Suction cup gripping system

Abstract

The suction cup gripping system (100) is composed of a plurality of suction cup gripping devices (1), and each suction cup gripping device (1) includes a gripping suction cup (2) having an internal cavity (3), a Venturi vacuum generator (10) that can be connected to a compressed air line (30) and is connected to the internal cavity (3) to generate a partial vacuum in the internal cavity (3), a discharge valve (11) that is connected to the internal cavity (3) and is operable to connect the internal cavity (3) to the external environment or the compressed air line (30) in order to remove the partial vacuum in the internal cavity (3), a check valve (12) interposed between the Venturi vacuum generator (10) and the internal cavity (3), and is provided with The gripping system (100) includes valve means (37, 38) connected to each Venturi vacuum generator (10) and the discharge valve (11) of each suction cup gripping device (1), a manifold (150) connected to each internal cavity (3), a vacuum sensor (13) connected to the manifold (150), a control unit (40) that is connected to the valve means (37, 38) and the vacuum sensor (13) and is configured to control the valve means (37, 38) so as not to supply compressed air to each Venturi vacuum generator (10) when the vacuum sensor (13) detects that the value of the partial vacuum is equal to or greater than a specific first threshold value (P1), and includes.

Description

Technical Field

[0001] The present invention relates to a gripping system and a gripping device for handling and moving an object, and more particularly to a suction cup gripping system suitable for gripping and moving an object.

Background Art

[0002] Gripping and moving systems are known and widely used. The system uses suction cups to grip an object by firmly adhering to the outer surface of the object, which is substantially flat and non-porous.

[0003] These suction cup gripping systems are widely used, for example, in automatic machines for cutting and / or perforating thin sheet metal, particularly for placing a metal sheet on the workbench of the machine and removing the final small pieces obtained after cutting and / or perforating from the workbench.

[0004] As is known, a gripping force is generated by creating a negative pressure in the suction cup in contact with the outer surface of the object. When this is greater than the weight of the object, the object can be firmly held and then lifted and moved relatively safely. The negative pressure, i.e., partial vacuum, is generated in the cavity formed by the suction cup and the outer surface of the object by connecting to a vacuum source, typically a vacuum pump.

[0005] For this purpose, it is very common to use a vacuum pump or a Venturi vacuum generator (Venturi ejector) that uses the principle of compressed air and Venturi to generate a vacuum. More precisely, such a pump includes a Venturi nozzle, i.e., a Venturi tube (converging / diverging duct), which is supplied and intersected by compressed air and is connected to the inside of the suction cup at its narrow part, i.e., the constriction, where the negative pressure, i.e., partial vacuum, is generated.

[0006] A valve is generally provided in the compressed air supply line. The compressed air supply line supplies compressed air to the Venturi ejector to generate the vacuum necessary for the suction cup to grasp and move the small piece, or stops the supply of compressed air to release the vacuum of the suction cup, that is, is configured to connect the suction cup to the external environment so that the suction cup releases the small piece and is selectively operable.

[0007] The Venturi vacuum generator is economical and highly reliable. This is because the Venturi vacuum generator has no moving parts, does not wear out, and has small dimensions and weight. Moreover, unlike a rotary vacuum pump, the Venturi vacuum generator can operate discontinuously, that is, only when the suction cup requires negative pressure. Since the volume of the internal cavity of the suction cup is small, the suction cup can generate negative pressure in a very short time.

[0008] One of the disadvantages of the gripping system using the suction cup and the Venturi vacuum generator is that the negative pressure, that is, the partial vacuum, in the suction cup must be maintained by supplying compressed air to the Venturi ejector throughout the period of gripping and moving the object. In the case of a gripping and moving system that must maintain the gripping of the small piece for a relatively long time (for example, 20 to 30 seconds), the consumption of compressed air, and thus the consumption of electrical energy required to generate compressed air by a suitable compressor, is very large, and therefore, it is very costly to operate such a system.

[0009] One of the objects of the present invention is to improve a suction cup gripping system that is connected to a Venturi vacuum generator and is thus supplied with compressed air and operates.

[0010] Another object is to realize a suction cup gripping device and a suction cup gripping system in which the consumption of compressed air during operation, particularly when gripping and moving an object, is significantly reduced.

