Manipulator self-adsorption module

Abstract

The invention relates to a manipulator self-adsorption module which comprises a module body, a fixed suction cup and a negative pressure assembly are arranged on the module body, a quick-change connecting assembly is arranged on the module body, the quick-change connecting assembly is used for being connected with a manipulator, and a central adsorption unit used for adsorbing and fixing a sensor is arranged on the module body; the module is driven to the position of the inner wall of the corresponding cabin section through cooperation of the quick-change connecting assembly and the mechanical arm, the central adsorption unit and the sensor are adsorbed and fixed, the fixed suction cup is matched with the negative pressure assembly to adsorb the inner wall of the cabin section, and the negative pressure assembly continuously vacuumizes the fixed suction cup to keep adsorption force. A traditional mode of multi-layer fixing through an adhesive tape after manual gluing is replaced, and the effects that it is guaranteed that the sensor is in a stable fixing state all the time in the curing process, assembling operation is convenient and fast, and assembling stability is guaranteed are achieved.

Description

Technical Field

[0001] This application relates to the field of mechanical adsorption devices, and in particular to a self-adsorption module for a robotic arm. Background Technology

[0002] During the assembly of various sensors in a certain product compartment, some types of sensors, due to their irregular shapes, need to be manually attached to the inner wall of the compartment using adhesive for fixed installation.

[0003] The existing method involves manually applying adhesive and then using tape to fix the sensor in multiple layers from multiple directions. After simple bonding, the sensor is left to cure for 24 hours. After the curing time is over, the tape is removed to complete the installation.

[0004] However, existing fixing methods rely entirely on manual operation, making it difficult to automate assembly on production lines. Manual operation is inconvenient and easily affected by factors such as the operator's skill level and work status, leading to unstable assembly quality. Moreover, the tape needs to be removed after curing, adding extra steps and time costs. Summary of the Invention

[0005] To address the inconvenience of manually fixing sensors and the instability of assembly quality, this application provides a self-adhesive module for robotic arms.

[0006] The self-adhesion module for a robotic arm provided in this application adopts the following technical solution: A self-adhesion module for a robotic arm includes a module body, on which are provided a fixed suction cup for adsorbing onto the inner wall of a compartment and a negative pressure component for providing negative pressure to the fixed suction cup. The module body is provided with a quick-change connection component for connecting to the robotic arm, and the module body is provided with a central adsorption unit for adsorbing and fixing sensors.

[0007] By adopting the above technical solution, the module is first quickly connected to the automated equipment through the quick-change connection component and the robot arm. The module is then moved to the corresponding inner wall position of the compartment, so that the central adsorption unit corresponds to the sensor position. The fixed suction cup and the negative pressure component are used to adsorb the inner wall of the compartment. At the same time, the central adsorption unit adsorbs and fixes the sensor. At this time, the negative pressure component continuously evacuates the fixed suction cup to maintain the adsorption force, which replaces the traditional method of manually applying glue and fixing it with multiple layers of tape. This ensures that the sensor is always in a stable fixed state during the curing process. The assembly operation is convenient and the assembly stability is guaranteed.

[0008] Optionally, the quick-change connection assembly includes a quick-change connector base and a quick-change connector head. The quick-change connector base is disposed on the module body, and the quick-change connector head is disposed on the quick-change connector base. The quick-change connector head is used to connect with the robot arm.

[0009] By adopting the above technical solution, the split structure design of the quick-change connector and the quick-change head allows for quick assembly and disassembly of the module with different models and specifications of robotic arms when the production line needs to replace the robotic arm to adapt to different compartments or sensor assembly requirements. This improves the flexibility and versatility of the module in automated production lines.

[0010] Optionally, the quick-change connector is provided with an air passage for providing negative pressure to the central adsorption unit, and the air passage is used to connect to the air source of the robotic arm.

[0011] By adopting the above technical solution, the air passage is integrated into the quick-change connector, reducing the need for additional air pipes to be laid outside the module. The air source of the robotic arm is directly used to supply pressure to the central adsorption unit, eliminating the need for a separate air source device, reducing equipment redundancy, simplifying the overall module structure, and facilitating installation.

[0012] Optionally, a support plate is provided on the module body, and the fixed suction cup is provided on the support plate and located on the side away from the quick-change connection assembly. Multiple fixed suction cups are provided, and the multiple fixed suction cups are evenly distributed at intervals along the circumferential direction of the central adsorption unit.

[0013] By adopting the above technical solution, multiple fixed suction cups are connected by a support plate and evenly distributed around the central suction unit, so that the adsorption force of the module on the inner wall of the compartment is evenly distributed around the perimeter, reducing the problem of module tilting or displacement caused by uneven local force, and ensuring the accuracy of the installation position.

[0014] Optionally, the support plate is provided with an opening, the long axis of which is distributed radially along the central adsorption unit. A fixing rod is provided on one side of the fixing suction cup. The fixing rod passes through the opening of the support plate and is distributed perpendicular to the support plate. A locking nut is threaded onto the fixing rod. The locking nut is located on opposite sides of the support plate and abuts against the surface of the support plate.

[0015] By adopting the above technical solution, during installation, the fixing rod is passed through the opening of the support plate and fixed on the support plate by locking nuts on both sides. When it is necessary to adjust the position of the fixing suction cup, it is only necessary to adjust the installation position of the fixing rod on the support plate along the long axis of the opening. This adapts to the installation requirements of different inner diameter compartment walls or different sensors, greatly improving the adaptability of the module.

[0016] Optionally, the negative pressure component includes a miniature vacuum pump, which is mounted on the module body and connected to the fixed suction cup via a vacuum tube.

[0017] By adopting the above technical solution, the miniature vacuum pump is connected to the fixed suction cup through a vacuum tube, providing a stable and sufficient negative pressure to the fixed suction cup, ensuring that the suction cup adheres to the inner wall of the chamber continuously and reliably, thereby ensuring the stability of the sensor's position during the curing process. At the same time, it reduces the dependence on external equipment, adapts to the narrow operating space inside the chamber, and improves the portability and operational flexibility of the module.

[0018] Optionally, a check valve is provided on the vacuum tube.

[0019] By adopting the above technical solution and setting a check valve, the negative pressure in the vacuum tube can be effectively prevented from flowing back. Even if the micro vacuum pump stops unexpectedly, malfunctions, or is temporarily disconnected, the negative pressure in the vacuum tube can be maintained, reducing the probability of the fixed suction cup falling off and improving the safety and reliability of the module's operation.

[0020] Optionally, the central adsorption unit includes a component suction cup, which is disposed on the module body and connected to the air passage. The module body is provided with an elastic element for moving the component suction cup.

[0021] By adopting the above technical solution, the component suction cup obtains a stable negative pressure through the air passage to fix the sensor. The elastic element drives the component suction cup to move. When the component suction cup contacts the surface of the sensor with an irregular shape, the elastic element causes the component suction cup to adjust its position adaptively through its own deformation, ensuring a firm adsorption and adapting to the installation of sensors with irregular shapes. At the same time, the buffer of the elastic element reduces the probability of sensor damage.

[0022] Optionally, the elastic element includes a telescopic rod, a compression plate, and a compression spring. A connecting sleeve is provided on the module body, and the telescopic rod is slidably connected to the connecting sleeve. The component suction cup is provided at the end of the telescopic rod away from the connecting sleeve. A guide rod is provided on the module body that is parallel to the telescopic rod. The compression plate is fixedly connected to the telescopic rod and slidably connected to the guide rod. The compression spring is sleeved on the guide rod and connected to one side of the compression plate.

[0023] By adopting the above technical solution, when the part suction cup contacts the irregular sensor surface, the compression spring drives the compression plate and telescopic rod to move synchronously through compression or extension, so that the part suction cup fits tightly against the sensor surface. The elastic pressure is automatically adjusted according to the shape of the sensor. The sliding cooperation between the telescopic rod and the connecting sleeve rod provides a basic guide for the movement of the part suction cup, ensuring the adsorption is firm.

[0024] Optionally, a time relay module is provided on the module body, and the time relay module is electrically connected to the miniature vacuum pump.

[0025] By adopting the above technical solution, the time relay module is set to automatically control the working time of the micro vacuum pump. After the module completes the sensor adsorption and fixation, the micro vacuum pump starts to draw a vacuum for a few seconds and then stops. After a certain period of time, the time relay module starts timing and controls the micro vacuum pump to stop working. The phased start and stop ensures that the module will always maintain a vacuum adsorption state and be fixed on the equipment, further improving the efficiency and quality stability of automated assembly.

