Valve apparatus and vacuum handling apparatus having a valve apparatus
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 ).
1. Valve apparatus ( 10 ) for vacuum applications, the valve apparatus comprising:
a valve housing ( 20 ) delimiting a valve chamber ( 22 ), the valve chamber ( 22 ) including:
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 claim 1 , 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 claim 1 , 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 ) completely surrounds the armature ( 52 ) around the switching axis ( 38 ).
7. Valve apparatus ( 10 ) according to claim 1 , wherein the ventilation opening ( 36 ) is fluidically connected to an atmospheric ventilation connection ( 18 ), wherein the ventilation connection ( 18 ) comprises a filter ( 62 ) in the form of a filter cylinder which surrounds the switching axis ( 38 ), and the armature ( 52 ).
8. Valve apparatus ( 10 ) according to claim 7 , wherein the filter cylinder ( 62 ) 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 ).
9. Valve apparatus ( 10 ) according to claim 1 , 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 claim 1 , wherein the bistable actuator ( 50 ) further comprises:
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 claim 10 , 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 claim 1 , 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 claim 1 , 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 claim 1 , 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 claim 1 , 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:
a vacuum 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 claim 1 , 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 data line ( 110 ) for data exchange.
17. Vacuum handling apparatus ( 100 ) according to claim 16 , 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 ).