EP4253290A1 - Suction gripper for handling films - Google Patents
Suction gripper for handling films Download PDFInfo
- Publication number
- EP4253290A1 EP4253290A1 EP23162792.8A EP23162792A EP4253290A1 EP 4253290 A1 EP4253290 A1 EP 4253290A1 EP 23162792 A EP23162792 A EP 23162792A EP 4253290 A1 EP4253290 A1 EP 4253290A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripper part
- elastically flexible
- gripper
- rigid
- suction
- 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.)
- Pending
Links
- 239000006260 foam Substances 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 4
- 230000001413 cellular effect Effects 0.000 claims description 3
- 229920001971 elastomer Polymers 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 239000010408 film Substances 0.000 description 45
- 239000011888 foil Substances 0.000 description 5
- 229920002943 EPDM rubber Polymers 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 2
- 229920001821 foam rubber Polymers 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
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- 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
- B65H3/0816—Suction grippers separating from the top of pile
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- 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
- B65H2406/00—Means using fluid
- B65H2406/30—Suction means
- B65H2406/34—Suction grippers
- B65H2406/343—Details of sucking member
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/17—Nature of material
- B65H2701/175—Plastic
Definitions
- the invention relates to a suction gripper for handling films, in particular a suction gripper for individually removing a film from a stack of films.
- the films mentioned at the beginning are used, for example, to produce ID cards, valuables or security documents, with a majority of the films being joined to form a laminate.
- complex gripper designs or take-off devices are often used. Separating individual layers of film from a stack of film has proven to be particularly difficult.
- the suction gripper according to the invention for individually removing a film from a stack of films comprises a rigid gripper part and an elastically flexible gripper part for receiving the film. At least one channel is formed in the rigid gripper part, which ends at a connection to which a vacuum device is connected or can be connected. Such A vacuum device is, for example, a vacuum pump. Other means of generating negative pressure are also possible.
- the elastically flexible gripper part for receiving the film is attached to the rigid gripper part. To hold the film, the elastically flexible gripper part has at least one passage which is fluidly connected to the channel of the rigid gripper part.
- the film is acted upon by an elastically flexible gripper part, and in particular is secured to the elastically flexible gripper part with the negative pressure prevailing at the at least one passage.
- the film can be picked up very gently by the suction gripper, which is particularly important in the case of hologram films, for example, as they scratch very easily and would therefore lead to unnecessary waste in the production of ID cards, valuables or security documents .
- the suction cup is preferably designed in such a way that the elastically flexible gripper part is elastically compressed when a negative pressure is applied to the connection and a film is acted upon by the elastically flexible gripper part.
- the compression of the elastic, flexible gripper part when applying a negative pressure causes a lifting movement for the individual removal of the film from a stack of film.
- the dimensions of the rigid gripper part and the elastically flexible gripper part are selected so that when the film is gripped, there is a convex shape of the elastically flexible gripper part.
- the rigid gripper part has an edge-side axial extent (thickness) that lags behind a central axial extent, and if the elastically flexible gripper part has an edge-side axial extent (thickness) that is greater than one central extension is.
- the elastically flexible gripper part is made of different thicknesses, so that this design means that Suction cups have a dual function.
- a film is reliably sucked into a stack of films.
- the vacuum build-up deforms the layer of different thicknesses of the elastically flexible gripper part and thus creates an additional lifting movement.
- this design essentially creates a kind of "hold-down device", with a lifting movement taking place in the edge area. Due to the very short lifting area, the first film lifts off on its own, i.e. it is separated, while the subsequent films remain in place due to their inherent rigidity.
- the axial extension from the center to the edge of the rigid gripper part is complementary to the axial extension from the center to the edge of the elastic, flexible gripper part.
- the channel opens at its end facing away from the connection into a vacuum chamber, which is formed by a wall of the rigid gripper part and by a wall the elastically flexible gripper part is enclosed. At least one of the passages of the elastically flexible gripper part then opens into the vacuum chamber.
- a first side channel is formed in the rigid gripper part, in particular parallel to the channel and offset, which opens into a lateral first vacuum chamber, which is provided by a Wall of the rigid gripper part and from a wall of the elastically flexible gripper part is enclosed, and when at least one of the passages of the elastically flexible gripper part opens into the lateral first vacuum chamber.
