Suction tool device

Abstract

The invention discloses a suction tool device which comprises a connecting frame, a suction head, a suction head, a suction head, a suction head and a suction head, wherein the connecting frame is provided with a first mounting hole and a second mounting hole; one end of the first rod body is arranged in the first mounting hole in a penetrating manner, and a first spring is arranged on the first rod body; the supporting seat is connected with the other end of the first rod body, and a limiting groove is formed in the supporting seat; one end of the second rod body is arranged in the second mounting hole in a penetrating manner, and a second spring is arranged on the second rod body; the base is connected with the other end of the second rod body, the base is arranged in the limiting groove, the base can move in the limiting groove in the length direction of the first rod body, a cavity is formed in the base, and a vacuum opening communicated with the cavity is formed in the base; one end of the sucker is provided with a cavity with an opening, the other end of the sucker is provided with an air passage, the air passage is communicated with the cavity, and the other end of the sucker is connected with the base. In the process that the suction cup adsorbs the materials, the materials are extruded through downward movement of the supporting base, the suction cup can be stably adsorbed to the surfaces of the materials, and the materials are prevented from falling off in the carrying process.

Description

Technical Field

[0001] This invention belongs to the field of suction cup technology, and specifically relates to a suction cup device. Background Technology

[0002] With the development of intelligent manufacturing, more and more production processes and sections are adopting automated material handling, especially in production processes with harsh working environments. Material handling and transfer are common processes in production, frequently moving materials from one location to another or changing their state. There are many types of materials, such as steel plates, battery modules, and components. Robotic arms are common industrial automation mechanisms, widely used in repetitive processes such as machining. In the process of material handling using robotic arms, grippers are used to grasp materials or suction cups are used to pick them up for transport or transfer. However, due to the different characteristics of various materials, in many processes, suction cups are unstable and unreliable when adhering to materials, making them difficult to grasp. Summary of the Invention

[0003] The purpose of this invention is to provide a suction device to solve the problem that suction cups are inconvenient to grasp materials during the grasping process.

[0004] This invention provides a suction device, comprising:

[0005] A connecting frame, wherein the connecting frame is provided with a first mounting hole and a second mounting hole;

[0006] A first rod, one end of which is inserted into the first mounting hole, and a first spring is sleeved on the first rod;

[0007] A support base is connected to the other end of the first rod body, and a limiting groove is provided on the support base;

[0008] The second rod has one end inserted into the second mounting hole, and a second spring is sleeved on the second rod.

[0009] A base is connected to the other end of the second rod. The base is disposed in the limiting groove and is movable in the limiting groove along the length direction of the first rod. The base is provided with a chamber and a vacuum port communicating with the chamber.

[0010] The suction cup has an open cavity at one end and an air passage at the other end, which communicates with the cavity. The other end of the suction cup is connected to the base.

[0011] Furthermore, there are multiple first rods and multiple second rods, with multiple first rods spaced apart and multiple second rods spaced apart.

[0012] Furthermore, the elastic force per unit extension length of the first spring is greater than the elastic force per unit extension length of the second spring.

[0013] Furthermore, the suction cup includes a first suction cup and a second suction cup. One end of the first suction cup is provided with a first cavity with a first opening, and the other end of the first suction cup is provided with a first air passage. The first air passage communicates with the first cavity, and the other end of the first suction cup is connected to the base.

[0014] One end of the second suction cup is provided with a second cavity with a second opening, and the other end of the second suction cup is provided with a second air passage. The second air passage communicates with the second cavity, and the other end of the second suction cup is connected to the base.

[0015] The opening area of ​​the first opening of the first suction cup is smaller than the opening area of ​​the second opening of the second suction cup. The first suction cup is disposed at the end of the base, and the second suction cup is disposed in the middle area of ​​the base.

[0016] Furthermore, a pressure plate is provided on the side of the support base away from the first rod.

[0017] Furthermore, the suction device also includes:

[0018] The sealing structure includes a first connecting rod, a second connecting rod and a connecting seat, and a sealing plate.

