Sucker robot

Abstract

A suction cup robot comprises a base, a flexible transmission set, an air supply rail and a suction cup module. The flexible transmission sets are arranged on the two opposite sides of the base respectively. The air supply rails are arranged on the two opposite sides of the base respectively, and each air supply rail is provided with a plurality of first air holes and a plurality of second air holes. The suction cup modules are connected with the flexible transmission sets and move along with the flexible transmission sets, each suction cup module comprises an air supply block, an air cylinder piece and a suction cup piece, the air supply blocks are connected with the flexible transmission sets and provided with open grooves, third air holes and fourth air holes are formed in the open grooves and communicated to the outer surfaces of the air supply blocks respectively, and the suction cup pieces are connected with the air cylinder pieces. And the cylinder piece and the sucker piece are respectively communicated through guide pipes. The air cylinder piece is connected with the air supply block and the sucker piece. Along with movement of the suction cup module, the open groove of the air supply block penetrates through the air supply rail and moves along the air supply rail.

Description

Technical Field

[0001] The invention relates to a suction cup robot, in particular to a suction cup robot with an air supply block and an air supply rail. Background Art

[0002] Common suction cup robots achieve the effect of movement through the vacuum contraction of the suction cup and the expansion and contraction of the cylinder. However, in order to provide pressure to the suction cup and the cylinder at the same time, multiple pipelines need to be configured and connected, resulting in complex flow path and device design. Summary of the invention

[0003] The object of the present invention is to provide a suction cup robot to solve at least one of the above problems.

[0004] In view of this, the present disclosure provides a suction cup robot according to one embodiment, including a base, a flexible transmission group, an air supply rail and a first suction cup module. The flexible transmission group is respectively arranged on the first side and the second side opposite to the base, and each flexible transmission group includes two smelting wheels and a flexible element, and the two smelting wheels are respectively arranged on the two opposite ends of the base, and the flexible element connects the two smelting wheels. The air supply rail is respectively arranged on the first side and the second side of the base, and each air supply rail includes a main body and a bottom plate, and the main body is provided with a plurality of first air holes and a plurality of second air holes, and each first air hole and each second air hole are respectively connected to the bottom plate, and each first air hole and each second air hole are arranged in sequence in an alternating manner. The first suction cup module is connected to each flexible transmission group and moves with the flexible transmission group. Each first suction cup module includes an air supply block, a cylinder part and a first suction cup part. The air supply block is connected to the flexible element. The air supply block has a slot, and a third air hole and a fourth air hole are arranged in the slot. The third air hole and the fourth air hole are respectively connected to the outer surface of the air supply block, and the cylinder part and the first suction cup part are respectively connected by a first conduit and a second conduit. The cylinder part is connected to the air supply block, and the first suction cup part is connected to the cylinder part. As the first suction cup module moves, the slot of the air supply block passes through the air supply rail and moves along the air supply rail, so that the first air hole is correspondingly connected to the third air hole to form a first flow path, and the second air hole is correspondingly connected to the fourth air hole to form a second flow path.

[0005] In some embodiments, a plurality of second suction cup modules are further included, which are arranged on the bottom side of the base. The base can rotate relative to each second suction cup module, and each second suction cup module includes a second suction cup member, which can rotate relative to the base.

[0006] In some embodiments, the second suction cup module further includes a lifting structure, and the second suction cup member is connected to the bottom side through the lifting structure and can reciprocate relative to the base.

[0007] In some embodiments, the air supply block includes an assembly portion, and the air supply block is locked to the flexible element through the assembly portion.

[0008] In some embodiments, there are two flexible elements, and the air supply block is connected between the two flexible elements.

[0009] In some embodiments, a rubber piece is provided between each first suction cup module to connect each adjacent air supply block, and the first air hole and the second air hole of the bottom plate are shielded as the air supply block moves.

[0010] In some embodiments, a positioning bead is provided in the slot of the air supply block. When the air supply block is inserted into the air supply rail, the two ends of the positioning bead are pressed between the air supply block and the air supply rail to push the air supply rail toward the air supply block below it.

[0011] In some embodiments, a first long groove and a second long groove are arranged in parallel and extend at two opposite ends in the slot, the third air hole is located in the first long groove, and the fourth air hole is located in the second long groove.

[0012] In some embodiments, a support member is disposed on the first side and the second side of the base respectively, and the two air supply rails are respectively locked on the support member.

