EP3265413A2 - Dispositif de manipulation et procédé de ramassage d'objets plats - Google Patents

Dispositif de manipulation et procédé de ramassage d'objets plats

Info

Publication number
EP3265413A2
EP3265413A2 EP16705922.9A EP16705922A EP3265413A2 EP 3265413 A2 EP3265413 A2 EP 3265413A2 EP 16705922 A EP16705922 A EP 16705922A EP 3265413 A2 EP3265413 A2 EP 3265413A2
Authority
EP
European Patent Office
Prior art keywords
handling device
central flange
flange portion
negative pressure
suction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP16705922.9A
Other languages
German (de)
English (en)
Other versions
EP3265413B1 (fr
Inventor
Kurt Perl
Peter Kirschner
Antonia Purrer
Teresa Eschlbeck
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Krones AG
Original Assignee
Krones AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Krones AG filed Critical Krones AG
Priority to SI201631410T priority Critical patent/SI3265413T1/sl
Publication of EP3265413A2 publication Critical patent/EP3265413A2/fr
Application granted granted Critical
Publication of EP3265413B1 publication Critical patent/EP3265413B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0891—Generating or controlling the depression
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0883—Construction of suction grippers or their holding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/14—Air blasts producing partial vacuum
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
    • F04F5/00—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow
    • F04F5/14—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid
    • F04F5/16—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid displacing elastic fluids
    • F04F5/20—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid displacing elastic fluids for evacuating
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
    • F04F5/00—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow
    • F04F5/44—Component parts, details, or accessories not provided for in, or of interest apart from, groups F04F5/02 - F04F5/42
    • F04F5/46—Arrangements of nozzles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
    • F04F5/00—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow
    • F04F5/44—Component parts, details, or accessories not provided for in, or of interest apart from, groups F04F5/02 - F04F5/42
    • F04F5/46—Arrangements of nozzles
    • F04F5/466—Arrangements of nozzles with a plurality of nozzles arranged in parallel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/36—Means for producing, distributing or controlling suction
    • B65H2406/366—Means for producing, distributing or controlling suction producing vacuum
    • B65H2406/3661—Injectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/40—Fluid power drive; Fluid supply elements
    • B65H2406/42—Distribution circuits

