An adsorption method and a robot using the method

Abstract

The present invention belongs to the technical field of vacuum adsorption, and particularly relates to an adsorption method and a robot using the method. The suction nozzle group and the motion module are assembled together, and the control module receives the airflow vector data sent by the suction nozzle, calculates the control commands for the displacement direction and distance of the suction nozzle, and controls the adsorption device to drive and adjust according to these control commands. Moreover, by judging the two situations of complete adsorption and incomplete adsorption, and further judging the instantaneous airflow situation in complete adsorption, the precise adsorption of the perforated plate is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of vacuum adsorption, and in particular relates to an adsorption method and a robot adopting the method. Background Art

[0002] In the field of medical devices, after inspectors collect samples, they place the reagent tubes on a test tube rack, which has multiple holes on its surface for placing test tubes. For the transportation and cleaning of perforated plates such as test tube racks, manual transportation requires strict protective measures, which makes transportation and cleaning extremely inconvenient. Therefore, large-scale perforated plate parts are mostly handled by machines, and the gripping methods usually include adsorption and mechanical claw gripping. However, it is difficult for mechanical claws to grip the plates, so mechanical claws are usually not used, and adsorption is used instead.

[0003] The patent with the publication number CN213136791U discloses a vacuum suction cup device and a robot. The vacuum suction cup device includes: a connecting bracket, a plurality of suction cup assemblies arranged on the connecting bracket, and the suction cup assembly includes: a support rod, a check valve and a suction cup connected in sequence; a vacuum channel is formed in the support rod, and the support rod is provided with a first interface and a second interface connected to the vacuum channel. The support rod is arranged on the connecting bracket, and the second interface is located at the end of the support rod away from the connecting bracket; the check valve is connected to the second interface. In this patent, a check valve is arranged between each support rod and the suction cup. When the flatness of the workpiece is not enough, a certain suction cup fails to suck the workpiece or the suction is unbalanced, the corresponding check valve can be automatically cut off immediately to prevent a large amount of air from entering the vacuum air path and causing insufficient suction, so that the vacuum suction cup device can achieve stable grasping for workpieces with insufficient flatness and for plates with holes in the middle. However, the relative positions between the suction nozzles of the existing adsorption robot are fixed, and it is impossible to adapt to perforated plates with different hole spacings; nor can it adapt to perforated plates with irregular hole spacings. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides an adsorption method and a robot using the method to solve the problem that the prior art is difficult to adsorb perforated plates with different or irregular hole spacings. The present invention also provides a suction nozzle based on a vector algorithm and a position control method thereof, totaling four technical solutions.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] Technical Solution 1

[0007] A suction nozzle based on a vector algorithm comprises a main pipe, wherein the upper end of the main pipe is a suction port and the lower end of the main pipe is a suction port;

[0008] The main pipe has an inner cavity, and a blocking structure is movably placed inside the inner cavity. When the blocking structure contacts the upper part of the inner cavity, the inside of the main pipe is closed; a sensor is also provided inside the main pipe.

[0009] Furthermore, the blocking structure is in close contact with the side wall of the inner cavity and is slidably connected thereto;

[0010] At least two vertical air channels are opened on the side wall of the inner cavity, and the sensor is installed in each air channel;

[0011] A partition is provided inside the adsorption port, and the partition forms independent adsorption channels inside the adsorption port; the number of the adsorption channels is the same as the number of the air channels, and each adsorption channel is connected to an air channel in a through manner.

[0012] Furthermore, a movable partition layer is also connected between the partition and the blocking structure. After the blocking structure moves upward away from the bottom of the inner cavity, the adsorption channels are independently communicated with the air channels through the movable partition layer.

[0013] Technical solution two

[0014] A nozzle position control method based on a vector algorithm. At least two air channels for flow splitting are provided in the nozzle, and the positions of the air channels are circumferentially uniformly distributed around the axis of the nozzle;

[0015] When the nozzle adsorbs a plate member, air flow is generated. The air flow data in each air channel is collected, and a control command for the next position adjustment of the nozzle is calculated through the air flow data;

[0016] The calculation method of the control command is as follows:

[0017] It is judged from the air flow data that there is no air flow in this air channel. At this time, the lower end of this air channel is completely adsorbed to the plate member, and the air flow magnitude in this air channel is recorded as zero;

[0018] It is judged from the air flow data that there is air flow in this air channel. At this time, the lower end of this air channel is at the hole of the plate member, and this air channel is in an unadsorbed state, and the air flow magnitude in this air channel is recorded at the same time;

[0019] The air flow data collected in steps a and b is vectorized. The vector magnitude is the recorded air flow magnitude, and the vector direction is the connection direction from the center point of the air channel to the center point of the nozzle;

[0020] The air flow data in all air channels is vectorially added to obtain the control command vector data for the next position adjustment of the nozzle. The magnitude of the control command vector data is proportional to the moving distance of the nozzle, and the direction of the control command vector data is the movement of the nozzle.