[0011] A further objective is to provide a suction cup gripping system capable of firmly, reliably, and safely gripping and holding objects of various sizes and weights.

[0012] Another objective is to create a gripping system with a simple, robust, and economical structure.

Summary of the Invention

[0013] In a first aspect of the present invention, a suction cup gripping system according to claim 1 is provided.

[0014] In a second aspect of the present invention, a suction cup gripping system according to claim 9 is provided.

Brief Description of the Drawings

[0015] The present invention can be better understood and implemented by referring to the following attached drawings, which show exemplary and non-limiting embodiments.

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Modes for Carrying Out the Invention

[0016] Figures 1 to 4 show the suction cup gripping device 1 of the suction cup gripping system 100 of the present invention. The suction cup gripping device 1 (gripping device) includes at least one gripping suction cup 2 (suction cup). The gripping suction cup 2 has an internal cavity 3 and is adapted to abut against an object 50 to be gripped, particularly the outer surface 51 of a horizontal and / or flat object having a non-porous outer surface, such as a small piece obtained by cutting and / or perforating a metal sheet or a metal sheet.

[0017] The gripping device 1 further includes a Venturi vacuum generator 10 (Venturi ejector). The Venturi vacuum generator 10 can be connected to a line or source of compressed air 30 and is in fluid connection with the internal cavity 3 of the suction cup 2. The Venturi vacuum generator 10 is of a known type and, without further elaboration, is configured to generate a negative pressure, i.e., a partial vacuum, in the internal cavity 3 when compressed air is supplied and when the suction cup 2 is coupled to the outer surface 51 of the object 50. More precisely, the converging / diverging duct constriction portion of the Venturi vacuum generator 10, where a negative pressure, i.e., a partial vacuum, is generated as the compressed air passes through, is in fluid connection with the internal cavity 3 of the suction cup 2.

[0018] The Venturi vacuum generator 10 is, for example, multi-stage and particularly includes two or three stages for generating a higher value partial vacuum or negative pressure in the internal cavity 3, for example, between -0.85 kPa and -0.65 kPa, i.e., between 0.15 and 0.35 kPa (bar) in absolute value.

[0019] The gripping device 1 further includes a discharge valve 11 and a check valve 12. The discharge valve 11 is fluidly connected to the internal cavity 3 and is operable to connect the internal cavity 3 to the external environment or a source of compressed air 30 in order to remove the partial vacuum within the internal cavity 3 and release the object. The check valve 12 (one-way valve) is fluidly connected to the Venturi vacuum generator 10 and the internal cavity 3, is interposed between the Venturi vacuum generator 10 and the internal cavity 3, and is configured to prevent air from entering the internal cavity 3 when the Venturi vacuum generator 10 is not supplied with compressed air (described in detail below).

[0020] The gripping device 1 includes a case 4. The case 4 is fixed, for example, to the connecting element 5 of the suction cup 2 and is suitable for housing and incorporating the Venturi vacuum generator 10, the discharge valve 11, and the check valve 12.

[0021] The case 4 is, for example, prismatic and includes a first connection portion 6 that is fluidly connected to the supply inlet of the Venturi vacuum generator 10, a second connection portion 7 that is fluidly connected to the discharge valve 11, and a third connection portion 8 for fluidly connecting the internal cavity 3 of the suction cup 2 to the Venturi vacuum generator 10 and the discharge valve 11.

[0022] The case 4 further has a fourth connection portion 9 that is fluidly connected to the Venturi vacuum generator 10 and the internal cavity 3.

[0023] The case 4 further includes a fifth connection portion 19 that is fluidly connected to the discharge outlet of the Venturi vacuum generator 10.

[0024] The first connection portion 6 can be connected to the compressed air line 30, particularly via the first supply duct 41, to supply compressed air to the Venturi vacuum generator 10 and generate a partial vacuum within the internal cavity 3 of the suction cup 2.

[0025] In the illustrated embodiment, the second connection portion 7 can also be connected to the compressed air line 30, particularly by the second supply duct 42, in order to send compressed air to the discharge valve 11. When activated, the discharge valve 11 sends compressed air into the internal cavity 3 in order to remove the partial vacuum in the internal cavity 3 and enable the release of the object.

