DE2126198B2 - Horizontal bottle suction grab - has additional heads engaging with necks and feelers controlling vacuum supply - Google Patents

Abstract

The suction grab is for horizontal bottles stacked in layers facing in alternate directions. An overhead structure with two or more suction heads engaging with the main part of each bottle slides up and down above the layers. The structure(3, 3a) also has heads(6) engaging with the bottle necks, the vacuum supply to the suction cups(6a) being controlled by feelers(11, 12). The latter are mounted on sections of the structure(3b-e) movable in relation to each other at right angles to the bottles. The heads slide up and down in these sections in groups independently of each other, and are also adjustable in the lengthwise direction of the bottles.

Description

The invention relates to a suction gripping device for layer by layer next to one another and alternately Bottles lying on the envelope in a bandage, consisting of one arranged above the bottle layers, For gripping the bottles with gripping heads and vertically displaceable support structure and from a valve arrangement of a pneumatic system connected to the gripping heads, wherein at least two gripping heads with suction cups are assigned to at least the belly areas of the bottles of a bottle layer and the gripping heads with each

ι ο a suction cup in the bottom passage connection the support structure are formed and above the belly areas of the bottles of a bottle layer Stand at least almost vertically with the tops of the bottles.

A suction gripping device of about this type is for example by the FR-PS 14 95 501 for lying Bottles become known, each of which is a row of bottles is formed with their Bottle necks are facing each other in pairs.

In this case, however, the bottle neck is the one for the bottles forming the right-hand end of the row Bottom of the bottle facing the neighboring bottle. In each row, the height of the bottles is opposite to one another Displaced by one bottle diameter, so that each bottle must be lifted differently from the neighboring hase. With this known suction gripping device can therefore not side by side and on a flat surface alternately lying on the envelope in the bandage

Bottles are lifted and transported reliably and safely in layers, especially since the suction cups of the Gripping heads are not designed to be spatially movable

However, it has become known from DE-PS 2 90 091 to hang up suction heads by means of space joints. However, this is a suction gripping device for lifting, lowering and moving in particular of large panes of glass in which the suction heads are attached to a closed frame and to adapt to larger unevenness or to partially sloping surfaces, it can be moved in space are designed.

However, this known suction gripping device is only for holding objects with approximately straight Areas suitable, since the suction heads with a relatively large diameter only have one have elastically resilient low edge and therefore surface curvatures, as they are in bottles occur, despite their ball-and-socket joint, not being able to adapt. Accordingly, with

a suction gripping device of this type is also not layered next to one another and alternately Envelope bottles lying in the bandage can be picked up and transported.

Furthermore, DE-PS 3 52 067 is another

Suction gripper device for lifting and transporting mirror panes and other flat objects has become known, which corresponds essentially to that according to DE-PS 2 90 091. What was said there applies also for the content of DE-PS 3 52 067. In addition, however, are in the suction gripping device according to the The last-mentioned patent, the suction heads on horizontal rods slidably arranged in turn are vertically adjustable.

Furthermore, in DE-AS 10 57 767 a

h5 suction gripping device described for use is provided on cranes or other lifting equipment vertically arranged in groups independently of each other

slidably mounted This suction gripping device can, however, due to the intended design of the Gripper heads are only used for gripping larger objects with flat surfaces.

Finally, the subject of DE-GM 1865 666 also forms a suction gripping device, however only for handling sack stones or similar objects that have a rectangular shape Has suction plate with an elastically deformable border in the side of the border limited space opens a pipe for suction air, on whose mouth a valve plate rests, which through Spring pressure can be closed and by a brick to be picked up by means of a serving as a sensor Lever can be opened, whereupon a negative pressure in the space between the brick and the suction plate is produced.

The sensor lever is only used to switch on the vacuum source and does not correct the position of the Suction plate. It can easily happen that the Negative pressure is switched on without the brick being in its correct position for lifting

In contrast, the object on which the invention is based is to provide a suction gripping device for Bottles lying next to each other in layers and alternating on the envelope with the to create further features of the type explained at the beginning in the first paragraph, which are designed in this way is that the bottles can be reliably and safely gripped and relocated in layers.

