Target ball adsorber

Abstract

A target ball adsorber, comprising a base; a fixed seat; a adapter seat body; a rotating device; an adsorption device; a cylinder device; a sensor device; a negative pressure air path is provided inside the base, the fixed seat and the adapter seat body, and is connected to the adsorption needle of the adsorption device to achieve the adsorption of the target ball; the cylinder device restricts all six degrees of freedom of the rotating device to adsorb the target ball, or the rotating device is set to have only one degree of rotational freedom, that is, the other five degrees of freedom are restricted to assemble and detect the acting force on the target ball; the sensor device and the adsorption device together with the rotating device form a lever mechanism to detect the force condition of the target ball. The target ball adsorber provided by this application performs non-destructive vacuum adsorption and assembly on the target ball through the adsorption needle; an undamped rotating structure is provided inside to perform gas lubrication on the air path; the force sensor and the lever mechanism are combined to detect the force condition of the target ball at the end of the adsorption needle, improving the efficiency of adsorbing, moving and assembling the target ball.

Description

Technical Field

[0001] The present invention relates to the field of micro-assembly robots, and particularly to a target ball adsorber.

Background Art

[0002] Micro-assembly robots are effective tools for replacing manual operations in precision micro-device assembly. As the end effector of a micro-assembly robot, a microgripper's main function is to pick up, transport, and release tiny objects, and complete certain assembly actions.

[0003] As a kind of micro-structural component, a target ball has characteristics such as small geometric size and low stiffness. Existing technologies use adsorption needles to adsorb the target ball, and through horizontal microscopic vision double optical paths to guide and transport it into the clamping film for fixation, then withdraw the adsorption needle to complete the target ball assembly task. The above method relies on double optical path stereo microscopic vision for positioning, making the structure and operation of the entire device extremely complex. In addition, the above method does not set up a force feedback detector and cannot detect the contact force between the target ball and the clamping film. If the target ball is subjected to too much force exerted by the clamping film, it is very easy to cause deformation and damage to the target ball or the clamping film.

Summary of the Invention

[0004] The purpose of the present invention is to provide a target ball adsorber, which performs non-destructive vacuum adsorption and assembly on the target ball through an adsorption needle; is internally provided with a non-damping rotation structure for gas lubrication of the gas path; and combines a force sensor with a lever mechanism to detect the force condition of the target ball at the end of the adsorption needle. At the same time, the lever mechanism can also buffer during the movement of the target ball, improving the accuracy and efficiency of adsorbing, moving, and assembling the target ball, and avoiding deformation and damage of the target ball.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A target ball adsorber, characterized in that it includes:

[0007] A base;

[0008] A fixed seat, one side of the fixed seat is connected to the base, and the other side is connected to a adapter seat body;

[0009] A rotating device is provided inside the fixed seat; an adsorption tube is provided inside the rotating device;

[0010] An adsorption device, which is arranged in cooperation with the rotating device; the adsorption device includes an adsorption needle and a counterweight; the first end of the adsorption needle is inserted into the first side surface of the rotating device and is adjacent to the first end of the adsorption tube, the second end of the adsorption tube is sleeved and connected to the first end of an air pipe, and the second end of the air pipe is connected to a vacuum generator; the counterweight is connected to the second side surface of the rotating device;

[0011] A cylinder device, which is arranged on the upper side of the fixed seat and is used to limit the rotational degree of freedom of the rotating device, thereby fixing the adsorption needle;

[0012] A sensor device, which is opposite to the upper and lower surfaces of the counterweight block and is used to detect the force condition of the target ball at the second end of the adsorption needle.

[0013] In one embodiment, the first end of the rotating device is rotatably arranged in the accommodating cavity of the fixed seat through a shaft;

[0014] The second end of the rotating device penetrates through the fixed seat and extends to the base, realizing an air path connection with the base;

[0015] A bearing is arranged at the contact position between the second end of the rotating device and the fixed seat;

[0016] The second end of the adsorption tube protrudes externally relative to the second end of the rotating device, so that the second end of the adsorption tube is sleeved and connected to the first end of the air tube.

