EP2476637B1 - Device and method for placing, holding and/or handling flat objects - Google Patents

Description

The present invention relates to a receiving, holding and / or handling device for flat objects with at least two controllable suction pads, which has the features of independent claim 1. The invention additionally relates to a method for receiving, holding and / or handling flat objects via at least two controllable suction grippers having the features of independent method claim 16.

In the processing and / or packaging of articles and general cargo, these are often stacked in several pallet layers, with so-called intermediate layers or separating layers in the form of flat objects being able to be inserted between the individual layers. Such sheet-like objects or plates can be formed, for example, by cardboard liners, plastic liners, hollow board panels, sheets of corrugated cardboard or web cardboard, optionally of cardboard or plastic. If flat objects such as stacked plates are to be raised individually, problems often arise because the articles or plates often tend to adhere to one another. Adhesive forces or else mechanical fiber entanglements or negative pressure adhesions may be responsible for these undesired adhesive effects, which must be reduced or rendered ineffective when lifting individual plates. The faster the cycle times of the gripping and lifting devices, the more pronounced occur these undesirable disadvantages. In order to avoid or at least mitigate the adherence of the plates, the underlying plates can, for example, be retained by means of suitable brush elements when lifting an uppermost plate. Also, the lifting and bending of the lateral edges of the top plate has been found in practice as an effective measure to prevent the Mitzieheffektes. Another measure to avoid the problems mentioned may be the use of frame magazines with Vorseparierung the plates.

The EP 0 639 519 A1 shows a separating device for plate material with a plurality of vertically oriented suction pads, which is a topmost plate of a Contact plate stack for lifting. A suction gripper arranged at the edge is pivotable and / or slidable in its suspension in the horizontal direction, so that it can bend the lateral edge of the plate laterally upwards before lifting the entire device.

A device for separating flexible plate-like workpieces, such as, for example, sheet-metal plates by means of suction cups designated suction cups, is furthermore known from US Pat EP 1 215 148 A1 known. The plurality of suction pads are arranged at the edge arranged so-called. Separating suction, which are pivotable about a hinge by a small amount relative to the operating in vertical alignment suckers so that they raise their edge portion of the underlying plate and bend up before lifting the plate can.

The EP 1 864 922 B1 discloses an apparatus and method for lifting the top plastic sheet from a stack of sheets by means of suction grippers. These are placed on the top plastic plate, after which a vacuum is applied and the top plate is lifted from the plate stack. In order to prevent the adhesion of the top plate to the underlying plate, the recorded plastic plate is first lifted parallel to the plate stack during the lifting movement and then subjected to mutual bends. The disclosed device for lifting the uppermost plastic plate from the plate stack comprises a height-adjustable support with suction pads arranged thereon, which can be associated with a vacuum source, wherein paired outer and inner suction cups are arranged. The inner suction cups may be temporarily connected to a vacuum source and the outer suction cups temporarily and alternately to a vacuum source and a compressed air connection via a switching valve.

The US 5,433,426 A discloses a device for receiving sheets. The device comprises two cylinders arranged on opposite sides, which are formed via their piston rod for the rotary movement of a respective pivoting arm. Arranged on the pivot arms is in each case a vacuum head. The vacuum heads are placed on sheets, then the respective sheet is fixed to the vacuum heads via negative pressure.

The primary object of the invention is to provide a reliably operating device and a corresponding method for receiving, holding and / or for handling flat objects by means of controllable suction gripper available, with the help without further supporting means such as. Interleaving magazines with brush elements and / or Vorseparierungen or other restraint systems, the sheet-like objects such as plates o. The like. Can be taken individually from stacks, without that the objects or plates underneath are pulled along and / or slipped. It should in particular in the interest of an industrial application possibility high cycle numbers can be realized without the handling precision suffers. In addition, the device and the corresponding method should be cost-effective operable or feasible.

These objects of the invention are achieved with the objects of the independent claims. Features of advantageous developments of the invention can be found in the dependent claims. To achieve the stated objectives, the invention proposes a receiving, holding and / or handling device for flat objects with at least two controllable suction pads. The two or more suction pads are each movable at free ends and at least in some areas elastically or articulated deformable, mounted on a bridge and / or there supported cantilever arms and are preferably fixed there in such a way that they are not articulated in any direction let move, but perform their lifting and pivoting movements in connection with the elastic and / or articulated deforming boom arms. These typically symmetrical and wing-like cantilevered arms each comprise at least one joist and a top pull which meet at the free end of the cantilever arm and there depending on the design of the mechanical properties of the cantilever arms optionally substantially rigid, i. are not articulated connected or merely supported, possibly in so-called flying storage. In addition, there is also the respective suction gripper arranged there, whereby also this anchorage optionally not articulated, but also rigid or in the extent of the elastic properties of the upper and the lower tie can also be slightly elastic.

An alternative variant may provide that the connection between the upper and lower beam at the free end of the respective arm is flexible or articulated. In this embodiment, however, it is necessary that the suction pad is fixed either on the top or on the beam so that it is not hinged, but at most slightly elastic, otherwise the exact control of the alignment of the suction pads due to the kinematic indeterminacy significantly affected could be. For example, the suction gripper may be fixed substantially rigidly to the joist, typically in a rectangular orientation, while the connection between the top pull and joist and / or between the top pull and the suction pad housing may be articulated or bendable.

In the area of the bridge, the upper strip and the lower layer can optionally be mounted at a distance from one another, wherein the lower strip can be fixed in particular to the bridge and the upper strip is a suitable actuator for producing a variably controllable tensile force with at least one horizontal direction component approximately parallel to the longitudinal direction of the extension arm assigned. This actuator can in particular be formed by a suitable pulling device such as, for example, a linear drive or the like. In addition, however, in principle, other actuation principles in question as rotary actuators, which can generate a traction in the desired direction via traction means. As a linear actuators are in particular pneumatically or hydraulically acting or actuated actuators or actuator cylinders, which can be designed either single or double acting. The required tensile force for the deformation of the resiliently urged back into their initial position cantilever arms can be applied either by means of a correspondingly acting mechanism also by a pressure cylinder.

In addition to the mentioned fixation of the separate beams of two symmetrically arranged boom arms to the centrally located bridge variants are possible in which, for example, a single continuous beam is used, which can be selectively fixed to the bridge or is supported in flying storage only there if The suction pads move under convex curvature of the beam upwards. In the variant with flying bearing, it may be useful to ensure an exactly synchronous deflection of the responsible for the deformation movements of the cantilever actuators, actuating cylinder, etc., so that the Auslegerarmpaar is not deformed asymmetrically and, for example. Dodge in one of the two longitudinal directions of the cantilever arms, since this would be detrimental to a possible exact positioning of the suction pads. On the other hand, in the case of a central anchoring of the beams or of the single continuous beam, this effect can not occur, since the two boom arms are basically independently controllable and deformable without this having possibly negative effects on the attitude control of the suction pads.

The device according to the invention enables a movement guidance for the two or more suction grippers, which is also known by the term "Fin-Ray" principle or similar to this principle. The trajectories of the suction pads make it possible to lift plates, sheets or other flat objects from stacks initial lateral lifting, without at the same time already the middle area of the flat object is detached from the underlying surface. However, the detachment of the marginal areas prevents the unwanted adhesive effects, so that the subsequent lifting of the entire sheet-like object can be done without this entraining the underlying object, laterally displaced or influenced in other undesirable ways. Optionally, the flat object can be lifted while simultaneously swinging back the suction pads in the original vertical starting position. However, it is also possible to lift the sheet-like object immediately after lifting the suction pads from the stack, without having to first swing the suction pads back to the original vertical position.

