Suction-cup element, device for temporarily gripping, manipulator, method for temporarily gripping a body, and use of a valve device

Abstract

The invention relates to a suction-cup element for temporary attachment to a body surface of a body, in particularly a suction-cup element acting passively by means of suction adhesion, comprising: an adhesion side for adhesion to the body surface; a vacuum chamber for generating negative pressure with respect to the body; and an elastically deformable main body for forming the vacuum chamber, wherein the vacuum chamber has an opening, on the adhesion side, which is surrounded by an edge of the elastically deformable main body, wherein the suction-cup element has a ventilation access which opens into the vacuum chamber.

Description

[0001] Suction cup element, device for temporary gripping, manipulator, method for temporarily gripping a body and use of a valve device

[0002] The invention relates to a suction cup element for temporary attachment to a body surface of a body, in particular a passively suction-adhering suction cup element, with an adhesive side for adhering to the body surface, with a vacuum chamber for generating a negative pressure relative to the body and with an elastically deformable base body for forming the vacuum chamber, in which the vacuum chamber has an opening on the adhesive side which is enclosed by an edge of the elastically deformable base body.

[0003] The invention further relates to a device for temporarily gripping a body with at least one suction cup element and with a holding part for holding the at least one suction cup element relative to the body, in which the at least one suction cup element forms a vacuum chamber.

[0004] The invention further relates to a manipulator for handling components at a processing station for manufacturing products.

[0005] The invention further relates to a method for pneumatically gripping a body by means of an elastically deformable suction cup element comprising a vacuum chamber open on the body side, in which method the suction cup element is brought into operative contact with the body for gripping in such a way that the vacuum chamber seals off the body and a vacuum is created in the vacuum chamber by deformation of the suction cup element, so that the body is gripped by the suction cup element by means of the vacuum effect and can be spatially displaced.

[0006] The invention also relates to the use of a currentless sealing electrical valve device.

[0007] In particular, generic suction cup elements or devices for temporarily gripping a body by means of at least one suction cup element are known from the prior art, for example for pneumatically gripping bodies in order to be able to move and position the latter spatially.

[0008] For example, from the published patent application DE 10 2020 101 870 A1, a suction device for reversible adhesion to a body surface is known, whereby such suction devices are often also referred to as suction cups, suction lifters, vacuum grippers or the like.

[0009] The invention is based on the object of providing an improvement or an alternative to the prior art.

[0010] The object of the invention is achieved by a suction cup element for temporary attachment to a body surface of a body, in particular a passively suction-adhering suction cup element, with an adhesive side for adhering to the body surface, with a vacuum chamber for generating a negative pressure with respect to the body and with an elastically deformable base body for forming the vacuum chamber, in which the vacuum chamber has an opening on the adhesive side which is enclosed by an edge of the elastically deformable base body, wherein the suction cup element has a ventilation access which opens into the vacuum chamber.

[0011] The ventilation access into the vacuum chamber allows the suction effect of the suction cup element to be specifically deactivated, significantly simplifying the removal of the suction cup element from the body being treated. This is achieved primarily by creating an automated removal mechanism.

[0012] In particular, the detachment forces required for loosening or detaching can be significantly reduced.

[0013] This also makes it possible to place bodies very precisely in almost any location without any problem.

[0014] The ventilation access can be constructed in a variety of ways. In a very simple case, for example, it could simply be a ventilation opening in the sense of a pressure equalization opening, which is different from the opening on the adhesive side.

[0015] The term "passive suction" in the sense of the invention describes the suction effect created here due to a vacuum or negative pressure effect, by means of which the suction cup element and the body surface remain adhered to one another until the negative pressure or vacuum in the vacuum chamber is released by means of pressure equalization through the ventilation access.

[0016] With such a "passive suction adhesion", an additional evacuation device can advantageously be dispensed with. As a rule, such an additional evacuation device operates continuously in order to be able to actively ensure a permanent vacuum on a suction cup subjected to negative pressure in this way. The present suction cup element can consist entirely of the elastically deformable base body, so that the suction cup element as a whole is elastically deformable, or it can comprise further components, such as a connecting thread, etc.

[0017] The term "elastically deformable" describes the ability of the suction cup element or its base body to return to its original shape, preferably automatically, after it has been deformed and used as intended.

