DE102015103147A1 - Handling device and method for receiving flat objects - Google Patents

Abstract

The invention relates to a handling device (1) and a method for receiving flat objects. The handling device (1) comprises a plurality of extension arms (3) each having at least one suction head (6) for detecting the flat object. Further, a central flange portion (4) from which the plurality of cantilever arms (3) extend in different directions and which provides a supporting function for the plurality of cantilever arms (3). The central flange portion (4) has a conduit system which communicates fluidically with the suction heads (6) for transmitting a negative pressure to the suction heads (6) of the plurality of cantilever arms (3).

Description

The present invention relates to a handling device and a method for receiving flat objects.

In the packaging of articles, such as beverage containers or the like, they are often placed on a pallet. About intermediate layers, which may be formed for example by cardboard or corrugated board, the individual levels of the range are separated. Articles of an upper level can therefore stand up on an intermediate layer resting on an adjacent lower level of articles. The intermediate layers provide a stable contact area for the respective articles. Pallets with such liners have a very high stability. A high stability of pallets is desired in order to be able to safely transport them without tilting the pallet or without slippage of articles.

From practice, devices are already known which separate a respective intermediate layer of a stack or accept a respective intermediate layer and then deposit on the pallet. For example, the EP 2 476 637 A2 such a device. The device described in the EP patent application has controllable suction pads, which are fixed to elastically deformable cantilever arms. The elastically deformable extension arms are mounted on a bridge. Each of the suction pad is associated with a hose connection, via which a negative pressure can be transmitted to the respective suction pad to temporarily fix an intermediate layer on the suction pad. If the intermediate layer has been deposited on the pallet, the negative pressure can be released, so that a further intermediate layer can be received by the device.

In practice, it can not always be completely ruled out that damage to the hose connections occurs because they have to be routed from the respective pressure or vacuum generating device to the respective suction gripper. For this reason, devices with such extensive hose connections also have an at least partially complex construction. Also, it can not always be ensured that the individual suction pads are controlled synchronously. It would be desirable devices for detecting intermediate layers via negative pressure, which are characterized by a simpler and more compressed structure and by means of which liners can be detected safely and easily. In addition, such devices and methods would be desirable, which can be easily and inexpensively manufactured or implemented simply and inexpensively.

For this reason, an object of the invention can be seen in providing a corresponding device and a corresponding method which do not possess at least some of these disadvantages.

The above objects are achieved by an apparatus and a method comprising the features in claims 1 and 14. Further advantageous embodiments are described by the subclaims.

The invention relates to a handling device for receiving flat objects. The flat objects may be formed by intermediate layers and in this case consist of cardboard or corrugated board. A handling device according to the invention or various embodiments of a handling device according to the invention can optionally separate intermediate layers from a stack and place them on the respective pallet. It may also be the case that the handling device already has isolated intermediate layers provided, wherein the handling device receives the individual intermediate layer and deposits it in a defined manner on a respective pallet.

The handling device comprises a plurality of extension arms each having at least one suction head for detecting 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, have proven embodiments in which the handling device has at least three and in particular four or at least four boom arms, each of which at least one suction head for detecting the sheet-like object or the intermediate layer is associated via negative pressure.

The handling device also includes a central flange portion from which the plurality of cantilever arms extend in different directions and provide a supporting function for the plurality of cantilever arms. The plurality of cantilever arms may be formed at least substantially rigid and thus each project laterally from the central flange portion. The cantilever arms may be formed by plastic and in particular by carbon fiber reinforced plastic.

The central flange portion may be made by sintering, for example. Preferably, the central flange portion may be formed of plastic and possibly produced in a three-dimensional printing process. It is thus conceivable that the central flange portion in one piece is trained. Such three-dimensional printing processes are characterized by rapid 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 appropriate, for producing the entire handling device. Also, the plurality of cantilever arms can thus be made by a three-dimensional printing process. It is also conceivable for various embodiments that the plurality of cantilever arms and the central flange portion are formed as a one-piece component and optionally 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 cantilever arm can be produced by means of a two-component pressure. In addition, embodiments are conceivable in which components or the entire handling device are produced by injection molding.

