EP3265413B1 - Handling device and method for picking up flat articles - Google Patents
Handling device and method for picking up flat articles Download PDFInfo
- Publication number
- EP3265413B1 EP3265413B1 EP16705922.9A EP16705922A EP3265413B1 EP 3265413 B1 EP3265413 B1 EP 3265413B1 EP 16705922 A EP16705922 A EP 16705922A EP 3265413 B1 EP3265413 B1 EP 3265413B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- flange section
- central flange
- handling device
- negative pressure
- cantilever arms
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/08—Separating articles from piles using pneumatic force
- B65H3/0808—Suction grippers
- B65H3/0891—Generating or controlling the depression
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/08—Separating articles from piles using pneumatic force
- B65H3/0808—Suction grippers
- B65H3/0883—Construction of suction grippers or their holding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/08—Separating articles from piles using pneumatic force
- B65H3/14—Air blasts producing partial vacuum
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
- F04F5/00—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow
- F04F5/14—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid
- F04F5/16—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid displacing elastic fluids
- F04F5/20—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid displacing elastic fluids for evacuating
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
- F04F5/00—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow
- F04F5/44—Component parts, details, or accessories not provided for in, or of interest apart from, groups F04F5/02 - F04F5/42
- F04F5/46—Arrangements of nozzles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
- F04F5/00—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow
- F04F5/44—Component parts, details, or accessories not provided for in, or of interest apart from, groups F04F5/02 - F04F5/42
- F04F5/46—Arrangements of nozzles
- F04F5/466—Arrangements of nozzles with a plurality of nozzles arranged in parallel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2406/00—Means using fluid
- B65H2406/30—Suction means
- B65H2406/36—Means for producing, distributing or controlling suction
- B65H2406/366—Means for producing, distributing or controlling suction producing vacuum
- B65H2406/3661—Injectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2406/00—Means using fluid
- B65H2406/40—Fluid power drive; Fluid supply elements
- B65H2406/42—Distribution circuits
Definitions
- the present invention relates to a handling device for receiving flat objects.
- intermediate layers which can be made of cardboard or corrugated cardboard, for example.
- Articles of an upper level can therefore stand on an intermediate layer which rests on an adjacent lower level of articles.
- the intermediate layers provide a stable contact surface for the respective articles. Pallets with such intermediate layers have a very high stability. A high stability of pallets is desired in order to be able to transport them safely without tilting the pallet or without articles slipping.
- the EP 2 476 637 A2 such a device.
- the device described in the EP patent application has controllable suction grippers which are fixed to elastically deformable cantilever arms.
- the elastically deformable cantilever arms are mounted on a bridge.
- a hose connection is assigned to each of the suction grippers, via which a negative pressure can be transmitted to the respective suction grippers in order to temporarily fix an intermediate layer on the suction gripper. If the intermediate layer has been placed on the pallet, the negative pressure can be released so that another intermediate layer can be received by the device.
- a device for lifting and pulling off individual sheets from a stack of sheets is also known.
- the device comprises a suction nozzle, by means of which flat material can be grasped by negative pressure.
- the DE patent application also provides a valve which is arranged on a bracket. The bracket can be swiveled in order to create and release a negative pressure via the suction nozzles.
- the invention relates to a handling device for receiving flat objects.
- the flat objects can be formed by intermediate layers and consist of cardboard or corrugated cardboard.
- a handling device according to the invention or various embodiments of a handling device according to the invention can, if necessary, separate intermediate layers from a stack and place them on the respective pallet. It can also be the case that the handling device is already provided with individual intermediate layers, the handling device picking up the individual intermediate layer and depositing it in a defined manner on a respective pallet.
- the handling device comprises several extension arms, each with at least one suction head for grasping the flat object.
- at least two suction heads can be assigned to each of the extension arms. It is conceivable, for example, that the handling device has two extension arms. In practice, however, embodiments have proven successful in which the handling device has at least three and in particular four or at least four extension arms, each of which is assigned at least one suction head for grasping the flat object or the intermediate layer via negative pressure.
- the handling device also comprises a central flange section, from which the multiple extension arms extend in different directions and which provides a supporting function for the multiple extension arms.
- the plurality of cantilever arms can be designed to be at least largely rigid and thus each protrude laterally from the central flange section.
- the Cantilever arms can be formed from plastic and in particular from carbon fiber-reinforced plastic.
- the central flange section can be produced, for example, by sintering.
- the central flange section can preferably be formed from plastic and, according to the invention, is produced using a three-dimensional printing process, with which the central flange section is formed in one piece.
- Such three-dimensional printing processes are characterized by a fast production of the respective component as well as by low costs and can therefore be used for producing various components of the handling device according to the invention or, if necessary, for producing the entire handling device.
- the multiple extension arms can thus also be produced by a three-dimensional printing process.
- the multiple cantilever arms and the central flange section are designed as a one-piece component and are produced by means of a three-dimensional printing process.
- the at least one suction head can be produced by means of a three-dimensional printing process.
- the at least one suction head and the respective extension arm can be produced by means of two-component printing.
- embodiments are conceivable in which components or the entire handling device are manufactured by injection molding.
- the central flange section also has a line system which is fluidically connected to the suction heads in order to transfer a negative pressure to the suction heads of the plurality of cantilever arms. Since the central flange section is designed as a supporting component of the handling device, the construction of the handling device can be kept very compact.
- the central flange section can form a housing which completely accommodates the line system.
- the one or more extension arms can be held by the central flange section by means of a form fit and / or force fit.
- the plurality of extension arms are connected to the central flange section via a press fit and / or are held on the central flange section via a respective adhesive connection.
- the central flange section can provide a respective anti-rotation device for the one or more extension arms.
- the respective anti-rotation device can be formed, for example, by a respective form-fitting receptacle of the one or more extension arms on the central flange section.
- a suspension designed as a support column is coupled to the central flange section.
- the support column can be rigidly connected to the central flange section and, if necessary, can be produced by means of a three-dimensional printing process. If the handling device is moved after receiving an intermediate layer, the suspension or support column can carry the mass of the flange section and the multiple extension arms.
- the multiple extension arms each themselves form a hollow shaft, via which the line system is fluidically connected to the at least one suction head of the respective extension arm for the transmission of the negative pressure.
- the one or more cantilever arms can thus be designed as a hollow tube.
- the suction heads can be arranged at corresponding outlets of the hollow tube, which are inserted or positioned in the hollow tube perpendicular to the longitudinal extension of the hollow tube, to which a negative pressure is transmitted to receive the flat object via the outlets of the hollow tube.
- the hollow tube can be closed at a free distal end or end facing away from the central flange section.
- hose connections that are directly coupled to the suction heads can be completely dispensed with.
- Such embodiments therefore have an additionally simplified structure and are easy to manufacture.
- one or more cantilever arms each form at least one area in the respective hollow shaft, within which an opening cross-section is reduced or within which an opening cross-section is designed to be reduced compared to further areas.
- one or more cantilever arms can have a throttle.
- the respective throttle can be designed, for example, as a sheet metal or aluminum sheet with an opening. It is also conceivable that the respective throttle is produced together with the respective extension arm in a three-dimensional printing process. If a suction head loses its contact with the respective intermediate layer, maintenance of the negative pressure on further suction heads can be ensured by means of the throttle or by means of the reduction in cross section.
- the longitudinal axes of at least two extension arms enclose an acute angle with one another.
- the handling device can have four extension arms, two extension arms each enclosing an acute angle.
- the invention is not to such Embodiments with four extension arms are limited, so that if necessary three extension arms or more than four extension arms can be provided, each of which is assigned at least one suction head.
- the plurality of cantilever arms can be arranged hanging and pointing in the downward direction and / or rising and pointing in the upward direction on the central flange section.
- the multiple extension arms can yield resiliently in the described arrangement.
- the suction heads each comprise at least one flexible suction bag or suction bellows and / or suction cup, the longitudinal extensions of at least two suction bags being designed differently. Due to the resilient resilience, which can be optimized in particular with a hanging or rising arrangement of the multiple cantilever arms, all of the suction heads can be placed on the respective intermediate layer or on the respective flat object without problems, even with different longitudinal extensions.
- first suction bags which are located further away from the central flange section, compared to second suction bags, which are located closer to the central flange section than the first suction bags, move a lesser amount in the downward direction or in the Z direction protrude from the handling device.
- the first suction bags themselves can have a smaller longitudinal extension than the second suction bags.
- an intermediate piece is assigned to the second suction bags and their respective extension arm in order to increase the distance or the extension of the second suction bags in the downward direction away from the handling device.
- an air wedge can be formed between the intermediate layer, which is received by the handling device, and the intermediate layer stack. The intermediate layer is unrolled on its directly adjacent intermediate layer when it is picked up. Electrostatic adhesion and / or mechanical interlocking of the intermediate layer on adjacent intermediate layers can be eliminated, so that in such embodiments, intermediate layers can be separated from a respective stack without problems.
- the handling device can also have at least one touch sensor, by means of which touch sensor an impending surface contact of the Suction heads for the intermediate layer can be recognized.
- the touch sensor can be designed as a touch rod and protrude in the vertical direction downward from the central flange section of the handling device.
- the touch sensor which may be designed as a feeler rod, can be positioned approximately in the middle between the multiple cantilever arms.
- the direction of longitudinal extent of the probe rod can be aligned with a direction of longitudinal extent of the support column or run parallel to a direction of longitudinal extent of the support column. It is also conceivable that the handling device has two or more than two touch sensors. If the intermediate layers, which are picked up by the handling device, are designed as half-layers which together provide a level of a pallet, a separate touch sensor or feeler rod can be provided for each of the half-layers.
- the touch sensor or touch rod can be connected to a control device.
- the control device can bring about a build-up or transfer of negative pressure in the line system of the central flange section during and / or after contact of the probe rod with a flat object or with an intermediate layer.
- the invention also provides that the central flange section has a connection opening into the line system, with a negative pressure being able to be transmitted jointly to the suction heads of the plurality of cantilever arms via the one connection under operative connection with the line system.
- a compressed air generating device is coupled to the one connection opening into the line system.
- the handling device can provide a thread in the area of the connection. Since the central flange section can be produced in a three-dimensional printing process, there is the possibility of designing the thread as an integral part of the central flange section.
- An overpressure introduced into the line system via the connection can build up a negative pressure due to a Venturi effect formed in the line system, which is transmitted from the line system to the suction heads.
- the overpressure can be between 3 and 5 bar.
- the line system can have corresponding cross-sectional constrictions in the area of one or more branches.