[0021] Further, it also has a termination program, when the nozzle position is adjusted at least twice and the direction of the control command vector data repeatedly appears in two or more directions;

[0022] It is judged that the nozzle cannot be completely adsorbed, and the control of the nozzle position is terminated.

[0023] Technical solution three

[0024] An adsorption robot uses the above nozzle. The number of nozzles is at least one, and multiple nozzles are in the same plane and form a nozzle group;

[0025] It also includes a motion module and a control module. The nozzle group is installed under the motion module;

[0026] The motion module further includes a bracket, a transverse drive mechanism and a longitudinal drive mechanism perpendicular to each other. The longitudinal drive mechanism is installed on the bracket through the transverse drive mechanism;

[0027] The control module receives the signals generated by the sensor and controls the movement of the transverse drive mechanism and the longitudinal drive mechanism.

[0028] Further, at least two of the motion modules are arranged adjacent to each other, and the nozzles are installed on the longitudinal drive mechanism; the sensor of one nozzle controls the movement of one motion module alone.

[0029] Technical solution four

[0030] An adsorption method uses the above adsorption device to adsorb a perforated plate member by means of vacuum adsorption. The adsorption device is externally connected to a suction device for generating vacuum, and is characterized by including the following steps:

[0031] S1. Adsorption preparation: Move the nozzle at the lower end of the adsorption device to the plate member to be adsorbed and make contact with it;

[0032] S2. Start air extraction and adsorption. When the suction device is started, there are the following two situations for the nozzle:

[0033] S2-1. For the nozzle that is completely adsorbed, the contact part between the nozzle and the plate member is in an approximate vacuum environment, and normal adsorption is carried out;

[0034] S2-2. For the nozzle that is not completely adsorbed, the airflow data collected by the sensor in the nozzle is calculated and converted into a control command by the control module, and the control command controls the motion module to drive the nozzle to move;

[0035] S3. Complete adsorption. For the two steps of S2-1 and S2-2, there are the following two different completion methods:

[0036] S3-1. For the situation of S2-1, cut off the control chain between the sensor and the motion module. The motion module stops working, the position of the suction nozzle remains unchanged, and adsorption is completed.

[0037] S3-2. For the situation of S2-2, repeat step S2. When the position of the suction nozzle is adjusted at least twice and the adjustment directions of the suction nozzle position repeatedly appear in two or more directions, it is determined that the suction nozzle position cannot effectively adsorb. Cut off the control chain between the sensor and the motion module. The motion module stops working, the position of the suction nozzle remains unchanged, and the blocking structure blocks the suction nozzle.

[0038] Furthermore, before performing the "repeat step S2" in step S3-2, air pressure balance is also required.

[0039] The air pressure balance is achieved by reducing or closing the suction device, or blowing air in the reverse direction by the suction device, so that the blocking structure drops, and the air pressure at both ends of the blocking structure is balanced.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. The suction nozzle based on the vector algorithm, multiple suction nozzles are used in parallel. By setting a blocking structure in the inner cavity, when the suction nozzle does not completely adsorb the plate member, the inner cavity of the suction nozzle can be closed, thereby increasing the negative pressure of the other completely adsorbed suction nozzles, ensuring the stability of adsorption, and at the same time being able to save costs and adapt to lower suction devices. In addition, a sensor is arranged inside the suction nozzle to detect the size and direction of the airflow inside the suction nozzle, and cooperate with the control module to make a control command for automatically adjusting the position of the suction nozzle. After adjustment, the suction nozzle group can have the most suction nozzles in a completely adsorbed state.

[0042] 2. The suction nozzle position control method based on the vector algorithm, according to the size and direction of the airflow inside the suction nozzle detected by the sensor, vectorize the airflow data, and use the vector operation rule to calculate the accurate control command for automatically adjusting the position of the suction nozzle.

[0043] 3. An adsorption robot, assembling the suction nozzle group and the motion module together, and receiving the airflow vector data sent by the suction nozzle through the control module, calculating the control command for the displacement direction and distance of the suction nozzle, and controlling the adsorption device to drive and adjust according to this control command.

[0044] 4. An adsorption method, realizing the precise adsorption of the perforated plate member by judging the two situations of complete adsorption and incomplete adsorption, and further judging the instantaneous airflow in the complete adsorption. Description of the Drawings

[0045] Figure 1 It is a flowchart of the suction nozzle position control method based on the vector algorithm of the present invention in Embodiment 4.

