A suction cup storage box and production line

Abstract

This invention belongs to the field of storage box technology and discloses a suction cup storage box and production line. The suction cup storage box includes a support, an opening and closing mechanism, and a driving mechanism. The opening and closing mechanism is located at the bottom of the support and hinged to it, used to restrict the rotation of the suction cup assembly and abut against one end of the suction cup assembly. The driving mechanism is located between the side walls of the support and abuts against the other end of the suction cup assembly. The driving mechanism is rotatably connected to the opening and closing mechanism, enabling it to drive the opening and closing mechanism to store or release the suction cup assembly. Working in conjunction with an end effector, it completes the intelligent and automated replacement of the suction cup assembly, thereby achieving full intelligence of the end effector. This production line uses the aforementioned suction cup storage box, thereby reducing manual intervention, lowering labor costs, and improving production efficiency.

Description

Technical Field

[0001] This invention relates to the field of storage box technology, and more particularly to a suction cup storage box and production line. Background Technology

[0002] End effectors are an indispensable part of automated stamping production lines. Vacuum suction cup end effectors utilize the negative pressure generated at the end of the suction cup during operation to pick up the workpiece. Their working principle involves connecting the vacuum suction cup that generates negative pressure and the equipment that creates the vacuum state via an air pipe. The surface of the suction cup is in close contact with the surface of the workpiece. Air is drawn from the suction cup, creating a vacuum and generating suction to pick up the workpiece. After the workpiece is moved to the desired position, air is injected back into the suction cup, changing the atmospheric pressure from vacuum to normal atmospheric pressure, ultimately reducing the suction to zero and separating the workpiece from the suction cup.

[0003] The suction cup is an important component of the end effector, but because the suction cup itself is made of rubber, it is easily worn. Once the suction cup is worn, problems such as the inability to grip the workpiece, the workpiece falling and causing the press to alarm, or the workpiece being incompatible with the specifications may occur during the production process, so the suction cup needs to be replaced.

[0004] Suction cups are typically stored in designated suction cup storage containers. Traditional end effectors often require manual intervention when changing suction cups, involving manually removing the suction cup from the storage container and connecting it to the end effector. With the transformation of automotive body panel production towards intelligence, the traditional method of changing suction cups with end effectors no longer meets current needs. Manual operation does not align with the expectation of intelligent end effectors and cannot achieve full intelligence. Summary of the Invention

[0005] The purpose of this invention is to provide a suction cup storage box and production line. The suction cup storage box can work with an end effector to automatically store and retrieve suction cup components, realize the full intelligence of the end effector, reduce manual intervention, lower labor costs, and improve production efficiency.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] This invention discloses a suction cup storage box, comprising: a bracket; an opening and closing mechanism, the opening and closing mechanism including two opposing opening and closing members, one end of the two opening and closing members being hinged to the bracket, and the other ends being able to approach each other for fixing a suction cup assembly; a driving mechanism, the driving mechanism including a driving frame and a contact member, the driving frame being movably connected to the opening and closing mechanism; the contact member being disposed on the driving frame and extending along a first direction, the end of the contact member away from the driving frame being used to abut against the suction cup assembly; the driving mechanism further including two transmission components, respectively fixedly disposed on the driving frame on both sides of the contact member, the driving frame being movably connected to the opening and closing mechanism through the transmission components; the driving mechanism is capable of driving the opening and closing mechanism to open and close, so as to store or release the suction cup assembly.

[0008] Preferably, the two opening and closing members are positioned close to each other at one end to hold the suction cup assembly, restrict the rotation of the suction cup assembly, and support the suction cup assembly.

[0009] Preferably, each of the two opening and closing components has a semi-groove on the side facing each other, and the two semi-grooves together form a limiting groove for restricting the rotation of the suction cup assembly.

[0010] Preferably, each opening / closing component is provided with two connecting components, which are respectively located on both sides of the opening / closing component and can be movably connected to the driving mechanism.