The relatively rigid according to a first embodiment interpretation of the junction between the upper, lower and suction pads allows a desired and possibly preferred course of movement of the suction pads, which resemble the dynamic up and down movements of wings in a side view. In order to achieve these courses of movement, in which the cantilever arms are deformed over their entire length, it may be useful not to articulate the joints between the upper and lower beam and between the cantilever arm and the suction pads, but rigid or elastic at best within certain limits. With appropriate dimensioning of the elasticities of the individual elements of the cantilever arms which are approximately vertically aligned in a first position suction pads can each describe an arcuate trajectory upon actuation of the traction arms of the boom arms and are doing simultaneously angularly, so that each recorded flat object with his middle section is pulled up against the bottom of the bridge, while its lateral edge areas are lifted by the lifting and at the same time with their undersides turning outward suction pads from the stack.

Optionally, according to an alternative embodiment variant, at least one of the two connection points between the suction gripper and the top pull or the underlay can be flexible or articulated, whereby a modified deformation behavior of the outrigger arms and thus a modified course of movement of the suction grippers can be realized, their course of movement in a lateral view equally the dynamic up and down movements of May resemble wings, but possibly with in the direction of suction pads stronger curvature. With appropriate dimensioning of the elasticities of the individual elements of the cantilever arms which are approximately vertically aligned in a first position suction pads can each describe an arcuate trajectory upon actuation of the traction arms of the boom arms and are doing simultaneously angularly, so that each recorded flat object with his middle section is pulled up against the bottom of the bridge, while its lateral edge areas are lifted by the lifting and at the same time with their undersides turning outward suction pads from the stack. With the upper strip acting hingedly on the suction gripper or its housing, the curvature of the extension arms can increase more with increasing deflection at their free ends than in the other sections.

According to a further possible embodiment variant of the device according to the invention, the upper strip and the lower section of each cantilever arm are connected to each other between the bridge and the free end via at least one connecting web. This junction between the at least one connecting web and the beam can be either largely rigid, bendable or articulated. Also, the connection point between the at least one connecting web and the upper pull can optionally be formed largely rigid or articulated. Optionally, two, three or more connecting webs may be arranged between the upper cable and the lower rail of each boom. The articulated connection points can optionally be assigned in each case a spring element to provide an automatic return to the normal position.

This flat, columnar, scaffold-like or, for example, designed as cross struts connecting webs can ensure that the forces acting on the upper tensile forces that lead to lifting and simultaneous pivoting of the free ends of the cantilever arms and the attached suction pads, largely evenly on the beam be transmitted. The beam in this case exerts a supporting and stiffening effect and prevents the free ends from being excessively bent outwards without simultaneously being lifted to the desired extent. The distribution of forces over the top of the train ultimately causes the desired deformation of the boom over its entire length. By the above-mentioned optional hinged connections, which can be made relatively flexible instead of a rigid articulation, the local as well as the entire deformation behavior of the cantilever arms can be influenced and modified. Thus, it may be useful to allow the extension arms to deform increasingly towards their free ends, while the sections near their suspension may be made stiffer.

However, the mentioned connecting webs are by no means mandatory, but to be understood as an option by means of which the elastic properties of the cantilever arms can be influenced in a suitable manner. Thus, quite variants without connecting webs between the upper and the lower train or with only one connecting web or with an almost arbitrary number of differently positioned connecting webs or possibly also cross-connected connecting webs are possible.

It should be emphasized at this point that the top pull and the beam must not necessarily be designed as flat components with struts arranged therebetween. Thus, an alternative embodiment variant can also provide that at least regions of the extension arms are formed by an integrated volume component, in particular by a composite component with defined elastic properties. If, in this context, a volume component is mentioned, it may, for example, mean a foamed component with or without apertures or recesses, a honeycomb structural component or the like. The skilled person is familiar with other alternative variants due to his specialist knowledge with which he can achieve the desired material and elasticity properties in order ultimately to achieve the deformation behavior of the cantilever arms, which is similar to the mentioned "Fin-Ray" principle. Normally a fin ray effect is a phenomenon observed in fish, according to which tail fins of certain fish do not dodge in the direction of pressure when pressed sideways, but rather buckle in the opposite direction, ie in the direction from which the pressure comes. In the present context, the "fin-ray" principle is modified in such a way that the fin-like movement of the arranged on the cantilever arms suction pad causes not by a pressure on the upper side of the upper extension of the cantilever arms, but by the tensile force in the horizontal direction on the top becomes. Whether this is a component is used, which consists in the manner described from the clearly visible elements top, beam and cross struts, or whether a component is used, in which the individual elements in an integrated design are basically irrelevant for the function and the implementation of the desired movement and deformation behavior.

Even with the use of such composite components, in turn, the two alternative variants of a one-piece component with continuous beam and thus continuous shaping or a two-part design with separate boom arms, which are arranged symmetrically to each other, but imperatively need a central bearing on the bridge, typically at the level of Beam or the bottom of the boom arms. In the one-piece variant with continuous beam and thus the integrated component comprising both cantilever arms of a symmetrical pair, the beam can optionally be fixed in the middle of the bridge already mentioned above or supported there in flying storage if necessary. In the one-piece, continuous variant, at least the one-piece beam can act as a leaf spring, which strives back into its straight starting position, as soon as no deformation or tensile forces attack more. In this variant, it may also be advantageous if the beam acting as a leaf spring is assigned an additional reinforcement, so that a structure similar to a multilayer leaf spring can result. Such additional reinforcement can effectively prevent failure of the component after prolonged operation, for example fatigue fracture.

The drawbars that provide for the horizontal or obliquely upward pulling movements on the top pull, for example, may be formed by approximately horizontally or flat inclined acting linear motors, which are preferably supported against the bridge. Such linear motors can be designed, for example, as pneumatic or hydraulic cylinders, as electric linear motors or as traction mechanism drives. The suction grippers are preferably per se known components which can be connected via hose lines to a central vacuum supply and thereby controlled individually or jointly in their suction behavior. The bending movement of the beam can be adjusted by adjustable end stops, spacers o. The like., Especially by spacers in compressed air cylinders. It need not be emphasized at this point that when using two separate actuators for a pair of cantilever arms to be jointly controlled, synchronous deflection and control of the actuators can be provided, as long as a uniform deformation of both cantilever arms is desired. But equally possible are asymmetric lifting and deformation movements, the can be triggered by a staggered stroke movement of the actuators. In this case, an almost arbitrary non-uniform deformation and thus lifting movement of the device according to the invention can be effected by targeted actuation of multiple actuators.

The device according to the invention typically has a suspended arrangement and can be moved, for example, via a horizontally and / or vertically adjustable extension arm, at the end of which the complete suction gripper head with all control and movement components can be fixed in a suspended manner via a central column. Possibly. this pillar can additionally be designed to be rotatable, which, however, is not absolutely necessary depending on the intended use. The above-mentioned cantilever arm can in turn be suspended on a machine frame, a rotary column or the like, which may have a ground anchorage.

The invention additionally relates to a method for receiving, holding and / or handling flat objects via at least two controllable suction grippers. These suction pads are each movable at free ends and arranged and fixed at least in some areas elastically deformable, mounted on a bridge boom arms. The cantilever arms each comprise at least one undercarriage and a top, which meet at the free end of the cantilever arm and are rigidly connected there and are spaced from each other in the region of the bridge, wherein the girder is fixedly fixed to the bridge and the top train via a pulling device with at least a horizontal direction component is moved approximately parallel to the longitudinal direction of the extension arm. The suction pads, which are oriented approximately vertically in a first position, each describe an arcuate trajectory through the tensile forces acting on the upper arms of the cantilever arms and are thereby set at an angle. According to the present invention, the cantilevers each undergo a deformation by a pulling movement on the upper struts, in which the lower leg bends upward, while the upper leg is shortened or moved in the direction of the bridge, whereby the free ends together with the suction pads arranged thereon be bent upwards. The cantilever arms are elastically deformed as a result of the tensile forces as a whole together with the upper and lower trains, which is also known as the "Fin-Ray" principle.

