A sponge suction cup gripper with adaptive slope

Abstract

The present invention belongs to the technical field of workpiece hoisting, and specifically relates to a sponge suction cup gripper with an adaptive inclined surface. The present invention includes a fixed plate and a floating plate, an up and down floating assembly arranged between the fixed plate and the floating plate, a connecting flange and a detection device installed on the fixed plate, an air pressure detection device and a universal angle floating head installed on the floating plate, and a vacuum sponge suction cup assembly installed on the universal angle floating head. The present invention realizes adaptive adjustment of different heights and angles through the up and down floating assembly and the universal angle floating head, which can meet the needs of sucking objects with larger inclined surfaces or inconsistent inclined surface angles without worrying about the objects falling or being unable to be sucked due to poor fitting. It is very convenient to use and has strong versatility. A blowing assembly is added. When the sponge suction cup gripper moves to the top of the sucked object, it starts to blow air to blow away fine impurities such as surface debris, reduce the frequency of manual cleaning, and improve production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of workpiece hoisting, and in particular relates to a sponge suction cup gripper with an adaptive inclined surface. Background Art

[0002] In the field of industrial automation, vacuum sponge suction cups are generally used to lift and transport objects made of non-steel materials or with rough surfaces.

[0003] The vacuum sponge suction cup is installed on a manipulator or other carrier to realize the lifting or transportation of objects. The existing sponge suction cup gripper generally has the ability to float up and down by adding an axial guide to adapt to the suction of objects of different thicknesses. When encountering a large slope or inconsistent slope angles, when the actuator can only move up and down, the sponge suction cup gripper that only relies on the up and down axial floating cannot reliably suck the object, and there is a risk of the object falling or failing to be sucked during the suction process, and it cannot meet the use conditions of sucking objects with inclined surfaces. Adding a rotating mechanism or robot rotation teaching to the actuator is costly and has poor versatility, and is not suitable for flexible production. When there are fine impurities such as debris on the surface of the sucked object, the vacuum generator is easily blocked during vacuum suction, and manual cleaning is required from time to time, which increases the workload of workers and affects production efficiency and the life of the vacuum system. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the sponge suction cup gripper in the prior art that the object is not tightly grasped and is easy to fall off, and to provide a sponge suction cup gripper which can automatically clean fine impurities on the surface of the clamped object and can adapt to the inclined surface.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A sponge suction cup gripper with an adaptive slope, comprising a fixed plate and a floating plate, an up-and-down floating assembly arranged between the fixed plate and the floating plate, a connecting flange and an object detection device installed on the fixed plate, an air pressure detection device and a universal angle floating head installed on the floating plate, and a vacuum sponge suction cup assembly installed on the universal angle floating head;

[0007] The up-and-down floating assembly comprises at least three guide light shafts with one end fixed to the floating plate and the other end connected to the fixed plate through a linear bearing, and up-and-down floating springs sleeved on the guide light shafts; an optical shaft fixing ring is installed at one end of the guide light shaft passing through the fixed plate;

[0008] The universal angle floating head includes a floating head flange installed on the floating plate, a first support installed on the side wall of the floating head flange, a second support installed on the inner side of the first support, and a compression spring arranged between the bottom of the mounting groove and the second support; the limiting plane of the first support is fixedly connected to the floating head flange, and the limiting plane of the second support is fixedly connected to the first support.

[0009] Furthermore, the object detection device includes a sensor bracket fixed on the fixing plate and tangent to the optical axis fixing ring, a proximity switch installed in the sensor bracket, a switch mounting plate fixedly installed on the side of the fixing plate, and a reflection switch installed on the switch mounting plate.

[0010] Furthermore, the air pressure detection device includes an air pressure detection switch installed on the floating plate and a third air pipe joint installed on the air pressure detection switch.

[0011] Furthermore, the vacuum sponge suction cup assembly includes a vacuum generator installed on the second support, a first air pipe joint and a vacuum sponge suction cup installed on the vacuum generator, and a second air pipe joint installed on the vacuum sponge suction cup; the first air pipe joint is connected to the main air circuit; the second air pipe joint is connected to the third air pipe joint through an air pipe.

[0012] Furthermore, there are at least three compression springs.

[0013] Furthermore, a blowing assembly is also installed on the floating plate; the blowing assembly includes a manifold installed on the floating plate, a fourth air pipe joint installed on the manifold and a bamboo blowing nozzle; the fourth air pipe joint is connected to the main air path.