[0026] In summary, this application includes at least one of the following beneficial technical effects: To achieve unmanned and automated installation of products, quick-change connecting components are used in conjunction with a robotic arm to move the module to the corresponding position. The module is then fixed by suction cups and a central adsorption unit, replacing the traditional manual gluing and tape fixing methods. This eliminates manual labor and improves assembly efficiency and quality stability. It is compatible with the installation of various types of parts. The central adsorption unit can pick up small parts of different thicknesses. The fixed suction cup position is adjustable, which can adapt to the installation requirements of compartment walls with different inner diameters or different sensors. This module is reusable, avoiding the use of consumables such as tape, reducing additional processes and time costs. It has a built-in charging power supply and can be recharged and reused multiple times. Attached Figure Description

[0027] Figure 1 This is a front view of this application.

[0028] Figure 2 This is a top view of one side of the quick-connect component of this application.

[0029] Figure 3 This is a rear view of one side of the miniature vacuum pump of this application.

[0030] Those skilled in the art will understand that the elements in the accompanying drawings are shown for simplicity and clarity and are not necessarily drawn to scale. For example, the size and position of some elements in the drawings may be enlarged relative to other elements to aid in understanding the embodiments of the invention.

[0031] Reference numerals: 1. Module body; 11. Support plate; 111. Opening; 2. Fixing suction cup; 21. Fixing rod; 211. Locking nut; 3. Miniature vacuum pump; 31. Vacuum tube; 32. Check valve; 4. Quick-change connection assembly; 41. Quick-change connection seat; 42. Quick-change connector; 5. Part suction cup; 6. Elastic element; 61. Telescopic rod; 62. Compression plate; 63. Compression spring; 64. Connecting sleeve rod; 65. Guide rod; 66. Adjusting plate; 7. Time relay module; 8. Charging power supply. Detailed Implementation

[0032] The present application will be further described in detail below with reference to the accompanying drawings.

[0033] This application discloses a self-adhesive module for a robotic arm, as shown in the embodiments below. Figure 1 The assembly includes a module body 1, a fixed suction cup 2, a negative pressure assembly, a quick-change connection assembly 4, and a central adsorption unit. The module body 1 serves as the basic support structure for the entire assembly. The fixed suction cup 2 is mounted on the module body 1 and used to adsorb onto the inner wall of the compartment. The negative pressure assembly provides negative pressure to the fixed suction cup 2. The quick-change connection assembly 4 is mounted on the module body 1 and used to connect with the robotic arm. The central adsorption unit is also mounted on the module body 1 and used to adsorb and fix the sensor. The module, in conjunction with the robotic arm, is moved to the corresponding position on the inner wall of the compartment, aligning the central adsorption unit with the sensor. The fixed suction cup 2, in conjunction with the negative pressure assembly, adsorbs onto the inner wall of the compartment, while the central adsorption unit adsorbs and fixes the sensor. During this process, the negative pressure assembly continuously creates a vacuum on the fixed suction cup 2 to maintain adsorption force, achieving automated sensor assembly. This replaces the traditional manual application of glue and tape, ensuring assembly stability and convenience.

[0034] Reference Figure 1 and Figure 2 The quick-change connection assembly 4 includes a quick-change connector 41 and a quick-change connector 42. The quick-change connector 41 is mounted on the module body 1 and is fixed to the module body 1 by welding, bolting, or other methods. The quick-change connector 41 has an internal air passage for providing negative pressure to the central adsorption unit. The air passage is machined by drilling and other methods, integrating the air passage into the quick-change connector 41. The quick-change connector 42 is mounted on the quick-change connector 41 for connecting to the robot arm. The quick-change connector 42 and the quick-change connector 41 are connected by bolts or other methods for easy and quick assembly and disassembly. When the production line needs to replace the robot arm to adapt to different compartments or sensor assembly requirements, docking can be completed by replacing or adjusting the quick-change connector 42, achieving rapid adaptation of the module to different models and specifications of robot arms.

[0035] Reference Figure 1 and Figure 2 Support plates 11 are provided on both sides of the module body 1 and the central adsorption unit. The support plates 11 are made of aluminum alloy, which combines lightweight and high rigidity to ensure the stability of the module during adsorption. Fixed suction cups 2 are provided on the support plates 11 and are located on the side away from the quick-change connection component 4. There are two fixed suction cups 2, which are symmetrically distributed about the central adsorption unit.

[0036] Reference Figure 1 and Figure 2The support plate 11 has a through hole 111, with the long axis of the hole 111 radially distributed along the central adsorption unit. A fixing rod 21 is located on one side of the fixed suction cup 2, passing through the through hole 111 and perpendicular to the support plate 11. A locking nut 211 is threaded onto the fixing rod 21, located on opposite sides of the support plate 11 and abutting against its surface. During installation, the fixing rod 21 is passed through the through hole 111 and secured to the support plate 11 using the locking nuts 211 on both sides. When the position of the fixed suction cup 2 needs adjustment, simply adjust the mounting position of the fixing rod 21 on the support plate 11 along the long axis of the through hole 111. This allows the module to adapt to different inner diameters of the cabin walls or the installation requirements of different sensors, significantly improving its compatibility.

[0037] Reference Figure 2 and Figure 3 The negative pressure assembly includes a miniature vacuum pump 3, which is mounted on the module body 1. It provides a stable and sufficient negative pressure to the fixed suction cup 2. The miniature vacuum pump 3 is connected to one end of the fixing rod 21 of the fixed suction cup 2 via a vacuum tube 31. A hollow air passage is provided in the middle of the fixing rod 21 to form an air path with the fixed suction cup 2. A check valve 32 is installed on the vacuum tube 31. During operation, the miniature vacuum pump 3 provides negative pressure to the fixed suction cup 2 through the vacuum tube 31, maintaining the suction force of the fixed suction cup 2 on the inner wall of the compartment. The check valve 32 prevents air leakage when the miniature vacuum pump 3 stops working, maintaining the vacuum level of the fixed suction cup 2 and ensuring that the suction force generated by the negative pressure is greater than the weight of the module and the product. This allows the module to remain stably attached to the equipment surface (such as a workbench or assembly platform) even after detaching from the quick-change device.

[0038] Reference Figure 2 and Figure 3 The central adsorption unit includes a component suction cup 5, which is mounted on the module body 1 and connected to the air passage. The component suction cup 5 obtains a stable negative pressure through the air passage, thereby adsorbing and fixing the sensor.

[0039] Reference Figure 2 and Figure 3 The module body 1 is provided with an elastic element 6 for moving the part suction cup 5. The elastic element 6 includes a telescopic rod 61, a compression plate 62 and a compression spring 63. A connecting sleeve rod 64 is provided on the side of the module body 1 facing the fixed suction cup 2. The telescopic rod 61 and the connecting sleeve rod 64 are coaxially slidably connected on the side away from the module body 1. The part suction cup 5 is located at the end of the telescopic rod 61 away from the connecting sleeve rod 64. When the telescopic rod 61 moves, it drives the part suction cup 5 to move. Both the telescopic rod 61 and the connecting sleeve rod 64 are hollow and connected to the air passage.

[0040] Reference Figure 2and Figure 3 The module body 1 is provided with an adjustment plate 66 parallel to the compression plate 62. A guide rod 65 parallel to the telescopic rod 61 is provided on the adjustment plate 66. The compression plate 62 is fixedly connected to the telescopic rod 61 and slidably connected to the guide rod 65. A compression spring 63 is sleeved on the guide rod 65. One end of the compression spring is connected to one side of the compression plate 62, and the other end of the compression spring away from the compression plate 62 is connected to one side of the adjustment plate 66. When the component suction cup 5 contacts the irregular sensor surface, the compression spring 63 compresses or extends, causing the compression plate 62 and the telescopic rod 61 to move synchronously, making the component suction cup 5 tightly adhere to the sensor surface. The elastic pressure is automatically adjusted according to the sensor's shape to ensure a firm adhesion.

[0041] Reference Figure 2 and Figure 3 The module body 1 is equipped with a time relay module 7, which is electrically connected to the miniature vacuum pump 3. The time relay module 7 can automatically control the operating time of the miniature vacuum pump 3 to achieve a timing function. By setting the time relay module 7, after the module completes sensor adsorption and fixation, the miniature vacuum pump 3 starts to draw a vacuum for a few seconds and then stops. After a certain period, the time relay module 7 starts timing again, controlling the miniature vacuum pump 3 to start or stop again, achieving phased start-stop operation. This ensures the module remains in a vacuum adsorption state fixed on the equipment, further improving the efficiency and quality stability of automated assembly. The module body 1 also has a charging power supply 8, which supplies power to the miniature vacuum pump 3 and the time relay module 7. This charging setup reduces wiring and facilitates use after separation.

