WO2021048070A1 - Saugeinheit und saugvorrichtung - Google Patents
Saugeinheit und saugvorrichtung Download PDFInfo
- Publication number
- WO2021048070A1 WO2021048070A1 PCT/EP2020/074978 EP2020074978W WO2021048070A1 WO 2021048070 A1 WO2021048070 A1 WO 2021048070A1 EP 2020074978 W EP2020074978 W EP 2020074978W WO 2021048070 A1 WO2021048070 A1 WO 2021048070A1
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- WO
- WIPO (PCT)
- Prior art keywords
- suction
- unit
- channel
- deflection
- plate
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/911—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with air blasts producing partial vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
- H01L21/6838—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping with gripping and holding devices using a vacuum; Bernoulli devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0202—Agricultural and processed food products
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
Definitions
- 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.
- 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.
- suction devices are therefore often used, which preferably work according to the Bernoulli principle.
- Mechanical gripping tools are used for handling objects that do not have flat surfaces.
- 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.
- a gaseous medium compressed air, protective gas, etc.
- 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.
- 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.
- 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.
- 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.
- the objects held are not released precisely.
- the media flow is interrupted, whereby the suction force is reduced relatively slowly and the object is released more or less quickly.
- 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.
- the suction unit 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.
- 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.
- powdery material can be swirled and repelled.
- dust particles can be sucked in, which contaminate the suction unit and require maintenance work.
- suction units 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.
- 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.
- spherical or disk-shaped objects should be able to be detected.
- Flat and non-flat objects should also be able to be recorded in combination with one another.
- at least a first object and then additionally a second object should be able to be detected, wherein the objects can have the same or different dimensions.
- 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.
- 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.
- the suction units should therefore also be able to be used advantageously in difficult environments, in particular in medicine, in particular in surgery, in which high demands are placed on the instruments.
- the suction units should also 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.
- the suction unit which is suitable for sucking an object according to the Bernoulli principle, comprises a suction body which has 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 deflection channel the gaseous medium to the outside is feasible.
- the suction body is integrally or detachably connected to a suction cup, the inside of which adjoins the suction plate or the inside of which is spaced from the suction plate, the suction cup enclosing a receiving channel which has a channel opening which is dimensioned such that isolated objects enter the receiving channel or can be inserted into at least one indentation on the underside of the suction cup.
- suction units operating according to the Bernoulli principle are only used for picking up flat objects.
- objects for example confectionery articles, fruits and nuts or parts thereof, which do not have flat surfaces
- Such objects were previously captured and manipulated with mechanical grippers.
- small objects such as needles and splinters are often to be captured without disturbing the surrounding tissue.
- the fabric should not be contaminated.
- the ingress of contaminants such as tissue residues, dust and the like into the suction unit should be avoided.
- the suction basket provided according to the invention which is provided adjacent to the suction plate or at a distance or separated therefrom by individual openings, can now suck objects with any regular or irregular shapes to the duct opening or suck them into the suction duct.
- 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.
- 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.
- the suction basket is optionally provided with basket openings which ensure a flow of media even if the channel opening is completely or partially closed after an object has been sucked in.
- the basket openings can be arranged regularly or irregularly in a row or spaced apart in several rows.
- 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 diameter, 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 head can also have combinations of the shapes mentioned and, for example, only have a conical shape on the outlet 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 one Object is aligned. 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 or the channel entrance.
- the length of the suction cup can therefore also be only a few millimeters or a few centimeters.
- 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.
- the channel opening or the channel entrance is preferably adapted to the dimensions of the objects to be picked up and can, for example, run in a stepped manner.
- a deflection unit with a deflection head is only used optionally if a negative pressure is always to be ensured near the suction plate.
- the deflection unit can be connected in one piece to the absorbent body or can be inserted into it.
- a mounting channel is provided into which a mounting element of a deflection head can be anchored, e.g. pressed in or screwed in.
- 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.
