DE102023108649B4 - removal handling - Google Patents

Abstract

Removal handling with a first row and a second row, each with at least two suction cups for sucking up products, wherein the rows extend in the longitudinal direction of the removal handling, the rows are arranged parallel to one another and can be moved in the transverse direction. The distance between the individual rows is adjustable, and in the first and second rows the distances between the suction cups are adjustable. Furthermore, a drip tray is arranged on each row in such a way that it can be moved into a first position under the suction cups or into a second position that is not under the suction cups.

Description

The present invention relates to a removal handling system. In particular, the invention relates to a handling system with spaced-apart receiving units for removing objects during a wet-chemical production process, wherein the receiving units are arranged in a grid pattern and the distance between the receiving units can be varied in two directions.

From the state of the art, removal handling systems with several receiving units, e.g. gripping units or suction cups, are known, whereby the distance between the receiving units can be varied in one direction.

For example, US 2002/0 153 735 A1 discloses a handling system for picking up and placing components with variable spacing. The handling system comprises a plurality of vacuum grippers for electronic components that can be mounted at individual crossing points of a pantograph and stored in a horizontal row, wherein the pantograph can be electronically controlled to maintain a uniform, albeit variable, spacing between the grippers. Additionally, a method for moving electronic components from a first position to a second position using the grippers spaced apart along a row is disclosed. The method comprises picking up electronic components with the grippers at the first position with the grippers at a first spacing from each other, selecting a desired spacing for the grippers, and electronically controlling a change in the spacing between the grippers from the first spacing to the desired spacing.

US 2009 / 0 238 671 A1 similarly discloses a so-called equidistance pick-up and placement handling system for ICs. The handling system comprises a Nuremberg scissor with a fixed end and a free end and several pick-up and placement structures coupled to the Nuremberg scissors for picking up and placing the ICs, whereby the distance between the pick-up and placement structures can be varied using the Nuremberg scissors.

The disadvantage is that the known pick-up and placement handling systems cannot be expanded at will in order to remove or place more products in one handling step or at the same time. If the number of handling spaces is increased, for example to one and a half times or twice the number of pick-up structures or vacuum grippers, the known handling systems quickly become impractical in length. The pick-up capacity of known pick-up and placement handling systems is therefore limited. The known pick-up and placement handling systems are inflexible and in particular not suitable for handling as many objects as possible in the shortest possible time. A pick-up and placement handling system that is suitable for picking up several objects at a certain distance from each other and placing them at another certain distance from each other and overcomes the disadvantages mentioned cannot be derived from the state of the art.

Furthermore, the known technologies are not suitable for use in wet technical areas, such as wet chemical plants. In particular, the known technologies lack a solution that prevents objects, dirt or drops that accidentally fall off the vacuum cleaners from contaminating other areas or aids in the production process, such as carriers or object holding devices.

EP 3 281 894 B1 discloses a device for receiving, transferring and depositing products, provided with a frame which is moved along three axes and is provided with receiving elements for holding the product pieces. The receiving elements are movable along at least two guide rods which are adjustable in a single plane on the frame. The movements of the receiving elements are perpendicular to the movements of the guide rods. The guide rods are linked together by means of levers arranged in a pantograph manner so as to form at least two groups of guide rods, each of the groups being driven by a motor mounted on the guide rods themselves or on the frame, which motor acts between the guide rods and the frame.

DE 10 2011 108 537 B4 discloses a positioning device for a laboratory device for distributing fluid samples, in particular for a pipetting device.

There is a need for a removal handling system with several spaced suction cups or receiving units, the distance between which can be varied and which can be used in wet technical applications, whereby the receiving capacity of the removal handling system is preferably expanded and/or flexibly adaptable compared to known systems. This need cannot be met by the current state of the art.

It is therefore an object of the present invention to provide a process plant which can at least partially compensate for the disadvantages described above and/or at least partially satisfy the highlighted need. In other words, within the scope of the present invention, a removal handling system with several spaced suction cups or receiving units is to be realized for use in wet chemical production plants, wherein the distance between the suction cups or receiving units can be varied and wherein the receiving capacity is preferably increased compared to known systems.

This object is achieved by the present invention by a removal handling system which comprises at least a first row and a second row, each with at least two suction cups for sucking up objects or products, wherein the rows extend in the longitudinal direction of the removal handling system, the rows are arranged parallel to one another and can be moved in the transverse direction. The distance between the individual rows is adjustable, preferably in the transverse direction, and the distance between the suction cups, preferably in the longitudinal direction, is adjustable in the first row and in the second row. A drip tray is arranged on each row in such a way that it can be moved into a first position under the suction cups or into a second position that is not under the suction cups.

Preferably, the transverse direction is defined perpendicular to the longitudinal direction of the removal handling. A vertical direction can be defined perpendicular to the transverse direction and perpendicular to the longitudinal direction.

A removal handling system with at least two rows of suction cups can preferably ensure a higher absorption capacity than a removal handling system with only one row of suction cups. The removal handling system can preferably be expanded to include additional rows of suction cups and can therefore preferably be flexibly adapted to different conditions and/or capacity requirements.

The distance between the suction cups in the removal handling according to the invention can be varied in two directions, preferably in the longitudinal and transverse directions. The removal handling according to the invention can preferably be used to pick up several objects, which are placed on a slide in several parallel rows through a production system, from the slide and place them in target structures, for example cuvettes. The removal handling according to the invention can advantageously pick up objects from two rows, preferably two entire rows of objects, from the slide at the same time and place them in a target structure such as two rows of cuvettes, preferably regardless of the distance between the cuvettes within a row and the distance between the two rows of cuvettes compared to the distance between the objects or rows of objects on the slide.

The suction devices for sucking up objects can preferably be vacuum suction devices and/or suction lances. Suction devices that are specially certified for medical technology can be used with particular preference. Alternatively, grippers or other known receiving units can be used instead of the suction devices. The suction devices are preferably arranged on the rows of suction devices in such a way that a suction surface of the suction devices can be defined parallel to the longitudinal direction of the rows of suction devices. Preferably, a suction direction can be defined perpendicular to the longitudinal direction and/or the suction direction can be defined vertically.

Preferably, the first and/or the second row can have at least three, more preferably at least eight and particularly preferably at least 16 suction cups and the suction cups can preferably have a uniform grid spacing from one another, wherein the grid spacing of a row can be varied between a maximum and a minimum grid spacing.

Preferably, a ratio of maximum grid spacing to minimum grid spacing can be at least 1.1. More preferably, the ratio can assume a value between 1.1 and 10 and/or the minimum grid spacing is at least 5 mm and the maximum grid spacing is a maximum of 80 mm.

Preferably, the grid spacing can be varied using a Nuremberg shear. This ensures a uniform distance between the suction cups. As is known, a Nuremberg shear is an articulated chain consisting of several crossed bars. In other words, a Nuremberg shear has two strands with several bars connected to one another in an articulated manner, whereby the bars of the two strands cross each other and whereby a connecting line from a hinge point of the first strand lying in front of a crossing point to a hinge point of the second strand also lying in front of this crossing point can be perpendicular to a straight line that is laid through the crossing points of the individual crossing bars. The functional principle of a Nuremberg shear can correspond to that of a pantograph. The grid spacing can preferably correspond to the distance between two adjacent hinge points, more preferably the distance between two adjacent hinge points in the direction of the straight line defined by the crossing points of the individual crossing bars.

The Nuremberg shears can preferably be coupled with a rotary cylinder, more preferably with a pneumatic rotary cylinder. Particularly preferably, the coupling can be implemented by means of a connecting rod arranged eccentrically on the rotary cylinder, whereby the connecting rod can be designed to be cranked. Further preferably, the Nuremberg shears can be coupled to the rotary cylinder at two points via a connecting rod arranged eccentrically on the rotary cylinder. A coupling to a rotary cylinder can preferably ensure precise control of the Nuremberg shears and thus preferably precise and/or continuous adjustment of the grid spacing.

Preferably, a rotation of the rotary cylinder by a first angle of rotation can move the Nuremberg shears from a compressed state, which corresponds to the minimum grid spacing, to a stretched state, which corresponds to the maximum grid spacing. More preferably, a reverse rotation of the rotary cylinder, particularly preferably a reverse rotation of the rotary cylinder by the first angle of rotation, can move the Nuremberg shears back to the compressed state. Depending on the design of the coupling of the rotary cylinder and connecting rods, any angle of rotation is possible. In particular, the first angle of rotation could be 90°, 180° or 360° or any multiple thereof with a tolerance of 10°. Preferably, the first angle of rotation can be between 80° and 190°, more preferably between 140° and 190°, particularly preferably between 170° and 190°. This preferably allows the compression or extension of the Nuremberg shears to be carried out in a time-efficient manner and/or the coupling can preferably be designed without further translation and/or in a small installation space. Further preferably, at a rotation angle of 170° to 190°, i.e. at a rotation angle of approximately 180°, the Nuremberg shears can be compressed or extended in a sinusoidal movement. Preferably, the Nuremberg shears can move to the dead center in the end positions, i.e. in the maximally compressed or maximally extended state. In this way, a harmonious movement of the Nuremberg shears can be further improved.

