Grabbing module and manipulator
By designing a gripping module with staggered vacuum holes and an adjustment mechanism, the problem of package loss caused by vacuum leakage during robot gripping was solved, achieving higher coverage and adsorption force, and reducing product scrap rate.
Patent Information
- Application Number
- CN202422945389.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-29
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2034-11-29
AI Technical Summary
During the packaging of finished solar crystalline silicon cells, due to the differences in the plastic sealing of the cells and the low accuracy of their positions, the vacuum holes on the robot gripper cannot be completely covered, resulting in vacuum leakage, which causes the cells to be swapped out and affects production costs.
Design a gripping module including an adsorption structure and an adjustment mechanism. The vacuum holes are staggered and equipped with the adjustment mechanism, which can adjust the opening and closing of the vacuum holes and vacuum pipeline in response to the air pressure value, so as to ensure the vacuum hole coverage and adsorption force and avoid vacuum leakage.
It improves the coverage and adsorption effect of vacuum pores, reduces the phenomenon of package loss, lowers the product scrap rate, and improves production efficiency.
Smart Images
Figure CN223589435U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of solar energy, in particular to a grabbing module and a mechanical hand. BACKGROUND
[0002] In the process of packaging finished solar crystal silicon cells, in order to reduce labor costs, a robot packaging method is selected. In the packaging process, the robot grabs the packaged cell pieces conveyed on the inverted machine and carries the cell pieces into the packaging box. However, due to the difference in the plastic sealing of the cell pieces and the low position accuracy of the packaged cell pieces on the inverted machine, part of the vacuum hole position on the robot gripper cannot be completely covered, resulting in a vacuum leakage condition, causing the cell pieces to fall during grabbing, causing product scrap, and affecting production costs. CONTENT OF THE UTILITY MODEL
[0003] Therefore, it is necessary to provide a grabbing module to reduce or avoid the situation of grabbing and falling.
[0004] The grabbing module comprises an adsorption structure and a plurality of interval arranged adjusting mechanisms; the adsorption structure is configured with a plurality of vacuum holes, and the plurality of vacuum holes are arranged at intervals and at least part of the vacuum holes are arranged in a staggered manner; each vacuum hole has an assembly section and an adsorption section connected to the assembly section, the adsorption section is in communication with the external air, and the assembly section is used for communicating with the vacuum pipeline; at least part of the assembly section is provided with a corresponding adjusting mechanism; wherein the adjusting mechanism is configured to adjust the on-off between the corresponding vacuum hole and the corresponding vacuum pipeline in response to the air pressure value in the vacuum hole.
[0005] It can be understood that the adsorption section of the vacuum hole is used to adsorb the product when the adsorption structure contacts the product, and the assembly section of the vacuum hole is used to assemble the adjusting mechanism. At least part of the vacuum holes are arranged in a staggered manner to increase the contact probability with the product when a plurality of products are adsorbed at one time, promote each product to be covered with a vacuum hole, improve the coverage rate of the vacuum hole, and facilitate to enhance the adsorption effect of the plurality of products. Further, when the vacuum hole is vacuumed, the air pressure value of the external air is greater than the air pressure value in the vacuum hole, the adjusting mechanism can disconnect the communication between the vacuum hole and the vacuum pipeline, and the external air cannot enter the vacuum pipeline from the vacuum hole. Even if the vacuum hole of the grabbing module is not completely covered with the product, the situation of vacuum leakage can be avoided, the adsorption force of the grabbing module on the product is ensured, the situation of grabbing and falling is reduced or avoided, and the scrap rate of the product is reduced.
[0006] In one of the embodiments, the assembly section is provided with a first opening and a second opening arranged at intervals along the axial direction of the assembly section, the first opening is in communication with the adsorption section, and the second opening is used for communication with the vacuum pipeline; the adjusting mechanism has a blocking piece movably assembled between the first opening and the second opening; the blocking piece is configured to block the second opening in response to the gas pressure value in the vacuum hole being less than the external gas pressure value.
[0007] It can be understood that the blocking state of the second opening can be switched by the movement of the blocking piece, and the operation is simple.
[0008] In one of the embodiments, the adjusting mechanism further comprises a limiting end cover assembled at the first opening and connected with the hole wall of the assembly section, the limiting end cover is configured with a flow-through hole penetrating along the axial direction of the limiting end cover, the flow-through hole is in communication with the adsorption section and the assembly section, and the limiting end cover is used for limiting the movement of the blocking piece towards the adsorption section.
[0009] It can be understood that the limiting end cover can effectively limit the blocking piece, and the movement of the blocking piece to the adsorption section or even out of the adsorption section can be avoided.
[0010] In one of the embodiments, the adjusting mechanism further comprises a resilient piece, the resilient piece is pressed between the blocking piece and the hole wall of the vacuum hole, and the resilient piece has an acting force on the blocking piece away from the second opening.
[0011] It can be understood that after the gas in the vacuum hole is restored, the resilient piece can push the blocking piece away from the second opening to reset the blocking piece.
[0012] In one of the embodiments, the adjusting mechanism further comprises a filter piece, the filter piece is installed in the vacuum hole and located on the side of the blocking piece towards the adsorption section.
