Material suction structure and piece taking device

Abstract

The utility model provides a material suction structure and a piece taking device, the material suction structure comprises a connecting base, a plurality of sliding assemblies and a plurality of material suction assemblies, the multiple sliding assemblies are connected to the connecting base, and each sliding assembly comprises a first sliding mechanism and a second sliding mechanism; the first sliding mechanism comprises a first sliding part and a first elastic part, the first sliding part is slidably connected to the connecting base in the first direction, and the first elastic part is configured to provide first elastic force for the first sliding part in the first direction; the second sliding mechanism comprises a second sliding part and a second elastic part, the second sliding part is slidably connected to the first sliding part in the first direction, and the second elastic part is configured to provide second elastic force for the second sliding part in the first direction; the multiple material suction assemblies and the multiple sliding assemblies are correspondingly arranged, and each second sliding part in the multiple sliding assemblies is connected with the corresponding material suction assembly.

Description

TECHNICAL FIELD

[0001] The application relates to the product processing technical field, in particular to a suction material structure and a workpiece taking device. BACKGROUND

[0002] In the product processing process, the transfer of workpieces is mostly realized by a manipulator cooperating with a suction material structure installed thereon. At present, a plurality of suction material structures are generally arranged on the manipulator to simultaneously grasp a plurality of workpieces. However, in the case that the heights of the plurality of workpieces are different, the plurality of suction material structures cannot simultaneously grasp the workpieces, which leads to a decrease in the number of workpieces grasped by the manipulator at a time, and affects the product processing efficiency. CONTENT OF THE UTILITY MODEL

[0003] The application provides a suction material structure and a workpiece taking device to solve the problem that the suction material structures on the manipulator cannot simultaneously grasp a plurality of workpieces due to the different heights of the plurality of workpieces in the known technology.

[0004] The application provides a suction material structure, which comprises a connecting seat, a plurality of sliding assemblies and a plurality of suction material assemblies. The plurality of sliding assemblies are connected to the connecting seat. The sliding assembly comprises a first sliding mechanism and a second sliding mechanism. The first sliding mechanism comprises a first sliding piece and a first elastic piece. In a first direction, the first sliding piece is slidably connected to the connecting seat, and the first elastic piece is configured to provide a first elastic force in the first direction to the first sliding piece. The second sliding mechanism comprises a second sliding piece and a second elastic piece. In the first direction, the second sliding piece is slidably connected to the first sliding piece, and the second elastic piece is configured to provide a second elastic force in the first direction to the second sliding piece. The plurality of suction material assemblies are correspondingly arranged with the plurality of sliding assemblies. Each second sliding piece in the plurality of sliding assemblies is connected to a corresponding suction material assembly.

[0005] In a possible implementation, the second sliding mechanism further comprises a second mounting seat, which is detachably connected to the first sliding piece. In the first direction, the second sliding piece is slidably connected to the second mounting seat.

[0006] In a possible implementation, the second elastic piece is arranged in the first direction. One end of the second elastic piece is connected to the second mounting seat, and the other end of the second elastic piece is connected to the second sliding piece.

[0007] In a possible implementation, the second sliding mechanism further comprises a second guide piece, which is connected to the second mounting seat. The second sliding piece is slidably connected to the second guide piece.

[0008] In a possible implementation, the first sliding mechanism further comprises a first mounting base connected to the connecting base, and the first elastic member is arranged along the first direction, one end of the first elastic member being connected to the first mounting base and the other end being connected to the first sliding member.

[0009] In a possible implementation, the first sliding mechanism further comprises a first guide connected to the connecting base, and the first sliding member is slidably connected to the first guide along the first direction.

[0010] In a possible implementation, the material suction assembly comprises a suction member and a suction device, the suction member being connected to the second sliding member, and one side of the suction member being provided with a material suction air channel, and the suction device being configured to perform vacuum suction on the material suction air channel.

[0011] In a possible implementation, the suction member is configured to be elastically deformed to adapt to the surface of the material to be sucked.

[0012] In a possible implementation, the material suction assembly further comprises a suction base, one side of the suction base being connected to the second sliding member, and the suction member being connected to the other side of the suction base away from the second sliding member, and the suction base being provided with a suction passage, the suction passage being communicated with the material suction air channel, and the suction end of the suction device being communicated with the suction passage.

[0013] The application further provides a workpiece taking device comprising a moving assembly and the above-described material suction structure, the moving assembly being drivingly connected to the connecting base of the material suction structure to drive the connecting base to move.

[0014] The material suction structure of the application can simultaneously suck multiple workpieces or a large workpiece by arranging multiple sliding assemblies on the connecting base and arranging material suction assemblies on the sliding assemblies, thereby improving the application range of the material suction structure. In addition, the sliding assembly is composed of a first sliding mechanism and a second sliding mechanism, and the first sliding mechanism and the second sliding mechanism are both provided with elastic members, so that the height of each material suction assembly in the first direction can be adjusted, thereby simultaneously grasping multiple workpieces at different heights, improving the grasping efficiency and further improving the processing efficiency. In addition, the sliding assembly is provided with the first sliding mechanism and the second sliding mechanism, compared with the structure provided with a single sliding mechanism, the length of the guide rod corresponding to the single sliding mechanism is relatively long due to the excessive lifting stroke of the single sliding mechanism, and the long guide rod affects the normal work of the mechanical hand driving the connecting base to move. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1Structure diagram of the suction structure in an embodiment of the present application.

[0016] Figure 2 Structure diagram of the suction structure in an embodiment of the present application.

[0017] Figure 3 Structure diagram of the suction structure in an embodiment of the present application.