- a second side channel in particular parallel to the channel, is formed in the rigid gripper part and opens into a lateral second vacuum chamber, which is enclosed by a wall of the rigid gripper part and by a wall of the elastically flexible gripper part is, and if at least one of the elastically flexible gripper part flows into the lateral second vacuum chamber.
- the suction gripper it is possible for the suction gripper to be formed with exactly three vacuum chambers in order to provide a flat shape for the film when it is deposited.
- the lateral first vacuum chamber and/or the lateral second vacuum chamber can be controlled via the connection assigned to it, independently of the connection of the centrally located vacuum chamber.
- the elastically flexible gripper part is made of a closed-cell foam, in particular of a foam rubber.
- the elastically flexible gripper part is made of cellular rubber, in particular ethylene-propylene-diene (EPDM).
- EPDM ethylene-propylene-diene
- the rigid gripper part is made of aluminum or an aluminum alloy. In this way, the suction cup itself remains relatively light and can be attached to any robot arm without exerting too much torque on the robot arm. Due to the choice of aluminum or an aluminum alloy, there is also the possibility of forming fluid-tight connections on the rigid gripper part in order to be able to reliably connect the vacuum device there.
- the rigid gripper part is made of a rigid plastic.
- the rigid gripper part can be formed as a 3D printed part. 3D printed parts are very light and are well suited for the application at hand.
- a suction gripper 100 is shown for individually removing a film 200 from a stack of films.
- the suction gripper 100 comprises a rigid gripper part 102 and an elastically flexible gripper part 108. In order to be able to handle the film 200, the suction gripper 100 acts on it with the elastically flexible gripper part 108.
- a central channel 104 is formed in the rigid gripper part 102, which is located on a Connection 106 ends, to which a vacuum device is connected or can be connected.
- a first side channel 114 also runs offset parallel to the channel 104 in the rigid gripper part 102.
- a second side channel 118 also runs offset parallel to the channel 104 and is also formed in the rigid gripper part 102.
- the central channel 104 opens into a vacuum chamber 112 at its end facing away from the connection 106.
- the first side channel 114 opens in an analogous manner into a lateral first vacuum chamber 116.
- the second side channel 118 opens in an analogous manner into a lateral second vacuum chamber 120.
- Several passages 110 of the elastically flexible gripper part 108 open into the vacuum chambers 112, 116, 120, the passages 110 being fluid-mechanically connected to the channels 104, 114, 118.
- the passages 110 on the elastically flexible gripper part 108 provide a negative pressure, which in turn is applied to the connections 106 of the rigid gripper part 102.
- the film 200 is therefore gripped by the elastically flexible gripper part 108, using its passages 110.
- FIG. 1 a situation is shown in which the film 200 has not yet been gripped by the suction pad 100 and possibly no vacuum has yet been provided at the connections 106. It is advantageous if all existing connections 106 can be controlled separately. In the present case, a subgroup of all connections 106 can be controlled together. Here, the two side connections 106 can be subjected to a negative pressure separately from the central connection 106. In other words, the lateral first vacuum chamber 116 and the lateral second vacuum chamber 120 can be controlled via the connections 106 assigned to them, independently of the connection 106 of the centrally or centrally located vacuum chamber 112. In principle, however, it would be It is also possible that all of the connections 106 can be controlled together.
- the rigid gripper part 102 has an edge-side axial extent (thickness) that lags behind a central axial extent
- the elastically flexible gripper part 108 has an edge-side axial extent that is larger than a central extent.
- the axial extent from the center to the edge of the rigid gripper part 102 is formed to be complementary to the axial extent from the center to the edge of the elastically flexible gripper part 108.
- the rigid gripper part 102 is formed to form the vacuum chamber 112 with a projection 124 which is annular or is closed in a polygonal shape and thus provides the wall of the vacuum chamber 112.
- the elastically flexible gripper part 108 is attached to this projection 124. Axially to the projection 124 (to the rear) there is an annular or polygonal edge 126 on the rigid gripper part 102, to which the wider part of the elastically flexible gripper part 108 is attached.
- the rigid gripper part 102 is here formed either from aluminum, an aluminum alloy or from a rigid plastic.
- the elastically flexible gripper part 108 it is possible for the elastically flexible gripper part 108 to be formed from a closed-cell foam, in particular from a foam rubber.
