WO2021091411A1

WO2021091411A1 - Electromechanical gripping device

Info

Publication number: WO2021091411A1
Application number: PCT/RU2019/000785
Authority: WO
Inventors: Альберт Руфимович ЕФИМОВ; Алексей Сергеевич ГОННОЧЕНКО; Евгений Дмитриевич ХМЕЛЕВ; Дмитрий Александрович СТАТОВОЙ; Никита Алексеевич МОЛЧАНОВ
Original assignee: Публичное Акционерное Общество "Сбербанк России"
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2021-05-14
Also published as: EA201992660A2; EA038992B1

Abstract

An electromechanical gripping device comprises a supporting bracket, to which are attached an electromechanical motor, a driving roller, and a driven roller. The electromechanical motor is coupled to a driving shaft, on which the driving roller is mounted, and provides for rotation of the shaft about its own axis. The other end of the driving shaft is fastened to a hub attached to the body of the supporting bracket. The driven roller is mounted on a driven shaft that is fastened to ball bearings on either side of the supporting bracket. A first ball bearing is rigidly fastened to the body of the supporting bracket, and a second ball bearing is fastened in a movable spring-loaded guide that allows for the movement of the second ball bearing along a vertical axis. The driven roller is actuated by the driving roller as a result of friction between the mating surfaces, thus allowing an elastic article to be gripped between the counter-rotating rollers and subsequently immobilized when the electromechanical motor is stopped. This results in a more efficient gripping operation as a result of an increase in the area of interaction between the gripping device and the elastic article.

Description

ELECTROMECHANICAL GRIPPER

FIELD OF TECHNOLOGY

[0001] This technical solution, in General, relates to the field of gripping elements or devices, structurally coupled or adapted for use by mechanisms for lifting, lowering or moving a load, and in particular to gripping robotic manipulators designed to grip, hold, release elastic products such as cash bags with coins or bags of coins.

LEVEL OF TECHNOLOGY

[0002] Currently, there are many varieties of electromechanical, pneumatic and vacuum grippers, in particular, parallel, radial, angular, three-point grippers, single suction cups, arrays of suction cups, Bernoulli gripper. The use of different types of grippers, depending on the nature of the operations performed and the recommendations for use, is very important.

[0003] Some of the above grippers have found widespread use in the financial field, and more specifically, in cash settlement centers (RCC). Cash settlement centers are structures that ensure the operation of the country's payment system. In the RCC, various manipulations are performed daily with a huge amount of both paper notes and coins. To increase the productivity of such centers, they began to introduce robotic manipulators with grippers designed to capture, hold and move money (paper bills, coins). The most common grippers currently used in RCC are vacuum grippers. Vacuum grippers are well proven for operations with pallets with banknotes. for the correct operation of such a capture, a number of stringent conditions must be met, in particular, a large area of interaction with the captured object, rather dense filling of the content. However, for similar operations with cash collector bags with coins, the fulfillment of such a number of conditions for the correct operation of vacuum grippers is a very problematic task due to the peculiarities of the geometry and the small area of contact with these bags. [0004] From the prior art known gripping device disclosed in US patent US 4578013 (SOCIETE ANONYME REDOUTE CATALOGUE), publ. 03/25/1986. The specified device is designed to grip and hold one elastic product from a special container at a time. The gripping operation is carried out due to the design of the gripping mechanism, which consists of two rollers pressed against each other, which are located in a horizontal plane, and the rollers are made with the possibility of rotation in opposite directions. The first roller is driven by a reversible motor with a pulley, which is connected by a belt to the axle of the wheel of said roller. The second roller is driven by the rotation of the first roller. The rollers are fixed on an elastic bracket in such a way that, at the moment of tightening the elastic product, the rollers move away from each other. The fixation of the elastic product in the gripper is carried out by turning off the engine and, accordingly, stopping the rotation of the rollers. [0005] The disadvantage of this solution is that over time the drive belt is stretched, and therefore slippage occurs, which leads to unstable operation of the gripper. In addition, such a mechanism for attaching the rollers is not intended for gripping heavy bags with coins, since the filled bags with coins have a spherical (rounded) shape, which reduces the area of interaction of the rollers with the bag, thereby complicating the gripping process itself, moreover, the elastic structure of fastening the rollers (the possibility of their distance from each other) with a small gripping area does not always ensure the retention of heavy products, such as bags with coins.

