Workpiece suction module and suction positioning method

Abstract

The application discloses a workpiece suction module and a suction positioning method. The workpiece suction module comprises a base, a first suction nozzle, one end of the first suction nozzle being installed on one side of the base facing the workpiece, a second suction nozzle, one end of the second suction nozzle being installed on one side of the base facing the workpiece, and a positioning block, the positioning block being arranged on one side of the base facing the workpiece. When not suctioning, the other end of the second suction nozzle protrudes from the positioning block. When suctioning the workpiece, the other end of the second suction nozzle can be retracted while suctioning the workpiece, so as to drive the workpiece to abut against the positioning block. The first suction nozzle and the second suction nozzle are used to suck the workpiece, and multiple suction nozzles jointly act, so that the stability of the suction process is ensured. The workpiece is abutted against the positioning block at the moment when the suction is completed through the retracting action of the second suction nozzle during suction, so that the displacement of the workpiece is avoided, and the suction precision of the workpiece is improved.

Description

Technical Field

[0001] This invention belongs to the field of workpiece gripping technology, specifically relating to a workpiece absorbing module and a absorbing and positioning method. Background Technology

[0002] The suction module is a commonly used component in robotic arms. Compared to traditional gripping or clamping methods, the suction module uses suction to grasp the workpiece, avoiding hard contact. It is typically used to pick up small or sheet-like products such as chips. However, with traditional suction modules, after aligning the workpiece with a vision device, the negative pressure at the moment of suction and retraction causes deformation of the part of the suction nozzle in contact with the workpiece, resulting in a displacement of the workpiece's position. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] Therefore, the present invention proposes a workpiece picking module and a picking and positioning method. The workpiece picking module has the advantage of effectively positioning the workpiece when picking it up, thus avoiding workpiece displacement.

[0005] According to an embodiment of the present invention, a workpiece suction module includes: a base; a first suction nozzle, one end of which is mounted on the side of the base facing the workpiece; a second suction nozzle, one end of which is mounted on the side of the base facing the workpiece; and a positioning block disposed on the side of the base facing the workpiece. When not suctioning, the other end of the second suction nozzle protrudes from the positioning block. When suctioning a workpiece, the other end of the second suction nozzle can retract while suctioning the workpiece, thereby causing the workpiece to come into contact with the positioning block.

[0006] The beneficial effects of this invention are that it uses a first suction nozzle and a second suction nozzle to adsorb the workpiece, and the multiple suction nozzles work together to ensure the stability of the adsorption process. The contraction action of the second suction nozzle during adsorption ensures that the workpiece is positioned against the positioning block at the moment the adsorption is completed, thus avoiding displacement of the workpiece and improving the adsorption accuracy of the workpiece.

[0007] According to one embodiment of the present invention, the positioning block is provided with two positioning protrusions, which are symmetrically arranged on both sides of the second suction nozzle. When not suctioning, the other end of the second suction nozzle protrudes downward from the positioning protrusions.

[0008] According to one embodiment of the present invention, when not suctioning, the other end of the second suction nozzle protrudes from the positioning protrusion by a height of 0.1-0.5 mm.

[0009] According to one embodiment of the present invention, the positioning protrusion is formed as an arc surface on the side facing the second suction nozzle, the arc surface mates with the outer peripheral surface of the second suction nozzle, and the second suction nozzle is defined between two opposing arc surfaces.

[0010] According to one embodiment of the present invention, the positioning block is provided with two first positioning surfaces and one second positioning surface. The first positioning surfaces and the second positioning surfaces are used to abut against the workpiece. The two first positioning surfaces and the second positioning surface are located at the three vertices of an isosceles triangle, and the second suction nozzle is located in the area of ​​the isosceles triangle.

[0011] According to one embodiment of the present invention, there are two first suction nozzles, which are symmetrically arranged on both sides of the second positioning surface, and the two first suction nozzles and the second suction nozzle are located at the three vertices of another isosceles triangle.

[0012] According to one embodiment of the present invention, when not suctioning, the other end of the first suction nozzle protrudes downward from the second positioning surface by a height of 0.05-0.2 mm, and at the same time, the other end of the first suction nozzle is higher than the other end of the second suction nozzle.

