EP3599381B1 - Workpiece handling device and device for controlling the functioning of a suction gripper of a workpiece handling device - Google Patents

Workpiece handling device and device for controlling the functioning of a suction gripper of a workpiece handling device Download PDF

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Publication number
EP3599381B1
EP3599381B1 EP19181569.5A EP19181569A EP3599381B1 EP 3599381 B1 EP3599381 B1 EP 3599381B1 EP 19181569 A EP19181569 A EP 19181569A EP 3599381 B1 EP3599381 B1 EP 3599381B1
Authority
EP
European Patent Office
Prior art keywords
suction
ejector
line
blow
suction gripper
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
EP19181569.5A
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German (de)
French (fr)
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EP3599381B8 (en
EP3599381A1 (en
Inventor
Franz Kowal
Marcus Busch
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.)
Trumpf Sachsen GmbH
Original Assignee
Trumpf Sachsen GmbH
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Publication date
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Publication of EP3599381A1 publication Critical patent/EP3599381A1/en
Application granted granted Critical
Publication of EP3599381B1 publication Critical patent/EP3599381B1/en
Publication of EP3599381B8 publication Critical patent/EP3599381B8/en
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Classifications

    • 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
    • F04F5/48—Control
    • F04F5/52—Control of evacuating pumps

Definitions

  • the invention also relates to a workpiece handling device with a device of the aforementioned type.
  • Prior art of the generic type is known from DE 40 01 937 A1 .
  • This document relates to a handling device with a suction gripper for fixing workpieces by means of a negative pressure.
  • the known handling device has a compressed air generator, which delivers compressed air into a branching compressed air line.
  • a first 2/2-way valve is arranged in series with the suction gripper between the compressed air generator and the suction gripper.
  • a second 2/2-way valve connected in series with the Venturi nozzle is located in a second branch of the compressed air line between the compressed air generator and a Venturi nozzle.
  • the suction side of the Venturi nozzle is connected to the suction gripper.
  • the first 2/2-way valve is switched to a closed position and the second 2/2-way valve is switched to an open position. Compressed air flows through the opened second 2/2-way valve, which generates a vacuum on the suction side of the Venturi nozzle and on the suction gripper connected to the suction side of the Venturi nozzle.
  • the first 2/2-way valve is opened and the second 2/2-way valve is closed and compressed air flows through the open first 2/2-way valve to the suction gripper. Due to the structure described, the known handling device has a relatively large structural dimension. See also US4432701 , to the state of the art.
  • the object of the present invention is to provide a compact device for controlling the functional state of a suction gripper of a workpiece handling device and to provide a correspondingly compact workpiece handling device.
  • this object is achieved by the device for controlling the functional state of a suction gripper according to independent patent claim 1 and by the workpiece handling device according to independent patent claim 10.
  • a single directional control valve is used to optionally generate a blow-off pressure or a vacuum on a suction gripper.
  • the directional control valve is provided between the suction side of an ejector and a pressure generator for blowing off the suction gripper on the one hand and a pressure chamber of the suction gripper open on the workpiece side on the other hand and comprises a valve cylinder and a valve piston guided in the valve cylinder.
  • a suction line and a blow-off line open towards the valve piston.
  • the pressure chamber of the suction gripper can be connected to the suction side of the ejector via the suction line and to the pressure generator for blowing off the suction gripper via the blow-off line.
  • the valve piston of the directional control valve is provided with a suction line section of the suction line provided between the suction side of the ejector and the pressure chamber of the suction gripper and with a blow-off line section of the blow-off line provided between the pressure generator for blowing off the suction gripper and the pressure chamber of the suction gripper.
  • the suction line section on the valve piston has an opening on the ejector side and an opening on the suction gripper side.
  • the blow-off line section on the valve piston has an opening on the pressure generator side and an opening on the suction gripper side. Due to a switching movement generated by a switching device and executed by the valve piston and the valve cylinder relative to one another, the valve piston moves into a suction position or a blow-off position with respect to the valve cylinder.
  • the directional control valve When the valve piston is in the suction position and when there is a vacuum on the suction side of the ejector, the directional control valve according to the invention establishes a flow connection between the mouth of the suction line section on the ejector side the valve piston and the piston-side opening of the suction line on the valve cylinder. In addition, there is a flow connection between the mouth of the suction line section on the suction gripper side on the valve piston and the pressure chamber of the suction gripper. As a result, when the valve piston is in the suction position, the suction side of the ejector is in flow connection with the pressure chamber of the suction gripper.
  • the suction side of the ejector is connected to the suction gripper and the vacuum generated by the ejector is applied to the pressure chamber of the suction gripper.
  • the suction gripper is consequently able to fix a workpiece.
  • the directional control valve according to the invention interrupts a flow connection between the pressure generator-side opening of the blow-off line section on the valve piston and the piston-side opening of the blow-off line on the valve cylinder. As a result, the pressure generator provided on the suction gripper for blowing off is separated from the pressure chamber of the suction gripper.
  • a plurality of functions is accordingly integrated into the directional control valve according to the invention. This results in a compact design of the device according to the invention for controlling the functional state of a suction gripper and thereby in turn a compact design of the workpiece handling device according to the invention provided with such a device.
  • the suction gripper and also the ejector of the devices according to the invention can be of conventional design.
  • As a driving medium for the ejector and also Compressed air is preferred as the pressure medium for blowing off the suction gripper.
  • conventional compressors are preferably used as pressure generators for the ejector and as pressure generators for blowing off the suction gripper.
  • the switching device for moving the valve piston of the directional control valve according to the invention into the suction position or into the blow-off position can for example comprise an electrical switching magnet, by means of which the switching movements of the valve piston are preferably carried out against the action of a restoring force.
  • a switching device with a pilot valve for controlling the pressure used as switching pressure in a cylinder space formed on at least one end face of the valve piston in the interior of the valve cylinder is also conceivable.
  • the suction line section and the blow-off line section on the valve piston have a common section and that the suction gripper-side mouth of the suction line section and the mouth of the blow-off line section on the suction gripper side on the valve piston are preferably formed by a common line section mouth on the suction gripper side.
  • a common partial length of the line sections on the valve piston can accordingly be used both to apply a vacuum and to apply a blow-off pressure to the suction gripper.
  • the directional control valve according to the invention is also used, in addition to the aforementioned functions, to discharge an outflow medium from the ejector outlet during suction operation of the ejector. If the valve piston of the directional control valve according to the invention is in the suction position, the propellant, which is fed to the ejector for vacuum generation and a suction medium, which is sucked in on the suction side of the ejector due to the vacuum applied there through the suction line leading to the suction gripper, together as an outflow medium from the ejector outlet of the ejector through the valve cylinder of the directional control valve.
  • the flow path of the outflow medium leading through the valve cylinder of the directional valve according to the invention is additionally blocked by the valve piston when the valve piston is blown off, a pressure medium which is fed into the propellant medium supply line leading to the ejector when the valve piston is blown off cannot be released from the ejector.
  • Pressure medium which is applied to the propellant medium supply line leading to the ejector when the valve piston is blown off, can consequently be branched off and used as pressure medium for blowing off on the suction gripper.
  • the piston-side opening of the blow-off line and the piston-side opening of the suction line are connected to a common pressure medium line, which in turn is encompassed by both the blow-off line and the propellant supply line (claim 4).
  • a bypass line is provided which, while forming part of the blow-off line, connects to the common pressure medium line upstream of the ejector inlet and has a bypass line opening on the valve cylinder provided as the opening of the blow-off line on the piston side (claim 5).
  • a common pressure generator is provided in a further preferred embodiment of the invention, which both the pressure generator for the ejector and trains the pressure generator to blow off the suction gripper.
  • the suction gripper can be used to blow off the suction gripper and / or when the pressure generator is switched on switched on pressure generator for the ejector can either be transferred to a functional state or functionless.
  • the suction gripper is inoperative if the activated pressure generator for the ejector is connected to the propellant supply line of the ejector with the valve piston in the blow-off position. If the pressure generator is at the same time the pressure generator for the ejector of a further device for controlling the functional state of a further suction gripper and the activated pressure generator is also connected to the propellant supply line of the ejector assigned to the further suction gripper, the pressure generated by the activated pressure generator can also be used in the suction position Valve piston downstream of the ejector can be used to apply a vacuum to the suction side of the further ejector and thus also to the pressure chamber of the further suction gripper assigned to the further ejector. The functionality of the further suction gripper is then connected to the inoperability of one suction gripper, in this case the ability of the further suction gripper to fix a workpiece.
  • the suction gripper also has no function if the pressure generator provided for blowing off on the suction gripper is connected to the blow-off line and the valve piston of the directional control valve according to the invention is in the suction position. If the pressure generator in this case is also the pressure generator for blowing off on a further suction gripper and the valve piston of the device for controlling the functional state of the further suction gripper is in the blow-off position, the switched-on pressure generator can be used to simultaneously with the inoperability of one suction gripper on the other suction gripper be blown off.
  • control device according to the invention according to claim 7 is suitable due to its functionality in particular for use in the case of a workpiece handling device according to claim 11, which can be designed in particular as a suction frame with several suction grippers.
  • the device according to the invention according to claim 8 has a functionality corresponding to the inventive design according to claim 7.
  • a suction gripper can be deactivated by moving the valve piston of the directional control valve assigned to the suction gripper into the locking position provided as the third switching position by means of the switching device. Regardless of the resulting non-functioning of the suction gripper, a vacuum can be generated or blown off on a further suction gripper by a further device according to the invention using a pressure generator common to the devices. Due to the selectable locking position for the valve piston of the directional control valve, in the case of the inventive design according to claim 8, a separation of the blow-off line and the propellant supply line, as evidenced by claim 7, is not necessary.
  • the suction position of the valve piston is provided as the middle switching position during the switching movements of the valve piston and the elector of the device according to the claim is consequently implemented as a NO ("normally open") ejector.
  • the valve piston is moved by means of the switching device to one side into the blow-off position and to the other side into the blocking position.
  • the oppositely directed switching movements of the valve piston can be generated, depending on the nature of the valve piston, for example by reversing the polarity of a single electrical switching magnet or with the aid of two electrical switching magnets, each of which causes the switching movements of the valve piston in one of the opposite directions of movement.
  • the switching movements in one or both directions of movement can be executed against the action of a restoring force, in particular against the effect of a restoring spring, the amount of the effective restoring forces varying depending on the direction of the switching movements carried out, but also being independent of direction.
  • the device according to the invention according to patent claim 9 and the workpiece handling devices according to the invention are characterized by a particularly compact design according to claim 12 and according to claim 13.
  • FIG. 1a, 1b comprises a device 1 for controlling the functional state of an only in Figure 1a illustrated suction gripper 2 a device housing 3 and one arranged outside of the device housing 3 and likewise only in Figure 1a pressure generator 4 shown.
  • the suction gripper 2 and the device 1 for controlling the functional state of the suction gripper 2 can be part of a workpiece handling device 300, as shown in FIG Figure 4 is shown.
  • the pressure generator 4 is a conventional compressor for generating compressed air.
  • the suction gripper 2 is also of conventional design. It has a cup-like suction cup 5 designed as an elastomer part, which is open on a workpiece side 6 and delimits a pressure space 7.
  • a housing wall 8 of the device housing 3 encloses a cylindrical bore in the device housing 3 and in this way forms a valve cylinder 9.
  • the valve cylinder 9 guides a valve piston 10 when it performs switching movements in a direction illustrated by a double arrow 11.
  • valve cylinder 9 and the valve piston 10 are parts of a directional valve 12 designed as a cartridge valve.
  • the valve piston 10 has a stepped outer diameter. With a reduced-diameter magnetic actuation end 13, the valve piston 10 plunges into a coil 15 provided with electrical connection pins 14.
  • An upper guide part 16, a middle guide part 17 and a lower guide part 18 of the valve piston 10 are enlarged in diameter.
  • a first diameter-reduced intermediate part 19 of the valve piston 10 extends between the upper guide part 16 and the middle guide part 17.
  • a second diameter-reduced intermediate part 20 of the valve piston 10 is arranged between the middle guide part 17 and the lower guide part 18.
  • On the guide parts 16, 17, 18, the gap between the valve piston 10 and the wall of the valve cylinder 9 is sealed by means of sealing rings 21, 22, 23.
  • the coil 15 seals the interior of the valve cylinder 9 at the top.
  • An upper cylinder space 24 is formed between the coil 15 and the upper guide part 16 of the valve piston 10.
  • a central cylinder space 25 is arranged between the upper guide part 16 and the central guide part 17 of the valve piston 10.
  • a lower cylinder space 26 is located between the middle guide part 17 and the lower guide part 18 of the valve piston 10. Both the upper cylinder space 24 and the middle cylinder space 25 and the lower cylinder space 26 are designed as annular spaces.
  • a fully cylindrical cylinder chamber 27 on the outlet side is delimited at the top by the lower end face of the valve piston 10 and is connected to a housing opening 28 of the device housing 3 by means of a connecting line 29 to the pressure chamber 7 inside the suction cup 5 of the suction gripper 2.
  • the pressure generator 4 is used both to apply a vacuum to the suction gripper 2 and to blow off the suction gripper 2.
  • a conventional ejector 30 provided with a Venturi nozzle is provided for vacuum generation, which is accommodated in the device housing 3 and which has an ejector inlet 31, an ejector outlet 32 and a suction side 33 between the ejector inlet 31 and the ejector outlet 32.
  • the pressure generator 4 is connected to the ejector inlet 31 via a propellant medium supply line 34 running in the housing wall 8 of the device housing 3.
  • a discharge line 35 runs in the housing wall 8 between the ejector outlet 32 and a discharge opening 36 close to the ejector on the wall of the valve cylinder 9. Opposite the discharge opening 36 close to the ejector, the discharge line 35 continues from a discharge opening 37 remote from the ejector provided on the wall of the valve cylinder 9.
  • the discharge line 35 ends at a silencer 38 ( Figure 1c ).
  • the suction side 33 of the ejector 30 is connected to the suction gripper 2 via a suction line 39.
  • a housing-side suction line section 40 extends from the suction side 33 of the ejector 30 to a piston-side opening 41 of the suction line 39 provided on the wall of the valve cylinder 9.
  • a piston-side suction line section 42 is provided on the valve piston 10.
  • the piston-side suction line section 42 has an ejector-side opening 43 and a suction gripper-side opening 44 on the valve piston 10. At the mouth 44 on the suction gripper side, the piston-side suction line section 42 opens into the cylinder space 27 on the outlet side.
  • blow-off line 45 runs with a housing-side blow-off line section 46 in the housing wall 8 of the device housing 3 and has an opening 47 on the piston side on the wall of the valve cylinder 9.
  • a common partial length of the propellant medium supply line 34 and the housing-side vent line section 46 form a common pressure medium line 48.
  • a bypass line 49 connects to the common pressure medium line 48, which with a bypass line opening formed by the piston-side mouth 47 of the blow-off line 45 on the wall of the Valve cylinder 9 opens.
  • a piston-side blow-off line section 50 of the blow-off line 45 runs inside the valve piston 10.
  • the piston-side blow-off line section 50 has an opening 51 on the pressure generator side and an opening 52 on the suction gripper side on the valve piston 10. At the mouth 52 on the suction gripper side, the piston-side blow-off line section 50 opens into the outlet-side cylinder space 27.
  • the piston-side suction line section 42 and the piston-side blow-off line section 50 have a common subsection 53, the suction gripper-side line section mouth of which forms both the suction gripper-side mouth 44 of the piston-side suction line section 42 and the suction gripper-side mouth 52 of the piston-side blow-off line section 50.
  • a conventional pressure switch 54 is arranged in the device housing 3 near the outlet-side cylinder chamber 27 and connected to it via a pressure line 55.
  • the pressure switch 54 and the pressure line 55 are optional and can optionally be used to limit the compressed air consumption at the ejector 30.
  • the valve piston 10 can be moved relative to the valve cylinder 9 with a switching movement in the direction 11 and the suction gripper 2 can be switched to either the "vacuum on” or “blow off” functional state.
  • the switching device 56 comprises, in addition to the coil 15 and the actuating end 13 of the valve piston 10 that plunges into the coil 15, a return spring 57 which is arranged at the lower end of the valve piston 10 and which is axially directed on the one hand on the lower end face of the valve piston 10 and on the other is supported on the device housing 3.
  • FIG Figure 1a In a switching state assigned to the functional state “vacuum on” of the suction gripper 2, the arrangement shown is in FIG Figure 1a .
  • the coil 15 of the switching device 56 is de-energized, the return spring 57 of the switching device 56 is relaxed. As a result, the valve piston 10 assumes a suction position in the interior of the valve cylinder 9 in the direction 11 of the switching movement.
  • the pressure generator 4 is switched on and consequently generates compressed air as the motive medium for the ejector 30, which compressed air is fed into the motive medium supply line 34.
  • the vacuum generated is applied to the pressure switch 54 via the pressure line 55 opening into the cylinder chamber 27 on the outlet side. If the amount of vacuum exceeds an adjustable limit value, the pressure switch 54 switches the ejector 30 off by means of technical means which are not shown in detail. If the amount of vacuum then falls, the pressure switch 54 switches the ejector 30 back to the functional state when the limit value is reached.
  • the vacuum inside the device housing 3 is in Figure 1a indicated by wavy lines.
  • the suction gripper 2 is thus able to fix a workpiece (not shown) against which the suction gripper 2 is placed and which closes the pressure chamber 7 of the suction cup 6.
  • the suction gripper 2 is blown off.
  • the coil 15 is the Switching device 56 connected via the connection pins 14 to a voltage source, not shown.
  • the valve piston 10 which plunges into the coil 15 with the actuating end 13, is displaced based on the relationships shown in FIG Figure 1a in the direction 11 from its suction position downwards into an in Figure 1b shown blow-off position.
  • the switching movement of the valve piston 10 is performed against the action of the return spring 57 of the switching device 56 compressed due to the switching movement.
  • the pressure generator 4 is still switched on.
  • compressed air provided by the pressure generator 4 passes through the blow-off line 45 into the pressure chamber 7 of the suction gripper 2.
  • the directional valve 12 is according to FIGS Figures 1a, 1b a 5/2-way valve. This is schematically in Figure 1c shown.
  • the coil 15 of the switching device 56 is de-energized. If the coil 15 is disconnected from the voltage source, the relaxing return spring 57 of the switching device 56 moves the valve piston 10 out of the blow-off position Figure 1b into the suction position according to Figure 1a . The suction position of the valve piston 10 is consequently brought about automatically when the switching device 56 is de-energized.
  • the ejector 30 is accordingly implemented as a NO (“normally open”) ejector.
  • the arrangement according to the Figures 2a, 2b , 2c, 2d comprises a device 100 for controlling the functional state of a suction gripper 2 and a device 100 for controlling the functional state of a further suction gripper 102.
  • Only the device 100 for controlling the functional state of the suction gripper 2 is in the Figures 2a, 2b , 2c shown in detail, the representations of Figures 2b , 2c For the sake of simplicity, restrict it to the functional unit between the pressure generator 4 and the connecting line 29 leading to the suction gripper 2.
  • the device 100 for controlling the functional state of the further suction gripper 102 is structurally identical to the device 100 for controlling the functional state of the suction gripper 2.
  • the housing-side blow-off line section 46 and the propellant medium supply line 34 of the ejector 30 are separated from one another.
  • the device 100 accordingly does not have a common pressure medium line, as is provided in the case of the device 1 as a common pressure medium line 48.
  • the pressure generator 4 can optionally be switched to the housing-side blow-off line section 46 or the propellant supply line 34.
  • a switchable compressed air switch 58 is provided between the pressure generator 4 on the one hand and the housing-side blow-off line section 46 and the propellant supply line 34 on the other hand.
  • the directional valve 12 of the device 100 is also a 5/2-way valve.
  • the suction gripper 2 of the device 100 can be inoperative when the pressure generator 4 is switched on.
  • the suction gripper 2 of the device 100 can be inoperative when the pressure generator 4 is switched on.
  • the valve piston 10 is blown off, a flow connection is established between the pressure generator 4 and the propellant supply line 34 via the compressed air switch 58 (FIG. 2c) or, when the valve piston 10 is in the suction position, the compressed air switch 58 is switched to a state in which it has a flow connection between the switched-on pressure generator 4 and the housing-side blow-off line section 46 (not shown).
  • the pressure generator 4 provides compressed air which, although it does not change the inoperative state of the suction gripper 2, can be used to control the functional state of the further suction gripper 102 independently of the suction gripper 2.
  • the pressure generator 4 is used as a common pressure generator of the device 100 for controlling the functional state of the suction gripper 2 and the device 100 for controlling the functional state of the further suction gripper 102. Between the pressure generator 4 and the further suction gripper 102 is an in Figure 2a Functional unit II indicated by dashed lines is provided, which in the example shown in FIG Figures 2b , 2c and is arranged between the pressure generator 4 and the suction gripper 2 of the device 100 for the suction gripper 2 functional unit.
  • a functional unit can be connected between the pressure generator 4 and the further suction gripper 102 as functional unit II, as shown in FIG Figures 1a, 1b provided between the pressure generator 4 and the suction gripper 2 and in Figure 1b is shown.
  • a functional unit of the type described below comes as functional unit II Figures 3a, 3b , 3c arranged between the pressure generator 4 and the suction gripper 2 and shown in Figures 3b, 3c.
  • the pressure generator 4 functions as a device pressure generator, which is used both as a common ejector-printer generator for the ejectors 30 assigned to the suction grippers 2, 102 and as a common blow-off pressure generator for blowing off the suction grippers 2, 102.
  • valve piston 10 Located at the in Figure 2c illustrated switching state of the device 100 for the suction gripper 2 on the functional unit II the valve piston 10 in the suction position and if the ejector 30, not shown in detail, flows through the ejector 30 on the functional unit II, which the switched-on pressure generator 4 provides as a driving medium, then the condition is inoperative of the suction gripper 2 applies a vacuum to the further suction gripper 102.
  • the valve piston 10 is moved into the blow-off position and the switched-on pressure generator 4 is switched to the blow-off line 45 of the functional unit II at the same time.
  • a device 200 for controlling the functional state of a suction gripper 2 and a device 200 for controlling the functional state of a further suction gripper 202 are provided.
  • the device 200 for controlling the functional state of the suction gripper 2 is shown in FIG Figure 3a in detail and in the Figures 3b , 3c shown in the scope of the functional unit between the pressure generator 4 and the connecting line 29 leading to the suction gripper 2.
  • the device 200 for controlling the functional state of the suction gripper 2 and the device 200 for controlling the functional state of the further suction gripper 202 are structurally identical.
  • both the flow connection between the ejector-side opening 43 of the suction line section 42 on the valve piston 10 and the piston-side opening 41 of the suction line 39 on the valve cylinder 9 and the flow connection between the pressure generator-side opening 51 of the blow-off line section 50 on the valve piston 10 and the piston-side mouth 47 of the blow-off line 45 on the valve cylinder 9 is interrupted.
  • the suction position of the valve piston 10 is provided as the middle position, from which the valve piston 10 is deflected downwards for transfer to the blow-off position and upwards for transfer to the blocking position.
  • a switching device 56 of the device 200 comprises, in addition to the coil 15 and the actuating end 13 of the valve piston 10 that is immersed in the coil 15, an upper return spring 257 and a lower return spring 258.
  • the coil 15 of the switching device 56 is used to move the valve piston 10 in opposite directions reversed.
  • the upper return spring 257 and the lower return spring 258 automatically position the valve piston 10 in the central position provided as the suction position.
  • the ejector 30 of the device 200 for the suction gripper 2 is accordingly an NO ejector.
  • Figure 3d schematically illustrates the design of the directional valve 12 of the device 200 as a 5/3-way valve.
  • a functional unit can be provided between the pressure generator 4 and the further suction gripper 202 as functional unit II, as shown in FIG. 1b or a functional unit of the FIG Figures 2b , 2c Art.
  • the pressure generator 4 functions as a device pressure generator and thus as a common ejector pressure generator for the ejectors 30 assigned to the suction grippers 2, 202 and as a common blow-off pressure generator for blowing off the suction grippers 2, 202.
  • FIGS Figures 2a, 2b , 2c, 2d By connecting additional functional units II to the pressure generator 4, the arrangement according to FIGS Figures 2a, 2b , 2c, 2d as well as the arrangement according to Figures 3a, 3b , 3c, 3d can be expanded to control the functional status of other suction pads.
  • a workpiece handling device with a large number of suction grippers is shown as workpiece handling device 300 in FIG.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
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Description