[0011] Preferably, each of the transmission components includes: a transmission member having a through hole extending through it along its length; oblong holes being provided on the sides at both ends of the transmission member, each oblong hole extending along a second direction; an elastic member passing through the through hole, capable of keeping the opening and closing mechanism in an open or closed state; and two hinge members passing through the two oblong holes respectively and located at both ends of the elastic member, the hinge members being hinged to the opening and closing mechanism and capable of sliding within the oblong holes.

[0012] Preferably, the transmission assembly further includes a guide member, which is sandwiched in the guide groove and located between the elastic member and the hinge member, and is capable of compressing the elastic member and guiding the extension and retraction direction of the elastic member.

[0013] Preferably, the opening and closing mechanism further includes at least two hinges and a plurality of fixing members that fix the hinges to the sidewalls of the opening and closing member and the bracket respectively, and the opening and closing member realizes the opening and closing action through the hinges and the sidewalls of the bracket.

[0014] Preferably, a sensor is also included, which is disposed on the bracket, and the sensor is used to detect the opening and closing state of the opening and closing mechanism.

[0015] Preferably, the bottom of the bracket is provided with a limiting boss, which can limit the maximum opening and closing angle of the opening and closing mechanism.

[0016] The present invention also discloses a production line including an end effector, characterized in that it uses the above-mentioned suction cup storage box, wherein at least two suction cup storage boxes are provided, and the end effector is capable of storing and retrieving suction cup components from the suction cup storage box.

[0017] The beneficial effects of this invention are:

[0018] The suction cup storage box proposed in this invention includes a support, an opening and closing mechanism, and a driving mechanism. The opening and closing mechanism is hinged to the support, and the driving mechanism is movably connected to the opening and closing mechanism, enabling it to open and close to store or release the suction cup assembly. It can work in conjunction with an end effector to complete the intelligent and automated replacement of the suction cup assembly, thereby achieving full intelligence of the end effector. The production line proposed in this invention, using the above-mentioned suction cup storage box, achieves the effects of reducing manual intervention, lowering labor costs, and improving production efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the production line;

[0020] Figure 2 This is an exploded view of the suction cup assembly.

[0021] Figure 3 A three-dimensional structural schematic diagram of the suction cup storage box in one embodiment of the present invention;

[0022] Figure 4 This is an exploded view of the suction cup storage box in one embodiment of the present invention;

[0023] Figure 5 This is a cross-sectional view of a suction cup storage box according to an embodiment of the present invention;

[0024] Figure 6 This is a partial cross-sectional view of the suction cup storage box in one embodiment of the present invention;

[0025] Figure 7 yes Figure 6 A magnified view of a section located at point A;

[0026] Figure 8 This is a schematic diagram of the suction cup storage box driving mechanism in one embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of the structure of the guide component of the transmission assembly of the suction cup storage box in one embodiment of the present invention;

[0028] Figure 10 This is a cross-sectional schematic diagram of the through hole and guide groove of the transmission component of the suction cup storage box in one embodiment of the present invention;

[0029] Figure 11 This is a schematic diagram of the closed state of the opening and closing mechanism of the suction cup storage box in one embodiment of the present invention;

[0030] Figure 12 This is a schematic diagram of the opening and closing mechanism of the suction cup storage box in a half-open state according to an embodiment of the present invention;

[0031] Figure 13 A schematic diagram of the fully open state of the opening and closing mechanism of the suction cup storage box in one embodiment of the present invention.

[0032] In the picture:

[0033] 1. Bracket; 11. Limiting boss; 2. Opening and closing mechanism; 21. Opening and closing component; 211. Semi-groove; 212. Connecting component; 3. Drive mechanism; 31. Drive frame; 32. Abutting component; 33. Transmission assembly; 331. Transmission component; 3311. Through hole; 3312. Guide groove; 3313. Waist-shaped hole; 332. Elastic component; 333. Hinge component; 334. Guide component; 4. Sensor; 5. Hinge; 6. Fixing component;

[0034] 7. Suction cup assembly; 71. Suction cup; 711. Bottom surface; 72. Holding member; 721. First connecting part; 722. Second connecting part; 723. Holding part; 73. Guide member;

[0035] 100. End effector; 200. Suction cup storage box. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0037] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0040] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0041] First, such as Figure 1 As shown, the present invention discloses a production line including an end effector 100. On the left is a production line robot, and on the right side of the production line robot is a crossbar. Several end effectors 100 and several suction cup storage boxes 200 are arranged on the crossbar, and at least two suction cup storage boxes 200 are arranged. The end effector 100 can automatically store and retrieve the suction cup components 7, which improves the overall intelligence level of the production line and increases production efficiency.