Definitions

  • the present invention relates to a handling device and a method for receiving flat objects.
  • EP 2 476 637 A2 discloses 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 pads is assigned a hose connection via which a
  • Negative pressure can be transmitted to the respective suction pads 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.
  • 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 surface
  • the flat objects may be formed by intermediate layers and in this case consist of cardboard or corrugated board.
  • Handling device or various embodiments of a handling device according to the invention may optionally separate intermediate layers of a stack and place on the respective pallet. It may also be that the handling device already isolated pads are provided, the
  • Handling device receives the individual intermediate layer and defines deposited 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.
  • 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 having at least one suction head for detecting the sheet-like object or the
  • 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 Extension arms can be formed by plastic and in particular by carbon fiber reinforced plastic.
  • the central flange portion may be made by sintering, for example.
  • 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 is integrally formed. 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.
  • 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 formed as a one-piece component and possibly by means of a
  • 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 by means of a
  • the central flange section also has a conduit system, which for
  • the central flange portion may form a housing, which is the
  • the one or more cantilever arms can be held by means of positive and / or non-positive connection of the central flange portion.
  • the plurality of extension arms are in press connection with the central flange section and / or via a respective one
  • Adhesive connection are held on the central flange portion.
  • 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.
  • 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.
  • 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.
  • 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.
  • a free distal or the central flange portion facing away from the hollow tube may be closed.
  • Suction heads are coupled, be waived. Such embodiments therefore have an additionally simplified structure and are easy to manufacture.
  • each hollow shaft each form at least one area within which a
  • 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.
  • the longitudinal axes of at least two cantilever arms enclose an acute angle with each other.
  • the handling device has four cantilever arms, wherein each two cantilever arms together form an acute angle.
  • the invention is not limited to such Embodiments with four boom arms limited, so that, if necessary, three
  • Cantilever arms or more than four cantilever arms can be provided, each of which is associated with at least one suction head.
  • the plurality of cantilever arms may be suspended and pointing downwards and / or upwards and facing upwardly at the central one
  • the plurality of cantilever arms can yield resiliently in the arrangement described.
  • 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 can be optimized especially in hanging or rising arrangement of the plurality of cantilever arms, all of the suction heads can also be at different longitudinal extent
  • first suction bags which are located farther away from the central flange portion, than the second
  • Suction bags which are closer than the first suction bag on the central flange portion to project a smaller amount in the downward direction or in the Z-direction of the handling device.
  • the first suction bag itself may have a smaller longitudinal extent than the second suction bag.
  • the second suction bags and their respective boom a
  • 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 hereby be canceled, so that in such embodiments
  • Liners without problems can be separated from a respective stack.
  • 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.
  • 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 with a
  • the handling device has two or more than two tactile sensors.
  • Liners which are received by the handling device, designed 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 controller may include building or transmitting
  • Line system has opening connection, wherein under active connection with the conduit system via the one port together a negative pressure on the suction heads of the plurality of cantilever arms can be transmitted.
  • This can be a
  • 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.
  • the pressure can be between 3 and 5 bar.
  • 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 can be provided that each of the several
  • Boom arms and / or each suction head is assigned its own Venturi nozzle or a separate ejector, which is a negative pressure for the respective boom arm or for builds up 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.
  • 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.
  • Noise level is fluidically communicating with one or more silencers upon transmission of a vacuum to the suction cups.
  • Silencers may be formed as an integral part of the central flange portion and possibly together with the central flange portion in
  • 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.
  • central flange portion one or more
  • Silencers may be arranged in the region of the one or more openings.
  • 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 Druck Kunststoffbeetzstoffung.
  • one or more mufflers can be removable at the central flange portion
  • connection between the respective silencer and the central flange portion can, for example, via force and / or
  • the central flange portion may have a thread, which with a mating thread of a muffler
  • 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 one or more
  • Inputs has, via which compressed air to release the negative pressure to the
  • Suction heads can be introduced into the pipe system.
  • a pressure generating device or a compressor can be coupled to the inputs.
  • the central flange portion in the region of a respective input form a thread.
  • the invention also relates to a method for recording areal
  • 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. From the central
  • Starting flange portion extend the plurality of cantilever arms in
  • a negative pressure is introduced into the line system or built up in the line system.
  • An introduction of negative pressure in the line system can be achieved by coupling the central flange portion and the line system to a
  • Vacuum generating device can be effected.
  • the negative pressure in the pipe system is constructed from an overpressure and by means of Venturi effect.
  • the overpressure can be introduced through a corresponding connection in the line 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.
