RU2691155C1 - Vacuum gripping aggregate module - Google Patents

Abstract

FIELD: machine building.SUBSTANCE: invention relates to machine building, robotics and can be used in taking and installing articles on working surface with required travel of gripping head. Vacuum gripping aggregate module is made with possibility of gripping surface of article and installation on working surface. Module comprises movable drive element coupled with possibility of relative axial movement with grip head spring-loaded in middle position and consisting of housing with sealing element. Locking head is provided with retainer configured to limit its axial displacement relative to movable drive member, and on peripheral surface of sealing element is fixed at least one link, connected to movable element of drive and made with possibility of removing sealing element from surface of article after its installation on working surface.EFFECT: invention provides faster operation and reliability of operation in the entire range of required values of movement of the gripping head with force action on different elements of the lifted head.1 cl, 2 dwg

Description

The proposed device relates to the field of engineering, robotics and can be used when taking and installing products on the working surface with the desired course of movement of the gripping head. The most effective use of devices using pumpless vacuum grippers.

Known gripping modular modules (see the Russian patent №2256549 "Gripping head", Sysoyev SN, Zhirov M.Yu.), in which pumpless grippers are used, where excess air pressure is also used to power the displacement drive. The gripping module consists of a gripping head (sucker) and a drive for its vertical movement, made in the form of a single-acting pneumatic cylinder, and the piston cavity is connected to the discharge line through a distributor and the atmosphere through a safety valve. The suction cup is made without pumping with a working chamber connected to the atmosphere through a distributor. However, the function to install the product has low reliability, since the product is not held by the grip in the process of lowering it to the working surface.

Known gripping modular modules (see RF patent №2304505 "Vacuum gripping head", Sysoev S.N., Bakutov AV, Prokhorov A.V., published on 08/08/2007 in BI No. 23; RF Patent No. 2312762 "Vacuum gripping head ", Sysoev S.N., Privedenets I.A., published on 12/12/2007 in BI No. 35; RF patent No. 2370359" Vacuum gripping head ", Sysoyev SN, etc., published on 20.10.09 in BI No. 29. In these devices, in order to perform the function of releasing the product with a non-pumping gripper, in order to depressurize the working cavity, the method of diverting the peripheral part of the suction cup seal from the surface of the product is used. To do this, use levers installed on the device, made with the possibility of force interaction with the working surface after performing the product lowering function.These devices have constructive simplicity and increase the speed of performing the function of “releasing the product.” However, the use of levers gives rise to shock phenomena, which limits speed characteristics of the movement of the gripping head and, accordingly, the speed and reliability of the known devices.

Known vacuum gripping modular module (see RF patent №2397857 "Gripping module", Sysoyev SN, and others, publ. 27.08.2010 in Bull. No. 24), characterized by high speed performance of the function "take the product." The device includes a housing, a gripping head in the form of a sucker, mounted on a moving body of a drive for its movement, spring-loaded to the housing by a return spring. This device improves the speed and reliability of operation by increasing the range of movement of the suction cup.

However, in this device, especially with an increase in the size of the suction cup stroke, reliability limits the existing contradiction. Namely: to improve the performance of the “take the product” function, it is necessary to reduce the force of holding the suction cup relative to the body by reducing the force effect of the return spring, and after gripping the product - to increase this force effect. At the same time, the negative impact of the contradiction on the efficiency of the device increases with an increase in the suction stroke and the mass of the product being captured, since the mass of the moving part of the device changes by the amount of the mass of the product being captured. In addition, the problem of installing the product on the working surface is not solved by successively performing the functions of lowering the product on the working surface, releasing it and raising the suction cup.

The closest of the known technical solutions is the gripping modular module (see Russian patent №115710 "Vacuum gripping modular module", IPC B25J 15/00, Sysoyev SN, Kartsev KA, Shemyakin AS, claimed. 12/19/2011, published on 10.05.2012 in BI No. 13), including a gripping head fixed on the moving element of the drive for its movement, and an accumulator of mechanical energy is additionally installed between the gripping head and the moving element. Accumulation of mechanical energy is realized by installing the gripping head on the moving element with the possibility of axial relative movement, while the gripping head is spring-loaded in the middle position.

This device uses the energy used to perform the function of lowering the product in order to perform the function of lifting, increasing the speed and reliability of these functions.

However, in this device, as well as in all known, the problem of releasing the product after its installation on the working surface is not solved, which limits the speed of the device as a whole.

The objective of the proposed invention is to increase the speed and reliability of the device in the entire range of the required values of movement of the gripping head, organizing a force on the various elements of the raised head.