[0042] Then the structure of suction cup assembly 7 is described, such as... Figure 2 As shown, the suction cup assembly 7 includes a suction cup 71, a retaining member 72, and a guide member 73. The retaining member 72 is hollow to facilitate airflow. One end of the retaining member 72 has a first connecting portion 721 for connecting to the suction cup 71, and the other end has a second connecting portion 722 for connecting to the end effector 100. Two abutting flanges are provided between the first connecting portion 721 and the second connecting portion 722, and are respectively connected to the first connecting portion 721 and the second connecting portion 722. A retaining portion 723 is provided between the two abutting flanges. The guide member 73 is fixedly disposed at the end of the second connecting portion 722 away from the suction cup 71. The guide member 73 can be a conical rubber nozzle, which is hollow with its tip facing outwards, and its other end is fixed to the second connecting portion 722, for example, by adhesive. The conical rubber nozzle serves both as a guide when the end effector 100 is connected to the suction cup assembly 7 and as a sealing element.

[0043] The holding portion 723 of the suction cup assembly 7 can be cuboid in shape, and the first connecting portion 721 and the second connecting portion 722 are two externally threaded portions, the dimensions of which respectively match the internal threaded portion of the suction cup 71 or the internal threaded portion of the end effector 100. In other embodiments, the holding portion 723 can also be other polyhedral structures, and the first connecting portion 721 and the second connecting portion 722 can also be quick-release head assemblies, which are not limited here.

[0044] This invention discloses a suction cup storage box 200, which includes a support 1, an opening and closing mechanism 2, and a driving mechanism 3, as follows: Figure 3 As shown, the bracket 1 includes two vertically placed plates. The upper ends of the plates can be fixedly mounted on the production line. In some specific embodiments, the upper ends of the plates are welded to the production line. In other embodiments, other fixing methods can also be used, which can be set according to actual needs and are not limited here. Figure 3 and Figure 4 As shown, the opening and closing mechanism 2 is mounted on and hinged to the bracket 1, and is used to fix the suction cup assembly 7. The opening and closing mechanism 2 can fix the holding part 723 to prevent the suction cup assembly 7 from shaking randomly. The driving mechanism 3 is movably connected to the opening and closing mechanism and is used to abut against one end of the suction cup assembly 7. The driving mechanism 3 is movably connected to the opening and closing mechanism 2 and can drive the opening and closing mechanism 2 to open and close, so as to store or release the suction cup assembly 7. It can be understood that when the suction cup assembly 7 is stored in the suction cup storage box 200, the opening and closing mechanism 2 is in the closed state, and the opening and closing mechanism 2 abuts against the abutting flange above the holding part 72 of the suction cup assembly 7 to achieve the bearing function; the driving mechanism 3 abuts against the bottom surface 711 of the suction cup 71, thereby achieving stable storage.

[0045] In some embodiments, the two opening and closing members 21 are positioned close to each other at one end to hold the suction cup assembly 7, restrict the rotation of the suction cup assembly 7 and support the suction cup assembly 7. Restricting the rotation of the suction cup assembly 7 can prevent the suction cup assembly 7 from rotating and causing a failure to connect when the end effector 100 is connecting or disconnecting from the suction cup assembly 7.

[0046] When the end effector 100 removes the suction cup assembly 7 from the suction cup storage box 200, the end effector 100 first connects to the suction cup assembly 7, and then the end effector 100 moves the suction cup assembly 7 downward. As the abutment flange on the upper part of the suction cup assembly 7 drives the opening and closing mechanism 2 to rotate relative to the bracket 1, it opens to release the suction cup assembly 7. When the end effector 100 puts the suction cup assembly 7 into the suction cup storage box 200, the bottom surface 711 of the suction cup 71 abuts against the drive mechanism 3 and moves upward. The drive mechanism 3 drives the opening and closing mechanism 2 to rotate to close the opening and closing mechanism 2. After the opening and closing mechanism 2 is closed, it restricts the rotation of the suction cup assembly 7 again. At this time, the end effector 100 disengages from the suction cup assembly 7 to realize the storage of the suction cup assembly 7.

