RU2709073C1 - Load-handling device - Google Patents

Abstract

FIELD: transportation.

SUBSTANCE: invention relates to handling grippers and grabs for lifting and moving loads. Proposed device comprises base to which at least one jaw for gripping is hinged and actuator to change jaw position. Actuator has output shaft and is configured to rotate output shaft around its central axis. Support element is fixed on output shaft. Each jaw is pivotally connected to the support element by means of a traction rod so that when the output shaft rotates around the central axis in one side of the traction rod, the jaws are actuated so that the jaws move into the open position, and during rotation of output shaft around central axis in other side of jaw move into closed position.

EFFECT: higher operational characteristics and reliability of operation of load handling device, including higher reliability of opening and closing of jaws of grip in its various spatial positions with possibility of controlling speed, value and force of grip formed by jaws.

10 cl, 8 dwg

Description

FIELD OF THE INVENTION

The invention relates to load gripping devices and grabs for lifting and moving goods. In particular, this invention relates to load gripping devices driven by actuators mounted thereon (e.g., motors). This invention can be used, for example, in the field of vending, entertainment and gaming machines for capturing, holding and moving goods or game items, however, the scope of the invention is not limited to this. The invention can also be used in heavy and light industry or construction on cranes or lifting devices.

Description of the prior art

Grabs and lifting devices are commonly used to capture and move loads. A typical load-gripping device is made in the form of several "jaws" (grippers, buckets), which are movably connected with the possibility of their closure and opening.

From the prior art, for example, a grab according to the patent of the Russian Federation for utility model No. 179997 is known (published: 05/30/2018; author: Sherstyuk Konstantin Yuryevich). This grab contains jaws pivotally attached to the body and rod of the actuator. The actuator is arranged to move the rod along its central axis to one or the other side (i.e., to push or pull the rod), which leads to the corresponding opening or closing of the jaws. This grapple is designed to work in liquid environments.

Other grabs (load gripping devices) are also known from the patent of the Russian Federation for invention No. 2165386 (published: 04/20/2001; author: Golovan Vasily Eduardovich), published application for the grant of a patent of the Russian Federation for invention No. 2002134033 (published: June 20, 2004; author: Zinker Leonid Markovich et al.), PCT International Patent Application Publication No. WO 2009/080897 (published: July 2, 2009; author: Kalle Pohjola), U.S. Patent No. 9898885 (published: 02/20/2018; author: Chih-Chieh Wang), US patent for invention No. US 6899337 (published: 05.31.2005; auto ry: Leonard C. Fisher et al.), published US patent application for invention No. US 2005/0179273 (published: 08/18/2005; author: Yi-Chiang Yang), etc. A disadvantage of the known solutions is the insufficient reliability of the opening and closing of the jaw and / or insufficient stability of their work. For example, in the case where the known load gripping devices are used at an angle to capture the load, the force generated by the jaws may be uneven, which degrades the performance and leads to unstable operation of the load gripping devices.

For the prototype of the present invention, the load gripping device described in US patent for the invention No. US 6234487 (published: 05/22/2001; author: Stephen P. Shoemaker, Jr.). The load gripping device according to the prototype comprises a base (body) to which at least one jaw for gripping is hinged, and an actuator designed to change the position of the jaws. The actuator is an electromagnetic coil, inside which a metal rod is movably placed. The jaws of the grip are pivotally attached to the stem. When applying the appropriate electrical voltage to the electromagnetic coil, the rod is pulled into the coil under the action of electromagnetic forces, which sets in motion the jaw of the gripper to close them. When the voltage supply to the electromagnetic coil is stopped, the rod partially drops out of the coil under the action of gravity, which leads to the opening of the jaws of the grip.

Similar to the above analogues, the disadvantage of the prototype is the unstable operation of the load gripping device in certain conditions. For example, when using the prototype at an angle or horizontally, opening the jaws of the grip can be difficult because it is based on the movement of the rod under gravity. In other circumstances, it is known that with this design of the gripping device, the force generated by the jaws can be uneven. In addition, the design of the gripping device according to the prototype does not allow reliable control of the speed and force of capture of the jaws, and also does not allow you to control the size (width) of the opening or closing of the jaws.

