EP3265413B1 - Dispositif de manipulation et procédé de ramassage d'objets plats - Google Patents

Dispositif de manipulation et procédé de ramassage d'objets plats Download PDF

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Publication number
EP3265413B1
EP3265413B1 EP16705922.9A EP16705922A EP3265413B1 EP 3265413 B1 EP3265413 B1 EP 3265413B1 EP 16705922 A EP16705922 A EP 16705922A EP 3265413 B1 EP3265413 B1 EP 3265413B1
Authority
EP
European Patent Office
Prior art keywords
flange section
central flange
handling device
negative pressure
cantilever arms
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.)
Active
Application number
EP16705922.9A
Other languages
German (de)
English (en)
Other versions
EP3265413A2 (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

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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 for receiving flat objects.
  • intermediate layers which can be made of cardboard or corrugated cardboard, for example.
  • Articles of an upper level can therefore stand on an intermediate layer which rests on an adjacent lower level of articles.
  • the intermediate layers provide a stable contact surface for the respective articles. Pallets with such intermediate layers have a very high stability. A high stability of pallets is desired in order to be able to transport them safely without tilting the pallet or without articles slipping.
  • the EP 2 476 637 A2 such a device.
  • the device described in the EP patent application has controllable suction grippers which are fixed to elastically deformable cantilever arms.
  • the elastically deformable cantilever arms are mounted on a bridge.
  • a hose connection is assigned to each of the suction grippers, via which a negative pressure can be transmitted to the respective suction grippers in order to temporarily fix an intermediate layer on the suction gripper. If the intermediate layer has been placed on the pallet, the negative pressure can be released so that another intermediate layer can be received by the device.
  • a device for lifting and pulling off individual sheets from a stack of sheets is also known.
  • the device comprises a suction nozzle, by means of which flat material can be grasped by negative pressure.
  • the DE patent application also provides a valve which is arranged on a bracket. The bracket can be swiveled in order to create and release a negative pressure via the suction nozzles.
  • the invention relates to a handling device for receiving flat objects.
  • the flat objects can be formed by intermediate layers and consist of cardboard or corrugated cardboard.
  • a handling device according to the invention or various embodiments of a handling device according to the invention can, if necessary, separate intermediate layers from a stack and place them on the respective pallet. It can also be the case that the handling device is already provided with individual intermediate layers, the handling device picking up the individual intermediate layer and depositing it in a defined manner on a respective pallet.
  • the handling device comprises several extension arms, each with at least one suction head for grasping 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, embodiments have proven successful in which the handling device has at least three and in particular four or at least four extension arms, each of which is assigned at least one suction head for grasping the flat object or the intermediate layer via negative pressure.
  • the handling device also comprises a central flange section, from which the multiple extension arms extend in different directions and which provides a supporting function for the multiple extension arms.
  • the plurality of cantilever arms can be designed to be at least largely rigid and thus each protrude laterally from the central flange section.
  • the Cantilever arms can be formed from plastic and in particular from carbon fiber-reinforced plastic.
  • the central flange section can be produced, for example, by sintering.
  • the central flange section can preferably be formed from plastic and, according to the invention, is produced using a three-dimensional printing process, with which the central flange section is formed in one piece.
  • Such three-dimensional printing processes are characterized by a fast 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 necessary, for producing the entire handling device.
  • the multiple extension arms can thus also be produced by a three-dimensional printing process.
  • the multiple cantilever arms and the central flange section are designed as a one-piece component and are produced by means of a three-dimensional printing process.
  • 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 extension arm can be produced by means of two-component printing.
  • embodiments are conceivable in which components or the entire handling device are manufactured by injection molding.
  • the central flange section also has a line system which is fluidically connected to the suction heads in order to transfer a negative pressure to the suction heads of the plurality of cantilever arms. Since the central flange section is designed as a supporting component of the handling device, the construction of the handling device can be kept very compact.
  • the central flange section can form a housing which completely accommodates the line system.