[0047] In other embodiments, when the suction cup assembly 7 and the end effector 100 are connected by a plug-in engagement, the lower side of the opening and closing mechanism 2 can abut against the lower abutment flange of the suction cup assembly 7, and / or the driving mechanism 3 can abut against one end of the suction cup assembly 7, thereby restricting the vertical displacement of the suction cup assembly 7, so that the second connecting part 722 can be connected to the end effector 100.

[0048] In some embodiments, the suction cup storage box 200 further includes a housing, which is disposed around the support 1 and fixedly connected to the support 1 to reduce dust entry.

[0049] In some embodiments, such as Figure 3 and Figure 4 As shown, the opening and closing mechanism 2 of the present invention includes two opening and closing members 21 arranged opposite to each other. One end of each opening and closing member 21 is hinged to the side wall of the bracket 1, and the other end is close to each other and used to fix the suction cup assembly 7. It can be understood that the ends of the two opening and closing members 21 away from the bracket 1 can rotate around the other end to move closer or further apart. When the two opening and closing members 21 rotate until one end is close to each other and the whole is in a horizontal state, the opening and closing mechanism 2 is in the closed state. At this time, the upper surface of the two opening and closing members 21 abuts against the abutting flange above the suction cup assembly 7 and is used to support the suction cup assembly 7. When the two opening and closing members 21 rotate until one end is far apart and the whole is in a vertical state, the opening and closing mechanism 2 is in the open state and the suction cup assembly 7 is released. The two opening and closing members 21 are arranged opposite to each other, and the suction cup assembly 7 is arranged between the two opening and closing members 21, so that the suction cup assembly 7 is centrally located, which facilitates the positioning of the end effector 100 and the access of the suction cup assembly 7.

[0050] In some embodiments, such as Figure 4As shown, the opening / closing component 21 is a plate-shaped part, with a simple structure and convenient processing. Each of the two opening / closing components 21 has a semi-groove 211 on one side facing each other. The two semi-grooves 211 together form a limiting groove to restrict the rotation of the suction cup assembly 7. The shape of the limiting groove matches the shape of the holding part 723. It can be understood that by forming the limiting groove with two semi-grooves 211, the structure of the opening / closing component 21 is standardized, reducing processing steps and ensuring the stability of the suction cup assembly 7 in the suction cup storage box 200, preventing it from shaking randomly.

[0051] Taking the clamping part 723 of the suction cup assembly 7 as a cuboid and the limiting groove of the opening and closing member 21 as being formed by two V-shaped semi-grooves, in order to ensure the positional accuracy of the suction cup assembly 7 in the V-shaped semi-grooves of the opening and closing member 21 (which is determined by the end-effector 100 accuracy), and to avoid interference between the upper edge of the V-shaped semi-grooves and the suction cup assembly 7 during the opening and closing process of the opening and closing member 21, as follows: Figures 5-7 As shown, the V-shaped semi-groove of the door panel has a sloping profile with an angle of β to the horizontal. Therefore, the required value of β is 60°≤β≤80°. If the angle is too large, the opening / closing component 21 may interfere with the suction cup assembly 7 when opened. If the angle is too small, the holding effect between the opening / closing component 21 and the suction cup assembly 7 will decrease, and the suction cup assembly 7 may easily wobble or tilt, causing the end effector 100 to fail to connect correctly with the suction cup assembly 7, affecting subsequent use. The thickness of the opening / closing component 21 is H, and the length of the cuboid of the holding part 723 of the suction cup assembly 7 is L0. Therefore, L0≈2H is required. If the holding part 723 is too short, the suction cup assembly 7 will not be held, and it may easily interfere with the upper and lower end faces of the opening / closing component 21 when the opening / closing mechanism 2 opens or closes. If the holding part 723 is too long, it wastes materials and occupies production line space. When the opening / closing component 21 is in the closed state, the minimum gap between the holding part 723 of the suction cup assembly 7 and the V-shaped semi-groove surface of the opening / closing component 21 is e. This requires 0.5mm ≥ e > 0mm. If the gap is too large, the suction cup assembly 7 may easily shake; if there is no gap, friction and collisions may easily occur. It is understood that the above parameter settings are only illustrative examples. In other embodiments, the values ​​or ranges of each parameter can be selected according to actual needs, and the value range of this embodiment is not required. No specific parameters are limited here.