[0042] The implementation principle of the self-adhesive module of the robotic arm in this embodiment is as follows: The robotic arm carries the module to the surface of the target equipment. The suction cups 2 on both sides contact the surface of the equipment, and the component suction cups 5 adsorb and fix the sensors on the surface of the equipment. The signal of the robotic arm's coordinate position is sent to the time relay module 7. The time relay module 7 starts the micro vacuum pump 3 to draw a vacuum (with a set drawing time). After the drawing time is reached, the micro vacuum pump 3 stops, and the check valve 32 closes the air path in one direction. The module is adsorbed and fixed on the surface of the equipment by residual vacuum. The robotic arm detaches from the quick-change device and leaves to perform other tasks. The micro vacuum pump 3 draws a vacuum for a few seconds and then stops. After a certain period of time, it starts and stops again. The phased start and stop program is issued and controlled by the time relay module 7. In this cycle, the module will always maintain a vacuum adsorption state and be fixed on the equipment.

[0043] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A mechanical hand self-suction module, comprising a module body (1), a fixed suction disc (2) for suctioning to the inner wall of a cabin section is arranged on the module body (1), and a negative pressure assembly for providing negative pressure to the fixed suction disc (2), characterized in that: The module body (1) is provided with a quick-change connection assembly (4) for connecting with a mechanical hand, and the module body (1) is provided with a central suction unit for suction fixing a sensor.

2. The self-suspending module of claim 1, wherein: The quick-change connection assembly (4) comprises a quick-change connection seat (41) and a quick-change connection head (42), the quick-change connection seat (41) is arranged on the module body (1), and the quick-change connection head (42) is arranged on the quick-change connection seat (41) and used for connecting with the mechanical hand.

3. The self-adsorbing module of the mechanical hand according to claim 2, characterized in that: The quick-change connection seat (41) is internally provided with an air path channel for providing negative pressure to the central suction unit, and the air path channel is used for connecting with an air source of the mechanical hand.

4. The self-suspending module of claim 1, wherein: The module body (1) is provided with a support plate (11), the fixed suction disc (2) is arranged on the support plate (11) and located on a side away from the quick-change connection assembly (4), and a plurality of fixed suction discs (2) are arranged.

5. The self-adsorbing module of the mechanical hand according to claim 4, characterized in that: The support plate (11) is provided with an opening (111), the long axis direction of the opening (111) is distributed along the radial direction of the central suction unit, one side of the fixed suction disc (2) is provided with a fixed rod (21), the fixed rod (21) penetrates through the opening (111) of the support plate (11) and is distributed perpendicularly to the support plate (11), the fixed rod (21) is threadedly connected with a locking nut (211), and the locking nut (211) is located on the opposite sides of the support plate (11) and abuts against the plate surface of the support plate (11).

6. The self-suspending module of claim 1, wherein: The negative pressure assembly comprises a micro vacuum pump (3), the micro vacuum pump (3) is arranged on the module body (1), and the micro vacuum pump (3) is connected with the fixed suction disc (2) through a vacuum pipe (31).

7. The self-adsorbing module of the mechanical hand according to claim 6, characterized in that: The vacuum pipe (31) is provided with a check valve (32).

8. The self-adsorbing module of the mechanical hand according to claim 3, characterized in that: The central suction unit comprises a part suction disc (5), the part suction disc (5) is arranged on the module body (1) and connected with the air path channel, and the module body (1) is provided with an elastic element (6) for driving the part suction disc (5) to move.

9. The robot self-adsorbing module according to claim 8, wherein: The elastic element (6) comprises a telescopic rod (61), a compression plate (62) and a compression spring (63), the module body (1) is provided with a connecting sleeve rod (64), the telescopic rod (61) is slidably connected with the connecting sleeve rod (64), the part suction disc (5) is arranged at one end of the telescopic rod (61) away from the connecting sleeve rod (64), the module body (1) is provided with a guide rod (65) which is distributed parallel to the telescopic rod (61), the compression plate (62) is fixedly connected with the telescopic rod (61) and slidably connected with the guide rod (65), and the compression spring (63) is sleeved on the guide rod (65) and connected with one side of the compression plate (62).

10. The self-adsorbing module of the mechanical hand according to claim 6, characterized in that: The module body (1) is provided with a time relay module (7), and the time relay module (7) is electrically connected with the micro vacuum pump (3).

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