Preferably, the first and second rows can each have a Nuremberg shear and preferably also a rotary cylinder, wherein the coupling of the Nuremberg shear and rotary cylinder in both rows is carried out according to the same principle. Preferably, the grid spacings in the first and second rows can be the same and/or synchronously changeable.

Preferably, the suction cups of the first row and the suction cups of the second row can be moved vertically, preferably along the height direction, more preferably moved up or down by at least 10 mm. In addition, it is preferred that the suction cups can be moved up or down by a maximum of 100 mm. A vertical movement of the suction cups can lead to objects/products being able to be transported in a transport plane and being able to be removed or placed in an interface plane below or above.

Preferably, the first row can be defined along a first boom, which preferably extends along the longitudinal direction of the removal handling, and the second row along a second boom, which preferably extends along the longitudinal direction of the removal handling. Further preferably, the booms can be guided on one side. A one-sided guidance of the booms can preferably facilitate accessibility and can thereby preferably enable maintenance work to be carried out cost-effectively and/or time-efficiently.

The first boom can preferably be guided by means of a first carriage on a linear axis and the second boom can preferably be guided by means of a second carriage on a linear axis. Particularly preferably, both carriages can be guided on the same linear axis and/or can be moved independently of one another. This preferably allows the distance between the booms to be flexibly adjusted. In particular, the two booms can preferably be moved at different speeds so that both booms can be moved from a start position to a target position in a constant time interval and the distance between the booms in the start position can differ from the distance between the booms in the target position.

The linear axis can preferably have a drive, more preferably a toothed belt drive. Particularly preferably, the first carriage can be driven by a first toothed belt and the second carriage can be driven by a second toothed belt and/or moved along the linear axis. A toothed belt drive can preferably represent a cost-effective drive means. The toothed belt drive can preferably be dimensioned to be sufficient for the forces acting and still achieve the necessary and/or specified speeds. Instead of the toothed belt drive, a linear axis with direct drive or a threaded spindle can alternatively be used.

Preferably, the distance between the individual rows can be changed or adjusted by means of at least one drive unit, further preferably the drive unit has a servo motor, which is preferably driven by a toothed belt is coupled to a row of suction cups. Preferably, each row can be driven by a separate servo motor. Alternatively, all rows can preferably be coupled to a common servo motor via separate toothed belts, with the couplings of the individual rows to the common servo motor via the individual toothed belts having different ratios.

Preferably, at least one of the at least one first and second drip trays can be coupled, preferably mechanically, to a row of suction cups in such a way that the drip tray is automatically moved into the first position during an upward movement of the suction cups and is automatically moved into the second position during a downward movement of the suction cups. Particularly preferably, the coupling can be designed in such a way that the movement of the drip tray only begins in the second half, more preferably only in the last third of the upward movement of the suction cups and/or that the movement of the drip tray is already completed in the first half, more preferably already in the first third of the downward movement of the suction cups.

Preferably, at least one of the at least one first and second drip trays or at least one of the first and second rows of suction cups can be guided in a curve, preferably wherein the first drip tray or the first row of suction cups is guided in a first curve and the second drip tray or the second row of suction cups is guided in a second curve.

Preferably, the curve can be defined on at least one of the at least one first and second drip trays, more preferably a first curve can be defined on the first drip tray and a second curve can be defined on the second drip tray, wherein the first or the second row of suction cups, preferably the first and the second row of suction cups, can each have a cam roller which can be mounted in the first and/or the second curve. This device can preferably enable precise guidance and can represent a robust design of the removal handling. Alternatively, the curve can be defined on the first or second row of suction cups, preferably wherein a first curve can be defined on the first row of suction cups and a second curve can be defined on the second row of suction cups, and wherein at least one of the at least one first and second drip trays, preferably the first and the second drip tray, can each have a cam roller which can be guided in the first and/or the second curve.

At least one of the at least one first and second drip trays can preferably be coupled to the first carriage or the first boom, more preferably the first drip tray can be coupled to the first carriage or the first boom and the second drip tray to the second carriage or the second boom. Particularly preferably the first boom can have the cam rollers of the first row with suction cups and the second boom can have the cam rollers of the second row with suction cups and the coupling of booms and drip trays can be carried out by means of curves defined on the drip trays, which can be guided along the cam rollers.

Preferably, the removal handling can have a collecting channel, which is preferably arranged such that a liquid in the first and/or second drip tray can flow into the collecting channel. Preferably, the liquid can flow into the collecting channel when the first and/or the second drip tray is in the first position, more preferably the liquid can flow into the collecting channel regardless of the position of the drip tray and/or regardless of the position of the first and/or second carriage on the linear axis. Preferably, the collecting channel can extend parallel to the linear axis, more preferably below the linear axis. In other words, the collecting channel can preferably extend in the transverse direction of the removal handling.

Preferably, the distance between the individual rows in the removal handling can be varied in a range from 50 mm to 450 mm, more preferably from 100 mm to 350 mm and particularly preferably from 150 mm to 250 mm.

Preferably, the first and/or the second row can be movable in the transverse direction from a first or second removal position by at least 600 mm, more preferably by at least 1,000 mm and particularly preferably by at least 2,000 mm.

Preferably, the first row can be moved from the first removal position to a first delivery position by at least 300 mm, more preferably by at least 600 mm and particularly preferably by at least 1,000 mm. Preferably, the second row can be moved from the second removal position to a second delivery position by at least 310 mm, preferably by at least 610 mm and particularly preferably by at least 1,010 mm. In other words, the travel path of the second row (from the second removal position to the second delivery position) can preferably be at least 10 mm, more preferably by at least 30 mm and particularly preferably by at least 50 mm longer than the travel path of the first row (from the first removal position to the first delivery position). In other words, it is preferred that the travel paths of the first and second rows can be of different lengths, preferably with the length of the travel paths of the first and second rows differing by at least 10 mm, preferably by at least 30 mm and more preferably by at least 50 mm.

The travel paths of the first row and the second row can preferably be covered simultaneously, preferably in a time interval < 1.5 s, preferably in a time interval < 1 s.

Preferably, the removal handling is suitable for wet technical use and/or the objects/products can be moist, preferably the objects/products can be contact lenses.

1. a) Verfahren der ersten Reihe mit Saugern und der zweiten Reihe mit Saugern von einer Startposition in eine Zielposition, bevorzugt in Querrichtung, bevorzugt um mindestens 600 mm, besonders bevorzugt um mindestens 1.000 mm;
2. b) Veränderung des Abstands der ersten und der zweiten Reihe mit Saugern von einem Startreihenabstand in der Startposition zu einem Zielreihenabstand in der Zielposition;
3. c) Veränderung des Abstands der Sauger der ersten Reihe zueinander und des Abstands derSauger der zweiten Reihe zueinander von einem Startsaugerabstand in der Startposition zu einem Zielsaugerabstand in der Zielposition, bevorzugt wobei der Startsaugerabstand der ersten Reihe dem Startsaugerabstand der zweiten Reihe entspricht und der Zielsaugerabstand der ersten Reihe dem Zielsaugerabstand der zweiten Reihe entspricht;
4. d) Vertikale Bewegung der Reihen von Saugern nach oben, bevorzugt synchron;
5. e) Bewegung der Tropfwanne von der zweiten Position in die erste Position.

The invention further relates to a method for controlling removal handling, which is preferably designed according to one or more of the criteria set out above. The method according to the invention has one or more of the following sequences:

1. a) moving the first row with suction cups and the second row with suction cups from a starting position to a target position, preferably in the transverse direction, preferably by at least 600 mm, particularly preferably by at least 1,000 mm;
2. b) changing the spacing of the first and second rows of suction cups from a starting row spacing in the starting position to a finishing row spacing in the finishing position;
3. c) changing the distance between the suction cups in the first row and the distance between the suction cups in the second row from a starting suction cup distance in the starting position to a target suction cup distance in the target position, preferably wherein the starting suction cup distance in the first row corresponds to the starting suction cup distance in the second row and the target suction cup distance in the first row corresponds to the target suction cup distance in the second row;
4. d) Vertical movement of the rows of suckers upwards, preferably synchronously;
5. e) Movement of the drip tray from the second position to the first position.

The start position of the described method can preferably be a removal position at which products are picked up by the removal handling, and the target position can preferably be a delivery position at which products are delivered and/or placed by the removal handling. The target row spacing can be greater than the start row spacing and/or the target suction cup spacing can be greater than the start suction cup spacing. Alternatively, the start position can also be a delivery position and the target position a removal position. Additionally alternatively, the start row spacing can be greater than the target row spacing and/or the start suction cup spacing greater than the target suction cup spacing. Likewise alternatively, the start row spacing can be smaller than the target row spacing and/or the start suction cup spacing can be smaller than the target suction cup spacing. Preferably, the start suction cup spacing can be a start suction cup grid spacing and the target suction cup spacing can be a target suction cup grid spacing.

Preferably, sequences d) and e) can run at least partially simultaneously. This preferably makes it possible to always arrange a drip tray under the suction cups at operating points where the suction cups are not picking up or depositing products. In particular, it can be arranged so that the drip tray is arranged under the suction cups when the rows of suction cups are moved in the transverse direction and/or are moved back and forth between the removal position and the delivery position.