- the deflecting head which is preferably axially symmetrical, preferably has a flat surface or a circumferential groove-shaped depression on the side facing the suction plate, which preferably extends in a rounded manner towards the edge of the deflecting head.
- 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.
- inlet channels are provided, which are preferably arranged at equal distances from one another.
- the inlet channels preferably run, for example like the edges of a pyramid, inclined towards the outside towards the suction plate and move away continuously from the central axis until they reach the front side of the suction plate. In this way one already takes place Redirection of the media flow.
- the inlet channels can be cleaned relatively easily in the event of contamination.
- the inlet channels can also run outwards along a curve.
- tubes or free holders that run straight or along a curve can be embedded in the absorbent body in order to create inlet channels with any shape.
- the inflowing medium is preferably evenly distributed against the inner wall of the suction head, which is why a higher flow speed and a corresponding pressure reduction are automatically ensured along the inner wall of the suction head.
- the inclined arrangement of the inlet channels or the partial deflection of the gaseous medium within the suction body and the conveyance of the gaseous medium in the direction of the inner wall of the suction head allows the suction unit to be operated with reduced pressure, which is why a conventional fan instead of a compressed air unit is used as a means of conveying the gaseous medium can be used.
- the pressure requirement can be further reduced by a higher number of preferably evenly distributed inlet channels.
- outlet channels run through the suction body to outlet openings on the front side of the suction plate.
- 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.
- 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 able to deform, for example fold or curl.
- 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.
- 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. 3).
- the absorbent body is constructed in one piece or comprising a plurality of absorbent body modules in a modular manner.
- the efficiency of the suction unit can be further improved in that the suction body is or can be connected to a preferably transparent suction cup, which surrounds the suction body separately by a return channel, which on one side into the suction cup provided on the suction cup and on the other side in at least an 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 conveys the circulated gaseous medium in order to keep the media 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.
- the gaseous medium is guided along the closed circuit at a high flow rate over a longer distance, which is why a reduced suction pressure is built up in a wide area.
- the suction unit according to the invention can therefore work with a further reduced one, which can be generated, for example, by a simple blower or fan. Expensive compressed air pumps can therefore be dispensed with.
- the controlled return of the medium causes disruptive effects on the environment, such as turbulence from object particles or Tissue particles or undesirable currents along the treated tissue during a surgical procedure, avoided. 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.
- the suction cup comprises an annular flange with an internal thread, which can be placed on an external thread on the suction body or on the suction cup.
- 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.
- 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 basket, the deflection unit or the 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 and preferably comprise a drive device, optionally a robot, by means of which the suction units between at least one receiving location and at least one Place of delivery are movable.
- 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.
- 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.
- 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.
- 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.
- 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 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.
- the transparent material 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.
- 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.
- Fig. La shows a suction device 1 with two suction wheels 1A, 1B, which are peripherally equipped with suction units 10, e.g. according to Fig. 2a or 2b, and from which objects P are picked up at a pick-up location and delivered to a conveying device 6 at a delivery location;
- FIG. 1b shows a part of the suction device 1 from FIG. 1a with the second suction wheel 1B, from which objects P are delivered to transport units 961 of the conveying device 900;
- 2a shows a suction unit 10 according to the invention in a sectional view with a suction plate 11, to which a suction basket 161 connects, which surrounds a downwardly open receiving channel 1600, with twelve inlet channels 13 connected to an inlet channel 130, which are directed directly into the edge region of the receiving channel 1600 , no deflection unit being provided;