[0013] It can be understood that the filter piece can filter the external gas entering the assembly section to filter out impurities, which is beneficial to protect the blocking piece.
[0014] In one of the embodiments, the vacuum holes arranged at intervals in the first direction form a vacuum hole group, the vacuum holes in any two adjacent vacuum hole groups are arranged at different positions along the second direction; and the first direction and the second direction are arranged at an angle.
[0015] It can be understood that the positions of the vacuum holes in any two adjacent vacuum hole groups along the second direction are different, and the adsorption of the products through the vacuum holes at different positions can promote the uniformity of the distribution of the adsorption force on the products.
[0016] In one of the embodiments, the space of the adsorption section is larger than the space of the assembly section; and / or, the distance between any two adjacent vacuum holes is d, the minimum diameter of the adsorption section is r, and 0.6r≤d≤r.
[0017] It can be understood that the space of the adsorption section is larger than the space of the assembly section, the product cover is arranged at the hole of the adsorption section, and the adsorption is closer to the external environment to form a significant pressure difference with the external air pressure, thereby promoting the adsorption and relieving the stress concentration on the product. By limiting the distance between the vacuum holes to form a more dense vacuum hole, the adsorption effect is also improved.
[0018] In one of the embodiments, the adsorption structure is provided with a vacuum air duct, which is communicated between each of the vacuum holes and the vacuum pipeline.
[0019] It can be understood that the arrangement of the vacuum air duct is conducive to the transportation of gas, and can realize the gathering or shunting of gas.
[0020] In one of the embodiments, the adsorption structure has a first base plate and a second base plate, the first base plate is configured with a plurality of vacuum holes, at least one of the first base plate and the second base plate is recessed with a groove along the thickness direction of itself, the first base plate and the second base plate are press-fitted, and the groove defines the vacuum air duct; the adsorption structure further has a sealing member, which is press-fitted between the first base plate and the second base plate and surrounds the outside of the vacuum air duct.
[0021] It can be understood that the arrangement of the first base plate and the second base plate can realize separate processing and reassembly, thereby improving the production efficiency.
[0022] The application also provides a mechanical hand, which comprises a mechanical arm, a pneumatic assembly and the above-mentioned grabbing module; the grabbing module is arranged on the mechanical arm; the pneumatic assembly comprises a power source and a vacuum pipeline communicated with the power source, and the vacuum pipeline is communicated with each of the vacuum holes in the grabbing module.
[0023] It can be understood that the mechanical arm supports and drives the grabbing module to move, the power source can provide power for vacuumizing, and the gas in the grabbing module can be sucked by the power source through the vacuum pipeline. By using the above-mentioned grabbing module, the communication between the vacuum hole and the vacuum pipeline can be disconnected when the vacuum hole reaches the vacuum state, thereby avoiding the leakage of vacuum, ensuring the vacuum degree of each vacuum hole, and further ensuring the grabbing and adsorption effect on multiple products, thereby reducing the product dropping. BRIEF DESCRIPTION OF DRAWINGS
[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.
[0025] Figure 1 The schematic diagram of the grabbing module structure provided by the present application is shown.
[0026] Figure 2 The top view of the grabbing module provided by the present application is shown.
[0027] Figure 3 The sectional view of the grabbing module provided by the present application is shown.
[0028] Figure 4 The partial enlarged view of A in FIG. 1 is shown. Figure 3
[0029] Figure 5 The partial structure schematic diagram of another orientation in the grabbing module provided by the present application is shown.
[0030] Reference signs: 100, grabbing module; 10, adjusting mechanism; 11, blocking piece; 111, blocking part; 12, limiting end cover; 121, flow-through hole; 122, matching part; 123, limiting part; 13, elastic piece; 14, filtering piece; 20, adsorption structure; 201, vacuum hole; 2011, assembly section; 2012, adsorption section; 2013, first opening; 2014, second opening; 2015, matching groove; 2016, limiting groove; 2017, extension section; 2018, communication port; 2019, sealing groove; 202, vacuum air duct; 2021, first vacuum air duct; 2022, second vacuum air duct; 21, first base plate; 211, first layer plate; 212, second layer plate; 22, second base plate; 30, sealing piece. DETAILED DESCRIPTION
[0031] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, a lot of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.
[0032] It is to be understood that where the terms "fixed" or "attached" are used herein with respect to one element attached to another element, the elements can be directly connected to each other or intervening elements can be present. Where the terms "connected" or "coupled" are used herein, they are used in their broadest sense and can mean direct or indirect connections or couplings. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar terms are used herein only to facilitate description of the exemplary embodiments, and do not connote or imply any limitation on the position, orientation, or use of the embodiments.
[0033] In addition, the terms "first", "second", and the like, do not denote any quantity or order but are used as labels, names for referring to terms. The terms "comprises", "comprising", "including", and the like, do not exclude the presence of elements or steps other than those listed in a claim. The terms "coupled" and "connected" and the like, mean that two or more elements are either in direct contact or that there is an element present that can limit the contact between the two or more elements. "Coupled", "connected", and / or "communicative" can also mean that two or more elements are either in direct contact or that there is an intervening element that allows transfer between the two or more elements. The term "and / or" includes combinations of one or more of the associated listed items.
