Patent Publication Number: US-2016230779-A1

Title: Cartridge for a Pneumatic Circuit and Suction Gripper Device Comprising such a Cartridge

Description:
The invention relates to a cartridge for a pneumatic circuit that can be used in particular as a vacuum generator. The invention further relates to a sucker gripping device comprising such a cartridge. 
     BACKGROUND TO THE INVENTION 
     Vacuum generators are used in many industrial fields (the automobile industry, pharmaceutics, etc), for example for applications in manipulating or gripping products in a production line. 
     Two major families of vacuum generator are mainly used: electrical vacuum generators (vacuum pumps) and pneumatic vacuum generators. 
     A pneumatic vacuum generator functions using the venturi effect. It comprises at least one chamber comprising a nozzle through which compressed air flows, the vacuum generated resulting from a negative pressure created by venturi effect in said chamber. This chamber is put in pneumatic communication with one or more suckers applied to the surface of the product. The vacuum generator aspirates the air contained in the internal space of these suckers and secures the latter to the surface of said product when the suckers are applied against said surface. This allows manipulation or gripping of the product. The vacuum generator is just as often suitable for blowing air into the internal space of the suckers in order to disconnect them from the product once the manipulation or gripping has ended. 
     The users of pneumatic vacuum generators are not themselves generally specialists in vacuum generation technology: it is therefore important to design generators where the integration thereof in a production line does not require complex operations (pneumatic connections, control of impermeability, etc). To facilitate such integration, it is also advantageous to enable the users to easily adapt the external form of these vacuum generators to their applications and to their products, so as to optimise integration thereof in the production line. Finally, it is desirable to reduce the cost of such integration in order to make vacuum generation technology attractive. 
     SUBJECT MATTER OF THE INVENTION 
     The aim of the invention is to simplify the integration of a vacuum generator in a production line and to reduce the cost of such integration. 
     SUMMARY OF THE INVENTION 
     With a view to achieving this aim, a cartridge is proposed for a pneumatic circuit comprising a tubular body having a cylindrical surface enabling it to be inserted in a cylindrical housing in an axial direction, the cartridge being such that, in said tubular body, the following are integrated coaxially with one another:
         electrical connection means situated at a first end of the tubular body;   control means supplied and controlled via the electrical connection means;   a first chamber comprising a first lateral orifice for admitting compressed air;   at least a second chamber situated at a second end of the tubular body and comprising an air outlet orifice.       

     The means for controlling the cartridge are suitable for selectively putting the first chamber and the second chamber in pneumatic communication so as to allow passage of air to the second chamber. 
     Such a cartridge for a pneumatic circuit can easily be integrated in a vacuum generator by the User Of this generator, who merely needs to design in the generator a cylindrical housing for inserting the cartridge. This integration therefore does not require the user to have advance knowledge in vacuum generation technology. Moreover, it is relatively simple for the user to design a generator, the external form of which corresponds perfectly to a particular need, since the sole structural constraint associated with the vacuum generation consists of producing the small cylindrical housing for accommodating the cartridge. The cartridge of the invention can be used as it stands for blowing air. It is also possible to transform this cartridge so as to be able to use it for aspirating air. It then suffices to provide a second orifice for aspirating air inside the cartridge; in this way the cost of the integration for the user is reduced. 
     In addition a sucker gripping device is proposed, comprising a pneumatic cartridge suitable for aspirating air as previously mentioned, the device comprising a body in which a housing is provided for accommodating the cartridge, a compressed-air inlet pipe emerging in the accommodation housing, a vacuum chamber that emerges in the accommodating housing and which is put in pneumatic communication with at least one sucker, and sealing means for preventing any circulation of air between the inlet pipe and the vacuum chamber through accommodating housing outside the cartridge, the device being arranged so that:
         the first lateral orifice of the cartridge is in pneumatic communication with the inlet pipe;   a second lateral orifice of the second chamber of the cartridge that is in pneumatic communication with the vacuum chamber;   the device is controlled by external control means via the electrical connection means of the cartridge.       

