EP4028343A1 - Unité d'aspiration et dispositif d'aspiration - Google Patents

Unité d'aspiration et dispositif d'aspiration

Info

Publication number
EP4028343A1
EP4028343A1 EP20765296.7A EP20765296A EP4028343A1 EP 4028343 A1 EP4028343 A1 EP 4028343A1 EP 20765296 A EP20765296 A EP 20765296A EP 4028343 A1 EP4028343 A1 EP 4028343A1
Authority
EP
European Patent Office
Prior art keywords
suction
unit
deflection
channels
channel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20765296.7A
Other languages
German (de)
English (en)
Inventor
César Carrasco
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
AO Formaflon Swiss AG
Original Assignee
AO Formaflon Swiss AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by AO Formaflon Swiss AG filed Critical AO Formaflon Swiss AG
Publication of EP4028343A1 publication Critical patent/EP4028343A1/fr
Pending legal-status Critical Current

Links

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
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10P—GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10
    • H10P72/00—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof
    • H10P72/70—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for supporting or gripping
    • H10P72/78—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for supporting or gripping using vacuum or suction, e.g. Bernoulli chucks
    • 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.
  • the suction units should be able to be realized with a more simply constructed base body. It should be possible to dispense with a plate-shaped deflection unit, for example.
  • Suction units according to the invention are intended to make it possible to securely grasp objects, in particular individual product units, with any dimensions and any nature, and to release them in any manner in a controlled manner. Damage or disruptive deformations of the manipulated objects should be avoided.
  • flexible and soft objects should be able to be detected and released in a controlled manner.
  • objects that are not flat or disk-shaped should be able to be reliably detected and delivered.
  • a lateral displacement of the sucked-in object should preferably also be avoided, so that it can be transported and dispensed with an unchanged position.
  • Isolated objects should be able to be correctly picked up at a pick-up location with high clock cycles and delivered to a delivery location.
  • the suction units should therefore also be able to be used advantageously in a difficult environment, in particular in surgery, in which high demands are made on the instruments.
  • the suction units should be easy and thorough to clean and maintain.
  • the suction units should be able to be operated with high efficiency, so that only minimal air pressure is required for their operation and compressed air devices of simple design can be used.
  • the suction unit which is suitable for sucking in an object according to the Bernoulli principle, comprises a suction body with an adjoining suction plate, which has a front side facing away from the suction body, and at least one inlet channel through which a gaseous medium flows through the suction body to the front side of the suction plate can be introduced into a deflection channel which is limited on the one hand by the front side of the suction plate and on the other hand by a deflection head of a deflection unit or which is limited on the one hand by the front side of the suction plate and on the other hand when the object is sucked in by the object, and through which the gaseous medium can be guided to the outside .
  • the suction plate has a deflection chamber in the middle to which on the one hand the at least one inlet duct and on the other hand several suction ducts sunk into the suction plate are connected, which run towards the edge of the suction plate.
  • the gaseous medium can flow outwards from the deflection chamber in an almost laminar manner, which results in a reliable and undisturbed flow and a correspondingly reduced pressure in the suction channels.
  • the arrangement of suction channels or the guarantee of a largely undisturbed flow of media in the suction channels result in various advantages.
  • suction channels are always kept free, a high flow of media is guaranteed even at a relatively low pressure. A high air pressure is therefore not required to achieve the suction effect, which is why a conventional fan can also be used as a means of conveying the gaseous medium instead of a compressed air unit.
  • the suction channels always ensure a lateral media flow when approaching the object to be picked up. It is thus possible to dispense with the arrangement of a deflection unit which, regardless of the presence of a product inside the deflection chamber, for example within an annular gap, ensures a high flow of media and a corresponding pressure reduction.
  • a deflection unit with a deflection head is only used optionally if a negative pressure is desired in the deflection chamber regardless of the approach to an object to be sucked in.
  • the deflection unit can be connected in one piece to the absorbent body or can be inserted into it.
  • a mounting channel is provided into which a mounting element of a deflection unit 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 inlet channels branch off within the inlet channel, six of which are preferably provided.
  • the inlet channel can also be divided into two parts, which are separated from one another by a part of the absorbent body.
  • the deflection head which is preferably designed axially symmetrically, preferably has a circumferential groove-shaped depression on the side facing the suction plate, which preferably extends in a rounded manner towards the edge of the deflection head.
  • the axially symmetrical deflection unit has an at least approximately anchor-shaped cross section in a longitudinal section through the axis of rotation.
  • a sucked object is reliably pulled and fixed against the suction plate along the suction channels, regardless of the surface properties of the object.
  • the further media flow which runs outside the suction channels between the suction plate and the sucked-in object unit, can unfold its effect undisturbed, so that the object is reliably sucked in over its entire surface. It is thus avoided that flexible flat objects are only partially detected and can become detached again.
  • a plurality of suction channels preferably evenly spaced apart from one another, are preferably provided, which run radially, with the same inclination or sunk along a curve outwards into the suction plate. An optimal result is usually achieved with three suction channels.
  • the object is reliably fixed by the three suction channels, after which the media flow running outside the suction channels can develop its effect. Outside the suction channels, the object rests against the suction plate only separated by a thin film of the moving medium, which is why a high suction force is developed there.
  • the cross section of the suction channels can be constant over the entire length of the suction channels.
  • the channel cross-section of the suction channels can also increase or decrease from the inside to the outside, e.g. by a factor that is preferably in the range of 2-10.
  • the channel height or the channel depth can vary or be constant.
  • the channel height adjoining the deflection chamber can also correspond to the height of the deflection chamber, so that the transition from the deflection chamber to the suction channels takes place steplessly.
  • the width of the suction channels is preferably constant.
  • the change in the channel cross-section has the effect that the suction channels only have a small channel cross-section on the side facing the deflection chamber, which prevents the media flow from being diverted mainly through the suction channels.
  • the channel cross-section increases, so that the medium can flow unhindered and develop its effect.
  • inlet channels are provided, which are preferably arranged at equal distances from one another and preferably enter the deflection chamber.
  • one of the inlet channels each faces a suction channel, so that the flow through the suction channel can be built up more easily.
  • the inlet channels preferably run, for example like the edges of a pyramid, inclined towards the outside of the suction plate and move away from the central axis until they reach the front of the suction plate. In this way, the media flow is already deflected. In addition, the inlet channels can be cleaned relatively easily in the event of contamination.
  • the inlet channels can also run outwards along a curve. For example, it can be straight or along a curve running tubes or free holders are embedded in the absorbent body in order to realize inlet channels with any shape.
  • the inclined arrangement of the inlet channels or the partial deflection of the gaseous medium already within the suction body allows the suction unit to be operated at reduced pressure, which is why a conventional fan can also be used as a means of conveying the gaseous medium instead of a compressed air unit.
  • the pressure requirement can be further reduced by a higher number of preferably evenly distributed inlet channels.
  • outlet channels run through the absorbent body to outlet openings.
  • the outlet openings are arranged inside the suction channels or outside the suction channels or inside and outside the suction channels.
  • 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 is lamellar and flexible so that it can deform under the negative pressure that occurs between a sucked object and the suction plate and adapt to the flat and possibly flexible object. Unevenness in the object unit can thereby be compensated for by the elastic suction plate, which is deformed accordingly.
  • the suction plate can be integrally connected to the absorbent body or can be connected to it, if necessary screwed.
  • the suction plate is preferably connected in one piece to the suction body and separated from it by a circumferential groove. The circumferential groove (see FIG. 4) can also serve to hold the suction unit within a receiving chamber by means of a locking part (see FIG. 2e).
  • deflection chambers with or without deflection heads can be provided, of which at least one is assigned three or more suction channels which are sunk straight into the suction plate or running along a curve.
  • a plurality of deflection chambers of which at least one is assigned a deflection head, and a plurality of suction channels are preferably provided.
  • the suction channels are assigned to at least one deflection chamber or several deflection chambers and are either straight or sunk into the suction plate running along a curve.