Die Erfindung betrifft eine Vorrichtung zur Steuerung des Funktionszustandes eines Sauggreifers einer Werkstück-Handlingvorrichtung, mit einem Ejektor zur Erzeugung eines Vakuums an dem Sauggreifer, mit einem Druckerzeuger für den Ejektor sowie mit einem Druckerzeuger zum Abblasen an dem Sauggreifer,

  • wobei der Ejektor einen Ejektoreinlass, einen Ejektorauslass sowie eine Saugseite aufweist,
  • wobei der Druckerzeuger für den Ejektor zur Erzeugung eines strömungsfähigen Treibmediums für den Ejektor ausgebildet ist und über eine Treibmediumzuleitung an den Ejektoreinlass angeschlossen ist,
  • wobei in der Strömungsrichtung des Treibmediums die Saugseite des Ejektors stromabwärts des Ejektoreinlasses und stromaufwärts des Ejektorauslasses angeordnet ist,
  • wobei der Ejektor unter Erzeugung eines an der Saugseite des Ejektors anliegenden Vakuums mittels des Druckerzeugers für den Ejektor von dem Ejektoreinlass und der Saugseite des Ejektors einerseits zu dem Ejektorauslass andererseits durchströmbar und mit der Saugseite über eine Saugleitung auf einen an einer Werkstückseite offenen Druckraum des Sauggreifers aufschaltbar ist und
  • wobei der Druckerzeuger zum Abblasen an dem Sauggreifer zur Erzeugung eines strömungsfähigen Abblasmediums ausgebildet ist und über eine Abblasleitung auf den Druckraum des Sauggreifers aufschaltbar ist.
The invention relates to a device for controlling the functional state of a suction gripper of a workpiece handling device, with an ejector for generating a vacuum on the suction gripper, with a pressure generator for the ejector and with a pressure generator for blowing off the suction gripper,
  • wherein the ejector has an ejector inlet, an ejector outlet and a suction side,
  • wherein the pressure generator for the ejector is designed to generate a flowable propellant medium for the ejector and is connected to the ejector inlet via a propellant medium supply line,
  • wherein the suction side of the ejector is arranged downstream of the ejector inlet and upstream of the ejector outlet in the flow direction of the propellant medium,
  • wherein the ejector while generating a vacuum applied to the suction side of the ejector by means of the pressure generator for the ejector from the ejector inlet and the suction side of the ejector can flow through on the one hand to the ejector outlet on the other hand and can be connected with the suction side via a suction line to a pressure chamber of the suction gripper that is open on one workpiece side and
  • wherein the pressure generator for blowing off on the suction gripper is designed to generate a flowable blow-off medium and can be connected to the pressure chamber of the suction gripper via a blow-off line.

Die Erfindung betrifft außerdem eine Werkstück-Handlingvorrichtung mit einer Vorrichtung der vorgenannten Art.The invention also relates to a workpiece handling device with a device of the aforementioned type.

Gattungsgemäßer Stand der Technik ist bekannt aus DE 40 01 937 A1 . Diese Druckschrift betrifft eine Handhabungsvorrichtung mit einem Sauggreifer zum Fixieren von Werkstücken mittels eines Unterdrucks. Die vorbekannte Handhabungsvorrichtung weist einen Drucklufterzeuger auf, der Druckluft in eine sich verzweigende Druckluftleitung aufgibt. In einem ersten Zweig der Druckluftleitung ist ein erstes 2/2-Wegeventile in Reihe mit dem Sauggreifer zwischen dem Drucklufterzeuger und dem Sauggreifer angeordnet. In einem zweiten Zweig der Druckluftleitung befindet sich zwischen dem Drucklufterzeuger und einer Venturidüse ein in Reihe mit der Venturidüse geschaltetes zweites 2/2-Wegeventil. Die Venturidüse ihrerseits ist mit ihrer Saugseite an den Sauggreifer angeschlossen. Zum Anlegen eines Vakuums an den Sauggreifer werden das erste 2/2-Wegeventil in eine Geschlossenstellung und das zweite 2/2-Wegeventil in eine Offenstellung geschaltet. Durch das geöffnete zweite 2/2-Wegeventil strömt Druckluft, die an der Saugseite der Venturidüse und an dem mit der Saugseite der Venturidüse verbundenen Sauggreifer ein Vakuum erzeugt. Zum Abblasen an dem Sauggreifer werden das erste 2/2-Wegeventil geöffnet und das zweite 2/2-Wegeventil geschlossen und durch das geöffnete erste 2/2-Wegeventil strömt Druckluft zu dem Sauggreifer. Aufgrund des beschriebenen Aufbaus besitzt die vorbekannte Handhabungsvorrichtung ein verhältnismäßig großes Baumaß. Siehe ebenfalls US4432701 , zum Stand der Technik.Prior art of the generic type is known from DE 40 01 937 A1 . This document relates to a handling device with a suction gripper for fixing workpieces by means of a negative pressure. The known handling device has a compressed air generator, which delivers compressed air into a branching compressed air line. In a first branch of the compressed air line, a first 2/2-way valve is arranged in series with the suction gripper between the compressed air generator and the suction gripper. A second 2/2-way valve connected in series with the Venturi nozzle is located in a second branch of the compressed air line between the compressed air generator and a Venturi nozzle. The suction side of the Venturi nozzle is connected to the suction gripper. To apply a vacuum to the suction gripper, the first 2/2-way valve is switched to a closed position and the second 2/2-way valve is switched to an open position. Compressed air flows through the opened second 2/2-way valve, which generates a vacuum on the suction side of the Venturi nozzle and on the suction gripper connected to the suction side of the Venturi nozzle. To blow off the suction gripper, the first 2/2-way valve is opened and the second 2/2-way valve is closed and compressed air flows through the open first 2/2-way valve to the suction gripper. Due to the structure described, the known handling device has a relatively large structural dimension. See also US4432701 , to the state of the art.