- FIG. 2b 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 basket openings 160 and encloses a receiving channel 1600 that is open at the bottom;
- Fig. 2c a deflection unit 12 with a deflection head 121, the
- the underside is concave in order to be able to partially accommodate a sucked-in object
- FIG. 2d 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;
- FIG. 2e shows a deflection unit 12 with a deflection head 121, the top side of which is straight;
- FIG. 3 shows a suction device 1 according to the invention with several in one
- Distribution device 2 arranged suction units 10, to which compressed air can be supplied, wherein one of the suction units 10 has been removed from a receiving chamber 21, which is connected to a distribution channel 20 through a chamber opening 210;
- 4a shows a suction unit 10 which is provided with a centering device 4 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;
- 4b shows a suction unit 11 according to FIG. 2a with a suction basket 161, which encloses a receiving channel 1600 without basket openings, and is provided with an optionally provided centering device 4 according to FIG. 4a;
- FIG. 4c shows the suction unit 10 from FIG. 4b 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 held by the deflecting element 12;
- FIG. 4d shows the suction unit 10 from FIG. 4b with a centering device
- FIG. 4e shows the suction unit from FIG. 4d with a mounting element 1211 on the deflection head 121 of the deflection unit 12, to which the centering elements 41 are attached;
- FIG. 4f shows the suction unit 10 from FIG. 4b with a grid-shaped centering device 4;
- FIG. 4g shows the suction unit 10 from FIG. 4b 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;
- FIG. 4h shows the suction unit 10 from FIG. 4b equipped with a
- FIG. 6 shows a sectional view of a suction unit 10 according to FIG. 4b 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 basket openings 160 and one downwards enclosing the open receiving channel 1600 which has indentations 1611, 1612 corresponding to the receiving of objects;
- FIG. 7a 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. 7b shows the assembled suction unit 10 from 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;
- FIG. 8a shows the suction unit 10 from FIG. 7a with the suction body 16, which is connected in one piece to the suction bell 6 through the suction basket 161 provided with basket openings 160;
- FIG. 8b shows the assembled suction unit 10 from FIG. 8a
- FIG. 9a shows the suction unit 10 from FIG. 7a with the suction body 16, which is connected in one piece to the mounting plate 168;
- FIG. 9b shows the assembled suction unit 10 from FIG. 9a;
- FIG. 10a shows the suction unit from FIG. 9a with a suction bell 6 which has a conically shaped suction basket 161 with a small channel opening 1610 for grasping small objects
- FIG. 10b shows a suction device 1 with the suction unit from FIG. 10a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object or to a rod-shaped object unit P;
- FIG. 10c shows the channel opening 1610 of the suction unit 10 from FIG. 10a in an enlarged view
- FIG. 11a shows the suction unit from FIG. 10a with a suction bell 6 which is attached to the
- FIG. 11b shows the assembled suction unit 10 from FIG. 11a;
- FIG. 12 shows the suction unit 10 from FIG. 9a with a suction bell 6, which is connected to the
- Mounting plate 168 is connectable
- FIG. 13 shows the suction unit 10 from FIG. 9a with a suction bell 6 which can be connected to the mounting plate 168 by a screw cap with closure elements 69, 169;
- FIG. 14 shows a suction unit 10 according to FIG. 2a, 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 downwards 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;
- FIG. 15 shows a suction unit 10 according to FIG. 2b, 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, the suction basket 161 having a plurality of basket openings 160 which can be covered by means of an adjusting sleeve 3.
- 16a shows a suction unit 10, which is preferably connected or can be connected to a suction basket 161, 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 which are radially aligned and displaced by 120 ° relative to one another are provided, in which the outlet openings 140 of outlet channels 14 are arranged;
- FIG. 16b shows the suction unit 10 from FIG. 16a in a sectional illustration
- FIG. 17 shows a suction unit 10, which is preferably connected or can be connected to a suction strainer 161, 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 cut through an intermediate wall 130C in an inlet channel 130A and assembly channel 130B is subdivided, which serves for the optional assembly of the deflection unit 12 shown, which is designed as a rotational body and for this purpose has a deflection head 121 to which a mounting element 122 is connected.
- FIG. 1 a shows a suction device 1 with two suction wheels 1A, 1B which are peripherally equipped with suction units 10 according to one of the following figures 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 through a
- a plurality of suction channels 200A, 200B of a distribution device 2 can be individually controlled, 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 10, the first of which is connected to inlet channels 13 and the second to outlet channels 14, as described with reference to FIG. 17.