  • the suction channels can only be connected to one deflection chamber.
  • Each deflection chamber is preferably assigned a plurality of inlet channels which are arranged at regular or irregular distances from one another and which run inside the suction body at an incline towards the outside towards the suction plate.
  • the absorbent body is constructed in one piece or comprising a plurality of absorbent body modules in a modular manner.
  • At least the edge of the suction plate made of an elastic material is lamellar and flexible.
  • 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.
  • Contamination such as tissue residues, dust and the like, can be avoided in the suction unit.
  • a suction basket to be provided next to the suction plate, possibly at a distance or separated therefrom by individual openings, which surrounds a receiving channel into which an object can be sucked.
  • the suction head is optionally provided with wall openings which ensure a flow of media even when the channel opening is closed.
  • the suction cup causes the gaseous medium to flow around an object that has been sucked in. Even if an irregularly shaped body, such as a hazelnut, is sucked in, the gaseous medium flows through it at a high flow rate, which is why a negative pressure builds up, by means of which the object can be held safely.
  • the distance along which the gaseous medium flows at high speed is very long when using a suction strainer, possibly in conjunction with the suction bell described below, which is why negative pressure is achieved over a large area and with a high degree of effectiveness.
  • 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 receiving channel has a channel opening which is designed in such a way that isolated objects can thereby be introduced into the receiving channel or can be fixed at the edge of the channel opening.
  • the dimensions of the preferably transparent suction cup, in particular the length and width, or the dimensions of the channel opening or the channel entrance of the suction channel are preferably adapted to the objects to be transported.
  • the suction head can therefore have, for example, a cylindrical shape, a conical shape, a shape with a rectangular or polygonal cross section.
  • the suction strainer can also be combinations of the Have the shapes mentioned and, for example, be conically shaped only on the output side.
  • the suction channel can be designed to be regular, irregular, symmetrical or asymmetrical, so that objects can be detected in any position or only in a specific position. In the food industry, it may not matter how an object is oriented. In surgery or in semiconductor technology, on the other hand, the alignment of an object can be mandatory.
  • the length and width of the suction cup are selected in such a way that an object can at least partially enter the channel opening.
  • the length of the suction cup can therefore also be only a few millimeters or a few centimeters.
  • 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.
  • Using the suction head also improves the efficiency of the suction unit, which can be operated at lower pressure.
  • the efficiency of the suction unit can be further improved in that the suction body is or can be connected to a suction cup, which surrounds the suction body separately by a return channel, which on one side enters the suction cup provided on the suction cup and on the other side into at least one outlet opening opens, which is optionally provided in the wall of the suction cup.
  • the medium is returned through the return channel and optionally fed back to the compressed air device, so that an at least partially closed circuit results. Since the gaseous medium is always in motion in the circuit, only little energy is required to convey it, which can be supplied by a simple fan that conveys the circulated medium in order to keep the medium flow constant.
  • the circulation of the gaseous medium also improves its flow behavior. Turbulence and a stall are reduced or avoided, so that an increased flow velocity and an increased pressure can develop.
  • the controlled return of the medium prevents disruptive effects on the environment, such as turbulence in object particles or tissue particles or undesired flows along the treated tissue during a surgical procedure. Furthermore, it is largely avoided that particles from the production process or contaminants can penetrate into the suction unit.
  • a filter is preferably provided in the suction unit which prevents impurities from being circulated with the media flow.
  • the suction basket is preferably integrally connected to the suction plate or the suction body and / or the suction bell or can optionally be connected.
  • the suction head can be screwed to the suction body, connected by a press fit or otherwise.
  • the suction cup comprises an annular flange with an internal thread that can be placed on an external thread on the suction body.
  • the suction cup can be connected to the suction body or to a mounting plate that may be connected to it in one piece or by screws or by means of molded connecting elements, such as threaded elements or elements of a bayonet lock.
  • a quick-release fastener is implemented that allows the suction bell to be removed in order to clean the suction unit or to put on another suction bell that is adapted to the manipulated objects or with which the dimensioning of the air ducts or the circulated air flow is adapted.
  • the suction of objects is made easier if they are held centrally and sucked in along the central axis of the suction unit.
  • the suction units are therefore preferably provided with a centering device which allows a suctioned object unit to be guided against the central axis of the suction unit and to be kept centralized.
  • the centering unit can be connected to the suction body and / or the deflection unit, if provided, and / or the suction cup, if provided, and / or the suction bell, if provided.
  • the centering device can be made of the same material as the base body, the suction cup, the deflection unit or the Be manufactured suction bell. Furthermore, the centering device can be made of any material, such as metal and plastic.
  • Suction devices according to the invention have one or more suction units according to the invention with a suction head and / or without a suction head and preferably comprise a drive device, possibly a robot, by means of which the suction units can be moved between at least one receiving location and at least one delivery location.
  • the drive device which is driven electrically, hydraulically or pneumatically, is preferably controllable by means of a control unit, so that the work processes in which the suction units are integrated can run automatically.
  • the control unit can be connected to sensors by means of which the work processes can be monitored and the process steps can be correctly timed.
  • the processes or the objects, which are preferably held by completely or partially transparent suction units, are preferably monitored by cameras.
  • 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 preferably provided in the control unit which can control the drive device with which the suction units are moved and the media flows by means of which objects are coupled to or decoupled from the suction units.
  • the suction body, the suction plate, if present, the suction basket, which are preferably integrally connected to one another, and / or the deflection unit are preferably made of an elastic or transparent or of an elastic and transparent material such as acrylic.
  • 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. 1 shows a cutting device 9 and a symbolically represented suction device 1 according to the invention with suction units 10 according to the invention, which by means of a drive device 5 are movable to receive objects provided by the cutter 9;
  • FIG. 2a shows a part of the cutting device 9 and the suction device 1 from FIG. 1 with suction units 10, by means of which separated disc-shaped objects P can be grasped and transported to a delivery location;
  • FIG. 2b shows a suction device 1 according to the invention with several suction units 10 arranged in a distribution device 2, to which compressed air can be supplied via at least one valve 72 which can be controlled by a control unit 8 via a control line 87 shown symbolically;
  • FIG. 2c shows one of the suction units 10 in an enlarged view with a suction plate 11 and a deflection unit 12 arranged therein, by means of which a supplied gaseous medium is deflected laterally or radially over the suction plate 11;
  • FIG. 2d shows the deflection unit 12 from FIG. 2c, which is designed as a body of rotation and for this purpose has a deflection head 121 to which a mounting element 122 adjoins;
  • FIG. 2e shows a section through the distribution device 2 of FIG. 2a after removal of one of the suction units 10 from a receiving chamber 21 of the distribution device 2, which is connected to a distribution channel 20 through a chamber opening 210;
  • 2f shows a deflection unit 12 with a deflection head 121, the underside of which is concave in order to be able to partially pick up an object that has been sucked in;
  • 2g shows a deflection unit 12 with a deflection head 121, the top side of which is straight and is provided with radially extending depressions 120;
  • 2h shows a deflection unit 12 with a deflection head 121, the top side of which is straight;
  • FIG. 3a shows a suction unit 10 according to the invention in a preferred embodiment with a suction body 16, which holds a suction plate 11 or is connected in one piece to it, in which three suction channels 111 are provided, which are radially aligned and displaced by 120 ° relative to one another and in which the outlet openings 140 of outlet channels 14 are arranged;
  • FIG. 3b shows the suction unit 10 from FIG. 3a in a sectional illustration
  • FIG. 3c shows the suction unit 10 from FIG. 3a in a sectional illustration with three additional deflection units 12A, 12B and 12C;
  • FIG. 3d a part of the suction unit 10 from FIG. 3c in a sectional illustration
  • Fig. 4 shows a suction unit 10 with a suction body 16 in which
  • Inlet channels 13 and outlet channels 14 and outlet openings 140 which are located between the suction channels 111, and a central bore which is divided by an intermediate wall 130C into an inlet channel 130A and assembly channel 130B, which is used for the optional assembly of the deflection unit 12 shown;
  • FIG. 5a shows the suction unit 10 from FIG. 3a with a lamellar elastic suction plate 11;
  • FIG. 5b shows the suction unit 10 from FIG. 5a in a sectional illustration
