DE102018129041A1 - Procedure for operating a transfer system and transfer system - Google Patents

Abstract

The invention relates to a method for operating a transfer system. The transfer system is operated either according to a first operating mode or according to a second operating mode, a control means (21) being switched to a first switching position (S1) in the first operating mode, so that a first supply means (19 ) is activated so that the tooling tubes are provided with compressed air or vacuum from the first supply means (19) via one supply line (23a; 24a) to one energy coupling (9; 10) per tooling tube, whereby in the second operating mode the Control means (21) is switched into a second switching position, so that a second supply means (20) is activated to supply the number of tooling tubes, so that the tooling tubes are each supplied by the second supply means (20) via the respective energy coupling (9; 10) a first supply line (25b) compressed air and in each case via a second supply line (25a) compressed air z ur is made available.

Description

The invention relates to a method for operating a transfer system according to claim 1 and a transfer system for performing this method according to claim 4.

From the DE 20 2016 102 137 U1 A pneumatic handling device is known which comprises a manipulator with a crossbar, which comprises at least one adapter mounted on the crossbar and which comprises at least one compressed air supply, each adapter comprising a base frame and at least one tooling with a tooling tube, each base frame having at least one energy coupling for the at least one tooling tube and wherein each energy coupling for connecting the at least one tooling comprises at least two outputs for compressed air and / or vacuum.

It is the object of the invention to propose a method for operating a transfer device and a transfer device, in which or with which the interface between the tooling tube and the base frame can be freely selected between different operating modes of vacuum generation.

This object is solved by claims 1 and 4, respectively. Advantageous and expedient further developments are specified in the respective subclaims.

The method according to the invention for operating a transfer system provides that the transfer system is operated either according to a first operating mode, which is also referred to as central vacuum generation, or is operated according to a second operating mode, which is also referred to as decentralized vacuum generation, in the first Operating mode (central vacuum), a control means is switched to a first switching position, so that a first supply means is activated to supply a number of tooling tubes, so that the tooling tubes from the first supply means via one supply line each to one energy coupling per tooling tube either compressed air or vacuum is made available, in the second operating mode (decentralized vacuum) the control means is switched to a second switch position, so that a second supply means is activated to supply the number of tooling tubes, so that the tooling tubes are switched from the two th supply means via the respective energy coupling each via a first supply line of compressed air for blowing off and in each case via a second supply line of compressed air for vacuum generation. As a result, the tooling tubes installed on the transfer device can be supplied with compressed air or vacuum centrally or decentrally, depending on the requirements, without the need for further replacement or conversion of components.

The invention further provides that, for operation of the transfer system in accordance with the first operating mode, the tooling tubes are supplied by the second supply means (decentralized) and that for operation of the transfer system in accordance with the second operating mode, the tooling tubes are supplied by the first supply means by check valves which are arranged between the first, central supply means and the second, decentralized supply means. This prevents undesired, mutual influencing of the active or passive supply facilities in the respective operating modes, so that functional reliability and economical use of compressed air is ensured.

Finally, the method provides that only one first output of the respective energy coupling is used for an alternate supply of compressed air or vacuum and an existing second output through a closure, in particular, for operating the transfer system according to the first operating mode (central) per tooling tube a valve or a stopper, is closed and that for the operation of the transfer system according to the second operating mode (decentralized), the first output of the respective energy coupling for a supply line of compressed air is used for blowing off and the second output of the respective energy coupling for a supply line of Compressed air is used to create a vacuum. This makes it possible to supply tooling pipes pneumatically via only two outputs of the energy coupling both in the central operating mode and in the decentralized operating mode.

The transfer system according to the invention for carrying out a method according to one of claims 1 to 3 is designed such that the transfer system comprises a first supply means connected to the compressed air supply for providing compressed air and vacuum, that the transfer system comprises a second supply means connected to the compressed air supply for providing compressed air comprises and that the transfer system comprises a control means, wherein in a first switching position of the control means the at least one tooling tube is supplied with compressed air and vacuum via the first supply means and wherein in a second switching position of the control means the at least one tooling tube is supplied with compressed air via the second supply means . As a result, the tooling tubes installed on the transfer device can be centralized depending on the requirements or can be supplied decentrally with compressed air or vacuum without the need for further replacement or conversion of components.

