SU946743A1

SU946743A1 - Vacuum gripping member

Info

Publication number: SU946743A1
Application number: SU803210623A
Authority: SU
Inventors: Арнольд Михайлович Макалиш
Original assignee: Проектно-Конструкторский Технологический Институт
Priority date: 1980-12-03
Filing date: 1980-12-03
Publication date: 1982-07-30

Description

Изобретение относится к механизации и автоматизации штамповочного производства и может быть использовано для ориентации и захвата заготовок при подаче их в рабочую зону ' обрабатывающей машины.The invention relates to the mechanization and automation of stamping production and can be used to orient and capture workpieces when feeding them into the working area of the processing machine.

Известен вакуумный захватный орган, содержащий полый корпус с присоской, укрепленный в держателе, подвижном в направлении, перпендикулярном поверхности захватываемой заготовки, и расположенный в корпусе подвижный в направлении движения держателя шток, двуплечий рычаг, установленный на оси в держателе с возможностью взаимодействия одним концом с установленным на пути движения держателя неподвижным упором и шарнирно связанным другим концом со штоком, снабженным поршнем, размещенным в выполненной в корпусе для этого цилиндрической полости, соединенной отверстием с полостью присоски, а также пружину, воздействующую на поршень в направлении, обратном направлению движения держателяKnown vacuum gripper containing a hollow body with a suction cup, mounted in a holder that is movable in the direction perpendicular to the surface of the workpiece to be gripped, and a rod located in the body that is movable in the direction of movement of the holder, a two-arm lever mounted on an axis in the holder with the possibility of interaction with one end installed on the path of movement of the holder with a fixed stop and pivotally connected to the other end with a rod equipped with a piston placed in a cylindrical floor made in the housing for this STI coupled with the cavity opening sucker, and a spring acting on the piston in a direction opposite to the direction of movement of the holder

Известный вакуумный захватный орган имеет сложную конструкцию и не обеспечивает ориентацию заготовок.Known vacuum gripper has a complex structure and does not provide orientation of the workpieces.

Наиболее близким к предлагаемому по технической сущности и достигаемо му результату является вакуумный зах ватный орган, содержащий приводной кронштейн закрепленный на нем вертикально силовой цилиндр, включающий в себя корпус, установленный в корпусе поршень, несущий полый шток, в котором расположен подпружиненный в вертикальном направлении стержень с винтовым пазом, взаимодействующий со штифтом, закрепленным на штоке.The closest to the proposed technical essence and the achieved result is a vacuum gripping unit containing a drive bracket mounted vertically on it a power cylinder, comprising a housing mounted in the housing of a piston carrying a hollow rod in which a spring-loaded rod with a screw groove interacting with a pin mounted on a rod.

*На стержне жестко смонтирована по меньшей мере, одна полая присоска,по· лость которой через штуцер связана с источником вакуума.* At least one hollow suction cup is rigidly mounted on the rod, the cavity of which is connected through the nozzle to the vacuum source.

Под приводным кронштейном размещена оправка для размещения заготовок с отверстием, включающая в себя кор-Under the drive bracket there is a mandrel for placing workpieces with a hole, including

946 пус с ориентирующим выступом, установленный в корпусе подпружиненный в вертикальном направлении дополнительный стержень, взаимодействующий одним концом со стержнем, а другим концом с датчиком[2 ].946 is a pus with an orienting protrusion, an additional rod spring-loaded in the vertical direction, which interacts at one end with the rod and at the other end with the sensor [2].

Известный вакуумный захватный орган не надежен в работе.Known vacuum gripper is not reliable.

Цель изобретения - повышение надежности работы вакуумного захватного органа и расширение номенклатуры перемещаемых заготовок.The purpose of the invention is to increase the reliability of the vacuum gripper and expanding the range of movable workpieces.