  • the negative pressure is transmitted from the line system to the suction cups, so that as a result, the respective flat object on the suction heads of
  • Handling device is fixed.
  • 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 here and then from the central
  • Flange portion or emerge from a housing of the central flange portion.
  • one or more openings in the housing of the central flange portion are provided.
  • Flange section be introduced, which are arranged downstream of the one or more mufflers in the flow direction of the pressure and are in communication with the conduit system.
  • 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.
  • the plurality of cantilever arms themselves form a hollow shaft, via which the negative pressure, starting from the conduit system to the
  • Suction heads is transmitted.
  • 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.
  • FIG. 1 shows a schematic perspective view of an embodiment of a handling device according to the invention
  • Figure 2 shows a schematic plan view of the embodiment of a
  • FIG. 3 shows a schematic side view of the embodiment of a handling device from FIG. 1;
  • FIG. 4 shows a schematic perspective view of a central one
  • Figure 5 shows a schematic sectional view of the central
  • FIG. 6 shows a schematic perspective view of a further embodiment of a handling device according to the invention.
  • FIG. 7 shows a schematic perspective view of the central one
  • Figure 8 shows a schematic sectional view through the central
  • Flange portion as may be provided for various embodiments of a handling device according to the invention.
  • Invention can be configured and do not represent a final limitation.
  • FIG. 1 shows a schematic perspective view of an embodiment of a handling device 1 according to the invention.
  • the handling device 1 is provided for receiving intermediate layers, present in the figures
  • the handling device 1 comprises a central flange section 4 and a plurality of extension arms 3, which are designed as substantially rigid hollow tubes 5 and are supported by the central flange section 4.
  • the extension arms 3 or hollow tubes 5 are each held on the central flange section 4 by means of adhesive bonding.
  • two suction heads 6 are arranged at each of the four extension arms.
  • Suction heads 6 are supported by their respective cantilever arm 3 or are suspended from their respective cantilever arm 3.
  • the central flange portion 4 can be manufactured by means of a three-dimensional printing process and thus be formed in one piece. Further, the cantilever arms 3 can be manufactured together with the central flange 4 in a three-dimensional printing process and thus be formed in one piece. It is also conceivable that the suction heads 6, the extension arms 3 and the central flange section 4 are produced in a three-dimensional printing process and optionally by means of a two-component pressure.
  • the longitudinal axes of each of two extension arms 3 and hollow tubes 5 each include an acute angle ⁇ .
  • the central flange section 4 has a connection 12, via which the handling device 1 or the central flange section 4 is connected to a device for generating pressure. A pressurization of the central flange section 4
  • Flange portion 4 can be done via the terminal 12, for example, 3 to 5 bar.
  • the central flange section 4 has a line system 15 (see FIG. 5), via which the central flange section 4 generates a negative pressure from the pressurization by means of the Venturi effect. Since the cantilever arms 3 are formed as hollow tubes 5, the negative pressure from the conduit system 15, starting on the cantilever arms 3 to the
  • Suction heads 6 are passed, which thereby absorb the respective intermediate layer by negative pressure.
  • FIG. 1 reveals two inlets 11, which open into the line system 15. Also with the inlets 1 1 is a device for pressurizing or for generating an overpressure in the pipe system 15 in connection. The over the inlets 1 1 introduced into the pipe system 15 overpressure can be transmitted via the extension arms 3 and 5 hollow tubes to the suction cups 6 to cancel a trained by vacuum fixation of liners.
  • a suspension 7 or supporting column 9 is rigidly coupled to the central flange portion 4.
  • the suspension 7 or support column 9 may be in communication with an actuator in order to move the handling device 1 after detecting an intermediate layer in the direction of a pallet and, if necessary, after depositing an intermediate layer on the respective pallet in the direction of another intermediate layer.
  • the suspension carries 7 or support column 9 during movement of the handling device 1, the mass of the central flange portion 4, the extension arms 3 and the at the
  • Cantilever arms 3 arranged suction cups 6 and possibly the respective fixed to the suction cups 6 intermediate layer.
  • Handling device 1 are produced inexpensively. By the integration of a conduit system 15 (see Figure 5) in the central flange portion 4 and the
  • Handling device 1 formed compact, with additional costs for the preparation of the handling device 1 can be reduced.
  • Figure 2 shows a schematic plan view of the embodiment of a
  • Handling device 1 from FIG. 1 Shown again are the inlets 1 1, via which the line system 15 (see Figure 5) compressed air can be supplied to cancel a fixation of intermediate layers by the suction cups 6.
  • the inlets 1 1 are introduced at an upper side in the central flange portion 4 and may optionally be printed together with the central flange portion 4. The number and positioning of the inlets 1 1 are presently understood to be exemplary.
  • FIG. 3 shows a schematic side view of the embodiment of a handling device 1 from FIGS. 1 and 2.
  • the cantilever arms 3 and hollow tubes 5 in the direction of a bottom surface or in the downward direction.
  • An angle which the cantilever arms 3 or hollow tubes 5 enclose with a horizontal can in each case be between 0 ° and 45 °.
  • the cantilever arms 3 and a respective hollow shank of the cantilever arms 3 is assigned a not in the figures present patent application with throttle shown. If a suction head 6 of the handling device 1 loses its contact with the intermediate layer, the negative pressure at the further suction heads 6 can be maintained as a result.
  • Figure 3 also shows a probe rod 18 of the handling device 1, which comes into contact with the respective intermediate layer in time before the suction heads 6 and not shown in the figures present patent application
  • Control device informed about the contact.
  • the control device can temporally following the transmission of a negative pressure or the structure of a
  • Negative pressure in the line system 15 causes, whereby the suction cups 6 can accommodate the respective intermediate layer.
  • Figure 3 shows the orientation of the probe rod 18 and the
  • FIG. 4 shows a schematic perspective view of a central one
  • the central flange portion 4 has for each of the cantilever arms 3 and hollow tubes 5 has its own output 17, of which in Figure 4, two outputs 17 can be seen.
  • the negative pressure is passed to the extension arms 3 and transmitted via the extension arms 3 to the individual suction cups 6.