[0052] In some embodiments, such as Figure 3 and Figure 4 As shown, each opening / closing component 21 is provided with two connecting components 212, which are respectively located on both sides of the opening / closing component 21 and can be rotatably connected to the drive mechanism 3. It can be understood that, on the one hand, the connecting components 212 can make the opening / closing component 21 thinner, making the structural design more reasonable and the spatial layout more compact; on the other hand, the two connecting components 212 located on both sides of the opening / closing component 21 can make the rotation of the opening / closing component 21 more stable and avoid jamming caused by uneven force.

[0053] As Figure 2 and Figure 4 shown, the driving mechanism 3 includes a driving frame 31, a contact member 32 and a transmission component 33. The driving frame 31 is in an inverted "C" shape. The contact member 32 is arranged on the driving frame 31 and extends along the first direction. One end of the contact member 32 away from the driving frame 31 is used to contact the suction cup assembly 7. In some embodiments, a frustum is provided at one end of the contact member 32 away from the driving frame 31 for contacting the bottom surface 711 of the suction cup 71. The setting of the frustum can reduce the overall size and weight of the contact member 32, making the mechanism more lightweight.

[0054] There are two transmission components 33, which are respectively fixedly arranged on the driving frame 31 and located on both sides of the contact member 32, and are rotatably connected to the opening and closing mechanism 2. It can be understood that the setting of the transmission component 33 can make the shape and size of the driving frame 31 be set more flexibly, making the connection method and transmission between structures easier. At the same time, the two transmission components 33 are respectively arranged on both sides of the contact member 32 on the driving frame 31, so that the driving frame 31 can be stably supported and the rotation of the transmission component 33 is smoother.

[0055] As Figure 4 and Figure 8 shown, each transmission component 33 includes a transmission member 331, an elastic member 332 and a hinge member 333. A through hole 3311 is formed through the transmission member 331 along its length direction. Guide grooves 3312 are respectively formed at both ends of the transmission member 331 and are located outside the through hole 3311. Waist-shaped holes 3313 are provided on the side surfaces of both ends of the transmission member 331. Each waist-shaped hole 3313 extends along the second direction, the second direction is the same as the length direction of the transmission member 331, and the first direction is perpendicular to the second direction.

[0056] The elastic member 332 is inserted into the through hole 3311 and can keep the opening and closing mechanism 2 in an open state or a closed state. There are two hinge members 333, which are respectively inserted into the two waist-shaped holes 3313 and are located at both ends of the elastic member 332. The hinge member 333 is hinged to the opening and closing mechanism 2 and can slide in the waist-shaped hole 3313. Through the above settings, the required degrees of freedom of movement for the opening and closing mechanism 2 to be rotatably arranged with the bracket 1 on one side and rotatably arranged with the driving mechanism 3 on the other side are satisfied, and the structure is simply arranged.

[0057] Each transmission component 33 further includes two guide members 334. The guide members 334 are slidably arranged in the guide grooves 3312 and are clamped between the elastic member 332 and the hinge member 333, and can compress the elastic member 332 and guide the telescopic direction of the elastic member 332. It can be understood that the setting of the guide members 334 limits the telescopic direction of the elastic member 332, making the movement smoother.