    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Reference will be made to the accompanying drawings, among which: 
         FIG. 1  depicts schematically a view in cross section of a cartridge according to a first embodiment of the invention, the cartridge being arranged so as to be normally closed, a cutoff valve of the cartridge being in the closed position; 
         FIG. 2  depicts schematically a view in cross section of the cartridge according to the first embodiment, the cutoff valve of the cartridge being in the open position; 
         FIG. 3  depicts schematically a view in cross section of the cartridge according to a variant of the first embodiment, the cartridge being arranged so as to be normally open, the cutoff valve of the cartridge being in the open position; 
         FIG. 4  depicts schematically a view in cross section of the cartridge according to this variant of the first embodiment, the cutoff valve of the cartridge being in the closed position; 
         FIG. 5  depicts a perspective view of the cartridge according to a second embodiment of the invention, a cutoff valve of the cartridge being in the closed position; 
         FIG. 6  depicts a view in perspective of the cartridge according to the second embodiment, a cutoff valve of the cartridge being in the open position; 
         FIG. 7  depicts a perspective view of a cartridge Of the invention according to the second embodiment suitable for blowing air; 
         FIG. 8  depicts schematically a view in cross section of the Cartridge according to a third embodiment; 
         FIG. 9  depicts a view in cross section of the cartridge according to a fourth embodiment, a first control module and a second vacuum generation module of the cartridge being associated; 
         FIG. 10  depicts a lateral view similar to the view in  FIG. 9 ; 
         FIG. 11  depicts a lateral view of the cartridge according to the fourth embodiment, the cartridge here consisting of the single first control module; 
         FIG. 12  is a perspective view similar to the view in  FIG. 11 ; 
         FIG. 13  depicts a lateral view of the cartridge according to the fourth embodiment, said cartridge here consisting of the second vacuum-generation module and a pneumatic interface; 
         FIG. 14  depicts a sucker gripping device of the invention. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     With reference to  FIGS. 1 and 2 , the cartridge  1  for a pneumatic circuit of the invention according to the first embodiment comprises a tubular body  2  having a cylindrical external surface. The tubular body  2  of the cartridge  1  is here inserted in a cylindrical housing  3  of any vacuum generator. 
     Inside this tubular body  2  the following are integrated coaxially with one another along an axis X of the tubular body  2 : electrical connection means  4 , a control enclosure  5  comprising a control means, a first chamber  6  in which a first cutoff valve  7  is arranged, and a second chamber  8  comprising vacuum-generation means. 
     The electrical connection means  4  are situated at a first end  9  of the tubular body and the second chamber at a second end  10  of the tubular body  2 . 
     The cartridge  1  of the invention is here suitable for generating vacuum by virtue of the vacuum-generation means of the second chamber  8 , which function according to the venturi effect. The vacuum-generation means comprise a nozzle  13  attached in the second chamber  8 . Said nozzle  13  has an end emerging in the first chamber  6  and opposite an end emerging in the second chamber  8  opposite an end of a mixer  14  coaxial with the nozzle  13 . Inside the second chamber  8 , the vacuum-generation means form, between the nozzle  13  and the exchanger  14 , an annular negative-pressure space  17 . The mixer  14  extends in the second chamber  8  and extends in a discharge opening  15  of the second chamber  8  situated at the second end  10  of the tubular body  2  so that the mixer  14  has an open end disposed outside the body  2 . The arrows depicted in thick lines in the figures indicate that it is an air inlet or an air outlet. 
     A first lateral orifice  12  is provided in the body  2  opposite the first chamber  6  to allow an admission of compressed air into the first chamber  6 . 
     The body  2  is provided with a second lateral orifice  16  emerging inside the annular negative-pressure space  17  in order to put the latter in communication with the outside of the body  2 . 
     The compressed air flows from the first chamber  6  to the second chamber  8  through the nozzle  13  while increasing its speed, which creates a negative pressure in the annular negative-pressure space  17 , said negative pressure causing an aspiration of air at the second lateral orifice  16 . The compressed air and the aspirated air are then discharged from the cartridge through the mixer  14 . 
     The first cutoff valve  7  of the first chamber  6  is used to control this generation of vacuum or on the other hand to interrupt it. The first cutoff valve  7  is thus suitable for allowing or preventing the passage of compressed air from the first chamber  6  to the second chamber  8 . 
     The first cutoff valve  7  is a two-position valve, normally closed, with a stable state corresponding to the closing off of the communication between the first chamber  6  and the second chamber  8 . 