The present invention overcomes some disadvantages that have been identified in previously known lifting devices. Thus, the permanently prevailing cost pressure requires more favorable investment plans. The device according to the invention and the corresponding method make it possible to dispense with so-called intermediate layer magazines, to devices for pre-separation of the stacked plates and also to differently configured restraint systems, whereby the system price can be reduced. The loading of the plant with stacked flat objects, as they are used, for example, as interleaves in bundle layers and pallets with beverage containers, can be automated without additional effort and without cost increase. In addition, the storage accuracy of the stack is not very high demands to be made because the recording device is relatively tolerant to the exact position of the male objects.

In contrast to the mentioned horizontal or oblique acting on the upper arms of the cantilever tensile force, the cantilever arms can optionally be deformed by shear forces. Alternatively, the deformation of both cantilever arms of a pair can also be effected via a few, vertically upwardly acting tensile component, wherein the upper cables may possibly be connected to one another in an articulated manner and pulled upwards via a suitable tension element, whereby the mentioned Fin-Ray deformation achieve in a corresponding manner.

The cantilever arms can be made of a wide variety of materials, optionally also in combination of different materials, which can be connected to each other by gluing, screwing, welding or for example by means of plug-in systems. Thus, for example, the above-mentioned connecting webs can be arranged vertically or diagonally, wherein the rigid or hinged connections can be made detachable or non-detachable. The connecting webs can be produced, for example, as flat parts or as thin, preferably crease-resistant struts of suitable material, for example of injection-molded plastic. In an articulated or joint-like connection, a supporting spring can also be installed or integrated in the connection point, which can provide adequate restoring forces in order to bring the extension arm from a deflected position into the relaxed rest position.

Furthermore, the handling device according to the invention can be combined with other gripping tasks used, so for example. With mechanically acting pallet grippers, deck frame grippers o. The like., Which are preferably arranged on the same frame, so that an integrated design is created.

Another variant of the movable functional components of the device according to the invention for receiving, holding and / or handling of flat objects such as cardboard, plastic or metal plates or hollow chamber plates made of plastic or cardboard, such as. As intermediate layers of multilayer stacked pallet layers with beverage containers can be used, can provide that the controllable suction pads are individually or in pairs at free ends of articulated and deformable cantilever arms, for example, stored in a symmetrical arrangement on a bridge and fixed there or even supported and / or can be stored on the fly , The cantilever arms can not be formed elastically deformable in such a variant, but be formed by a plurality of rigidly interconnected rigid plate segments, which allow in cooperation a similar movement as the previously described embodiments of the cantilever arms. In this further variant of the invention, the cantilever arms can perform defined and superimposed lifting and pivoting movements by the articulated movements of the plate segments.

The symmetrically and wing-like arranged boom arms each comprise a horizontally arranged, flat or plate-like beam and an opposite the horizontal inclined at an acute angle top pull, which is also formed flat or plate-like. The joist and the upper pull abut each other at the free end of the cantilever arm and are preferably articulated to each other there. All existing joints between the pivotally interconnected plate segments allow pivotal movements exclusively about respective parallel axes, which are normally oriented horizontally and transversely to the longitudinal direction of the beam. The entire beam, which extends over the two articulated movable, symmetrical cantilever arms, is formed by a plurality of interconnected plate segments, while each of the two top pulls is also formed by some hingedly interconnected plate segments. A central plate segment of the beam may be slightly shorter or longer than the one on both sides as needed subsequent remaining plate segments. In addition, this central plate segment can either be anchored to the bridge of the device, screwed or merely supported there and thus stored on the fly. The adjoining the middle plate segment of the beam on both sides plate segments are each connected via first coupling rods with the inner plate segments of the upper hinges. The adjoining plate segments of the substructure are hingedly connected via second coupling rods with other plate segments of the upper, while the respective end, outer plate segments of the upper and lower tie can be hinged together at the respective free ends outside. Optionally, however, there is a rigid connection between the end-side plate segments of the upper and lower cables possible. The two inner first coupling rods are each longer than the two outer second coupling rods, so that overall results in the wing-like shape of the arrangement according to one of the previously described embodiments. The coupling rods correspond in their placement and in their function largely the connecting webs of the previously described embodiments, with the difference that the coupling rods are not rigid, but are mounted in pivot pins, so that they are each hingedly connected to the corresponding plate segments of the upper or the train are.

Optionally, the coupling rods may be formed as a movement stops simultaneously, for example. By appropriate shaping or profiling, which can ensure that the plate segments abuts the upper and lower beams with their facing surfaces at a defined maximum deflection there, so that no beyond the maximum deflection also going further deflection movement is more possible. Also, a central plate segment of the beam of such a multi-part, formed from hingedly interconnected plate segments gripping module, for example, be provided with an additional bridge segment, which produces a hinged connection or support to a rigid bridge according to one of the previously described embodiments.

Some or even each of the joints between the plate segments may optionally be associated with a spring element, for example. In the form of the plate segments partially enclosing spring clips o. The like. Such spring clips respectively adjacent plate segments, so that they are not fully and freely movable about the respective connecting axis but after each Deflection return to their original or initial position, in which the beam is stretched approximately straight and without curvature. Optionally, the spring and restoring forces can be varied by different strength spring clip. Optionally, the spring forces acting between the hingedly interconnected plate segments can also be achieved with differently designed spring elements, for example with leaf spring elements integrated in the joints or, for example, with elastic pins inserted between the segments or in another suitable manner.

Basically, further, not explained in detail here variants are conceivable in which the upper, for example. By means of ropes, straps, link chains o. The like. Shown, which selectively via suitable coupling elements articulated, elastic or at least partially rigid with the beam or with Unterzügen are connected. Thus, if in the context of the present invention of elastic or articulated upper arms of the boom arms is mentioned, the variants with flexible movable tops, which are formed, for example, by straps, ropes, etc., also covered by this definition.

Optionally, the device according to the invention can also comprise a plurality of gripping modules which can be controlled and moved independently of each other. Thus, for example, the device may have two gripping modules suspended from a common carrier, which are adjustable in their distance from each other and / or independently controllable and movable. The two gripping modules can optionally be controlled jointly, which makes sense especially for lifting and handling correspondingly large plate components. The two gripping modules can also be moved independently of each other, which may be useful, for example, for the separate handling of correspondingly smaller plate components, which can be carried by one gripping module with its up to four or more movable suction grippers. Optionally, only one gripping module can be activated for handling smaller components such as so-called. Half-pallet liners, while the other can remain at rest, as long as it is not needed.

In addition, in such a variant embodiment of the device according to the invention, the two gripping modules may also be adjusted in their distances from one another to each other, which, for example, by their suspension Sliding guides on the common frame can be possible. The carriage guides comprise, for each gripping module, a pair of horizontal axes on which the mounting sections or upper suspension parts of the gripper modules together with their drive and control parts can be displaceable in the horizontal direction so that each gripping module, together with its entire suspension and drive unit, moves by a certain distance can be moved in the horizontal direction on the frame and fixed in a new position. In this way, the two gripping modules can not only be driven independently of each other, but also be adjusted to different sizes of half-pallet liners o. The like. Flat objects. The aforementioned adjustment or distance variation of the gripping modules can be done either manually or by motor, for example via an electromotive, pneumatic or other fluidic drive.

