Suction cup active turnover device with built-in air path

Abstract

The application relates to the technical field of industrial automation conveying equipment, and provides a suction disc active overturning device with a built-in air path. The device comprises a fixed frame body at a proximal end for connecting an external actuating mechanism, a suction disc at a distal end, a built-in air pipe block, a rotating assembly and an overturning driving mechanism. The built-in air pipe block is fixed to the distal end of the fixed frame body and is hollow inside to form a gas passage; the rotating assembly comprises a rotating fixed part and a rotating floating part, both of which are hollow inside and are connected to each other to form a gas passage leading from the built-in air pipe block to the suction disc; and the driving part of the overturning driving mechanism is hinged to the built-in air pipe block, and a transmission assembly converts the movement of the driving part into the swing of the rotating floating part to drive the suction disc to overturn. The vacuum adsorption air path is completely integrated in the device, the winding, bending and interference problems in the overturning process of the external air pipe are avoided, the active overturning adjustment of the workpiece is realized through the overturning driving mechanism, the air path component and the transmission component are multiplexed in function, and the structure is compact and reliable.

Description

Technical Field

[0001] This invention relates to the field of industrial automated handling equipment technology, and more specifically, to a suction cup active flipping device with built-in air circuit. Background Technology

[0002] In industrial automated production lines, suction cup devices are widely used for workpiece adsorption, handling, and stacking. Traditional suction cup flipping devices typically use external air pipes to provide a vacuum path for the suction cups. These air pipes are located outside the device and move synchronously with the flipping mechanism. Under conditions of large flipping angles or high flipping frequencies, the external air pipes are prone to tangling, bending, or interfering with the movement of surrounding equipment, affecting the reliability and service life of the equipment.

[0003] On the other hand, traditional suction cup handling devices typically only have suction and handling functions. Once the workpiece is suctioned, it can only maintain its original posture during transport and cannot actively change its posture during handling. When the production line needs to flip or adjust the posture of the workpiece, it is often necessary to set up an additional independent flipping station or flipping and repositioning mechanism, which leads to an increase in the number of production line equipment, a larger floor space, and a longer production cycle time.

[0004] Existing patent document CN206084551U discloses a flipping end effector, including an end effector main beam, a cylinder fixedly mounted on the end effector main beam, a piston rod of the cylinder connected to a cylinder connector, and an end effector connector hinged to the end effector main beam. One end of the connector is hinged to the cylinder connector, and the other end is fixedly connected to a flipping crossbar, on which a suction cup is fixedly mounted. During operation, the cylinder piston rod extends and retracts, driving the end effector connector to swing around the hinge point via the cylinder connector, thereby flipping the flipping crossbar and the suction cup thereon, thus achieving the flipping and transporting of the stamped part. However, this technical solution still has the following shortcomings: 1. The end effector uses an external air pipe to supply air to the suction cup. The air pipe is arranged outside the main beam and the flipping crossbar and moves synchronously with the flipping of the suction cup. During the flipping process, it is easy to get tangled, bent or interfere with the movement of surrounding equipment, affecting the reliability of operation; 2. The flipping crossbar and the suction cup are only driven flipping components to undertake the flipping action. The air path needs to be connected to the suction cup through an external air pipe. The air path components and the transmission components are independent of each other. The overall structure is not compact enough and no through air path channel is formed inside the end effector. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a suction cup active flipping device with a built-in air path.

[0006] A suction cup active flipping device with a built-in air passage provided by the present invention includes: A fixed frame is located near the flipping device and is used to connect with an external actuator. An air passage is provided inside the fixed frame. A suction cup is located at the distal end of the flipping device; An internal air tube block is fixedly installed at the far end of the fixed frame. The internal air tube block is hollow to form a gas passage, and the gas passage inside the internal air tube block is connected to the gas passage inside the fixed frame. A rotating assembly includes a rotating fixed component and a rotating floating component. The rotating fixed component is fixedly connected to the distal end of the built-in air tube block, and the rotating floating component is rotatably connected to the rotating fixed component. The distal end of the rotating floating component is connected to a suction cup. The rotating fixed component and the rotating floating component are hollow inside and interconnected to form a gas passage from the built-in air tube block to the suction cup. The flipping drive mechanism includes a drive component and a transmission assembly. The fixed end of the drive component is hinged to the built-in air tube block. The transmission assembly connects the output end of the drive component to the rotating floating component, converting the motion output by the drive component into the oscillation of the rotating floating component relative to the rotating fixed component, thereby driving the suction cup to flip.