- the elastically flexible gripper part 108 is made of cellular rubber, in particular EPDM.
- the suction gripper 100 is designed such that the elastically flexible gripper part 100 is elastically compressed when a negative pressure is applied to the connection 106 and a film 200 is acted upon by the elastically flexible gripper part 108. Due to the selected thicknesses of the rigid gripper part 102 and the elastically flexible gripper part 108, the central part with the projection 124 acts like a kind of "hold-down device", whereas the edge regions 122 are compressed and thus cause the film 200 to be lifted laterally from the film stack. The foils 200 underneath remain on the stack due to their inherent rigidity, so that individual removal and handling of the foil 200 with the suction gripper 100 according to the invention is possible. In other words, the dimensions of the rigid Gripper part 102 and the elastically flexible gripper part 108 are selected so that when gripping the film 200 there is a convex shape of the elastically flexible gripper part 108.
- the suction pad 100 according to the invention is characterized by a simple structure that can grip and transport films 200 without any additional technical effort without causing damage.
- the separating movement is caused by the elastic deformation of the elastically flexible gripper part 108.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
Die Erfindung betrifft einen Sauggreifer (100) zur vereinzelten Entnahme einer Folie (200) von einem Folienstapel, mit einem starren Greiferteil (102), in dem ein mindestens ein Kanal (104) ausgebildet ist, der an einem Anschluss (106) endet, an welchem eine Unterdruckeinrichtung angeschlossen oder anschließbar ist, sowie mit einem an dem starren Greiferteil (102) angebrachten und elastisch nachgiebigen Greiferteil (108) zur Aufnahme der Folie (200), wozu das elastisch nachgiebige Greiferteil (108) mindestens einen Durchtritt (110) umfasst, der strömungsmechanisch mit dem Kanal (104) des starren Greiferteils (102) verbunden ist.The invention relates to a suction gripper (100) for individually removing a film (200) from a stack of films, with a rigid gripper part (102) in which at least one channel (104) is formed, which ends at a connection (106). to which a vacuum device is connected or can be connected, and with an elastically flexible gripper part (108) attached to the rigid gripper part (102) for receiving the film (200), for which purpose the elastically flexible gripper part (108) comprises at least one passage (110), which is fluidly connected to the channel (104) of the rigid gripper part (102).
Description
Die Erfindung betrifft einen Sauggreifer zum Handhaben von Folien, insbesondere einen Sauggreifer zur vereinzelten Entnahme einer Folie von einem Folienstapel.The invention relates to a suction gripper for handling films, in particular a suction gripper for individually removing a film from a stack of films.
Eingangs genannte Folien werden beispielsweise zur Herstellung von Ausweis-, Wert- oder Sicherheitsdokumenten genutzt, wobei eine Mehrzahl der Folien zu einem Laminat gefügt werden. Um die einzelnen Folien handhaben zu können, werden oft aufwendige Greiferkonstruktionen oder Abzugsvorrichtungen verwendet. Gerade die Vereinzelung einzelner Folienschichten von einem Folienstapel hat sich dabei als schwierig erwiesen.The films mentioned at the beginning are used, for example, to produce ID cards, valuables or security documents, with a majority of the films being joined to form a laminate. In order to be able to handle the individual films, complex gripper designs or take-off devices are often used. Separating individual layers of film from a stack of film has proven to be particularly difficult.
Es ist daher die Aufgabe der vorliegenden Erfindung, einen Saugreifer bereitzustellen, der eine verbesserte Handhabung von Folien, insbesondere zur Handhabung von Folien für ein Laminat eines Ausweis-, Wert- oder Sicherheitsdokuments, erlaubt.It is therefore the object of the present invention to provide a suction cup that allows improved handling of films, in particular for handling films for a laminate of an ID card, value or security document.
Diese Aufgabe wird gelöst mit einem Sauggreifer mit den Merkmalen des Anspruchs 1. Vorteilhafte Ausgestaltungen mit zweckmäßigen Weiterbildungen der Erfindung sind in den abhängigen Ansprüchen angegeben.This object is achieved with a suction pad with the features of claim 1. Advantageous embodiments with useful developments of the invention are specified in the dependent claims.