- the line system can comprise one or more Venturi nozzles or one or more ejectors.
- each of the multiple extension arms and / or each suction head is assigned its own Venturi nozzle or its own ejector, which creates a negative pressure for the respective extension arm or for builds up the respective suction head. If a negative pressure cannot be generated via a venturi nozzle or an ejector due to a malfunction, no negative pressure may be transmitted to the respective suction head.
- each boom or suction head is assigned its own Venturi nozzle or its own ejector
- the further boom arms or the further suction heads can, however, be supplied with negative pressure, so that the respective intermediate layer can still be picked up via the handling device.
- a common Venturi nozzle or a common ejector is assigned to several extension arms and here supplies the several extension arms and the suction heads of the several extension arms with negative pressure.
- the line system is fluidically connected to one or more sound absorbers in order to reduce a noise level when a negative pressure is transmitted to the suction heads.
- the one or more mufflers can be designed as a one-piece component of the central flange section and, if necessary, can be designed together with the central flange section in a three-dimensional printing process.
- the central flange section can form a housing within which the one or more silencers are located.
- the housing can completely accommodate the one or more mufflers.
- the silencers can comprise sound-absorbing materials such as wool or the like to absorb a noise level.
- the central flange section has one or more openings through which compressed air can exit.
- the one or more mufflers can be arranged in the area of the one or more openings.
- the central flange section has a thread in the area of the respective openings, by means of which thread a silencer can be screwed onto the central flange section in order to reduce a corresponding sound level when compressed air is applied.
- one or more silencers can be held removably on the central flange section.
- the connection between the respective muffler and the central flange section can, for example, be via a force fit and / or form fit and / or material fit, and in this case in particular by means of gluing or bonding. Fusion between the respective muffler and a housing of the central flange section take place.
- the central flange section can also have a thread which corresponds to a mating thread of a muffler.
- the line system for generating the negative pressure by means of the Venturi effect has one or more branches with a respective cross-sectional constriction.
- a branch of the branch in which the negative pressure is built up can lead the negative pressure in the direction of one or more outlets of the central flange section.
- the central flange section has one or more inlets via which compressed air can be introduced into the line system to remove the negative pressure at the suction heads.
- a pressure generating device or a compressor can be coupled to the inputs.
- the central flange section can form a thread in the area of a respective inlet.
- a method for receiving flat objects is also disclosed.
- Features that were previously described for various embodiments of the handling device can also be present in conceivable embodiments of the method described below.
- features which are described below for various embodiments of the method can be present in conceivable embodiments of the device according to the invention.
- the method is provided for picking up flat objects via a handling device which has several extension arms each with at least one suction head and a central flange section with a line system.
- the line system is fluidically connected to the suction heads.
- the plurality of extension arms extend in different directions away from the central flange portion, the central flange portion carrying the extension arms.
- a negative pressure is introduced into the line system or built up in the line system.
- An introduction of negative pressure into the line system can be brought about by coupling the central flange section or the line system to a negative pressure generating device.
- a negative pressure in the line system is built up from an overpressure and by means of the Venturi effect.
- the overpressure can be introduced into the line system through a corresponding connection.
- a negative pressure can be built up by means of the Venturi effect, which is transmitted to the suction heads to detect the respective flat object.
- the negative pressure is transmitted from the line system to the suction heads, so that as a result the respective flat object is fixed on the suction heads of the handling device.
- the compressed air can be fed to one or more silencers to reduce a noise level.
- the compressed air can pass through the muffler and then emerge from the central flange section or from a housing of the central flange section.
- one or more openings can be made in the housing of the central flange section, which are arranged downstream of the one or more silencers in the direction of flow of the excess pressure and are connected to the line system.
- the negative pressure can be transmitted at least approximately synchronously from the line system to the suction heads.
- Suction heads of several cantilever arms can be fluidically connected to one another via the line system. Via the fluidic connection between the suction heads, it is possible to transfer an overpressure introduced into the line system or an overpressure built up in the line system to the suction heads at the same time.
- the multiple cantilever arms themselves form a hollow shaft, via which the negative pressure is transmitted from the line system to the suction heads.
- the multiple extension arms which may be designed as hollow tubes, can connect to the line system of the central flange section and apply negative pressure to the suction heads.
- Figure 1 shows a schematic perspective view of an embodiment of a handling device 1 according to the invention.
- the handling device 1 is provided for receiving intermediate layers, which are not shown in the figures of the present patent application and, if necessary, can have two broad side surfaces on opposite sides, which have an essentially rectangular geometry.
- the handling device 1 comprises a central flange section 4 and a plurality of extension arms 3, which are designed as essentially rigid hollow tubes 5 and are carried by the central flange section 4.
- the cantilever arms 3 or hollow tubes 5 are each held on the central flange section 4 by means of an adhesive connection.
- Two suction heads 6 are arranged on each of the four cantilever arms 3.
- the suction heads 6 are carried by their respective extension arm 3 or are fixed in a hanging manner on their respective extension arm 3.
- the central flange section 4 can be produced by means of a three-dimensional printing process and can thus be formed in one piece.
- the cantilever arms 3 can be produced together with the central flange section 4 in a three-dimensional printing process and can thus be formed in one piece. It is also conceivable that the suction heads 6, the cantilever arms 3 and the central flange section 4 are produced in a three-dimensional printing process and possibly by means of a two-component printing.
- the longitudinal axes of two cantilever arms 3 or hollow tubes 5 each enclose an acute angle ⁇ with one another.
- the central flange section 4 has a connection 12 via which the handling device 1 or the central flange section 4 is connected to a device for generating pressure.
- the central flange section 4 can be pressurized via the connection 12, for example with 3 to 5 bar.
- the central flange section 4 has a line system 15 (cf. Figure 5 ), via which the central flange section 4 generates a negative pressure from the application of pressure by means of the Venturi effect. Since the extension arms 3 are designed as hollow tubes 5, the negative pressure can be passed on from the line system 15 via the extension arms 3 to the suction heads 6, which thereby absorb the respective intermediate layer by negative pressure.
- the shaft, which the hollow tubes 5 provide for transferring the negative pressure to the suction heads 6, is in this case aligned with the longitudinal axis of the respective extension arm 3.
- Figure 1 also shows two inlets 11 which open into the line system 15.
- a device for applying pressure or for generating an overpressure in the line system 15 is also connected to the inlets 11.
- the overpressure introduced into the line system 15 via the inlets 11 can be transmitted to the suction heads 6 via the cantilever arms 3 or hollow tubes 5, in order to remove a fixation of intermediate layers formed by underpressure.
- a suspension 7 or support column 9 is rigidly coupled to the central flange section 4.
- the suspension 7 or support column 9 can be connected to an actuator to move the handling device 1 after detecting an intermediate layer in the direction of a pallet and, if necessary, after placing an intermediate layer on the respective pallet, to guide it back in the direction of another intermediate layer.
- the suspension 7 or support column 9 carries the mass of the central flange section 4, the cantilever arms 3 and the suction heads 6 arranged on the cantilever arms 3 and possibly the respective intermediate layer fixed to the suction heads 6.
- the handling device 1 can be manufactured inexpensively.
- a line system 15 (cf. Figure 5 ) in the central flange section 4 and the transfer of the negative pressure via the cantilever arms 3 designed as hollow tubes 5 to the suction heads 6, hose connections for the direct transfer of the negative pressure to the suction heads 6 can be dispensed with.
- the handling device 1 is made compact, with additional costs for manufacturing the handling device 1 being reduced.
- FIG. 11 shows a schematic top view of the embodiment of a handling device 1 from FIG Figure 1 .
- the inlets 11 are introduced into the central flange section 4 on an upper side and can optionally be printed together with the central flange section 4.
- the number and positioning of the inlets 11 are to be understood here as examples.
- Figure 3 shows a schematic side view of the embodiment of a handling device 1 from Figures 1 and 2 .
- the cantilever arms 3 or hollow tubes 5 point in the direction of a floor surface or in the downward direction.
- An angle which the cantilever arms 3 or hollow tubes 5 enclose with a horizontal can in each case be between 0 ° and 45 °.
- the cantilever arms 3 or a respective hollow shaft of the cantilever arms 3 is assigned a throttle that is not shown in the figures. If a suction head 6 of the handling device 1 loses its contact with the intermediate layer, the negative pressure on the other suction heads 6 can thereby be maintained.
- Figure 3 also shows a feeler rod 18 of the handling device 1, which comes into contact with the respective intermediate layer before the suction heads 6 and informs a control device not shown in the figures about the contact. Following this, the control device can transmit a negative pressure or the build-up of a negative pressure in the line system 15 (cf. Figure 5 ) cause, whereby the suction heads 6 can accommodate the respective intermediate layer.
- FIG Figure 4 shows a schematic perspective view of a central flange section 4 of the embodiment of a handling device 1 according to FIG Figures 1 to 3 .
- the central flange section 4 has its own outlet 17 for each of the cantilever arms 3 or hollow tubes 5, of which in FIG Figure 4 two outputs 17 can be seen.
- the negative pressure is passed on to the cantilever arms 3 via the outlets 17 and transferred to the individual suction heads 6 via the cantilever arms 3.
- the inlets 11 have a thread via which the compressed air generating device or the compressor can be coupled to the central flange section 4.
- the underpressure which may have formed between the suction heads 6 and the respective intermediate layer can be eliminated.
- the inputs 11 thus lead directly into the line system 15 (cf. Figure 5 ) of the central flange section 4.
- Sound absorbers 19 of the central flange section 4 can also be seen, the function of which will be described below.
- the sound absorbers 19 can be produced as an integral part of the central flange section 4 together with the central flange section 4 by means of a three-dimensional printing process and are located in the area of a respective opening 33 of the central flange section 4 the openings 33 of the central flange section 4 escape. Via the line system 15 (cf. Figure 5 ) a fluidic connection is thus established between the connection 12 and the openings 33.
- FIG. 4 shows a schematic sectional illustration of the central flange section 4 from the exemplary embodiment of FIG Figures 1 to 4 .
- the line system 15 of the central flange section 4 can be clearly seen.
- the line system 15 is acted upon with compressed air via the connection 12.
- Part of the line system 15 are two Venturi nozzles 25, by means of which a negative pressure can be built up from the overpressure introduced into the line system 15 via the connection 12.
- several branches 16 of the line system 15 can be seen, each of which is assigned an output 17.
- the negative pressure built up by the Venturi nozzles 25 is passed on to the suction heads 6 via the branches 16 and their outlets 17 in order to fix a flat object or an intermediate layer on the handling device 1.