[0007] Preferably, the driving component is a servo electric cylinder, and the transmission assembly includes a drive rod; The telescopic rod of the servo electric cylinder is hinged to the drive rod, and the drive rod is fixedly connected to the rotating floating component. The servo electric cylinder, the drive rod, and the rotating floating component together constitute a four-bar linkage mechanism. The telescopic movement of the telescopic rod of the servo electric cylinder is transmitted to the oscillation of the rotating floating component via the drive rod.

[0008] Preferably, there are two built-in air tube blocks, which are respectively located on both sides of the servo electric cylinder, and the proximal ends of the two built-in air tube blocks are hinged to the cylinder body of the servo electric cylinder.

[0009] Preferably, the transmission assembly further includes a floating component connecting plate, the drive rod is disposed opposite to the floating component connecting plate, and the connecting end of the rotating floating component is sandwiched between the drive rod and the floating component connecting plate and is fixedly connected to the drive rod and the floating component connecting plate.

[0010] Preferably, the fixed frame includes a suction valve seat, a double suction cup upper plate, and a two-position three-way solenoid valve. The distal end of the suction valve seat is connected to two built-in air tube blocks through the double suction cup upper plate, and the air outlet of the suction valve seat is connected to the internal gas passage of the two built-in air tube blocks through the internal gas passage of the double suction cup upper plate. The two-position three-way solenoid valve is provided with a first interface, a second interface and a third interface; The suction valve seat is provided with a fourth interface corresponding to the first interface, a fifth interface corresponding to the second interface, and a sixth interface corresponding to the third interface; The fourth, fifth, and sixth interfaces are connected to different objects through the internal gas passage of the suction cup valve seat: the fourth interface is connected to the atmosphere, the fifth interface is connected to the air outlet of the suction cup valve seat, and the sixth interface is connected to the vacuum source in the external actuator. The two-position three-way solenoid valve can realize the connection and blockage of the gas passage between the interfaces, thereby realizing the adsorption and release of the suction cup.

[0011] Preferably, the rotating assembly further includes a second bearing and an X-shaped sealing ring. The rotating floating component is rotatably engaged with the rotating fixed component through the second bearing. The X-shaped sealing ring is disposed between the rotating fixed component and the second bearing to seal the rotating connection between the rotating fixed component and the rotating floating component.

[0012] Preferably, there are two of each of the rotating components, suction cups, and two-position three-way solenoid valves. The two rotating components and the two suction cups are respectively arranged corresponding to the two built-in air tube blocks. The two rotating components and the two suction cups are symmetrically distributed on both sides of the servo electric cylinder. The connecting ends of the two rotating floating parts are clamped between the drive rod and the floating part connecting plate and are fixedly connected to the two, so that the two rotating floating parts swing synchronously under the drive of the servo electric cylinder. Two two-position three-way solenoid valves can be independently controlled to achieve synchronous adsorption and release of the two suction cups or adsorption and release of the two suction cups individually.

[0013] Preferably, the two suction cups are parallel to each other on the axis, and the two suction cups are installed at the same axial height.

[0014] Preferably, a mechanical limiting structure is provided between the rotating fixed member and the rotating floating member. The mechanical limiting structure is used to limit the extreme rotation range of the rotating floating member, and the mechanical limiting angle range of the rotating floating member is -30° to 100°. The normal operating rotation angle range of the suction cup is 0° to 90°, and the rotation angle of the suction cup is controlled by the extension and retraction stroke of the drive component.

