EP4028343A1

EP4028343A1 - Suction unit and suction device

Info

Publication number: EP4028343A1
Application number: EP20765296.7A
Authority: EP
Inventors: César Carrasco
Original assignee: AO Formaflon Swiss AG
Current assignee: AO Formaflon Swiss AG
Priority date: 2019-09-10
Filing date: 2020-09-07
Publication date: 2022-07-20
Also published as: US20220297954A1; EP4028344A1; JP2022546744A; CA3148531A1; JP2022547920A; US20220289500A1; CA3148552A1; CN114401830A; AU2020344932A1; CN114401914A; BR112022003637A2; AU2020344792A1; BR112022003377A2; WO2021048070A1; WO2021048069A1

Abstract

The invention relates to a suction unit (10) which is suitable for suctioning an object according to the Bernoulli principle, comprising a suction body (16) with a suction plate (11), which adjoins the suction body and has a front face facing away from the suction body (16), and at least one inlet channel (13), through which a gaseous medium can be introduced through the suction body (16) to the front face of the suction plate (11) and into a deflecting channel (110), said deflecting channel being delimited by the front face of the suction plate (11) and by a deflecting head (121) of a deflecting unit (12) or by the front face of the suction plate (11) and by the object when suctioning the object, wherein the gaseous medium can be conducted to the outside through the deflecting channel. The center of the suction plate (11) has a deflecting chamber (115) that is adjoined by at least one inlet channel (13) on one side and multiple suction channels (111), which are recessed into the suction plate (11) and which run towards the edge of the suction plate (11), on the other side.

Description

Suction unit and suction device

The invention relates to a suction unit working according to the Bernoulli principle and a suction device with at least one such suction unit, by means of which objects, in particular isolated objects from a work process, can be picked up and released again.

In numerous industrial applications, in particular in the food industry, products or objects with predetermined dimensions are to be provided for packaging. Food such as bread, sausage products or cheese are often divided into thin portions or slices and packaged. In other technical areas, for example, plate-shaped workpieces such as wafers, circuit boards, foils, paper, wood veneer and the like are produced and made available for further processing.

The disc-shaped objects are to be picked up gently at a pick-up location and returned to a pick-up location unchanged, i.e. without deformation, damage or contamination. Instead of mechanical gripping tools, suction devices are therefore often used, which preferably work according to the Bernoulli principle. Mechanical gripping tools, on the other hand, are used for handling objects that do not have flat surfaces.

According to DE202006016833U1, Bernoulli suction units usually consist of an axially symmetrical base body through which a gaseous medium (compressed air, protective gas, etc.) flows from at least one nozzle in the direction of an object to be lifted. When it hits the object, the gaseous medium between the object unit and the base body of the suction unit is deflected in the radial direction at a high flow rate. According to Bernoulli's equation, the kinetic energy and the specific pressure energy are always constant. In the area of the high flow velocity, there is therefore a correspondingly reduced pressure, by means of which the object is sucked in.

In order to reduce the pressure force counteracting the suction force that arises when the media flow hits the object, in known suction units the media flow is deflected in the radial direction before it hits the object. A plate-shaped deflection unit is held in front of the inflowing gas so that it is deflected radially through an annular gap and led away to the side. DE202006016833U1 shows suction units in which the plate-shaped deflection unit is connected in one piece to the base body. The manufacture of the The suction unit or the base body with the deflecting unit integrated in one piece is therefore associated with a great deal of effort.

It should also be noted that, depending on the contour and surface properties of the object unit, disturbances or turbulence can occur in the air flow, through which the pressure between the suction unit and the object unit can increase selectively. Objects may not be held securely as a result and can partially detach from the suction unit. This leads to problems in particular when objects are to be transported and stored piece by piece with high cycle rates and interventions to correct incorrectly stored objects are not possible.

It was also found that with relatively rigid, light, plate-shaped objects, the use of commercially available Bernoulli suction units hardly causes any problems. Unstable objects, on the other hand, are at risk of being either damaged or not handled in a process-stable manner. If objects are not dimensionally stable as a result of the forces acting on them and can be stimulated to vibrate, for example, their contour changes continuously and, as a result, the flow and the forces acting on the object. Depending on the damping properties of the overall system, dynamic behavior occurs, particularly with thin and flexible objects, which prevents a stable handling process. According to DE202006016833U1, functionally reliable separation of thin, flexible objects with conventional Bernoulli suction units is practically impossible. To solve this problem, DE202006016833U1 provides for the use of a screen which separates the media flow from the object unit and channels it between the screen and the body of the suction unit. The use of such an aperture also has disadvantages. On the one hand, the suction power can be reduced and, on the other hand, suction units provided with a screen tend to accumulate dirt particles, which must be removed again with a corresponding effort.

According to DE202006016833U1, even the handling of flat objects can cause difficulties, which is why other gripping devices or holding devices have previously been used for handling non-flat objects.

It should also be noted that in known suction units, the objects held are not released precisely. For the delivery of a property unit the media flow is interrupted, whereby the suction force is reduced relatively slowly and the object is released more or less quickly. In addition, the objects are deposited at the delivery point by gravity. This means that the delivery does not take place precisely at the time and possibly not at the exact location. Due to the delayed delivery of the transported objects, the clock frequencies with which the objects are transported are also limited accordingly.

In addition, it should be noted that when the objects are dispensed by releasing the suction force, the periphery of the object unit being held is typically first released and released from the suction unit by the force of gravity. In the case of flexible objects, this can lead to bending or even curling of the object unit. So that a controlled delivery is possible, the suction unit must be aligned accordingly at the delivery location before the suction effect is canceled. To avoid this problem, the suction unit is aligned horizontally and brought close to the delivery location, which, however, results in significant restrictions in the handling of the objects. In order to achieve an orderly delivery of objects, machines and robots are required that can perform complex movements. The processes for handling the objects must be adapted accordingly or restricted to these types of handling.

As mentioned, conventional Bernoulli suction units are only used for plate-shaped objects where flat contact is possible. Mechanical gripping tools are usually used for other objects, but these regularly damage the objects.

In particular, it is hardly possible to record very fine, possibly elongated, thin objects. In the field of surgery, conventional suction units can therefore hardly be used to manipulate objects, while effects on the treated tissue are to be avoided.

It should also be noted that the gaseous medium expelled by the suction units can lead to turbulence in the surrounding area, which can have a disruptive effect on valuable or sensitive material. In particular, powdery material can be swirled and repelled. In addition, dust particles can be sucked in, which contaminate the suction unit and require maintenance work.

Another disadvantage of known suction units is that their operation requires a high air pressure, which is why powerful pumps have to be provided.

The present invention is therefore based on the object of creating an improved suction unit which works according to the Bernoulli principle. Furthermore, an improved suction device with at least one such suction unit is to be created.

The suction units should be able to be realized with a more simply constructed base body. It should be possible to dispense with a plate-shaped deflection unit, for example.

Suction units according to the invention are intended to make it possible to securely grasp objects, in particular individual product units, with any dimensions and any nature, and to release them in any manner in a controlled manner. Damage or disruptive deformations of the manipulated objects should be avoided.

In particular, flexible and soft objects should be able to be detected and released in a controlled manner. Furthermore, objects that are not flat or disk-shaped should be able to be reliably detected and delivered.

Problems with a point detachment of the objects from the suction unit should be avoided. A lateral displacement of the sucked-in object should preferably also be avoided, so that it can be transported and dispensed with an unchanged position.

Isolated objects should be able to be correctly picked up at a pick-up location with high clock cycles and delivered to a delivery location.

Disruptive effects on the manipulated objects and their surroundings from the gaseous medium used should be avoided. Contamination of the suction units should also be avoided. The suction units should therefore also be able to be used advantageously in a difficult environment, in particular in surgery, in which high demands are made on the instruments. The suction units should be easy and thorough to clean and maintain.

The suction units should be able to be operated with high efficiency, so that only minimal air pressure is required for their operation and compressed air devices of simple design can be used.

This object is achieved with a suction unit and a suction device which has the features specified in claims 1 and 13, respectively. Advantageous embodiments of the invention are specified in further claims.

The suction unit, which is suitable for sucking in an object according to the Bernoulli principle, comprises a suction body with an adjoining suction plate, which has a front side facing away from the suction body, and at least one inlet channel through which a gaseous medium flows through the suction body to the front side of the suction plate can be introduced into a deflection channel which is limited on the one hand by the front side of the suction plate and on the other hand by a deflection head of a deflection unit or which is limited on the one hand by the front side of the suction plate and on the other hand when the object is sucked in by the object, and through which the gaseous medium can be guided to the outside .

According to the invention, the suction plate has a deflection chamber in the middle to which on the one hand the at least one inlet duct and on the other hand several suction ducts sunk into the suction plate are connected, which run towards the edge of the suction plate.

Through the suction channels, which are closed on one side by a sucked-in object unit, the gaseous medium can flow outwards from the deflection chamber in an almost laminar manner, which results in a reliable and undisturbed flow and a correspondingly reduced pressure in the suction channels. The arrangement of suction channels or the guarantee of a largely undisturbed flow of media in the suction channels result in various advantages.