[0017] In one embodiment, a first side hole and a second side hole are respectively arranged on the first side surface and the second side surface of the rotating device;

[0018] The first end of the adsorption needle is inserted into the first side hole and is adjacent to the first end of the adsorption tube;

[0019] The counterweight block is inserted into the second side hole and is connected to the rotating device;

[0020] An opening is arranged on the fixed seat;

[0021] The power output end of the cylinder device passes through the opening.

[0022] In one embodiment, a first vertical hole and a second vertical hole are respectively arranged at the positions corresponding to the air tube on the upper surface and the lower surface of the base; both the first vertical hole and the second vertical hole communicate with the inside of the rotating device.

[0023] In one embodiment, the cylinder device includes a cylinder main body; the cylinder main body includes an upper end and a lower end, a cylinder head is arranged at the upper end, and a power output port is arranged at the lower end;

[0024] A push rod component is arranged inside the cylinder main body, and the push rod component includes a piston and a rod body integrally connected; the rod body serves as the power output end, the upper end of the rod body is connected to one side surface of the piston, and the lower end of the rod body sequentially passes through the power output port and the opening and enters the fixed seat.

[0025] In one embodiment, two protruding columns are provided inside the lower end of the cylinder body, and a spring is sleeved on each protruding column; one end of the spring abuts against the inner side of the lower end of the cylinder body, and the other end of the spring abuts against the piston.

[0026] In one embodiment, the sensor device includes a housing, a first sensor assembly and a second sensor assembly; the first sensor assembly and the second sensor assembly are arranged inside the housing;

[0027] The first sensor assembly and the second sensor assembly are symmetrically arranged on the upper surface side and the lower surface side of the counterweight, and are respectively opposite to the upper and lower surfaces of the counterweight;

[0028] The first sensor assembly and the second sensor assembly are arranged obliquely with respect to the plane where the counterweight is located.

[0029] In one embodiment, the first sensor assembly includes a first sensor, a first pressing block and a first side pressing housing; the first pressing block is arranged inside the first side pressing housing; the first sensor is arranged on the first side pressing housing by interference fit and is opposite to the upper surface of the counterweight;

[0030] The second sensor assembly includes a second sensor, a second pressing block and a second side pressing housing; the second pressing block is arranged inside the second side pressing housing; the second sensor is arranged on the second side pressing housing by interference fit and is opposite to the lower surface of the counterweight.

[0031] In one embodiment, the first sensor includes a first force sensing circuit board, a first force transmission block and a first force receiving sheet; one end of the first force receiving sheet is connected to the first force transmission block, and the other end is opposite to the upper surface of the counterweight; the first force transmission block is arranged on the first force sensing circuit board and is used for transmitting the acting force received by the first force receiving sheet from the upper surface of the counterweight to the first force sensing circuit board;

[0032] The second sensor includes a second force sensing circuit board, a second force transmission block and a second force receiving sheet; one end of the second force receiving sheet is connected to the second force transmission block, and the other end is opposite to the lower surface of the counterweight; the second force transmission block is arranged on the second force sensing circuit board and is used for transmitting the acting force received by the second force receiving sheet from the lower surface of the counterweight to the second force sensing circuit board.

[0033] In one embodiment, the distance from the contact point between the first force receiving sheet and the upper surface of the counterweight to the rotating device is equal to the length of the adsorption needle;

[0034] The distance from the contact point between the second force-receiving piece and the lower surface of the counterweight to the rotating device is equal to the length of the adsorption needle.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The target ball adsorber provided by the present application performs non-destructive vacuum adsorption and assembly on the target ball through the adsorption needle; an undamped rotation structure is provided inside to perform gas lubrication on the gas path; and a force sensor is combined with a lever mechanism to detect the force condition of the target ball at the end of the adsorption needle. At the same time, the lever mechanism can also buffer during the movement of the target ball, improving the accuracy and efficiency of adsorbing, moving, and assembling the target ball, and avoiding deformation and damage of the target ball.

Description of the Drawings

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them:

[0038] Figure 1 is a schematic diagram of the overall structure of the target ball adsorber provided by the present application.

