WO2009068016A1

WO2009068016A1 - Device for pneumatically receiving a planar object

Info

Publication number: WO2009068016A1
Application number: PCT/DE2008/001974
Authority: WO
Inventors: Ingo Gebauer; Christian Dörsch; Markus Kochmann
Original assignee: Bremer Werk für Montagesysteme GmbH
Priority date: 2007-11-28
Filing date: 2008-11-25
Publication date: 2009-06-04
Also published as: EP2217516A1; DE102007057225A1; DE102007057225B4

Abstract

The invention relates to a device for pneumatically receiving a planar object, having a suction box (2) in which a negative pressure may be generated and on the suction side of which a contact element (4) is disposed guided in a displaceable fashion along said suction box and penetrated by suction channels (20), said contact element being made of a flexible web-shaped material and accommodated by receiving means (18) disposed on both sides of the suction side of the suction box, wherein a plurality of suction channels is disposed inside established geometric contours, said channels being selectively movable into the region of the suction side by displacing the contact element.

Description

Device for pneumatically picking up a flat object

The invention relates to a device for pneumatically receiving a flat article, with a suction box, in which a negative pressure can be generated and on the suction side of this along a displaceably guided guided by Saugkanälen contact element is arranged, which consists of a flexible sheet-like material and by both sides the suction side of the suction box arranged Aufhahmemittel is added.

Such a device is known for example from DE 697 08 490 T2 for the purpose of Vereinzeins and peeling off the top sheet of a stack of sheets. This device is primarily directed to individually remove a top sheet from a stack.

Such a device could in principle also be used for gripping or picking up and depositing limp materials such as materials or fiber composites. However, it is often important here that the materials are gripped precisely contoured. Namely, if such a limp object is not gripped along its edge region with a vacuum gripper, the outer, non-detected edges hang down, so that it can lead to unwanted overlaps and wrinkles when depositing. If, however, gripped outside the contour of the material, leaks occur, and it can also come to an unintentional gripping lying next to the object actually to be gripped objects, such as waste when removing a cut fabric from a source material web.

This task of accurate contour gripping is achieved according to the invention in a generic device by the measure that within each set of geometric contours, a plurality of suction channels are arranged, which are selectively brought by displacement of the contact element in the suction side. The suction channels can be designed, for example, as perforations in a foil forming the contact element and arranged within a series of different, predetermined geometrical contours which are to be brought into the area of the suction side of the suction box in adaptation to an object to be gripped in each case. Outside the respectively selected and "active" geometrical contour, the contact element is not permeable to air, so that there is no suction effect, if required, several desired contours can be located simultaneously in the region of the suction side in order to be able to grasp several objects at the same time.

It can be provided that the suction side is flat or outwardly concave or convexly curved or angled.

The contact element can be tensioned by the receiving means. This allows, for example, to give the contact element a shape-retaining planar shape, if desired.

The receiving means can be designed as a motor, in particular by means of a stepping motor or a servo drive, drivable winding rollers, which are preferably driven driven by stepper motors.

The contact element may be formed from a plurality of parallel sub-elements, each sub-element may be formed from a rollable Balin-shaped material and wound on independent winding rollers.

In a further embodiment of the invention can be provided that at least one additional contact element is arranged at an angle, in particular 90 ° to the contact element, which may also be formed from a rollable web-like material and wound on independent winding rollers and possibly also from several may be formed parallel sub-elements. The arranged at an angle to each other contact elements and additional contact elements can be next to each other, so completely independent of each other, or arranged completely or partially overlapping each other.

Appropriately, it is provided that adjacent to the contact element saugkastenin- nenseitig a dimensionally stable, preferably fixedly connected to the suction box, air-permeable contact element is arranged, against which the contact element at least partially applied.

The abutment element may be flat or outwardly concave or convexly curved or angled.

Preferably, the contact element is perforated, in particular as a perforated plate, or porous.

At least one suction fan and / or a vacuum connection for connection to an external vacuum source may be arranged on a rear side opposite the suction side of the suction box.

On the suction box may be arranged a mechanical coupling for connection to a positioning and handling device.

Furthermore, it can be provided that a plurality of suction boxes each having associated contact elements are adjacent to each other coupled to a support structure. It can be provided that the suction boxes are connected via actuatable actuators relative to each other movable with the support structure.

Further advantages and features of the invention will become apparent from the following description of exemplary embodiments, reference being made to a drawing in which 1 shows a perspective, exploded view of a first embodiment of the invention,

FIG. 2 shows a top view of the device according to FIG. 1, FIG.

