Sucking and holding device suitable for special-shaped part and method of sucking and holding device

Abstract

The invention provides a holding device suitable for a special-shaped part and a method thereof, which can be used for holding workpieces with uneven surfaces and special-shaped surfaces and have a better holding effect. Comprising a plurality of attracting assemblies used for attracting special-shaped faces and a control assembly used for controlling the attracting assemblies to be powered on and powered off so as to achieve attracting, the attracting assemblies are installed on the bottom face of the outer side of an elastic housing, and each attracting assembly comprises a magnetic part; and a plurality of driving assemblies corresponding to the sucking assemblies in position are arranged in the housing, so that the bottom surface of the housing is non-pressure, is a plane, and is pressed to expand into a special-shaped surface corresponding to the special-shaped part.

Description

Technical Field

[0001] The present invention relates to the technical field of suction cups, and particularly to a holding device and method suitable for special-shaped parts. Background Art

[0002] The electro-permanent magnetic chuck is a new type of fixture designed and developed by combining electromagnetic and permanent magnetic characteristics. The electro-permanent magnetic chuck is a new type of magnetic chuck that uses electrical pulses to turn on and off, and the time required to turn on and off is less than 1 second. During the process of holding the workpiece, the chuck will always maintain magnetic suction, which is very safe and reliable. However, the adsorption surface of the existing electro-permanent magnetic chuck is generally flat and rigid. When it comes to special-shaped workpieces with uneven surfaces, since the holding surface of the workpiece is not flat, when the existing electro-permanent magnetic chuck holds such special-shaped workpieces, it is in point contact or line contact with the special-shaped workpiece, and the contact area is too small to form effective holding. Summary of the Invention

[0003] In view of the above problems, the present invention provides a holding device and method suitable for special-shaped parts, which can hold workpieces with non-planar and special-shaped surfaces and has a good holding effect.

[0004] The present invention adopts the following technical solutions. A holding device suitable for special-shaped parts includes a plurality of holding components for holding special-shaped surfaces and a control component for controlling the on-off of the holding components to achieve holding. The holding components are installed on the outer bottom surface of an elastic cover. Each holding component includes a magnetic member. A number of driving components corresponding to the positions of the holding components are arranged in the cover so that the bottom surface of the cover is flat without pressure and expands into a special-shaped surface corresponding to the special-shaped part under pressure.

[0005] Further, the holding device further includes a base. An air chamber is provided in the base. An air seat connected to the air chamber is installed on the base. An air cavity connected to the air chamber is provided in the air seat. An air joint connected to the air cavity is installed on the air seat. A number of air holes connected to the air chamber are provided on the bottom surface of the base.

[0006] Further, the driving component includes a cylinder block and a number of pneumatic push rods. The cylinder block is fixedly connected to the base. An air passage corresponding to and communicating with the air holes is provided in the cylinder block. The pneumatic push rods are arranged in the corresponding air passages and move in the air passages by air pressure.

[0007] Further, a ball hinge assembly is connected to the bottom of the pneumatic push rod. The ball hinge assembly includes a ball head and a ball plate connected to the ball head. A ball groove is provided at the bottom of the pneumatic push rod. The ball head is embedded in the ball groove. The ball plate is in contact with the inner bottom surface of the cover and is arranged corresponding to the position of the holding component.

[0008] Further, a displacement sensor is installed on the pneumatic push rod, and the displacement sensor is connected to the control component;

[0009] Further, the housing is made of rubber material; a plurality of the suction components are arranged in an array, and the plurality of suction components are located on the same horizontal plane;

[0010] Further, the top of the housing is open, a clamping groove is provided on the outer side of the cylinder block, and a corresponding clamping edge is provided on the inner side of the housing corresponding to the clamping groove;

[0011] Further, the suction component further includes a magnetic guide seat, an iron core is installed in the magnetic guide seat, a magnetic guide coil is wound around the iron core, the iron core is connected to the magnetic member, and the magnetic guide seat is installed on the outer bottom surface of the housing corresponding to the position of the ball plate;

