Vacuum chuck with self-sealing function

Abstract

The application discloses a vacuum chuck with a self-sealing function, which comprises a chuck main body, a first self-sealing device and a second self-sealing device; the first self-sealing device comprises a first tubular shell, a first elastic piece, a cylindrical pin and a connecting pipe; one end of the first tubular shell is a closed end, the other end is fixedly connected with the chuck main body, and an opening is arranged on the middle side wall of the first tubular shell and is fixedly connected with the connecting pipe; one end of the cylindrical pin is located in the first tubular shell, and the other end extends out of the outside of the first tubular shell and the chuck main body; the cylindrical pin has a stepped surface; the first elastic piece is abutted between the closed end and the cylindrical pin; one end of the second self-sealing device is used for communicating with a vacuum generator, the other end is communicated with the connecting pipe, and the second self-sealing device has an opening mode with both ends communicated and a self-sealing mode with both ends disconnected. The above-mentioned vacuum chuck greatly improves the stability of the chuck array and can adjust the opening force of the self-sealing device.

Description

Technical Field

[0001] This invention relates to the field of vacuum suction cup technology, specifically to a vacuum suction cup with a self-sealing function, which is mainly used in the fields of mechanical grippers, crawling robots and other scientific and technological fields based on vacuum adsorption technology. Background Technology

[0002] Vacuum suction cups offer advantages such as simple and compact structure, light weight, low cost, easy operation, and fast operation speed. Typically, when the suction cup contacts a target object, a vacuum generator is activated to evacuate air from inside the suction cup, lowering the internal pressure to atmospheric pressure. This pressure difference holds the suction cup to the target object, creating a suction effect. Suction cup-based grippers are widely used in various industrial applications, such as packaging, food processing, metalworking, and semiconductors. This is because they can firmly grip parts during high-speed movement and can handle fragile parts gently. To achieve stronger adhesion and better adaptability to rough and curved surfaces, multiple suction cups are often combined for tasks such as gripping and transporting. For example, on industrial production lines, a set of suction cups is used to increase adhesion and gripping stability when handling large objects such as glass plates and metal boxes.

[0003] However, a major drawback of integrating multiple suction cups into industrial grippers is the inevitable compromise of the gripping system's stability. High-quality sealing is essential when using vacuum suction cups for object grasping. In a suction cup array, even a tiny opening in the contact surface between a single suction cup and the target object can compromise the overall airtightness of the system, leading to suction failure. Therefore, integrating multiple suction cups undoubtedly increases the difficulty of achieving system airtightness.

[0004] Traditional solutions to the above problems include: (1) increasing the number of vacuum generators so that each suction cup in the suction cup array corresponds to a vacuum generator. When a suction cup in the array fails to adsorb, the failed suction cup will not cause air leakage in the entire system, thus not affecting the adsorption force of other suction cups; (2) increasing the number of solenoid valves and air pressure sensor modules so that each suction cup in the array corresponds to a solenoid valve and an air pressure sensor. The pressure sensor is used to monitor the air pressure changes in each suction cup and the entire vacuum circuit. A complex control algorithm is required to accurately detect which suction cups in the array are not sealed properly. After that, the corresponding solenoid valves need to be closed quickly to prevent adsorption failure due to air leakage; (3) before starting the vacuum generator, ensure that all suction cups are completely sealed on the target object by manual means.

[0005] Using the traditional methods described above requires adding more vacuum lines, pressure sensors, valves, or vacuum generators to achieve stability in the clamping system, making the system bulkier and more complex.