[0018] In this respect, it is advantageous if the suction cup element or the base body thereof is made of a suitable material, such as a silicone, a polymer, an elastomer, a thermoplastic elastomer, for example a natural rubber, an EPDM (ethylene propylene diene rubber) or the like.

[0019] It goes without saying that the material for the suction cup element and its hardness or Shore hardness can be selected differently, particularly depending on the application.

[0020] A Shore hardness of 40 Shore A has proven particularly effective in conjunction with Duro Type A materials, such as natural rubber.

[0021] Other advantageous Shore hardnesses can be selected for specific applications.

[0022] Good strength and load-bearing capacity with regard to the present suction cup element can be ensured if the elastically deformable base body has a Shore hardness of 25 Shore A or more, preferably 30 Shore A or more, and particularly preferably 35 Shore A or more. With regard to the present suction cup element, good deformability and good conformability (tightness) to a body or to its body surface can be ensured if the elastically deformable base body has a Shore hardness of 70 Shore A or less, preferably 60 Shore A or less, and particularly preferably 55 Shore A or less.

[0023] The term "body" in the sense of the invention describes any objects with sufficiently large surfaces (body surface) with which the suction cup element can interact with its adhesive side in the sense of the invention, or more precisely, can adhere. Such objects are preferably workpieces, components or the like, which are preferably handled mechanically, for example by means of a manipulator of an assembly robot or the like.

[0024] The term "vacuum chamber" in the sense of the invention describes a cavity which is formed by a concave suction cup element or by the elastically deformable base body thereof and whose opening on the adhesive side of the suction cup element is closed by means of the body when the adhesive side is placed flat on the body surface.

[0025] At this point it should be mentioned that the term "vacuum" is understood in the present case in the sense of a negative pressure, i.e. a pressure below atmospheric pressure, so that an adhesive effect can be achieved between the suction cup element and the body.

[0026] In order to achieve a good suction effect, it is advantageous if a pressure difference Ap of greater than or equal to 0.05 bar can be brought about between the vacuum generated by means of the suction cup element and the surroundings of the suction cup element, preferably of greater than or equal to 0.1 bar and particularly preferably of greater than or equal to 0.2 bar. A sufficiently high suction effect can be provided in the present case without an additional evacuation device if a pressure difference Ap of less than or equal to 0.8 bar can be brought about between the vacuum generated by means of the suction cup element and the surroundings of the suction cup element, preferably of less than or equal to 0.5 bar and particularly preferably of less than or equal to 0.3 bar.

[0027] In addition, the present suction cup element can be further developed if the elastically deformable base body has a lifting capacity of 5 mm or more, preferably of 8 mm or more, and particularly preferably of 10 mm or more, and / or has a lifting capacity of 30 mm or less, preferably of 25 mm or less, and particularly preferably of 20 mm or less.

[0028] In addition, it is advantageous if the suction cup element has a volume of 30 cm with respect to the vacuum chamber. 3 or more, preferably 40 cm 3 or more, and particularly preferably 60 cm 3 or more, and / or a volume of 100 cm 3 or less, preferably 90 cm 3 or less, and particularly preferably 80 cm 3 or less .

[0029] Furthermore, it is advantageous if the suction cup element has a load-bearing capacity of 5 kg or more, preferably of 15 kg or more, and particularly preferably of 20 kg or more, and / or has a load-bearing capacity of 80 kg or less, preferably of 50 kg or less, and particularly preferably of 30 kg or less.

[0030] The term "adhesive side" describes the side of the suction cup element facing a body when the suction cup element is used properly. The ventilation access can be designed as a ventilation channel, which is designed to fluidically connect the vacuum chamber with the environment of the suction cup element, i.e., the free atmosphere.

[0031] The ventilation access can be arranged such that it is enclosed by the edge of the elastically deformable base body, in particular completely enclosed, wherein the ventilation access extends through the elastically deformable base body. The suction cup element can have a connection nipple on its side facing away from the adhesive side, wherein the ventilation access can extend through the suction cup element and / or the connection nipple.

[0032] The ventilation access can extend in particular along a first axis of rotation of the elastically deformable base body, wherein the elastically deformable base body can be constructed rotationally symmetrically to the first axis of rotation.

[0033] The ventilation access can have a throttle along its longitudinal extension through the elastically deformable base body, whereby the throttle can also be formed from the material of the elastically deformable base body. Alternatively, the throttle can also be designed as an insert during the formation of the elastically deformable base body, so that it can be made of a different material than the elastically deformable base body.