The central flange portion also has a conduit system fluidly communicating with the suction heads to transmit a vacuum to the suction heads of the plurality of extension arms. Since the central flange portion is formed as a supporting part of the handling device, the structure of the handling device can be kept very compact.

The central flange portion may form a housing which completely houses the conduit system. The one or more cantilever arms can be held by means of positive and / or non-positive connection of the central flange portion. For example, it may be that the plurality of cantilever arms are in press connection with the central flange portion in connection and / or held via a respective adhesive joint on the central flange portion. In particular, the central flange portion can provide a respective rotation lock for the one or more cantilever arms. The respective rotation lock can be formed, for example, by a respective positive reception of the one or more extension arms on the central flange portion.

For particularly preferred embodiments may also be provided that is coupled to the central flange portion designed as a support column suspension. The support column can be rigidly connected to the central flange section and optionally produced by means of a three-dimensional printing process. If the handling device is moved after receiving an intermediate layer, the suspension or supporting column can carry the mass of the flange section as well as the plurality of extension arms.

It is also conceivable that the plurality of cantilever arms themselves each form a hollow shaft, via which the conduit system is fluidically connected to the at least one suction head of the respective cantilever arm for transmitting the negative pressure. The one or more cantilever arms can thus be designed as a hollow tube. At corresponding outputs of the hollow tube, which are introduced perpendicular to the longitudinal extent of the hollow tube in the hollow tube or positioned in the hollow tube, the suction heads can be arranged, to which for receiving the sheet-like object via the outputs of the hollow tube, a negative pressure is transmitted. At a free distal or the central flange portion facing away from the hollow tube may be closed. In such embodiments, it is possible to completely dispense with hose connections directly coupled to the suction heads. Such embodiments therefore have an additionally simplified structure and are easy to manufacture.

It is also conceivable that the one or more cantilever arms each form at least one region within the respective hollow shaft, within which an opening cross-section is reduced or within which an opening cross-section is reduced in relation to other regions. Thus, one or more cantilever arms may have a throttle. The respective throttle may be formed, for example, as a sheet or aluminum sheet with an opening. It is also conceivable that the respective throttle is produced together with the respective arm in a three-dimensional printing process. If a suction head loses its contact with the respective intermediate layer, a retention of the negative pressure at further suction heads can be ensured by means of the throttle or by means of the reduction in cross section.

Furthermore, it may be that the longitudinal axes of at least two cantilever arms enclose an acute angle with each other. In particular, it may be that the handling device has four cantilever arms, wherein each two cantilever arms together form an acute angle. However, the invention is not limited to such embodiments with four cantilever arms, so that if necessary, three cantilever arms or more than four cantilever arms can be provided, each of which at least one suction head is assigned.

Further, the plurality of cantilever arms may be arranged to be hanging and pointing downwards and / or rising and facing upwardly at the central flange portion. If the handling device or the suction heads of the handling device are placed on a respective intermediate layer, the plurality of cantilever arms can be resilient in the arrangement described give in. In particular, such embodiments have proven that the suction heads each comprise at least one flexible suction bag or suction bellows and / or suction cup, wherein the longitudinal extent of at least two suction bags are formed differently. Due to the resilient resilience, as may be optimized especially in hanging or rising arrangement of the plurality of cantilever arms, all of the suction heads can be placed without problems even with different longitudinal extent to the respective intermediate layer or on the respective sheet-like object.

In particular, embodiments are conceivable in which first suction bags, which are located farther away from the central flange portion, than second suction bags, which are closer than the first suction bags on the central flange portion, by a smaller amount in the downward direction or in the Z-direction protrude from the handling device. For this purpose, the first suction bag itself may have a smaller longitudinal extent than the second suction bag. In addition, it is conceivable that the second suction bags and their respective arm is associated with an intermediate piece to increase the distance or the extent of the second suction bag in the downward direction away from the handling device.

Practice has shown that in such embodiments, an air wedge may be formed between the liner which is received by the handling device and the liner stack. The intermediate layer is unrolled when recording on its directly adjacent intermediate layer. An electrostatic adhesion and / or a mechanical entanglement of the intermediate layer on adjacent intermediate layers can thereby be canceled, so that in such embodiments, intermediate layers can be separated from a respective stack without problems.