[0026] The third connection portion 8 is connected to the Venturi vacuum generator 10, particularly to its constricted portion, by the first duct 14, and is connected to the discharge valve 11 by the second duct 15. The second duct 15 is connected to the first duct 14 at the branch point 16.

[0027] The fourth connection portion 9 connects the Venturi vacuum generator 10 and the internal cavity 3 to the manifold 150 provided with the vacuum sensor 13, or directly to the vacuum sensor 13 (to be described in detail in the following description).

[0028] The fifth connection portion 19 is in fluid connection with the discharge outlet of the Venturi vacuum generator 10. For example, it is connected to the silencer 17 to reduce the noise generated by the compressed air being discharged from the Venturi vacuum generator 10 and dispersed into the surroundings.

[0029] The check valve 12 is inserted into the portion of the first duct 14 between the Venturi vacuum generator 10 and the branch point 16.

[0030] A filter 18 is inserted between the branch point 16 and the third connection portion 8 in the first duct 14.

[0031] The discharge valve 11 is, for example, a pneumatic valve, particularly a two-way and two-position valve that operates by the action of air. In particular, the discharge valve 11 is normally closed. That is, when no air is supplied and it is not controlled by air, it closes the fluid connection between the second connection portion 7 and the internal cavity 3. Conversely, when compressed air is supplied from the pneumatic supply line 30, the discharge valve 11 switches to the open operating position, opens the fluid connection between the second connection portion 7 and the internal cavity 3, and allows compressed air to enter the internal cavity.

[0032] Case 4 further includes a fixing element 28 for connecting the gripping device 1 to the suction cup gripping system 100. The fixing element 28 is particularly aligned with and faces the connecting element 5 of the suction cup 2 in a straight line.

[0033] Referring particularly to FIG. 3, the suction cup 2 includes a body 20 having an upper part 21 and a deformable central part 22. The central part 22 is particularly compressible and / or crushable along a direction parallel to the longitudinal axis X of the suction cup 2 and defines an internal cavity 3. The connecting element 5 is connected to the upper part 21 and is provided with an internal duct 25 for the passage of air.

[0034] The central part 22 includes a peripheral part 22a surrounding a lower passage opening leading to the internal cavity 3 and is configured to abut against the outer surface 51 of the object 50 to be lifted.

[0035] The suction cup 2 further includes a stop element 23. The stop element 23 is located in the internal cavity 3 and is fixed to the upper part 21. The stop element 23 is suitable for abutting against the outer surface 51 when the suction cup 2 is coupled to the outer surface 51 of the object 50 and the internal cavity 3 is placed in a negative pressure state, thereby restricting the deformation or crushing of the central part 22. The stop element 23 includes respective central ducts 24. The central ducts 24 are provided with an axial opening 26 and a lateral opening 27 for the passage of air.

[0036] Referring to FIG. 5, the suction cup gripping system 100 (gripping system) of the present invention includes a plurality (for example, seven) of the above-described gripping devices 1 shown in FIGS. 1 to 4, and includes valve means 37, 38 in fluid connection with the Venturi vacuum generator 10 and the discharge valve 11 to selectively supply compressed air to the Venturi vacuum generator 10 or the discharge valve 11 of the gripping device 1.

[0037] In particular, each gripping device 1 is adapted to abut against the outer surface 51 of the object 50 to be gripped and includes at least one gripping suction cup 2 having an internal cavity 3, When compressed air is being supplied and when the gripping suction cup 2 is coupled to the outer surface 51 of the object 50, it is connectable to a compressed air line 30 to generate a negative pressure, i.e., a partial vacuum, in the internal cavity 3, and a Venturi vacuum generator 10 that is in fluid connection with the internal cavity 3, a discharge valve 11 that is in fluid connection with the internal cavity 3 and is operable to connect the internal cavity to the external environment or the compressed air line 30 to remove the partial vacuum in the internal cavity 3, a check valve 12 that is in fluid connection with the Venturi vacuum generator 10 and the internal cavity 3, is interposed between the Venturi vacuum generator 10 and the internal cavity 3, and is configured to prevent air from entering the internal cavity 3 when compressed air is not being supplied to the Venturi vacuum generator 10.

