VALVE APPARATUS AND VACUUM HANDLING APPARATUS HAVING A VALVE APPARATUS

Abstract

The invention relates to a valve apparatus (10) for vacuum applications, comprising a valve housing (20) which delimits a valve chamber (22), the valve chamber comprising a vacuum supply opening (28), a suction opening (32), and a ventilation opening (36); comprising a valve body (40) which is arranged in the valve chamber and can be displaced along a switching axis (38) between a suction position and a ventilation position, wherein the valve body in the suction position closes the ventilation opening and in the ventilation position closes the vacuum supply opening; comprising a bistable actuator (50) for driving a displacement movement of the valve body, the actuator comprising an armature (52), connected to the valve body, and an electromagnetic coil (54) for driving a displacement movement of the armature; and comprising a swing check valve (74) for opening and closing the vacuum supply opening (28). The invention also relates to a vacuum handling apparatus (100) comprising a valve apparatus (10).

Claims

1. Valve apparatus (10) for vacuum applications, comprising: a valve housing (20) delimiting a valve chamber (22), the valve chamber (22) comprising a vacuum supply opening (28) which is fluidically connected to a vacuum connection (12) for connecting an external vacuum source; a suction opening (32) which is fluidically connected to a suction connection (14) for connecting a suction grip device (16); and a ventilation opening (36) for ventilating the valve chamber (22); a valve body (40) which is arranged in the valve chamber (22) and can be moved along a switching axis (38) between a suction position and a ventilation position, wherein the valve body (40) in the suction position closes the ventilation opening (36) and in the ventilation position closes the vacuum supply opening (28); a bistable actuator (50) for driving a displacement movement of the valve body (40) between the suction position and the ventilation position, comprising an armature (52) connected to the valve body (40) and displaceable along the switching axis (38); and an electromagnetic coil (54) for driving a displacement movement of the armature (52) along the switching axis (38); a swing check valve (74) for opening and closing the vacuum supply opening (28), wherein the swing check valve (74) can assume a closed position and an open position, wherein the swing check valve (74) can be transferred into the open position by applying vacuum to the vacuum connection (12).

2. Valve apparatus (10) according to claim 1, wherein the swing check valve (74) is arranged in the valve housing (20) between the vacuum supply opening (28) and the vacuum connection (12).

3. Valve apparatus (10) according to one of the preceding claims, wherein the valve housing (20) comprises an inner housing (24) which delimits the valve chamber (22), and an outer housing (26) which provides the vacuum connection (12) and the suction connection (14).

4. Valve apparatus according to claim 3, wherein the swing check valve (74) is arranged on an outer wall (76) of the inner housing (24), and in particular in such a way that the swing check valve (74) can be lifted off the outer wall (76), at least in portions, by the flow pressure as a result of a vacuum being applied to the vacuum connection (12).

5. Valve apparatus (10) according to one of the preceding claims, wherein the armature (52) penetrates through the ventilation opening (36) into the valve chamber (22).

6. Valve apparatus (10) according to claim 5, wherein the armature (52) tapers radially in the region of the ventilation opening (36) in such a way that a venting gap (60) is formed surroundingin particular, completelythe armature (52) around the switching axis (38).

7. Valve apparatus (10) according to one of the preceding claims, wherein the ventilation opening (36) is fluidically connected to an atmospheric ventilation connection (18), wherein the ventilation connection (18) comprises a filter (62)in particular, in the form of a filter cylinderwhich surrounds the switching axis (38), and in particular the armature (52).

8. Valve apparatus (10) according to the preceding claim, wherein the filter (62), and in particular filter cylinder, has a peripheral filter surface (64) and an axial filter opening (66) fluidically connected to the ventilation opening (36), wherein the valve housing (20) has a recess (68) in the region of the filter (60) such that ambient air can flow through the peripheral filter surface (64) along a majority of its circumference around the switching axis (38), but preferably along its entire circumference around the switching axis (38).

9. Valve apparatus (10) according to one of the preceding claims, wherein the vacuum supply opening (28) and the ventilation opening (36) are arranged opposite one another on the valve chamber (22) and/or wherein the vacuum supply opening (28) and the suction opening (32) are arranged offset orthogonally to one another.

10. Valve apparatus (10) according to one of the preceding claims, the bistable actuator (50) further comprising: a spring device (70) which bears on the armature (52) along the switching axis (38), and in particular in the direction of the ventilation position of the valve body (40); a permanent magnet (72) which holds the armature (52) in the suction position or in the ventilation position against the force of the spring device (70).