[0046] Figure 2 It is a flowchart of an adsorption method of the present invention in Embodiment VIII and Embodiment IX;

[0047] Figure 3 It is a schematic three-dimensional structure diagram of a nozzle of the present invention based on a vector algorithm in Embodiment I;

[0048] Figure 4 It is a schematic axial sectional structure diagram of a nozzle of the present invention based on a vector algorithm in Embodiment I;

[0049] Figure 5 It is Figure 4 a partially enlarged structure diagram at A in (in an incompletely adsorbed state);

[0050] Figure 6 It is Figure 4 a partially enlarged structure diagram at A in (in a completely adsorbed state);

[0051] Figure 7 It is a schematic partial axial sectional structure diagram of a nozzle of the present invention based on a vector algorithm in Embodiment II (in an incompletely adsorbed state);

[0052] Figure 8 It is a schematic partial axial sectional structure diagram of a nozzle of the present invention based on a vector algorithm in Embodiment II (in a completely adsorbed state);

[0053] Figure 9 It is a schematic partial axial sectional structure diagram of a nozzle of the present invention based on a vector algorithm in Embodiment III (in an incompletely adsorbed state);

[0054] Figure 10 It is a schematic partial axial sectional structure diagram of a nozzle of the present invention based on a vector algorithm in Embodiment III (in a completely adsorbed state);

[0055] Figure 11 It is a schematic axial sectional structure diagram of a nozzle of the present invention based on a vector algorithm in Embodiment IV and Embodiment V;

[0056] Figure 12 It is a schematic radial sectional structure diagram of a nozzle of the present invention based on a vector algorithm in Embodiment IV and Embodiment V;

[0057] Figure 13 It is a schematic partial axial sectional structure diagram of a nozzle of the present invention based on a vector algorithm in Embodiment VI;

[0058] Figure 14 It is a schematic partial axial sectional structure diagram of a nozzle in an adsorption method of the present invention in Embodiment IX;

[0059] Figure 15 It is an analysis diagram of the working state and the corresponding vector diagram of the nozzle position control method of the present invention based on a vector algorithm in Embodiment IV;

[0060] Figure 16 Schematic three - dimensional structure diagram of an adsorption robot of the present invention in Embodiment 7;

[0061] Figure 17 Schematic three - dimensional structure diagram of an adsorption robot of the present invention in Embodiment 8;

[0062] Figure 18 Schematic three - dimensional assembly structure diagram of the mounting frame and the suction nozzle group in an adsorption robot of the present invention in Embodiment 8;

[0063] The reference numerals in the accompanying drawings of the specification include:

[0064] Main pipe (1), suction port (11), adsorption port (12), partition plate (121), adsorption channel (122), movable partition layer (123), chute (124), inner cavity (13), air duct (131), blocking structure (14), arc surface (141), sealing layer (142), ventilation hole (143), sensor (15), suction cup (16);

[0065] Suction nozzle group (2), motion module (3), bracket (31), lateral drive mechanism (32), longitudinal drive mechanism (33), mounting frame (34), adjustment slot (341), control module (4);

[0066] Plate member (5), hole (51). Detailed implementation manners

[0067] In order to enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0068] It should be noted that the same or similar reference numerals in the accompanying drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if terms such as "upper", "lower", "left", "right", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the accompanying drawings are only for illustrative purposes and cannot be understood as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0069] In the description of the present invention, unless otherwise clearly specified and defined, if terms such as "connection" are used to indicate the connection relationship between components, such terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0070] Embodiment 1

[0071] As Figure 3-6 shown, the nozzle based on the vector algorithm includes a main pipe 1. The upper end of the main pipe 1 is a suction port 11, and the lower end is an adsorption port 12. When the plate member 5 is made of soft elastic materials such as rubber and soft plastic, the adsorption port 12 directly contacts and adsorbs the plate member 5. When the plate member 5 is made of hard materials such as hard plastic and metal, a suction cup 16 is usually installed at the lower end of the adsorption port 12, and the suction cup 16 is made of soft elastic materials such as rubber and soft plastic.

