RU200757U1 - Vacuum gripping aggregate module - Google Patents

Abstract

The utility model relates to the field of mechanical engineering, robotics and can be used when picking up and installing parts on the working surface with the required movement of the gripping head. The most effective application of devices using non-pump vacuum grippers. The vacuum gripping unit contains a gripping head with a non-pumping suction cup, fixed on the drive rod of its axial movement, made in the form of a toroidal sealed flexible inextensible chamber with excess air pressure, covering the rod connected by a rod with an electromechanical drive mechanism for moving the gripping head. An additional rod is installed on the rod, made with the possibility of axial movement and fixing the position relative to the rod. The technical result is to expand the range of parts, including easily damaged ones, which are captured and installed with the provision of braking the gripping head at the end of its stroke.

Description

The proposed device relates to the field of mechanical engineering, robotics and can be used when taking and installing parts on the working surface with the required movement of the gripping head. The most effective application of devices using non-pump vacuum grippers.

Known vacuum gripping modular modules (see Russian patent No. 2073601 "Vacuum gripper", Sysoev S.N., Cherkasov Yu.V., Mokeeva E.V., Glushkov AA, RF patent No. 2318653 "Gripping head" , Sysoev S.N., Bakutov A.V., Orekhov N.S., publ. In Bulletin No. 7, 10.03.08), where excessive air pressure is used for power supply. The vacuum gripping device contains a suction cup vertical displacement drive made in the form of two single-acting pneumatic cylinders, kinematically connected to each other, or one double-acting power cylinder. The use of excess air pressure as a power supply increases the operating speed, but requires a pumping system of vacuum energy supply and excess pressure, which complicates the design as a whole. In addition, there is no braking in the device at the end of the stroke of the working body of the device, which limits the range of products to be captured.

Known application in modules of known non-pumping gripping heads (see Sysoev S.N., Bakutov A.V., Privedenets I.A. "Designing high-speed vacuum grippers", STIN magazine, 2007, No. 12, pp. 15-19 ; RF patent №2304505 "Vacuum gripping head", Sysoev SN and others, publ. 08/20/2007 in BI №23; RF patent №2317452 "Vacuum gripping head", Sysoev SN and others, publ. 02/20/08 in BI No. 5; RF patent No. 2312762 "Vacuum gripping head", Sysoev SN and others, publ. 02/20/08 in BI No. 5), which increases the speed, reliability of the "capture" operations, "Release" the part and eliminates the need for a vacuum power supply system. However, the use of pneumatic cylinders with sliding friction of the piston in the cylinder as a drive for the vertical movement of the suction cup in these gripping modules limits the speed of the devices, and also requires the use of electric and pneumatic power supplies, which complicates the design as a whole.

Known vacuum gripping aggregate module (see RF patent No. 2397857 "Vacuum gripping aggregate module", Sysoev SN and others, publ. 27.08.2010 in BI No. 24), including a one-way pneumatic actuator made in the form of a working chamber with overpressure of air and a movable working body, on which a non-pumping gripping head is fixed. By eliminating sliding friction in the pneumatic cylinder, this device increases the performance of the functions "pick up" and "set" the product on the working surface. However, the kinematic separation of the movable working member from the cylinder body reduces the reliability of maintaining the required direction of movement of the gripping head. It also requires the use of electrical and pneumatic power supplies, which complicates the overall design. In addition, the device lacks adjustment and adjustment of the braking of the working body at the end of the stroke, which limits the scope of its application.

The closest in technical essence of the known is the vacuum gripping aggregate module (see RF patent No. 2703771 "Vacuum gripping aggregate module", Sysoev S.N., Trofimov M.M., Cherkasov Yu.V., Sazhin A.V., publ. 10/22/2019 in BI No. 30), which contains a gripping head in the form of a pumpless suction cup attached to the rod of the drive of its axial movement, the drive of axial movement is made in the form of a toroidal sealed flexible inextensible chamber with excess air pressure, covering the rod, connected by a rod to electromechanical drive mechanism for moving the gripping head. The device does not require the use of pneumatic power supplies, which simplifies the design. However, high speeds of movement of the gripping head, the absence of its braking at the end of the stroke lead to the occurrence of shock forces on the part, which limits its use.

Thus, the prototype and all known vacuum gripping modular devices have a limited field of application.

The task of the proposed utility model is to expand the range of parts, including easily damaged ones, which are captured and installed by the device, by ensuring the braking of the gripping head at the end of its stroke.