  • the inputs 1 1 have a thread over which the
  • Compressed air generating device or the compressor with the central flange 4 can be coupled.
  • the central flange section 4 with overpressure via the inputs 1 1 the negative pressure possibly formed between the suction heads 6 and the respective intermediate layer can be canceled.
  • the inputs 1 1 thus lead directly into the line system 15 (see Figure 5) of the central flange 4
  • muffler 19 of the central flange 4 can be seen, the function of which will be described below.
  • the mufflers 19 can be made as an integral part of the central flange portion 4 together with the central flange portion 4 by means of a three-dimensional printing process and are in the region of a respective opening 33 of the central flange portion 4 by means of a three-dimensional printing process and are in the region of a respective opening 33 of the central flange portion 4 by means of a three-dimensional printing process and are in the region of a respective opening 33 of the central
  • FIG. Figure 5 shows a schematic sectional view of the central flange
  • Sectional view of Figure 5 is the conduit system 15 of the central
  • the line system 15 is acted upon via the terminal 12 with compressed air.
  • a component of the line system 15 are two Venturi nozzles 25, by means of which a negative pressure can be built up from the overpressure introduced via the connection 12 into the line system 15.
  • several branches 16 of the conduit system 15 can be seen, which in each case an output 17 is assigned. Via the branches 16 and their exits 17, the negative pressure built up by the venturi nozzles 25 is passed on to the suction heads 6 in order to fix a flat article or an intermediate layer on the handling device 1.
  • the line system 15 or the Venturi nozzles 25, the branches 16 and the outputs 17 can be used as an integral part of the central flange section 4 in
  • Three-dimensional printing process can be produced.
  • FIG. 5 furthermore shows that the connection 12 has a thread in order not to present a patent application in the figures with a compressed-air generating device or a compressor to the central one
  • connection 21 connects to the Venturi nozzles 25, which continues the compressed air to a respective muffler 19.
  • one or more mufflers 19 have proven to keep low a sound level at Druck Kunststoffbeierschlagung the line system 15. Also, the compounds 21 and the
  • Silencer 19 can be used as an integral part of the central flange 4 be produced in three-dimensional printing.
  • the muffler 19 may be formed as Absorptionsschaldämpfer or as a reflection muffler.
  • FIG. 6 shows a schematic perspective view of a further embodiment of a handling device 1 according to the invention. Like the embodiment of Figures 1 to 3, the embodiment of Figure 6 has four boom arms 3, each with two suction heads 6. The suction heads 6 are still at a central
  • the Flange section 4 is held.
  • the central flange portion 4 has inputs 1 1 to cancel a trained by vacuum fixation between the Saufgropfen 6 and an intermediate layer (not shown). Compressed air is introduced into the central flange section 4 via the connection 12.
  • the extension arms 3 are through in
  • Substantially rigid hollow tubes 5 are formed and each point away from the central flange section 4.
  • Cantilever arms 3 and hollow tubes 5, the suction cups 6 and possibly the adhering to the suction cups 6 by means of negative pressure intermediate layer is supported by the support 7 designed as a support 7 suspension. Between the support column 9 and the central flange 4 a rotationally fixed coupling is provided.
  • Handling device 1 can also be produced in the embodiment of Figure 6 by means of a three-dimensional printing process.
  • the central flange portion 4 of Figure 6 is formed by sintering. Since the central flange section 4 according to the embodiment of Figure 6 has a conduit system 15 (see Figure 8), can be dispensed with direct hose connections for passing a negative pressure to the suction cups 6.
  • FIG. 7 shows a schematic perspective view of the central one
  • Flange portion 4 of Figure 7 has for each of the boom arms 3 and hollow tubes 5 has its own output 17, of which in Figure 7, two outputs 17 can be seen.
  • the central flange section 4 has openings 33, via which compressed air emerges from the central flange section 4.
  • Each opening 33 is associated with a thread 27.
  • a respective muffler can be screwed onto the central flange 4, to a noise level via the Terminal 12 to reduce introduced into the central flange 4 compressed air.
  • the line system 15 (see FIG. 8) fluidly connects the connection 12 and the openings 33.
  • the corresponding silencers which can be fastened by means of the threads 27 on the central flange section 4, are not shown in the figures of the present patent application.
  • the threads 27 and the openings 33 may together with the central
  • Flange section are produced in a three-dimensional printing process.
  • Figure 8 shows a schematic sectional view through the central
  • Vacuum generating device 30 can be constructed by means of Venturi effect, a negative pressure in the pipe system 15, which is transmitted via the outputs 17 to the suction cups 6.
  • compressed air is introduced into the line system 15 via the connection 12, which passes through the vacuum generating device 30 and exits via the openings 33 from the central flange section 4.
  • Each opening 33 has its own thread 27, via which a respective muffler can be screwed onto the central flange section 4.
  • Flange portion 4 of Figure 8 is therefore interchangeable or as a detachable
  • Vacuum generating device 30 is subject to wear, it can be removed via the respective opening 33 and / or the output 17 from the central flange 4. A further vacuum generating device 30 can subsequently be inserted or inserted via the opening 33 or via the outlet 17 into the central flange section 4.
  • Figure 9 shows a sectional view through another central
  • the central flange section 4 according to FIG. 9 can be produced in a three-dimensional printing process or be manufactured by sintering. Like the embodiment of FIG. 8, the central flange section 4 of the embodiment of FIG. 9 has a port 12, four outlets 17 through which a negative pressure can be transmitted to the suction heads 6 and 1 Further, two openings 33 which are in fluid communication with the conduit system 15 and via which compressed air from the central flange portion 4 can be performed. Each opening 33 is associated with a thread 27 to fix a respective muffler to the central flange portion 4.
  • the negative pressure generating device 30 is fixed to the central
  • Flange portion 4 is connected and manufactured together with the central flange 4 in three-dimensional printing or by sintering.
  • Venturi nozzles 25 can be seen as part of the vacuum generating means 30 to generate from a through the port 12 introduced into the conduit system 15 overpressure in each case a negative pressure.
  • the vacuum generating means 30 and the Venturi nozzles 25 are formed as a non-detachable component of the central flange portion 4.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

