RU1776558C - Vacuum grip - Google Patents

Abstract

Usage: in robotic technological complexes, for example, cold stamping. SUMMARY OF THE INVENTION: the device is made in the form of a housing on which a vertical suction cup drive is mounted in the form of a bellows. A membrane-type valve is installed in the bellows cavity, which is configured to connect the bellows cavity to the air suction cup through the air channel in the form of an acoustic waveguide. The bellows cavity is connected to a vacuum line. The pressure control valve is the vacuum pressure of the air pumped out of the valve cavity. An acoustic receiver connected to the control system is installed in the device. In the initial position, the valve emits acoustic waves directed to the working area of the vacuum gripper. 1 ill.

Description

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The proposed device relates to the field of robotics, in particular to devices with adaptive control, and can be used in robotic technological complexes, for example, in cold stamping.

Tactile sensing devices of industrial robots are known in which sensing is accomplished by contacting an object. They contain power, moment; force sensors associated with the control system. Contact adaptation is limited in scope, has a complex design and control system. ,

Devices and industrial robots with a workspace location system are known in which sensors are used: light locating, inkjet, ultrasonic, laser induction, etc. Data

The devices are distinguished by a complex design and control system. They involve the installation of an emitter and a radiation receiver associated with the control system.

The closest in technical essence of the known is a vacuum gripping device, comprising a housing, a pneumatic suction cup, a drive for moving it towards the grip part, made in the form of a power cylinder rigidly connected to the suction cup, a valve controlled by a control system mounted with the possibility of connection the piston cavity of the pneumatic cylinder g, the cavity of the suction cup.

In this device, from a single control signal from the valve opening control system, the functions of lowering, gripping the lifting workpiece are performed.

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grip with the workpiece. However, this device is not sensed by the presence of a workpiece about the working area of the capture, which reduces the functionality of the device.

An object of the invention is to expand the functionality of a device.

This goal is achieved in that in a device including a housing, a pneumatic suction cup, the drive of its movement in the direction to the grip part, made in the form of a power cylinder, for example, rigidly connected to the pneumatic drawing, a valve controlled by a control system, mounted to connect the bellows cavity to the air suction cup cavity. an acoustic receiver connected to the control system is installed in the device; the valve is installed in the bellows cavity and is made in the form of a housing with a cavity connected to a vacuum and a hermetically sealed spring-loaded membrane installed with the ability to close the pneumatic line connecting the bellows cavity with the pneumatic suction cup and is made in in the form of an acoustic waveguide directed towards the captured part.

An analysis of the known technical solutions has shown that devices are used in which the distribution equipment is made in the form of membrane-type valves. To sense the presence of captured parts, acoustic emitters and receivers are installed in them, which determine the presence of the part in the; These elements are additionally mounted on grippers. The difference of the proposed device is that the valve is made in the form of a housing with a membrane installed with the ability to close the pneumatic line. made in the form of an acoustic waveguide. In addition to the traditional function of distribution equipment, the valve performs the additional function of an acoustic emitter.

The vacuum gripper (Fig. 1) consists of a housing. 1, on which the bellows 2 is spring-mounted, spring-loaded 3. The bellows 2 are mounted on the bellows 2. The bellows cavity 2 is connected to the air-suction cavity 4 by the air duct 5. A valve 6 is installed in the bellows cavity 2, which is able to close the air-duct 5 with a membrane 7, a spring-loaded spring 8 in the housing 9. The membrane cavity is connected to the vacuum line. The bellows cavity 2 is also connected to the vacuum line. On the

an acoustic receiver 10 connected to the control system 11 is installed in the housing 1. A vacuum gripper captures the part 12.

The device operates as follows.

When the gripper is moved by an industrial robot to the area located above part 12, the membrane 7

0 closes the pneumatic channel 5. Since the cavity of the bellows 2 is connected to the vacuum line, it creates a vacuum pressure and the bellows 2 is compressed, and the suction cup 4 is raised, and the design parameters

5 (the ratio of the effective areas of the membrane 7 and the pneumatic line 5, the stiffness of the spring 8) of the vacuum gripper, as well as the ratio of the vacuum pressure and their magnitude in the bellows cavity 2 and in the cavity of the valve 6, are selected and adjusted, setting the self-oscillating membrane 7. This is possible due to the fact that the forces acting on the membrane 7, directed towards the closure of its pneumatic channel 5,

5 increase when a gap occurs between the membrane 7 and the end of the pneumatic channel 5, since the effective area of the membrane 7 increases (the area of the pneumatic channel 5 is added).

0 As a result, through pneumatic channel 5

the waveguide passes acoustic waves and leaves it in the direction of the working surface of the suction cup 4. As soon as part 12 is in the working area

5 of the vacuum gripper, the acoustic waves emitted by the valve 6 fall on it, are reflected and, acting on the membrane, cause resonance phenomena. There is a hundred cha wave. Acoustic

0, the receiver 10 senses a change in the mode of the acoustic waves and sends a signal to the control system 11. From the control system 11, a command is received to take the part 12 with a vacuum gripper.

5 The vacuum pressure in the cavity of the valve 6 increases. As a result, the bellows cavity 2 is connected to the cavity of the pneumatic suction cup 4. As a result of the depressurization of the bellows cavity 2, the cutting pressure in it drops, the pneumatic suction cup 4 drops down to the part 12. As soon as it touches, the air starts to be pumped out from the cavity of the suction cup 4, the part 12 is gripped. After reaching the gripping force necessary to hold the part, the suction cup is lifted. The lifting moment is calculated and regulated by the force of the spring 3. Thus, the vacuum gripper lowers the air suction cup 4, grabs the part 12, lifts it when the part 12 is in the working area of the vacuum gripper,

Tests of the proposed vacuum gripping device have shown its operability.

The use of the proposed device allows us to expand the scope of application of the simplest industrial robots by translating them into adaptive class.

Claims (1)

SUMMARY OF THE INVENTION A vacuum gripping device comprising a housing on which a linear displacement pneumatic actuator is mounted, made in the form of a bellows, the cavity of which is connected to the pneumatic system, while the movable part of the bellows is fixed suction cup, the working cavity of which is connected by means of a channel and a valve with a bellows cavity, characterized in that, in order to expand the functional opportunities, it is equipped with an acoustic receiver mounted on the body, and the valve is made in the form of an acoustic radiation source and contains a hollow body, the cavity of which is separated by a membrane spring-loaded relative to the valve body, while one part of the cavity is connected to the pneumatic system, and the other is connected to the bellows cavity and by means of introduced acoustic the waveguide installed in the channel, with the cavity of the suction cup, and the membrane has the ability to block the channel of the waveguide.