[0015] Preferably, the near end of the fixed frame is provided with a pneumatic-electric quick-change assembly, which is used to connect to the end of an external robotic arm. The pneumatic-electric quick-change assembly integrates a mechanical connection interface, a pneumatic interface, and an electrical control interface, and simultaneously completes mechanical connection, external vacuum source connection, and electrical signal connection when the device is installed at the end of the robotic arm.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention integrates the vacuum adsorption gas path entirely within the device structure by setting hollow and interconnected gas passages inside the built-in air tube block, rotating fixing component, and rotating floating component. Gas flows directly from the fixed frame through the built-in air tube block, rotating fixing component, and rotating floating component to the suction cup. During the suction cup's rotation, no external air tube needs to follow, fundamentally avoiding the problems of air tubes getting tangled, bent, or interfering with other components during rotation. The gas path arrangement is simple and the operation is reliable.

[0017] 2. By setting up a flipping drive mechanism, the motion output by the drive component is converted into the oscillation of the rotating floating component relative to the rotating fixed component through the transmission component. This causes the suction cup to flip around the rotation axis of the rotating component, so that the device can not only complete the adsorption and handling of the workpiece, but also actively flip the workpiece during the handling process to adjust the workpiece posture. There is no need to set up an additional flipping station, which simplifies the production line configuration and shortens the production cycle.

[0018] 3. The present invention is equipped with a built-in air tube block, which serves as both a component of the internal gas passage and a hinged support base for the driving component in the flipping drive mechanism. The rotating fixed component and the rotating floating component form both a gas passage from the built-in air tube block to the suction cup and a rotating pair for the flipping of the suction cup. The air passage component and the transmission component achieve functional reuse, realizing the dual functions of internal air passage conduction and active flipping transmission in a compact structure. The overall structure is simplified and the motion transmission is reliable. Attached Figure Description

[0019] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the suction cup active flipping device with built-in air passage, which is the main feature of this invention. Figure 2 This is a perspective view of the two-position three-way solenoid valve, which is the main feature of this invention. Figure 3 This is a schematic diagram of the internal air passage connection of the suction cup active flipping device with built-in air passage, which is the main feature of this invention. Figure 4 This invention mainly embodies the side view when the suction cup is rotated 0°; Figure 5 This invention mainly illustrates the side view when the suction cup is rotated 90°.

[0020] Reference numerals in the attached drawings: 1. Suction valve seat; 2. Two-position three-way solenoid valve; 3. Double suction cup mounting plate; 4. Double suction cup upper plate; 5. Servo electric cylinder; 6. Built-in air tube block; 7. Electric cylinder connector; 8. Drive rod; 9. Floating component connecting plate; 10. Suction cup; 11. First bearing; 12. Rotating fixing component; 13. X-type sealing ring; 14. Second bearing; 15. Rotating floating component; 16. Pin shaft; 17. Pneumatic-electric integrated quick-change assembly; 18. First interface; 19. Second interface; 20. Third interface. Detailed Implementation

[0021] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0022] like Figures 1 to 5 As shown, the present invention provides a suction cup active flipping device with built-in air circuit, including suction cup valve seat 1, two-position three-way solenoid valve 2, double suction cup mounting plate 3, double suction cup upper plate 4, servo electric cylinder 5, built-in air tube block 6, electric cylinder connector 7, drive rod 8, floating component connecting plate 9, suction cup 10, first bearing 11, rotating fixing component 12, X-type sealing ring 13, second bearing 14, rotating floating component 15, pin shaft 16, pneumatic-electric integrated quick-change assembly 17, first interface 18, second interface 19 and third interface 20.

[0023] For ease of description, this specification defines the end of the device used to connect to an external actuator as the proximal end and the end of the device where the suction cup is located as the distal end. The proximal end and distal end are fixed reference directions relative to the connection relationship between the device and the external actuator, and do not change with the rotation of the device.