11. Valve apparatus (10) according to the preceding claim, wherein the coil (54), the spring device (70), and the permanent magnet (72) of the actuator (50) are arranged outside the valve chamber (22).

12. Valve apparatus (10) according to one of claims 1 through 9, the bistable actuator (50) further comprising: a first permanent magnet which holds the armature (52) in the suction position; a second permanent magnet which holds the armature (52) in the ventilation position.

13. Valve apparatus (10) according to one of the preceding claims, further comprising a sensor device (78) which is designed to detect a pressure prevailing in the valve chamber (22), wherein the valve chamber (22) has a sensor opening (80) fluidically connected to the sensor device (78).

14. Valve apparatus (10) according to one of the preceding claims, further comprising an evaluation device (84) which works together with the sensor device (78) and is configured to generate a signal, which represents a suction state of a suction grip device (16) connected to the suction connection (14), as a function of a pressure, detected by the sensor device (78), in the valve chamber (22), and in particular wherein the evaluation device (84) is configured to compare a pressure, detected by the sensor device (78), in the valve chamber (22) with a pressure threshold value which is stored or can be stored in the evaluation device (84), and, as a function of whether the pressure in the valve chamber (22) falls below or exceeds the pressure threshold value, to generate a corresponding signal.

15. Valve apparatus (10) according to one of the preceding claims, further comprising a valve control device (82), and in particular a control circuit board, which works together in particular with the sensor device (78) and/or the evaluation device (84) and is arranged in the valve housing (20), and which is designed to control the actuator (50) in particular as a function of a signal of the sensor device (78) and/or the evaluation device.

16. Vacuum handling apparatus (100), comprising anin particular, sharedvacuum generating device (104); and one or more gripper devices (102-1, 102-2, 102-3, 102-4), each comprising a suction grip device (16-1, 16-2, 16-3, 16-4), and a valve apparatus (10-1, 10-2, 10-3, 10-4) according to one of the preceding claims, wherein the suction grip device (16-1, 16-2, 16-3, 16-4) is fluidically connected to the suction connection (14) of the valve apparatus (10-1, 10-2, 10-3, 10-4), wherein the vacuum generating device (104) is fluidically connected to the vacuum connection (12) of the valve apparatus (10-1, 10-2, 10-3, 10-4), and wherein the vacuum generating device (104) is connected to the valve apparatus (10-1, 10-2, 10-3, 10-4) via a communications connection (110)in particular, data line, and in particular for data exchange.

17. Vacuum handling apparatus (100) according to the preceding claim, wherein each valve apparatus (10-1, 10-2, 10-3, 10-4) has its own valve control device (82-1, 82-2, 82-3, 82-4), and wherein the vacuum generating device (104) has a main control device (106), wherein the valve control device (82-1, 82-2, 82-3, 82-4) of a corresponding valve apparatus (10-1, 10-2, 10-3, 10-4) is configured to transmit process and/or state data of the valve apparatus (10-1, 10-2, 10-3, 10-4) to the main control device (106) of the vacuum generating device (104), and wherein the main control device (106) is configured to process, and in particular evaluate, process and/or state data, and wherein the main control device is configured to transmit control signals for actuating the valve apparatuses (10-1, 10-2, 10-3, 10-4), and in particular for actuating the actuator (50) of the valve apparatus, directly to the corresponding valve control devices (82-1, 82-2, 82-3, 82-4) of the valve apparatuses (10-1, 10-2, 10-3, 10-4).

Description

[0046] The invention is explained in more detail below with reference to the figures. In the drawings:

[0047] FIG. 1 is a sketched representation of an embodiment of the valve apparatus in a perspectival view;

[0048] FIG. 2 is a schematic sectional view of the valve apparatus according to FIG. 1 with the valve body in the suction position;

[0049] FIG. 3 is a schematic sectional view of the valve apparatus according to FIG. 1 with the valve body in the ventilation position;

[0050] FIG. 4 is a schematic circuit diagram of an exemplary embodiment of a vacuum handling apparatus;

[0051] FIG. 5 is a schematic representation for explaining an exemplary operating situation of the vacuum handling apparatus according to FIG. 4; and

[0052] FIG. 6 is a schematic representation for explaining an exemplary operating situation of the vacuum handling apparatus according to FIG. 4.