[0012] The present invention provides a suction method suitable for special-shaped parts, including the following steps:

[0013] S1. The magnetic guide coil is energized, compressed air is introduced into the air chamber through the pneumatic joint, the pneumatic push rod is pushed to act, so that the bottom surface of the housing expands towards the special-shaped part;

[0014] S2. The displacement sensor detects the displacement of the pneumatic push rod and feeds it back to the control component. If the displacement remains unchanged within the set time, the pneumatic push rod stops acting, the magnetic guide coil is powered off, and the special-shaped part is sucked by the magnetic member;

[0015] S3. After the suction device is moved to suck the special-shaped part to the corresponding position, the magnetic guide coil is energized for unloading, and a vacuum pumping operation is performed. The pneumatic push rod returns to the initial position and waits for the next operation.

[0016] Further, the displacement error between the highest point and the lowest point of the stroke of the pneumatic push rod does not exceed the stroke range of the action of the pneumatic push rod.

[0017] The beneficial effect of the present invention is that by the action of the driving component, the elastic bottom surface of the elastic housing can be elastically deformed, that is, it is flat when there is no pressure and expands into a special-shaped surface corresponding to the special-shaped part when pressed. Then, the magnetic member can be in close contact with the surface of the special-shaped part over a large area, ensuring sufficient contact area between the magnetic member and the surface of the special-shaped part. And through the on-off operation of the suction component, effective suction or unloading operation of the special-shaped part can be realized, so that it can be applied to workpieces with uneven surfaces and special-shaped surfaces, and has good economic use value. Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of the present invention;

[0019] Figure 2 is the schematic three-dimensional assembly structure diagram of the first embodiment of the present invention;

[0020] Figure 3 is the sectional view of the assembly of the first embodiment of the present invention;

[0021] Figure 4 is the schematic three-dimensional assembly structure diagram of the second embodiment of the present invention;

[0022] Figure 5 is Figure 4 the schematic sectional structure diagram in the A-A direction of

[0023] Figure 6 is the schematic structure diagram of the suction component in the present invention. Detailed implementation manners

[0024] As Figures 1 to 6 shown, a suction device suitable for special-shaped parts of the present invention includes a plurality of suction components 1 for sucking the special-shaped surface, and a control component (not shown in the figure) for controlling the on-off of the suction components 1 to achieve suction. The suction components 1 are installed on the outer bottom surface of an elastic housing 2. Each suction component 1 includes a magnetic member 3; a plurality of driving components corresponding to the positions of the suction components 1 are arranged in the housing 2, so that the bottom surface of the housing 2 is flat without pressure and expands into a special-shaped surface corresponding to the special-shaped part 4 under pressure.

[0025] The suction device further includes a base 5. An air chamber 6 is provided in the base 5. An air seat 7 connected to the air chamber 6 is installed on the base 5. An air cavity 8 connected to the air chamber 6 is provided in the air seat 7. A pneumatic joint 9 connected to the air cavity 8 is installed on the air seat 7. A plurality of air holes 10 connected to the air chamber 6 are provided on the bottom surface of the base 5; the driving component includes a cylinder block 11 and a plurality of pneumatic push rods 12. The cylinder block 11 is fixedly connected to the base 5. An air passage 13 corresponding to and communicating with the air holes 10 is opened in the cylinder block 11; the pneumatic push rods 12 are arranged in the corresponding air passages 13 and move axially in the air passages 13 by air pressure. The diameter of the air passage 13 is larger than the diameter of the air holes 10; then compressed air enters the air cavity 8 through the pneumatic joint 9, enters the air chamber 6, and then enters the corresponding air passages 13 through different air holes 10, thereby pushing the pneumatic push rods 12 to move axially in the air passages 13.

[0026] A ball hinge assembly is connected to the bottom of the pneumatic push rod 12. The ball hinge assembly includes a ball head 14 and a ball plate 15 connected to the ball head 14. A ball groove 16 is opened at the bottom of the pneumatic push rod 12. The ball head 14 is embedded in the ball groove 16, and the ball head 14 can rotate freely in the ball groove 16; the ball plate 15 is in contact with the inner bottom surface of the housing 2 and is arranged corresponding to the position of the suction component 1.

