EP3599381B1 - Dispositif de commande de l'état de fonctionnement d'un préhenseur à ventouse d'un dispositif de manipulation de pièces ainsi que dispositif de manipulation de pièces - Google Patents

Dispositif de commande de l'état de fonctionnement d'un préhenseur à ventouse d'un dispositif de manipulation de pièces ainsi que dispositif de manipulation de pièces 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
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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)
English (en)
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EP3599381B8 (fr
EP3599381A1 (fr
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/fr
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Publication of EP3599381B1 publication Critical patent/EP3599381B1/fr
Publication of EP3599381B8 publication Critical patent/EP3599381B8/fr
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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)
  • Manipulator (AREA)

Claims (13)

  1. Dispositif de commande de l'état fonctionnel d'un préhenseur à dépression (2, 102, 202) d'un dispositif (300) de manipulation de pièces, comprenant un éjecteur (30) conçu pour créer un vide au niveau dudit préhenseur à dépression (2, 102, 202), un générateur de pression (4) dédié audit éjecteur (30), ainsi qu'un générateur de pression (4) conçu pour provoquer une détente pneumatique au niveau dudit préhenseur à dépression (2, 102, 202),
    • l'éjecteur (30) comportant une admission (31), une sortie (32), ainsi qu'un côté aspiration (33),
    • le générateur de pression (4), dédié à l'éjecteur (30), étant conçu pour produire un fluide propulseur apte à l'écoulement, destiné audit éjecteur (30), et étant raccordé à l'admission (31) dudit éjecteur par l'intermédiaire d'un conduit (34) d'amenée de fluide propulseur,
    • sachant que, dans la direction d'écoulement dudit fluide propulseur, le côté aspiration (33) de l'éjecteur (30) est situé en aval de l'admission (31) dudit éjecteur et en amont de la sortie (32) dudit éjecteur,
    • sachant que, moyennant la création d'un vide appliqué au côté aspiration (33) de l'éjecteur (30), à l'aide du générateur de pression (4) dédié audit éjecteur (30), ledit éjecteur (30) peut être parcouru par un flux depuis l'admission (31) de l'éjecteur et le côté aspiration (33) dudit éjecteur (30), d'une part, jusqu'à la sortie (32) dudit éjecteur, d'autre part, et peut être branché par ledit côté aspiration (33), par l'intermédiaire d'un conduit d'aspiration (39), sur une chambre de pression (7) du préhenseur à dépression (2, 102, 202) ouverte sur un côté (6) tourné vers les pièces, et
    • sachant que le générateur de pression (4), conçu pour provoquer une détente pneumatique au niveau du préhenseur à dépression (2, 102, 202), est réalisé en vue de produire un fluide de détente pneumatique apte à l'écoulement, et peut être branché sur la chambre de pression (7) dudit préhenseur à dépression (2, 102, 202) par l'intermédiaire d'un conduit (45) de détente pneumatique,
    caractérisé
    par le fait qu'une vanne de distribution (12) commutable, prévue entre le côté aspiration (33) de l'éjecteur (30) et le générateur de pression (4) conçu pour provoquer une détente pneumatique au niveau du préhenseur à dépression (2, 102, 202), d'une part, et la chambre de pression (7) dudit préhenseur à dépression (2, 102, 202), d'autre part, est munie d'un cylindre (9) et d'un piston (10) guidé dans ledit cylindre (9), le cylindre (9) de la vanne et le piston (10) de ladite vanne pouvant être mus l'un par rapport à l'autre au moyen d'un dispositif de commutation (56), en accomplissant un mouvement de commutation,
