VACUUM GRIPPER, FEED UNIT, AND METHOD FOR CONVEYING FLAT COMPONENTS

Abstract

The invention relates to an automated vacuum gripper, a feed unit and a method for conveying flat components (3). The vacuum gripper (1) comprises a support part (5), at least one support part element (7), a plurality of first suction elements (4′), which are arranged at the at least one support part element (7) and define a first suction plane; at least one bearing assembly (28) and at least one actuating assembly (29), wherein the at least one support part element (7) is pivotably mounted at the support part (5) by means of the at least one actuating assembly (29) about the at least one bearing assembly (28). The plurality of second elements (4) is arranged at the support part (5) and defines a second suction plane (19). The at least one support part element (7) with its first suction plane defined by the plurality of first suction elements (4′) is pivotable from a standby position that is at an angle relative to the second suction plane into a working position that is congruous with the second suction plane, and vice versa.

Claims

1-21. (canceled)

22: A feed unit (32), in particular for flat components (3), such as sheet metal parts or metal plates, to a bending machine (34) of a bending unit (33), comprising a frame-like support structure (35); a vacuum gripper (1) for flat components (3), comprising a support part (5), at least one support part element (7), a plurality of first suction elements (4), which plurality of first suction elements (4′) are arranged at the at least one support part element (7) and define a first suction plane (19), a portal-like guiding structure (36) for the vacuum gripper (1), which guiding structure (36) is associated with the frame-like support structure (35); a conveyor section (37) running in the lateral parts (39) of the frame-like support structure (35); wherein the vacuum gripper (1) additionally comprises at least one bearing assembly (28) and at least one actuating assembly (29), wherein the at least one support part element (7) is pivotably mounted at the support part (5) by means of the at least one actuating assembly (29) about the at least one bearing assembly (28), and the vacuum gripper (1) with a plurality of second suction elements (4) is arranged at the support part (5), wherein the plurality of second suction elements (4) define a second suction plane (19), and wherein the at least one support part element (7) with its first suction plane (19′) defined by the plurality of first suction elements (4′) can be pivoted about the at least one bearing assembly (28) from a standby position (30) that is at an angle relative to the second suction plane (19) into a working position (31) that is congruous with the second suction plane (19), and vice versa; the conveyor elements (38) forming the conveyor section (37) are retractable and extendable relative to a storage unit (40) of the feed unit (32).

23: The feed unit (32) according to claim 22, wherein the portal-like guiding structure (36) for a vacuum gripper (1) has a support arm (6), which is movable, preferably multiaxially, and at which the vacuum gripper (1) is arranged.

24: The feed unit (32) according to claim 22, wherein the vacuum gripper (1) is hingedly mounted at the support arm (6) about a horizontal hinge axis (41).

25: The feed unit (32) according to claim 22, wherein on the side or front face of the support part (5) and/or support part element (7) opposite of the second and/or first suction elements (4′, 4), a means for measuring the thickness (42) of a flat component is provided.

26: The feed unit (32) according to claim 22, wherein on the side of the support part (5) and/or support part element (7) opposite of the second and/or first suction elements (4′, 4), a pressing means (43) for a flat component (3) is provided.

27: The feed unit (32) according to claim 22, wherein on the side of the support part (5) and/or support part element (7) opposite of the second and/or first suction elements (4′, 4), a combined pressing and thickness measurement means (42, 43) for a flat component is provided.

28: The feed unit (32) according claim 25, wherein the thickness measurement means (42) comprises a bent measuring finger (44) provided for being applied to a flat component (3) to be measured.

29: The feed unit (32) according claim 28, wherein the pressing means (43) is configured for controlled activation and deactivation of a pressing force towards the measuring finger (44) and for increasing and reducing a retention force of the vacuum gripper (1) towards a flat component.

30: The feed unit (32) according to claim 22, wherein the conveyor elements (38) of the conveyor section (37) are adapted for moving under a flat component (3) from a position at least partially or one-sidedly lifted by means of the vacuum gripper (1) and receive it in a load-absorbing manner.

31: The feed unit (32) according to claim 22, wherein the first suction elements (4′) of the support part element (7) have the same dimensions relative to one another with regard to height and/or diameter.