Another option may provide that the device according to the invention is equipped with a pallet gripper system, which is arranged on the frame with the at least one controllable gripping module and independently of this is controllable and / or pivotable. This pallet gripper system may include, for example, suitable gripping arms on the frame of the device, for example, to act as an intermediate gripper and / or as a pallet gripper. The at least two oppositely movable and / or pivotable gripping arms are preferably independently of the gripping modules for the intermediate layers or flat components controlled and movable. An advantageous variant of such a pallet gripper system can possibly also be combined with the spacing adjustment of the gripping modules arranged in pairs and adjustable in their spacing, for example by an extension of the already existing slide adjustment systems, on each of which suitable holding devices can be arranged at the end. These holding devices may, for example, be formed by sheet metal clamps or the like, which are in each case inwardly, i. pointing towards each other underside hooks or differently designed retaining lugs o. The like. For engaging in a pallet and for their recording and handling may have.

• Fig. 1 zeigt eine schematische Perspektivdarstellung einer Ausführungsvariante einer erfindungsgemäßen Aufnahme-, Halte- und/oder Handhabungsvorrichtung für flächige Gegenstände.
• Fig. 2 zeigt eine schematische Seitenansicht einer ersten Variante der erfindungsgemäßen Vorrichtung in einer ersten Betriebslage.
• Fig. 3 zeigt eine schematische Seitenansicht der Vorrichtung gemäß Fig. 2 in einer zweiten, aktivierten Betriebslage.
• Fig. 4 zeigt eine schematische Seitenansicht einer zweiten Variante der erfindungsgemäßen Vorrichtung in einer ersten Betriebslage.
• Fig. 5 zeigt eine schematische Seitenansicht der Vorrichtung gemäß Fig. 4 in einer zweiten, aktivierten Betriebslage.
• Fig. 6 zeigt eine Detailansicht einer Ausführungsvariante eines verformbaren Auslegerarms der Vorrichtung mit daran befindlichem Sauggreifer.
• Fig. 7 zeigt eine Detailansicht einer weiteren Variante des Auslegerarms.
• Fig. 8 zeigt eine weitere schematische Perspektivdarstellung der Aufnahme-, Halte- und/oder Handhabungsvorrichtung für flächige Gegenstände.
• Fig. 9 zeigt eine schematische Perspektivdarstellung einer weiteren Ausführungsvariante der Aufnahme-, Halte- und/oder Handhabungsvorrichtung für flächige Gegenstände.
• Fig. 10 zeigt eine schematische Perspektivdarstellung der Variante der Vorrichtung gemäß Fig. 9 von schräg unten.
• Fig. 11 zeigt eine perspektivische Detailansicht einer Ausführungsvariante eines Funktionsbauteils bzw. Greifmoduls der erfindungsgemäßen Aufnahme-, Halte- und/oder Handhabungsvorrichtung für flächige Gegenstände.
• Fig. 12 zeigt eine schematische Seitenansicht eines Greifmoduls der Variante der Vorrichtung gemäß Fig. 9.
• Fig. 13 zeigt eine schematische Perspektivdarstellung des Greifmoduls gemäß Fig. 12.
• Fig. 14 zeigt eine schematische Perspektivdarstellung eines Teils der Vorrichtung gemäß Fig. 9 mit Betätigungselementen zur Betätigung und Bewegung des Greifmoduls gemäß Fig. 12 und Fig. 13.
• Fig. 15 zeigt eine schematische Seitenansicht der Darstellung gemäß Fig. 14.
• Fig. 16 zeigt eine weitere Ausführungsvariante einer erfindungsgemäßen Vorrichtung mit einem zusätzlichen Palettengreifersystem.
• Fig. 17 zeigt die Vorrichtung gemäß Fig. 16 mit deaktiviertem Palettengreifersystem.
• Fig. 18 zeigt eine schematische Perspektivdarstellung einer weiteren Variante der der erfindungsgemäßen Vorrichtung mit einem Palettengreifersystem.

In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to each other in the figures do not always correspond to the real Size ratios, as some shapes are simplified and other shapes are shown enlarged in relation to other elements for ease of illustration.

• Fig. 1 shows a schematic perspective view of an embodiment of a receiving, holding and / or handling device according to the invention for flat objects.
• Fig. 2 shows a schematic side view of a first variant of the device according to the invention in a first operating position.
• Fig. 3 shows a schematic side view of the device according to Fig. 2 in a second, activated operating position.
• Fig. 4 shows a schematic side view of a second variant of the device according to the invention in a first operating position.
• Fig. 5 shows a schematic side view of the device according to Fig. 4 in a second, activated operating position.
• Fig. 6 shows a detailed view of a variant of a deformable cantilever arm of the device with it located suction pads.
• Fig. 7 shows a detailed view of another variant of the boom.
• Fig. 8 shows a further schematic perspective view of the receiving, holding and / or handling device for flat objects.
• Fig. 9 shows a schematic perspective view of another embodiment of the receiving, holding and / or handling device for flat objects.
• Fig. 10 shows a schematic perspective view of the variant of the device according to Fig. 9 from diagonally below.
• Fig. 11 shows a perspective detail view of a variant of a functional component or gripping module of the invention, receiving and / or handling device for flat objects.
• Fig. 12 shows a schematic side view of a gripping module of the variant of the device according to Fig. 9 ,
• Fig. 13 shows a schematic perspective view of the gripping module according to Fig. 12 ,
• Fig. 14 shows a schematic perspective view of a part of the device according to Fig. 9 with actuators for actuating and moving the gripping module according to FIGS. 12 and 13 ,
• Fig. 15 shows a schematic side view of the illustration according to Fig. 14 ,
• Fig. 16 shows a further embodiment of a device according to the invention with an additional pallet gripper system.
• Fig. 17 shows the device according to Fig. 16 with deactivated pallet gripper system.
• Fig. 18 shows a schematic perspective view of another variant of the device according to the invention with a pallet gripper system.

For the same or equivalent elements of the invention are in the FIGS. 1 to 18 in each case identical reference numerals used. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments are merely examples of how the device or method of the invention may be configured and are not an exhaustive limitation.

The schematic perspective view of Fig. 1 shows a variant of an inventive device 10 for receiving, holding and / or handling of flat objects such as cardboard, plastic or metal plates or hollow chamber plates made of plastic or cardboard, as they are used, for example, as intermediate layers of multi-layer stacked pallet layers with beverage containers , The device comprises a frame 12, which is arranged suspended on a central column 11 on a machine arm 0, not shown here. The frame 12 can, for example, be guided on a cantilever arm of a height-adjustable and spatially movable handling device. On the underside of the frame 12, the device 10 has four controllable suction pads 14, which are aligned vertically in their rest position and thus for receiving horizontally lying plates or flat objects (not shown) of a Stack are provided. The four suction pads 14 are each in pairs at free ends 16 movable and elastically deformable boom arms 18 which are mounted in a symmetrical arrangement on a bridge 20 and fixed there (see. Figures 2 and 3 ) or even supported only and / or flying (cf. FIGS. 4 and 5 ) are. The bridge 20 acting as a support, fixation and / or support is rigidly connected to the frame 12 of the device 10.

The cantilever arms 18 are designed so elastic that they can not move arbitrarily articulated, but can perform defined and superimposed lifting and pivoting movements by elastic deformation of the boom arms 18. The symmetrically and wing-like arranged boom arms 18 each comprise a horizontally arranged, flat or plate-like beam 22 and an opposite the horizontal inclined at an acute angle top 24, which is also formed flat or plate-like. The beam 22 and the top pull 24 abut each other at the free end 16 of the boom 18 and are there according to the in Fig. 1 illustrated embodiment largely rigid, ie not hinged together. However, an alternative variant not shown here may also provide an articulated connection of the upper and lower members 24, 22 at their free ends 16.