3 to 5 are sectional views taken along lines III-III, IV-IV and V-V in Fig. 2,

FIG. 6 shows a perspective view of the device according to FIG. 1, FIG.

7 shows a view of the device according to FIG. 1 from below and without contact element, FIG.

8 shows a view of the device according to FIG. 1 from below with a first geometric contour of the contact element, FIG.

9 shows a view of the device according to FIG. 1 from below with a second geometric contour of the contact element, FIG.

FIG. 10 shows a view of the device according to FIG. 1 from below with a third geometric contour of the contact element, FIG.

Fig. 11 shows a perspective view of a further embodiment of the invention, and

Fig. 12 shows a side view of the embodiment of Fig. 6. With reference to FIGS. 1 to 7, the suction lifting device 1 according to the invention consists in a first embodiment of a flat suction box 2 and a contact element 4 (FIGS. 3, 6) displaceably guided along its rectangular suction or underside 3 in the form of a sheet-like material. The suction box 2 consists on the suction side of a rigid contact element 6 in the form of a substantially over its entire surface with holes 7 (Fig. 7) perforated plate, which serves as a contact for the flexible contact element 4. Oberbzw, the back of the suction box consists of a rigid sandwich panel element as the rear wall 8, which is connected airtight with four laterally in the direction of the rear wall 8 raised edge portions 10 of the contact element 6 and at a distance to this via mounting bracket 12 on all four sides.

In openings 14 of the rear wall 8 five suction fan 16 are used, which can generate a negative pressure within the suction box. The arrangement of a plurality of suction fan serves for a uniform over the surface of the contact element negative pressure generation.

On two opposite sides of the suction box winding rollers 18 are rotatably supported, on which the web-shaped, flexible contact element 4 is wound. The winding rollers are each controlled driven by means of a stepping motor, not shown, to displace the contact element in one or the other direction along the contact element 6, wherein each one winding roller works as a take-up roll and the other as Abwickelwalze.

The contact element 4 consists of a flexible, sheet-like material, such as a plastic or metal foil, which is perforated within defined geometrical contours or provided with suction channels 20. Each geometric contour corresponds to the edge contour of an object to be gripped, such as a fabric blank and is arbitrarily defined, for example, circular, oblong or rectangular or in the form of any other contour whose size is limited only by the dimensions of the suction side. 8 to 10 show three different geometric contours, within which the suction channels 20 are arranged. In the embodiment of Fig. 8, the suction channels 20 are formed and arranged substantially coincident with the holes 7 of the contact element 6 and are thus within a rectangular contour. In this illustration, the contact element 4 is not shown in exact coverage of the suction channels 20 and holes 7, but slightly displaced, so that both the holes 7 and the suction channels 20 are visible.

FIG. 9 shows a triangular contour, within which the suction channels 20 are formed in the contact element 4. As a result, about half of the surface of the contact element 6 and thus also about half of the holes 7 is hermetically sealed, so that a suction occurs only within the overlapping region in which the suction channels 20 cover the holes 7. Also in this case, the representation is chosen so that both suction channels and holes are visible.

10 shows a further variant in which in the contact element 4, the suction channels 20 are arranged within four spatially separated, rectangular regions in which a suction effect is generated.

The arrangement contours illustrated in FIGS. 8 to 10 for the suction channels 20 are arranged on the web-shaped contact element 4 at such intervals that, by moving the contact element with the aid of the winding rollers, the state according to FIG. 8, 9 or 10 can be produced.

The contact element may be perforated within a given contour by a plurality of suction channels, or alternatively may be predominantly or completely cut out within the contour if the shape retention properties or stiffness of the material of which the contact element is made permit. Although the individual geometric contours of the contact element normally have such a distance from each other, viewed in the direction of winding roller to winding roller, that in each case the gripping of a single object is possible, it is quite possible to arrange several contours more closely adjacent to the contact element, so that within the Surface of the suction side of the suction box several contours are arranged simultaneously and thus several objects can be used simultaneously. The number of suction contours that can be accommodated on the contact element is limited by its length, which in turn is limited by the maximum aufhehmbare amount of material to the winding rollers (maximum winding diameter).

The supply of negative pressure can be done alternatively by means of hoses or the like by means of one or more connections for connection to an external negative pressure source, as an alternative to the illustrated suction fans, for example as radial fans.

