Suction cup gripping system

Abstract

A suction cup gripping system has suction cup gripping devices each provided with a gripping suction cup having an internal cavity, a Venturi vacuum generator connectable to a compressed air line and connected to the internal cavity to generate therein a partial vacuum, a release valve connected to the internal cavity and operable to connect the internal cavity to an external environment or the compressed air line to eliminate the partial vacuum in the internal cavity, and a check valve interposed between Venturi vacuum generator and internal cavity. The gripping system includes a valve system connected to the Venturi vacuum generators and the release valves, a manifold connected to the internal cavities, a vacuum sensor connected to the manifold, and a control unit configured to control the valve system.

1 - 15 . (canceled) 
     
     
         16 . A suction cup gripping system comprising:
 a plurality of suction cup gripping devices each of which includes:
 at least one gripping suction cup adapted to abut an external surface of an object to be gripped and provided with an internal cavity; 
 a Venturi vacuum generator connectable to a compressed air line and in flow connection with said internal cavity, said Venturi vacuum generator being configured to generate a partial vacuum in said internal cavity when it is supplied with said compressed air and when said suction cup engages the external surface of the object; 
 a release valve in flow connection with said internal cavity and selectively operable to connect the internal cavity to an external environment or to said compressed air line in order to eliminate said partial vacuum in said internal cavity; 
 a check valve in flow connection with and interposed between said Venturi vacuum generator and said internal cavity and configured to prevent air from entering into said internal cavity when said Venturi vacuum generator is not supplied with said compressed air; 
   a valve system in flow connection with the Venturi vacuum generators and the release valves of said suction cup gripping devices to supply with compressed air selectively said Venturi vacuum generators or said release valves;   a manifold in flow connection with the internal cavities of suction cups of suction cup gripping devices;   a vacuum sensor in flow connection with said manifold and suitable to measure a value of partial vacuum inside the manifold;   a control unit connected to the valve system and the vacuum sensor and configured to control said valve system so as not to supply compressed air to the Venturi vacuum generators when said vacuum sensor detects at least one value of partial vacuum inside the manifold greater than or equal to a defined first threshold value.   
     
     
         17 . The suction cup gripping system according to  claim 16 , wherein said vacuum sensor comprises a vacuum switch suitable to detect said first threshold value and a further first threshold value and to send related signals to the control unit in order to control the valve system so as to maintain inside said manifold and inside said internal cavities of the gripping suction cups a value of partial vacuum that is substantially equal to the first threshold value or the further first threshold value. 
     
     
         18 . The suction cup gripping system according to  claim 16 , wherein each suction cup gripping device comprises a respective adjustment nozzle with calibrated hole, said adjustment nozzle being in flow connection with, and interposed between, the internal cavity of the gripping suction cup and the manifold and suitable to limit an air flow entering the manifold. 
     
     
         19 . The suction cup gripping system according to  claim 16 , wherein each suction cup gripping device comprises a casing fixed to a connecting element of said gripping suction cup and suitable to house and contain at least said Venturi vacuum generator, said release valve and said check valve. 
     
     
         20 . The suction cup gripping system according to  claim 19 , wherein the casing of each suction cup gripping device comprises a first connection, in flow connection with said Venturi vacuum generator, a second connection, in flow connection with said release valve, a third connection for the flow connection of said internal cavity with said Venturi vacuum generator and to said release valve. 
     
     
         21 . The suction cup gripping system according to  claim 18 , wherein each suction cup gripping device comprises a casing fixed to a connecting element of said gripping suction cup and suitable to house and contain at least said Venturi vacuum generator, said release valve and said check valve and wherein the casing of each suction cup gripping device further comprises a fourth connection for connecting said adjustment nozzle to said Venturi vacuum generator and the internal cavity. 
     
     
         22 . The suction cup gripping system according to  claim 16 , wherein the release valve of each suction cup gripping device comprises a pneumatic valve. 
     
     
         23 . The suction cup gripping system according to  claim 16 , comprising a supporting frame suitable for supporting said plurality of suction cup gripping devices. 
     
     
         24 . A suction cup gripping system comprising:
 at least one suction cup gripping device that includes:
 a plurality of gripping suction cup adapted to abut an external surface of an object to be gripped and provided with respective internal cavities; 
 a Venturi vacuum generator connectable to a compressed air line and in flow connection with said internal cavities, said Venturi vacuum generator being configured to generate a partial vacuum inside the internal cavities when it is supplied with said compressed air and when said gripping suction cups engage the external surface of the object; 
 a release valve in flow connection with the internal cavities and operable to connect the internal cavities to an external environment or to said compressed air line in order to eliminate said partial vacuum in said internal cavities; 
 a check valve in flow connection with and interposed between said Venturi vacuum generator and said internal cavities and configured to prevent air from entering said internal cavities when said Venturi vacuum generator is not supplied with said compressed air; 
 a vacuum sensor in flow connection with said internal cavities and suitable to measure a value of partial vacuum inside said internal cavities; 
   a valve system in flow connection with the Venturi vacuum generator and the release valve to supply with compressed air selectively said Venturi vacuum generator or said release valve;   a control unit connected to the valve system and the vacuum sensor and configured to control said valve system so as not to supply compressed air to the Venturi vacuum generators when said vacuum sensor detects a value of partial vacuum inside said internal cavities greater than or equal to a defined first threshold value.   
     
     
         25 . The suction cup gripping system according to  claim 24 , wherein said suction cup gripping device comprises a casing suitable to house and contain at least said Venturi vacuum generator, said release valve and said check valve. 
     
     
         26 . The suction cup gripping system according to  claim 25 , wherein said casing comprises a first connection, in flow connection with said Venturi vacuum generator, a second connection, in flow connection with said release valve, a third connection for the flow connection of said internal cavity with said Venturi vacuum generator and said release valve. 
     
     
         27 . The suction cup gripping system according to  claim 26 , wherein said casing further comprises a fourth connection for connecting said vacuum sensor to said Venturi vacuum generator and the internal cavities. 
     
     
         28 . The suction cup gripping system according to  claim 24 , wherein said release valve comprises a pneumatic valve. 
     
     
         29 . The suction cup gripping system according to  claim 16 , wherein said valve system comprises a pair of valves operated and controlled by said control unit. 
     
     
         30 . The suction cup gripping system according to  claim 16 , wherein said Venturi vacuum generator is of the multi-stage type. 
     
     
         31 . The suction cup gripping system according to  claim 24 , wherein said valve system comprises a pair of valves operated and controlled by said control unit. 
     
     
         32 . The suction cup gripping system according to  claim 24 , wherein said Venturi vacuum generator is of the multi-stage type. 
     
     
         33 . The suction cup gripping system according to  claim 18 , wherein the calibrated hole of each adjustment nozzle has a size between 0.2 and 0.4 mm. 
     
     
         34 . The suction cup gripping system according to  claim 22 , wherein said pneumatic valve is a two-way and two-position pneumatically operated valve. 
     
     
         35 . The suction cup gripping system according to  claim 29 , wherein said pair of valves operated and controlled by said control unit is a pair of two-way and two-position electrically controlled valves connected to a pneumatic supply line and to air exhaust lines.