GB2272420A - Vacuum grippers - Google Patents

Vacuum grippers Download PDF

Info

Publication number
GB2272420A
GB2272420A GB9323500A GB9323500A GB2272420A GB 2272420 A GB2272420 A GB 2272420A GB 9323500 A GB9323500 A GB 9323500A GB 9323500 A GB9323500 A GB 9323500A GB 2272420 A GB2272420 A GB 2272420A
Authority
GB
United Kingdom
Prior art keywords
gripper
vacuum
gripper device
arrangement
compressed air
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
GB9323500A
Other versions
GB9323500D0 (en
Inventor
Arthur Alexander Collie
Neal David Hewer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Portsmouth Technology Consultants Ltd
Portsmouth Polytechnic Enterprise Ltd
Original Assignee
Portsmouth Technology Consultants Ltd
Portsmouth Polytechnic Enterprise Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Portsmouth Technology Consultants Ltd, Portsmouth Polytechnic Enterprise Ltd filed Critical Portsmouth Technology Consultants Ltd
Publication of GB9323500D0 publication Critical patent/GB9323500D0/en
Publication of GB2272420A publication Critical patent/GB2272420A/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Jet Pumps And Other Pumps (AREA)
  • Manipulator (AREA)
  • Compressors, Vaccum Pumps And Other Relevant Systems (AREA)

Abstract

A vacuum gripper arrangement comprises a gripper device 1 having a body 2 and a seal 3 for contacting a supporting surface 5 to which the gripper device 1 is to be attached, a vacuum pump 6 connected to the gripper device 1, a compressed air source 8 and a two-way valve 9 for connecting the compressed air source 8 to the vacuum pump 6 for causing a vacuum to be formed between the gripper device 1 and the supporting surface 5 to cause it to be attached thereto, or for connecting the compressed air source to the gripper device 1 for causing a pressure to be formed between the gripper device 1 and the supporting surface 5, to cause it to be at least partially lifted from the surface 5. Preferably a variable resistance 13 is provided in the air supply side 12. <IMAGE>

Description

Vacuum Gripper Arrangements This invention relates to vacuum gripper arrangements and especially to such arrangements for use with robotic devices. The invention has particular application to vacuum gripper feet for use in robotic devices of the kind which form the basis of U.K. Patent Application Nos. 2230357A and 2238992A.
The vacuum gripper arrangement which forms the basis of the present invention lends itself to use in dirty or contaminated environments.
In U.K. Patent Application No. 2248221A there is disclosed a vacuum gripper device in the form of a gripper foot which includes a vacuum generating ejector pump mounted on a body of the foot in such a way that air is withdrawn from the space under the gripper foot to cause it to attach itself to an adjacent surface for as long as a supply of compressed air is supplied to the ejector pump.
To release the gripper foot with the compressed air still applied, a pneumatic poppet valve is operated to close the exhaust outlet of the ejector pump for causing back pressure which breaks the vacuum and releases the foot.
In some applications it is not convenient to mount a poppet valve on the ejector pump, and the present invention relates to an improved form of vacuum gripper arrangement whereby this requirement is obviated.
According to the present invention there is provided a vacuum gripper arrangement comprising a gripper device having a body and a sealing skirt or rim for contacting a supporting surface to which the gripper device is to be attached, a vacuum pump connected to said gripper device, a compressed air inlet, and valve means for causing said compressed air inlet to be connected to said vacuum pump or said gripper device whereby when a compressed air supply is connected to said inlet, in one position of said valve means it is connected to said vacuum pump for causing a vacuum to be formed between said gripper device and a supporting surface to cause said gripper device to be attached thereto, and in another position of said valve means it is connected to said gripper device for causing a pressure to be formed between said gripper device and said supporting surface.
It may be arranged that the vacuum pump is a multi-ejector vacuum pump, and the vacuum pump may be separate from the gripper device or formed as part of it.
A restrictor device may be provided connected between said valve means and said gripper device, and it may be arranged that the restrictor device is adjustable.
Conveniently, said valve means is a two-way electrically operated valve.
An exemplary embodiment of the invention will now be described, reference being made to the accompanying single figure drawing which depicts a vacuum gripper arrangement in accordance with the present invention.
The vacuum gripper arrangement shown in the drawing comprises a gripper foot 1 having a generally cylindrical body 2 around the periphery of which is disposed a seal 3 whereby a space 4 is formed between the body 2 and a supporting surface 5 which, when evacuated of air, causes the gripper foot 1 to be attached to the surface 5.
The vacuum gripper arrangement is provided with a vacuum ejector pump 6, the vacuum take-off port of which is connected to the space 4 of the gripper foot 1 by means of a pipe 7. The ejector pump 6 is supplied with compressed air from a compressed air source 8 via a two-way valve 9 which is electromagnetically operated by means of a coil 10 such that when the coil 10 is energised, the two-way valve 9 is operated to cause compressed air to be supplied to the vacuum ejector pump 6 via the pipe 11, which in turn causes a vacuum to be formed in the space 4 of the gripper foot 1 thereby causing it to be attached to the surface 5.
When the gripper foot 1 is required to be released from the surface 5, the coil 10 of the two-way valve 9 is de-energised to cause the valve 9 to operate to cause compressed air to be supplied directly to the gripper foot 1 via a pipe 12 and restrictor device 13 whereby a positive pressure is developed in the space 4 of the gripper foot 1 which enables it to slide freely over the surface 5 on an air cushion. The magnitude of the pressure in the space 4 of the gripper foot 1 is adjusted by means of the restrictor 13 to a minimum value to minimise air consumption. Some air from the space 4 will escape via the pipe 7 and the vacuum ejector pump 6 but this can be minimised.
The positive pressure developed in the space 4 of the gripper foot 1 not only enables it to slide freely over the surface 5, it enables the seal 3 to distribute itself evenly over the surface 5 and helps to prevent the gripper foot 1 from "tripping" on its front edge when it is moving. The positive pressure also enables the gripper foot 1 to be used in dirty, dusty environments since any dust particles, etc., will be blown clear.
It will be appreciated that the vacuum gripper arrangement which has been described obviates the need for a poppet valve and the ejector pump 6 may be formed separately from the gripper foot 1 as shown or may be formed as part of the gripper foot 1.