[0013] According to one embodiment of the present invention, a connector is installed on the side of the base, one end of the connector is connected to negative pressure, and the other end of the connector is connected to the first suction nozzle and the second suction nozzle.

[0014] According to one embodiment of the present invention, the second suction nozzle includes a mounting portion, a first deformable portion, a second deformable portion, a third deformable portion, and a fitting portion. One side of the second deformable portion is connected to the mounting portion via the first deformable portion, and the other side of the second deformable portion is connected to the fitting portion via the third deformable portion. When a workpiece is sucked up, the first deformable portion, the second deformable portion, and the third deformable portion are compressed so that the fitting portion moves closer to the mounting portion.

[0015] According to one embodiment of the present invention, the diameters of the first deformed portion and the third deformed portion are both smaller than the diameter of the second deformed portion.

[0016] According to one embodiment of the present invention, the second suction nozzle has an adsorption hole, which is located at the center of the adhesive portion.

[0017] According to an embodiment of the present invention, a suction and positioning method is provided, which uses the above-mentioned workpiece suction module to suction a workpiece, including the following steps: Step 1: Identify the workpiece to be suctioned by visual calibration; Step 2: Move the workpiece suction module to directly above the workpiece and move it downward toward the workpiece; Step 3: After the second suction nozzle contacts the workpiece, turn on the negative pressure, and the first and second suction nozzles simultaneously suction the workpiece. As the second suction nozzle contracts, it drives the workpiece to abut and position against the positioning block.

[0018] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention.

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the workpiece picking module of the present invention; Figure 2 This is a schematic diagram of the main structure of the present invention; Figure 3 yes Figure 2 Another structural diagram from the center; Figure 4 yes Figure 3 A schematic diagram of a local structure in the image; Figure label: 1. Base, 2. Connector, 3. Positioning block, 4. First suction nozzle, 5. Second suction nozzle, 31. Positioning protrusion, 32. First positioning surface, 33. Second positioning surface, 51. Mounting part, 52. First deformation part, 53. Second deformation part, 54. Third deformation part, 55. Fitting part, 56. Adsorption hole. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] The workpiece picking module and picking and positioning method of the present invention are described in detail below with reference to the accompanying drawings.

[0025] like Figures 1-4 As shown, the workpiece suction module according to an embodiment of the present invention includes: a base 1, a first suction nozzle 4, a second suction nozzle 5, and a positioning block 3. One end of the first suction nozzle 4 is installed on the side of the base 1 facing the workpiece; one end of the second suction nozzle 5 is installed on the side of the base 1 facing the workpiece; the positioning block 3 is disposed on the side of the base 1 facing the workpiece; when not suctioning, the other end of the second suction nozzle 5 protrudes from the positioning block 3; when suctioning the workpiece, the other end of the second suction nozzle 5 can retract while suctioning the workpiece, so as to drive the workpiece to abut against the positioning block 3.

[0026] In other words, both the first suction nozzle 4 and the second suction nozzle 5 can adsorb the workpiece. When the second suction nozzle 5 is suctioned, it is subjected to internal negative pressure, which causes the second suction nozzle 5 to contract, thereby driving the workpiece to abut against the positioning block 3, thus completing the positioning.

[0027] This invention utilizes a first suction nozzle 4 and a second suction nozzle 5 to adsorb the workpiece. The combined action of multiple suction nozzles ensures the stability of the adsorption process. The contraction action of the second suction nozzle 5 during adsorption ensures that the workpiece is positioned against the positioning block 3 at the moment adsorption is completed, preventing displacement of the workpiece and improving the adsorption accuracy of the workpiece.

[0028] In this embodiment, the positioning block 3 is provided with two positioning protrusions 31, which are symmetrically arranged on both sides of the second suction nozzle 5. When not suctioning, the other end of the second suction nozzle 5 protrudes downward from the positioning protrusions 31 by a height of 0.1-0.5mm.

[0029] Furthermore, the positioning protrusion 31 is formed as an arc surface on the side facing the second suction nozzle 5, and the arc surface matches the outer peripheral surface of the second suction nozzle 5, thus confining the second suction nozzle 5 between two opposing arc surfaces.