Der erfindungsgemäße Sauggreifer zur vereinzelten Entnahme einer Folie von einem Folienstapel umfasst ein starres Greiferteil und ein elastisch nachgiebiges Greiferteil zur Aufnahme der Folie. In dem starren Greiferteil ist mindestens ein Kanal ausgebildet, der an einem Anschluss endet, an welchem eine Unterdruckeinrichtung angeschlossen oder anschließbar ist. Eine solche Unterdruckeinrichtung ist beispielsweise eine Vakuumpumpe. Andere Mittel zur Erzeugung eines Unterdrucks sind ebenfalls möglich. Das elastisch nachgiebige Greiferteil zur Aufnahme der Folie ist an dem starren Greiferteil angebracht. Zur Aufnahme der Folie weist das elastisch nachgiebige Greiferteil mindestens einen Durchtritt auf, der strömungsmechanisch mit dem Kanal des starren Greiferteils verbunden ist.The suction gripper according to the invention for individually removing a film from a stack of films comprises a rigid gripper part and an elastically flexible gripper part for receiving the film. At least one channel is formed in the rigid gripper part, which ends at a connection to which a vacuum device is connected or can be connected. Such A vacuum device is, for example, a vacuum pump. Other means of generating negative pressure are also possible. The elastically flexible gripper part for receiving the film is attached to the rigid gripper part. To hold the film, the elastically flexible gripper part has at least one passage which is fluidly connected to the channel of the rigid gripper part.
Auf diese Weise wird gewährleistet, dass die Folie mit einem elastisch nachgiebigen Greiferteil beaufschlagt wird, und insbesondere mit der an dem mindestens einen Durchtritt vorherrschenden Unterdruck am elastisch nachgiebigen Greiferteil gesichert wird. Durch den Einsatz des elastischen nachgiebigen Greiferteils kann die Folie sehr schonend vom Sauggreifer aufgenommen werden, was beispielsweise im Fall von Hologrammfolien besonders wichtig ist, da diese sehr leicht zerkratzen und damit zu unnötigem Ausschuss bei der Herstellung von Ausweis-, Wert- oder Sicherheitsdokumenten führen würden.In this way it is ensured that the film is acted upon by an elastically flexible gripper part, and in particular is secured to the elastically flexible gripper part with the negative pressure prevailing at the at least one passage. By using the elastic, flexible gripper part, the film can be picked up very gently by the suction gripper, which is particularly important in the case of hologram films, for example, as they scratch very easily and would therefore lead to unnecessary waste in the production of ID cards, valuables or security documents .
Der Saugreifer ist vorzugsweise derart ausgestaltet, dass das elastisch nachgiebige Greiferteil elastisch komprimiert wird, wenn ein Unterdruck am Anschluss angelegt ist und eine Folie von dem elastisch nachgiebigen Greiferteil beaufschlagt wird. Durch die Komprimierung des elastischen nachgiebigen Greiferteils beim Anlegen eines Unterdrucks wird also eine Abhebebewegung für die vereinzelte Entnahme der Folie von einem Folienstapel hervorgerufen.The suction cup is preferably designed in such a way that the elastically flexible gripper part is elastically compressed when a negative pressure is applied to the connection and a film is acted upon by the elastically flexible gripper part. The compression of the elastic, flexible gripper part when applying a negative pressure causes a lifting movement for the individual removal of the film from a stack of film.
Um zu gewährleisten, dass wirklich auch nur eine einzige Folie vom Folienstapel entnommen wird, sind die Abmessungen des starren Greiferteils und des elastisch nachgiebigen Greiferteils so gewählt, dass beim Ergreifen der Folie eine konvexe Formgebung des elastischen nachgiebigen Greiferteils vorliegt.In order to ensure that only a single film is actually removed from the film stack, the dimensions of the rigid gripper part and the elastically flexible gripper part are selected so that when the film is gripped, there is a convex shape of the elastically flexible gripper part.