- the line system 15 or the Venturi nozzles 25, the branches 16 and the outlets 17 can be produced as an integral part of the central flange section 4 in a three-dimensional printing process.
- connection 12 has a thread in order to couple a compressed air generating device or a compressor not shown in the figures to the central flange section 4.
- the thread of the connection 12 can also be printed together with all other components of the central flange section 4.
- the Venturi nozzles 25 are each followed by a connection 21, which connects the compressed air to a respective silencer 19.
- one or more mufflers 19 have proven to be useful in order to keep a sound level low when the line system 15 is pressurized with compressed air.
- the connections 21 and the silencers 19 can also be an integral part of the central flange section 4 are produced in a three-dimensional printing process.
- the silencers 19 can be designed as absorption silencers or as reflection silencers.
- FIG. 6 shows a schematic perspective view of a further embodiment of a handling device 1 according to the invention.
- the embodiment Figure 6 Just like the embodiment from FIG Figures 1 to 3 owns the embodiment Figure 6 four extension arms 3 each with two suction heads 6.
- the suction heads 6 are still held on a central flange section 4.
- the central flange section 4 has entrances 11 in order to cancel a fixation formed by negative pressure between the drinking heads 6 and an intermediate layer (not shown). Compressed air is introduced into the central flange section 4 via the connection 12.
- the extension arms 3 are formed by essentially rigid hollow tubes 5 and each point away from the central flange section 4.
- the mass of the central flange section 4, the cantilever arms 3 or hollow tubes 5, the suction heads 6 and possibly the intermediate layer adhering to the suction heads 6 by means of negative pressure is supported by the suspension 7 designed as a support column 9.
- a rotationally fixed coupling is provided between the support column 9 and the central flange section 4.
- Individual components of the handling device 1 or the entire handling device 1 can also be used in the exemplary embodiment of FIG Figure 6 can be produced by means of a three-dimensional printing process.
- the central flange section 4 consists of Figure 6 is formed by sintering. Since the central flange portion 4 according to the embodiment from Figure 6 has a line system 15 (cf. Figure 8 ), direct hose connections for transferring a negative pressure to the suction heads 6 can be dispensed with.
- FIG. 14 shows a schematic perspective view of the central flange section 4 of the embodiment from FIG Figure 6 .
- the central flange section 4 from Figure 7 has its own output 17 for each of the cantilever arms 3 or hollow tubes 5, of which in Figure 7 two outputs 17 can be seen.
- the negative pressure is passed on to the cantilever arms 3 via the outlets 17 and transferred to the individual suction heads 6 via the cantilever arms 3.
- the central flange section 4 has openings 33 through which compressed air emerges from the central flange section 4.
- a thread 27 is assigned to each opening 33.
- a respective silencer can be screwed onto the central flange section 4 via the thread 27 in order to reduce a noise level of the via the Connection 12 to reduce compressed air introduced into the central flange section 4.
- the line system 15 (cf. Figure 8 ) sets the connection 12 and the openings 33 fluidically in connection.
- the corresponding silencers which can be fastened to the central flange section 4 by means of the thread 27, are not shown in the figures of the present patent application.
- the threads 27 and the openings 33 can be produced together with the central flange section in a three-dimensional printing process.
- FIG. 11 shows a schematic sectional illustration through the central flange section 4 from FIG Figure 7 .
- a vacuum generating device 30, which is designed as a component of the line system 15, can be seen.
- a vacuum can be built up in the line system 15 by means of the Venturi effect, which is transmitted to the suction heads 6 via the outputs 17.
- compressed air is introduced into the line system 15 via the connection 12, which air passes through the negative pressure generating device 30 and emerges from the central flange section 4 via the openings 33.
- Each opening 33 has its own thread 27, via which a respective silencer can be screwed onto the central flange section 4.
- the vacuum generating device 30 can be subject to wear, particularly at a high clock frequency.
- the negative pressure generating device 30 of the exemplary embodiment comprises a central flange section 4 Figure 8 is therefore designed to be exchangeable or as a detachable component of the central flange section 4. If the vacuum generating device 30 is subject to wear, it can be removed from the central flange section 4 via the respective opening 33 and / or the outlet 17. A further negative pressure generating device 30 can subsequently be pushed or inserted into the central flange section 4 via the opening 33 or via the outlet 17.
- Figure 9 shows a sectional view through a further central flange section 4, as it can be provided for various embodiments of a handling device 1 according to the invention.
- the central flange section 4 according to Figure 9 can be produced in a three-dimensional printing process or produced by sintering.
- the central flange portion 4 of the embodiment has Figure 9 a connection 12, four outputs 17, via which a negative pressure can be passed on to the suction heads 6, and a Line system 15.
- two openings 33 which are fluidically connected to the line system 15 and via which compressed air can be fed out of the central flange section 4.
- a thread 27 is assigned to each opening 33 in order to fix a respective silencer on the central flange section 4.
- the vacuum generating device 30 is firmly connected to the central flange section 4 and is produced together with the central flange section 4 in a three-dimensional printing process or by means of sintering. Venturi nozzles 25 can be seen as part of the negative pressure generating devices 30 in order to generate a negative pressure in each case from an overpressure introduced into the line system 15 through the connection 12.
- the vacuum generating devices 30 or the Venturi nozzles 25 are designed as a non-detachable component of the central flange section 4.
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Description
Die vorliegende Erfindung betrifft eine Handhabungsvorrichtung zur Aufnahme flächiger Gegenstände.The present invention relates to a handling device for receiving flat objects.
Bei der Verpackung von Artikeln, wie Getränkebehälter oder dergleichen, werden diese häufig auf einer Palette platziert. Über Zwischenlagen, welche beispielsweise durch Karton oder Wellpappe ausgebildet sein können, sind die einzelnen Ebenen der Palette voneinander getrennt. Artikel einer oberen Ebene können daher auf einer Zwischenlage aufstehen, welche auf einer benachbarten unteren Ebene von Artikeln aufliegt. Durch die Zwischenlagen wird eine stabile Aufstandsfläche für die jeweiligen Artikel bereitgestellt. Paletten mit derartigen Zwischenlagen besitzen eine sehr hohe Stabilität. Eine hohe Stabilität von Paletten ist gewünscht, um diese ohne Kippen der Palette bzw. ohne eines Verrutschens von Artikeln sicher transportieren zu können.When packaging articles such as beverage containers or the like, these are often placed on a pallet. The individual levels of the pallet are separated from one another by intermediate layers, which can be made of cardboard or corrugated cardboard, for example. Articles of an upper level can therefore stand on an intermediate layer which rests on an adjacent lower level of articles. The intermediate layers provide a stable contact surface for the respective articles. Pallets with such intermediate layers have a very high stability. A high stability of pallets is desired in order to be able to transport them safely without tilting the pallet or without articles slipping.
Aus der Praxis sind bereits Vorrichtungen bekannt, welche eine jeweilige Zwischenlage von einem Stapel abtrennen bzw. eine jeweilige Zwischenlage entgegennehmen und sodann auf der Palette ablegen. Beispielsweise offenbart die
Aus der
In der Praxis kann nicht immer vollständig ausgeschlossen werden, dass es zu Beschädigungen der Schlauchverbindungen kommt, da diese von der jeweiligen Druck- bzw. Unterdruckerzeugungseinrichtung bis zum jeweiligen Sauggreifer geführt werden müssen. Vorrichtungen mit derartigen umfangreichen Schlauchverbindungen besitzen aus diesem Grunde auch einen zumindest teilweise komplexen Aufbau. Auch kann nicht immer gewährleistet werden, dass die einzelnen Sauggreifer synchron angesteuert werden. Wünschenswert wären Vorrichtungen zur Erfassung von Zwischenlagen via Unterdruck, welche sich durch einen einfacheren und komprimierten Aufbau auszeichnen und mittels welcher Zwischenlagen sicher und problemlos erfasst werden können. Zudem wären derartige Vorrichtungen und Verfahren wünschenswert, welche einfach und kostengünstig hergestellt bzw. einfach und kostengünstig umgesetzt werden können.In practice, it cannot always be completely ruled out that the hose connections will be damaged, since they have to be guided from the respective pressure or negative pressure generating device to the respective suction gripper. For this reason, devices with such extensive hose connections also have an at least partially complex structure. Also, it cannot always be guaranteed that the individual suction grippers are controlled synchronously. Devices for detecting intermediate layers via negative pressure, which are characterized by a simpler and more compressed structure, would be desirable and by means of which intermediate layers can be recorded safely and easily. In addition, such devices and methods would be desirable, which can be produced simply and inexpensively or implemented simply and inexpensively.
Eine Aufgabe der Erfindung kann aus diesem Grunde darin gesehen werden, eine entsprechende Vorrichtung zur Verfügung zu stellen, welche zumindest einige dieser Nachteile nicht besitzt.For this reason, an object of the invention can be seen in providing a corresponding device which does not have at least some of these disadvantages.
Die obige Aufgabe wird durch eine Vorrichtung gelöst, welche die Merkmale des Anspruchs 1 umfasst. Weitere vorteilhafte Ausgestaltungen werden durch die abhängigen Ansprüche beschrieben.The above object is achieved by a device which comprises the features of
Die Erfindung betrifft eine Handhabungsvorrichtung zur Aufnahme flächiger Gegenstände. Die flächigen Gegenstände können durch Zwischenlagen ausgebildet sein und hierbei aus Karton bzw. Wellpappe bestehen. Eine erfindungsgemäße Handhabungsvorrichtung bzw. diverse Ausführungsformen einer erfindungsgemäßen Handhabungsvorrichtung können ggf. Zwischenlagen von einem Stapel trennen und auf der jeweiligen Palette platzieren. Auch kann es sein, dass der Handhabungsvorrichtung bereits vereinzelte Zwischenlagen bereitgestellt werden, wobei die Handhabungsvorrichtung die einzelne Zwischenlage aufnimmt und definiert auf einer jeweilige Palette absetzt.The invention relates to a handling device for receiving flat objects. The flat objects can be formed by intermediate layers and consist of cardboard or corrugated cardboard. A handling device according to the invention or various embodiments of a handling device according to the invention can, if necessary, separate intermediate layers from a stack and place them on the respective pallet. It can also be the case that the handling device is already provided with individual intermediate layers, the handling device picking up the individual intermediate layer and depositing it in a defined manner on a respective pallet.