[0024] A fixed frame is located at the near end of the device, which is used to connect to an external actuator (such as the end effector of a robotic arm). The fixed frame contains a gas passage. A suction cup 10 is located at the far end of the device, used to adsorb workpieces under negative pressure. An internal air tube block 6 is fixedly located at the far end of the fixed frame. The internal air tube block 6 is hollow, forming a gas passage that connects to the gas passage within the fixed frame. The suction cup 10 is a vacuum suction cup.

[0025] The device also includes a rotating assembly comprising a rotating fixed component 12 and a rotating floating component 15. The rotating fixed component 12 is fixedly connected to the distal end of the built-in air tube block 6, and the rotating floating component 15 is rotatably connected to the rotating fixed component 12, with its distal end connected to the suction cup 10. The rotating fixed component 12 and the rotating floating component 15 are hollow and interconnected, forming a gas passage from the built-in air tube block 6 to the suction cup 10. Thus, negative pressure gas provided by an external vacuum source is transmitted to the suction cup 10 through the internal passage of the fixed frame, the built-in air tube block 6, the rotating fixed component 12, and the rotating floating component 15, achieving vacuum adsorption of the workpiece.

[0026] The device also includes a flipping drive mechanism, which includes a drive component and a transmission assembly. The fixed end of the drive component is hinged to the built-in air tube block 6, and the transmission assembly connects the output end of the drive component to the rotating floating component 15, which is used to convert the motion output by the drive component into the swing of the rotating floating component 15 relative to the rotating fixed component 12, thereby driving the suction cup 10 to flip.

[0027] Specifically, the driving component is a servo electric cylinder 5, and the transmission assembly includes a drive rod 8. The telescopic rod of the servo electric cylinder 5 is hinged to the drive rod 8, and the drive rod 8 is fixedly connected to the rotating floating component 15. The servo electric cylinder 5, the drive rod 8, and the rotating floating component 15 together constitute a four-bar linkage mechanism. The cylinder body of the servo electric cylinder 5 serves as a relatively fixed structural component, the telescopic rod of the servo electric cylinder 5 acts as the driving component, performing linear telescopic motion, the drive rod 8 acts as the transmission link, and the rotating floating component 15 acts as the driven component, oscillating around the rotation axis of the rotating fixed component 12. The telescopic motion of the servo electric cylinder 5 is transmitted through the drive rod 8 to the oscillation of the rotating floating component 15, thereby driving the suction cup 10 to flip.

[0028] The end of the telescopic rod of the servo electric cylinder 5 can be hinged to the drive rod 8 via the electric cylinder connector 7. The proximal end of the electric cylinder connector 7 is fixed to the telescopic rod of the servo electric cylinder 5 by a threaded connection, and the distal end of the electric cylinder connector 7 is hinged to the drive rod 8 via a pin 16, so that the drive rod 8 can rotate relative to the electric cylinder connector 7.

[0029] Optionally, two built-in air tube blocks 6 are provided, located on either side of the servo electric cylinder 5, with their proximal ends hinged to the cylinder body of the servo electric cylinder 5. Specifically, each of the two built-in air tube blocks 6 has a bearing mounting portion on its proximal inner side. The cylinder body of the servo electric cylinder 5 is rotatably connected to the two built-in air tube blocks 6 via a first bearing 11, allowing the cylinder body of the servo electric cylinder 5 to adaptively oscillate relative to the built-in air tube blocks 6 as the four-bar linkage moves when driving the telescopic rod to extend or retract. Each of the two built-in air tube blocks 6 has an independent air passage inside, each corresponding to the air supply of a suction cup 10.

[0030] The transmission assembly also includes a floating component connecting plate 9. The drive rod 8 is positioned opposite to the floating component connecting plate 9. The connecting end of the rotating floating component 15 is clamped between the drive rod 8 and the floating component connecting plate 9, and is fixedly connected to both the drive rod 8 and the floating component connecting plate 9 by fasteners. The floating component connecting plate 9 and the drive rod 8 together form a clamping structure, clamping and fixing the connecting end of the rotating floating component 15, ensuring that the movement of the drive rod 8 can be reliably transmitted to the rotating floating component 15, causing the rotating floating component 15 to oscillate around the rotation axis of the rotating fixed component 12.