Since the suction channels are always kept free, a high flow of media is guaranteed even at a relatively low pressure. A high air pressure is therefore not required to achieve the suction effect, which is why a conventional fan can also be used as a means of conveying the gaseous medium instead of a compressed air unit. The suction channels always ensure a lateral media flow when approaching the object to be picked up. It is thus possible to dispense with the arrangement of a deflection unit which, regardless of the presence of a product inside the deflection chamber, for example within an annular gap, ensures a high flow of media and a corresponding pressure reduction.

A deflection unit with a deflection head is only used optionally if a negative pressure is desired in the deflection chamber regardless of the approach to an object to be sucked in. The deflection unit can be connected in one piece to the absorbent body or can be inserted into it. For example, a mounting channel is provided into which a mounting element of a deflection unit can be anchored, e.g. pressed in or screwed in. In this case, the user can optionally retrofit the suction units with a deflection unit. A mounting channel is preferably provided which connects to an inlet channel for the gaseous medium, which inlet channel is closed off by the mounting element of the deflection unit. Above the mounting element, the inlet channels branch off within the inlet channel, six of which are preferably provided. The inlet channel can also be divided into two parts, which are separated from one another by a part of the absorbent body.

The deflection head, which is preferably designed axially symmetrically, preferably has a circumferential groove-shaped depression on the side facing the suction plate, which preferably extends in a rounded manner towards the edge of the deflection head. In this embodiment, the axially symmetrical deflection unit has an at least approximately anchor-shaped cross section in a longitudinal section through the axis of rotation. Through the deflection head, the media flow is introduced into the deflection channel in a controlled manner.

A sucked object is reliably pulled and fixed against the suction plate along the suction channels, regardless of the surface properties of the object. After the object is held in the suction channels by means of the negative pressure, the further media flow, which runs outside the suction channels between the suction plate and the sucked-in object unit, can unfold its effect undisturbed, so that the object is reliably sucked in over its entire surface. It is thus avoided that flexible flat objects are only partially detected and can become detached again. A plurality of suction channels, preferably evenly spaced apart from one another, are preferably provided, which run radially, with the same inclination or sunk along a curve outwards into the suction plate. An optimal result is usually achieved with three suction channels. The object is reliably fixed by the three suction channels, after which the media flow running outside the suction channels can develop its effect. Outside the suction channels, the object rests against the suction plate only separated by a thin film of the moving medium, which is why a high suction force is developed there.

The cross section of the suction channels can be constant over the entire length of the suction channels. The channel cross-section of the suction channels can also increase or decrease from the inside to the outside, e.g. by a factor that is preferably in the range of 2-10. The channel height or the channel depth can vary or be constant. The channel height adjoining the deflection chamber can also correspond to the height of the deflection chamber, so that the transition from the deflection chamber to the suction channels takes place steplessly. The width of the suction channels is preferably constant. The change in the channel cross-section has the effect that the suction channels only have a small channel cross-section on the side facing the deflection chamber, which prevents the media flow from being diverted mainly through the suction channels. As a result, the channel cross-section increases, so that the medium can flow unhindered and develop its effect. By changing the channel cross-section, the course and the design of the suction channels, the media flow and the suction pressure can be adapted to the manipulated objects.

In a further preferred embodiment, several, preferably six, inlet channels are provided, which are preferably arranged at equal distances from one another and preferably enter the deflection chamber. Preferably, one of the inlet channels each faces a suction channel, so that the flow through the suction channel can be built up more easily.

The inlet channels preferably run, for example like the edges of a pyramid, inclined towards the outside of the suction plate and move away from the central axis until they reach the front of the suction plate. In this way, the media flow is already deflected. In addition, the inlet channels can be cleaned relatively easily in the event of contamination. In principle, the inlet channels can also run outwards along a curve. For example, it can be straight or along a curve running tubes or free holders are embedded in the absorbent body in order to realize inlet channels with any shape.

The inclined arrangement of the inlet channels or the partial deflection of the gaseous medium already within the suction body allows the suction unit to be operated at reduced pressure, which is why a conventional fan can also be used as a means of conveying the gaseous medium instead of a compressed air unit. The pressure requirement can be further reduced by a higher number of preferably evenly distributed inlet channels.

In a further preferred embodiment, several outlet channels run through the absorbent body to outlet openings. The outlet openings are arranged inside the suction channels or outside the suction channels or inside and outside the suction channels. When the objects are dispensed, the flow of media through the inlet channels is interrupted so that the suction effect is reduced and the object is released from the suction unit. To accelerate this process, a flow of media is emitted through the outlet openings, which pushes the object away from the suction plate. The dispensing process can therefore be shortened to an extremely short period of time in the range of milliseconds. In this way, the delivery can take place in a controlled manner in any position of the object unit without it being deformed, e.g. folding or curling. With an even distribution of the outlet openings, it can thus be achieved that even very flexible objects can be repelled in an aligned manner in one plane. The controlled and fast delivery of the objects, which can be controlled by a control unit by actuating valves by means of which the media flows are switched on or off, also makes it possible to significantly increase the cycle rate with which objects are picked up at a pick-up location and at a release location be returned.

In further preferred embodiments, the suction plate is lamellar and flexible so that it can deform under the negative pressure that occurs between a sucked object and the suction plate and adapt to the flat and possibly flexible object. Unevenness in the object unit can thereby be compensated for by the elastic suction plate, which is deformed accordingly. The suction plate can be integrally connected to the absorbent body or can be connected to it, if necessary screwed. The suction plate is preferably connected in one piece to the suction body and separated from it by a circumferential groove. The circumferential groove (see FIG. 4) can also serve to hold the suction unit within a receiving chamber by means of a locking part (see FIG. 2e).

In preferred embodiments, several deflection chambers with or without deflection heads can be provided, of which at least one is assigned three or more suction channels which are sunk straight into the suction plate or running along a curve.

A plurality of deflection chambers, of which at least one is assigned a deflection head, and a plurality of suction channels are preferably provided. The suction channels are assigned to at least one deflection chamber or several deflection chambers and are either straight or sunk into the suction plate running along a curve. For example, the suction channels can only be connected to one deflection chamber.

Each deflection chamber is preferably assigned a plurality of inlet channels which are arranged at regular or irregular distances from one another and which run inside the suction body at an incline towards the outside towards the suction plate.

The absorbent body is constructed in one piece or comprising a plurality of absorbent body modules in a modular manner.

In preferred embodiments, at least the edge of the suction plate made of an elastic material is lamellar and flexible.

As described above, suction units operating according to the Bernoulli principle are only used for picking up flat objects. In the food industry in particular, the manipulation and careful holding of objects, for example confectionery articles, fruits and nuts or parts thereof, which do not have flat surfaces, are of particular importance. Such objects were previously captured and manipulated with mechanical grippers. In surgery, for example, small objects such as needles and splinters are often to be captured without disturbing the surrounding tissue. In particular, the fabric should not be contaminated. Furthermore, the penetration of Contamination, such as tissue residues, dust and the like, can be avoided in the suction unit.

To solve these problems, provision is made for a suction basket to be provided next to the suction plate, possibly at a distance or separated therefrom by individual openings, which surrounds a receiving channel into which an object can be sucked. The suction head is optionally provided with wall openings which ensure a flow of media even when the channel opening is closed.

The suction cup causes the gaseous medium to flow around an object that has been sucked in. Even if an irregularly shaped body, such as a hazelnut, is sucked in, the gaseous medium flows through it at a high flow rate, which is why a negative pressure builds up, by means of which the object can be held safely.

The distance along which the gaseous medium flows at high speed is very long when using a suction strainer, possibly in conjunction with the suction bell described below, which is why negative pressure is achieved over a large area and with a high degree of effectiveness. Even when using a suction basket, possibly in connection with the suction bell, a conventional fan can also be used as a means of conveying the gaseous medium instead of a compressed air unit.

Both ensuring the flow of media through the suction channels, the partial deflection of the flow of media within the suction body through the inlet channels and, if available, the implementation of a suction head, possibly in conjunction with a suction bell, thus ensure the implementation of a suction unit that operates at low pressure, e.g. generated by a blower or fan can work. I

The receiving channel has a channel opening which is designed in such a way that isolated objects can thereby be introduced into the receiving channel or can be fixed at the edge of the channel opening.

The dimensions of the preferably transparent suction cup, in particular the length and width, or the dimensions of the channel opening or the channel entrance of the suction channel are preferably adapted to the objects to be transported. The suction head can therefore have, for example, a cylindrical shape, a conical shape, a shape with a rectangular or polygonal cross section. The suction strainer can also be combinations of the Have the shapes mentioned and, for example, be conically shaped only on the output side. The suction channel can be designed to be regular, irregular, symmetrical or asymmetrical, so that objects can be detected in any position or only in a specific position. In the food industry, it may not matter how an object is oriented. In surgery or in semiconductor technology, on the other hand, the alignment of an object can be mandatory. The length and width of the suction cup are selected in such a way that an object can at least partially enter the channel opening. The length of the suction cup can therefore also be only a few millimeters or a few centimeters. For example, the dimensions of the suction cup are adapted to food objects, such as nuts, fruits, or parts thereof. If the suction strainer is detachably mounted, a suitable suction strainer can be mounted in each case. A surgeon will choose a suction cup that is adapted to the work process, tissue or tools to be picked up.