[0013] In summary, according to one embodiment, a suction cup robot is provided, by providing air holes for supplying vacuum and positive pressure respectively on the air supply rail, and the air supply block is also provided with air holes for supplying vacuum and positive pressure respectively. As the suction cup module moves, the slots of the air supply block pass through the air supply rail, so that the air holes for supplying positive pressure on the air supply rail and the air supply block are connected to form a positive pressure flow path, and the air holes for supplying vacuum on the air supply rail and the air supply block are connected to form a vacuum flow path, so that positive pressure and vacuum are respectively supplied to the cylinder part and the suction cup part through the conduit. In this way, the positive pressure flow path and the vacuum flow path are integrated into the air supply rail and the air supply block, and positive pressure and vacuum are respectively supplied through the positive pressure source and the vacuum source, so that there is no need to connect complex pipelines, thereby simplifying the structure of the suction cup robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a three-dimensional diagram of a suction cup robot according to one embodiment.

[0015] Figure 2 FIG. 4 is a three-dimensional diagram of a suction cup robot from another angle according to an embodiment.

[0016] Figure 3 Schematic diagram of an air supply rail and an air supply block of a suction cup robot according to an embodiment.

[0017] Figure 4 Schematic diagram of an air supply track of a suction cup robot according to one embodiment.

[0018] Figure 5 Schematic diagram of an air supply block of a suction cup robot according to one embodiment.

[0019] Figure 6 It is a front view of the air supply rail and the air supply block of the suction cup robot according to one embodiment.

[0020] Figure 7 It is a partial view of a suction cup robot according to one embodiment.

[0021] Figure 8 Schematic diagram of the movement of the air supply rail and the air supply block of the suction cup robot according to one embodiment.

[0022] The reference numerals are as follows:

[0023] 100: Suction Cup Robot

[0024] 110: Base

[0025] 111: First side

[0026] 112: Second side

[0027] 113: Support

[0028] 130: Flexible transmission group

[0029] 131: Refining Wheel

[0030] 132: Flexible element

[0031] 150: Air supply rail

[0032] 151:Ontology

[0033] 1511, 1511A, 1511B: First pore

[0034] 1512,1512A,1512B: Second air hole

[0035] 152: Bottom plate

[0036] 153: Hole plug

[0037] 170: First suction cup module

[0038] 171: Air supply block

[0039] 1711:Assembly Department

[0040] 172: Slotting

[0041] 172A: First long groove

[0042] 172B: Second long groove

[0043] 1721: The third pore

[0044] 1722: The fourth pore

[0045] 1723: Positioning beads

[0046] 173: Cylinder parts

[0047] 174: first suction cup member

[0048] 176: First catheter

[0049] 177: Second catheter

[0050] 178: Rubber parts

[0051] 179: Hole plug

[0052] 180: Second suction cup module

[0053] 181: Lifting structure

[0054] 184: Second suction cup member

[0055] 190: Rotating structure DETAILED DESCRIPTION

[0056] See also Figures 1 to 5 . Figure 1 is a three-dimensional diagram of a suction cup robot according to one embodiment. Figure 2 FIG. 4 is a three-dimensional diagram of a suction cup robot from another angle according to an embodiment. Figure 3 Schematic diagram of an air supply rail and an air supply block of a suction cup robot according to an embodiment. Figure 4 Schematic diagram of an air supply track of a suction cup robot according to one embodiment. Figure 5 FIG. 1 is a schematic diagram of an air supply block of a suction cup robot according to an embodiment of the present invention. The suction cup robot 100 comprises a base 110 , a flexible transmission group 130 , an air supply rail 150 and a first suction cup module 170 .

[0057] like Figure 1 and Figure 2 As shown, the flexible transmission group 130 is respectively disposed on the first side 111 and the second side 112 of the base 110. Each flexible transmission group 130 includes two sprockets 131 and a flexible element 132. The two sprockets 131 are respectively disposed at two opposite ends of the base 110, and the flexible element 132 connects the two sprockets 131. In this embodiment, the flexible transmission group 130 also includes a driving member, and one of the two sprockets 131 is driven by the driving member, and the other sprocket 131 is driven by the flexible element 132. In this embodiment, the flexible element 132 is, for example, a chain. In this embodiment, in order to clearly show the structure of the suction cup robot 100, only a part of the flexible element 132 is shown.

[0058] like Figure 1 and Figure 4As shown, the air supply rails 150 are respectively disposed on the first side 111 and the second side 112 of the base 110. Each air supply rail 150 includes a body 151 and a bottom plate 152. The body 151 is provided with a plurality of first air holes 1511 and a plurality of second air holes 1512. Each first air hole 1511 and each second air hole 1512 are respectively connected to the bottom plate 152, and each first air hole 1511 and each second air hole 1512 are arranged in sequence in an alternating manner. Figure 3 As shown, in this embodiment, the first air hole 1511 and the second air hole 1512 are respectively connected from the upper surface of the body 151 to the bottom side of the bottom plate 152. In this embodiment, the positive pressure source and the vacuum source can be respectively connected to the first air hole 1511 and the second air hole 1512 for supply. In this embodiment, the first side 111 and the second side 112 of the base 110 are respectively provided with support members 113, and the two air supply rails 150 are respectively locked on the support members 113.