[0031] As an optional embodiment, the mounting frame includes a suction valve seat 1, a double suction cup upper plate 4, and a two-position three-way solenoid valve 2. The distal end of the suction valve seat 1 is connected to two built-in air tube blocks 6 via the double suction cup upper plate 4. The double suction cup upper plate 4 has an internal gas passage. The double suction cup upper plate 4 also includes a double suction cup mounting plate 3, which is positioned between the suction valve seat 1 and the double suction cup upper plate 4 and is fixedly connected to both. The air outlet of the suction valve seat 1 communicates sequentially with the internal gas passages of the two built-in air tube blocks 6 via the gas passages inside the double suction cup mounting plate 3 and the double suction cup upper plate 4. The power supply / signal connection of the two-position three-way solenoid valve 2 can be achieved through the electrical interface of the pneumatic-electric quick-change assembly 17. The two built-in air tube blocks 6 are fixedly positioned at the distal end of the double suction cup upper plate 4. The two-position three-way solenoid valve 2 is fixed to the suction valve seat 1.

[0032] The two-position three-way solenoid valve 2 has a first port 18, a second port 19, and a third port 20. The suction valve seat 1 has a fourth port corresponding to the first port 18, a fifth port corresponding to the second port 19, and a sixth port corresponding to the third port 20. The fourth, fifth, and sixth ports are connected to different objects through the gas passage inside the suction valve seat 1: the fourth port is connected to the atmosphere, the fifth port is connected to the air outlet of the suction valve seat 1, and the sixth port is connected to the vacuum source in the external actuator.

[0033] The two-position three-way solenoid valve 2 can connect and disconnect the air passages between the interfaces in both energized and de-energized states: When the two-position three-way solenoid valve 2 is energized, the second interface 19 and the third interface 20 are connected, and the vacuum source sequentially evacuates the suction cup 10 through the third interface 20, the second interface 19, the internal passage of the suction valve seat 1, the internal passage of the double suction cup mounting plate 3, the internal passage of the double suction cup upper plate 4, the built-in air tube block 6, the rotating fixing part 12, and the rotating floating part 15, creating a negative pressure inside the suction cup 10 to adsorb the workpiece; when the two-position three-way solenoid valve 2 is de-energized, the second interface 19 and the first interface 18 are connected, and external atmosphere sequentially enters the suction cup 10 through the first interface 18, the second interface 19, and the internal air passage, releasing the vacuum state inside the suction cup 10 to release the workpiece. The switching between the adsorption and release states of the suction cup 10 can be directly completed by energizing and de-energizing the two-position three-way solenoid valve 2, without the need for an additional independent air passage switching valve group, making the control method simple and reliable.

[0034] Furthermore, the rotating assembly also includes a second bearing 14 and an X-shaped sealing ring 13. The rotating floating component 15 is rotatably engaged with the rotating fixed component 12 via the second bearing 14, allowing the rotating floating component 15 to rotate smoothly relative to the rotating fixed component 12. The X-shaped sealing ring 13 is disposed between the rotating fixed component 12 and the second bearing 14 to seal the rotational connection between the rotating fixed component 12 and the rotating floating component 15. The second bearing 14 provides stable rotational support, and the X-shaped sealing ring 13 forms a reliable seal at the rotational contact surface, ensuring the sealing of the device's internal air passage during the suction cup's flipping process. This prevents air leakage at the rotational connection from causing instability in the negative pressure state of the suction cup 10, thus ensuring adsorption reliability.

[0035] As an optional embodiment, two of each of the rotating components, suction cups 10, and two-position three-way solenoid valves 2 are provided. The two rotating components and two suction cups 10 are respectively positioned corresponding to two built-in air tube blocks 6; that is, a rotating fixing member 12 is fixedly connected to the distal end of each built-in air tube block 6, each rotating fixing member 12 is rotatably connected to a rotating floating member 15, and the distal end of each rotating floating member 15 is connected to a suction cup 10. The two rotating components and two suction cups 10 are symmetrically distributed on both sides of the servo electric cylinder 5. The connecting ends of the two rotating floating members 15 are clamped between the drive rod 8 and the floating member connecting plate 9, and are fixedly connected to the drive rod 8 and the floating member connecting plate 9 by fasteners, so that the two rotating floating members 15 swing synchronously under the drive of the servo electric cylinder 5, thereby causing the two suction cups 10 to rotate synchronously.

[0036] Two two-position three-way solenoid valves 2 can be independently controlled to open and close. Unlike the control method in traditional dual-suction cup devices where the two suction cups can only move synchronously, this device can achieve synchronous adsorption and release or individual adsorption and release of the two suction cups 10 by controlling the energization or de-energization of the two two-position three-way solenoid valves 2 respectively. This allows for flexible selection of the adsorption method according to the shape, size and gripping position requirements of the workpiece, improving the adaptability to workpieces of different sizes and shapes.

[0037] The two suction cups 10 are parallel to each other along their axes, and the two suction cups 10 are installed at the same axial height. The two suction cups 10 are parallel along their axes and arranged at the same height. The two suction cups 10 together form an adsorption support for the workpiece, which increases the force support points of the workpiece. Compared with the single suction cup adsorption method, it can make the workpiece maintain a more stable posture during adsorption, handling and flipping, and avoid the workpiece shifting or falling off due to a single force point or uneven force.

[0038] A mechanical limiting structure is provided between the rotating fixed part 12 and the rotating floating part 15 to limit the extreme rotation range of the rotating floating part 15. The mechanical limiting angle range of the rotating floating part 15 is -30° to 100°, which is used to prevent the mechanism from over-travel and damaging the parts. The normal operating rotation angle range of the suction cup 10 is 0° to 90°, and no mechanical limiting is provided at the 0° and 90° positions. The rotation angle of the suction cup 10 is controlled by the extension and retraction stroke of the drive component, that is, the extension and retraction stroke of the servo electric cylinder 5, in conjunction with the control command, precisely controls the rotation angle of the suction cup 10, so that the suction cup 10 can stop as needed within the range of 0° to 90°. The specific form of the mechanical limiting structure can be a limiting boss, a limiting screw, or a limiting block, etc.

[0039] Furthermore, a pneumatic-electric quick-change assembly 17 is provided near the fixed frame, which is used to connect to the end effector of an external robotic arm. The pneumatic-electric quick-change assembly 17 integrates a mechanical connection interface, a pneumatic interface, and an electrical control interface. When the device is installed at the end effector of the robotic arm, a single docking operation with the pneumatic-electric quick-change assembly 17 simultaneously completes the mechanical connection, external vacuum source connection, and electrical signal connection, eliminating the need to separately dock each independent interface. This solves the problem of complex assembly and replacement processes caused by the dispersed arrangement of mechanical, pneumatic, and electrical interfaces in traditional adsorption devices, making the assembly and replacement process convenient and efficient, and facilitating rapid production changeovers on the production line.

[0040] The working principle of this invention is explained below: This suction cup active flipping device is installed on the end of an external robotic arm via a pneumatic-electric quick-change assembly 17. An external vacuum source is connected to the device through the pneumatic interface of the pneumatic-electric quick-change assembly 17, and electrical control signals are connected to the device through the electrical interface of the pneumatic-electric quick-change assembly 17.