[0072] An inner cavity 13 is formed inside the main pipe 1, and a blocking structure 14 is movably placed inside the inner cavity 13. The shape of the blocking structure 14 is spherical. The diameter of the blocking structure 14 is smaller than the inner diameter of the inner cavity 13, and there are gaps between both sides of the blocking structure 14 and the inner cavity 13 for air flow to pass through. If the gap is too small, the air flow will be blocked, causing the inner cavity 13 to be in an approximately closed state. If the gap is too large, no air flow can be formed, and no pressure difference can be formed between the upper and lower ends of the blocking structure 14, that is, the blocking structure 14 cannot be driven to move upward by the air flow. The size of the gap is related to the negative pressure of the suction device, the density of the blocking structure 14, the size ratio between the blocking structure 14 and the inner cavity 13, etc.

[0073] In this embodiment, only by way of example, it is assumed that the negative pressure of the suction device is 0.1 MPa, the blocking structure 14 is a solid sphere made of PVC material, and the inner diameter of the inner cavity 13 is 200 mm. Then the size range of the gap is between 13 - 52 mm.

[0074] An arc surface 141 that is consistent with the outer surface contour of the blocking structure 14 is provided at the upper part of the inner cavity 13. Compared with a plane, the arc surface 141 can optimize the contact from line contact to surface contact when the blocking structure 14 contacts the upper part of the inner cavity 13, ensuring that the inside of the main pipe 1 is in a closed state.

[0075] To reduce the mass of the plugging structure 14, lower the minimum working negative pressure of the suction device, and increase the adaptability range of the suction nozzle, the plugging structure 14 is set as a hollow structure.

[0076] A sealing layer 142 is also attached to the outer surface of the plugging structure 14. The sealing layer 142 is an elastic airtight material such as rubber or soft plastic, which is used to ensure that when the plugging structure 14 contacts the upper part of the inner cavity 13, the inside of the main pipe 1 is in a closed state.

[0077] A sensor 15 is also provided inside the main pipe 1. The sensor 15 is used to directly or indirectly obtain the magnitude of the air flow velocity, and then determine whether the suction nozzle is completely adsorbed on the plate 5. In this embodiment, the magnitude of the air flow velocity is directly obtained. The sensor 15 adopts an air flow sensor, and the model is MEMS flow sensor, D6F-65 type. When the sensor 15 determines that there is air flow in the main pipe 1, it means that the suction nozzle is located at the hole 51 of the plate 5 and is not completely adsorbed on the plate 5. At this time, the position of the suction nozzle can be adjusted manually or mechanically. It is worth mentioning that the magnitude of the air flow is proportional to the size of the hole 51 covered by the suction nozzle, that is, the larger the hole 51 covered by the suction nozzle, the greater the air flow, and the greater the distance that should be adjusted.

[0078] By changing the structural characteristics of the inner cavity 13 and the plugging structure 14, two alternative solutions of Embodiment 1 are also provided, namely Embodiment 2 and Embodiment 3.

[0079] Embodiment 2

[0080] As an alternative solution to Embodiment 1, the same parts of Embodiment 2 and Embodiment 1 will not be described in detail. The differences are as follows:

[0081] As Figure 7 and Figure 8 shown, the plugging structure 14 is cylindrical, and the inner cavity 13 is also a hollow cylinder. The plugging structure 14 cooperates with the side wall of the inner cavity 13, is in close contact, and is slidably connected thereto; and lubricants such as lubricating fluid or lubricating paste are applied at the sliding part, which can reduce friction on the one hand and ensure the airtightness of the contact part on the other hand.

[0082] The air duct 131 is opened on the plugging structure 14. When the plugging structure 14 moves to the upper end of the inner cavity 13, the upper end of the air duct 131 is blocked by the side wall of the upper end of the inner cavity 13, and the inside of the main pipe 1 is in a closed state.

[0083] Embodiment 3

[0084] As another alternative solution to Embodiment 1, the same parts of Embodiment 3 and Embodiment 1 will not be described in detail. The differences are as follows:

[0085] As Figure 9 and Figure 10As shown, it has the same structure as in the second embodiment: the plugging structure 14 is cylindrical, and the inner cavity 13 is also hollow cylindrical. The plugging structure 14 cooperates with and is in close contact with the side wall of the inner cavity 13 and is slidably connected thereto; and a lubricant such as lubricating fluid or lubricating paste is applied at the sliding part, which can reduce friction on the one hand and ensure the airtightness of the contact part on the other hand.

[0086] The difference from the second embodiment is that: the air passage 131 is opened on the side wall of the inner cavity 13. When the plugging structure 14 moves to the upper end of the inner cavity 13, the upper end of the air passage 131 is blocked by the plugging structure 14, and the inside of the main pipe 1 is in a closed state.

[0087] Embodiment Four

[0088] As an optimized solution of the third embodiment, by changing the quantity and position arrangement of the sensors 15, the defect that the direction cannot be determined when adjusting the position of the suction nozzle in the first and third embodiments is solved, and accurate control commands for distance and direction can be obtained.