[0027] A displacement sensor (not shown in the figure) is installed on the pneumatic push rod 12. The displacement sensor is connected to the control component. The displacement sensor transmits the detected moving displacement of the pneumatic push rod 12 to the control component in real time. The control component can adopt an existing controller;

[0028] The cover 2 is made of rubber material; a plurality of suction components 1 are arranged in an array, and the plurality of suction components 1 are located on the same horizontal plane; further, the top of the cover 2 is open, a clamping groove 17 is provided on the outer side of the cylinder block 11, and a corresponding clamping edge 18 is provided on the inner side of the cover 2 corresponding to the clamping groove 17. Then, the cylinder block 11 and the cover 2 are assembled by the cooperation of the clamping groove 17 and the clamping edge 18.

[0029] The suction component 1 further includes a magnetic conduction seat 19. A magnetic core 20 is installed in the magnetic conduction seat 19, and a magnetic conduction coil 21 is wound around the magnetic core 20. The magnetic conduction coil 21 wound around the magnetic core 20 is energized and de-energized, which is a prior art; the magnetic core 20 is connected to the magnetic part 3, and the magnetic conduction seat 19 is installed on the outer bottom surface of the cover 2 corresponding to the position of the ball plate 15; the magnetic part 3 can be in contact with the surface of the special-shaped part 4. A magnetic conduction coil 21 is wound around the magnetic core 20. A magnetic field is generated by the energization and de-energization of the magnetic conduction coil 21. When the magnetic conduction coil 21 is energized, a magnetic field is generated to guide the magnetic core 20 to close inside the magnetic part 3, and there is no magnetic attraction effect on the outside, completing the unloading of the object. After power-off, the object is adsorbed by the self-magnetic force of the magnetic part 3. The magnetic part 3 can quickly realize the conversion of the presence and absence of magnetic attraction force. When it contacts the surface of the special-shaped part 4 made of ferromagnetic material, it can quickly complete the adsorption or detachment of the object surface, so as to realize the function of grasping parts or fixing objects. For the magnetic conduction coil 21, only the energization and de-energization control is required. It can be connected to the control component through a cable, and the control component is placed on the upper part of the suction device, so as to reduce the influence on the overall volume of the suction device.

[0030] The present invention provides a suction method suitable for special-shaped parts, including the following steps:

[0031] S1. The magnetic conductive coil 21 is energized, and compressed air is introduced into the air chamber 6 through the pneumatic joint 9 to drive the pneumatic push rod 12 to act, causing the bottom surface of the housing 2 to expand and deform towards the special-shaped part 4. When the surface of the magnetic part 3 contacts the surface of the object, since the object is a hard ferromagnetic metal object, the contact point will prevent the bottom surface of the housing 2 from continuing to expand. The corresponding pneumatic push rod 12 inside the housing 2 will also stop moving accordingly. The bottom surfaces of the other parts of the housing 2 that have not contacted the object will continue to expand under the action of the other pneumatic push rods 12 until they contact the surface of the object and then stop moving. At this time, the bottom surface of the housing 2 is deformed into a shape corresponding to the surface of the object, adapting to the contact surface and better contacting the surface of the special-shaped part 4. This is the passive adaptation of the suction to the special-shaped surface. It does not require precise active control of the movement distance of each pneumatic push rod 12, but instead passively controls the movement distance of each pneumatic push rod 12 through the surface of the object, greatly simplifying the control process of the suction cup and also reducing the computational amount of the controller.

[0032] S2. The displacement sensor detects the displacement of the pneumatic push rod 12 and feeds it back to the control component. If the displacement remains unchanged within the set time, the pneumatic push rod 12 stops acting, and the magnetic conductive coil 21 is powered off, and the special-shaped part 4 is held by the magnetic part 3.