[0059] like Figure 1 , Figure 2 and Figure 5 As shown, the first suction cup module 170 is connected to each flexible transmission group 130 and moves with the flexible transmission group 130. Each first suction cup module 170 includes an air supply block 171, a cylinder member 173 and a first suction cup member 174. The air supply block 171 is connected to the flexible element 132 so that the first suction cup module 170 moves with the flexible element 132. In the present embodiment, the air supply block 171 includes an assembly portion 1711, and the air supply block 171 is locked to the flexible element 132 through the assembly portion 1711. In the present embodiment, there are two flexible elements 132 of the flexible transmission group 130. In this way, the air supply block 171 can be more firmly locked between the two flexible elements 132, but it is not limited to this, and there can be only one flexible element 132. The air supply block 171 has a slot 172, and a third air hole 1721 and a fourth air hole 1722 are provided in the slot 172. The third air hole 1721 and the fourth air hole 1722 are respectively connected to the outer surface of the air supply block 171, and are respectively connected to the cylinder member 173 and the first suction cup member 174 through the first conduit 176 and the second conduit 177. The cylinder member 173 is connected to the air supply block 171, and the first suction cup member 174 is connected to the cylinder member 173, so that the first suction cup member 174 can be extended and retracted through the cylinder member 173. In this embodiment, in order to clearly show the structure of the suction cup robot 100, part of the first suction cup module 170 and the first conduit 176 and the second conduit 177 are omitted.

[0060] like Figures 1 to 3As shown, as the first suction cup module 170 moves, the slot 172 of the air supply block 171 passes through the air supply rail 150 and moves along the air supply rail 150, and the first air hole 1511 is connected to the third air hole 1721 to form a first flow path, and the positive pressure source can supply the positive pressure to the cylinder part 173 through the first flow path and the first conduit 176. In addition, the second air hole 1512 is connected to the fourth air hole 1722 to form a second flow path, and the vacuum source can supply the vacuum to the first suction cup part 174 through the second flow path and the second conduit 177. In this way, when the air supply block 171 moves to the air supply rail 150 along with the flexible element 132, the first suction cup part 174 can produce an adsorption effect to adsorb the surface of the ground or an object, etc. At the same time, the first suction cup part 174 can be extended and retracted through the cylinder part 173 to lift the suction cup robot 100 for moving on an inclined surface with a higher inclination. In this embodiment, please refer to Figures 3 to 5 In the first flow path, the first air hole 1511 is not connected to another path of the third air hole 1721, and air leakage is prevented by setting a hole plug 153. The third air hole 1721 is not connected to another path of the first conduit 176, and air leakage is prevented by setting a hole plug 179. In the second flow path, the second air hole 1512 is not connected to another path of the fourth air hole 1722, and air leakage is prevented by setting a hole plug 153. The fourth air hole 1722 is not connected to another path of the second conduit 177, and air leakage is prevented by setting a hole plug 179.

[0061] Specifically, as the first suction cup module 170 moves, the slot 172 of the air supply block 171 passes through the air supply rail 150, so that the first air hole 1511 and the third air hole 1721 on the air supply rail 150 and the air supply block 171 are connected to form a first flow path for supplying positive pressure, and the second air hole 1512 and the fourth air hole 1722 are connected to form a second flow path for supplying vacuum, and positive pressure is supplied to the cylinder part 173 through the first conduit 176 and vacuum is supplied to the first suction cup part 174 through the second conduit 177, so that the first suction cup part 174 produces a telescopic and adsorption effect, so that the suction cup robot 100 moves on a plane or an inclined plane. In this way, the positive pressure flow path and the vacuum flow path are integrated into the air supply rail 150 and the air supply block 171, and connected by conduits, and positive pressure and vacuum are supplied respectively through the positive pressure source and the vacuum source, so that there is no need to design complex pipelines, so as to simplify the structure of the suction cup robot 100.

[0062] Please refer again Figure 2In this embodiment, the suction cup robot 100 further includes a plurality of second suction cup modules 180, which are connected to the bottom side of the base 110 via a rotating structure 190, so that the base 110 can rotate relative to each second suction cup module 180. In this embodiment, each second suction cup module 180 includes a second suction cup member 184. When the suction cup robot 100 is to be turned, the adsorption function of the first suction cup module 170 is released, the surface of the object is adsorbed by the second suction cup member 184, and the base 110 is turned by the rotating structure 190 to achieve the effect of turning.