32: The feed unit (32) according to claim 22, wherein the second suction elements (4) of the support part (5) have different dimensions relative to one another with regard to height and/or diameter.

33: The feed unit (32) according to claim 22, wherein the first suction elements (4′) are connected to a first vacuum circuit (9) and that the second suction elements (4) are connected to a second vacuum circuit (11).

34: The feed unit (32) according to claim 22, wherein the actuating assembly (29) comprises a mechanical and/or pneumatic actuator.

35: The feed unit (32) according to claim 22, wherein the support part element (7) comprises multiple individual support part elements (7), which are hingedly connected to each other.

36: The feed unit (32) according to claim 22, wherein on opposite sides of the support part (5), one support part element (7) is respectively provided.

37: A method for conveying flat components (3), in particular sheet metal parts or metal plates, to a bending machine (34) of a bending unit (33), comprising the following steps: providing the feed unit (32) according to claim 22; shifting the at least one support part element (7), starting from a first suction plane (19′) defined by the plurality of first suction elements (4), from a standby position (30) that is at an angle relative to the second suction plane (19), into a working position that is congruous with the second suction plane (19); picking (31) a component (3) up by means of the vacuum gripper (1); moving conveyor elements (38) of the conveyor section (37) from the storage unit (40) of the feed unit; receiving the component (3) by means of conveyor elements (38) of the conveyor section; releasing the vacuum gripper (1) from the component (3); conveying the component (3) on the conveyor section (37) to the bending unit (33); transferring the component to the bending unit (33).

38: The method for conveying flat components (3) according to claim 37, after the component (3) has been picked up from a component stack (45), the component thickness is measured.

39: The method for conveying flat components (3) according to claim 37, wherein after the component (3) has been picked up from a component stack (45), a pressing means (43) engages with the bottom side of the component (3).

40: The method for conveying flat components (3) according to claim 37, wherein the conveyor elements (38) of the conveyor section (37) move under a flat component (3) from an at least partially or one-sidedly lifted position shifted by means of the vacuum gripper (1) and receive it in a load-absorbing manner.

41: The method for conveying flat components (3) according to claim 37, comprising the following steps: clearing a pick-up location (25) for component stacks (45) underneath a conveyor section (37) by moving all or individual ones of the conveyor elements (38) of the conveyor section (37) into the storage unit (40) of the feed unit, which is arranged at a front face of a support structure (35); moving the vacuum gripper (1) to a component stack (45) by means of the portal-like guiding structure (36), which component stack (45) comprises components (3) of dimensions required for further processing; adjusting the vacuum gripper (1) into the working width required for gripping the components (3) and into a working position (31) by pivoting support part elements (7) about a bearing assembly (28) by means of an actuating assembly (29), wherein the vacuum gripper (1) only engages partially, preferably in a front area relative to the component longitudinal axis; applying a vacuum to the suction elements (4, 4′) for picking up the component (3), and lifting the component (3) by moving the vacuum gripper (1) in the y-direction of the feed unit (32), wherein the vacuum gripper (1) is pivoted about the hinge axis (41) at the support arm (6); successively moving the conveyor elements (38) of the conveyor section (37) under the component (3), which is in an angled position above the support structure (35), by extending the conveyor elements (38) from the storage unit (40) of the feed unit; cutting off the vacuum at the vacuum gripper (1) when the conveyor elements (38) of the conveyor section (37) have completely moved under the component (3), and transferring the component (3) to the conveyor section (37) for further conveying of the component (3).

Description

[0073] For better understanding of the invention, the latter is explained in detail with reference to the following figures.