  • the one or more extension arms can be held by the central flange section by means of a form fit and / or force fit.
  • the plurality of extension arms are connected to the central flange section via a press fit and / or are held on the central flange section via a respective adhesive connection.
  • the central flange section can provide a respective anti-rotation device for the one or more extension arms.
  • the respective anti-rotation device can be formed, for example, by a respective form-fitting receptacle of the one or more extension arms on the central flange section.
  • a suspension designed as a support column is coupled to the central flange section.
  • the support column can be rigidly connected to the central flange section and, if necessary, can be produced by means of a three-dimensional printing process. If the handling device is moved after receiving an intermediate layer, the suspension or support column can carry the mass of the flange section and the multiple extension arms.
  • the multiple extension arms each themselves form a hollow shaft, via which the line system is fluidically connected to the at least one suction head of the respective extension arm for the transmission of the negative pressure.
  • the one or more cantilever arms can thus be designed as a hollow tube.
  • the suction heads can be arranged at corresponding outlets of the hollow tube, which are inserted or positioned in the hollow tube perpendicular to the longitudinal extension of the hollow tube, to which a negative pressure is transmitted to receive the flat object via the outlets of the hollow tube.
  • the hollow tube can be closed at a free distal end or end facing away from the central flange section.
  • hose connections that are directly coupled to the suction heads can be completely dispensed with.
  • Such embodiments therefore have an additionally simplified structure and are easy to manufacture.
  • one or more cantilever arms each form at least one area in the respective hollow shaft, within which an opening cross-section is reduced or within which an opening cross-section is designed to be reduced compared to further areas.
  • one or more cantilever arms can have a throttle.
  • the respective throttle can be designed, for example, as a sheet metal or aluminum sheet with an opening. It is also conceivable that the respective throttle is produced together with the respective extension arm in a three-dimensional printing process. If a suction head loses its contact with the respective intermediate layer, maintenance of the negative pressure on 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 extension arms enclose an acute angle with one another.
  • the handling device can have four extension arms, two extension arms each enclosing an acute angle.
  • the invention is not to such Embodiments with four extension arms are limited, so that if necessary three extension arms or more than four extension arms can be provided, each of which is assigned at least one suction head.
  • the plurality of cantilever arms can be arranged hanging and pointing in the downward direction and / or rising and pointing in the upward direction on the central flange section.
  • the multiple extension arms can yield resiliently in the described arrangement.
  • the suction heads each comprise at least one flexible suction bag or suction bellows and / or suction cup, the longitudinal extensions of at least two suction bags being designed differently. Due to the resilient resilience, which can be optimized in particular with a hanging or rising arrangement of the multiple cantilever arms, all of the suction heads can be placed on the respective intermediate layer or on the respective flat object without problems, even with different longitudinal extensions.
  • first suction bags which are located further away from the central flange section, compared to second suction bags, which are located closer to the central flange section than the first suction bags, move a lesser amount in the downward direction or in the Z direction protrude from the handling device.
  • the first suction bags themselves can have a smaller longitudinal extension than the second suction bags.
  • an intermediate piece is assigned to the second suction bags and their respective extension arm in order to increase the distance or the extension of the second suction bags in the downward direction away from the handling device.
  • an air wedge can be formed between the intermediate layer, which is received by the handling device, and the intermediate layer stack. The intermediate layer is unrolled on its directly adjacent intermediate layer when it is picked up. Electrostatic adhesion and / or mechanical interlocking of the intermediate layer on adjacent intermediate layers can be eliminated, so that in such embodiments, intermediate layers can be separated from a respective stack without problems.
  • the handling device can also have at least one touch sensor, by means of which touch sensor an impending surface contact of the Suction heads for the intermediate layer can be recognized.
  • the touch sensor can be designed as a touch rod and protrude in the vertical direction downward from the central flange section of the handling device.
  • the touch sensor which may be designed as a feeler rod, can be positioned approximately in the middle between the multiple cantilever arms.
