 19 show a variant of the two-system gripper (10) with a magnetic gripper (34) and a suction gripper (35). On its connection side (12), the two-system gripper (10) carries a length compensation assembly (160). The latter is, for example, largely constructed like the length compensation assembly (160) described in connection with the first exemplary embodiment. The adapter plate (161) has an additional annular groove (173) in which a sealing ring (174) is seated. The annular groove (173) intersects a longitudinal groove (175) oriented in the longitudinal direction (15), which is aligned with the retaining groove (24) of the housing (21). In the longitudinal groove (175), for example,A cable (153) of the magnetic sensor system (150) is guided. In this embodiment, two additional threaded pins (38) are screwed into the housing (21) of the dual-system gripper (10). These, in addition to the screws (22), secure the piston guide pin (81). For this purpose, they engage, for example, in notches (182) of the piston guide pin (81), see Figure 18. The dual-system gripper (10) shown in Figures 16-19 has a built-in proximity sensor system (140). The 02-08-2024-388S3101-HauPiPost -0030 PCT / DE2024 / 000061 X5121=WO 19 sensor area (144) of the proximity sensor system (140) is frustoconical. In the illustrations in Figures 16 and 17, the sensor area (144) projects into the recess (64) of the gripping item contact surface (62). The compensation area (143) enables the sensor area (144) to be applied to the gripping item without causing damage.The outlet opening (84) of the pressure line (17) is located above the stop collar (83) in the illustration in Figure 17. A collar area (88) of the piston guide pin (81) is located between the stop collar (83) and the pin (75) of the base plate (73). The pot-shaped reciprocating piston (92) engages around the collar area (88). This collar area (88) carries a quad ring (89). The aforementioned quad ring (89) and a quad ring (99) located above the outlet opening (84) on the inner wall of the piston (92) delimit the pressure chamber (28) in this embodiment. The piston guide pin (81) of this embodiment is illustrated in Figure 18. The collar area (88) is cylindrical. The guide section (82) has an oval cross-sectional area. The length of the major semi-axis of the oval corresponds, for example, to the radius of the guide section (82) of the first embodiment.The length of the minor semi-axis, for example, is half the length of the major semi-axis. This increases the utilized piston area of ​​the reciprocating piston (92) by 40% compared to the illustrations in Figure 3. The reciprocating piston unit (91) thus responds even at low pressures, e.g., bar. Figure 19 shows an isometric sectional view of the reciprocating piston unit (91). The reciprocating piston (92) has a 02-08-2024-388E-01-1-fauPiPos. The reciprocating piston (92) has a guide section in its annular collar (101) that complements the guide section. 003 PCT / DE2024 / 000061 X5121=WO 20Opening (109). The magnet carrier (111) and the annular magnet (126) are designed as described in connection with the first exemplary embodiment. In order to lift the annular magnet (126) from the gripping stroke end position (93) shown in Figure 17 in order to release the gripped item, the pressure chamber (28) is pressurized with pneumatic pressure. The lifting piston unit (91) is moved in the longitudinal direction (15), whereby the distance between the annular magnet (126) and the gripped item contact surface (62) increases. For example, this distance becomes greater than the depth of the depression (64). The spring elements (95) are compressed. After the gripping object has been released and the pneumatic pressure in the pressure chamber (28) has been reduced, the discharging spring elements (95) move the reciprocating piston unit (91) together with the ring-shaped magnet (126) back to the gripping stroke end position (93). It is also conceivable,This reset is pneumatic. In this embodiment, the base plate (73) is not subjected to pneumatic pressure. It is therefore secured, for example, only by means of the screws (22). Its edge (74) is clipped onto the wall (72) of the piston housing (71). If necessary, the edge (74) and the wall (72) can also be glued. The individual embodiments can be combined with one another. 02-0 -2024-389S3101-HauPtPost-0032 PCT / DE2024 / 000061 X5121=WO 21 List of reference symbols: Environment 10 Two-system gripper 11 Material side 12 Connection side 13 First pneumatic connection, pressure connection 14 Second pneumatic connection, suction connection 15 Longitudinal direction 16 O-rings on (13, 14) 17 Pressure line 18 Suction line 19 Suction nozzle 21 Housing 22 Screws 23 Shell surface 24 Holding groove,C-groove 25 Exhaust air filter 26 Plug 27 Plug 28 Pressure chamber 29 Compensation chamber 31 Sensor channel 33 Center line 34 Magnetic gripper 35 Suction gripper 36 Stroke direction for gripping, gripping stroke direction, second stroke direction 37 Stroke direction for releasing the gripping, releasing stroke direction, first stroke direction 38 Threaded pins 02-08 -2024-38953101 —HawPiPas -0033 PCT / DE2024 / 000061 X5121=WO 22 41 first housing section, distributor section 42 Threaded holes 43 Centering holes 44 Distributor housing 45 Blow-out line 46 Radial channel 47 Swiveling of ( 18) 48 Swiveling of ( 17) 49 Radial channel 61 second housing section,Piston section 62 Gripping material contact surface 63 Ring support surface 64 Recess 65 Plug 71 Piston housing 72 Wall 73 Base plate of ( 71) 74 Edge of ( 73) 75 Pin of ( 73) 76 Stop shoulder 77 Ring groove 78 External centering 79 Centering pin 81 Piston guide pin 82 Guide section 83 Stop collar 84 Mouth opening 85 Sealing rings 86 Sealing rings 87 Sealing ring 02-08-2024-389S310I-HauPtPost -0034 PCT / DE2024 / 000061 X5121=WO 23 88 Collar area 89 Quad ring 91 Lifting piston unit 92 Lifting piston 93 Gripping stroke end position 94 Test magnet 95 Spring elements 96 Outside surface of ( 92) 97 Guide rings 98 Quadring, outside 99 Quadring, inside 101 Ring collar 102 Inner wall of ( 92) 104 Conical section of ( 92) 105 Piston screws 106 Heads of ( 105) 107 O-rings 108 Release stroke end position 109 Breakthrough 111 Magnet carrier 112 Groove 113 Limiting web, inside 114 Outer limiting web 115 Groove wall, outer groove wall 116 Groove wall,inner groove wall 117 first separation gap 118 second separation gap 121 permanent magnet 122 magnetic pole 123 magnetic pole 02-08-2024-389g3101-HauPtPost- -03.5 PCT / DE2024 / 000061 X5121=WO 24 124 inner surface 125 outer surface, outer surface 126 annular magnet, ring magnet 131 ring seal 132 fastening section 133 sealing section 134 support area 135 centering area 140 proximity sensor system 141 sensor, inductive sensor 142 fastening area 143 compensation area 144 sensor area 145 cable duct 146 knurled nut 147 spring element 149 sensor body 150 magnetic sensor system 151 holding rod 152 magnetic field sensor 153 cable 160 Length compensation assembly 161 Adapter plate 162 Transition plate 163 Compensation area 164 Conduit 165 Compensation spring 166 Centering bolt 169 Suction connection, -2 24-388S3 ) -KauPtPo +-OWE; PCT / DE2024 / 000061 X5121=WO 25 171 Conduit, second conduit 172 Pressure connection 173 Annular groove 174 Sealing ring 175 Longitudinal groove 182 Notches of ( 81)