[0074] The following is shown in highly simplified, schematic representation:

[0075] FIG. 1 a schematic representation of a possible arrangement of a machining center;

[0076] FIG. 2 a schematic representation of a possible embodiment of a vacuum gripper;

[0077] FIG. 3 a schematic representation of the interconnection/functioning principle of the first and second vacuum circuits, which are associated with different suction elements (a) or identical suction elements (b);

[0078] FIG. 4 a possible embodiment of a vacuum gripper with a support part with adjustable suction elements;

[0079] FIG. 5 a possible embodiment of a vacuum gripper with a support part and support part elements;

[0080] FIG. 6 a possible embodiment of a vacuum gripper with a support part and support part elements in a standby position;

[0081] FIG. 7 a possible embodiment of a vacuum gripper with a support part and support part elements and suction elements of different dimensions, where the support part elements are in the working position;

[0082] FIG. 8 a schematic representation of a feed unit;

[0083] FIG. 9 a possible embodiment of a vacuum gripper with hinged mounting at a support arm and a pressing/sensor means for thickness measurement;

[0084] FIG. 10 a flat component in a partially or one-sidedly lifted position for transfer to a conveyor section;

[0085] FIG. 11 a possible embodiment of a feed unit in combination with a machining center.

[0086] First of all, it should be noted that in the embodiments described in different ways, identical parts are given identical reference numbers or identical component names, and the disclosures contained in the entire description may be correspondingly applied to identical parts with identical reference numbers or identical component names. Moreover, the position indications used in the description, such as at the top, at the bottom, lateral, etc. directly refer to the figure shown and described, and, if a position changes, said position indications are to be correspondingly applied to the new position.

[0087] In FIG. 1, a schematic representation of a possible machining center can be seen, wherein an automated vacuum gripper 1 can be seen apart from a machine tool 2. The vacuum gripper 1 serves for quickly and securely conveying components 3 from a pick-up location 25 to a machine tool 2 and/or a deposition location 26 for processed components 3a.

[0088] As can be seen from FIG. 1, in particular in combination with FIG. 2 and FIG. 4 and FIG. 5, the vacuum gripper 1 may be configured as a multiaxially movable manipulator or robot. On the movable support arm 6, a movable support part 5 is arranged, which has a plurality of suction elements 4 for contacting the component 3. For the sake of simplicity, the machining area 22 and the area of movement of the vacuum gripper are illustrated jointly by means of a hatched area, although this are should be understood as a three-dimensional space. This machining area 22 may thus be preferably three-dimensionally monitored by an environment monitoring means 21, wherein said environment monitoring means 21 is preferably arranged at an elevated location, for example on the machine tool 2. Alternatively, however, such an environment monitoring means 21 may also be arranged on a hall ceiling or at the vacuum gripper 1 itself. Light barriers or light fences, which are known to the person skilled in the art and not shown in FIG. 1, may be used as environment monitoring means 21 independently or in combination with the three-dimensional environment monitoring means 21 described above. The machining area 22 may also be additionally divided into a warning area and a further inward security area.

[0089] In FIG. 1, the exemplary arrangement of a system controller 14 in the form of a display at the machine tool 2 can be seen. The connection to the vacuum gripper and any further components or elements of the machining center may be wired or wireless, for example via WiFi or Bluetooth, and is schematically indicated with a dashed line.

[0090] Furthermore, a schematic arrangement of elements of an optical and/or acoustic warning device 20 at the machine tool 2 can be seen in FIG. 1. Additional or alternative arrangements, for example at the vacuum gripper 1 and particularly in the form of optical warning devices 20 at the support part are not shown but easily comprehensible for the person skilled in the art.

[0091] In FIG. 2, a schematic representation of a possible embodiment of a support part 5 with a plurality of suction elements 4 arranged thereat is shown. As explained above, the support part 5 is movably attached to the support arm 6, which is movable as well, and a compressed air supply 15 is schematically indicated. As schematically shown with the dashed line, the compressed air supply 15 may be configured for supplying the first 8 and the second vacuum generators 10. The required lines are not shown. The dashed lines also show the possibility to connect the compressed air supply 15 to individual ones or all of the suction elements 4, for example to specifically interrupt a controlled, compressed-air supported interruption of the vacuum at the suction elements 4, or even to enable blowing off of the held component 3.

[0092] From FIG. 2, a possible advantageous arrangement of the two vacuum generators 8, 10 at the support part 5 can be seen. With the second vacuum generator 10, a vacuum tank 18 is connected for ensuring a vacuum redundantly and quickly when required. The formation of a first and a second vacuum circuit 9, 11 is only schematically indicated with dotted or dotted and dashed lines, wherein the second vacuum circuit 11 (dotted and dashed lines) must be connected to the vacuum tank 18.