    par le fait que le piston (10) de la vanne comporte un tronçon (42) du conduit d'aspiration (39) prévu entre le côté aspiration (33) de l'éjecteur (30) et la chambre de pression (7) du préhenseur à dépression (2, 102, 202), ainsi qu'un tronçon (50) du conduit (45) de détente pneumatique prévu entre le générateur de pression (4), conçu pour provoquer une détente pneumatique au niveau dudit préhenseur à dépression (2, 102, 202), et ladite chambre de pression (7) dudit préhenseur à dépression (2, 102, 202), sachant qu'une embouchure (43) du tronçon (42) du conduit d'aspiration, située côté éjecteur, et une embouchure (44) dudit tronçon située côté préhenseur à dépression, ainsi qu'une embouchure (51) du tronçon (50) du conduit de détente pneumatique, située côté générateur de pression, et une embouchure (52) dudit tronçon située côté préhenseur à dépression, sont prévues sur ledit piston (10) de la vanne, et sachant que ladite embouchure (43) dudit tronçon (42) du conduit d'aspiration située côté éjecteur, et ladite embouchure (51) dudit tronçon (50) du conduit de détente pneumatique située côté générateur de pression, sont décalées l'une de l'autre sur ledit piston (10) de la vanne, dans la direction (11) du mouvement de commutation,
    par le fait qu'une embouchure (41) du conduit d'aspiration (39), située côté piston, et une embouchure (47) du conduit (45) de détente pneumatique, située côté piston, sont prévues sur le cylindre (9) de la vanne et sont décalées l'une de l'autre dans la direction (11) du mouvement de commutation,
    par le fait que, sous l'effet dudit mouvement de commutation, le piston (10) de la vanne prend une position d'aspiration ou une position de détente pneumatique par rapport au cylindre (9) de ladite vanne,
    par le fait que, lorsque le piston (10) de la vanne occupe la position d'aspiration et lorsqu'un vide est appliqué au niveau du côté aspiration (33) de l'éjecteur (30), il est instauré une liaison d'écoulement entre l'embouchure (43) du tronçon (42) du conduit d'aspiration située côté éjecteur, sur le piston (10) de la vanne, et l'embouchure (41) du conduit d'aspiration (39) située côté piston, sur le cylindre (9) de ladite vanne, ainsi qu'une liaison d'écoulement entre l'embouchure (44) dudit tronçon (42) du conduit d'aspiration située côté préhenseur à dépression, sur ledit piston (10) de la vanne, et la chambre de pression (7) dudit préhenseur à dépression (2, 102, 202), avec rupture concomitante d'une liaison d'écoulement entre l'embouchure (51) du tronçon (50) du conduit de détente pneumatique située côté générateur de pression, sur ledit piston (10) de ladite vanne, et l'embouchure (47) du conduit (45) de détente pneumatique située côté piston, sur ledit cylindre (9) de ladite vanne, et
    par le fait que, lorsque le piston (10) de la vanne occupe la position de détente pneumatique, il s'instaure la liaison d'écoulement entre l'embouchure (51) du tronçon (50) du conduit de détente pneumatique située côté générateur de pression, sur ledit piston (10) de la vanne, et l'embouchure (47) du conduit (45) de détente pneumatique située côté piston, sur le cylindre (9) de ladite vanne, ainsi qu'une liaison d'écoulement entre l'embouchure (52) dudit tronçon (50) du conduit de détente pneumatique située côté préhenseur à dépression, sur ledit piston (10) de la vanne, et la chambre de pression (7) dudit préhenseur à dépression (2, 102, 202), avec rupture concomitante de la liaison d'écoulement entre l'embouchure (43) du tronçon (42) du conduit d'aspiration située côté éjecteur, sur ledit piston (10) de ladite vanne, et l'embouchure (41) du conduit d'aspiration (39) située côté piston, sur ledit cylindre (9) de ladite vanne.
  2. Dispositif selon la revendication 1, caractérisé par le fait que le tronçon (42) du conduit d'aspiration, et le tronçon (50) du conduit de détente pneumatique, présentent un tronçon partiel commun (53) sur le piston (10) de la vanne ; et par le fait que l'embouchure (44) du tronçon (42) du conduit d'aspiration située côté préhenseur à dépression, sur ledit piston (10) de la vanne, et l'embouchure (52) du tronçon (50) du conduit de détente pneumatique située côté préhenseur à dépression, sur ledit piston (10) de ladite vanne, sont préférentiellement formées par une embouchure commune de tronçon de conduit, située côté préhenseur à dépression.
  3. Dispositif selon l'une des revendications précédentes, caractérisé par le fait
    • que, sous l'effet de l'écoulement parcourant l'éjecteur (30), un fluide d'évacuation quitte ledit éjecteur (30) au niveau de la sortie (32) dudit éjecteur,
    • qu'un conduit de décharge (35) est prévu pour ledit fluide d'évacuation, s'étend en aval de ladite sortie (32) de l'éjecteur dans la direction de l'écoulement dudit fluide d'évacuation et comporte, sur le cylindre (9) de la vanne, une embouchure de décharge (36) proche de l'éjecteur dans la direction d'écoulement dudit fluide d'évacuation, et une embouchure de décharge (37) éloignée dudit éjecteur et située, dans ladite direction d'écoulement dudit fluide d'évacuation, en aval de ladite embouchure de décharge (36) proche dudit éjecteur,