It is also provided that the first supply means (central) comprises at least one vacuum generating device operated with compressed air and that the second supply means (decentralized) comprise a first valve and a second valve, the first supply means being connected to a first input of the energy coupling of the base frame and this feeds either with compressed air or vacuum and the second supply means is connected to the first input and a second input of the energy coupling of the base frame and feeds one of the inputs with compressed air and also feeds the other of the inputs with compressed air. By connecting the two supply means in this way, the energy coupling only has to provide two inputs for both supply variants.

It is also provided that the control means and the second supply means (decentralized) are arranged on the manipulator or on the crossbar or on the base frame and that the first supply means (central) is arranged on the base frame or the crossbar. This keeps the weight of the base frame low.

Furthermore, it is provided that the control means comprises a changeover valve and a plurality of check valves, the check valves being arranged between the first supply means and between the second supply means and the at least one energy coupling in such a way that in the first switching position of the control means supply lines between the second supply means and the Inputs of the energy coupling are blocked and the supply line or the supply lines between the first supply means and the input or the inputs of the energy coupling is or are open and that in the second switching position of the control means the supply line or the supply lines between the first supply means and the Input or the inputs of the energy coupling is or are blocked and the supply lines between the second supply means and the inputs of the energy coupling are open. This effectively prevents pressure losses, so that the transfer device has no unnecessary energy consumption.

It is also provided that one of the tooling pipes is connected to one of the energy couplings in such a way that the tooling pipe and the suction grippers arranged thereon are connected in the first switching position of the control means to one of the outputs of the energy coupling, which is connected to that input of the energy coupling , which is connected to the first supply means, the other output of the energy coupling being closed in particular by the tooling tube or that one of the tooling tubes being connected to one of the energy couplings in such a way that the tooling tube and the suction pads arranged on it are in the second switching position of the control means are connected to the outputs of the energy coupling, which are connected to the inputs of the energy coupling, which are connected to the second supply means. In this way, the respective tooling tube can be prepared in the simplest way for a central or decentralized supply.

Furthermore, it is provided that the transfer system comprises two basic frames connected to the crossbar, each with two energy couplings, and that the transfer system comprises four tooling tubes, these being connected to the four energy couplings. Such a transfer system is particularly suitable for handling two flat workpieces.

It is also provided that the at least one vacuum generating device of the first supply means is designed as a pneumatically controlled vacuum generating device with a compact ejector or that the at least one vacuum generating device of the first supply means is designed as an electrically controlled vacuum generating device with a compact ejector. As a result, the first supply means can be optimally designed for the control technology preferred on the transfer device.

Finally, it is provided that each tooling, which is operated in the second switching position of the control means, comprises a single ejector for vacuum generation on each of its suction pads. As a result, the tooling on its individual suction grippers can generate different suction forces adapted to the function of the individual suction grippers by using different individual ejectors.

In the sense of the invention, central vacuum generation is understood to mean vacuum generation which is carried out close to a tooling and in particular to a crossbar and / or to a base frame.

In the sense of the invention, decentralized vacuum generation is understood to mean vacuum generation which takes place directly on each suction gripper of the tooling.

Further details of the invention are described in the drawing using schematically illustrated exemplary embodiments.

• 1: einen Manipulator mit einer Quertraverse in perspektivischer Ansicht;
• 2: ein Grundgestell mit zwei Toolings;
• 3: das in der 2 gezeigte Grundgestell in Einzeldarstellung;
• 4: die in der 2 gezeigten Toolings in Einzeldarstellung;
• 5: einen schematischen Pneumatikplan zu einer ersten Schaltstellung, wobei pneumatisch gesteuert wird;
• 6: den Pneumatikplan der 5 in einer zweiten Schaltstellung;
• 7: einen schematischen Pneumatikplan zu einer ersten Schaltstellung, wobei elektrisch gesteuert wird;
• 8: den Pneumatikplan der 7 in einer zweiten Schaltstellung und
• 9: eine schematische Darstellung eines Transfersystems.