[0093] The component 3, which is shown by way of example in FIG. 2 as a pre-bent sheet metal part with cutouts 24, is held by the suction elements 4, which are associated with a first group 12 of suction elements 4. The selected embodiment is intended to shown that it is possible to bring a second group 13 of suction elements 4 into contact with the component 3 as well, although no vacuum is applied to said suction elements 4 during normal operation.

[0094] In addition, the position of two second sensor devices 17 at the support part 5 can be seen from FIG. 2. This exemplary arrangement shows that the second sensor devices 17 configured as optical sensors may relatively easily detect a possible relative movement of the component 3 relative to the sensor devices 17 and thus also relative to the support part 5. A plurality of first sensor devices 16 are also shown by way of example as dashed elements, which may be arranged in the form of pressure sensors or pressure measurement cells preferably in the line network or directly at the suction elements 4 of the first and/or the second vacuum circuit 9, 11. Monitoring by the first and second sensor devices 16, 17 is carried out continuously, starting when the component 3 is picked up until it is deposited within the machine tool 2 or at the deposition location 26.

[0095] In the event of an interruption or even already in the event of a settable vacuum loss of the first vacuum circuit 9, the system controller 14 may give an alarm, which at least causes a switching element, which is not shown, to activate the second vacuum circuit 11. The alarm may also be given additionally or independently when a relative movement of the component 3 is detected by the at least one second sensor device 17.

[0096] It can particularly clearly be seen from FIG. 2 that due to the short line paths, the spatial proximity of the vacuum tank 18 facilitates applying a vacuum to the second vacuum circuit 11 when required. Likewise, it can be seen from FIG. 2, in particular in combination with FIG. 1, that when an alarm is given, the component 3 may be slowed down in its movement by the support part 5 or the support arm 6 and/or lowered in the vertical direction so as to avoid damage to operators and/or systems if the component is lost.

[0097] FIG. 3 serves for illustrating the interconnection principle of the redundant embodiment of the second vacuum circuit 11. In FIG. 3a and FIG. 3b, possible connection patterns of a plurality of suction elements 4 arranged in an array-like manner in a first and a second vacuum circuit 9, 11 are shown by way of example. The suction elements 4 associated with the first vacuum circuit 9 or the first group 12 of suction elements 4 are marked with a dot within the suction element 4. The suction elements 4 associated with the second group 13 and/or the second vacuum circuit 11 are marked with a second dashed ring around the respective suction element 4. The suction elements 4 are merely schematically indicated in plan view without a support part 5 or vacuum generators 8, 10, wherein in the image plane, a component 3 can be seen, the surface 23 of which serves as an ideal flat surface as suction plane 19 for the suction elements 4.

[0098] In this regard, in FIG. 3a, the possibility is shown to join a first group 12 of suction elements 4 into a first vacuum circuit 9. The shown arrangement where every other suction element 4 is associated with the first vacuum circuit 9 is only one of many possible arrangements. The first group 12 of suction elements 4 primarily serves for receiving and conveying a component 3, while it can be seen from the plan view that the second group 13 of suction elements 4 is in contact with the component 3 at the suction plane 19 but not active during normal operation. As described above, in the event of an alarm, the second vacuum circuit 11 is activated, and the component 3 may be held at least for a short period of time. The lines or the line network required for separate supply of the first and second vacuum circuits 9, 11 in FIG. 3a are not shown.

[0099] In FIG. 3, a possible alternative arrangement or interconnection by means of a line network that may be jointly used for the first and second vacuum circuits 9, 11 is indicated. Thus, the first group 12 of suction elements 4 may be simultaneously associated with the first and second vacuum circuits 9, 11, wherein during normal operation, only the first vacuum circuit 9, i.e. the vacuum supply by means of the first vacuum generator 8, is active. In the event of an emergency or an alarm, the line network of the first vacuum circuit 9 may be used by adding or switching to the second vacuum circuit 11, wherein the vacuum at the suction elements 4 may be maintained at least for a short period of time by means of the vacuum tank 18.