  • FIG. 5c shows part of a preferably configured suction unit 10 with suction channels 111, the cross-section of which is at least approximately constant over the entire length;
  • FIG. 6a shows a sectional view of a suction unit 10 with a suction plate 11, to which a suction cage 161 connects, which encloses a receiving channel 1600 that is open downwards, with twelve inlet channels 13 connected to an inlet channel 130, which are directly inserted into the edge region of the receiving channel 1600 are directed, with no deflection unit being provided;
  • FIG. 6b shows a sectional view of a suction unit 10 according to FIG. 6a with a suction plate 11, which is provided with a deflection unit 12 and to which a suction basket 161 connects, which optionally has one or more wall openings 160 and encloses a receiving channel 1600 that is open at the bottom;
  • Fig. 6c a suction unit 10, e.g. according to Fig. 3a, which is equipped with a
  • Centering device 4 is provided, which is connected to the deflection unit 12 and which allows a sucked object unit P to be guided against the central axis x of the suction unit 10 or the deflection unit 12 and to be kept centralized;
  • Fig. 6d a suction unit 11 with a suction basket 161, the one
  • FIG. 6e shows the suction unit 10 from FIG. 6d with a more simply configured centering device 4 which has three evenly spaced rod-shaped centering elements 41 which are aligned along a conical surface and which are supported by the
  • FIG. 6f shows the suction unit 10 from FIG. 6d with a centering device 4, which has three evenly spaced wire-like or rope-like centering elements 41 which are aligned along a conical surface and which on the one hand are connected by
  • FIG. 6g shows the suction unit from FIG. 6f with a mounting element 1211 on the deflection head 121 of the deflection unit 12, on which the
  • 6h shows the suction unit 10 from FIG. 6d with a grid-shaped centering device 4;
  • FIG. 6i shows the suction unit 10 from FIG. 6d with a centering device 4, which has three centering elements 41 which are evenly spaced apart and are aligned along a conical surface and which are held by the edge of the suction cup 161 on the outlet side;
  • FIG. 6j shows the suction unit 10 from FIG. 6d equipped with a
  • Retaining flange 1615 which has a flange ring 44 with a
  • Centering device 4 which comprises a sheet-shaped holding element 4100;
  • FIG. 6k shows a suction unit 10, preferably of modular construction, with a plurality of suction units 10 according to one of FIGS. 6a to 6j in a sectional illustration;
  • FIG. 6b shows a sectional view of a suction unit 10 according to FIG. 6b with a suction plate 11, into which a deflection unit 12 or just a sealing pin 122 is to be inserted and to which a suction basket 161 connects, which optionally has one or more wall openings 160 and one downwards enclosing the open receiving channel 1600 which has indentations 1611, 1612 corresponding to the receiving of objects;
  • FIG. 7a shows a suction device 1 with two suction wheels 1A, 1B, which are peripherally equipped with suction units 10 according to one of FIGS. 6a-6k and of which objects P are picked up at a pick-up location and delivered to a conveying device 900 at a delivery location;
  • FIG. 7b shows part of the suction device 1 from FIG. 7a with the second suction wheel 1B, from which objects P are delivered to transport units 61 of the conveying device 900; 8a shows an exploded view of a suction unit 10 with a
  • Fig. 8b the assembled suction unit 10 of Fig. 8a with the
  • Suction body 16 which is inserted into the mounting plate 168 and the suction bell 6, which surrounds the suction body 16 separately by a return channel 60 and which is connected to the mounting plate 168;
  • FIG. 9a shows the suction unit 10 from FIG. 8a with the suction body 16, which is connected to the suction basket 161 through the suction cup 161 provided with wall openings 160
  • Suction bell 6 is integrally connected
  • FIG. 9b shows the assembled suction unit 10 from FIG. 9a;
  • FIG. 10a shows the suction unit 10 from FIG. 8a with the suction body 16, which is connected in one piece to the mounting plate 168;
  • FIG. 10b shows the assembled suction unit 10 from FIG. 10a;
  • FIG. 11a shows the suction unit from FIG. 10a with a suction bell 6 which has a conically shaped suction basket 161 with a small channel opening 1610 for grasping small objects;
  • FIG. 11b shows a suction device 1 with the suction unit from FIG. 11a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object or to a rod-shaped object unit P;
  • 11c shows the channel opening 1610 of the suction unit 10 from FIG. 10a in an enlarged view.
  • FIG. 12a shows the suction unit from FIG. 11a with a suction bell 6 which has a plurality of separating elements 1601 on the inside which, after the suction bell 6 has been installed, adjoin the suction body 16 and delimit wall openings 160;
  • FIG. 12b shows the assembled suction unit 10 from FIG. 12a;
  • FIG. 13 shows the suction unit 10 from FIG. 10a with a suction bell 6 which can be connected to the mounting plate 168 by a bayonet catch with closure elements 69, 169;
  • FIG. 14 shows the suction unit 10 from FIG. 10a with a suction bell 6, which can be connected to the mounting plate 168 by a screw cap with closure elements 69, 169;
  • FIG. 15 shows a suction unit 10 according to FIG. 6a, but optionally with a deflection unit 12, in a sectional view with a suction basket 161, which surrounds a receiving channel 1600 that is open at the bottom and which is attached to the suction plate 11 at the top and an annular plate 15, the lower suction channels, at the bottom 115 has, connects; and
  • FIG. 16 shows a suction unit 10 according to FIG. 6b, but optionally with a deflection unit 12, in a sectional view with a suction basket 161, which encloses a receiving channel 1600 that is open at the bottom and which is attached to the suction plate 11 at the top and an annular plate 15, the lower suction channels, at the bottom 115, connects, wherein the suction strainer 161 has a plurality of wall openings 160 which can be covered by means of an adjusting sleeve 3.
  • FIG. 1 shows a symbolic representation of a suction device 1 according to the invention with suction units 10 according to the invention, which can be moved by means of a drive device 5 in order to pick up objects which are provided by a cutting device 9.
  • the suction units 10 are preferably supplied with a flow of a gaseous medium by a fan 95 or a pump.
  • the cutting device 9 comprises a plurality of blades 91 which are connected to ultrasonic transducers 92 and held by a blade holder 93 to which actuators 99, which are articulated to a frame 90, are coupled, by means of which the blades 91 can execute movements within a working volume in order to be able to move from a process material to separate an object unit, which can be captured, transported and released again by means of the suction units 10.
  • the suction device 1 and the cutting device 9 or the work processes of these devices are controlled synchronously by a control unit 8.
  • the fan 95 or the pump 95 for example a piston pump, is preferably also controlled by means of the control
  • FIG. 2a shows part of the cutting device 9 from FIG. 1 as well as a suction device 1 according to the invention with suction units 10, by means of which separated disc-shaped objects P can be grasped and transported to a delivery location.
  • the blades 91 are connected to the ultrasonic transducers 92 by curved coupling elements 922, to which alternating voltages with frequencies in the ultrasonic range can be fed via connecting lines 921.
  • the blade holder 93 comprises mounting devices 931, by means of which the ultrasonic transducers 92 can be mounted by screws.
  • Process goods PO for example bread, which are cut into slices or product units or objects P, are fed on a conveyor belt 99.
  • the objects P are grasped and held by the suction device 1 or suction units 10 of the suction device 1 and can be conveyed or moved from the pick-up location to a delivery location.
  • the suction device 1 comprises a tubular drive device 5 which is rotatably held by a mounting ring 51.
  • the picked-up objects P can therefore be rotated from the shown pick-up position, e.g. by 90 ° downwards into a delivery position.
  • several objects P are typically stacked and conveyed on by means of a conveyor belt.
  • FIG. 2b shows a suction device 1 according to the invention with several suction units 10 arranged in a distribution device 2, to which compressed air can be supplied via at least one valve 72, which can be controlled by a control unit 8 via a control line 87 shown symbolically.
  • the compressed air supplied via supply lines 71 is distributed to all suction units 10 via the distribution device 2, which has a distribution channel.
  • a drive device 5 is symbolized by arrows, to which a control signal 81 can be fed from the control unit 8 in order to actuate the drive device 5 or to move the suction units 10 along any path and, if necessary, to rotate them.
  • the control unit 8 can control the entire work process, the conveyor belt 99, the cutting device 9 with control signals 89, the suction device 1 with control signals 81, valves 72 with control signals 87 and a conveyor device 900 (see FIG. 7b), which transports away the conveyed or stacked objects P, control with control signals 86.
  • Fig. 2c shows one of the suction units 10, which is inserted into the distribution device 2, in an enlarged view. It can be seen that, in this preferred embodiment, a plurality of shaped elements 113 are provided on the underside of the distribution device 2 which engage in the object P and can prevent lateral displacement. The recorded objects P are therefore held securely even in the event of greater accelerations.
  • the suction units 10, which are preferably designed as rotational bodies, have a suction plate 11 and, in this preferred embodiment, a deflection unit 12.
  • FIG. 2d shows the deflection unit 12 from FIG. 2c, which is designed as a mushroom-shaped body of revolution and has a deflection head 121 and a pin-shaped mounting element 122 adjoining the deflection head 121.
  • the deflecting head 121 On the side facing the suction plate 11, the deflecting head 121 has a circumferential, groove-shaped depression 120, which preferably extends in a rounded manner towards the edge of the deflecting head 121. In a section through the axis of rotation, the deflection unit thus has at least approximately an anchor-shaped cross section.
  • FIG. 2f shows a deflection unit 12 with a deflection head 121, the underside of which is concave in order to be able to partially pick up an object P, for example a nut according to FIG. 6c, and to hold it centered.