[0041] When the robotic arm moves the device to the position where the workpiece is to be gripped, the suction cup 10 contacts the workpiece surface. At this time, according to the gripping requirements, the two-position three-way solenoid valve 2 is energized, and the second interface 19 and the third interface 20 are connected. The negative pressure of the external vacuum source is transmitted to the suction cup 10 through the air path, and a negative pressure is formed inside the suction cup 10 to adsorb the workpiece. In the dual-suction cup embodiment, the two two-position three-way solenoid valves 2 can be energized simultaneously to achieve simultaneous adsorption of the two suction cups 10, or only one of them can be energized to achieve adsorption of a single suction cup 10.

[0042] After the workpiece is attracted, the servo electric cylinder 5 drives the telescopic rod to extend or retract according to the control command. The extension and retraction of the telescopic rod drives the drive rod 8 through the electric cylinder connector 7 and the pin 16. The drive rod 8 drives the rotating floating part 15 to swing relative to the rotating fixed part 12 around the rotation axis through the clamping structure. When the rotating floating part 15 swings, it causes the suction cup 10 connected to its distal end to flip, thereby causing the attracted workpiece to flip as well, realizing the active adjustment of the workpiece posture. The flipping angle of the suction cup 10 in the range of 0° to 90° is precisely controlled by the extension and retraction stroke of the servo electric cylinder 5 telescopic rod in conjunction with the control command. When the suction cup 10 flips to the target angle, the servo electric cylinder 5 stops moving, and the suction cup 10 and the workpiece remain in the corresponding posture.

[0043] After the workpiece is transported to the target position, the two-position three-way solenoid valve 2 is de-energized, the second port 19 and the first port 18 are connected, external air enters the suction cup 10, the vacuum state is released, and the workpiece is released. In the dual suction cup embodiment, the two two-position three-way solenoid valves 2 can be de-energized simultaneously to achieve simultaneous release, or they can be controlled separately to achieve individual release.

[0044] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and 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 this application.

[0045] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A suction cup active flipping device with built-in air passage, characterized in that, include: A fixed frame is located near the flipping device and is used to connect with an external actuator. An air passage is provided inside the fixed frame. The suction cup (10) is located at the far end of the flipping device; An internal air tube block (6) is fixedly installed at the far end of the fixed frame. The internal air tube block (6) is hollow to form a gas passage. The gas passage inside the internal air tube block (6) is connected to the gas passage inside the fixed frame. The rotating assembly includes a rotating fixing member (12) and a rotating floating member (15). The rotating fixing member (12) is fixedly connected to the distal end of the built-in air tube block (6), and the rotating floating member (15) is rotatably connected to the rotating fixing member (12). The distal end of the rotating floating member (15) is connected to the suction cup (10). The rotating fixing member (12) and the rotating floating member (15) are hollow inside and interconnected to form a gas passage from the built-in air tube block (6) to the suction cup (10). The flipping drive mechanism includes a drive component and a transmission assembly. The fixed end of the drive component is hinged to the built-in air tube block (6). The transmission assembly connects the output end of the drive component to the rotating floating component (15), converting the motion output by the drive component into the swing of the rotating floating component (15) relative to the rotating fixed component (12), thereby causing the suction cup (10) to flip.

2. The suction cup active flipping device with built-in air passage as described in claim 1, characterized in that, The driving component is a servo electric cylinder (5), and the transmission assembly includes a drive rod (8). The telescopic rod of the servo electric cylinder (5) is hinged to the drive rod (8), and the drive rod (8) is fixedly connected to the rotating floating component (15). The servo electric cylinder (5), the drive rod (8) and the rotating floating component (15) together constitute a four-bar linkage mechanism. The telescopic movement of the telescopic rod of the servo electric cylinder (5) is transmitted through the drive rod (8) to the swing of the rotating floating component (15).

3. The suction cup active flipping device with built-in air passage as described in claim 2, characterized in that, Two built-in air tube blocks (6) are provided, and the two built-in air tube blocks (6) are respectively located on both sides of the servo electric cylinder (5). The proximal ends of the two built-in air tube blocks (6) are hinged to the cylinder body of the servo electric cylinder (5).