Also, the handling device may have at least one tactile sensor, by means of which tact sensor a temporally imminent surface contact of the suction heads can be detected to the intermediate position. The tactile sensor can be designed as a probe rod and protrude in the vertical direction down from the central flange portion of the handling device. In particular, the tactile rod designed as a touch sensor may be positioned approximately centrally between the plurality of cantilever arms. The longitudinal direction of the probe rod can be aligned with a longitudinal direction of the support column or parallel to a longitudinal direction of the support column. It is also conceivable that the handling device has two or more than two tactile sensors. If the intermediate layers, which are received by the handling device, formed as half-layers, which jointly provide a plane of a pallet, a separate tactile sensor or probe rod can be provided for each of the half-layers.

The touch sensor or probe rod may be in communication with a controller. The control device can cause a build-up or a transfer of negative pressure in the line system of the central flange section at and / or in time after contact of the probe rod with a flat object or with an intermediate layer.

Furthermore, it may be that the central flange section has a connection opening into the line system, wherein under active connection with the line system, a negative pressure can be transmitted to the suction heads of the plurality of extension arms together via the one connection. In this case, a compressed air generating device can be coupled to the one opening into the line system port. For coupling with the compressed air generating device, the handling device can provide a thread in the region of the connection. Since the central flange portion can be produced in the three-dimensional printing process, it is possible to form the thread here as an integral part of the central flange portion. An overpressure introduced via the connection into the line system can build up a negative pressure by means of a venturi effect formed in the line system, which is transmitted from the line system to the suction heads. For example, the pressure can be between 3 and 5 bar. In order to form the venturi effect, the line system can have corresponding cross-sectional constrictions in the region of one or more branches. Accordingly, the line system may comprise one or more venturi nozzles or one or more ejectors. For example, it may be provided that each of the plurality of extension arms and / or each suction head is assigned its own venturi nozzle or its own ejector, which builds a negative pressure for the respective extension arm or for the respective suction head. If, due to a fault, a negative pressure can not be generated via a Venturi nozzle or an ejector, then no negative pressure may be transmitted to the respective suction head. If each cantilever arm or each suction head is assigned its own Venturi nozzle or its own ejector, however, the additional cantilever arms or the further suction cups can be supplied with negative pressure, with which the respective intermediate layer can still be received via the handling device. By means of a three-dimensional printing principle, such central flange sections can be produced quickly and efficiently even with high complexity.

In further embodiments, it is conceivable that a common Venturi nozzle or a common ejector is assigned to a plurality of cantilever arms and in this case supplies the plurality of cantilever arms and the suction heads of the plurality of cantilever arms with negative pressure.

In addition, it is conceivable that the conduit system for reducing a noise level when transmitting a negative pressure on the suction cups with one or more silencers fluidly connected. The one or more mufflers may be formed as an integral part of the central flange portion and possibly formed together with the central flange portion in the three-dimensional printing process. In particular, the central flange portion may form a housing within which the one or more mufflers are located. The housing can completely accommodate the one or more silencers. The silencers may include sound-absorbing materials such as wool or the like for absorbing a noise level.

In addition, it is conceivable that the central flange portion has one or more openings through which compressed air can escape. The one or more mufflers may be arranged in the region of the one or more openings. It is also conceivable for various embodiments that the central flange portion formed in the region of the respective openings a thread, by means of which thread a muffler can be screwed onto the central flange portion to reduce a corresponding sound level at Druckluftbeaufschlagung.

Further, one or more mufflers may be detachably held on the central flange portion. The connection between the respective silencer and the central flange portion can be done for example via force and / or positive connection and / or material connection and in particular via a bond or fusion between the respective silencer and a housing of the central flange portion. Also, the central flange portion may have a thread which corresponds to a mating thread of a muffler.

As previously mentioned, it is conceivable that the conduit system for generating the negative pressure by Venturi effect has one or more branches with 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.

