DE102015015727A1 - Suction gripper for holding a component - Google Patents

Suction gripper for holding a component Download PDF

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Publication number
DE102015015727A1
DE102015015727A1 DE102015015727.2A DE102015015727A DE102015015727A1 DE 102015015727 A1 DE102015015727 A1 DE 102015015727A1 DE 102015015727 A DE102015015727 A DE 102015015727A DE 102015015727 A1 DE102015015727 A1 DE 102015015727A1
Authority
DE
Germany
Prior art keywords
suction
component
centering
holding
gripper
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.)
Withdrawn
Application number
DE102015015727.2A
Other languages
German (de)
Inventor
Konrad Wirth
Andreas Domke
Matthias Vogel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daimler AG
Original Assignee
Daimler AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Daimler AG filed Critical Daimler AG
Priority to DE102015015727.2A priority Critical patent/DE102015015727A1/en
Publication of DE102015015727A1 publication Critical patent/DE102015015727A1/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/009Gripping heads and other end effectors with pins for accurately positioning the object on the gripping head

Abstract

The invention relates to a suction gripper (10) for holding a component (26), which has a suction element (12) for holding the component (26), wherein the suction gripper (10) has a centering element (20) which extends in the radial direction (r ) is surrounded by the suction element (12) and in the axial direction (z) at least partially protrudes from the suction element (12).

Description

  • The invention relates to a suction gripper for holding a component specified in the preamble of claim 1. Art.
  • The WO 2009/077694 A1 shows a generic suction gripper for holding a component, which has a suction member for holding the component. Such suction pads provide that the suction pads on full-surface geometries creates a vacuum-holding function. In this case, one or more bolts may be provided outside of the suction element, by means of which the male component can be centered. Because such bolts or holding elements are arranged outside of the suction element, there is a high dependence between the suction element and the arrangement of the bolts or holding elements. Such suction pads are therefore difficult to use universally. In particular, in human-robot cooperations such suction pads can also prove to be critical, since there is an increased risk of bumping or crushing due to the outside of the suction element arranged bolts or holding elements.
  • It is the object of the present invention to provide a particularly simple and universally usable suction gripper for holding a component.
  • This object is achieved by a suction gripper for holding a component having the features of patent claim 1. Advantageous embodiments with expedient and non-trivial developments of the invention are specified in the dependent claims.
  • In order to provide a suction gripper which is particularly simple in design and can be used as universally as possible, the suction gripper according to the invention has a centering element which is surrounded by the suction element in the radial direction and protrudes at least partially out of the suction element in the axial direction. It is therefore provided according to the invention to provide a suction gripper with a centering element arranged centrally with respect to the suction element, for example in the form of a centering pin. This results in a particularly compact design, wherein the suction pad is also particularly universally applicable. Furthermore, by means of the suction gripper according to the invention, a component to be held can be gripped particularly accurately. Furthermore, the suction pad according to the invention is due to the integration of the centering for a human-robot cooperation, since no holder or the like protrude from the suction pads. Furthermore, the suction gripper according to the invention is particularly applicable to a variety of hole shapes and hole diameters, which has the respective component to be held.
  • An advantageous embodiment of the invention provides that the centering element is arranged on a serving as a sealing surface flange, on which a radially spaced from the centering gasket is arranged. Preferably, this seal is in the form of an O-ring. A possible leakage via a hole to be held in the component to be held, through which the centering element is passed when holding or for gripping the component, can be avoided by the O-ring, which is arranged on the flange. As a result, a negative pressure is generated within a circular ring of the suction element and not within the entire circular area of the suction element.
  • The centering element may have a round or even an angular cross-section and thereby be formed depending on the design of the respective hole geometry of the component to be held. For example, the centering element may be formed as a round bolt, sword pin or the like.
  • A further advantageous embodiment of the invention provides that the centering element has a slot extending in the axial direction. Alternatively, the centering element can also be designed without slots.
  • Finally, it is provided according to a further advantageous embodiment of the invention that the centering element is designed as a clamping element. Alternatively, the centering element can also have a wrap-around holding function. In other words, the centering element can therefore also enable an active fixing or holding function when holding the component.
  • Further advantages, features and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing. The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the respectively specified combination but also in other combinations or in isolation, without the scope of To leave invention.
  • The drawing shows in:
  • 1 a partially sectioned side view of a suction pad for holding a component which a bell-like suction member for holding the component and a centering element which is surrounded in the radial direction of the suction element and partially protrudes in the axial direction of the suction element;
  • 2 a perspective view of the underside of the suction pad, wherein the concentric arrangement of the centering element is visible to the suction element;
  • 3 a side view of the suction gripper while it is attached to a component having a through opening through which the centering element is passed; and
  • 4 a perspective view of the suction pad while the component is held by means of the suction element.
  • A total with 10 designated suction gripper for holding a component is in a partially sectioned side view in 1 shown. The suction pad 10 comprises a substantially bell-shaped suction element 12 for holding a component. A pipe 14 is through the suction element 12 passed through and has a connection 16 on, over which air from the suction element 12 can be carried out as soon as this has been created on a component to be held. The pipe 16 points in the area of the suction element 12 several holes 18 on, through which within the suction element 12 Air can be sucked out to a negative pressure within the Saugelements 12 as soon as it has been applied to a component to be held.
  • Around the suction pad 10 The suction gripper is particularly easy to position on a component to be held 10 a centering element 20 on, which in the radial direction r of the suction element 12 is surrounded and in the axial direction z something from the suction element 12 protrudes.
  • The centering element 20 can, as shown in the present case have a round cross section, so be designed as a kind of round bolt. The centering element 20 However, depending on the hole geometry of the component to be retained, it may also have an angular cross-section, for example. For example, the centering element 20 be formed in the form of a sword pin. In addition, it is also possible that the centering element 20 has a slot extending in the axial direction z. In addition, it is also possible that the centering element 20 for example, is designed as a clamping element or also provides a wrap-around holding function. The centering element 20 So it does not necessarily only serve to center the suction pad 10 but can also serve the suction pad 10 to be clamped on a component to be held.
  • The centering element 20 is on a flange 22 arranged, which in turn with the pipe 14 connected is. The centering element 20 So it's on one of the pipe 16 arranged on the opposite side. At the flange 22 is an O-ring 24 arranged, which has a larger diameter than the centering pin 20 ,
  • In 2 is the suction pad 10 shown in a perspective view, in which substantially the bottom of the suction pad 10 easy to recognize. In the present illustration is again the arrangement of the centering element 20 to the suction element 12 to recognize. Furthermore, the present illustration also clearly shows the arrangement of the O-ring 24 on the flange 20 , The centering element 20 , the O-ring 24 , the flange 22 and the suction element 12 are all arranged concentrically to each other.
  • In 3 is the suction pad 10 shown in a side view, while this on a male component 26 is introduced. The component 26 has a circular opening in the present embodiment 28 on, through which the centering element 20 is passed. By means of the centering element 20 can the suction element 12 So exactly to the male component 26 be positioned.
  • In 4 is the suction pad 10 shown in another perspective view while the component 26 by means of the suction element 12 is held. As soon as the centering element 22 through the opening 28 passed through the component and the suction element 12 to the component 26 is created by the air connection 16 and through the holes 18 the between suction element 12 and component 26 sucked existing air, so in the space between the suction element 12 and the component 26 a negative pressure arises, as a result, the suction element 12 to the component 26 zoom sucks.
  • While the suction element 12 thereby to the component 26 is sucked in, puts the O-ring 24 also to the component 26 at. Between the O-ring 24 and an outer edge 30 of the suction element 12 This forms a kind of circular ring, within which the negative pressure to hold the component 26 is trained.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • WO 2009/077694 A1 [0002]