     The first cutoff valve  7  comprises a first shutter  18  having a blocking end  19 . The first shutter  18  slides along the axis of the body  2  between en open position, visible in  FIG. 1 , in which a first communication channel  20  suitable for putting the first chamber  6  and the second chamber  8  in pneumatic communication is left clear, and a closure position, in which the blocking end  19  closes off said communication channel  20 . The first shutter  18  also comprises a control end  21 . The first shutter defines, inside the first chamber  6 , a first control space  23  situated on the same side as the control enclosure  5 , a second control space  24  situated on the same side as the second chamber  8 , and an intermediate space  11  put in communication with the outside in order to be continuously under atmospheric pressure. The role of these spaces will be explained later. 
     When the first cutoff valve  7  is in its stable state, that is to say in the closed position, the communication channel  20  is closed off, the compressed air cannot reach the second chamber  8  and the cartridge  1  does not generate any vacuum. On the other hand, When the first cutoff valve  7  is in the open position, the first chamber  6  and the second chamber  8  are in pneumatic communication, which makes it possible to generate vacuum. 
     The first cutoff valve  7  is controlled by the control means of the control enclosure  5  and by means of the first lateral orifice  12  of the first chamber  6 , a control orifice  26  and a first exhaust orifice  27  emerging outside the cartridge  1 . 
     The control orifice  26  is here connected pneumatically to compressed-air supply means  28 , just like the first lateral orifice  12 . The control orifice  26  emerges in a control chamber  29  situated between the control enclosure  5  and an annular fixed body  32  provided with a seal  33 , said annular fixed body  32  having a first face opposite the control chamber  29  and a second face opposite the first chamber  6 . The first exhaust orifice  27  is here situated in the control enclosure  5  in the vicinity of the electrical connection means  4 . 
     The control means for their part comprise a control valve  34 , in this case a control solenoid valve, as well as an electrical card  35  electrically connected to the electrical connection means  4 . 
     The first cutoff valve  7  is controlled by external control means  36 , depicted schematically in  FIG. 1 , Which transmit a supply voltage and electrical control signals to the electrical card  35  via the electrical connection means  4 . The electrical card  35  and control solenoid valve  34  are supplied electrically by the supply voltage. The electrical control signals are shaped by the electrical card  35  and used to generate a control current circulating in an electrical coil  37  of the control solenoid valve  34 , said control current being transmitted to the electrical coil  37  when opening of the first cutoff valve  7  and therefore vacuum generation are demanded by the external control means  36 . 
     The circulation of the Control current in the coil  37  makes it possible to move a magnetic core  38  situated in an internal chamber  39  of the control solenoid valve  34  between an idle position and an active position. When the core  38  is in its idle position, it blocks a first end of a central pipe  40 , the other end of said central pipe  40  emerging in the control chamber  29 . When the core is in its active position, it blocks a second exhaust pipe  41  of the internal chamber of the control solenoid valve, in pneumatic communication with the first exhaust pipe  27 . 
     When the core  33  is in its idle position, visible in  FIG. 1 , the compressed air fills the second control space  24  of the first chamber  6 , by flowing through the first lateral orifice  12 , and the control chamber  29  via the control orifice  26 . The first control space  23 , for its part, is not filled with compressed air. The second control space  24  is therefore raised to a pressure higher than that of the first control space  23 , which has the effect of producing a force on the first shutter  18 , which tends to move its control end  21  closer to the annular fixed body  32  and to bring its blocking end  19  into the position in which it closes off the first communication channel  20 : the first shutter  18  is therefore positioned in the closure position and the first cutoff valve  7  in the closed position. The compressed air therefore does not reach the second chamber  8 . The residual compressed it situated in the internal chamber  39  of the control solenoid valve  34  is discharged through the second exhaust orifice  41  and through the first exhaust orifice  27 . 
     When the core  38  is in its active position, visible in  FIG. 2 , the compressed air in the control chamber fills the internal chamber  39  of the control solenoid valve  34  by flowing via the control chamber  29  and the central pipe  40 . As the second exhaust pipe  41  is blocked, the compressed air contained in the internal chamber  39  of the control solenoid valve  34  flows towards the first control space  23  of the first chamber  6  through two first eccentric pipes  45  of the control solenoid valve  34  each communicating with an eccentric tube  46  having an end emerging opposite the associated first eccentric pipe  45  and an end emerging in the first control space  23  of the first chamber  6 . The eccentric tubes  46  therefore pass through the control chamber  29  and the annular fixed body  32 . 