[0014] The beneficial effects of the sponge suction cup gripper with an adaptive slope of the present invention are:

[0015] 1. The present invention realizes adaptive adjustment at different heights and angles through the up and down floating components and the universal angle floating head. It can meet the needs of sucking objects with larger slopes or inconsistent slope angles without worrying about the objects falling or being unable to be sucked due to poor adhesion. It is very convenient to use and has strong versatility.

[0016] 2. The present invention adds a blowing component. When the sponge suction cup gripper moves above the sucked object, it starts blowing to blow away small impurities such as surface debris. This reduces the possibility of vacuum generator clogging during vacuum suction as much as possible, prolongs the life of the vacuum system, reduces the frequency of manual cleaning, improves production efficiency and reduces unnecessary downtime. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0018] Figure 1 is a stereogram of an embodiment of the present invention;

[0019] Figure 2 This is a partial structural diagram of an embodiment of the present invention:

[0020] Figure 3 is a detailed view of a blowing assembly according to an embodiment of the present invention;

[0021] Figure 4 is a front cross-sectional view of a universal angle floating head according to an embodiment of the present invention;

[0022] Figure 5 is a right side cross-sectional view of a universal angle floating head according to an embodiment of the present invention;

[0023] Figure 6 It is a top cross-sectional view of a universal angle floating head according to an embodiment of the present invention.

[0024] In the figure: 1. fixed plate, 2. floating plate, 3. up and down floating assembly, 31. guide light axis, 32. linear bearing, 33. up and down floating spring, 34. optical axis fixing ring, 4. connecting flange, 5. object detection device, 51. sensor bracket, 52. proximity switch, 53. switch mounting plate, 54. reflection switch, 6. universal angle floating head, 61. floating head flange, 62. first support, 63. second support, 64. compression spring, 65. spring seat hole, 7. vacuum sponge suction cup assembly, 71. vacuum generator, 72. first air pipe joint, 73. vacuum sponge suction cup, 74. second air pipe joint, 8. air pressure detection device, 81. air pressure detection switch, 82. third air pipe joint, 9. blowing assembly, 91. manifold, 92. fourth air pipe joint, 93. bamboo blowing nozzle. DETAILED DESCRIPTION

[0025] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0026] like Figure 1-Figure 6 The specific embodiment of the adaptive inclined sponge suction cup gripper of the present invention shown includes a fixed plate 1 and a floating plate 2, an upper and lower floating assembly 3 arranged between the fixed plate 1 and the floating plate 2, a connecting flange 4 and a detection device installed on the fixed plate 1, an air pressure detection device 8 and a universal angle floating head 6 installed on the floating plate 2, and a vacuum sponge suction cup assembly 7 installed on the universal angle floating head 6.

[0027] Reference Figure 1-Figure 3As shown, the up-down floating assembly 3 includes at least three guide light shafts 31, one end of which is fixed on the floating plate 2 and the other end is connected to the fixed plate 1 through a linear bearing 32, and an up-down floating spring 33 sleeved on the guide light shaft 31; an optical shaft fixing ring 34 is installed on one end of the guide light shaft 31 passing through the fixed plate 1. In the embodiment of the present invention, at least three linear bearings 32 are evenly distributed and installed around the fixed plate 1, the guide light shaft 31 passes through the linear bearings 32 and the guide light shaft 31 is coaxial with the linear bearings 32, the optical shaft fixing ring 34 is arranged at the upper end of the guide light shaft 31, the floating plate 2 is arranged at the lower end of the guide light shaft 31, and the up-down floating spring 33 is arranged between the linear bearing 32 and the floating plate 2 and is coaxial with the guide light shaft 31. The optical shaft fixing ring 34 has a fastening groove and is clamped and connected with the guide light shaft 31.

[0028] like Figure 4-Figure 6 The universal angle floating head 6 shown includes a floating head flange 61 installed on the floating plate 2, a first support 62 installed on the side wall of the floating head flange 61, a second support 63 installed on the inner side of the first support 62, and a compression spring 64 arranged between the floating head flange 61 and the second support 63; the limiting plane of the first support 62 is fixedly connected to the floating head flange 61, and the limiting plane of the second support 63 is fixedly connected to the first support 62.