  • the direction of longitudinal extent of the probe rod can be aligned with a direction of longitudinal extent of the support column or run parallel to a direction of longitudinal extent of the support column. It is also conceivable that the handling device has two or more than two touch sensors. If the intermediate layers, which are picked up by the handling device, are designed as half-layers which together provide a level of a pallet, a separate touch sensor or feeler rod can be provided for each of the half-layers.
  • the touch sensor or touch rod can be connected to a control device.
  • the control device can bring about a build-up or transfer of negative pressure in the line system of the central flange section during and / or after contact of the probe rod with a flat object or with an intermediate layer.
  • the invention also provides that the central flange section has a connection opening into the line system, with a negative pressure being able to be transmitted jointly to the suction heads of the plurality of cantilever arms via the one connection under operative connection with the line system.
  • a compressed air generating device is coupled to the one connection opening into the line system.
  • the handling device can provide a thread in the area of the connection. Since the central flange section can be produced in a three-dimensional printing process, there is the possibility of designing the thread as an integral part of the central flange section.
  • An overpressure introduced into the line system via the connection can build up a negative pressure due to a Venturi effect formed in the line system, which is transmitted from the line system to the suction heads.
  • the overpressure can be between 3 and 5 bar.
  • the line system can have corresponding cross-sectional constrictions in the area of one or more branches.
  • the line system can comprise one or more Venturi nozzles or one or more ejectors.
  • each of the multiple extension arms and / or each suction head is assigned its own Venturi nozzle or its own ejector, which creates a negative pressure for the respective extension arm or for builds up the respective suction head. If a negative pressure cannot be generated via a venturi nozzle or an ejector due to a malfunction, no negative pressure may be transmitted to the respective suction head.
  • each boom or suction head is assigned its own Venturi nozzle or its own ejector
  • the further boom arms or the further suction heads can, however, be supplied with negative pressure, so that the respective intermediate layer can still be picked up via the handling device.
  • a common Venturi nozzle or a common ejector is assigned to several extension arms and here supplies the several extension arms and the suction heads of the several extension arms with negative pressure.
  • the line system is fluidically connected to one or more sound absorbers in order to reduce a noise level when a negative pressure is transmitted to the suction heads.
  • the one or more mufflers can be designed as a one-piece component of the central flange section and, if necessary, can be designed together with the central flange section in a three-dimensional printing process.
  • the central flange section can form a housing within which the one or more silencers are located.
  • the housing can completely accommodate the one or more mufflers.
  • the silencers can comprise sound-absorbing materials such as wool or the like to absorb a noise level.
  • the central flange section has one or more openings through which compressed air can exit.
  • the one or more mufflers can be arranged in the area of the one or more openings.
  • the central flange section has a thread in the area of the respective openings, by means of which thread a silencer can be screwed onto the central flange section in order to reduce a corresponding sound level when compressed air is applied.
  • one or more silencers can be held removably on the central flange section.
  • the connection between the respective muffler and the central flange section can, for example, be via a force fit and / or form fit and / or material fit, and in this case in particular by means of gluing or bonding. Fusion between the respective muffler and a housing of the central flange section take place.
  • the central flange section can also have a thread which corresponds to a mating thread of a muffler.
  • the line system for generating the negative pressure by means of the Venturi effect has one or more branches with a respective cross-sectional constriction.
  • a branch of the branch in which the negative pressure is built up can lead the negative pressure in the direction of one or more outlets of the central flange section.
  • the central flange section has one or more inlets via which compressed air can be introduced into the line system to remove the negative pressure at the suction heads.
  • a pressure generating device or a compressor can be coupled to the inputs.
  • the central flange section can form a thread in the area of a respective inlet.
  • a method for receiving flat objects is also disclosed.
  • Features that were previously described for various embodiments of the handling device can also be present in conceivable embodiments of the method described below.
  • features which are described below for various embodiments of the method can be present in conceivable embodiments of the device according to the invention.