In diesem Zusammenhang hat es sich als vorteilhaft erwiesen, wenn das starre Greiferteil eine randseitige axiale Erstreckung (Dicke) aufweist, die hinter einer zentralen axialen Erstreckung zurückbleibt, und wenn das elastisch nachgiebigen Greiferteil eine randseitige axiale Erstreckung (Dicke) aufweist, die größer als eine zentrale Erstreckung ist. Auf diese Weise ist also das elastisch nachgiebige Greiferteil unterschiedlich dick gebildet, sodass durch diese Gestaltung dem Sauggreifer eine Doppelfunktion zu Gute kommt. Einerseits wird eine Folie von einem Folienstapel zuverlässig angesaugt. Andererseits verformt sich durch den Vakuumaufbau die unterschiedlich dicke Lage des elastisch nachgiebigen Greiferteils und erzeugt somit eine zusätzliche Abhebebewegung. Im zentralen Bereich oder im Mittelbereich wird durch diese Gestaltung quasi eine Art "Niederhalter" realisiert, wobei im Randbereich eine Abhebebewegung erfolgt. Durch den auf diese Weise sehr kurzen Abhebebereich hebt sich die erste Folie von alleine ab, sie wird also vereinzelt, während die nachfolgenden Folien aufgrund ihrer Eigensteifigkeit liegen bleiben.In this context, it has proven to be advantageous if the rigid gripper part has an edge-side axial extent (thickness) that lags behind a central axial extent, and if the elastically flexible gripper part has an edge-side axial extent (thickness) that is greater than one central extension is. In this way, the elastically flexible gripper part is made of different thicknesses, so that this design means that Suction cups have a dual function. On the one hand, a film is reliably sucked into a stack of films. On the other hand, the vacuum build-up deforms the layer of different thicknesses of the elastically flexible gripper part and thus creates an additional lifting movement. In the central area or in the middle area, this design essentially creates a kind of "hold-down device", with a lifting movement taking place in the edge area. Due to the very short lifting area, the first film lifts off on its own, i.e. it is separated, while the subsequent films remain in place due to their inherent rigidity.
Um den Saugreifer kompakt zu halten, hat es sich als vorteilhaft erwiesen, wenn die axiale Erstreckung vom Zentrum zum Rand des starren Greiferteils komplementär ist zur axialen Erstreckung vom Zentrum zum Rand des elastischen nachgiebigen Greiferteils.In order to keep the suction cup compact, it has proven to be advantageous if the axial extension from the center to the edge of the rigid gripper part is complementary to the axial extension from the center to the edge of the elastic, flexible gripper part.
Um zu gewährleisten, dass am Durchtritt des elastisch nachgiebigen Greiferteils stets ein ausreichend gutes Saugverhalten vorherrscht, hat es sich als vorteilhaft erwiesen, wenn der Kanal an seinem dem Anschluss abgewandten Ende in eine Vakuumkammer mündet, die von einer Wandung des starren Greiferteils und von einer Wandung des elastisch nachgiebigen Greiferteils umschlossen ist. In die Vakuumkammer mündet dann auch mindestens einer der Durchtritte des elastisch nachgiebigen Greiferteils.In order to ensure that a sufficiently good suction behavior always prevails at the passage of the elastically flexible gripper part, it has proven to be advantageous if the channel opens at its end facing away from the connection into a vacuum chamber, which is formed by a wall of the rigid gripper part and by a wall the elastically flexible gripper part is enclosed. At least one of the passages of the elastically flexible gripper part then opens into the vacuum chamber.
Um die Folie besonders sicher greifen zu können, hat es sich als vorteilhaft erwiesen, wenn in die Vakuumkammer mindestens zwei der Durchtritte des elastisch nachgiebigen Greiferteils münden. Es ist auch die Möglichkeit vorhanden, dass drei oder auch mehr als drei Durchtritte des elastisch nachgiebigen Greiferteils in die Vakuumkammer münden.In order to be able to grip the film particularly securely, it has proven to be advantageous if at least two of the passages of the elastically flexible gripper part open into the vacuum chamber. There is also the possibility that three or more than three passages of the elastically flexible gripper part open into the vacuum chamber.