Preferably, sequences b) and c) can run while sequence a) is running. This allows time-saving removal and placement of the products.

Preferably, in sequence a), a travel distance of at least 1,000 mm can be covered within 1.5 s, more preferably within 1 s, and/or all sequences a) to d) can preferably run within 8 s, more preferably within 6 s, and particularly preferably within 4 s.

• f) Vertikale Bewegung der Reihen mit Saugern nach unten, bevorzugt synchron;
• g) Bewegung der Tropfwanne von der ersten Position an die zweite Position.

Preferably, the method of the present invention may further comprise the following sequences:

• f) Vertical movement of the rows with suction cups downwards, preferably synchronously;
• g) Movement of the drip tray from the first position to the second position.

Preferably, sequences f) and g) can run simultaneously.

Further preferably, the rows of suction cups can be moved upwards before leaving the starting position and moved downwards after reaching the target position and/or the suction cups can be located further down in the starting position and in the target position than in an area between the starting and target positions.

Preferably, the method according to the invention can be carried out in such a way that during the entire travel path in sequence a) the drip tray is in the first position and/or that the drip tray is already in the first position before leaving the start position and is only moved to the second position after reaching the target position.

Preferably, all sequences a) to f), preferably with a travel path of at least 1,000 mm in sequence a), can run within 12 s, more preferably within 8 s. More preferably, a process cycle which initially has the sequences a), f) and d), preferably in this order, and then again the sequences a), f) and d), preferably in this order, can run within 12 s, particularly preferably within 8 s. Preferably, a travel path of at least 1,000 mm is covered in the sequences a), and more preferably the start and target positions between the first sequence a) and the second sequence a) are swapped. Preferably, such a process cycle can also have the sequences e) and/or g) and more preferably also the sequences b) and/or c). Particularly preferably, such a process cycle can further comprise placing contact lenses between the first sequence f) and the first sequence d) and/or picking up contact lenses between the second sequence f) and the second sequence d). In other words, a process cycle can preferably run within 12 seconds, more preferably within 8 seconds, as follows: moving the first row with suction cups and the second row with suction cups from a start position to a target position, preferably by at least 1,000 mm, then moving the rows with suction cups vertically downwards, then preferably placing contact lenses located on the suction cups, then moving the rows with suction cups vertically upwards, then moving the first row with suction cups and the second row with suction cups from the target position to the start position, then moving the rows with suction cups vertically downwards, then preferably picking up contact lenses by means of the suction cups and finally moving the rows with suction cups vertically upwards.

1. 1. Entnahmehandling aufweisend:
   • mindestens eine erste Reihe und eine zweite Reihe mit jeweils mindestens zwei Saugern zum Ansaugen von Produkten, wobei
     • sich die Reihen in Längsrichtung des Entnahmehandlings erstrecken, die Reihen parallel zueinander angeordnet und in Querrichtung verfahrbar sind, wobei
     • der Abstand der einzelnen Reihen zueinander verstellbar ist, und
     • in der ersten Reihe der Abstand der Sauger zueinander verstellbar ist und in der zweiten Reihe der Abstand der Sauger zueinander verstellbar ist, und wobei
     • an jeder Reihe eine Tropfwanne derart beweglich angeordnet ist, dass die Tropfwanne in eine erste Position unter die Sauger bewegt werden kann oder in eine zweite Position bewegt werden kann, die nicht unter den Saugern ist.
2. 2. Entnahmehandling nach Aspekt 1, wobei die erste und/oder die zweite Reihe mindestens 3, bevorzugt mindestens 8, besonders bevorzugt mindestens 16 Sauger aufweist und die Sauger zueinander einen gleichmäßigen Rasterabstand aufweisen, wobei der Rasterabstand einer Reihe zwischen einem maximalen und einem minimalen Rasterabstand variiert werden kann.
3. 3. Entnahmehandling nach Aspekt 2, wobei ein Verhältnis von maximalem Rasterabstand zu minimalem Rasterabstand mindestens 1,1 beträgt, und bevorzugt einen Wert zwischen 1,1 und 10, weiter bevorzugt einen Wert zwischen 1,1 und 16 aufweist und/oder wobei der minimale Rasterabstand mindestens 5 mm beträgt und der maximale Rasterabstandmaximal 80 mm beträgt.
4. 4. Entnahmehandling nach Aspekt 2 oder 3, wobei der Rasterabstand mittels einer Nürnberger Schere variierbar ist.
5. 5. Entnahmehandling nach Aspekt 4, wobei die Nürnberger Schere mit einem Drehzylinder, bevorzugt mit einem pneumatischen Drehzylinder gekoppelt ist, wobei die Kopplung besonders bevorzugt mittels einer exzentrisch am Drehzylinder angeordneten Pleuelstange realisiert ist.
6. 6. Entnahmehandling nach Aspekt 5, wobei eine Drehung des Drehzylinders um einen ersten Drehwinkel die Nürnberger Schere von einem gestauchten Zustand, der dem minimalen Rasterabstand entspricht, in einen gestreckten Zustand bewegt, der dem maximalen Rasterabstand entspricht, bevorzugt wobei eine Rück-Drehung des Drehzylinders, besonders bevorzugt eine Rück-Drehung des Drehzylinders um den ersten Drehwinkel, die Nürnberger Schere wieder in den gestauchten Zustand bewegt, und wobei der erste Drehwinkel bevorzugt zwischen 160° und 200°, besonders bevorzugt zwischen 170° und 190° beträgt.
7. 7. Entnahmehandling nach einem der Aspekte 2 bis 6, wobei die Rasterabstände in der ersten und in der zweiten Reihe gleich und/oder synchron veränderbar sind.
8. 8. Entnahmehandling nach einem der vorstehenden Aspekte, wobei die Sauger der ersten Reihe und die Sauger der zweiten Reihe vertikal bewegt werden können, bevorzugt wobei die Sauger um mindestens 10 mm, bevorzugt um mindestens 50 mm, weiter bevorzugt um mindestens 100 mm und/oder um maximal 300 mm, weiter bevorzugt um maximal 200 mm nach oben oder unten bewegt werden können.
9. 9. Entnahmehandling nach einem der vorstehenden Aspekte, wobei die erste Reihe entlang einer Längsrichtung eines ersten Auslegers und die zweite Reihe entlang einer Längsrichtung eines zweiten Auslegers definiert ist, bevorzugt wobei die Ausleger einseitig geführt sind.
10. 10. Entnahmehandling nach Aspekt 9, wobei der erste Ausleger über einen ersten Schlitten auf einer Linearachse geführt ist und der zweite Ausleger über einen zweiten Schlitten auf einer Linearachse geführt ist, bevorzugt wobei beide Schlitten auf derselben Linearachse geführt sind und/oder unabhängig voneinander verfahrbar sind.
11. 11. Entnahmehandling nach Aspekt 10, wobei die Linearachse einen Antrieb, bevorzugt einen Zahnriemenantrieb aufweist, bevorzugt wobei der erste und der zweite Schlitten mittels eines ersten und eines zweiten Zahnriemens entlang der Linearachse bewegt werden.