[0038] The gripping system 100 includes a manifold 150 that is in fluid connection with the internal cavity 3 of the suction cup 2 of each gripping device 1, in particular via respective measuring ducts 43, a vacuum sensor 13 that is in fluid connection with the manifold 150 and is suitable for measuring the value of the partial vacuum in the manifold 150 and thus in the internal cavity 3 of each suction cup 2. The gripping system 100 further includes

[0039] The gripping system 100 further includes a control unit 40. The control unit 40 is connected to the valve means 37, 38 and the vacuum sensor 13, and when the vacuum sensor 13 detects that the value of the partial vacuum in the manifold 150 and thus in the internal cavity 3 of the suction cup 2 is equal to or greater than a specific first threshold value P1, i.e., when it detects that the absolute pressure in the internal cavity 3 of each suction cup 2 is lower than a specific first threshold value P1, the control unit 40 is configured to control the valve means 37, 38 so as not to supply compressed air to the Venturi vacuum generator 10 of each gripping device 1. The first threshold value P1 is, for example, -0.80 kPa and -0.65 kPa in relative values and 0.20 kPa in absolute values.

[0040] The control unit 40 may be, for example, a control unit of a working machine for cutting and / or perforating a metal sheet, in which the gripping system 100 of the present invention is installed and operates.

[0041] It should be noted that the plurality of gripping devices 1 of the gripping system 100 of the present invention are supplied with compressed air from the same valve means 37, 38 and share a single vacuum sensor 13 mounted on a manifold 150 to which the Venturi vacuum generators 10 of each gripping device 1 are connected, and define a gripping zone (gripping area). In particular, the gripping system 100 is capable of simultaneously lifting or moving one or more objects 50 within the gripping zone.

[0042] The valve means 37, 38 are connected to a compressed air supply line 30 and an air discharge line 31, and in particular, include a pair of valves activated and operated by the control unit 40, in particular, a pair of electrically operated valves of a known two-way and two-position type. For example, the valve means includes a pair of pneumatic valves having solenoids that operate indirectly, i.e., are switched to two operating positions by the action of air based on an electrical signal sent by the control unit 40. In particular, these valves are connected to a pneumatic switching line 33 and a switching discharge line 32.

[0043] In the illustrated embodiment, the valve means includes a first valve 37 connected to the Venturi vacuum generator 10 and a second valve 38 connected to the discharge valve 11.

[0044] The first valve 37 is, for example, of a normally open type. That is, when not electrically activated, it opens the fluid connection between the compressed air supply line 30 and the Venturi vacuum generator 10, and when activated, it connects the Venturi vacuum generator to the discharge line 31.

[0045] Conversely, the second valve 38 is of a normally closed type. That is, when not activated, it fluidly connects the discharge valve 11 to the discharge line 31, and when electrically activated, it connects the discharge valve 11 to the compressed air supply line 30.

[0046] Each gripping device 1 further includes respective adjustment nozzles 35. The adjustment nozzles 35 have, in particular, holes adjusted to a size between 0.2 and 0.4 mm, in particular 0.3 mm. The adjustment nozzles 35 are in fluid connection with the internal cavity 3 of the suction cup 2 and the manifold 150, are interposed between the internal cavity 3 and the manifold 150, and are particularly suitable for restricting the air flow entering the manifold 150 when the corresponding suction cup 2 is not joined to the outer surface 51 of the object 50. More precisely, the adjustment nozzles 35 having the adjusted holes through which the air flow passes make it possible to limit the loss of vacuum in the manifold 150 when the corresponding gripping device 1 is not gripping the object 50. This is because the adjustment nozzles 35 reduce the suction of air by other gripping devices 1 through the suction cups 2 that are not gripping the object 50.

[0047] In particular, each adjustment nozzle 35 is connected to the fourth connection portion 9 of the case 4 of the respective gripping device 1 and is in fluid connection with the Venturi vacuum generator 10 and the internal cavity 3. Thus, the adjustment nozzles 35 are inserted into respective measuring ducts 43 and are interposed between the fourth connection portion 9 and the manifold 150.