[0034] The adhesive effect can be fully maintained until the vacuum chamber is vented if the vacuum chamber can be effectively connected to the area surrounding the suction cup element via the ventilation access, bypassing the opening on the adhesive side. This ensures particularly precise handling of the body.

[0035] If the ventilation access is arranged at least partially in the elastically deformable base body, the suction cup element can still be constructed particularly compactly despite the possibility of simple pressure equalization with respect to the atmosphere.

[0036] The suction effect of the suction cup element can be influenced particularly easily and precisely if the ventilation access can be actively closed and / or opened.

[0037] The functional scope of the present suction cup element can be advantageously expanded if the ventilation access has actively operable closing and / or opening means. The closing and / or opening means are preferably arranged in the elastically deformable base body.

[0038] If the closing and / or opening means are electrically actuated, actively actuated closing and / or opening means can also be realized with the smallest possible installation space.

[0039] For example, magnetically sensitive structures can be incorporated into the base body, which can be addressed by a magnetic field in such a way that they orient themselves by means of the magnetic field in such a way that the ventilation access is opened.

[0040] It is also conceivable for a closing and / or opening means to be spring-loaded, so that the closing and / or opening means closes or opens passively and, correspondingly, closes or opens actively. Thus, it can be provided that a closing and / or opening means is passively closed and can be opened by an active intervention, in particular by an electrical signal.The object of the invention is also achieved by a device for temporarily gripping a body with at least one suction cup element and with a holding part for holding the at least one suction cup element relative to the body, in which the at least one suction cup element forms a vacuum chamber, wherein the device is characterized by a release device for detaching the at least one suction cup element from a body, and wherein the release device has an actively closable and / or openable ventilation device for ventilating the vacuum chamber.

[0041] Previously known devices for temporarily gripping a body using a suction cup element have a passively suction-adhering suction cup element and must be released from the body to be gripped by manually deforming the suction cup element. Furthermore, devices for temporarily gripping a body using an actively suction-adhering suction cup element are known, which can adhere to a body by actively generating a vacuum in a vacuum chamber of the suction cup element using an evacuation device, in particular using an evacuation device operating according to the Venturi principle and having a compressed air supply.

[0042] The present invention proposes a device for temporarily gripping a body by means of a suction cup element, in particular by means of a passively suction-adhering suction cup element, which does not require any manual deformation of the suction cup element for detachment from the body and can be used without the need for an evacuation device and / or without an active supply of compressed air.

[0043] It is understood that the device may comprise a suction cup element as described above. The actively closable and / or openable ventilation device allows the release device to be implemented in a particularly simple manner on the device, particularly with regard to passively operating suction cup elements.

[0044] Such passively operating suction cup elements seal against a body surface in such a way that they do not require an additional evacuation device, which, for example, continuously ensures a negative pressure on the respective suction cup element by actively sucking in or sucking out air from a vacuum chamber, which, however, means a high construction effort on the one hand and a high energy expenditure on the other hand due to the continuous operation of the evacuation device.

[0045] In any case, even passively operating suction cup elements can be released from a body particularly easily and automatically by means of the present release device, as the ventilation device, which can be actively closed and / or opened, makes it easy to ventilate the respective vacuum chamber at any time.

[0046] The ventilation device can be operated particularly energy-efficiently if the ventilation device is closed in a de-energized state, so that ventilation is excluded when the ventilation opening is de-energized.

[0047] This means that the risk of the body accidentally detaching from the device is virtually eliminated.

[0048] A state of the suction-adherent effect of the device can be advantageously manipulated if the ventilation device has a ventilation time of 10 s or less, preferably 5 s or less, and particularly preferably 2 s or less. If the ventilation device further has a ventilation time of 0.2 s or more, preferably 0.5 s or more, and particularly preferably 0.7 s or more, sufficient ventilation of the vacuum chamber and the release of a body from the device can always be reliably ensured.

[0049] It has been shown that for the vast majority of applications, a ventilation time of 1 s or less is sufficient for actively releasing the suction cup element from the body.

[0050] Due to short ventilation times, the present release device or the related ventilation device can be operated extremely energy-efficiently.

[0051] Ventilation of the vacuum chamber can be carried out precisely and always particularly reliably if the ventilation device has a valve device, in particular a 2 / 2-way valve.

