• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    SUMMARY Set to operate a vacuum gripper (1) having a plurality of suction openings (3) which are jointly supplied by a compressed air driven vacuum generator (2), connected in a group of 5 suction openings to a vacuum chamber (4) and arranged for a limited influence of atmospheric pressure. to the vacuum chamber via a respective throttle (6) arranged in the suction openings. Via a river connection (9) the pressure in the vacuum chamber (4) is introduced into a pneumatically actuable compressed air regulator (7), and changes in the pressure in the vacuum chamber are used to regulate the flow of compressed air via the compressed air regulator to the compressed air driven vacuum generator.
    公开号:SE1250284A1
    申请号:SE1250284
    申请日:2012-03-22
    公开日:2013-09-23
    发明作者:Peter Tell
    申请人:Xerex Ab；
    IPC主号:
    专利说明:

    TITLE Salt to drive a vacuum gripper that has a number of suction openings.
    TECHNICAL FIELD OF THE INVENTION The invention relates to a salt for driving a vacuum gripper which has a plurality of suction openings which are jointly supplied by a compressed air-driven vacuum generator. The invention is more particularly directed to a salt and to the use of a compressed air regulator RV driving a vacuum gripper having a group of suction openings which are arranged for limited influx of ambient air at atmospheric pressure via a choke arranged in the respective suction opening.
    BACKGROUND AND BACKGROUND ART Vacuum grippers that are equipped with RV have a limited influx of ambient air at atmospheric pressure via a throttle of the suction duct's flow cross section is kanda, and are often used in grippers that have a number of suction openings distributed over a common surface and which provide a vacuum. The suction openings can for instance be arranged in rows and columns in matrix form, or in the form of concentric circles, or arranged in a single row. A group of suction openings is in this way connected to a common vacuum chamber in the vacuum gripper, which in different embodiments can be compared to a plate or a beam.
    Vacuum grippers of this type are suitable, for example, for handling objects whose shape and / or size may vary, or for simultaneously handling a plurality of objects, such as a group of objects to be tangent or paralyzed in mutually determined positions. The throttling of the suction ducts ensures that a usable working pressure can be established in the vacuum gripper even if one or more of the suction openings are not used in the individual case, and therefore ambient pressure enters the vacuum chamber.
    This technical rule of action presupposes an overcapacity of the vacuum cold, which is typically driven by Oversized power and energy consumption I & to compensate Mr the loss in efficiency caused by the paint flow. In order to improve the dynamics of the system and shorten the working cycle times, the throttle can be dimensioned for a larger width, which is understood to mean a correspondingly increased energy consumption in the vacuum generator. SUMMARY OF THE INVENTION The invention generally aims to provide a dynamic vacuum system with short duty cycle times and optimized energy consumption.
    A specific object of the invention is to provide an energy-saving method of driving a vacuum gripper which has a plurality of suction openings which are jointly supplied by a pressure-scented vacuum generator and which are arranged for limited influence of ambient air at atmospheric pressure via a suction opening device in each suction opening.
    Another specific object of the invention is to direct a salt to drive the above vacuum gripper so that the same working pressure is established in the vacuum gripper during a series of working cycles regardless of whether the number of suction openings used differs between different working cycles included in the series.
    In order to meet at least one of these objects, the invention provides a salt to drive a vacuum gripper of the type initially indicated, which is characterized by the pressure in the vacuum chamber being introduced via a river connection into a pneumatically actuatable compressed air regulator, and changes in the pressure in the vacuum chamber being used to control the flow of compressed air via the compressed air regulator to the compressed air driven vacuum generator.
    By continuously regulating the compressed air flow to the vacuum generator with the aid of the pressure radiating in the vacuum chamber at any time, it can be achieved that the same working pressure is established in the vacuum gripper during a series of working cycles regardless of the number of suction openings used.