Поставленная цель достигается тем, что в вакуумном захватном органе, содержащем приводной кронштейн, закрепленный на нем вертикально силовой цилиндр с полым штоком, несущим штифт, расположенный в полости штока подпружиненный в вертикальном направлении стержень с винтовым пазом, взаимодействующим со штифтом, смонтированную на стержне полую присоску, полость которой связана через штуцер с источником вакуума, размещенную под приводным крон- « штейном оправку для размещения заготовок с отверстием, включающую в себя корпус с ориентирующим выступом, установленный в корпусе подпружиненный в вертикальном направлении дополнительный стержень, взаимодействующий одним концом со стержнем, а другим концом - с датчиком, присоска смонтирована на стержне с возможностью перемещения в вертикальном направлении,•подпружинена в этом направлении и снабжена по меньшей мере двумя взаимодействующими с заготовкой уплотнительными кольцами, концентрично закрепленными на внутренней стороне присоски на расстоянии одно от другого, на внутренней стороне присоски выполнен кольцевой быступ взаимодействующий с заготовкой, размещенной на оправке, а штуцер закреплен на присоске между уплотнительными кольцами .This goal is achieved by the fact that in a vacuum gripping body containing a drive bracket, a vertically mounted power cylinder with a hollow rod carrying a pin, a rod located in the cavity of the rod, a spring-loaded spring with a screw groove interacting with the pin, a hollow suction cup mounted on the rod , the cavity of which is connected through a fitting with a vacuum source, placed under the drive crown - a “matte mandrel for placing blanks with an opening, including a housing with an orienting a protrusion mounted in the housing a spring-loaded additional rod that interacts with one end with the rod and the other end with the sensor, the suction cup is mounted on the rod with the ability to move in the vertical direction, • spring-loaded in this direction and provided with at least two interacting with the workpiece O-rings, concentrically fixed on the inside of the suction cup at a distance from one another, on the inside of the suction cup an annular quick connection is made interacting with the workpiece placed on the mandrel, and the fitting is fixed to the suction cup between the sealing rings.

На чертеже изображен вакуумный захватный орган, разрез.The drawing shows a vacuum gripping organ, a section.

Вакуумный захватный орган содержит приводной кронштейн 1 держатель, закрепленный на нем вертикально силовой цилиндр 2 с поршнем 3, на котором закреплен полый шток 4, расположенные в полости штока 4 пружину 5 и стержень 6.The vacuum gripping body comprises a drive bracket 1 holder, a vertical cylinder 2 mounted thereon with a piston 3, on which a hollow rod 4 is mounted, spring 5 and rod 6 located in the cavity of the rod 4.

На стержне 6 выполнен винтовой паз 7, в который входит штифт 8, закрепленный в полом штоке 4. НаA screw groove 7 is made on the rod 6, into which the pin 8 enters, fixed in the hollow rod 4.

74.3 4 конце стержня 6 закреплена втулка 9 с продольными пазами а, в полости которой расположены пружина 10 и плунжер 11 со штифтом 12, входящим в пазы а .74.3 4, the end of the rod 6 is fixed sleeve 9 with longitudinal grooves a, in the cavity of which are located the spring 10 and the plunger 11 with a pin 12 included in the grooves a.

Штифт 12 закреплен в корпусе (присоске) , выполненном в виде втулки 1 3 с фланцем 14 и усеченного конуса 15, меньшее основание которого о расположено со стороны фланца 14.The pin 12 is fixed in the housing (suction cup), made in the form of a sleeve 1 3 with a flange 14 and a truncated cone 15, the smaller base of which is located on the side of the flange 14.

На штоке 4 смонтирован кронштейн 16, в котором закреплена вертикально труба 17, проходящая через кронштейн 1 (держатель) .A bracket 16 is mounted on the rod 4, in which a pipe 17 passing through the bracket 1 (holder) is mounted vertically.