     As the surface area of the control end  21  is greater than that of the blocking end  19 , the pressure exerted by the compressed air on the control end  21  is greater than that exerted by the compressed air on the blocking end  19 , which has the effect of producing a force on the first shutter  18  that tends to move its blocking end  19  away from the position in which it closes off the first communication channel  20 : the first shutter  18  is therefore positioned in the open position and the first cutoff valve  7  in the open position. The compressed air therefore reaches the second chamber  8 , and the cartridge  1  generates vacuum. 
     The cartridge  1  of the invention according to the first embodiment previously described therefore comprises a first cutoff valve that is “normally closed”: its stable state corresponds to a valve in the closed position that does not allow passage of compressed air into the second chamber and therefore the generation of vacuum. 
     With reference to  FIG. 3 , the invention can easily be implemented so as to obtain a cartridge that functions with a cutoff valve is “normally open”. 
     In this variant, the first exhaust orifice  27  is pneumatically connected to the compressed-air supply means  25 , just like, the first lateral orifice  12 . The control orifice  26  then become a third exhaust orifice  49 . 
     When the core  38  is in its idle position visible in  FIG. 3 , the compressed air fills the second control space  24  of the first chamber  6  by flowing through the first lateral orifice  12 , and the internal chamber  39  of the control solenoid  34  via the first exhaust orifice  27 . As the central pipe  40  is blocked, the compressed air fills the first control space  23  of the first chamber  6  via the first eccentric pipes  45  and the eccentric tubes  46 . As the surface area of the control end  21  of the cutoff valve  7  is greater than that of the blocking end  19 , the pressure exerted by the compressed air on the control end  21  is greater than that exerted by the compressed air on the blocking end  19 , which has the effect of producing a force on the first shutter  18  that tends to move its blocking end  19  away from the position in which it closes off the first communication channel: the first shutter  18  is therefore positioned in the opening position and the first cutoff valve  7  in the open position. The compressed air therefore reaches the second chamber  8 , and the vacuum cartridge generates vacuum. 
     When the core  38  is its active position visible in  FIG. 4 , the compressed air cannot be introduced into the internal chamber  39  through the second exhaust orifice  41 , which is blocked. The compressed air of the first control space  23  of the first chamber  6  flows through eccentric tubes  46  and first eccentric pipes  45  into the internal chamber  39  of the control solenoid  34 , and then through the central pipe  40  as far as the control chamber  29 , from which it is discharged through the third exhaust orifice  49 . The pressure in the second control space  24  of the first chamber  6  therefore becomes greater : than that in the first control space  23 , which tends to bring the blocking end  19  of the first shutter  18  into the position in which it closes off the first communication channel  20 : the first shutter  18  is therefore positioned in the closure position and the first cutoff valve  7  in the closed position. 
     It should be noted here that the control solenoid valve of the cartridge of the invention according to the first embodiment visible in  FIGS. 1 to 4  has functioning of a valve of the type with three orifices and two positions. 
     In a second embodiment visible in  FIGS. 5 and 6 , the cartridge of the invention is equipped with a control solenoid valve having functioning of a valve of the type with two orifices and two positions. 
     The cartridge of the invention  101  according to the second embodiment comprises a certain number of elements similar to those described previously for the first embodiment and the references of which are kept in  FIGS. 5 and 6 . 
     A certain number of differences between the two embodiments are all the same noted. In the second embodiment, the first eccentric pipes of the control solenoid valve  34  are blocked and unused. In addition, the cartridge  101  does not have a control chamber: the central pipe  40  of the control solenoid valve  34  emerges in the first chamber  6 , said central ripe  40  here passing through a second annular fixed body  102 . It should also be noted that the cartridge  101  no longer has any control orifice. It should also be noted that the cutoff valve is a second cutoff valve  103  different from the first cutoff valve of the first embodiment. The second cutoff valve  103  comprises a second sliding shutter  104  comprising a blocking end  105  provided with a seal  106 , and a compression spring  107 . 