SUMMARY OF THE INVENTION

The present invention is aimed at solving a technical problem (task) to eliminate the disadvantages of the prototype and other known analogues and is aimed at solving the problem of providing a load gripping device that is capable of reliable operation in various conditions (for example, at an angle, horizontally, etc.), and also with the ability to control the speed of opening and closing of the jaws of the grip, the force formed by the jaws of the grip, and the size (width) of the opening or closing of the jaws.

The technical problem of the invention is solved by creating a load-gripping device that contains a base to which at least one jaw is pivotally attached for gripping, and an actuator designed to change the position of the jaws. The invention differs from the prototype and other analogues in that the actuator has an output shaft and is configured to rotate the output shaft around its imaginary central axis. A support element is fixed to the output shaft. Each jaw is pivotally attached to the support element by means of a rod so that when the output shaft rotates around the central axis in one direction, the rods move the jaw so that the jaws move to the open position, and when the output shaft rotates around the central axis in the other direction, the jaw moves to the closed position.

In accordance with various embodiments of the invention, the base may be a housing or a fragment of a housing configured to symmetrically mount the jaws around an imaginary central axis of the shaft. The base may also be a separate fastener. The actuator may be an electric motor or an electric drive. Each jaw can be made in the form of a gripping lever, bending towards the central axis of the output shaft. In other embodiments, implementation, each jaw can be made in the form of a lever-grip, bending to the side from the Central axis of the output shaft. In addition, each jaw can be pivotally attached to the supporting element using a trunnion mounted on the supporting element, and a spherical hinge attached to the rod and intended for receiving (placing) and movably holding the trunnion.

In accordance with various embodiments of the invention, the load gripping device may further comprise a control unit (e.g., a controller) for controlling the operation of the actuator. For example, the control unit may be configured to control the opening or closing speed of the jaws by controlling the rotation speed of the output shaft of the actuator. The control unit may also be configured to control the opening or closing of the jaws by controlling the angle of rotation of the output shaft of the actuator. In addition, the control unit can be configured to control the load gripping force of the jaws by controlling the torque on the output shaft of the actuator.

All of the above and other elements of the load gripping device of the present invention are structurally combined into one device, interconnected by assembly operations and are in functional structural unity with each other.

Technical result

The technical result provided by the essential features of the invention is to improve the operational characteristics and reliability of the load gripping device, including increasing the reliability of opening and closing the jaws of the grip in its various spatial positions with the ability to control the speed, magnitude and force of the grip formed by the jaws. Other or additional technical results will be apparent from the description below.

Brief Description of the Drawings

The invention is further illustrated by the figures, which represent:

FIG. 1A is a schematic view (longitudinal section) of a single-jaw load gripping device in a “closed” state according to one embodiment;

FIG. 1B is a bottom view of the load gripping device of FIG. 1A;

FIG. 2A is a schematic view (side view) of a load gripping device with one jaw in an “open” state according to one embodiment;

FIG. 2B is a bottom view of the load gripping device of FIG. 2A;

FIG. 3A is a schematic view (bottom view) of a load gripping device with three jaws in an “open” state according to one embodiment;

FIG. 3B is a schematic view (bottom view) of a load gripping device with three jaws in a “closed” state according to one embodiment;

FIG. 4 is a schematic perspective view of a prototype of a gripping device with jaws in a “closed” state according to one embodiment; and

FIG. 5 is a schematic representation of a prototype of the load gripping device of FIG. 4 with the jaws in the “open” state according to one embodiment.

Designation of positions in the drawings

1 - base

2 - jaw (lever-capture)

3 - output shaft of the electric drive

4 - supporting element

5 - spherical hinge

6 - control unit

7 - actuator (for example, an electric drive)

8 - thrust (connecting rod)

9 - axle

10 - groove.

Description of Embodiments

The device and principle of operation of the load gripping device (grab) of the present invention is illustrated in the figures. The load gripping device has a base 1 and an actuator 7. As an actuator 7, an electric motor, an electric motor with a gearbox, an electric (electromechanical) drive, a pneumatic drive or a hydraulic drive can be used. The actuator 7 is designed to implement its output shaft 3 around its imaginary central axis in either direction. As the base 1, a housing (for example, an actuator housing 7) or a fragment of such a housing can be used. Base 1 can also be made in the form of other means of fastening, platform, support, hardware, flange, staples, fastening ribs, etc. Base 1 can also have a single element or have more than one element (for example, base 1 can be made in the form of a housing and special fastening means, including, for example, assembly units, such as screws, bolts, hinges, etc.).