L'invention concerne un dispositif de manipulation (1) et un procédé de ramassage d'objets plats. Le dispositif de manipulation (1) comprend plusieurs bras radiaux (3) respectivement pourvus d'une ventouse (6) pour la saisie de l'objet plat. Il comprend également une portion de bride centrale (4) depuis laquelle les plusieurs bras radiaux (3) s'étendent dans différentes directions et qui réalise une fonction porteuse pour les plusieurs bras radiaux (3). La portion de bride centrale (4) possède un système de conduites qui établit une liaison fluidique des plusieurs bras radiaux (3) avec les ventouses (6) en vue de transmettre une dépression aux (6).
EP16705922.9A 2015-03-04 2016-02-17 Dispositif de manipulation et procédé de ramassage d'objets plats Active EP3265413B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SI201631410T SI3265413T1 (sl) 2015-03-04 2016-02-17 Naprava za rokovanje s ploščatimi predmeti in postopek za njihovo pobiranje

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015103147.7A DE102015103147A1 (de) 2015-03-04 2015-03-04 Handhabungsvorrichtung und Verfahren zur Aufnahme flächiger Gegenstände
PCT/EP2016/053375 WO2016139063A2 (fr) 2015-03-04 2016-02-17 Dispositif de manipulation et procédé de ramassage d'objets plats