[0053] In the following description and in the figures, identical reference signs are in each case used for identical or corresponding features.

[0054] FIG. 1 shows an embodiment of a valve apparatus, which is denoted as a whole by reference sign 10. The valve apparatus 10 comprises a vacuum connection 12 for connecting an external vacuum source, a suction connection 14 for connection to a suction grip device 16 (cf. FIG. 4), and a ventilation connection 18 for ventilating the valve apparatus 10. The valve apparatus 10 is designed to selectively establish a fluidic connection between the vacuum connection 12 and the suction connection 14, or between the ventilation connection 18 and the suction connection 14.

[0055] The valve apparatus 10 has a valve housing 20 which encloses a valve chamber 22 (cf. FIG. 2). In the example shown, the valve housing 22 comprises an inner housing 24 which delimits the valve chamber 22 and an outer housing 26 which encloses the inner housing 24. As already mentioned, it is conceivable, for example, that the inner housing 24 be inserted into the outer housing 26. In embodiments not shown, it is also conceivable for the valve housing 20 to be formed in one piece.

[0056] As can be seen from FIG. 2, the valve chamber 22 comprises a vacuum supply opening 28 which is fluidically connected to the vacuum connection 12 via a flow channel 30. The valve chamber 22 also comprises a suction opening 32 which is fluidically connected to the suction connection 14 via a flow channel 34. The valve chamber 22 also comprises a ventilation opening 36 for ventilating the valve chamber 22. The ventilation opening 36 can be supplied with ambient air via the ventilation connection 18 (explained in detail below).

[0057] In the example shown, the vacuum supply opening 28, the suction opening 32, and the ventilation opening 36 are each formed by a recess in the inner housing 24.

[0058] By way of example and preferably, the vacuum supply opening 28 and the ventilation opening 36 are arranged coaxially with a switching axis 38 of the valve apparatus 10 (explained in detail below). By way of example, the suction opening 32 is oriented orthogonally to the vacuum supply opening 28 and the ventilation opening 36.

[0059] The valve apparatus 10 further comprises a valve body 40 which is arranged in the valve chamber 22. The valve body 40 can be displaced along the switching axis 38 between a suction position (cf. FIG. 2) and a ventilation position (cf. FIG. 3).

[0060] In the suction position, the valve body 40 is arranged such that it closes the ventilation opening 36, and at the same time a fluidic connection between the vacuum supply opening 28 and the suction opening 32 is established (cf. FIG. 2). In this switching position of the valve apparatus 10, a suction grip device 16 connected to the suction connection 14 can be supplied with vacuum and thus, for example, an object can be suctioned. In the specific example, the valve body 40 in the suction position rests with a seal against a first valve seat 42. For this purpose, in the example shown, the valve body 40 comprises a first sealing means 44for example, in the form of an O-ring.

[0061] In the ventilation position (cf. FIG. 3), the valve body 40 is arranged such that it closes the vacuum supply opening 28 and at the same time allows a fluidic connection between the ventilation opening 36 and the suction opening 32. In this switching position of the valve apparatus 10, a suction grip device 16 connected to the suction connection 14 can be ventilated again via the ventilation opening 36, and, for example, the object can be set down in this way. In the specific example, the valve body 40 in the ventilation position rests with a seal against a second valve seat 46. For this purpose, the valve body 40 comprises a second sealing device 48for example, in the form of an O-ring.

[0062] The valve apparatus 10 also comprises an actuator 50 for driving a displacement movement of the valve body 40 along the switching axis 38. The actuator 50 is in this respect designed to switch the valve apparatus 10.

[0063] The actuator 50 comprises an armature 52 and an electromagnetic coil 54 for driving a displacement movement of the armature 52 along the switching axis 38. The armature 52 comprises in particular a magnetically polarizable, and in particular ferromagnetic, material. In this respect, the armature 52 is in particular a magnet armature. By energizing the coil 54, the armature 52 and thus the valve body 40 can be displaced between the suction position (cf. FIG. 2) and the ventilation position (cf. FIG. 3). As can be seen from FIG. 2, the armature is preferably guided in a running sleeve 56 in the valve housing 20.

[0064] In the specific example, the armature 52 is formed integrally with the valve body 40. In embodiments not shown, however, it is also conceivable that the armature 52 and the valve body be separately provided components which are connected to one another.