[0033] S3. After the suction device is moved to hold the special-shaped part 4 in the corresponding position, the magnetic conductive coil 21 is energized for unloading, and a vacuum pumping action is performed. The pneumatic push rod 12 returns to the initial position and waits for the next operation.

[0034] Due to the uneven surface of the special-shaped part 4, after the pneumatic push rod 12 acts, there may be a situation where the magnetic part 3 cannot contact the special-shaped part 4. Therefore, the displacement error between the highest point and the lowest point of the stroke of the pneumatic push rod 12 does not exceed the stroke range of the pneumatic push rod 12 during action. Then, the pneumatic push rod 12 at the corresponding position can return to the initial position.

[0035] The present invention adopts the design of the pneumatic push rod 12 in cooperation with the ball hinge, which has a flexible connection. Using the pneumatic thrust, it can ensure that the suction device can undergo flexible deformation according to the contact surface, better fit the contact surface, and generate sufficient suction force.

[0036] The working process of the present invention is as follows:

[0037] The object to be held is a ferromagnetic metal object, and there are no special requirements for the shape of the object, which can be a special-shaped surface.

[0038] 1. The entire moving suction device reaches the corresponding contact position on the surface of the special-shaped part 4. At this time, there is no compressed air in the suction device, and the pneumatic push rod 12 is in its initial position. When the pneumatic push rod 12 is in its initial position, it is completely placed in the air duct, that is, in a state where it does not protrude at all. The displacement sensors on the pneumatic push rod 12 transmit consistent signals, and the magnetic conductive coil 21 is energized. At this time, the magnetic part 3 has no magnetic field suction force on the outside;

[0039] 2. Compressed air is introduced into the suction device, pushing the pneumatic push rod 12 to move, causing the rubber housing 2 to deform. The magnetic part 3 at the corresponding position of the housing 2 moves along with the pneumatic push rod 12 and contacts the surface of the ferromagnetic special-shaped part 4;

[0040] 3. The pneumatic push rod 12 corresponding to the magnetic part 3 that first contacts the surface of the special-shaped part 4 stops moving due to being blocked by an object and stays at this displacement amount. The displacement sensor transmits information. If the displacement amount of the displacement sensor remains consistent within a certain period of time, it indicates that the magnetic part 3 at this position has contacted the surface of the special-shaped part 4;

[0041] 4. The other magnetic parts 3 that have not contacted the surface of the special-shaped part 4 continue to approach the special-shaped part 4 under the action of the pneumatic push rods 12 at their corresponding positions. After contacting the surface of the special-shaped part 4, the corresponding pneumatic push rods 12 also stop moving. The displacement sensors of these pneumatic push rods 12 also transmit information. If the displacement amount of the displacement sensor remains unchanged within a certain period of time, it indicates that the magnetic part 3 at this position has also contacted the surface of the special-shaped part 4;

[0042] 5. If the signals of the displacement sensors of all pneumatic push rods 12 do not change within a certain period of time, it indicates that the magnetic parts 3 on the bottom surface of the housing 2 have completely adhered to the surface of the special-shaped part 4. At this time, the introduction of compressed air is cut off to prevent excessive thrust on the special-shaped part 4 from causing extrusion damage to the housing 2 and the special-shaped part 4;

[0043] 6. The magnetic conductive coil 21 is powered off, so that the magnetic part 3 generates a magnetic field suction force on the ferromagnetic special-shaped part 4 and adsorbs the special-shaped part 4;

[0044] 7. The moving suction device moves the adsorbed special-shaped part 4 to the corresponding position. At this time, the magnetic conductive coil 21 is energized, and the magnetic part 3 does not generate a suction force on the special-shaped part 4, so that the unloading of the special-shaped part 4 can be realized. At this time, a vacuum operation is carried out through the pneumatic joint 9 to exhaust the compressed air inside the air chamber 6, and the pneumatic push rod 12 returns to its initial position, waiting for the next operation.