  • 2g shows a deflection unit 12 with a deflection head 121, the top side of which is straight and is provided with radially extending depressions 120.
  • FIG. 2h shows a deflection unit 12 with a deflection head 121, the top side of which is straight.
  • FIG. 2e shows a section through the at least approximately cuboid distribution device 2 from FIG. 2a, which has a distribution channel 20 and numerous receiving chambers 21.
  • the distribution channel 20 is separated from the receiving chambers 21 by a partition plate 22, but has a chamber opening 210 for each of the receiving chambers 21. Compressed air can therefore be fed through the distribution channel 20 and the chamber openings 210 to the suction units 10 in the receiving chambers 21.
  • the suction units 10 can in a simple manner in the receiving chambers 21, closely adjoining the Chamber openings 210 are used.
  • a sealing ring 24 is provided on the upper side of the suction units, which seals tightly to the edge of the chamber opening 210 and ensures that the compressed air can only escape via the suction unit 10.
  • the suction units 10 have a suction body 16 which is enclosed by an annular groove 166.
  • An inserted suction unit 10 can be fixed in a simple manner by means of a fork-shaped clamp 25, which is inserted through adapted openings into the receiving chamber 21 in such a way that it engages in the annular groove 166 of the inserted suction unit 10 and thereby holds it.
  • Suction units 10 can therefore be loosened and removed with a handle and reinserted, for example, after maintenance work.
  • a bar 29 is mounted, which has through openings 290 for the suction units 10 and form elements 113 which penetrate the surface of objects P sucked in can intervene and fix them.
  • the suction device 1 according to the invention can therefore be manufactured, assembled and also serviced in a simple manner.
  • FIG. 3a shows a suction unit 10 according to the invention in a preferred embodiment with a suction body 16 which holds a suction plate 11 in which three suction channels 111 which are radially aligned and displaced by 120 ° relative to one another are provided.
  • FIG. 3b shows the suction unit 10 from FIG. 3a, designed as a rotary body, in a sectional illustration.
  • the suction plate 11 is connected in one piece to the suction body 16, for example made of a plastic, and is slightly separated from it by a circumferential annular groove 166.
  • the suction body 16 has an inlet channel 130 coaxial to the axis of rotation, from which several inlet channels 13 branch off. From below, a deflection unit 12, as shown in Fig. 2d, with the mounting element 122 is inserted into the inlet channel 130, so that this is closed on the front side and the gaseous medium or compressed air only through the outwardly running inlet channels 13 to the front side of the suction plate 11 can reach.
  • the suction plate 11 has a preferably cylindrical depression which serves as a deflection chamber 115.
  • the outlet openings of the inlet channels 13 are arranged within the deflection chamber 115 behind the deflection head 121 of the deflection unit 12, so that the inflowing medium to the rear of the deflection head 121 and from this can be introduced into a deflection channel 110, which is delimited on the one hand by the front side of the suction plate 11 and on the other hand by the rear side of the deflection head 121, if the deflection unit 12 has been used. If no deflection unit 12 is used, the deflection channel 110 is limited by the sucked-in object.
  • the gaseous medium is guided radially outward through the deflection channel 110 so that it can flow out on the one hand through the three suction channels 111 and on the other hand between the suction plate 11 and a sucked-in object unit (not shown) and cause a corresponding negative pressure.
  • the suction channels 111 are radially running depressions within the suction plate 11 and run from the deflection chamber 115 preferably to the outer edge of the suction plate 11. After an object unit P has been sucked in, it is therefore always ensured that the medium can escape through the suction channel 111, which is preferably open on the outlet side the desired suction along the suction channels 111 is always guaranteed regardless of the nature of the object unit P sucked in.
  • a plurality of evenly distributed suction channels 111 are preferably provided.
  • a plurality of evenly distributed inlet channels 13 are preferably provided. Six evenly distributed inlet channels 13 are particularly advantageously provided, which run inclined outwards and are offset from one another by 60 °. In this embodiment, the inlet channels 13 define a pyramid with a corresponding number of edges.
  • FIG. 3 b also shows that outlet channels 14 are guided through the suction body 16, the outlet openings 140 of which are arranged within the suction channels 111.
  • compressed air can be introduced through a first valve 72A into the inlet channel 130 and further into the inlet channels 13 and through second valves 72B into the outlet channels 14. It is shown symbolically that the decentrally arranged valves 72A, 72B can be controlled by the control unit 8 (see FIG. 2b) by means of control signals 87A, 87B. Compressed air can therefore optionally be drawn in through the inlet ducts 13 to suck in an object unit P or into the outlet ducts 14 to suck in at desired time intervals to push off the held object unit P can be passed therethrough.
  • the elements 72A, 72B shown can also be simple connection elements via which compressed air is supplied to the suction unit 10. In this case, valves are provided centrally, which enables easier electrical wiring of the control lines 87A, 87B.
  • FIG. 3c shows the suction unit 10 from FIG. 3a in a sectional illustration with three additional deflection units 12A, 12B and 12C which are arranged concentrically to the central deflection unit 12 according to FIG. 3a.
  • An inlet channel 130, inlet channels 13 and a deflection chamber 115 are also assigned to each of the additional deflection units 12A, 12B, 12C.
  • Suction channels 11 can in turn connect to the deflection chamber 115.
  • the deflection units 12A, 12B, 12C are not assigned any suction channels 111 directly. The gaseous medium is therefore passed by the deflection units 12A, 12B, 12C over the surface of the suction plate 11, thereby avoiding direct contact with the sucked object.
  • the central deflection unit 12 and its suction channels 111 thus ensure that the object is safely sucked in, while the further deflection units 12A, 12B, 12C also develop a suction effect and additionally prevent contact with the suction plate 11. In this way, a media film can be used to separate the object from the object with good suction.
  • FIG. 3d shows part of the suction unit 10 from FIG. 3c in a sectional illustration. It is shown that the media flow can enter the deflection chamber 115 via the inlet channel 130 and the inlet channels 13 and is guided radially outward there in the annular deflection channel 110. From the deflection chamber 115, the media flow can enter the suction channels 111 in a laminar manner via a preferably rounded surface.
  • FIG. 4 shows a suction unit 10 which is preferably configured and which can optionally be equipped with a deflection unit 12.
  • the suction body 16 of the suction unit 10 of FIG. 3 b is provided with outlet channels 14 and outlet openings 140, which are located between the suction channels 111.
  • the arrangement of the outlet openings 140 is also possible within and outside the suction channels 111.
  • the course of the media flows controlled by valves 72A, 72B is shown symbolically.
  • the cross-sectional profile of the suction channels 111 is clearly visible in this illustration.
  • 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 be adapted to the nature of the objects P if necessary.
  • 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.
  • Fig. 5a shows the suction unit 10 of Fig. 3a with a lamellar elastic suction plate 11.
  • the diameter of the suction body 16 has been reduced and is only slightly larger than the diameter of the receiving chamber 115.
  • the suction plate 11 therefore consists peripherally of a thin annular lamella, which deform under the action of the suction force and to a held object unit P can adjust.
  • the suction plate 11, which is preferably connected in one piece with the suction body 16, is made of an elastic material.
  • the suction plate 11 can also be a thin metal plate into which the suction channels 111 are molded or embossed.
  • a suction plate of this type can connect to a centrally arranged sleeve which is connected to the suction body 16, for example glued, screwed or pressed.
  • FIG. 5b shows the suction unit 10 from FIG. 5a in a sectional illustration.
  • 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. If desired, the deflection unit 12 can also be displaced inwards, so that it deviates, for example, by a fraction of a millimeter from the plane defined by the front side of the suction plate 11.
  • 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. 6a shows a suction unit 10 in a sectional illustration with a suction plate 11, to which a suction basket 161 connects, which surrounds a receiving channel 1600 that is open at the bottom.
  • the suction unit comprises a suction body 16, which can be mounted in a device according to FIG. 2e, and the twelve inlet ducts 13 connected to an inlet duct 130, which are directed outwards into the edge region of the receiving duct 1600 against the inside of the suction cup 161.
  • the gaseous medium flowing in through the inlet channels 13, which are preferably at the same angular distances adjacent to one another, is therefore blown against the inner wall of the suction strainer 161 and there forms a thin, hollow cylindrical film which flows downward at a high flow rate.
  • a negative pressure is thus created in the flow zone, through which an object can be sucked in. It should be noted that the object itself also shifts the flow outwards and further reduces the flow cross-section, which is why the flow velocity and the negative pressure within the suction cup 161 also increase.
  • a centering device 4 is also provided, by means of which the sucked object is kept centered.
  • a deflection unit 12 is optionally dispensed with in the embodiment of FIG. 6a.
  • the suction plate 11 is therefore tightly closed in the middle and only has openings for the inlet channels 13.
  • FIG. 6b shows a suction unit 10, preferably according to FIG. 3a, with a suction plate 11, to which a suction basket 161 connects, which surrounds an outwardly open receiving channel 1600 and in this embodiment is provided with wall openings 160 on the side.