[0006] To avoid the complexity of traditional methods, a self-sealing capability is provided to the vacuum suction cups to improve the airtightness and stability of multi-vacuum suction cup mechanical grippers, such as: (1) self-sealing suction cup array, in which all suction cups in the suction cup array can share a vacuum generator. When the vacuum generator is started, the plug inside the suction cup is sucked into the air passage and seals the vacuum pipeline. At this time, the suction cup is in a sealed state. When the lip of the suction cup is pressed on the surface of the target object, the passive reaction force between the target object and the suction cup lifts the plug from the air passage opening, so that the inner cavity of the suction cup is connected to the vacuum pipeline. The air inside the suction cup body is extracted along the vacuum tube, and the pressure difference between the inside and outside of the suction cup generates an adsorption force, which fixes the suction cup to the target object; (2) Miniature self-sealing suction cup array, in which a single self-sealing suction cup in the suction cup array achieves a self-sealing function through a silicone elastic structure. When the vacuum generator is started, the silicone elastic structure is adsorbed on the top layer of the suction cup, thereby sealing the vacuum tube. When the thin cylinder in the middle of the silicone elastic structure is squeezed against the surface of the object, the silicone elastic structure deforms, so that the inner cavity of the suction cup is connected to the vacuum tube, thereby generating an adsorption force.

[0007] However, the aforementioned existing technologies still have the following drawbacks:

[0008] (1) When the self-sealing structure is opened, the suction cup will not be successfully adsorbed onto the target object, which will cause air leakage and cause the entire suction cup array to fail to adsorb.

[0009] (2) The opening force of the self-sealing structure of the existing self-sealing suction cup cannot be adjusted after processing. Summary of the Invention

[0010] This invention provides a vacuum suction cup with a self-sealing function. Even when the self-sealing structure is open and the suction cup fails to adsorb, the vacuum suction cup can still seal the vacuum path to prevent air leakage. This ensures that the suction cup that fails to adsorb will not affect the adsorption force of other suction cups in the array, thereby greatly improving the stability of the suction cup array. After processing, the opening force of the self-sealing device can be adjusted by replacing the built-in elastic element.

[0011] The present invention adopts the following specific technical solution:

[0012] A vacuum suction cup with a self-sealing function, the vacuum suction cup includes a suction cup body, a first self-sealing device and a second self-sealing device;

[0013] The first self-sealing device includes a first tubular shell, a first elastic element, a cylindrical pin, and a connecting tube; one end of the first tubular shell is a closed end, and the other end is fixedly connected to the suction cup body; an opening is provided on the middle side wall, and the connecting tube is fixedly connected at the opening; one end of the cylindrical pin is located inside the first tubular shell, and the other end extends out of the outside of the first tubular shell and the suction cup body; the cylindrical pin has a stepped surface; the first elastic element is housed inside the first tubular shell and abuts against the closed end and the cylindrical pin; the first tubular shell is provided with a limiting structure for confining the cylindrical pin within the first tubular shell;

[0014] The first self-sealing device has an opening mode and a self-sealing mode. When the first elastic element is compressed by the cylindrical pin and the stepped surface is opposite to the opening, and the connecting tube is connected to the inner cavity of the suction cup body through the gap between the cylindrical pin and the first tubular shell, the first self-sealing device is in the opening mode. When the cylindrical pin is sealed with the inner wall of the first tubular shell under the elastic force of the first elastic element, and the connecting tube is disconnected from the inner cavity of the suction cup body, the first self-sealing device is in the self-sealing mode.

[0015] One end of the second self-sealing device is used to connect to the vacuum generator, and the other end is connected to the connecting pipe. It has an open mode with both ends connected and a self-sealing mode with both ends disconnected.

[0016] Furthermore, the second self-sealing device includes a second tubular housing, a first inner liner, a second inner liner, a third inner liner, a second elastic element, and a ball bearing;

[0017] The second tubular shell contains, along its axial direction, a first inner liner tube, the ball bearing, and a second inner liner tube arranged sequentially. Both the first and second inner liner tubes are fixedly connected to the inner wall of the second tubular shell. The distance between the first and second inner liner tubes is greater than the diameter of the ball bearing, and the inner diameters of both the first and second inner liner tubes are smaller than the diameter of the ball bearing. One end of the third inner liner tube is fixedly connected inside the first inner liner tube, and the other end extends outward from the outside of the second tubular shell for connecting to a vacuum generator. The second inner liner tube is sealed to the connecting pipe. One end of the second elastic element abuts against the inner end face of the third inner liner tube, and the other end abuts against the ball bearing.