[0006] A common problem with grips in the prior art is that most of the existing grips are not designed to grip coin cash bags or bags of coins, and existing grippers that are currently used to carry out such operations require a lot of contact area with the package and high accuracy in relation to the gripping point. Also, this kind The gripper should provide an acceptable level of noise during operation and a high holding capacity with a small size.

ESSENCE OF THE TECHNICAL SOLUTION

[0007] This technical solution is aimed at eliminating the disadvantages inherent in existing solutions known from the prior art.

[0008] The technical problem (or technical problem) in this technical solution is to ensure reliable grip and retention of heavy elastic products with a small contact area for interaction.

[0009] The technical result manifested when solving the above problem is to increase the efficiency of the gripping operation by increasing the area of interaction of the gripping device with the elastic product.

[0010] An additional technical result manifested when solving the above problem is to increase the reliability of the operation of gripping and holding the elastic product due to the direct connection of the electromechanical motor with the drive roller of the gripping device.

[0011] Another technical result manifested when solving the above problem is the expansion of the arsenal of technical means. [0012] The specified technical result is achieved due to the implementation of an electromechanical gripping device containing a fastening bracket on which an electromechanical motor, a drive roller and a driven roller are fixed, while the electromechanical motor is connected to the drive shaft, on which the drive roller is installed, and provides rotation of the specified shaft around its axis, and the second end of the drive shaft is fixed on the hub fixed to the housing of the mounting bracket; the driven roller is mounted on the driven shaft, which is fixed on ball bearings on each side of the mounting bracket, the first ball bearing being rigidly fixed to the mounting bracket body, and the second ball bearing being fixed on a movable spring-loaded guide providing movement of the second ball supports along the vertical axis; in this case, the driven roller is driven by the drive roller due to the friction of the mating surfaces, ensuring the capture of the elastic product between the rollers rotating towards each other and its further fixation by stopping the electromechanical motor.

[0013] The specified technical result is provided by the entire set of essential features in the implementation of the assignment. Elements and assemblies of the electromechanical gripper, characterized by the corresponding essential features, are in structural unity and functionally interconnected. All elements and assemblies of the device for the possibility of its operation are combined into a single product and during its manufacture are interconnected by assembly operations.

[0014] In some embodiments, the electromechanical motor is a gear motor.

[0015] In some embodiments of the technical solution, the movement of the second ball joint along the vertical axis provides a horizontal deflection of the axis of the driven roller by an angle of inclination in the range of ± 10 °.

[0016] In some embodiments, the drive and driven rolls are made of a polymer material. [0017] In some embodiments of the technical solution, the surface of the drive and / or driven roll is coated with a rubber or silicone spray.

BRIEF DESCRIPTION OF DRAWINGS

[0018] The features and advantages of the present technical solution will become apparent from the following detailed description and the accompanying drawings, in which: [0019] FIG. 1 shows a general view of the structure of an electromechanical gripper;

[0020] FIG. 2 shows a constructive implementation of the drive roller of the electromechanical gripper; [0021] FIG. 3 shows the constructive implementation of the bucket roller of the electromechanical gripper.

DETAILED DESCRIPTION

[0022] As shown in FIG. 1, the electromechanical gripper 100 is a mounting bracket 110, on which the drive roller 120, the driven roller 130, the electromechanical motor 140 are fixed by assembly operations. A more detailed description of the structural features of the gripper elements is disclosed in FIG. 2, Fig. 3.

[0023] The elements of the claimed electromechanical gripper 100 are fixed between themselves and the supporting elements of the structure using a wide range of assembly operations, for example, screwing, joining, soldering, riveting, etc., depending on the most suitable method of fastening the elements.