12. 12. Entnahmehandling nach einem der vorstehenden Aspekte, wobei der Abstand der einzelnen Reihen zueinander mittels mindestens einer Antriebseinheit veränderbar und/oder einstellbar ist, bevorzugt wobei die Antriebseinheit einen Servomotor aufweist.
13. 13. Entnahmehandling nach einem der Aspekte 8 bis 12, wobei mindestens eine der mindestens einen ersten und zweiten Tropfwannen derart mit einer Reihe von Saugern, bevorzugt mechanisch, gekoppelt ist, dass die Tropfwanne während einer Aufwärtsbewegung der Sauger automatisch in die erste Position bewegt wird und während einer Abwärtsbewegung der Sauger automatisch in die zweite Position bewegt wird, bevorzugt wobei die Kopplung derart gestaltet ist, dass die Bewegung der Tropfwanne erst in der zweiten Hälfte, weiter bevorzugt erst im letzten Drittel der Aufwärtsbewegung der Sauger beginnt.
14. 14. Entnahmehandling nach einem der vorstehenden Aspekte, wobei mindestens eine der mindestens einen ersten und zweiten Tropfwannen oder mindestens eine der ersten oder zweiten Reihe mit Saugern in einer Kurve geführt ist, bevorzugt wobei die erste Tropfwanne oder die erste Reihe mit Saugern in einer ersten Kurve geführt ist und die zweite Tropfwanne oder die zweite Reihe mit Saugern in einer zweiten Kurve geführt ist.
15. 15. Entnahmehandling nach Aspekt 14, wobei die Kurve an mindestens einer der mindestens einen ersten und zweiten Tropfwannen definiert ist, bevorzugt wobei eine erste Kurve an der ersten Tropfwanne definiert ist und eine zweite Kurve an der zweiten Tropfwanne definiert ist und wobei die erste oder die zweite Reihe mit Saugern, bevorzugt die erste und die zweite Reihe mit Saugern jeweils eine Kurvenrolle aufweisen, welche in der ersten und/oder der zweiten Kurve gelagert ist.
16. 16. Entnahmehandling nach Aspekt 14 oder 15, wobei mindestens einer der mindestens einen ersten und zweiten Tropfwannen mit dem ersten Schlitten oder dem ersten Ausleger gekoppelt ist, bevorzugt wobei die erste Tropfwanne mit dem ersten Schlitten oder dem ersten Ausleger und die zweite Tropfwanne mit dem zweiten Schlitten oder dem zweiten Ausleger gekoppelt ist.
17. 17. Entnahmehandling nach einem der vorstehenden Aspekte, welches eine Sammelrinne aufweist, die bevorzugt derart angeordnet ist, dass eine in der ersten und/oder zweiten Tropfwanne befindliche Flüssigkeit in die Sammelrinne abfließen kann, bevorzugt wenn die erste und/oder die zweite Tropfwanne in der ersten Position ist, besonders bevorzugt unabhängig von der Position des ersten und/oder zweiten Schlittens auf der Linearachse.
18. 18. Entnahmehandling nach Aspekt 17, wobei sich die Sammelrinne parallel zur Linearachse, bevorzugt unter der Linearachse erstreckt.
19. 19. Entnahmehandling nach einem der vorstehenden Aspekte, wobei der Abstand der einzelnen Reihen zueinander in einem Bereich von 30 mm bis 450 mm, bevorzugt von 50 mm bis 350 mm, besonders bevorzugt von 70 mm bis 250 mm veränderbar ist.
20. 20. Entnahmehandling nach einem der vorstehenden Aspekte, wobei die erste und/oder die zweite Reihe von einer ersten oder zweiten Entnahmeposition aus in Querrichtung verfahrbar sind um mindestens 300 mm, bevorzugt um mindestens 600 mm und besonders bevorzugt um mindestens 1000 mm.
21. 21. Entnahmehandling nach Aspekt 20, wobei die erste Reihe von der ersten Entnahmeposition zur ersten Abgabeposition um mindestens 300 mm, bevorzugt um mindestens 600 mm und besonders bevorzugt um mindestens 1000 mm verfahren werden kann und die zweite Reihe von der zweiten Entnahmeposition zur zweiten Abgabeposition um mindestens 10 mm, bevorzugt um mindestens 30 mm und besonders bevorzugt um mindestens 50 mm weiter verfahren werden kann.
22. 22. Entnahmehandling nach Aspekt 21, wobei die Verfahrwege der ersten Reihe und der zweiten Reihe zeitgleich zurückgelegt werden können, bevorzugt in einem Zeitintervall kleiner 1,5 Sekunden, besonders bevorzugt in einem Zeitintervall kleiner 1 Sekunde.
23. 23. Entnahmehandling nach einem der vorstehenden Aspekte, welches für den nasstechnischen Einsatz geeignet ist und/oder wobei die Produkte feucht sind, bevorzugt wobei die Produkte Kontaktlinsen sind.
24. 24. Verfahren zur Steuerung eines Entnahmehandlings nach einem der vorstehenden Aspekte, aufweisend die folgenden Sequenzen:
    1. i) Verfahren der ersten Reihe mit Saugern und der zweiten Reihe mit Saugern von einer Startposition in eine Zielposition, bevorzugt in Querrichtung, bevorzugt um mindestens 300 mm, weiter bevorzugt um mindestens 600 mm und besonders bevorzugt um mindestens 1000 mm;
    2. ii) Veränderung des Abstands der ersten und der zweiten Reihe mit Saugern von einem Startreihenabstand in der Startposition zu einem Zielreihenabstand in der Zielposition,
    3. iii) Veränderung des Abstands der Sauger der ersten Reihe zueinander und des Abstands der Sauger der zweiten Reihe zueinander von einem Startsaugerabstand in der Startposition zu einem Zielsaugerabstand in der Zielposition, bevorzugt wobei der Startsaugerabstand der ersten Reihe dem Startsaugerabstand der zweiten Reihe entspricht und der Zielsaugerabstand der ersten Reihe dem Zielsaugerabstand der zweiten Reihe entspricht;
    4. iv) Vertikale Bewegung der Reihen mit Saugern nach oben, bevorzugt synchron;
    5. v) Bewegung der Tropfwanne von der zweiten Position in die erste Position.
25. 25. Verfahren nach Aspekt 24, wobei die Sequenzen iv) und v) gleichzeitig ablaufen.
26. 26. Verfahren nach Aspekt 24 oder 25, wobei die Sequenzen ii) und/ oder iii) ablaufen, während Sequenz i) abläuft.
27. 27. Verfahren nach einem der Aspekte 24 bis 26, wobei in Sequenz i) ein Verfahrweg von mindestens 1000 mm innerhalb von 1,5 Sekunden, bevorzugt innerhalb von 1 Sekunde zurückgelegt wird und/oder wobei alle Sequenzen i) bis v) innerhalb von 8 Sekunden, bevorzugt von 6 Sekunden, besonders bevorzugt von 4 Sekunden ablaufen.
28. 28. Verfahren nach einem der Aspekte 24 bis 27, ferner aufweisend die Sequenzen:
    • vi) Vertikale Bewegung der Reihen mit Saugern nach unten, bevorzugt synchron;
    • vii) Bewegung der Tropfwanne von der ersten Position in die zweite Position.
29. 29. Verfahren nach Aspekt 28, wobei die Sequenzen vi) und vii) gleichzeitig ablaufen.
30. 30. Verfahren nach Aspekt 28 oder 29, wobei die Reihen mit Saugern vor Verlassen der Startposition nach oben bewegt werden und nach Erreichen der Zielposition nach unten bewegt werden und/oder wobei sich die Sauger in der Startposition und in der Zielposition weiter unten befinden als in einem Bereich zwischen der Start- und der Zielposition.
31. 31. Verfahren nach einem der Aspekte 27 bis 30, wobei während des gesamten Verfahrweges in Sequenz i) die Tropfwanne sich in der ersten Position befindet und/oder wobei sich die Tropfwanne bereits vor Verlassen der Startposition in der ersten Position befindet und erst nach Erreichen der Zielposition in die zweite Position bewegt wird.
32. 32. Verfahren nach einem der Aspekte 28 bis 31, wobei die Sequenzen vi), iv), i) zweimal innerhalb von 12 Sekunden, bevorzugt innerhalb von 10 Sekunden und weiter bevorzugt innerhalb von 8 Sekunden ablaufen, besonders bevorzugt wobei dabei zusätzlich die Sequenzen ii), iii) und/oder v) und vii) ablaufen.