[0018] When the ball is located between the first inner liner tube and the second inner liner tube, the connecting tube is connected to the third inner liner tube, and the second self-sealing device is in the open mode; when the ball is in sealing contact with the first inner liner tube or the second inner liner tube, the connecting tube is disconnected from the third inner liner tube, and the second self-sealing device is in the self-sealing mode.

[0019] Furthermore, the suction cup body is mounted on the first tubular housing via a fixing device.

[0020] Furthermore, the fixing device consists of a first fixing sleeve, a second fixing sleeve, and a connecting sleeve sequentially sleeved on the outer periphery of the first tubular shell along its axial direction;

[0021] The first fixing sleeve is fixedly connected to the first tubular shell;

[0022] The second fixing sleeve is fixedly connected to the first fixing sleeve at the connecting pipe;

[0023] One end of the connecting sleeve is fixedly connected to the second fixing sleeve, and the other end is embedded in the internal groove of the suction cup body.

[0024] Furthermore, the cylindrical pin has sealing sections and connecting sections formed on both sides of the stepped surface;

[0025] The sealing section is used to seal the opening;

[0026] The connecting section is used to connect the connecting tube to the inner cavity of the suction cup body;

[0027] The outer diameter of the sealing section is the same as the inner diameter of the first tubular shell and is larger than the outer diameter of the connecting section.

[0028] Furthermore, the limiting structure is composed of a fourth inner liner tube fixedly connected to the inner wall of the first tubular shell;

[0029] The inner diameter of the fourth inner liner is larger than the outer diameter of the connecting section.

[0030] Furthermore, the closed end of the first tubular shell is formed by a silicone column fixedly connected to the end of the first tubular shell;

[0031] The first elastic element abuts between the silicone pillar and the sealing section.

[0032] Furthermore, the first tubular shell, the connecting tube, the second tubular shell, the first inner liner tube, the second inner liner tube, the third inner liner tube, and the fourth inner liner tube are all made of flexible materials;

[0033] The first tubular shell is bonded to the connecting pipe and the fourth inner liner, the second tubular shell is bonded to the first inner liner and the second inner liner, the third inner liner is bonded to the first inner liner, the second inner liner is bonded to the connecting pipe, and the first fixing sleeve is bonded to the first tubular shell.

[0034] Both the first elastic element and the second elastic element are helical springs;

[0035] The ball bearing, the first fixing sleeve, the second fixing sleeve, the connecting sleeve, and the cylindrical pin are all made of rigid materials;

[0036] The cylindrical pin can be solid or hollow.

[0037] Furthermore, the first tubular shell, the connecting tube, the second tubular shell, the first inner liner tube, the second inner liner tube, the third inner liner tube, and the fourth inner liner tube are all made of silicone.

[0038] The first tubular shell is bonded to the connecting pipe and the fourth inner liner, the second tubular shell is bonded to the first inner liner and the second inner liner, the third inner liner is bonded to the first inner liner, the second inner liner is bonded to the connecting pipe, and the first fixing sleeve is bonded to the first tubular shell using silicone adhesive.

[0039] Furthermore, the suction cup body can be a single-layer suction cup, a multi-layer suction cup, or a wave-shaped suction cup.

[0040] Beneficial effects:

[0041] 1. The vacuum suction cup of the present invention connects the suction cup body to the vacuum generator through a first self-sealing device and a second self-sealing device. Both the first and second self-sealing devices have a self-sealing mode. The simultaneous use of two self-sealing devices enables the vacuum suction cup to have a self-sealing function. During the process of grasping the target object, the vacuum suction cup can still seal the vacuum path when the self-sealing device is activated and the suction cup fails to adsorb, preventing air leakage. This ensures that the suction cup that fails to adsorb will not affect the adsorption force of other suction cups in the array, thereby effectively improving the reliability and stability of the suction cup array.