[0089] The same parts of the fourth embodiment and the first embodiment will not be described again. The differences are as follows:

[0090] It has the same structure as in the third embodiment: the plugging structure 14 is cylindrical, and the inner cavity 13 is also hollow cylindrical. The plugging structure 14 cooperates with and is in close contact with the side wall of the inner cavity 13 and is slidably connected thereto; and a lubricant such as lubricating fluid or lubricating paste is applied at the sliding part, which can reduce friction on the one hand and ensure the airtightness of the contact part on the other hand.

[0091] The optimization compared with the third embodiment is that: as Figure 11 and Figure 12 shown, at least two vertically arranged air passages 131 are opened on the side wall of the inner cavity 13, and the positions of the air passages 131 are circumferentially evenly distributed around the axis of the suction nozzle; in this embodiment, only the case of three air passages 131 is exemplified. The air passage 131 is a groove opened on the side wall of the inner cavity 13 and has the same function as the gap in the first embodiment; the sensor 15 is installed in each air passage 131 or the adsorption channel 122; ordinary sensors are too large to be installed in the narrow air passage, and the sensor 15 in this embodiment adopts a clamp-type micro sensor, with the model of FD-X series.

[0092] Inside the adsorption port 12, there is a partition plate 121 which forms three independent adsorption channels 122 inside the adsorption port 12; in actual implementation, the number of air channels 131 is at least two, the number of adsorption channels 122 is the same as the number of air channels 131, and each adsorption channel 122 is connected to an air channel 131 in a through manner. When the suction device generates negative pressure, no air flow or a small amount of air flow is generated in the adsorption channel 122 and the corresponding through-connected air channel 131 whose lower end is completely adsorbed on the plate member 5; air flow is generated in the adsorption channel 122 and the corresponding through-connected air channel 131 whose lower end is not completely adsorbed on the plate member 5, and the air flow data is collected by the sensor 15 in this air channel 131.

[0093] This embodiment also provides a nozzle position control method based on a vector algorithm as follows:

[0094] As shown in the Figure 1 flow chart, when the nozzle adsorbs the plate member, air flow is generated, the air flow data in each air channel 131 is collected, and a control command for the next position adjustment of the nozzle is calculated based on the air flow data;

[0095] The calculation method of the control command is as follows:

[0096] Case 1: It is determined from the air flow data that there is no air flow in this air channel 131. At this time, the lower end of this air channel 131 is completely adsorbed on the plate member, and the air flow magnitude in this air channel 131 is recorded as zero;

[0097] Case 2: It is determined from the air flow data that there is air flow in this air channel 131. At this time, the lower end of this air channel 131 is at the hole of the plate member, and this air channel 131 is in an unadsorbed state, and at the same time, the air flow magnitude in this air channel 131 is recorded;

[0098] Case 3: It is determined from the air flow data that there is instantaneous air flow in this air channel 131, and then the air flow disappears. At this time, the lower end of this air channel 131 is completely adsorbed on the plate member, and the instantaneous air flow is the instantaneous air flow formed by the instantaneous decrease in the air pressure in the adsorption channel 122 under the action of the suction device, and the adsorption channel 122 changes from atmospheric pressure to vacuum instantaneously. In this case, the air flow magnitude in this air channel 131 is also recorded as zero;

[0099] It should be noted that the judgment principles of Case 1 and Case 3 are similar. When the magnitude of the instantaneous air flow is less than the minimum detection magnitude of the sensor 15, the calculation method of Case 1 is adopted. This method can select a sensor 15 with lower precision and has a low cost.

[0100] When the magnitude of the instantaneous air flow is greater than the minimum detection magnitude of the sensor 15, the calculation method of Case 3 is adopted. This method requires a sensor 15 with higher precision and can accurately measure whether there is a situation of weak air leakage adsorption.

[0101] When the magnitude of the instantaneous air flow cannot be judged compared with the minimum detection magnitude of the sensor 15, the calculation method in which both Case 1 and Case 3 exist is adopted, and there is no need to design the proportional relationship between the size of the adsorption channel 122 and the accuracy of the sensor 15 during the product R & D stage.