Die Aufgabe der vorliegenden Erfindung besteht darin, eine kompakte Vorrichtung zur Steuerung des Funktionszustandes eines Sauggreifers einer Werkstück-Handlingvorrichtung sowie eine entsprechend kompakte Werkstück-Handlingvorrichtung bereitzustellen.The object of the present invention is to provide a compact device for controlling the functional state of a suction gripper of a workpiece handling device and to provide a correspondingly compact workpiece handling device.

Erfindungsgemäß gelöst wird diese Aufgabe durch die Vorrichtung zur Steuerung des Funktionszustandes eines Sauggreifers gemäß dem unabhängigen Patentanspruch 1 und durch die Werkstück-Handlingvorrichtung gemäß dem unabhängigen Patentanspruch 10.According to the invention, this object is achieved by the device for controlling the functional state of a suction gripper according to independent patent claim 1 and by the workpiece handling device according to independent patent claim 10.

Im Falle der Erfindung wird zur wahlweisen Erzeugung eines Abblasdrucks oder eines Vakuums an einem Sauggreifer ein einzelnes Wegeventil genutzt. Das Wegeventil ist zwischen der Saugseite eines Ejektors und einem Druckerzeuger zum Abblasen an dem Sauggreifer einerseits und einem werkstückseitig offenen Druckraum des Sauggreifers andererseits vorgesehen und umfasst einen Ventilzylinder und einen in dem Ventilzylinder geführten Ventilkolben. An dem Ventilzylinder münden zu dem Ventilkolben hin eine Saugleitung und eine Abblasleitung. Der Druckraum des Sauggreifers kann über die Saugleitung mit der Saugseite des Ejektors und über die Abblasleitung mit dem Druckerzeuger zum Abblasen an dem Sauggreifer verbunden werden. Der Ventilkolben des erfindungsgemäßen Wegeventils ist mit einem Saugleitungsabschnitt der zwischen der Saugseite des Ejektors und dem Druckraum des Sauggreifers vorgesehenen Saugleitung sowie mit einem Abblasleitungsabschnitt der zwischen dem Druckerzeuger zum Abblasen an dem Sauggreifer und dem Druckraum des Sauggreifers vorgesehenen Abblasleitung versehen. Der Saugleitungsabschnitt an dem Ventilkolben weist eine ejektorseitige Mündung und eine sauggreiferseitige Mündung auf. Der Abblasleitungsabschnitt an dem Ventilkolben besitzt eine druckerzeugerseitige Mündung und eine sauggreiferseitige Mündung. Aufgrund einer mittels einer Schaltvorrichtung erzeugten und von dem Ventilkolben und dem Ventilzylinder relativ zueinander ausgeführten Schaltbewegung gelangt der Ventilkolben gegenüber dem Ventilzylinder in eine Ansaugstellung oder in eine Abblasstellung.In the case of the invention, a single directional control valve is used to optionally generate a blow-off pressure or a vacuum on a suction gripper. The directional control valve is provided between the suction side of an ejector and a pressure generator for blowing off the suction gripper on the one hand and a pressure chamber of the suction gripper open on the workpiece side on the other hand and comprises a valve cylinder and a valve piston guided in the valve cylinder. At the valve cylinder, a suction line and a blow-off line open towards the valve piston. The pressure chamber of the suction gripper can be connected to the suction side of the ejector via the suction line and to the pressure generator for blowing off the suction gripper via the blow-off line. The valve piston of the directional control valve according to the invention is provided with a suction line section of the suction line provided between the suction side of the ejector and the pressure chamber of the suction gripper and with a blow-off line section of the blow-off line provided between the pressure generator for blowing off the suction gripper and the pressure chamber of the suction gripper. The suction line section on the valve piston has an opening on the ejector side and an opening on the suction gripper side. The blow-off line section on the valve piston has an opening on the pressure generator side and an opening on the suction gripper side. Due to a switching movement generated by a switching device and executed by the valve piston and the valve cylinder relative to one another, the valve piston moves into a suction position or a blow-off position with respect to the valve cylinder.

Bei Ansaugstellung des Ventilkolbens und bei an der Saugseite des Ejektors anliegendem Vakuum stellt das erfindungsgemäße Wegeventil eine Strömungsverbindung zwischen der ejektorseitigen Mündung des Saugleitungsabschnitts an dem Ventilkolben und der kolbenseitigen Mündung der Saugleitung an dem Ventilzylinder her. Außerdem besteht eine Strömungsverbindung zwischen der sauggreiferseitigen Mündung des Saugleitungsabschnitts an dem Ventilkoben und dem Druckraum des Sauggreifers. Dadurch ist bei Ansaugstellung des Ventilkolbens die Saugseite des Ejektors mit dem Druckraum des Sauggreifers strömungsverbunden. Durch Herstellen dieser Verbindung wird die Saugseite des Ejektors auf den Sauggreifer aufgeschaltet und das von dem Ejektor erzeugte Vakuum an den Druckraum des Sauggreifers angelegt. Der Sauggreifer ist folglich in der Lage, ein Werkstück zu fixieren. Gleichzeitig unterbricht das erfindungsgemäße Wegeventil bei Ansaugstellung des Ventilkolbens eine Strömungsverbindung zwischen der druckerzeugerseitigen Mündung des Abblasleitungsabschnitts an dem Ventilkolben und der kolbenseitigen Mündung der Abblasleitung an dem Ventilzylinder. Infolgedessen ist der zum Abblasen an dem Sauggreifer vorgesehene Druckerzeuger von dem Druckraum des Sauggreifers getrennt.When the valve piston is in the suction position and when there is a vacuum on the suction side of the ejector, the directional control valve according to the invention establishes a flow connection between the mouth of the suction line section on the ejector side the valve piston and the piston-side opening of the suction line on the valve cylinder. In addition, there is a flow connection between the mouth of the suction line section on the suction gripper side on the valve piston and the pressure chamber of the suction gripper. As a result, when the valve piston is in the suction position, the suction side of the ejector is in flow connection with the pressure chamber of the suction gripper. By establishing this connection, the suction side of the ejector is connected to the suction gripper and the vacuum generated by the ejector is applied to the pressure chamber of the suction gripper. The suction gripper is consequently able to fix a workpiece. At the same time, when the valve piston is in the suction position, the directional control valve according to the invention interrupts a flow connection between the pressure generator-side opening of the blow-off line section on the valve piston and the piston-side opening of the blow-off line on the valve cylinder. As a result, the pressure generator provided on the suction gripper for blowing off is separated from the pressure chamber of the suction gripper.

Bei Abblasstellung des Ventilkolbens ist hingegen die Strömungsverbindung zwischen der druckerzeugerseitigen Mündung des Abblasleitungsabschnitts an dem Ventilkolben und der kolbenseitigen Mündung der Abblasleitung an dem Ventilzylinder hergestellt und gleichzeitig die Strömungsverbindung zwischen der ejektorseitigen Mündung des Saugleitungsabschnitts an dem Ventilkolben und der kolbenseitigen Mündung der Saugleitung an dem Ventilzylinder unterbrochen. Zwischen der sauggreiferseitigen Mündung des Abblasleitungsabschnitts an dem Ventilkolben und dem Druckraum des Sauggreifers besteht eine Strömungsverbindung. Infolgedessen kann bei Abblasstellung des Ventilkolbens an den Druckraum des Sauggreifers ein Abblasdruck angelegt werden.When the valve piston is in the blow-off position, however, the flow connection between the pressure generator-side opening of the blow-off line section on the valve piston and the piston-side opening of the blow-off line on the valve cylinder is established and at the same time the flow connection between the ejector-side opening of the suction line section on the valve piston and the piston-side opening of the suction line on the valve cylinder is interrupted . A flow connection exists between the mouth of the blow-off line section on the valve piston and the pressure chamber of the suction gripper. As a result, a blow-off pressure can be applied to the pressure chamber of the suction gripper when the valve piston is blown off.

In das erfindungsgemäße Wegeventil ist dementsprechend eine Mehrzahl von Funktionen integriert. Dadurch bedingt wird eine kompakte Bauweise der erfindungsgemäßen Vorrichtung zur Steuerung des Funktionszustandes eines Sauggreifers und dadurch wiederum eine kompakte Bauweise der mit einer derartigen Vorrichtung versehenen erfindungsgemäßen Werkstück-Handlingvorrichtung.A plurality of functions is accordingly integrated into the directional control valve according to the invention. This results in a compact design of the device according to the invention for controlling the functional state of a suction gripper and thereby in turn a compact design of the workpiece handling device according to the invention provided with such a device.

Der Sauggreifer und auch der Ejektor der erfindungsgemäßen Vorrichtungen können herkömmlicher Bauart sein. Als Treibmedium für den Ejektor und auch als Druckmedium zum Abblasen an dem Sauggreifer wird Druckluft bevorzugt. Dementsprechend kommen als Druckerzeuger für den Ejektor und als Druckerzeuger zum Abblasen an dem Sauggreifer vorzugsweise herkömmliche Kompressoren zum Einsatz. Die Schaltvorrichtung zum Überführen des Ventilkolbens des erfindungsgemäßen Wegeventils in die Ansaugstellung oder in die Abblasstellung kann beispielsweise einen elektrischen Schaltmagneten umfassen, mittels dessen die Schaltbewegungen des Ventilkolbens vorzugsweise gegen die Wirkung einer Rückstellkraft ausgeführt werden. Außerdem denkbar ist eine Schaltvorrichtung mit einem Vorsteuerventil zur Steuerung des als Schaltdruck genutzten Drucks in einem an wenigstens einer Stirnseite des Ventilkolbens im Innern des Ventilzylinders ausgebildeten Zylinderraum.The suction gripper and also the ejector of the devices according to the invention can be of conventional design. As a driving medium for the ejector and also Compressed air is preferred as the pressure medium for blowing off the suction gripper. Accordingly, conventional compressors are preferably used as pressure generators for the ejector and as pressure generators for blowing off the suction gripper. The switching device for moving the valve piston of the directional control valve according to the invention into the suction position or into the blow-off position can for example comprise an electrical switching magnet, by means of which the switching movements of the valve piston are preferably carried out against the action of a restoring force. A switching device with a pilot valve for controlling the pressure used as switching pressure in a cylinder space formed on at least one end face of the valve piston in the interior of the valve cylinder is also conceivable.

Besondere Ausführungsarten der erfindungsgemäßen Vorrichtungen nach den unabhängigen Patentansprüchen 1 und 10 ergeben sich aus den abhängigen Patentansprüchen 2 bis 9 und 11 bis 13.Special embodiments of the devices according to the invention according to the independent claims 1 and 10 result from the dependent claims 2 to 9 and 11 to 13.

Im Interesse eines konstruktiv einfachen und kompakten Aufbaus des Ventilkolbens des erfindungsgemäßen Wegeventils und somit auch der mit dem Wegeventil versehenen Gesamtanordnungen ist im Falle der Erfindungsbauart gemäß Patentanspruch 2 vorgesehen, dass der Saugleitungsabschnitt und der Abblasleitungsabschnitt an dem Ventilkolben einen gemeinsamen Teilabschnitt aufweisen und dass die sauggreiferseitige Mündung des Saugleitungsabschnitts und die sauggreiferseitige Mündung des Abblasleitungsabschnitts an dem Ventilkolben vorzugsweise von einer gemeinsamen sauggreiferseitigen Leitungsabschnittsmündung gebildet sind. Eine gemeinsame Teillänge der Leitungsabschnitte an dem Ventilkolben kann demnach sowohl zum Anlegen eines Vakuums als auch zum Anlegen eines Abblasdrucks an den Sauggreifer genutzt werden.In the interest of a structurally simple and compact structure of the valve piston of the directional valve according to the invention and thus also of the overall arrangements provided with the directional valve, in the case of the inventive design according to claim 2 it is provided that the suction line section and the blow-off line section on the valve piston have a common section and that the suction gripper-side mouth of the suction line section and the mouth of the blow-off line section on the suction gripper side on the valve piston are preferably formed by a common line section mouth on the suction gripper side. A common partial length of the line sections on the valve piston can accordingly be used both to apply a vacuum and to apply a blow-off pressure to the suction gripper.

Ausweislich Patentanspruch 3 wird in Weiterbildung der Erfindung das erfindungsgemäße Wegeventil zusätzlich zu den vorgenannten Funktionen auch dazu genutzt, ein bei Saugbetrieb des Ejektors anfallendes Abströmungsmedium von dem Ejektorauslass abzuführen. Befindet sich der Ventilkolben des erfindungsgemäßen Wegeventils in der Ansaugstellung, so strömen das Treibmedium, welches dem Ejektor zur Vakuumerzeugung zugeführt wird und ein Ansaugmedium, welches an der Saugseite des Ejektors aufgrund des dort anliegenden Vakuums durch die zu dem Sauggreifer führende Saugleitung angesaugt wird, gemeinsam als Abströmungsmedium von dem Ejektorauslass des Ejektors durch den Ventilzylinder des Wegeventils hindurch ab.As evidenced by patent claim 3, in a further development of the invention, the directional control valve according to the invention is also used, in addition to the aforementioned functions, to discharge an outflow medium from the ejector outlet during suction operation of the ejector. If the valve piston of the directional control valve according to the invention is in the suction position, the propellant, which is fed to the ejector for vacuum generation and a suction medium, which is sucked in on the suction side of the ejector due to the vacuum applied there through the suction line leading to the suction gripper, together as an outflow medium from the ejector outlet of the ejector through the valve cylinder of the directional control valve.