[0039] Figure 2 is Figure 1 an enlarged schematic diagram of part A in

[0040] Figure 3 is Figure 1 a schematic diagram of the internal gas path cross-sectional structure of the target ball adsorber shown in

[0041] Figure 4 is Figure 1 a schematic diagram of the fixed seat structure of the target ball adsorber shown in

[0042] Figure 5 is Figure 1 a schematic diagram of the adsorption device structure of the target ball adsorber shown in

[0043] Figure 6 is Figure 1 a schematic diagram of the cylinder device structure of the target ball adsorber shown in

[0044] Figure 7 is Figure 1 a schematic diagram of the sensor device structure of the target ball adsorber shown in

[0045] Reference numerals: 1, base; 2, fixed seat; 3, adapter seat body; 4, rotating device; 5, adsorption device; 6, cylinder device; 7, sensor device; 11, first vertical hole; 12, second vertical hole; 411, first side of the rotating device; 412, second side of the rotating device; 413, first end of the rotating device; 414, second end of the rotating device; 42, shaft; 44, bearing; 45, first side hole; 46, second side hole; 47, opening; 51, adsorption needle; 511, first end of the adsorption needle; 512, second end of the adsorption needle; 52, counterweight; 53, adsorption tube; 531, first end of the adsorption tube; 532, second end of the adsorption tube; 54, air tube; 541, first end of the air tube; 542, second end of the air tube; 61, cylinder body; 62, cylinder head; 63, piston; 64, rod body; 65, protruding column; 66, spring; 71, housing; 72, first sensor assembly; 73, second sensor assembly; 711, first clamping foot; 712, second clamping foot; 721, first sensor; 722, first pressing block; 723, first side pressing housing; 731, second sensor; 732, second pressing block; 733, second side pressing housing; 7211, first force sensing circuit board; 7212, first force transfer block; 7213, first force receiving piece; 7311, second force sensing circuit board; 7312, second force transfer block; 7313, second force receiving piece.

Detailed implementation manners

[0046] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe in detail the specific implementation manners of the present application with reference to the accompanying drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the convenience of description, only the parts related to the present application are shown in the drawings, rather than all the structures. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0047] The terms "include" and "have" in the present application and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include unlisted steps or units, or may optionally further include other steps or units inherent to these processes, methods, products, or devices.

[0048] References to "embodiments" in this specification mean that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0049] Please refer to Figures 1 to 7 Shown is a target ball adsorber provided by an embodiment of the present application. The target ball adsorber includes a base 1, a fixed seat 2, a adapter seat body 3, an adsorption device 5, a cylinder device 6, and a sensor device 7. Among them, the fixed seat 2 includes a rotating device 4; one side of the fixed seat 2 is connected to the base 1, and the other side is connected to the adapter seat body 3. The base 1 and the fixed seat 2 are internally provided with air paths corresponding to the target ball adsorber. One side of the base 1 is connected to a vacuum generator (not shown in the figure). When the vacuum generator works, it evacuates the inside of the air path to provide a negative pressure force for adsorbing the target ball.

[0050] The rotating device 4 is arranged inside the fixed seat 2 and is used for rotationally adjusting the adsorption needle 51 of the adsorption device 5. The cylinder device 6 acts on the rotating device 4 to limit and release the rotational freedom of the rotating device 4. The degree of freedom of the rotating device 4 is restricted by the fixed seat 2, so that the rotating device 4 can only rotate in one degree of rotational freedom.

[0051] Specifically, a receiving cavity is provided inside the fixed seat 2 for receiving the rotating device 4; an air path channel is provided inside the rotating device 4. The rotating device 4 is arranged along the length direction of the fixed seat 2. The first end 413 of the rotating device is rotatably arranged in the receiving cavity of the fixed seat 2 through a shaft 42. The second end 414 of the rotating device penetrates the fixed seat 2 and extends to the base 1 to achieve air path connection with the base 1. A bearing 44 is provided at the contact position between the second end 414 of the rotating device and the fixed seat 2.

[0052] A first side hole 45 and a second side hole 46 are respectively provided on the first side surface 411 and the second side surface 412 of the rotating device; Figure 5 It can be seen that the first side hole 45 and the second side hole 46 are arranged opposite to each other. The first end 511 of the adsorption needle of the adsorption device 5 is inserted into the first side hole 45, and the counterweight 52 of the adsorption device 5 is inserted into the second side hole 46. An opening 47 is provided on the fixed seat 2, and the power output end of the cylinder device 6 can pass through the opening 47 and press against the rotating device 4.