Die Handhabungsvorrichtung umfasst mehrere Auslegerarme mit jeweils mindestens einem Saugkopf zum Erfassen des flächigen Gegenstandes. In besonders bevorzugten Ausführungsformen können jedem der Auslegerarme wenigstens zwei Saugköpfe zugeordnet sein. Denkbar ist beispielsweise, dass die Handhabungsvorrichtung zwei Auslegerarme besitzt. In der Praxis haben sich jedoch Ausführungsformen bewährt, bei welchen die Handhabungsvorrichtung wenigstens drei und insbesondere vier bzw. wenigstens vier Auslegerarme besitzt, denen jeweils mindestens ein Saugkopf zum Erfassen des flächigen Gegenstandes bzw. der Zwischenlage via Unterdruck zugeordnet ist.The handling device comprises several extension arms, each with at least one suction head for grasping the flat object. In particularly preferred embodiments, at least two suction heads can be assigned to each of the extension arms. It is conceivable, for example, that the handling device has two extension arms. In practice, however, embodiments have proven successful in which the handling device has at least three and in particular four or at least four extension arms, each of which is assigned at least one suction head for grasping the flat object or the intermediate layer via negative pressure.
Die Handhabungsvorrichtung umfasst zudem einen zentralen Flanschabschnitt, von welchem ausgehend sich die mehreren Auslegerarme in unterschiedliche Richtungen weg erstrecken und welcher eine tragende Funktion für die mehreren Auslegerarme bereitstellt. Die mehreren Auslegerarme können zumindest weitgehend biegesteif ausgebildet sein und somit jeweils seitlich vom zentralen Flanschabschnitt abstehen. Die Auslegerarme können durch Kunststoff und insbesondere durch carbonfaserverstärkten Kunststoff ausgebildet sein.The handling device also comprises a central flange section, from which the multiple extension arms extend in different directions and which provides a supporting function for the multiple extension arms. The plurality of cantilever arms can be designed to be at least largely rigid and thus each protrude laterally from the central flange section. the Cantilever arms can be formed from plastic and in particular from carbon fiber-reinforced plastic.
Der zentrale Flanschabschnitt kann beispielsweise durch Sintern hergestellt sein. Bevorzugt kann der zentrale Flanschabschnitt aus Kunststoff gebildet sein und ist erfindungsgemäß im dreidimensionalen Druckverfahren hergestellt, womit der zentrale Flanschabschnitt einstückig ausgebildet ist. Derartige dreidimensionale Druckverfahren zeichnen sich durch eine schnelle Herstellung des jeweiligen Bauteils sowie durch geringe Kosten aus und können daher zur Herstellung diverser Bestandteile der erfindungsgemäßen Handhabungsvorrichtung oder ggf. zur Herstellung der gesamten Handhabungsvorrichtung Verwendung finden. Auch die mehreren Auslegerarme können somit durch ein dreidimensionales Druckverfahren hergestellt sein. Denkbar ist hierbei für diverse Ausführungsformen auch, dass die mehreren Auslegerarme und der zentrale Flanschabschnitt als einstückiges Bauteil ausgebildet und mittels eines dreidimensionalen Druckverfahrens hergestellt sind. Weiter kann der mindestens eine Saugkopf mittels eines dreidimensionalen Druckverfahrens hergestellt werden. Der mindestens eine Saugkopf und der jeweilige Auslegerarm können mittels eines Zweikomponentendrucks hergestellt werden. Darüber hinaus sind Ausführungsformen denkbar, bei welchen Komponenten oder die gesamte Handhabungsvorrichtung im Spritzgussverfahren hergestellt sind.The central flange section can be produced, for example, by sintering. The central flange section can preferably be formed from plastic and, according to the invention, is produced using a three-dimensional printing process, with which the central flange section is formed in one piece. Such three-dimensional printing processes are characterized by a fast production of the respective component as well as by low costs and can therefore be used for producing various components of the handling device according to the invention or, if necessary, for producing the entire handling device. The multiple extension arms can thus also be produced by a three-dimensional printing process. For various embodiments, it is also conceivable that the multiple cantilever arms and the central flange section are designed as a one-piece component and are produced by means of a three-dimensional printing process. Furthermore, the at least one suction head can be produced by means of a three-dimensional printing process. The at least one suction head and the respective extension arm can be produced by means of two-component printing. In addition, embodiments are conceivable in which components or the entire handling device are manufactured by injection molding.
Der zentrale Flanschabschnitt besitzt zudem ein Leitungssystem, welches zur Übertragung eines Unterdrucks auf die Saugköpfe der mehreren Auslegerarme fluidisch mit den Saugköpfen in Verbindung steht. Da der zentrale Flanschabschnitt als tragender Bestandteil der Handhabungsvorrichtung ausgebildet ist, kann der Aufbau der Handhabungsvorrichtung sehr kompakt gehalten werden.The central flange section also has a line system which is fluidically connected to the suction heads in order to transfer a negative pressure to the suction heads of the plurality of cantilever arms. Since the central flange section is designed as a supporting component of the handling device, the construction of the handling device can be kept very compact.
Der zentrale Flanschabschnitt kann ein Gehäuse ausbilden, welches das Leitungssystem vollständig aufnimmt. Die ein oder mehreren Auslegerarme können mittels Form- und/oder Kraftschluss vom zentralen Flanschabschnitt gehalten sein. Beispielsweise kann es sein, dass die mehreren Auslegerarme via Presspassung mit dem zentralen Flanschabschnitt in Verbindung stehen und/oder via eine jeweilige Klebeverbindung am zentralen Flanschabschnitt gehalten werden. Insbesondere kann der zentrale Flanschabschnitt eine jeweilige Verdrehsicherung für die ein oder mehreren Auslegerarme bereitstellen. Die jeweilige Verdrehsicherung kann beispielsweise durch eine jeweilige formschlüssige Aufnahme der ein oder mehreren Auslegerarme am zentralen Flanschabschnitt ausgebildet sein.The central flange section can form a housing which completely accommodates the line system. The one or more extension arms can be held by the central flange section by means of a form fit and / or force fit. For example, it can be that the plurality of extension arms are connected to the central flange section via a press fit and / or are held on the central flange section via a respective adhesive connection. In particular, the central flange section can provide a respective anti-rotation device for the one or more extension arms. The respective anti-rotation device can be formed, for example, by a respective form-fitting receptacle of the one or more extension arms on the central flange section.
Für besonders bevorzugte Ausführungsformen kann zudem vorgesehen sein, dass an den zentralen Flanschabschnitt eine als Tragsäule ausgebildete Aufhängung gekoppelt ist. Die Tragsäule kann starr mit dem zentralen Flanschabschnitt in Verbindung stehen und ggf. mittels eines dreidimensionalen Druckverfahrens hergestellt werden. Wird die Handhabungsvorrichtung nach Entgegennahme einer Zwischenlage bewegt, so kann die Aufhängung bzw. Tragsäule die Masse des Flanschabschnittes sowie der mehreren Auslegerarme tragen.For particularly preferred embodiments it can also be provided that a suspension designed as a support column is coupled to the central flange section. The support column can be rigidly connected to the central flange section and, if necessary, can be produced by means of a three-dimensional printing process. If the handling device is moved after receiving an intermediate layer, the suspension or support column can carry the mass of the flange section and the multiple extension arms.
Es ist zudem vorstellbar, dass die mehreren Auslegerarme jeweils selbst einen hohlen Schaft ausbilden, über welchen das Leitungssystem mit dem mindestens einen Saugkopf des jeweiligen Auslegerarmes zur Übertragung des Unterdrucks fluidisch in Verbindung steht. Die ein oder mehreren Auslegerarme können somit als Hohlrohr ausgebildet sein. An entsprechenden Ausgängen des Hohlrohres, die senkrecht zur Längserstreckung des Hohlrohres in das Hohlrohr eingebracht bzw. im Hohlrohr positioniert sind, können die Saugköpfe angeordnet sein, an welche zur Entgegennahme des flächigen Gegenstandes über die Ausgänge des Hohlrohres ein Unterdruck übertragen wird. An einem freien distalen bzw. dem zentralen Flanschabschnitt abgewandten Ende kann das Hohlrohr geschlossen sein. Bei derartigen Ausführungsformen kann vollständig auf Schlauchverbindungen, die direkt an die Saugköpfe gekoppelt sind, verzichtet werden. Derartige Ausführungsformen besitzen daher einen zusätzlich vereinfachten Aufbau und sind leicht zu fertigen.It is also conceivable that the multiple extension arms each themselves form a hollow shaft, via which the line system is fluidically connected to the at least one suction head of the respective extension arm for the transmission of the negative pressure. The one or more cantilever arms can thus be designed as a hollow tube. The suction heads can be arranged at corresponding outlets of the hollow tube, which are inserted or positioned in the hollow tube perpendicular to the longitudinal extension of the hollow tube, to which a negative pressure is transmitted to receive the flat object via the outlets of the hollow tube. The hollow tube can be closed at a free distal end or end facing away from the central flange section. In such embodiments, hose connections that are directly coupled to the suction heads can be completely dispensed with. Such embodiments therefore have an additionally simplified structure and are easy to manufacture.
Auch ist denkbar, dass die ein oder mehreren Auslegerarme im jeweiligen hohlen Schaft jeweils mindestens einen Bereich ausbilden, innerhalb dessen sich ein Öffnungsquerschnitt vermindert bzw. innerhalb dessen ein Öffnungsquerschnitt gegenüber weiteren Bereichen reduziert ausgebildet ist. Somit können ein oder mehrere Auslegerarme eine Drossel besitzen. Die jeweilige Drossel kann beispielsweise als Blech bzw. Aluminiumblech mit einer Öffnung ausgebildet sein. Auch ist vorstellbar, dass die jeweilige Drossel zusammen mit dem jeweiligen Auslegerarm im dreidimensionalen Druckverfahren hergestellt wird. Sofern ein Saugkopf seinen Kontakt zur jeweiligen Zwischenlage verliert, kann mittels der Drossel bzw. mittels der Querschnittsverminderung eine Beibehaltung des Unterdrucks an weiteren Saugköpfen sichergestellt werden.It is also conceivable that the one or more cantilever arms each form at least one area in the respective hollow shaft, within which an opening cross-section is reduced or within which an opening cross-section is designed to be reduced compared to further areas. Thus, one or more cantilever arms can have a throttle. The respective throttle can be designed, for example, as a sheet metal or aluminum sheet with an opening. It is also conceivable that the respective throttle is produced together with the respective extension arm in a three-dimensional printing process. If a suction head loses its contact with the respective intermediate layer, maintenance of the negative pressure on further suction heads can be ensured by means of the throttle or by means of the reduction in cross section.