In addition, the respective suction pads 14 are also arranged as pairs next to each other at this free end 16, wherein also this anchorage not articulated, but rigid or in the scope of the elastic properties of the upper 24 and the lower layer 22 may also be slightly elastic. According to Fig. 1 For example, the suction grippers 14 may be fixed in the region of the free end 16 on the undercarriage 22 via a mounting plate 15, which may be bent several times, as a result of which an optionally rigid, possibly slightly elastic or else articulated connection to the top pull 24 is not influenced.

Furthermore, the beam 22 and the top 24 of each boom 18 are connected to each other via a plurality of vertical, surface or plate-like connecting webs 25. The connecting webs 25, like the beam 22 and the top thread 24, are preferably elastic to some extent but buckling-resistant and relatively rigid. The joints between the connecting webs 25 and the beam 22 and the upper hoop 24 can according to a first embodiment optionally not articulated, but according to the Material properties of firmly interconnected sections to be slightly elastic. Equally possible, however, are elastic, flexurally soft or articulated connections between the upper tension 24 and the connecting webs 25 and / or between the lower tension 22 and the connecting webs 25. These mentioned connecting points or crossing points can be combined with one another in any desired manner, whereby the elastic properties are achieved within wide limits and let define the exact deformation behavior of the cantilever arms 18.

In the area of the bridge 20, the top 24 and the bottom 22 at the in Fig. 1 shown embodiment spaced apart from each other, wherein the beam 22 is fixedly fixed to the bridge 20. Optionally, a single continuous beam 22 according to the embodiment variant accordingly Fig. 4 and Fig. 5 can be used, which optionally fixed to the underside of the bridge 20 or only supported there and otherwise can be stored on the fly.

In the present context, a module of symmetrically opposite arranged boom arms 18, each consisting of beam 22, top 24 and each at least one connecting web 25 is referred to as a gripping module 17. Such a gripping module 17 is to illustrate its operation in the schematic views of FIGS. 2 to 5 recognizable. A first variant of a with its continuous beam 22 on the bridge 20 and with its two symmetrical Oberzüge 24 supported on the cross braces 34 gripping module 17 is also in the perspective views of Fig. 1 and the Fig. 8 clarified. The schematic representations of FIGS. 9 to 15 on the other hand show an alternative embodiment of such a gripping module 17 in different views.

Each of the two top pulls 24 of the respective extension arms 18 is associated with a towing device 26 or adjusting device 28 for generating a horizontally directed tensile force approximately parallel to the longitudinal extension direction of the respective extension arm 18. Normally, the two adjusting devices 28 work synchronously against each other. In the illustrated embodiment, the adjusting devices 28 each comprise a linear motor 30, for example. Designed as a hydraulic cylinder or as a pneumatic cylinder o. The like. The two linear motors 30 are horizontally anchored in the frame 12 and effect via a linkage drive 32 each horizontally directed positioning movements on cross braces 34, where one, two or more parallel anchorages of the tops 24 of a cantilever arm 18 or more Boom arms 18 may be attached. While in the view of Fig. 1 only a symmetrical pair of cantilever arms 18, each with a guided pair of suction pads 14 can be seen, illustrates the Fig. 8 a preferred embodiment with two pairs of boom arms 18, which are each moved and adjusted synchronously by means of the horizontally movable cross braces 34.

Further shows Fig. 1 two anchored to another cross member 50 sensing elements 52, each acting as depth stops for the device 10. A perpendicular to the restoring force and against the downwardly acting gravity upwardly movable plunger with a lower-side probe ball may, for example, with a displacement sensor o. The like. (Not shown) be coupled, which provides a Wegbegrenzungssignal for controlling the device 10 to at to allow in the height decreasing stack of flat objects a reliable vertical positioning. However, the sensing elements 52 may also act as a purely mechanical acting stop elements that can prevent too hard placement of the bridge 20 or the beams 22 of the boom arms 18 on the ablated stack.

The schematic representations of Figures 2 and 3 illustrate the working principle of a first embodiment of the device 10 according to the invention, which allows a movement guide for the two or more suction pads 14, which is known under the term "Fin-Ray" principle. The trajectories of the suction pads 14 allow lifting plates 36, sheets or other flat objects 38 of stacks 40 by initially lifting them sideways at the edge regions 42 of the plates 36 or flat objects 38, without at the same time already the middle portion 44 of the flat article 38 of the underlying surface is replaced. However, the detachment of the marginal areas 42 prevents the unwanted adhesive effects, so that the subsequent lifting of the flat object 38 can be carried out with simultaneous pivoting back of the suction pads 14 in the original vertical starting position, while the underlying object entrained, laterally displaced or other undesirable Way is influenced.

The rigid design of the free end 16 located between junction 24, beam 22 and suction pads 14 allows the desired and preferred course of movement of the suction pads 14th corresponding Fig. 3 which in a side view resemble the dynamic up and down movements of wings. To achieve these courses of motion, in which the extension arms 18 accordingly Fig. 3 be deformed over their entire length, it may be necessary or desirable to achieve certain deformation properties that the joints between the upper 24 and lower beam 22 and between the boom 18 and the suction pads 14 are not articulated, but rigid or elastically formed in the extent of material elasticity , With appropriate dimensioning of the elasticities of the individual elements of the extension arms 18, the approximately vertically aligned in a first position suction pads 14 (see. Fig. 2 ) in each case describe an arcuate trajectory when the traction devices 26 acting on the upper sheaths 24 of the cantilever arms 18 are actuated at an angle, so that the respectively recorded flat object 38 is pulled with its middle section 44 upwards against the underside of the bridge 20, while its lateral edge portions 42 are lifted off the stack 40 by the lifting and at the same time with their undersides rotating outwardly suction pads 14. To specifically influence the course of motion and to achieve the desired deformation behavior of the cantilever arms for the respective case or the respective dimensioning, in which the cantilever arms 18 are similar to those in FIG Fig. 3 shown manner are deformed uniformly or progressively over its entire length, it has proven to be useful to form at least partially articulated single, multiple or all joints between the upper 24 and lower beam 22 and between the boom 18 and the suction pads 14. With appropriate dimensioning of the elasticities of the individual elements of the extension arms 18 and possibly the frictional forces of the individual joints, the suction pads 14, which are oriented approximately vertically in a first position, can (see FIG. Fig. 2 ) describe the arcuate trajectory described when actuating the traction devices 26 acting on the top pulls 24 of the extension arms 18 and are at the same time turned at an angle such that the respectively recorded flat object 38 is pulled with its middle section 44 upwards against the underside of the bridge 20, while its lateral edge portions 42 are lifted off the stack 40 by the lifting and at the same time with their undersides rotating outwardly suction pads 14.

The in the FIGS. 4 and 5 shown second embodiment of the device according to the invention differs from the first variant essentially by the not two-part, but consistently trained beam 22 which extends over both boom arms 18 and anchored to the central bearing 21 selectively fixed to the bridge 20 or only supported there may be, resulting in the latter variant, a so-called. Flying storage. The remaining function of the device 10 and the further course of movement of the boom arms 18 with the suction pads 14 arranged thereon does not differ from that in the Figures 2 and 3 shown variant.

As based on the in the FIGS. 1 to 5 embodiments shown as well as the detailed representation of Fig. 6 is clarified, the upper train 24 and the beam 22 of each boom 18 between the bridge 20 and the free end 16 via a total of three vertical connecting webs 25 and cross struts are interconnected. The connection points between the connecting webs 25 and the upper hoop 24 and the lower hoop 22 may optionally be designed largely rigid or articulated either. The connecting webs 25 ensure that the tensile forces acting on the top pull 24, which lead to the lifting and simultaneous pivoting of the free ends of the extension arms 18 and the suction pads 14 fastened thereto, are transmitted to the underlay 22 substantially evenly. The beam 22, in this case, exerts a supporting and stiffening action and prevents the free ends 16 from being excessively bent outwards without simultaneously being raised to the desired extent. The distribution of forces on the top 24 on the beam 22 causes the in Fig. 3 and in Fig. 5 shown deformations of the boom 18 over its entire length.