[0053] The adsorption device 5 further includes an adsorption tube 53 and an air tube 54. Most of the tube body of the adsorption tube 53 is disposed in the gas path channel inside the rotating device 4; wherein, the first end 531 of the adsorption tube is located inside the rotating device 4 and is adjacent to the first end 511 of the adsorption needle at a relatively close distance; the second end 532 of the adsorption tube protrudes externally relative to the second end 414 of the rotating device; the air tube 54 is disposed through the base 1, such that the second end 532 of the adsorption tube is sleeved and connected with the first end 541 of the air tube, thereby achieving an airtight connection between the second end 532 of the adsorption tube and the first end 541 of the air tube, and the second end 542 of the air tube is connected with a vacuum generator. A corresponding gas path is formed inside the target ball adsorber, and the gas path sequentially includes a vacuum generator, an air tube 54, an adsorption tube 53, and an adsorption needle 51. When the vacuum generator operates, a negative pressure is formed inside the above gas path. At this time, the second end 512 of the adsorption needle can perform vacuum adsorption on the target ball to achieve damage-free extraction of the target ball. In addition, the adsorption tube 53 extends into the rotating device 4 and is in zero contact with the inner wall surface of the rotating device 4, realizing the non-damping rotation of the adsorption tube 53 relative to the rotating device 4 and the gas lubrication between the adsorption tube 53 and the rotating device 4, effectively avoiding affecting the subsequent force detection between the target ball and the clamping film.

[0054] In addition, first vertical holes 11 and second vertical holes 12 are respectively disposed at positions corresponding to the joints of the upper surface and the lower surface of the base 1 with the air tube 54 and the adsorption tube 53. The first vertical holes 11 and the second vertical holes 12 both communicate with the inside of the rotating device 4. When the adsorption needle 51 adsorbs the target ball, most of the negative pressure inside the gas path directly acts on the adsorption needle 51, and the remaining small part of the negative pressure causes a rapid air flow to be formed inside the rotating device 4. The first vertical holes 11 and the second vertical holes 12 can achieve the connection between the inside of the rotating device 4 and the external environment, and convey the formed rapid air flow to the external environment, effectively preventing a high-speed flowing air flow from being formed at the bearing 44 position of the rotating device 4, avoiding the formation of frictional force on the bearing balls and hindering the rotation of the bearing.

[0055] The cylinder device 6 includes a cylinder main body 61. The cylinder main body 61 includes an upper end and a lower end. An air cylinder head 62 is provided at the upper end of the cylinder main body 61, and a power output port is provided at the lower end. The air cylinder head 62 can be connected with an air compressor (not shown in the figure) to provide power for the operation of the cylinder device 6. A push rod component is disposed inside the cylinder main body 61, and the push rod component includes a piston 63 and a rod body 64 that are integrally connected. The upper end of the rod body 64 is connected to one side surface of the piston 63, and the lower end of the rod body 64 sequentially passes through the power output port of the cylinder device and the opening 47 and enters the fixed seat 2.

[0056] Inside the lower end of the cylinder body 61, there are two protruding columns 65, and each protruding column 65 is sleeved with a spring 66. One end of the spring 66 abuts against the inner side of the lower end of the cylinder body 61, and the other end of the spring 66 abuts against the piston 63. By arranging the protruding columns 65 and the springs 66 inside the cylinder body 61, the reciprocating movement amplitude of the piston 63 inside the cylinder body 61 can be restricted. The rotating device 4, the spring 66 and the rod body 64 serve as safety components, which can prevent serious damage to the device due to excessive pressure difference between the upper and lower spaces of the cylinder device 6.

[0057] When the air compressor works, it generates a pressure difference inside the cylinder body 61, and this pressure difference will generate a driving force on the piston 63, so that the piston 63 moves inside the cylinder body 61. The magnitude of the pressure difference inside the cylinder body 61 can be adjusted by the air compressor. The greater the above-mentioned pressure difference, the greater the movement amplitude of the piston 63 inside the cylinder body 61; on the contrary, the smaller the above-mentioned pressure difference, the smaller the movement amplitude of the piston 63 inside the cylinder body 61.