[0034] In the present application, unless specifically stated and limited otherwise, the term "on", "under" or "above" with respect to one element on another element means that the element can be directly in contact with the other element or indirectly in contact with the other element via an intervening medium. Also, the term "on", "under" or "above" with respect to one element on another element means that the element can be directly above or diagonally above the other element, or simply means that the element is horizontally higher than the other element. The term "on", "under" or "above" with respect to one element on another element means that the element can be directly below or diagonally below the other element, or simply means that the element is horizontally lower than the other element.
[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. All publications, patent applications, patents, and other references mentioned in this specification are herein incorporated by reference in their entirety for the purpose of describing and disclosing, for example, the compositions and methodologies which are described in such publications, which describe and enable such compositions and methodologies.
[0036] In accordance with the present application, there is provided a grasping module 100, the grasping module 100 comprising a suction structure 20, the suction structure 20 being configured with a plurality of vacuum holes 201, the plurality of vacuum holes 201 being spaced apart. In this way, when the suction structure 20 is in contact with a product, the product can be grasped by the suction structure 20 by drawing air from the vacuum holes 201, such that a negative pressure is formed in the vacuum holes 201, i.e. the pressure in the vacuum holes 201 is less than the external atmospheric pressure, and the external atmospheric pressure is able to press the product against the suction structure 20, thereby enabling the product to be grasped by the suction structure 20. When it is desired to release the product, the drawing of air from the vacuum holes 201 is stopped, and air is re-introduced into the vacuum holes 201, such that the pressure in the vacuum holes 201 is the same as or tends to be the same as the external atmospheric pressure. Figures 1 to 5 In accordance with the present application, there is provided a grasping module 100, the grasping module 100 comprising a suction structure 20, the suction structure 20 being configured with a plurality of vacuum holes 201, the plurality of vacuum holes 201 being spaced apart. In this way, when the suction structure 20 is in contact with a product, the product can be grasped by the suction structure 20 by drawing air from the vacuum holes 201, such that a negative pressure is formed in the vacuum holes 201, i.e. the pressure in the vacuum holes 201 is less than the external atmospheric pressure, and the external atmospheric pressure is able to press the product against the suction structure 20, thereby enabling the product to be grasped by the suction structure 20. When it is desired to release the product, the drawing of air from the vacuum holes 201 is stopped, and air is re-introduced into the vacuum holes 201, such that the pressure in the vacuum holes 201 is the same as or tends to be the same as the external atmospheric pressure.
[0037] Further, at least part of the vacuum holes 201 are arranged in a staggered manner. In this way, the distribution of the vacuum holes 201 is more extensive, which is conducive to realizing the adsorption of more products at one time, and is conducive to enabling the products at different positions or with position offset on the conveying belt conveying the products to be able to have corresponding vacuum holes 201 and be adsorbed by the vacuum holes 201, improving the coverage rate of each vacuum hole 201, enhancing the adsorption effect on the products, and being conducive to reducing product drop. In addition, the staggered arrangement mode can also adapt to the grasping of some irregular products, meet the grasping needs of products of different shapes, and be conducive to perfecting the production system.
[0038] Specifically, each vacuum hole 201 has an assembly section 2011 and an adsorption section 2012 communicated with the assembly section 2011. The adsorption section 2012 is communicated with the outside air, and the assembly section 2011 is used to communicate with the vacuum pipeline. In this way, the surface where the orifice edge of the adsorption section 2012 is located is used to contact the product. When the vacuum hole 201 is vacuumized, the gas in the vacuum hole 201 is sucked through the vacuum pipeline, and the vacuum hole 201 is in a vacuum state. The external air pressure will press the product against the surface where the orifice edge of the adsorption section 2012 is located.
[0039] Further, the grabbing module 100 includes a plurality of adjustment mechanisms 10 arranged at intervals, and at least part of the assembly sections 2011 are provided with corresponding adjustment mechanisms 10. The adjustment mechanism 10 is configured to adjust the on-off between the corresponding vacuum hole 201 and the corresponding vacuum pipeline in response to the air pressure value in the vacuum hole 201. In this way, the adjustment mechanism 10 can timely disconnect the communication between the vacuum hole 201 where it is located and the corresponding vacuum pipeline when the air pressure value in the vacuum hole 201 is less than the external atmospheric pressure value, so that the external gas cannot enter the vacuum hole 201, avoiding vacuum leakage, improving the reliability of grabbing the product, avoiding product drop, and being conducive to improving the qualified rate of the product. At the same time, the adjustment mechanism 10 can restore the communication between the vacuum hole 201 where it is located and the corresponding vacuum pipeline when the air pressure value in the vacuum hole 201 returns to or tends to be consistent with the external atmospheric pressure, which is conducive to realizing the release of the product by the grabbing module 100, so as to facilitate the subsequent reuse.
