Abstract
A zoned vacuum gripping tool comprising one tool-change interface, two suction cups, one ejector, one manifold, two zone branches, one contact detector and one vent valve. When the suction cups reach the workpiece, the suction cups are evacuated by the ejector. Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.
1. Purpose and arrangement
[0001]This disclosure describes a zoned vacuum gripping tool: two suction cups carried on a tool-change interface, fed by an ejector. It is arranged for handling workpieces that do not cover the whole gripping face, starting the cycle at the moment of contact, controlling the moment of release and exchanging the tool without rewiring the cell. One concrete embodiment is described; every connection is stated with the medium it carries, and the operating sequence is given as conditions on named operations.
2. Components, construction and connections
[0002]One tool-change interface. The tool-change interface splits the tool into a robot side and a tool side, so the tool can be exchanged without dismantling it. The tool-change interface has a pneumatic lock.
[0003]Two suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of two follows from the arrangement: one gripping element per zone branch. The suction cups are of the oval form.
[0004]One ejector. The ejector draws the circuit down by passing compressed air through a nozzle; it has no moving part at the tool and consumes air for as long as it runs. The ejector has two stages.
[0005]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has four outlets.
[0006]Two zone branches. Each zone branch carries the vacuum of one zone of the face and no other. The count of two follows from the arrangement: one branch per zone. The distribution is divided into two zones, each fed by its own branch.
[0007]One contact detector. The contact detector reports the moment a workpiece is present at the gripping face; its sensing technology is not fixed by this arrangement. The contact detector is mounted on the frame.
[0008]One vent valve. The vent valve opens the circuit it is connected to towards atmosphere, which ends the grip. The circuit is vented before set-down.
[0009]The suction cups are carried on the tool side of the tool-change interface.
[0010]The manifold is fixed to the tool side of the tool-change interface.
[0011]The ejector is fixed to the tool side of the tool-change interface.
[0012]The manifold inlet is connected to the ejector outlet, which supplies every outlet of the manifold.
[0013]Each of the two zone branches is taken from its own manifold outlet, so that the branch carries the vacuum of its own zone only.
[0014]Each suction cup is connected to its own zone line, one suction cup per zone, and is evacuated through that line.
[0015]The contact detector is mounted on the frame and reports the moment a workpiece is present against the gripping face.
[0016]The vent valve is connected to the circuit at the ejector outlet and opens that circuit to atmosphere when it is actuated.
[0017]The robot side of the tool-change interface is bolted to the robot flange.
[0018]The ejector is fed from the compressed air supply of the cell.
[0019]The remaining two manifold outlets are plugged and carry no line.
[0020]The locking piston of the tool-change interface is fed from the compressed air supply of the cell.
[0021]The vent valve and the lock of the tool-change interface are switched by the cell controller; the contact detector reports to the cell controller.
3. Operating sequence and conditions
[0022]
- After the contact detector has detected the workpiece, the vacuum supply is actuated by the cell controller.
[0023]
- When the suction cups reach the workpiece, the suction cups are evacuated by the ejector.
[0024]
- Before the workpiece reaches the set-down position, the vacuum circuit is vented by the vent valve while the workpiece is above the receiving surface.
[0025]
- The workpiece is held until the vent valve has opened the circuit.
[0026]The cell controller reads the contact detector (on the frame) and commands the tool-change interface, the vent valve; no sensor drives an actuator directly.
4. Parameters and operating assumptions
[0027]Parameter values of this embodiment: locking of the tool-change interface: pneumatic (sets what has to be present at the interface for the tool to stay attached); form of the suction cups: oval (sets the shape of the contact area and the behaviour of the lip on a curved workpiece); material of the suction cups: polyurethane (sets the friction at the lip and the tolerance of the lip to oil and heat); stages of the ejector: two (sets the flow drawn at low vacuum and the compressed air consumed while a sealed face is held); outlets of the manifold: four (sets how many lines can be fed from one inlet); material of the zone branches: plastic; zones of the zone branches: two (sets how much of the face can be treated separately); placement of the contact detector: on the frame (sets where the presence of the workpiece is detected); timing of the vent valve: before set-down (sets whether the workpiece is released before or after it is supported by the set-down surface).
[0028]The workpiece is released while it is still above the receiving surface and falls the remaining distance onto it. This sequence is for a workpiece and a receiving surface that tolerate that drop, for example a part released into a container or onto a conveyor; the drop height is set by the application and is not fixed here.
[0029]The lock is engaged by compressed air acting on the locking piston and is held only while that air pressure is applied; what the lock does on loss of air pressure is not fixed by this arrangement.
5. Provenance and status
[0030]This document is an original combination composed from a typed library of mechanism blocks. Each block was derived from a published patent and carries typed connection points, the parameters its source states, and its own construction and operating description. The combination described here is proposed and has not been constructed. The published documents behind the blocks used in this arrangement are US-11858125-B2, US-2016214812-A1, US-2022339798-A1, US-8006968-B2, WO-2008134339-A4, WO-2026020244-A1; their text is not reproduced, and the description above is generated from the structure of the combination.
6. Correction notice
[0031]This publication supersedes OT-2026-000004112, whose text described this arrangement with defects recorded in the quality register at https://opentechnical.org/qa/. The earlier publication is unchanged and remains public. Changes made to reach a consistent configuration: suction_cup material 'silicone' is not offered by the library; the source-stated value 'polyurethane' is used.