[0052] By means of an electrically controlled valve device, an automatic release of a suction cup element from a substrate is easily possible.

[0053] A 2 / 2-way valve is an opening and closing valve that can open or close the flow of the working medium. These valves can be either closed or open in their basic position.

[0054] The design effort for realizing the present device can be kept low with the proposed release device if a single valve device is fluidically connected to a vacuum chamber of more than one suction cup element.

[0055] A fluidic connection between a valve device and a vacuum chamber can be implemented in a simple manner if the ventilation device has a ventilation channel. Preferably, the retaining part encompasses the ventilation channel.

[0056] For example, a tubular holding device, by which the respective suction cup element is supported, has a bore or a recess or a free cross-section through which ventilation can be particularly expediently effected in accordance with the invention. In particular, additional air hoses for providing the vacuum to the device can be dispensed with.

[0057] If the ventilation duct includes a ventilation access on the suction cup element, the ventilation device can be structurally simplified even further.

[0058] In this respect, it is expedient if the present device has at least one suction cup element, the features of which are described here.

[0059] Advantageously, the specific properties, such as Shore hardness, pressure difference, lifting capacity, volume, load-bearing capacity or the like, such as diameter, etc., can be selected depending on the number of suction cup elements present on the existing device.

[0060] The object of the invention is furthermore also achieved by a manipulator for handling components at a processing station for manufacturing products, wherein the manipulator is characterized by at least one suction cup element according to one of the features described here and / or by a device according to one of the features described here.

[0061] The proposed manipulator enables positioning tasks in particular to be carried out particularly precisely and effectively. The object of the invention is further achieved by a method for the pneumatic gripping of a body by means of an elastically deformable suction cup element comprising a vacuum chamber open on the body side, in which method the suction cup element is brought into operative contact with the body for gripping in such a way that the vacuum chamber seals off the body and a vacuum is created in the vacuum chamber by deformation of the suction cup element, so that the body is gripped by the suction cup element by means of a vacuum effect, wherein in order to release the suction cup element and the body from one another the vacuum chamber is ventilated through an additional ventilation access.

[0062] By ventilating the vacuum chamber in this way, the removal of the suction cup element and the body can be carried out significantly easier.

[0063] In particular, the application of excessive detachment forces can be avoided. This allows the body not only to be held and / or spatially relocated more advantageously, but also to be positioned and placed with significantly greater precision.

[0064] In particular, a more precise positioning of a body can be achieved if the vacuum chamber is ventilated while the suction cup element is arranged sealingly against the body.

[0065] Advantageously, the risk of subsequent and undesired slipping of a body to be deposited or of critical subsequent displacement of a body that has already been deposited in a precise position can be reduced.

[0066] Pneumatic gripping of bodies using a passive suction cup element can generally be operated in an energy-efficient manner. Therefore, it is advantageous that the vacuum is passively maintained with a good sealing effect between the suction cup element and the body.

[0067] The present method can be carried out in an even more energy-efficient manner if the ventilation access is activated for 10 s or less, preferably 5 s or less, and particularly preferably 2 s or less.

[0068] Adequate ventilation and, consequently, good detachment of the suction cup element and the body can be provided if the ventilation access is activated for 0.2 s or more, preferably 0.5 s or more, and particularly preferably 0.7 s or more.

[0069] It has been shown that for the vast majority of applications, an activation time of 1 s or less is sufficient for actively releasing the suction cup element from the body.

[0070] Due to such short activation times, the present process can also be operated extremely energy-efficiently.

[0071] The expression "activating the ventilation access" in the sense of the invention describes a release of the ventilation access so that air can flow into the vacuum chamber subjected to negative pressure in order to effect pressure equalization between the vacuum chamber and the atmosphere.

[0072] The ventilation access can be activated or released in a simple process if the ventilation access is activated by means of an electrical valve device, in particular a multi-way valve, in particular a 2 / 2-way valve. In particular, the ventilation access can be made open to air as needed by means of an electrically controlled valve device.

[0073] The object of the invention is also achieved by the use of a currentless sealing electrical valve device, in particular a multi-way valve, for releasing a suction cup element from a body surface of a body.

[0074] A passive suction cup element can not only adhere to a body in an extremely energy-efficient manner, but can also be released from an adhering body quickly and energy-efficiently if a vacuum chamber of the suction cup element is only ventilated when the electrical valve device is electrically activated.