Um zu gewährleisten, dass eine Vereinzelung der Folie vom Folienstapel erfolgt, hat es sich als vorteilhaft erwiesen, wenn in dem starren Greiferteil ein, insbesondere parallel, zum Kanal versetzt verlaufender erster Seitenkanal ausgebildet ist, der in eine seitliche erste Vakuumkammer mündet, die von einer Wandung des starren Greiferteils und von einer Wandung des elastisch nachgiebigen Greiferteils umschlossen ist, und wenn in die seitliche erste Vakuumkammer mindestens einer der Durchtritte des elastisch nachgiebigen Greiferteils mündet.In order to ensure that the film is separated from the film stack, it has proven to be advantageous if a first side channel is formed in the rigid gripper part, in particular parallel to the channel and offset, which opens into a lateral first vacuum chamber, which is provided by a Wall of the rigid gripper part and from a wall of the elastically flexible gripper part is enclosed, and when at least one of the passages of the elastically flexible gripper part opens into the lateral first vacuum chamber.
Auch in diesem Zusammenhang hat es sich als vorteilhaft erwiesen, wenn in die seitliche erste Vakuumkammer mindestens zwei der Durchtritte des elastisch nachgiebigen Greiferteils münden, wobei auch drei oder mehr als drei Durchtritte in die seitliche erste Vakuumkammer münden können.In this context too, it has proven to be advantageous if at least two of the passages of the elastically flexible gripper part open into the first lateral vacuum chamber, whereby three or more than three passages can also open into the first lateral vacuum chamber.
Es hat sich als vorteilhaft erwiesen, wenn in dem starren Greiferteil ein, insbesondere parallel, zum Kanal versetzt verlaufender zweiter Seitenkanal ausgebildet ist, der in eine seitliche zweite Vakuumkammer mündet, die von einer Wandung des starren Greiferteils und von einer Wandung des elastisch nachgiebigen Greiferteils umschlossen ist, und wenn in die seitliche zweite Vakuumkammer mindestens einer der durch Dritte des elastisch nachgiebigen Greiferteils mündet. Auf diese Weise ist die Möglichkeit vorhanden, dass der Saufgreifer lediglich mit genau drei Vakuumkammern gebildet ist, um beim Ablegen der Folie eine ebene Form derselben bereitzustellen.It has proven to be advantageous if a second side channel, in particular parallel to the channel, is formed in the rigid gripper part and opens into a lateral second vacuum chamber, which is enclosed by a wall of the rigid gripper part and by a wall of the elastically flexible gripper part is, and if at least one of the elastically flexible gripper part flows into the lateral second vacuum chamber. In this way, it is possible for the suction gripper to be formed with exactly three vacuum chambers in order to provide a flat shape for the film when it is deposited.
Auch hierbei ist die Möglichkeit vorhanden, dass in die seitliche zweite Vakuumkammer mindestens zwei der Durchtritte des elastisch nachgiebigen Greiferteils münden, wobei auch drei oder mehr als drei der Durchtritte in die seitliche zweite Vakuumkammer münden können.Here, too, there is the possibility that at least two of the passages of the elastically flexible gripper part open into the lateral second vacuum chamber, whereby three or more than three of the passages can also open into the lateral second vacuum chamber.
Die seitliche erste Vakuumkammer und/oder die seitliche zweite Vakuumkammer ist über den ihr zugewiesenen Anschluss ansteuerbar und zwar unabhängig von dem Anschluss der zentral gelegenen Vakuumkammer.The lateral first vacuum chamber and/or the lateral second vacuum chamber can be controlled via the connection assigned to it, independently of the connection of the centrally located vacuum chamber.
Um die Folien beschädigungsfrei vereinzeln zu können, hat es sich als vorteilhaft erwiesen, wenn das elastisch nachgiebigen Greiferteil aus einem geschlossenzelligen Schaumstoff, insbesondere aus einem Moosgummi, gebildet ist.In order to be able to separate the films without causing damage, it has proven to be advantageous if the elastically flexible gripper part is made of a closed-cell foam, in particular of a foam rubber.
Beim Handhaben von sehr dünnen Folien ist es aber auch von Vorteil, wenn sehr weiche, offenporige Schaumstoffe beim elastisch nachgiebigen Greiferteil zum Einsatz kommen. Diese verformen sich leichter für die Vereinzelungsbewegung. Das Vakuum saugt in diesem Fall dann durch in den Schaumstoff eingebrachte Sauglöcher.When handling very thin films, it is also an advantage if very soft, open-pored foams are used in the elastically flexible gripper part come into use. These deform more easily for the separation movement. In this case, the vacuum then sucks through suction holes made into the foam.