With a suction unit in this preferred embodiment, objects of any shape can be gently picked up and transported.

Using the suction head also improves the efficiency of the suction unit, which can be operated at lower pressure.

The efficiency of the suction unit can be further improved in that the suction body is or can be connected to a suction cup, which surrounds the suction body separately by a return channel, which on one side enters the suction cup provided on the suction cup and on the other side into at least one outlet opening opens, which is optionally provided in the wall of the suction cup.

The medium is returned through the return channel and optionally fed back to the compressed air device, so that an at least partially closed circuit results. Since the gaseous medium is always in motion in the circuit, only little energy is required to convey it, which can be supplied by a simple fan that conveys the circulated medium in order to keep the medium flow constant.

The circulation of the gaseous medium also improves its flow behavior. Turbulence and a stall are reduced or avoided, so that an increased flow velocity and an increased pressure can develop.

By using the suction bell, not only is the efficiency of the suction unit further increased, but further advantages are achieved. The controlled return of the medium prevents disruptive effects on the environment, such as turbulence in object particles or tissue particles or undesired flows along the treated tissue during a surgical procedure. Furthermore, it is largely avoided that particles from the production process or contaminants can penetrate into the suction unit.

A filter is preferably provided in the suction unit which prevents impurities from being circulated with the media flow.

The suction basket is preferably integrally connected to the suction plate or the suction body and / or the suction bell or can optionally be connected. The suction head can be screwed to the suction body, connected by a press fit or otherwise. For example, the suction cup comprises an annular flange with an internal thread that can be placed on an external thread on the suction body.

The suction cup can be connected to the suction body or to a mounting plate that may be connected to it in one piece or by screws or by means of molded connecting elements, such as threaded elements or elements of a bayonet lock. In this way, a quick-release fastener is implemented that allows the suction bell to be removed in order to clean the suction unit or to put on another suction bell that is adapted to the manipulated objects or with which the dimensioning of the air ducts or the circulated air flow is adapted.

The suction of objects is made easier if they are held centrally and sucked in along the central axis of the suction unit. The suction units are therefore preferably provided with a centering device which allows a suctioned object unit to be guided against the central axis of the suction unit and to be kept centralized. The centering unit can be connected to the suction body and / or the deflection unit, if provided, and / or the suction cup, if provided, and / or the suction bell, if provided. The centering device can be made of the same material as the base body, the suction cup, the deflection unit or the Be manufactured suction bell. Furthermore, the centering device can be made of any material, such as metal and plastic.

Suction devices according to the invention have one or more suction units according to the invention with a suction head and / or without a suction head and preferably comprise a drive device, possibly a robot, by means of which the suction units can be moved between at least one receiving location and at least one delivery location. The drive device, which is driven electrically, hydraulically or pneumatically, is preferably controllable by means of a control unit, so that the work processes in which the suction units are integrated can run automatically. The control unit can be connected to sensors by means of which the work processes can be monitored and the process steps can be correctly timed. The processes or the objects, which are preferably held by completely or partially transparent suction units, are preferably monitored by cameras.

In preferred embodiments, the suction device comprises at least one distribution device, which is preferably designed in the form of a cuboid, a cylinder or a cylinder segment, and which holds several suction units, preferably evenly distributed, to which compressed air can be fed jointly via at least one distribution channel or individually via at least one pressure line is.

The distribution device preferably comprises a plurality of receiving chambers, each of which is opened through at least one chamber opening towards the distribution channel and in each of which a suction unit is arranged, which lies tightly against the edge of the chamber opening by a sealing element, e.g. a sealing ring. The suction units can therefore be mounted anywhere in the receiving chambers and connected to the distribution channel. A locking element, e.g. in the form of a clip, is preferably provided, which can be pushed into the receiving chamber and positively connected to the suction body of the suction unit in such a way that the suction unit is pressed against the sealing element. By removing or pulling out the locking element, each of the suction units can be removed, cleaned and reinserted in a simple manner.

In preferred refinements, it is provided that a gaseous medium can optionally be introduced into the inlet channels of the suction units via a first distribution channel or a first pressure line. In further preferred refinements, the gaseous medium can additionally optionally be introduced into the outlet channels of the suction units via a second distribution channel or a second pressure line.

By means of the control unit, valves can be controlled in such a way that the gaseous medium is optionally introduced into the inlet channels and / or into the outlet channels at the desired time intervals. A control program is preferably provided in the control unit which can control the drive device with which the suction units are moved and the media flows by means of which objects are coupled to or decoupled from the suction units.

The suction body, the suction plate, if present, the suction basket, which are preferably integrally connected to one another, and / or the deflection unit are preferably made of an elastic or transparent or of an elastic and transparent material such as acrylic. By using the transparent material, the objects sucked in by the suction units remain visible and can be monitored by a camera with regard to their condition, their dimensions and their alignment by means of a camera. Image data from the camera are evaluated in the control unit, for example, and if necessary compared with patterns so that defective objects can be sorted out. For example, defective objects are transported on and dropped at a collection point by releasing the suction pressure and / or ejected using compressed air.

The suction body and / or the deflection unit, if provided, and / or the suction basket, if provided, and / or the suction bell, if provided, can be made to equalize or different materials, such as metal or plastic. For example, the absorbent body can be made of plastic and connected or connectable to a suction basket or a suction cup made of plastic or metal.

The invention is explained in more detail below with reference to drawings. It shows:

1 shows a cutting device 9 and a symbolically represented suction device 1 according to the invention with suction units 10 according to the invention, which by means of a drive device 5 are movable to receive objects provided by the cutter 9;

2a shows a part of the cutting device 9 and the suction device 1 from FIG. 1 with suction units 10, by means of which separated disc-shaped objects P can be grasped and transported to a delivery location;

2b shows a suction device 1 according to the invention with several suction units 10 arranged in a distribution device 2, to which compressed air can be supplied via at least one valve 72 which can be controlled by a control unit 8 via a control line 87 shown symbolically;

2c shows one of the suction units 10 in an enlarged view with a suction plate 11 and a deflection unit 12 arranged therein, by means of which a supplied gaseous medium is deflected laterally or radially over the suction plate 11;

FIG. 2d shows the deflection unit 12 from FIG. 2c, which is designed as a body of rotation and for this purpose has a deflection head 121 to which a mounting element 122 adjoins;

FIG. 2e shows a section through the distribution device 2 of FIG. 2a after removal of one of the suction units 10 from a receiving chamber 21 of the distribution device 2, which is connected to a distribution channel 20 through a chamber opening 210;

2f shows a deflection unit 12 with a deflection head 121, the underside of which is concave in order to be able to partially pick up an object that has been sucked in;

2g shows a deflection unit 12 with a deflection head 121, the top side of which is straight and is provided with radially extending depressions 120; 2h shows a deflection unit 12 with a deflection head 121, the top side of which is straight;

3a shows a suction unit 10 according to the invention in a preferred embodiment with a suction body 16, which holds a suction plate 11 or is connected in one piece to it, in which three suction channels 111 are provided, which are radially aligned and displaced by 120 ° relative to one another and in which the outlet openings 140 of outlet channels 14 are arranged;

FIG. 3b shows the suction unit 10 from FIG. 3a in a sectional illustration; FIG.

3c shows the suction unit 10 from FIG. 3a in a sectional illustration with three additional deflection units 12A, 12B and 12C;

FIG. 3d a part of the suction unit 10 from FIG. 3c in a sectional illustration; FIG.

Fig. 4 shows a suction unit 10 with a suction body 16 in which

Inlet channels 13 and outlet channels 14 and outlet openings 140, which are located between the suction channels 111, and a central bore which is divided by an intermediate wall 130C into an inlet channel 130A and assembly channel 130B, which is used for the optional assembly of the deflection unit 12 shown;

FIG. 5a shows the suction unit 10 from FIG. 3a with a lamellar elastic suction plate 11; FIG.

FIG. 5b shows the suction unit 10 from FIG. 5a in a sectional illustration; FIG.