Here shows:

• 1 : a manipulator with a crossbar in perspective view;
• 2nd : a basic frame with two toolings;
• 3rd : that in the 2nd basic frame shown in individual representation;
• 4th : the one in the 2nd Toolings shown in individual representation;
• 5 : a schematic pneumatic plan for a first switching position, with pneumatic control;
• 6 : the pneumatic plan of the 5 in a second switching position;
• 7 : a schematic pneumatic plan for a first switching position, with electrical control;
• 8th : the pneumatic plan of the 7 in a second switch position and
• 9 : a schematic representation of a transfer system.

In the 1 and 2nd are the essential components of a transfer system according to the invention 1 shown. Here shows the 1 a manipulator in perspective view 2nd with one on the manipulator 2nd fixed crossbar 3rd , which is also known as a crossbar. The 2nd shows a perspective view of an adapter 4th which is a base frame 5 and two with the base frame 5 Toolings connected via recordings 6 , 7 includes. The toolings 6 , 7 include tooling tubes 6a , 7a and to the tooling tubes 6a , 7a connected suction pads 6b to 6f and 7b to 7f . The base frame 5 is also called a support frame. The transfer system 1 includes those in the 1 and 2nd components shown, the adapter 4th in the assembled state with a left arm 3a the crossbar 3rd is connected and it is provided a further adapter, not shown, with a right-hand boom only partially shown 3b the crossbar 3rd connect to.

Accordingly, the transfer system includes 1 the manipulator 2nd with its crossbar 3rd on the crossbar 3rd mounted adapter 4th and a compressed air supply 8th . The base frame 5 comprises a first energy coupling 9 to connect the first tooling 6 and a second energy clutch 10th to connect the second tooling 7 (please refer 2nd ).

In the 3rd is that from the 2nd known base frame 5 shown slightly enlarged without the toolings. The first and the second energy coupling 9 , 10th each have two entrances 11 , 12th respectively. 15 , 16 and two outputs each 13 , 14 respectively. 17th , 18th for compressed air and / or vacuum. The transfer system 1 includes a first to the compressed air supply 8th connected supply 19th to provide compressed air and vacuum. The first supply 19th is on the base frame 5 or according to the design variants not shown on the crossbar 3rd or on the manipulator 2nd arranged. The transfer system 1 includes a second to the compressed air supply 8th connected supply 20th to provide compressed air and vacuum. The supply 20th is on the manipulator 2nd arranged (see 1 ). The transfer system also includes 1 a tax resource 21 which is used as a changeover valve 22 is trained (see 1 ).

In a first switch position S1 (please refer 5 respectively. 7 ) of the tax revenue 21 are the two tooling tubes 6a , 7a about the first supply 19th supplied with compressed air and vacuum. In a second switch position S2 (please refer 6 respectively. 8th ) of the tax revenue 21 are the two tooling tubes 6a , 7a via the second supply 20th supplied with compressed air and vacuum.

In the 4th are the two toolings 6 , 7 shown in isolation. The tooling 6 includes a connector S9 with which this is connected to the first energy coupling 9 of the base frame 5 is connected (see also 2nd ). Tooling also includes 7 a plug S10 with which this to the second energy coupling 10th of the base frame 5 is connected (see also 2nd ). If an operation in the second switch position S2 Toolings have been installed, which comprise individual ejectors for vacuum generation, with a single ejector being assigned to each suction gripper.

Each tooling also includes 6 , 7 two riders R6a , R6b respectively. R7a , R7b which are used to connect the tooling 6 , 7 with the base frame 5 in related recordings A6a , A6b respectively. A7a , A7b of the base frame 5 to be inserted (compare 3rd and 4th ).

Using one in the 5 The schematic pneumatic diagram shown below will be the already mentioned first switching position S1 of the tax revenue 21 explained. From the pneumatic plan of the 5 emerges that the first supply 19th two vacuum generating devices 23 , 24th includes. Here is the vacuum generating device 23 via a supply line 23a with the second entrance 16 the second energy coupling 10th connected and here is the Vacuum generating device 24th via a supply line 24a with the first entrance 11 the first energy coupling 9 connected. According to the exits 13 and 18th compressed air or vacuum available. The vacuum generating devices 23 , 24th are designed as pneumatically controlled compact ejectors, which are sold, for example, by J. Schmalz GmbH under the product name SCPi.