[0063] In the present embodiment, the second suction cup module 180 further includes a lifting structure 181, and the second suction cup member 184 is connected to the rotating structure 190 through the lifting structure 181, and can be extended relative to the base 110. In this way, when the suction cup robot 100 is to be turned, the second suction cup member 184 can be extended through the lifting structure 181 to contact the surface of the object, the suction cup robot 100 can be lifted, the first suction cup member 174 is away from the surface of the object, and then the base 110 is rotated by the rotating structure 190 to achieve the effect of turning. In the present embodiment, the lifting structure 181 is, for example, a cylinder member. In the present embodiment, the second suction cup module 180 is provided with a lifting structure 181, but it is not limited thereto. The first suction cup member 174 can be retracted by the cylinder member 173 to be away from the surface of the object until the second suction cup member 184 can be pressed against the surface of the object for adsorption. In this way, the second suction cup module 180 does not need to be provided with a lifting structure 181.

[0064] Please refer again Figures 3 to 5 , the slot 172 is provided with a first long slot 172A and a second long slot 172B which are arranged in parallel and extend at two opposite ends, the third air hole 1721 is located in the first long slot 172A, and the fourth air hole 1722 is located in the second long slot 172B. In this way, when the slot 172 of the air supply block 171 passes through the air supply rail 150, positive pressure can be supplied from the first air hole 1511 to the third air hole 1721 through the first long slot 172A, and vacuum can be supplied from the second air hole 1512 to the fourth air hole 1722 through the second long slot 172B. Even if the first air hole 1511 does not directly correspond to the third air hole 1721, and the second air hole 1512 does not directly correspond to the fourth air hole 1722, the effect of supplying positive pressure and vacuum can be achieved.

[0065] See also Figure 6 . Figure 6The figure is a front view of the air supply rail and the air supply block of the suction cup robot according to an embodiment. A positioning bead 1723 is provided in the slot 172 of the air supply block 171. When the air supply block 171 is inserted into the air supply rail 150, the two ends of the positioning bead 1723 are pressed against between the air supply block 171 and the air supply rail 150. The positioning bead 1723 continuously applies force to the air supply rail 150 to push the air supply rail 150 against the air supply block 171 below it. In this way, the air supply rail 150 is closely attached to the air supply block 171, which improves the problem of air leakage when supplying positive pressure and vacuum.

[0066] See also Figure 4 and Figure 7 . Figure 7 It is a partial view of a suction cup robot according to an embodiment. A rubber member 178 is provided between each first suction cup module 170 to connect each adjacent air supply block 171, and as the air supply block 171 moves, the first air hole 1511 and the second air hole 1512 of the bottom plate 152 are shielded. There is a gap between each air supply block 171. As the air supply block 171 moves along the air supply track 150, the positive pressure and vacuum supplied from the air supply track 150 may leak out from the gap when facing the gap. Therefore, by providing a rubber member 178 between the air supply block 171 and the adjacent air supply block 171, the first air hole 1511 and the second air hole 1512 on the lower surface of the bottom plate 152 are shielded to avoid air leakage. In this embodiment, air leakage is prevented by providing a rubber member 178, but it is not limited to this. The supply of positive pressure and vacuum can also be controlled by an electromagnetic valve to avoid air leakage.

[0067] See also Figure 8 . Figure 8Schematic diagram of the movement of the air supply rail and the air supply block of the suction cup robot according to one embodiment. In addition, in another embodiment, the supply of positive pressure and vacuum to the air holes is controlled by four sets of solenoid valves respectively. For example, the plurality of first air holes 1511 include first air holes 1511A and first air holes 1511B, the plurality of second air holes 1512 include second air holes 1512A and 1512B, the first solenoid valve controls the positive pressure supply to the first air holes 1511A, the second solenoid valve controls the vacuum supply to the second air holes 1512A, the third solenoid valve controls the positive pressure supply to the first air holes 1511B, and the fourth solenoid valve controls the vacuum supply to the second air holes 1512B. In this way, the size of the air supply block 171 can be designed and the movement of the air supply block 171 can be controlled so that the same hole is exposed each time the air supply block 171 moves. At the same time, the electromagnetic valve corresponding to the hole is controlled to close the supply of positive pressure or vacuum to reduce the effect of air leakage on the cylinder part 173 and the first suction cup part 174. For example, the size of the air supply block 171 can cover three air holes (for example, two first air holes 1511A, 1511B and one second air hole 1512A) at the same time. At each movement of the air supply block 171, one of the second air holes 1512B of the air supply rail 150 is exposed from the gap. At the same time, the fourth electromagnetic valve corresponding to the second air hole 1512B is controlled to stop supplying vacuum, so that the effect of air leakage can be avoided. Alternatively, each movement of the air supply block 171 exposes one of the first air holes 1511A of the air supply rail 150 from the gap. At the same time, the first solenoid valve corresponding to the first air hole 1511A is controlled to stop supplying positive pressure, thereby reducing the impact of air leakage.