- At the transfer point HO are a suction unit 10 of the first suction wheel 1A, the object unit P of which is ejected, and a Suction unit 10 of the second suction wheel 1B, which sucks the object P, opposite.
- 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.
- a conveying device 95 for the gaseous medium e.g. a fan or an air pump, as shown by way of example in Fig. 7b, can be used for all suction units 10 and suction devices 1 according to the invention and controlled e.g. by the control device 8 by means of control signals 89.
- control unit 8 For the synchronous control of the device units 1A, 1B, or for checking the position and quality of objects P, which are held by preferably 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. 1 b shows part of the suction device 1 from FIG. 1 a 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 961 are mounted on mounting plates 962 which are conveyed by a chain 963.
- the mounting plates 962 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. 1b a channel is shown into which the transport units 961 are retracted and locked.
- an air pulse is preferably introduced into the optionally provided output channels 14 at the delivery location (see FIG. 17).
- FIG. 2a shows a suction unit 10 according to the invention 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. 1 a or 3, 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.
- a negative pressure is thus created in the flow zone, through which an object can be sucked in.
- 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.
- a centering device 4 is also provided, by means of which the sucked-in object is kept centered.
- a deflection unit 12 is optionally dispensed with in the embodiment of FIG. 2a.
- the suction plate 11 is therefore tightly closed in the middle and only has openings for the inlet channels 13.
- FIG. 2b shows a suction unit 10, preferably according to FIG. 2a, 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 basket openings 160 on the sides.
- 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.
- 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.
- the 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 for the suction unit 10 according to FIG. 15.
- suction units 10 of FIGS. 2a and 2b which are provided with the suction cup 161
- objects P which do not have flat surfaces can be grasped and securely held.
- nuts such as hazelnuts
- the height of the suction cup 161 is dimensioned according to the size of the objects P or a fraction thereof.
- a plurality of rows of basket openings 160 lying one above the other are preferably provided, through which the media flow can escape laterally.
- the suction head 161 can also consist of several parts and, for example, can be telescopically extended.
- Suction units 10 according to the invention can also have a modular structure so that they can be used for the RESPECTIVE applications with or without a suction head 161.
- the suction basket 161 of the suction unit 10 of FIG. 2a does not have any basket 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 unit 4.
- the suction basket 161 of the suction unit 10 of FIG. 2b has basket openings 160 at different heights.
- the basket openings 160 ensure that there is no flow separation when an object is sucked into the suction basket 161.
- the basket openings 160 of different heights are closed sequentially until only the uppermost basket 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 basket openings 160 or wall slots 160 open, but the course of the media film changes.
- deflection units 12 can be used in the suction body 16 of the suction unit 10.
- the deflection unit 12 used is shown in FIG. 17 in a three-dimensional representation.
- the deflecting unit 12 of FIG. 17 is designed as a mushroom-shaped body of rotation and comprises a deflecting head 121 and a pin-shaped mounting element 122 adjoining the deflecting head 121.
- the deflecting head 121 On the side facing the suction plate 11, the deflecting head 121 has a circumferential groove-shaped recess 120, which is preferably rounded runs against the edge of the deflection head 121.
- the deflection unit thus has at least approximately an anchor-shaped cross section. An annular nozzle is thereby formed, in which air flowing in is guided back against the suction plate 11 and flows along it at high speed.
- FIG. 2c shows a deflection unit 12 with a deflection head 121, the underside of which is concave in order to surround an object P, for example, a nut according to FIG. 4a, to be able to partially pick up and keep it centered.
- FIG. 2d shows a deflection unit 12 with a deflection head 121, the upper side of which is straight and is provided with radially extending depressions 120.
- FIG. 2e shows a deflection unit 12 with a deflection head 121, the top side of which is straight.
- Suction units 10 according to the invention can therefore be equipped with the respective appropriate deflection unit 12.
- FIG. 3 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 preferably electronically controllable valve.
- the compressed air supplied via supply lines is distributed to all suction units 10 via the distribution device 2, which has a distribution channel.