The pneumatic plan also shows that the second supply 20th a first valve 25-1 includes. The first valve 25-1 is via a supply line 25a with the first entrance 11 the first energy coupling 9 and with the first entrance 15 the second energy coupling 10th connected and can via this supply line 25a Make compressed air available. The second supply 20th includes a second valve 25-2 . This is via another supply line 25b with the second entrance 12th the first energy coupling 9 and with the second entrance 16 the second energy coupling 10th connected and can via this supply line 25b Make compressed air available. The pneumatic plan also shows that switching between the in the 5 shown first switching position S1 and the one in the 6 shown second switching position S2 by means of seven check valves 26 to 32 he follows. Here are the five check valves 26 to 30th the first supply 19th assigned and here are the two check valves 31 , 32 the second supply 20th assigned.

About that in the switch position S1 changeover valve 22 the five check valves 26 to 30th pressurized with air and are thereby opened. So are in the switch position S1 the supply lines 23a and 24a which of the first supply means 19th to the energy clutches 9 respectively. 10th lead, opened so that the energy clutches 9 , 10th can be supplied with either vacuum or compressed air. The check valves too 28 , 29 are open, so the first supply 19th from the compressed air supply 8th can be supplied with compressed air. The check valve 30th is also open, so the first supply 19th can be supplied with compressed air for control purposes. The check valves 31 , 32 which the second supply means 20th are assigned are in the switch position S1 not pressurized with compressed air and thus blocked, so that no connection of the second supply means 20th with the energy clutches 9 , 10th consists. The first supply 19th is, as already mentioned, on the base frame 5 arranged. According to an embodiment variant, not shown, it is also provided to arrange this on the crossbar or on the manipulator. The toolings are thus supplied 6 , 7 central. The exit 14 the energy coupling 9 and the exit 17th the energy coupling 10th is in a central operation of the toolings 6 , 7 each with a schematically represented closure V14 respectively. V17 locked. The closures V14 , V17 can each be formed by a plug.

From the 5 to 8th as well as the 3rd it can be seen that every energy coupling 9 , 10th includes two further inputs, to which the supply air and return air are connected. Such an additional supply is optionally provided.

In the 6 is now the one from the 5 well-known pneumatic plan so represented that the changeover valve 21 in its second switch position S2 stands and in this the check valves 31 , 32 pressurized with compressed air so that the supply services 25a , 25b are released, which is the second supply 20th with the two energy clutches 9 , 10th connect. In the second switch position S2 become the first supply 19th associated check valves 26 to 30th not pressurized with compressed air, so that a supply of the first supply means 19th is blocked with compressed air and so the supply lines 23a , 24a which are the first supply means 19th with the two energy clutches 9 , 10th connect. Thus there is also a return flow of compressed air from the energy clutches 9 , 10th prevented. In the second switch position S2 is at the first exits 13 , 17th of the energy clutches 9 , 10th Compressed air available and in the second switch position S2 is at the second outputs 14 , 18th of the energy clutches 9 , 10th compressed air is also available.

The in the 7 and 8th Pneumatic plans shown are analogous to those in the 5 and 6 shown pneumatic plans executed. The difference is the first supply 19th not equipped with vacuum generating devices, which are designed as pneumatically controlled compact ejectors, but equipped with vacuum generating devices, which are designed as electrically controlled compact ejectors. Electrically controlled compact ejectors are sold, for example, by J. Schmalz GmbH under the product name SXMP. The use of electrically controlled compact ejectors simplifies the pneumatic plan in that the first supply means 19th only two check valves 26 , 27 must be assigned. Accordingly, in the switch position S1 (please refer 7 ) the check valves 26 , 27 opened and the check valves 31 , 32 which the second supply means 20th assigned are closed. Accordingly, in the switch position S2 (please refer 8th ) the check valves 26 , 27 closed and the check valves 31 , 32 open. The toolings are thus supplied via the energy couplings 9 , 10th with vacuum and compressed air in the first switch position S1 centrally and with compressed air in the second switching position S2 decentralized.

In the 9 is the transfer system 1 shown schematically. The crossbar 3rd of the manipulator 2nd carries the base frame 5 as well as another base frame 105 . On the base frame 5 are the two toolings 6 , 7 arranged and on the second base frame 105 are two more toolings 106 , 107 arranged. The transfer device accordingly comprises 1 for the toolings 6 , 7 the two vacuum generating devices 23 , 24th and for the toolings 106 , 107 two further vacuum generating devices 123 , 124 .

