DE102007031760A1 - Vacuum device for handling tools has a vacuum-gripper module fitted with a suction gripper applied with a vacuum for causing a sucking effect so as to grip an object - Google Patents

Abstract

A vacuum valve (36) is designed as an electrically triggered proportional valve for controlling a vacuum applied to a suction gripper (7). A through-flow sensor (42) measures flow of a resulting sucking capacity. Evaluatory electronics (43) trigger the vacuum valve by relying on data from the through-flow sensor. A communications interface (22) communicates data between the evaluatory electronics and external control electronics (23).

Description

The The invention relates to a vacuum handling device, with at least a vacuum gripping module, mounted on the at least one suction pad or attachable to the a suction for gripping a Object unfolding vacuum can be applied, wherein the vacuum gripping module a trained as electrically controllable proportional valve Vacuum valve for controlling the vacuum applied to the suction pad, a the resulting suction volume flow measuring flow sensor, a the vacuum valve depending on the data of the Flow sensor controlling evaluation and a communication interface for data communication between the transmitter and a contains external control electronics.

At one of the DE 10140248 A1 known vacuum handling device of this type is provided with a vacuum gripper equipped vacuum gripping module, which is equipped with an evaluation, with which can be controlled for the purpose of handling negative pressure-related gripping an object. The transmitter communicates with an external control electronics and controls an internal vacuum valve, which is switched on in the connection between an external vacuum source and the suction pad. The vacuum source may also be an immediate part of the gripping module, so that it is possible to dispense with external fluid connections. The control of the vacuum valve is based on data of a pressure sensor, although other types of sensors can be used, for example, a sensor for detecting the flow rate. As a vacuum valve, a miniaturized solenoid valve is proposed. Also proportionally controllable miniature valves based on memory metal are mentioned as an alternative embodiment.

by virtue of the possible individual control of the vacuum gripping module is an energy-saving operation possible. Based on the sensor data can For example, be ensured that the vacuum generation is turned off when a predetermined negative pressure is generated. Is a vacuum handling device with multiple vacuum gripping modules equipped, those gripping modules can be temporary disabled for the current gripping process not needed.

In flexible designed manufacturing and assembly equipment is one with it confronted with different workpieces To handle kind. Often these workpieces differ not just in size - what you can do with help compensate for a matrix-like array of vacuum gripping modules could - but also in their constitution, in their weight or in their sensitivity to mechanical stresses. These different boundary conditions You can, for example, counter that by being different designed vacuum gripping modules, which one of case selectively relies on the case by rebuilding the plant becomes. However, this requires a relatively high amount of time. moreover you need a variety of different gripping modules, which increases the system costs.

It An object of the present invention is to provide measures to propose, even under changing conditions of use effective and inexpensive operation of a vacuum handling device allow.

to Solution to this problem is in a vacuum handling device of the type mentioned provided that the transmitter includes a control electronics through which the vacuum valve is controlled such that the suction volume flow to a for Grab an item you want, over the communication interface of the external control electronics predetermined and adjusted in the transmitter stored setpoint becomes.

One and the same vacuum gripping module can thus be extremely variable without mechanical retooling for handling different objects are used. Vary the objects to be handled, for example, in theirs Weight and / or sensitivity to suction caused mechanical stresses, can be the desired and appropriate negative pressure from outside, for example via a connected bus, individually preset and precisely monitored by means of the flow sensor. Of particular advantage is the enabled by the control electronics Precise control of the suction volume flow to a desired Setpoint, whereby this setpoint is object-specific by the external control electronics can be fed to then for the decentral processing within the vacuum gripping module up to to the next change available to stand. Due to the exact regulation of the suction volume flow can In particular, to prevent that thin and / or fragile Objects, such as foils or glass plates, im Moment of suction are overstressed and lasting be deformed or break.

Throughout the communication interface is at any time a data communication between the expediently also to the vacuum hand owned device belonging external control electronics and the transmitter possible, so that in this way, if required, feedback signals can be transmitted, for example, for diagnostic purposes. In order to adapt a gripping module with respect to its gripping intensity to different objects to be gripped, an electrical transmission of the respective desired value from the external control electronics to the locally existing evaluation electronics is sufficient. For the data transfer between the vacuum gripping module and the control electronics, a serial bus is preferably used.

advantageous Further developments of the invention will become apparent from the dependent claims out.

