BG3076U1 - Compact contactless pneumatic gripper - Google Patents

Abstract

The utility model relates to a compact contactless pneumatic gripper, consisting of a block for pneumatic supply (1) and a housing (2) with nozzles (3), as the housing could be solid or composite, consisting of a base (11) and cover (12), or like a module system, including a base (13), in which are mounted inserts (14) and a cover (12). The advantages of the proposed solution compared to some similar systems are: compactness – maximum thickness of 3 mm, specially shaped nozzles, situated radially relative to a common centre and directed to the operational surface, variants of the construction, consistent with the technologies of manufacturing, guaranteeing significantly increased reliability and lower costs, due to the use of technological details, and the easy implementation of the different options compared to the size and the weight of the manipulated objects.

Description

Field of technology

The utility model refers to a non-contact pneumatic gripper, characterized in comparison with similar systems with compactness, lower cost, while maintaining functionality and reliability, based on the modular principle used. The modular construction allows easy realization of different options according to the size and weight of the manipulated objects.

BACKGROUND OF THE INVENTION

Devices for handling thin flat objects are contact or non-contact. The contacts use various means to realize the force of holding and lifting the manipulated object, including the use of pneumatics (vacuum grippers). A significant disadvantage is the contact with the manipulated object, which in some cases may be unacceptable. Several Bernoulli contactless pneumatic gripper designs are known, described in US 7100954 B2, US 4566726 A, US 7168911 B1, US 7293811 B2 hUS 2013/0108409 Al. They consider gripper designs using the Bernoulli effect to hold, manipulate, and transport ultra-thin objects, using guide edges to assist in positioning them, or friction pads that impede the movement of the manipulated object. Such constructions consist of several components forming channels and openings for air supply so as to form underpressure zones (Bernoulli effect). The existing design solutions are not modular and do not allow easy change of the number of holes.

The main disadvantage of these systems is the relatively large thickness, which does not allow manipulation of tightly arranged objects. Another disadvantage of these solutions is the complex and expensive construction due to the use of several components with relatively complex geometry. Apart from the high cost of the product, this does not allow easy configuration of a system with a different set of holes and sizes.

Technical essence of the utility model

The task of the utility model is to create a contactless pneumatic gripper having a minimum thickness allowing the manipulation of objects in low enclosed spaces. The construction of the non-contact pneumatic gripper is compact and allows operation of ultra-thin objects with reduced ambient space for easier maneuvering during their manipulation.

The non-contact pneumatic gripper works using the Bernoulli principle, by supplying gas under pressure in a direction parallel to the proximal surface of the manipulated object, the direction of gas is realized by appropriately shaped nozzles. The nozzles of the gripper are used to reduce the height of the channel in which the pressurized gas flows and direct it to the working area. Underpressure is created due to the high velocity of the fluid, as it pulls the object towards the gripper. The force of gravity is balanced by the weight of the manipulated object, without contact between it and the gripper.

The task of the utility model is solved by creating a contactless pneumatic gripper, working using the Bernoulli principle, which consists of a pneumatic power supply unit and a housing with nozzles, which are located radially relative to a common center and are directed to the working surface of the housing. . The nozzles are supplied with pressurized gas from the pneumatic supply unit and are connected to it through supply channels located in the housing. The nozzles have deflector surfaces for directing the flow of gas into the working area, which is closed between the working surface of the housing and the surface of the manipulated object, and the deflector surfaces are adapted so that the gas exits through sector-shaped slots in the working surface to create an even laminar high-velocity flow, leading to a homogeneous vacuum in the working area, due to the Bernoulli principle. According to the utility model:

a. the ratio of the height of the nozzle hl to the height of the channel h2 - hl: h2 is in the range from 1:15 to 1: 5;

b. the ratio of change in the cross-sectional area of the nozzle A1 and the cross-section of the channel A2 - A1: A2 is in the range from 1: 8 to 1: 4;

5453 Descriptions to certificates for registration of utility models № 01.2 / 31.01.2019

The non-contact pneumatic gripper has a maximum total thickness in the gripping area of the manipulated object of not more than 3 mm.

Preferably the nozzles are not less than 3 and not more than 20 in number.

The non-contact pneumatic gripper can be made in three variants - with monolithic housing, composite housing and modular construction - using inserts, thus significantly increasing the reliability and cheapening of the product due to the use of a unified component allowing easy reconfiguration, technological other two components, allowing the manufacture of materials that improve the overall parameters of the product.

In the embodiment with a monolithic housing, the nozzles are integrated in the gripper housing. The monolithic construction of the body of the non-contact pneumatic gripper is performed by additive technologies, ensuring a high degree of sealing of the channels supplying the pressurized gas to the working area, as well as high rigidity of the gripper.

The second embodiment divides the monolithic structure of the housing into two components, which allows its production through technologies using material removal. In this embodiment, the housing is designed as a composite structure, consisting of a base in which the nozzles and supply channels are formed, and a cover with the working surface in which the slots are formed.

The third variant uses a modular system for non-contact pneumatic gripper, including a housing made as a modular construction, in which in the base with feed channels are mounted inserts in which the deflector surfaces of the nozzles are formed, and in the cover with the working surface the slots are formed. The insert is unified and has a relatively complex technological geometry and small size, which allows it to be made with the required accuracy without increasing production costs. This concept allows large body components to have a relatively simple geometry, the accuracy of which has no significant bearing on the functional parameters of the product.

The proposed solution uses three main components - two plates and a set of inserts - which significantly reduces its cost, allowing for easy configuration of different in number and location nozzles. Possible solutions are in the range of three to twenty radially arranged, of the same or different diameter nozzles. An exemplary solution is 10 nozzles located on a common diameter (Fig. 1).