Reference list

1

Transfer system

2nd

manipulator

3rd

Crossbar = crossbar

3a

left arm of 3rd

3b

right arm of 3rd

4th

adapter

5

Base frame of 4 = support frame

6

first tooling from 4th

6a

Tooling tube from 6

6b-6f

Suction pads from 6

7

second tooling

7a

Tooling tube from 7

7b-7f

Suction pads from 7

8th

Compressed air supply

9

Energy coupling

10th

Energy coupling

11, 12

Receipt of 9

13.14

Exit from 9

15, 16

Receipt of 10th

17, 18

Exit from 10th

19th

first supply

20th

second supply

21

Tax funds

22

Switch valve as 21

23, 24

Vacuum generating device from 19th

23a

Supply line between 23 and 9

24a

Supply line between 24th and 10th

25-1

first valve of 20th

25-2

second valve of 20th

25a

Supply line between 25-1 and 9/10

25b

Supply line between 25-2 and 9/10

26-30

Check valve from 19th

31, 32

Check valve from 20th

105

second base frame

106, 107

third, fourth tooling

123, 124

Vacuum generating device

A6a, A6b

Recording of 5 For R6a , R6b

A7a, A7b

Recording of 5 For R7a , R7b

R6a, R6b

Rider on 6

R7a, R7b

Rider on 7

51

first switch position of 21

S2

second switch position from 22

S9

Connector from 6 For 9

S10

Connector from 7 For 10th

V14, V17

Closure of 14 respectively. 17th

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included 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.

Patent literature cited

• DE 202016102137 U1 [0002]

Claims (11)