Of the Control process with respect to the suction flow can before the first contact with the object to be grasped. The proportional working vacuum valve is then in the appropriate Switch position held without additional control resources of Evaluation electronics claim. The flow sensor can thus easily used for subsequent tasks be, in particular for the detection of the gripping status of the gripping Object.

at This gripping status detection will be that delivered by the flow sensor Flow data with a gripping status reference stored in the transmitter compared, from which it can be concluded whether an object sucked and detained or not. The moment in which a suction pad is covered by an object to be gripped, decreases the suction volume flow gradually, being on a correct Gripping is closed when a predetermined threshold falls below becomes. Conveniently, this threshold still assigned an underlying tolerance range, so on the presence of a fault can be inferred if the determined flow data leave the tolerance range.

at Demand may also be added to the flow sensor a pressure sensor be present, the currently prevailing vacuum measures. The pressure measurement can be superimposed on the flow measurement be an even more reliable scheme and / or a to enable other functional monitoring.

Around a time-saving and accurate dropping one by then to allow the object held by the suction pad to includes the vacuum gripping module expediently a designated as a release valve, through which in the suction pads an atmospheric overpressure underlying ejection pulse can be initiated. The vacuum inside the suction pad will be abruptly lifted and released the object. By doing the discharge valve is designed as a proportional valve leaves By adjusting the volume flow, the intensity of the ejection pulse variable, taking into account the specific properties of the object currently being held. The intensity may vary depending on the mechanical sensitivity and / or weight of the object vary in height.

As in the vacuum generation can also in the generation of the Abwurfimpulses the required requirements individually about the external control electronics are provided. This provides object-specific intensity default values that stored locally in the transmitter and henceforth for a comparison with currently recorded actual values available stand. As actual values are expediently again used flow data of a flow sensor. in this connection it is particularly advantageous to use the same flow sensor as To use data supplier, who also for the scheme of the vacuum and the determination of the gripping status is used. you relies on a bidirectional pressure sensor, which is capable of a flow. in two opposite directions To capture flow directions. Therefore, here can be a single Flow sensor take a cost-saving triple function.

As even when adjusting the vacuum can also be in the setting the intensity of the ejection pulse a precise Regulation take place on the basis of cooperation of the control electronics with designed as a proportional valve discharge valve.

By doing it is the vacuum valve and the discharge valve to two independent Valves is the advantageous possibility of a very simple, independent control by the Evaluation.

Either for the vacuum valve as well as for the discharge valve is particularly recommended implementation as a piezoelectric valve, in particular the genus whose actuator designed as a bending transducer is. Such piezo valves allow a very flat design and thus allow a compact construction of the vacuum gripping module. Unlike solenoid valves, they can also be permanent without Power consumption remain in a set switching position, which favors efficient use of the handling device.

The vacuum generation is expediently carried out locally directly in the vacuum gripping module. This is then expediently with at least one Ejektoreinrichtung equipped, which is supplied via an air supply interface of the vacuum gripping module with compressed air and on a suction side causes a suction effect, from which the suction volume flow results. The proportionally operating vacuum valve is switched on between the air supply interface and the inlet of the ejector device, so that the suction volume flow generated for the suction gripper can be regulated via the volumetric flow fed into the ejector device.

The Vacuum gripping module is expediently with a Central interface device equipped over the It is detachable and also easily replaceable with a drive device the vacuum handling device is coupled, which is the positioning of the vacuum gripping module takes over. In the central interface facility are expediently all interfaces of the vacuum gripping module, except for the communication interface and the air supply interface expediently even to one for feeding electrical actuation energy Serving power supply interface acts as well as a mechanical Interface for releasable mechanical coupling with the mentioned drive device. The conversion of the Vacuum handling device on another vacuum gripping module This can be done very easily and quickly.

The invention will be explained in more detail with reference to the accompanying drawings. The only figure ( 1 ) shows a schematic representation of a preferred embodiment of the vacuum handling device according to the invention.

The in their entirety with reference numeral 1 designated vacuum handling device comprises a dot-dash line indicated drive device 2 , by means of releasable interface means 3 a vacuum gripping module 4 is arranged. The drive device 2 For example, it is designed as a multi-axis system and is capable of performing translational and / or rotary movements that rely on the vacuum gripping module 4 be transferred to the respective application to relocate and position.