5c shows part of a preferably configured suction unit 10 with suction channels 111, the cross-section of which is at least approximately constant over the entire length;

6a shows a sectional view of a suction unit 10 with a suction plate 11, to which a suction cage 161 connects, which encloses a receiving channel 1600 that is open downwards, with twelve inlet channels 13 connected to an inlet channel 130, which are directly inserted into the edge region of the receiving channel 1600 are directed, with no deflection unit being provided;

6b shows a sectional view of a suction unit 10 according to FIG. 6a with a suction plate 11, which is provided with a deflection unit 12 and to which a suction basket 161 connects, which optionally has one or more wall openings 160 and encloses a receiving channel 1600 that is open at the bottom;

Fig. 6c a suction unit 10, e.g. according to Fig. 3a, which is equipped with a

Centering device 4 is provided, which is connected to the deflection unit 12 and which allows a sucked object unit P to be guided against the central axis x of the suction unit 10 or the deflection unit 12 and to be kept centralized;

Fig. 6d a suction unit 11 with a suction basket 161, the one

Enclosing receiving channel 1600 without wall openings, and is provided with an optionally provided centering device 4 according to FIG. 6c;

6e shows the suction unit 10 from FIG. 6d with a more simply configured centering device 4 which has three evenly spaced rod-shaped centering elements 41 which are aligned along a conical surface and which are supported by the

Deflection element 12 are held;

6f shows the suction unit 10 from FIG. 6d with a centering device 4, which has three evenly spaced wire-like or rope-like centering elements 41 which are aligned along a conical surface and which on the one hand are connected by

Deflection element 12 and, on the other hand, are held by the edge of the suction cup 161 on the output side;

6g shows the suction unit from FIG. 6f with a mounting element 1211 on the deflection head 121 of the deflection unit 12, on which the

Centering elements 41 are attached; 6h shows the suction unit 10 from FIG. 6d with a grid-shaped centering device 4;

6i shows the suction unit 10 from FIG. 6d with a centering device 4, which has three centering elements 41 which are evenly spaced apart and are aligned along a conical surface and which are held by the edge of the suction cup 161 on the outlet side;

6j shows the suction unit 10 from FIG. 6d equipped with a

Retaining flange 1615, which has a flange ring 44 with a

Centering device 4, which comprises a sheet-shaped holding element 4100;

6k shows a suction unit 10, preferably of modular construction, with a plurality of suction units 10 according to one of FIGS. 6a to 6j in a sectional illustration;

61 shows a sectional view of a suction unit 10 according to FIG. 6b with a suction plate 11, into which a deflection unit 12 or just a sealing pin 122 is to be inserted and to which a suction basket 161 connects, which optionally has one or more wall openings 160 and one downwards enclosing the open receiving channel 1600 which has indentations 1611, 1612 corresponding to the receiving of objects;

7a shows a suction device 1 with two suction wheels 1A, 1B, which are peripherally equipped with suction units 10 according to one of FIGS. 6a-6k and of which objects P are picked up at a pick-up location and delivered to a conveying device 900 at a delivery location;

7b shows part of the suction device 1 from FIG. 7a with the second suction wheel 1B, from which objects P are delivered to transport units 61 of the conveying device 900; 8a shows an exploded view of a suction unit 10 with a

Mounting plate 168, the suction body 16 and a suction bell 6 to which a suction basket 161 is attached

Fig. 8b the assembled suction unit 10 of Fig. 8a with the

Suction body 16, which is inserted into the mounting plate 168 and the suction bell 6, which surrounds the suction body 16 separately by a return channel 60 and which is connected to the mounting plate 168;

9a shows the suction unit 10 from FIG. 8a with the suction body 16, which is connected to the suction basket 161 through the suction cup 161 provided with wall openings 160

Suction bell 6 is integrally connected;

FIG. 9b shows the assembled suction unit 10 from FIG. 9a; FIG.

FIG. 10a shows the suction unit 10 from FIG. 8a with the suction body 16, which is connected in one piece to the mounting plate 168; FIG.

FIG. 10b shows the assembled suction unit 10 from FIG. 10a; FIG.

11a shows the suction unit from FIG. 10a with a suction bell 6 which has a conically shaped suction basket 161 with a small channel opening 1610 for grasping small objects;

11b shows a suction device 1 with the suction unit from FIG. 11a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object or to a rod-shaped object unit P;

11c shows the channel opening 1610 of the suction unit 10 from FIG. 10a in an enlarged view.

FIG. 12a shows the suction unit from FIG. 11a with a suction bell 6 which has a plurality of separating elements 1601 on the inside which, after the suction bell 6 has been installed, adjoin the suction body 16 and delimit wall openings 160; FIG. FIG. 12b shows the assembled suction unit 10 from FIG. 12a; FIG.

13 shows the suction unit 10 from FIG. 10a with a suction bell 6 which can be connected to the mounting plate 168 by a bayonet catch with closure elements 69, 169;

14 shows the suction unit 10 from FIG. 10a with a suction bell 6, which can be connected to the mounting plate 168 by a screw cap with closure elements 69, 169;

15 shows a suction unit 10 according to FIG. 6a, but optionally with a deflection unit 12, in a sectional view with a suction basket 161, which surrounds a receiving channel 1600 that is open at the bottom and which is attached to the suction plate 11 at the top and an annular plate 15, the lower suction channels, at the bottom 115 has, connects; and

16 shows a suction unit 10 according to FIG. 6b, but optionally with a deflection unit 12, in a sectional view with a suction basket 161, which encloses a receiving channel 1600 that is open at the bottom and which is attached to the suction plate 11 at the top and an annular plate 15, the lower suction channels, at the bottom 115, connects, wherein the suction strainer 161 has a plurality of wall openings 160 which can be covered by means of an adjusting sleeve 3.

1 shows a symbolic representation of a suction device 1 according to the invention with suction units 10 according to the invention, which can be moved by means of a drive device 5 in order to pick up objects which are provided by a cutting device 9. The suction units 10 are preferably supplied with a flow of a gaseous medium by a fan 95 or a pump. The cutting device 9 comprises a plurality of blades 91 which are connected to ultrasonic transducers 92 and held by a blade holder 93 to which actuators 99, which are articulated to a frame 90, are coupled, by means of which the blades 91 can execute movements within a working volume in order to be able to move from a process material to separate an object unit, which can be captured, transported and released again by means of the suction units 10. The suction device 1 and the cutting device 9 or the work processes of these devices are controlled synchronously by a control unit 8. The fan 95 or the pump 95, for example a piston pump, is preferably also controlled by means of the control device 8.

2a shows part of the cutting device 9 from FIG. 1 as well as a suction device 1 according to the invention with suction units 10, by means of which separated disc-shaped objects P can be grasped and transported to a delivery location. The blades 91 are connected to the ultrasonic transducers 92 by curved coupling elements 922, to which alternating voltages with frequencies in the ultrasonic range can be fed via connecting lines 921. The blade holder 93 comprises mounting devices 931, by means of which the ultrasonic transducers 92 can be mounted by screws.

Process goods PO, for example bread, which are cut into slices or product units or objects P, are fed on a conveyor belt 99. The objects P are grasped and held by the suction device 1 or suction units 10 of the suction device 1 and can be conveyed or moved from the pick-up location to a delivery location. For this purpose, the suction device 1 comprises a tubular drive device 5 which is rotatably held by a mounting ring 51. The picked-up objects P can therefore be rotated from the shown pick-up position, e.g. by 90 ° downwards into a delivery position. At the delivery point, several objects P are typically stacked and conveyed on by means of a conveyor belt.

2b shows a suction device 1 according to the invention with several suction units 10 arranged in a distribution device 2, to which compressed air can be supplied via at least one valve 72, which can be controlled by a control unit 8 via a control line 87 shown symbolically. The compressed air supplied via supply lines 71 is distributed to all suction units 10 via the distribution device 2, which has a distribution channel. A drive device 5 is symbolized by arrows, to which a control signal 81 can be fed from the control unit 8 in order to actuate the drive device 5 or to move the suction units 10 along any path and, if necessary, to rotate them.

The control unit 8 can control the entire work process, the conveyor belt 99, the cutting device 9 with control signals 89, the suction device 1 with control signals 81, valves 72 with control signals 87 and a conveyor device 900 (see FIG. 7b), which transports away the conveyed or stacked objects P, control with control signals 86. Fig. 2c shows one of the suction units 10, which is inserted into the distribution device 2, in an enlarged view. It can be seen that, in this preferred embodiment, a plurality of shaped elements 113 are provided on the underside of the distribution device 2 which engage in the object P and can prevent lateral displacement. The recorded objects P are therefore held securely even in the event of greater accelerations. The suction units 10, which are preferably designed as rotational bodies, have a suction plate 11 and, in this preferred embodiment, a deflection unit 12.

FIG. 2d shows the deflection unit 12 from FIG. 2c, which is designed as a mushroom-shaped body of revolution and has a deflection head 121 and a pin-shaped mounting element 122 adjoining the deflection head 121. On the side facing the suction plate 11, the deflecting head 121 has a circumferential, groove-shaped depression 120, which preferably extends in a rounded manner towards the edge of the deflecting head 121. In a section through the axis of rotation, the deflection unit thus has at least approximately an anchor-shaped cross section.

FIG. 2f shows a deflection unit 12 with a deflection head 121, the underside of which is concave in order to be able to partially pick up an object P, for example a nut according to FIG. 6c, and to hold it centered.

2g shows a deflection unit 12 with a deflection head 121, the top side of which is straight and is provided with radially extending depressions 120.

2h shows a deflection unit 12 with a deflection head 121, the top side of which is straight. By appropriately designing the deflecting unit 12 and the deflecting chamber 115, the circular, outwardly extending deflecting channel 110 can be adapted to the respective requirements.