The present invention further includes the following aspects:

1. 1. Removal handling comprising:
   • at least a first row and a second row each with at least two suction cups for sucking in products, whereby
     • the rows extend in the longitudinal direction of the removal handling, the rows are arranged parallel to each other and can be moved in the transverse direction, whereby
     • the distance between the individual rows is adjustable, and
     • in the first row the distance between the suction cups is adjustable and in the second row the distance between the suction cups is adjustable, and
     • a drip tray is arranged on each row in such a way that the drip tray can be moved to a first position under the suction cups or can be moved to a second position which is not under the suction cups.
2. 2. Removal handling according to aspect 1, wherein the first and/or the second row has at least 3, preferably at least 8, particularly preferably at least 16 suction cups and the suction cups have a uniform grid spacing from one another, wherein the grid spacing of a row can be varied between a maximum and a minimum grid spacing.
3. 3. Removal handling according to aspect 2, wherein a ratio of maximum grid spacing to minimum grid spacing is at least 1.1, and preferably has a value between 1.1 and 10, more preferably a value between 1.1 and 16 and/or wherein the minimum grid spacing is at least 5 mm and the maximum grid spacing is a maximum of 80 mm.
4. 4. Removal handling according to aspect 2 or 3, wherein the grid spacing can be varied by means of a Nuremberg scissors.
5. 5. Removal handling according to aspect 4, wherein the Nuremberg shears are coupled to a rotary cylinder, preferably to a pneumatic rotary cylinder, wherein the coupling is particularly preferably realized by means of a connecting rod arranged eccentrically on the rotary cylinder.
6. 6. Removal handling according to aspect 5, wherein a rotation of the rotary cylinder by a first angle of rotation moves the Nuremberg scissors from a compressed state corresponding to the minimum grid spacing to a stretched state corresponding to the maximum grid spacing, preferably wherein a reverse rotation of the rotary cylinder, particularly preferably a reverse rotation of the rotary cylinder by the first angle of rotation, moves the Nuremberg scissors back to the compressed state, and wherein the first angle of rotation is preferably between 160° and 200°, particularly preferably between 170° and 190°.
7. 7. Removal handling according to one of aspects 2 to 6, wherein the grid spacings in the first and in the second row can be changed equally and/or synchronously.
8. 8. Removal handling according to one of the preceding aspects, wherein the suction cups of the first row and the suction cups of the second row can be moved vertically, preferably wherein the suction cups can be moved up or down by at least 10 mm, preferably by at least 50 mm, more preferably by at least 100 mm and/or by a maximum of 300 mm, more preferably by a maximum of 200 mm.
9. 9. Removal handling according to one of the preceding aspects, wherein the first row is defined along a longitudinal direction of a first boom and the second row is defined along a longitudinal direction of a second boom, preferably wherein the booms are guided on one side.
10. 10. Removal handling according to aspect 9, wherein the first boom is guided via a first carriage on a linear axis and the second boom is guided via a second carriage on a linear axis, preferably wherein both carriages are guided on the same linear axis and/or can be moved independently of one another.
11. 11. Removal handling according to aspect 10, wherein the linear axis has a drive, preferably a toothed belt drive, preferably wherein the first and the second carriage are moved along the linear axis by means of a first and a second toothed belt.
12. 12. Removal handling according to one of the preceding aspects, wherein the distance between the individual rows can be changed and/or adjusted by means of at least one drive unit, preferably wherein the drive unit has a servo motor.
13. 13. Removal handling according to one of aspects 8 to 12, wherein at least one of the at least one first and second drip trays is coupled to a series of suction cups, preferably mechanically, in such a way that the drip tray is automatically moved into the first position during an upward movement of the suction cups and is automatically moved into the second position during a downward movement of the suction cups, preferably wherein the coupling is designed in such a way that the movement of the drip tray only begins in the second half, more preferably only in the last third of the upward movement of the suction cups.
14. 14. Removal handling according to one of the preceding aspects, wherein at least one of the at least one first and second drip trays or at least one of the first or second row of suction cups is guided in a curve, preferably wherein the first drip tray or the first row of suction cups is guided in a first curve and the second drip tray or the second row of suction cups is guided in a second curve.
15. 15. Removal handling according to aspect 14, wherein the curve is defined on at least one of the at least one first and second drip trays, preferably wherein a first curve is defined on the first drip tray and a second curve is defined on the second drip tray and wherein the first or the second row of suction cups, preferably the first and the second row of suction cups each have a cam roller which is mounted in the first and/or the second curve.
16. 16. Removal handling according to aspect 14 or 15, wherein at least one of the at least one first and second drip trays is coupled to the first carriage or the first boom, preferably wherein the first drip tray is coupled to the first carriage or the first boom and the second drip tray is coupled to the second carriage or the second boom.
17. 17. Removal handling according to one of the preceding aspects, which has a collecting channel, which is preferably arranged such that a liquid located in the first and/or second drip tray can flow into the collecting channel, preferably when the first and/or the second drip tray is in the first position, particularly preferably independently of the position of the first and/or second carriage on the linear axis.
18. 18. Removal handling according to aspect 17, wherein the collecting channel extends parallel to the linear axis, preferably below the linear axis.
19. 19. Removal handling according to one of the preceding aspects, wherein the distance between the individual rows can be changed in a range from 30 mm to 450 mm, preferably from 50 mm to 350 mm, particularly preferably from 70 mm to 250 mm.
20. 20. Removal handling according to one of the preceding aspects, wherein the first and/or the second row are movable in the transverse direction from a first or second removal position by at least 300 mm, preferably by at least 600 mm and particularly preferably by at least 1000 mm.
21. 21. Removal handling according to aspect 20, wherein the first row can be moved from the first removal position to the first delivery position by at least 300 mm, preferably by at least 600 mm and particularly preferably by at least 1000 mm and the second row can be moved from the second removal position to the second delivery position can be moved further by at least 10 mm, preferably by at least 30 mm and particularly preferably by at least 50 mm.
22. 22. Removal handling according to aspect 21, wherein the travel paths of the first row and the second row can be covered simultaneously, preferably in a time interval of less than 1.5 seconds, particularly preferably in a time interval of less than 1 second.
23. 23. Removal handling according to one of the preceding aspects, which is suitable for wet technical use and/or wherein the products are moist, preferably wherein the products are contact lenses.
24. 24. Method for controlling a removal handling according to one of the preceding aspects, comprising the following sequences:
    1. i) moving the first row of suction cups and the second row of suction cups from a starting position to a target position, preferably in the transverse direction, preferably by at least 300 mm, more preferably by at least 600 mm and particularly preferably by at least 1000 mm;
    2. ii) changing the distance between the first and second rows of suction cups from a starting row distance in the starting position to a finishing row distance in the finishing position,
    3. iii) changing the distance between the suction cups in the first row and the distance between the suction cups in the second row from a starting suction cup distance in the starting position to a target suction cup distance in the target position, preferably wherein the starting suction cup distance in the first row corresponds to the starting suction cup distance in the second row and the target suction cup distance in the first row corresponds to the target suction cup distance in the second row;
    4. (iv) Vertical movement of the rows with suckers upwards, preferably synchronously;
    5. v) Moving the drip tray from the second position to the first position.
25. 25. The method of aspect 24, wherein sequences iv) and v) occur simultaneously.
26. 26. A method according to aspect 24 or 25, wherein sequences ii) and/or iii) occur while sequence i) occurs.
27. 27. Method according to one of aspects 24 to 26, wherein in sequence i) a travel path of at least 1000 mm is covered within 1.5 seconds, preferably within 1 second and/or wherein all sequences i) to v) take place within 8 seconds, preferably 6 seconds, particularly preferably 4 seconds.
28. 28. Method according to one of aspects 24 to 27, further comprising the sequences:
    • vi) Vertical movement of the rows with suckers downwards, preferably synchronously;
    • vii) Moving the drip tray from the first position to the second position.
29. 29. A method according to aspect 28, wherein sequences vi) and vii) occur simultaneously.
30. 30. Method according to aspect 28 or 29, wherein the rows of suction cups are moved upwards before leaving the starting position and are moved downwards after reaching the target position and/or wherein the suction cups are located further down in the starting position and in the target position than in a region between the starting and the target position.
31. 31. Method according to one of aspects 27 to 30, wherein during the entire travel path in sequence i) the drip tray is in the first position and/or wherein the drip tray is already in the first position before leaving the start position and is only moved to the second position after reaching the target position.
32. 32. Method according to one of aspects 28 to 31, wherein the sequences vi), iv), i) run twice within 12 seconds, preferably within 10 seconds and more preferably within 8 seconds, particularly preferably wherein the sequences ii), iii) and/or v) and vii) run additionally.

• eine schematische Darstellung eines Entnahmehandlings gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung;
• eine Ansicht eines Auslegers des Entnahmehandlings aus in einer Schnittdarstellung der Schiene an einer Position zwischen den Auslegern parallel zur x-z-Ebene;
• der Ausleger des Entnahmehandlings aus mit einer Nürnberger Schere in einer gestauchten Position;
• der Ausleger des Entnahmehandlings aus mit der Nürnberger Schere in einer gestreckten Position;
• eine Schnittdarstellung der Ausleger aus parallel zur y-z-Ebene in einer Entnahmeposition;
• eine Schnittdarstellung der Ausleger aus parallel zur y-z-Ebene in einer Transportposition; und
• eine Anordnung eines Trays und mehrerer Küvetten zur Anwendung in dem erfindungsgemäßen Entnahmehandling.

A preferred embodiment of the invention is described below by way of example with reference to the following figures. The figures show:

• a schematic representation of a removal handling according to a preferred embodiment of the present invention;
• a view of a boom of the removal handling from in a sectional view of the rail at a position between the arms parallel to the xz-plane;
• the boom of the removal handling from with a Nuremberg scissors in a compressed position;
• the boom of the removal handling from with the Nuremberg scissors in a stretched position;
• a sectional view of the booms from parallel to the yz-plane in a removal position;
• a sectional view of the booms from parallel to the yz-plane in a transport position; and
• an arrangement of a tray and several cuvettes for use in the removal handling according to the invention.

An exemplary embodiment of the removal handling according to the invention is shown in The removal handling can have a first boom 3 and a second boom 4, which are mounted on a rail 2. The first and second booms 3 and 4 each have a first row of suction cups 301 and a second row of suction cups 401, respectively, wherein the suction cups can be suitable for removing objects from a tray 5 located underneath. The suction cups can generally represent receiving units and can be implemented in any shape. Preferably, therefore, the first and second rows of suction cups 301, 401 can also be referred to as first and second rows of receiving units. In the embodiment shown, the rows of suction cups or the booms extend in a longitudinal direction X and the rail 2 extends in a transverse direction Y. The distance between the two booms can be variable. The two booms 3 and 4 can be moved along the transverse direction, i.e. in the Y direction. Preferably, the two booms 3 and 4 can be moved at different speeds. Preferably, the first boom 3 can be moved at a first speed and the second boom 4 can be moved at a second speed. This allows the distance between the two booms 3 and 4 and thus preferably also the distance between the two rows of suction cups 301 and 401 to change while the two booms 3 and 4 move in the transverse direction. The two booms 3 and 4 are guided along the linear axis 2 and are driven by a drive unit, here a first and a second servo motor. The servo motors can be attached to the booms or to the linear axis. The servo motors can be coupled to the booms or the linear axis by means of a rack, toothed belt, chain or ball screw. A toothed belt is preferably used because, due to its lubrication requirements, this can be particularly suitable for use in moist and/or sterile environments. For example, a servo motor can drive a toothed belt laid along the linear axis 2 and the two arms 3 and 4 can each have a toothed belt pulley that is in engagement with the toothed belt, wherein the toothed belt pulleys of the first and second arms preferably have different diameters, so that the ratio of the toothed belt to the first arm differs from the ratio of the toothed belt to the second arm. Alternatively, a linear axis with direct drive can be used. Alternatively, for example, two toothed belts can be laid along the linear axis, which can be driven at different speeds (for example by coupling to different drive units or by coupling with a different ratio to a drive unit). Alternatively, each arm 3 and 4 can have a drive unit that drives a toothed belt pulley or a gear that is in engagement with a toothed belt or a rack laid along the linear axis 2. Different speeds of the arms can preferably be realized by different speeds of the drive units or by different ratios. The drive units can preferably be servo motors. According to Each boom can have a servo motor that moves along different paths. In In the removal handling shown, the first row with suction cups 301 and the second row with suction cups 401 can be moved in the Z direction, i.e. vertically, preferably in order to remove objects from the tray 5 below or to deposit them there. Preferably, the direction vectors X, Y and Z are perpendicular to one another, so that an X, Y, Z coordinate system can be defined. The vertical movements of the rows with suction cups 301 and 401 can preferably also be implemented by means of a drive by servo motors or by means of a pneumatic drive. Preferably, a vertical movement of the two rows with suction cups 301 and 401 can take place when the booms 3 and 4 are not moving, preferably when the booms 3 and 4 are not being moved in the transverse direction. Further preferably, a vertical movement of the two rows with suction cups 301 and 401 can be suppressed when the two booms 3 and 4 are moving or are being moved in the transverse direction. Alternatively, the vertical and horizontal movements of the two booms 3 and 4 can also be carried out smoothly, provided that it is ensured that drip trays 304, 404 are already under the two rows of suction cups 301 and 401 before the start of a horizontal movement of the booms 3 and 4. Preferably, the suction cups located on the booms 3 and 4 are coupled to a pump, preferably to an ejector, and/or connected to a central vacuum. Preferably, (negative) pressure lines or vacuum lines, preferably hoses, can be guided to the suction cups by means of a drag chain (not shown) along the linear axis 2.