[0024] The basic principle of operation of the electromechanical gripper 100 is that an electromechanical motor 140, such as an electric motor with a gearbox and the like, drives a drive roller 120, causing said roller 120 to rotate about its axis (clockwise) ... The driven roller 130 is driven by the drive roller 120 by friction of the mating surfaces, causing the driven roller 130 to rotate about its axis in the opposite direction from the drive roller 120 (counterclockwise). Such rotation of the rollers 120-130, at the time of the gripping operation, upon contact with an elastic product, for example, a bag with coins, a collection bag, etc., provides a tightening of a part of the material of the elastic product due to the resulting frictional force between said rollers 120-130 and material of the elastic product, and the driven roll 130 is capable of deviating from the horizontal axis by an angle in the range of ± 10 ° as shown in FIG. 3, thereby increasing the area of contact with the elastic product material and increasing the likelihood of a successful grip by drawing in a sufficient amount of material. [0025] Further retention of the elastic article is provided by stopping the electromechanical motor 140, thereby stopping the rotation of the rollers 120-130. The rigid fixation of the rollers 120-130 on the mounting bracket 110 prevents the rollers 120-130 from deflecting relative to each other, thereby ensuring that the elastic article is securely held between them. Also, the frictional force between the rollers 120-130 and the elastic article prevents the held elastic article from sliding out of the rollers 120-130.

[0026] The stop of the electromechanical motor 140 is performed at the moment when a sufficient amount of material of the elastic product is pulled between the rollers 120-130 of the electromechanical gripper 100. For this, the electromechanical gripper 100 is equipped with mechanisms that determine the degree of tightening / gripping of the elastic product by rollers 120-130 ...

[0027] The mechanism that determines the degree of tightening / gripping of the elastic product by rollers 120-130 may be, for example, an encoder mounted on a drive shaft 220 (see Fig. 2). The encoder reads the speed data of the drive shaft 220 to obtain the movement parameters of the part (angle of rotation / direction / speed) in digital form. Also, force-torque sensors can be used as a mechanism that determines the degree of tightening / gripping of the elastic product by the rollers 120-130, designed to convert the forces arising from the physical contact of the gripper with an object into an electrical signal.

[0028] The operation of releasing the held elastic article is carried out by driving the rollers 120-130 in the opposite direction from the initial direction. Electromechanical motor 140, similar to the tightening operation, drives the drive roller 120, causing it to rotate about its axis in the opposite direction from the initial rotation (counterclockwise). The driven roller 130 is driven by the drive roller 120 by friction of the mating surfaces, causing the driven roller 130 to rotate about its axis in the opposite direction from the drive roller 120 (clockwise). [0029] As the material from which the rollers are made, any polymer material having a high frictional force, for example, rubber, silicone, etc. can be used. The rollers can additionally be coated with polymer spraying, for example, silicone, rubber, etc.

[0030] FIG. 2 discloses an implementation of the drive roller 120 of the electromechanical gripper 100. As shown in FIG. 2, the drive roller 120 is rigidly secured to the drive shaft 220 to rotate the roller 120. One end of the drive shaft 220 is secured in a mounting bracket 110 on the hub 240, which is assembled to the body of the mounting bracket 110. The hub 240 allows the drive shaft 220 to rotate freely. The other end of the drive shaft 220 is connected to an electromechanical motor 140 as shown in FIG. 2. This connection ensures reliable operation of the gripper, because direct connection of the electromechanical motor 140 to the drive shaft 220 allows all the rotational energy to be transferred to the drive shaft 220 without slipping, which guarantees uniform rotation of the drive shaft 220 and, therefore, uniform pulling of the elastic product material between the counter-rotating rollers 120-130. In addition, using, for example, a worm gear as the electromechanical motor 140, prevents the drive roller 120 from spinning unintentionally under the gravity of the gripped elastic article when the electromechanical motor 240 is off (involuntary release operation).