Ist im Falle der Erfindungsbauart gemäß Patentanspruch 3 zusätzlich der durch den Ventilzylinder des erfindungsgemäßen Wegeventils führende Strömungsweg des Abströmungsmediums bei Abblasstellung des Ventilkolbens durch diesen gesperrt, so kann ein Druckmedium, welches bei Abblasstellung des Ventilkolbens in die zu dem Ejektor führende Treibmediumzuleitung aufgegeben wird, nicht von dem Ejektor abströmen. Druckmittel, das bei Abblasstellung des Ventilkolbens in die zu dem Ejektor führende Treibmediumzuleitung aufgegeben wird, kann folglich abgezweigt und als Druckmittel zum Abblasen an dem Sauggreifer verwendet werden. Zu diesem Zweck ist die kolbenseitige Mündung der Abblasleitung ebenso wie die kolbenseitige Mündung der Saugleitung an eine gemeinsame Druckmittelleitung angeschlossen, die ihrerseits sowohl von der Abblasleitung als auch von der Treibmediumzuleitung umfasst wird (Patentanspruch 4).If, in the case of the inventive design according to claim 3, the flow path of the outflow medium leading through the valve cylinder of the directional valve according to the invention is additionally blocked by the valve piston when the valve piston is blown off, a pressure medium which is fed into the propellant medium supply line leading to the ejector when the valve piston is blown off cannot be released from the ejector. Pressure medium, which is applied to the propellant medium supply line leading to the ejector when the valve piston is blown off, can consequently be branched off and used as pressure medium for blowing off on the suction gripper. For this purpose, the piston-side opening of the blow-off line and the piston-side opening of the suction line are connected to a common pressure medium line, which in turn is encompassed by both the blow-off line and the propellant supply line (claim 4).

Dabei ist in bevorzugter Ausgestaltung der Erfindung eine Bypassleitung vorgesehen, die sich unter Ausbildung eines Teils der Abblasleitung an die gemeinsame Druckmittelleitung stromaufwärts des Ejektoreinlasses anschließt und an dem Ventilzylinder eine als kolbenseitige Mündung der Abblasleitung vorgesehene Bypassleitungsmündung aufweist (Patentanspruch 5).In a preferred embodiment of the invention, a bypass line is provided which, while forming part of the blow-off line, connects to the common pressure medium line upstream of the ejector inlet and has a bypass line opening on the valve cylinder provided as the opening of the blow-off line on the piston side (claim 5).

Insbesondere aber nicht ausschließlich bei Verwendung einer gemeinsamen Druckmittelleitung zur Versorgung des Sauggreifers mit einem Druckmedium zum Abblasen und zur Versorgung des Ejektors mit einem Treibmedium ist gemäß Patentanspruch 6 in weiterer bevorzugter Ausgestaltung der Erfindung ein gemeinsamer Druckerzeuger vorgesehen, der sowohl den Druckerzeuger für den Ejektor als auch den Druckerzeuger zum Abblasen an dem Sauggreifer ausbildet.In particular, but not exclusively when using a common pressure medium line to supply the suction gripper with a pressure medium for blowing off and to supply the ejector with a propellant medium, a common pressure generator is provided in a further preferred embodiment of the invention, which both the pressure generator for the ejector and trains the pressure generator to blow off the suction gripper.

Im Falle der Erfindungsbauart gemäß Patentanspruch 7 kann der Sauggreifer bei eingeschaltetem Druckerzeuger zum Abblasen an dem Sauggreifer und/oder bei eingeschaltetem Druckerzeuger für den Ejektor wahlweise in einen Funktionszustand überführt oder funktionslos sein.In the case of the inventive design according to claim 7, the suction gripper can be used to blow off the suction gripper and / or when the pressure generator is switched on switched on pressure generator for the ejector can either be transferred to a functional state or functionless.

Funktionslos ist der Sauggreifer, wenn der eingeschaltete Druckerzeuger für den Ejektor bei in der Abblasstellung befindlichem Ventilkolben auf die Treibmediumzuleitung des Ejektors aufgeschaltet ist. Ist der Druckerzeuger gleichzeitig der Druckerzeuger für den Ejektor einer weiteren Vorrichtung zur Steuerung des Funktionszustandes eines weiteren Sauggreifers und ist der eingeschaltete Druckerzeuger auch auf die Treibmediumzuleitung des dem weiteren Sauggreifer zugeordneten Ejektors aufgeschaltet, so kann der von dem eingeschalteten Druckerzeuger generierte Druck bei Ansaugstellung des dem weiteren Ejektor nachgeschalteten Ventilkolbens genutzt werden, um an der Saugseite des weiteren Ejektors und somit auch an den Druckraum des dem weiteren Ejektor zugeordneten weiteren Sauggreifers ein Vakuum anzulegen. Mit der Funktionslosigkeit des einen Sauggreifers ist dann die Funktionsfähigkeit des weiteren Sauggreifers verbunden, in diesem Fall die Fähigkeit des weiteren Sauggreifers, ein Werkstück zu fixieren.The suction gripper is inoperative if the activated pressure generator for the ejector is connected to the propellant supply line of the ejector with the valve piston in the blow-off position. If the pressure generator is at the same time the pressure generator for the ejector of a further device for controlling the functional state of a further suction gripper and the activated pressure generator is also connected to the propellant supply line of the ejector assigned to the further suction gripper, the pressure generated by the activated pressure generator can also be used in the suction position Valve piston downstream of the ejector can be used to apply a vacuum to the suction side of the further ejector and thus also to the pressure chamber of the further suction gripper assigned to the further ejector. The functionality of the further suction gripper is then connected to the inoperability of one suction gripper, in this case the ability of the further suction gripper to fix a workpiece.

Funktionslos ist der Sauggreifer außerdem, wenn der zum Abblasen an dem Sauggreifer vorgesehene Druckerzeuger auf die Abblasleitung aufgeschaltet ist und sich der Ventilkolben des erfindungsgemäßen Wegeventils in der Ansaugstellung befindet. Ist der Druckerzeuger in diesem Fall gleichzeitig der Druckerzeuger zum Abblasen an einem weiteren Sauggreifer und befindet sich der Ventilkolben der Vorrichtung zur Steuerung des Funktionszustandes des weiteren Saugreifers in der Abblasstellung, so kann mittels des eingeschalteten Druckerzeugers zeitgleich mit der Funktionslosigkeit des einen Sauggreifers an dem weiteren Sauggreifer abgeblasen werden.The suction gripper also has no function if the pressure generator provided for blowing off on the suction gripper is connected to the blow-off line and the valve piston of the directional control valve according to the invention is in the suction position. If the pressure generator in this case is also the pressure generator for blowing off on a further suction gripper and the valve piston of the device for controlling the functional state of the further suction gripper is in the blow-off position, the switched-on pressure generator can be used to simultaneously with the inoperability of one suction gripper on the other suction gripper be blown off.

Die Bauart der erfindungsgemäßen Steuervorrichtung gemäß Patentanspruch 7 eignet sich aufgrund ihrer Funktionalität insbesondere zur Verwendung im Falle einer Werkstück-Handlingvorrichtung gemäß Patentanspruch 11, die insbesondere als Saugerrahmen mit mehreren Sauggreifern ausgebildet sein kann.The design of the control device according to the invention according to claim 7 is suitable due to its functionality in particular for use in the case of a workpiece handling device according to claim 11, which can be designed in particular as a suction frame with several suction grippers.

Eine der Erfindungsbauart gemäß Patentanspruch 7 entsprechende Funktionalität besitzt die erfindungsgemäße Vorrichtung gemäß Patentanspruch 8. Im Falle dieser Erfindungsbauart kann ein Sauggreifer funktionslos geschaltet werden, indem der Ventilkolben des dem Sauggreifer zugeordneten Wegeventils mittels der Schaltvorrichtung in die als dritte Schaltstellung vorgesehene Sperrstellung bewegt wird. Ungeachtet der damit bestehenden Funktionslosigkeit des Sauggreifers kann an einem weiteren Sauggreifer durch eine weitere erfindungsgemäße Vorrichtung unter Nutzung eines den Vorrichtungen gemeinsamen Druckerzeugers ein Vakuum erzeugt oder abgeblasen werden. Aufgrund der für den Ventilkolben des Wegeventils wählbaren Sperrstellung ist im Falle der Erfindungsbauart gemäß Patentanspruch 8 eine Trennung der Abblasleitung und der Treibmediumzuleitung, wie sie ausweislich Patentanspruch 7 realisiert ist, nicht erforderlich.The device according to the invention according to claim 8 has a functionality corresponding to the inventive design according to claim 7. In the case of this inventive design, a suction gripper can be deactivated by moving the valve piston of the directional control valve assigned to the suction gripper into the locking position provided as the third switching position by means of the switching device. Regardless of the resulting non-functioning of the suction gripper, a vacuum can be generated or blown off on a further suction gripper by a further device according to the invention using a pressure generator common to the devices. Due to the selectable locking position for the valve piston of the directional control valve, in the case of the inventive design according to claim 8, a separation of the blow-off line and the propellant supply line, as evidenced by claim 7, is not necessary.

In bevorzugter Ausgestaltung der Erfindungsbauart gemäß Patentanspruch 8 ist die Ansaugstellung des Ventilkolbens als mittlere Schaltstellung bei den Schaltbewegungen des Ventilkolbens vorgesehen und der Elektor der anspruchsgemäßen Vorrichtung folglich als NO ("Normally-Open")-Ejektor realisiert. Aus der Ansaugstellung wird der Ventilkolben mittels der Schaltvorrichtung nach der einen Seite in die Abblasstellung und nach der anderen Seite in die Sperrstellung bewegt. Die einander entgegen gerichteten Schaltbewegungen des Ventilkolbens können bei entsprechender Beschaffenheit des Ventilkolbens beispielsweise durch Umpolen eines einzelnen elektrischen Schaltmagneten oder mit Hilfe zweier elektrischer Schaltmagnete erzeugt werden, von denen jeder die Schaltbewegungen des Ventilkolbens in einer der einander entgegen gesetzten Bewegungsrichtungen bewirkt. Die Schaltbewegungen in einer oder in beiden Bewegungsrichtungen können gegen die Wirkung einer Rückstellkraft, insbesondere gegen die Wirkung einer Rückstellfeder, ausgeführt werden, wobei der Betrag der wirksamen Rückstellkräfte in Abhängigkeit von der Richtung der ausgeführten Schaltbewegungen variieren aber auch richtungsunabhängig sein kann.In a preferred embodiment of the inventive design according to claim 8, the suction position of the valve piston is provided as the middle switching position during the switching movements of the valve piston and the elector of the device according to the claim is consequently implemented as a NO ("normally open") ejector. From the suction position, the valve piston is moved by means of the switching device to one side into the blow-off position and to the other side into the blocking position. The oppositely directed switching movements of the valve piston can be generated, depending on the nature of the valve piston, for example by reversing the polarity of a single electrical switching magnet or with the aid of two electrical switching magnets, each of which causes the switching movements of the valve piston in one of the opposite directions of movement. The switching movements in one or both directions of movement can be executed against the action of a restoring force, in particular against the effect of a restoring spring, the amount of the effective restoring forces varying depending on the direction of the switching movements carried out, but also being independent of direction.

Durch eine besonders kompakte Bauweise zeichnen sich die erfindungsgemäße Vorrichtung gemäß Patentanspruch 9 und die erfindungsgemäßen Werkstück-Handlingvorrichtungen gemäß Patentanspruch 12 und gemäß Patentanspruch 13 aus.The device according to the invention according to patent claim 9 and the workpiece handling devices according to the invention are characterized by a particularly compact design according to claim 12 and according to claim 13.

Nachfolgend wird die Erfindung anhand beispielhafter schematischer Darstellungen näher erläutert. Es zeigen:

Figuren 1a, 1b
eine Vorrichtung erster Bauart mit einem schaltbaren Wegeventil zur Steuerung des Funktionszustandes eines Sauggreifers einer Werkstückhandlingvorrichtung in zwei verschiedenen Schaltzuständen,
Figur 1c
ein schematisches Schaltbild des Wegeventils der Vorrichtung gemäß den Figuren 1a, 1b,
Figuren 2a, 2b, 2c
eine Vorrichtung zweiter Bauart mit einem schaltbaren Wegeventil zur Steuerung des Funktionszustandes eines Sauggreifers einer Werkstückhandlingvorrichtung in drei verschiedenen Schaltzuständen,
Figur 2d
ein schematisches Schaltbild des Wegeventils der Vorrichtung gemäß den Figuren 2a, 2b, 2c,
Figuren 3a, 3b, 3c
eine Vorrichtung dritter Bauart mit einem schaltbaren Wegeventil zur Steuerung des Funktionszustandes eines Sauggreifers einer Werkstückhandlingvorrichtung in drei verschiedenen Schaltzuständen,
Figur 3d
ein schematisches Schaltbild des Wegeventils der Vorrichtung gemäß den Figuren 3a, 3b, 3c und
Figur 4
eine Werkstück-Handlingvorrichtung mit einer Mehrzahl von Sauggreifern.
The invention is explained in more detail below with the aid of exemplary schematic representations. Show it:
Figures 1a, 1b
a device of the first type with a switchable directional valve for controlling the functional state of a suction gripper of a workpiece handling device in two different switching states,
Figure 1c
a schematic circuit diagram of the directional control valve of the device according to the Figures 1a, 1b ,
Figures 2a, 2b, 2c
a device of the second type with a switchable directional valve for controlling the functional state of a suction gripper of a workpiece handling device in three different switching states,
Figure 2d
a schematic circuit diagram of the directional control valve of the device according to the Figures 2a, 2b , 2c ,
Figures 3a, 3b, 3c
a third type of device with a switchable directional valve for controlling the functional state of a suction gripper of a workpiece handling device in three different switching states,
Figure 3d
a schematic circuit diagram of the directional control valve of the device according to the Figures 3a, 3b , 3c and
Figure 4
a workpiece handling device with a plurality of suction grippers.

Gemäß den Figuren 1a, 1b umfasst eine Vorrichtung 1 zur Steuerung des Funktionszustandes eines nur in Figur 1a dargestellten Sauggreifers 2 ein Vorrichtungsgehäuse 3 sowie einen außerhalb des Vorrichtungsgehäuses 3 angeordneten und gleichfalls nur in Figur 1a gezeigten Druckerzeuger 4. Der Sauggreifer 2 und die Vorrichtung 1 zur Steuerung des Funktionszustandes des Sauggreifers 2 können Teil einer Werkstück-Handlingvorrichtung 300 sein, wie sie in Figur 4 dargestellt ist.According to the Figures 1a, 1b comprises a device 1 for controlling the functional state of an only in Figure 1a illustrated suction gripper 2 a device housing 3 and one arranged outside of the device housing 3 and likewise only in Figure 1a pressure generator 4 shown. The suction gripper 2 and the device 1 for controlling the functional state of the suction gripper 2 can be part of a workpiece handling device 300, as shown in FIG Figure 4 is shown.

Bei dem Druckerzeuger 4 handelt es sich um einen herkömmlichen Kompressor zur Drucklufterzeugung. Und auch der Sauggreifer 2 ist herkömmlicher Bauart. Er weist einen als Elastomerteil ausgebildeten napfartigen Sauger 5 auf, der an einer Werkstückseite 6 offen ist und einen Druckraum 7 begrenzt.The pressure generator 4 is a conventional compressor for generating compressed air. And the suction gripper 2 is also of conventional design. It has a cup-like suction cup 5 designed as an elastomer part, which is open on a workpiece side 6 and delimits a pressure space 7.