[0042] 2. By using elastic elements with different elastic coefficients, the opening force of the self-sealing device can be adjusted according to specific application requirements. Therefore, even after the machining is completed, the opening force of the self-sealing device can be adjusted by replacing the built-in elastic element, which has the characteristic of flexible opening force adjustment. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of a suction cup array using the vacuum suction cups of the present invention;

[0044] Figure 2 This is a schematic diagram of the overall structure of the vacuum suction cup of the present invention;

[0045] Figure 3 for Figure 2 Cross-sectional view of a vacuum chuck;

[0046] Figure 4 A cross-sectional view of the assembly structure of the suction cup body, the first tubular shell, and the fixing device;

[0047] Figure 5 This is a cross-sectional view of the assembly structure of the suction cup body and the connecting sleeve;

[0048] Figure 6 This is a three-dimensional structural diagram of the first fixed sleeve;

[0049] Figure 7 This is a three-dimensional structural diagram of the second fixing sleeve;

[0050] Figure 8 This is a three-dimensional structural diagram of the connecting sleeve.

[0051] Among them, 1-suction cup body, 2-first self-sealing device, 3-second self-sealing device, 4-fixing device, 5-vacuum air passage, 21-first tubular shell, 22-first elastic element, 23-cylindrical pin, 24-connecting tube, 25-silicone column, 31-second tubular shell, 32-first inner liner tube, 33-second inner liner tube, 34-third inner liner tube, 35-second elastic element, 36-ball bearing, 41-first fixing sleeve, 42-second fixing sleeve, 43-connecting sleeve, 44-fourth inner liner tube, 231-sealing section, 232-connecting section. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] Figure 1 This is a schematic diagram of the connection structure between the suction cup array and the vacuum air path 5. Each suction cup array is connected to the vacuum air path 5. Figure 2 This is a three-dimensional structural diagram of the vacuum suction cup according to an embodiment of the present invention. Figure 3 This is a cross-sectional view of the vacuum chuck according to an embodiment of the present invention.

[0054] This invention provides a vacuum suction cup with a self-sealing function. The vacuum suction cup includes a suction cup body 1, a first self-sealing device 2, and a second self-sealing device 3. The suction cup body 1 can be a single-layer suction cup, a multi-layer suction cup, or a wave-shaped suction cup.

[0055] like Figure 3 As shown, the first self-sealing device 2 includes a first tubular housing 21, a first elastic element 22, a cylindrical pin 23, and a connecting pipe 24; one end of the first tubular housing 21 is a closed end, and the other end is fixedly connected to the suction cup body 1, and an opening is provided on the middle side wall, at which the connecting pipe 24 is fixedly connected; one end of the cylindrical pin 23 is located inside the first tubular housing 21, and the other end extends out of the outside of the first tubular housing 21 and the suction cup body 1; Figure 3 This is a schematic diagram of the vacuum suction cup without adsorption. Figure 3 The first tubular shell 21 is vertically arranged, with a closed top and a suction cup body 1 fixedly connected to the bottom. A connecting pipe 24 communicates with the interior of the first tubular shell 21 through an opening. The top of a cylindrical pin 23 is located inside the first tubular shell 21, while the bottom of the cylindrical pin 23 extends out of both the first tubular shell 21 and the suction cup body 1. The cylindrical pin 23 has a stepped surface, resulting in different outer diameters. The outer diameter of the top is the same as the inner diameter of the first tubular shell 21 and is used to seal the opening. The outer diameter of the bottom is smaller than the inner diameter of the first tubular shell 21, creating a gap between the cylindrical pin 23 and the first tubular shell 21. This gap forms a gas channel between the inner cavity of the suction cup body 1 and the connecting pipe 24. Figure 3 The cylindrical pin 23 shown is illustrated using an example with two stepped surfaces: an upper stepped surface and a lower stepped surface. However, only one stepped surface can be used; in this case, only the lower stepped surface can be retained. Figure 3 In this structure, to ensure that the first self-sealing device 2 can be opened smoothly, the upper stepped surface is located below the opening, and the distance between the upper stepped surface and the lower edge of the opening needs to be less than or equal to the length of the cylindrical pin 23 extending out of the suction cup body 1. This ensures that during adsorption, the compressed length of the cylindrical pin 23 is sufficient to move the stepped surface to the opening, thereby forming an airflow channel between the cylindrical pin 23 and the first tubular housing 21, connecting the opening and the inner cavity of the suction cup body 1, thus achieving vacuum adsorption. The first elastic element 22 is housed within the first tubular housing 21 and abuts against the closed end and the top of the cylindrical pin 23. The first elastic element 22 can be a helical spring, which enables the first self-sealing device 2 to achieve a self-sealing function. The first tubular housing 21 is provided with a limiting structure for confining the cylindrical pin 23 within the first tubular housing 21.