    A substantially constant operating pressure in the vacuum gripper is adjustable in the compressed air regulator. For this purpose, the pressure is introduced from the vacuum chamber for the action of a spring-biased diaphragm in the compressed air regulator, which membrane is determined by a control slide which is movably arranged across the compressed air flow through the compressed air regulator. The level of the working pressure in the vacuum gripper is installable in the compressed air regulator by selecting the strength of the I: Oder which biases the diaphragm and loads the control slide in the direction of an opening layer Mr unobstructed compressed air flow Over the control slide. In a preferred embodiment, the compressed air flow through the compressed air regulator is controlled by means of a control slide which provides at least two separate and controllable flow waves through the control slide. In analogy to the above, the invention also consists in the use of a compressed air regulator with pneumatic vacuum feedback for driving a vacuum gripper which has a plurality of suction openings which are provided in groups jointly by a compressed air-driven vacuum generator and are provided with limited influence of atmospheric pressure. arranged strangulation.
    In particular, the invention discloses the use of a compressed air regulator with pneumatic vacuum feedback to maintain the same working pressure in the vacuum gripper during a series of working cycles, regardless of whether the number of suction openings used differs between different working cycles included in the series.
    BRIEF DESCRIPTION OF THE DRAWINGS Embodiments of the invention are explained in more detail below with reference to the accompanying drawings, of which Fig. 1 schematically shows a vacuum system used in the kit according to the invention to operate a vacuum gripper is implemented, and Fig. 2 shows a cross section through a pneumatic regulator with pneumatic vacuum feedback suitable for use in the inventive drive of a vacuum gripper.
    DETAILED DESCRIPTION OF EMBODIMENT EXAMPLE Fig. 1 shows the arrangement of a vacuum system comprising a vacuum gripper 1 which is supplied by a compressed air-driven vacuum generator 2. The vacuum gripper 1 has a plurality of suction openings 3 arranged in a row, as shown in Fig. 1. The suction openings may alternatively have a different shape and may, for example, consist of perforations covered by a multi-channel, air-permeable cushion.
    The suction openings 3 are connected to a common vacuum chamber 4 which via a suction channel 5 is in flow connection with the vacuum generator. The vacuum generator 2 is of the ejector type and is driven by compressed air which is supplied from a pressure air head P. not further specified. The vacuum generator 2 is operative for evacuating the vacuum chamber 4, to which ambient air at atmospheric pressure flows via the suction openings 3. In order to always apply usable working pressure. the vacuum gripper 1 awn in the event that the flake or some of the suction openings 3 do not have contact with an object, the suction openings have a respective choke 6 which delimits the flow of 4 atmospheric pressures into the vacuum chamber. The remaining fluid flow via the throttles 6 must in the usual individual work cycle be compensated by driving the vacuum generator to a corresponding degree to ensure a usable working pressure regardless of whether one, two or an indeterminate number of the suction openings are inactive in the individual case.
    In order to avoid constantly operating the vacuum generator 2 at an excessive power which compensates for a paint flow corresponding to a certain assumed average degree of utilization of the suction openings, such as e.g. 70% filling from a gripped object, the vacuum system of Fig. 1 comprises a compressed air regulator 7 arranged in the compressed air flow P to the vacuum generator.
    More specifically, according to the invention, a compressed air regulator 7 (see also Fig. 2) is used with pneumatic vacuum feedback in the form of a transversely arranged regulating air flow P which is affected by the pressure in the vacuum chamber 4 at any time. The vacuum chamber pressure is introduced into the compressed air regulator. 9 which results in a housing 10 divided by a flexible diaphragm 11. The diaphragm 11 is the total load of a compression spring 12 and the pressure radiating in the gripper which is applied to the same side of the diaphragm which is loaded by the I-Jac 12. atmospheric pressure on both sides of the diaphragm, the diaphragm 12 on this set is biased in the direction of the control slide 8, which the diaphragm acts on via a rod 13. At decreasing pressure in the vacuum chamber 4 of the gripper, the biasing force of a spring acting in the opposite direction 8 is correspondingly 14, with the result that the control slide changes its position and achieves a reduction of the compressed air flow in the vacuum generator.
    The possibility of the compressed air regulator for changes in the pressure in the vacuum chamber 4 can be installed by selecting the strength of the spring 12 which loads the diaphragm and biases the regulating slide against the obtained liquid. The sensor can be fine-tuned with the aid of a control screw, not shown in more detail, which, when screwed into the housing 10, acts to compress the spring.