[0029] Embodiments of the present invention Figure 4-Figure 6 As shown, a first support 62 is provided in the floating head flange 61, and the cylindrical surface of the first support 62 is in clearance fit with the inner wall of the floating head flange 61, and a threaded hole is provided on the limiting plane of the first support 62. The floating head flange 61 and the first support 62 are axially connected by equal height screws to form a rotation pair, and a second support 63 is provided in the first support 62, and the cylindrical surface of the second support 63 is in clearance fit with the first support 62, and the limiting plane of the second support 63 is axially connected with the first support 62 by equal height screws to form a rotation pair. There are at least three compression springs 64, so at least three spring seat holes 65 are provided on the second support 63. In the embodiment of the present invention, four spring seat holes 65 are provided on the second support 63, and the compression spring 64 is installed on the spring seat hole 65 and is arranged on the lower end surface of the inside of the floating head flange 61. The present invention realizes adaptive adjustment of different heights and different angles through the upper and lower floating components 3 and the universal angle floating head 6. It can absorb objects with larger slopes or inconsistent slope angles without worrying about the objects falling off or being unable to be absorbed due to poor fit. It is very convenient to use and has strong versatility.

[0030] like Figure 2The object detection device 5 shown includes a sensor bracket 51 fixed on the fixed plate 1 and tangent to the optical axis fixing ring 34, a proximity switch 52 installed in the sensor bracket 51, a switch mounting plate 53 fixedly mounted on the side of the fixed plate 1, and a reflective switch 54 installed on the switch mounting plate 53. The proximity switch 52 is a standard part that can be directly purchased on the market, and functions to detect objects. When the object approaches the proximity switch 52, the proximity switch 52 will output a signal. When the vacuum sponge suction cup 73 contacts the object to be sucked and continues to press down, the upper and lower floating springs 33 will be compressed, and the guide optical axis 31 will move upward relative to the fixed plate 1. When the proximity switch 52 is close, a signal will be output, indicating that the vacuum sponge suction cup 73 has contacted the product and is over-pressed, which is used to ensure reliable suction of the vacuum sponge. The reflection switch 54 detects whether there is an object within a certain distance through diffuse reflection. The principle is that infrared light is emitted to the surface of the object and then returned, and a signal is output when the light is received. In this embodiment, it has two functions. First, when the vacuum sponge suction cup 73 gripper approaches to absorb the product, a signal is output to inform the system that it is close to the product; second, it is used to determine whether there is a product being absorbed by the vacuum sponge suction cup 73. If the product falls during the transportation process, it can be detected and used for alarm, thereby improving work efficiency and reducing the occurrence of safety accidents.

[0031] The air pressure detection device 8 includes an air pressure detection switch 81 installed on the floating plate 2 and a third air pipe joint 82 installed on the air pressure detection switch 81. The air pressure detection switch 81 is a prior art, and its function is to detect the vacuum pressure value. When the vacuum generator 71 is in effect, when the vacuum sponge suction cup 73 does not completely absorb the product, there is a vacuum leak, and the vacuum pressure value inside the air path is less than a preset value, the air pressure detection switch 81 generates a signal and sends it to the PLC or other processing components for alarm.

[0032] The vacuum sponge suction cup assembly 7 of the embodiment of the present invention includes a vacuum generator 71 installed on the second support 63, a first air pipe joint 72 and a vacuum sponge suction cup 73 installed on the vacuum generator 71, and a second air pipe joint 74 installed on the vacuum sponge suction cup 73; the first air pipe joint 72 is connected to the main air circuit; the second air pipe joint 74 is connected to the third air pipe joint 82 through an air pipe.

[0033] The floating plate 2 is also provided with a blowing assembly 9; the blowing assembly 9 includes a manifold 91 installed on the floating plate 2, a fourth air pipe joint 92 installed on the manifold 91, and a bamboo-jointed blowing nozzle 93; the fourth air pipe joint 92 is connected to the main air path. When the sponge suction cup gripper moves above the sucked object, it starts blowing to blow away small impurities such as surface debris. The situation of clogging the vacuum generator 71 during vacuum suction is reduced as much as possible, and the life of the vacuum system is extended; the frequency of manual cleaning is reduced, production efficiency is improved, and unnecessary downtime is reduced.