With the help of the vacuum gripping module 4 can any objects 5 be taken by vacuum and repositioned. Exemplary is as an object 5 Illustrated a plate-shaped product, here in the form of a thin glass plate.

The vacuum handling device 1 Can be used simultaneously with multiple vacuum gripping modules 4 be equipped. Several vacuum gripping modules 4 can on one and the same or on different drive means 2 - Especially interchangeable - be fixed.

The simplified in the following only as "gripping module" designated vacuum gripping module 4 includes a module unit 6 , on which - in particular detachable - at least one suction gripper 7 is arranged. In the suction gripper 7 this is exemplified by a suction cup or suction plate provided with a fastening neck. He limits one to a work opening 8th having suction chamber 12 and is by appropriate actuation of the drive means 2 positionable so that it opens with its work opening 8th ahead of the object to be handled 5 comes to the plant. At the moment the plant is the work opening 8th through the object 5 covered and the suction chamber 12 closed to the atmosphere. This condition is indicated by dash-dotted lines in the drawing.

At the module unit 6 , Especially a stable body 13 the same, is a central interface device 14 arranged in common with one on the drive means 2 arranged counter interface device 15 the interface means 3 Are defined. There is a mechanical interface on it 16 for releasable mechanical coupling with the drive device 2 , an air supply interface 17 for feeding compressed air from an external source of compressed air 18 , a communication interface 22 for the data exchange of electrical data or signals with respect to the gripping module 4 external control electronics 23 and a power supply interface 24 for feeding the for the operation of the electrical load of the gripping module 4 required, from an external source of energy 25 derived electrical energy.

The compressed air source 18 and / or control electronics 23 and / or energy source 25 can be part of the vacuum handling device if required 1 be. The connection between the control electronics 23 and the communication interface 22 takes place in particular via a serial bus 26 ,

That for grasping an object 5 required vacuum is directly in the gripping module 4 generated. This is with at least one ejector device 27 equipped and includes at least one working according to the ejector principle suction nozzle 28 whose inlet 29 via an air supply line 32 to the air supply interface 17 connected. Your outlet 33 leads to the atmosphere, if necessary over a silencer not shown away. Your suction side 34 is via a suction channel 35 to the suction chamber 12 of the suction pad 7 connected.

In the course of the air supply line 32 is an electrically controllable proportional valve with 2/2-way functionality turned on, hereinafter referred to as a vacuum valve 36 is designated. It can control the passage of air through the air supply line 32 either shut off completely or release it variably for different flow rates.

A proportional valve of the same kind - as a release valve 37 - is in the course of a better distinction as a discharge line 38 designated further air supply line turned on, one end in the suction channel 35 opens and on the other hand also with the air supply interface 17 connected is.

In the course of the suction channel 35 is a flow sensor 42 (Flow sensor) turned on, the flow rate of the suction channel 35 detected by flowing air. He measures the volume flow here. It is preferably a bidirectional flow sensor 42 which can measure air flows in both directions.

As another component includes the gripping module 4 an evaluation 43 , which among other things, a control electronics 44 includes. Via a first electrical control line 45 is the transmitter 43 with the communication interface 22 connected and communicates in this way with the control electronics 23 ,

One from the power supply interface 24 outgoing power supply line 46 of the gripping module 4 attaches to the control electronics 43 the required operating voltage and can - via the transmitter 43 or directly by means not shown further lines - including all other electrical and electronic components of the gripping module 4 supply with the required actuation energy.

The vacuum valve 36 is via a second control line 47 and the discharge valve via a third control line 48 to the control electronics 44 connected. An electrical signal line 52 connects the flow sensor 42 with the transmitter 43 and there especially with the control electronics 44 ,

So far in the present description of individual lines the speech is, of course, that for each purpose as well in each case a plurality of lines can be used.

The current switching position of the vacuum valve 36 determines the flow rate of the inlet side into the Ejektoreinrichtung 27 fed compressed air and thus also as a result of it in the connected suction channel 35 caused suction volume flow. The suction volume flow results from the air that the ejector device 27 from the suction chamber 12 sucks. The flow sensor 42 is able to measure this suction volume flow and the measured data via the signal line 52 to the transmitter 43 of the gripping module 4 to convey.

