Abstract
A suction-cup vacuum gripping tool comprising one tool-change interface, six suction cups, one vacuum pump, one manifold and one blow-off valve. When the suction cups reach the workpiece, the suction cups are evacuated by the vacuum pump. After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve. 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 suction-cup vacuum gripping tool: six suction cups carried on a tool-change interface, fed by a vacuum pump. It is arranged for clearing the face at 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 mechanical lock.
[0003]Six suction cups. Each suction cup presents a sealing lip to the workpiece and is evacuated through its own connection. The count of six follows from the arrangement: one gripping element per manifold outlet. The suction cups are of the flat form.
[0004]One vacuum pump. The pump draws the circuit down mechanically and adds its own mass to the moving assembly.
[0005]One manifold. The manifold receives the vacuum at one inlet and distributes it to its outlets. The manifold has six outlets.
[0006]One blow-off valve. The blow-off valve drives compressed air back through the circuit to the face, which clears the face instead of waiting for the circuit to refill. The blow-off is a sustained blast. The blow-off pulse is given after set-down.
[0007]The suction cups are carried on the tool side of the tool-change interface.
[0008]The manifold is fixed to the tool side of the tool-change interface.
[0009]The vacuum pump is fixed to the tool side of the tool-change interface.
[0010]The manifold inlet is connected to the pump inlet line, which supplies every outlet of the manifold.
[0011]Each manifold outlet feeds one suction cup by its own vacuum line, so that the six outlets feed six suction cups.
[0012]The blow-off valve is connected to the circuit at the pump inlet line, so that compressed air can be driven back through the circuit to the face.
[0013]The robot side of the tool-change interface is bolted to the robot flange.
[0014]The pump motor is supplied from the electrical supply of the cell.
[0015]The blow-off valve is fed from the compressed air supply of the cell.
[0016]The blow-off valve is switched by the cell controller.
3. Operating sequence and conditions
[0017]
- When the suction cups reach the workpiece, the suction cups are evacuated by the vacuum pump.
[0018]
- After the workpiece has reached the set-down position, the workpiece is blown off by the blow-off valve.
[0019]
- The workpiece is held until the blow-off valve has opened the circuit.
[0020]The cell controller commands the blow-off valve; no sensor drives an actuator directly.
4. Parameters and operating assumptions
[0021]Parameter values of this embodiment: locking of the tool-change interface: mechanical (sets what has to be present at the interface for the tool to stay attached); form of the suction cups: flat (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); drive medium of the vacuum pump: electric (sets the supply the pump motor needs from the cell); outlets of the manifold: six (sets how many lines can be fed from one inlet); duration of the blow-off valve: a sustained blast (sets how quickly the face clears and how much air each release costs); timing of the blow-off valve: after set-down (sets whether the pulse assists a drop release or clears the face after set-down).
[0022]The blow-off is a sustained blast: the valve stays open for the whole release so that the face is cleared of dust and the workpiece is pushed positively away.
[0023]The lock is engaged by a manually operated lever on the interface; no supply crosses the interface for the lock, and tool exchange needs an operator at the tool.
5. Provenance and status
[0024]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-11427405-B1, US-11858125-B2, US-2016214812-A1, US-8006968-B2, US-8132312-B2; their text is not reproduced, and the description above is generated from the structure of the combination.