RU2423192C1 - Gripper for sorting - Google Patents

Abstract

FIELD: process engineering.

SUBSTANCE: invention relates to housing and communal services and is intended for sorting solid household wastes by manipulators. Proposed gripper comprises handler with joint. Said handler is made up of perforated tenon and gripping member, and drives of tenon controlled reciprocation. Note here that said gripping member is arranged on tenon taper surface and made up of ledges or notches with sharp edges directed toward tenon start.

EFFECT: time saving, higher efficiency.

3 cl, 5 dwg

Description

The invention relates to the field of housing and communal services and is intended for sorting municipal solid waste using manipulators.

A device according to ed. testimonial. USSR No. 1676990 from 09.15.1991, which includes: a manipulator with a joint on which the working body is located, made in the form of a perforating spike with grips in the form of struts. The joint is equipped with a drive for a controlled translational-reciprocal movement of the spike and ends of the struts. The latter are made in the form of levers, the free ends of which extend beyond the base of the spike when capturing the load.

The device operates as follows. The selected object is fixed on the reference plane and a spike is implemented in it, made in the form of a cone, which makes a channel in the bulk of the cargo. Spacers, going beyond the base of the spike abut against the walls of the channel and thereby carry out the operation of capturing an object, which is then transferred to another place. Unloading the item is carried out by the controlled return of the spacer ends of the levers to their original position.

However, the known device has significant disadvantages due to the fact that the capture technology of the known device requires the preliminary formation of the channel, and only then the object is captured by the channel walls. This circumstance dictates a limitation under which the total height of the tenon and spacers should be no more than the thickness of the sorted object, since otherwise: either the goal will not be fulfilled, or the tenon will damage the supporting plane (with corresponding consequences).

Since the thickness of many items (sheets of newspapers, paper, plastic) does not exceed hundreds of microns, the task of manufacturing such small parts, assembling them, and especially operating, taking into account the low value of sorted items, is an economically unjustified task.

In addition, the presence of individual acts: fixing an object on a support, gripping an object with struts increases the time spent on a separate operation of sorting objects by a known device.

The aim of the invention is to eliminate these disadvantages.

This goal is achieved by the fact that in the device for sorting objects, including a manipulator with a joint containing a perforating tenon and a gripping organ, a drive for controlled translational-reciprocal movement of the tenon, the gripping organs are placed on the conical surface of the tenon and are made in the form of protrusions or notches, the latter contain sharp edges directed toward the beginning of the tenon.

In addition, notches are applied to the surface of the tenons in a helical line, and the drive also contains an element of rotational movement of the tenon.

Also, the proposed device is equipped with chippers installed stationary relative to the spikes and made with the possibility of interaction with the spikes through the medium of an engaged object.

The force of engagement of an object when spikes with notches is immersed in its body is caused by the deformation of the disturbed volumes of the body, and the larger the latter, the greater the force of engagement. The deformation friction of most solid objects is such that one or more simultaneous punctures can create reliable engagement for the selected object.

The time taken to capture an object by the claimed authority is limited to the time spent only on the puncture, while a similar operation with a known device also includes: time to fix the object and actually capture it with spacers. Therefore, the performance of the process of sorting objects by the claimed method will be higher than the known method.

Figure 1 - shows a design variant of the spikes with simple notches, figure 2 - spikes with retractable protrusions or screw notches, where: 1 - a spike, 2 - simple notches, 3 - a spike drive, 4 - a chipper, 5 - a manipulator joint , 6 - protrusions made with the possibility of extension, 7 - an elastic element for moving the protrusion 6, 8 - helical notch.

The proposed device operates as follows. The spike 1 is brought into contact with the selected object by the manipulator and perforates it with the vertical action of the joint 5 or drive 3. In this act, the spike 1 is clamped by the region of the object deformed by the notches 2 or protrusions 6. The hooked object is transferred by the manipulator to the container, where it is freed from the spike 1, for example, when it comes into contact with the chipper 4 during the return action of the drive 3.

When using helical notches 8, the drive 3 is also made with the possibility of controlled rotation, and the capture of objects is carried out by screwing the spikes into them 1. Unloading of objects is carried out by reverse rotation of the spikes 1 through the drive 3.

The spikes 1 and the notches 2 and 8 are made of high strength steels or plastics.

To facilitate removal of the object by the chipper 4, the shoulder of the notch 2 from the side of the thickening of the spike 1 contains a sharp edge and can be made shallow. The perimeter of the notch 2 can also be made in the form of a point.

For perforation of solid or brittle objects by notches 2, the drive 3 also contains an element of rotation for creating a recess with a spike 1 that controls the concentration of stresses in the perforated body. The modes of this rotational-translational motion depend on the kind of perforated material, its thickness, texture, etc. and are set remotely by the operator.

The protrusions of type 6 can be made of an elastic material, such as polyurethane. When they are made of solid material, the possibility of their extension from the bodies of the spikes 1 is carried out by means of an elastic element 7.

Manipulators are made in the form of robotic arms with remote or touch control and have two or more degrees of freedom of movement.

With remote control, the operator is isolated from the surrounding atmosphere in a specialized cabin.

The spikes 1 and the notches 2, the protrusions 6 and 8 can also have a magnetic connection with a source of magnetic force, which can be used as a drive 3, made, for example, in the form of a solenoid. In this case, the body of the spike 1 and the inner surface of the actuator 3 constitute a slip pair.

Drive 3 is made in the form of electromagnetic devices, in particular solenoids, electromagnets, electric motors of various types, or in the form of pneumatic, hydraulic motors with the return movement of rotational and rectilinear characters.

Chippers 4 can also be installed on the sides of the containers and contain holes or slots for the passage of the spikes 1.

The notch 2 option is universal.

The options in figure 2:

a) - serves to engage tires, plastics,

b) - for the collection of cardboard, film, waste paper, rags,

c) - it is specialized for capture, various plastics, thin metal, wooden objects and rags, books, etc.

Using the proposed invention will increase the productivity of the process of sorting municipal solid waste on conveyors or sorting tables and improve the working conditions of operators.

Claims (3)

1. The gripping device for sorting objects, including a manipulator with a joint containing a perforating tenon and a gripping organ, drives for controlled translational-reciprocal movement of the tenon, characterized in that the gripping organ is placed on the conical surface of the tenon and made in the form of protrusions or notches, the latter contain sharp edges directed toward the beginning of the tenon. 2. The device for sorting objects according to claim 1, characterized in that the notches on the surface of the spikes are applied along a helical line, and the spike drive also includes the possibility of performing rotational-return movements. 3. The device according to claim 1, characterized in that the gripping device is equipped with chippers mounted stationary relative to the spikes and configured to interact with the spike through a captured object.

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