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A handling robot and its suction cup device

A technology for handling robots and suction cups, which is applied in the field of handling robots, can solve the problems of reducing the adhesion between the suction cup and the attached surface, easily causing accidents, and the suction cup is easy to detach, and achieves excellent tear resistance, good pollution resistance, and avoids The effect of fatigue damage

Active Publication Date: 2020-12-11
上海我耀机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The objects handled by the handling robot often have a rough surface with some convex and concave particles, which will reduce the adhesion between the adsorption surface and the attached surface, and the suction cup is easy to detach. Once the object falls off, it is easy to cause an accident
[0004] In addition, the smoke in the workplace of the handling robot will also cause aging damage to the suction cup or surface contamination, thereby reducing the adhesion between the suction cup and the attached surface
[0005] Moreover, commonly used suction cup materials include silica gel, nitrile rubber, soft PVC and TPE. Among them, soft PVC and TPE have permanent deformation, poor resilience, and low hardness, so it is difficult to be used as a suction cup for handling robots.
Nitrile and silicone do not perform well on rough surfaces

Method used

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  • A handling robot and its suction cup device
  • A handling robot and its suction cup device
  • A handling robot and its suction cup device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment A1

[0053] In this embodiment, the disc body of the suction cup of the transport robot includes an adsorption surface layer, an intermediate layer and a body layer that are sequentially superimposed and bonded. The material composition of each layer is as follows:

[0054] Adsorption surface layer:

[0055] Polyoxyethylene ether: 10 parts by weight;

[0056] ABS: 20 parts by weight;

[0057] PS: 8 parts by weight;

[0058] Polyisoprene: 50 parts by weight;

[0059] Polysiloxane: 20 parts by weight;

[0060] Lignin: 5 parts by weight.

[0061] middle layer:

[0062] Polysiloxane: 60 parts by weight;

[0063] EVA: 30 parts by weight;

[0064] PP: 30 parts by weight.

[0065] Ontology layer:

[0066] HDPE: 8 parts by weight;

[0067] PVC: 20 parts by weight;

[0068] Polyisoprene: 20 parts by weight;

[0069] Thermoplastic polyurethane: 40 parts by weight.

[0070] Mold reference for making suction cups figure 1 , the specific method is as follows:

[0071] Step 1: Take...

Embodiment A2

[0081] In this embodiment, the disc body of the suction cup of the transport robot includes an adsorption surface layer, an intermediate layer and a body layer that are sequentially superimposed and bonded. The material composition of each layer is as follows:

[0082] Adsorption surface layer:

[0083] Polyoxyethylene ether: 15 parts by weight;

[0084] ABS: 30 parts by weight;

[0085] PS: 5 parts by weight;

[0086] Polyisoprene: 55 parts by weight;

[0087] Polysiloxane: 35 parts by weight;

[0088] Lignin: 3 parts by weight.

[0089] middle layer:

[0090] Polysiloxane: 75 parts by weight;

[0091] EVA: 25 parts by weight;

[0092] PP: 40 parts by weight.

[0093] Ontology layer:

[0094] HDPE: 10 parts by weight;

[0095] PVC: 20 parts by weight;

[0096] Polyisoprene: 20 parts by weight;

[0097] Thermoplastic polyurethane: 50 parts by weight.

Embodiment A3

[0099] In this embodiment, the disc body of the suction cup of the transport robot includes an adsorption surface layer, an intermediate layer and a body layer that are sequentially superimposed and bonded. The material composition of each layer is as follows:

[0100] Adsorption surface layer:

[0101] Polyoxyethylene ether: 25 parts by weight;

[0102] ABS: 30 parts by weight;

[0103] PS: 10 parts by weight;

[0104] Polyisoprene: 50 parts by weight;

[0105] Polysiloxane: 40 parts by weight;

[0106] Lignin: 2 parts by weight.

[0107] middle layer:

[0108] Polysiloxane: 80 parts by weight;

[0109] EVA: 40 parts by weight;

[0110] PP: 20 parts by weight.

[0111] Ontology layer:

[0112] HDPE: 10 parts by weight;

[0113] PVC: 30 parts by weight;

[0114] Polyisoprene: 25 parts by weight;

[0115] Thermoplastic polyurethane: 50 parts by weight.

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Abstract

The invention discloses a transfer robot. The transfer robot comprises a six-shaft mechanical arm and a sucker. The sucker comprises a sucker disc body, wherein the sucker disc body includes an adsorption surface layer, a middle layer and a body layer, and the adsorption surface layer, the middle layer and the body layer are sequentially laminated and bonded; the six-shaft mechanical arm is fixedon a base, the bottom end of the six-shaft mechanical arm is connected with a frustum-shaped mounting frame, wherein a small bottom surface of the frustum-shaped mounting frame is mounted on the bottom end of the frustum-shaped mounting frame, and a larger bottom surface of the frustum-shaped mounting frame is connected to a sucker frame; the body layer of the sucker is connected with the side, away from the frustum-shaped mounting frame, of the sucker frame. According to the transfer robot and a sucker device thereof, a unique frame structure can form a stress buffer, so when a large-mass object is transferred, excessive fatigue damage caused by larger impulse imposed on joints can be avoided.

Description

technical field [0001] The present invention relates to a handling robot (mechanical arm), in particular to a handling robot with a suction cup and a handling device used for the handling robot. Background technique [0002] The suction cup has a suction surface that is suctioned to the surface to which an object is attached, and a back surface that is opposite to the suction surface. The suction cup is also a commonly used part of the handling robot arm. It is installed at the end of the robot arm, and the adsorption surface is attached to the smooth surface. The suction will form a negative pressure in the cavity of the adsorption surface, and the object will be clamped and transported. Commonly used suction cup materials include silicone, rubber, soft PVC and TPE. [0003] The objects handled by the handling robot often have a rough surface with some convex and concave particles, which will reduce the adhesion between the adsorption surface and the attached surface, and ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B65G47/91B29C51/02B29C51/14B29C51/30B29C48/36C08L71/02C08L55/02C08L25/06C08L47/00C08L83/04C08L97/00C08L23/08C08L23/12C08L23/06C08L27/06C08L75/04B32B27/28B32B27/40B32B27/08B32B25/16B32B25/08B32B1/00B32B37/10
CPCB65G47/91
Inventor 辛志卢家炜林琨詠章亦军杨羊
Owner 上海我耀机器人有限公司