FIG. 2e shows a section through the at least approximately cuboid distribution device 2 from FIG. 2a, which has a distribution channel 20 and numerous receiving chambers 21. The distribution channel 20 is separated from the receiving chambers 21 by a partition plate 22, but has a chamber opening 210 for each of the receiving chambers 21. Compressed air can therefore be fed through the distribution channel 20 and the chamber openings 210 to the suction units 10 in the receiving chambers 21. The suction units 10 can in a simple manner in the receiving chambers 21, closely adjoining the Chamber openings 210 are used. A sealing ring 24 is provided on the upper side of the suction units, which seals tightly to the edge of the chamber opening 210 and ensures that the compressed air can only escape via the suction unit 10. The suction units 10 have a suction body 16 which is enclosed by an annular groove 166. An inserted suction unit 10 can be fixed in a simple manner by means of a fork-shaped clamp 25, which is inserted through adapted openings into the receiving chamber 21 in such a way that it engages in the annular groove 166 of the inserted suction unit 10 and thereby holds it. Suction units 10 can therefore be loosened and removed with a handle and reinserted, for example, after maintenance work. On the underside of the distribution device 2, a bar 29 is mounted, which has through openings 290 for the suction units 10 and form elements 113 which penetrate the surface of objects P sucked in can intervene and fix them.

The suction device 1 according to the invention can therefore be manufactured, assembled and also serviced in a simple manner.

3a shows a suction unit 10 according to the invention in a preferred embodiment with a suction body 16 which holds a suction plate 11 in which three suction channels 111 which are radially aligned and displaced by 120 ° relative to one another are provided.

FIG. 3b shows the suction unit 10 from FIG. 3a, designed as a rotary body, in a sectional illustration. The suction plate 11 is connected in one piece to the suction body 16, for example made of a plastic, and is slightly separated from it by a circumferential annular groove 166.

The suction body 16 has an inlet channel 130 coaxial to the axis of rotation, from which several inlet channels 13 branch off. From below, a deflection unit 12, as shown in Fig. 2d, with the mounting element 122 is inserted into the inlet channel 130, so that this is closed on the front side and the gaseous medium or compressed air only through the outwardly running inlet channels 13 to the front side of the suction plate 11 can reach.

As is also shown in FIG. 4, the suction plate 11 has a preferably cylindrical depression which serves as a deflection chamber 115. The outlet openings of the inlet channels 13 are arranged within the deflection chamber 115 behind the deflection head 121 of the deflection unit 12, so that the inflowing medium to the rear of the deflection head 121 and from this can be introduced into a deflection channel 110, which is delimited on the one hand by the front side of the suction plate 11 and on the other hand by the rear side of the deflection head 121, if the deflection unit 12 has been used. If no deflection unit 12 is used, the deflection channel 110 is limited by the sucked-in object. The gaseous medium is guided radially outward through the deflection channel 110 so that it can flow out on the one hand through the three suction channels 111 and on the other hand between the suction plate 11 and a sucked-in object unit (not shown) and cause a corresponding negative pressure.

The suction channels 111 are radially running depressions within the suction plate 11 and run from the deflection chamber 115 preferably to the outer edge of the suction plate 11. After an object unit P has been sucked in, it is therefore always ensured that the medium can escape through the suction channel 111, which is preferably open on the outlet side the desired suction along the suction channels 111 is always guaranteed regardless of the nature of the object unit P sucked in.

A plurality of evenly distributed suction channels 111 are preferably provided. The arrangement of three evenly distributed suction channels 111, which for example run radially outwards and are offset from one another by 120 °, is particularly advantageous.

A plurality of evenly distributed inlet channels 13 are preferably provided. Six evenly distributed inlet channels 13 are particularly advantageously provided, which run inclined outwards and are offset from one another by 60 °. In this embodiment, the inlet channels 13 define a pyramid with a corresponding number of edges.

FIG. 3 b also shows that outlet channels 14 are guided through the suction body 16, the outlet openings 140 of which are arranged within the suction channels 111.

It is shown by way of example that compressed air can be introduced through a first valve 72A into the inlet channel 130 and further into the inlet channels 13 and through second valves 72B into the outlet channels 14. It is shown symbolically that the decentrally arranged valves 72A, 72B can be controlled by the control unit 8 (see FIG. 2b) by means of control signals 87A, 87B. Compressed air can therefore optionally be drawn in through the inlet ducts 13 to suck in an object unit P or into the outlet ducts 14 to suck in at desired time intervals to push off the held object unit P can be passed therethrough. The elements 72A, 72B shown can also be simple connection elements via which compressed air is supplied to the suction unit 10. In this case, valves are provided centrally, which enables easier electrical wiring of the control lines 87A, 87B.

By introducing compressed air through the outlet channels 14 directly into the suction channels 111, a pressure can be built up there quickly over a relatively large area, by means of which the held object unit P is pushed off.

FIG. 3c shows the suction unit 10 from FIG. 3a in a sectional illustration with three additional deflection units 12A, 12B and 12C which are arranged concentrically to the central deflection unit 12 according to FIG. 3a. An inlet channel 130, inlet channels 13 and a deflection chamber 115 are also assigned to each of the additional deflection units 12A, 12B, 12C. Suction channels 11 can in turn connect to the deflection chamber 115. In the embodiment shown, however, the deflection units 12A, 12B, 12C are not assigned any suction channels 111 directly. The gaseous medium is therefore passed by the deflection units 12A, 12B, 12C over the surface of the suction plate 11, thereby avoiding direct contact with the sucked object. The central deflection unit 12 and its suction channels 111 thus ensure that the object is safely sucked in, while the further deflection units 12A, 12B, 12C also develop a suction effect and additionally prevent contact with the suction plate 11. In this way, a media film can be used to separate the object from the object with good suction.

FIG. 3d shows part of the suction unit 10 from FIG. 3c in a sectional illustration. It is shown that the media flow can enter the deflection chamber 115 via the inlet channel 130 and the inlet channels 13 and is guided radially outward there in the annular deflection channel 110. From the deflection chamber 115, the media flow can enter the suction channels 111 in a laminar manner via a preferably rounded surface.

4 shows a suction unit 10 which is preferably configured and which can optionally be equipped with a deflection unit 12.

The suction body 16 of the suction unit 10 of FIG. 3 b is provided with outlet channels 14 and outlet openings 140, which are located between the suction channels 111. The arrangement of the outlet openings 140 is also possible within and outside the suction channels 111. The course of the media flows controlled by valves 72A, 72B is shown symbolically.

The cross-sectional profile of the suction channels 111 is clearly visible in this illustration. At the channel entrance adjacent to the deflection chamber 115, the channel cross-section has a minimum size which increases by a factor of 5 to 10 up to the channel exit. Such a course makes it possible to increase the diameter of the suction plate 11 and to still hold larger, possibly heavier objects P safely. The dimensioning of the suction channels 111 with the course of the depth and width can be adapted to the nature of the objects P if necessary. The cross-sectional shape can be constant or increase or decrease radially outwards. It is shown in dash-dotted lines that the bottom 1110, 1110 * of the suction channels 111 can be lowered to the level of the bottom of the deflection chamber 115, so that the height of the deflection chamber 115 corresponds approximately to the depth of the suction channels 111. In this case, the transition from the deflection chamber 115 to the suction channels 111 takes place continuously and the gaseous medium can flow away unhindered.

In this preferred embodiment, the absorbent body 16 has a central bore which is divided into two completely separate parts 130A, 130B by an intermediate wall 130C. In the upper part 130A of the central bore, from which six inlet channels 13 branch off, compressed air can be introduced via a schematically shown valve 72A. The lower part 130B of the central bore forms a mounting opening 130B into which the mounting element 122 of the deflection unit 12 can be inserted.

The lower part 130B can also be completely filled, so that no deflection unit 12 can be used. Alternatively, a pin can also be releasably inserted into the assembly opening 130B. If no deflection unit 12 is used, the depth of the suction channels 111 is preferably increased.

The function of the outlet channels 14, which are only provided as an option, was explained with reference to FIG. 3b.

Fig. 5a shows the suction unit 10 of Fig. 3a with a lamellar elastic suction plate 11. The diameter of the suction body 16 has been reduced and is only slightly larger than the diameter of the receiving chamber 115. The suction plate 11 therefore consists peripherally of a thin annular lamella, which deform under the action of the suction force and to a held object unit P can adjust. For this purpose, the suction plate 11, which is preferably connected in one piece with the suction body 16, is made of an elastic material. The suction plate 11 can also be a thin metal plate into which the suction channels 111 are molded or embossed. A suction plate of this type can connect to a centrally arranged sleeve which is connected to the suction body 16, for example glued, screwed or pressed.

FIG. 5b shows the suction unit 10 from FIG. 5a in a sectional illustration.

5c shows a sectional illustration of a suction unit 10, which is preferably configured, with a lamellar suction plate 11, which has suction channels 111 with a constant channel cross-section.

The channel cross-section of the suction channels 111 according to the invention suction units 10 can therefore be constant or change, as has been described above. The cross-section at the outlet and at the inlet of the suction channels 111, which have a constant or changing channel cross-section, can be specially selected. The channel cross section facing the deflection chamber 115 can be very small. The channel cross-section at the outer end of the suction channels 111 can be unchanged or reduced. It is possible that the gaseous medium is displaced from the suction channel near the edge of the suction plate and has to escape in a thin film of media between the suction plate and the object unit being held. In this way, fluttering or detachment of the periphery of the object unit from the suction plate can be avoided. Such a configuration with peripherally closed suction channels 111 is preferably provided for objects which have a very low inherent stability and are to be secured peripherally.