Eine Gehäusewand 8 des Vorrichtungsgehäuses 3 umschließt eine zylindrische Bohrung des Vorrichtungsgehäuses 3 und bildet auf diese Weise einen Ventilzylinder 9 aus. Der Ventilzylinder 9 führt einen Ventilkolben 10 bei von diesem ausgeführten Schaltbewegungen in einer durch einen Doppelpfeil 11 veranschaulichten Richtung.A housing wall 8 of the device housing 3 encloses a cylindrical bore in the device housing 3 and in this way forms a valve cylinder 9. The valve cylinder 9 guides a valve piston 10 when it performs switching movements in a direction illustrated by a double arrow 11.

Der Ventilzylinder 9 und der Ventilkolben 10 sind Teile eines als Cartridge-Ventil ausgeführten Wegeventils 12.The valve cylinder 9 and the valve piston 10 are parts of a directional valve 12 designed as a cartridge valve.

Der Ventilkolben 10 besitzt einen abgestuften Außendurchmesser. Mit einem durchmesserreduzierten magnetischen Betätigungsende 13 taucht der Ventilkolben 10 in eine mit elektrischen Anschlusspins 14 versehene Spule 15 ein. Durchmessererweitert sind ein oberer Führungsteil 16, ein mittlerer Führungsteil 17 sowie ein unterer Führungsteil 18 des Ventilkolbens 10. Ein erster durchmesserreduzierter Zwischenteil 19 des Ventilkolbens 10 erstreckt sich zwischen dem oberen Führungsteil 16 und dem mittleren Führungsteil 17. Ein zweiter durchmesserreduzierter Zwischenteil 20 des Ventilkolbens 10 ist zwischen dem mittleren Führungsteil 17 und dem unteren Führungsteil 18 angeordnet. An den Führungsteilen 16, 17, 18 ist der Spalt zwischen dem Ventilkolben 10 und der Wand des Ventilzylinders 9 mittels Dichtringen 21, 22, 23 abgedichtet. Die Spule 15 dichtet das Innere des Ventilzylinders 9 nach oben hin ab.The valve piston 10 has a stepped outer diameter. With a reduced-diameter magnetic actuation end 13, the valve piston 10 plunges into a coil 15 provided with electrical connection pins 14. An upper guide part 16, a middle guide part 17 and a lower guide part 18 of the valve piston 10 are enlarged in diameter. A first diameter-reduced intermediate part 19 of the valve piston 10 extends between the upper guide part 16 and the middle guide part 17. A second diameter-reduced intermediate part 20 of the valve piston 10 is arranged between the middle guide part 17 and the lower guide part 18. On the guide parts 16, 17, 18, the gap between the valve piston 10 and the wall of the valve cylinder 9 is sealed by means of sealing rings 21, 22, 23. The coil 15 seals the interior of the valve cylinder 9 at the top.

Zwischen der Spule 15 und dem oberen Führungsteil 16 des Ventilkolbens 10 ist ein oberer Zylinderraum 24 ausgebildet. Ein mittlerer Zylinderraum 25 ist zwischen dem oberen Führungsteil 16 und dem mittleren Führungsteil 17 des Ventilkolbens 10 angeordnet. Ein unterer Zylinderraum 26 befindet sich zwischen dem mittleren Führungsteil 17 und dem unteren Führungsteil 18 des Ventilkolbens 10. Sowohl der obere Zylinderraum 24 als auch der mittlere Zylinderraum 25 und der untere Zylinderraum 26 sind als Ringräume ausgebildet.An upper cylinder space 24 is formed between the coil 15 and the upper guide part 16 of the valve piston 10. A central cylinder space 25 is arranged between the upper guide part 16 and the central guide part 17 of the valve piston 10. A lower cylinder space 26 is located between the middle guide part 17 and the lower guide part 18 of the valve piston 10. Both the upper cylinder space 24 and the middle cylinder space 25 and the lower cylinder space 26 are designed as annular spaces.

Ein vollzylindrischer auslassseitiger Zylinderraum 27 wird nach oben hin durch die untere Stirnfläche des Ventilkolbens 10 begrenzt und ist an einer Gehäuseöffnung 28 des Vorrichtungsgehäuses 3 mittels einer Verbindungsleitung 29 an den Druckraum 7 im Innern des Saugers 5 des Sauggreifers 2 angeschlossen.A fully cylindrical cylinder chamber 27 on the outlet side is delimited at the top by the lower end face of the valve piston 10 and is connected to a housing opening 28 of the device housing 3 by means of a connecting line 29 to the pressure chamber 7 inside the suction cup 5 of the suction gripper 2.

Der Druckerzeuger 4 wird sowohl zum Anlegen eines Vakuums an den Sauggreifer 2 als auch zum Abblasen an dem Sauggreifer 2 genutzt.The pressure generator 4 is used both to apply a vacuum to the suction gripper 2 and to blow off the suction gripper 2.

Zur Vakuumerzeugung ist ein mit einer Venturidüse versehener herkömmlicher Ejektor 30 vorgesehen, der in dem Vorrichtungsgehäuse 3 untergebracht ist und der einen Ejektoreinlass 31, einen Ejektorauslass 32 und zwischen dem Ejektoreinlass 31 und dem Ejektorauslass 32 eine Saugseite 33 aufweist.A conventional ejector 30 provided with a Venturi nozzle is provided for vacuum generation, which is accommodated in the device housing 3 and which has an ejector inlet 31, an ejector outlet 32 and a suction side 33 between the ejector inlet 31 and the ejector outlet 32.

Über eine in der Gehäusewand 8 des Vorrichtungsgehäuses 3 verlaufende Treibmediumzuleitung 34 ist der Druckerzeuger 4 an den Ejektoreinlass 31 angeschlossen. Eine Ableitung 35 verläuft in der Gehäusewand 8 zwischen dem Ejektorauslass 32 und einer ejektornahen Ableitungsmündung 36 an der Wand des Ventilzylinders 9. Der ejektornahen Ableitungsmündung 36 gegenüberliegend setzt sich die Ableitung 35 ausgehend von einer an der Wand des Ventilzylinders 9 vorgesehenen ejektorfernen Ableitungsmündung 37 fort. Die Ableitung 35 endet an einem Schalldämpfer 38 (Figur 1c).The pressure generator 4 is connected to the ejector inlet 31 via a propellant medium supply line 34 running in the housing wall 8 of the device housing 3. A discharge line 35 runs in the housing wall 8 between the ejector outlet 32 and a discharge opening 36 close to the ejector on the wall of the valve cylinder 9. Opposite the discharge opening 36 close to the ejector, the discharge line 35 continues from a discharge opening 37 remote from the ejector provided on the wall of the valve cylinder 9. The discharge line 35 ends at a silencer 38 ( Figure 1c ).

Mit der Saugseite 33 ist der Ejektor 30 über eine Saugleitung 39 an den Sauggreifer 2 angeschlossen. Ein gehäuseseitiger Saugleitungsabschnitt 40 erstreckt sich von der Saugseite 33 des Ejektors 30 bis zu einer an der Wand des Ventilzylinders 9 vorgesehenen kolbenseitigen Mündung 41 der Saugleitung 39.The suction side 33 of the ejector 30 is connected to the suction gripper 2 via a suction line 39. A housing-side suction line section 40 extends from the suction side 33 of the ejector 30 to a piston-side opening 41 of the suction line 39 provided on the wall of the valve cylinder 9.

Ein kolbenseitiger Saugleitungsabschnitt 42 ist an dem Ventilkolben 10 vorgesehen. Der kolbenseitige Saugleitungsabschnitt 42 weist an dem Ventilkolben 10 eine ejektorseitige Mündung 43 und eine sauggreiferseitige Mündung 44 auf. An der sauggreiferseitigen Mündung 44 mündet der kolbenseitige Saugleitungsabschnitt 42 in den auslassseitigen Zylinderraum 27.A piston-side suction line section 42 is provided on the valve piston 10. The piston-side suction line section 42 has an ejector-side opening 43 and a suction gripper-side opening 44 on the valve piston 10. At the mouth 44 on the suction gripper side, the piston-side suction line section 42 opens into the cylinder space 27 on the outlet side.

Zum Abblasen ist der Druckerzeuger 4 über eine Abblasleitung 45 an den Druckraum 7 des Sauggreifers 2 angeschlossen. Die Abblasleitung 45 verläuft mit einem gehäuseseitigen Abblasleitungsabschnitt 46 in der Gehäusewand 8 des Vorrichtungsgehäuses 3 und weist an der Wand des Ventilzylinders 9 eine kolbenseitige Mündung 47 auf. Eine gemeinsame Teillänge der Treibmediumzuleitung 34 und des gehäuseseitigen Abblasleitungsabschnitts 46 bilden eine gemeinsame Druckmittelleitung 48. An die gemeinsame Druckmittelleitung 48 schließt sich stromaufwärts des Ejektoreinlasses 31 eine Bypassleitung 49 an, die mit einer von der kolbenseitigen Mündung 47 der Abblasleitung 45 gebildeten Bypassleitungsmündung an der Wand des Ventilzylinders 9 mündet.To blow off the pressure generator 4 is connected to the pressure chamber 7 of the suction gripper 2 via a blow-off line 45. The blow-off line 45 runs with a housing-side blow-off line section 46 in the housing wall 8 of the device housing 3 and has an opening 47 on the piston side on the wall of the valve cylinder 9. A common partial length of the propellant medium supply line 34 and the housing-side vent line section 46 form a common pressure medium line 48. Upstream of the ejector inlet 31, a bypass line 49 connects to the common pressure medium line 48, which with a bypass line opening formed by the piston-side mouth 47 of the blow-off line 45 on the wall of the Valve cylinder 9 opens.

Im Innern des Ventilkolbens 10 verläuft ein kolbenseitiger Abblasleitungsabschnitt 50 der Abblasleitung 45. Der kolbenseitige Abblasleitungsabschnitt 50 weist an dem Ventilkolben 10 eine druckerzeugerseitige Mündung 51 sowie eine sauggreiferseitige Mündung 52 auf. An der sauggreiferseitigen Mündung 52 mündet der kolbenseitige Abblasleitungsabschnitt 50 in den auslassseitigen Zylinderraum 27.A piston-side blow-off line section 50 of the blow-off line 45 runs inside the valve piston 10. The piston-side blow-off line section 50 has an opening 51 on the pressure generator side and an opening 52 on the suction gripper side on the valve piston 10. At the mouth 52 on the suction gripper side, the piston-side blow-off line section 50 opens into the outlet-side cylinder space 27.

Der kolbenseitige Saugleitungsabschnitt 42 und der kolbenseitige Abblasleitungsabschnitt 50 weisen einen gemeinsamen Teilabschnitt 53 auf, dessen sauggreiferseitige Leitungsabschnittsmündung sowohl die sauggreiferseitige Mündung 44 des kolbenseitigen Saugleitungsabschnitts 42 als auch die sauggreiferseitige Mündung 52 des kolbenseitigen Abblasleitungsabschnitts 50 ausbildet.The piston-side suction line section 42 and the piston-side blow-off line section 50 have a common subsection 53, the suction gripper-side line section mouth of which forms both the suction gripper-side mouth 44 of the piston-side suction line section 42 and the suction gripper-side mouth 52 of the piston-side blow-off line section 50.

Ein herkömmlicher Druckschalter 54 ist in dem Vorrichtungsgehäuse 3 nahe dem auslassseitigen Zylinderraum 27 angeordnet und mit diesem über eine Druckleitung 55 verbunden. Der Druckschalter 54 und die Druckleitung 55 sind optional und können gegebenenfalls genutzt werden, um den Druckluftverbrauch an dem Ejektor 30 zu begrenzen.A conventional pressure switch 54 is arranged in the device housing 3 near the outlet-side cylinder chamber 27 and connected to it via a pressure line 55. The pressure switch 54 and the pressure line 55 are optional and can optionally be used to limit the compressed air consumption at the ejector 30.

Mittels einer Schaltvorrichtung 56 kann der Ventilkolben 10 relativ zu dem Ventilzylinder 9 mit einer Schaltbewegung in der Richtung 11 bewegt und der Sauggreifer 2 wahlweise in den Funktionszustand "Vakuum ein" oder in den Funktionszustand "Abblasen" geschaltet werden. Die Schaltvorrichtung 56 umfasst zu diesem Zweck zusätzlich zu der Spule 15 und dem in die Spule 15 eintauchenden Betätigungsende 13 des Ventilkolbens 10 eine an dem unteren Ende des Ventilkolbens 10 angeordnete Rückstellfeder 57, die in axialer Richtung einerseits an der unteren Stirnfläche des Ventilkolbens 10 und andererseits an dem Vorrichtungsgehäuse 3 abgestützt ist.By means of a switching device 56, the valve piston 10 can be moved relative to the valve cylinder 9 with a switching movement in the direction 11 and the suction gripper 2 can be switched to either the "vacuum on" or "blow off" functional state. For this purpose, the switching device 56 comprises, in addition to the coil 15 and the actuating end 13 of the valve piston 10 that plunges into the coil 15, a return spring 57 which is arranged at the lower end of the valve piston 10 and which is axially directed on the one hand on the lower end face of the valve piston 10 and on the other is supported on the device housing 3.

In einem dem Funktionszustand "Vakuum ein" des Sauggreifers 2 zugeordneten Schaltzustand befindet sich die dargestellte Anordnung in Figur 1a.In a switching state assigned to the functional state “vacuum on” of the suction gripper 2, the arrangement shown is in FIG Figure 1a .

Die Spule 15 der Schaltvorrichtung 56 ist stromlos, die Rückstellfeder 57 der Schaltvorrichtung 56 ist entspannt. Infolgedessen nimmt der Ventilkolben 10 im Innern des Ventilzylinders 9 in der Richtung 11 der Schaltbewegung eine Ansaugstellung ein. Der Druckerzeuger 4 ist eingeschaltet und erzeugt folglich als Treibmedium für den Ejektor 30 Druckluft, die in die Treibmediumzuleitung 34 aufgegeben wird.The coil 15 of the switching device 56 is de-energized, the return spring 57 of the switching device 56 is relaxed. As a result, the valve piston 10 assumes a suction position in the interior of the valve cylinder 9 in the direction 11 of the switching movement. The pressure generator 4 is switched on and consequently generates compressed air as the motive medium for the ejector 30, which compressed air is fed into the motive medium supply line 34.