Method for operating a transfer system (1), characterized in that the transfer system (1) is operated either according to a first operating mode or according to a second operating mode, - in the first operating mode a control means (21) switched to a first switching position (S1) is activated so that a supply means (19) is activated for supplying a number of tooling tubes (6a; 7a), so that the tooling tubes (6a; 7a) arrive from the first supply means (19) via a respective supply line (23a; 24a) One energy coupling (9; 10) per tooling tube (6a; 7a) is optionally provided with compressed air or vacuum, - the control means (21) being switched to a second switching position (S2) in the second operating mode, so that the Number of tooling tubes (6a, 7a) a second supply means (20) is activated so that the tooling tubes (6a; 7a) from the second supply means (20) via the respective energy coupling (9; 10) each because compressed air for blowing off is provided via a first supply line (25b) and compressed air for vacuum generation is in each case provided via a second supply line (25a). Procedure for operating a transfer system according to Claim 1 , characterized in that a supply of the tooling tubes (6a; 7a) by the second supply means (20) for an operation of the transfer system (1) in accordance with the first operating mode and that a supply of the Tooling pipes (6a; 7a) are blocked by the first supply means (19) by check valves (26-30; 31, 32) which are arranged between the first, central supply means (19) and the second, decentralized supply means (20). Procedure for operating a transfer system according to Claim 1 or 2nd , characterized in that only one output (13; 18) of the respective energy coupling (9; 10) is used for an alternate supply of compressed air or vacuum for operating the transfer system (1) according to the first operating mode per tooling tube (6a; 7a) is and the further output (14; 17) is closed by a closure (V14, V17), in particular a valve or a stopper, and that for operation of the transfer system (1) according to the second operating mode per tooling tube (6a; 7a) first output (13; 17) of the respective energy coupling (9; 10) is used for a supply of compressed air for blowing off and the second output (14; 18) of the respective energy coupling (9; 10) is used for a supply of compressed air for vacuum generation . Transfer system (1) for performing a method according to one of the Claims 1 to 3rd comprising - a manipulator (2) with a crossbar (3), - at least one adapter (4) mounted on the crossbar (3), - at least one compressed air supply (8), - each adapter (4) comprising a base frame (5) and comprises at least one tooling (6; 7) with a tooling tube (6a; 7a), - each base frame (5) comprising at least one energy coupling (9; 10) for the at least one tooling tube (6a; 7a), - each energy coupling ( 9; 10) for connecting the at least one tooling (6; 7) comprises at least two outputs (13, 14; 17, 18) for compressed air and / or vacuum, characterized in that - transfer system (1) connects a first one to the compressed air supply ( 8) connected supply means (19) for providing compressed air and vacuum - and that transfer system (1) comprises a second supply means (20) connected to the compressed air supply (8) for providing compressed air - that the transfer system (1) comprises a control means ( 21) includes - whereby in e in the first switching position (S1) of the control means (21) the at least one tooling tube (6a; 7a) is supplied with compressed air and vacuum via the first supply means (19) and - in a second switching position (S2) of the control means (21) the at least one tooling tube (6a; 7a) is supplied with compressed air via the second supply means (20) . Transfer system to Claim 4 , characterized , - that the first, central supply means (19) comprises at least one vacuum generating device (23, 24) operated with compressed air and - that the second, decentralized supply means (20) has at least one first valve (25-1) and one second valve (25-2) comprises - the first supply means (19) being connected to a first input (11; 16) of the energy coupling (9; 10) of the base frame (5) and optionally supplying it with compressed air or vacuum and - the second supply means (20) is connected to the first input (11; 15) and a second (12; 16) input of the energy coupling (9; 10) of the base frame (5) and feeds one of the inputs (11; 15) with compressed air and the other of the inputs ( 12; 16) also feeds with compressed air. Transfer system to Claim 4 or 5 , characterized in that the control means (21) and the second, decentralized supply means (20) are arranged on the manipulator (2) or on the crossbar (3) or on the base frame (5) and that the first, central supply means (19 ) is arranged on the base frame (5) or the crossbar (3). Transfer system to Claim 4 , 5 or 6 , characterized in that - the control means (21) comprises a changeover valve (22) and a plurality of check valves (26-30; 31, 32), - the check valves (26-30; 31, 32) between the first supply means (19) and between the second supply means (20) and the at least one energy coupling (9; 10) are arranged such that - in the first switching position (S1) of the control means (21) supply lines (25a; 25b) between the second supply means (20) and the inputs (11, 12; 15, 16) of the energy coupling (9; 10) are blocked and the supply line or lines (23a; 24a) between the first supply means (19) and the input or the inputs (11; 16 ) of the energy coupling (9; 10) is or are open and - that in the second switching position (S2) of the control means (21) the supply line or lines (23a; 24a) between the first supply means (19) and the input or the inputs (11; 16) of the energy coupling g (9; 10) is or are blocked and the supply lines (25a; 25b) between the second supply means (20) and the inputs (11, 12; 15, 16) of the energy coupling (9; 10) are open. Transfer system according to one of the Claims 4 to 7 , characterized in that - one of the tooling tubes (6a; 7a) is connected to one of the energy couplings (9; 10) in such a way that the tooling tube (6a; 7a) and the suction pads (6b-6f; 7b-7f) arranged thereon in the first switching position (S1) of the control means (21) are connected to one of the outputs (13; 18) of the energy coupling (9; 10), which is connected to the input (11; 16) of the energy coupling (9; 10) , which is connected to the first supply means (19), the other second output (14; 17) of the energy coupling (9; 10) being closed in particular by the tooling tube (6a; 7a) or - that one of the tooling tubes (6a; 7a) is connected to one of the energy clutches (9; 10) in such a way that the tooling tube (6a; 7a) and the suction pads (6b-6f; 7b-7f) arranged on it are in the second switching position (S2) of the control means (21) are connected to the outputs (13, 14; 17, 18) of the energy coupling (9; 10), which are connected to the inputs (11, 12; 15, 16) of the energy coupling (9; 10) are connected, which are connected to the second supply means (20). Transfer system according to one of the Claims 4 to 8th , characterized in that the transfer system (1) comprises two base frames (5; 105) connected to the crossbar (3), each with two energy couplings (9, 10), and wherein the transfer system (1) comprises four tooling tubes (6a; 7a) , These being connected to the four energy clutches (9; 10). Transfer system to Claim 5 , characterized in that - the at least one vacuum generating device (23; 24) of the first supply means (19) is designed as a pneumatically controlled vacuum generating device with a compact ejector or - that the at least one vacuum generating device (23; 24) of the first supply means (19) is electrical Controlled vacuum generating device is designed with a compact ejector. Transfer system according to at least one of the Claims 4 to 10th , characterized in that each tooling (6; 7) which is operated in the second switching position (S2) of the control means (21) comprises a single ejector for vacuum generation on each of its suction pads (6b-6f; 7b-7f).

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