Further, it may be that the central flange portion has one or more inputs, via which compressed air can be introduced to cancel the negative pressure at the suction heads in the line system. To the inputs, a pressure generating device or a compressor can be coupled. For this purpose, the central flange portion in the region of a respective input form a thread.

The invention further relates to a method for receiving flat objects. Features that have been previously described for various embodiments of the handling device may also be present in conceivable embodiments of the method described below. In addition, features that are described below for various embodiments of the method, present in conceivable embodiments of the device according to the invention.

The method is provided for receiving flat objects via a handling device having a plurality of cantilever arms, each with at least one suction head and a central flange portion with a conduit system. The piping system is fluidly connected to the suction cups. Starting from the central flange portion, the plurality of cantilever arms extend in different directions away from the central flange portion, with the central flange portion supporting the cantilever 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.

An introduction of negative pressure into the line system can be effected by coupling the central flange section or the line system to a vacuum generating device. For particularly preferred embodiments, however, it is provided that the negative pressure in the piping system is built up from an overpressure and by means of a venturi effect. The overpressure can be introduced through a corresponding connection in the line system. In the region of one or more cross-sectional constrictions of the conduit system, a negative pressure can be established in each case by means of the Venturi effect, which is transmitted to the suction heads for detecting the respective flat object.

As part of a further step of the method according to the invention, the negative pressure is transmitted from the conduit system to the suction heads, so that as a result, the respective flat object is fixed to the suction heads of the handling device.

Further, the pressurized air can be supplied to one or more silencers after reduction of the negative pressure to reduce a noise level. The compressed air can pass through the silencers hereby and then emerge from the central flange section or from a housing of the central flange section. For this purpose, one or more openings may be introduced into the housing of the central flange portion, which are arranged downstream of the one or more mufflers in the flow direction of the overpressure and are in communication with the line system.

In order to capture surface objects or intermediate layers as precisely as possible, the negative pressure can be transmitted at least approximately time synchronously from the pipe system to the suction cups. Suction heads of a plurality of cantilever arms can fluidly communicate with each other via the conduit system. About the fluidic connection between the suction heads, it is possible to simultaneously transfer an introduced into the line system or built-up in the piping system pressure to the suction cups.

Further, it may be that the plurality of cantilever arms themselves form a hollow shaft, via which the negative pressure is transmitted from the piping system to the suction cups. Thus, the optionally designed as a hollow tubes several extension arms can connect to the piping system of the central flange and pressurize the suction cups with negative pressure.

In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

1 shows a schematic perspective view of an embodiment of a handling device according to the invention;

2 shows a schematic plan view of the embodiment of a handling device 1 ;

3 shows a schematic side view of the embodiment of a handling device 1 ;

4 shows a schematic perspective view of a central flange portion of the embodiment of a handling device according to 1 to 3 ;

5 shows a schematic sectional view of the central flange portion of the embodiment according to FIG 1 to 4 ;

6 shows a schematic perspective view of another embodiment of a handling device according to the invention;

7 shows a schematic perspective view of the central flange portion of the embodiment 6 ;

8th shows a schematic sectional view through the central flange portion 7 ;

9 shows a sectional view through a further central flange portion, as it may be provided for various embodiments of a handling device according to the invention.

For identical or equivalent elements of the invention, identical reference numerals are used. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments are merely examples of how the invention may be configured and are not an exhaustive limitation.

1 shows a schematic perspective view of an embodiment of a handling device according to the invention 1 , The handling device 1 is provided for receiving intermediate layers, which are not shown in the figures of the present patent application and may optionally have on opposite sides two broad side surfaces having a substantially rectangular geometry.

The handling device 1 includes a central flange portion 4 as well as several extension arms 3 , as substantially rigid hollow tubes 5 are formed and the central flange portion 4 be worn. In the embodiment 1 are the boom arms 3 or hollow tubes 5 in each case by means of adhesive bonding on the central flange section 4 held.