Aufgrund der Ansaugstellung des Ventilkolbens 10 besteht stromabwärts des Ejektors 30 über den unteren Zylinderraum 26 eine Strömungsverbindung zwischen der ejektornahen Ableitungsmündung 36 und der ejektorfernen Ableitungsmündung 37 der Ableitung 35. Aufgrund dieser Strömungsverbindung kann die von dem Druckerzeuger 4 bereitgestellte und in die Treibmediumzuleitung 34 aufgegebene Druckluft den Ejektor 30 von dem Ejektoreinlass 31 zu dem Ejektorauslass 32 durchströmen und durch die Ableitung 35 zu dem Schalldämpfer 38 gelangen, an welchem die Druckluft in die Umgebung des Vorrichtungsgehäuses 3 austritt. An der Saugseite 33 des Ejektors 30 und in dem an die Saugseite 33 des Ejektors 30 angeschlossenen gehäuseseitigen Saugleitungsabschnitt 40 erzeugt der den Ejektor 30 durchsetzende Druckluftstrom ein Vakuum.Due to the suction position of the valve piston 10, there is a flow connection downstream of the ejector 30 via the lower cylinder chamber 26 between the discharge opening 36 close to the ejector and the discharge opening 37 of the discharge line 35 remote from the ejector. Due to this flow connection, the compressed air provided by the pressure generator 4 and fed into the propellant supply line 34 can be Flow through the ejector 30 from the ejector inlet 31 to the ejector outlet 32 and pass through the discharge line 35 to the silencer 38 at which the compressed air exits into the surroundings of the device housing 3. On the suction side 33 of the ejector 30 and in the suction line section 40 on the housing side connected to the suction side 33 of the ejector 30, the compressed air flow passing through the ejector 30 generates a vacuum.

Gleichzeitig besteht aufgrund der Ansaugstellung des Ventilkolbens 10 eine Strömungsverbindung zwischen der ejektorseitigen Mündung 43 des Saugleitungsabschnitts 42 an dem Ventilkolben 10 und der kolbenseitigen Mündung 41 der Saugleitung 39 beziehungsweise des gehäuseseitigen Saugleitungsabschnitts 40 an dem Ventilzylinder 9. Außerdem sind die sauggreiferseitige Mündung 44 des kolbenseitigen Saugleitungsabschnitts 42 und der Druckraum 7 des Sauggreifers 2 über den auslassseitigen Zylinderraum 27 und die einen Teil der Saugleitung 39 bildende Verbindungsleitung 29 miteinander strömungsverbunden.At the same time, due to the suction position of the valve piston 10, there is a flow connection between the ejector-side opening 43 of the suction line section 42 on the valve piston 10 and the piston-side opening 41 of the suction line 39 or the housing-side suction line section 40 on the valve cylinder 9. In addition, the suction gripper-side opening 44 of the piston-side suction line section 42 and the pressure chamber 7 of the suction gripper 2 is flow-connected to one another via the outlet-side cylinder chamber 27 and the connecting line 29 forming part of the suction line 39.

Aufgrund der über den Ventilkolben 10 hergestellten Strömungsverbindung liegt das an der Saugseite 33 des Ejektors 30 erzeugte Vakuum an dem Druckraum 7 des Sauggreifers 2 an.Due to the flow connection established via the valve piston 10, the vacuum generated on the suction side 33 of the ejector 30 is applied to the pressure chamber 7 of the suction gripper 2.

Außerdem liegt das erzeugte Vakuum über die in den auslassseitigen Zylinderraum 27 mündende Druckleitung 55 an dem Druckschalter 54 an. Überschreitet der Betrag des Vakuums einen einstellbaren Grenzwert, schaltet der Druckschalter 54 den Ejektor 30 mittels nicht im Einzelnen dargestellter technischer Mittel funktionslos. Sinkt der Betrag des Vakuums anschließend, schaltet der Druckschalter 54 den Ejektor 30 bei Erreichen des Grenzwerts wieder in den Funktionszustand.In addition, the vacuum generated is applied to the pressure switch 54 via the pressure line 55 opening into the cylinder chamber 27 on the outlet side. If the amount of vacuum exceeds an adjustable limit value, the pressure switch 54 switches the ejector 30 off by means of technical means which are not shown in detail. If the amount of vacuum then falls, the pressure switch 54 switches the ejector 30 back to the functional state when the limit value is reached.

Das Vakuum im Innern des Vorrichtungsgehäuses 3 ist in Figur 1a durch Wellenlinien angedeutet.The vacuum inside the device housing 3 is in Figure 1a indicated by wavy lines.

Bei an dem Druckraum 7 des Sauggreifers 2 anliegendem Vakuum ist die Abblasleitung 45 zwischen dem Druckerzeuger 4 und dem Druckraum 7 des Sauggreifers 2 aufgrund der Ansaugstellung des Ventilkolbens 10 unterbrochen.When the vacuum is applied to the pressure chamber 7 of the suction gripper 2, the blow-off line 45 between the pressure generator 4 and the pressure chamber 7 of the suction gripper 2 is interrupted due to the suction position of the valve piston 10.

Der Sauggreifer 2 ist damit in der Lage, ein nicht gezeigtes Werkstück zu fixieren, an welches der Sauggreifer 2 angelegt ist und welches den Druckraum 7 des Saugers 6 verschließt.The suction gripper 2 is thus able to fix a workpiece (not shown) against which the suction gripper 2 is placed and which closes the pressure chamber 7 of the suction cup 6.

Insbesondere zum Lösen eines an dem Sauggreifer 2 gehaltenen Werkstücks wird an dem Sauggreifer 2 abgeblasen. Zu diesem Zweck wird die Spule 15 der Schaltvorrichtung 56 über die Anschlusspins 14 auf eine nicht dargestellte Spannungsquelle aufgeschaltet. Infolgedessen verlagert sich der mit dem Betätigungsende 13 in die Spule 15 eintauchende Ventilkolben 10 ausgehend von den Verhältnissen gemäß Figur 1a in der Richtung 11 aus seiner Ansaugstellung nach unten in eine in Figur 1b dargestellte Abblasstellung. Die Schaltbewegung des Ventilkolbens 10 wird gegen die Wirkung der aufgrund der Schaltbewegung gestauchten Rückstellfeder 57 der Schaltvorrichtung 56 ausgeführt. Der Druckerzeuger 4 ist nach wie vor eingeschaltet.In particular, to release a workpiece held on the suction gripper 2, the suction gripper 2 is blown off. For this purpose, the coil 15 is the Switching device 56 connected via the connection pins 14 to a voltage source, not shown. As a result, the valve piston 10, which plunges into the coil 15 with the actuating end 13, is displaced based on the relationships shown in FIG Figure 1a in the direction 11 from its suction position downwards into an in Figure 1b shown blow-off position. The switching movement of the valve piston 10 is performed against the action of the return spring 57 of the switching device 56 compressed due to the switching movement. The pressure generator 4 is still switched on.

Ausweislich Figur 1b ist bei Abblasstellung des Ventilkolbens 10 sowohl die Ableitung 35 des Ejektors 30 als auch die Saugleitung 39 zwischen dem Ejektor 30 und dem Druckraum 7 des Sauggreifers 2 unterbrochen. Eine über den oberen Zylinderraum 24 hergestellte Strömungsverbindung besteht aufgrund der Abblasstellung des Ventilkolbens 10 zwischen der kolbenseitigen Mündung 47 der Abblasleitung 45 an dem Ventilzylinder 9 und der druckerzeugerseitigen Mündung 51 des Abblasleitungsabschnitts 50 an dem Ventilkolben 10. Eine weitere Strömungsverbindung ist über den auslassseitigen Zylinderraum 27 und die nun als Teil der Abblasleitung 45 fungierende Verbindungsleitung 29 zwischen der sauggreiferseitigen Mündung 52 des kolbenseitigen Abblasleitungsabschnitts 50 und dem Druckraum 7 des Sauggreifers 2 hergestellt.Evidence Figure 1b When the valve piston 10 is blown off, both the discharge line 35 of the ejector 30 and the suction line 39 between the ejector 30 and the pressure chamber 7 of the suction gripper 2 are interrupted. A flow connection established via the upper cylinder chamber 24 exists due to the blow-off position of the valve piston 10 between the piston-side opening 47 of the blow-off line 45 on the valve cylinder 9 and the pressure generator-side opening 51 of the blow-off line section 50 on the valve piston 10. Another flow connection is via the outlet-side cylinder chamber 27 and the connecting line 29, which now functions as part of the blow-off line 45, is established between the mouth 52 on the suction gripper side of the blow-off line section 50 on the piston side and the pressure chamber 7 of the suction gripper 2.

Aufgrund der bestehenden Strömungsverbindung gelangt von dem Druckerzeuger 4 bereitgestellte Druckluft durch die Abblasleitung 45 in den Druckraum 7 des Sauggreifers 2.Due to the existing flow connection, compressed air provided by the pressure generator 4 passes through the blow-off line 45 into the pressure chamber 7 of the suction gripper 2.

Gleichzeitig werden die kolbenseitige Mündung 41 der Saugleitung 39 an dem Ventilzylinder 9 und die ejektornahe Ableitungsmündung 36 der Ableitung 35 an dem Ventilzylinder 9 durch den in die Abblasstellung geschalteten Ventilkolben 10 dicht verschlossen. Die Saugleitung 39 zwischen dem Ejektor 30 und dem Druckraum 7 des Sauggreifers 2 ist unterbrochen.At the same time, the piston-side opening 41 of the suction line 39 on the valve cylinder 9 and the discharge opening 36 near the ejector of the discharge line 35 on the valve cylinder 9 are tightly closed by the valve piston 10 switched into the blow-off position. The suction line 39 between the ejector 30 and the pressure chamber 7 of the suction gripper 2 is interrupted.

Bei eingeschaltetem Druckerzeuger 4 wird folglich an dem Sauggreifer 2 abgeblasen. Mit Druckluft gefüllte Leitungen und Räume im Innern des Vorrichtungsgehäuses 3 sind in den Figuren 1a, 1b punktiert.When the pressure generator 4 is switched on, the suction gripper 2 is blown off. Lines filled with compressed air and spaces in the interior of the device housing 3 are in the Figures 1a, 1b dotted.

Aufgrund der Anzahl der Anschlüsse und der Anzahl der Schaltstellungen handelt es sich bei dem Wegeventil 12 gemäß den Figuren 1a, 1b um ein 5/2-Wegeventil. Schematisch ist dies in Figur 1c dargestellt.Due to the number of connections and the number of switching positions, the directional valve 12 is according to FIGS Figures 1a, 1b a 5/2-way valve. This is schematically in Figure 1c shown.

Zum Umschalten des Wegeventils 12 von dem Schaltzustand gemäß Figur 1b in den Schaltzustand gemäß Figur 1a wird die Spule 15 der Schaltvorrichtung 56 stromlos geschaltet. Ist die Spule 15 von der Spannungsquelle getrennt, bewegt die sich entspannende Rückstellfeder 57 der Schaltvorrichtung 56 den Ventilkolben 10 aus der Abblasstellung gemäß Figur 1b in die Ansaugstellung gemäß Figur 1a. Die Ansaugstellung des Ventilkolbens 10 wird bei stromlosem Zustand der Schaltvorrichtung 56 folglich selbsttätig herbeigeführt. Der Ejektor 30 ist demnach als NO ("Normally-Open")-Ejektor realisiert.To switch the directional control valve 12 from the switching state according to Figure 1b in the switching state according to Figure 1a the coil 15 of the switching device 56 is de-energized. If the coil 15 is disconnected from the voltage source, the relaxing return spring 57 of the switching device 56 moves the valve piston 10 out of the blow-off position Figure 1b into the suction position according to Figure 1a . The suction position of the valve piston 10 is consequently brought about automatically when the switching device 56 is de-energized. The ejector 30 is accordingly implemented as a NO (“normally open”) ejector.

Auch die in den Figuren 2a, 2b, 2c, 2d dargestellte Anordnung kann einen Teil einer Werkstück-Handlingvorrichtung 300 der in Figur 4 gezeigten Art bilden.Even those in the Figures 2a, 2b , 2c, 2d The arrangement shown can be part of a workpiece handling device 300 of the in Figure 4 type shown.

Die Anordnung gemäß den Figuren 2a, 2b, 2c, 2d umfasst eine Vorrichtung 100 zur Steuerung des Funktionszustandes eines Sauggreifers 2 sowie eine Vorrichtung 100 zur Steuerung des Funktionszustandes eines weiteren Sauggreifers 102. Nur die Vorrichtung 100 zur Steuerung des Funktionszustandes des Sauggreifers 2 ist in den Figuren 2a, 2b, 2c im Detail dargestellt, wobei sich die Darstellungen der Figuren 2b, 2c der Einfachheit halber auf die Funktionseinheit zwischen dem Druckerzeuger 4 und der zu dem Sauggreifer 2 führenden Verbindungsleitung 29 beschränken. Die Vorrichtung 100 zur Steuerung des Funktionszustandes des weiteren Sauggreifers 102 ist mit der Vorrichtung 100 zur Steuerung des Funktionszustandes des Sauggreifers 2 baugleich.The arrangement according to the Figures 2a, 2b , 2c, 2d comprises a device 100 for controlling the functional state of a suction gripper 2 and a device 100 for controlling the functional state of a further suction gripper 102. Only the device 100 for controlling the functional state of the suction gripper 2 is in the Figures 2a, 2b , 2c shown in detail, the representations of Figures 2b , 2c For the sake of simplicity, restrict it to the functional unit between the pressure generator 4 and the connecting line 29 leading to the suction gripper 2. The device 100 for controlling the functional state of the further suction gripper 102 is structurally identical to the device 100 for controlling the functional state of the suction gripper 2.

Abweichend von den Verhältnissen im Falle der Vorrichtung 1 gemäß den Figuren 1a, 1b, 1c sind in dem Vorrichtungsgehäuse 3 der Vorrichtung 100 der gehäuseseitige Abblasleitungsabschnitt 46 und die Treibmediumzuleitung 34 des Ejektors 30 voneinander getrennt. Die Vorrichtung 100 weist dementsprechend keine gemeinsame Druckmittelleitung auf, wie sie im Falle der Vorrichtung 1 als gemeinsame Druckmittelleitung 48 vorgesehen ist. Außerdem kann im Falle der Vorrichtung 100 der Druckerzeuger 4 wahlweise auf den gehäuseseitigen Abblasleitungsabschnitt 46 oder die Treibmediumzuleitung 34 aufgeschaltet werden. Zu diesem Zweck ist zwischen dem Druckerzeuger 4 einerseits und dem gehäuseseitigen Abblasleitungsabschnitt 46 und der Treibmediumzuleitung 34 andererseits eine schaltbare Druckluftweiche 58 vorgesehen.Notwithstanding the conditions in the case of the device 1 according to Figures 1a, 1b, 1c For example, in the device housing 3 of the device 100, the housing-side blow-off line section 46 and the propellant medium supply line 34 of the ejector 30 are separated from one another. The device 100 accordingly does not have a common pressure medium line, as is provided in the case of the device 1 as a common pressure medium line 48. Also, in the case of the device 100 the pressure generator 4 can optionally be switched to the housing-side blow-off line section 46 or the propellant supply line 34. For this purpose, a switchable compressed air switch 58 is provided between the pressure generator 4 on the one hand and the housing-side blow-off line section 46 and the propellant supply line 34 on the other hand.