[0031] FIG. 3 describes the implementation of the structure of the driven roller 130 of the electromechanical gripper 100. The driven roller 130 is rigidly fixed to the driven shaft 330 to rotate the specified roller 130. The driven roller 130 is driven by the rotation of the drive roller 120. The driven shaft 330 is attached to the mounting bracket 110 in ball bearings 350-1, 350-2 on each side of the mounting bracket 110. The first ball bearing 350-1 is rigidly fixed to the mounting bracket by assembly operations to ensure constant contact of the driven roller 130 with the drive roller 120. The second ball bearing 350- 2 is secured to the mounting bracket 110 with a movable a spring-loaded guide 360 that allows the second ball bearing 350-2 to move up and down along the vertical axis. Due to this design, the driven roller 330 is capable of deviating from the horizontal axis by an angle in the range of ± 10 °.

[0032] Deflection of the driven roll 130 may occur when said roll 130 contacts the surface of the elastic product. For example, a collection bag filled with coins is positioned at a given starting point. The completed collection bag can take a spherical or round shape. In this case, when performing the operation of gripping such a collection bag, the drive roller 120 will only partially touch the material of the bag with coins, because the drive roller 120 is disposed horizontally in the mounting bracket. In turn, the driven roller 130, by virtue of the movable ball bearing 350-2, will be pressed by the greater part of the roller body against the bag of coins. This is achieved by the fact that at the initial moment of contact of the driven roller 130 with a part of the filled collection bag with coins, only one part of the roller 130 bears against the material of the elastic product. However, with the continuation of the lowering of the gripper 100, the second part, not adjacent to the material of the elastic product at the initial moment of contact, due to the movable ball bearing and the pressure created by the lowering of the gripper 100, deviates from the horizontal plane by an allowable angle, thereby acquiring a large contact area with the material of the elastic product and increasing the efficiency of the gripping operation.

[0033] Fixation and further retention of the elastic product between the rollers 120-130 occurs by stopping the electromechanical motor 140, as described above. Fixing the elastic product between the rollers 120-130, as well as stopping the electromechanical motor 140, prevents the involuntary rotation of the driven roller 130 due to the friction force arising between the rollers 120-130 and the elastic product, as well as due to the electromechanical motor 140 itself, which prevents the rotation of the drive roller 120 at rest (in a state where the electromechanical motor 140 is off). [0034] Thus, all the features of the claimed set of essential features, expressing the essence of the utility model as a technical solution, are in a causal relationship with the specified technical result, affecting its receipt. [0035] Modifications and improvements to the above-described embodiments of the present technical solution will be apparent to those skilled in the art. The foregoing description is provided by way of example only and is not intended to be limiting in any way. Thus, the scope of this technical solution is limited only by the scope of the attached utility model claims.

Claims

FORMULA

1. Electromechanical gripping device containing:

• a mounting bracket on which the electromechanical motor, the drive roller and the driven roller are fixed, while the electromechanical motor is connected to the drive shaft, on which the drive roller is installed, and provides rotation of the specified shaft around its axis, and the second end of the drive shaft is fixed to the hub, a mounting bracket fixed to the body; the driven roller is mounted on the driven shaft, which is fixed on ball bearings on each side of the mounting bracket, the first ball bearing being rigidly fixed to the mounting bracket body, and the second ball bearing being fixed on a movable spring-loaded guide providing movement of the second ball bearing along the vertical axis; in this case, the driven roller is driven by the drive roller due to the friction of the mating surfaces, ensuring the capture of the elastic product between the rollers rotating towards each other and its further fixation by stopping the electromechanical motor.

2. An electromechanical gripper according to claim 1, wherein the electromechanical motor is a gear motor.

3. Electromechanical gripping device according to claim 1, characterized in that the movement of the second ball joint along the vertical axis provides a horizontal deflection of the driven roller axis by an inclination angle in the range of ± 10 °.

4. Electromechanical gripping device according to claim 1, characterized in that the driving and driven rollers are made of a polymer material.

5. Electromechanical gripping device according to claim 1, characterized in that the surface of the driven and / or driven roller is coated with a rubber or silicone spray.