The detailed representation of the Fig. 6 shows by way of example three vertical connecting webs 25 between the horizontally extending in a relaxed position beam 22 and the oriented at an acute angle top 24, which transmits the tensile forces on the boom 18. The connecting webs 25 can be connected at the top and bottom optionally via fixed or rigid connections 54 or via articulated connections 56 to the top pull 24 and / or to the lower pull 22. Which of these compounds 54 and / or 56 is used in each case is based on the desired deformation behavior of the extension arm 18, which is expediently to be determined by test series.

The cantilever arm 18 can according to Fig. 7 Optional, not shown here breakthroughs, variable fiber densities of the reinforcing fibers and / or their orientation in the component 58 may each individually or in combination contribute to the elastic properties in a way that makes sense or is necessary for optimized operation.

The schematic view of Fig. 8 shows in addition to the already described components of the device 10, a control block 46 which makes connections via hose lines to the actuating elements such as the suction pads 14 and the linear motors 30 and allows their controllability. As a suction gripper 14, linear motors 30 and control and control valves of the control block 46 can be used per se known components, which have a central vacuum supply.

The schematic perspective view of Fig. 9 shows a further embodiment of the receiving, holding and / or handling device 10 for flat objects. The presentation of the Fig. 10 shows this variant of the device 10 obliquely from below. There are essentially the same components recognizable there as in the illustration of Fig. 8 , However, the gripping module 17 differs in its construction of the variants according to the FIGS. 1 to 8 , The gripping module 17 may, for example. The in Fig. 11 or in the FIGS. 12 to 15 correspond variant shown.

In particular, the clarify Figures 9 and 10 an embodiment of the device 10, in which two identical, mirror-like or identical gripping modules 17 are arranged on the common frame 12, wherein the two gripping modules 17 can optionally be controlled together, which is useful in particular for lifting and handling correspondingly large plate components. However, the embodiment shown also allows the separate and independent control of the two gripping modules 17, for example. For separate handling of correspondingly smaller plate components that can be supported by one gripping module with its four movable suction pads 14. Optionally, only one gripping module 17 can be activated for handling smaller components, such as so-called half-pallet liners, while the other gripping module 17 can remain at rest, as long as it is not needed.

In addition, at the in the Figures 9 and 10 shown embodiment variant of the device 10 according to the invention, the two gripping modules 17 are set in their distances from each other, which is made possible by their suspension on slide guides 13 on the common frame 12. The slide guides 13 comprise, for each gripping module 17, a pair of horizontal axes on which the fastening sections or upper suspension parts of the gripping modules 17 are held displaceable in the horizontal direction together with their drive and control parts, so that each gripping module 17 together with its entire suspension and drive unit a certain way in the horizontal direction on the frame 12 can be moved and fixed in a new position. In this way, the two gripping modules 17 are not only controlled independently of each other, but also on different sizes of half-pallet spacers o. The like. Flat objects 38 are adjusted.

The mentioned adjustment or distance variation of the gripping modules 17 can be done either manually or by motor, for example via an electromotive, pneumatic or otherwise acting fluidic drive.

Also, the both sides of the suction pads 14 recognizable feeler elements 52, which also act as hold-down, are arranged in pairs in pairs and can be adjusted due to their assignment to the gripping modules 17 together with these in position. The feeler elements 52 and hold-downs are used to facilitate the separation of the recorded flat objects 38, i. For example, the intermediate layers of plastic or cardboard or half pallet liners.

Furthermore, the shows Fig. 11 a perspective detailed view of a variant of a gripping module 17 of the device 10 according to the invention for receiving, holding and / or handling of sheet-like objects such as cardboard, plastic or metal plates or hollow chamber plates made of plastic or cardboard, as for example. Stacked as intermediate layers of multi-layered Pallet layers are used with beverage containers. In the Fig. 11 not shown components of the device 10 may in the FIGS. 1 and 8th or 9 and 10 correspond variants shown. Thus, there are also four controllable suction pads 14, which are aligned vertically in their rest position and thus for receiving horizontally lying plates or flat objects (not shown) of a stack are provided. The four suction pads 14 are each in pairs at free ends 16 of articulated movable and deformable boom arms 18 which are mounted in a symmetrical arrangement on a bridge 20 and fixed there (see. Figures 2 and 3 ) or even supported only and / or flying (cf. FIGS. 4 and 5 ) are.

The cantilever arms 18 of the gripping module 17 are formed in this embodiment, not elastically deformable, but by a plurality of hingedly interconnected rigid plate segments 60 which allow in cooperation a similar movement as the previously shown embodiments of the cantilever arms 18, so that these cantilever arms 18 accordingly Fig. 11 can perform defined and superimposed lifting and pivoting movements by the articulated movements of the plate segments 60. The symmetrically and wing-like arranged boom arms 18 each comprise a horizontally arranged, flat or plate-like beam 22 and an opposite the horizontal inclined at an acute angle top 24, which is also formed flat or plate-like. The beam 22 and the top pull 24 abut each other at the free end 16 of the boom 18 and are there according to the in Fig. 11 illustrated embodiment hinged together. All existing joints between the pivotally interconnected plate segments 60 allow pivotal movements exclusively about each parallel axes, which are oriented horizontally and transversely to the longitudinal direction of the beam 22.

The entire beam 22, which extends over the two articulated movable, symmetrical boom arms 18 is formed in the embodiment shown by a total of seven interconnected plate segments 60, while each of the two top pulls 24 is formed by a total of three hingedly interconnected plate segments 60. Of course, other arrangements with more or fewer than seven plate segments 60 in the beam 22 and with more or less than three plate segments 60 per top 24 are conceivable. The central plate segment 62 of the lower beam 22 can be slightly longer or shorter than the remaining plate segments 60 adjoining on both sides as required. In addition, this central plate segment 62 can optionally be attached to the bridge 20 of the device 10 (cf. Fig. 1 . Fig. 8 ) anchored, screwed or supported there only and thus be stored on the fly.

The on both sides of the middle plate segment 62 of the beam 22 subsequent plate segments 60 are each connected via first coupling rods 64 to the inner plate segments 60 of the top 24 hinged. The adjoining plate segments 60 of the beam 22 are connected via second coupling rods 66 with the middle plate segments 60 of the upper 24 hinged, while the respective end, outer plate segments 60 of the upper 24 and the lower beam 22 connected to the outside at the respective free ends 16 hinged together are. The two inner first coupling rods 64 are each longer than the two outer second coupling rods 66, so that in total the wing-like shape of the arrangement according to Fig. 11 results, which does not differ significantly in the contour from the variants shown above. The coupling rods 64 and 66 correspond in their placement and in their function largely the connecting webs 25 of the previously shown embodiments, with the difference that the coupling rods 64 and 66 are not rigid, but accordingly Fig. 11 are mounted in pivot pins, so that they are each hingedly connected to the corresponding plate segments 60 of the upper pull 24 and the beam.

Some or even each of the joints between the plate segments 60 and 62 may be associated with a spring element, as shown in FIG Fig. 11 is indicated by the relatively thin executed, the plate segments partially enclosing spring clip 68. The spring clips 68 couple respectively adjacent plate segments 60 and 62 in such a way that they are not fully and freely movable about the respective connecting axis, but after each deflection in the in Fig. 11 shown origin or starting position to return, in which the beam 22 is stretched approximately straight and without buckling. The U-shaped spring clips 68 are formed and mounted so that their base portions lie flat on the surface of a plate segment 60 and / or hooked or hooked there, while angled hook-shaped ends of the two perpendicular to the base portion adjacent parallel leg into corresponding receiving openings 70th are suspended in the longitudinal sides of adjacent plate segments 60. Each three or four at different positions juxtaposed receiving openings 70 in each plate segment 60 allow the displacement of the spring clip 68, in order in this way the between the plate segments 60 acting restoring forces vary. Also differently strong spring clip 68 are suitable for the variation of the spring and restoring forces.

