# US 10,370,202 B2 · Suction gripper and method for gripping elastic slices > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,370,202 B2 - Document ID: US10370202B2 - Status: Granted - Kind: B2 - Application number: 15/691,356 - Filed: 2017-08-30 - Published: 2018-03-01 - Granted: 2019-08-06 - Earliest claimed: 2016-08-30 - Assignees: Deutsches Institut fuer Lebensmitteltechnik e.V. - Applicants: Deutsches Institut fuer Lebensmitteltechnik e.V. - Inventors: Bernhard Hukelmann - Web page: https://patentgrep.com/patent/US10370202B2 ## CPC - B65G 59/04: by suction or magnetic devices - B25J 15/0616: {with vacuum} - B65G 47/91: incorporating pneumatic, e.g. suction, grippers - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract The invention describes a suction gripper for elastic slices sticking to each other, such as slices of food. The suction gripper has a suction cup, to which reduced pressure is applied in a controlled manner. The suction gripper is characterized by a tube, which projects at least into the plane of the suction opening of the suction cup, optionally projects over the plane of the suction opening, and to which pressured gas may be applied. ## Claims ### Claim 1 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the tube projects over a plane of the suction opening by the thickness of a slice, wherein the suction gripper is adapted such that during application of pressured gas to the tube, by means of an adjusting device the tube is movable into a position in which the ending of the tube projects over the plane of the suction opening, and in the absence of the application of pressured gas the tube is movable back from this position. ### Claim 2 (depends on 1) The suction gripper according to claim 1, wherein the tube projects over the plane of the suction opening by 0.2 to 10 mm. ### Claim 3 (depends on 1) The suction gripper according to claim 1, wherein the ending of the tube is bevelled. ### Claim 4 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the tube projects over a plane of the suction opening by the thickness of a slice, further comprising a moving device, which the suction cup is mounted on, and which is controlled to move the suction cup into a first position and subsequently into a second position, and by a control unit, which is adapted to apply pressured gas to the tube and to apply reduced pressure to the suction cup, when the suction cup is in a first position, to apply reduced pressure to the suction cup until a second position is reached, and to remove the applied reduced pressure in the second position. ### Claim 5 (depends on 4) The suction gripper according to claim 4, characterized in that the control unit is adapted not to apply pressured gas to the tube during movement of the suction cup from the first position. ### Claim 6 (depends on 4) The suction gripper according to claim 4, wherein the control unit is adapted to apply pressured gas to the tube and to subsequently apply reduced pressure to the suction cup with a time delay. ### Claim 7 (depends on 4) The suction gripper according to claim 4, wherein the control unit is adapted to apply reduced pressure to the suction cup and to subsequently apply pressured gas to the tube with a time delay. ### Claim 8 (depends on 4) The suction gripper according to claim 4, wherein the tube has a mechanical stop in the plane of the suction opening and projects over the mechanical stop by the thickness of at least one or exactly one slice. ### Claim 9 (depends on 4) The suction gripper according to claim 4, having a carrier for carrying a stack of slices, wherein the carrier is arranged in a first position and the second position is spaced apart therefrom. ### Claim 10 (depends on 4) The suction gripper according to claim 4, wherein the control unit is adapted to apply pressured gas to the tube in the first position and to subsequently apply reduced pressure to the suction cup. ### Claim 11 (depends on 4) The suction gripper according to claim 4, wherein the suction cup has at least two suction openings and is adapted to apply reduced pressure to the suction openings one after the other. ### Claim 12 (depends on 11) The suction gripper according to claim 11, wherein the control unit is adapted to apply reduced pressure to the at least two suction openings depending on the movement of the moving device. ### Claim 13 (depends on 4) The suction gripper according to claim 4, wherein the suction cup is at least partially a cylinder, in the cylinder wall of which the at least one suction opening is arranged, wherein the cylinder on the moving device is rotatable around its longitudinal axis, which moving device is adapted to move the cylinder perpendicularly to its longitudinal axis. ### Claim 14 (depends on 13) The suction gripper according to claim 13, wherein the control unit is adapted to apply reduced pressure to the at least two suction openings depending on the rotation of the cylinder. ### Claim 15 (depends on 4) The suction gripper according to claim 4, wherein the tube is movable, during application of pressured gas, into a position by means of an adjusting device, in which