shows a sectional view of the removal handling from . In the In the view shown, the linear axis or the removal handling is cut along a plane between the first boom 3 and the second boom 4 parallel to the XZ plane. shows a view of the second boom 4 in the direction of the transverse direction (Y-direction). Preferably, the first boom 3 and the second boom 4 are constructed according to the same principle, which is why the following statements with regard to the second boom 4 preferably also apply to the first boom 3 or can be transferred to the first boom 3. As in shown, the second boom 4 is guided on the linear axis 2 via a carriage 6. The second row of suction cups 401 is attached to the second boom 4 by means of a Nuremberg shear 403. The second row of suction cups 401 has 16 suction cups 402, which are arranged at a grid spacing x _i from one another. Suction lances, more preferably vacuum suction cups, are preferably used as suction cups 402. Alternatively, grippers or other receiving units can also be used, which are suitable for picking up objects, preferably objects with a maximum size of 1,000 cm ^3. The grid spacing x _i can preferably be predetermined by the Nuremberg shear 403 and/or can be adjustable by the Nuremberg shear 403. The coupling of the suction cups 402 to the Nuremberg shear 403 and the coupling of the Nuremberg shear 403 to the second boom 4 are shown in the following shown in detail. A drip tray 404 is also provided on the second boom 4, as shown in shown. The drip tray 404 can have two curves 405 for connection to the second boom 4, wherein the curves 405 are preferably linear guides. Preferably, the linear guide referred to as a curve has two straight sections which are arranged at an angle to each other and therefore have a curvature in their transition. The coupling of the drip tray 404 with the second boom 4 is shown in the following explained in detail. The drip tray 404 can preferably be provided so that the removal handling can be used in wet technical areas. If, when using the removal handling, dirt particles or objects picked up by the suction cups, such as contact lenses, fall off the suction cups or liquids drip down on the objects or suction cups, the drip tray 404, which can preferably be pivoted under the suction cups, can catch them. The drip tray 404 can preferably prevent the objects or the falling drops of moisture or the falling dirt from contaminating other objects or means of transport arranged underneath. The drip tray 404 can preferably be attached to the boom 4 in such a way that liquid, dirt particles or objects collect in the drip tray and can flow off in the direction of a collecting channel 7. In other words, the drip tray can preferably have an incline in the direction of the collecting channel 7. The collecting channel 7 can preferably be attached below the linear axis 2 and run parallel to the linear axis 2. Thus, liquids, particles or objects can preferably flow out of the drip tray 404 into the collecting channel 7 at any time, preferably independently of the position of the second boom.

In the an assembly is shown which has a row of suction cups 301, 401 which is coupled to a Nuremberg shear 303, 403. This assembly can preferably be provided on the first and second boom 3, 4. In The assembly with the Nuremberg shears 303, 403 is shown in a compressed position, while the assembly in with the Nuremberg shears 303, 403 in an extended position. Preferably, the Nuremberg shears can be coupled to the first or second boom 3, 4 via a rotary cylinder 306, 406 and can be moved from a compressed to an extended state by means of the rotary cylinder 306, 406. For this purpose, the Nuremberg shears can preferably be coupled to the rotary cylinder 306, 406 via connecting rods 307, 407. Preferably, the connecting rod 307, 407 can be designed to be cranked so that the possible range of rotation of the rotary cylinder 306, 406 can be expanded. Preferably, a rotation of the rotary cylinder by 180° (angle specification preferably with a tolerance of +/- 10°) can move the Nuremberg shears 303, 403 from a maximally compressed state ( ) into a maximally stretched state ( ). This allows a harmonious, sinusoidal movement to be achieved with repeated stretching and compression. The maximum compressed or maximum stretched state of the Nuremberg shears 303, 403 does not have to correspond to the maximum possible compression or extension of the Nuremberg shears 303, 403 alone, but only to the maximum possible extension or compression of the Nuremberg shears 303, 403 in connection with the coupling of the Nuremberg shears 303, 403 to a boom 3, 4 or other frame. In particular, the maximum stretched and the maximum compressed state can each be defined in dead center end positions, in particular in the dead centers of the connecting rod movement. If the Nuremberg shears, as in shown, is in an extended state, the suction cups 302, 402 have a maximum grid spacing x ₂ from each other. If, however, the Nuremberg scissors are in a compressed state, as in As shown, the suction cups 302, 402 have a minimum grid spacing x ₁ from each other. Preferably, the connecting rod 307, 407 is attached to an intersection point 308, 408 of the Nuremberg shears 303, 403. In other words, the Nuremberg shears 303, 403 are preferably coupled to the rotary cylinder 306, 406 at an intersection point 308, 408. The suction cups 302, 402, on the other hand, can preferably be coupled to edge points 309, 409 of the Nuremberg shears. Preferably, this can be achieved so that the distance is a individual suction cups 302, 402 of a row 301, 402 remain constant relative to one another, even if the grid spacing of the row 301, 401 is varied overall. Preferably, the suction cups 302, 402 can be guided along a guide rod or linear guide 310, 410 and arranged alternately above and below the linear guide 310, 410. Preferably, the minimum possible grid spacing x ₁ , which is at least limited by the size of the suction cups 302, 402, can thereby be further reduced and/or the Nuremberg shears 303, 403 can be further compressed (with appropriate coupling). Preferably, the rotary cylinders 306, 406 of the first and second booms 3, 4 are controlled in such a way that the Nuremberg shears 303, 403 of the first and second booms 3, 4 are moved simultaneously with one another, i.e. preferably compressed or stretched. Thus, the grid spacing of the first row with suction cups 301 of the first boom 3 and the grid spacing of the second row with suction cups 302 of the second boom 4 can preferably be identical at all times.

shows a sectional view of the removal handling 1 from when cutting through the booms 3 and 4 on a plane parallel to the YZ plane. The removal handling in is in a removal position or delivery position. The suction cups 301, 401 are moved vertically downwards, preferably so that the suction cups 301, 401 can remove objects from a tray 5 located under the suction cups 301, 401 or can place or set objects on it. The drip trays 304 and 404 on the first and second arms 3 and 4 are in a second position, i.e. a position that is not under the suction cups 301, 401. The drip trays 304, 404 extend in the X direction, i.e. perpendicular to the cutting plane and have curves 305, 405, preferably in their end regions, more preferably at their ends. The drip trays 304, 404 are guided over the curves 305, 405 along cam rollers 310, 410. Preferably, each drip tray 304, 404 has two curves 305, 405 and each curve 305, 405 is guided along a cam roller 310, 410. The cam rollers 310 are coupled to the first boom 3, preferably to the first row of suction cups 301, the cam rollers 410 are coupled to the second boom 4, preferably to the second row of suction cups 401. In other words, the first boom 3 has two cam rollers 310, preferably one cam roller 310 at each longitudinal end of the row of suction cups 301 extending in the longitudinal or X direction, and a first drip tray 304 with two curves 305, preferably with one curve 305 at each longitudinal end of the first drip tray 304 extending in the longitudinal or X direction. The first drip tray 304 is guided on the cam rollers 310 by means of its curves 305. The curves 305 preferably have two vertical sections connected to one another via a curve and preferably represent a guide for the cam rollers 310. In other words, the cam rollers 310 of the first boom 3 are preferably guided along the curves 305. The curves 305 can preferably be implemented by a groove or by a slot in a sheet metal. Alternatively, curves 305 can be implemented by curved rails along which curved rollers 310 designed as carriages can be guided. Preferably, the first drip tray 304 can be connected to the first boom 3 via a further interface, a linear guide 311, so that it can move in the transverse or Y direction. Preferably, the linear guide 311 can prevent movement of the drip tray in the vertical or Z direction or limit movement of the first drip tray in the vertical or Z direction to a maximum of 5 mm, preferably to a maximum of 2 mm. The second boom 4 and the second drip tray 404 are preferably designed analogously to the first boom 3 and/or the first drip tray 304.