According to the invention, this object is achieved in that the neck areas are also attached to the support structure the bottles of a bottle layer are each assigned two gripping heads and that with one Sensor system for applying negative pressure to the suction cups has which are designed to be movable relative to one another in the transverse direction of the bottles and in which the Gripping heads are vertically displaceable in groups and independently of one another and in a manner known per se arranged adjustable in the longitudinal direction of the bottles

Such a suction gripping device requires relatively little material and labor can be produced in an economical manner. In particular, it enables reliable gripping of Bottles lying in layers in a bandage. The sensor system controls the valve arrangement as a function of the respective position of the bottles, with the bottles both in the neck and in the Gripping heads assigned to the abdominal area only ever apply negative pressure to that group, under which are the bottle bellies of the respective upper bottle layer. The Above the bottle necks, the second group of unneeded G reif heads through the valve assembly blocked by the vacuum device so that no vacuum losses can occur. After this Lifting off the top layer of the bottle wildly the mirror image the offset position of the next bottle layer is sensed by the sensor system that then controls the valve arrangement in such a way that the gripping heads are now over the bottle necks located first gripping head group locked by the vacuum device and now through this the gripping heads of the second gripping head group located above the bottle bellies are subjected to negative pressure will.

In particular, the gripping heads, which can be moved vertically in groups and independently of one another the reliable detection of bottles which have been replaced relative to the other rash heights ν

steadily The gripping heads position themselves accordingly when the support structure is peeled off the respective altitude of the assigned bottles independently of one another when they hit the bottle bellies by themselves. The reliable one

ίο Capturing the bottles will also help favors that the suction cups are mounted like a space joint on the gripping heads. Due to the adjustability the gripping heads in the longitudinal direction of the bottles is the use of the suction gripping device for different Bottle sizes allows

In addition, the training is carried out in such a way that that this is achieved by a lowering movement of the support structure onto the adjacent one on the underside The sensor system, which can be actuated in the belly of the bottle and controls the pneumatic system, consists of tactile elements each of which is supported by a tactile tab mounted in a vertical sliding guide with a maximum of the Bottle head or closure diameter corresponding tab width are formed and in their lower slide position the suction position of the suction cups by at least half the bottle belly diameter protrude downwards or which of individual ones mounted on the support structure so as to be vertically displaceable Gripping heads are formed.

Such tactile tabs can also form the tactile elements for controlling the valve arrangement. Preferably however, they are assigned to the sensor system as probe elements. The one above a gap between two in the respective upper bottle layer penetrate adjacent bottle bellies located tactile tabs during the lowering movement of the support structure in its lowest sliding position in this bottle gap and move the approximately laterally offset bottles into the correct mutual relative position. the Tactile tabs thus establish the correct relative position between the bottles and the gripping heads before their suction cups attack the bottle bellies.

Furthermore, it is also provided that the tactile tabs in the associated sliding guide in the Flap plane can be pivoted to a limited extent and locked in a self-locking, non-sliding manner in the pivoted-out position or are tilted.

With this design, the tactile tabs are pivoted when they hit laterally offset bottle bellies and automatically locked in its lowest sliding position, so that additional locking means are saved can be.

In a preferred embodiment of the suction gripping device are on each carrier section Gripping heads for a group of three lying next to each other on an envelope in a layer of bottles Bottles arranged, each support section at its front ends above the central bottle one Has tactile tab.

The support sections of the support structure can be so far through the touch tabs arranged thereon moved relative to each other and the position of a group of bottles laterally offset from the ideal layer position be adapted that the gripping heads or the

b5 suction cups always essentially at the apex of the Attack bottle bellies.

The invention will be explained in more detail below on the basis of an exemplary embodiment. In the

Drawing shows in schematic representation

F i g. 1 the front view of a suction gripping device for bottles lying in a bandage,

F i g. 2 shows a longitudinal section through the suction gripping device along the line H-II in FIG. 1,

F i g. 3 is a side view of a gripping head with a on a bottle belly resting suction cup on an enlarged scale and

4 shows a partial view of the suction gripping device according to FIG. 1 on an enlarged scale.

A suction gripping device according to the drawing is assigned to an association of lying bottles 1, which between two support surfaces 2 each in one of, for example, two bottle layers 51, 52 next to one another are alternately stored on the envelope or in a mirror-inverted manner, with FIG. 1 between every two a bottle head closure in one of the layers 51 or 52 adjacent bottle bottoms la can be seen.