[0075] It should also be pointed out here that in the context of the present patent application, indefinite articles and indefinite numerical expressions such as "one...", "two..." etc. are generally to be understood as at least expressions, i.e. as "at least one...", "at least two..." etc., unless it is clear from the context or the concrete text of a particular passage that only "exactly one...", "exactly two..." etc. are meant.

[0076] At this point it should also be mentioned that in the context of this patent application the expression "in particular" should always be understood as introducing an optional, preferred feature. The expression is not to be understood as "and indeed" or "namely".

[0077] Overall, the following effects and advantages can be achieved with the present invention:

[0078] Simple design in conjunction with gripping systems; • Efficient replacement for active systems (with evacuation device);

[0079] • Automated release of the suction cup element by opening the valve device;

[0080] • Energy saving, operation without compressed air as a replacement for active systems;

[0081] • Maintaining adhesion (without current / without air);

[0082] • Weight savings in gripping systems;

[0083] • Low operating costs due to energy-efficient gripping without additional energy supply;

[0084] • Reduction of the C02 footprint by handling without compressed air or vacuum infrastructure;

[0085] • Reduction of noise emissions, thus improving production conditions and occupational safety; and / or

[0086] • Reduce contact force by possibly opening the valve device when placed on the body.

[0087] Further advantages, details and features of the invention will become apparent from the following exemplary embodiments.

[0088] Components which in the individual figures are at least substantially identical in terms of their function can be identified by the same reference symbols, although the components do not have to be numbered and explained in all figures.

[0089] The drawing shows:

[0090] Figure 1: schematically shows a view of an individual elastically deformable suction cup element for temporary attachment to a body surface of a body; and Figure 2: schematically shows a view of a device for pneumatically gripping a body, comprising an elastically deformable suction cup element from Figure 1 and, in particular, a holding part therefor and a release device for detaching the suction cup element from a body.

[0091] The suction cup element 1 shown in Figure 1 is a passively acting suction cup element 1, which means that when this suction cup element 1 is used, it is not necessary to additionally apply a vacuum by means of an air evacuation device or an air suction device.

[0092] The suction cup element 1 is characterized, among other things, by an elastically deformable base body 2, whereby the suction cup element 1 itself is also elastically deformable.

[0093] The base body 2 is concave so that a vacuum chamber 3 is formed inside the suction cup element 1.

[0094] In other words, the base body 2 is dome-shaped as a hollow spherical segment, i.e. with a dome 5, and has a wall 4.

[0095] The suction cup element 1 has an adhesive side 6 by means of which it can interact with a body 8, in particular with a body surface 9.

[0096] The adhesive side 6 can be flat or curved.

[0097] On the adhesive side 6 there is an opening 10 of the vacuum chamber 3, by means of which the vacuum chamber 3 is open to the environment 12, provided that the opening 10 is not closed by the body 8 during proper use of the suction cup element 1. In any case, the opening 10 of the suction cup element 1 is laterally delimited by a circumferential edge 14 of the base body 2.

[0098] The suction cup element 1 is characterized in particular by a ventilation access 16, which provides an additional opening (not numbered again) to the vacuum chamber 3; namely, independent of the opening 10 of the suction cup element 1, which can thus be regarded as the main opening (not numbered again) to the vacuum chamber 3.

[0099] The ventilation access 16 is as shown in Figure

[0100] 1 schematically as a breakthrough in the wall 4 of the base body

[0101] 2 in order to only indicate the position on the suction cup element 1.

[0102] The ventilation access 16 can be actively closed and / or opened, wherein the ventilation access 16 is closed when the suction cup element 1 develops or is intended to develop a suction effect against the body 8 (vacuum state).

[0103] The ventilation access 16, however, can be made permeable to air if the suction cup element 1 is to be advantageously detached from the body 8, or vice versa.

[0104] In this respect, in order to ventilate the vacuum chamber 3, the latter can be operatively connected to the environment 12 of the suction cup element 1 by means of the ventilation access 16, bypassing the opening 10.

[0105] In this embodiment, the ventilation access 16 is arranged centrally on the dome 5, but can also be arranged at a different location if this should be useful / necessary for a variant of the suction cup element 1. The suction cup element 1 can be made of natural rubber.

[0106] According to the illustration in Figure 2, a first possible use of the suction cup element 1 is shown, namely with regard to a device 20 for temporarily gripping the body 8 (see Figure 1) with at least one suction cup element 1.