  • the method is provided for picking up flat objects via a handling device which has several extension arms each with at least one suction head and a central flange section with a line system.
  • the line system is fluidically connected to the suction heads.
  • the plurality of extension arms extend in different directions away from the central flange portion, the central flange portion carrying the extension arms.
  • a negative pressure is introduced into the line system or built up in the line system.
  • An introduction of negative pressure into the line system can be brought about by coupling the central flange section or the line system to a negative pressure generating device.
  • a negative pressure in the line system is built up from an overpressure and by means of the Venturi effect.
  • the overpressure can be introduced into the line system through a corresponding connection.
  • a negative pressure can be built up by means of the Venturi effect, which is transmitted to the suction heads to detect the respective flat object.
  • the negative pressure is transmitted from the line system to the suction heads, so that as a result the respective flat object is fixed on the suction heads of the handling device.
  • the compressed air can be fed to one or more silencers to reduce a noise level.
  • the compressed air can pass through the muffler and then emerge from the central flange section or from a housing of the central flange section.
  • one or more openings can be made in the housing of the central flange section, which are arranged downstream of the one or more silencers in the direction of flow of the excess pressure and are connected to the line system.
  • the negative pressure can be transmitted at least approximately synchronously from the line system to the suction heads.
  • Suction heads of several cantilever arms can be fluidically connected to one another via the line system. Via the fluidic connection between the suction heads, it is possible to transfer an overpressure introduced into the line system or an overpressure built up in the line system to the suction heads at the same time.
  • the multiple cantilever arms themselves form a hollow shaft, via which the negative pressure is transmitted from the line system to the suction heads.
  • the multiple extension arms which may be designed as hollow tubes, can connect to the line system of the central flange section and apply negative pressure to the suction heads.
  • Figure 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, which are not shown in the figures of the present patent application and, if necessary, can have two broad side surfaces on opposite sides, which have an essentially rectangular geometry.
  • the handling device 1 comprises a central flange section 4 and a plurality of extension arms 3, which are designed as essentially rigid hollow tubes 5 and are carried by the central flange section 4.
  • the cantilever arms 3 or hollow tubes 5 are each held on the central flange section 4 by means of an adhesive connection.
  • Two suction heads 6 are arranged on each of the four cantilever arms 3.
  • the suction heads 6 are carried by their respective extension arm 3 or are fixed in a hanging manner on their respective extension arm 3.
  • the central flange section 4 can be produced by means of a three-dimensional printing process and can thus be formed in one piece.
  • the cantilever arms 3 can be produced together with the central flange section 4 in a three-dimensional printing process and can thus be formed in one piece. It is also conceivable that the suction heads 6, the cantilever arms 3 and the central flange section 4 are produced in a three-dimensional printing process and possibly by means of a two-component printing.
  • the longitudinal axes of two cantilever arms 3 or hollow tubes 5 each enclose an acute angle ⁇ with one another.
  • 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.
  • the central flange section 4 can be pressurized via the connection 12, for example with 3 to 5 bar.
  • the central flange section 4 has a line system 15 (cf. Figure 5 ), via which the central flange section 4 generates a negative pressure from the application of pressure by means of the Venturi effect. Since the extension arms 3 are designed as hollow tubes 5, the negative pressure can be passed on from the line system 15 via the extension arms 3 to the suction heads 6, which thereby absorb the respective intermediate layer by negative pressure.
  • the shaft, which the hollow tubes 5 provide for transferring the negative pressure to the suction heads 6, is in this case aligned with the longitudinal axis of the respective extension arm 3.
  • Figure 1 also shows two inlets 11 which open into the line system 15.
  • a device for applying pressure or for generating an overpressure in the line system 15 is also connected to the inlets 11.
  • the overpressure introduced into the line system 15 via the inlets 11 can be transmitted to the suction heads 6 via the cantilever arms 3 or hollow tubes 5, in order to remove a fixation of intermediate layers formed by underpressure.
  • a suspension 7 or support column 9 is rigidly coupled to the central flange section 4.