На внутренней стороне усеченного конуса 15 закреплены два уплотнительных кольца 18 и 19, расположенные на заданном расстоянии одно от другого . В усеченный конус 15 ввернут го (Штуцер 20, соединяющий полость усеченного конуса между уплотнительными кольцами 18 и 19 с трубкой 17 при помощи гибкого шланга 21. На внутренней стороне усеченного конуса 15 выполнен кольцевой выступ б, расположенный над уплотнительными кольцами 1 8 и 19 ·On the inner side of the truncated cone 15, two o-rings 18 and 19 are fixed at a predetermined distance from one another. Screwed into the truncated cone 15 (Fitting 20 connecting the cavity of the truncated cone between the sealing rings 18 and 19 with the tube 17 using a flexible hose 21. On the inner side of the truncated cone 15 there is an annular protrusion b located above the sealing rings 1 8 and 19

Под кронштейном 1 (держателем) установлен стол 22, на котором закреплен стакан 23, закрытый со стороны кронштейна 1 (держателя) крышкой 24, имеющей коническое углубление в стороны кронштейна 1 (держателями отверстие для прохода стержня 25, расположенного в полоЪти стакана 23 ^!5 и подпружиненного к крышке 24 пружиной 26.A table 22 is mounted under the bracket 1 (holder), on which a glass 23 is fixed, closed on the side of the bracket 1 (holder) by a lid 24 having a conical recess in the sides of the bracket 1 (holders have an opening for the passage of the rod 25 located in the glass 23 ^{! 5} and spring-loaded to the cover 24 by a spring 26.

Под столом 22 на основании 27 закреплен датчик 28. Позицией 29 обозначена заготовка, имеющая форму усе’’ ченного конуса.A sensor 28 is fixed under the table 22 on the base 27. Reference numeral 29 denotes a blank having the shape of a truncated cone.

На наружной стороне стакана 23 закреплен вертикально (или выполнен за одно целое со стаканом 23) ориентирующий выступ 30.On the outside of the glass 23 is fixed vertically (or made integrally with the glass 23) orienting protrusion 30.

⁵ Вакуумный захватный орган работает следующим образом. ⁵ Vacuum gripping body operates as follows.

Включают силовой цилиндр 2. Поршень 3 перемещает шток 4 вниз до взаимодействия заготовки 29 с ориентирующим ⁰ выступом 30. Крышка 24 входит в отверстие заготовки 29.Turn on the power cylinder 2. The piston 3 moves the rod 4 down to the interaction of the workpiece 29 with the orienting ⁰ protrusion 30. The cover 24 enters the opening of the workpiece 29.

При дальнейшем перемещении штока 4 фланец 14 с втулкой 13 перемещаются относительно втулки 9· Втулка 13 через 5 штифт 12 перемещает плунжер 11, сжимая пружину 10.With further movement of the rod 4, the flange 14 with the sleeve 13 moves relative to the sleeve 9 · The sleeve 13 through 5 pin 12 moves the plunger 11, compressing the spring 10.

Затем втулка 9 входит в коническое углубление в и взаимодействует с крышкой 24.Then the sleeve 9 enters the conical recess in and interacts with the cover 24.

946743 6946743 6

При дальнейшем перемещении штока 4 вниз штифт 8, перемещаясь по винтовому пазу 7, поворачивает стержень 6, который одновременно перемещается относительно штока 4, сжимая пружину 5· 5With further movement of the rod 4 down the pin 8, moving along the screw groove 7, rotates the rod 6, which simultaneously moves relative to the rod 4, compressing the spring 5 · 5

Стержень 6 поворачивает втулку 9. Последняя через штифт 12, проходящий через пазы а, поворачивает втулку 13 с фланцем 14 и усеченным конусом 15. ⁰ The rod 6 rotates the sleeve 9. The latter through the pin 12, passing through the grooves a, rotates the sleeve 13 with the flange 14 and a truncated cone 15. ⁰

Заготовка 29 прижата к уплотнитель- ным кольцам 18 и 19 за счет разряжения, создаваемого источником вакуума, и поворачивается вместе с усеченным конусом 15 до совпадения ориентирующего* ⁵выступа 30 с соответствующим пазом, выполненным в заготовке 29.The blank 29 is pressed against the sealing rings 18 and 19 due to the vacuum generated by the vacuum source and rotates together with the truncated cone 15 until the alignment * ^{5 of the} protrusion 30 coincides with the corresponding groove made in the blank 29.