[0030] In other words, on the one hand, the two positioning protrusions 31 are symmetrically arranged on both sides of the second suction nozzle 5, which can play a better positioning role for the workpiece; on the other hand, the two arc surfaces on the two positioning protrusions 31 cooperate to limit the second suction nozzle 5, ensuring that the second suction nozzle 5 can only retract along the axial direction when it retracts, thus improving the accuracy of workpiece suction.

[0031] Furthermore, the positioning block 3 is provided with two first positioning surfaces 32 and one second positioning surface 33. The first positioning surfaces 32 and the second positioning surfaces 33 are used to abut against the workpiece. The two first positioning surfaces 32 and the second positioning surface 33 are located at the three vertices of an isosceles triangle, and the second suction nozzle 5 is located in the area of ​​the isosceles triangle.

[0032] There are two first suction nozzles 4, which are symmetrically arranged on both sides of the second positioning surface 33. The two first suction nozzles 4 and the second suction nozzle 5 are located at the three vertices of another isosceles triangle.

[0033] In other words, the suction is performed from the three vertices, which makes the adsorption more secure and the adsorption process more stable. The positioning is performed from the three vertices of an isosceles triangle and the two positioning protrusions 31 from the area where the isosceles triangle is located, which ensures the flatness and positional accuracy of the workpiece.

[0034] When not suctioning, the other end of the first suction nozzle 4 protrudes downward from the second positioning surface 33 by a height of 0.05-0.2mm. At the same time, the other end of the first suction nozzle 4 is higher than the other end of the second suction nozzle 5. The lower end of the first suction nozzle 4 is formed into a flared mouth so that the first suction nozzle 4 can produce a slight deformation while suctioning the workpiece.

[0035] In other words, the lower end of the first suction nozzle 4 protrudes downward from the second positioning surface 33, and the lower end of the second suction nozzle 5 protrudes downward from the positioning protrusion 31. The advantage of this design is that during suction, the first suction nozzle 4 and the second suction nozzle 5 first come into contact with the workpiece to complete the adsorption, and under the action of negative pressure, both the first suction nozzle 4 and the second suction nozzle 5 undergo slight upward deformation, thereby driving the workpiece to move upward to complete the positioning. Furthermore, the lower end of the second suction nozzle 5 is lower than the lower end of the first suction nozzle 4, and the deformation of the second suction nozzle 5 is greater.

[0036] According to one embodiment of the present invention, a connector 2 is installed on the side of the base 1. One end of the connector 2 is connected to negative pressure, and the other end of the connector 2 is connected to the first suction nozzle 4 and the second suction nozzle 5.

[0037] In this embodiment, the second suction nozzle 5 includes a mounting portion 51, a first deformable portion 52, a second deformable portion 53, a third deformable portion 54, and a fitting portion 55. One side of the second deformable portion 53 is connected to the mounting portion 51 through the first deformable portion 52, and the other side of the second deformable portion 53 is connected to the fitting portion 55 through the third deformable portion 54. When the workpiece is sucked up, the first deformable portion 52, the second deformable portion 53, and the third deformable portion 54 are compressed so that the fitting portion 55 moves closer to the mounting portion 51.

[0038] Furthermore, the diameters of the first deformed portion 52 and the third deformed portion 54 are both smaller than the diameter of the second deformed portion 53.

[0039] Furthermore, the second suction nozzle 5 has an adsorption hole 56, which is located at the center of the fitting portion 55.

[0040] In this embodiment, both the first suction nozzle 4 and the second suction nozzle 5 are made of rubber. The first deformation part 52 and the third deformation part 54 on the second suction nozzle 5 have smaller diameters, while the second deformation part 53 has a larger diameter. When negative pressure is applied in the suction hole 56, the outer walls of the first deformation part 52 and the third deformation part 54 are in contact with each other, and the inner walls of the second deformation part 53 are in contact with each other, thereby enabling the second suction nozzle 5 to complete the contraction action in the axial direction.

[0041] This invention also discloses a suction and positioning method, which uses the above-mentioned workpiece suction module to suction the workpiece, including the following steps: Step 1: Identify the workpiece to be suctioned by visual calibration; Step 2: Move the workpiece suction module to directly above the workpiece and move it downwards towards the workpiece; Step 3: After the second suction nozzle 5 contacts the workpiece, turn on the negative pressure, and the first suction nozzle 4 and the second suction nozzle 5 simultaneously suction the workpiece. As the second suction nozzle 5 contracts, it drives the workpiece to abut and position against the positioning block 3.