[0058] When the piston 63 moves forward inside the cylinder body 61, it will drive the rod body 64 to move downward, thereby applying a force to the rotating device 4. At this time, the rotating device 4 will be restricted in six degrees of freedom and the adsorption needle 51 will be fixed to adsorb the target ball. When the rotating device 4 is set to have only one degree of rotational freedom, that is, the other five degrees of freedom are restricted, so as to assemble and detect the acting force on the target ball.

[0059] The sensor device 7 includes a housing 71, a first sensor assembly 72 and a second sensor assembly 73. The housing 71 is in an overall "concave" shape, and its two sides respectively have a first clamping foot 711 and a second clamping foot 712. The base 1 is arranged inside the first clamping foot 711 and is in interference fit with the first clamping foot 711. The adapter socket body 3 is arranged inside the second clamping foot 712 and is in interference fit with the second clamping foot 712. The housing 71 fixes the base 1 and the adapter socket body 3 on the left and right sides respectively, effectively preventing relative displacement of the base 1 and the adapter socket body 3 from affecting the negative pressure air flow transmission inside the air path.

[0060] Both the first sensor assembly 72 and the second sensor assembly 73 are arranged inside the housing 71. The first sensor assembly 72 and the second sensor assembly 73 are symmetrically arranged on the upper surface side and the lower surface side of the counterweight 52. The first sensor assembly 72 and the second sensor assembly 73 are inclined with respect to the plane where the counterweight 52 is located, so as to effectively save the internal space of the housing 71.

[0061] The counterweight 52, the rotating device 4, and the adsorption needle 51 together form a lever mechanism. When the adsorption needle 51 performs vacuum adsorption on the target ball, the rotating device 4 can only rotate in one degree of rotational freedom. Correspondingly, the swing of the adsorption needle 51 will synchronously drive the swing of the counterweight 52. During the swing of the counterweight 52, it will contact the first sensor assembly 72 or the second sensor assembly 73 and exert a force on the first sensor assembly 72 or the second sensor assembly 73. In this way, the first sensor assembly 72 or the second sensor assembly 73 can obtain the force condition of the target ball by detecting the above-mentioned force. Optionally, the distance from the contact point between the first sensor assembly 72 and the upper surface of the counterweight 52 to the rotating device 4 is equal to the length of the adsorption needle 51, and the distance from the contact point between the second sensor assembly 73 and the lower surface of the counterweight 52 to the rotating device 4 is equal to the length of the adsorption needle 51. In this way, the counterweight 52, the rotating device 4, and the adsorption needle 51 form an equal-arm lever mechanism. The force exerted on the target ball during movement will be equivalently translated to the first sensor assembly 72 or the second sensor assembly 73 through the lever mechanism and detected and sensed, so as to more intuitively reflect the force condition of the target ball at the end of the adsorption needle 51. Moreover, the above-mentioned lever mechanism can also effectively buffer the clamping force exerted on the target ball by the clamping film, preventing the target ball from deforming or breaking.

[0062] The first sensor assembly 72 and the second sensor assembly 73 have the same structure. The first sensor assembly 72 includes a first sensor 721, a first pressing block 722, and a first side pressing housing 723. The first pressing block 722 is arranged in the first side pressing housing 723 through a threaded structure. The first sensor 721 is arranged on the first side pressing housing 723 by interference fit and faces the upper surface of the counterweight 52. A rectangular through-hole is provided on the surface of the first pressing block 722. After the wire is connected to the first sensor 721, it passes through the rectangular through-hole and is connected to an external terminal. A circular through-hole is also provided beside the rectangular through-hole. The circular through-hole has a threaded structure. A screw is screwed in the circular through-hole to push the first sensor 721, so as to fix the first sensor 721 at the target position. The second sensor assembly 73 includes a second sensor 731, a second pressing block 732, and a second side pressing housing 733. The second pressing block 732 is arranged in the second side pressing housing 733 through a threaded structure. The second sensor 731 is arranged on the second side pressing housing 733 by interference fit and faces the lower surface of the counterweight 52. A rectangular through-hole is provided on the surface of the second pressing block 732. After the wire is connected to the second sensor 731, it passes through the rectangular through-hole and is connected to an external terminal. A circular through-hole is also provided beside the rectangular through-hole. The circular through-hole has a threaded structure. A screw is screwed in the circular through-hole to push the second sensor 731, so as to fix the second sensor 731 at the target position.