  • the suction cup 161 is integrally connected to the suction body 16, which in turn has a suction plate 11 and a deflection unit 12 on the front.
  • the dimensions of the suction cup 161 are preferably adapted to the objects P.
  • 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.
  • suction strainer 161 can also have an oval, rectangular or polygonal cross section.
  • the basket openings 160 can preferably be closed by means of a closure element 3, as is shown by way of example for the suction unit 10 according to FIG. 16.
  • suction units 10 of FIGS. 6a and 6b which are provided with the suction cup 161
  • objects P which do not have flat surfaces can be grasped and securely held.
  • nuts e.g. hazelnuts
  • the height of the suction cup 161 is dimensioned according to the size of the objects P or a fraction thereof.
  • several rows of superimposed wall openings 160 are provided through which the media flow can escape laterally.
  • Suction units 10, as described above, are preferably provided with a suction basket 161.
  • conventional suction units which have a suction body 16 with at least one inlet channel 13, a suction plate 11 fixedly or detachably connected to the suction body 16, and a deflection unit 12, with a suction basket 161.
  • the suction cup 161 of the suction unit 10 of FIG. 6a does not have any wall openings. In this embodiment, it must therefore be ensured that when the object is picked up, there is no flow break that would cancel the suction effect. This is ensured in particular by the type of objects sucked in and by the centering device 4.
  • the suction cup 161 of the suction unit 10 of FIG. 6b has wall openings 160 at different heights.
  • the wall openings 160 ensure that no flow separation occurs when an object is sucked into the suction strainer 161.
  • the wall openings 160 of different heights are closed sequentially until only the uppermost wall openings 160 are exposed. This ensures that the media film runs as far down as possible and that an optimal suction effect is achieved as far below as possible. It is also possible to keep only the three uppermost wall openings 160 or wall slots 160 open, but the course of the media film changes.
  • FIG. 6c shows a suction unit 10, for example according to FIG. 3a, which is provided with a centering device 4 which is connected to the deflection unit 12 is connected and which allows a sucked irregular, for example round object unit P to be guided against the central axis x of the suction unit 10 or the deflection unit 12 and to keep it centered.
  • a centering device 4 which is connected to the deflection unit 12 is connected and which allows a sucked irregular, for example round object unit P to be guided against the central axis x of the suction unit 10 or the deflection unit 12 and to keep it centered.
  • the suction unit 10 in turn comprises a deflection unit 12 by which the centering device 4 is held.
  • Centering devices 4 are preferably funnel-shaped so that objects picked up are automatically guided upwards to the funnel axis x. Open or air-permeable centering devices 4 are used so that the air circulation is not interrupted.
  • the centering device 4 shown comprises three centering elements 41 aligned along a cone, which at one end form the cone tip held by the deflection unit 12 and which are connected to one another on the other side by a receiving ring 42.
  • An object unit P for example a nut, can be pre-centered by means of the receiving ring 42, so that it can subsequently be sucked and centered more easily along the centering elements 41 against the deflection unit 12.
  • the centering device 4 has the effect that the object P is held centrally and the gaseous medium can flow over it in the manner of an umbrella. The suction force can therefore develop evenly, so that the object can be held securely.
  • FIG. 6d shows a suction unit 11 with a suction basket 161, which has no side wall openings and which surrounds a receiving channel 1600, and with an optionally provided centering device 4 according to FIG. 6c.
  • the suction strainer 161 ensures that the gaseous medium can flow downwards or outwards in a laminar manner along its cylindrical inner wall, whereby a uniform cylindrical media flow is forcibly created and a negative pressure results in the center of the receiving channel 1600, which ensures the safe suction of even unfavorably shaped objects P guaranteed.
  • the centering device 4 in turn ensures that the object P is centered and does not come into contact with the media film. Without the centering device 4, the objects P would also be sucked in advantageously, and the reliable detection of the objects P could take a little longer.
  • FIG. 6e shows the suction unit 10 from FIG. 6d with a more simply configured centering device 4, the three evenly rod-shaped centering elements 41 which are spaced apart and aligned along a conical surface and which are held by the deflecting element 12.
  • a receiving ring 42 has been dispensed with.
  • the centering elements 41 are aligned straight.
  • the centering elements are slightly bent outwards so that they can reliably detect objects P in a wider environment.
  • Fig. 6f shows the suction unit 10 of Fig. 6d with a centering device 4, which has three evenly spaced wire-like or rope-like centering elements 41 aligned along a conical surface, which are held on the one hand by the deflecting element 12 and on the other hand by the exit-side edge of the suction head 161.
  • the centering elements 41 are anchored at one end in the deflection element 12 or in the deflection head 121 and are provided on the other side with a mounting ball 46, which are anchored in a mounting opening 1680 on the output side in the edge of the suction cup 161.
  • FIG. 6g shows the suction unit from FIG. 6f with a mounting element 1211 on the deflection head 121 of the deflection unit 12, to which the centering elements 41 are attached.
  • FIG. 6h shows the suction unit 10 from FIG. 6d with a lattice-shaped centering device 4, which has lattice bars or lattice ropes as centering elements 41, which are anchored in the suction basket 161 with assembly balls 46.
  • the hollow cylindrical media flow is shown, which runs downwards in the receiving channel 1600 along the cylindrical basket wall and creates a negative pressure in the area of its central axis, along which an object unit P, e.g. a nut, is guided against the centering device 4.
  • FIG. 6i shows the suction unit 10 from FIG. 6d with a centering device 4, which has three equally spaced centering elements 41 aligned along a conical surface, which are held by the exit-side edge of the suction cup 161 and have their ends inclined towards the central axis x.
  • the centering elements 41 in turn form an open funnel, which ensures that the objects P picked up are not guided against the inner wall of the suction cup 161 and ejected again.
  • FIG. 6j shows the suction unit 10 from FIG. 6d equipped with a retaining flange 1615 which has a flange ring 44 with a Centering device 4, which comprises a sheet-shaped holding element 4100.
  • This centering device 4 lighter and less dimensionally stable objects can advantageously be held.
  • the use of a shorter suction strainer 161 is also possible.
  • the flange connection can also be used in the embodiment of FIG. 6i.
  • Fig. 6k shows a sectional view of a preferably modularly constructed suction unit 10 with several suction units 10 according to one of Figures 6a to 6j, which are each provided with a deflection unit 12, 12A, 12B, 12C and a suction head 161, 161A, 161B, 161C.
  • 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 should be picked up in a certain grid and / or delivered again, possibly to an intermediate product or to packaging. Since intermediate products and packaging often change, it is preferably provided according to the invention that suction units 10 according to the invention have a modular structure and can be assembled as desired. For example, it is provided that absorbent body modules 100 are provided, which are connected to one another in a form-fitting, non-positive manner, or otherwise, and possibly screwed together. If necessary, absorbent body modules 100 are provided with one or more deflection units 12 and suction plates 11, which can be put together in the manner of LEGO® modules. In this way, e.g.
  • the suction head of a robot can be adapted as required to intermediate products and packaging.
  • 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. 61 shows a suction unit 10 according to FIG. 6b in a sectional view with a suction plate 11, into which a deflection unit 12 or just a sealing pin 122 is to be inserted and to which a suction basket 161 is attached.
  • the suction cup 161 optionally has one or more wall openings 160 and encloses a downwardly open receiving channel 1600, which is suitable for receiving objects Has indentations 1611, 1612. It is shown by way of example that rectangular objects can be received in the recesses 1611, 1612. For example, an object is first received in the upper indentation 1612 and then an object in the lower indentation 1611. If the receiving channel 1600 is closed by one of the objects, the media flow can flow out through the wall openings 160, whereby the suction pressure is maintained.
  • the number and configuration of the indentations 1611, 1612 can be selected as desired.
  • suction units 10 or assemblies of suction units 10 described above are preferably provided with suction channels 111.
  • suction channels 111 mentioned can also be dispensed with.
  • suction units 10 can therefore be combined as desired.
  • the suction units 10 according to FIGS. 6a-61 can thus advantageously be implemented with or without suction channels 111. It should be noted that in these configurations the suction plate 11 is normally separated from the objects P by the centering device 4 used in each case.
  • the optionally provided centering devices 4 can be made entirely or partially from metal or plastic.
  • the parts can be made strong or elastic, whereby, for example, by shaping it must be ensured that objects P do not jam in the centering device 4 and can be released again without problems.
  • FIG. 7a shows a suction device 1 with two suction wheels 1A, 1B, which are peripherally equipped with suction units 10 according to one of FIGS. 6a to 6k and from which objects P are picked up at a pick-up location and delivered to a conveying device 900 at a delivery location.