On each of the four extension arms 3 are two suction cups 6 arranged. The suction cups 6 be by their respective cantilever arm 3 worn or hanging on their respective cantilever 3 fixed. The central flange section 4 can be produced by means of a three-dimensional printing process and thus formed in one piece. Next, the cantilever arms 3 together with the central flange portion 4 be produced in a three-dimensional printing process and thus be integrally formed. It is also conceivable that the suction cups 6 , the boom arms 3 and the central flange portion 4 be produced in three-dimensional printing method and optionally by means of a two-component pressure. The longitudinal axes of each two extension arms 3 or hollow tubes 5 each connect an acute angle α.

The central flange section 4 has a connection 12 over which the handling device 1 or the central flange section 4 communicates with a device for generating pressure. A pressurization of the central flange portion 4 can over the connection 12 for example, be carried out with 3 to 5 bar. The central flange section 4 owns a pipe system 15 (see. 5 ), over which the central flange portion 4 from the pressurization by Venturi effect generates a negative pressure. Because the cantilever arms 3 as hollow tubes 5 are formed, the negative pressure from the pipe system 15 starting from the extension arms 3 to the suction cups 6 be passed, which thereby absorb the respective intermediate layer by negative pressure. The shaft, which the tubes 5 for passing the negative pressure to the suction cups 6 provide, in this case is aligned with the longitudinal axis of the respective cantilever arm 3 ,

1 also leaves two inlets 11 recognize that in the pipe system 15 lead. Also with the inlets 11 is a device for pressurizing or for generating an overpressure in the pipe system 15 in connection. The over the inlets 11 into the pipe system 15 introduced overpressure can be via the boom arms 3 or hollow tubes 5 to the suction cups 6 be transferred to cancel a trained by vacuum fixation of liners.

A suspension 7 or support column 9 is rigid to the central flange section 4 coupled. The suspension 7 or support column 9 may be associated with an actuator to the handling device 1 to move after detecting an intermediate layer in the direction of a pallet and, if necessary, to lead back after depositing an intermediate layer on the respective pallet in the direction of another intermediate layer. Thus, the suspension carries 7 or support column 9 upon movement of the handling device 1 the mass of the central flange portion 4 , the boom arms 3 as well as on the cantilever arms 3 arranged suction cups 6 and possibly the respective at the suction cups 6 fixed liner.

As diverse components, such as the central flange section 4 , Can be manufactured in a three-dimensional printing process, the handling device 1 be produced inexpensively. By integrating a pipe system 15 (see. 5 ) in the central flange portion 4 and the transmission of the negative pressure over the as hollow tubes 5 trained cantilever arms 3 to the suction cups 6 , can be used on hose connections for direct transfer of negative pressure to the suction cups 6 be waived. As a result, the handling device 1 compact, with additional costs for the production of the handling device 1 be reduced.

2 shows a schematic plan view of the embodiment of a handling device 1 out 1 , Shown again are the inlets 11 , about which the piping system 15 (see. 5 ) Compressed air can be supplied to a fixation of intermediate layers through the suction cups 6 repealed. The inlets 11 are on an upper side in the central flange portion 4 introduced and may optionally together with the central flange portion 4 to be printed. The number and positioning of the inlets 11 are to be understood in the present case by way of example.

3 shows a schematic side view of the embodiment of a handling device 1 out 1 and 2 , The boom arms 3 or hollow tubes 5 which at their in the direction of the central flange section 4 facing free end are suspended at the central flange portion 4 arranged. Here are the boom arms 3 or hollow tubes 5 in the direction of a floor surface or in the downward direction. An angle which the cantilever arms 3 or hollow tubes 5 may include between 0 ° and 45 ° with a horizontal.

It is also conceivable that the cantilever arms 3 or a respective hollow shaft of the cantilever arms 3 a patent application in the figures is not associated with throttle shown. Loses a suction head 6 the handling device 1 his contact with the liner, so this can be the negative pressure on the other suction cups 6 to be kept.

3 also shows a stylus 18 the handling device 1 , which in time before the suction cups 6 comes into contact with the respective intermediate layer and informed in the figures present patent application not shown with control means via the contact. The control device can temporally following the transmission of a negative pressure or the construction of a negative pressure in the line system 15 (see. 5 ) causing the suction cups 6 can record the respective intermediate layer.

In addition, shows 3 the orientation of the probe rod 18 and the support column 9 whose longitudinal axes are aligned with each other.