5c also shows that the underside of the deflection head 121 of the deflection unit 12 and the front side of the suction plate 11 are aligned at least approximately in one plane. In this way, a sucked-in object unit P is supported in a plane so that it cannot be deformed. If desired, the deflection unit 12 can also be displaced inwards, so that it deviates, for example, by a fraction of a millimeter from the plane defined by the front side of the suction plate 11.

It is also shown schematically that the mounting element 122 of the deflection unit 12 has a shape which serves to lock the mounting element 122 in the central bore 130. The formation is preferably annular and encloses the mounting element 122 with a thickness, for example in the range of 1/10 mm - 1/100 mm. A plurality of such sealing rings can also be provided, by means of which the mounting element 122 is locked in the inlet channel 130.

6a shows a suction unit 10 in a sectional illustration with a suction plate 11, to which a suction basket 161 connects, which surrounds a receiving channel 1600 that is open at the bottom. The suction unit comprises a suction body 16, which can be mounted in a device according to FIG. 2e, and the twelve inlet ducts 13 connected to an inlet duct 130, which are directed outwards into the edge region of the receiving duct 1600 against the inside of the suction cup 161. The gaseous medium flowing in through the inlet channels 13, which are preferably at the same angular distances adjacent to one another, is therefore blown against the inner wall of the suction strainer 161 and there forms a thin, hollow cylindrical film which flows downward at a high flow rate. A negative pressure is thus created in the flow zone, through which an object can be sucked in. It should be noted that the object itself also shifts the flow outwards and further reduces the flow cross-section, which is why the flow velocity and the negative pressure within the suction cup 161 also increase. In this preferred embodiment, a centering device 4 is also provided, by means of which the sucked object is kept centered.

Since a fast-flowing media film on the inside of the suction cup 161 inevitably forms a thin, fast-flowing media film, a deflection unit 12 is optionally dispensed with in the embodiment of FIG. 6a. The suction plate 11 is therefore tightly closed in the middle and only has openings for the inlet channels 13.

FIG. 6b shows a suction unit 10, preferably according to FIG. 3a, with a suction plate 11, to which a suction basket 161 connects, which surrounds an outwardly open receiving channel 1600 and in this embodiment is provided with wall openings 160 on the side. The suction cup 161 is integrally connected to the suction body 16, which in turn has a suction plate 11 and a deflection unit 12 on the front. The dimensions of the suction cup 161 are preferably adapted to the objects P. For example, the suction cup 161 is designed as a hollow cylinder and, if necessary, has a conically shaped periphery, so that objects P can be detected more easily. Of the In contrast, suction strainer 161 can also have an oval, rectangular or polygonal cross section.

The basket openings 160 can preferably be closed by means of a closure element 3, as is shown by way of example for the suction unit 10 according to FIG. 16.

With the suction units 10 of FIGS. 6a and 6b, which are provided with the suction cup 161, objects P which do not have flat surfaces can be grasped and securely held. For example, nuts, e.g. hazelnuts, can be captured and held. The height of the suction cup 161 is dimensioned according to the size of the objects P or a fraction thereof. Preferably, several rows of superimposed wall openings 160 are provided through which the media flow can escape laterally.

Suction units 10, as described above, are preferably provided with a suction basket 161. However, it is also possible to provide conventional suction units, which have a suction body 16 with at least one inlet channel 13, a suction plate 11 fixedly or detachably connected to the suction body 16, and a deflection unit 12, with a suction basket 161.

It should also be noted that the suction cup 161 of the suction unit 10 of FIG. 6a does not have any wall openings. In this embodiment, it must therefore be ensured that when the object is picked up, there is no flow break that would cancel the suction effect. This is ensured in particular by the type of objects sucked in and by the centering device 4.

The suction cup 161 of the suction unit 10 of FIG. 6b, on the other hand, has wall openings 160 at different heights. The wall openings 160 ensure that no flow separation occurs when an object is sucked into the suction strainer 161. When the object P enters, the wall openings 160 of different heights are closed sequentially until only the uppermost wall openings 160 are exposed. This ensures that the media film runs as far down as possible and that an optimal suction effect is achieved as far below as possible. It is also possible to keep only the three uppermost wall openings 160 or wall slots 160 open, but the course of the media film changes.

FIG. 6c shows a suction unit 10, for example according to FIG. 3a, which is provided with a centering device 4 which is connected to the deflection unit 12 is connected and which allows a sucked irregular, for example round object unit P to be guided against the central axis x of the suction unit 10 or the deflection unit 12 and to keep it centered.

The suction unit 10 in turn comprises a deflection unit 12 by which the centering device 4 is held. Centering devices 4 are preferably funnel-shaped so that objects picked up are automatically guided upwards to the funnel axis x. Open or air-permeable centering devices 4 are used so that the air circulation is not interrupted.

The centering device 4 shown comprises three centering elements 41 aligned along a cone, which at one end form the cone tip held by the deflection unit 12 and which are connected to one another on the other side by a receiving ring 42. An object unit P, for example a nut, can be pre-centered by means of the receiving ring 42, so that it can subsequently be sucked and centered more easily along the centering elements 41 against the deflection unit 12. The centering device 4 has the effect that the object P is held centrally and the gaseous medium can flow over it in the manner of an umbrella. The suction force can therefore develop evenly, so that the object can be held securely.

6d shows a suction unit 11 with a suction basket 161, which has no side wall openings and which surrounds a receiving channel 1600, and with an optionally provided centering device 4 according to FIG. 6c. The suction strainer 161 ensures that the gaseous medium can flow downwards or outwards in a laminar manner along its cylindrical inner wall, whereby a uniform cylindrical media flow is forcibly created and a negative pressure results in the center of the receiving channel 1600, which ensures the safe suction of even unfavorably shaped objects P guaranteed.

The centering device 4 in turn ensures that the object P is centered and does not come into contact with the media film. Without the centering device 4, the objects P would also be sucked in advantageously, and the reliable detection of the objects P could take a little longer.

FIG. 6e shows the suction unit 10 from FIG. 6d with a more simply configured centering device 4, the three evenly rod-shaped centering elements 41 which are spaced apart and aligned along a conical surface and which are held by the deflecting element 12. A receiving ring 42 has been dispensed with. The centering elements 41 are aligned straight. In preferred embodiments, on the other hand, the centering elements are slightly bent outwards so that they can reliably detect objects P in a wider environment.

Fig. 6f shows the suction unit 10 of Fig. 6d with a centering device 4, which has three evenly spaced wire-like or rope-like centering elements 41 aligned along a conical surface, which are held on the one hand by the deflecting element 12 and on the other hand by the exit-side edge of the suction head 161. The centering elements 41 are anchored at one end in the deflection element 12 or in the deflection head 121 and are provided on the other side with a mounting ball 46, which are anchored in a mounting opening 1680 on the output side in the edge of the suction cup 161.

FIG. 6g shows the suction unit from FIG. 6f with a mounting element 1211 on the deflection head 121 of the deflection unit 12, to which the centering elements 41 are attached.

FIG. 6h shows the suction unit 10 from FIG. 6d with a lattice-shaped centering device 4, which has lattice bars or lattice ropes as centering elements 41, which are anchored in the suction basket 161 with assembly balls 46. In this embodiment, the hollow cylindrical media flow is shown, which runs downwards in the receiving channel 1600 along the cylindrical basket wall and creates a negative pressure in the area of its central axis, along which an object unit P, e.g. a nut, is guided against the centering device 4.

6i shows the suction unit 10 from FIG. 6d with a centering device 4, which has three equally spaced centering elements 41 aligned along a conical surface, which are held by the exit-side edge of the suction cup 161 and have their ends inclined towards the central axis x. The centering elements 41 in turn form an open funnel, which ensures that the objects P picked up are not guided against the inner wall of the suction cup 161 and ejected again.

FIG. 6j shows the suction unit 10 from FIG. 6d equipped with a retaining flange 1615 which has a flange ring 44 with a Centering device 4, which comprises a sheet-shaped holding element 4100. With this centering device 4, lighter and less dimensionally stable objects can advantageously be held. The use of a shorter suction strainer 161 is also possible. The flange connection can also be used in the embodiment of FIG. 6i.

Fig. 6k shows a sectional view of a preferably modularly constructed suction unit 10 with several suction units 10 according to one of Figures 6a to 6j, which are each provided with a deflection unit 12, 12A, 12B, 12C and a suction head 161, 161A, 161B, 161C. In each suction head 161, 161A, 161B, 161C there is preferably a centering device 4 with centering elements 41; 42 is provided, which can be designed in any way in order to optimally capture and center objects P.

The suction unit 10 allows several objects P to be grasped and released again at the same time. Often objects P should be picked up in a certain grid and / or delivered again, possibly to an intermediate product or to packaging. Since intermediate products and packaging often change, it is preferably provided according to the invention that suction units 10 according to the invention have a modular structure and can be assembled as desired. For example, it is provided that absorbent body modules 100 are provided, which are connected to one another in a form-fitting, non-positive manner, or otherwise, and possibly screwed together. If necessary, absorbent body modules 100 are provided with one or more deflection units 12 and suction plates 11, which can be put together in the manner of LEGO® modules. In this way, e.g. the suction head of a robot can be adapted as required to intermediate products and packaging. For example, a suction head is put together with suction units that allow it to be grasped in a grid and inserted into the chocolate provided. For example, the suction unit 10 is designed in such a way that a chocolate can be filled with several nuts in one operation in the manufacturing process.