A dash-dotted lines, sucked object 5 is held in place by the vacuum generated as a result of the suction. To throw it off again, the vacuum in the suction chamber 12 canceled. This can in principle only by closing the vacuum valve 36 and the subsequent gradual venting of the suction channel 35 over the outlet 33 the ejector device 27 will be realized. For a controlled operation with short cycle times, however, is the discharge valve 37 It is essential, as it is the demand-based supply of compressed air under atmospheric pressure in the suction channel 35 can control, with the Ejektorein direction 27 is bypassed. The feeding point of the discharge line 38 is expediently located between the Ejektoreinrichtung 27 and the flow sensor 42 ,

By opening the discharge valve 37 abruptly compressed air in the suction channel 35 injected, which destroys the prevailing vacuum and actively ensures that the object 5 from the suction pad 7 is solved.

By the discharge valve 37 is designed as a proportional valve, the intensity of the overpressure release pulse can be variably preset. The discharge volume flow is greater, the farther the discharge valve 37 is opened.

In the following, under complementary description of further functionalities of the components of the gripping module 4 , a preferred mode of operation of the gripping module 4 explained.

In the initial state is the suction pad 7 from the object imaged in solid lines and subsequently repositioned 5 spaced. In this state is by electrical control of the vacuum valve 36 the vacuum generation of the ejector device 27 put into operation so that the still open work opening 8th away a constant suction flow through the suction channel 35 passes. During the subsequent application of the suction pad 7 to the object 5 The latter is sucked. This suction is controlled in such a way that the object 5 not damaged. Because the object 5 If it is susceptible to breakage, it could experience mechanical overstress if it is too strong, causing it to break.

The control of the suction process is carried out under the processing of the flow sensor 42 to the transmitter 43 transmitted flow data. These flow data are on the rise lung electronics 44 processed as actual values and with one in the transmitter 43 stored setpoint compared. Based on this, a regulated control of the vacuum valve takes place 36 until the measured suction flow corresponds to the set value.

The setpoint was previously by the control electronics 23 into the gripping module 4 fed. The setpoint is an empirical value that is specific to the type of object currently being handled 5 is tuned and takes into account its properties. The nature of the object to be handled changes 5 , this fact is taken into account by the fact that in the evaluation 43 through the external control electronics 23 a new object-specific setpoint is fed in and stored there.

In this way you can by appropriate control by means of the control electronics 23 very flexible and variable to different types of objects to be handled 5 react and each provide an optimum of suction flow available.

The evaluation electronics 43 is suitably designed so that the control with respect to the switching position of the vacuum valve 36 is set after being in the suction channel 35 has set the desired suction volume flow. The vacuum valve 36 is then held in its current position and only supplies a constant flow of air to the ejector device 27 , which results in a constant suction volume flow.

This maintenance of the adjusted switching position can be realized with a particularly low energy consumption when the vacuum valve 36 is designed as a piezoelectric valve, as shown in the drawing in the right next to the gripping module 4 lying, dash-dotted framed area is illustrated. Piezo valves also have the advantage that they are very precisely controlled and allow very small dimensions. Preferably, it is a piezoelectric valve whose actuator as a bending transducer 53 is executed and when driving a dot-dashed at 54 indicated deflection experienced.

As soon as the regulation of the suction volume flow is switched off, the flow sensor functions 42 only as a detector for the gripping status of the object to be gripped 5 , It continues to measure the suction volume flow and reports it to the evaluation electronics 43 , There it is now stored with a specific object-specific and previously on the control electronics 23 fed gripping status reference value compared.

Grasping an object 5 leads to a reduction of the suction volume flow in the suction channel 35 , The gripping status reference value is a threshold stored in the suction chamber 12 corresponds to at least desired vacuum. If the measured values fall below this threshold value, this is an indicator for a secure gripping of the object 5 , When this condition is reached, the transmitter sends 43 an acknowledgment signal to the external control electronics 23 to the drive device 2 and thus the repositioning of the gripping module 4 to initiate.

Especially depending on the weight of the objects to be lifted 5 it requires different intensities of itself in the suction chamber 12 constructive vacuum, to ensure a secure gripping operation. The externally given gripping status reference value takes this circumstance into account.