4 shows a schematic perspective view of a central flange portion 4 the embodiment of a handling device 1 according to 1 to 3 , The central flange section 4 owns each of the cantilever arms 3 or hollow tubes 5 a separate exit 17 of which in 4 two outputs 17 can be seen. About the exits 17 the vacuum is applied to the boom arms 3 passed and via the cantilever arms 3 to the individual suction heads 6 transfer.

The inputs 11 have a thread through which the compressed air generating device or the compressor with the central flange portion 4 can be coupled. By acting on the central flange section 4 with overpressure over the inputs 11 if necessary, between the suction cups 6 and the respective intermediate layer formed negative pressure can be canceled. The inputs 11 thus lead directly into the pipe system 15 (see. 5 ) of the central flange portion 4 ,

Also are silencers 19 the central flange portion 4 to recognize whose function will be described below. The silencers 19 can as an integral part of the central flange section 4 together with the central flange portion 4 are produced by a three-dimensional printing process and are in the range of a respective opening 33 the central flange portion 4 , About the silencers 19 or the silencers 19 can pass compressed air from the openings 33 the central flange portion 4 escape.

About the pipe system 15 (see. 5 ) thus becomes a fluidic connection between the port 12 and the openings 33 produced.

5 shows a schematic sectional view of the central flange portion 4 from the embodiment of 1 to 4 , In the sectional view from 5 is the pipe system 15 the central flange portion 4 clearly visible. The pipe system 15 will be over the connection 12 pressurized with compressed air. Part of the pipe system 15 are two venturi nozzles 25 , by means of which from the over the connection 12 into the pipe system 15 introduced overpressure a negative pressure can be built up. Next are several branches 16 of the pipe system 15 to recognize which one output at a time 17 assigned. About the branches 16 and their exits 17 that is through the venturi nozzles 25 built vacuum to the suction cups 6 continued to a flat object or an intermediate layer on the handling device 1 to fix. The pipe system 15 or the Venturi nozzles 25 , the branches 16 and the outputs 17 can as an integral part of the central flange section 4 be produced in three-dimensional printing.

5 also indicates that the connection 12 has a thread to a in the figures present patent application not shown with compressed air generating device or a compressor to the central flange portion 4 to pair. Also the thread of the connection 12 can together with all other components of the central flange 4 to be printed. In flow direction closes to the Venturi nozzles 25 one connection each 21 on which the compressed air to a respective muffler 19 continues. In particular, in embodiments with high clock frequency, one or more silencers have 19 proven to provide a sound level when compressed air is applied to the piping system 15 to keep low. Also the connections 21 as well as the silencers 19 can as an integral part of the central flange section 4 be produced in three-dimensional printing. The silencers 19 can be designed as Absorptionsschaldämpfer or as a reflection muffler.

6 shows a schematic perspective view of another embodiment of a handling device according to the invention 1 , As well as the embodiment of the 1 to 3 owns the embodiment 6 four extension arms 3 each with two suction heads 6 , The suction cups 6 are still on a central flange section 4 held. The central flange section 4 has inputs 11 to a trained by vacuum fixation between the Saufköpfen 6 and an intermediate layer (not shown). About the connection 12 compressed air is in the central flange section 4 brought in. The boom arms 3 are by substantially rigid hollow tubes 5 formed and each have the central flange portion 4 path. The mass of the central flange section 4 , the boom arms 3 or hollow tubes 5 , the suction cups 6 and possibly on the suction cups 6 by means of vacuum adhesive liner is of the as a support column 9 trained suspension 7 carried. Between the support column 9 and the central flange portion 4 a non-rotatable coupling is provided.

Individual components of the handling device 1 or the entire handling device 1 can also in the embodiment of 6 be produced by a three-dimensional printing process. Alternatively, it is conceivable that the central flange section 4 out 6 formed by sintering. As well as the central flange section 4 according to the embodiment 6 a pipe system 15 owns (cf. 8th ), can up direct hose connections for passing a negative pressure to the suction cups 6 be waived.