The task is achieved by the fact that in the proposed device, made with the possibility of capture for the surface of the product and install on the work surface, including a movable element of the actuator, connected with the possibility of relative axial movement with a gripping head, spring-loaded in the middle position and consisting of a housing with a sealing element, a retainer is mounted on the gripping head, configured to limit its axial displacement relative to the moving element of the actuator, and on the periphery malarial surface of the sealing element is fixed along at least one rod coupled to the movable actuator member, and configured to exhaust the sealing member from the surface of the article after its installation on the working surface.

An example implementation of the proposed device is shown in the drawings of FIG. 1, 2. The steps of performing the “take the product” function are shown in FIG. 1, and the “install product” is in FIG. 2

The device (Fig. 1, a) consists of a housing 1, in which the movable working body 3 of the actuator for moving the gripping head 4 is spring-loaded by the return spring 2 and is intended to grip the product 5 from the working surface 6 and install it on this surface. The gripping head is fixed on the movable drive body with the possibility of axial movement and is spring-loaded in the middle position by the spring 7. The latch 8 is installed with the possibility of limiting the movement of the sucker relative to the movable working member. The gripping head consists of a housing 9 with a sealing element 10. The peripheral part of the sealing element is connected by a rod 11 with a movable working body.

Capture module works as follows.

Since in the initial position (Fig. 1, pos. A), the movable working body of the actuator for moving the gripping head is spring-loaded towards the body, the suction cup occupies the extreme upper position. The latch 8 occupies the leftmost position and limits the increase in distance from the attachment points of the thrust 11. There is no force effect from the thrust on the peripheral part of the sealing element.

By the command "take the product" (Fig. 1, pos. B), the movable working body with suction cup moves towards the captured product located on the working surface.

When the force interaction of the suction cup with the surface of the product, the function of capturing the product is performed. In this case, the kinetic energy of movement of the gripping head transforms into the potential energy of compression of the spring 7 (Fig. 1, pos. C). The force effect of thrust on the peripheral surface of the sealing element is absent.

Upon further return of the springs 7 and 2 (Fig. 1, pos. D), their energy is converted into kinetic energy of the return movement of the movable working body with the captured product in the direction of the initial position of the gripping head.

The impact of the springs 2 and 7 leads to the rise of the product 5 (Fig. 1, pos. D). Next, the head with the captured product occupies the final position relative to the body (Fig. 1, pos. E).

In the initial position (Fig. 2, pos. A), before the command “set the product” on the working surface in the gripping modular module, the latch 8 occupies the extreme right position without limiting the increase in distance from the attachment points of the thrust 11.

By the command "install the product" (Fig. 2, pos. B), the movable working body with the suction cup and the seized product moves to the side of the working surface.

When the force interaction of the suction cup and the product with the working surface, the function of the product installation is performed. In this case, the kinetic energy of movement of the gripping head transforms into the potential energy of compression of the spring 7 (Fig. 2, pos. C). Since the distance between the attachment points of the thrust 11 is reduced, the force effect on the peripheral surface of the sealing element is absent.

With further straightening of the spring 7 (Fig. 2, pos. D), its energy is converted into the kinetic energy of the return movement of the movable working member in the direction of the initial position of the gripping head.

In this case, the force effect of lifting from the side of the movable drive unit to the gripping head is carried out through the thrust 11, which leads to the removal of the peripheral part of the sealing element from the surface of the product, depressurization of the suction cavity and the function “release the product” (Fig. 2e). Further action of the springs 2, 7 leads to the lifting of the gripping head and it occupies the final position relative to the body (Fig. 2, pos. E).

Improving the speed and reliability of the device is achieved due to the high-speed execution of the function of releasing the product after installing it on the working surface. This function can be performed without interaction of the product with the working surface, for example, when loading the product into the container.

At Vladimir State University, a working model of the capture module was made. Field tests confirmed its industrial applicability and effectiveness.

Claims (1)

Vacuum gripping modular module, made with the possibility of gripping the surface of the product and installing on the working surface, including a movable element of the drive, connected with the possibility of relative axial movement with a gripping head, spring-loaded in the middle position and consisting of a housing with a sealing element, characterized in that the gripping head is equipped with a clamp made with the possibility of limiting the magnitude of its axial movement relative to the moving element of the actuator, and on the peripheral one the surface of the sealing element is fixed at least one thrust connected to the movable element of the actuator and made with the possibility of diverting the sealing element from the surface of the product after its installation on the working surface.

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