[0019] One end of the first connecting rod is rotatably connected to the inner wall of the cavity, and the other end of the first connecting rod is connected to one end of the second connecting rod;

[0020] The upper end of the connecting seat is movably disposed on the second rod body along the length direction of the second connecting rod, and the sealing plate is disposed at the lower end of the connecting seat.

[0021] Furthermore, the sealing structure also includes:

[0022] A first driving mechanism is used to drive the first connecting rod to rotate;

[0023] The second driving mechanism has a sliding hole on the connecting seat, and the second connecting rod is movably inserted through the sliding hole. The second driving mechanism can drive the connecting seat to move along the length direction of the second connecting rod.

[0024] Furthermore, the top inner wall of the cavity is provided with a mounting seat, and the mounting seat is provided with a first driving mechanism. The driving shaft of the first driving mechanism is connected to one end of the first connecting rod, and the other end of the first connecting rod is connected to the support plate. The first driving mechanism can drive the first connecting rod to rotate so as to drive the support plate to rotate.

[0025] The second drive mechanism is disposed on the support plate, and one end of the second connecting rod is connected to the support plate.

[0026] Furthermore, the suction device also includes:

[0027] The slider has a groove at the lower end of the connecting seat, one end of the slider is disposed in the groove, and the sealing plate is disposed at the other end of the slider;

[0028] An elastic element is provided in the groove, one end of which is connected to the bottom wall of the groove, and the other end of which is connected to the slider.

[0029] Furthermore, the suction device also includes:

[0030] The detection unit is used to detect the part to be transported and to acquire the surface information of the part to be transported, including the position, size and shape information of the through holes on the surface of the part to be transported;

[0031] A control system is configured to control the first driving mechanism to drive the first connecting rod to rotate and control the second driving mechanism to drive the connecting seat to move along the length direction of the second rod body, so that the sealing plate seals and covers the through hole, based on the surface information.

[0032] In the suction device of this invention, the connecting frame is provided with a first mounting hole and a second mounting hole. One end of the first rod passes through the first mounting hole, and a first spring is sleeved on the first rod. The support base is connected to the other end of the first rod, and the support base is provided with a limiting groove. One end of the second rod passes through the second mounting hole, and a second spring is sleeved on the second rod. The base is connected to the other end of the second rod, and the base is disposed in the limiting groove. The base is movable along the length direction of the first rod in the limiting groove. The base is provided with a chamber, and the base is provided with a vacuum port communicating with the chamber. One end of the suction cup is provided with an open cavity, and the other end of the suction cup is provided with an air passage communicating with the cavity. The other end of the suction cup is connected to the base. During the process of suction cup adsorbing material, the material can be squeezed to a certain extent by the downward movement of the support base, making it easier for the suction cup to contact and adsorb the surface of the material. This facilitates adsorption and allows the suction cup to be stably and firmly adsorbed onto the surface of the material, preventing the material from falling off during transportation. Attached Figure Description

[0033] Fig. 1 This is a schematic diagram of the suction device in an embodiment of the present invention;

[0034] Fig. 2 This is another structural schematic diagram of the suction device in an embodiment of the present invention;

[0035] Fig. 3 This is a schematic diagram of the suction cup structure in an embodiment of the present invention.

[0036] Figure Labels

[0037] Connector 10;

[0038] First rod body 20;

[0039] Second rod 30;

[0040] Support base 40; first spring 41; second spring 42; pressure plate 43; limiting groove 44;

[0041] Base 50;

[0042] Suction cup 60;

[0043] First suction cup 61; Second suction cup 62;

[0044] First connecting rod 71; Second connecting rod 72; Connecting seat 73;

[0045] 74. Blocking plate; 75. Slider; 76. Elastic element; 77. Support plate; 78. Groove;

[0046] First drive motor 81; second drive motor 82; screw 83; mounting base 84. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] The terms "first," "second," etc., used in the specification and claims of this invention are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0049] like Figs. 1 to 3 As shown, the suction device of this invention includes:

[0050] The system comprises a connecting frame 10, a first rod 20, a second rod 30, a support base 40, a base 50, and a suction cup. The connecting frame 10 can be connected to the robotic arm. The connecting frame 10 has a first mounting hole and a second mounting hole. One end of the first rod 20 passes through the first mounting hole, and a first spring 41 is fitted onto the first rod 20. The support base 40 is connected to the other end of the first rod 20 and has a limiting groove 44. One end of the second rod 30 passes through the second mounting hole, and a second spring 42 is fitted onto the second rod 30. The connecting frame 10 may have a mounting cavity, into which one end of the first rod 20 can pass. A first limiting plate may be provided at the end of one end of the first rod 20 to prevent it from detaching from the first mounting hole. A second limiting plate may be provided at the end of one end of the second rod 30 to prevent it from detaching from the second mounting hole. The extension and retraction of the first spring 41 and the second spring 42 can generate an elastic force. During the downward movement of the support seat 40, the support seat 40 can squeeze the material, which can keep the material stable and allow the suction cup to contact the material tightly.

[0051] The base 50 is connected to the other end of the second rod 30. The base 50 is set in the limiting groove 44 and can move along the length of the first rod 20 in the limiting groove 44. The connecting frame 10 can be connected to the robotic arm. During the suction process, as the support 40 moves downward, the suction cup contacts the material. During the continued movement, the support 40 squeezes the material, and the spring is compressed, providing a certain elastic force. The suction cup can tightly contact the material. The base 50 can move in the limiting groove 44 in the direction close to the connecting frame 10. After the material is sucked up, during the handling process, the first spring returns to push the support 40 to move in the direction away from the connecting frame 10. The elastic force of the second spring pushes the base 50 in the limiting groove 44 in the direction away from the connecting frame 10, which can cause the material adsorbed by the suction cup to detach from the support 40.

[0052] The base 50 has a chamber with a vacuum port communicating with the chamber, allowing a vacuum to be created within the chamber for easy suction by the suction cup. The base 50 may also have an air inlet communicating with the chamber to introduce gas and break the vacuum. One end of the suction cup may have an open cavity, and the other end may have an air passage communicating with the cavity. The other end of the suction cup can be connected to the base 50.

[0053] In the suction device of this embodiment, the connecting frame 10 is provided with a first mounting hole and a second mounting hole. One end of the first rod 20 passes through the first mounting hole and a first spring is sleeved on the first rod 20. The support base 40 is connected to the other end of the first rod 20 and is provided with a limiting groove. One end of the second rod 30 passes through the second mounting hole and a second spring is sleeved on the second rod 30. The base 50 is connected to the other end of the second rod 30 and is disposed in the limiting groove. The base 50 is movable in the limiting groove along the length direction of the first rod 20. The base 50 is provided with a chamber and a vacuum port communicating with the chamber. One end of the suction cup is provided with an open cavity, and the other end of the suction cup is provided with an air passage communicating with the cavity. The other end of the suction cup is connected to the base 50. During the process of suction cup adsorbing materials, the material can be squeezed to a certain extent by moving the support base downwards, so that the suction cup can easily contact and adsorb the surface of the material, and the suction cup can be stably and firmly adsorbed on the surface of the material, preventing the material from falling off during the handling process.

[0054] In some embodiments, the number of first rods 20 and second rods 30 can both be multiple. For example, the number of first rods 20 and second rods 30 can both be two. Multiple first rods 20 can be arranged at intervals, and multiple second rods 30 can be arranged at intervals.

[0055] Optionally, the elastic force per unit extension length of the first spring 41 is greater than the elastic force per unit extension length of the second spring 42. Since the elastic force per unit extension length of the first spring 41 is greater than the elastic force per unit extension length of the second spring 42, the first spring 41 is more difficult to compress than the second spring 42.

[0056] Optionally, the suction cup may include a first suction cup 61 and a second suction cup 62. One end of the first suction cup 61 may be provided with a first cavity with a first opening, and the other end of the first suction cup 61 may be provided with a first air passage. The first air passage communicates with the first cavity, and the top of the first suction cup 61 may be connected to the base 50.

[0057] One end of the second suction cup 62 may be provided with a second cavity with a second opening, and the other end of the second suction cup 62 may be provided with a second air passage, which communicates with the second cavity. The top of the second suction cup 62 may be connected to the base 50. The size, shape and type of the first suction cup 61 and the second suction cup 62 may be different. Materials can be adsorbed through the first suction cup 61 and the second suction cup 62.

[0058] The opening area of ​​the first opening of the first suction cup 61 is smaller than the opening area of ​​the second opening of the second suction cup 62. The first suction cup 61 is disposed at the end of the base 50, and the second suction cup 62 is disposed in the middle area of ​​the base 50. For example, two first suction cups 61 can be disposed at both ends of the base 50, and two second suction cups 62 can be disposed in the middle area of ​​the base 50. The first suction cup 61 and the second suction cup 62 can adsorb materials with small edge adsorption areas. The first suction cup 61 can be circular, and the second suction cup 62 can be elliptical.

[0059] Optionally, a pressure plate 43 is provided on the side of the support base 40 away from the first rod 20. The surface of the pressure plate 43 can be flat, and the surface of the pressure plate 43 can be provided with an elastic layer to facilitate the compression of the material surface.

[0060] In some embodiments, the suction device may further include:

[0061] The sealing structure, at least part of which can be disposed within the cavity of the suction cup, can be circular. The sealing structure may include a first connecting rod 71, a second connecting rod 72, a connecting seat 73, and a sealing plate 74. One end of the first connecting rod 71 is rotatably connected to the inner wall of the cavity. The axis of the suction cup and the axis of the first connecting rod 71 can be collinear, and the first connecting rod 71 can rotate around the axis of the suction cup. The other end of the first connecting rod 71 can be connected to one end of the second connecting rod 72, and the sealing plate 74 can be disposed on the second connecting rod 72. The upper end of the connecting seat 73 is movably disposed on the second rod body 30 along the length direction of the second connecting rod 72, and the upper end of the connecting seat 73 is movable on the second rod body 30 along the length direction of the second rod body 30. The sealing plate 74 is disposed at the lower end of the connecting seat 73. When the material is a plate-shaped body with through holes, the position of the sealing plate 74 can be adjusted by rotating the first connecting rod 71 and moving the upper end of the connecting seat 73 on the second rod body 30, so as to seal through holes at different positions. The position of the sealing plate 74 can be changed according to the position of the through holes. The sealing plate 74 tightly seals the through hole position, preventing the suction cup from failing to form a vacuum when adsorbing materials with through holes, so that the suction cup can form a vacuum to adsorb materials even when there are through holes, ensuring stable adsorption. The lower surface of the sealing plate 74 can be provided with an elastic sealing layer, for example, an elastic rubber layer. In the handling of some large materials, the suction cup is large in volume, and the suction device has many suction cups. One or more suction cups with sealing structures can be set in the suction device to achieve adsorption at the through hole position even when the material has through holes.

[0062] Optionally, the sealing structure may also include:

[0063] A first drive mechanism and a second drive mechanism are provided. The first drive mechanism can be a first drive motor 81, which can drive the first connecting rod 71 to rotate. The upper end of the first connecting rod 71 can be connected to the first drive mechanism. The top inner wall of the cavity of the suction cup 60 can be provided with a mounting base 84, and the first drive mechanism can be mounted on the mounting base 84.

[0064] The second drive mechanism can be a second drive motor 82. The first drive motor 81 and the second drive motor 82 can be micro motors. The connecting seat 73 can be provided with a sliding hole, for example, the sliding hole can be rectangular, square or elliptical. The second connecting rod 72 can be movably inserted into the sliding hole. The second drive mechanism can drive the connecting seat 73 to move along the length direction of the second connecting rod 72. The drive shaft of the second drive mechanism can be connected to one end of the screw 83. The screw 83 can be inserted into the screw hole of the connecting seat 73. By rotating the screw, the connecting seat 73 can be driven to move along the length direction of the second connecting rod 72. The position of the sealing plate 74 can be adjusted by the drive mechanism to seal the through holes at different positions on the surface of the plate-shaped material. The position of the sealing plate 74 can be changed according to the position of the through hole.

[0065] In some embodiments, the top inner wall of the cavity may be provided with a mounting base 84, and a first driving mechanism may be provided on the mounting base 84. The drive shaft of the first driving mechanism may be connected to one end of the first connecting rod 71, and the other end of the first connecting rod 71 may be connected to the support plate 77. The first driving mechanism may drive the first connecting rod 71 to rotate, thereby causing the support plate 77 to rotate. A second driving mechanism may be provided on the support plate 77, and one end of the second connecting rod 72 may be connected to the support plate 77. The first driving mechanism may be a first driving motor 81, and the second driving mechanism may be a second driving motor 82. The first connecting rod 71 and the support plate 77 may be vertically connected, and the second connecting rod 72 may be parallel to or coplanar with the support plate 77. The first connecting rod 71 and the second connecting rod 72 may be vertically connected, and the second connecting rod 72 may be parallel to and spaced apart from the screw 83.

[0066] Optionally, the suction device may also include:

[0067] The lower end of the slider 75 and connecting seat 73 may have a groove 78. One end of the slider 75 is disposed in the groove 78, and the sealing plate 74 may be disposed at the other end of the slider 75. An elastic element 76 may be disposed in the groove 78. One end of the elastic element 76 is connected to the bottom wall of the groove 78, and the other end is connected to the slider 75. The elastic element 76 may be a spring, which can tightly seal the sealing plate 74 at the through hole position. The elastic element 76 may also be an elastic air bag or elastic air bladder. The elasticity of the air bag can tightly seal the sealing plate 74 at the through hole position, preventing the suction cup from failing to form a vacuum when there is a through hole in the adsorbed material, thus ensuring stable adsorption. The cross-section of the slider 75 may be rectangular, square, or elliptical, and the outer wall of the slider 75 abuts against the inner wall of the groove. The groove wall of the groove 78 may have a through hole, through which the groove can communicate with the cavity of the suction cup. The elastic element 76 can be an elastic air bag or an elastic air bladder. During the process of creating a vacuum in the cavity of the suction cup, the gas in the elastic air bag or elastic air bladder can expand, increasing the volume of the elastic air bag or elastic air bladder, which can push the sealing plate 74 to tightly cover the through hole. The surface of the sealing plate 74 away from the connecting seat 73 can be provided with a deformation layer. The deformation layer can be an elastic layer with an air cavity. The air cavity can be filled with gas, which has a buffering effect. When the cavity is a vacuum, the gas in the air cavity expands and can better fit tightly against the through hole.

[0068] Optionally, the suction device may also include:

[0069] The detection unit can be used to detect the part to be transported and obtain the surface information of the part to be transported. The surface information may include the position, size and shape of the through holes on the surface of the part to be transported.

[0070] The control system can be used to control the first driving mechanism to drive the first connecting rod 71 to rotate and control the second driving mechanism to drive the connecting seat 73 to move along the length direction of the second rod 30 according to the surface information, so that the sealing plate 74 can seal and cover the through hole, so that the sealing plate 74 can tightly seal the through hole position, preventing the suction cup from being unable to form a vacuum when there is a through hole position in the adsorbed material, so that the suction cup can also form a vacuum to adsorb the material when there is a through hole position in the adsorbed material, ensuring stable adsorption.

[0071] The detection unit can acquire an image of the surface of the workpiece to be transported. The detection unit can preprocess the image of the through-hole in the surface image of the workpiece to obtain a preset image of the through-hole. The control system can compare the image of the surface of the workpiece to be transported with the pre-stored preset image of the through-hole. When a partial or complete match between a local image of the surface of the workpiece and the preset image of the through-hole is found, the control system acquires the position information of the through-hole on the surface of the workpiece. Based on the position information of the through-hole, the control system controls the first driving mechanism to drive the first connecting rod 71 to rotate and controls the second driving mechanism to drive the connecting seat 73 to move along the length direction of the second rod 30, so that the sealing plate 74 seals and covers the through-hole. This allows the suction device to adsorb materials or workpieces with through-holes on their surfaces. It can automatically identify the position information of the through-hole and automatically control the sealing plate 74 to seal and cover the through-hole. The suction device of the present invention can detect the position information of the through-hole on the surface of the workpiece to be transported through the detection unit. The control system can control the first driving mechanism to drive the first connecting rod 71 to rotate and control the second driving mechanism to drive the connecting seat 73 to move along the length direction of the second rod 30, so that the sealing plate 74 seals and covers the through-hole.