[0058] In some embodiments, such as Figure 9 As shown, the guide member 334 includes a through portion and a sliding portion that matches the shape of the guide groove 3312, with the through portion and the sliding portion fixedly connected. For example, the guide groove 3312 is square, the elastic member 332 is a spring, the through portion of the guide member 334 is cylindrical, and the sliding portion is a square block, such as... Figure 7 and Figure 9 As shown, the two ends of the elastic element 332 are respectively sleeved outside the cylindrical through-hole and abut against the sliding part. The end of the sliding part away from the elastic element 332 is provided with an arc-shaped groove. The hinge element 333 cooperates with the arc-shaped groove. The hinge element 333 can be a hinged rivet, which can rotate freely around its own axis and slide in the oblong hole 3313. It can be understood that the guide element 334 decouples the movement of the hinge element 333 from that of the elastic element 332, avoiding direct contact and friction between the hinge element 333 and the elastic element 332 during rotation, which could cause damage, or incorrect guidance of the extension and retraction direction of the elastic element 332 due to its own rotation, thus preventing mechanism failure.

[0059] To ensure the normal operation of the transmission assembly 33, the present invention also provides examples of the dimensions and fit relationships of some parts or structures in the transmission assembly 33 as follows:

[0060] To facilitate the description of the process of picking up and placing the suction cup assembly 7, such as Figure 12 As shown, the angle between the opening / closing component 21 and the horizontal direction is defined as α. α = 0°, α = 45°, and α = 90° correspond to the three scene states of the opening / closing component 21 when it is closed, half-open, and fully open, respectively.

[0061] like Figure 11 As shown, when α = 0° (i.e., the opening / closing member 21 is closed), the center distance between two adjacent hinge members 333 is L1;

[0062] like Figure 12 As shown, when α = 45° (i.e., the opening and closing member 21 is half open), the center distance between two adjacent hinge members 333 is L2;

[0063] like Figure 13 As shown, when α = 90° (i.e., the opening / closing member 21 is fully open), the center distance between two adjacent hinge members 333 is L3, then L1 = L3 > L2. That is, when the opening / closing member 21 is closed and fully open, the center distance between the two hinge members 333 on the same transmission assembly 33 is equal, and longer than the center distance when half-open. It is understood that the above setting is only for illustrative purposes; the angle between the opening / closing member 21 and the horizontal direction when half-open and fully open can also be other angles, and the length relationship of the center distance can also be adaptively changed, without specific limitations.

[0064] like Figure 4As shown, the waist-shaped holes 3313 are symmetrically distributed on the side of the transmission component 331, and the length of the waist-shaped holes 3313 is L4 and the width is B.

[0065] like Figure 6 and Figure 7 As shown, when α = 90°, the distance from the bottom surface of the guide groove 3312 to the side of the sliding part of the guide member 334 that abuts against the elastic member 332 is L5. Then, L4-B = L5 ≥ (L1-L2) / 2. That is, the stroke of the hinge member 333 in the oblong hole 3313 is equal to the distance from the bottom surface of the guide groove 3312 to the side of the sliding part of the guide member 334 that abuts against the elastic member 332, and is greater than or equal to the difference between the center distances of the opening and closing member 21 when it is closed and when it is half-open (the difference between the maximum center distance and the minimum center distance).

[0066] like Figure 9 As shown, the through part of the guide member 334 has a length of L6, a diameter of D1, and a radius of R1 for the arc-shaped groove;

[0067] like Figure 10 As shown, the diameter of the through hole 3311 is D2;

[0068] like Figure 7 As shown, the outer diameter of the elastic element 332 is D3, and the inner diameter is D4; the radius R2 of the cylindrical portion of the hinge 333 passing through the oblong hole 3313 is given. Therefore, D1 < D4, D2 ≥ D3, and R1 ≥ R2. That is, the diameter of the guide 334's through portion is smaller than the inner diameter of the elastic element 332 to satisfy the requirement that the guide 334's through portion passes through the elastic element 332; the diameter of the through hole 3311 is greater than or equal to the outer diameter of the elastic element 332 to satisfy the requirement that the elastic element 332 passes through the through hole 3311; the radius of the arc-shaped groove is greater than or equal to the radius of the cylindrical portion of the hinge 333 passing through the oblong hole 3313 to satisfy the fitting relationship between the cylindrical portion and the arc-shaped groove, so that the cylindrical portion is within the arc-shaped groove. It is understood that the above parameters are only illustrative examples. In other embodiments, appropriate parameters can be selected according to actual needs, and no specific limitations are imposed.