4. The suction cup active flipping device with built-in air passage as described in claim 3, characterized in that, The transmission assembly also includes a floating component connecting plate (9), the drive rod (8) is disposed opposite to the floating component connecting plate (9), and the connecting end of the rotating floating component (15) is sandwiched between the drive rod (8) and the floating component connecting plate (9) and is fixedly connected to the drive rod (8) and the floating component connecting plate (9).

5. The suction cup active flipping device with built-in air passage as described in claim 4, characterized in that, The fixed frame includes a suction valve seat (1), a double suction cup upper plate (4) and a two-position three-way solenoid valve (2). The far end of the suction valve seat (1) is connected to two built-in air tube blocks (6) through the double suction cup upper plate (4). The air outlet of the suction valve seat (1) is connected to the internal gas passage of the two built-in air tube blocks (6) through the internal gas passage of the double suction cup upper plate (4). The two-position three-way solenoid valve (2) is provided with a first interface (18), a second interface (19) and a third interface (20). The suction valve seat (1) is provided with a fourth interface corresponding to the first interface (18), a fifth interface corresponding to the second interface (19) and a sixth interface corresponding to the third interface (20); The fourth, fifth, and sixth interfaces are connected to different objects through the internal gas passage of the suction valve seat (1): the fourth interface is connected to the atmosphere, the fifth interface is connected to the air outlet of the suction valve seat (1), and the sixth interface is connected to the vacuum source in the external actuator. The two-position three-way solenoid valve (2) can realize the connection and blockage of the gas passage between the interfaces, thereby realizing the adsorption and release of the suction cup (10).

6. The suction cup active flipping device with built-in air passage as described in claim 1, characterized in that, The rotating assembly also includes a second bearing (14) and an X-shaped sealing ring (13). The rotating floating member (15) is rotatably engaged with the rotating fixed member (12) through the second bearing (14). The X-shaped sealing ring (13) is disposed between the rotating fixed member (12) and the second bearing (14) to seal the rotating connection between the rotating fixed member (12) and the rotating floating member (15).

7. The suction cup active flipping device with built-in air passage as described in claim 5, characterized in that, Two of each of the rotating components, suction cups (10) and two-position three-way solenoid valves (2) are provided. The two rotating components and the two suction cups (10) are respectively provided for the two built-in air tube blocks (6). The two rotating components and the two suction cups (10) are symmetrically distributed on both sides of the servo electric cylinder (5). The connecting ends of the two rotating floating parts (15) are clamped between the drive rod (8) and the floating part connecting plate (9) and are fixedly connected to the two, so that the two rotating floating parts (15) swing synchronously under the drive of the servo electric cylinder (5). Two two-position three-way solenoid valves (2) can be independently controlled to achieve synchronous adsorption and release of the two suction cups (10) or adsorption and release of the two suction cups (10) individually.

8. The suction cup active flipping device with built-in air passage as described in claim 7, characterized in that, The two suction cups (10) are parallel to each other in the axial direction, and the two suction cups (10) are installed at the same axial height.

9. The suction cup active flipping device with built-in air passage as described in claim 1, characterized in that, A mechanical limiting structure is provided between the rotating fixed member (12) and the rotating floating member (15). The mechanical limiting structure is used to limit the extreme rotation range of the rotating floating member (15). The mechanical limiting angle range of the rotating floating member (15) is -30° to 100°. The normal operating rotation angle range of the suction cup (10) is 0° to 90°, and the rotation angle of the suction cup (10) is controlled by the extension and retraction stroke of the drive component.

10. The suction cup active flipping device with built-in air passage as described in claim 1, characterized in that, The fixed frame is provided with a pneumatic-electric quick-change assembly (17) at its near end. The pneumatic-electric quick-change assembly (17) is used to connect to the end of an external robotic arm. The pneumatic-electric quick-change assembly (17) integrates a mechanical connection interface, a pneumatic interface and an electrical control interface. When the device is installed at the end of the robotic arm, it can simultaneously complete the mechanical connection, the connection to the external vacuum source and the electrical signal connection.

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