[0065] By way of example and preferably, the armature 52 penetrates through the ventilation opening 36 into the valve chamber 22. Preferably, the armature 52 tapers radially in the region of the ventilation opening 36 in such a way that a venting gap 60 is formed between the armature 52 and a wall 58 delimiting the ventilation opening 36, which venting gap surrounds the armature 52 around the switching axis 38in the example, completely (cf. FIG. 2).

[0066] As can be seen from FIG. 2, the ventilation connection 18 comprises a filter 62 in order to filter inflowing ambient air. By way of example and preferably, the filter 62 is designed in the form of a filter cylinder which radially encloses the switching axis 38 and the armature 52. Specifically, the filter 62 has a peripheral filter surface 64 and an axial filter opening 66 which is fluidically connected to the ventilation opening 36. As can be seen from FIG. 2, the valve housing 20 has a recess 68 in the region of the filter 62 such that ambient air can flow through the peripheral filter surface 64 along a majority of its circumference around the switching axis 38in the example, along its entire circumference around the switching axis 38.

[0067] The actuator 50 is designed to be bistable, so that the armature 52 and thus the valve body 40 are fixed in the two end positions (suction position and ventilation position) without the coil 54 being energized. In the specific example, the actuator 50 comprises a spring device 70, e.g., in the form of a helical spring, which acts upon the armature 52 and thus the valve body 40 in the direction of the ventilation position (cf. FIG. 3). The actuator 50 also comprises a permanent magnet 72 which is designed to retain the armature 52 and thus the valve body 40 in the suction position against the spring force of the spring device 70 (cf. FIG. 2). In this respect, the coil 54 must be energized only briefly for switching the valve apparatus 10.

[0068] In embodiments not shown, it is also conceivable for the actuator 50 to comprise a first permanent magnet which holds the armature 52 in the suction position, and a second permanent magnet which holds the armature 52 in the ventilation position.

[0069] As can be seen from FIG. 2, the valve apparatus 10 also comprises a swing check valve 74 for opening and closing the vacuum supply opening 28. In the specific example, the swing check valve 74 is arranged on an outer wall 76 of the inner housing 24. FIG. 2 shows the swing check valve 74 in a closed position in which the swing check valve 74 closes the vacuum supply opening 28. The swing check valve 74 is designed such that it can be transferred from this closed position into an open position in which the vacuum supply opening 28 is open at least in portions. Specifically, the swing check valve 74 is designed in particular in such a way that it can swing open in the direction of the valve chamber 22 by the application of a vacuum to the vacuum connection 12, and an air flow connected therewith from the vacuum supply opening 28 to the vacuum connection 14, and can thus be transferred into the open position.

[0070] The valve apparatus 10 also comprises a sensor device 78 which is designed to detect a pressure prevailing in the valve chamber 22. For this purpose, the sensor device 78 is fluidically connected to the valve chamber 22 via a sensor opening 80.

[0071] The valve apparatus 10 preferably also comprises a control device 82 which works together with the sensor device 78 and is designed to control the actuator 50in particular, as a function of a signal of the sensor device 78.

[0072] As mentioned above, the valve apparatus 10 preferably also comprises an evaluation device 84 interacting with the sensor device 78 and the control device 82.

[0073] As can be seen from FIG. 2, the sensor device 78, the control device 82, and the evaluation device 84 are preferably arranged in the valve housing 20 and are thus protected from environmental influences. Optionally, a state display 86, e.g., in the form of an LED or a screen, can also be provided which is designed to display state and process information to an operator.

[0074] The sensor device 78, the control device 82, the evaluation device 84, and/or the state display 86 can be part of a control circuit board.

[0075] As mentioned above, the valve apparatus 10 also comprises a communications interface 88 for communicating with an external evaluation or control unit (for example, with the main control device 106 of a vacuum generating device 104; see below). In the specific example, the communications interface 88 comprises a plug connection 90. Alternatively or additionally, the communications interface 88 can also have a wireless communications devicefor example, in the form of an NFC antenna.

[0076] The use of a valve apparatus 10 described above in a vacuum handling apparatus 100 is described below with reference to FIGS. 4 through 6.

[0077] FIG. 4 is a schematic circuit diagram of a vacuum handling apparatus, which is denoted overall by reference sign 100. The vacuum handling apparatus 100 comprises one or morein the example, fourgripper devices 102-1, 102-2, 102-3, 102-4. Each gripper device 102-1, 102-2, 102-3, 102-4 comprises a valve apparatus 10-1, 10-2, 10-3, 10-4 and a suction grip device 16-1, 16-2, 16-3, 16-4 described above. The suction grip devices 16-1, 16-2, 16-3, 16-4 each have two suction points 92 by way of example.