[0048] The vacuum sensor 13 includes, for example, a known type of vacuum switch that detects a first threshold value P1 and a further first threshold value P1' and sends a related signal to the control unit 40 in order to control the valve means 37, 38 so as to maintain the value of the partial vacuum in the manifold 150 and thus in the internal cavity 3 of each suction cup 2 substantially equal to the first threshold value P1 or the further first threshold value P1', in particular depending on the characteristics of the object 50 to be lifted and moved.

[0049] Therefore, the vacuum sensor 13 can automatically detect two different vacuum values, and it becomes possible to manage the gripping force of each suction cup 2 as a function of the thickness of, for example, one or more objects (sheet, plate, thick plate, etc.) to be moved. For example, the first threshold value P1 may be a relatively low vacuum value suitable for lifting and moving a thin sheet (up to 0.8 mm) without particularly deforming it, and a further threshold value P1' may be a relatively high vacuum value suitable for lifting and moving a sheet with a thickness exceeding 0.8 to 1 mm.

[0050] As shown in FIG. 6, the suction cup gripping system 100 of the present invention includes a support frame 101. The support frame 101 is configured to support a plurality of gripping devices 1 arranged at intervals according to a plurality of parallel rows.

[0051] For example, in the process of gripping and moving a single object 50 having an outer surface 51 suitable for interacting with the gripping suction cup 2, that is, for example, a flat and non-porous surface, in the operation of the gripping system 100 of the present invention, first, each gripping device 1 is brought close and positioned so that each suction cup 2 contacts the outer surface 51. More precisely, the peripheral edge 22a of the central portion 22 of each suction cup 2 abuts against the outer surface 51 of the object 50.

[0052] It should be noted that since the plurality of gripping devices 1 of the gripping system 100 define a gripping area, the gripping system 100 of the present invention can grip and thus move a plurality of different objects within the gripping area.

[0053] To grip the object 50, the first valve 37 is arranged in the open position to supply compressed air from the supply line 30 to each Venturi vacuum generator 10. Each Venturi vacuum generator 10 sucks air from the internal cavity 3 of the suction cup 2 of each gripping device 1 to generate a negative pressure. Thereby, each suction cup 2 can be strongly attached to the outer surface 51 of the object 50. In this way, each gripping device 1 generates a gripping force that is directly proportional to the pressure difference between the atmospheric pressure and the pressure inside the suction cup 2.

[0054] When the sum of the gripping forces of all the gripping devices 1 acting on the object 50 simultaneously is greater than the force of the weight of the object 50, the gripping system 100 fixed to the suitable handling device by that gripping force can lift and move the object 50.

[0055] When the value of the negative pressure, i.e., partial vacuum, in the internal cavity 3 of the suction cup 2 measured by the vacuum sensor 13 connected to the control unit 40 reaches and exceeds, for example, the first threshold value P1 (e.g., -80 kPa) or a further first threshold value P1' in order to generate the required gripping force, the control unit 40 can switch the first valve 37 to the closed position. Thereby, the valve 37 does not further supply the compressed air that would otherwise be used and dispersed around each Venturi vacuum generator 10. The compressed air is actually discharged to the external environment through the fifth connection portion 19 of the case 4 after passing through the converging / diverging duct of each Venturi vacuum generator 10.

[0056] However, the internal cavity 3 of the suction cup 2 of each gripping device 1 is maintained at a negative pressure by each check valve 12 closing each first duct 14 to prevent air from entering each internal cavity 3.

[0057] Through a number of tests conducted by the applicant, it was shown that each gripping suction cup 2 adheres to the outer surface 51 of the object 50, and in a state where the initial negative pressure value is about -0.89 kPa, the negative pressure gradually decreases with time, that is, the absolute pressure in the internal cavity 3 increases with time. More precisely, it was found that the negative pressure and thus the relative gripping force are maintained for at least 20 / 25 minutes at a value that enables the object 50 to be held and moved safely and reliably, for example. This is considerably longer than the average time duration of the process of gripping and moving an object manufactured by a metal sheet or a machine for cutting and / or perforating a metal sheet, etc.