  • the suspension 7 or support column 9 can be connected to an actuator to move the handling device 1 after detecting an intermediate layer in the direction of a pallet and, if necessary, after placing an intermediate layer on the respective pallet, to guide it back in the direction of another intermediate layer.
  • the suspension 7 or support column 9 carries the mass of the central flange section 4, the cantilever arms 3 and the suction heads 6 arranged on the cantilever arms 3 and possibly the respective intermediate layer fixed to the suction heads 6.
  • the handling device 1 can be manufactured inexpensively.
  • a line system 15 (cf. Figure 5 ) in the central flange section 4 and the transfer of the negative pressure via the cantilever arms 3 designed as hollow tubes 5 to the suction heads 6, hose connections for the direct transfer of the negative pressure to the suction heads 6 can be dispensed with.
  • the handling device 1 is made compact, with additional costs for manufacturing the handling device 1 being reduced.
  • FIG. 11 shows a schematic top view of the embodiment of a handling device 1 from FIG Figure 1 .
  • the inlets 11 are introduced into the central flange section 4 on an upper side and can optionally be printed together with the central flange section 4.
  • the number and positioning of the inlets 11 are to be understood here as examples.
  • Figure 3 shows a schematic side view of the embodiment of a handling device 1 from Figures 1 and 2 .
  • the cantilever arms 3 or hollow tubes 5 point in the direction of a floor 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 or a respective hollow shaft of the cantilever arms 3 is assigned a throttle that is not shown in the figures. If a suction head 6 of the handling device 1 loses its contact with the intermediate layer, the negative pressure on the other suction heads 6 can thereby be maintained.
  • Figure 3 also shows a feeler rod 18 of the handling device 1, which comes into contact with the respective intermediate layer before the suction heads 6 and informs a control device not shown in the figures about the contact. Following this, the control device can transmit a negative pressure or the build-up of a negative pressure in the line system 15 (cf. Figure 5 ) cause, whereby the suction heads 6 can accommodate the respective intermediate layer.
  • FIG Figure 4 shows a schematic perspective view of a central flange section 4 of the embodiment of a handling device 1 according to FIG Figures 1 to 3 .
  • the central flange section 4 has its own outlet 17 for each of the cantilever arms 3 or hollow tubes 5, of which in FIG Figure 4 two outputs 17 can be seen.
  • the negative pressure is passed on to the cantilever arms 3 via the outlets 17 and transferred to the individual suction heads 6 via the cantilever arms 3.
  • the inlets 11 have a thread via which the compressed air generating device or the compressor can be coupled to the central flange section 4.
  • the underpressure which may have formed between the suction heads 6 and the respective intermediate layer can be eliminated.
  • the inputs 11 thus lead directly into the line system 15 (cf. Figure 5 ) of the central flange section 4.
  • Sound absorbers 19 of the central flange section 4 can also be seen, the function of which will be described below.
  • the sound absorbers 19 can be produced as an integral part of the central flange section 4 together with the central flange section 4 by means of a three-dimensional printing process and are located in the area of a respective opening 33 of the central flange section 4 the openings 33 of the central flange section 4 escape. Via the line system 15 (cf. Figure 5 ) a fluidic connection is thus established between the connection 12 and the openings 33.
  • FIG. 4 shows a schematic sectional illustration of the central flange section 4 from the exemplary embodiment of FIG Figures 1 to 4 .
  • the line system 15 of the central flange section 4 can be clearly seen.
  • the line system 15 is acted upon with compressed air via the connection 12.
  • Part 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 into the line system 15 via the connection 12.
  • several branches 16 of the line system 15 can be seen, each of which is assigned an output 17.
  • the negative pressure built up by the Venturi nozzles 25 is passed on to the suction heads 6 via the branches 16 and their outlets 17 in order to fix a flat object or an intermediate layer on the handling device 1.
  • the line system 15 or the Venturi nozzles 25, the branches 16 and the outlets 17 can be produced as an integral part of the central flange section 4 in a three-dimensional printing process.
  • connection 12 has a thread in order to couple a compressed air generating device or a compressor not shown in the figures to the central flange section 4.
  • the thread of the connection 12 can also be printed together with all other components of the central flange section 4.
  • the Venturi nozzles 25 are each followed by a connection 21, which connects the compressed air to a respective silencer 19.
  • one or more mufflers 19 have proven to be useful in order to keep a sound level low when the line system 15 is pressurized with compressed air.
  • the connections 21 and the silencers 19 can also be an integral part of the central flange section 4 are produced in a three-dimensional printing process.
  • the silencers 19 can be designed as absorption silencers or as reflection silencers.
  • FIG. 6 shows a schematic perspective view of a further embodiment of a handling device 1 according to the invention.
