RU184884U1 - CAPTURE FOR A ROBOTIZED MANIPULATOR - Google Patents

Abstract

This technical solution, in General, relates to the field of load-gripping elements or devices structurally coupled or adapted for use with crane mechanisms for lifting, lowering or moving cargo, and in particular to the grips of robotic manipulators used to move banknotes. A gripper for a robotic manipulator, comprising a housing made in the form of a pneumatic cylinder with an upper jaw holder rigidly fixed to its housing; a triangular upper grip sponge; the lower jaw lip, made in the form of a flange with two pins installed in it, pointed from below at an obtuse angle; a grip opening limiter connected to the pneumatic cylinder by means of a fork screwed to the rod of the pneumatic cylinder and pivoting about an axis fixed to the upper part of the grip. EFFECT: increased reliability of moving bundles of banknotes in any direction and at any angle without losing notes. 4 s.p. forls, 7 ill.

Description

FIELD OF TECHNOLOGY

[001] This technical solution generally relates to the field of load gripping elements or devices structurally coupled or adapted for use with crane mechanisms for raising, lowering or moving cargo, and in particular to grips of robotic manipulators serving to move banknotes.

BACKGROUND

[002] Currently, grips for robotic manipulators are important elements of industrial robots. The systematization and analysis of gripper designs, the development of methods for their selection, calculation and design, the establishment of requirements for them depending on the nature of the operations performed and recommendations for use are very significant.

[003] The patent of the Russian Federation 2207246 “Capture of a manipulator”, Patentee (s): Volgograd State Technical University, patent publication: 06/27/2003 is known from the prior art. The capture comprises a housing, jaws with a drive for moving them, pads with drives for their movement, placed on the surface of the jaws with the possibility of sliding over them. It is equipped with a part presence sensor located between the plates and mounted on the housing with the possibility of adjusting its position. Each sponge is equipped with a hole sensor made in the form of a sleeve in which a spring-loaded clamp and a limit switch are installed with the possibility of their interaction with axial movement of the clamp, which is placed with the possibility of movement in a longitudinal groove made in the patch. Moreover, the presence sensors are fixed on the jaws with an offset relative to each other, and their latch is equipped with a stopper in the form of a screw. The drive for moving the jaws is made in the form of pneumatic chambers connected to a pneumatic valve and located in the housing along each jaw, fastened with a set of spring-loaded guide rods installed in the housing with the possibility of axial movement. In this case, the drive for moving each pad is made in the form of a rodless pneumatic cylinder with two cavities, on the carriage of which the said pad is fixed, the first and second cavities of different pneumatic cylinders being connected to each other, as well as to a switchgear.

[004] A common problem with grippers available in the prior art is that when compressing, for example, a bundle of bank notes with flat jaws, the bundle does not have sufficient rigidity, and therefore layers of bank notes in the bundle are displaced when the manipulator is moved. Such a shift of layers is unacceptable when working with banknotes, because it complicates the work with banknotes when packing and counting, and also increases the number of errors.

ESSENCE OF TECHNICAL SOLUTION

[005] This technical solution is aimed at eliminating the disadvantages inherent in existing solutions known from the prior art.

[006] The technical problem (or technical problem) in this technical solution is to ensure reliable movement of bundles of banknotes without losing bills.

[007] The technical result manifested in solving the above problem is to increase the reliability of moving bundles of banknotes in any direction and at any angle without losing bills.

[008] An additional technical result that is manifested in solving the above problem is the exclusion of sagging and fluctuations in banknotes, as well as the displacement of layers in the stack when moving it.

[009] The specified technical result is achieved due to the implementation of the capture for a robotic arm containing a housing made in the form of a pneumatic cylinder with a holder for the upper jaw rigidly fixed to its body; an upper jaw jaw having a triangular shape and containing two mounting holes for attaching it to the upper jaw holder; the lower jaw lip, made in the form of a flange with two pins installed in it, pointed from below at an obtuse angle; a grip opening limiter connected to the pneumatic cylinder by means of a fork screwed to the rod of the pneumatic cylinder and pivoting about an axis fixed to the upper part of the grip.

[0010] The specified technical result is provided by the whole set of essential features in the framework of the implementation of the appointment. Elements and nodes of the capture for the manipulator, characterized by the relevant essential features, are in constructive unity and functionally interconnected. All elements and components of the device for the possibility of its operation are combined into a single product and during its manufacture are interconnected by assembly operations.

[0011] In some embodiments of the technical solution, the pneumatic cylinder is rodless.

[0012] In some embodiments of the technical solution, rail holders are mounted on the upper and lower ends of the pneumatic cylinder to provide co-directionality of the upper and lower gripping jaws.