Um die Langlebigkeit des Sauggreifers zu gewährleisten und damit die Wartungsintervalle entsprechend lang wählen zu können, hat es sich als vorteilhaft erwiesen, wenn das elastisch nachgiebige Greiferteil aus Zellkautschuk, insbesondere aus Ethylen-Propylen-Dien (EPDM), gebildet ist.In order to ensure the longevity of the suction gripper and thus be able to select the maintenance intervals as long as possible, it has proven to be advantageous if the elastically flexible gripper part is made of cellular rubber, in particular ethylene-propylene-diene (EPDM).
Es ist von Vorteil, wenn das starre Greiferteil aus Aluminium oder einer Aluminiumlegierung gebildet ist. Auf diese Weise bleibt der Sauggreifer selbst relativ leicht und kann an beliebigen Roboterarmen angebracht werden, ohne ein zu großes Drehmoment auf den Roboterarm auszuüben. Aufgrund der Wahl von Aluminium oder einer Aluminiumlegierung, ist zudem die Möglichkeit vorhanden, fluiddichte Anschlüsse am starren Greiferteil auszubilden, um die Unterdruckeinrichtung dort zuverlässig anschließen zu können.It is advantageous if the rigid gripper part is made of aluminum or an aluminum alloy. In this way, the suction cup itself remains relatively light and can be attached to any robot arm without exerting too much torque on the robot arm. Due to the choice of aluminum or an aluminum alloy, there is also the possibility of forming fluid-tight connections on the rigid gripper part in order to be able to reliably connect the vacuum device there.
Um das Gewicht des starren Greiferteils zusätzlich zu reduzieren, hat es sich als vorteilhaft erwiesen, wenn das starre Greiferteil aus einem starren Kunststoff gebildet ist. Das starre Greiferteil kann dabei als 3D-Druckteil gebildet sein. 3D-Druckteile sind sehr leicht und eignen sich gut für den vorliegenden Anwendungsfall.In order to further reduce the weight of the rigid gripper part, it has proven to be advantageous if the rigid gripper part is made of a rigid plastic. The rigid gripper part can be formed as a 3D printed part. 3D printed parts are very light and are well suited for the application at hand.
Die vorliegende Erfindung wird nachfolgend anhand von Figuren näher erläutert, wobei die dargestellten Beispiele lediglich exemplarischen Charakter haben und keine Einschränkung hinsichtlich der Tragweite der beschriebenen Erfindung darstellen. Es zeigen im Einzelnen:
- Fig. 1
- eine schematische Schnittansicht durch einen Sauggreifer, der gegenüber einer Folie positioniert ist, und der die Folie noch nicht ergriffen hat, und
- Fig. 2
- den Sauggreifer aus
Figur 1 , welcher die Folie ergriffen hat.
- Fig. 1
- a schematic sectional view through a suction cup that is positioned opposite a film and which has not yet gripped the film, and
- Fig. 2
- the suction cup
Figure 1 who grabbed the foil.
In den
In
Das starre Greiferteil 102 ist vorliegend entweder aus Aluminium, einer Aluminiumlegierung oder aus einem starren Kunststoff gebildet. Um eine Elastizität bereitzustellen, ist die Möglichkeit vorhanden, dass das elastisch nachgiebige Greiferteil 108 aus einem geschlossenzelligen Schaumstoff, insbesondere aus einem Moosgummi, gebildet ist. Alternativ oder ergänzend ist das elastisch nachgiebige Greiferteil 108 aus Zellkautschuk, insbesondere aus EPDM, gebildet.The
Wie sich aus
Der erfindungsgemäße Sauggreifer 100 zeichnet sich durch einen einfachen Aufbau aus, der ohne zusätzlichen technischen Aufwand Folien 200 beschädigungsfrei greifen und transportieren kann. Die Vereinzelungsbewegung wird durch die elastische Verformung des elastisch nachgiebigen Greiferteils 108 bewirkt.The
- 100100
- SauggreiferSuction cups
- 102102
- starrer Greiferteilrigid gripper part
- 104104
- Kanalchannel
- 106106
- AnschlussConnection
- 108108
- elastisch nachgiebiger Greiferteilelastically flexible gripper part
- 110110
- Durchtritt (Durchlass)passage (passage)
- 112112
- Vakuumkammervacuum chamber
- 114114
- erster Seitenkanalfirst side channel
- 116116