Weiter kann es sein, dass die Längsachsen mindestens zweier Auslegerarme miteinander einen spitzen Winkel einschließen. Insbesondere kann es sein, dass die Handhabungsvorrichtung vier Auslegerarme besitzt, wobei jeweils zwei Auslegerarme gemeinsam einen spitzen Winkel einschließen. Die Erfindung ist jedoch nicht auf derartige Ausführungsformen mit vier Auslegerarmen beschränkt, so dass ggf. auch drei Auslegerarme oder mehr als vier Auslegerarme vorgesehen sein können, denen jeweils mindestens ein Saugkopf zugeordnet ist.It can also be the case that the longitudinal axes of at least two extension arms enclose an acute angle with one another. In particular, the handling device can have four extension arms, two extension arms each enclosing an acute angle. However, the invention is not to such Embodiments with four extension arms are limited, so that if necessary three extension arms or more than four extension arms can be provided, each of which is assigned at least one suction head.
Weiter können die mehreren Auslegerarme hängend und in Richtung nach unten weisend und/oder steigend und in Richtung nach oben weisend am zentralen Flanschabschnitt angeordnet sein. Wird die Handhabungsvorrichtung bzw. werden die Saugköpfe der Handhabungseinrichtung auf eine jeweilige Zwischenlage aufgesetzt, so können die mehreren Auslegerarme bei beschriebener Anordnung federnd nachgeben. Insbesondere haben sich derartige Ausführungsformen bewährt sofern die Saugköpfe jeweils mindestens einen flexiblen Saugbeutel bzw. Saugerbalg und/oder Saugnapf umfassen, wobei die Längserstreckungen wenigstens zweier Saugbeutel unterschiedlich ausgebildet sind. Durch die federnde Nachgiebigkeit, wie sie insbesondere bei hängender bzw. steigender Anordnung der mehreren Auslegerarme optimiert ausgebildet sein kann, können sämtliche der Saugköpfe auch bei unterschiedlicher Längserstreckung problemfrei auf die jeweilige Zwischenlage bzw. auf den jeweiligen flächigen Gegenstand aufgesetzt werden.Furthermore, the plurality of cantilever arms can be arranged hanging and pointing in the downward direction and / or rising and pointing in the upward direction on the central flange section. If the handling device or the suction heads of the handling device are placed on a respective intermediate layer, the multiple extension arms can yield resiliently in the described arrangement. In particular, such embodiments have proven to be useful if the suction heads each comprise at least one flexible suction bag or suction bellows and / or suction cup, the longitudinal extensions of at least two suction bags being designed differently. Due to the resilient resilience, which can be optimized in particular with a hanging or rising arrangement of the multiple cantilever arms, all of the suction heads can be placed on the respective intermediate layer or on the respective flat object without problems, even with different longitudinal extensions.
Insbesondere sind Ausführungsformen denkbar, bei welchen erste Saugbeutel, die sich weiter entfernt vom zentralen Flanschabschnitt befinden, gegenüber zweiten Saugbeuteln, die sich näher als die ersten Saugbeutel am zentralen Flanschabschnitt befinden, um einen geringeren Betrag in Richtung nach unten weg bzw. in Z-Richtung von der Handhabungseinrichtung abstehen. Hierzu können die ersten Saugbeutel selbst eine geringere Längserstreckung als die zweiten Saugbeutel besitzen. Darüber hinaus ist denkbar, dass den zweiten Saugbeuteln und ihrem jeweiligen Auslegerarm ein Zwischenstück zugeordnet ist, um den Abstand bzw. die Erstreckung der zweiten Saugbeutel in Richtung nach unten weg von der Handhabungseinrichtung zu vergrößern. Die Praxis hat gezeigt, dass bei derartigen Ausführungsformen ein Luftkeil zwischen der Zwischenlage, welche durch die Handhabungseinrichtung aufgenommen wird und dem Zwischenlagenstapels gebildet werden kann. Die Zwischenlage wird bei Aufnahme auf ihrer direkt benachbarten Zwischenlage abgerollt. Eine elektrostatische Adhäsion und/oder ein mechanisches Verhaken der Zwischenlage an benachbarten Zwischenlagen können hierbei aufgehoben werden, so dass bei derartigen Ausführungsformen Zwischenlagen ohne Probleme von einem jeweiligen Stapel getrennt werden können.In particular, embodiments are conceivable in which first suction bags, which are located further away from the central flange section, compared to second suction bags, which are located closer to the central flange section than the first suction bags, move a lesser amount in the downward direction or in the Z direction protrude from the handling device. For this purpose, the first suction bags themselves can have a smaller longitudinal extension than the second suction bags. In addition, it is conceivable that an intermediate piece is assigned to the second suction bags and their respective extension arm in order to increase the distance or the extension of the second suction bags in the downward direction away from the handling device. Practice has shown that in such embodiments an air wedge can be formed between the intermediate layer, which is received by the handling device, and the intermediate layer stack. The intermediate layer is unrolled on its directly adjacent intermediate layer when it is picked up. Electrostatic adhesion and / or mechanical interlocking of the intermediate layer on adjacent intermediate layers can be eliminated, so that in such embodiments, intermediate layers can be separated from a respective stack without problems.
Auch kann die Handhabungsvorrichtung mindestens einen Tastsensor besitzen, mittels welches Tastsensors ein zeitlich bevorstehender Oberflächenkontakt der Saugköpfe zur Zwischenlage erkannt werden kann. Der Tastsensor kann als Taststab ausgebildet sein und in vertikaler Richtung nach unten vom zentralen Flanschabschnitt der Handhabungsvorrichtung abstehen. Insbesondere kann der ggf. als Taststab ausgebildete Tastsensor in etwa mittig zwischen den mehreren Auslegerarmen positioniert sein. Die Längserstreckungsrichtung des Taststabes kann mit einer Längserstreckungsrichtung der Tragsäule fluchten bzw. parallel zu einer Längserstreckungsrichtung der Tragsäule verlaufen. Denkbar ist darüber hinaus, dass die Handhabungsvorrichtung zwei oder mehr als zwei Tastsensoren besitzt. Sind die Zwischenlagen, welche von der Handhabungsvorrichtung aufgenommen werden, als Halblagen ausgebildet, die gemeinsam eine Ebene einer Palette bereitstellen, kann für jede der Halblagen ein eigener Tastsensor bzw. Taststab vorgesehen sein.The handling device can also have at least one touch sensor, by means of which touch sensor an impending surface contact of the Suction heads for the intermediate layer can be recognized. The touch sensor can be designed as a touch rod and protrude in the vertical direction downward from the central flange section of the handling device. In particular, the touch sensor, which may be designed as a feeler rod, can be positioned approximately in the middle between the multiple cantilever arms. The direction of longitudinal extent of the probe rod can be aligned with a direction of longitudinal extent of the support column or run parallel to a direction of longitudinal extent of the support column. It is also conceivable that the handling device has two or more than two touch sensors. If the intermediate layers, which are picked up by the handling device, are designed as half-layers which together provide a level of a pallet, a separate touch sensor or feeler rod can be provided for each of the half-layers.
Der Tastsensor bzw. Taststab kann mit einer Steuerungseinrichtung in Verbindung stehen. Die Steuerungseinrichtung kann ein Aufbauen bzw. ein Übertragen von Unterdruck im Leitungssystem des zentralen Flanschabschnittes bei und/oder zeitlich nach Kontakt des Taststabes mit einem flächigen Gegenstand bzw. mit einer Zwischenlage bewirken.The touch sensor or touch rod can be connected to a control device. The control device can bring about a build-up or transfer of negative pressure in the line system of the central flange section during and / or after contact of the probe rod with a flat object or with an intermediate layer.
Weiter ist bei der Erfindung vorgesehen, dass der zentrale Flanschabschnitt einen in das Leitungssystem mündenden Anschluss besitzt, wobei unter Wirkverbindung mit dem Leitungssystem über den einen Anschluss gemeinsam ein Unterdruck auf die Saugköpfe der mehreren Auslegerarme übertragen werden kann. Hierbei ist eine Drucklufterzeugungseinrichtung an den einen in das Leitungssystem mündenden Anschluss gekoppelt. Zur Koppelung mit der Drucklufterzeugungseinrichtung kann die Handhabungsvorrichtung im Bereich des Anschlusses ein Gewinde bereitstellen. Da der zentrale Flanschabschnitt im dreidimensionalen Druckverfahren hergestellt werden kann, besteht die Möglichkeit, das Gewinde hierbei als einstückigen Bestandteil des zentralen Flanschabschnittes auszubilden. Ein über den Anschluss in das Leitungssystem eingeleiteter Überdruck kann durch einen im Leitungssystem ausgebildeten Venturi-Effekt einen Unterdruck aufbauen, welcher vom Leitungssystem ausgehend an die Saugköpfe übertragen wird. Beispielsweise kann der Überdruck zwischen 3 und 5 bar betragen. Um den Venturi-Effekt auszubilden, kann das Leitungssystem im Bereich einer oder mehrerer Verzweigungen entsprechende Querschnittsverengungen aufweisen. Demnach kann das Leitungssystem ein oder mehrere Venturi-Düsen bzw. ein oder mehrere Ejektoren umfassen. Beispielsweise kann vorgesehen sein, dass jedem der mehreren Auslegerarme und/oder jedem Saugkopf eine eigene Venturi-Düse bzw. ein eigener Ejektor zugeordnet ist, welcher einen Unterdruck für den jeweiligen Auslegerarm bzw. für den jeweiligen Saugkopf aufbaut. Kann aufgrund einer Störung ein Unterdruck über eine Venturi-Düse bzw. einen Ejektor nicht erzeugt werden, so wird ggf. kein Unterdruck an den jeweiligen Saugkopf übertragen. Sofern jedem Auslegerarm bzw. jedem Saugkopf eine eigene Venturi-Düse bzw. ein eigener Ejektor zugeordnet ist, können die weiteren Auslegerarme bzw. die weiteren Saugköpfe jedoch mit Unterdruck versorgt werden, womit die jeweilige Zwischenlage dennoch über die Handhabungsvorrichtung aufgenommen werden kann. Mittels eines dreidimensionalen Druckprinzips können derartige zentrale Flanschabschnitt auch bei hoher Komplexität schnell und effizient hergestellt werden.The invention also provides that the central flange section has a connection opening into the line system, with a negative pressure being able to be transmitted jointly to the suction heads of the plurality of cantilever arms via the one connection under operative connection with the line system. Here, a compressed air generating device is coupled to the one connection opening into the line system. For coupling with the compressed air generating device, the handling device can provide a thread in the area of the connection. Since the central flange section can be produced in a three-dimensional printing process, there is the possibility of designing the thread as an integral part of the central flange section. An overpressure introduced into the line system via the connection can build up a negative pressure due to a Venturi effect formed in the line system, which is transmitted from the line system to the suction heads. For example, the overpressure can be between 3 and 5 bar. In order to develop the Venturi effect, the line system can have corresponding cross-sectional constrictions in the area of one or more branches. Accordingly, the line system can comprise one or more Venturi nozzles or one or more ejectors. For example, it can be provided that each of the multiple extension arms and / or each suction head is assigned its own Venturi nozzle or its own ejector, which creates a negative pressure for the respective extension arm or for builds up the respective suction head. If a negative pressure cannot be generated via a venturi nozzle or an ejector due to a malfunction, no negative pressure may be transmitted to the respective suction head. If each boom or suction head is assigned its own Venturi nozzle or its own ejector, the further boom arms or the further suction heads can, however, be supplied with negative pressure, so that the respective intermediate layer can still be picked up via the handling device. By means of a three-dimensional printing principle, such central flange sections can be produced quickly and efficiently even with a high level of complexity.