  • the embodiment Figure 6 Just like the embodiment from FIG Figures 1 to 3 owns the embodiment Figure 6 four extension arms 3 each with two suction heads 6.
  • the suction heads 6 are still held on a central flange section 4.
  • the central flange section 4 has entrances 11 in order to cancel a fixation formed by negative pressure between the drinking heads 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 formed by essentially rigid hollow tubes 5 and each point away from the central flange section 4.
  • the mass of the central flange section 4, the cantilever arms 3 or hollow tubes 5, the suction heads 6 and possibly the intermediate layer adhering to the suction heads 6 by means of negative pressure is supported by the suspension 7 designed as a support column 9.
  • a rotationally fixed coupling is provided between the support column 9 and the central flange section 4.
  • Individual components of the handling device 1 or the entire handling device 1 can also be used in the exemplary embodiment of FIG Figure 6 can be produced by means of a three-dimensional printing process.
  • the central flange section 4 consists of Figure 6 is formed by sintering. Since the central flange portion 4 according to the embodiment from Figure 6 has a line system 15 (cf. Figure 8 ), direct hose connections for transferring a negative pressure to the suction heads 6 can be dispensed with.
  • FIG. 14 shows a schematic perspective view of the central flange section 4 of the embodiment from FIG Figure 6 .
  • the central flange section 4 from Figure 7 has its own output 17 for each of the cantilever arms 3 or hollow tubes 5, of which in Figure 7 two outputs 17 can be seen.
  • the negative pressure is passed on to the cantilever arms 3 via the outlets 17 and transferred to the individual suction heads 6 via the cantilever arms 3.
  • the central flange section 4 has openings 33 through which compressed air emerges from the central flange section 4.
  • a thread 27 is assigned to each opening 33.
  • a respective silencer can be screwed onto the central flange section 4 via the thread 27 in order to reduce a noise level of the via the Connection 12 to reduce compressed air introduced into the central flange section 4.
  • the line system 15 (cf. Figure 8 ) sets the connection 12 and the openings 33 fluidically in connection.
  • the corresponding silencers which can be fastened to the central flange section 4 by means of the thread 27, are not shown in the figures of the present patent application.
  • the threads 27 and the openings 33 can be produced together with the central flange section in a three-dimensional printing process.
  • FIG. 11 shows a schematic sectional illustration through the central flange section 4 from FIG Figure 7 .
  • a vacuum generating device 30, which is designed as a component of the line system 15, can be seen.
  • a vacuum can be built up in the line system 15 by means of the Venturi effect, which is transmitted to the suction heads 6 via the outputs 17.
  • compressed air is introduced into the line system 15 via the connection 12, which air passes through the negative pressure generating device 30 and emerges from the central flange section 4 via the openings 33.
  • Each opening 33 has its own thread 27, via which a respective silencer can be screwed onto the central flange section 4.
  • the vacuum generating device 30 can be subject to wear, particularly at a high clock frequency.
  • the negative pressure generating device 30 of the exemplary embodiment comprises a central flange section 4 Figure 8 is therefore designed to be exchangeable or as a detachable component of the central flange section 4. If the vacuum generating device 30 is subject to wear, it can be removed from the central flange section 4 via the respective opening 33 and / or the outlet 17. A further negative pressure generating device 30 can subsequently be pushed or inserted into the central flange section 4 via the opening 33 or via the outlet 17.
  • Figure 9 shows a sectional view through a further central flange section 4, as it can be provided for various embodiments of a handling device 1 according to the invention.
  • the central flange section 4 according to Figure 9 can be produced in a three-dimensional printing process or produced by sintering.
  • the central flange portion 4 of the embodiment has Figure 9 a connection 12, four outputs 17, via which a negative pressure can be passed on to the suction heads 6, and a Line system 15.
  • two openings 33 which are fluidically connected to the line system 15 and via which compressed air can be fed out of the central flange section 4.
  • a thread 27 is assigned to each opening 33 in order to fix a respective silencer on the central flange section 4.
  • the vacuum generating device 30 is firmly connected to the central flange section 4 and is produced together with the central flange section 4 in a three-dimensional printing process or by means of sintering. Venturi nozzles 25 can be seen as part of the negative pressure generating devices 30 in order to generate a negative pressure in each case from an overpressure introduced into the line system 15 through the connection 12.
  • the vacuum generating devices 30 or the Venturi nozzles 25 are designed as a non-detachable component of the central flange section 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)