[0068] In summary, the present application provides a suction cup robot 100. As the first suction cup module 170 moves, the slot 172 of the air supply block 171 passes through the air supply rail 150, so that the first air hole 1511 and the third air hole 1721 on the air supply rail 150 and the air supply block 171 are connected to form a first flow path for supplying positive pressure, and the second air hole 1512 and the fourth air hole 1722 are connected to form a second flow path for supplying vacuum, and positive pressure and vacuum are respectively supplied to the cylinder part 173 and the first suction cup part 174 through the first conduit 176 and the second conduit 177, so that the first suction cup part 174 produces an adsorption and expansion effect, so that the suction cup robot 100 moves on the inclined plane. In this way, the positive pressure flow path and the vacuum flow path are integrated into the air supply rail 150 and the air supply block 171, and connected by conduits, and positive pressure and vacuum are respectively supplied through the positive pressure source and the vacuum source, so that there is no need to design complex pipelines, so as to simplify the structure of the suction cup robot 100.

Claims

1. A suction cup robot, comprising: a base; Two flexible transmission groups are respectively arranged on a first side and a second side of the base, each of the flexible transmission groups comprises two sprockets and at least one flexible element, the two sprockets are respectively arranged on two opposite ends of the base, and the flexible element connects the two sprockets; Two air supply rails are respectively arranged on the first side and the second side, each of the air supply rails comprises a body and a bottom plate, the body is provided with a plurality of first air holes and a plurality of second air holes, each of the first air holes and each of the second air holes is respectively connected to the bottom plate, and each of the first air holes and each of the second air holes are alternately arranged in sequence; as well as A plurality of first suction cup modules are connected to each of the flexible transmission groups and move with the flexible transmission groups. Each of the first suction cup modules includes an air supply block, a cylinder member and a first suction cup member. The air supply block is connected to the flexible element. The air supply block has a slot. A third air hole and a fourth air hole are provided in the slot. The third air hole and the fourth air hole are respectively connected to the outer surface of the air supply block, and are connected to the cylinder member and the first suction cup member by a first conduit and a second conduit respectively. The cylinder member is connected to the air supply block, and the first suction cup member is connected to the cylinder member; Among them, as each first suction cup module moves, the slot of the air supply block passes through the air supply rail and moves along the air supply rail, so that the first air hole is connected to the third air hole to form a first flow path, and the second air hole is connected to the fourth air hole to form a second flow path.

2. The suction cup robot as described in claim 1 further includes a plurality of second suction cup modules, which are arranged on a bottom side of the base, and the base can rotate relative to each of the second suction cup modules, and each of the second suction cup modules includes a second suction cup member, which can rotate relative to the base.

3. The suction cup robot according to claim 2, wherein: The second suction cup module also includes a lifting structure, and the second suction cup member is connected to the bottom side through the lifting structure and can reciprocate relative to the base.

4. The suction cup robot according to claim 1, wherein: The air supply block comprises an assembly portion, and the air supply block is locked to the flexible element through the assembly portion.

5. The suction cup robot according to claim 1, wherein: The number of the at least one flexible element is two, and the air supply block is connected between the two flexible elements.

6. The suction cup robot according to claim 1, wherein: A rubber piece is provided between each of the first suction cup modules to connect each of the adjacent air supply blocks, and the first air hole and the second air hole of the bottom plate are shielded as the air supply blocks move.

7. The suction cup robot according to claim 1, wherein: A positioning bead is arranged in the slot of the air supply block. When the air supply block penetrates the air supply rail, two ends of the positioning bead abut between the air supply block and the air supply rail to abut the air supply rail against the air supply block below.

8. The suction cup robot according to claim 1, wherein: A first long groove and a second long groove are arranged in parallel and extend at two opposite ends in the slot, the third air hole is located in the first long groove, and the fourth air hole is located in the second long groove.

9. The suction cup robot according to claim 1, wherein: A supporting piece is respectively disposed on the first side and the second side of the base, and the two air supply rails are respectively locked on the supporting piece.

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