The task is achieved by the fact that in a vacuum gripping modular module containing a gripping head with a suction cup attached to the drive rod of its axial movement, made in the form of a toroidal sealed flexible inextensible chamber with excess air pressure, covering the rod connected by a rod to an electromechanical drive movement mechanism gripping head, an additional rod is installed on the rod, made with the possibility of axial movement and fixing the position relative to the rod.

An example of the implementation of the proposed device, the stages of its operation and the general view are shown in the drawings of Fig. 1, 2, 3. FIG. 1 shows the stages of gripping the workpiece, and FIG. 2 - placing the workpiece on the work surface.

The device (Fig. 1, a) consists of a housing 1, in which a toroidal sealed flexible inextensible shell 2 is fixed, forming a chamber 3 with excess air pressure, covering the rod 4 with a pumpless vacuum gripping head 5 installed on it with a lever 6 fixed to it sealing element. The gripping head is installed in the direction of the part 7, located on the working surface 8, and is made with the possibility of axial movement relative to the rod 4, spring-loaded by the spring 9. The rod 4 is connected by a rod 10 with an electromechanical drive mechanism 11. A rod lock 12 is installed on the housing. A retainer 13 of an additional rod 14 is installed on the rod. A sensor 15 of the upper position of the rod 4 is installed on the body. The sensor 16 of the upper position of the gripping head 5 relative to the rod 4 is installed on the actuator.

Vacuum gripping aggregate module works as follows.

In the initial position (Fig. 1, a), the rod 4 occupies the uppermost position and is fixed by the latch 12. The shell 2 interacts with the sensor 15, disabling the electromechanical drive mechanism 11. The sensor 16 is disconnected, since the gripping head 5 relative to the rod 4 occupies the extreme lower position ... The lock 13 is disabled and an additional rod 14, not fixed to the rod, is located on the upper end surface of the shell 2.

On the command "take the part" (Fig. 1, a), the lock 12 is triggered, unlocking the position of the rod 10 and the rod 4 relative to the body 1.

The drive for moving the gripping head is a single-acting toroidal chamber drive, controlled using the effective area of the end surfaces of the chamber (see Russian patent No. 2586379 "Method for controlling the movement of the chamber drive rod", Sysoev SN, publ. In Bul. No. 16, 06/10/2016).

Since the area of the annular hole in the lower end surface of the chamber is larger than in the upper one, a buoyant force acts on the rod directed to the part 7. The function of lowering the gripping head to the surface of the part is performed (Fig. 1, b).

After the gripping head touches the surface of the part as a result of the continued movement of the rod 4 and its forceful interaction with it, the function of its gripping is performed (Fig. 1, c). The sensor is triggered, including the electromechanical drive mechanism 11.

The rod 10 moves the rod 4 upward (Fig. 1, d), lifting the gripping head with the part. The function of raising it is performed.

In the extreme upper position of the rod 4, the sensor 15 is triggered, turning off the electromechanical drive 11 and turning on the latch 12. The device takes its initial position, characterized in that the gripper holds the part. During these phases of operation of the device, the additional rod 14 is located on the upper end surface of the shell 2, since its position is not fixed relative to the rod 10.

When installing a part, especially a lightly damaged one, on a working surface, it is important to eliminate the effect of significant force effects on it. Therefore, in the device in the process of moving the part, it is braked when it approaches the working surface.

In the initial position, the device is located above the working surface on which you want to install the part (Fig. 2, a).

On the command "place a part" on the working surface, the gripping module performs the same actions that were performed when taking the part. Only in the area of approach of the part to the working surface 8 is included the lock 13 for moving the rod 10 relative to the additional rod 14 (Fig. 2, b). The additional rod moves downward by the thrust, increasing the effective area of the upper end surface of the shell 2. The gripping head is decelerated (Fig. 2, c). Further, the lever 6 interacts with the working surface, which leads to the fact that the edge of the suction cup is removed from the surface of the part, fee, the working cavity is depressurized, that is, the operation of releasing the part by the suction cup is performed. The gripping head is lifted by an electromechanical drive (Fig. 2, d) and the device takes its initial position.

Thus, the use of an additional rod mounted on the rod expands the range of parts, including easily damaged ones, which are captured and installed by the device, by providing braking of the gripping head at the end of its stroke.

A working model of the gripping module was made at the Vladimir State University (Fig. 3). Full-scale tests have confirmed its industrial applicability and effectiveness.

Claims (1)

A vacuum gripping unit containing a gripping head with a suction cup fixed on the drive rod of its axial movement, made in the form of a toroidal sealed flexible inextensible chamber with excess air pressure, covering the rod connected by a rod with an electromechanical drive mechanism for moving the gripping head, characterized in that the rod is equipped with an additional rod made with the possibility of axial movement and fixing the position relative to the rod.

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