The advantage of the proposed solution is that the simplified geometry of the housing components reduces the requirements for their machining and allows their implementation of a wider range of materials. The concept allows the use of composite materials, which increases the stability of the structure and reduces the error in manipulating and positioning the non-contact processed object.

Explanation of the attached figures

The utility model is illustrated in more detail by exemplary embodiments of a non-contact pneumatic gripper, given as non-limiting examples of the utility model, with reference to the accompanying figures, where:

Figure 1 shows a diagram of a monolithic non-contact pneumatic gripper;

figure 2 shows the construction of fig. 1 in disintegrated form;

Figure 3 shows an embodiment of the gripper, in which the housing structure is divided into two components;

Figure 4 shows an embodiment of the non-contact pneumatic gripper comprising a housing, a cover and inserts;

figure 5 shows the construction of fig. 4 in disintegrated form.

Example of implementation of the utility model

The non-contact pneumatic gripper (Fig. 1), according to the utility model, works using the Bernoulli principle and consists of a pneumatic power supply unit 1 and a housing 2.

The housing 2 includes supply channels 4, which are pneumatically supplied by a pneumatic supply unit 1, leading the supplied gas under pressure to nozzles 3, which are located radially relative to a common center and are directed to a working surface 6 of the housing 2. The number of nozzles is not less than three and not more than twenty. The nozzles 3 have deflector surfaces 5 for directing the flow of gas in the working area 8, closed between the working surface 6 of the housing 2 and the surface of the manipulated

5454 Descriptions to certificates for registration of utility models № 01.2 / 31.01.2019 object 7, as the deflector surfaces 5 are adapted so that the gas when exiting through sector-shaped slots 10 in the working surface 6 to create a uniform laminar high-velocity flow, leading to homogeneous underpressure in working zone 8, following the Bernoulli principle. The created vacuum in the zone leads to the occurrence of lifting force, which presses the manipulated object to the housing 2. When reducing the distance between the front of the housing 2 and the manipulated object (due to the lifting force), the vacuum at which the manipulated object returns returns. in the starting position, and thus the "self-centering" of the object is realized.

According to the utility model, the ratio of the height of the nozzle hl to the height of the channel h2 - hl: h2 is in the range from 1:15 to 1: 5. In addition, the ratio of the change in cross-sectional area of the nozzle A1 and the cross-section of the channel A2 - A1: A2 is in the range from 1: 8 to 1: 4.

The maximum total thickness of the non-contact pneumatic gripper in the gripping area of the manipulated object is not more than 3 mm.

In one embodiment, the gripper housing 2 is monolithic, the nozzles 3 being integrated therein (Figs. 1 and 2), and is constructed by adding material.

Another embodiment of the non-contact pneumatic gripper (Fig. 3) consists of a pneumatic supply unit 1, and a composite housing comprising a base 11 in which the nozzles 3 and the supply channels 4 are formed, and a cover 12 with the working surface 6, in which the slots 10 are formed. The composite construction of a housing element, realized by a base 11 and a cover 12, allows technological implementation by removing material.

According to another embodiment of the compact non-contact pneumatic gripper (Fig. 4), the modular housing has a base 13 with feed channels 4, in which inserts 14 are mounted, in which the deflector surfaces 5 of the nozzles 3 are formed. The structure is closed by a cover 12, with the working surface 6 on which the slots 10 are formed. The inserts 14 are mounted in holes or other shaped slots in the base 13, in a manner ensuring that they are oriented relative to the supply channels 4, for example with pads, after which they are glued or welded to the base 13.

Claims (5)

Claims A non-contact pneumatic gripper operating on the Bernoulli principle, consisting of a pneumatic supply unit (1) and a housing (2) with nozzles (3) which are arranged radially relative to a common center and directed towards a work surface (6). ) of the housing (2), which nozzles (3) for supplying gas under pressure are connected to the pneumatic supply unit (1) through supply channels (4) located in the housing (2), the nozzles (3) having deflector surfaces (5) for directing the flow of gas into a working area (8) closed between the working surface (6) of the housing (2) and the surface of a manipulated object (7), the deflector surfaces (5) being adapted so that the gas at its exit through sector-shaped slots (10) in the working surface (6) to create a uniform laminar high-speed flow, for homogeneous underpressure in the working zone (8), according to the Bernoulli principle, characterized in that: a. has a ratio of the height of the nozzle hl to the height of the channel h2 - hl: h2 in the range from 1:15 to 1: 5; b. there is a ratio of change in the cross-sectional area of the nozzle A1 and the cross-section of the channel A2 - A1: A2 in the range from 1: 8 to 1: 4; c. the non-contact pneumatic gripper has a maximum total thickness in the gripping area of the manipulated object of not more than 3 mm. Compact non-contact pneumatic gripper according to claim 1, characterized in that the nozzles (3) are not less than three and not more than twenty in number. Compact non-contact pneumatic gripper according to Claims 1 or 2, characterized in that the nozzles (3) are integrated in the gripper housing (2). Compact non-contact pneumatic gripper according to claims 1, 2 or 3, characterized in that the housing (2) is designed as a composite structure consisting of a base (11) in which the nozzles (3) and the supply channels are formed (4). ), and a cover (12) with the working surface (6) in which the slots (10) are formed. Compact non-contact pneumatic gripper according to Claims 1 or 2, characterized in that the housing (2) is designed as a modular structure in which a base (13) with feeders 5455 Descriptions to certificates for registration of utility models № 01.2 / 31.01.2019 channels (4) are installed inserts (14), in which the deflector surfaces (5) of the nozzles (3) are formed, and in a cover (12) with the working surface (6) the slots (10) are formed.