Claims (6)

  1. Suction gripper ( 10 ) for holding a component ( 26 ), which a suction element ( 12 ) for holding the component ( 26 ), characterized in that the suction gripper ( 10 ) a centering element ( 20 ), which in the radial direction (r) of the suction element ( 12 ) is surrounded and in the axial direction (z) at least partially of suction element ( 12 ) stands out.
  2. Suction gripper ( 10 ) according to claim 1, characterized in that the centering element ( 20 ) on a flange serving as sealing surface ( 22 ) is arranged, on which a in the radial direction (r) from the centering ( 20 ) spaced seal ( 24 ) is arranged.
  3. Suction gripper ( 10 ) according to claim 2, characterized in that the seal ( 24 ) is an O-ring.
  4. Suction gripper ( 10 ) according to one of the preceding claims, characterized in that the centering element ( 20 ) has a round or angular cross-section.
  5. Suction gripper ( 10 ) according to one of the preceding claims, characterized in that the centering element ( 20 ) has a in the axial direction (z) extending slot.
  6. Suction gripper ( 10 ) according to one of the preceding claims, characterized in that the centering element ( 20 ) is designed as a clamping element.
DE102015015727.2A 2015-12-01 2015-12-01 Suction gripper for holding a component Withdrawn DE102015015727A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102015015727.2A DE102015015727A1 (en) 2015-12-01 2015-12-01 Suction gripper for holding a component

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102015015727.2A DE102015015727A1 (en) 2015-12-01 2015-12-01 Suction gripper for holding a component

Publications (1)

Publication Number Publication Date
DE102015015727A1 true DE102015015727A1 (en) 2016-05-25

Family

ID=55914352

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102015015727.2A Withdrawn DE102015015727A1 (en) 2015-12-01 2015-12-01 Suction gripper for holding a component

Country Status (1)

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DE (1) DE102015015727A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016223156A1 (en) 2016-11-23 2018-05-24 Bayerische Motoren Werke Aktiengesellschaft Gripping device for gripping non-dimensionally stable workpieces

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009077694A1 (en) 2007-12-04 2009-06-25 Sidel Participations Compact tools with suction cups for handling robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009077694A1 (en) 2007-12-04 2009-06-25 Sidel Participations Compact tools with suction cups for handling robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016223156A1 (en) 2016-11-23 2018-05-24 Bayerische Motoren Werke Aktiengesellschaft Gripping device for gripping non-dimensionally stable workpieces

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Legal Events

Date Code Title Description
R230 Request for early publication
R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee