Passive vacuum chuck grabbing device, system and method

Abstract

The invention discloses a passive vacuum chuck grabbing device, system and method. The device comprises a body; the suction cup assembly is located below the body and provided with a lower gas channel communicated with an inner cavity of the body; the pressing assembly, the reset spring and the state switching module are located in a mounting hole of the body; the pressing assembly is provided with an upper gas channel; the air plug and the air plug spring are located in an air plug hole of the pressing assembly; the air plug spring is used for extruding the air plug to seal the air channel above the air plug; the device controls the opening / closing of the T-shaped structure air plug through the opening / closing of the state switching module, and decides the damage or maintenance of vacuum through the matching between the T-shaped structure air plug and the second sealing ring. The purpose of adsorbing and releasing the to-be-grabbed object is achieved without supplying a vacuum air source, the installation process with machining equipment is simple, and the practical applicability is high.

Description

Technical Field

[0001] This invention relates to the field of automated processing technology, and in particular to a passive vacuum suction cup gripping device, gripping system and method. Background Technology

[0002] The automatic loading and unloading of existing CNC machine tool machining centers is usually done by external robotic arms, which can be 6-axis or Cartesian three-axis robotic arms. This loading and unloading method requires the addition of expensive external equipment, and the cost of the additional equipment involved is high.

[0003] Chinese patent CN102476775A discloses an adsorption device for adsorbing electronic components. This device can easily adsorb and release workpieces by setting a sealing element and an air hole. When adsorbing a workpiece, the air between the suction cup and the workpiece is expelled by manually pressing the suction cup. Under the action of the elastic element, the sealing element seals the air hole, creating a vacuum between the cup and the workpiece, and the adsorption device can then adsorb the workpiece. When the workpiece needs to be released, the middle connecting rod is pressed down, which moves the sealing element away from the air hole. Atmospheric atmosphere enters and breaks the vacuum, thereby removing the workpiece from the adsorption device. Summary of the Invention

[0004] To reduce equipment costs and improve automation during automatic loading and unloading, a self-loading solution for the machine tool is proposed. This solution fully utilizes the motion control capabilities of the CNC machine tool itself to achieve automatic loading and unloading without adding external automatic loading and unloading devices.

[0005] In view of the above problems, the present invention is proposed to provide a passive vacuum suction cup gripping device, gripping system and method that overcomes or at least partially solves the above problems.

[0006] This invention provides a passive vacuum suction cup gripping device, comprising:

[0007] ontology;

[0008] A suction cup assembly located below the main body, the suction cup assembly having a lower gas channel communicating with the internal cavity of the main body;

[0009] The pressing assembly, the reset spring, and the state switching module are located in the mounting hole of the main body; the pressing assembly is provided with an upper gas channel;

[0010] An air plug and an air plug spring are located in the air plug hole of the pressing assembly; the air plug spring is used to compress the air plug to seal the gas passage above;

[0011] The state switching module includes an on state and a off state. When the pressing component is pressed to switch the state switching module to the off state, the pressing component resets under the action of the return spring, the air plug spring compresses the air plug to close the upper gas channel, the air pressure in the inner cavity of the main body decreases to form a vacuum state, and the suction cup assembly adsorbs the object to be grasped. When the pressing component is pressed to switch the state switching module to the on state, the pressing component resets under the action of the return spring, the state switching module lifts the air plug, so that the upper gas channel is connected to the outside, the inner cavity of the main body is in a normal pressure state, and the suction cup assembly releases the object to be grasped.

[0012] In some alternative embodiments, the suction cup assembly includes a suction cup flange, a suction cup, and a limiting ring;

[0013] The suction cup flange is installed below the main body, and the suction cup and the limiting ring are installed below the suction cup flange. The suction cup flange and the suction cup are provided with a central through hole to form a lower gas channel.

[0014] In some alternative embodiments, the above-described device further includes an adjustment screw installed in the intermediate through-hole of the suction cup flange.

[0015] In some alternative embodiments, the pressing assembly includes a mounting handle and a piston;

[0016] The piston is installed in the mounting hole of the body, and the mounting handle is connected above the piston for connecting to processing equipment;

[0017] The piston is provided with a gas plug hole for installing the gas plug;

[0018] The mounting handle has a spring hole below it for mounting the gas spring.

[0019] In some optional embodiments, a dust seal and a sealing assembly are provided between the piston and the body; the piston has an intermediate gas channel connecting the inner cavity of the body and the upper gas channel.

[0020] A second sealing ring is provided between the gas plug and the piston.

[0021] In some optional embodiments, the state switching module includes an outer cylinder and an inner core;

[0022] The inner core can retract or extend relative to the outer cylinder under pressure, so that the state switching module can switch between an open state and a closed state.

[0023] In some optional embodiments, the above-described apparatus further includes:

[0024] A stop ring is provided between the piston and the suction cup assembly to limit the piston's stroke.

[0025] In some alternative embodiments, the above-described device further includes: a muffler;

[0026] The muffler is installed in the upper mounting hole of the mounting handle of the pressing assembly.

[0027] This invention provides a gripping system, including processing equipment and the aforementioned passive vacuum suction cup gripping device;

[0028] The device is connected to the spindle of the processing equipment via the mounting handle of the pressing component.

[0029] This invention provides a method for grasping objects, including:

[0030] Place the passive vacuum suction cup gripping device on the object to be gripped, and press the pressing component to switch the state of the state switching module.

[0031] If the state switching module is switched to the off state, the pressing component is reset under the action of the reset spring, the air plug spring squeezes the air plug to close the upper gas channel, the suction cup component cooperates with the object to be grasped to close the inner cavity of the main body, the air pressure in the inner cavity of the main body decreases to form a vacuum state, and the suction cup component adsorbs the object to be grasped.

[0032] If the state switching module switches to the open state, the pressing component resets under the action of the reset spring, the state switching module lifts the air plug, so that the upper gas channel is connected to the outside, the vacuum state of the inner cavity of the body is released and the normal pressure state is restored, and the suction cup component releases the object to be grasped.

[0033] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0034] The passive vacuum suction cup gripping device provided in this embodiment of the invention allows the following steps: After pressing the pressing component to switch the state switching module to the closed state, the pressing component resets under the action of the return spring. The air plug spring compresses the air plug, sealing the upper gas channel, reducing the internal pressure of the main body and creating a vacuum state, allowing the suction cup assembly to adsorb the object to be gripped. Pressing the pressing component again to switch the state switching module to the open state again, the pressing component resets under the action of the return spring, and the state switching module lifts the air plug, connecting the upper gas channel to the outside. The internal cavity of the main body is now at normal pressure, and the suction cup assembly releases the object to be gripped. This device controls the state switching module through the pressing component, switching the internal cavity between a vacuum state and a non-vacuum state to grip and release the object. By controlling the piston's up-and-down movement, the size of the internal cavity changes, generating a suitable vacuum effect to effectively adsorb the object. This device can be directly installed on a CNC machine tool tool holder via the mounting handle, using an integrated structure to complete the modification of CNC machine tools. It is simple to install and has strong practical applicability.

[0035] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0036] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0038] Figure 1 This is a schematic diagram of the passive vacuum suction cup gripping device in an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the passive vacuum suction cup gripping device state switching module in the off state in an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the active state of the passive vacuum suction cup gripping device state switching module in an embodiment of the present invention.

[0041] Figure 4 This is a schematic diagram of the grasping system in an embodiment of the present invention;

[0042] Figure 5 This is a flowchart of the item grasping method in an embodiment of the present invention.

[0043] Explanation of reference numerals in the attached figures:

[0044] 1. Main body; 2. Suction cup assembly; 3. Pressing assembly; 4. Reset spring; 5. State switching module; 6. Air plug; 7. Air plug spring; 8. Stop ring; 9. Muffler;

[0045] 11. Dustproof ring; 12. Sealing assembly; 13. Third sealing ring;

[0046] 21. Suction cup flange; 22. Suction cup; 23. Limit ring; 24. Adjustment screw;

[0047] 31. Mounting handle; 32. Piston; 33. Second sealing ring;

[0048] 51. Outer cylinder; 52. Inner core;

[0049] 100. Passive vacuum suction cup gripping device; 200. Processing equipment. Detailed Implementation

[0050] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0051] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0052] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0053] To address the issue of limited practical applicability in existing technologies, this invention provides a passive vacuum suction cup gripping device. This device can be directly mounted on the CNC machine tool holder via a mounting handle to modify the CNC machine tool. Furthermore, the machine tool does not require internal electrical or pneumatic signal connections. That is, without relying on any external vacuum generator, the device achieves the vacuum-vacuum breaking state switching through the linear motion of the machining equipment spindle to complete the adsorption and release of the workpiece, demonstrating strong applicability.

[0054] This invention provides a passive vacuum suction cup gripping device, the structure of which is as follows: Figure 1 , Figure 2 and Figure 3 As shown, where, Figure 1 This is the front view of the gripping device. Figure 2 This is a cross-sectional view of the pressing component after it has been pressed down. Figure 3 This is a cross-sectional view of the gripping device after the pressing component has popped up.

[0055] Ontology 1;

[0056] The suction cup assembly 2 is located below the main body 1, and the suction cup assembly 2 is provided with a lower gas channel communicating with the inner cavity of the main body 1.

[0057] The pressing component 3, the reset spring 4, and the state switching module 5 are located in the mounting hole of the main body 1; the pressing component 3 is provided with an upper gas channel;

[0058] An air plug 6 and an air plug spring 7 are located in the air plug hole of the pressing assembly 3; the air plug spring 7 is used to squeeze the air plug 6 to seal the gas passage above.

[0059] The state switching module 5 includes an open state and a closed state. After pressing the pressing component 3 to switch the state switching module 5 to the closed state, the pressing component 3 is reset under the action of the reset spring 4, the air plug spring 7 squeezes the air plug 6 to close the upper gas channel, the air pressure in the inner cavity of the body decreases to form a vacuum state, and the suction cup component 2 adsorbs the object to be grasped. After pressing the pressing component 3 to switch the state switching module 5 to the open state, the pressing component is reset under the action of the reset spring 4, the state switching module 5 lifts the air plug 6, so that the upper gas channel is connected to the outside, the inner cavity of the body 1 is in a normal pressure state, and the suction cup component 2 releases the object to be grasped.

[0060] In some alternative embodiments, the suction cup assembly includes a suction cup flange 21, a suction cup 22, and a limiting ring 23;

[0061] The suction flange 21 is installed below the body 1, and the suction cup 22 and the limiting ring 23 are installed below the suction flange 21. The suction flange 21 and the suction cup 22 are provided with a central through hole to form a lower gas passage.

[0062] The suction cup flange 21 is used to connect the body 1 and the suction cup 22; the suction cup 22 is made of an elastic material, for example, but not limited to, being bowl-shaped; the limiting ring 23 can be annular in structure and located outside the suction cup 22. The height of the limiting ring is less than the height of the suction cup 22 so that the lower end face of the suction cup can extend out to contact the object to be grasped. Optionally, after the limiting ring 23 and the suction cup 22 are installed, their height difference is within the set height difference threshold range. While ensuring that the suction cup 22 can extend a certain length, the limiting ring can also serve as a safety device to ensure that the suction cup 22 has sufficient deformation space after releasing the object to be grasped, and at the same time ensure that the suction cup 22 will not be over-compressed after the pressing component is pressed.

[0063] Preferably, the passive vacuum suction cup gripping device also includes an adjustment screw 24 installed in the middle through hole of the suction cup flange 21. The adjustment screw 24 can be adjusted to extend its height out of the suction cup flange according to the actual engineering needs, thereby changing the movable distance of the lower end of the state switching module 5. By controlling the movable distance of the state switching module 5 when it is pressed down, the opening and closing sensitivity of the state switching module 5 can be controlled.

[0064] The pressing assembly 3 includes a mounting handle 31 and a piston 32; the piston 32 is mounted in the mounting hole of the body 1, and the mounting handle 31 is connected above the piston 32 for connecting to processing equipment; the piston 32 has a plug hole for mounting a plug 6; a spring hole is provided below the mounting handle 31 for mounting a plug spring 7. See also Figure 2 and Figure 3 As shown, the air plug hole is a stepped hole, the air plug 6 is a stepped shaft structure with a T-shaped axial section, the upper end of the air plug spring 7 is located in the spring hole of the mounting handle 31, the lower end abuts against the upper surface of the air plug 6, and can extend into the air plug hole.

[0065] The mounting shank 31 and piston 32 can be connected by threads or other methods. In practical applications, the mounting shank 31 is mounted to the spindle of the machining equipment using a BT series standard tool holder. When gripping or releasing the object to be gripped, the machining equipment will move linearly along the spindle, and the piston 32 will move up and down together with the mounting shank 31. The piston 32 has an intermediate gas channel connecting the inner cavity of the body 1 and the upper gas channel.

[0066] The upper end of the return spring 4 in the main body 1 is connected to the piston 32, and the lower end is connected to the suction cup flange. After the pressing assembly 3 moves downward under the action of external force, the piston 32 compresses the return spring 4. After the external force disappears, the piston 32 resets under the action of the restoring force of the return spring 4.

[0067] The state switching module 5 includes an outer cylinder 51 and an inner core 52; the inner core 52 can retract or extend relative to the outer cylinder 51 under pressure, so that the state switching module 5 can switch between an open state and a closed state. It can be understood that the state switching module 5 is equivalent to a logic unit with an open state and a closed state, and the state is switched by pressing.

[0068] In the aforementioned device, the air plug 6 is surrounded by an air plug spring 7 above it and a state switching module 5 below it. The air plug 6 and the state switching module 5 together constitute the internal logic block of the device. The state switching module 5 switches between an open and closed state by extending or retracting its inner core 52, thereby controlling the engagement of the air plug 6 with the second sealing ring 33. This allows the air plug 6 to switch between a non-sealed and sealed state with the air plug mounting hole of the piston 32, thus opening or closing the air passage and maintaining or breaking a vacuum in the inner cavity of the body 1. For example, as... Figure 2 As shown, when the pressing component 3 is pressed, it moves downward under external force. The air plug 6 then presses the inner core 52, causing it to retract downward. After the external force disappears and the piston 32 returns to its original position, the inner core 52 and the air plug 6 no longer contact each other. The air plug spring 7 then presses the air plug 6 and the second sealing ring 33, forming a closed cavity with the body 1, piston 32, suction cup flange 21, air plug 6, suction cup 22, and the object being gripped. This indicates that the inner cavity is in a vacuum state. For example: Figure 3As shown, when the pressing component 3 is pressed again, the pressing component 3 moves downward under the action of external force. The inner core is reset and extended under the action of the reset mechanism of the state switching module 5. After the external force disappears, the piston 32 is reset and the inner core 52 abuts against the air plug 6, lifting the air plug 6. The air plug 6 and the second sealing ring 33 are not pressed tightly, so that the body 1, piston 32, suction cup flange 21, air plug 6, suction cup 22 and the object being gripped cannot form a closed cavity, which means that the inner cavity is in a state of vacuum destruction.

[0069] Optionally, the aforementioned passive vacuum suction cup gripping device also includes a stop ring 8 disposed between the piston 32 and the suction cup assembly to limit the stroke of the piston 32. The stop ring 8 serves as a safety device, ensuring that the system pressure does not exceed the load-bearing capacity of the state switching module 5. The stop ring 8 can also limit the stroke of the piston 32, ensuring that when the processing equipment presses the pressing assembly 3, its stroke is limited to a certain range. This ensures that the core of the state switching module 5, after being pressed, also forms within a certain stroke range, and that the pressure it bears does not exceed its maximum withstand pressure. The height of the stop ring 8 can be designed as needed. The stop ring 8 can also control the vacuum level within the cavity of the body 1, thereby affecting the weight range of objects that the passive vacuum suction cup gripping device can adsorb.

[0070] A dustproof ring 11 and a sealing assembly 12 are provided between the piston 32 and the body 1; a third sealing ring 13 is provided between the suction cup flange 21 and the body 1; and a second sealing ring 33 is provided between the air plug 6 and the piston 32. Optionally, the sealing assembly 12 may include at least one first sealing ring and may also include a wear-resistant ring. For example, an optional structure is to provide a first sealing ring, with a wear-resistant ring on each side of the first sealing ring. The first sealing ring is located in the sealing ring groove of the body 1 or the piston 32, and the wear-resistant rings are located in the wear-resistant ring groove of the body 1 or the piston 32. The dustproof ring 11 is located in the dustproof ring groove of the body 1 or the piston 32. The third sealing ring 13 is located in the sealing ring groove of the suction cup flange 21 or the body 1; and the second sealing ring 33 is located in the air plug hole of the piston 32, below the stepped surface of the air plug 6.

[0071] Optionally, the passive vacuum suction cup gripping device also includes a silencer 9, which is installed in the upper mounting hole of the mounting handle 31 of the pressing assembly 3, and is used to eliminate the noise generated by the occasional spindle rotation and exhaust of the upper gas channel after the passive vacuum suction cup gripping device is installed on the processing equipment.

[0072] The principle by which the processing equipment uses the aforementioned passive vacuum suction cup gripping device 100 to adsorb and release the object to be gripped is as follows:

[0073] Mount the mounting shank 31 to the spindle of the machining equipment using a BT series standard tool holder;

[0074] When an object needs to be gripped, it is placed below the suction cup 22. The processing equipment presses down on the pressing component, which then moves downward to compress the state switching module 5. Under pressure, the inner core of the state switching module 5 is retracted relative to the outer cylinder, creating a gap between it and the air plug 6. Figure 2 As shown; under the action of the reset spring 4, the pressing component will return to its original position. During this process, the air plug 6 presses the second sealing ring 33 under the action of the air plug spring 7, the upper gas channel is closed, and the inner cavity of the body 1 is in a vacuum state; during the pressing process of the processing equipment, the suction cup 22 reaches a certain contact area with the object to be grasped under the action of the limiting ring 23. After the inner cavity of the body 1 forms a vacuum state, the passive vacuum suction cup grasping device 100 can adsorb the object to be grasped.

[0075] When it is necessary to release the object to be grasped, the processing equipment presses down the pressing component again. The pressing component moves downward to compress the state switching module 5. After the state switching module 5 is subjected to pressure again, the inner core is in an extended state relative to the outer cylinder, such as... Figure 3 As shown, the air plug 6 is lifted up by the inner core and moves away from the second sealing ring 33. The upper gas channel is opened, and the inner cavity of the body 1 is in a normal pressure state. The suction cup cavity connected through the lower gas channel also loses the vacuum state and is in a normal pressure state. The object to be grabbed adsorbed on the suction cup 22 is released.

[0076] This invention also provides a grasping system 02, the structure of which is as follows: Figure 4 As shown, the device includes a processing equipment 200 and the aforementioned passive vacuum chuck gripping device 100; the passive vacuum chuck gripping device 100 is connected to the spindle of the processing equipment 200 via the mounting handle 31 of the pressing component. For example, the passive vacuum chuck gripping device 100 can be mounted to the spindle of the processing equipment 200 via a BT series standard tool holder using the mounting handle 31 of the pressing component.

[0077] The combined action flow of grasping and placing an object based on the grasping system is as follows:

[0078] Action 1: Preparation. When the object to be gripped is ready for processing, move it to below the suction cup of the spindle of the processing equipment 200;

[0079] Action 2: Gripping the workpiece. The spindle of the processing equipment 200 descends to the designated position to grip the object to be gripped, such as the workpiece. After gripping, it is raised together with the workpiece to the spindle origin, and the workpiece gripping is completed.

[0080] Action 3: Workpiece Placement. The spindle of the processing equipment 200 descends to the designated position to release the workpiece. After placement, it is raised back to the spindle origin, completing the workpiece placement.

[0081] Action 4: Disconnection. After the workpiece is placed, the processing equipment 200 disconnects from the passive vacuum suction cup gripping device 100, and the workpiece enters the next processing stage.

[0082] Based on the same inventive concept, embodiments of the present invention also provide a method for grasping objects, the process of which is as follows: Figure 5 As shown, it includes:

[0083] S101: Place the passive vacuum suction cup gripping device on the object to be gripped, and press the pressing component to switch the state of the state switching module.

[0084] Place the passive vacuum suction cup gripper on the object to be gripped, ensuring the object is positioned below the suction cup. Press the pressing component to switch the state switching module, either to grip the object or to release it. The pressing component toggles between an off and on state. For example, if the object is currently off, pressing the component will switch it to the on state; conversely, if the object is currently on, pressing the component will switch it to the off state.

[0085] S102: If the state switching module switches to the off state, the pressing component resets under the action of the reset spring, the air plug spring squeezes the air plug to close the upper gas channel, the suction cup component cooperates with the object to be grasped to close the inner cavity of the main body, the air pressure in the inner cavity of the main body decreases to form a vacuum state, and the suction cup component adsorbs the object to be grasped.

[0086] Pressing the pressing component switches the state switching module to the off state, meaning the inner core of the state switching module is in a retracted state relative to the outer cylinder. This controls the air plug to press the second sealing ring, causing the inner cavity of the passive vacuum suction cup gripping device to reach a vacuum state, allowing the device to adsorb the object to be gripped.

[0087] S103: If the state switching module switches to the open state, the pressing component is reset under the action of the reset spring, the state switching module lifts the air plug, so that the upper gas channel is connected to the outside, the vacuum state of the inner cavity of the body is released and the normal pressure state is restored, and the suction cup component releases the object to be grasped.

[0088] Press the pressing component to switch the state switching module to the open state, that is, the inner core of the state switching module is in the extended state relative to the outer cylinder, thereby controlling the air plug to move away from the second sealing ring, so that the inner cavity of the passive vacuum suction cup gripping device reaches the normal pressure state, and the device can release the object to be gripped.

[0089] Regarding the passive vacuum suction cup gripping device in the above embodiments, the specific way in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0090] The device described in this embodiment of the invention controls the opening and closing of the T-shaped air plug by switching the state module, and determines whether the vacuum is maintained or broken through the cooperation between the T-shaped air plug and the second sealing ring. The device can be directly installed on the tool holder of a CNC machine tool, and the suction cup is controlled by a program to adsorb or release the workpiece without requiring a vacuum air supply, making it highly practical.

[0091] The passive vacuum suction cup gripping device provided in this embodiment of the invention, after pressing the pressing component to switch the state switching module to the closed state, the pressing component resets under the action of the return spring, the gas plug spring squeezes the gas plug to close the upper gas channel, the internal cavity air pressure decreases to form a vacuum state, and the suction cup assembly adsorbs the object to be gripped; after pressing the pressing component again to switch the state switching module to the open state, the pressing component resets under the action of the return spring, the state switching module lifts the gas plug, opening the upper gas channel to the outside, the internal cavity of the main body is in a normal pressure state, and the suction cup assembly releases the object to be gripped. This device controls the state switching module to switch states through the pressing component, thereby switching the internal cavity of the main body between a vacuum state and a non-vacuum state, gripping and releasing the gripped object; by controlling the piston to move up and down, the size of the internal cavity of the main body changes, generating an appropriate vacuum effect to effectively adsorb the object to be gripped. This device can be directly installed on the tool holder of a CNC machine tool through the mounting handle, and completes the transformation of CNC machine tools with an integrated structure. It is simple to install, has strong practical application, and has many other design advantages, including:

[0092] 1) A modular composite structure is adopted to integrate the generation and use of vacuum;

[0093] 2) The passive vacuum structure eliminates the additional problems such as space and control caused by external vacuum sources;

[0094] 3) Opening and closing are completed using a single action control, requiring no external resources for control;

[0095] 4) It features a smooth surface and an added foreign object prevention mechanism to prevent machining chips from entering, ensuring stable application over a long period of time;

[0096] 5) It adopts a dynamic balancing design, so even if the main spindle rotates occasionally, it will not cause structural breakage due to eccentricity;

[0097] 6) An invisible air passage is adopted, and the air intake and exhaust are completed from inside the spindle tool holder to prevent contamination of the air passage.