Jaws are pivotally attached to base 1. For this connection, a conventional (simple) hinge or a spherical hinge can be used. The jaw 2 is attached to the base 1 at the same distance from each other. In some embodiments, implementation, the jaw 2 is attached to the base 1 symmetrically. In addition, the jaw 2 can be radially attached to the base 1. The term "jaw" in this document means a gripping element of the grab and can also be known as "lever", "lever-grip", "grip", "claw", "clamping sponges, paws, etc. In this document, the listed terms are used interchangeably.

Each jaw 2 is an element designed to capture the load. In this regard, the shape and design of the jaw 2 may be any acceptable. For example, the jaw 2 may be a lever (lever-grip), claw, bucket, hook, hook or other mechanism for capturing the load. In shape, the jaw 2 may be C- or L-shaped. The jaw 2 can be made of one or more materials, including, for example, metal, polymer (plastic), wood, rubber, etc. Any acceptable cargo can be a captured object, including, for example, consumer goods, prize, toy, food or another item placed in a gaming or vending machine. The captured item may also be bulk or non-bulk material, liquid, building materials, fossil materials, industrial materials and other cargoes.

As shown in the figures, for example in FIG. 1A, the jaw 2 may be an elongated and curved arm. According to one embodiment, as shown in FIG. 1A, the jaw 2 may bend toward the central axis of the shaft 3. However, as shown by the dotted line in FIG. 1A, the bend of the jaw 2 can be away from the central axis of the shaft 3, which allows the jaw 2 to pick up objects through a corresponding hole or loop in the load (for example, through a loop in the prize of a gaming machine).

A support element 4 is fixed at the end of the output shaft 3 of the actuator 7. A fastening device, for example, a face plate, a flange, a disk, a fixing rib (s), etc. can be used as a supporting element. The supporting element 4 rotates around its central axis of symmetry when the output shaft 3 of the actuator 7 is rotated.

Each jaw 2 is pivotally (movably) connected to the supporting element 4. The connection can be made directly or through one or more rods 8 (made, for example, in the form of a rod, hardware, ribs, staples, etc.). Each rod 8 may have any suitable shape, for example, straight in the form of a rod (see, for example, Fig. 3A, 3B) or curved (see, for example, Fig. 4, 5).

In the supporting element 4, one or more pins 9 can be fixed, one on each jaw 2. The pin 9 can be made, for example, as a protrusion, rod, bolt, screw, rod, etc. In the supporting element 4 there may be a radial groove 10 in which the pin 9 is mounted with the possibility of its movement. The rod 8 is provided with one or more hinges, for example, spherical hinges 5. One of the spherical hinges 5 on the rod 8 is connected to the pin 9 and provides a swivel connection of the rod 8 to the support element 4 and the movement of the rod 8 in relation to the support element 4 in different directions. Similarly, the other of the spherical joints 5 on the rod 8 is connected to the jaw 2. For this, as shown in FIG. 1A, 2A, 4, and 5, the jaw 2 may have appropriate fastening means or means. For example, a trunnion or shaft can be mounted on the jaw 2, designed to be connected to the spherical joint 5 on the rod 8.

For simplicity, FIG. 1A, 1B, 2A and 2B, a load gripping device with only one jaw 2 is shown, however, the number of jaws 2 can be any. For example, the load gripping device may have two, three, four, five or more jaws 2. With an increase in the number of jaws 2, the number of pins 9 and rods 8 used in the load gripping device increases accordingly. The jaws 2 can be placed radially and / or symmetrically to each other.

The structure of the load gripping device may also include a control unit 6, made in the form or containing a controller, processor, programmable logic device, or computer device. The control unit 6 is functionally connected to the actuator 7 (for example, through a cable). The control unit 6 is configured (programmed) to control the operation of the actuator 7. For example, the control unit 6 can provide control signals to the actuator 7 to implement and control the rotation of the output shaft 3 of the actuator 7. The control unit 6 can also control the value and / or the polarity of the supplied electrical voltage to the actuator 7. The control unit 6 may also have an interface or input device for receiving user commands for controlling Nia operation of actuator 7. For example, when a user command is received, formed by pressing a button on the slot machine, the control unit 6 performs the corresponding control operation of the actuator 7 for moving the two jaws.