[0063] In addition, the first sensor includes a first force-sensing circuit board 7211, a first force transmission block 7212, and a first force-receiving piece 7213. One end of the first force-receiving piece 7213 is connected to the first force transmission block 7212, and the other end is opposite to the upper surface of the counterweight 52. The first force transmission block 7212 is disposed on the first force-sensing circuit board 7211 and is configured to transmit the acting force received by the first force-receiving piece 7213 from the upper surface of the counterweight 52 to the first force-sensing circuit board 7211. The second sensor includes a second force-sensing circuit board 7311, a second force transmission block 7312, and a second force-receiving piece 7313. One end of the second force-receiving piece 7313 is connected to the second force transmission block 7312, and the other end is opposite to the lower surface of the counterweight 52. The second force transmission block 7312 is disposed on the second force-sensing circuit board 7311 and is configured to transmit the acting force received by the second force-receiving piece 7313 from the lower surface of the counterweight 52 to the second force-sensing circuit board 7311. When the adsorption needle 51 vacuum-adsorbs the target ball for assembly, the counterweight 52 will swing up and down accordingly, so as to contact the first force-receiving piece 7213 of the first sensor or the second force-receiving piece 7313 of the second sensor. When contact occurs, the corresponding force-receiving piece will transmit the acting force to the force-sensing circuit board through the force transmission block, and the force-sensing circuit board will detect the magnitude of the above-mentioned acting force, so as to determine the actual force condition of the target ball in real time. In addition, when the adsorption needle 51 adsorbs the target ball and moves, if the target ball touches the clamping film or other target objects, through the force transmission of the above lever mechanism, the actual force condition of the target ball can also be detected by the corresponding sensor assembly.

[0064] By detecting the external acting force on the target ball adsorbed at the end of the adsorption needle 51 through the first sensor assembly 72 and the second sensor assembly 73, the target ball on the adsorption needle 51 can be roughly positioned at the corresponding target position without a microscope.

[0065] The above is only a specific embodiment of the present invention, and any improvements made on the premise of the present invention concept are regarded as the protection scope of the present invention.

Claims

1. A target ball adsorber, characterized in that, Comprising: Base (1); Fixed seat (2), one side of the fixed seat (2) is connected to the base (1), and the other side is connected to the adapter seat body (3); A rotating device (4) is provided inside the fixed seat (2); an adsorption tube (53) is provided inside the rotating device (4); An adsorption device (5), which is cooperatively arranged with the rotating device (4); the adsorption device (5) includes an adsorption needle (51) and a counterweight (52); the first end (511) of the adsorption needle is inserted into the first side surface (411) of the rotating device and is adjacent to the first end (531) of the adsorption tube, the second end (532) of the adsorption tube is sleeved and connected to the first end (541) of the air pipe, and the second end (542) of the air pipe is connected to a vacuum generator; the counterweight (52) is connected to the second side surface (412) of the rotating device; A cylinder device (6), the cylinder device (6) is arranged on the upper side of the fixed seat (2) and is used to limit the rotational freedom of the rotating device (4), so as to fix the adsorption needle (51); A sensor device (7), the sensor device (7) faces the upper and lower surfaces of the counterweight (52) and is used to detect the force condition of the target ball at the second end (512) of the adsorption needle.

2. The target ball adsorber according to claim 1, characterized in that The first end of the rotating device is rotatably arranged in the accommodation cavity of the fixed seat (2) through a shaft (42); The second end of the rotating device penetrates through the fixed seat (2) and extends to the base (1) to realize an air path connection with the base (1); A bearing (44) is arranged at the contact position between the second end of the rotating device and the fixed seat (2); The second end of the adsorption tube protrudes outwards relative to the second end of the rotating device, so that the second end of the adsorption tube is sleeved and connected to the first end (541) of the air pipe.