[0056] The first self-sealing device 2 has an opening mode and a self-sealing mode; when the first elastic element 22 is compressed by the cylindrical pin 23 and the stepped surface is opposite to the opening, and the connecting pipe 24 is connected to the inner cavity of the suction cup body 1 through the gap between the cylindrical pin 23 and the first tubular housing 21, the first self-sealing device 2 is in the opening mode; when the cylindrical pin 23 is sealed with the inner wall of the first tubular housing 21 under the elastic force of the first elastic element 22, and the connecting pipe 24 is disconnected from the inner cavity of the suction cup body 1, the first self-sealing device 2 is in the self-sealing mode, such as... Figure 3 The structure is shown below;

[0057] One end of the second self-sealing device 3 is connected to the vacuum generator, and the other end is connected to the connecting pipe 24. It has an open mode with both ends connected and a self-sealing mode with both ends disconnected; for example Figure 3 As shown, the second self-sealing device 3 includes a second tubular housing 31, a first inner liner tube 32, a second inner liner tube 33, a third inner liner tube 34, a second elastic element 35, and a ball bearing 36.

[0058] Inside the second tubular shell 31, a first inner liner tube 32, a ball bearing 36, and a second inner liner tube 33 are sequentially arranged along its axial direction; Figure 3 The second tubular housing 31 is arranged laterally. Along the left to right side of the second tubular housing 31, a first inner liner tube 32, a ball bearing 36, and a second inner liner tube 33 are sequentially arranged inside the second tubular housing 31. Both the first inner liner tube 32 and the second inner liner tube 33 are fixedly connected to the inner wall of the second tubular housing 31. The distance between the first inner liner tube 32 and the second inner liner tube 33 is greater than the diameter of the ball bearing 36, and the inner diameters of both the first inner liner tube 32 and the second inner liner tube 33 are smaller than the diameter of the ball bearing 36, to ensure that the ball bearing 36 can move and open between the first inner liner tube 32 and the second inner liner tube 33. One end of the third inner liner tube 34 is fixedly connected to the inside of the first inner liner tube 32, and the other end extends out of the outside of the second tubular housing 31, for connecting to a vacuum generator. Figure 3 The left end of the third inner liner tube 34 is located outside the second tubular shell 31, and the right end is fixedly connected to the first inner liner tube 32; the second inner liner tube 33 is sealed to the connecting tube 24; one end of the second elastic member 35 abuts against the inner end face of the third inner liner tube 34, and the other end abuts against the ball 36; the second elastic member 35 can be a helical spring, and the second self-sealing device 3 can achieve self-sealing through the second elastic member 35;

[0059] When the ball bearing 36 is located between the first inner liner tube 32 and the second inner liner tube 33, the connecting pipe 24 is connected to the third inner liner tube 34, and the second self-sealing device 3 is in the open mode; when the ball bearing 36 is in sealing contact with the first inner liner tube 32 or the second inner liner tube 33, the connecting pipe 24 is disconnected from the third inner liner tube 34, and the second self-sealing device 3 is in the self-sealing mode.