FIG. 61 shows a suction unit 10 according to FIG. 6b in a sectional view with a suction plate 11, into which a deflection unit 12 or just a sealing pin 122 is to be inserted and to which a suction basket 161 is attached. The suction cup 161 optionally has one or more wall openings 160 and encloses a downwardly open receiving channel 1600, which is suitable for receiving objects Has indentations 1611, 1612. It is shown by way of example that rectangular objects can be received in the recesses 1611, 1612. For example, an object is first received in the upper indentation 1612 and then an object in the lower indentation 1611. If the receiving channel 1600 is closed by one of the objects, the media flow can flow out through the wall openings 160, whereby the suction pressure is maintained. The number and configuration of the indentations 1611, 1612 can be selected as desired.

The suction units 10 or assemblies of suction units 10 described above are preferably provided with suction channels 111. In particular in the case of suction units 10 or assemblies of suction units 10 which are provided with suction baskets 161, the suction channels 111 mentioned can also be dispensed with.

The features of the various configurations of the suction units 10 can therefore be combined as desired. The suction units 10 according to FIGS. 6a-61 can thus advantageously be implemented with or without suction channels 111. It should be noted that in these configurations the suction plate 11 is normally separated from the objects P by the centering device 4 used in each case.

The optionally provided centering devices 4 can be made entirely or partially from metal or plastic. The parts can be made strong or elastic, whereby, for example, by shaping it must be ensured that objects P do not jam in the centering device 4 and can be released again without problems.

7a shows a suction device 1 with two suction wheels 1A, 1B, which are peripherally equipped with suction units 10 according to one of FIGS. 6a to 6k and from which objects P are picked up at a pick-up location and delivered to a conveying device 900 at a delivery location. The first suction wheel 1A picks up objects P, for example nuts, from a container B and conveys them to a transfer point where they are transferred to the second suction wheel 1B, which transports the object unit P taken over to the delivery location and there to the conveyor device 900 gives. The compressed air supply to each suction unit 10 is preferably individually controllable through a plurality of suction channels 200A, 200B, so that an object unit P can be picked up with a suction unit 10 and an object unit P can be dispensed from another suction unit 10 at the same time. Two pressure lines can also be fed to each suction unit, the first of which is connected to inlet channels 13 and the second to outlet channels 14. At the transfer point HO, a suction unit 10 of the first suction wheel 1A, the object unit P of which is being ejected, and a suction unit 10 of the second suction wheel 1B, which draws in the object P, lie opposite one another.

The drive devices 5A, 5B of the suction wheels 1A, 1B and the valves 72 of the suction channels 200A, 200B are controlled by the control unit 8 by means of control signals 81A, 81B; 87A, 87B. The conveying device 900 is controlled by control signals 86 in synchronism with the suction wheels 1A, 1B.

For the synchronous control of the device units 1A, 1B, or for checking the position and quality of objects P held by transparent suction units 10, the control unit 8 preferably processes sensor signals S which are emitted by sensors SM, typically optical sensors or cameras.

FIG. 7b shows part of the suction device 1 from FIG. 7a with the second suction wheel 1B, from which objects P are delivered to transport units 961 of the conveying device 900 at a delivery position. The transport units 61 are mounted on mounting plates 962 which are conveyed by a chain 963. The mounting plates have been removed from the front. The transport units 961 are designed in two parts and can be opened and closed. On the right in FIG. 7b, a channel is shown into which the transport units 961 are inserted and closed. So that the transported objects P are delivered correctly in terms of time and do not remain briefly in the suction unit 10 or in its suction basket 161, an air pulse is preferably introduced into the output channels 14 at the delivery location, as is shown symbolically.

1 further shows that the suction units 10, as described above with reference to the drawings, are supplied with compressed air from a media pressure device 95, a blower or a pump via at least one line 950. All suction devices 1 and suction units 10 according to the invention can advantageously be operated with a fan 95 which has a propeller. It has been shown here that a reduction in the diameter of the inlet channel 130 and / or the adjoining inlet channels 13 can paradoxically increase the suction power or suction force of the suction units 10. Using a Blower device instead of a pump, the costs of the suction device 1 are significantly reduced. If necessary, two or more fans can be connected in series to increase the pressure.

Suction units according to the invention with an adapted inlet channel can already be operated with a medium pressure in the range of 1 bar. The use of expensive piston pumps can thus be dispensed with.

To select the optimal suction power of one of the suction units 10 described above in connection with a connected fan 95 or an assembly of fan devices, the diameter of the inlet channel 130 and / or the adjoining inlet channels 13 is changed until objects P with maximum weight can be detected. A blower 95 can be used particularly advantageously in connection with suction units 95, as shown in FIGS. 6a-6j. By optimizing the inlet channel 130 and / or the adjoining inlet channels 13, it can be ensured that the air flow along the suction plate 11 and along the inner wall flows in a laminar manner and a correspondingly high negative pressure results. In preferred embodiments it is provided that there is a transition running along a curve, possibly along a circular line, between the suction plate and the inner wall of the suction cup.

8a shows, in an exploded view, a suction unit 10 with the suction body 16, a mounting plate 168 and a suction bell 6, to which a suction basket 161 is attached. In this embodiment, the suction body 16 can be connected to a mounting plate 168 by means of screws or bolts 167. The mounting plate 168 has a transfer channel 1683 into which a connector 165 formed on the suction body 16 and adjoining the mounting channel 130 can be inserted. The mounting plate 168 also has an outlet opening 1680.

The suction bell 6, which can also be connected to the mounting plate 168 by screws or bolts 167, has a bell space 600 into which the suction body 16 can be inserted. The suction cup 161, which surrounds the suction channel 1600, connects to the underside of the suction bell 6. The suction cup 161 can therefore be connected or connectable in one piece with the suction body 16 or with the suction bell 6.

FIG. 8 b shows a suction device 1 with the assembled suction unit 10 from FIG. 8 a with the suction body 16 which is inserted into the mounting plate 168 is inserted and the suction bell 6, which surrounds the suction body 16 separately by a return channel 60 and which is connected to the mounting plate 168. The suction body 16 is only connected to the mounting plate 168 and protrudes into the bell space 600 in such a way that the suction plate 11 is only separated from the suction cup 161 by an annular slot 1616 and that between the inner wall of the suction cup 6 and the suction body 16 only the dimensioned as desired Return channel 60 is kept free, which surrounds the absorbent body 16 in a ring.

A medium L can therefore be circulated through the suction unit 10 from an air pressure device or media pressure device 95, which medium L generates a negative pressure in the suction cup 161. The medium L released by the media pressure device 95 runs through the inlet channel 130 and the inlet channels 13 of the suction body 16 to the deflection head 12 and is there through the deflection channel 110 (see Fig. 3d), via the suction plate 11, through the annular slot 1616, the return channel 60 and the at least one outlet opening 1680 led back to the media pressure device 95. In a filter F, which is provided within the circulation circuit, preferably in the fan 95, dirt particles can be removed from the media flow.

Because of the circulation of the medium, only little energy and hardly any external medium Lx have to be supplied to the medium pressure device 95. The suction device 1 and the suction unit 10 work with maximum efficiency. At the same time, the medium L is not led to the outside, as a result of which undesirable effects on the work process and process materials are avoided. The suction bell 6 also encloses the suction unit 10, which is why foreign materials can hardly penetrate into the suction unit 10; this in particular when the channel opening 1610 is adapted to the objects P to be sucked in.

The suction device 1 is shown schematically and can be designed as a tool that is moved manually, by a robot or by a further drive device.

FIG. 9 a shows the suction unit 10 from FIG. 8 a with the suction body 16, which in this embodiment is connected in one piece to the suction bell 6 by the suction basket 161. The suction basket 161 is provided between the suction body 16 and the wall of the suction bell 6 with slot-shaped wall openings 160 through which the gaseous medium is guided back through the return channel 60 to the outlet opening 1680.

Fig. 9b shows the assembled suction unit 10 of Fig. 9a. As a result of the one-piece production of the suction body 16 and the suction bell 6, the suction unit 10 can be produced more cost-effectively and more precisely.

FIG. 10 a shows the suction unit 10 from FIG. 8 a with the suction body 16, which is connected in one piece to the mounting plate 168. Fig. 10b shows the assembled suction unit 10 of Fig. 10a. Due to the one-piece production of the suction body 16 and the mounting plate 168, the suction unit 10 can be manufactured inexpensively and precisely.

11a shows the suction unit from FIG. 10a with a suction bell 6 which has a conically shaped suction basket 161 with a small channel opening 1610 for grasping small objects. The suction cup 161 can thus be shaped as desired and advantageously adapted to the work environment. The suction cup 161 can also taper disproportionately or concavely downwards. The suction cup 161 can be rotationally symmetrical or, for example, also approximately elliptical in cross section.

FIG. 11 b shows a suction device 1 with the suction unit from FIG. 11 a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object P. FIG. As a result of this adaptation, objects P can be reliably detected with a high suction pressure without further particles being sucked in from the work area. The adapted channel opening 1610 is closed by the sucked-in object. The high efficiency of the suction units makes it possible to use a cost-efficient and energy-efficient fan 95 which drives the medium through the suction unit 10. The suction device 1, designed as a hand tool, can be used, for example, for surgical purposes in order to manipulate tissue or surgical tools.