  • the first suction wheel 1A picks up objects P, for example nuts, from a container B and conveys them to a transfer point where they are transferred to the second suction wheel 1B, which transports the object unit P taken over to the delivery location and there to the conveyor device 900 gives.
  • each suction unit 10 is preferably individually controllable through a plurality of suction channels 200A, 200B, so that an object unit P can be picked up with a suction unit 10 and an object unit P can be dispensed from another suction unit 10 at the same time.
  • Two pressure lines can also be fed to each suction unit, the first of which is connected to inlet channels 13 and the second to outlet channels 14.
  • a suction unit 10 of the first suction wheel 1A, the object unit P of which is being ejected, and a suction unit 10 of the second suction wheel 1B, which draws in the object P lie opposite one another.
  • the drive devices 5A, 5B of the suction wheels 1A, 1B and the valves 72 of the suction channels 200A, 200B are controlled by the control unit 8 by means of control signals 81A, 81B; 87A, 87B.
  • the conveying device 900 is controlled by control signals 86 in synchronism with the suction wheels 1A, 1B.
  • control unit 8 For the synchronous control of the device units 1A, 1B, or for checking the position and quality of objects P held by transparent suction units 10, the control unit 8 preferably processes sensor signals S which are emitted by sensors SM, typically optical sensors or cameras.
  • FIG. 7b shows part of the suction device 1 from FIG. 7a with the second suction wheel 1B, from which objects P are delivered to transport units 961 of the conveying device 900 at a delivery position.
  • the transport units 61 are mounted on mounting plates 962 which are conveyed by a chain 963. The mounting plates have been removed from the front.
  • the transport units 961 are designed in two parts and can be opened and closed. On the right in FIG. 7b, a channel is shown into which the transport units 961 are inserted and closed. So that the transported objects P are delivered correctly in terms of time and do not remain briefly in the suction unit 10 or in its suction basket 161, an air pulse is preferably introduced into the output channels 14 at the delivery location, as is shown symbolically.
  • suction units 10 are supplied with compressed air from a media pressure device 95, a blower or a pump via at least one line 950.
  • All suction devices 1 and suction units 10 according to the invention can advantageously be operated with a fan 95 which has a propeller. It has been shown here that a reduction in the diameter of the inlet channel 130 and / or the adjoining inlet channels 13 can paradoxically increase the suction power or suction force of the suction units 10.
  • a Blower device instead of a pump, the costs of the suction device 1 are significantly reduced. If necessary, two or more fans can be connected in series to increase the pressure.
  • Suction units according to the invention with an adapted inlet channel can already be operated with a medium pressure in the range of 1 bar.
  • the use of expensive piston pumps can thus be dispensed with.
  • the diameter of the inlet channel 130 and / or the adjoining inlet channels 13 is changed until objects P with maximum weight can be detected.
  • a blower 95 can be used particularly advantageously in connection with suction units 95, as shown in FIGS. 6a-6j.
  • FIG 8a shows, in an exploded view, a suction unit 10 with the suction body 16, a mounting plate 168 and a suction bell 6, to which a suction basket 161 is attached.
  • the suction body 16 can be connected to a mounting plate 168 by means of screws or bolts 167.
  • the mounting plate 168 has a transfer channel 1683 into which a connector 165 formed on the suction body 16 and adjoining the mounting channel 130 can be inserted.
  • the mounting plate 168 also has an outlet opening 1680.
  • the suction bell 6 which can also be connected to the mounting plate 168 by screws or bolts 167, has a bell space 600 into which the suction body 16 can be inserted.
  • the suction cup 161 can therefore be connected or connectable in one piece with the suction body 16 or with the suction bell 6.
  • FIG. 8 b shows a suction device 1 with the assembled suction unit 10 from FIG. 8 a with the suction body 16 which is inserted into the mounting plate 168 is inserted and the suction bell 6, which surrounds the suction body 16 separately by a return channel 60 and which is connected to the mounting plate 168.
  • the suction body 16 is only connected to the mounting plate 168 and protrudes into the bell space 600 in such a way that the suction plate 11 is only separated from the suction cup 161 by an annular slot 1616 and that between the inner wall of the suction cup 6 and the suction body 16 only the dimensioned as desired Return channel 60 is kept free, which surrounds the absorbent body 16 in a ring.
  • a medium L can therefore be circulated through the suction unit 10 from an air pressure device or media pressure device 95, which medium L generates a negative pressure in the suction cup 161.
  • the medium L released by the media pressure device 95 runs through the inlet channel 130 and the inlet channels 13 of the suction body 16 to the deflection head 12 and is there through the deflection channel 110 (see Fig. 3d), via the suction plate 11, through the annular slot 1616, the return channel 60 and the at least one outlet opening 1680 led back to the media pressure device 95.
  • 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. 9 a shows the suction unit 10 from FIG. 8 a with the suction body 16, which in this embodiment is connected in one piece to the suction bell 6 by the suction basket 161.
  • the suction basket 161 is provided between the suction body 16 and the wall of the suction bell 6 with slot-shaped wall openings 160 through which the gaseous medium is guided back through the return channel 60 to the outlet opening 1680.
  • Fig. 9b shows the assembled suction unit 10 of Fig. 9a.
  • FIG. 10 a shows the suction unit 10 from FIG. 8 a with the suction body 16, which is connected in one piece to the mounting plate 168.
  • Fig. 10b shows the assembled suction unit 10 of Fig. 10a. Due to the one-piece production of the suction body 16 and the mounting plate 168, the suction unit 10 can be manufactured inexpensively and precisely.
  • FIG. 11a shows the suction unit from FIG. 10a with a suction bell 6 which has a conically shaped suction basket 161 with a small channel opening 1610 for grasping small objects.
  • the suction cup 161 can thus be shaped as desired and advantageously adapted to the work environment.
  • the suction cup 161 can also taper disproportionately or concavely downwards.
  • the suction cup 161 can be rotationally symmetrical or, for example, also approximately elliptical in cross section.
  • FIG. 11 b shows a suction device 1 with the suction unit from FIG. 11 a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object P.
  • FIG. 11 b shows a suction device 1 with the suction unit from FIG. 11 a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object P.
  • FIG. 11 b shows a suction device 1 with the suction unit from FIG. 11 a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object P.
  • FIG. 11 b shows a suction device 1 with the suction unit from FIG. 11 a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object P.
  • FIG. 11 b shows a suction device 1 with the suction unit from FIG. 11 a with a slot-shaped channel opening 1610 which is adapted to a rod-shaped object P.
  • FIG. 11 b shows a suction device 1 with the
  • 11c shows the channel opening 1610 in an enlarged illustration.
  • FIG. 12 a shows the suction unit from FIG. 10 a with a suction bell 6 which has a plurality of separating elements 1601 on the inside which, after the suction bell 6 has been installed, adjoin the suction body 16 and delimit wall openings 160.
  • Fig. 12b shows the assembled suction unit 10 of Fig. 12a.
  • suction bells 6 with wall openings 160 dimensioned as desired can be produced in a simple manner.
  • the partition elements 1601 can be made wide to narrow Wall openings 160 to delimit, or can be made narrow in order to delimit wide wall openings 160.
  • FIG. 13 shows the suction unit 10 from FIG. 10 a with a suction bell 6, which can be connected to the mounting plate 168 by a bayonet lock with corresponding locking elements 69, 169.
  • FIG. 14 shows the suction unit 10 from FIG. 10 a with a suction bell 6, which can be connected to the mounting plate 168 by means of a screw closure with corresponding closure elements or threaded elements 69, 169.
  • FIG. 15 shows a suction unit 10 according to FIG. 6a, but optionally with a deflection unit 12, in a sectional view with a suction basket 161, which surrounds a receiving channel 1600 that is open at the bottom and which is attached to the suction plate 11 at the top and an annular plate 15, the lower one, at the bottom Has suction channels 151, connects.
  • FIG. 16 shows a suction unit 10 according to FIG. 6b, optionally with a deflection unit 12, in a sectional view with a suction basket 161, which encloses a receiving channel 1600 that is open at the bottom and which is attached to the suction plate 11 at the top and to an annular plate 15 at the bottom Has suction channels 151, connects.
  • the suction cup 161 has wall openings 160 which can be completely or partially covered by means of a closure element 3, preferably an adjusting sleeve 3.
  • the adjustment sleeve 3, which surrounds the suction body 16, preferably has an internal thread which corresponds to an external thread on the outside of the suction body 16. The threaded sleeve can therefore simply be rotated in order to close the wall openings 160 if necessary.
  • the suction unit 10 can therefore, if necessary, be adapted to the objects to be picked up.
  • All suction units that are provided with a suction basket can thus be provided with a deflection unit 12 or not. If no deflection unit 12 is provided, the inlet channel 130, via which the gaseous medium is distributed to the inlet channels 13, is closed below the distribution point.
  • the suction body 16 can close the inlet channel 130 in one piece. Alternatively, the inlet channel or assembly channel 130 can optionally be closed by a pin if no deflection unit is assembled.
  • the ring plate 15 of the suction units 10 of FIGS. 15 and 16 which connects to the channel opening 1610 of the suction basket 161, allows objects to be picked up in the suction basket 161 in a controlled manner or to the edge or the duct opening 1610 of the suction basket 161.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)
  • Blow-Moulding Or Thermoforming Of Plastics Or The Like (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)
  • Cleaning In General (AREA)