[0107] The device 20 is used here, for example, on a manipulator 22 (shown only schematically), by means of which the body 8 in the form of components with a weight of several kilograms (kg), for example 20 kg, can be handled and positioned.

[0108] The device 20 has a holding part 24 for holding the at least one suction cup element 1.

[0109] In this exemplary embodiment, the holding part 24 is equipped with a continuous hollow bore 25 which embodies a centrally arranged ventilation channel 26 for ventilating the suction cup element 1 as required.

[0110] The holding part 24 can be made, for example, from a metal or a plastic or the like.

[0111] The suction cup element 1 can be fixed to the holding part 24 by means of a clamping device 27.

[0112] Advantageously, the device 20 comprises a release device 28 for facilitating the detachment of the at least one suction cup element 1 from the body 8, thereby allowing more precise operation of the device 20 overall. The release device 28 advantageously comprises an actively closable and / or openable ventilation device 30 for ventilating the vacuum chamber 3.

[0113] In the device 20 shown here as an example, the actively closable and / or openable ventilation device 30 comprises, in addition to the ventilation channel 26 and the ventilation access 16, an electrically controllable valve device 32 by means of which the ventilation channel 26 or the ventilation access 16 can be switched or activated.

[0114] In other words, this means that the ventilation channel 26 or the ventilation access 16 can be opened when the suction cup element 1 and a body adhering thereto are to be separated from each other.

[0115] In this exemplary embodiment, the electrically controllable valve device 32 is implemented by a 2 / 2-way valve (not separately numbered).

[0116] Advantageously, the electrically controllable valve device 32 is permanently closed when it is not supplied with current.

[0117] As a result, the device 20 only consumes electrical energy when the vacuum chamber 3 is ventilated by means of the actively closable and / or openable ventilation device 30.

[0118] To ventilate the vacuum chamber 3, often only a short ventilation time of a few seconds is required, which allows the activation time of the valve device 32 to be correspondingly short. Thus, the device 20 can be operated particularly energy-efficiently while simultaneously providing very precise positioning properties for a body 8.

[0119] In this respect, the use of the currentless sealing electrical valve device 32 for releasing the suction cup element 1 from a body surface 9 of a body 8 amortizes itself over the service life of the device 20.

[0120] The device 20 further comprises a housing part 34 which at least partially encloses the holding part 24, the valve device 32 and the suction cup element 1 and thus protects them from external influences.

[0121] The housing part 34 is designed such that the suction cup element 1 preferably does not come into contact with the housing part 34. For this purpose, the housing part 34 is supported by the holding part 24.

[0122] The housing part 34 can be made of metal or plastic.

[0123] By means of the construction proposed here, a method for pneumatically gripping a body 8 by means of an elastically deformable suction cup element 1 comprising a vacuum chamber 3 which is open on the body side can be implemented, in which method for gripping the suction cup element 1 is brought into operative contact with the body 8 in such a way that the vacuum chamber 3 seals off the body 8 and a vacuum is created in the vacuum chamber 3 by means of deformation of the suction cup element 1, so that the body 8 is gripped by the suction cup element 1 by means of the vacuum effect and in order to release the suction cup element 1 from the body 8, the vacuum chamber 3 is ventilated through an additional ventilation access 16. It is understood that the exemplary embodiment explained above is only a first embodiment of the invention. In this respect, the embodiment of the invention is not limited to this exemplary embodiment.

[0124] List of reference symbols

[0125] 1 suction cup element

[0126] 2 elastically deformable base body

[0127] 3 vacuum chamber

[0128] 4 wall

[0129] 5 Dome

[0130] 6 Adhesion side

[0131] 8 bodies

[0132] 9 Body surface

[0133] 10 Opening or main opening

[0134] 12 Surroundings

[0135] 14 edge

[0136] 16 Ventilation access

[0137] 20 Device for temporarily gripping a body

[0138] 22 Manipulator

[0139] 24 Holding part

[0140] 25 hollow bore

[0141] 26 Ventilation duct

[0142] 27 Clamping device

[0143] 28 Release device

[0144] 30 lockable and / or openable ventilation device

[0145] 32 electrically controlled valve devices

[0146] 34 Housing part

Claims

Patent claims 1. Suction cup element (1) for temporary attachment to a body surface (9) of a body (8), in particular a passively suction-adhering suction cup element (1), with an adhesive side (6) for adhering to the body surface (9), with a vacuum chamber (3) for generating a negative pressure with respect to the body (8) and with an elastically deformable base body (2) for forming the vacuum chamber (3), in which the vacuum chamber (3) has an opening (10) on the adhesive side (6) which is enclosed by an edge (14) of the elastically deformable base body (2), characterized in that the suction cup element (1) has a ventilation access (16) which opens into the vacuum chamber (3).