Bei weiteren Ausführungsformen ist denkbar, dass eine gemeinsame Venturi-Düse bzw. ein gemeinsamer Ejektor mehreren Auslegerarmen zugeordnet ist und hierbei die mehreren Auslegerarme und die Saugköpfe der mehren Auslegerarme mit Unterdruck versorgt.In further embodiments it is conceivable that a common Venturi nozzle or a common ejector is assigned to several extension arms and here supplies the several extension arms and the suction heads of the several extension arms with negative pressure.
Zudem ist denkbar, dass das Leitungssystem zur Verminderung eines Geräuschpegels bei Übertragung eines Unterdrucks auf die Saugköpfe mit einem oder mehreren Schalldämpfern fluidisch in Verbindung steht. Die ein oder mehreren Schalldämpfer können als einstückiger Bestandteil des zentralen Flanschabschnittes ausgebildet sein und ggf. zusammen mit dem zentralen Flanschabschnitt im dreidimensionalen Druckverfahren ausgebildet werden. Insbesondere kann der zentrale Flanschabschnitt ein Gehäuse ausbilden, innerhalb dessen sich die ein oder mehreren Schalldämpfer befinden. Das Gehäuse kann die ein oder mehreren Schalldämpfer vollständig aufnehmen. Die Schalldämpfer können zur Absorption eines Geräuschpegels schalldämpfende Materialien wie Wolle oder dergleichen umfassen.In addition, it is conceivable that the line system is fluidically connected to one or more sound absorbers in order to reduce a noise level when a negative pressure is transmitted to the suction heads. The one or more mufflers can be designed as a one-piece component of the central flange section and, if necessary, can be designed together with the central flange section in a three-dimensional printing process. In particular, the central flange section can form a housing within which the one or more silencers are located. The housing can completely accommodate the one or more mufflers. The silencers can comprise sound-absorbing materials such as wool or the like to absorb a noise level.
Zudem ist denkbar, dass der zentrale Flanschabschnitt ein oder mehrere Öffnungen besitzt, durch welche Druckluft austreten kann. Die ein oder mehreren Schalldämpfer können im Bereich der ein oder mehreren Öffnungen angeordnet sein. Vorstellbar ist für diverse Ausführungsformen auch, dass der zentrale Flanschabschnitt im Bereich der jeweiligen Öffnungen ein Gewinde ausgebildet, mittels welches Gewindes ein Schalldämpfer auf den zentralen Flanschabschnitt aufgeschraubt werden kann, um einen entsprechenden Schallpegel bei Druckluftbeaufschlagung zu reduzieren.It is also conceivable that the central flange section has one or more openings through which compressed air can exit. The one or more mufflers can be arranged in the area of the one or more openings. It is also conceivable for various embodiments that the central flange section has a thread in the area of the respective openings, by means of which thread a silencer can be screwed onto the central flange section in order to reduce a corresponding sound level when compressed air is applied.
Weiter können ein oder mehrere Schalldämpfer abnehmbar am zentralen Flanschabschnitt gehalten sein. Die Verbindung zwischen dem jeweiligen Schalldämpfer und dem zentralen Flanschabschnitt kann beispielsweise über Kraft- und/oder Formschluss und/oder Stoffschluss und hierbei insbesondere via eine Verklebung bzw. Verschmelzung zwischen dem jeweiligen Schalldämpfer und einem Gehäuse des zentralen Flanschabschnittes erfolgen. Auch kann der zentrale Flanschabschnitt ein Gewinde aufweisen, welches mit einem Gegengewinde eines Schalldämpfers korrespondiert.Furthermore, one or more silencers can be held removably on the central flange section. The connection between the respective muffler and the central flange section can, for example, be via a force fit and / or form fit and / or material fit, and in this case in particular by means of gluing or bonding. Fusion between the respective muffler and a housing of the central flange section take place. The central flange section can also have a thread which corresponds to a mating thread of a muffler.
Wie vorhergehend bereits erwähnt, ist vorstellbar, dass das Leitungssystem zur Erzeugung des Unterdrucks mittels Venturi-Effekt eine oder mehrere Verzweigungen mit jeweiliger Querschnittsverengung besitzt. Ein Ast der Verzweigung, in welchem der Unterdruck aufgebaut wird, kann den Unterdruck in Richtung eines oder mehrerer Ausgänge des zentralen Flanschabschnittes führen.As already mentioned above, it is conceivable that the line system for generating the negative pressure by means of the Venturi effect has one or more branches with a respective cross-sectional constriction. A branch of the branch in which the negative pressure is built up can lead the negative pressure in the direction of one or more outlets of the central flange section.
Weiter kann es sein, dass der zentrale Flanschabschnitt einen oder mehrere Eingänge besitzt, über welche Druckluft zum Aufheben des Unterdrucks an den Saugköpfen in das Leitungssystem eingebracht werden kann. An die Eingänge kann eine Druckerzeugungseinrichtung bzw. ein Kompressor gekoppelt sein. Hierzu kann der zentrale Flanschabschnitt im Bereich eines jeweiligen Eingangs ein Gewinde ausbilden.It can also be the case that the central flange section has one or more inlets via which compressed air can be introduced into the line system to remove the negative pressure at the suction heads. A pressure generating device or a compressor can be coupled to the inputs. For this purpose, the central flange section can form a thread in the area of a respective inlet.
Offenbart ist darüber hinaus ein Verfahren zur Aufnahme flächiger Gegenstände. Merkmale, welche vorhergehend zu diversen Ausführungsformen der Handhabungsvorrichtung beschrieben wurden, können ebenso bei denkbaren Ausführungsformen des nachfolgend beschriebenen Verfahrens vorliegen. Zudem können Merkmale, welche nachfolgend zu diversen Ausführungsformen des Verfahrens beschrieben werden, bei denkbaren Ausführungsformen der erfindungsgemäßen Vorrichtung vorliegen.A method for receiving flat objects is also disclosed. Features that were previously described for various embodiments of the handling device can also be present in conceivable embodiments of the method described below. In addition, features which are described below for various embodiments of the method can be present in conceivable embodiments of the device according to the invention.
Das Verfahren ist vorgesehen zur Aufnahme flächiger Gegenstände über eine Handhabungsvorrichtung, die mehrere Auslegerarme mit jeweils mindestens einem Saugkopf sowie einen zentralen Flanschabschnitt mit einem Leitungssystem besitzt. Das Leitungssystem steht fluidisch mit den Saugköpfen in Verbindung. Vom zentralen Flanschabschnitt ausgehend erstrecken sich die mehreren Auslegerarme in unterschiedliche Richtungen weg vom zentralen Flanschabschnitt, wobei der zentrale Flanschabschnitt die Auslegerarme trägt. Im Rahmen des erfindungsgemäßen Verfahrens wird ein Unterdruck in das Leitungssystem eingebracht oder im Leitungssystem aufgebaut.The method is provided for picking up flat objects via a handling device which has several extension arms each with at least one suction head and a central flange section with a line system. The line system is fluidically connected to the suction heads. Starting from the central flange portion, the plurality of extension arms extend in different directions away from the central flange portion, the central flange portion carrying the extension arms. In the context of the method according to the invention, a negative pressure is introduced into the line system or built up in the line system.
Ein Einbringen von Unterdruck in das Leitungssystem kann durch Koppelung des zentralen Flanschabschnittes bzw. des Leitungssystems an eine Unterdruckerzeugungseinrichtung bewirkt werden. Für besonders bevorzugte Ausführungsformen ist jedoch vorgesehen, dass der Unterdruck im Leitungssystem aus einem Überdruck und mittels Venturi-Effekt aufgebaut wird. Der Überdruck kann durch einen entsprechenden Anschluss in das Leitungssystem eingebracht werden. Im Bereich einer oder mehrerer Querschnittsverengungen des Leitungssystems kann jeweils mittels des Venturi-Effektes ein Unterdruck aufgebaut werden, der zur Erfassung des jeweiligen flächigen Gegenstandes an die Saugköpfe übertragen wird.An introduction of negative pressure into the line system can be brought about by coupling the central flange section or the line system to a negative pressure generating device. For particularly preferred Embodiments, however, provide that the negative pressure in the line system is built up from an overpressure and by means of the Venturi effect. The overpressure can be introduced into the line system through a corresponding connection. In the area of one or more cross-sectional constrictions of the line system, a negative pressure can be built up by means of the Venturi effect, which is transmitted to the suction heads to detect the respective flat object.
Im Rahmen eines weiteren Schrittes des hier offenbarten Verfahrens wird der Unterdruck ausgehend vom Leitungssystem an die Saugköpfe übertragen, so dass hieraus resultierend der jeweilige flächige Gegenstand an den Saugköpfen der Handhabungsvorrichtung fixiert wird.As part of a further step of the method disclosed here, the negative pressure is transmitted from the line system to the suction heads, so that as a result the respective flat object is fixed on the suction heads of the handling device.