Abstract

L'invention concerne une unité d'aspiration (10) qui sert à aspirer un objet selon la loi de Bernoulli, comprenant un corps d'aspiration (16) muni d'une plaque d'aspiration (11), qui est adjacente au corps d'aspiration et présente une face avant opposée au corps d'aspiration (16), et au moins un canal d'entrée (13), par lequel peut être introduit un milieu gazeux dans le corps d'aspiration (16) en passant par la face avant de la plaque d'aspiration (11) pour atteindre un canal déflecteur (110), ledit canal déflecteur étant délimité par la face avant de la plaque d'aspiration (11) et par une tête déflectrice (121) d'une unité déflectrice (12) ou par la face avant de la plaque d'aspiration (11) et par l'objet lors de l'aspiration de l'objet, le milieu gazeux pouvant être conduit vers l'extérieur par le canal déflecteur. Le centre de la plaque d'aspiration (11) présente une chambre déflectrice (115) qui d'un côté est adjacente à au moins un canal d'entrée (13) et de l'autre côté à de multiples canaux d'aspiration (111), qui sont évidés dans la plaque d'aspiration (11) et qui s'étendent vers le bord de la plaque d'aspiration (11).
EP20765296.7A 2019-09-10 2020-09-07 Unité d'aspiration et dispositif d'aspiration Pending EP4028343A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
EP19196589 2019-09-10
EP19208051 2019-11-08
EP20152029 2020-01-15
PCT/EP2020/074977 WO2021048069A1 (fr) 2019-09-10 2020-09-07 Unité d'aspiration et dispositif d'aspiration

Publications (1)

Publication Number Publication Date
EP4028343A1 true EP4028343A1 (fr) 2022-07-20

Family

ID=72340371

Family Applications (2)

Application Number Title Priority Date Filing Date
EP20765296.7A Pending EP4028343A1 (fr) 2019-09-10 2020-09-07 Unité d'aspiration et dispositif d'aspiration
EP20765297.5A Pending EP4028344A1 (fr) 2019-09-10 2020-09-07 Unité d'aspiration et dispositif d'aspiration

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP20765297.5A Pending EP4028344A1 (fr) 2019-09-10 2020-09-07 Unité d'aspiration et dispositif d'aspiration

Country Status (8)

Country Link
US (2) US12565387B2 (fr)
EP (2) EP4028343A1 (fr)
JP (2) JP7611236B2 (fr)
CN (2) CN114401830A (fr)
AU (2) AU2020344792A1 (fr)
BR (2) BR112022003637A2 (fr)
CA (2) CA3148531A1 (fr)
WO (2) WO2021048069A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230075432A1 (en) * 2020-02-17 2023-03-09 Jabil Inc. Apparatus, system and method for providing a manufacturing gripping nozzle
EP4622899A1 (fr) * 2022-11-21 2025-10-01 Sanofi Dispositif de maintien, agencement comprenant le dispositif de maintien, dispositif d'administration de médicament et procédé associé
WO2024227932A1 (fr) 2023-05-03 2024-11-07 A O Formaflon Swiss AG Unité d'aspiration et dispositif d'aspiration
CN119673656B (zh) * 2025-02-18 2025-05-27 快克智能装备股份有限公司 一种自解锁芯片加压模具及固化单元

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3516941C2 (fr) * 1985-05-10 1989-02-02 Elring Dichtungswerke Gmbh, 7012 Fellbach, De
WO2017017750A1 (fr) * 2015-07-27 2017-02-02 株式会社ニレコ Dispositif de préhension de fruits et de légumes