position the ending of the tube lies in the plane of the suction opening or projects over the plane of the suction opening, and in the absence of the application of pressured gas the tube is movable back from this position. ### Claim 16 (depends on 4) The suction gripper according to claim 4, further comprising a switch to be operated manually, which is arranged to trigger or control the application of pressured gas to the tube and the application of reduced pressure to the suction cup. ### Claim 17 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the tube projects over a plane of the suction opening by the thickness of a slice, further comprising a control unit adapted to apply pressured gas to the tube and to subsequently apply reduced pressure to the suction cup with a time delay. ### Claim 18 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the tube projects over a plane of the suction opening by the thickness of a slice, further comprising a control unit adapted to apply reduced pressure to the suction cup and to subsequently apply pressured gas to the tube with a time delay. ### Claim 19 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the tube projects over a plane of the suction opening by the thickness of a slice, wherein the tube has a mechanical stop in the plane of the suction opening and projects over the mechanical stop by the thickness of at least one or exactly one slice. ### Claim 20 (depends on 19) The suction gripper according to claim 19, wherein the tube projects over the mechanical stop by 0.2 to 10 mm. ### Claim 21 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the tube projects over a plane of the suction opening by the thickness of a slice, having a carrier for carrying a stack of slices, wherein the carrier is arranged in a first position and the second position is spaced apart therefrom. ### Claim 22 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the tube projects over a plane of the suction opening by the thickness of slice, further comprising a control unit is adapted to apply pressured gas to the tube in the first position and to subsequently apply reduced pressure to the suction cup. ### Claim 23 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the tube projects over a plane of the suction opening by the thickness of slice, wherein the suction cup has at least two suction openings and is adapted to apply reduced pressure to the suction openings one after the other. ### Claim 24 (depends on 23) The suction gripper according to claim 23, characterized in that the control unit is adapted to apply reduced pressure to the at least two suction openings depending on the movement of the moving device. ### Claim 25 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the tube projects over a plane of the suction opening by the thickness of slice, wherein the suction cup is at least partially a cylinder, in the cylinder wall of which the at least one suction opening is arranged, wherein the cylinder on the moving device is rotatable around its longitudinal axis, which moving device is adapted to move the cylinder perpendicularly to its longitudinal axis. ### Claim 26 (depends on 25) The suction gripper according to claim 25, characterized in that the control unit is adapted to apply reduced pressure to the at least two suction openings depending on the rotation of the cylinder. ### Claim 27 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the tube projects over a plane of the suction opening by the thickness of slice, further comprising a switch to be operated manually, which is arranged to trigger or control the application of pressured gas to the tube and the application of reduced pressure to the suction cup. ### Claim 28 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, which tube projects at least into a plane of the suction opening, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the suction gripper is controlled to apply pressured gas to the tube and to subsequently apply reduced pressure to the suction cup with a time delay, wherein the suction gripper is adapted such that during application of pressured gas to the tube, by means of an adjusting device the tube is movable into a position in which the ending of the tube projects over the plane of the suction opening, and in the absence of the application of pressured gas the tube is movable back from this position. ### Claim 29 A suction gripper for use as a separation device for elastic slices from a stack of slices, comprising: a suction cup with at least one suction opening and having a tube connected in a controlled manner to a source of pressured gas, which tube projects at least into a plane of the suction opening, wherein the suction cup is connected in a controlled manner to a source of reduced pressure, wherein the suction gripper is controlled to apply pressured gas to the tube and to subsequently apply reduced pressure to the suction cup with a time delay, further comprising a switch to be operated manually, which is adapted to trigger or control the application of pressured gas to the tube and the application of reduced pressure to the suction cup.