[0060] In the aforementioned vacuum suction cup, such as Figure 2 , Figure 3 and Figure 4 As shown, the suction cup body 1 is mounted on the first tubular housing 21 by a fixing device 4; the fixing device 4 consists of a first fixing sleeve 41, a second fixing sleeve 42, and a connecting sleeve 43 sequentially sleeved on the outer periphery of the first tubular housing 21 along its axial direction; the first fixing sleeve 41 is fixedly connected to the first tubular housing 21; the second fixing sleeve 42 is fixedly connected to the first fixing sleeve 41 at the connecting tube 24; as shown Figure 4 and Figure 5 As shown, one end of the connecting sleeve 43 is fixedly connected to the second fixing sleeve 42, and the other end is embedded in the internal groove of the suction cup body 1. Figure 6 and Figure 7 As shown, the upper part of the second fixing sleeve 42 is provided with a lug, which is used to fix the first fixing sleeve 41 to the lug by screws; as shown Figure 7 and Figure 8 As shown, the connecting sleeve 43 is provided with a through hole that penetrates the wall thickness, and the second fixing sleeve 42 is provided with a threaded hole that is opposite to the position of the through hole. The connecting sleeve 43 is fixedly connected to the second fixing sleeve 42 by screws, thereby realizing the fixed installation between the suction cup body 1 and the first self-sealing device 2.

[0061] like Figure 3 As shown, the cylindrical pin 23 in the first self-sealing device 2 has a sealing section 231 and a connecting section 232 formed on both sides of the stepped surface; the outer diameter of the sealing section 231 is the same as the inner diameter of the first tubular shell 21 and larger than the outer diameter of the connecting section 232, and the sealing section 231 is used to seal the opening; the connecting section 232 is used to connect the connecting pipe 24 and the inner cavity of the suction cup body 1. The limiting structure is composed of a fourth inner liner tube 44 fixedly connected to the inner wall of the first tubular shell 21; the inner diameter of the fourth inner liner tube 44 is larger than the outer diameter of the connecting section 232. On the one hand, the fourth inner liner tube 44 cooperates with the stepped surface to achieve a seal; on the other hand, the fourth inner liner tube 44 cooperates with the stepped surface to limit the lowest position of the cylindrical pin 23.

[0062] In the aforementioned first self-sealing device 2, the closed end of the first tubular housing 21 can be formed by a silicone column 25 fixedly connected to the end of the first tubular housing 21; the first elastic member 22 abuts against the silicone column 25 and the sealing section 231. The closed end is formed by a silicone column 25, which facilitates the installation of various components in the first self-sealing device 2, and the silicone column 25 can be fixedly connected to the first tubular housing 21 after the other components are installed.

[0063] In the aforementioned vacuum suction cup, the first tubular shell 21, the connecting tube 24, the second tubular shell 31, the first inner liner tube 32, the second inner liner tube 33, the third inner liner tube 34, and the fourth inner liner tube 44 can all be made of flexible materials such as silicone. At the same time, the first tubular shell 21 can be bonded to the connecting tube 24 and the fourth inner liner tube 44, the second tubular shell 31 can be bonded to the first inner liner tube 32 and the second inner liner tube 33, the third inner liner tube 34 can be bonded to the first inner liner tube 32, the second inner liner tube 33 can be bonded to the connecting tube 24, and the first fixing sleeve 41 can be bonded to the first tubular shell 21 using silicone adhesive.

[0064] The ball bearing 36, the first fixed sleeve 41, the second fixed sleeve 42, the connecting sleeve 43, and the cylindrical pin 23 are all made of rigid materials;

[0065] The cylindrical pin 23 can be a solid structure or a hollow structure, meaning it can be made as a single piece or by first separating and then assembling parts.

[0066] The aforementioned vacuum suction cup connects the suction cup body 1 to the vacuum generator via a first self-sealing device 2 and a second self-sealing device 3. Both the first self-sealing device 2 and the second self-sealing device 3 have a self-sealing mode. The simultaneous use of two self-sealing devices enables the vacuum suction cup to have a self-sealing function. During the process of grasping the target object, the vacuum suction cup can still seal the vacuum air path 5 even when the self-sealing device is activated and the suction cup fails to adsorb, preventing air leakage. This ensures that the suction cup that fails to adsorb will not affect the adsorption force of other suction cups in the array, thereby effectively improving the reliability and stability of the suction cup array.