[0072] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A suction device, characterized in that, include: A connecting frame, wherein the connecting frame is provided with a first mounting hole and a second mounting hole; A first rod, one end of which is inserted into the first mounting hole, and a first spring is sleeved on the first rod; A support base is connected to the other end of the first rod body, and a limiting groove is provided on the support base; The second rod has one end inserted into the second mounting hole, and a second spring is sleeved on the second rod. A base is connected to the other end of the second rod. The base is disposed in the limiting groove and is movable in the limiting groove along the length direction of the first rod. The base is provided with a chamber and a vacuum port communicating with the chamber. The suction cup has an open cavity at one end and an air passage at the other end, which communicates with the cavity. The other end of the suction cup is connected to the base.

2. The suction device according to claim 1, characterized in that, There are multiple first rods and multiple second rods, with multiple first rods spaced apart and multiple second rods spaced apart.

3. The suction device according to claim 1, characterized in that, The elastic force per unit extension length of the first spring is greater than the elastic force per unit extension length of the second spring.

4. The suction device according to claim 1, characterized in that, The suction cup includes a first suction cup and a second suction cup. One end of the first suction cup is provided with a first cavity with a first opening. The other end of the first suction cup is provided with a first air passage. The first air passage communicates with the first cavity. The other end of the first suction cup is connected to the base. One end of the second suction cup is provided with a second cavity with a second opening, and the other end of the second suction cup is provided with a second air passage. The second air passage communicates with the second cavity, and the other end of the second suction cup is connected to the base. The opening area of ​​the first opening of the first suction cup is smaller than the opening area of ​​the second opening of the second suction cup. The first suction cup is disposed at the end of the base, and the second suction cup is disposed in the middle area of ​​the base.

5. The suction device according to claim 1, characterized in that, The support base is provided with a pressure plate on the side away from the first rod.

6. The suction device according to claim 1, characterized in that, Also includes: The sealing structure includes a first connecting rod, a second connecting rod and a connecting seat, and a sealing plate. One end of the first connecting rod is rotatably connected to the inner wall of the cavity, and the other end of the first connecting rod is connected to one end of the second connecting rod; The upper end of the connecting seat is movably disposed on the second rod body along the length direction of the second connecting rod, and the sealing plate is disposed at the lower end of the connecting seat.

7. The suction device according to claim 6, characterized in that, The sealing structure also includes: A first driving mechanism is used to drive the first connecting rod to rotate; The second driving mechanism has a sliding hole on the connecting seat, and the second connecting rod is movably inserted through the sliding hole. The second driving mechanism can drive the connecting seat to move along the length direction of the second connecting rod.

8. The suction device according to claim 7, characterized in that, The cavity is provided with a mounting base on its top inner wall. The mounting base is provided with a first driving mechanism. The driving shaft of the first driving mechanism is connected to one end of the first connecting rod, and the other end of the first connecting rod is connected to the support plate. The first driving mechanism can drive the first connecting rod to rotate so as to drive the support plate to rotate. The second drive mechanism is disposed on the support plate, and one end of the second connecting rod is connected to the support plate.

9. The suction device according to claim 8, characterized in that, Also includes: The slider has a groove at the lower end of the connecting seat, one end of the slider is disposed in the groove, and the sealing plate is disposed at the other end of the slider; An elastic element is provided in the groove, one end of which is connected to the bottom wall of the groove, and the other end of which is connected to the slider.

10. The suction device according to claim 8, characterized in that, Also includes: The detection unit is used to detect the part to be transported and to acquire the surface information of the part to be transported, including the position, size and shape information of the through holes on the surface of the part to be transported; A control system is configured to control the first driving mechanism to drive the first connecting rod to rotate and control the second driving mechanism to drive the connecting seat to move along the length direction of the second rod body, so that the sealing plate seals and covers the through hole, based on the surface information.

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