[0100] A possible embodiment of a vacuum gripper 1 with a support part 5 having adjustable suction elements 4 is outlined in FIG. 4 by way of example. There, a plurality of suction elements 4 can be seen, which are adjustable at least in a direction of the suction plane 19, i.e. substantially parallel to a component surface 23 to be contacted. Dashed lines indicate positions in which the suction elements 4 would grip a cutout 24 or opening of the component 3; therefore, in the selected illustration, the suction elements 4 have been adjusted such that all suction elements 4 are in contact with the component 3. The suction elements 4 may either be separately adjustable or by means of adjustable holding elements 27, as shown in the exemplary illustration. The suction elements 4 and/or holding elements 27 may be adjusted by means of electric and/or pneumatic drives, which are not shown in detail, and controlled by the system controller 14.

[0101] It is also possible that the suction elements 4 are height-adjustably and/or pivotably attached relative to the support part 5 and/or a holding element 27. Such an embodiment is not shown here as for the person skilled in the art, the teaching should be sufficient that unevenness and/or distortion of the component may be compensated this way.

[0102] In addition, or as an independent embodiment, it may be advantageous if the support part 5 of the vacuum gripper 1 has one or multiple support part elements 7, which are pivotably or rotatably attached to the support part 5. Such a possible embodiment is shown in FIG. 5 by way of example, where two support part elements 7 are pivoted upward in the vertical direction. The support part elements 7 may be moved by means of their own electric and/or pneumatic drives. Through an information stored in the system controller 14 on the dimensions and/or the geometry of the components 3 to be conveyed, the support part elements 7 may be used for increasing or reducing the available suction plane 19 if required. The support part elements 7 may also have adjustable holding elements 27 and/or adjustable suction elements 4. The suction elements 4 may be controlled or associated with a first and/or second vacuum circuit 9, 11 by analogy with the aforementioned examples. As can be seen from FIG. 5, this measure may be used for adapting the available number of suction elements 4 or the space required by the support part 5 in an easy and automated manner.

[0103] The vacuum grippers 1 shown in FIGS. 1 and 2 and in FIGS. 4 and 5 may have one or multiple second sensor devices 17, which are not shown in detail and configured as optical sensors. The person skilled in the art may easily imagine that such sensors and in particular their light sources may also be arranged within a suction element 4, as indicated by FIGS. 2, 4 and 5. The first and second sensor devices 16, 17 are not shown separately in detail in these embodiments as it is on the person skilled in the art to choose suitable positions and/or sensors according to the above information and arrange them as required.

[0104] FIG. 6 shows a vacuum gripper 1 for flat components 3 in a standby position 30. The bottom side of a plurality of first suction elements 4′, which are affixed to a support part element 7, in this regard forms a first suction plane 19′, which is in an angular position relative to the second suction plane 19. The second suction plane 19 is defined by the bottom side of the second suction elements 4 located at a support part 5.

[0105] It can be seen from FIG. 6 that a particularly space-saving arrangement in a standby position 30 is achieved if the support part elements 7 are at a 90° position relative to the support part 5. In this regard, the support part elements 7 arranged in a wing-like manner are folded out or in about a bearing assembly 28 by means of electric and/or pneumatic drives. The actuating assembly 29 shown by way of example in FIG. 6 is constituted by actuating cylinders, by means of which the movement about the bearing assembly 28 is realized.

[0106] In this regard, the vacuum gripper 1 is associated via a support arm 6 with a portal-like guiding structure 36, along which the vacuum gripper 1 is movable in the x-direction of the feed unit in a controlled manner.

[0107] FIG. 7 shows a detailed view of the bottom side of the vacuum gripper 1 in a working position 31. In this regard, the support part elements 7 arranged at the support part 5 on two opposite sides have been brought into the aforementioned working position 31 via the bearing assembly 28. In this position, it is possible to grip components 3 of a larger width than the support part 5 over the entire component width. In this regard, the exemplary actuating assembly 29 for folding the support part elements 7 out or in is formed by extended working cylinders.