Thus, the control unit 6 allows you to control the speed of the opening and closing of the jaws 2 by controlling the rotation speed of the output shaft 3 of the actuator 7. For example, when using an electric motor as an actuator 7, the control unit 6 can control the speed of rotation of the shaft 3 by controlling the level voltage supply or by issuing appropriate commands. Similarly, the control unit 6 allows you to control the gripping force of the jaws 2 by controlling the torque on the output shaft 3 of the actuator 7. In addition, the control unit 6 allows you to control the magnitude of the opening-closing of the jaws 2 by controlling the angle of rotation of the output shaft 3 of the actuator 7. For this, the control unit 6 can supply control signals or electric voltage to the actuator 7 (for example, an electric motor) at / for a predetermined time.

According to one embodiment, the load gripping device operates as follows. As shown in the figures, rotation of a certain angle (for example, ~ 180 degrees when using two jaws 2 or ~ 120 degrees when using three jaws 2) of the output shaft 3 and the supporting element 4 with the pin 9 mounted on it is converted into an angular one by means of a rod 8 movement of the jaw 2. Spherical joints 5 are used to compensate for the angular displacements of the rod 8 when it is displaced during operation. The greatest movement of the jaw 2 occurs when the support element 4 is rotated 180 degrees.

Thus, suppose the jaw 2 is initially in a closed state (see Fig. 1A, 3B, 4). The control unit 6 supplies the control signal or the voltage of the specified parameters to the actuator 7 so that the actuator 7 rotates the output shaft 3 around its axis. The rotation of the output shaft 3 is carried out at a given angle. The rotation of the output shaft 3 leads to the rotation of the support element 4, pins 9 and rods 8 (if used) around or relative to the Central axis of the shaft 3.

Thus, the design of the load gripping device of the present invention, in comparison with the known analogues and prototype, provides improved performance and reliability of the load gripping device, for example, by providing the ability to capture goods in any spatial position of the jaws 2 (for example, at an angle, horizontally, oriented upward, etc.). This improvement is due, inter alia, to the fact that the design of the load gripping device allows the movement of the jaws 2 only due to the operation of the actuator 7, excluding the use of gravity to open the jaws as is done in the prototype of the invention. In addition, improved operational characteristics of the load gripping device is provided, for example, due to the actuator 7 and the physical design of the load gripping device, which allows you to control the speed, magnitude and force of the load capture formed by the jaws 2.

Claims (10)

1. A load gripping device comprising a base to which at least one jaw for gripping is pivotally connected, and an actuator for changing the position of the jaws, characterized in that the actuator has an output shaft and is configured to rotate the output shaft around the central axis of the output shaft, and on the output shaft, a support element is fixed, and each jaw is pivotally connected to the support element by means of traction so that when the output shaft rotates around the central B in one direction of traction drive the jaws so that the jaws move to an open position, and during the rotation of the output shaft about the central axis in the other direction the jaws are moved to the closed position. 2. The gripping device according to claim 1, characterized in that the base is a housing or a fragment of the housing, made with the possibility of hinging the jaws to the base. 3. The gripping device according to claim 1, characterized in that the actuator is an electric motor, an electric motor with a gearbox or an electric drive. 4. The gripping device according to claim 1, characterized in that each jaw is made in the form of a gripping lever, bending towards the central axis of the output shaft. 5. The load gripping device according to claim 1, characterized in that each jaw is made in the form of a gripping lever, bending to the side from the central axis of the output shaft. 6. The gripping device according to claim 1, characterized in that each jaw is pivotally connected to the support element using a trunnion mounted on the supporting element, and a spherical hinge attached to the rod and designed to receive and movably hold the trunnion. 7. The load gripping device according to claim 1, characterized in that it further comprises a control unit for controlling the operation of the actuator. 8. The gripping device according to claim 7, characterized in that the control unit is configured to control the opening or closing speed of the jaws by controlling the rotation speed of the output shaft of the actuator. 9. The gripping device according to claim 7, characterized in that the control unit is configured to control the opening or closing of the jaws by controlling the angle of rotation of the output shaft of the actuator. 10. The gripping device according to claim 7, characterized in that the control unit is configured to control the load gripping force of the jaws by controlling the torque on the output shaft of the actuator.

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