     The second shutter  104  slides between an opening position, visible in  FIG. 5 , in which a second communication channel  108  suitable for putting the first chamber  6  and the second chamber  8  in pneumatic communication is left clear, and a closure position, in which the blocking end  105  closes off said channel  108 . The compression spring  107  tends to hold the second cutoff valve  103  in the closed position, which is its stable state. The second shutter  104  is hollow and once again defines in the first chamber the first control space  23  in which the central pipe  40  of the control solenoid valve  34  emerges, and the second control space  24 . 
     An internal space  109  and a leakage channel  110  are defined inside the second shutter  104 . A filter  113  and a spring  114 , frustoconical in shape, are arranged in the internal space  109 , so that the spring  114  holds the filter  113  in position facing and in the immediate vicinity of the leakage channel  110 . The leakage channel  110  makes it possible to put the first control space  23  and the second control space  24  in pneumatic communication. The compressed air therefore flows from the second control space  24  into the first control space  23  through the leakage channel  110 , passing through the filter  113 , which purifies the compressed air so as to prevent impurities blocking the leakage channel  110 . 
     The functioning of the cartridge  101  according to the second embodiment is now described. 
     The idle position of the control core  38  of the control solenoid valve  34  once again corresponds to a new position in which it blocks the central pipe  40 , and the active position to a position in which it blocks the second exhaust orifice  41 . 
     Thus, when the control core  38  is in the idle position visible, in  FIG. 5 , the compressed air admitted by the first lateral orifice  12  fills the second control Space  24  Of the first chamber  6 , the internal space  109  if the second shutter  104  and the first control space  23  via the leakage channel  110 . As relatively similar pressures are thus exerted on the surfaces of the second shutter  104  situated in the first space  23  and in the second space  24 , and by virtue of a compression force exerted by the compressions spring  107 , the blocking end  105  of the second shutter  104  closes off the second communication channel  108  and the second cutoff valve  103  is in the closed position. 
     When the control core  38  is in the active position visible in  FIG. 6 , the compressed air contained in the first control space  23  escapes therefrom through the central pipe  40  of the control solenoid valve  34 , and is discharged from the cartridge  101  through the second exhaust orifice  41  and the first exhaust orifice  27 . The pressure exerted by the compressed air on the surface of the second shutter  104  situated in the second control space  24  is thus greater than the compression force exerted by the compression spring  107 : the blocking end  105  of the second shutter  104  moves away from the second communication channel and the second cutoff valve  103  is in the open position. 
     It should be noted that the cartridge according to the second embodiment depicted in  FIGS. 5 and 6  comprises a second cutoff valve that is “normally closed”. By modifying the control solenoid valve, it is perfectly possible to replace the second cutoff valve with a “normally open” cutoff valve. 
     It should be noted here that the cartridge  1  described in the first embodiment of the invention and the cartridge  101  described in the second embodiment of the invention are cartridges suitable for generating vacuum. With reference to  FIG. 7 , it is however observed that, if the second chamber  8  is removed from the vacuum generation means, in this case the nozzle  13  and the mixer  14 , a cartridge  101  suitable for blowing air through the discharge opening  15  of the second chamber  8  is obtained. The second lateral orifice  16  is then either blocked, or positioned opposite a surface closing off said second lateral orifice. This may of course also be achieved on a cartridge according to the first embodiment of the invention. 
     In a third embodiment visible in  FIG. 8 , the cartridge, of the invention  304  this time no longer has a cutoff valve: the control means are suitable not only for selectively controlling but also for putting a first and second chamber in pneumatic communication so as to allow a passage of air to the second chamber. 
     Just like the cartridges described earlier, the cartridge  301  of the third embodiment comprises a tubular body  2  comprising electrical connection means  4  and a second chamber  8  comprising vacuum-generating means, in this case a nozzle  13  and a mixer  14 . A main chamber  302  extends between the electrical connection means  4  and the second chamber  8 . A part of revolution constituting a jacket  303  is inserted in the main chamber  302 . 
     Inside the jacket  303  there are defined a first tubular space  304  and a second tubular space  305  coaxial with each other, a control chamber  306 , and two second eccentric pipes  307  extending along the first tubular space  304  and emerging at one of their ends in the control chamber  37  and at the other end in a third communication channel  308  suitable for putting the main chamber  302  and the second chamber  8  in pneumatic communication. 
     The first tubular space  304  defines a first chamber  304  having a role similar to that of the previously described first chambers, said first chamber  304  however not having any cutoff valve. 