3. The target ball adsorber according to claim 2, characterized in that A first side hole (45) and a second side hole (46) are respectively arranged on the first side surface (411) and the second side surface (412) of the rotating device; The first end (511) of the adsorption needle is inserted into the first side hole (45) and is adjacent to the first end (531) of the adsorption tube; The counterweight (52) is inserted into the second side hole (46) and is connected to the rotating device (4); An opening (47) is arranged on the fixed seat (2); The power output end of the cylinder device (6) passes through the opening (47).

4. The target ball adsorber according to claim 3, characterized in that First vertical holes (11) and second vertical holes (12) are respectively arranged at positions corresponding to the air pipe (54) on the upper surface and the lower surface of the base (1); the first vertical holes (11) and the second vertical holes (12) are both communicated with the inside of the rotating device (4).

5. The target ball adsorber according to claim 4, characterized in that The cylinder device (6) includes a cylinder body (61); the cylinder body (61) includes an upper end and a lower end, a cylinder head (62) is provided at the upper end, and a power output port is provided at the lower end. A push rod component is provided inside the cylinder body (61), and the push rod component includes a piston (63) and a rod body (64) integrally connected; the rod body (64) serves as the power output end, the upper end of the rod body (64) is connected to one side surface of the piston (63), and the lower end of the rod body (64) sequentially passes through the power output port and the opening (47) and enters the fixed seat (2).

6. The target ball adsorber according to claim 5, characterized in that Two convex columns (65) are provided on the inner side of the lower end of the cylinder body (61), and each convex column (65) is sleeved with a spring (66); one end of the spring (66) abuts against the inner side of the lower end of the cylinder body (61), and the other end of the spring (66) abuts against the piston (63).

7. The target ball adsorber according to claim 6, characterized in that The sensor device (7) includes a housing (71), a first sensor assembly (72) and a second sensor assembly (73); the first sensor assembly (72) and the second sensor assembly (73) are provided inside the housing (71). The first sensor assembly (72) and the second sensor assembly (73) are symmetrically arranged on the upper surface side and the lower surface side of the counterweight block (52), and are respectively opposite to the upper and lower surfaces of the counterweight block (52). The first sensor assembly (72) and the second sensor assembly (73) are inclined with respect to the plane where the counterweight block (52) is located.

8. The target ball adsorber according to claim 7, characterized in that The first sensor assembly (72) includes a first sensor (721), a first pressing block (722) and a first side pressing housing (723); the first pressing block (722) is provided inside the first side pressing housing (723); the first sensor (721) is press-fitted on the first side pressing housing (723) and is opposite to the upper surface of the counterweight block (52). The second sensor assembly (73) includes a second sensor (731), a second pressing block (732) and a second side pressing housing (733); the second pressing block (732) is provided inside the second side pressing housing (733); the second sensor (731) is press-fitted on the second side pressing housing (733) and is opposite to the lower surface of the counterweight block (52).

9. The target ball adsorber according to claim 8, characterized in that The first sensor (721) includes a first force sensing circuit substrate (7211), a first force transmission block (7212), and a first force receiving piece (7213); one end of the first force receiving piece (7213) is connected to the first force transmission block (7212), and the other end is opposite to the upper surface of the counterweight block (52); the first force transmission block (7212) is disposed on the first force sensing circuit substrate (7211) and is used for transmitting the acting force received by the first force receiving piece (7213) from the upper surface of the counterweight block (52) to the first force sensing circuit substrate (7211). The second sensor (731) includes a second force sensing circuit substrate (7311), a second force transmission block (7312), and a second force receiving piece (7313); one end of the second force receiving piece (7313) is connected to the second force transmission block (7312), and the other end is opposite to the lower surface of the counterweight block (52); the second force transmission block (7312) is disposed on the second force sensing circuit substrate (7311) and is used for transmitting the acting force received by the second force receiving piece (7313) from the lower surface of the counterweight block (52) to the second force sensing circuit substrate (7311).

10. The target ball adsorber according to claim 9, wherein the distance from the contact point between the first force receiving piece (7213) and the upper surface of the counterweight block (52) to the rotating device (4) is equal to the length of the adsorption needle (51); the distance from the contact point between the second force receiving piece (7313) and the lower surface of the counterweight block (52) to the rotating device (4) is equal to the length of the adsorption needle (51).

Images