Weiter kann die Druckluft nach Aufbau des Unterdrucks einem oder mehreren Schalldämpfern zur Verminderung eines Geräuschpegels zugeführt werden. Die Druckluft kann die Schalldämpfer hierbei passieren und hierauf folgend aus dem zentralen Flanschabschnitt bzw. aus einem Gehäuse des zentralen Flanschabschnittes austreten. Hierzu können ein oder mehrere Öffnungen in das Gehäuse des zentralen Flanschabschnittes eingebracht sein, welche den ein oder mehreren Schalldämpfern in Strömungsrichtung des Überdrucks nachgeordnet sind und mit dem Leitungssystem in Verbindung stehen.Furthermore, after the negative pressure has built up, the compressed air can be fed to one or more silencers to reduce a noise level. The compressed air can pass through the muffler and then emerge from the central flange section or from a housing of the central flange section. For this purpose, one or more openings can be made in the housing of the central flange section, which are arranged downstream of the one or more silencers in the direction of flow of the excess pressure and are connected to the line system.
Um flächige Gegenstände bzw. Zwischenlagen möglichst präzise zu erfassen, kann der Unterdruck zumindest näherungsweise zeitsynchron vom Leitungssystem an die Saugköpfe übertragen werden. Über das Leitungssystem können Saugköpfe mehrerer Auslegerarme fluidisch miteinander in Verbindung stehen. Über die fluidische Verbindung zwischen den Saugköpfen besteht die Möglichkeit, einen in das Leitungssystem eingebrachten bzw. einen im Leitungssystem aufgebauten Überdruck zeitgleich an die Saugköpfe zu übertragen.In order to capture flat objects or intermediate layers as precisely as possible, the negative pressure can be transmitted at least approximately synchronously from the line system to the suction heads. Suction heads of several cantilever arms can be fluidically connected to one another via the line system. Via the fluidic connection between the suction heads, it is possible to transfer an overpressure introduced into the line system or an overpressure built up in the line system to the suction heads at the same time.
Weiter kann es sein, dass die mehreren Auslegerarme selbst einen hohlen Schaft ausbilden, über welchen der Unterdruck ausgehend vom Leitungssystem an die Saugköpfe übertragen wird. Somit können die ggf. als Hohlrohre ausgebildeten mehreren Auslegerarme an das Leitungssystem des zentralen Flanschabschnittes anschließen und die Saugköpfe mit Unterdruck beaufschlagen.It can also be the case that the multiple cantilever arms themselves form a hollow shaft, via which the negative pressure is transmitted from the line system to the suction heads. In this way, the multiple extension arms, which may be designed as hollow tubes, can connect to the line system of the central flange section and apply negative pressure to the suction heads.
Im Folgenden sollen Ausführungsbeispiele die Erfindung und ihre Vorteile anhand der beigefügten Figuren näher erläutern. Die Größenverhältnisse der einzelnen Elemente zueinander in den Figuren entsprechen nicht immer den realen Größenverhältnissen, da einige Formen vereinfacht und andere Formen zur besseren Veranschaulichung vergrößert im Verhältnis zu anderen Elementen dargestellt sind.
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zeigt eine schematische Perspektivansicht einer Ausführungsform einer erfindungsgemäßen Handhabungsvorrichtung;Figur 1 -
Figur 2 zeigt eine schematische Draufsicht auf die Ausführungsform einer Handhabungsvorrichtung ausFigur 1 ; -
Figur 3 zeigt eine schematische Seitenansicht der Ausführungsform einer Handhabungsvorrichtung ausFigur 1 ; -
zeigt eine schematische Perspektivansicht eines zentralen Flanschabschnittes der Ausführungsform einer Handhabungsvorrichtung gemäßFigur 4Figuren 1 bis 3 ; -
Figur 5 zeigt eine schematische Schnittdarstellung des zentralen Flanschabschnittes aus der Ausführungsform gemäßFiguren 1 ;bis 4 -
zeigt eine schematische Perspektivansicht einer weiteren Ausführungsform einer erfindungsgemäßen Handhabungsvorrichtung;Figur 6 -
Figur 7 zeigt eine schematische Perspektivansicht des zentralen Flanschabschnittes der Ausführungsform ausFigur 6 ; -
Figur 8 zeigt eine schematische Schnittdarstellung durch den zentralen Flanschabschnitt ausFigur 7 ; -
Figur 9 zeigt eine Schnittdarstellung durch einen weiteren zentralen Flanschabschnitt, wie er für diverse Ausführungsformen einer erfindungsgemäßen Handhabungsvorrichtung vorgesehen sein kann.
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Figure 1 shows a schematic perspective view of an embodiment of a handling device according to the invention; -
Figure 2 FIG. 11 shows a schematic plan view of the embodiment of a handling device from FIGFigure 1 ; -
Figure 3 FIG. 11 shows a schematic side view of the embodiment of a handling device from FIGFigure 1 ; -
Figure 4 FIG. 11 shows a schematic perspective view of a central flange section of the embodiment of a handling device according to FIGFigures 1 to 3 ; -
Figure 5 FIG. 11 shows a schematic sectional illustration of the central flange section from the embodiment according to FIGFigures 1 to 4 ; -
Figure 6 shows a schematic perspective view of a further embodiment of a handling device according to the invention; -
Figure 7 FIG. 13 is a schematic perspective view of the central flange portion of the embodiment of FIGFigure 6 ; -
Figure 8 FIG. 11 shows a schematic sectional illustration through the central flange section from FIGFigure 7 ; -
Figure 9 shows a sectional view through a further central flange section, as it can be provided for various embodiments of a handling device according to the invention.
Für gleiche oder gleich wirkende Elemente der Erfindung werden identische Bezugszeichen verwendet. Ferner werden der Übersicht halber nur Bezugszeichen in den einzelnen Figuren dargestellt, die für die Beschreibung der jeweiligen Figur erforderlich sind. Die dargestellten Ausführungsformen stellen lediglich Beispiele dar, wie die Erfindung ausgestaltet sein kann und stellen keine abschließende Begrenzung dar.Identical reference symbols are used for identical or identically acting elements of the invention. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures which are necessary for the description of the respective figure. The illustrated embodiments merely represent examples of how the invention can be configured and do not represent a final limitation.
Die Handhabungsvorrichtung 1 umfasst einen zentralen Flanschabschnitt 4 sowie mehrere Auslegerarme 3, die als im Wesentlichen biegesteife Hohlrohre 5 ausgebildet sind und vom zentralen Flanschabschnitt 4 getragen werden. Im Ausführungsbeispiel aus
An jedem der vier Auslegerarme 3 sind zwei Saugköpfe 6 angeordnet. Die Saugköpfe 6 werden durch ihren jeweiligen Auslegerarm 3 getragen bzw. sind hängend an ihrem jeweiligen Auslegerarm 3 fixiert. Der zentrale Flanschabschnitt 4 kann mittels eines dreidimensionalen Druckverfahrens hergestellt werden und somit einstückig ausgebildet sein. Weiter können die Auslegerarme 3 zusammen mit dem zentralen Flanschabschnitt 4 im dreidimensionalen Druckverfahren hergestellt werden und somit einstückig ausgebildet sein. Auch ist denkbar, dass die Saugköpfe 6, die Auslegerarme 3 und der zentrale Flanschabschnitt 4 im dreidimensionalen Druckverfahren und ggf. mittels eines Zweikomponentendrucks hergestellt werden. Die Längsachsen jeweils zweier Auslegerarme 3 bzw. Hohlrohre 5 schließen miteinander jeweils einen spitzen Winkel α ein.Two suction heads 6 are arranged on each of the four cantilever arms 3. The suction heads 6 are carried by their respective extension arm 3 or are fixed in a hanging manner on their respective extension arm 3. The
Der zentrale Flanschabschnitt 4 besitzt einen Anschluss 12, über welchen die Handhabungsvorrichtung 1 bzw. der zentrale Flanschabschnitt 4 mit einer Einrichtung zur Druckerzeugung in Verbindung steht. Eine Druckbeaufschlagung des zentralen Flanschabschnittes 4 kann über den Anschluss 12 beispielsweise mit 3 bis 5 bar erfolgen. Der zentrale Flanschabschnitt 4 besitzt ein Leitungssystem 15 (vgl.
Eine Aufhängung 7 bzw. Tragsäule 9 ist starr an den zentralen Flanschabschnitt 4 gekoppelt. Die Aufhängung 7 bzw. Tragsäule 9 kann mit einem Aktor in Verbindung stehen, um die Handhabungsvorrichtung 1 nach Erfassen einer Zwischenlage in Richtung einer Palette zu bewegen und ggf. nach Ablegen einer Zwischenlage auf der jeweiligen Palette in Richtung einer weiteren Zwischenlage zurück zu führen. Somit trägt die Aufhängung 7 bzw. Tragsäule 9 bei Bewegung der Handhabungsvorrichtung 1 die Masse des zentralen Flanschabschnittes 4, der Auslegerarme 3 sowie der an den Auslegerarmen 3 angeordneten Saugköpfe 6 und ggf. der jeweiligen an den Saugköpfen 6 fixierten Zwischenlage.A suspension 7 or support column 9 is rigidly coupled to the
Da diverse Komponenten, wie beispielsweise der zentrale Flanschabschnitt 4, im dreidimensionalen Druckverfahren gefertigt werden können, kann die Handhabungsvorrichtung 1 kostengünstig hergestellt werden. Durch die Integration eines Leitungssystems 15 (vgl.
Vorstellbar ist auch, dass den Auslegerarmen 3 bzw. einem jeweiligen hohlen Schaft der Auslegerarme 3 eine in den Figuren vorliegender Patentanmeldung nicht mit dargestellte Drossel zugeordnet ist. Verliert ein Saugkopf 6 der Handhabungsvorrichtung 1 seinen Kontakt zur Zwischenlage, so kann hierdurch der Unterdruck an den weiteren Saugköpfen 6 beibehalten werden.It is also conceivable that the cantilever arms 3 or a respective hollow shaft of the cantilever arms 3 is assigned a throttle that is not shown in the figures. If a
Darüber hinaus zeigt
Die Eingänge 11 besitzen ein Gewinde, über das die Drucklufterzeugungseinrichtung bzw. der Kompressor mit dem zentralen Flanschabschnitt 4 gekoppelt werden kann. Durch Beaufschlagung des zentralen Flanschabschnittes 4 mit Überdruck über die Eingänge 11 kann der ggf. zwischen den Saugköpfen 6 und der jeweiligen Zwischenlage ausgebildete Unterdruck aufgehoben werden. Die Eingänge 11 führen somit direkt in das Leitungssystem 15 (vgl.
Auch sind Schalldämpfer 19 des zentralen Flanschabschnittes 4 zu erkennen, deren Funktion nachfolgend noch beschrieben wird. Die Schalldämpfer 19 können als integrierter Bestandteil des zentralen Flanschabschnittes 4 zusammen mit dem zentralen Flanschabschnitt 4 mittels eines dreidimensionalen Druckverfahrens hergestellt werden und befinden sich im Bereich einer jeweiligen Öffnung 33 des zentralen Flanschabschnittes 4. Über die Schalldämpfer 19 bzw. die Schalldämpfer 19 passierend kann Druckluft aus den Öffnungen 33 des zentralen Flanschabschnittes 4 entweichen. Über das Leitungssystem 15 (vgl.