[0045] In summary, the present invention can be used for grasping non-planar ferromagnetic parts, or applied to the field of climbing robots to realize the climbing work of robots on complex surfaces.

[0046] In the first embodiment of the present invention, the special-shaped part 4 adopts a circular tube structure, and in the second embodiment, the special-shaped part 4 adopts a spherical structure. Other special-shaped structures can also be adopted.

[0047] It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0048] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An adsorption device suitable for special-shaped parts, characterized in that: It includes a plurality of suction components for sucking a special-shaped surface and a control component for controlling the on-off of the suction components to achieve suction. The suction components are installed on the outer bottom surface of an elastic cover. Each suction component includes a magnetic part. A number of driving components corresponding to the positions of the suction components are arranged in the cover, so that the bottom surface of the cover is flat without pressure and expands into a special-shaped surface corresponding to the special-shaped part under pressure.

2. The suction holding device suitable for special-shaped parts according to claim 1, wherein: The suction device further includes a base. An air chamber is provided in the base. An air seat connected to the air chamber is installed on the base. An air cavity connected to the air chamber is provided in the air seat. A pneumatic joint connected to the air cavity is installed on the air seat. A number of air holes connected to the air chamber are provided on the bottom surface of the base.

3. The suction device suitable for special-shaped parts according to claim 2, wherein: The driving component includes a cylinder block and a number of pneumatic push rods. The cylinder block is fixedly connected to the base. An air passage corresponding to and communicating with the air holes is provided in the cylinder block. The pneumatic push rods are arranged in the corresponding air passages and move in the air passages through air pressure.

4. The suction holding device suitable for special-shaped parts according to claim 3, characterized in that: A ball hinge assembly is connected to the bottom of the pneumatic push rod. The ball hinge assembly includes a ball head and a ball plate connected to the ball head. A ball groove is provided at the bottom of the pneumatic push rod. The ball head is embedded in the ball groove. The ball plate is in contact with the inner bottom surface of the cover and is arranged corresponding to the position of the suction component.

5. The suction device suitable for special-shaped parts according to claim 3, characterized in that: A displacement sensor is installed on the pneumatic push rod. The displacement sensor is connected to the control component.

6. The suction device suitable for special-shaped parts according to claim 1, characterized in that: The cover is made of rubber material. The plurality of suction components are arranged in an array. The plurality of suction components are located on the same horizontal plane.

7. The suction device suitable for special-shaped parts according to claim 3, wherein: The top of the cover is open. A clamping groove is provided on the outer side of the cylinder block. A corresponding clamping edge is provided on the inner side of the cover corresponding to the clamping groove.

8. The suction holding device suitable for special-shaped parts according to claim 4, characterized in that: The suction component further includes a magnetic conduction seat. An iron core is installed in the magnetic conduction seat. A magnetic conduction coil is wound around the iron core. The iron core is connected to the magnetic part. The magnetic conduction seat is installed on the outer bottom surface of the cover corresponding to the position of the ball plate.

9. A suction method suitable for special-shaped parts, characterized in that: Adopt a suction device suitable for special-shaped parts as described in any one of claims 1 to 8. The suction method includes the following steps: S1. The magnetic conduction coil is powered on. Compressed air is introduced into the air chamber through the pneumatic joint to push the pneumatic push rod to act, so that the bottom surface of the cover expands towards the direction of the special-shaped part. S2. The displacement sensor detects the displacement of the pneumatic push rod and feeds it back to the control component. If the displacement remains unchanged within the set time, the pneumatic push rod stops acting, the magnetic conduction coil is powered off, and the special-shaped part is sucked by the magnetic part. S3. After the suction device is moved to suck the special-shaped part to the corresponding position, the magnetic conduction coil is powered on for unloading, and a vacuum pumping action is performed. The pneumatic push rod returns to the initial position and waits for the next operation.

10. A suction holding method suitable for special-shaped parts according to claim 9, characterized in that: The displacement error between the highest point and the lowest point of the stroke of the pneumatic push rod during action does not exceed the stroke range of the pneumatic push rod during action.

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