The suction gripping device has a support structure 3, which is vertically displaceable and transversely displaceable above the association of bottles 1, with a main support 3a and support sections 36, 3c, 3d, 3e that are articulated to it at a distance from the lower support side relative to one another in the directions of the double arrows 4, 5. In these gripping heads 6 are mounted vertically displaceably independently of one another and are each connected via a flexible vacuum line 7 to a valve arrangement 8 via a flexible vacuum line 7 with a valve arrangement 8, which in the embodiment example is connected to the main carrier 3a of the support structure 3 is attached. The valve arrangement 8 is assigned to a pneumatic system and is connected to a vacuum device (not shown) via a further flexible vacuum line 9.

As can be seen from FIG. 3, the gripping heads 6 are moved out of the position according to FIG. I can approach the bottles 1 until they are captured by the suction cups 6a. These or the gripping heads 6 are arranged both above the neck and belly width of all tabs 1 of a bottle layer 51 or 52 in at least approximate vertical coverage with the bottle tops on the carrier sections 3b, 3c, 3d, 3e of the carrier structure 3. At least two of the gripping heads 6 are assigned to both the neck and belly areas of the bottles 1, but due to the lowering movement of the support structure 3 according to FIG and are thereby raised relative to the support structure 3, possibly against the force of elastic means, for example springs 10.

From these through the bottle bellies during the lowering movement of the support structure 3, relative to the latter, liftable gripping heads 6, form at least some in each case in the exemplary embodiment Sensing element of a sensor system that scans the bottles 1 with regard to their position in the association. Through the according to FIG. 2 relative to the support structure 3 raised gripping heads 6, the valve assembly 8 is through Means not shown in the sense of a negative pressure application of the gripping heads 6 controlled here can the respectively located above the bottle necks and not raised gripping heads 6 for the purpose Prevention of negative pressure losses remain locked in a pressure-tight manner or by the valve arrangement 8 be blocked.

In contrast to this, the sensor system could be used to control the valve arrangement on the support structure the latter in at least approximate vertical coverage with the bottle tops at least up to in the suction surface area of the suction cups 6a lifted off the bottles 1 protruding downwards Pushbutton elements of different designs, for example actuating elements for microswitches, have, by a lowering movement of the

Support structure 3 through the respective underside

neighboring bottle belly can be actuated.

The gripping heads 6 are preferably at least in

Longitudinal direction of the bottles 1 to the Trägerabschnilten 3b, 3c, 3d, 3e of the support structure 3 and arranged, such as in particular of Figure 3 can be seen, each configured relative to each other adjustable above the associated suction cup 6a with a space articulated elastic head portion 6b

In the exemplary embodiment according to the drawing, additional feeler elements in the form of longitudinally displaceable in vertical sliding guides VS of the support sections 3b, 3c, 3d, 3e of the support structure 3 of mounted feeler tabs 11 are assigned to the FOhlersystem. These are designed with a strap width that corresponds at most to the diameter of the bottle head closure la and, with respect to their center, in at least approximately vertical coverage with the bottle slices.

Teln about above their bottom end areas arranged with tab planes extending transversely to these. Each tactile tab 11 is in the area of the The lower end of the tab is designed to be tapered symmetrically to this

In the according to FIG. 1 lifted from bottles 1 Position of the support structure 3 or the gripping heads 6 take the tactile tabs 11 in the associated Sliding guide VS its lowest sliding position, for example due to gravity, in which it due to a corresponding dimensioning of the strap length, the suction surface area of the freely hanging Gripping heads 6 with the lower tab end by an order of magnitude which will be described in more detail later tower below.

As a result of the lowering movement of the support structure 3 into the position according to FIG. 2, only the tactile tabs 11 above a bottle belly of the top layer of the bottle are lifted relative to the associated section of the support sections 3b, 3c, 3d, 3e and could be dashed on the main support 3a of the support structure 3 Operate indicated control elements, for example control switch 12, in the manner already described above in the sense of applying negative pressure to the gripping heads 6 located in each case in the suction position.

In contrast, each of the above a bottle gap between two each other in the top Bottle layer adjacent bottle bellies located tactile tabs 11 assigned the function under Maintaining its lowest sliding position during the lowering movement of the support structure 3 in the bottle gaps adjacent on the underside at least up to the common horizontal plane of the Penetrate the bottle axes in the top layer of the bottle. The length of the tactile tabs 11 must therefore be such be dimensioned so that this in its lowest sliding position in the sliding guides VS the suction surface area the suction cups 6a in their suction position on the

The bottle bellies protrude downwards by at least half their diameter.

In the exemplary embodiment, the carrier sections 3b, 3c, 3d, 3e of the carrier structure 3 each have twelve gripping heads 6 for a group of three bottles 1 lying next to one another on the envelope or in a mirror image in one of the bottle layers 51, 52 above the center bottle of the associated bottle group with two of the Touch tabs 11 equipped.