- the at least approximately cuboid distribution device 2, which has a distribution channel 20 and numerous receiving chambers 21, is cut open.
- 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 be inserted in a simple manner into the receiving chambers 21, closely adjoining the chamber openings 210.
- 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, for example, used again after maintenance work.
- a bar 29 is mounted on the underside of the distribution device 2, the passage openings 290 for the suction units 10 and form elements 113 which engage in the surface of sucked objects P and can fix them.
- the suction device 1 according to the invention can therefore be manufactured, assembled and also serviced in a simple manner.
- 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 can deform under the action of the suction force and adapt to a held object unit P.
- 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 be connected to a centrally arranged sleeve which is connected to the suction body 16, e.g. glued, screwed or pressed.
- FIG. 5b shows the suction unit 10 from FIG. 5a in a sectional illustration.
- FIG. 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.
- 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.
- 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.
- Fig. 4a shows a suction unit 10, preferably connectable to a suction head 161, which is provided with a centering device 4, which is connected to the deflection unit 12 and which allows a sucked-in irregular, for example round object unit P against the central axis x of the suction unit 10 or To guide the deflection unit 12 and keep it centered.
- a centering device 4 which is connected to the deflection unit 12 and which allows a sucked-in irregular, for example round object unit P against the central axis x of the suction unit 10 or To guide the deflection unit 12 and 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.
- FIG. 4b shows a suction unit 11 with a suction basket 161, which has no lateral basket openings and which surrounds a receiving channel 1600, and with an optionally provided centering device 4 according to FIG. 4a.
- 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 disruptive 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. 4c shows the suction unit 10 from FIG. 4b with a more simply configured centering device 4, which has three rod-shaped centering elements 41 which are evenly spaced 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.
- the centering elements are slightly bent outwards so that they can reliably detect objects P in a wider environment.
- Fig. 4d shows the suction unit 10 from Fig. 4b 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 1618 on the output side in the edge of the suction cup 161.
- FIG. 4e shows the suction unit from FIG. 4d with a mounting element 1211 on the deflection head 121 of the deflection unit 12, to which the centering elements 41 are attached.
- Fig. 4f shows the suction unit 10 of FIG. 4b with a lattice-shaped centering device 4, which as centering elements 41 lattice bars or Has lattice ropes which are anchored with mounting balls 46 in the suction head 161.
- the hollow cylindrical media flow is shown, which runs downward 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, for example a nut, is guided against the centering device 4.
- FIG. 4g shows the suction unit 10 from FIG. 4b 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. 4h shows the suction unit 10 from FIG. 4b equipped with a holding flange 1615 which holds a flange ring 44 with a centering device 4 which comprises a sheet-shaped holding element 4100.
- 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.
- the 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.
- FIG. 5 shows a sectional view of a preferably modularly constructed suction unit 10 with several suction units 10 according to one of Figures 2a, 2b, 4b to 4h, each with a deflection unit 12, 12A, 12B, 12C and a suction cup 161, 161A, 161B, 161C are provided.
- 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.
- suction unit 10 allows several objects P to be grasped and released again at the same time. Often objects P are to be recorded in a certain grid and / or again, optionally to an intermediate product or to a packaging can be handed in. 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.
- the suction head of a robot can be adapted as required to intermediate products and packaging.
- a suction head is put together with suction units that allow it to be grasped in a grid and inserted into the chocolate provided.
- 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. 6 shows a suction unit 10 according to FIG. 2b 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 basket 161 optionally has one or more basket openings 160 and encloses a downwardly open receiving channel 1600, which has corresponding indentations 1611, 1612 for receiving objects. It is shown by way of example that rectangular objects of different sizes can be accommodated 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.
- the media flow can flow outwards through the basket openings 160, whereby the suction pressure is maintained.
- the number and configuration of the indentations 1611, 1612 can be selected as desired. Design the basket openings 100 sixtieth accordingly and, if necessary, connect them to one another by channels.
- FIG. 7a shows an exploded view of 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.
- 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 transfer channel formed on the suction body 16 and adjoining the mounting channel 130 Nozzle 165 can be used.