[0040] In summary, the vacuum holes 201 are arranged in a staggered manner to facilitate adsorption of more products, improve the coverage of the plurality of vacuum holes 201, reduce the situation of vacuum leakage due to the fact that the vacuum holes 201 are not covered, and further improve the adsorption effect on the products. At the same time, by arranging the adjusting mechanism 10 in the vacuum hole 201 to disconnect the communication between the corresponding vacuum hole 201 and the corresponding vacuum pipeline when the vacuum hole 201 is evacuated, even if the vacuum hole 201 is not covered, the external gas cannot enter the vacuum pipeline. Since the plurality of vacuum holes 201 can communicate through the vacuum pipeline, such arrangement is conducive to protecting and maintaining the vacuum state of each vacuum hole 201, avoiding vacuum leakage, ensuring the adsorption force of each vacuum hole 201 on the product, reducing or avoiding product dropping, improving the qualified rate of the product, and reducing the loss caused by dropping.
[0041] For ease of illustration, the axial direction of the vacuum hole 201, the first direction and the second direction are perpendicular to each other, the first direction is the x-axis direction, the second direction is the y-axis direction, and the axial direction of the vacuum hole 201 is the z-axis direction.
[0042] As shown in Figure 3 and Figure 4 In an optional embodiment, the assembly section 2011 is provided with a first opening 2013 and a second opening 2014 arranged at intervals along the axial direction thereof, the first opening 2013 communicates with the adsorption section 2012, and the second opening 2014 is used to communicate with the vacuum pipeline. The adjusting mechanism 10 has a plugging member 11 movably assembled between the first opening 2013 and the second opening 2014; the plugging member 11 is configured to block the second opening 2014 in response to the fact that the gas pressure value in the vacuum hole 201 is less than the external gas pressure value.
[0043] In this way, when the vacuum hole 201 is evacuated, the gas pressure value in the vacuum hole 201 is less than the external gas pressure value. At this time, the plugging member 11 can block the second opening 2014 to disconnect the communication between the vacuum hole 201 and the vacuum pipeline, so that the external gas cannot enter the vacuum pipeline, thereby avoiding vacuum leakage. When the vacuum hole 201 is filled with gas, the gas pressure value in the vacuum hole 201 is equal to or tends to be consistent with the external gas pressure value. At this time, the plugging member 11 can cancel the blocking of the second opening 2014. That is, the movement of the plugging member 11 can switch the blocking state of the second opening 2014, which is simple to operate.
[0044] In a specific embodiment, the plugging member 11 can be made of a hard material, so as to form a hard seal with the hole wall at the second opening 2014 when blocking. The hard material can withstand high pressure and has good wear resistance. For example, the plugging member 11 can be made of stainless steel, copper or the like.
[0045] In another specific embodiment, the blocking member 11 can also be made of soft material and have certain elasticity, so that it can be pressed against the hole wall at the second opening 2014 during blocking and has good sealing performance, and can return to its original state when the blocking is cancelled, and the structure is more compact. For example, the blocking member 11 can be made of rubber.
[0046] As shown in Figure 4 In a specific embodiment, the blocking member 11 is provided with a blocking portion 111 on the side facing the second opening 2014, i.e., the blocking portion 111 is used to block the second opening 2014. Along the axial direction of the assembly section 2011, the size of the blocking portion 111 along the radial direction of the assembly section 2011 gradually decreases from the first opening 2013 to the second opening 2014. In this way, during the blocking process, the contact area between the blocking portion 111 and the hole wall at the second opening 2014 gradually increases, and an extrusion state is gradually formed, which has good transition effect, promotes the smoothness of the blocking process, and avoids the initial size being too large to form effective blocking when cooperating with the hole wall at the second opening 2014.
[0047] In a further embodiment, the surface where the blocking portion 111 is located is provided as a curved surface, so that when the blocking portion 111 is extruded with the hole wall of the vacuum hole 201 during the blocking process, the stress is dispersed, the stress concentration is reduced, the service life is prolonged, and damage caused by sharp corners is avoided.
[0048] For example, the blocking member 11 is provided as a spherical body, a hemispherical body, or the like.
[0049] As shown in Figure 3 and Figure 4 In a further embodiment, the adjusting mechanism 10 further includes a limiting end cover 12, which is assembled at the first opening 2013 and connected with the hole wall of the assembly section 2011. The limiting end cover 12 is used to limit the movement of the blocking member 11 towards the adsorption section 2012, so as to avoid the blocking member 11 moving to the adsorption section 2012 or even being pulled out of the adsorption section 2012.
[0050] As shown in Figure 3 and Figure 4 Further, the limiting end cover 12 is provided with a flow-through hole 121 penetrating along the axial direction thereof, and the flow-through hole 121 is communicated with the adsorption section 2012 and the assembly section 2011, so that the adsorption section 2012 and the assembly section 2011 are communicated, and when being vacuumized, the gas in the adsorption section 2012 can also be sucked, so as to ensure that the vacuum holes 201 are all in a vacuum state.
[0051] As shown in Figure 3 and Figure 4As shown, in a specific embodiment, the side edge of the limiting end cover 12 is radially outwardly protruded to form a matching part 122, and correspondingly, the hole wall of the assembly section 2011 is recessed along the radial direction of the assembly section 2011 to form a matching groove 2015, the matching groove 2015 extends along the circumferential direction of the assembly section 2011, the matching part 122 is assembled into the matching groove 2015 and detachably connected with the groove wall of the matching groove 2015, which is convenient for disassembly and assembly, and the plugging member 11 can be assembled into the assembly section 2011 first and then the limiting end cover 12 is assembled. Meanwhile, when the plugging member 11 needs to be replaced, the limiting end cover 12 can also be disassembled at any time, and the entire grabbing module 100 does not need to be scrapped due to the damage of the plugging member 11, which is conducive to reducing the production cost. For example, the matching part 122 is threadedly connected or clamped with the groove wall of the matching groove 2015.
[0052] As shown in Figure 3 and Figure 4 in a further embodiment, the limiting end cover 12 further comprises a limiting part 123, the limiting part 123 is connected with the matching part 122 and is arranged close to the adsorption section 2012 relative to the matching part 122, and the radial dimension of the limiting part 123 along the limiting end cover 12 is greater than that of the matching part 122; correspondingly, the hole wall of the assembly section 2011 is recessed along the radial direction of the assembly section 2011 to form a limiting groove 2016, the limiting groove 2016 is communicated with the matching groove 2015 and extends along the circumferential direction of the assembly section 2011, the depth of the limiting groove 2016 is greater than that of the matching groove 2015, and the side of the limiting groove 2016 facing the adsorption section 2012 is formed with a plug-in opening, which is conducive to the limiting end cover 12 extending into the plug-in opening, so that the matching part 122 enters the matching groove 2015, and the limiting part 123 abuts against the groove wall of the limiting groove 2016, forming a mutual limiting effect, which is conducive to the quick assembly of the limiting end cover 12 and promotes the assembly and fixation of the limiting end cover 12.
[0053] As shown in Figure 3 and Figure 4 in an optional embodiment, the adjusting mechanism 10 further comprises an elastic member 13, the elastic member 13 is arranged between the plugging member 11 and the hole wall of the vacuum hole 201, and the elastic member 13 has an acting force on the plugging member 11 away from the second opening 2014. In this way, when the air pressure value in the vacuum hole 201 is small enough, a large pressure difference can be formed between the external gas and the vacuum hole 201, and the external gas can have enough force to overcome the elastic force of the elastic member 13, so as to make the plugging member 11 block the second opening 2014. That is to say, there is a buffering process from the start of vacuumizing to the plugging of the second opening 2014 by the plugging member 11, which can ensure that the gas in the vacuum hole 201 is fully sucked, and a sufficient vacuum degree is formed in the vacuum hole 201 and the vacuum pipeline, so that the adsorption structure 20 has sufficient adsorption force on the product, which is also conducive to reducing or avoiding the dropping of the product.
[0054] Furthermore, when the vacuum hole 201 is refilled with gas, the pressure difference between the vacuum hole 201 and the external gas decreases, and the external gas pressure gradually becomes less than the effect of the elastic force. The elastic element 13 can push the sealing element 11 away from the second opening 2014, thereby resetting the sealing element 11.
[0055] For example, the elastic element 13 can be configured as a compression spring or a tension spring.
[0056] like Figure 3 As shown, in a specific embodiment, the vacuum hole 201 has an extension section 2017, which is connected to the side of the assembly section 2011 away from the adsorption section 2012. The extension section 2017 is used for vacuum pipeline connection. The aperture of the extension section 2017 is smaller than the aperture of the assembly section 2011. The elastic element 13 is connected between the sealing element 11 and the extension section 2017. The hole wall of the extension section 2017 can guide the elastic element 13 and reduce the swaying of the elastic element 13 along the radial direction of the extension section 2017.
[0057] More specifically, along the radial direction of the extension 2017, the hole wall of the extension 2017 is provided with a limiting protrusion protruding inward, and the elastic element 13 is connected between the sealing element 11 and the limiting protrusion.
[0058] like Figure 4 As shown, in an optional embodiment, the adjustment mechanism 10 further includes a filter 14, which is installed within the vacuum port 201 and located on the side of the sealing member 11 facing the adsorption section 2012. Thus, the filter 14 can filter external gas entering the assembly section 2011 to remove impurities, thereby protecting the sealing member 11.
[0059] In a specific embodiment, the filter element 14 is configured as a filter plate, which has a plurality of fine filter mesh holes arranged at intervals, allowing gas to pass through while blocking impurities.
[0060] like Figure 3 As shown, the filter element 14 is further disposed between the limiting end cap 12 and the sealing element 11. While playing a filtering role, it also has a limiting role for the sealing element 11, which can restrict the movement of the sealing element 11 toward the adsorption section 2012.
[0061] In a specific embodiment, the filter element 14 can be formed into a curved filter screen surface, which is curved toward the adsorption section 2012 to increase the contact area with the gas and improve the filtration effect.
[0062] like Figure 4As shown in an optional embodiment, the adsorption structure 20 is provided with a vacuum air duct 202, which is communicated between each vacuum hole 201 and the vacuum pipeline, and has the functions of integrating the plurality of vacuum holes 201 and gathering or distributing the gas. Specifically, when being vacuumized, the gas in each vacuum hole 201 is sucked into the vacuum air duct 202, gathered in the vacuum air duct 202, and then enters the vacuum pipeline; when being filled with gas, the gas can enter the vacuum air duct 202 from the vacuum pipeline and be distributed into each vacuum hole 201 through the vacuum air duct 202. By arranging the vacuum air duct 202, each vacuum hole 201 does not need to be connected to the vacuum pipeline one by one, which is beneficial to reduce the number of vacuum pipelines and make the distribution of the vacuum pipeline more simple and beautiful.