7 shows a schematic perspective view of the central flange portion 4 of the embodiment 6 , Also the central flange section 4 out 7 owns each of the cantilever arms 3 or hollow tubes 5 a separate exit 17 of which in 7 two outputs 17 can be seen. About the exits 17 the vacuum is applied to the boom arms 3 passed and via the cantilever arms 3 to the individual suction heads 6 transfer.

The central flange section 4 has openings 33 , via which compressed air from the central flange section 4 exit. Every opening 33 is a thread 27 assigned. About the thread 27 may be a respective muffler on the central flange portion 4 be screwed on to a noise level via the port 12 in the central flange section 4 to reduce introduced compressed air. The pipe system 15 (see. 8th ) sets the connection 12 as well as the openings 33 fluidically in communication. For clarity, the corresponding silencer, which by means of the thread 27 at the central flange section 4 can be attached, not shown in the figures of the present patent application. The threads 27 and the openings 33 can be manufactured together with the central flange section in the three-dimensional printing process.

8th shows a schematic sectional view through the central flange portion 4 out 7 , Evident is a vacuum generating device 30 as part of the pipe system 15 is trained. By the vacuum generating device 30 can by Venturi effect a negative pressure in the piping system 15 be built, which via the outputs 17 to the suction cups 6 is transmitted. This is done via the connection 12 Compressed air in the pipe system 15 introduced, which the vacuum generating device 30 happens and via the openings 33 from the central flange section 4 exit. Every opening 33 has its own thread 27 , via which a respective silencer on the central flange portion 4 can be screwed on.

Practice has shown that the vacuum generating device 30 can be subject to wear especially at high clock frequency. The negative pressure generating device 30 the embodiment of a central flange portion 4 out 8th is therefore interchangeable or as a detachable component of the central flange portion 4 educated. If the vacuum generating device 30 subject to wear, this can over the respective opening 33 and / or the output 17 from the central flange section 4 be removed. Another vacuum generating device 30 can below about the opening 33 or over the output 17 in the central flange section 4 inserted or used.

9 shows a sectional view through another central flange portion 4 as for various embodiments of a handling device according to the invention 1 can be provided. The central flange section 4 according to 9 can be produced in a three-dimensional printing process or be made by sintering. As well as the embodiment of 8th has the central flange section 4 of the embodiment 9 a connection 12 , four exits 17 , via which a vacuum to the suction cups 6 can be passed and a management system 15 , Next two openings 33 the with the pipe system 15 fluidly connected and via which compressed air from the central flange section 4 can be performed. Every opening 33 is a thread 27 assigned to a respective muffler at the central flange portion 4 to fix.

The negative pressure generating device 30 is fixed to the central flange section 4 connected and together with the central flange portion 4 produced in three-dimensional printing or by sintering. Venturi nozzle 25 are as part of the vacuum generating devices 30 to recognize, from one through the connection 12 into the pipe system 15 introduced overpressure in each case to generate a negative pressure. The vacuum generating devices 30 or the Venturi nozzles 25 are as non-detachable component of the central flange section 4 educated.

The invention has been described with reference to a preferred embodiment. However, it will be apparent to those skilled in the art that modifications or changes may be made to the invention without departing from the scope of the following claims.

LIST OF REFERENCE NUMBERS

1

 handling device

3

 boom

5

 hollow tube

6

 suction head

7

 suspension

9

 support column

11

 inlet

12

 connection

15

 line system

16

 branch

17

 output

18

 testrod

19

 silencer

21

 connection

25

 Venturi nozzle

27

 thread

30

 Negative pressure generator

33

 opening

α

 acute angle

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

• EP 2476637 A2 [0003]

Claims (20)