[0067] Since both the first self-sealing device 2 and the second self-sealing device 3 are equipped with elastic elements, the opening force of the self-sealing device can be adjusted according to specific application requirements by using elastic elements with different elastic coefficients. Therefore, even after the machining is completed, the opening force of the self-sealing device can be adjusted by replacing the built-in elastic element, which has the characteristic of flexible opening force adjustment.

[0068] The working principle of the suction cup array using the above-mentioned vacuum suction cups is as follows: (1) All suction cup bodies 1 in the suction cup array share a vacuum source; (2) In the initial state of the suction cup body 1, the second self-sealing device 3 is in the open mode and the first self-sealing device 2 is in the self-sealing mode; (3) When the vacuum generator is turned on, the second self-sealing device 3 is still in the open mode and the first self-sealing device 2 is still in the self-sealing mode, and the air pressure inside the suction cup body 1 is atmospheric pressure; (4) When the suction cup body 1 is pressed against the surface of an object, the cylindrical pin 23 of the first self-sealing device 2 is subjected to the reaction force exerted on it by the surface of the object, driving the cylindrical pin 23 to move upward and compress the first elastic element 22 - the helical spring; (5) When the cylindrical pin 23 moves upward and cannot seal the side wall opening of the first tubular shell 21, the inside of the suction cup body 1 and the... When the vacuum path 5 is connected, the first self-sealing device 2 changes from the self-sealing mode to the open mode; (6) At this time, if the suction cup body 1 is in sealed contact with the surface of the target object, the second self-sealing device 3 remains in the open mode, and the suction cup body 1 is successfully adsorbed on the surface of the object; if the suction cup body 1 fails to adsorb on the surface of the target object, that is, there is air leakage, the second self-sealing device 3 can change from the open mode to the self-sealing mode, quickly sealing the vacuum path 5 of the suction cup body 1, so as not to affect the working state of other suction cup bodies 1 in the array; (7) Each suction cup body 1 in the suction cup array can be adsorbed on a target object at the same time, or can be adsorbed on the object in sequence; (8) In addition, the suction cup bodies 1 in the suction cup array can adsorb the same object, or can adsorb different objects respectively.

[0069] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A vacuum suction cup with a self-sealing function, characterized in that, Includes a suction cup body, a first self-sealing device, and a second self-sealing device; The first self-sealing device includes a first tubular shell, a first elastic element, a cylindrical pin, and a connecting tube; one end of the first tubular shell is a closed end, and the other end is fixedly connected to the suction cup body; an opening is provided on the middle side wall, and the connecting tube is fixedly connected at the opening; one end of the cylindrical pin is located inside the first tubular shell, and the other end extends out of the outside of the first tubular shell and the suction cup body; the cylindrical pin has a stepped surface; the first elastic element is housed inside the first tubular shell and abuts against the closed end and the cylindrical pin; the first tubular shell is provided with a limiting structure for confining the cylindrical pin within the first tubular shell; The first self-sealing device has an opening mode and a self-sealing mode. When the first elastic element is compressed by the cylindrical pin and the stepped surface is opposite to the opening, and the connecting tube is connected to the inner cavity of the suction cup body through the gap between the cylindrical pin and the first tubular shell, the first self-sealing device is in the opening mode. When the cylindrical pin is sealed with the inner wall of the first tubular shell under the elastic force of the first elastic element, and the connecting tube is disconnected from the inner cavity of the suction cup body, the first self-sealing device is in the self-sealing mode. One end of the second self-sealing device is used to connect to the vacuum generator, and the other end is connected to the connecting pipe. It has an open mode with both ends connected and a self-sealing mode with both ends disconnected. The second self-sealing device includes a second tubular shell, a first inner liner, a second inner liner, a third inner liner, a second elastic element, and ball bearings; The second tubular shell contains, along its axial direction, a first inner liner tube, the ball bearing, and a second inner liner tube arranged sequentially. Both the first and second inner liner tubes are fixedly connected to the inner wall of the second tubular shell. The distance between the first and second inner liner tubes is greater than the diameter of the ball bearing, and the inner diameters of both the first and second inner liner tubes are smaller than the diameter of the ball bearing. One end of the third inner liner tube is fixedly connected inside the first inner liner tube, and the other end extends outward from the outside of the second tubular shell for connecting to a vacuum generator. The second inner liner tube is sealed to the connecting pipe. One end of the second elastic element abuts against the inner end face of the third inner liner tube, and the other end abuts against the ball bearing. When the ball is located between the first inner liner tube and the second inner liner tube, the connecting tube is connected to the third inner liner tube, and the second self-sealing device is in the open mode; when the ball is in sealing contact with the first inner liner tube or the second inner liner tube, the connecting tube is disconnected from the third inner liner tube, and the second self-sealing device is in the self-sealing mode.