In the In the removal or dispensing position shown, the cam rollers 310, 410 are preferably located in a section of the respective curves 305, 405 that runs perpendicular and/or parallel to the suction cups. If the suction cups 302, 402 are now moved upwards, e.g. to remove objects from the tray 5, the cam rollers 305, 405 also move upwards along the curves 305, 405. The cam tracks or curves 305, 405 can preferably have a bend or a curve in their upper third, wherein the bend can preferably be approximately 45°, but can also assume an angle between 5 and 85°, preferably between 30 and 60°. A radius of curvature can preferably be provided such that the two straight curve sections merge tangentially into the curve, preferably the transitions can assume a sin ² -shaped course. In other words, first sections of the curves 305, 405 preferably run along a straight line with a first orientation and second sections of the curves 305, 405 run along a straight line with a second orientation, wherein the first straight line forms an angle of 5° to 85° with the second straight line, preferably 30° to 60° and particularly preferably 45°. More preferably, the first section of the curves 305, 405 can have approximately two thirds and/or the second section of the curves 305, 405 approximately one third of the path that the cam rollers 310, 410 can slide or roll along the curves 305, 405. Such a preferred design of the cam tracks can enable a very harmonious inward and outward pivoting movement of the drip trays 304, 404. In particular, the preferred cam track profiles can prevent liquids from sloshing out of the drip trays 304, 404.

If the cam rollers 305, 405 are now are moved upwards together with the suction cups 302, 402, this leads to the curves 305, 405 with the drip trays 304, 404 initially remaining in a position that is not under the suction cups, i.e. in the second position (as long as the cam rollers 305, 405 are in the vertical of the curves 310, 410). However, as soon as the cam rollers 305, 405 are introduced into the bend of the curves 310, 410 or pass the bend, the drip trays 304, 404 move in a harmonious pivoting movement due to the curve profiles into a position under the suction cups 302 and 402, i.e. into a first position. This position is in shown.

shows the same sectional view as , but with the removal handling device 1 according to the invention in a transport position. The lower ends of the suction cups 301 and 401 are located in a plane above the tray 5 and/or above the drip trays 304, 404. The drip trays 304 and 404 are in the first position, i.e. a position below the suction cups 302, 402. The cam rollers 310, 410 are in an uppermost position in the corresponding curves 305, 405. In this transport position, the two arms 3, 4 of the removal handling device 1 can be moved along the linear axis 2. Objects, dirt particles or liquids that may fall off the suction cups fall into the drip trays 304, 404 or are caught by the drip trays 304, 404. This can preferably prevent these objects, liquids or particles from contaminating trays, objects, object holders or other parts of the system that could be located at a level below the drip trays. This means that the removal handling can be used preferably in wet technical areas and particularly in the production of medical products or contact lenses. If the removal handling now has to meet the requirements in If the drip trays 304, 404 are brought into the removal or delivery position shown, the suction cups 302, 402 are moved downwards, e.g. to deposit objects. Together with the suction cups 302, 402, the cam rollers 305, 405 also move downwards along the curves 305, 405. This then leads to the drip trays 304, 404, forced by the curve paths, performing a harmonious swinging movement from the first position to the second position (and this continues until the cam rollers 305, 405 are in the vertical of the curves 310, 410).

shows an example of an area of application of the removal handling according to the invention. In the upper part of the figure, a first transfer section 8 is shown, on which object slides or trays 5 are transported. The object slides or trays 5 contain objects which are to be removed by a removal handling system and transferred to a second transfer section or a shuttle system 9 and there to be inserted into cuvettes 10. The two transfer sections 8 and 9 can preferably run at least partially parallel to one another and have a distance A between them, which can be 1,000 mm, for example. The distance A between the two parallel sections of the transfer sections 8 and 9 can be larger or smaller in other embodiments. Preferably, the distance A between the two transfer sections 8 and 9 can in particular be between 300 mm and 600 mm, between 500 mm and 1,000 mm, or between 1,000 mm and 2,000 mm. In the example shown, the trays 5 preferably have 160 object spaces, which are preferably arranged in ten rows of 16 object spaces each. The cuvettes 10 on the shuttle system 9, on the other hand, have only two rows of 16 cuvettes 10 each, with each cuvette having one object space. The object spaces in a tray 5 are spaced apart from one another within a row by a distance x ₁ , whereas the object spaces in the cuvettes within a row are spaced apart from one another by a distance y ₂ . The distance x ₂ can be the same, greater or smaller than the distance x ₁ . In the example shown, the distance x ₂ is greater than the distance x ₁ . The distance x ₁ can be, for example, 15 mm, 20 mm or 30 mm, and the distance x ₂ can be, for example, 20 mm, 40 mm or 60 mm. The individual rows in the trays 5 are spaced apart by y ₁ , whereas the rows 11, 12 with cuvettes 10 on the shuttle system 9 are spaced apart by y ₂ . The distance y ₂ can be the same as, greater than, or smaller than the distance y ₁ . In the example shown, the distance y ₂ is greater than the distance y ₁ . The distance y ₁ can be, for example, 15 mm, 20 mm, or 30 mm, and the distance y ₂ can be, for example, 150 mm, 200 mm, or 250 mm. The removal handling device 1 according to the invention is now suitable for removing objects from two rows of the tray 5 and depositing them in the cuvettes 10, which are arranged in two rows in the shuttle system 9. Preferably, the removal handling can be positioned in the arrangement shown in such a way that the linear axis 2 runs along the axis 13 and the arms 3 and 4 can remove objects from the tray 5b and place them in the cuvettes 10. Preferably, the removal process, i.e. picking up objects from the trays, transferring the objects to the shuttle system 9 and placing the objects in the cuvettes 10, can be carried out within a time interval of 12 seconds, more preferably within a time interval of 10 seconds and particularly preferably within a time interval of 8 seconds. In particular, it is preferred that the removal handling starts from a starting position, e.g. above the tray 5b, and carries out the removal. measurement process starts and can be moved back to its starting position within the above-mentioned time interval.

While the removal handling moves objects from the first transfer section 8 to the second transfer section 9, the grid spacing x ₁ of the individual rows of suction cups and the distance y ₁ between the two rows of suction cups can be varied in the removal handling so that, as soon as the removal handling has reached the second transfer section, they correspond to the distances y ₂ and x _2. As a result, objects can be removed from the trays 5 and placed in the cuvettes 10 in a preferably time-efficient manner. The removal handling can preferably be programmed in such a way that objects are not removed from two adjacent rows of the trays 5, but from two spaced-apart rows of the trays 5. In the exemplary embodiment shown, the tray 5 has ten rows. The removal handling can preferably first remove objects from the first and sixth rows (these rows have a distance y ₁₁ that preferably corresponds to 5 times y ₁ ). The removal handling can then remove objects from the second and seventh rows. Subsequently from the third and eighth, then from the fourth and ninth and finally from the fifth and tenth row. This means that the object spaces in the tray or the individual rows in tray 5 can be arranged much closer together than the two arms 3 and 4 of the removal handling or the two rows with suction cups 301 and 401 of the removal handling can be moved together. This means that more space is available for the mechanical components on the two arms of the removal handling, in particular for the movement of the drip tray and for the up and down movement of the first and second row with suction cups, as well as for the Nuremberg scissors. The distance between the two rows in the removal position then does not correspond to the distance y ₁ , but to the distance y ₁₁ , as in shown. While the removal handling is moved from the first transfer section 8 to the second transfer section 9, as described above, a drip tray is arranged under the first and second rows of suction cups. This prevents the removal handling from moving objects from the first row of the tray 5 in the shown above, these do not fall into one of rows two to ten or onto the surface of the tray 5 during the movement of the removal handling, and no drops or dirt particles that arise from the suction cups or the objects located therein can contaminate object locations or tray surfaces. It can also be prevented that the objects on the second boom 4, which were removed from row six of the tray 5, already contaminate the first row with cuvettes 10. During the removal process, the distances between the individual suction cups in the removal handling are varied by means of servo motors. This can preferably have the effect that the removal handling is transferred in a time-efficient manner and the positioning of the individual suction cups can be precisely adjusted. In particular, it is preferred that the first boom 3 and the second boom 4 are guided along the linear axis in the transverse direction and driven by means of servo motors. This allows both booms to be moved independently of one another and thus to assume any distance Y _x from one another. It is also preferred that the Nuremberg scissors are actuated by means of a rotary cylinder. This rotary cylinder can also be coupled to an electric servo motor, via which the angle of rotation of the rotary cylinder can be adjusted. Preferably, however, the rotary cylinder can be actuated and/or operated pneumatically, since only two positions are required here. Preferably, a removal handling device 1 according to the invention, which is in the can also be used in a structure in which the individual object locations on a tray or the distances between the cuvettes in the shuttle system 9 are designed differently. Since the two arms 3 and 4 of the removal handling can be moved relative to one another as desired, almost any spacing of the individual rows of objects in a tray 5 or of the individual cuvette rows 10 from one another can be achieved. The distances between the individual object locations in the X direction both in the tray 5 and in the cuvettes 10 are preferably only limited by the maximum or minimum compression or extension of the Nuremberg scissors. Within a range from maximum extension to maximum compression of the Nuremberg scissors, the distances between the object locations in the X direction in a system can be varied as desired. The removal handling according to the invention can therefore preferably be used variably and/or in a wide range of applications.