     A control solenoid valve  34 , similar to the solenoid valves described above and having the functioning of a valve of the type with three orifices and two positions, is positioned inside the jacket  303 . 
     The control solenoid valve  34  comprises a control core  38  situated in an internal chamber  39 , a second exhaust orifice  41 , a central pipe  40  emerging in the first tubular space  304  and two first eccentric pipes  45  emerging in the control chamber  306  opposite the second eccentric pipes  307 . 
     Seals  310  are mounted around the jacket  303  between it and an internal surface of the tubular body  2  in order to prevent any passage of air outside the jacket  303  between the first chamber  304  and the second chamber  8 , and between the first chamber  304  and the main chamber  302 . 
     Finally, the tubular body  2  comprises a first lateral orifice  12  and a second lateral orifice  16  similar to those previously described. 
     The functioning of the cartridge according to the third embodiment is now described. 
     The idle position of the control core  38  of the control solenoid valve  34  corresponds once again to a position in which it blocks the central pipe  40 , and the active position to a position in which it blocks the second exhaust orifice  41 . 
     Thus, when the control core  38  is in the idle position, the compressed air admitted by the first lateral orifice  12  fills the first chamber and remains inside it. Any residual compressed air situated in the internal chamber  39  of the control solenoid  34  is discharged by the second discharge orifice  41 . 
     When the control core  38  is in the active position visible in  FIG. 8 , the compressed air fills the internal chamber  39  via the central pipe  40  and reaches the second chamber of the cartridge via the two first eccentric pipes  45 , the control chamber  306 , the two second eccentric pipes  307  and the third communication channel  308 . The compressed air therefore reaches the second chamber  8 , and the vacuum cartridge generates vacuum. 
     It can be seen once again that, if the vacuum generating means are removed from the second chamber  8 , a cartridge  101  suitable for blowing air through the discharge opening  15  of the second chamber  8  is obtained. 
     In a fourth embodiment visible in  FIGS. 9 to 13 , the cartridge, of the invention  401  is a configurable cartridge relatively similar structurally to the cartridge of the invention  101  according to the second embodiment, but which has the particularity of being able to be configured so as to selectively fulfill various functions. 
     The cartridge  401  comprises a first module  403  and a second module  404  that can be separated. 
     The first module  403  is a control module, inside which there are defined a control enclosure  405 , a first chamber  406 , a first lateral orifice  417 , and a tapped hollow end  407  separated from the first chamber  406  by a third communication channel  408 . The control enclosure  405  comprises a control solenoid valve  409  similar to the control solenoid valve  34  and suitable for controlling a cutoff valve  411  arranged in the first chamber  406 . Electrical connection means  410  similar to those of the other embodiments are arranged on the first module  403 . 
     The second module  404  is a vacuum-generating module comprising a threaded end  412  and inside which there are defined a nozzle  413 , a second lateral orifice  414  and a mixer  415  coaxial with the nozzle  413 . 
     In a first configuration visible in  FIGS. 9 and 10 , the second module  404  is secured to the first module  403  by screwing of the threaded end  412  in the tapped hollow end  407 . The cartridge  401  is then suitable for being controlled via the electrical connection means  410  in order to selectively generate vacuum. The control solenoid valve  409  controls the cutoff valve  411  so that the latter allows an admission of compressed air via the first lateral orifice  417 . The compressed air flows through the nozzle  413  and generates an aspiration of air at the second lateral orifice  414 . It should be noted here that, just like the other embodiments, the cartridge  401  defines a second chamber  420 , which extends here partly inside the threaded and  412  and partly inside the second module  404 . 
     In a second configuration visible in  FIGS. 11 and 12 , the first module  403  functions autonomously, without being associated with the second module  404 . The cartridge  401  no longer comprises vacuum-generating means and is suitable for blowing air through the tapped hollow end  407 . Provision is made for screwing, inside the tapped hollow end  407 , a regulating connecting piece  421  comprising a regulation orifice  422  and making it possible to regulate the flow of air blown by the cartridge  401 . 