Handling device ( 1 ) for receiving flat objects, comprising - a plurality of cantilever arms ( 3 ) each with at least one suction head ( 6 ) for detecting the flat object and - a central flange portion ( 4 ), from which the plurality of cantilever arms ( 3 ) extending in different directions away and which a supporting function for the plurality of cantilever arms ( 3 ), wherein the central flange portion ( 4 ) a pipe system ( 15 ), which for transmitting a negative pressure to the suction cups ( 6 ) of the plurality of cantilever arms ( 3 ) fluidically with the suction heads ( 6 ). Handling device according to Claim 1, in which the central flange section ( 4 ) and its management system ( 15 ) and / or the plurality of cantilever arms ( 3 ) are produced by means of a three-dimensional printing principle. Handling device according to claim 1 or claim 2, in which the central flange portion ( 4 ) as a support column ( 9 ) trained suspension ( 7 ) is coupled. Handling device according to one or more of claims 1 to 3, in which the plurality of extension arms ( 3 ) in each case form a hollow shaft over which the conduit system ( 15 ) with the at least one suction head ( 6 ) of the respective cantilever arm ( 3 ) is fluidically connected to transmit the negative pressure. Handling device according to claim 4, wherein the one or more cantilever arms in the respective hollow shaft each form at least one region within which an opening cross-section is reduced. Handling device according to one or more of claims 1 to 5, wherein the suction cups each comprise at least one flexible suction bag, wherein the longitudinal extents of at least two suction bags are formed differently. Handling device according to one or more of claims 1 to 4, wherein the longitudinal axes of at least two extension arms ( 3 ) enclose an acute angle (α) with each other. Handling device according to one or more of claims 1 to 5, in which the plurality of extension arms ( 3 ) hanging and pointing downwards and / or rising and pointing upwards at the central flange portion ( 4 ) are arranged. Handling device according to one or more of claims 1 to 8, wherein the central flange portion ( 4 ) one in the line system ( 15 ) connection ( 12 ), wherein in operative connection with the conduit system ( 15 ) via one connection ( 12 ) together a vacuum on the suction cups ( 6 ) of the plurality of cantilever arms can be transmitted. Handling device according to Claim 9, in which a compressed-air generating device is connected to the one in the line system ( 15 ) connection ( 12 ) is coupled. Handling device according to one or more of claims 1 to 10, in which the line system ( 15 ) for reducing a noise level when transmitting a negative pressure to the suction cups ( 6 ) with one or more silencers ( 19 ) is fluidically connected. Handling device according to Claim 11, in which one or more silencers ( 19 ) are formed as an integral part of the central flange portion. Handling device according to claim 11 or 12, wherein one or more silencers are detachably mounted on the central flange portion ( 4 ) are held. Handling device according to one or more of Claims 1 to 13, in which the line system ( 15 ) has one or more branches with respective cross-sectional constriction to generate the negative pressure by means of Venturi effect. Handling device according to one or more of claims 1 to 14, wherein the central flange portion ( 4 ) one or more inputs ( 11 ), via which compressed air for releasing the negative pressure at the suction heads ( 6 ) into the pipe system ( 15 ) can be introduced. Method for receiving flat objects via a handling device ( 1 ), which has several extension arms ( 3 ) each with at least one suction head ( 6 ) and a central flange section ( 4 ) with a line system ( 15 ), which fluidly with the suction cups ( 6 ), from which central flange section ( 4 ), the plurality of cantilever arms ( 3 ) extend in different directions away and which flange portion ( 4 ) the extension arms ( 3 ), the method comprises the following steps: introduction and / or establishment of a negative pressure in the line system ( 15 ) of the flange portion ( 4 ); - Transfer of the negative pressure from the line system ( 15 ) to the suction cups ( 6 ), as a result of which the respective flat object on the suction heads ( 6 ) of the handling device ( 1 ) is fixed. Method according to Claim 16, in which compressed air is introduced into the pipeline system ( 15 ) and in this case by means of Venturi effect in the region of one or more cross-sectional constriction of the conduit system ( 15 ) the negative pressure is built up. Method according to Claim 17, in which the compressed air, after the vacuum has been built up, is applied to one or more silencers ( 19 ) is supplied to reduce a noise level. Method according to one or more of the preceding claims 16 to 18, in which the negative pressure at least approximately time-synchronous from the line system ( 15 ) to the suction cups ( 6 ) is transmitted. Method according to one or more of claims 16 to 19, wherein the plurality of cantilever arms ( 3 ) itself form a hollow shaft, via which the negative pressure starting from the line system ( 15 ) to the suction cups ( 6 ) is transmitted.

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