[0098] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0099] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0100] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

Claims

1. A passive vacuum suction cup gripping device, characterized in that, include: ontology; A suction cup assembly located below the main body, the suction cup assembly having a lower gas channel communicating with the internal cavity of the main body; The pressing assembly, the reset spring, and the state switching module are located in the mounting hole of the main body; the pressing assembly is provided with an upper gas channel; An air plug and an air plug spring are located in the air plug hole of the pressing assembly; the air plug spring is used to compress the air plug to seal the gas passage above; The state switching module includes an on state and a off state. When the pressing component is pressed to switch the state switching module to the off state, the pressing component resets under the action of the return spring, the air plug spring compresses the air plug to close the upper gas channel, the air pressure in the inner cavity of the main body decreases to form a vacuum state, and the suction cup assembly adsorbs the object to be grasped. When the pressing component is pressed to switch the state switching module to the on state, the pressing component resets under the action of the return spring, the state switching module lifts the air plug, so that the upper gas channel is connected to the outside, the inner cavity of the main body is in a normal pressure state, and the suction cup assembly releases the object to be grasped.

2. The apparatus as claimed in claim 1, characterized in that, The suction cup assembly includes a suction cup flange, a suction cup, and a limiting ring; The suction cup flange is installed below the main body, and the suction cup and the limiting ring are installed below the suction cup flange. The suction cup flange and the suction cup are provided with a central through hole to form a lower gas channel.

3. The apparatus as described in claim 2, characterized in that, Also includes: Adjustment screw installed in the middle through hole of the suction cup flange.

4. The apparatus as claimed in claim 1, characterized in that, The pressing assembly includes a mounting handle and a piston; The piston is installed in the mounting hole of the body, and the mounting handle is connected above the piston for connecting to processing equipment; The piston is provided with a gas plug hole for installing the gas plug; The mounting handle has a spring hole below it for mounting the gas spring.

5. The apparatus as described in claim 4, characterized in that, A dustproof ring and a sealing assembly are provided between the piston and the body; the piston has an intermediate gas channel that connects the inner cavity of the body and the upper gas channel. A second sealing ring is provided between the gas plug and the piston.

6. The apparatus as claimed in claim 1, characterized in that, The state switching module includes an outer cylinder and an inner core; The inner core can retract or extend relative to the outer cylinder under pressure, so that the state switching module can switch between an open state and a closed state.

7. The apparatus as claimed in claim 1, characterized in that, Also includes: A stop ring is provided between the piston and the suction cup assembly to limit the piston's stroke.

8. The apparatus as claimed in claim 1, characterized in that, Also includes: Muffler; The muffler is installed in the upper mounting hole of the mounting handle of the pressing assembly.

9. A grasping system, characterized in that, Includes processing equipment and the passive vacuum suction cup gripping device according to any one of claims 1-8; The device is connected to the spindle of the processing equipment via the mounting handle of the pressing component.

10. A method for grasping an object, characterized in that, include: Place the passive vacuum suction cup gripping device on the object to be gripped, and press the pressing component to switch the state of the state switching module. If the state switching module is switched to the off state, the pressing component is reset under the action of the reset spring, the air plug spring squeezes the air plug to close the upper gas channel, the suction cup component cooperates with the object to be grasped to close the inner cavity of the main body, the air pressure in the inner cavity of the main body decreases to form a vacuum state, and the suction cup component adsorbs the object to be grasped. If the state switching module switches to the open state, the pressing component resets under the action of the reset spring, the state switching module lifts the air plug, so that the upper gas channel is connected to the outside, the vacuum state of the inner cavity of the body is released and the normal pressure state is restored, and the suction cup component releases the object to be grasped.

Images