2. Suction cup element (1) according to claim 1, characterized in that the vacuum chamber (3) can be operatively connected to the environment (12) of the suction cup element (1) by means of the ventilation access (16) bypassing the opening (10) on the adhesive side (6).

3. Suction cup element (1) according to claim 1 or 2, characterized in that the ventilation access (16) is arranged at least partially in the elastically deformable base body (2).

4. Suction cup element (1) according to one of claims 1 to 3, characterized in that the ventilation access (16) can be actively closed and / or opened.

5. Suction cup element (1) according to one of claims 1 to 4, characterized in that the ventilation access (16) has actively operable closing and / or opening means, wherein the closing and / or opening means are arranged in particular in the elastically deformable base body (2).

6. Suction cup element (1) according to claim 5, characterized in that the closing and / or opening means are electrically actuated.

7. Device (20) for temporarily gripping a body (8) with at least one suction cup element (1) and with a holding part (24) for holding the at least one suction cup element (1) relative to the body (8), in which the at least one suction cup element (1) forms a vacuum chamber (3), characterized by a release device (28) for detaching the at least one suction cup element (1) from a body (8), wherein the release device (28) has an actively closable and / or openable ventilation device (30) for ventilating the vacuum chamber (3).

8. Device (20) according to claim 7, characterized in that the aeration device (30) has an aeration time of 10 s or less, preferably 5 s or less and particularly preferably 2 s or less, and / or the aeration device (30) has an aeration time of 0.2 s or more, preferably 0.5 s or more and particularly preferably 0.7 s or more.

9. Device (20) according to claim 7 or 8, characterized in that the ventilation device (30) has a valve device (32), in particular a 2 / 2-way valve.

10. Device (20) according to claim 9, characterized in that a single valve device (32) is fluidically operatively connected to a respective vacuum chamber (3) of more than one suction cup element (1).

11. Device (20) according to claims 7 to 10, characterized in that the ventilation device (30) has a ventilation channel (26), wherein in particular the holding part (24) comprises the ventilation channel (26).

12. Device (20) according to one of claims 7 to 11, characterized in that the ventilation channel (26) comprises a ventilation access (16) on the suction cup element (1).

13. Device (20) according to one of claims 7 to 12, characterized in that the device (20) has at least one Suction cup element (1) according to one of claims 1 to 6.

14. Manipulator (22) for handling components at a processing station for manufacturing products, characterized in that the manipulator (22) has at least one suction cup element (1) according to one of claims 1 to 6 and / or a device (20) according to one of claims 7 to 13.

15. Method for pneumatically gripping a body (8) by means of an elastically deformable suction cup element (1) comprising a vacuum chamber (3) open on the body side, in which for gripping the suction cup element (1) is brought into operative contact with the body (8) in such a way that the vacuum chamber (3) seals off the body (8) and a vacuum is created in the vacuum chamber (3) by means of deformation of the suction cup element (1), so that the body (8) is gripped by the suction cup element (1) by means of a vacuum effect, characterized in that in order to release the suction cup element (1) and the body (8) from one another, the vacuum chamber (3) is ventilated through an additional ventilation access (16).

16. Method according to claim 15, characterized in that the vacuum chamber (3) is ventilated while the suction cup element (1) is arranged sealingly on the body (8).

17. The method according to claim 15 or 16, characterized in that the ventilation access (16) is activated for 10 s or less, preferably 5 s or less and particularly preferably 2 s or less.

18. Method according to one of claims 15 to 17, characterized in that the ventilation access (16) is activated for 0.2 s or more, preferably 0.5 s or more and particularly preferably 0.7 s or more.

19. Method according to one of claims 15 to 18, characterized in that the ventilation access (16) is activated by means of an electrical valve device (30), in particular a multi-way valve (32).

20. Use of a currentlessly sealing electrical valve device (30), in particular a multi-way valve, for releasing a suction cup element (1) from a body surface (9) of a body (8).

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