Claims (7)

1. A vacuum gripper arrangement comprising a gripper device having a body and a sealing skirt or rim for contacting a supporting surface to which the gripper device is to be attached, a vacuum pump connected to said gripper device, a compressed air inlet, and valve means for causing said compressed air inlet to be connected to said vacuum pump or said gripper device whereby when a compressed air supply is connected to said inlet, in one position of said valve means it is connected to said vacuum pump for causing a vacuum to be formed between said gripper device and a supporting surface to cause said gripper device to be attached thereto, and in another position of said valve means it is connected to said gripper device for causing a pressure to be formed between said gripper device and said supporting surface.
2. An arrangement as claimed in claim 1, in which the vacuum pump is a multi-ejector vacuum pump.
3. An arrangement as claimed in claim 1 or claim 2, in which said vacuum pump is separate from said gripper device.
4. An arrangement as claimed in any preceding claim, comprising a restrictor device connected between said valve means and said gripper device.
5. An arrangement as claimed in claim 4, in which said restrictor device is adjustable.
6. An arrangement as claimed in any preceding claim, in which said valve means is a two-way electrically operated valve.
7. A vacuum gripper arrangement substantially as hereinbefore described with reference to the accompanying drawing.
GB9323500A 1992-11-16 1993-11-15 Vacuum grippers Withdrawn GB2272420A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB929224041A GB9224041D0 (en) 1992-11-16 1992-11-16 Vaccum gripper devices

Publications (2)

Publication Number Publication Date
GB9323500D0 GB9323500D0 (en) 1994-01-05
GB2272420A true GB2272420A (en) 1994-05-18

Family

ID=10725188

Family Applications (2)

Application Number Title Priority Date Filing Date
GB929224041A Pending GB9224041D0 (en) 1992-11-16 1992-11-16 Vaccum gripper devices
GB9323500A Withdrawn GB2272420A (en) 1992-11-16 1993-11-15 Vacuum grippers

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GB929224041A Pending GB9224041D0 (en) 1992-11-16 1992-11-16 Vaccum gripper devices

Country Status (1)

Country Link
GB (2) GB9224041D0 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3031705A1 (en) * 2014-12-08 2016-06-15 The Boeing Company Apparatus and method for coupling an end effector to a structure

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1114029A (en) * 1966-06-01 1968-05-15 Budd Co Fluid pressure controlled holding device for a lift unit
US4453755A (en) * 1982-08-06 1984-06-12 Leland F. Blatt Vacuum cup venturi assembly and blow off silencer
GB2254909A (en) * 1991-04-09 1992-10-21 Mannesmann Ag Valve block
GB2257412A (en) * 1991-06-26 1993-01-13 Smc Kk Vacuum feeding apparatus.

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1114029A (en) * 1966-06-01 1968-05-15 Budd Co Fluid pressure controlled holding device for a lift unit
US4453755A (en) * 1982-08-06 1984-06-12 Leland F. Blatt Vacuum cup venturi assembly and blow off silencer
GB2254909A (en) * 1991-04-09 1992-10-21 Mannesmann Ag Valve block
GB2257412A (en) * 1991-06-26 1993-01-13 Smc Kk Vacuum feeding apparatus.

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3031705A1 (en) * 2014-12-08 2016-06-15 The Boeing Company Apparatus and method for coupling an end effector to a structure
US10001245B2 (en) 2014-12-08 2018-06-19 The Boeing Company Apparatus and method for coupling an end effector to a structure

Also Published As

Publication number Publication date
GB9224041D0 (en) 1993-01-06
GB9323500D0 (en) 1994-01-05

Similar Documents

Publication Publication Date Title
US6416295B1 (en) Vacuum-generating unit
US7938466B2 (en) Suction gripper device
US4432701A (en) Vacuum controlling device
GB2037870A (en) Vacuum operated holding fixture
CA2684898A1 (en) Auto-release venturi with vacuum switch
JPH0784252B2 (en) Article carrier
EP0751301A3 (en) Fluid control apparatus
EP2104640A1 (en) Ejector device with ventilation action
JP2001520125A (en) Vacuum fixed holding device
US8550790B2 (en) Vacuum generator, driven by high-pressure air, and having means arranged therewith for the active release of an object that is gripped in a vacuum-gripper
US5388879A (en) Suction type robot hand
GB2272420A (en) Vacuum grippers
US9902075B2 (en) Vacuum generator device
GB2067717A (en) Flow control valves
EP0472354A1 (en) Vacuum gripper devices
JP2004306169A (en) Sucking device
JPH08309684A (en) Vacuum sucker with exhaust flow adjusting mechanism
EP0864791A3 (en) Suck back valve
US4830420A (en) Gripping device
JP3704163B2 (en) Vacuum supply unit
AU2888197A (en) Blower device with external valve unit
ATE114289T1 (en) SUCTION CUP DEVICE.
JPH0744467Y2 (en) Adsorption device
US11506225B2 (en) Vacuum breaking device for vacuum generator
JPH0320021Y2 (en)

Legal Events

Date Code Title Description
WAP Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1)