[0078] The vacuum handling apparatus 100 also comprises a central vacuum generating device 104 that is common to all gripper devices 102-1, 102-2, 102-3, 102-4. The vacuum generating device 104 can, for example, be an electrical vacuum generating device 104, such as a blower. The vacuum generating device 104 comprises a main control device 106 which is designed to control the valve apparatuses 10-1, 10-2, 10-3, 10-4.

[0079] As shown in FIG. 4, the vacuum generating device 104 is fluidically connected via corresponding fluid lines 108 to the vacuum connections 12 of the valve apparatuses 10-1, 10-2, 10-3, 10-4. The valve apparatuses 10-1, 10-2, 10-3, 10-4 are preferably arranged in the vicinity of a suction gripper, which reduces the dead volumes between valve apparatus 10-1, 10-2, 10-3, 10-4 and suction grip device 16, and thus switching times.

[0080] Furthermore, the individual valve control devices 82-1, 82-2, 82-3, 82-4 are connected to the main control device 106in particular, for data exchangevia corresponding communications connections 110 (shown in FIG. 4 with dashed lines), in a wireless or wired manner. For example, it is conceivable that the valve apparatuses 10-1, 10-2, 10-3, 10-4 be connected to the main control device 106 via the corresponding communications interface 88 described above.

[0081] As mentioned above, the main control device 106 is configured to evaluate process and/or state data of the valve apparatuses 10-1, 10-2, 10-3, 10-4 transmitted to the main control device 106 by the valve control devices 82-1, 82-2, 82-3, 82-4. The main control device 106 is furthermore configured to transmit control signals for actuating the valve apparatuses 10-1, 10-2, 10-3, 10-4 to the valve control devices 82-1, 82-2, 82-3, 82-4 of the valve apparatuses 10-1, 10-2, 10-3, 10-4.

[0082] An exemplary application situation of the vacuum handling apparatus 100 is explained in more detail below with reference to FIGS. 5 and 6.

[0083] FIG. 5 shows an exemplary operating state of the vacuum handling apparatus 100, in which a leakage occurs at a suction point 92 (in the example, at one of the suction points 92 of the suction grip device 16-3 of the third gripper device 102-3)for example, as a result of an unintended drop of an object 112. Due to the leakage, the vacuum in the valve chamber 22 of the valve apparatus 10-3 decays, or the absolute pressure is increased in the valve chamber 22.

[0084] Since the gripper devices 102-1, 102-2, 102-3, 102-4 are fluidically connected to one another via the shared fluid lines 108, the pressure difference thus created first leads to the swing check valves 74 of the further valve apparatuses 10-1, 10-2, 10-4 being transferred into the corresponding closed position, so that the suction grip devices 16-1, 16-2, 16-4, working together with these valve apparatuses 10-1, 10-2, 10-4, can continue to grip the objects 112 securely.

[0085] The unintentional pressure change in the valve apparatus 10-3 is detected by the sensor device 78 of this valve apparatus 10-3 and finally reported to the main control device 106 of the vacuum generating device 104 by the valve control device 82-3 of this valve apparatus 10-3. The main control device 106 can then transmit a control signal to the valve control device 82-3 of this valve apparatus 10-3 via the corresponding communications connection 110 to the valve apparatus 10-3 in order to ventilate the valve apparatus 10-3, i.e., to transfer the valve body 40 from the suction position into the ventilation position (cf. FIG. 6). In the ventilation position, the vacuum supply opening 12 is then sealed, so that the leakage at the suction grip device 10-3 is no longer transmitted to the fluid lines 108 and thus no longer to the further gripper devices 102-1, 102-2, 102-4, so that a safe gripping state is again produced for these gripper devices 102-1, 102-2, 102-4 (illustrated by the black checkmarks in FIG. 6). If, as in the example, further objects 112 are held on the suction grip device 16-3 which is subject to leakage, they can optionally be sacrificed to protect all other held objects 112.

[0086] As mentioned above, it is also conceivable that the unplanned pressure change in the valve apparatus 10-3 be detected by the sensor device 78 of this valve apparatus 10-3, and the control device 82-3 of this valve apparatus 10-3 then control the actuator directly, i.e., without interposition of the main control device 106.