Claims (27)

Removal handling device (1) comprising: at least one first row (301) and one second row (401), each with at least two suction cups (302; 402) for sucking up products, wherein the rows (301, 401) extend in the longitudinal direction of the removal handling device, the rows are arranged parallel to one another and can be moved in the transverse direction, wherein the distance between the individual rows (301, 401) is adjustable, and in the first row (301) the distance between the suction cups (302) is adjustable and in the second row (401) the distance between the suction cups (402) is adjustable which is adjustable, and wherein a drip tray (304, 404) is movably arranged on each row (301, 401) such that the drip tray (304, 404) can be moved into a first position under the suction cups (302, 402) or can be moved into a second position which is not under the suction cups (302, 402), wherein the suction cups (302) of the first row (301) and the suction cups (402) of the second row (401) can be moved vertically, wherein at least one of the at least one first and second drip trays (304; 404) is coupled to a row (301; 401) of suction cups such that the drip tray (304; 404) is automatically moved into the first position during an upward movement of the suction cups (302; 402) and during a downward movement of the suction cups (302; 402) is automatically moved to the second position. Removal handling after claim 1 , wherein the first and/or the second row (301; 401) has at least 3, preferably at least 8, particularly preferably at least 16 suction cups (302; 402) and the suction cups (302; 402) have a uniform grid spacing from one another, wherein the grid spacing of a row (301; 401) can be varied between a maximum and a minimum grid spacing. Removal handling after claim 2 , wherein a ratio of maximum grid spacing to minimum grid spacing is at least 1.1, and preferably has a value between 1.1 and 16 and/or wherein the minimum grid spacing is at least 5 mm and the maximum grid spacing is a maximum of 80 mm. Removal handling after claim 2 or 3 , whereby the grid spacing can be varied by means of a Nuremberg scissors (303; 403). Removal handling after claim 4 , wherein the Nuremberg shears (303; 403) are coupled to a rotary cylinder (306; 406), preferably to a pneumatic rotary cylinder, wherein the coupling is particularly preferably realized by means of a connecting rod (307; 407) arranged eccentrically on the rotary cylinder. Removal handling after claim 5 , wherein a rotation of the rotary cylinder (306; 406) by a first angle of rotation moves the Nuremberg scissors (303; 403) from a compressed state corresponding to the minimum grid spacing to a stretched state corresponding to the maximum grid spacing, preferably wherein a reverse rotation of the rotary cylinder (306; 406), particularly preferably a reverse rotation of the rotary cylinder (306; 406) by the first angle of rotation, moves the Nuremberg scissors (303; 403) back to the compressed state, and wherein the first angle of rotation is preferably between 160° and 200°, particularly preferably between 170° and 190°. Removal handling according to one of the Claims 2 until 6 , wherein the grid spacings in the first and second rows (301; 401) are equal and/or synchronously changeable. Removal handling according to one of the preceding claims, wherein the suction cups (302; 402) can be moved up or down by at least 10 mm, more preferably by at least 100 mm and/or by a maximum of 300 mm, more preferably by a maximum of 200 mm. Removal handling according to one of the preceding claims, wherein the first row (301) is defined along a longitudinal direction of a first boom (3) and the second row (401) is defined along a longitudinal direction of a second boom (4), preferably wherein the booms (3, 4) are guided on one side. Removal handling after claim 9 , wherein the first boom (3) is guided via a first carriage (6) on a linear axis (2) and the second boom (4) is guided via a second carriage (6) on a linear axis (2), preferably wherein both carriages (6) are guided on the same linear axis (2) and/or are movable independently of one another. Removal handling according to one of the preceding claims, wherein the distance between the individual rows (301, 401) can be changed and/or adjusted by means of at least one drive unit, preferably wherein the drive unit has a servo motor. Removal handling according to one of the Claims 8 until 11 , wherein the coupling of at least one of the at least one first and second drip trays (304; 404) to a row (301; 401) of suction cups is a mechanical coupling, preferably wherein the coupling is designed such that the movement of the drip tray (304; 404) only begins in the second half, more preferably only in the last third of the upward movement of the suction cups (302; 402). Removal handling according to one of the preceding claims, wherein at least one of the at least one first and second drip trays (304; 404) or at least one of the first or second row (301; 401) is guided with suction cups in a curve (305; 405), preferably wherein the first drip tray (304) or the first row (301) is guided with suction cups in a first curve (305) and the second drip tray (404) or the second Row (401) with suction cups is guided in a second curve (405). Removal handling after claim 13 , wherein the curve (305; 405) is defined on at least one of the at least one first and second drip trays (304; 404), preferably wherein a first curve (305) is defined on the first drip tray (304) and a second curve (405) is defined on the second drip tray (404), and wherein the first or the second row (301; 401) of suction cups, preferably the first and the second row (301, 401) of suction cups each have a cam roller (310, 410) which is mounted in the first and/or the second curve (305, 405). Removal handling according to one of the Claims 13 or 14 , wherein at least one of the at least one first and second drip trays (304; 404) is coupled to the first carriage (6) or the first boom (3), preferably wherein the first drip tray (304) is coupled to the first carriage (6) or the first boom (3) and the second drip tray (404) is coupled to the second carriage (6) or the second boom (4). Removal handling according to one of the preceding claims, which has a collecting channel (7) which is preferably arranged such that a liquid located in the first and/or second drip tray (304; 404) can flow into the collecting channel (7), preferably when the first and/or the second drip tray (304; 404) is in the first position, particularly preferably independently of the position of the first and/or second carriage (6) on the linear axis (2). Removal handling according to one of the preceding claims, wherein the distance between the individual rows (301; 401) can be changed in a range from 30 mm to 450 mm, preferably from 50 mm to 350 mm, particularly preferably from 70 mm to 250 mm. Removal handling according to one of the preceding claims, wherein the first row (301) can be moved from a first removal position to a first delivery position by at least 300 mm, preferably by at least 600 mm and particularly preferably by at least 1000 mm and the second row (401) can be moved further from a second removal position to a second delivery position by at least 10 mm, preferably by at least 30 mm and particularly preferably by at least 50 mm. Removal handling after claim 18 , wherein the travel paths of the first row (301) and the second row (401) can be covered simultaneously, preferably in a time interval of less than 1.5 seconds, particularly preferably in a time interval of less than 1 second. Removal handling (1) according to one of the preceding claims, which is suitable for wet technical use and/or wherein the products are moist, preferably wherein the products are contact lenses. Method for controlling a removal handling (1) according to one of the preceding claims, comprising the following sequences: i) moving the first row (301) with suction cups and the second row (401) with suction cups from a starting position to a target position, preferably in the transverse direction, preferably by at least 300 mm, more preferably by at least 600 mm and particularly preferably by at least 1000 mm; ii) changing the distance between the first and second rows (301, 401) with suction cups from a starting row distance in the starting position to a target row distance in the target position, iii) changing the distance between the suction cups (302) of the first row (301) and the distance between the suction cups (402) of the second row (401) from one another from a starting suction cup distance in the starting position to a target suction cup distance in the target position, preferably wherein the starting suction cup distance of the first row corresponds to the starting suction cup distance of the second row and the target suction cup distance of the first row corresponds to the target suction cup distance of the second row; iv) vertical movement of the rows (301, 401) with suction cups upwards, preferably synchronously; v) moving the drip tray (304; 404) from the second position to the first position. procedure according to claim 21 , wherein sequences iv) and v) occur simultaneously and/or wherein sequences ii) and/or iii) occur while sequence i) occurs. Method according to one of the Claims 21 or 22 , wherein in sequence i) a travel distance of at least 1000 mm is covered within 1.5 seconds, preferably within 1 second and/or wherein all sequences i) to v) run within 8 seconds, preferably 6 seconds, particularly preferably 4 seconds. Method according to one of the Claims 21 until 23 , further comprising the sequences: vi) vertical movement of the rows (301, 401) with suction cups downwards, preferably synchronously; vii) movement of the drip tray (304; 404) from the first position to the second position. procedure according to claim 24 , where sequences vi) and vii) occur simultaneously. procedure according to claim 24 or 25 , wherein the rows (301, 401) of suction cups are moved upwards before leaving the starting position and are moved downwards after reaching the target position and/or wherein the suction cups (302, 402) are located further down in the starting position and in the target position than in an area between the starting and target positions. Method according to one of the Claims 24 until 26 , wherein during the entire travel path in sequence i) the drip tray (304; 404) is in the first position and/or wherein the drip tray (304; 404) is already in the first position before leaving the start position and is only moved to the second position after reaching the target position.

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