[0042] In summary, this invention positions the workpiece by using the slight deformation of the first suction nozzle 4 and the second suction nozzle 5 during suction to move the workpiece upward and abut against the positioning block 3, thereby avoiding positional shift of the workpiece during the transfer process and improving the workpiece suction accuracy.

[0043] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0044] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A workpiece picking module, characterized in that, include: Base (1), The first suction nozzle (4) has one end mounted on the side of the base (1) facing the workpiece; The second suction nozzle (5) has one end mounted on the side of the base (1) facing the workpiece. The second suction nozzle (5) includes a mounting part (51), a first deformation part (52), a second deformation part (53), a third deformation part (54), and a fitting part (55). One side of the second deformation part (53) is connected to the mounting part (51) through the first deformation part (52), and the other side of the second deformation part (53) is connected to the fitting part (55) through the third deformation part (54). When the workpiece is sucked up, the first deformation part (52), the second deformation part (53), and the third deformation part (54) are compressed so that the fitting part (55) moves closer to the mounting part (51). Positioning block (3), the positioning block (3) is disposed on the side of the base (1) facing the workpiece; The positioning block (3) is provided with two positioning protrusions (31), which are symmetrically arranged on both sides of the second suction nozzle (5); the side of the positioning protrusion (31) facing the second suction nozzle (5) is formed as an arc surface, which cooperates with the outer peripheral surface of the second suction nozzle (5), and the second suction nozzle (5) is limited between the two opposing arc surfaces. When not sucking, the other end of the second suction nozzle (5) protrudes from the positioning block (3). When sucking the workpiece, the other end of the second suction nozzle (5) can retract while sucking the workpiece, so as to drive the workpiece to abut against the positioning block (3).

2. The workpiece suction module according to claim 1, characterized in that, When not suctioning, the other end of the second suction nozzle (5) protrudes from the positioning protrusion (31) by a height of 0.1-0.5 mm.

3. The workpiece suction module according to claim 1, characterized in that, The positioning block (3) is provided with two first positioning surfaces (32) and one second positioning surface (33). The first positioning surfaces (32) and the second positioning surfaces (33) are used to abut against the workpiece. The two first positioning surfaces (32) and the second positioning surface (33) are located at the three vertices of an isosceles triangle. The second suction nozzle (5) is located in the area of ​​the isosceles triangle.

4. The workpiece suction module according to claim 3, characterized in that, There are two first suction nozzles (4), which are symmetrically arranged on both sides of the second positioning surface (33). The two first suction nozzles (4) and the second suction nozzle (5) are located at the three vertices of another isosceles triangle.

5. The workpiece picking module according to claim 4, characterized in that, When not suctioning, the other end of the first suction nozzle (4) protrudes downward from the second positioning surface (33) by a height of 0.05-0.2mm, and at the same time, the other end of the first suction nozzle (4) is higher than the other end of the second suction nozzle (5).

6. The workpiece picking module according to claim 1, characterized in that, A connector (2) is installed on the side of the base (1). One end of the connector (2) is connected to negative pressure, and the other end of the connector (2) is connected to the first suction nozzle (4) and the second suction nozzle (5).

7. The workpiece picking module according to claim 1, characterized in that, The diameters of the first deformable part (52) and the third deformable part (54) are both smaller than the diameter of the second deformable part (53).

8. The workpiece picking module according to claim 1, characterized in that, The second suction nozzle (5) has an adsorption hole (56) which is located at the center of the adhesive part (55).

9. A method for picking up and positioning a workpiece, comprising using a workpiece picking module as described in any one of claims 1-8 to pick up a workpiece, characterized in that, Includes the following steps, Step 1: Identify the workpiece to be picked up using visual calibration; Step 2: Move the workpiece suction module directly above the workpiece and bring it downwards towards the workpiece; Step 3: After the second suction nozzle (5) comes into contact with the workpiece, the negative pressure is turned on. The first suction nozzle (4) and the second suction nozzle (5) simultaneously adsorb the workpiece. While the second suction nozzle (5) is contracting, it drives the workpiece to abut against the positioning block (3) to complete the positioning.

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