- seitliche erste Vakuumkammerlateral first vacuum chamber
- 118118
- zweiter Seitenkanalsecond side channel
- 120120
- seitliche zweite Vakuumkammerlateral second vacuum chamber
- 122122
- komprimierter Bereichcompressed area
- 200200
- Folie / FolienlageFoil / foil layer
Claims (10)
sowie mit einem an dem starren Greiferteil (102) angebrachten und elastisch nachgiebigen Greiferteil (108) zur Aufnahme der Folie (200), wozu das elastisch nachgiebige Greiferteil (108) mindestens einen Durchtritt (110) umfasst, der strömungsmechanisch mit dem Kanal (104) des starren Greiferteils (102) verbunden ist.Suction gripper (100) for individually removing a film (200) from a film stack, with a rigid gripper part (102) in which at least one channel (104) is formed, which ends at a connection (106) to which a vacuum device is connected or can be connected,
and with an elastically flexible gripper part (108) attached to the rigid gripper part (102) for receiving the film (200), for which purpose the elastically flexible gripper part (108) comprises at least one passage (110) which is fluidly connected to the channel (104). of the rigid gripper part (102).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102022107301.7A DE102022107301A1 (en) | 2022-03-28 | 2022-03-28 | Suction cup for handling films |
Publications (1)
Publication Number | Publication Date |
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EP4253290A1 true EP4253290A1 (en) | 2023-10-04 |
Family
ID=87805630
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP23162792.8A Pending EP4253290A1 (en) | 2022-03-28 | 2023-03-20 | Suction gripper for handling films |
Country Status (2)
Country | Link |
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EP (1) | EP4253290A1 (en) |
DE (1) | DE102022107301A1 (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BE653083A (en) * | 1963-09-16 | 1965-03-15 | ||
DE2502668A1 (en) * | 1975-01-23 | 1976-07-29 | Mueller Forst C Kg | Lifting and removing veneer sheets from stack - sheets held by suction on bottom surface of conveyor and transferred |
US5013075A (en) * | 1988-01-11 | 1991-05-07 | Littell Edmund R | Vacuum cup construction |
CN100396454C (en) * | 2003-01-29 | 2008-06-25 | 三星钻石工业股份有限公司 | Vacuum suction head |
US9517616B2 (en) * | 2014-02-21 | 2016-12-13 | Heidelberger Druckmaschinen Ag | Lifting sucker with pneumatically controllable suction cup and punch and sheet-fed rotary printing press having the lifting sucker |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2629160A1 (en) | 1976-06-29 | 1978-01-05 | Freudenberg Carl Fa | Suction lifting plate - comprises impermeable soft elastic block with stiffening sheet steel backplate capable of curvature |
JP2524586Y2 (en) | 1990-09-06 | 1997-02-05 | エスエムシー株式会社 | Suction pad |
US20060070704A1 (en) | 2004-10-06 | 2006-04-06 | Tropicana Products, Inc. | Vaccum support and transfer of flexible material |
DE102013009344A1 (en) | 2013-06-04 | 2014-12-04 | Festo Ag & Co. Kg | Suction pads |
CN206278721U (en) | 2016-11-25 | 2017-06-27 | 深圳市富云帝科技有限公司 | One kind takes film device |
-
2022
- 2022-03-28 DE DE102022107301.7A patent/DE102022107301A1/en active Pending
-
2023
- 2023-03-20 EP EP23162792.8A patent/EP4253290A1/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BE653083A (en) * | 1963-09-16 | 1965-03-15 | ||
DE2502668A1 (en) * | 1975-01-23 | 1976-07-29 | Mueller Forst C Kg | Lifting and removing veneer sheets from stack - sheets held by suction on bottom surface of conveyor and transferred |
US5013075A (en) * | 1988-01-11 | 1991-05-07 | Littell Edmund R | Vacuum cup construction |
CN100396454C (en) * | 2003-01-29 | 2008-06-25 | 三星钻石工业股份有限公司 | Vacuum suction head |
US9517616B2 (en) * | 2014-02-21 | 2016-12-13 | Heidelberger Druckmaschinen Ag | Lifting sucker with pneumatically controllable suction cup and punch and sheet-fed rotary printing press having the lifting sucker |
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DE102022107301A1 (en) | 2023-09-28 |
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