Besteht aufgrund eines entsprechenden Schaltzustandes der Druckluftweiche 58 eine Strömungsverbindung zwischen dem eingeschalteten Druckerzeuger 4 und der Treibmediumzuleitung 34 und befindet sich außerdem der Ventilkolben 10 des Wegeventils 12 der Vorrichtung 100 für den Sauggreifer 2 in der Ansaugstellung (Figur 2a), so liegt an dem Sauggreifer 2, wie vorstehend zu Figur 1a beschrieben, ein Vakuum an.If, due to a corresponding switching state of the compressed air switch 58, there is a flow connection between the switched-on pressure generator 4 and the propellant supply line 34, and if the valve piston 10 of the directional control valve 12 of the device 100 for the suction gripper 2 is in the suction position ( Figure 2a ), it is on the suction pad 2, as above Figure 1a described a vacuum.

Wird die Druckluftweiche 58 in einen Zustand geschaltet, in welchem sie eine Strömungsverbindung zwischen dem eingeschalteten Druckerzeuger 4 und dem gehäuseseitigen Abblasleitungsabschnitt 46 herstellt und ist der Ventilkolben 10 in die Abblasstellung bewegt (Figur 2b) so wird in der vorstehend zu Figur 1b beschriebenen Weise an dem Sauggreifer 2 abgeblasen.If the compressed air switch 58 is switched to a state in which it creates a flow connection between the switched-on pressure generator 4 and the housing-side blow-off line section 46 and the valve piston 10 is moved into the blow-off position ( Figure 2b ) so becomes in the above too Figure 1b blown off the suction cup 2 in the manner described.

Wie in Figur 2d veranschaulicht, handelt es sich auch bei dem Wegeventil 12 der Vorrichtung 100 um ein 5/2-Wegeventil.As in Figure 2d As illustrated, the directional valve 12 of the device 100 is also a 5/2-way valve.

Aufgrund der gegenseitigen Trennung des gehäuseseitigen Abblasleitungsabschnitts 46 und der Treibmediumzuleitung 34 des Ejektors 30 und aufgrund der Möglichkeit, den eingeschalteten Druckerzeuger 4 wahlweise auf den gehäuseseitigen Abblasleitungsabschnitt 46 oder die Treibmediumzuleitung 34 aufzuschalten, kann der Sauggreifer 2 der Vorrichtung 100 bei eingeschaltetem Druckerzeuger 4 funktionslos sein. Zu diesem Zweck wird entweder bei Abblasstellung des Ventilkolbens 10 über die Druckluftweiche 58 eine Strömungsverbindung zwischen dem Druckerzeuger 4 und der Treibmediumzuleitung 34 hergestellt (Figur 2c) oder es wird bei Ansaugstellung des Ventilkolbens 10 die Druckluftweiche 58 in einen Zustand geschaltet, in welchem sie eine Strömungsverbindung zwischen dem eingeschalteten Druckerzeuger 4 und dem gehäuseseitigen Abblasleitungsabschnitt 46 herstellt (nicht dargestellt).Due to the mutual separation of the discharge line section 46 on the housing side and the propellant supply line 34 of the ejector 30 and due to the possibility of connecting the switched-on pressure generator 4 to either the housing-side exhaust line section 46 or the propellant supply line 34, the suction gripper 2 of the device 100 can be inoperative when the pressure generator 4 is switched on. For this purpose, either when the valve piston 10 is blown off, a flow connection is established between the pressure generator 4 and the propellant supply line 34 via the compressed air switch 58 (FIG. 2c) or, when the valve piston 10 is in the suction position, the compressed air switch 58 is switched to a state in which it has a flow connection between the switched-on pressure generator 4 and the housing-side blow-off line section 46 (not shown).

In beiden Fällen stellt der Druckerzeuger 4 Druckluft bereit, die zwar an dem funktionslosen Zustand des Sauggreifers 2 nichts ändert, die aber verwendet werden kann, um an dem weiteren Sauggreifer 102 den Funktionszustand unabhängig von dem Sauggreifer 2 zu steuern.In both cases, the pressure generator 4 provides compressed air which, although it does not change the inoperative state of the suction gripper 2, can be used to control the functional state of the further suction gripper 102 independently of the suction gripper 2.

Der Druckerzeuger 4 wird als gemeinsamer Druckerzeuger der Vorrichtung 100 zur Steuerung des Funktionszustandes des Sauggreifers 2 und der Vorrichtung 100 zur Steuerung des Funktionszustandes des weiteren Sauggreifers 102 genutzt. Zwischen dem Druckerzeuger 4 und dem weiteren Sauggreifer 102 ist eine in Figur 2a gestrichelt angedeutete Funktionseinheit II vorgesehen, welche in dem dargestellten Beispielsfall der in den Figuren 2b, 2c gezeigten und zwischen dem Druckerzeuger 4 und dem Sauggreifer 2 der Vorrichtung 100 für den Sauggreifer 2 angeordneten Funktionseinheit entspricht.The pressure generator 4 is used as a common pressure generator of the device 100 for controlling the functional state of the suction gripper 2 and the device 100 for controlling the functional state of the further suction gripper 102. Between the pressure generator 4 and the further suction gripper 102 is an in Figure 2a Functional unit II indicated by dashed lines is provided, which in the example shown in FIG Figures 2b , 2c and is arranged between the pressure generator 4 and the suction gripper 2 of the device 100 for the suction gripper 2 functional unit.

Als Alternative zu der Funktionseinheit II des dargestellten Beispielsfalls kann zwischen den Druckerzeuger 4 und den weiteren Sauggreifer 102 als Funktionseinheit II eine Funktionseinheit geschaltet sein, wie sie in den Figuren 1a, 1b zwischen dem Druckerzeuger 4 und dem Sauggreifer 2 vorgesehen und in Figur 1b dargestellt ist. Als weitere Alternative kommt als Funktionseinheit II eine Funktionseinheit der in den nachstehend beschriebenen Figuren 3a, 3b, 3c zwischen dem Druckerzeuger 4 und dem Sauggreifer 2 angeordneten und in den Figuren 3b, 3c gezeigten Art in Frage.As an alternative to the functional unit II of the example shown, a functional unit can be connected between the pressure generator 4 and the further suction gripper 102 as functional unit II, as shown in FIG Figures 1a, 1b provided between the pressure generator 4 and the suction gripper 2 and in Figure 1b is shown. As a further alternative, a functional unit of the type described below comes as functional unit II Figures 3a, 3b , 3c arranged between the pressure generator 4 and the suction gripper 2 and shown in Figures 3b, 3c.

In jedem Fall fungiert der Druckerzeuger 4 als Vorrichtungs-Druckerzeuger, der sowohl als gemeinsamer Ejektor-Drucker-zeuger für die den Sauggreifern 2, 102 zugeordneten Ejektoren 30 als auch als gemeinsamer Abblasdruckerzeuger zum Abblasen an den Sauggreifern 2, 102 genutzt wird.In any case, the pressure generator 4 functions as a device pressure generator, which is used both as a common ejector-printer generator for the ejectors 30 assigned to the suction grippers 2, 102 and as a common blow-off pressure generator for blowing off the suction grippers 2, 102.

Befindet sich bei dem in Figur 2c veranschaulichten Schaltzustand der Vorrichtung 100 für den Sauggreifer 2 an der Funktionseinheit II der Ventilkolben 10 in der Ansaugstellung und wird an der Funktionseinheit II der nicht im Einzelnen dargestellte Ejektor 30 von Druckluft durchströmt, welche der eingeschaltete Druckerzeuger 4 als Treibmedium bereitstellt, so liegt bei funktionslosem Zustand des Sauggreifers 2 an dem weiteren Sauggreifer 102 ein Vakuum an. Ist bei funktionslosem Zustand des Sauggreifers 2 an der Funktionseinheit II der Ventilkolben 10 in die Abblasstellung überführt und gleichzeitig der eingeschaltete Druckerzeuger 4 auf die Abblasleitung 45 der Funktionseinheit II geschaltet, so wird bei funktionslosem Sauggreifer 2 an dem weiteren Sauggreifer 102 abgeblasen.Located at the in Figure 2c illustrated switching state of the device 100 for the suction gripper 2 on the functional unit II the valve piston 10 in the suction position and if the ejector 30, not shown in detail, flows through the ejector 30 on the functional unit II, which the switched-on pressure generator 4 provides as a driving medium, then the condition is inoperative of the suction gripper 2 applies a vacuum to the further suction gripper 102. Is When the suction gripper 2 on the functional unit II is inoperative, the valve piston 10 is moved into the blow-off position and the switched-on pressure generator 4 is switched to the blow-off line 45 of the functional unit II at the same time.

Die gleiche Funktionalität wie die Anordnung gemäß den Figuren 2a, 2b, 2c, 2d besitzt eine in den Figuren 3a, 3b, 3c, 3d dargestellte Anordnung, die gleichfalls für eine Werkstück-Handlingvorrichtung 300 der in Figur 4 gezeigten Art in Frage kommt.The same functionality as the arrangement according to the Figures 2a, 2b , 2c, 2d owns one in the Figures 3a, 3b , 3c, 3d The arrangement shown, which is also used for a workpiece handling device 300 of the in Figure 4 shown type comes into question.

Ausweislich der Figuren 3a, 3b, 3c sind eine Vorrichtung 200 zur Steuerung des Funktionszustandes eines Sauggreifers 2 sowie eine Vorrichtung 200 zur Steuerung des Funktionszustandes eines weiteren Sauggreifers 202 vorgesehen. Die Vorrichtung 200 zur Steuerung des Funktionszustandes des Sauggreifers 2 ist in Figur 3a im Detail und in den Figuren 3b, 3c im Umfang der Funktionseinheit zwischen dem Druckerzeuger 4 und der zu dem Sauggreifer 2 führenden Verbindungsleitung 29 dargestellt. In dem dargestellten Beispielsfall sind die Vorrichtung 200 zur Steuerung des Funktionszustandes des Sauggreifers 2 und die Vorrichtung 200 zur Steuerung des Funktionszustandes des weiteren Sauggreifers 202 baugleich.As evidenced by the Figures 3a, 3b , 3c a device 200 for controlling the functional state of a suction gripper 2 and a device 200 for controlling the functional state of a further suction gripper 202 are provided. The device 200 for controlling the functional state of the suction gripper 2 is shown in FIG Figure 3a in detail and in the Figures 3b , 3c shown in the scope of the functional unit between the pressure generator 4 and the connecting line 29 leading to the suction gripper 2. In the example shown, the device 200 for controlling the functional state of the suction gripper 2 and the device 200 for controlling the functional state of the further suction gripper 202 are structurally identical.

Abweichend von den Verhältnissen gemäß den Figuren 2a, 2b, 2c, 2d weist die Vorrichtung 200 für den Sauggreifer 2 in dem Vorrichtungsgehäuse 3 eine gemeinsame Druckmittelleitung 48 auf, die wie im Falle der Vorrichtung 1 gemäß den Figuren 1a, 1b, 1c sowohl einen Teil der Treibmediumzuleitung 34 des Ejektors 30 als auch einen Teil des gehäuseseitigen Abblasleitungsabschnitts 46 der Abblasleitung 45 ausbildet.Notwithstanding the conditions according to Figures 2a, 2b , 2c, 2d if the device 200 for the suction gripper 2 in the device housing 3 has a common pressure medium line 48 which, as in the case of the device 1 according to FIGS Figures 1a, 1b, 1c forms both a part of the propellant supply line 34 of the ejector 30 and a part of the housing-side blow-off line section 46 of the blow-off line 45.

Damit der Sauggreifer 2 ungeachtet des Vorhandenseins der gemeinsamen Druckmittelleitung 48 bei eingeschaltetem Druckerzeuger 4 in einen funktionslosen Zustand überführt sein kann, ist für den Ventilkolben 10 des Wegeventils 12 der Vorrichtung 200 zusätzlich zu der Ansaugstellung (Figur 3a) und der Abblasstellung (Figur 3b) eine Sperrstellung vorgesehen, wie sie in Figur 3c dargestellt ist.So that the suction gripper 2 can be converted into a non-functioning state regardless of the presence of the common pressure medium line 48 when the pressure generator 4 is switched on, the valve piston 10 of the directional control valve 12 of the device 200 in addition to the suction position ( Figure 3a ) and the blow-off position ( Figure 3b ) a locking position is provided, as shown in Figure 3c is shown.

Bei Sperrstellung des Ventilkolbens 10 ist sowohl die Strömungsverbindung zwischen der ejektorseitigen Mündung 43 des Saugleitungsabschnitts 42 an dem Ventilkolben 10 und der kolbenseitigen Mündung 41 der Saugleitung 39 an dem Ventilzylinder 9 als auch die Strömungsverbindung zwischen der druckerzeugerseitigen Mündung 51 des Abblasleitungsabschnitts 50 an dem Ventilkolben 10 und der kolbenseitigen Mündung 47 der Abblasleitung 45 an dem Ventilzylinder 9 unterbrochen.When the valve piston 10 is in the blocked position, both the flow connection between the ejector-side opening 43 of the suction line section 42 on the valve piston 10 and the piston-side opening 41 of the suction line 39 on the valve cylinder 9 and the flow connection between the pressure generator-side opening 51 of the blow-off line section 50 on the valve piston 10 and the piston-side mouth 47 of the blow-off line 45 on the valve cylinder 9 is interrupted.

In dem dargestellten Beispielsfall ist die Ansaugstellung des Ventilkolbens 10 als Mittelstellung vorgesehen, aus welcher der Ventilkolben 10 zur Überführung in die Abblasstellung nach unten und zur Überführung in die Sperrstellung nach oben ausgelenkt wird. Eine Schaltvorrichtung 56 der Vorrichtung 200 umfasst zusätzlich zu der Spule 15 und dem in der Spule 15 eintauchenden Betätigungsende 13 des Ventilkolbens 10 eine obere Rückstellfeder 257 sowie eine untere Rückstellfeder 258. Zur Bewegung des Ventilkolbens 10 in einander entgegengesetzte Richtungen wird die Spule 15 der Schaltvorrichtung 56 umgepolt. Bei stromloser Spule 15 positionieren die obere Rückstellfeder 257 und die untere Rückstellfeder 258 den Ventilkolben 10 selbsttätig in der als Ansaugstellung vorgesehenen Mittelstellung. Auch bei dem Ejektor 30 der Vorrichtung 200 für den Sauggreifer 2 handelt es sich demnach um einen NO-Ejektor.In the example shown, the suction position of the valve piston 10 is provided as the middle position, from which the valve piston 10 is deflected downwards for transfer to the blow-off position and upwards for transfer to the blocking position. A switching device 56 of the device 200 comprises, in addition to the coil 15 and the actuating end 13 of the valve piston 10 that is immersed in the coil 15, an upper return spring 257 and a lower return spring 258. The coil 15 of the switching device 56 is used to move the valve piston 10 in opposite directions reversed. When the coil 15 is de-energized, the upper return spring 257 and the lower return spring 258 automatically position the valve piston 10 in the central position provided as the suction position. The ejector 30 of the device 200 for the suction gripper 2 is accordingly an NO ejector.