- 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 can therefore be connected or connectable in one piece with the suction body 16 or with the suction bell 6.
- FIG. 7b shows a suction device 1 with the assembled suction unit 10 from FIG. 7a 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 is.
- 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 a deflection channel 110, 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 printing device 95.
- a filter F which is provided within the circulation circuit, preferably in the fan 95, dirt particles can be removed from the media flow.
- 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. 8 a shows the suction unit 10 from FIG. 7 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 with slot-shaped basket openings 160 between the suction body 16 and the wall of the suction bell 6, through which the gaseous medium is guided through the return channel 60 back to the outlet opening 1680.
- Fig. 8b shows the assembled suction unit 10 of Fig. 8a.
- FIG. 9 a shows the suction unit 10 from FIG. 7 a with the suction body 16, which is connected in one piece to the mounting plate 168.
- Fig. 9b shows the assembled suction unit 10 of Fig. 9a. 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.
- FIG. 10a shows the suction unit from FIG. 19a 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. 10 b shows a suction device 1 with the suction unit from FIG. 10 a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object P.
- FIG. 10 b shows a suction device 1 with the suction unit from FIG. 10 a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object P.
- FIG. 10 b shows a suction device 1 with the suction unit from FIG. 10 a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object P.
- FIG. 10 b shows a suction device 1 with the suction unit from FIG. 10 a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object P.
- FIG. 10 b shows a suction device 1 with the suction unit from FIG. 10 a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object P.
- FIG. 10 b shows a suction device 1 with the
- 10c shows the channel opening 1610 in an enlarged representation.
- FIG. 11 a shows the suction unit from FIG. 9 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 assembled, adjoin the suction body 16 and delimit basket openings 160.
- Fig. 11b shows the assembled suction unit 10 of Fig. 11a.
- suction bells 6 with basket openings 160 dimensioned as desired can be produced in a simple manner.
- the separating elements 1601 can be made wide in order to delimit narrow basket openings 160, or can be made narrow in order to delimit wide basket openings 160.
- FIG. 12 shows the suction unit 10 from FIG. 9 a with a suction bell 6, which can be connected to the mounting plate 168 by means of a bayonet lock with corresponding locking elements 69, 169.
- FIG. 13 shows the suction unit 10 from FIG. 9 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.
- FIG. 14 shows a suction unit 10 as per Has suction channels 151, connects.
- FIG. 15 shows a suction unit 10 according to FIG. 2b, 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.
- the suction basket 161 has basket 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 around the basket openings 160 to close if necessary.
- the suction unit 10 can therefore, if necessary, be adapted to the objects to be picked up.
- the ring plate 15 of the suction units 10 of FIGS. 14 and 15, which adjoins 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 at the edge or the duct opening 1610 of the suction basket 161 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, e.g. with four threads or wires, by means of which the object can be kept centered, is optionally provided within the receiving channel 1600.
- FIG. 16a 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. It is shown by dash-dotted lines that the suction unit 10 is or can be connected to a suction basket 161.
- the suction unit 10 can therefore optionally be used with or without a suction basket 161 in order to suck in different objects. Without a suction strainer 161, e.g. according to Fig. 16a, flat objects are sucked in. With the suction cup 161, e.g. according to Fig. 16b, voluminous objects can be sucked in.
- FIG. 16b shows the suction unit 10 from FIG. 16a, 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 therefrom by a circumferential annular groove 166, which is preferably used for the assembly of the suction unit 10.
- 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. 17, with the mounting element 122 is inserted into the inlet channel 130, so that it 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.
- the suction plate 11 has a preferably cylindrical recess which serves as a deflection chamber 115.
- the outlet openings of the inlet channels 13 are arranged inside the deflection chamber 115 behind the deflection head 121 of the deflection unit 12, so that the inflowing medium can be introduced to the rear of the deflection head 121 and from this into a deflection channel 110, which on the one hand through the front side of the suction plate 11 and on the other hand through the Rear side of the deflection head 121 is limited 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, so that it can flow out on the one hand through three suction channels 111 and on the other hand between the suction plate 11 and a sucked 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.
