| 摘要 |
The invention relates to a vacuum gripping device (10, 60) comprising a plurality of suction bodies (20) arranged adjacent to each other at suction points (26a-26e) of a working surface (18) of a gripper housing (12), which suction bodies each comprise a suction chamber (22) for applying to a workpiece to be gripped, comprising a suction valve (30) assigned for each suction point (26a-26e), wherein each suction valve (30) comprises a vacuum supply side (32) for connection to a vacuum supply device and a suction side (34) connected to the suction chamber (22) of the assigned suction body (20), wherein the suction valve (30) of each suction point (26a-26e) comprises a valve body (36), moveable between an open position and a closed position, wherein the valve body (36) is arranged on a flexible control membrane (40) which delimits a control chamber (38) in such a way that the valve body (36) is moveable from the open position into the closed position using deformation of the control membrane (40), depending on a vacuum occurring in the control chamber (38), and wherein a membrane cloth (42) extending across multiple or all suction points (26a-26e) is arranged in the gripper housing (12) in such a way that the control membranes (40) of multiple or all suction valves (30) are formed by control segments (44) of the membrane cloth (42). |