2. The vacuum suction cup as described in claim 1, characterized in that, The suction cup body is mounted on the first tubular shell by a fixing device.

3. The vacuum suction cup as described in claim 2, characterized in that, The fixing device consists of a first fixing sleeve, a second fixing sleeve, and a connecting sleeve sequentially sleeved on the outer periphery of the first tubular shell along its axial direction; The first fixing sleeve is fixedly connected to the first tubular shell; The second fixing sleeve is fixedly connected to the first fixing sleeve at the connecting pipe; One end of the connecting sleeve is fixedly connected to the second fixing sleeve, and the other end is embedded in the internal groove of the suction cup body.

4. The vacuum suction cup as described in claim 3, characterized in that, The cylindrical pin has a sealing section and a connecting section formed on both sides of the stepped surface; The sealing section is used to seal the opening; The connecting section is used to connect the connecting tube to the inner cavity of the suction cup body; The outer diameter of the sealing section is the same as the inner diameter of the first tubular shell and is larger than the outer diameter of the connecting section.

5. The vacuum suction cup as described in claim 4, characterized in that, The limiting structure is composed of a fourth inner liner tube fixedly connected to the inner wall of the first tubular shell; The inner diameter of the fourth inner liner is larger than the outer diameter of the connecting section.

6. The vacuum suction cup as described in claim 5, characterized in that, The closed end of the first tubular shell is formed by a silicone column fixedly connected to the end of the first tubular shell; The first elastic element abuts between the silicone pillar and the sealing section.

7. The vacuum suction cup as described in claim 6, characterized in that, The first tubular shell, the connecting tube, the second tubular shell, the first inner liner tube, the second inner liner tube, the third inner liner tube, and the fourth inner liner tube are all made of flexible material; The first tubular shell is bonded to the connecting pipe and the fourth inner liner, the second tubular shell is bonded to the first inner liner and the second inner liner, the third inner liner is bonded to the first inner liner, the second inner liner is bonded to the connecting pipe, and the first fixing sleeve is bonded to the first tubular shell. Both the first elastic element and the second elastic element are helical springs; The ball bearing, the first fixing sleeve, the second fixing sleeve, the connecting sleeve, and the cylindrical pin are all made of rigid materials; The cylindrical pin can be solid or hollow.

8. The vacuum suction cup as described in claim 7, characterized in that, The first tubular shell, the connecting tube, the second tubular shell, the first inner liner tube, the second inner liner tube, the third inner liner tube, and the fourth inner liner tube are all made of silicone. The first tubular shell is bonded to the connecting pipe and the fourth inner liner, the second tubular shell is bonded to the first inner liner and the second inner liner, the third inner liner is bonded to the first inner liner, the second inner liner is bonded to the connecting pipe, and the first fixing sleeve is bonded to the first tubular shell using silicone adhesive.

9. The vacuum suction cup as described in any one of claims 1-8, characterized in that, The suction cup body can be a single-layer suction cup, a multi-layer suction cup, or a wave-shaped suction cup.

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