In the beam 22, the base portion of each spring clip 68 is located on the top of the respective outwardly adjacent plate segment 60, so that when pulled up plate segments 60 a restoring force acts downward. The hook-shaped ends of the limbs of the spring clips 68 are hooked on the opposite sides of the plate segments 60 adjoining the inside and of the central plate segment 62. The corresponding orientation of the spring clip 68 in the upper rollers 24 depends on the desired direction of the restoring forces. Optionally, the hook-shaped ends of the parallel legs may be anchored to the longitudinal sides of the plate segments 60 so that they can not rotate in the receiving openings 70, so that thus the desired restoring action of the spring elements can be achieved and ensured.

Optionally, the spring forces acting between the hingedly connected plate segments 60 can also be achieved with differently designed spring elements, for example with leaf spring elements integrated in the joints or, for example, with elastic pins inserted between the segments or in another suitable manner.

At the free end 16 and the respective suction pads 14 are arranged as pairs side by side, said anchorage is not articulated, but rigid. The suction pads 14 are each fixed at the free ends via a mounting plate 15 on the outermost plate segment 60 of the beam 22.

Each of the two top pulls 24 of the respective extension arms 18 is associated, as in the variants previously shown, with a towing device or an adjusting device for generating a horizontally directed pulling force approximately parallel to the longitudinal extension direction of the respective extension arm 18 Fig. 11 however not shown. Normally, the two adjusting devices work synchronously against each other.

In addition, the side view of the show Fig. 12 and the perspective view of Fig. 13 a further embodiment of the gripping module 17 of the device according to the invention 10. The in the FIGS. 12 and 13 not shown components of the device 10 may in the FIGS. 1 and 8th or 9 and 10 shown variants correspond. For example, the pair of suction cups to be fixed in pairs at the free ends 16 of the extension arms 18 of the gripping module 17 are not shown here. The assembly of the suction pads takes place on L-shaped mounting plates 15, which are mounted with a vertical portion at the front end at the free ends 16 and with its surface perpendicular to the longitudinal direction of the extension arms 18. A vertically angled portion of each mounting plate 15, in the resting state of the gripping module 17 with non-raised boom arms 18 has a horizontal orientation and carries two spaced apart mounting holes for mounting the suction pads. The articulated and deformable cantilever arms 18 can be mounted in a symmetrical arrangement on a bridge 20 and fixed there (see. Figures 2 and 3 ). Optionally, they may only be supported and / or cantilevered on the bridge 20 (cf. FIGS. 4 and 5 ). Also in this embodiment of the gripping module 17, the cantilever arms 18 are not formed elastically deformable, but formed by a plurality of hingedly interconnected rigid plate segments 60 which allow in cooperation a similar movement as the previously shown embodiments of the cantilever arms 18, so that the variants of the cantilever arms 18th corresponding FIGS. 12 and 13 can perform defined and superimposed lifting and pivoting movements by the articulated movements of the plate segments 60. The symmetrically and wing-like arranged boom arms 18 each include a horizontally arranged, flat or plate-like beam 22 and an opposite the horizontal inclined at an acute angle top 24, which is also formed flat or plate-like. The beam 22 and the top pull 24 abut each other at the free end 16 of the boom 18 and are there according to the in FIGS. 12 and 13 illustrated embodiment hinged together. All existing joints between the pivotally interconnected plate segments 60 allow pivotal movements exclusively about each parallel axes, which are oriented horizontally and transversely to the longitudinal direction of the beam 22.

The entire beam 22, which extends over the two articulated movable, symmetrical boom arms 18 is formed in the embodiment shown by a total of five interconnected plate segments 60, while each of the two top pulls 24 is formed by a total of two hingedly interconnected plate segments 60. The central plate segment 62 of the beam 22 may be slightly longer or shorter than the ones on both sides as needed adjoining remaining plate segments 60. In addition, this centrally arranged plate segment 62 can optionally on the bridge 20 of the device 10 (see. Fig. 1 . Fig. 8 ) anchored, screwed or supported there only and thus be stored on the fly. In the illustrated embodiment of the FIGS. 12 and 13 However, the support on the bridge 20 can be done by means of an additional bridge segment 72, which is above the central plate segment 62 of the beam 22 and arranged parallel thereto, and which two symmetrical inclined coupling rods 74 - here referred to as third coupling rods 74 - to the each on both sides of the central plate segment 62 of the beam 22 arranged plate segments 60 is supported. The two third coupling rods 74 drop on both sides of the bridge segment 72 each obliquely downwards and are articulated on both sides in the segments 72 and 60.

The on both sides of the middle plate segment 62 of the beam 22 subsequent plate segments 60 are hinged at their outer hinged connections to the respective outer arranged further plate segments 60 via fourth coupling rods 76 with the top 24. These articulated connections between the fourth coupling rods 76 and the upper slides 24 each start in the articulated connections between the two plate segments 60 of each upper pull, as is particularly clear Fig. 12 evident. These fourth coupling rods 76 also have a planar profile, which is suitable for a movement stop in the deformation or curvature of the gripping module 17 in the in Fig. 3 or in Fig. 5 shown way. Such movement stops 80 are also provided at the free ends 16 which extend into the space between the outer plate segments 60 of the upper 24 and the lower 22 and there also provide for limiting the curvature of the gripping module 17 when deforming upwards. Overall, the gripping module 17 forms the wing-like shape according to Fig. 12 , which does not differ significantly in its contour from the variants shown above. The coupling rods 76 correspond in their placement and function largely the connecting webs 25 of the previously shown embodiments, with the difference that the coupling rods 76 is not rigid, but accordingly FIGS. 12 and 13 are movably mounted in the connecting joints between the plate segments 60, so that they are each hingedly connected to the corresponding plate segments 60 of the upper pull 24 and the lower tie.

Each of the two top pulls 24 of the respective extension arms 18 is, as in the previously shown embodiments, respectively associated with a towing device or adjusting device for generating a horizontally directed pulling force, which acts approximately parallel to the longitudinal extension direction of the respective extension arm 18, which results in the FIGS. 12 and 13 however not shown.

In principle, other embodiments, not shown here, are conceivable in which the top pulls 24, for example, by means of ropes, straps, link chains o. The like. Presented or executed, which selectively connected via suitable coupling elements articulated, elastic or at least partially rigidly connected to the beam 22 are.

The schematic perspective view of Fig. 14 shows a part of the device according to Fig. 9 with actuators for actuating and moving the gripping module 17 according to FIG FIGS. 12 and 13 , The Fig. 15 shows a schematic side view of the illustration according to Fig. 14 , In particular based Fig. 15 is the possibility of actuation of the gripping module 17 by means of a cooperation of the linear motor 30 with the actuators 26 and drawbars 28 illustrates. The linear motor 30, in cooperation with the actuators 26 and pullers 28, applies the desired pulling motions to the inner plate segments 60 of the top pulls 24 to thereby deform the gripping module 17 in the desired manner. The bridge segment 72 together with the central plate segment 62 is thereby centrally supported at the same time, whereby the free ends 16 with the mounting plates 15 and suction pads 14 arranged thereon can each be pivoted upwards in order to control the movements for lifting the flat components, plates or the like. from the stack 40 according to Fig. 3 respectively. Fig. 5 perform.