[0063] As shown in an optional embodiment, the adsorption structure 20 is provided with a vacuum air duct 202, which is communicated between each vacuum hole 201 and the vacuum pipeline, and has the functions of integrating the plurality of vacuum holes 201 and gathering or distributing the gas. Specifically, when being vacuumized, the gas in each vacuum hole 201 is sucked into the vacuum air duct 202, gathered in the vacuum air duct 202, and then enters the vacuum pipeline; when being filled with gas, the gas can enter the vacuum air duct 202 from the vacuum pipeline and be distributed into each vacuum hole 201 through the vacuum air duct 202. By arranging the vacuum air duct 202, each vacuum hole 201 does not need to be connected to the vacuum pipeline one by one, which is beneficial to reduce the number of vacuum pipelines and make the distribution of the vacuum pipeline more simple and beautiful. Figure 4 Figure 4 As shown in an optional embodiment, the adsorption structure 20 is provided with a vacuum air duct 202, which is communicated between each vacuum hole 201 and the vacuum pipeline, and has the functions of integrating the plurality of vacuum holes 201 and gathering or distributing the gas. Specifically, when being vacuumized, the gas in each vacuum hole 201 is sucked into the vacuum air duct 202, gathered in the vacuum air duct 202, and then enters the vacuum pipeline; when being filled with gas, the gas can enter the vacuum air duct 202 from the vacuum pipeline and be distributed into each vacuum hole 201 through the vacuum air duct 202. By arranging the vacuum air duct 202, each vacuum hole 201 does not need to be connected to the vacuum pipeline one by one, which is beneficial to reduce the number of vacuum pipelines and make the distribution of the vacuum pipeline more simple and beautiful.
[0064] As shown in an optional embodiment, the adsorption structure 20 is provided with a vacuum air duct 202, which is communicated between each vacuum hole 201 and the vacuum pipeline, and has the functions of integrating the plurality of vacuum holes 201 and gathering or distributing the gas. Specifically, when being vacuumized, the gas in each vacuum hole 201 is sucked into the vacuum air duct 202, gathered in the vacuum air duct 202, and then enters the vacuum pipeline; when being filled with gas, the gas can enter the vacuum air duct 202 from the vacuum pipeline and be distributed into each vacuum hole 201 through the vacuum air duct 202. By arranging the vacuum air duct 202, each vacuum hole 201 does not need to be connected to the vacuum pipeline one by one, which is beneficial to reduce the number of vacuum pipelines and make the distribution of the vacuum pipeline more simple and beautiful.
[0065] As shown in an optional embodiment, the adsorption structure 20 is provided with a vacuum air duct 202, which is communicated between each vacuum hole 201 and the vacuum pipeline, and has the functions of integrating the plurality of vacuum holes 201 and gathering or distributing the gas. Specifically, when being vacuumized, the gas in each vacuum hole 201 is sucked into the vacuum air duct 202, gathered in the vacuum air duct 202, and then enters the vacuum pipeline; when being filled with gas, the gas can enter the vacuum air duct 202 from the vacuum pipeline and be distributed into each vacuum hole 201 through the vacuum air duct 202. By arranging the vacuum air duct 202, each vacuum hole 201 does not need to be connected to the vacuum pipeline one by one, which is beneficial to reduce the number of vacuum pipelines and make the distribution of the vacuum pipeline more simple and beautiful.
[0066] As shown in an optional embodiment, the adsorption structure 20 is provided with a vacuum air duct 202, which is communicated between each vacuum hole 201 and the vacuum pipeline, and has the functions of integrating the plurality of vacuum holes 201 and gathering or distributing the gas. Specifically, when being vacuumized, the gas in each vacuum hole 201 is sucked into the vacuum air duct 202, gathered in the vacuum air duct 202, and then enters the vacuum pipeline; when being filled with gas, the gas can enter the vacuum air duct 202 from the vacuum pipeline and be distributed into each vacuum hole 201 through the vacuum air duct 202. By arranging the vacuum air duct 202, each vacuum hole 201 does not need to be connected to the vacuum pipeline one by one, which is beneficial to reduce the number of vacuum pipelines and make the distribution of the vacuum pipeline more simple and beautiful. Figure 3 to 5 As shown in an optional embodiment, the adsorption structure 20 is provided with a vacuum air duct 202, which is communicated between each vacuum hole 201 and the vacuum pipeline, and has the functions of integrating the plurality of vacuum holes 201 and gathering or distributing the gas. Specifically, when being vacuumized, the gas in each vacuum hole 201 is sucked into the vacuum air duct 202, gathered in the vacuum air duct 202, and then enters the vacuum pipeline; when being filled with gas, the gas can enter the vacuum air duct 202 from the vacuum pipeline and be distributed into each vacuum hole 201 through the vacuum air duct 202. By arranging the vacuum air duct 202, each vacuum hole 201 does not need to be connected to the vacuum pipeline one by one, which is beneficial to reduce the number of vacuum pipelines and make the distribution of the vacuum pipeline more simple and beautiful.