[0108] To further increase flexibility of the vacuum gripper 1 with respect to the component width to be handled, in an advantageous embodiment, the support part elements 7 may comprise multiple individual support part elements 7′, which are schematically indicated in FIG. 7. In this regard, the individual support part elements 7′ are advantageously again adjusted with their own electric and/or pneumatic drives, wherein a pivoting motion about a bearing assembly between the individual support part elements 7′, which is not shown in detail, is performed.

[0109] FIG. 7 also shows that the first and/or second suction elements 4, 4′ may have different dimensions with respect to the suction element diameter. In the embodiment shown, the second suction elements 4 at the support part 5 have different diameters, for example to be able to securely handle heavy components as well.

[0110] By contrast to the variant shown in FIG. 7, the suction elements 4′ at the support part elements 7 may have a dimension alternating from the suction elements 4 arranged at the support part 5, wherein the suction elements 4 at the support part 5 have the same diameter.

[0111] Apart from the diameter, the suction elements 4, 4′ may also have different heights with respect to their suction or operating direction. However, this is not shown in detail in the figures.

[0112] FIG. 8 shows a feed unit 32 to a bending unit 33, on which the vacuum gripper 1 according to the invention is arranged. Via a support arm 6, the vacuum gripper is arranged at a portal-like guiding structure 36, which is supported on a support structure 35.

[0113] The lateral parts 39 of the support structure 35 are adapted for guiding conveyor elements 38 of a conveyor section 37. Individual ones or all of the conveyor elements 38 may be moved into a storage 40 in order to clear a pick-up location 25 underneath the conveyor section 37.

[0114] As soon as all or individual ones of the conveyor elements 38 have moved into the storage 40, a vacuum gripper 1 may receive components 3 that lie on component stacks 45. In this regard, the component stacks 45 are stored at a pick-up location 25, which is underneath the support structure 35, in which the conveyor section 37 is guided in the lateral parts 39.

[0115] As can be seen from FIG. 9, in a preferred embodiment, the vacuum gripper 1 is mounted at the support arm 6, which is preferably multiaxially movable, about a horizontal hinge axis 41.

[0116] As can be seen from FIGS. 6 to 9 in combination, a component 3 is picked up by the vacuum gripper 1 and subsequently transferred to a conveyor section 37 preferably as follows: [0117] clearing a pick-up location 25 for component stacks 45 underneath a conveyor section 37 by moving all or individual ones of the conveyor elements 38 of the conveyor section 37 into a storage 40, which is arranged at a front face of a support structure 35; [0118] moving the vacuum gripper 1 to a selected component stack 45 by means of the portal-like guiding structure 36, which component stack 45 comprises components 3 of dimensions required for further processing; [0119] adjusting the vacuum gripper 1 into the working width required for gripping the components 3 and into a working position 31 by pivoting support part elements 7 about a bearing assembly 28 by means of an actuating assembly 29, wherein the vacuum gripper 1 only engages partially, preferably in a front area relative to the component longitudinal axis; [0120] applying a vacuum to the suction elements (4, 4′) for picking up the component 3, and one-sidedly or tiltedly lifting the component 3 by moving the vacuum gripper 1 in the y-direction of the feed unit 32, wherein the vacuum gripper 1 is pivoted about the hinge axis 41 at the support arm 6; [0121] successively moving the conveyor elements 38 of the conveyor section 37 under the component 3, which is in an angled position above the support structure 35, by extending the conveyor elements 38 from the storage 40; [0122] cutting off the vacuum at the vacuum gripper 1 when the conveyor elements 38 of the conveyor section 37 have completely moved under the component 3, and transferring the component 3 to the conveyor section 37 for further conveying of the component 3.

[0123] The information which component dimensions are required for processing on a bending machine 34 and moving and adjusting a vacuum gripper 1 based thereon are performed by an electronic control, which is not described in detail.

[0124] It is also possible to provide, laterally at the support structure 35, a stop element, which is not shown in detail, by means of which a component 3 that has been transferred to the conveyor section 37 may be aligned or oriented as planned. In this regard, a stop element configured as a guiding beam may be moved along the x-axis of the feed unit 32, preferably in a controlled manner.

[0125] In addition, in FIG. 9, an optional thickness measurement 42 and/or pressing means 43 is shown, which comprises a measuring finger 44 in a preferred embodiment.