In contrast to that shown in FIGS. 1 to 5, the abutment element 6 in the region of the underside of the suction box can be dispensed with, or it can only be present in regions, for example in the form of one or more abutment webs or ribs extending between opposite sides extend the suction box in the direction of displacement of the contact element and cause a linear or partial support of the contact element. In this case, it is expedient if the contact element has a certain rigidity or dimensional stability, so that it does not deform substantially in the direction of the rear wall 8 under the effect of the negative pressure generated within the suction box. Supportive, it may be advantageous if the drive of the winding rollers is controlled so that a tensile stress can be applied to the contact element to tighten it and reduce its compliance in the direction of the rear wall.

The suction box can, as shown in Fig. 1 to 5, have a flat suction side, or even outwardly concave or convex curved or otherwise angled in suction side to receive an object in a non-planar position and / or in a not store flat storage position. In the case of an outward or downwardly concave shape of the bottom then of course the contact element must be performed accordingly at its side edges, since otherwise it would occupy a flat position between the winding rollers adjacent side edges of the suction box.

Conveniently, the suction box is provided with a means for coupling to a handling robot, which is not shown in Fig. 1 to 5, however.

Fig. 6 and 7 show a device with a plurality of suction boxes 2 and respectively associated contact elements 4, in this case consisting of three devices corresponding to FIG. 1 to 5. The individual suction boxes are held on a support structure, not shown, in this example in an angled against each other spatial arrangement, so that a distortion-free recording or storage of fabrics with arched preform is possible.

To achieve greater flexibility can be provided that the individual suction boxes are connected via controllable actuators with the support structure, so that the mutual position of the individual suction boxes can be adjusted and adapted to different handling tasks. As a result, for example, the angle, the two adjacent suction boxes or their contact elements include each other, be changed, or it can be a mutual distance between or the relative position of adjacent suction boxes are changed.

Reference list

S eyheb e device

suction box

suction

contact element

hole

rear wall

edge section

mounting brackets

opening

aspirator

Aufhahmemittel

suction

Claims

Apparatus for pneumatically picking up a flat article CLAIMS

1. A device for pneumatically receiving a flat article, with a suction box (2), in which a negative pressure can be generated and on the suction side (3) a displaceable along this guided, by suction channels (20) interspersed contact element (4) is arranged, consisting of a flexible barmförmigen material and by both sides of the suction side (3) of the suction box (2) arranged receiving means (18) is accommodated, characterized in that within a predetermined geometric contours each have a plurality of suction channels (20) are arranged through Displacement of the contact element (4) selectively in the region of the suction side (3) can be brought.

2. Apparatus according to claim 1, characterized in that the suction side (3) is convex or concave curved or angled flat or outwardly.

3. Apparatus according to claim 1 or 2, characterized in that the contact element (4) by the receiving means (18) can be tensioned.

4. Device according to one of claims 1 to 3, characterized in that the receiving means (18) as a motor, in particular by means of a stepping motor or a servo drive, drivable winding rollers are formed.

5. Device according to one of the preceding claims, characterized in that the contact element (4) is formed of a plurality of parallel sub-elements, which can be formed from rollable web-like material and wound on independent winding rollers.

6. Device according to one of the preceding claims, characterized in that at an angle, in particular 90 °, to the contact element (4) at least one additional contact element (4) is arranged, which can be formed from a rollable web-like material and wound on independent winding rollers can.

7. Device according to one of the preceding claims, characterized in that adjacent to the contact element (4) suction box inside a dimensionally stable, in particular with the suction box firmly connected, air-permeable contact element (6) is arranged, against which the contact element (4) at least partially applied.

8. Apparatus according to claim 7, characterized in that the contact element (6) is concave or convex curved or angled flat or outwardly.

9. Apparatus according to claim 7 or 8, characterized in that the contact element (6) perforated, in particular as a perforated plate (7), or is formed porous.

10. Device according to one of the preceding claims, characterized in that on one of the suction side (3) of the suction box (2) opposite back at least one suction fan (16) and / or a vacuum port for connection to an external vacuum source is arranged.

11. Device according to one of the preceding claims, characterized in that on the suction box (2) a mechanical coupling for connection to a positioning and handling device is arranged.

12. Device according to one of the preceding claims, characterized in that a plurality of suction boxes (2) with respective associated contact elements (4) are coupled adjacent to each other with a support structure.

13. The apparatus according to claim 12, characterized in that the suction boxes (2) are connected via controllable actuators relative to each other movable with the support structure.