[0069] In some embodiments, the opening and closing mechanism 2 further includes at least two hinges 5 and a plurality of fixing members 6 that fix the hinges 5 to the sidewalls of the opening and closing member 21 and the support 1 respectively. The opening and closing member 21 achieves the opening and closing action between the hinges 5 and the sidewalls of the support 1. In some specific embodiments, the hinges 5 may be hinges, and the fixing members 6 may be screws. The hinges 5 are fixedly connected to the sidewalls of the opening and closing member 21 and the support 1 respectively by screws.

[0070] In some embodiments, the suction cup storage box 200 of the present invention further includes sensors 4, the number of which is set as needed, and used to detect the opening and closing state of the opening and closing mechanism 2. For example, the sensors 4 are distance sensors, through-beam sensors, etc. The bottom of the bracket 1 of the suction cup storage box 200 is provided with a limiting boss 11, which can limit the maximum opening and closing angle of the opening and closing mechanism 2; at least a portion of the limiting boss 11 is provided with a groove, and the sensors 4 are fixedly installed in the groove by screws. It can be understood that the sensors 4 can detect the position of the opening and closing member 21 to determine the current state of the opening and closing mechanism 2. For example, when the sensor 4 is a distance sensor, when the opening and closing member 21 is opened, it enters the detection range of the distance sensor, and the distance sensor can detect the distance information between the part of the opening and closing member 21 within the detection range and the distance sensor, and can determine the state of the opening and closing mechanism 2 by the current position of the opening and closing member 21. When the sensor 4 is of other types, the principle is the same, only the detection parameters change, which will not be described in detail here.

[0071] To better understand this invention, its working principle and usage will be briefly described below:

[0072] Taking the first connecting part 721 and the second connecting part 722 as external threaded parts as an example, when the end effector 100 picks up the suction cup assembly 7, the end effector 100 has an internal threaded hole machined on its end connecting part under program control. When the end connecting part approaches the second connecting part 722 of the suction cup assembly 7, it rotates and moves upward. At this time, due to the limiting groove of the opening and closing part 21 restricting the rotation of the suction cup assembly 7, the second connecting part 722 will be screwed into the end internal threaded hole of the end effector 100. Then, the end effector 100 moves the suction cup assembly 7 downwards. During the process of 0° < α ≤ 45° (i.e., before the opening and closing parts 21 are in a half-open state), the elastic element 332 will be gradually compressed. During this process, the end effector 100 needs to overcome the elastic force of the elastic element 332. During the process of 45° < α ≤ 90°, the elastic element 332 recovers from the compressed state. Under the action of the elastic force of the elastic element 332, the two opening and closing parts 21 will automatically open. When α = 90° is reached, the opening and closing parts 21 abut against the limiting boss 11 set at the bottom of the bracket 1 and stop moving to maintain the open state. The end effector 100 carries the suction cup assembly 7 out of the suction cup storage box 200. Thus, the end effector 100 completes the process of automatically picking up the suction cup assembly 7.

[0073] Before the end effector 100 returns the suction cup assembly 7, the production line system uses sensor 4 to detect whether the suction cup storage box 200 is empty (when the suction cup storage box 200 contains a suction cup 71, the opening / closing element 21 is in the closed state; when the suction cup storage box 200 is empty, the opening / closing element 21 is in the open state); if an empty suction cup storage box 200 is detected, the end effector 100 will send the suction cup assembly 7 connected to its end to the empty suction cup storage box 200 and slowly move it upwards, so that... The bottom surface 711 of the suction cup 71 of the suction cup assembly 7 contacts the lower end of the abutment member 32 of the drive frame 31. The end effector 100 continues to move upward, and the suction cup assembly 7 on the end effector 100 simultaneously pushes the drive frame 31 upward, thereby causing the two opening and closing members 21 to rotate. When the height controlled by the program is reached, the movement stops. At this time, the opening and closing members 21 are in the closed state, and the elastic member 332 is in the compressed state. Under the elastic force limit of the elastic member 332, the opening and closing members 21 can maintain the current closed state. At this time, the limiting groove and the holding part 723 cooperate to limit the rotation of the suction cup assembly 7 itself. The end effector 100 rotates in the opposite direction of the rotation when picking up the suction cup assembly 7, which can unscrew the suction cup assembly 7 and complete the process of putting back the suction cup 71.