[0034] The sponge suction cup gripper of the embodiment of the present invention can move quickly when it is not close to the object to be sucked. When the reflective switch 54 detects the object to be sucked, it outputs a signal, and the sponge suction cup gripper slows down to approach the object. At the same time, the bamboo blowing nozzle of the blowing component 9 blows air to remove debris and other fine impurities on the surface of the object; when the vacuum sponge suction cup 73 contacts the object and presses down further, the up and down floating spring 33 in the up and down floating component 3 begins to compress; during the pressing process, the universal universal angle floating head 6 will adaptively flip with the inclined angle of the object; and the guide light axis 31 will move upward relative to the fixed plate 1. When the optical axis fixing ring 34 on the guide light axis 31 triggers the proximity switch 52, the proximity switch 52 will output a signal indicating that the vacuum sponge suction cup 7 3 has come into contact with the object and has over-pressured, thereby ensuring that the vacuum sponge suction cup 73 fully fits and absorbs the product; at this time, the vacuum generator 71 starts to work and generates negative pressure, and the air pressure detection switch 81 detects the air pressure of the air circuit system. If it is lower than the preset value, it indicates that the vacuum sponge suction cup 73 has not completely absorbed the product, and there is a vacuum leakage, and an alarm is given; if the value detected by the air pressure detection switch 81 is normal, it indicates that the sponge suction cup gripper has firmly absorbed the product and started to transport it; during the transportation process, if the value detected by the air pressure detection switch 81 is lower than the preset value and the reflection switch 54 detects that the product fails, it indicates that the product has fallen off during the transportation process, and an alarm is given; the vacuum sponge suction cup 73 is fully fitted to the product through the structure, and the sensor forms a detection closed loop, so that the object can be transported fully and reliably, and it is very convenient to use and has strong versatility.

[0035] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A sponge suction cup gripper with an adaptive slope, characterized in that: The invention comprises a fixed plate (1) and a floating plate (2), an upper and lower floating assembly (3) arranged between the fixed plate (1) and the floating plate (2), a connecting flange (4) and an object detection device (5) installed on the fixed plate (1), an air pressure detection device (8) and a universal angle floating head (6) installed on the floating plate (2), and a vacuum sponge suction cup assembly (7) installed on the universal angle floating head (6); The up-and-down floating assembly (3) comprises at least three guide light shafts (31) one end of which is fixed on the floating plate (2) and the other end of which is connected to the fixed plate (1) via a linear bearing (32), and an up-and-down floating spring (33) sleeved on the guide light shaft (31); an optical shaft fixing ring (34) is installed on one end of the guide light shaft (31) passing through the fixed plate (1); The universal angle floating head (6) comprises a floating head flange (61) mounted on the floating plate (2), a first support (62) mounted on the side wall of the floating head flange (61), a second support (63) mounted on the inner side of the first support (62), and a compression spring (64) arranged between the floating head flange (61) and the second support (63); a limiting plane of the first support (62) is fixedly connected to the floating head flange (61), and a limiting plane of the second support (63) is fixedly connected to the first support (62); The air pressure detection device (8) comprises an air pressure detection switch (81) mounted on the floating plate (2) and a third air pipe joint (82) mounted on the air pressure detection switch (81); The vacuum sponge suction cup assembly (7) comprises a vacuum generator (71) mounted on the second support (63), a first air pipe joint (72) and a vacuum sponge suction cup (73) mounted on the vacuum generator (71), and a second air pipe joint (74) mounted on the vacuum sponge suction cup (73); the first air pipe joint (72) is connected to a main air path; the second air pipe joint (74) is connected to the third air pipe joint (82) via an air pipe; an air blowing assembly (9) is also mounted on the floating plate (2); the air blowing assembly (9) comprises a manifold (91) mounted on the floating plate (2), a fourth air pipe joint (92) and a bamboo-jointed air blowing nozzle (93) mounted on the manifold (91); the fourth air pipe joint (92) is connected to the main air path.

2. The sponge suction cup gripper with an adaptive slope according to claim 1, characterized in that: The object detection device (5) comprises a sensor bracket (51) fixed on the fixing plate (1) and tangent to the optical axis fixing ring (34), a proximity switch (52) installed in the sensor bracket (51), a switch mounting plate (53) fixedly mounted on the side of the fixing plate (1), and a reflection switch (54) mounted on the switch mounting plate (53).

3. The sponge suction cup gripper with an adaptive slope according to claim 1, characterized in that: There are at least three compression springs (64).

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