CZ25083U1 - Adaptive vacuum-type end effector - Google Patents

Description

Adaptive vacuum end effector

Technical field

The technical solution relates to an adaptive vacuum end effector for robotic handling of various types of flat parts with automatically adjustable suction cups positioning. BACKGROUND OF THE INVENTION

In the robotic manipulation of various types of flat parts, it is advantageous to use a vacuum end effector which, by means of one or a set of suction cups, grasps the object by means of vacuum and transfers it to the desired location. Vacuum end effectors of industrial robots (vacuum grippers) are a common robotic manipulation device, which uses primarily active vacuum suction cups, often suspended, fixedly located in the gripper working surface.

In many cases, when a solid blank is handled, with holes in various configurations on the surface being formed in the next technological process in the blank, there is a problem with the appropriate placement of the suction cups to best fit the surface of the workpiece to ensure maximum grip to the surface and there was no need to use suction cups with automatic vacuum closing. In addition to being a complex function of closing vacuum, there is a situation where the remaining functional suction cups are not sufficient to move the article.

The essence of the technical solution

The above-mentioned drawbacks are eliminated by the adaptive vacuum end effector according to the technical solution allowing to automatically adjust the position of the suction cups according to the shape and segmentation of the component. The adaptive vacuum end effector for moving the flat component consists of an auto-exchange cone with an electrical signal connector and a pneumatic power transmission connector, with three horizontal arms fixed to the auto-exchange cone where the middle arm is stationary and the other two arms are extreme. they can horizontally approach or move away from the middle arm by the action of a stepper motor located in the central portion of the middle arm. A suction cup is provided at both ends of each of the three arms, and these suction cups can move along the arm on which they are positioned by three step motors located in the central portion of each arm. In the central part of each arm, beside the stepper motor, there are reference switches for signaling that the suction cups have reached the extreme position of the suction cups on each arm, and in the middle part of the middle arm on the side closer to the automatic exchange cone. Under the auto-exchange cone is located control electronics with power cards on the sides of the end effector for controlling stepper motors.

The end effector according to the invention uses spring suction cups, but not fixedly positioned on the gripper work surface, but by means of a specially controlled mechanism allows to adjust the suction cups configuration so that they always come into contact with solid material on the surface of the handled object. In this case, the variable suction end effector replaces a series of fixed fixed suction end effectors.

The procedure for controlling a robotic end effector program for flat parts is to read the part type, grasping the correct end effector, which must be confirmed by communication between the control system and the end effector. After connecting the vacuum end effector to the robot, the control electronics commands the proximity of all suction cups and moving arms that approach until the corresponding reference switch is closed. As soon as the control electronics receives information from all switches that all suction cups and both movable arms are approached, it then adjusts the outer arms to the required position using

- I GB 25083 U1 of the stepper motor (3a) and the suction cup arrangement by the stepper motors (3b) according to the shape of the object.

During the deployment of the suction cups, the robot moves the end effector to the desired position and ensures its correct orientation. If the end effector has not yet confirmed the correct position of the suction cups, the control system waits for confirmation. If acknowledgment has been made, the robot arm performs a stroke, closes the pneumatic circuit to create a vacuum, and waits until the pneumatic circuit pressure switch confirms the vacuum reached. The robot then moves the end effector with the component to the new position and disconnects the pneumatic circuit to release the component.

ío Overview of illustrations

Giant. 1: Overview of the end effector for flat parts

Giant. 2: Position of stepper motors, basic arrangement of suction cups and arms

Giant. 3: Location of the reference switches

Giant. Fig. 4: Suction cup working area! 5: Examples of possible shapes of handled parts and placement of suction cups for gripping

Giant. 6: Pneumatic end effector circuit

Giant. 7: Flow diagram of the end effector control in a robotic system.

Example of technical solution

The robotic system has read the round shape component to be moved, removed the end effector from the end effector reservoir and verified that the vacuum end effector has a variable suction cup configuration 2 by reporting a specific code to the control system. An adaptive vacuum end effector consisting of an auto-exchange cone I with an electrical signal connector and a pneumatic energy connector and with three horizontal arms 6 mounted on the auto-exchange cone I was selected to reposition the component. The middle arm 6 was stationary and the remaining two outermost arms 6 could be horizontally approached or moved away from the middle arm 6 by a stepper motor 3a located in the central portion of the middle arm 6. A suction cup 2 was positioned at both ends of each of the three arms 6 2, they were able to move along the arm 6 on which they are located by the action of three stepper motors 3b located in the central part of each arm 6 (FIG. 2). In the central part of each arm 6 next to the stepper motor 3b there was a reference switch 4b for signaling the reached position of the suction cups 2 on the individual arms 6 and in the central part of the middle arm 6 on the side closer to the cone reaching the extreme position of the outer movable arms 6 (Fig. 3). A control electronics 5 with power cards on the sides of the end effector for controlling stepper motors 3a, 3b has been placed under the automatic exchange cone (Fig. 1).

The control system has sent information about the position of the suction cups to the end effector 2. The end electronics effector control 5 has adjusted the suction arm arms 6 with the stepper motors 3a, 3b to a position suitable for gripping the area of the circular object (Fig. 5). After switching on pneumatic

At the vacuum generating circuit, the robot has grasped the component, moved it to the desired location, disconnecting the pneumatic circuit to break the vacuum and release the object from the effector. FIG. 6 is a schematic diagram of an end effector pneumatic circuit; and FIG. 7 illustrates a flow diagram of an end effector control in a worker system.

Due to the variable configuration of the suction cups 2, this end effector can be used to move flat parts with different articulations and openings. The system of the basic configuration of suction cups 2 and possible directions of their movement are shown in Fig. 5.

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CZ 25083 Ul

Industrial applicability

The adaptive vacuum end effector can be used as a handling component for industrial robots. Thanks to the automatically selectable variants of the various suction cup configurations, it can be used to move multiple flat parts having different articulations and openings, thus enhancing the adaptability of the entire robotized system.

Claims (1)

PROTECTION REQUIREMENTS Adaptive vacuum end effector, characterized in that it consists of an automatic exchange cone (1) with a connector for transmitting electrical signals and a connector for transmitting pneumatic energy, wherein three horizontal arms (1) are fastened to the automatic exchange cone (1). 6), wherein the middle arm (6) is stationary and the other two outermost arms (6) are provided with a stepper motor (3a) located in the central part of the middle arm (6) on the side closer to the automatic exchange cone (1) optionally to move away from the middle arm (6), a suction cup (2) is provided at both ends of each of the three arms (6), said suction cups (2) being provided with a stepper motor to move along the arm (6) on which they are located (3b) disposed in the central portion of each arm (6), the central portion of each arm (6) adjacent to the stepper motor (3b) a reference switch (4a) for signaling when the suction cups (2) have reached the limit position of the suction cups (2) on the individual arms (6) and in the middle part of the middle arm (6) on the side closer to the automatic exchange cone (1) reaching the extreme position of the extreme movable arms 20 (6).