Claims (11)

  1. Dispositif de manipulation (1) destiné à recevoir des objets plats, comprenant
    - une pluralité de bras en porte-à-faux (3) ayant chacun au moins une tête d'aspiration (6) destinée à saisir l'objet plat, et
    - une portion de bride centrale (4) à partir de laquelle lesdits plusieurs bras en porte-à-faux (3) s'étendent dans des directions différentes et laquelle offre une fonction porteuse pour les plusieurs bras en porte-à-faux (3),
    dans lequel ladite portion de bride centrale (4) présente un système de conduites (15) ainsi qu'un raccord (12) débouchant dans le système de conduites (15), lequel système de conduites (15) est en communication fluidique avec les têtes d'aspiration (6) pour transmettre une pression négative aux têtes d'aspiration (6) des plusieurs bras en porte-à-faux (3), caractérisé par le fait que
    ledit système de conduites (15) comprend un ou plusieurs branchements présentant un rétrécissement de section transversale respectif pour générer la pression négative au moyen de l'effet Venturi qui est établi par une surpression introduite via le raccord (12) dans le système de conduites (15), et dans lequel
    la portion de bride centrale (4) et son système de conduites (15) sont réalisés au moyen d'un principe de pression en trois dimensions.
  2. Dispositif de manipulation selon la revendication 1, dans lequel la pluralité de bras en porte-à-faux (3) est réalisée au moyen d'un principe de pression en trois dimensions.
  3. Dispositif de manipulation selon la revendication 1 ou la revendication 2, dans lequel une suspension (7) conçue en tant que colonne de support (9) est couplée à la portion de bride centrale (4).
  4. Dispositif de manipulation selon l'une ou plusieurs des revendications 1 à 3, dans lequel la pluralité de bras en porte-à-faux (3) forment chacun eux-mêmes une tige creuse par l'intermédiaire de laquelle le système de conduites (15) est en communication fluidique avec ladite au moins une tête d'aspiration (6) du bras en porte-à-faux (3) respectif pour transmettre la pression négative.
  5. Dispositif de manipulation selon la revendication 4, dans lequel ledit un ou lesdits plusieurs bras en porte-à-faux forment chacun dans la tige creuse respective au moins une zone à l'intérieur de laquelle une section transversale d'ouverture est réduite.
  6. Dispositif de manipulation selon l'une ou plusieurs des revendications 1 à 5, dans lequel les têtes d'aspiration comprennent chacune au moins une poche d'aspiration souple, les extensions longitudinales d'au moins deux poches d'aspiration étant conçues de manière différente.
  7. Dispositif de manipulation selon l'une ou plusieurs des revendications 1 à 4, dans lequel les axes longitudinaux d'au moins deux bras en porte-à-faux (3) font entre eux un angle aigu (a).
  8. Dispositif de manipulation selon l'une ou plusieurs des revendications 1 à 5, dans lequel la pluralité de bras en porte-à-faux (3) sont disposés sur la portion de bride centrale (4) de manière suspendue et à montrer vers le bas et/ou de manière à monter et à montrer vers le haut.
  9. Dispositif de manipulation selon l'une ou plusieurs des revendications 1 à 8, dans lequel la portion de bride centrale (4) présente un raccord (12) débouchant dans le système de conduites (15), dans lequel une pression négative peut être transmise en commun aux têtes d'aspiration (6) des plusieurs bras en porte-à-faux par l'intermédiaire dudit un raccord (12) en liaison active avec le système de conduites (15), dans lequel il est prévu de préférence qu'un dispositif de génération d'air comprimé est couplé audit un raccord (12) débouchant dans le système de conduites (15).
  10. Dispositif de manipulation selon l'une ou plusieurs des revendications 1 à 9, dans lequel, pour réduire un niveau de bruit lors de la transmission d'une pression négative aux têtes d'aspiration (6), le système de conduites (15) est en communication fluidique avec un ou plusieurs amortisseur(s) de bruit (19), et dans lequel il est prévu de préférence qu'
    un amortisseur de bruit (19) ou plusieurs amortisseurs de bruit (19) est/sont conçu(s) en tant que composant fait d'un seul tenant de la portion de bride centrale, et/ou dans lequel il est prévu de préférence qu'
    un amortisseur de bruit (19) ou plusieurs amortisseurs de bruit (19) est/sont maintenu(s) de manière amovible sur la portion de bride centrale (4).
  11. Dispositif de manipulation selon l'une ou plusieurs des revendications 1 à 10, dans lequel la portion de bride centrale (4) présente une ou plusieurs entrées (11) par lesquelles de l'air comprimé peut être introduit dans le système de conduites (15) pour supprimer la pression négative au niveau des têtes d'aspiration (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