One in the Figures 16 and 17 variant shown has pivotable gripping arms 82 which are arranged above the gripping module 17 in order to act in particular as an intermediate gripper and / or as a pallet gripper. The two symmetrically movable and articulated on the frame 12 above the gripping module 17 gripping arms 82 which engage around the gripping module 17 on both sides, form an optional pallet gripper system 84, which can be combined in an advantageous manner with the device 10 according to the invention. Such a pallet gripper system 84 can, for example, with activated or not activated gripping module 17, a palette disposed below the gripping module pallet grab hold by these arranged by means of the end of the gripping arms 82, facing each other hooks 88 laterally and is seized, as in Fig. 16 is indicated schematically. Optionally, the gripping arms 82 of the pallet gripper 84 can operate independently of the gripping module 17 of the device 10 and, for example, be coupled to the frame 12 only in their pivoting and adjusting movements.

When not in use, the gripping arms 82 can optionally according to Fig. 17 at least partially interlocked or pivoted upwards in the direction of the frame 12, so that they have a sufficient distance from the height level of the working area of the gripping module 17. This can be used in this position of the pallet gripper system 84 in the manner described above for receiving flat objects 38, without the gripping arms 82 interfere with this handling.

The schematic perspective view of Fig. 18 shows a further variant of the device 10 according to the invention with a pallet gripper system 84, with the carriage guide 13 for the distance adjustment of the two gripping modules 17 (see. Fig. 9 and Fig. 10 ) can be combined. Here, the pallet gripper system 84 is shown with the distance adjustment of the paired and adjustable in their distances from each other gripping modules 17, each using an extension for this already existing slide adjustment systems 13, on each of which end suitable holding plates 90 are arranged. These mutually adjustable retaining plates 90 are provided with vertically downwardly facing sheet metal clamps 92, each having inwardly, ie facing each other underside hook 94 for engaging in a pallet and for their reception and handling.

Basically, in addition to the pivoting ( Fig. 16 . Fig. 17 ) or the linearly movable ( Fig. 18 ) Pallet gripper systems 84 further variants of such gripper systems conceivable, which are included in the inventive idea. In general, it should be added that the invention has been described with reference to a number of preferred and / or advantageous embodiments. However, it will be apparent to those skilled in the art that modifications or changes may be made to the invention without departing from the scope of the following claims.

LIST OF REFERENCE NUMBERS

10

contraption

11

pillar

12

frame

13

carriage guide

14

Suction pads

15

mounting plate

16

free end

17

gripper module

18

boom

20

bridge

22

Beam

24

top pull

25

connecting web

26

setting device

28

drawbar

30

linear motor

32

rod drive

34

crossmember

36

plate

38

flat object

40

stack

42

border area

44

middle area

46

control block

50

further cross strut

52

scanning element

54

rigid connection

56

articulated connection

58

composite component

60

plate segment

62

central plate segment

64

first coupling rod

66

second coupling rod

68

spring clip

70

receiving opening

72

bridge segment

74

third coupling rod

76

fourth coupling rod

78

flat profile, stop profile

80

travel stop

82

claw arm

84

Pallet gripper system

86

palette

88

hook

90

Halteblech

92

cleat

94

hook

Claims (16)

1. A receiving, holding and/or handling device (10) for planar objects (38) having at least two controllable suction grippers (14), each arranged at and/or fastened to free ends (16) of cantilever arms (18), which are moveable and at least in partial sections elastically deformable and/or articulately jointed, and which are mounted or moveably supported on a bridge (20), which cantilever arms (18) each comprise at least one bottom chord (22) and one top chord (24), which bottom and top chords meet at the free end (16) of the cantilever arm (18) and are connected there, wherein at least the top chord (24) is associated with a traction device (26) for generating a tractive force with at least one horizontal direction component approximately in parallel to the longitudinal extension direction of the cantilever arm (18), characterised in that the suction grippers (14) are upwardly moveable under convex curvature of the bottom chord (22).
2. The device as recited in claim 1 in which at least the top chords (24) of each cantilever arm mounted in the section of the bridge (20) to be spaced apart from each other and/or wherein the bottom chords (22) of each cantilever arm (18) are each stationarily fastened to the bridge (20).
3. The device as recited in claim 1 in which the bottom chords (22) of cantilever arms (18) that are aligned with each other are connected to each other or are constructed so as to be integrated or in one piece and stationarily fastened to the bridge (20) or moveably mounted or supported there.
4. The device as recited in one of the claims 1 to 3 in which the connection point between top chord (24), bottom chord (22) and suction gripper (14) is constructed to be largely bending resistant.
5. The device as recited in one of the claims 1 to 3 in which the connection point between top chord (24), bottom chord (22) and suction gripper (14) is constructed to be flexible or articulated.
6. The device as recited in one of the claims 1 to 5 in which the suction grippers (14), which are oriented approximately vertical in a first position, each, on actuating the top traction devices (26) assigned to the top chords (24) of the cantilever arms (18), describe an approximately arched trajectory while being angularly adjustable.
7. The device as recited in one of the claims 1 to 6 in which the top chord (24) and the bottom chord (22) of each cantilever arm (18) are connected to each other between the bridge (20) and the free end (16) by at least one connecting web (25), wherein the at least one connection point between the at least one connecting web (25) and the bottom chord (22) is constructed to be largely bending resistant, flexible or articulated, and wherein the at least one connection point between the at least one connecting web (25) and the top chord (24) is constructed to be largely bending resistant, flexible or articulated.
8. The device as recited in one of the claims 1 to 7 in which two, three or more connecting webs (25) are arranged between the top chord (24) and the bottom chord (22), wherein the connecting webs (25) and the top chord (24) and/or the bottom chord (22) are constructed to be largely bending resistant and/or flexible and/or articulated.
9. The device as recited in one of the claims 1 to 8 in which at least sections of the bottom chords (22) and/or of the top chords (24) are respectively constructed of several parts and are formed by plate segments (60) that are articulately connected to each other.
10. The device as recited in claims 8 and 9 in which the connecting webs (25) between the plate segments (60) are formed by coupling rods (64, 66, 74, 76) that are articulately connected to the said plate segments (60).
11. The device as recited in claim 10 in which at least individual of the coupling rods (74, 76) are formed as movement stops (80, 78) for defining a maximum deformation of the cantilever arms (18).
12. The device as recited in one of the claims 1 to 10 in which at least sections of the cantilever arms (18) are formed by an integrated solid-body component, in particular by a composite component (58) with defined elastic properties and/or with different elastic properties in different sections.
13. The device as recited in one of the claims 1 to 12 in which the traction devices (26) are formed by linear motors (30) working approximately horizontally, which linear motors (30) are supported against the bridge (20).
14. The device as recited in one of the claims 1 to 13 which comprises at least two gripper modules (17) mounted on one common support structure, with the distance between the gripper modules being adjustable and/or with the gripper modules being controllable and moveable independently of each other.
15. The device as recited in claim 14 which comprises a pallet gripper system (84) being arranged on the frame (12) with the at least one controllable gripper module (17) and being controllable and/or pivotable independently of the said gripper module (17).
16. A method for receiving, holding and/or handling planar objects (38) by means of at least two controllable suction grippers (14), each arranged at and/or fastened to free ends (16) of cantilever arms (18), which are moveable and at least in partial sections elastically deformable, and which are mounted or supported on a bridge (20), which cantilever arms (18) each comprise at least one bottom chord (22) and one top chord (24), which bottom and top chords meet at the free end (16) of the cantilever arm (18) and are connected there rigidly, moveably and/or articulately, wherein at least the top chords (24) are mounted in the section of the bridge (20) to be spaced apart from each other, and wherein the bottom chord (22) is stationarily fastened to the bridge (20) or moveably mounted or float mounted or supported on the bridge, and the top chord (24) is moved by a traction device (26) with at least one horizontal direction component approximately in parallel to the longitudinal extension direction of the cantilever arm (18), characterised in that the suction grippers (14) are upwardly moved under convex curvature of the bottom chord (22).

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