- a plurality of evenly distributed inlet channels 13 are preferably provided.
- six or more evenly distributed inlet channels 13 are provided, which run inclined outwards and are offset from one another by 60 °.
- the inlet channels 13 define a pyramid with a corresponding number of edges.
- outlet channels 14 optionally provided in this embodiment are passed through the suction body 16, the outlet openings 140 of which are arranged within the suction channels 111.
- compressed air flows through a pressure line 70A and a first valve 72A into the inlet channel 130 and further into the Inlet channels 13 and can be introduced into the outlet channels 14 through pressure lines 70B and second valves 72B.
- the decentralized valves 72A, 72B can be controlled by the control unit 8 (see FIG. 1 a) by means of control signals 87A, 87B. Therefore, compressed air can optionally be passed at desired time intervals through the inlet ducts 13 in order to suck in an object unit P or into the outlet ducts 14 in order to expel the object unit P that is being held.
- 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.
- FIG. 17 shows a preferably configured suction unit 10 which can be optionally equipped with one of the deflection units 12 described above and is connected fixedly or detachably to a suction head 161 (shown symbolically by a dash-dotted line).
- the suction body 16 is provided with outlet channels 14 and outlet openings 140 which are located between the suction channels 111. It is also possible to arrange the outlet openings 140 inside and outside the suction channels 111.
- the suction channels 111 and the deflection chamber 115 are optional and preferably provided when the suction unit 10 is also used without a suction basket 161.
- the suction cup 161 is detachably connected to the suction body 16 by means of a thread or a press fit.
- valves 72A, 72B 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.
- the channel cross-section has a minimum size which increases by a factor of 5 to 10 up to the channel exit.
- the dimensioning of the suction channels 111 with the course of the depth and width can, if necessary, be adapted to the nature of the objects P. become.
- the cross-sectional shape can be constant or increase or decrease radially outwards.
- 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.
- the absorbent body 16 has a central bore which is divided into two completely separate parts 130A, 130B by an intermediate wall 130C.
- 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.
- 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 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. All suction devices 1 and suction units 10 according to the invention can advantageously be operated with a fan 95, which has a propeller, for example. 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. By using a fan 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.
- 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.
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Abstract
Description
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Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA3148552A CA3148552A1 (en) | 2019-09-10 | 2020-09-07 | Suction unit and suction device |
EP20765297.5A EP4028344A1 (de) | 2019-09-10 | 2020-09-07 | Saugeinheit und saugvorrichtung |
JP2022515003A JP2022547920A (ja) | 2019-09-10 | 2020-09-07 | 吸引ユニット及び吸引装置 |
CN202080063190.5A CN114401914A (zh) | 2019-09-10 | 2020-09-07 | 抽吸单元和抽吸装置 |
AU2020344932A AU2020344932A1 (en) | 2019-09-10 | 2020-09-07 | Suction unit and suction device |
BR112022003637A BR112022003637A2 (pt) | 2019-09-10 | 2020-09-07 | Unidade de sucção e dispositivo de sucção |
US17/638,382 US20220297954A1 (en) | 2019-09-10 | 2020-09-07 | Suction unit and suction device |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