    In a preferred embodiment, a compressed air regulator with pneumatic vacuum feedback is used, which has a control slide 8 arranged in a liner 15.
    It is therefore particularly preferred that both feed and control slide have several waves for compressed air flow across the liner and the control slide. These river ridges can be realized in the form of openings 16, 17, 18, 19 through the cradle of the feed, which openings are axially separated and arranged in diametrically opposite positions of the cradle of the feed. In the corresponding law, the control slide has a respective slot 20, 21, which extends around the control slide and radially inks from the mantle surface of the control slide. By distributing the flow through the compressed air regulator on several axially separated flow waves, the movement length of the control slide is reduced between a maximum open bearing, used in the control slide slots and the liner openings correspond to each other, and a rod bearing in the control slide slots is suspended by the feed cradle.
    A vacuum system set up as described above allows an energy-saving operation of a vacuum gripper of the type in question which has a plurality of suction openings designed for a lacquer flow to a common vacuum chamber. Because the pressure in the vacuum chamber directly affects and controls the regulation of the compressed air flow to the vacuum generator, constant working pressure can be established during a series of working cycles, regardless of whether the number of unused suction openings varies from one working cycle to another, and regardless of whether the gripped objects have varying porosity and permeability to air. The fact that this is also carried out with a demand-adapted direct-controlled pressure fragrance consumption is a further advantage of the invention. 6
    权利要求:
    Claims (8)
    [1]
    Set to drive a vacuum gripper (1) having a plurality of suction openings (3) which are jointly supplied by a compressed air driven vacuum generator (2), used in a group of suction openings connected to a vacuum chamber (4) and equipped with a limited influence of atmospheric pressure. to the vacuum chamber via a respective throttle (6) arranged in the suction openings, characterized in that the pressure in the vacuum chamber (4) is introduced via a river connection (9) into a pneumatically actuatable compressed air regulator (7), and that changes in the pressure in the vacuum chamber are used to regulate the flow. of compressed air via the compressed air regulator to the compressed air driven vacuum generator.
    [2]
    Set according to claim 1, characterized in that the compressed air flow to the vacuum generator is continuously regulated by means of the pressure prevailing in the vacuum chamber at any time, and that the same working pressure is established in the vacuum gripper during a series of working cycles regardless of the number of suction openings used. work cycles included in the series.
    [3]
    Kit according to claim 2, characterized in that a substantially constant working pressure in the vacuum gripper is installable in the compressed air regulator.
    [4]
    4. A kit according to any one of claims 1-3, characterized in that the pressure in the vacuum chamber is introduced into the compressed air regulator for the action of a spring-biased diaphragm (11) which determines the layer of a regulating slide (8) which is arranged transversely through the compressed air regulator.
    [5]
    Kit according to claim 4, characterized in that the compressed air flow to the vacuum generator is regulated in the compressed air regulator by means of a control slide (8) which provides at least two separate and controllable flow waves (20, 21) through the control slide. 7
    [6]
    Kit according to Claim 4 or 5, characterized in that a desired working pressure in the vacuum gripper can be installed in the compressed air regulator by selecting the strength of the spring (12) which loads the diaphragm (11).
    [7]
    Use of compressed air regulator (7) with pneumatic vacuum feedback for driving a vacuum gripper (1) which has a plurality of suction openings (3) which in group are supplied jointly by a compressed air-driven vacuum generator (2) and Or arranged for limited influence in atmospheric pressure. respective suction opening arranged throttle (6).
    [8]
    Use of pneumatic vacuum regulator with pneumatic vacuum feedback according to claim 7 Mr to maintain the same working pressure in the vacuum gripper (1) during a series of working cycles, regardless of whether the number of suction openings (3) used differs between different working cycles in the series. / 9/3 // &.)
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    同族专利:
    公开号 | 公开日
    SE538007C2|2016-02-09|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1250284A|SE538007C2|2012-03-22|2012-03-22|Way to operate a vacuum gripper which has a plurality of suction openings.|SE1250284A| SE538007C2|2012-03-22|2012-03-22|Way to operate a vacuum gripper which has a plurality of suction openings.|
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