Заготовка 29 перемещается по стакану 23 вниз, так как втулка 13 от пружины 10 через плунжер 11 и штифт го перемещается по втулке 9· Втулка через фланец 14 перемещает усечен- ный конус 15 вниз, и он кольцевым выступом б воздействует на заготовку ⁴£9. ’ 25The workpiece 29 moves down the cup 23, since the sleeve 13 from the spring 10 through the plunger 11 and the pin moves along the sleeve 9. The sleeve through the flange 14 moves the truncated cone 15 down, and it acts on the workpiece ⁴ £ 9 with an annular protrusion b. '25

Плунжер 11 воздействует на стержень 25, последний сжимая пружину 26, перемещается вниз и воздействует на датчик 28, который подает сигнал на отключение источника вакуума зо и на включение силового цилиндра 2 на реверсивное движение.The plunger 11 acts on the rod 25, the last compressing spring 26, moves down and acts on the sensor 28, which sends a signal to turn off the vacuum source 3 and to turn on the power cylinder 2 for reverse movement.

Эффект от исполнения вакуумного захватного органа заключается в повышении надежности его работы и расши- 35 рения номенклатуры перемещаемых заготовок.The effect of the execution of the vacuum gripper is to increase the reliability of its operation and expand the range of movable workpieces.

Claims

I The invention relates to mechanization (automation and automation of stamping production and can be used to orient and grip blanks when they are fed into the working area of a processing machine. A vacuum gripping member is known comprising a hollow body with a suction cup secured in a holder moving in a direction perpendicular to the surface of the workpiece being captured, and the stem, movable in the direction of movement of the holder, is a double-arm lever mounted on an axis in the holder with the ability to interact with one a shaft with a fixed stop mounted not on the holder’s movement path and pivotally connected to the other end with a rod equipped with a piston placed in a cylindrical cavity formed in the housing for this purpose, connected by a hole to the suction cup cavity, and a spring acting on the piston in the opposite direction movement of the holder Li J, Known vacuum gripping body has a complex structure and does not provide the orientation of the blanks. The closest to the proposed technical essence and the achieved result is vacuum gripping tool comprising a drive arm mounted vertically thereon; a power cylinder comprising a housing, a piston mounted in the housing, carrying a hollow rod, in which a rod is spring-loaded in the vertical direction with a screw groove, interacting with a pin fixed on the rod. At least one floor sucker is rigidly mounted on the rod, the cavity of which is connected to a vacuum source through a fitting. A mandrel for placing workpieces with an aperture is placed under the drive bracket, which includes a housing with an orienting protrusion, an additional rod, spring-loaded in the vertical direction, that interacts at one end with the stem and at the other end with a sensor.2 J. The well-known vacuum gripper reliable in operation. The purpose of the invention is to increase the reliability of the vacuum gripping body and expand the range of movable blanks. The goal is achieved in those in a vacuum gripping organ with a holding bracket, vertically fastened on a power cylinder with a hollow rod bearing a pin, a rod in a vertical direction spring-biased rod with a helical groove interacting with a pin, mounted on a rod hollow a suction cup, the cavity of which is connected through a union with a vacuum source, placed under the driving crown of the matte mandrel for placing workpieces with an opening, which includes a housing with an orientation The PCB installed in the case of a vertically-springed additional rod that interacts with one end with the rod and the other end with the sensor, the suction cup is mounted on the rod so that it can move in the vertical direction, is spring-loaded in this direction and provided with at least two interacting with the workpiece sealing rings, concentrically fixed on the inside of the suction cup at a distance from one another, on the inside of the suction cup, perform an annular quick coupling acting with the workpiece placed on the mandrel, and the fitting is fixed on the suction cup between the sealing rings. The drawing shows a vacuum gripping body section. The vacuum gripping body contains a drive bracket 1 a holder fixed on it vertically by a force cylinder 2 with a piston 3, on which a hollow rod is fixed, a spring 5 and a rod 6 located in the stem cavity k a screw groove 7, which has