    • que le piston (10) de la vanne est prévu entre ladite embouchure de décharge (36) proche de l'éjecteur et ladite embouchure de décharge (37) éloignée dudit éjecteur, et
    • que ledit piston (10) de la vanne autorise dans la position d'aspiration, sur le cylindre (9) de ladite vanne, une liaison d'écoulement entre ladite embouchure de décharge (36), proche de l'éjecteur, et ladite embouchure de décharge (37) éloignée dudit éjecteur.
  4. Dispositif selon la revendication 3, caractérisé par le fait que, dans la position de détente pneumatique, le piston (10) de la vanne bloque la liaison d'écoulement entre l'embouchure de décharge (36) proche de l'éjecteur et l'embouchure de décharge (37) éloignée dudit éjecteur, sur le cylindre (9) de ladite vanne ; et par le fait que l'embouchure (47) du conduit (45) de détente pneumatique située côté piston, prévue sur ledit cylindre (9) de la vanne, et l'embouchure (41) du conduit d'aspiration (39) située côté piston, prévue sur ledit cylindre (9) de ladite vanne, sont raccordées à un conduit commun (48) à fluide pressurisé formé conjointement, pour sa part, tant par ledit conduit (45) de détente pneumatique que par le conduit (34) d'amenée de fluide propulseur.
  5. Dispositif selon la revendication 4, caractérisé par le fait qu'il est prévu un conduit de dérivation (49) qui se raccorde au conduit commun (48) à fluide pressurisé en amont de l'admission (31) de l'éjecteur, avec formation d'une partie du conduit (45) de détente pneumatique, et est doté, sur le cylindre (9) de la vanne, d'une embouchure prévue en tant qu'embouchure (47) dudit conduit (45) de détente pneumatique, située côté piston.
  6. Dispositif selon l'une des revendications précédentes, caractérisé par le fait que le générateur de pression (4) dédié à l'éjecteur (30), et le générateur de pression (4) conçu pour provoquer une détente pneumatique au niveau du préhenseur à dépression (2, 102, 202), sont formés par un générateur de pression (4) commun auquel sont raccordées, le cas échéant par l'intermédiaire du conduit commun (48) à fluide pressurisé, l'embouchure (47) du conduit (45) de détente pneumatique située côté piston, prévue sur le cylindre (9) de la vanne, et l'embouchure (41) du conduit d'aspiration (39) située côté piston, prévue sur ledit cylindre (9) de ladite vanne.
  7. Dispositif selon l'une des revendications précédentes, caractérisé par le fait que, d'une part, le conduit (45) de détente pneumatique interposé entre le générateur de pression (4) conçu pour provoquer une détente pneumatique au niveau du préhenseur à dépression (2, 102, 202), et l'embouchure (47) du conduit (45) de détente pneumatique située côté piston sur le cylindre (9) de la vanne et, d'autre part, le conduit (34) d'amenée de fluide propulseur, interposé entre le générateur de pression (4) dédié à l'éjecteur (30) et l'admission (31) dudit éjecteur, sont séparés l'un de l'autre; et par le fait que ledit générateur de pression (4), conçu pour provoquer une détente pneumatique au niveau du préhenseur à dépression (2, 102, 202), peut être sélectivement branché sur ledit conduit (45) de détente pneumatique lorsque le piston (10) de ladite vanne occupe la position de détente pneumatique, ou la position d'aspiration ; et/ou par le fait que ledit générateur de pression (4) dédié à l'éjecteur (30) peut être sélectivement branché sur ledit conduit (34) d'amenée de fluide propulseur lorsque ledit piston (10) de ladite vanne occupe la position d'aspiration, ou la position de détente pneumatique.
  8. Dispositif selon l'une des revendications précédentes, caractérisé par le fait que, sous l'effet du mouvement de commutation, le piston (10) de la vanne peut être additionnellement mû vers une position de blocage par rapport au cylindre (9) de ladite vanne ; et par le fait que la position de blocage, occupée par ledit piston (10) de la vanne, gouverne une rupture tant de la liaison d'écoulement entre l'embouchure (43) du tronçon (42) du conduit d'aspiration située côté éjecteur, sur ledit piston (10) de ladite vanne, et l'embouchure (41) du conduit d'aspiration (39) située côté piston, sur ledit cylindre (9) de ladite vanne, que de la liaison d'écoulement entre l'embouchure (51) du tronçon (50) du conduit de détente pneumatique située côté générateur de pression, sur ledit piston (10) de la vanne, et l'embouchure (47) du conduit (45) de détente pneumatique située côté piston, sur le cylindre (9) de ladite vanne.