[0013] In some implementations of the technical solution, the opening disclosure limiter provides full disclosure and / or disclosure of n millimeters less than full.

[0014] In some embodiments of the technical solution, the angle range of the upper grip lip is from 100 to 140 degrees.

[0015] In some embodiments of the technical solution, the upper jaw jaw is fixed to the jaw holder with two M3 screws.

[0016] In some embodiments of the technical solution, the length of the pins of the lower jaw jaw is 150 mm.

[0017] In some embodiments of the technical solution, the upper grip lip has angled bevels at the front.

BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The features and advantages of this technical solution will become apparent from the following detailed description and the accompanying drawings, in which:

[0019] In FIG. 1 shows an example implementation of a gripper for a robotic arm of an industrial robot (isometric view);

[0020] In FIG. 2 shows an example of a grip implementation for a robotic arm of an industrial robot (side view);

[0021] In FIG. 3 shows an example implementation of the upper jaw jaw made in the form of an isosceles triangle.

[0022] In FIG. 4 shows an example implementation of the lower jaw jaw made in the form of a flange with two pins;

[0023] In FIG. 5 shows an example implementation of a pin of the lower jaw jaw (side view).

[0024] In FIG. 6 shows an example of a longitudinal capture of a bundle of banknotes by means of a gripper for a robotic manipulator.

[0025] In FIG. 7 shows an example of another implementation of the transverse taking of a bundle of banknotes by means of a gripper for a robotic arm.

DETAILED DESCRIPTION

[0026] Below will be described the terms and concepts necessary for the implementation of this technical solution.

[0027] An industrial robot is an automatic machine consisting of a manipulator and a device for programmatically controlling its movement, designed to replace a person when performing basic and auxiliary operations in production processes.

[0028] A manipulator is a combination of a spatial linkage mechanism and a drive system that, under the control of a programmable automatic device or human operator, performs actions (manipulations) similar to those of a human hand.

[0029] A gripping device or a gripper of a manipulator is called its working body, designed to capture and hold production items and (or) technological equipment, called an object. GOST 26063-84 establishes the following types of grippers (in other words grippers): mechanical, vacuum, magnetic and other

[0030] A pneumatic cylinder (full pneumatic cylinder) is a device that converts the energy of a stream of compressed air (or gas) into the energy of translational movement of a piston.

[0031] The rodless cylinder performs the function of a linear pneumatic drive, which differs from standard cylinders in that it does not have a rod and the carriage serves to transmit movement. This carriage moves along the cylinder profile, which easily allows for a much greater stroke and not only the rectilinear movement of the object, but also, if there is a corresponding profile, movement along the arc.

[0032] In an advantageous embodiment, the gripper is a rodless first pneumatic cylinder 110, as shown in FIG. 1, with the upper holder 150 of the jaw 160 rigidly fixed to its body, for example, with eight M5 screws. In some embodiments, the maximum stroke of the very first pneumatic cylinder 110 may be 100 mm and the maximum grip opening is 93 mm. The compression force of the gripping jaws can be 121 Newton. The holder 150 of the jaw 160 is at the same time the main body part of the grip, on which two carriages 130 are fixed.

[0033] The capture is carried out when the gripper is moved by the manipulator, when its working elements, coming into contact with a bundle of banknotes, open and cover the object; while, naturally, a bundle of banknotes should be forcibly held at the grab position. A bundle of banknotes is freed by shifting the gripper in the opposite direction also when the bundle is forcibly held.

[0034] At the upper and lower ends of the pneumatic cylinder 110, rail holders 140 are fixed. The aforementioned carriages 130 are mounted on the rails 140. This design is due to the rodless first pneumatic cylinder 110 requiring the rails 140 to ensure that the upper and lower gripping lips are aligned with each other (flange 210 with two pins) and firmly tie the cylinder 110 to the manipulator flange (not shown).

[0035] A second pneumatic cylinder 120 is mounted on one of the rails 140, which is connected to the catch opening limiter 190 with a fork 100 screwed to the rod of the second pneumatic cylinder 120, as shown in FIG. 2. A bearing and washer are mounted on the yoke 100. The bearing is placed in the groove of the limiter 190 and is a node that allows the fork 100 to move along the groove without jamming. The yoke 100 moves along the groove on the stop 190. The washer prevents the yoke 100 with the bearing popping out of the groove. On which guide 140 the second pneumatic cylinder 120 is installed is not essential for this technical solution, which depends on the layout of the industrial robot. When transferring the cylinder of the limiter 190, it is only necessary to change the limiter 190 itself, i.e. make it in mirror image with a groove for the plug on the other hand. The limiter 190 is a hard stop made, for example, of plastic, aluminum, steel, etc., without limitation, and pivoting about an axis fixed to the upper part of the grip. The limiter 190 provides two positions of the opening of the capture - full disclosure and disclosure of n millimeters less than full. Incomplete disclosure is regulated in advance, in the manufacture of the limiter 190, based on production tasks and their parameters. The limiter 190 is quick-detachable. Range n can take a value from 20 to 80 mm.