11c shows the channel opening 1610 in an enlarged illustration.

FIG. 12 a shows the suction unit from FIG. 10 a with a suction bell 6 which has a plurality of separating elements 1601 on the inside which, after the suction bell 6 has been installed, adjoin the suction body 16 and delimit wall openings 160. Fig. 12b shows the assembled suction unit 10 of Fig. 12a. In this embodiment, suction bells 6 with wall openings 160 dimensioned as desired can be produced in a simple manner. The partition elements 1601 can be made wide to narrow Wall openings 160 to delimit, or can be made narrow in order to delimit wide wall openings 160.

FIG. 13 shows the suction unit 10 from FIG. 10 a with a suction bell 6, which can be connected to the mounting plate 168 by a bayonet lock with corresponding locking elements 69, 169. FIG. 14 shows the suction unit 10 from FIG. 10 a with a suction bell 6, which can be connected to the mounting plate 168 by means of a screw closure with corresponding closure elements or threaded elements 69, 169. These suction units 10 can easily be assembled and opened again in order to carry out maintenance work.

FIG. 15 shows a suction unit 10 according to FIG. 6a, but optionally with a deflection unit 12, in a sectional view with a suction basket 161, which surrounds a receiving channel 1600 that is open at the bottom and which is attached to the suction plate 11 at the top and an annular plate 15, the lower one, at the bottom Has suction channels 151, connects.

FIG. 16 shows a suction unit 10 according to FIG. 6b, optionally with a deflection unit 12, in a sectional view with a suction basket 161, which encloses a receiving channel 1600 that is open at the bottom and which is attached to the suction plate 11 at the top and to an annular plate 15 at the bottom Has suction channels 151, connects. The suction cup 161 has wall openings 160 which can be completely or partially covered by means of a closure element 3, preferably an adjusting sleeve 3. The adjustment sleeve 3, which surrounds the suction body 16, preferably has an internal thread which corresponds to an external thread on the outside of the suction body 16. The threaded sleeve can therefore simply be rotated in order to close the wall openings 160 if necessary. The suction unit 10 can therefore, if necessary, be adapted to the objects to be picked up.

All suction units that are provided with a suction basket can thus be provided with a deflection unit 12 or not. If no deflection unit 12 is provided, the inlet channel 130, via which the gaseous medium is distributed to the inlet channels 13, is closed below the distribution point. The suction body 16 can close the inlet channel 130 in one piece. Alternatively, the inlet channel or assembly channel 130 can optionally be closed by a pin if no deflection unit is assembled. The ring plate 15 of the suction units 10 of FIGS. 15 and 16, which connects to the channel opening 1610 of the suction basket 161, allows objects to be picked up in the suction basket 161 in a controlled manner or to the edge or the duct opening 1610 of the suction basket 161. When lowering the suction units 10 on an object, this is held centered by means of the ring plate 15 or the radial flow of the medium along the underside of the ring plate 15 and can be raised vertically in a controlled manner. The lower suction channels 151 in turn ensure a constant flow of media when an object is contacted and sucked in. The suction channels 115 in turn have a cross-section or a cross-sectional profile that is adapted to the objects to be picked up. A centering device 4, for example with four threads or wires, by means of which the object can be kept centered, is optionally provided within the receiving channel 1600.

Claims

1. Suction unit (10), suitable for sucking an object (P) after

Bernoulli principle, comprising an absorbent body (16) with an adjoining suction plate (11) which has a front side facing away from the absorbent body (16), and with at least one inlet channel (13) through which a gaseous medium flows through the absorbent body (16) to the front side of the suction plate (11) can be introduced into a deflection channel (110) which on the one hand goes through the front side of the suction plate (11) and on the other hand through a deflection head (121) of a deflection unit (12) or on the one hand through the front side of the suction plate (11) and on the other hand when the object (P) is sucked in by the object (P), and through which the gaseous medium can be guided to the outside, characterized in that the suction plate (11) has a deflection chamber (115) in the middle to which on the one hand the at least one inlet channel (13) and on the other hand a plurality of suction channels (111) sunk into the suction plate (11), which run towards the edge of the suction plate (11).

2. suction unit (10) according to claim 1, characterized in that the channel cross-section of at least one of the suction channels (111), preferably with a constant width of the suction channels (111), increases from the inside to the outside by a factor, which is preferably in the range of 1.5 - 10 or that the channel cross-section at least one of the

Suction channels (111) is at least approximately constant at least between the channel ends of the suction channels (111) and that the suction channels (111) are peripherally opened or closed after coupling an object unit (P).

3. suction unit (10) according to claim 1 or 2, characterized in that only one with a deflection head (121) equipped deflection chamber (115) or the plurality of deflection chambers (115), of which at least one is assigned a deflection head (121), and several suction channels (111) are provided, wherein the suction channels (111) are assigned to one of the deflection chambers (115) or individually several of the deflection chambers (115) and are sunk straight or along a curve into the suction plate (11).

4. suction unit (10) according to claim 1, 2 or 3, characterized in that the absorbent body (16) in one piece or several absorbent body modules (100) has a comprehensive modular structure and that each deflection chamber (115) is assigned several inlet channels (13) which are arranged at regular or irregular distances from one another and which run inside the suction body (16) inclined outwards towards the suction plate (11) .

5. suction unit (10) according to any one of claims 1-4, characterized in that one or more outlet channels (14) run through the suction body (16) to outlet openings (140) which are distributed within the suction channels (111), outside the suction channels (111) or inside and outside of the suction channels (111) are arranged, preferably regularly distributed, through which a gaseous medium can be guided in the direction of the suction plate (11).

6. suction unit (10) according to any one of claims 1-5, characterized in that at least the edge of the suction plate (11) made of an elastic material is lamellar and flexible and / or that at least one of the parts of the suction unit (10), how the suction body (16), the suction plate (11), the suction basket (161), the suction bell (6), the deflection unit (12) and the mounting plate (168) are made of a transparent material such as acrylic.

7. suction unit (10) according to one of claims 1-6, characterized in that the suction body (16) is connected to a suction basket (161), the inside of which connects to the suction plate (111) or the inside of which is connected to the suction plate (111) is spaced apart, wherein the suction cup (161) encloses a receiving channel (1600) which has a channel opening (1610) which is dimensioned such that isolated objects (P) in the receiving channel (1600) or in

Indentations (1611, 1612) on the underside of the suction cup (161) can be introduced.

8. suction unit (10) according to claim 7, characterized in that the

Suction body (16) is connected to a suction bell (6) which the

The suction body (16) is surrounded by a return channel (60), which return channel (60) opens into the suction cup (161) provided with the suction cup (6) on one side and into at least one outlet opening (1680) on the other side, which opens into the wall of the suction bell (6) or in a mounting plate (168) which is connected to the suction bell (6) and the suction body (16).

9. suction unit (10) according to claim 7 or 8, characterized in that the suction basket (161) is provided with at least one wall opening (160) which is always open or can be completely or partially closed by a closure element (3), such as a threaded sleeve is.

10. suction unit (10) according to any one of claims 1-9, characterized in that the channel opening (1610) of the suction cup (161) is enclosed by a perpendicular or inclined to the suction cup (161) aligned ring plate (15) which is attached to the from Has suction basket (161) facing away from the bottom suction channels 115, which are sunk into the ring plate (15) and a constant or changing

Have cross-sectional course.

11. suction unit (10) according to any one of claims 1-10, characterized in that a centering device (4) with preferably conically aligned centering elements (41, 410, 42) is provided within the suction cup (161), which with the

Deflection unit (12), the suction body (16) or the suction basket (161) is connected.

12. suction unit (10) according to one of claims 1-11, characterized in that the preferably axially symmetrical deflection head (121) on the side facing the suction plate (11) has a circumferential groove-shaped recess (120), which is preferably rounded towards the edge of the deflection head (121) and / or that the deflection unit (12) has a preferably peg-shaped assembly element (122) adjoining the deflection head (121), which is located in an assembly channel (130B) or an inlet channel (130) from which the inlet channels ( 13) branch off, is held.

13. Suction device (1) with at least one suction unit (10) according to one of claims 1-12 with a media pressure device (95), such as one

Pressure pump or a fan with a propeller, for generating a flow of a gaseous medium, which through the

Suction unit (10) can be passed or passed through and through one

Return channel to the printing device (95) can be returned.

14. Suction device (1) according to claim 13, characterized in that a distribution device (2) is provided, which is designed in the manner of a cuboid, a cylinder or a cylinder segment, and the plurality of preferably evenly distributed Holds suction units (10) to which compressed air can be fed jointly via at least one distribution channel (20) or individually via at least one pressure line (70A, 70B).

15. Suction device (1) according to claim 13 or 14, characterized in that the distribution device (2) receiving chambers (21) which are each open through at least one chamber opening (210) against the distribution channel (20) and in each of which a suction unit ( 10) is arranged, which rests tightly against the edge of the chamber opening (210) by a sealing ring (24) and which is releasably held by a locking element (25) adjacent to the sealing ring (24).