[0102] The air flow data collected is vectorized through three cases, or only through Case 1 and Case 2, or only through Case 2 and Case 3, as Figure 12 shown in the upper part. The dotted circles in the figure represent the holes 51. For the convenience of explaining the principle, the number of adsorption channels 122 in this method is 4. The two adsorption channels 122 on the left are completely adsorbed on the plate 5, and the two adsorption channels 122 on the right are not completely adsorbed on the plate 5, and the cross-sectional area of the hole 51 adsorbed in the lower right is smaller than the cross-sectional area of the hole 51 adsorbed in the upper right, with the size f1 < f2. The vector magnitude is the recorded air flow magnitude, and the vector direction is the direction of the line connecting the center point of the air duct 131 to the center point of the nozzle;

[0103] As Figure 15 shown in the vector coordinate axis in the lower part, the air flow data in all the air ducts 131 is vectorially added, that is, f1 + f2, to obtain the control command vector data for the next position adjustment of the nozzle, that is, f. The magnitude of the control command vector data is proportional to the moving distance of the nozzle, and the proportional coefficient λ is obtained by experimental calculation, and the proportional coefficient λ is related to the cross-sectional area and shape of the adsorption channel 122, that is, for nozzles of different models in this embodiment, the proportional coefficient λ is different; the displacement magnitude X = λ * f. The direction of the control command vector data is the movement of the nozzle, that is, the movement direction is to the lower left and left.

[0104] As a further optimization of this control method:

[0105] The above nozzle position control method only adjusts the nozzle position once, and it may occur that the adjustment is not in place or the adjusted nozzle moves to another hole 51, resulting in the sensor 15 continuously sending out air flow data, and further causing the nozzle to be unable to stop adjusting. To prevent this situation from occurring, this control method also has a termination program. When the nozzle position is adjusted at least twice and the direction of the control command vector data repeatedly appears in two or more directions. For example, when the nozzle moves back and forth between the left and right holes 51, the diameter of the nozzle is greater than the adsorption distance between the left and right holes 51; it is judged that the nozzle cannot be completely adsorbed, and the nozzle position control is terminated.

[0106] Embodiment 5

[0107] As a further optimization of the nozzle technical solution provided in Embodiment 4, by adding the movable partition layer 123, the problem that after the blocking structure 14 moves upward and leaves the bottom of the inner cavity 13 in Embodiment 4, a gap is formed, and the air flow in each adsorption channel 122 leaks through the gap and mixes into other air ducts 131, affecting the data accuracy of the sensor 15 is solved.

[0108] The specific setting method of the movable partition 123 is that the movable partition 123 is connected between the partition 121 and the sealing structure 14; as Figure 11 and Figure 12 shown, the movable partition 123 is a rigid board, a chute 124 is provided on the partition 121, the lower end of the movable partition 123 is in close contact with the partition 121 through the chute 124 and is slidably connected thereto, and the upper end of the movable partition 123 is fixedly connected to the sealing structure 14. When the sealing structure 14 moves upward away from the bottom of the inner cavity 13, the adsorption channel 122 is kept independently communicated with the air duct 131 through the movable partition 123.

[0109] Embodiment Six

[0110] As an alternative solution to Embodiment Five, Embodiment Six also solves the problem that after the sealing structure 14 moves upward away from the bottom of the inner cavity 13 in Embodiment Four, a gap is formed, and the air flow in each adsorption channel 122 leaks through the gap and mixes into other air ducts 131, affecting the data accuracy of the sensor 15, through the movable partition 123.

[0111] As Figure 13 shown, the difference from Embodiment Five is that the movable partition 123 is a foldable airtight material, which can be airtight cloth, silica gel cloth, folding board, soft plastic, etc. The upper and lower ends of the movable partition 123 are respectively fixedly connected to the sealing structure 14 and the partition 121. When the sealing structure 14 rises, the movable partition 123 unfolds, and when the sealing structure 14 descends, the movable partition 123 folds.

[0112] Embodiment Seven

[0113] An adsorption robot can adopt one of the suction nozzles provided in Embodiments One to Six. In this embodiment, only the suction nozzle provided in Embodiment Six is taken as an example.

[0114] As Figure 16 shown, the number of suction nozzles is at least one. In this embodiment, the number of suction nozzles is 4, and the 4 suction nozzles are on the same plane and form a suction nozzle group 2; when the adsorption device is in use, the suction ports 11 of the 4 suction nozzles are connected to the suction device through a manifold.

[0115] It further includes a motion module 3 and a control module 4. The suction nozzle group 2 is installed below the motion module 3. The control module 4 is used to receive and process the air flow data received by the sensor 15, and output a control command to control the motion module 3 to drive the suction nozzle to move; the control module 4 transmits information between the sensor 15 and the motion module 3 in a wired or wireless manner.

[0116] Specifically, the motion module 3 further includes a bracket 31, a transverse drive mechanism 32 and a longitudinal drive mechanism 33 that are perpendicular to each other. The longitudinal drive mechanism 33 is mounted on the bracket 31 through the transverse drive mechanism 32; the control module 4 receives the signals generated by the sensor 15 and controls the movements of the transverse drive mechanism 32 and the longitudinal drive mechanism 33.