  9. Dispositif selon l'une des revendications précédentes, caractérisé par le fait que la vanne de distribution (12) prévue entre le côté aspiration (33) de l'éjecteur (30) et le générateur de pression (4) conçu pour provoquer une détente pneumatique au niveau du préhenseur à dépression (2, 102, 202), d'une part, et la chambre de pression (7) dudit préhenseur à dépression (2, 102, 202), d'autre part, est réalisée sous la forme d'une vanne à cartouche et/ou est logée, conjointement audit éjecteur (30), dans un boîtier commun (3) dudit dispositif.
  10. Dispositif de manipulation de pièces, équipé d'un préhenseur à dépression et d'un dispositif (1, 100, 200) dévolu à la commande de l'état fonctionnel dudit préhenseur à dépression (2, 102, 202), caractérisé par le fait que le dispositif (1, 100, 200), dévolu à la commande de l'état fonctionnel du préhenseur à dépression (2, 102, 202), est réalisé en conformité avec l'une des revendications précédentes.
  11. Dispositif de manipulation de pièces, selon la revendication 10, caractérisé par le fait qu'il est prévu, en plus du préhenseur à dépression (2) équipé du dispositif (100, 200) dévolu à la commande de l'état fonctionnel dudit préhenseur à dépression (2), au moins un préhenseur supplémentaire à dépression (102, 202) équipé d'un dispositif (100, 200) dévolu à la commande de l'état fonctionnel dudit préhenseur supplémentaire à dépression (102, 202) ; et par le fait que ledit dispositif (100, 200), dévolu à la commande de l'état fonctionnel dudit préhenseur supplémentaire à dépression (102, 202), est lui aussi réalisé en conformité avec l'une des revendications 1 à 9.
  12. Dispositif de manipulation de pièces, selon la revendication 11, caractérisé par le fait que le dispositif (100, 200) dévolu à la commande de l'état fonctionnel du préhenseur à dépression (2), et le dispositif (100, 200) dévolu à la commande de l'état fonctionnel du préhenseur supplémentaire à dépression (102, 202), sont munis d'un générateur de pression commun, dédié aux éjecteurs (30) desdits dispositifs (100, 200), et/ou d'un générateur de pression commun conçu pour provoquer une détente pneumatique au niveau dudit préhenseur à dépression (2) et dudit préhenseur supplémentaire à dépression (102, 202).
  13. Dispositif de manipulation de pièces, selon la revendication 12, caractérisé par le fait qu'il est prévu un générateur de pression équipant ledit dispositif et constituant, à la fois, le générateur de pression commun, dédié aux éjecteurs, et le générateur de pression commun conçu pour provoquer une détente pneumatique.
EP19181569.5A 2018-07-23 2019-06-21 Dispositif de commande de l'état de fonctionnement d'un préhenseur à ventouse d'un dispositif de manipulation de pièces ainsi que dispositif de manipulation de pièces Active EP3599381B8 (fr)

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DE102018117768.2A DE102018117768B4 (de) 2018-07-23 2018-07-23 Vorrichtung zur Steuerung des Funktionszustandes eines Sauggreifers einer Werkstück-Handlingvorrichtung sowie Werkstück-Handlingvorrichtung

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Publication number Priority date Publication date Assignee Title
US4432701A (en) * 1981-04-07 1984-02-21 Yoji Ise Vacuum controlling device
DE4001937A1 (de) 1990-01-24 1991-07-25 Antriebs Steuerungstech Ges Handhabungsvorrichtung mit einem sauggreifer und verfahren zum handhaben und ueberpruefen von fluiddurchstroemten bauteilen
DE10226002B4 (de) 2001-02-15 2007-10-18 Trumpf Sachsen Gmbh Druckluftsparanordnung für durch Ejektoren aktivierte Sauggreifer
DE102005021149B3 (de) * 2005-05-03 2007-01-18 J. Schmalz Gmbh Steuereinrichtung

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EP3599381A1 (fr) 2020-01-29
DE102018117768A1 (de) 2020-01-23
DE102018117768B4 (de) 2021-12-30

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