In order to detect and report possible disturbances, the threshold is expediently assigned a certain tolerance range in which the generated vacuum can and should move below the threshold value. Exceeding this tolerance range by the measured values in one direction or the other indicates a malfunction and may be caused by the transmitter 43 on site at the gripping module 4 , but also to the external control electronics 23 be reported in order to remedy the situation.

While an object 5 to the suction pad 7 sucked, the ejector remains 27 expediently always in operation. Due to the unchanged switching position of the vacuum valve 36 can be an overuse of the object 5 be excluded.

The vacuum operation of the gripping module 4 then remains unchanged until the object 5 by shifting the gripping module 4 was spent in his dropping position. Once this is achieved, the transmitter is switched on 43 initialized so that the flow sensor 42 a third detection function fulfilled. He is now able to detect the flow rate of air, which makes him a suction pad 7 flows through it.

To the object 5 is then - controlled by the transmitter 43 - the discharge valve 37 switched from its previously occupied closed position in an open position. As a result, an overpressure release pulse flows through the flow sensor 42 through into the suction chamber 12 into it and picks up the local vacuum.

Again, damage to the article 5 to avoid. Delicate objects 5 are more gentle to throw off than sturdy objects. In order to take into account the respective circumstances, allows the discharge valve 37 - as well as the vacuum valve 36 - A continuous adjustment of the flow rate released flow, so that the time within which the vacuum is reduced and a more or less high release force is built up, can vary. Everything is possible between a gentle build-up of pressure and a sudden build-up of pressure.

To enable a specific control here, is in the transmitter 43 an object-specific intensity preset value, which was previously fed in via the external control electronics, is stored with which the sensor is constantly supplied by the flow sensor 42 collected flow data are continuously compared to based on the release valve 37 to control in regulated form. So there is a control loop through which the flow rate and thus the intensity of the overpressure release pulse is adjusted to a desired level.

For the design of the discharge valve 37 the above applies to the vacuum valve 36 Said. It is preferably a piezoelectric valve with a bending transducer 53 as an actuator.

Be it for the generation of the vacuum, for the detection of the gripped object 5 as well as for the ejection pulse, always be via the external control electronics 23 the relevant parameters to the transmitter 43 These needed to locally, in the gripping module 4 to initiate and monitor the various functions object-specifically.

It is also advantageous that the vacuum valve 36 and the discharge valve 37 can be controlled completely independently of each other.

The external control electronics 23 So for the local in the gripping module 4 Control tasks to be performed are not required. The data processing takes place in the gripping module 4 decentralized. The control electronics 23 provides only the framework conditions, in particular those for the operation of the evaluation 43 required item-specific parameters.

In principle, it would be possible to generate the vacuum externally and via an air supply line into the gripping module 4 feed. The production locally on site in the gripping module 4 However, it has the advantage of short vacuum paths and offers the possibility of equipping the vacuum handling device 1 with several gripping modules 4 each of these gripping modules 4 individually with an ejector device 27 equip.

The various air ducts are in practice, as far as possible, designed as internal channels, mostly inside the body 13 run. At these the functional components are then grown individually or in the form of one or more assemblies.

In addition to the flow sensor 42 can also at least one dot-dash line indicated pressure sensor 54 be present, the in the suction channel 35 prevailing pressure and corresponding data to the transmitter 43 for processing there. In this way, for example, compliance with a desired level of vacuum can be constantly monitored while the object being gripped is being monitored 5 by shifting the gripping module 4 repositioned.

The central interface device 14 In addition to the described interfaces, it may also have further, in particular electrical, interfaces which, for purposes not described here, signal and energy transmission from and to the gripping module 4 enable.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 10140248 A1 [0002]

Claims (20)