[0036] The upper grip lip 160 is a triangular shaped part. At the base of the upper jaw 160 lies an isosceles triangle with an angle of n degrees at the apex A, as shown in FIG. 3, and in a particular embodiment, the angle is 130 degrees. In some embodiments, the range may vary from 100 to 140 degrees. The upper jaw 160 is fixed to the jaw holder 150 with two screws, for example, of the M3 type, which provides a quick jaw replacement if it is necessary to change its length or angle. The capture provides for the quick replacement of the jaws, both the upper 160 and the lower (flange 210 with two pins), in case of changing the layout of the conversion section or replacing the calculating machine with another model. The pins in some embodiments are up to 200 mm long. As the length increases, there is a risk of too much deformation of the pins of the flange 210. The upper jaw 160 can also be made with a different angle at the apex and a different length.

[0037] The lower jaw lip is a flange 210, with two pins installed therein, pointed at the bottom at an obtuse angle m, diameter d, and length I, as shown in FIG. 4. The angle can be fixed (for example, 175 degrees), and the diameter in a specific implementation example is 6 mm. In some embodiments, the thinner pins of flange 210 are used as shown in FIG. 5, at lower loads, and thicker (for example, 8 mm). The length of the pins in a specific implementation example is 150 mm.

[0038] The triangular shape of the upper jaw 160 is due to the need to reliably compress banknotes in any state in an amount of 1 to 400 pieces and to ensure that layers of banknotes are not shifted when they are transferred. The upper jaw 160 is a part having an isosceles triangle in cross section. The part has two mounting holes for fixing it to the holder 190 of the upper jaw 160. The sponge 160 has beveled at an angle edges in the front. This solution reduces the risk of collisions at the entrance to the pockets of the calculating machine and trays for withdrawing money. In other words, the sponge 160 tapers from the rear end to the front.

[0039] The use of pins in the lower grip lip (flange 210 with two pins) is due to the necessary grip rigidity, as well as minimizing the deformation of the jaws when closing the grip. The pins are mounted in holes in the lower grip flange 210 and secured with M3 × 5 locking screws through the lower plane of the grip flange 210. The bottom flange 210, complete with pins, is called the lower jaw.

[0040] A gripper for a robotic arm of an industrial robot allows the creation of a characteristic cylindrical bend of banknotes, as shown in FIG. 6 or FIG. 7, which gives rigidity to the stack of banknotes and eliminates sagging, oscillation of banknotes and displacement of layers in the stack when moving it.

[0041] Thus, all the features of the claimed combination of essential features expressing the essence of the utility model as a technical solution are causally related to the specified technical result (improving the reliability of moving bundles of banknotes in any direction and at any angle without losing notes), affecting its receipt.

[0042] Modifications and improvements to the above described embodiments of the present technical solution will be apparent to those skilled in the art. The preceding description is provided as an example only and is not subject to any restrictions. Thus, the scope of this technical solution is limited only by the volume of the attached formula of the utility model.

Claims (10)

1. Capture for a robotic arm containing - a housing made in the form of a first pneumatic cylinder with a holder for the upper jaw rigidly fixed to its housing; - the upper jaw jaw having a triangular shape and fixed to the holder of the upper tube, which is located on the grip housing; - the lower jaw lip, made in the form of a flange with two pins installed in it, pointed from below at an obtuse angle; - grip opening limiter associated with the second pneumatic cylinder by means of a fork screwed to the rod of the second pneumatic cylinder and pivoting about an axis fixed to the upper part of the grip; - guides to ensure co-directionality of the upper and lower jaws of the grip, mounted on the holders of the guides mounted on the upper and lower ends of the first pneumatic cylinder. 2. Capture for the robotic arm according to claim 1, characterized in that the first pneumatic cylinder is rodless. 3. Capture for the robotic arm according to claim 1, characterized in that the limiter of the opening of the capture provides full disclosure and / or disclosure of n millimeters less than full. 4. The grip for the robotic arm according to claim 1, characterized in that the angle range of the upper jaw of the grip is from 100 to 140 degrees. 5. The grip for the robotic arm according to claim 1, characterized in that the upper jaw lip has angled edges at the front.

Images