[0067] Figure 1 As shown, in specific embodiments, one of the first substrate 21 and the second substrate 22 is configured with a sealing groove 2019, and the sealing member 30 is assembled in the sealing groove 2019. The groove wall of the sealing groove 2019 can limit the sealing member 30, so as to avoid displacement of the sealing member 30 when being pressed, and ensure the sealing performance. The sealing member 30 is quickly assembled and positioned. For example, the first substrate 21 is configured with the sealing groove 2019. Alternatively, the second substrate 22 is configured with the sealing groove 2019.
[0068] As shown in Figure 3 and Figure 3 In an optional embodiment, the vacuum holes 201 arranged at intervals in the first direction form a group of vacuum hole groups, and the vacuum holes 201 in any two adjacent groups of vacuum hole groups are arranged at intervals in the second direction. In this way, the product can be adsorbed by the vacuum holes 201 at different positions, so as to promote the uniformity of the distribution of the adsorption force on the product, effectively support the product, and reduce the dropping of the product.
[0069] As shown in Figure 3 For convenience of description, the first vacuum air duct 2021 and the second vacuum air duct 2022 are defined. Specifically, the adsorption structure 20 is provided with a plurality of first vacuum air ducts 2021 arranged at intervals in the second direction. Each first vacuum air duct 2021 extends in the first direction, and each vacuum air duct 202 communicates with the vacuum holes 201 in a group of vacuum hole groups. Further, at least one second vacuum air duct 2022 extending in the second direction is arranged in the first direction. Each first vacuum air duct 2021 communicates with the second vacuum air duct 2022, so that the suction force can be quickly distributed to each vacuum hole 201 through the first vacuum air duct 2021 and the second vacuum air duct 2022 when being vacuumized.
[0070] As shown in Figure 1 In an optional embodiment, the space of the adsorption section 2012 is larger than the space of the assembly section 2011. In this way, when the product is pressed on the surface of the adsorption structure 20 by the external atmospheric pressure, the space of the adsorption section 2012 is large, the orifice of the adsorption section 2012 is large, a large pressure difference can be formed between the external atmospheric pressure and the orifice of the adsorption section 2012, the adsorption area of the product can be increased, one product can be adsorbed by fewer orifices, and the stress concentration generated during adsorption can be relieved. In addition, the large space of the adsorption section 2012 also facilitates the product to be pressed on the surface of the adsorption structure 20 by the external atmospheric pressure after the air in the adsorption section 2012 is sufficiently vacuumized, so as to ensure the vacuum degree and the adsorption stability.
[0071] As shown in Figure 2 and Figure 5As shown, in specific embodiments, the adsorption section 2012 is provided in a long strip-shaped hole section, which can run larger processing errors and is simple to process. In other embodiments, the adsorption section 2012 can also be provided in a circular hole section, an elliptical hole section, etc.
[0072] As shown, in specific embodiments, the first substrate 21 can be divided into a first layer plate 211 and a second layer plate 212, and the first layer plate 211 and the second layer plate 212 can be provided integrally or separately. Taking the example of separate provision of the first layer plate 211 and the second layer plate 212, the first layer plate 211 is configured with the adsorption section 2012, and the second layer plate 212 is configured with the assembly section 2011, and the separate provision facilitates separate processing of the adsorption section 2012 and the assembly section 2011, and then combining the two to form the vacuum hole 201, which is simple to process. Figure 4 Figure 1 As shown, in specific embodiments, the first substrate 21 can be divided into a first layer plate 211 and a second layer plate 212, and the first layer plate 211 and the second layer plate 212 can be provided integrally or separately. Taking the example of separate provision of the first layer plate 211 and the second layer plate 212, the first layer plate 211 is configured with the adsorption section 2012, and the second layer plate 212 is configured with the assembly section 2011, and the separate provision facilitates separate processing of the adsorption section 2012 and the assembly section 2011, and then combining the two to form the vacuum hole 201, which is simple to process.
[0073] As shown, in specific embodiments, the first substrate 21 can be divided into a first layer plate 211 and a second layer plate 212, and the first layer plate 211 and the second layer plate 212 can be provided integrally or separately. Taking the example of separate provision of the first layer plate 211 and the second layer plate 212, the first layer plate 211 is configured with the adsorption section 2012, and the second layer plate 212 is configured with the assembly section 2011, and the separate provision facilitates separate processing of the adsorption section 2012 and the assembly section 2011, and then combining the two to form the vacuum hole 201, which is simple to process. Figure 2 Figure 1 Figure 3 Figure 2 As shown, in specific embodiments, the first substrate 21 can be divided into a first layer plate 211 and a second layer plate 212, and the first layer plate 211 and the second layer plate 212 can be provided integrally or separately. Taking the example of separate provision of the first layer plate 211 and the second layer plate 212, the first layer plate 211 is configured with the adsorption section 2012, and the second layer plate 212 is configured with the assembly section 2011, and the separate provision facilitates separate processing of the adsorption section 2012 and the assembly section 2011, and then combining the two to form the vacuum hole 201, which is simple to process.