Publications (2)

Publication Number Publication Date
EP3265413A2 true EP3265413A2 (fr) 2018-01-10
EP3265413B1 EP3265413B1 (fr) 2021-08-25

Family

ID=55409818

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16705922.9A Active EP3265413B1 (fr) 2015-03-04 2016-02-17 Dispositif de manipulation et procédé de ramassage d'objets plats

Country Status (5)

Country Link
EP (1) EP3265413B1 (fr)
CN (1) CN208843361U (fr)
DE (1) DE102015103147A1 (fr)
SI (1) SI3265413T1 (fr)
WO (1) WO2016139063A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017118255A1 (de) * 2017-08-10 2019-02-14 Krones Aktiengesellschaft Zur Entgegennahme von flächigen Zuschnitten ausgebildetes Arbeitswerkzeug mit mehreren elastischen Auslegerarmen
GB202006660D0 (en) * 2020-05-05 2020-06-17 Brillopak Ltd Vacuum suction apparatus
DE202023101336U1 (de) 2023-03-17 2023-03-23 Fipa Holding Gmbh Haltevorrichtung für ein pneumatisch arbeitendes Greifelement

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2638152C2 (de) * 1976-08-25 1983-09-08 Maschinenbau Oppenweiler Gmbh, 7155 Oppenweiler Vorrichtung zum Abheben und Abziehen einzelner Bogen von einem Bogenstapel
JPS60125089U (ja) * 1984-01-27 1985-08-23 株式会社　妙徳 気体送給弁
DE19901341B4 (de) * 1999-01-15 2005-07-21 Man Roland Druckmaschinen Ag Luftsteuer- und/oder Luftregelungseinrichtung
SE9903287L (sv) * 1999-09-15 2000-11-20 Piab Ab Koppling vid ejektor, samt moduluppbyggt aggregat för alstrande av undertryck med hjälp av åtminstone en tryckluftdriven ejektor
DE10232819B4 (de) * 2002-07-19 2005-01-20 Villeroy & Boch Ag Manipulationsvorrichtung
SE527337C2 (sv) * 2004-06-23 2006-02-14 Villa Ekbacka Ab Metod att åstadkomma gripdon med integrerade vakuumkanaler
FR2924373B1 (fr) * 2007-12-04 2010-04-16 Sidel Participations Outillage a ventouse (s) pour robot de manipulation
SE530898C2 (sv) * 2007-12-19 2008-10-14 Autolabel Ab Anordning vid verktyg samt förfarande för dess framställning
SI2476637T1 (sl) 2011-01-18 2015-09-30 Krones Ag Naprava in postopek za sprejem, držanje in/ali manipuliranje ploščatih predmetov
DE102014225981A1 (de) * 2014-12-16 2016-06-16 Krones Aktiengesellschaft Vorrichtung und Verfahren zur Aufnahme, zum Halten und/oder zur Handhabung von flächigen Gegenständen

Also Published As

Publication number Publication date
WO2016139063A3 (fr) 2016-10-27
SI3265413T1 (sl) 2022-01-31
DE102015103147A1 (de) 2016-09-08
EP3265413B1 (fr) 2021-08-25
WO2016139063A2 (fr) 2016-09-09
CN208843361U (zh) 2019-05-10

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