[0058] Since the time required to achieve the desired negative pressure in each suction cup 2 is very short, it is only the minimum part of the process of gripping and handling an object that requires the supply of compressed air to the Venturi vacuum generators 10 of the plurality of gripping devices 1 by the gripping system 100 of the present invention. This makes it possible to significantly reduce (by up to 90%) the consumption of compressed air and, as a result, the consumption of electrical energy required to generate the compressed air, as compared with known suction cup gripping systems.

[0059] When the object 50 is lifted, it can be safely lifted and / or moved.

[0060] If, during the movement, the vacuum sensor 13 connected to the manifold 150 detects a decrease in the negative or partial vacuum in the manifold 150 and thus in each suction cup 2, i.e. an increase in absolute pressure above a second threshold P2 (e.g. -60 kPa), the control unit 40 switches the first valve 37 to the open position again to supply the venturi vacuum generator 10 of each gripping device 1 with compressed air from the supply line 30. The venturi vacuum generator 10 then starts to suck air from each internal cavity 3 by placing each internal cavity 3 in a negative pressure state until the first threshold P1 is reached. More precisely, when the vacuum sensor 13 detects that the relative value of the vacuum in the manifold 150 is lower than the second threshold P2 (e.g. -60 kPa), e.g. -0.55 kPa, the first valve 37 is switched to the open position.

[0061] The second threshold P2 (eg, −60 kPa) is less than the first threshold P1 (eg, −80 kPa) at a partial vacuum.

[0062] It should be noted that, due to the tuned nozzles 35 with tuned holes connected to each gripping device 1, when the suction cups 2 of one gripping device 1 are not engaged with the outer surface 51 of the object 50, the loss of vacuum in the manifold 150 is limited and does not pose a problem to the normal operation of the remaining gripping devices 1 whose suction cups 2 attach to the object 50. Indeed, numerous tests carried out by the applicant have shown that the tuned nozzles 35 minimize the air sucked by the other gripping devices 1 through the suction cups 2 that are not gripping the object 50.

[0063] In order for each suction cup 2 to release the object 50 and uncouple, the second valve 38 is activated by the control unit 40, i.e. electrically switched to the open position, to connect the release valve 11 of each gripping device 1 to the compressed air supply line 30.

[0064] The discharge valves 11 are activated by moving each discharge valve 11 to the open position by compressed air from the second valve 38. In the open position, the internal cavity 3 of the corresponding suction cup 2 is in fluid connection with the compressed air supply line 30. When compressed air is blown into the suction cup 2, it immediately separates from the outer surface 51 of the object 50.

[0065] Alternatively, the open position to which the discharge valve 11 is switched may be a position that fluidly connects the internal cavity 3 of the suction cup 2 to the external environment, i.e., positive atmospheric pressure.

[0066] Therefore, with the gripping system 100 of the present invention, during operation, especially when gripping and moving one or more objects within the gripping zone defined by the plurality of gripping devices 1, it is possible to significantly reduce the consumption of compressed air. In addition, it is possible to firmly, reliably, and safely grip, hold, and move objects of various sizes and weights.

[0067] FIG. 7 shows a modified example of the suction cup gripping system 100 of the present invention. The difference from the above-described embodiments shown in FIGS. 5 and 6 is that it includes a single gripping device 1 provided with a plurality of gripping suction cups 2, and each gripping suction cup 2 is connected to one and the same Venturi vacuum generator 10 and one and the same discharge valve 11. The gripping device 1 is in fluid connection with the Venturi vacuum generator 10 and the internal cavity 3 of each suction cup 2, and further includes a check valve 12 interposed between the Venturi vacuum generator 10 and the internal cavity 3, and a vacuum sensor 13 that is in fluid connection with each internal cavity 3 and is suitable for measuring the value of the partial vacuum in the internal cavity. The vacuum sensor 13 is in fluid connection with the internal cavity 3 of each suction cup 2 via the fourth connection portion 9 of the case 4.

[0068] The gripping suction cups 2 are connected to each other and are connected to the third connection portion 8 via a connection duct 44.

[0069] The Venturi vacuum generator 10 is multi-stage and particularly includes three stages.

[0070] The operation of this variant of the adsorption cup gripping system 100 of the present invention is substantially the same as the operation of the above-described gripping system shown in FIGS. 5 and 6.