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

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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)

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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

Citations (2)

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US20080246290A1 (en) * 2004-06-23 2008-10-09 Kenny Johansson Method for Manufacturing a Gripping Means Having Integrated Vacuum Channels
EP3037371A1 (fr) * 2014-12-16 2016-06-29 Krones Aktiengesellschaft Dispositif et procede de reception, de maintien et/ou de manipulation d'objets plats

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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
FR2924373B1 (fr) * 2007-12-04 2010-04-16 Sidel Participations Outillage a ventouse (s) pour robot de manipulation
SE0702827L (sv) * 2007-12-19 2008-10-14 Autolabel Ab Anordning vid verktyg samt förfarande för dess framställning
EP2476637B1 (fr) 2011-01-18 2015-05-06 Krones AG Dispositif et procédé de réception, de retenue et/ou de manipulation d'objets plats

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080246290A1 (en) * 2004-06-23 2008-10-09 Kenny Johansson Method for Manufacturing a Gripping Means Having Integrated Vacuum Channels
EP3037371A1 (fr) * 2014-12-16 2016-06-29 Krones Aktiengesellschaft Dispositif et procede de reception, de maintien et/ou de manipulation d'objets plats

Also Published As

Publication number Publication date
WO2016139063A3 (fr) 2016-10-27
SI3265413T1 (sl) 2022-01-31
WO2016139063A2 (fr) 2016-09-09
DE102015103147A1 (de) 2016-09-08
CN208843361U (zh) 2019-05-10
EP3265413A2 (fr) 2018-01-10

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