# US 2022/0033199 A1 · Automated vacuum gripper and method for securely gripping components

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- Number: US 2022/0033199 A1
- Document ID: US20220033199A1
- Status: Published application
- Kind: A1
- Application number: 17/274,970
- Filed: 2019-09-16
- Published: 2022-02-03
- Earliest claimed: 2018-09-20
- Assignees: TRUMPF Maschinen Austria GmbH & Co. KG.
- Applicants: TRUMPF Maschinen Austria GmbH & Co. KG.
- Inventors: Kabir SECIBOVIC
- Web page: https://patentgrep.com/patent/US20220033199A1

## CPC

- B65G 47/917: {control arrangements}
- B21D 43/18: by means in pneumatic or magnetic engagement with the work
- B25J 15/0052: {multiple gripper units or multiple end effectors}
- B25J 15/0061: {mounted on a modular gripping structure}
- B25J 15/0616: {with vacuum}
- B25J 15/0641: {Object-actuated valves}
- B25J 19/021: {Optical sensing devices}
- B65G 47/914: {provided with drive systems incorporating rotary and rectilinear movements}
- B65G 47/918: {with at least two picking-up heads}
- B66C 1/0212: {Circular shape}
- B66C 1/0218: {Safety measures, e.g. sensors, duplicate functions}
- B66C 1/0243: {Separate cups}
- B21D 5/0281: {Workpiece supporting devices}
- B65G 61/00: Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
- B65G 2201/022: Flat
- 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)
- B21D: WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL (working or processing of wire B21F)
- 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})
- B66C: CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES ({specially adapted for lifting invalids A61G7/10;} rope, cable, or chain winding mechanisms, braking or detent devices therefor B66D; specially adapted for nuclear reactors G21)

## Abstract

The invention relates to a method for conveying components and to an automated vacuum gripper (1) for components (3), in particular sheet metal parts, comprising a plurality of suction elements (4), which are arranged at a preferably movable support part (5), a first vacuum generator (8) for forming a first vacuum circuit (9), a second vacuum generator (10) for forming a second vacuum circuit (11), at least one switching element connected to a system controller (14) for automated switching of the first vacuum circuit (9) to the second vacuum circuit (11), at least one compressed air supply (15) connected to at least the first and the second vacuum generators (8), at least one sensor device (16, 17), wherein the first vacuum generator (8) is associated with a first predeterminable group (12) of suction elements (4), and the second vacuum generator (10) is connected to a vacuum tank (18) for forming a second vacuum circuit (11), which may be activated in case of emergency and is redundant to the first vacuum circuit (9), and wherein at least one first sensor device is (16) is formed for monitoring the vacuum at least at the first vacuum circuit (9), and at least one second sensor device (17) has an optical sensor for detecting a relative movement of the component (3) during a conveying operation.

## Claims

### Claim 1

An automated vacuum gripper (1) for components (3), in particular sheet metal parts, comprising
a plurality of suction elements (4), which are arranged at a preferably movable support part (5),
a first vacuum generator (8) for forming a first vacuum circuit (9),
a second vacuum generator (10) for forming a second vacuum circuit (11),
at least one switching element connected to a system controller (14) for automated switching of the first vacuum circuit (9) to the second vacuum circuit (11),
at least one compressed air supply (15) connected to at least the first and the second vacuum generators (8),
at least one sensor device (16, 17),
wherein
the first vacuum generator (8) is associated with a first predeterminable group (12) of suction elements (4), and the second vacuum generator (10) is connected to a vacuum tank (18) for forming a second vacuum circuit (11), which may be activated in case of emergency and is redundant to the first vacuum circuit (9), and
at least one first sensor device (16) is formed for monitoring the vacuum at least at the first vacuum circuit (9), and
at least one second sensor device (17) has an optical sensor for detecting a relative movement of the component (3) during a conveying operation.

### Claim 2 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein the second vacuum generator (10) and the vacuum tank (18) are arranged at the support part (5), wherein the support part (5) is arranged at a—preferably multiaxially—movable support arm (6) of the vacuum gripper (1).

### Claim 3 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein a volume of the vacuum tank (18) is greater than a total volume of at least the first predeterminable group (12) of suction elements (4).

### Claim 4 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein the at least one optical sensor comprises a light source, which is configured as a light-emitting diode or a laser diode with a predeterminable wave length range.

### Claim 5 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein the at least one optical sensor is arranged at the support part (5) and/or within a suction element (4).

### Claim 6 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein at least two second optical sensor devices (17) are arranged at the support part (5) at or within different suction elements (4).

### Claim 7 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein the second vacuum circuit (11) is formed at separate suction elements (4), which form a second group (13) and are additional to the first group (12).

### Claim 8 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein the second vacuum circuit (11) is connected to the first vacuum circuit (9), preferably via a joint line network.

### Claim 9 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein at least two of the suction elements (4) are pivotable relative to the support part (5) and/or to a suction plane (19) and/or are height-adjustably arranged at the support part (5).

### Claim 10 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein at least one suction element (4) is adjustably arranged at the support part (5) relative to, preferably at least in the direction of, the suction plane (19), preferably at a dedicated holding element (27).

### Claim 11 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein the support part (5) has at least one support part element (7), which is pivotable or rotatable relative to a suction plane (19).

### Claim 12 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein an acoustic and/or optical warning device (20) is arranged at the support part (5) and/or a housing of the vacuum gripper (1) and/or a machine tool (2) and connected to the system controller (14).

### Claim 13 (depends on 1)

The vacuum gripper (1) according to claim 1, wherein an optical environment monitoring means (21), in particular light barriers and/or light fences, is connected to the system controller (14).

### Claim 14 (depends on 1)

A method for conveying plate-shaped components (3), in particular sheet metal parts, comprising the following method steps:
providing the automated vacuum gripper (1) according to claim 1;
picking a component (3) up by means of the vacuum gripper (1) by creating a vacuum at at least one suction element (4) and a surface (23) of the component (3), thus forming a first vacuum circuit (9);
continuously monitoring the vacuum of the first vacuum circuit (9) by means of at least one first sensor device (16);
continuously monitoring a position of the component (3) relative to at least one second sensor device (17) of the vacuum gripper (1), which sensor device (17) is configured as an optical sensor;
conveying the component (3) to a predeterminable destination, wherein, if a relative movement of the component (3) and/or an increase in pressure in the first vacuum circuit (9) has been detected, an alarm is triggered in the system controller (14).

### Claim 15 (depends on 14)

The method according to claim 14, wherein in the case of a detected relative movement of the component (3) and/or unintentional interruption of the first vacuum circuit (9), a second vacuum circuit (11), which is redundant to the first vacuum circuit (9), is activated, wherein a vacuum tank (18) is used for supplying the second vacuum circuit (11) for a short period of time.

### Claim 16 (depends on 14)

The method according to claim 14, wherein in the event of a detected movement within a machining area (22) of the vacuum gripper (1), an alarm in the system controller (14) is triggered by an environment monitoring means connected to the system controller.

### Claim 17 (depends on 14)

The method according to claim 14, wherein when an alarm is triggered, the speed of movement of a support arm (6) of the vacuum gripper (1) is reduced in a controlled manner and/or the conveyed component (3) is lowered in the vertical direction.

### Claim 18 (depends on 14)

The method according to claim 14, wherein when an alarm is triggered in the system controller (14), an acoustic and/or optical warning device (20) is activated at the support part (5) and/or a housing of the vacuum gripper (1).