[0071] In particular, also in this case, the plurality of adsorption cups 2 define a gripping zone (gripping region), whereby the gripping system 100 of the present invention can simultaneously lift and move one or more objects 50 within the gripping zone.

[0072] FIG. 8 shows another variant of the adsorption cup gripping system 100 of the present invention. The difference from the above-described embodiment shown in FIG. 7 is only that the gripping device 1 includes a single gripping adsorption cup 2 acting on the object 50 to be lifted and a two-stage Venturi vacuum generator 10.

[0073] The operation of this another variant of the adsorption cup gripping system 100 of the present invention is substantially the same as the operation of the above-described gripping system shown in FIG. 7.

Claims

1. A suction cup gripping system (100), comprising a plurality of suction cup gripping devices (1), each said suction cup gripping device (1) being adapted to abut against an outer surface (51) of an object (50) to be gripped, and having at least one gripping suction cup (2) with an internal cavity (3); a Venturi vacuum generator (10) connectable to a compressed air line (30) and in fluid connection with said internal cavity (3), said Venturi vacuum generator (10) being configured to generate a partial vacuum in said internal cavity (3) when compressed air is supplied and when said gripping suction cup (2) is coupled to said outer surface (51) of said object (50); a discharge valve (11) in fluid connection with said internal cavity (3) and selectively operable to connect said internal cavity (3) to an external environment or said compressed air line (30) to remove said partial vacuum in said internal cavity (3); a check valve (12) in fluid connection with said Venturi vacuum generator (10) and said internal cavity (3), interposed between said Venturi vacuum generator (10) and said internal cavity (3), and configured to prevent air from entering said internal cavity (3) when said compressed air is not supplied to said Venturi vacuum generator (10); valve means (37, 38) in fluid connection with each said Venturi vacuum generator (10) and each said discharge valve (11) for selectively supplying compressed air to each said Venturi vacuum generator (10) or each said discharge valve (11) of each said suction cup gripping device (1); a manifold (150) in fluid connection with each said internal cavity (3) of each said gripping suction cup (2) of each said suction cup gripping device (1); a vacuum sensor (13) in fluid connection with said manifold (150) and suitable for measuring the value of the partial vacuum in said manifold (150); a control unit (40) connected to said valve means (37, 38) and said vacuum sensor (13) and configured to control said valve means (37, 38) so as not to supply compressed air to each said Venturi vacuum generator (10) when said vacuum sensor (13) detects that at least one value of the partial vacuum in said manifold (150) is equal to or greater than a specific first threshold value (P1). A suction cup gripping system (100).

2. The adsorption cup gripping system (100) according to claim 1, wherein the vacuum sensor (13) is suitable for detecting the first threshold value (P1) and the further first threshold value (P1') and sending related signals to the control unit (40) in order to control the valve means (37, 38) so as to maintain the value of the partial vacuum in the manifold (150) and in each of the internal cavities (3) of each of the gripping adsorption cups (2) substantially equal to the first threshold value (P1) or the further first threshold value (P1'). The system includes a vacuum switch.

3. Each adsorption cup gripping device (1) includes respective adjustment nozzles (35), the adjustment nozzles (35) having, in particular, adjusted holes with a size between 0.2 and 0.4 mm, particularly 0.3 mm. The adjustment nozzles (35) are in fluid connection with the internal cavity (3) of the gripping adsorption cup (2) and the manifold (150), and are interposed between the internal cavity (3) and the manifold (150). In particular, when the gripping adsorption cup (2) is not coupled to the outer surface (51) of the object (50), the adjustment nozzles (35) are suitable for restricting the air flow entering the manifold (150). The adsorption cup gripping system (100) according to claim 1 or 2.

4. Each adsorption cup gripping device (1) includes a case (4), the case (4) being fixed to the connection element (5) of the gripping adsorption cup (2) and being suitable for accommodating and incorporating at least the Venturi vacuum generator (10), the discharge valve (11), and the check valve (12). The adsorption cup gripping system (100) according to any one of claims 1 to 3.