[0117] Through the coordinated adjustment of the two drive mechanisms, the nozzle can be freely moved in all directions on the horizontal plane. Both the transverse drive mechanism 32 and the longitudinal drive mechanism 33 adopt the existing FSK30 micro trapezoidal screw slide. It uses a through-type screw motor and is configured with a single guide rail and a single slider. It has a compact structure and strong versatility, and is suitable for low-load and low-speed requirements, realizing the simple and practical linear motion positioning function required by the nozzle.

[0118] At least two motion modules 3 are arranged adjacent to each other. In this embodiment, since the number of nozzles is 4, that is, the number of motion modules 3 is 4, and the nozzles are mounted on the longitudinal drive mechanism 33; the sensor 15 of one nozzle independently controls the movement of one motion module 3. Each nozzle moves independently, which is suitable for plate parts with irregular holes, but the cost is relatively high.

[0119] Embodiment Eight

[0120] Embodiment Eight is another improved method of Embodiment Seven. The same parts will not be described in detail. As Figure 17 and Figure 18 shown, the difference is that there is only one motion module 3. The nozzle group 2 is mounted on the longitudinal drive mechanism 33 through a mounting frame 34. An adjustment slot 341 is also provided on the mounting frame 34, and the position of the nozzle is adjusted by sliding in the adjustment slot 341; the sensor 15 of at least one nozzle in the nozzle group 2 controls the movement of the motion module 3, that is, only one nozzle with a sensor 15 is required in one nozzle group 2, and the remaining nozzles may not be provided with a sensor 15, which can further save costs. Multiple nozzles move simultaneously, which is suitable for plate parts with regular holes. The distance between two nozzles is adjusted through the adjustment slot 341 to make the distance between the nozzles consistent with the adsorbable distance between the holes of the regular plate part, so as to adapt to regular plate parts with different hole pitches.

[0121] This embodiment also provides an adsorption method, which is described in combination with the above adsorption robot. As shown in the process Figure 2 shown, the perforated plate part is adsorbed in a vacuum adsorption manner. The adsorption device is connected to an external suction device for generating vacuum through a manifold, and includes the following steps:

[0122] S1, Adsorption preparation: Move the nozzle at the lower end of the adsorption device to the plate part to be adsorbed and make contact with it; adjust the distance between two nozzles through the adjustment slot 341 to make the distance between the nozzles consistent with the adsorbable distance between the holes of the regular plate part.

[0123] S2. Start air extraction and adsorption. The suction device is activated, and there are the following two situations for the suction nozzle:

[0124] S2-1. For the suction nozzle with complete adsorption, the contact part between the suction nozzle and the plate is in an approximate vacuum environment for normal adsorption.

[0125] S2-2. For incomplete adsorption, the airflow data collected by sensor 15 in the suction nozzle is calculated and converted into a control command by control module 4, and the control command controls motion module 3 to drive the suction nozzle to move.

[0126] It should be noted that in step S2-2, when any one of the suction nozzles in Embodiment 1 to Embodiment 3 is used, since the control command can only judge the airflow magnitude in the suction nozzle, in this case, it moves in the movement direction set by the program. The set movement directions are serpentine forward movement, or spiral outward movement, or random movement. All in all, the principle of setting the movement direction is full coverage and exploratory movement.

[0127] When using the suction nozzles provided in Embodiments 4 to 6, the position movement of the suction nozzle is controlled by the suction nozzle position control method of the perforated plate provided in Embodiment 4.

[0128] S3. Complete adsorption. There are the following two different completion methods for the two steps of S2-1 and S2-2:

[0129] S3-1. For the situation of S2-1, cut off the control chain between sensor 15 and motion module 3, motion module 3 terminates working, and the position of the suction nozzle remains unchanged to complete adsorption.

[0130] S3-2. For the situation of S2-2, repeat step S2. When the position of the suction nozzle is adjusted at least twice and the adjustment directions of the suction nozzle position repeatedly appear in two or more directions, it is judged that the suction nozzle position cannot be effectively adsorbed. Cut off the control chain between sensor 15 and motion module 3, motion module 3 terminates working, and the position of the suction nozzle remains unchanged. The blocking structure 14 blocks the suction nozzle.

[0131] As a further optimization of this adsorption method: Before performing the "repeat step S2" in step S3-2, air pressure balance should also be carried out. For the situation of S2-2, without closing the suction device, even if the lower part of the suction nozzle is completely adsorbed to the plate 5, most of the blocking structures 14 cannot fall. In a sampling experiment of 100 such situations, only 38 blocking structures 14 can fall automatically, reducing the adsorption success rate.