Vacuum handling device, with at least one vacuum gripping module ( 4 ), on which at least one suction gripper ( 7 ) is attached or attachable, to which a suction effect for gripping an object unfolding vacuum can be applied, wherein the vacuum gripping module ( 4 ) designed as an electrically controllable proportional valve vacuum valve ( 36 ) for controlling the suction gripper ( 7 ) applied vacuum, the resulting suction volume flow measuring flow sensor ( 42 ), a vacuum valve ( 36 ) depending on the data of the flow sensor ( 42 ) triggering evaluation ( 43 ) and a communication interface ( 22 ) for data communication between the transmitter ( 43 ) and an external control electronics ( 23 ), characterized in that the evaluation electronics ( 43 ) a control electronics ( 44 ), through which the vacuum valve ( 36 ) is controllable such that the suction volume flow to a desired for gripping an object, via the communication interface ( 22 ) from the external control electronics ( 23 ) and in the evaluation electronics ( 43 ) setpoint is adjusted. Handling device according to claim 1, characterized by an embodiment in which the desired value for the suction volume flow via the communication interface ( 22 ) is variable from the outside, taking into account the specific properties of the current object to be gripped. Handling device according to claim 1 or 2, characterized in that the evaluation electronics ( 43 ) is designed to switch off the regulation of the suction volume flow and the vacuum valve ( 36 ) in its adjusted position after the desired set value of the suction volume flow has been adjusted. Handling device according to one of claims 1 to 3, characterized in that the vacuum valve ( 36 ) is a piezo valve. Handling device according to claim 4, characterized in that the piezoelectric valve a bending transducer ( 53 ) as an actuator. Handling device according to one of claims 1 to 5, characterized in that the vacuum valve ( 36 ) is a 2/2 proportional valve. Handling device according to one of claims 1 to 6, characterized in that the flow sensor ( 42 ) is used in a further function for detecting the gripping status of an object to be gripped after completion of the control process relating to the suction volume flow, by determining the flow data determined by it in the evaluation electronics ( 43 ) are compared with at least one gripping status reference value present there. Handling device according to claim 7, characterized in that the gripping status reference value by the external control electronics ( 23 ) variable and in the transmitter ( 43 ) is storable. Handling device according to claim 7 or 8, characterized characterized in that the gripping status reference value is a threshold is, to which a tolerance range is assigned. Handling device according to claim 9, characterized in that the evaluation electronics ( 43 ) outputs a fault message when leaving the tolerance range. Handling device according to one of claims 1 to 10, characterized in that the vacuum gripping module ( 4 ) in addition to the flow sensor ( 42 ) measuring the current negative pressure and its data to the transmitter ( 43 ) conductive pressure sensor ( 54 ) having. Handling device according to one of claims 1 to 11, characterized in that the vacuum gripping module ( 4 ) designed as an electrically controllable proportional valve discharge valve ( 37 ) for producing a suction gripper ( 7 ) for dropping a previously grasped article deliverable overpressure dropping pulse of variable intensity. Handling device according to claim 12, characterized in that the discharge valve ( 37 ) is a piezo valve. Handling device according to claim 13, characterized in that the piezoelectric valve a bending transducer ( 53 ) as an actuator. Handling device according to one of claims 12 to 14, characterized in that the discharge valve ( 37 ) is a 2/2 proportional valve. Handling device according to one of claims 12 to 15, characterized in that the desired intensity of the ejection pulse in the form of at least one intensity preset value by the external control electronics ( 23 ) variable and in the transmitter ( 43 ) is storable. Handling device according to claim 16, characterized in that the discharge valve ( 37 ) by the control electronics ( 44 ) is controllable such that the overpressure release pulse based on flow data from the flow sensor ( 42 ) is adjusted to the currently specified intensity. Handling device according to one of claims 12 to 17, characterized in that the vacuum valve ( 36 ) and the discharge valve ( 37 ) independently of each other by the evaluation electronics ( 43 ) are controllable. Handling device according to one of claims 1 to 18, characterized in that the vacuum gripping module ( 4 ) at least one ejector device that generates the vacuum ( 27 ), at the suction side ( 34 ) with interposition of the flow sensor ( 42 ) the suction pad ( 7 ) is connected or connectable and whose inlet ( 29 ) with the interposition of the vacuum valve ( 36 ) with an air supply interface serving for the supply of compressed air ( 17 ) of the vacuum gripping module ( 4 ) connected is. Handling device according to claim 19, characterized in that the vacuum gripping module ( 4 ) one the communication interface ( 22 ), the air supply interface ( 17 ) and a power supply interface (FIG. 24 ) central interface facility ( 14 ), which at the same time as a mechanical interface for releasably coupling the vacuum gripping module ( 4 ) with one of the movements of the vacuum gripping module ( 4 ) predetermining drive device ( 2 ) is trained.