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EP19196589.6 | 2019-09-10 | ||
EP19196589 | 2019-09-10 | ||
EP19208051 | 2019-11-08 | ||
EP19208051.3 | 2019-11-08 | ||
EP20152029.3 | 2020-01-15 | ||
EP20152029 | 2020-01-15 |
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PCT/EP2020/074978 WO2021048070A1 (de) | 2019-09-10 | 2020-09-07 | Saugeinheit und saugvorrichtung |
PCT/EP2020/074977 WO2021048069A1 (de) | 2019-09-10 | 2020-09-07 | Saugeinheit und saugvorrichtung |
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PCT/EP2020/074977 WO2021048069A1 (de) | 2019-09-10 | 2020-09-07 | Saugeinheit und saugvorrichtung |
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US (2) | US20220297954A1 (de) |
EP (2) | EP4028343A1 (de) |
JP (2) | JP2022547920A (de) |
CN (2) | CN114401830A (de) |
AU (2) | AU2020344792A1 (de) |
BR (2) | BR112022003637A2 (de) |
CA (2) | CA3148552A1 (de) |
WO (2) | WO2021048070A1 (de) |
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WO2024110360A1 (en) * | 2022-11-21 | 2024-05-30 | Sanofi | Holding device, arrangement comprising the holding device, drug delivery device and method |
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DE202006016833U1 (de) | 2006-10-31 | 2007-04-05 | Waldemar Knittel Glasbearbeitungs Gmbh | Bernoulli-Sauger mit Blende zum Handhaben nicht formstabiler oder zerbrechlicher Werkstücke |
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JP2019055439A (ja) * | 2017-09-20 | 2019-04-11 | 株式会社ハーモテック | 吸引装置 |
EP3530422A1 (de) * | 2018-02-27 | 2019-08-28 | Piab Ab | Saugnapfvorrichtung für die automationsindustrie |
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2020
- 2020-09-07 AU AU2020344792A patent/AU2020344792A1/en active Pending
- 2020-09-07 EP EP20765296.7A patent/EP4028343A1/de active Pending
- 2020-09-07 AU AU2020344932A patent/AU2020344932A1/en active Pending
- 2020-09-07 US US17/638,382 patent/US20220297954A1/en active Pending
- 2020-09-07 BR BR112022003637A patent/BR112022003637A2/pt not_active Application Discontinuation
- 2020-09-07 CA CA3148552A patent/CA3148552A1/en active Pending
- 2020-09-07 WO PCT/EP2020/074978 patent/WO2021048070A1/de unknown
- 2020-09-07 WO PCT/EP2020/074977 patent/WO2021048069A1/de unknown
- 2020-09-07 JP JP2022515003A patent/JP2022547920A/ja active Pending
- 2020-09-07 CN CN202080063201.XA patent/CN114401830A/zh active Pending
- 2020-09-07 CN CN202080063190.5A patent/CN114401914A/zh active Pending
- 2020-09-07 EP EP20765297.5A patent/EP4028344A1/de active Pending
- 2020-09-07 JP JP2022515048A patent/JP2022546744A/ja active Pending
- 2020-09-07 US US17/636,741 patent/US20220289500A1/en active Pending
- 2020-09-07 BR BR112022003377A patent/BR112022003377A2/pt not_active Application Discontinuation
- 2020-09-07 CA CA3148531A patent/CA3148531A1/en active Pending
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US5636887A (en) * | 1995-03-20 | 1997-06-10 | Chrysler Corporation | Apparatus for lifting objects by suction and releasing them by gas pressure |
DE202006016833U1 (de) | 2006-10-31 | 2007-04-05 | Waldemar Knittel Glasbearbeitungs Gmbh | Bernoulli-Sauger mit Blende zum Handhaben nicht formstabiler oder zerbrechlicher Werkstücke |
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Also Published As
Publication number | Publication date |
---|---|
CA3148552A1 (en) | 2021-03-18 |
BR112022003377A2 (pt) | 2022-05-17 |
WO2021048069A1 (de) | 2021-03-18 |
US20220297954A1 (en) | 2022-09-22 |
US20220289500A1 (en) | 2022-09-15 |
EP4028344A1 (de) | 2022-07-20 |
JP2022546744A (ja) | 2022-11-07 |
AU2020344792A1 (en) | 2022-03-31 |
CA3148531A1 (en) | 2021-03-18 |
BR112022003637A2 (pt) | 2022-05-24 |
CN114401914A (zh) | 2022-04-26 |
CN114401830A (zh) | 2022-04-26 |
JP2022547920A (ja) | 2022-11-16 |
AU2020344932A1 (en) | 2022-03-31 |
EP4028343A1 (de) | 2022-07-20 |
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