5. The case (4) of each adsorption cup gripping device (1) In particular, a first connection portion (6) in fluid connection with the Venturi vacuum generator (10) for an inlet of compressed air via respective first supply ducts (41), In particular, a second connection portion (7) in fluid connection with the discharge valve (11) for an inlet of compressed air via respective second supply ducts (42), A third connection portion (8) for fluidly connecting the internal cavity (3) to the Venturi vacuum generator (10) and the discharge valve (11), The adsorption cup gripping system (100) according to claim 4.

6. The case (4) of each suction cup gripping device (1) further includes a fourth connection portion (9) that connects the adjustment nozzle (35) to the Venturi vacuum generator (10) and the internal cavity (3). The suction cup gripping system (100) according to claim 4 or claim 5, which cites claim 3.

7. The discharge valve (11) of each suction cup gripping device (1) includes a pneumatic valve, particularly a two-way and two-position valve that operates by the action of air. The suction cup gripping system (100) according to any one of claims 1 to 6.

8. The suction cup gripping system (100) according to any one of claims 1 to 7, including a support frame (101) suitable for supporting the plurality of suction cup gripping devices (1).

9. A suction cup gripping system (100), including at least one suction cup gripping device (1), and the suction cup gripping device (1) is adapted to abut against the outer surface (51) of an object (50) to be gripped, and a plurality of gripping suction cups (2) each having an internal cavity (3); a Venturi vacuum generator (10) connectable to a compressed air line (30) and in fluid connection with each of the internal cavities (3), configured to generate a partial vacuum in each of the internal cavities (3) when compressed air is supplied and when each of the gripping suction cups (2) is coupled to the outer surface (51) of the object (50); a discharge valve (11) in fluid connection with each of the internal cavities (3) and operable to connect each of the internal cavities to the external environment or the compressed air line (30) to remove the partial vacuum in each of the internal cavities (3); a check valve (12) in fluid connection with the Venturi vacuum generator (10) and each of the internal cavities (3), interposed between the Venturi vacuum generator (10) and each of the internal cavities (3), configured to prevent air from entering each of the internal cavities (3) when the compressed air is not supplied to the Venturi vacuum generator (10); a vacuum sensor (13) in fluid connection with each of the internal cavities (3) and suitable for measuring the value of the partial vacuum in each of the internal cavities (3); valve means (37, 38) in fluid connection with the Venturi vacuum generator (10) and the discharge valve (11) for selectively supplying compressed air to the Venturi vacuum generator (10) or the discharge valve (11). A control unit (40) connected to the valve means (37, 38) and the vacuum sensor (13), configured to control the valve means (37, 38) so as not to supply compressed air to each of the Venturi vacuum generators (10) when the vacuum sensor (13) detects that the partial vacuum value in each of the internal cavities (3) is equal to or greater than a specific first threshold value (P1). Adsorption cup gripping system (100).

10. The adsorption cup gripping device (1) includes a case (4), and the case (4) is suitable for accommodating and incorporating at least the Venturi vacuum generator (10), the discharge valve (11), and the check valve (12). The adsorption cup gripping system (100) according to claim 9.

11. The case (4) is In particular, a first connection portion (6) in fluid connection with the Venturi vacuum generator (10) for an inlet of compressed air via each first supply duct (41). In particular, a second connection portion (7) in fluid connection with the discharge valve (11) for an inlet of compressed air via each second supply duct (42). A third connection portion (8) for fluidly connecting the internal cavity (3) to the Venturi vacuum generator (10) and the discharge valve (11). The adsorption cup gripping system (100) according to claim 10, comprising.

12. The case (4) further includes a fourth connection portion (9) for connecting the vacuum sensor (13) to the Venturi vacuum generator (10) and each of the internal cavities (3). The adsorption cup gripping system (100) according to claim 11.

13. The discharge valve (11) includes a pneumatic valve, in particular a two-way and two-position valve that operates by the action of air. The adsorption cup gripping system (100) according to any one of claims 9 to 12.

14. The valve means (37, 38) is a pair of valves operated and controlled by the control unit (40), in particular a pair of two-way and two-position electrically controlled valves connected to an air pressure supply line (30) and an air discharge line (31). The adsorption cup gripping system (100) according to any one of claims 1 to 13.

15. The Venturi vacuum generator (10) is multi-stage, in particular including two or three stages. The adsorption cup gripping system (100) according to any one of claims 1 to 14.

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