[0074] By combining the above processes of returning and picking up the suction cup assembly 7, the end effector 100 can complete the replacement of the suction cup assembly 7 with the required specifications.

[0075] The suction cup storage box proposed in this invention can work in conjunction with the end effector to complete the intelligent and automated replacement of suction cup components, reducing manual intervention, thereby realizing the full intelligence of the end effector, reducing labor costs, and improving production efficiency.

[0076] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A suction cup storage box, characterized in that, include: Frame (1); The opening and closing mechanism (2) includes two opening and closing parts (21) arranged opposite to each other. One end of the two opening and closing parts (21) is hinged to the bracket (1), and the other end can approach each other to fix the suction cup assembly (7). The driving mechanism (3) includes a driving frame (31) and an abutment (32). The driving frame (31) is movably connected to the opening and closing mechanism (2). The abutment (32) is disposed on the driving frame (31) and extends along a first direction. One end of the abutment (32) away from the driving frame (31) is used to abut against the suction cup assembly (7). The drive mechanism (3) further includes two transmission components (33), which are fixedly mounted on the drive frame (31) on both sides of the abutment (32). The drive frame (31) is movably connected to the opening and closing mechanism (2) through the transmission components (33). The drive mechanism (3) can drive the opening and closing mechanism (2) to open and close, so as to store or release the suction cup assembly (7). Each of the transmission components (33) includes: A transmission component (331) has a through hole (3311) extending through it along its length; and waist-shaped holes (3313) are provided on the sides of both ends of the transmission component (331), each of the waist-shaped holes (3313) extending along a second direction. An elastic element (332) is inserted into the through hole (3311) to keep the opening and closing mechanism (2) in an open or closed state. Two hinges (333) are respectively inserted into the two waist-shaped holes (3313) and located at both ends of the elastic member (332). The hinges (333) are hinged to the opening and closing mechanism (2) and can slide in the waist-shaped holes (3313).

2. The suction cup storage box according to claim 1, characterized in that, The two opening and closing members (21) are positioned close to each other at one end to hold the suction cup assembly (7), restrict the rotation of the suction cup assembly (7), and support the suction cup assembly (7).

3. The suction cup storage box according to claim 2, characterized in that, The two opening and closing parts (21) each have a half groove (211) on the side facing each other, and the two half grooves (211) together form a limiting groove for restricting the rotation of the suction cup assembly (7).

4. The suction cup storage box according to claim 1, characterized in that, Each opening / closing member (21) is provided with two connecting members (212), which are respectively located on both sides of the opening / closing member (21) and can be movably connected to the driving mechanism (3).

5. The suction cup storage box according to claim 1, characterized in that, The transmission assembly (33) also includes: The guide member (334) is sandwiched between the elastic member (332) and the hinge member (333), and is capable of compressing the elastic member (332) and guiding the elastic member (332) in the direction of extension and retraction.

6. The suction cup storage box according to claim 1, characterized in that, The opening and closing mechanism (2) further includes at least two hinges (5) and a plurality of fixing members (6) that fix the hinges (5) to the opening and closing member (21) and the bracket (1) respectively. The opening and closing member (21) realizes the opening and closing action through the hinges (5) and the side wall of the bracket (1).

7. The suction cup storage box according to any one of claims 1-6, characterized in that, It also includes a sensor (4) disposed on the bracket (1), the sensor (4) being used to detect the opening and closing state of the opening and closing mechanism (2).

8. The suction cup storage box according to any one of claims 1-6, characterized in that, The bracket (1) is provided with a limiting boss (11) at the bottom, which can limit the maximum opening and closing angle of the opening and closing mechanism (2).

9. A production line, comprising an end effector (100), characterized in that, Using the suction cup storage box as described in any one of claims 1-8, at least two suction cup storage boxes (200) are provided, and the end effector (100) is capable of accessing the suction cup assembly (7) from the suction cup storage box (200).

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