Figur 3d veranschaulicht schematisch die Ausbildung des Wegeventils 12 der Vorrichtung 200 als 5/3-Wegeventil. Figure 3d schematically illustrates the design of the directional valve 12 of the device 200 as a 5/3-way valve.

Bei Sperrstellung des Ventilkolbens 10 der Vorrichtung 200 für den Sauggreifer 2 und bei damit verbundener Funktionslosigkeit des Saugreifers 2 kann in der vorstehend zu den Figuren 2a, 2b, 2c, 2d beschriebenen Weise mittels einer zwischen der Druckquelle 4 und dem weiteren Sauggreifer 202 vorgesehenen Funktionseinheit II der Vorrichtung 200 für den weiteren Sauggreifer 202 an dem weiteren Sauggreifer 202 ein Vakuum angelegt oder abgeblasen werden.In the blocked position of the valve piston 10 of the device 200 for the suction gripper 2 and the associated malfunction of the suction gripper 2, the above to the Figures 2a, 2b , 2c, 2d described manner by means of a provided between the pressure source 4 and the further suction gripper 202 functional unit II of the device 200 for the further suction gripper 202 on the further suction gripper 202 a vacuum can be applied or blown off.

Abweichend von dem dargestellten Beispielsfall kann zwischen dem Druckerzeuger 4 und dem weiteren Sauggreifer 202 als Funktionseinheit II eine Funktionseinheit vorgesehen sein, wie sie in 1b gezeigt ist oder eine Funktionseinheit der in den Figuren 2b, 2c dargestellten Art. Auch im Falle der Anordnung gemäß den Figuren 3a, 3b, 3c, 3d fungiert der Druckerzeuger 4 als Vorrichtungs-Druckerzeuger und somit als gemeinsamer Ejektor-Druckerzeuger für die den Sauggreifern 2, 202 zugeordneten Ejektoren 30 und als gemeinsamer Abblasdruckerzeuger zum Abblasen an den Sauggreifern 2, 202.In a departure from the illustrated example, a functional unit can be provided between the pressure generator 4 and the further suction gripper 202 as functional unit II, as shown in FIG. 1b or a functional unit of the FIG Figures 2b , 2c Art. Also in the case of the arrangement according to Figures 3a, 3b , 3c, 3d the pressure generator 4 functions as a device pressure generator and thus as a common ejector pressure generator for the ejectors 30 assigned to the suction grippers 2, 202 and as a common blow-off pressure generator for blowing off the suction grippers 2, 202.

Durch Anschließen zusätzlicher Funktionseinheiten II an den Druckerzeuger 4 kann die Anordnung gemäß den Figuren 2a, 2b, 2c, 2d ebenso wie die Anordnung gemäß den Figuren 3a, 3b, 3c, 3d zur Steuerung des Funktionszustandes weiterer Sauggreifer erweitert werden. Eine Werkstück-Handlingvorrichtung mit einer Vielzahl von Sauggreifern ist als Werkstück-Handlingvorrichtung 300 in Figur 4 dargestellt.By connecting additional functional units II to the pressure generator 4, the arrangement according to FIGS Figures 2a, 2b , 2c, 2d as well as the arrangement according to Figures 3a, 3b , 3c, 3d can be expanded to control the functional status of other suction pads. A workpiece handling device with a large number of suction grippers is shown as workpiece handling device 300 in FIG.

Claims (13)

  1. Device for controlling the functional state of a suction gripper (2, 102, 202) of a workpiece handling device (300), comprising an ejector (30) for creating a vacuum on the suction gripper (2, 102, 202), a pressure generator (4) for the ejector (30), and a pressure generator (4) for blowing-off at the suction gripper (2, 102, 202),
    • the ejector (30) having an ejector inlet (31), an ejector outlet (32), and a suction side (33),
    • the pressure generator (4) for the ejector (30) being designed to generate a flowable propellant for the ejector (30) and being connected to the ejector inlet (31) by means of a propellant feed line (34),
    • the suction side (33) of the ejector (30) being arranged, in the flow direction of the propellant, downstream of the ejector inlet (31) and upstream of the ejector outlet (32),
    • it being possible for the ejector (30) to be flowed through from the ejector inlet (31) and the suction side (33) of the ejector (30) on one side to the ejector outlet (32) on the other side by a vacuum being generated by means of the pressure generator (4) for the ejector (30) and applied to the suction side (33) of the ejector (30), and it being possible for said ejector to be connected on the suction side (33) by means of a suction line (39) to a pressure chamber (7) of the suction gripper (2, 102, 202), which pressure chamber is open on a workpiece side (6), and
    • the pressure generator (4) for blowing-off at the suction gripper (2, 102, 202) being designed to generate a flowable blow-off medium and being connectable to the pressure chamber (7) of the suction gripper (2, 102, 202) by means of a blow-off line (45),
    characterized in that a switchable directional valve (12) is provided between the suction side (33) of the ejector (30) and the pressure generator (4) for blowing-off at the suction gripper (2, 102, 202) on one side and the pressure chamber (7) of the suction gripper (2, 102, 202) on the other side, said directional valve having a valve cylinder (9) and a valve piston (10) which is guided in the valve cylinder (9), the valve cylinder (9) and the valve piston (10) being movable with a switching movement relative to one another by means of a switching device (56),
    in that the valve piston (10) has a suction line portion (42) of the suction line (39) provided between the suction side (33) of the ejector (30) and the pressure chamber (7) of the suction gripper (2, 102, 202), and has a blow-off line portion (50) of the blow-off line (45) provided between the pressure generator (4) for blowing-off at the suction gripper (2, 102, 202) and the pressure chamber (7) of the suction gripper (2, 102, 202), and an ejector-side opening (43), a suction gripper-side opening (44) in the suction line portion (42), a pressure generator-side opening (51) and a suction gripper-side opening (52) in the blow-off line portion (50) being provided on the valve piston (10), and the ejector-side opening (43) in the suction line portion (42) and the pressure generator-side opening (51) in the blow-off line portion (50) being offset from one another on the valve piston (10) in the direction (11) of the switching movement,
    in that a piston-side opening (41) in the suction line (39) and a piston-side opening (47) in the blow-off line (45) are provided on the valve cylinder (9) and offset from one another in the direction (11) of the switching movement,
    in that the valve piston (10) assumes a suction position or a blow-off position in relation to the valve cylinder (9) as a result of the switching movement,
    in that, when the valve piston (10) is in the suction position and when the vacuum is applied to the suction side (33) of the ejector (30), a flow connection is produced between the ejector-side opening (43) in the suction line portion (42) on the valve piston (10) and the piston-side opening (41) in the suction line (39) on the valve cylinder (9) and a flow connection is produced between the suction gripper-side opening (44) in the suction line portion (42) on the valve piston (10) and the pressure chamber (7) of the suction gripper (2, 102, 202), and at the same time a flow connection between the pressure generator-side opening (51) in the blow-off line portion (50) on the valve piston (10) and the piston-side opening (47) in the blow-off line (45) on the valve cylinder (9) is interrupted, and
    in that, when the valve piston (10) is in the blow-off position, the flow connection between the pressure generator-side opening (51) in the blow-off line portion (50) on the valve piston (10) and the piston-side opening (47) in the blow-off line (45) on the valve cylinder (9) is produced and a flow connection between the suction gripper-side opening (52) in the blow-off line portion (50) on the valve piston (10) and the pressure chamber (7) of the suction gripper (2, 102, 202) is produced, and at the same time the flow connection between the ejector-side opening (43) in the suction line portion (42) on the valve piston (10) and the piston-side opening (41) in the suction line (39) on the valve cylinder (9) is interrupted.
  2. Device according to claim 1, characterized in that the suction line portion (42) and the blow-off line portion (50) on the valve piston (10) have a common subportion (53), and in that the suction gripper-side opening (44) in the suction line portion (42) on the valve piston (10) and the suction gripper-side opening (52) in the blow-off line portion (50) on the valve piston (10) are preferably formed by a common suction gripper-side line portion opening.
  3. Device according to either of the preceding claims, characterized in that
    • an outflow medium leaves the ejector (30) at the ejector outlet (32) as a result of the flow through the ejector (30),
    • in that a discharge line (35) extending in the flow direction of the outflow medium downstream of the ejector outlet (32) is provided for the outflow medium, which discharge line has, on the valve cylinder (9), a discharge opening (36) close to the ejector in the flow direction of the outflow medium and a discharge opening (37) remote from the ejector and arranged downstream of the discharge opening (36) close to the ejector in the flow direction of the outflow medium,
    • in that the valve piston (10) is provided between the discharge opening (36) which is close to the ejector and the discharge opening (37) which is remote from the ejector, and
    • in that the valve piston (10) in the suction position releases a flow connection between the discharge opening (36) close to the ejector and the discharge opening (37) remote from the ejector on the valve cylinder (9).
  4. Device according to claim 3, characterized in that the valve piston (10) in the blow-off position blocks the flow connection between the discharge opening (36) close to the ejector and the discharge opening (37) remote from the ejector on the valve cylinder (9), and in that the piston-side opening (47) in the blow-off line (45), which opening is provided on the valve cylinder (9), and the piston-side opening (41) in the suction line (39), which opening is provided on the valve cylinder (9), are connected to a common pressure medium line (48), which in turn is comprised both by the blow-off line (45) and by the propellant feed line (34).
  5. Device according to claim 4, characterized in that a bypass line (49) is provided which connects to the common pressure medium line (48) upstream of the ejector inlet (31), thus forming part of the blow-off line (45), and has a bypass line-opening on the valve cylinder (9), which bypass line-opening is provided as a piston-side opening (47) in the blow-off line (45).
  6. Device according to any of the preceding claims, characterized in that the pressure generator (4) for the ejector (30) and the pressure generator (4) for blowing-off at the suction gripper (2, 102, 202) are formed by a common pressure generator (4), to which the piston-side opening (47) in the blow-off line (45), which opening is provided on the valve cylinder (9), and the piston-side opening (41) in the suction line (39), which opening is provided on the valve cylinder (9), are optionally connected by means of the common pressure medium line (48).
  7. Device according to any of the preceding claims, characterized in that the blow-off line (45) between the pressure generator (4) for blowing-off at the suction gripper (2, 102, 202) and the piston-side opening (47) in the blow-off line (45) on the valve cylinder (9) on one side is separated from the propellant supply line (34) between the pressure generator (4) for the ejector (30) and the ejector inlet (31) on the other side, and in that the pressure generator (4) for blowing-off at the suction gripper (2, 102, 202) can be optionally connected to the blow-off line (45) when the valve piston (10) is in the blow-off position or the suction position, and/or in that the pressure generator (4) for the ejector (30) can be optionally connected to the propellant supply line (34) when the valve piston (10) is in the suction position or the blow-off position.
  8. Device according to any of the preceding claims, characterized in that the valve piston (10) can additionally be moved into a blocking position relative to the valve cylinder (9) as a result of the switching movement, and in that, when the valve piston (10) is in the blocking position, the flow connection between the ejector-side opening (43) in the suction line portion (42) on the valve piston (10) and the piston-side opening (41) in the suction line (39) on the valve cylinder (9) is interrupted as well as the flow connection between the pressure generator-side opening (51) in the blow-off line portion (50) on the valve piston (10) and the piston-side opening (47) in the blow-off line (45) on the valve cylinder (9).
  9. Device according to any of the preceding claims, characterized in that the directional valve (12) provided between the suction side (33) of the ejector (30) and the pressure generator (4) for blowing-off at the suction gripper (2, 102, 202) on one side and the pressure chamber (7) of the suction gripper (2, 102, 202) on the other side is designed as a cartridge valve and/or is arranged together with the ejector (30) in a common device housing (3).
  10. Workpiece handling device comprising a suction gripper and a device (1, 100, 200) for controlling the functional state of the suction gripper (2, 102, 202), characterized in that the device (1, 100, 200) for controlling the functional state of the suction gripper (2, 102, 202) is designed according to any of the preceding claims.
  11. Workpiece handling device according to claim 10, characterized in that, in addition to the suction gripper (2) having the device (100, 200) for controlling the functional state of the suction gripper (2), at least one further suction gripper (102, 202) having a device (100, 200) for controlling the functional state of the further suction gripper (102, 202) is provided, and in that the device (100, 200) for controlling the functional state of the further suction gripper (102, 202) is also designed according to any of claims 1 to 9.
  12. Workpiece handling device according to claim 11, characterized in that the device (100, 200) for controlling the functional state of the suction gripper (2) and the device (100, 200) for controlling the functional state of the further suction gripper (102, 202) have a common ejector-pressure generator for the ejectors (30) of the devices (100, 200) and/or a common blow-off pressure generator for blowing-off at the suction gripper (2) and the further suction gripper (102, 202).
  13. Workpiece handling device according to claim 12, characterized in that a device pressure generator is provided which forms both the common ejector pressure generator and the common blow-off pressure generator.
EP19181569.5A 2018-07-23 2019-06-21 Workpiece handling device and device for controlling the functioning of a suction gripper of a workpiece handling device Active EP3599381B8 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102018117768.2A DE102018117768B4 (en) 2018-07-23 2018-07-23 Device for controlling the functional state of a suction gripper of a workpiece handling device and workpiece handling device

Publications (3)

Publication Number Publication Date
EP3599381A1 EP3599381A1 (en) 2020-01-29
EP3599381B1 true EP3599381B1 (en) 2020-09-16
EP3599381B8 EP3599381B8 (en) 2021-01-20

Family

ID=67001575

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19181569.5A Active EP3599381B8 (en) 2018-07-23 2019-06-21 Workpiece handling device and device for controlling the functioning of a suction gripper of a workpiece handling device

Country Status (2)

Country Link
EP (1) EP3599381B8 (en)
DE (1) DE102018117768B4 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4432701A (en) * 1981-04-07 1984-02-21 Yoji Ise Vacuum controlling device
DE4001937A1 (en) 1990-01-24 1991-07-25 Antriebs Steuerungstech Ges HANDLING DEVICE WITH A SUCTION GRIPPER AND METHOD FOR HANDLING AND CHECKING FLUID-FLOWED COMPONENTS
DE10226002B4 (en) 2001-02-15 2007-10-18 Trumpf Sachsen Gmbh Compressed air saving arrangement for ejectors activated by ejectors
DE102005021149B3 (en) * 2005-05-03 2007-01-18 J. Schmalz Gmbh Control device for a suction gripper comprises an inlet for the working compressed air for an ejector, an inlet for control compressed air for a control valve and a suction connection for connecting to a suction gripper and the ejector

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP3599381B8 (en) 2021-01-20
EP3599381A1 (en) 2020-01-29
DE102018117768A1 (en) 2020-01-23
DE102018117768B4 (en) 2021-12-30

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