As can be seen from Figure 4, the Tastlaschen 11 are each mounted in the flange plane limitedly pivotable in the associated sliding guide VS, which is designed such that the associated Tastlasche 11 in the swung-self-locking slip resistant verklemm ^1, and is tilted. In contrast to this, each tactile tab 11 could also be lockable in some other way, at least in the area of its lowest sliding position in the associated sliding guide VS , if, as indicated by dashed lines in FIG two bottle bellies that are adjacent to one another in the top bottle layer strikes this. By blocking the tactile tabs 11 in this way, when they are laterally offset to the bottle tops or bottle gaps, the uppermost bottle layer 52 of the vertical lowering movement of the respectively assigned carrier section 3b or 3c or 3d or 3e according to the lowering movement path shown in FIG AWAY

superimposed a transverse displacement so that the gripping heads 6 or their suction cups 6a at least in the vicinity of the Bottle apex hit the bellies of the bottles 1 and through the space-articulated elasticity of the Head areas 60 the respective course of the abdominal Bottle face surfaces are adjusted.

After the upper bottle layer 52 has been lifted from the lower bottle layer 51 by means of the suction gripping device in the manner described above and stored at a different location after moving it laterally, the gripping device can again be brought into congruence with the lower bottle layer 51 and brought closer to the bottom bottle layer 51 until it is gripped will. Here are now those with respect to FIG. 2 on the inside of the support sections 3b, 3c, 3d, 3e arranged gripping heads 6 approached the bottle bellies and by this the inside tactile tabs 11 are raised or actuated relative to the support structure, whereby only the inside gripping heads 6 located above the bottle bellies, via the valve arrangement 8 with negative pressure be applied. In this way, not just two, but any number of layers of bottles can be gripped by the suction gripping device, lifted up and, if necessary, transported.

Different from the drawing, each of the bottles 1 on the support structure 3 could also have more or more less than four gripping heads and / or, if necessary, one of the tactile tabs 11 are assigned.

For this purpose 3 sheets of drawings

Claims (4)

1 claims: 1. Suction gripping device for hooks lying next to each other in layers and alternately on the envelope in a bandage, consisting of a support structure arranged above the bottle layers, provided with gripping heads for gripping the bottles and vertically displaceable, and a valve arrangement of a pneumatic system connected to the gripping heads, whereby at least the belly areas the bottles of a bottle layer are each assigned two gripping heads with suction cups and the gripping heads are each formed with a suction cup in a passage connection on the underside of the support structure and are above the belly areas of the bottles of a bottle layer at least in an approximate vertical cover with the F'aschenkeiteln, characterized in, that on the support structure (3, 3a) also the neck areas of the bottles (1) of a bottle layer (Si or S2) are each assigned two gripping heads (6), and that the with a sensor system (11,12) to the U nterdruckbeaufschlagung the suction cups (6a) provided support structure (3, 3a) has support sections (3b, 3c, 3d, 3e) which are designed to be movable relative to one another in the transverse direction of the bottles (1) and in which the gripping heads (6) in groups and independently of one another are arranged vertically displaceable and adjustable in a manner known per se in the longitudinal direction of the bottle (1). 2. suction gripping device according to claim 1, characterized in that the by a lowering movement of the support structure (3, 3a) on the respective underside adjacent bottle belly actuatable, the pneumatic system controlling sensor system consists of probe elements, each of which is in a vertical sliding guide (VS) mounted tactile tab (11) are formed with a tab width that corresponds at most to the bottle head or cap diameter and, in their lower sliding position, transfers the suction position of the suction cups (6a) downwards by at least half the bottle belly diameter or which of individual, on the support structure (3, 3a) vertically displaceably mounted gripping heads (6) are formed. 3. suction gripping device according to claim 2, characterized in that the tactile tabs (11) in the associated sliding guide (VS) are pivotable to a limited extent in the plane of the tabs and are mounted in a self-locking, non-sliding manner and can be jammed or tilted in the pivoted-out position. 4. suction gripping device according to claims 1 to 3, characterized in that on each carrier section (3 £> or 3c or 3d or 3e) the gripping heads (6) for a group of three on envelope side by side in a bottle layer (S 1 or 52) lying. Bottles (1) are arranged and that each carrier section (3b or 3c or 3d or 3e,> at its front ends above the central bottle has a touch tab (11).