     Finally, in a third configuration visible in  FIG. 13 , the second module  404  is once again used for generating vacuum, but is not associated with the first module  403 . The second module  404  is screwed inside a pneumatic interface  423  suitable for being connected directly to a compressed-air inlet. In this third configuration, the cartridge  401  is no longer controlled electrically: it makes it possible solely to generate vacuum from compressed air when the compressed air passes through the cartridge  404  via the pneumatic interface  423 . 
     A sucker gripping device  201  of the invention, visible in  FIG. 14 , is now described. The gripping device  201  is intended to perform a manipulation or gripping of a product  202  having a surface on which a sucker  203  is applied. For this purpose, the gripping device  201  of the invention is here suitable for aspirating air contained in the sucker  203  when the manipulation or gripping is demanded, or to blow air inside the sucker  203  when the manipulation or gripping has ended and it is wished to disconnect the sucker from the surface of the product  202 . 
     The gripping device of the invention comprises a main body  204  in which a first cylindrical housing  205  is provided for accommodating a first cartridge  206  according to the first or second embodiment and suitable for aspirating air, and a second cylindrical housing  207  for accommodating a second cartridge  208  according to the first or second embodiment and suitable for blowing air. 
     The first and second cartridges  206 ,  203  are introduced into their respective cylindrical housings in an axial direction corresponding to the axis X of the tubular body with a cylindrical surface of each cartridge. 
     The device also comprises a compressed-air inlet pipe  210  emerging in the first cylindrical housing  205  and in the second cylindrical housing  207 , a vacuum chamber  211  that emerges in the first cylindrical housing  205  and in the second cylindrical housing  207  and which is put in pneumatic communication with the inside of the sucker  203 . The gripping device also comprises sealing means for preventing any flow of air between the admission pipe  210  and the vacuum chamber  211  through the first and second cylindrical housings  205 ,  207  and outside respectively the first and second cartridges  205 ,  208 . The sealing means, are here annular gaskets  213  mounted on the tubular body of the first and second cartridges. 
     The gripping device is connected pneumatically to pneumatic supply means  214  via a pneumatic connection pipe  215  that emerges sealingly in the compressed-air admission pipe  210 . 
     The first lateral orifice  12  of the first cartridge  206  and the first lateral orifice  12  of the second cartridge  208  are in pneumatic communication with the admission pipe  210 . The second lateral orifice  16  of the first cartridge  206  and the discharge orifice  15  of the second cartridge are in pneumatic communication with the vacuum chamber. 
     It should be noted here that this arrangement is allowed in particular by the fact that the tubular body  2  of the second cartridge  206  is less long than that of the first cartridge  208 . 
     The electrical connection means  4  of the first cartridge  206  and the electrical connection means  4  of the second cartridge  208  are electrically connected to external control means  217  via a common electrical connector  218  of the “T connector” type of the gripping device  201 . The connector  218  has two first connection elements  220  each connected to the electrical connection means  4  of one of the cartridges and a second connection element  221  connected to an electrical cable  222  connected to the external control means  217 . The use of this common connector  218  therefore makes it possible to supply and control the electrical cards and the control solenoid valves of the first and second cartridges using a single electrical cable  222 , which has an obvious advantage in terms of bulk, weight and cost of the device. 
     The functioning of the gripping device of the invention is now described. 
     The admission pipe  210  is constantly filled with compressed air supplied by the pneumatic supply means  214 . 
     When the external control means  217  demand an aspiration of air, the cutoff valve of the first cartridge  206  is opened, and therefore the first cartridge  206  aspirates the air contained in the vacuum chamber  211  and therefore in the internal space of the sucker  203 , which is then secured to the product  202 . The compressed air and the aspirated air are discharged from the gripping device  201  via a mixer  14  introduced into the first cartridge  206 . The cutoff valve of the second cartridge  208  for its part is closed. 
     When the external control means demand a blowing of air for disconnecting the sucker from the surface of the product, the cutoff valve of the first cartridge  206  is closed and the cutoff valve of the second cartridge  208  is opened. The second cartridge  208  blows compressed air into the vacuum chamber  211 , which fills the inside of the sucker  203  with air and causes the disconnection of the product  202  from the sucker  203 . 
     The invention is not limited to the particular embodiments that have just been described but quite the contrary covers any variant falling within the scope of the invention as defined by the claims. 
     Although a sucker gripping device, has been described in detail, the cartridge for a pneumatic circuit of the invention can of course be used in different applications, for example in a pneumatic directional control valve.