a pin 8 fixed in hollow stock. At the 4 end of the rod 6, a sleeve 9 is fixed with longitudinal grooves a, in the cavity of which a spring 10 and a plunger 11 are located with a pin 12 entering the grooves a. Pin 12 is fixed in the housing (suction cup, made in the form of a sleeve 1 3 with a flange 1i and a truncated cone 15, the smaller base of which is located on the side of flange I. On the rod is mounted a bracket 16, in which a pipe 17 is fixed vertically passing through the bracket 1 ( holder. On the inside of the truncated cone 15, two sealing rings 18 and 19 are fixed, located at a predetermined distance from each other. A fitting 20 is screwed into the truncated cone 15 connecting the cavity of the truncated cone between the sealing rings 18 and 19 with a tube 17 by means of a flexible hose 21. On the inside of the truncated cone 15 there is an annular projection b located above the sealing rings 18 and 19. Under the bracket 1 (holder) there is a table 22, on which is fixed the cup 23, which is closed on the side of the bracket 1 (holder 7 a lid 2k having a conical recess in the sides of the bracket 1 (holders for passage of the rod 25 located in the floor of the cup 23 and spring-loaded to the lid 2k by the spring 2b. Under table 22, sensor 28 is fixed on base 27. Position 29 denotes a billet having a frusto-conical shape. On the outside of the glass 23 is fixed vertically (or made in one piece with the glass 23) orienting protrusion 30. The vacuum gripping body works as follows. The power cylinder 2 is turned on. The piston 3 moves the rod 4 down until the workpiece 29 interacts with the orienting protrusion 30. The cover 2k enters the hole in the workpiece 29. With further movement of the rod k, the flange k with the sleeve 13 moves relative to the sleeve 9. The sleeve 13 moves the plunger through the pin 12 11, compressing the spring 10. Then the sleeve 9 enters into a conical recess and moves together with the lid 2. With further movement of the rod k down, the pin 8, moving along the screw slot 7, turns the rod 6, which simultaneously moves relatively and k, compressing the spring 5. The rod 6 rotates the sleeve 9. Lastly, through the pin 12, passing through the slots a, rotates the sleeve 13 with the flange I and a truncated cone 15. The workpiece 29 is pressed against the sealing rings 18 and 19 due to the discharge created by the source vacuum, and rotates with the truncated cone 15 to match the orienting protrusion 30 with the corresponding groove made in the workpiece 29. The workpiece 29 moves through the cup 23 downwards, since the sleeve 13 from the spring 10 moves through the plunger 11 and the pin 12 moves along the sleeve 9. The sleeve 13flange The truncated cone 15 moves downwards and it acts on the workpiece 9 with an annular protrusion. Plunger 11 acts on the rod 25, the latter compresses the spring 26, moves downwards and acts on the sensor 28, which sends a signal to turn off the vacuum source and turn the power cylinder 2 on reverse movement. The effect of the execution of the vacuum gripping body is to increase the reliability of its operation and expand the range of movable blanks. Claims of the invention A vacuum gripping body comprising a drive bracket, a vertically mounted power cylinder with a hollow rod bearing a pin, a spring-loaded rod in a vertical direction with a helical groove interacting with a pin, a suction cup mounted on the rod, the cavity of which connected through a fitting with a vacuum source, placed under the drive bracket, a mandrel for placing workpieces with an opening, including a housing with an orienting protrusion, is installed An additional rod, spring-loaded in the vertical direction, interacting at one end with the rod and the other end with the sensor, characterized in that, in order to increase the reliability of the vacuum gripping body and expand the range of movable workpieces, the suction cup is mounted on the rod displacement in the vertical direction, spring-loaded in this direction and provided with at least two sealing rings interacting with the workpiece, concentrically fixed On the inside of the suction cup, at a distance one from the other, on the inside of the suction cup, there is an annular protrusion interacting with the workpiece placed on the mandrel, and the fitting is fixed on the suction cup between the sealing rings. Sources of information taken into account in the examination 1. USSR author's certificate number 3 +2712, cl. B 21 D 3/18, B 30 B 15/30, 11.09.80.

2. USSR author's certificate number 778876, cl. В 21 D «« З / ОО, 08.12.78 (prototype).