Family Cites Families (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1054966A (fr) * 1964-04-24
JPS572477B2 (fr) 1974-03-01 1982-01-16
DE7514476U (de) * 1975-05-06 1976-02-26 Ab Svenska Flaektfabriken, Nacka (Schweden) Transportoer fuer plattenfoermiges material
JPS58141536A (ja) * 1982-02-17 1983-08-22 Sanyo Electric Co Ltd 半導体ウエハ−の吸着ヘツド
DE9208417U1 (de) * 1992-06-24 1993-10-28 BVM Triebwerkstechnik GmbH, 10623 Berlin Haltevorrichtung
US5636887A (en) 1995-03-20 1997-06-10 Chrysler Corporation Apparatus for lifting objects by suction and releasing them by gas pressure
US6604888B2 (en) * 2001-12-04 2003-08-12 Donald L. Dolan Energy absorbing safety barrier
JP4342331B2 (ja) 2004-02-09 2009-10-14 株式会社コガネイ 非接触搬送装置
JP4491340B2 (ja) * 2004-12-28 2010-06-30 株式会社コガネイ 搬送装置
JP2006341346A (ja) * 2005-06-09 2006-12-21 Fujifilm Holdings Corp 非接触型搬送装置
DE202006002330U1 (de) * 2006-02-13 2007-06-21 Dolmar Gmbh Absaugvorrichtung
DE202006016833U1 (de) 2006-10-31 2007-04-05 Waldemar Knittel Glasbearbeitungs Gmbh Bernoulli-Sauger mit Blende zum Handhaben nicht formstabiler oder zerbrechlicher Werkstücke
DE102008023907A1 (de) 2008-05-16 2009-12-03 Innolas Systems Gmbh Bernoulli-Greifvorrichtung zum Greifen und Handhaben von plattenförmigen Elementen, insbesondere von Waferelementen
DE202008010424U1 (de) * 2008-07-30 2009-12-24 J. Schmalz Gmbh Mit Druckluft betriebener Flächensauggreifer
JP2010114108A (ja) * 2008-11-04 2010-05-20 Ngk Spark Plug Co Ltd 配線基板の非接触搬送装置及び方法
ITUD20090042A1 (it) * 2009-02-23 2010-08-24 Applied Materials Inc Pinza di bernoulli
JP2011148024A (ja) 2010-01-20 2011-08-04 Seiko Epson Corp 非接触保持装置
US20130118352A1 (en) * 2010-03-04 2013-05-16 Berling Gmbh Air Extraction Device and Method for Removing Particles Carried by an Air Stream
WO2011159173A2 (fr) 2010-06-16 2011-12-22 Powerhouse Ventures Limited Dispositif et système de commande de levage sans contact
DE102011080463A1 (de) * 2011-08-04 2013-02-07 Deutsches Institut Für Lebensmitteltechnik E.V. Vorrichtung und Verfahren zum Herstellen gefüllter Lebensmittel
JP2013230537A (ja) * 2012-05-02 2013-11-14 Toshiyuki Okamoto 非接触吸盤
DE102013222376B3 (de) * 2013-11-04 2015-03-26 J. Schmalz Gmbh Ventil für Unterdruckhandhabungs- oderSpanneinrichtung, sowie Unterdruckhandhabungseinrichtung
JP2015179741A (ja) * 2014-03-19 2015-10-08 株式会社ディスコ 板状物の保持機構
EP2926963A1 (fr) * 2014-04-02 2015-10-07 A O Schallinox GmbH Dispositif doté d'une lame destiné à l'usinage d'un produit de processus
JP6128050B2 (ja) * 2014-04-25 2017-05-17 トヨタ自動車株式会社 非接触型搬送ハンド
JP5908136B1 (ja) * 2015-03-03 2016-04-26 株式会社ハーモテック 吸引装置
JP6326451B2 (ja) * 2016-06-08 2018-05-16 株式会社ハーモテック 搬送装置及び吸引装置
JP6744630B2 (ja) * 2016-12-16 2020-08-19 株式会社ハーモテック 邪魔板
JP2019042895A (ja) * 2017-09-05 2019-03-22 株式会社ハーモテック 吸引装置
JP7148105B2 (ja) * 2017-09-20 2022-10-05 株式会社ハーモテック 吸引装置
CN208663844U (zh) 2018-01-05 2019-03-29 邯郸市海拓机械科技有限公司 一种简易型伯努利吸盘
EP3530422A1 (fr) * 2018-02-27 2019-08-28 Piab Ab Dispositif à coupelle d'aspiration pour l'industrie d'automatisation
US11037809B2 (en) * 2019-07-17 2021-06-15 Taiwan Semiconductor Manufacturing Co., Ltd. Transfer device and method for transferring substrate without unexpected rotation
JP7219426B2 (ja) * 2020-02-19 2023-02-08 Smc株式会社 非接触搬送装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3516941C2 (fr) * 1985-05-10 1989-02-02 Elring Dichtungswerke Gmbh, 7012 Fellbach, De
WO2017017750A1 (fr) * 2015-07-27 2017-02-02 株式会社ニレコ Dispositif de préhension de fruits et de légumes

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2021048069A1 *

Also Published As

Publication number Publication date
US20220297954A1 (en) 2022-09-22
JP7657203B2 (ja) 2025-04-04
WO2021048070A1 (fr) 2021-03-18
US20220289500A1 (en) 2022-09-15
JP2022546744A (ja) 2022-11-07
BR112022003637A2 (pt) 2022-05-24
US12565387B2 (en) 2026-03-03
CA3148552A1 (fr) 2021-03-18
CN114401830A (zh) 2022-04-26
AU2020344792A1 (en) 2022-03-31
EP4028344A1 (fr) 2022-07-20
CN114401914A (zh) 2022-04-26
US12441555B2 (en) 2025-10-14
AU2020344932A1 (en) 2022-03-31
BR112022003377A2 (pt) 2022-05-17
CA3148531A1 (fr) 2021-03-18
JP7611236B2 (ja) 2025-01-09
JP2022547920A (ja) 2022-11-16
WO2021048069A1 (fr) 2021-03-18

Similar Documents

Publication Publication Date Title
EP4028343A1 (fr) Unité d'aspiration et dispositif d'aspiration
EP2554501B1 (fr) Procédé pour transporter des tranches de denrées alimentaires
EP3500110B1 (fr) Dispositifs et procede de pasteurisation et/ou de sterilisation de produits particulaires
EP0163043B1 (fr) Dispositif d'amenée, dans des machines d'emballage, de petits produits pharmaceutiques, tels que tablettes, pilules, capsules, etc.
EP1275604A2 (fr) Dispositif et procédé de désempilage d'emballages de type blister
WO2024078662A1 (fr) Dispositif de transport et de séparation de pièces
DE19646753C2 (de) Einrichtung zur Qualitäts- und/oder Größensortierung kleinstückiger Produkte
EP2554500B1 (fr) Dispositif et procédé de fabrication d'aliments remplis
EP1105222B1 (fr) Dispositif permettant de trier des melanges de materiaux de valeur
DE69318355T2 (de) Schleuderstrahlvorrichtung und Vorrichtung zum Entfernen von Graten mit dieser Vorrichtung
DE202005011756U1 (de) Vorrichtung zum Greifen und Manipulieren, insbesondere Sortieren, von Schüttgutteilen
EP1621262A1 (fr) Appareil de manipulation, en particulier de triage, de matériaux en vrac
DE19733215A1 (de) Verfahren und Vorrichtung zur pneumatischen Handhabung von Waffelblättern
DE2152807B2 (de) Vorrichtung zum Fertigbearbeiten von Kapseln für pharmazeutische Verwendungen
EP1162163B1 (fr) Dispositif de préhension d'objets et procédé d'utilisation
WO2020070174A1 (fr) Dispositif de coupe et procédé de traitement d'unités de produit
CH695562A5 (de) Blisterabstapelvorrichtung.
EP3840894B1 (fr) Procédé et dispositif d'élimination sélective des produits apte à ruisseler
WO2007090517A1 (fr) Dispositif et procédé pour déparier des produits
DE202022105815U1 (de) Vorrichtung zur Förderung und Vereinzelung von Werkstücken
AT18564U1 (de) Vorrichtung zum Entwirren von Kleinteilen
EP4019416A1 (fr) Station de scellement pourvue de séparateur centrifuge
DE10219118A1 (de) Vereinzelungsvorrichtung
DE8426819U1 (de) Beschickvorrichtung an Verpackungsmaschinen für kleine pharmazeutische Produktgegenstände, wie Tabletten, Pillen, Kapseln o.dgl.

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220411

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20240404