Einzelne Bestandteile der Handhabungsvorrichtung 1 oder die gesamte Handhabungsvorrichtung 1 können auch im Ausführungsbeispiel der
Der zentrale Flanschabschnitt 4 besitzt Öffnungen 33, über welche Druckluft aus dem zentralen Flanschabschnitt 4 austritt. Jeder Öffnung 33 ist ein Gewinde 27 zugeordnet. Über die Gewinde 27 kann ein jeweiliger Schalldämpfer auf den zentralen Flanschabschnitt 4 aufgeschraubt werden, um einen Geräuschpegel der via den Anschluss 12 in den zentralen Flanschabschnitt 4 eingebrachten Druckluft zu mindern. Das Leitungssystem 15 (vgl.
Die Praxis hat gezeigt, dass die Unterdruckerzeugungseinrichtung 30 insbesondere bei hoher Taktfrequenz einem Verschleiß unterliegen kann. Die Unterdruckerzeugungseinrichtung 30 des Ausführungsbeispiels eines zentralen Flanschabschnittes 4 aus
Die Unterdruckerzeugungseinrichtung 30 ist fest mit dem zentralen Flanschabschnitt 4 verbunden und zusammen mit dem zentralen Flanschabschnitt 4 im dreidimensionalen Druckverfahren bzw. mittels sintern hergestellt. Venturi-Düsen 25 sind als Bestandteil der Unterdruckerzeugungseinrichtungen 30 zu erkennen, um aus einem durch den Anschluss 12 in das Leitungssystem 15 eingebrachten Überdruck jeweils einen Unterdruck zu erzeugen. Die Unterdruckerzeugungseinrichtungen 30 bzw. die Venturi-Düsen 25 sind als nicht lösbarer Bestandteils des zentralen Flanschabschnittes 4 ausgebildet.The
Die Erfindung wurde unter Bezugnahme auf eine bevorzugte Ausführungsform beschrieben. Es ist jedoch für einen Fachmann vorstellbar, dass Abwandlungen oder Änderungen der Erfindung gemacht werden können, ohne dabei den Schutzbereich der nachstehenden Ansprüche zu verlassen.The invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that modifications or changes can be made to the invention without departing from the scope of protection of the claims below.
- 11
- HandhabungsvorrichtungHandling device
- 33
- AuslegerarmCantilever arm
- 55
- HohlrohrHollow tube
- 66th
- SaugkopfSuction head
- 77th
- Aufhängungsuspension
- 99
- TragsäuleSupport column
- 1111
- Einlassinlet
- 1212th
- Anschlussconnection
- 1515th
- LeitungssystemPiping system
- 1616
- Zweigbranch
- 1717th
- Ausgangexit
- 1818th
- TaststabTactile stick
- 1919th
- Schalldämpfersilencer
- 2121
- Verbindunglink
- 2525th
- Venturi-DüseVenturi nozzle
- 2727
- Gewindethread
- 3030th
- UnterdruckerzeugungseinrichtungVacuum generating device
- 3333
- Öffnungopening
- αα
- Spitzer Winkelacute angle
Claims (11)
- A handling device (1) for picking up flat objects, comprising- several cantilever arms (3) each comprising at least one suction head (6) for gripping the flat object and- a central flange section (4) from which the plurality of cantilever arms (3) extends in different directions and which provides a supporting function for the plurality of cantilever arms (3),wherein the central flange section (4) has a conduit system (15) as well as a connection (12), which is opening into the conduit system (15), which conduit system (15) is in fluidic communication with the suction heads (6) of the plurality of cantilever arms (3) for transmitting a negative pressure to the suction heads (6), characterized in that
the conduit system (15) has one or more branches, each with a respective cross-sectional narrowing for generating the negative pressure by means of Venturi effect, which is built up by a positive pressure introduced into the conduit system (15) via the connection (12), and wherein
the central flange section (4) and its conduit system (15) are manufactured by means of a three-dimensional printing principle. - The handling device according to claim 1, wherein the plurality of cantilever arms (3) is manufactured by means of a three-dimensional printing principle.
- The handling device according to claim 1 or claim 2, in which a suspension (7) designed as a support column (9) is coupled to the central flange section (4).
- The handling device according to one or more of claims 1 to 3, in which each of the plurality of cantilever arms (3) form a hollow shaft, via which hollow shaft the conduit system (15) is in fluidic communication with the at least one suction head (6) of the respective cantilever arm (3) for transmitting the negative pressure.
- The handling device according to claim 4, wherein at least one region is formed within the respective hollow shaft of each one or more cantilever arms, within which region an opening cross-section is reduced.
- The handling device according to one or more of claims 1 to 5, in which the suction heads each comprise at least one flexible suction bag, wherein the longitudinal extensions of at least two suction bags are being designed differently.
- The handling device according to one or more of claims 1 to 4, wherein the longitudinal axes of at least two cantilever arms (3) enclose an acute angle (a) with each other.
- The handling device according to one or more of claims 1 to 5, wherein the plurality of cantilever arms (3) is arranged on the central flange section (4) hanging and facing in a downward direction and/or rising and facing in an upward direction.
- The handling device according to one or more of claims 1 to 8, wherein the central flange section (4) has a connection (12), which is opening into the conduit system (15), wherein a negative pressure can be jointly transmitted to the suction heads (6) of the plurality of cantilever arms via the one connection (12) which is being operatively connected to the conduit system (15), wherein it is preferably provided that a compressed air generating device is coupled to the one connection (12) opening into the conduit system (15).
- The handling device according to one or more of claims 1 to 9, in which the conduit system (15) is in fluidic communication with one or more silencers (19) for reducing a noise level when a negative pressure is transmitted to the suction heads (6) and in which it is preferably provided that
one silencer (19) or several silencers (19) are formed as an integral part of the central flange section and/or in which it is preferably provided that
one or more silencers (19) are removably held on the central flange section (4). - The handling device according to one or more of claims 1 to 10, wherein the central flange section (4) has one or more inlets (11) through which compressed air can be introduced into the conduit system (15) to relieve the negative pressure at the suction heads (6).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SI201631410T SI3265413T1 (en) | 2015-03-04 | 2016-02-17 | Handling device and method for picking up flat articles |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015103147.7A DE102015103147A1 (en) | 2015-03-04 | 2015-03-04 | Handling device and method for receiving flat objects |
PCT/EP2016/053375 WO2016139063A2 (en) | 2015-03-04 | 2016-02-17 | Handling device and method for picking up flat articles |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3265413A2 EP3265413A2 (en) | 2018-01-10 |
EP3265413B1 true EP3265413B1 (en) | 2021-08-25 |
Family
ID=55409818
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16705922.9A Active EP3265413B1 (en) | 2015-03-04 | 2016-02-17 | Handling device and method for picking up flat articles |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP3265413B1 (en) |
CN (1) | CN208843361U (en) |
DE (1) | DE102015103147A1 (en) |
SI (1) | SI3265413T1 (en) |
WO (1) | WO2016139063A2 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017118255A1 (en) * | 2017-08-10 | 2019-02-14 | Krones Aktiengesellschaft | For receiving flat blanks trained working tool with multiple elastic cantilever arms |
GB202006660D0 (en) * | 2020-05-05 | 2020-06-17 | Brillopak Ltd | Vacuum suction apparatus |
DE202023101336U1 (en) | 2023-03-17 | 2023-03-23 | Fipa Holding Gmbh | Holding device for a pneumatically operated gripping element |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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US20080246290A1 (en) * | 2004-06-23 | 2008-10-09 | Kenny Johansson | Method for Manufacturing a Gripping Means Having Integrated Vacuum Channels |
EP3037371A1 (en) * | 2014-12-16 | 2016-06-29 | Krones Aktiengesellschaft | Device and method for placing, holding and/or handling flat objects |
Family Cites Families (8)
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DE2638152C2 (en) * | 1976-08-25 | 1983-09-08 | Maschinenbau Oppenweiler Gmbh, 7155 Oppenweiler | Device for lifting and pulling off individual sheets from a stack of sheets |
JPS60125089U (en) * | 1984-01-27 | 1985-08-23 | 株式会社 妙徳 | gas supply valve |
DE19901341B4 (en) * | 1999-01-15 | 2005-07-21 | Man Roland Druckmaschinen Ag | Air control and / or air control device |
SE9903287L (en) * | 1999-09-15 | 2000-11-20 | Piab Ab | Coupling at ejector, as well as modular assembly for generating underpressure by means of at least one compressed air driven ejector |
DE10232819B4 (en) * | 2002-07-19 | 2005-01-20 | Villeroy & Boch Ag | manipulation device |
FR2924373B1 (en) * | 2007-12-04 | 2010-04-16 | Sidel Participations | VACUUM TOOLS (S) FOR HANDLING ROBOT |
SE530898C2 (en) * | 2007-12-19 | 2008-10-14 | Autolabel Ab | Device for tools and method for making them |
EP2476637B1 (en) | 2011-01-18 | 2015-05-06 | Krones AG | Device and method for placing, holding and/or handling flat objects |
-
2015
- 2015-03-04 DE DE102015103147.7A patent/DE102015103147A1/en active Pending
-
2016
- 2016-02-17 WO PCT/EP2016/053375 patent/WO2016139063A2/en active Application Filing
- 2016-02-17 CN CN201690000532.8U patent/CN208843361U/en active Active
- 2016-02-17 SI SI201631410T patent/SI3265413T1/en unknown
- 2016-02-17 EP EP16705922.9A patent/EP3265413B1/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080246290A1 (en) * | 2004-06-23 | 2008-10-09 | Kenny Johansson | Method for Manufacturing a Gripping Means Having Integrated Vacuum Channels |
EP3037371A1 (en) * | 2014-12-16 | 2016-06-29 | Krones Aktiengesellschaft | Device and method for placing, holding and/or handling flat objects |
Also Published As
Publication number | Publication date |
---|---|
DE102015103147A1 (en) | 2016-09-08 |
CN208843361U (en) | 2019-05-10 |
WO2016139063A3 (en) | 2016-10-27 |
SI3265413T1 (en) | 2022-01-31 |
WO2016139063A2 (en) | 2016-09-09 |
EP3265413A2 (en) | 2018-01-10 |
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