Claims

02-08-2024-389S3101-HauPtPast -0038 PCT / DE2024 / 000061 X5121=WO 26 G. and M. Zimmer 23.07.24 77866 Rheinau Patent claims:

1. Two-system gripper (10) with a magnetic gripper (34) having at least one permanent magnet (121) and with a suction gripper (35) for redundant or supplementary use in the same gripping space, characterized in that - all said permanent magnets (121) form an annular magnet (126), - that the annular magnet (126) is displaceable by means of a pneumatically actuated lifting piston (92) out of a gripping stroke end position (93) in a first stroke direction (37) and the annular Magnet (126) can be reset in an opposite second stroke direction (36) into the gripping stroke end position (93) and - that the suction gripper (35) has a suction nozzle (19) which opens into the space surrounded by the annular magnet (126) in the gripping stroke end position (93). 2.A two-system gripper (10) according to claim 1, characterized in that the suction nozzle (19) is arranged in a base plate (73) of the two-system gripper (10) having a gripping material contact surface (62).

3. A two-system gripper (10) according to claim 2, characterized in that the base plate (73) carries an annular seal (131) that can be placed against a gripping material and surrounds the gripping material contact surface (62). 02-08-2024-38953101-HauP Po 0038PCT / DE2024 / 000061 X5121=WO 27 4. Two-system gripper (10) according to claim 2, characterized in that it has an external centering (78), wherein the base plate (73) carries at least two centering pins (79), 5. Two-system gripper (10) according to claim 2, characterized in that the annular magnet (126) surrounds a depression (64) of a gripping material contact surface (62). Two-system gripper (10) according to claim 1, characterized in that a plane lying normal to the stroke directions (36, 37) of the annular magnet (126) penetrates both an outer circumferential surface (125) of the annular magnet (126), as well as a separating gap (117) surrounding the annular magnet (126), and an outer boundary web (114) surrounding said separating gap (117) of a magnet carrier (111) made of a ferromagnetic material that supports the annular magnet (126).A two-system gripper (10) according to claim 1, characterized in that, in said plane, the sum of the thicknesses of said separating gap (117) and of the outer limiting web (114) is greater than half the thickness of the annular magnet (126).

8. A two-system gripper (10) according to claim 1, characterized in that it has at least one magnetic sensor system (150) which detects at least one release stroke end position (108) of a lifting piston (92), a release stroke end position spaced from the gripping stroke end position (93). 02-C -2024 -388S31017HamPtPnst -0040 PCT / DE2024 / 000061 X5121=WO 28 The lifting piston unit (91) comprising the test magnet (94) and the annular magnet (126) is monitored. A two-system gripper (10) according to claim 1, characterized in that it comprises a proximity sensor system (140) with a sensor (141) arranged in the space surrounding the annular magnet (126) in the gripping stroke end position (93).

10. Two-system gripper (10) according to claim 1, characterized in that it has a length compensation assembly (160) with a first line pipe (164) connected to the suction nozzle (19) and a second line pipe (171) connected to a pressure chamber (28) of the two-system gripper (10) delimited by means of the lifting piston (92).

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