[0074] The application also provides a mechanical hand, which comprises a mechanical arm, a pneumatic assembly, and the above-described grabbing module 100, the grabbing module 100 is arranged on the mechanical arm, and the pneumatic assembly comprises a power source and a vacuum pipeline connected to the power source, and the vacuum pipeline is in communication with each vacuum hole in the grabbing module 100.
[0075] In this way, the mechanical arm can support the grabbing module 100 and drive the grabbing module 100 to rotate, move, etc., so as to flexibly adjust the pose of the grabbing module 100, so that the grabbing module 100 can reach the vicinity of the product and realize grabbing of the product and release after grabbing to the target position. The power source can provide a power source for grabbing of the grabbing module 100, and the power source can vacuum the inside of the grabbing module 100 through the vacuum pipeline, thereby realizing adsorption of the product. By using the above-described grabbing module 100, the vacuum hole 201 can be blocked after achieving a vacuum state in the vacuum hole 201, so that external gas cannot enter the vacuum hole 201, the vacuum degree in the vacuum hole 201 is ensured, and sufficient adsorption force is ensured during grabbing, effective grabbing is realized, and the working efficiency of the entire mechanical hand is improved.
[0076] Exemplarily, the power source can be provided as a vacuum pump, etc.
[0077] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, it is to be understood that the application embraces all such possible combinations.
[0078] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.
Claims
1. A gripping module, characterized in that, The application relates to a vacuum adsorption structure. The application comprises: a plurality of interval arranged adjusting mechanisms (10); an adsorption structure (20) configured with a plurality of vacuum holes (201), the plurality of vacuum holes (201) are arranged at intervals and at least part of the vacuum holes (201) are arranged at intervals; each of the vacuum holes (201) has an assembly section (2011) and an adsorption section (2012) communicated with the assembly section (2011), the adsorption section (2012) is communicated with external air, and the assembly section (2011) is used for being communicated with a vacuum pipeline; at least part of the assembly section (2011) is provided with a corresponding adjusting mechanism (10); 2. - The gripping module according to claim 1, characterized in that, wherein the adjusting mechanism (10) is configured to adjust the on-off between the corresponding vacuum hole (201) and the corresponding vacuum pipeline in response to the air pressure value in the vacuum hole (201). The assembly section (2011) is provided with interval arranged first openings (2013) and second openings (2014) along the self axial direction, the first openings (2013) are communicated with the adsorption section (2012), and the second openings (2014) are used for being communicated with the vacuum pipeline; 3. - The gripping module according to claim 2, characterized in that, The adjusting mechanism (10) has a blocking piece (11) movably assembled between the first openings (2013) and the second openings (2014); the blocking piece (11) is configured to block the second openings (2014) in response to the air pressure value in the vacuum hole (201) being less than the external air pressure value.
4. - The gripping module according to claim 2, characterized in that, The adjusting mechanism (10) further comprises a limiting end cover (12) assembled at the first openings (2013) and connected with the hole wall of the assembly section (2011), the limiting end cover (12) is configured with a flow-through hole (121) penetrating along the self axial direction, the flow-through hole (121) is communicated with the adsorption section (2012) and the assembly section (2011), and the limiting end cover (12) is used for limiting the movement of the blocking piece (11) towards the adsorption section (2012).
5. - The gripping module according to claim 2, characterized in that, The adjusting mechanism (10) further comprises an elastic piece (13) pressed between the blocking piece (11) and the hole wall of the vacuum hole (201), the elastic piece (13) has an acting force on the blocking piece (11) away from the second openings (2014).
6. - The gripping module according to claim 1, characterized in that, The adjusting mechanism (10) further comprises a filter piece (14) installed in the vacuum hole (201) and located on the side of the blocking piece (11) towards the adsorption section (2012).
7. - The gripping module according to claim 1, characterized in that, The vacuum holes (201) arranged at intervals in a first direction form a vacuum hole group, the vacuum holes (201) in any two adjacent vacuum hole groups are arranged at intervals along a second direction; the first direction and the second direction are arranged at an angle. The space of the adsorption section (2012) is greater than the space of the assembly section (2011); and / or, The interval of any two adjacent vacuum holes (201) is d, the minimum hole diameter of the adsorption section (2012) is r, and 0.6r<=d<=r.
8. - The gripping module according to claim 5, characterized in that, The adsorption structure (20) is provided with a vacuum air passage (202) which is communicated between each vacuum hole (201) and the vacuum pipeline.
9. - The gripping module according to claim 8, characterized in that, The adsorption structure (20) has a first substrate (21) and a second substrate (22), the first substrate (21) is configured with a plurality of vacuum holes (201), at least one of the first substrate (21) and the second substrate (22) is recessed with a groove along the thickness direction of itself, the first substrate (21) and the second substrate (22) are press-fitted, and the groove defines the vacuum air passage (202); The adsorption structure (20) further has a sealing member (30) which is press-fitted between the first substrate (21) and the second substrate (22) and is enclosed outside the vacuum air passage (202).
10. A robot, characterized in that Comprise: A mechanical arm; The grabbing module of any one of claims 1-9 is arranged on the mechanical arm; A pneumatic assembly comprising a power source and a vacuum pipeline communicated with the power source, the vacuum pipeline being communicated with each vacuum hole in the grabbing module.