[0132] The air pressure balance is achieved by reducing or closing the suction device, or by the suction device blowing out air in the reverse direction, causing the plugging structure 14 to fall, and balancing the air pressures at the upper and lower ends of the plugging structure 14. After adding this step, all the plugging structures 14 in the 100 suction nozzles fall, greatly improving the success rate of the next adsorption.

[0133] Embodiment Nine

[0134] Embodiment Nine is another alternative method for optimizing the adsorption method in Embodiment Eight. The same parts will not be described again. The differences are as follows:

[0135] There is no need to perform the "air pressure balance" step. By providing a ventilation hole 143 in the plugging structure 14, one end of the ventilation hole 143 opens at the upper end of the plugging structure 14, and the other end opens at the lower end of the plugging structure 14. When the plugging structure 14 moves to the upper part of the inner cavity 13, due to the existence of the ventilation hole 143, a small amount of air continuously flows from the ventilation hole 143 into the suction device. When the suction nozzle moves to make its lower end completely adsorbed, since the air at the lower end of the plugging structure 14 is continuously sucked, the air pressures at the upper and lower ends of the plugging structure 14 tend to be consistent, that is, after a certain period of time, the air pressure balance is automatically achieved. The plugging structure 14 automatically falls, realizing the automatic air pressure balance and omitting the "air pressure balance" step. However, the defect of this method is that when the plugging structure 14 is at the upper end of the inner cavity 13, it cannot ensure a completely sealed state and can only reach an approximate sealed state. If the diameter of the ventilation hole 143 is too large, the suction device cannot effectively "lift" the plugging structure 14, and if the diameter of the ventilation hole 143 is too small, the "automatic air pressure balance" time is too long, affecting the adsorption efficiency. In this embodiment, it is also only exemplified that the negative pressure of the suction device is 0.1 MPa, the plugging structure 14 is made of solid PVC material, and the inner diameter of the inner cavity 13 is 200 mm. Then, the diameter of the ventilation hole 143 is preferably set to be 0.5 - 1.5 mm, that is, the diameter of the ventilation hole 143 is about 0.25% - 0.75% of the inner diameter of the inner cavity 13. The "automatic air pressure balance" time is between 5 - 10 seconds.

[0136] The above are only the embodiments of the present invention. Specific structures and common knowledge such as characteristics well known in the art are not described in detail here. Those of ordinary skill in the art know all the common general technical knowledge in the technical field to which the invention belongs before the application date or the priority date, can know all the existing technologies in this field, and have the ability to apply the conventional experimental means before this date. Those of ordinary skill in the art can, under the inspiration given by this application and combined with their own abilities, perfect and implement this solution. Some typical well-known structures or well-known methods should not become an obstacle for those of ordinary skill in the art to implement this application. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can still be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent.

Claims

1. A suction robot, characterized in that: It comprises a suction nozzle, wherein the number of the suction nozzles is multiple, and the multiple suction nozzles are located in the same plane and form a suction nozzle group (2); A sensor (15) is provided inside the suction nozzle, and a blocking structure (14) is also provided to control the opening or closing state of the suction nozzle; The blocking structure (14) is provided with a vent hole (143), one end of the vent hole (143) is opened at the upper end of the blocking structure (14), and the other end is opened at the lower end of the blocking structure (14); It also includes a motion module (3) and a control module (4), wherein the nozzle group (2) is installed at the bottom of the motion module (3); The motion module (3) further comprises a bracket (31), a transverse driving mechanism (32) and a longitudinal driving mechanism (33) which are perpendicular to each other, wherein the longitudinal driving mechanism (33) is mounted on the bracket (31) via the transverse driving mechanism (32); The control module (4) receives the signal generated by the sensor (15) and controls the movement of the transverse drive mechanism (32) and the longitudinal drive mechanism (33); When a hole (51) appears on the plate (5) adsorbed by the adsorption robot, the size of the airflow detected by the sensor (15) is proportional to the size of the hole (51) adsorbed by the suction nozzle; The distance that the control module (4) moves the nozzle group (2) through the motion module (3) is proportional to the size of the airflow detected by the sensor (15); The control module (4) moves the direction of the nozzle group (2) through the motion module (3), and the direction is stored in the control module (4) in a program-set manner.

2. The adsorption robot according to claim 1, characterized in that: There is only one motion module (3), and the nozzle group (2) is installed on the longitudinal driving mechanism (33); the sensor (15) of at least one nozzle in the nozzle group (2) controls the movement of the motion module (3).

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