[0126] To ensure that the vacuum gripper 1 has picked up a component 3 of a thickness required for further processing, the thickness may either be checked by means of the thickness measurement means 42 measuring the front face of the component 3, or by means of the aforementioned measuring finger 44.

[0127] When a preferably bent measuring finger 44 is used, the thickness of the component 3 is determined via the angular position of the measuring finger 44 relative to its pivot bearing based on the ratio between the component thickness and the angular position of the measuring finger 44, which ratio is stored in the controller, which is not described in detail. By measuring the component thickness, it may also be ensured that only one single component 3 has been picked up by the vacuum gripper 1.

[0128] In this regard, the measuring finger 44 may simultaneously be used as pressing means 43 by applying additional pressing or retention force to the component 3 by means of the bent measuring finger 44. In this process, this pressing or retention force may be selected such that the measuring finger 44 is merely applied, and excessive tilting of the component 3 relative to the suction elements 4, 4′ is thus prevented.

[0129] In FIG. 10, a component 3 one-sidedly lifted by the vacuum gripper 1 is shown, which component 3 is in a partially lifted position due to tilting of the vacuum gripper 1 at the support arm 6 about the hinge axis 41. In this regard, the component 3 may be additionally secured by the measuring finger 44. It can be clearly seen from FIG. 10 that the vacuum gripper 1 engages with a lateral end or partial area of the component 3 to lift it up.

[0130] Finally, an overall system comprising a feed unit 32 and a bending unit 33 is shown in FIG. 11. The feed unit 32 is in turn formed by a support structure 35, in which conveyor elements 38 of a conveyor section 37 may be moved relative to the lateral parts 39. Underneath the conveyor section 37, the components 3 are stored at a pick-up location 25 and may be transferred to the conveyor section 37 by the vacuum gripper 1, which is arranged at a portal-like guiding structure 36 via a support arm 6, and be conveyed further to the bending unit 33.

[0131] In the area of the bending unit 33, a component 3 is once again transferred from the conveyor section 37 to the bending unit 33, where the component 3 is processed in a bending machine 34.

[0132] The illustrations of FIG. 1 to FIG. 11 show possible embodiments; however, it should be noted at this point that the invention is not limited to the embodiments specifically shown; rather, one or multiple combinations of the individual embodiments are possible. For the sake of brevity, no separate illustration is made, and reference is made to the general description.

[0133] The scope of protection is determined by the claims. However, the description and the drawings are to be used for construing the claims. The individual features or feature combinations of the different embodiments shown and described may constitute independent inventive solutions. The object underlying the independent inventive solutions may be gathered from the description.

[0134] All indications of ranges of values in the present description are to be understood such that they also include any and all sub-ranges therefrom; for example, the indication 1 to 10 is to be understood such that all sub-ranges are included, starting at the lower limit 1 up to the upper limit 10, i.e. all sub-ranges start with a lower limit of 1 or larger and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

[0135] As a matter of form, it should finally be noted that for better understanding of the structure, some of the elements have been represented unscaled and/or enlarged and/or in reduced size.

TABLE-US-00001 List of reference numbers  1 Vacuum gripper  2 Machine tool  3 Component  4' First suction elements  4 Second suction elements  5 Support part  6 Support arm  7′ Individual support part element  7 Support part element  8 First vacuum generator  9 First vacuum circuit 10 Second vacuum generator 11 Second vacuum circuit 12 First group 13 Second group 14 System controller 15 Compressed air supply 16 First sensor device 17 Second sensor device 18 Vacuum tank 19′ First suction plane 19 Second suction plane 20 Optical and/or acoustic warning device 21 Environment monitoring means 22 Area of movement /machining area 23 Surface 24 Cutout 25 Pick-up location 26 Deposition location 27 Holding element 28 Bearing assembly 29 Actuating assembly 30 Standby position 31 Working position 32 Feed unit 33 Bending unit 34 Bending machine 35 Support structure 36 Portal-like guiding structure 37 Conveyor section 38 Conveyor element 39 Lateral part 40 Storage 41 Hinge axis 42 Thickness measurement means 43 Pressing means 44 Measuring finger 45 Component stack