[0018] Figure 4 Structure diagram of the suction structure in an embodiment of the present application.

[0019] Figure 5 Structure diagram of the suction structure in an embodiment of the present application.

[0020] Figure 6 Structure diagram of the suction structure in an embodiment of the present application.

[0021] Figure 7 Structure diagram of the suction structure in an embodiment of the present application.

[0022] Main component symbol description: 200, pickup device; 100, suction structure; Z, first direction; X, second direction; Y, third direction; 10, connecting seat; 11, connecting piece; 20, sliding assembly; 21, first sliding mechanism; 211, first sliding piece; 2111, first sliding part; 2112, second sliding part; 212, first elastic piece; 213, first mounting seat; 2131, first mounting cavity; 2132, sliding groove; 214, first guide piece; 22, second sliding mechanism; 221, second sliding piece; 222, second elastic piece; 223, second mounting seat; 2231, second mounting cavity; 2232, through hole; 224, second guide piece; 30, suction assembly; 31, suction piece; 310, suction air duct; 32, suction seat; 321, suction port; 322, air cavity; 323, suction passage; 33, suction piece; 40, moving assembly.

[0023] The following detailed description will further describe the present application in combination with the above-mentioned drawings. DETAILED DESCRIPTION

[0024] The following description will reference the accompanying drawings so as to more fully understand the present application. The drawings presented herein for the purpose of illustrating the exemplary embodiments of the present application. However, the present application can be embodied in many different forms and should not be construed as being limited to the exemplary embodiments set forth herein. These exemplary embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art. Like reference numerals refer to like or similar components throughout the specification.

[0025] The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to limit the application. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to also include the plural forms. Furthermore, when used herein, “comprising” and / or “including” and / or “having,” integers, steps, operations, components, and / or components, but does not exclude the presence or addition of one or more other features, regions, integers, steps, operations, components, and / or groups thereof.

[0026] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Furthermore, unless expressly defined herein, terms such as those defined in a general dictionary should be interpreted as having the same meaning as they have in the relevant art and in the content of this application, and will not be interpreted as having an idealized or overly formal meaning.

[0027] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0028] like Figures 1 to 4 As shown, this embodiment provides a material suction structure 100, including a connecting seat 10, a plurality of sliding components 20 and a plurality of material suction components 30.

[0029] For ease of reading, this application introduces the terms first direction Z, second direction X, and third direction Y to describe the embodiments of this application. The first direction Z, second direction X, and third direction Y can be three non-parallel straight lines in space; further, the first direction Z, second direction X, and third direction Y can be three mutually perpendicular directions in a three-dimensional coordinate system (a three-dimensional Cartesian coordinate system). In subsequent embodiments, the first direction Z is described as the Z-axis direction of the three-dimensional coordinate system, the second direction X as the X-axis direction of the three-dimensional coordinate system, and the third direction Y as the Y-axis direction of the three-dimensional coordinate system.

[0030] Multiple sliding components 20 are connected to a connecting base 10. The connecting base 10 can be mounted on a robotic arm so that the robotic arm can move the connecting base 10, thereby moving the multiple sliding components 20 connected to the connecting base 10.

[0031] The sliding assembly 20 comprises a first sliding mechanism 21 and a second sliding mechanism 22. The first sliding mechanism 21 comprises a first sliding piece 211 and a first elastic piece 212, the first sliding piece 211 is slidably connected to the connecting base 10 along the first direction Z, and the first elastic piece 212 is configured to provide the first sliding piece 211 with a first elastic force along the first direction Z. The second sliding mechanism 22 comprises a second sliding piece 221 and a second elastic piece 222, the second sliding piece 221 is slidably connected to the first sliding piece 211 along the first direction Z, and the second elastic piece 222 is configured to provide the second sliding piece 221 with a second elastic force along the first direction Z. A plurality of suction assemblies 30 are correspondingly arranged with the plurality of sliding assemblies 20, and each second sliding piece 221 of the plurality of sliding assemblies 20 is connected to a corresponding suction assembly 30. Each suction assembly 30 of the plurality of suction assemblies 30 can individually suck a workpiece, and for a larger workpiece, the plurality of suction assemblies 30 can also simultaneously suck the workpiece.

[0032] Therefore, the suction structure 100 of the present application can simultaneously suck a plurality of workpieces or a larger workpiece by arranging a plurality of sliding assemblies 20 on the connecting base 10 and arranging a suction assembly 30 on each sliding assembly 20, thereby improving the application range of the suction structure 100. In addition, the sliding assembly 20 is composed of the first sliding mechanism 21 and the second sliding mechanism 22, and the first sliding mechanism 21 and the second sliding mechanism 22 are both provided with elastic pieces, so that the height of each suction assembly 30 in the first direction Z can be adjusted, thereby simultaneously grasping each workpiece at different heights and improving the grasping efficiency and the processing efficiency. In addition, the sliding assembly 20 is provided with the first sliding mechanism 21 and the second sliding mechanism 22, which can avoid the situation that the length of the guide rod corresponding to the single sliding mechanism is too long due to the excessive lifting stroke of the single sliding mechanism, thereby avoiding the influence of the guide rod with a long length on the normal operation of the robot driving the connecting base 10.

[0033] Please refer to Figures 1 to 2 In an embodiment, the number of sliding assemblies 20 is four, and the four sliding assemblies 20 are arranged in a rectangular array on the connecting base 10. The connecting base 10 is substantially a square plate, and the four sliding assemblies 20 are respectively arranged at the four corners of the surface of the same side of the connecting base 10.

[0034] Correspondingly, the number of suction assemblies 30 is four, and the four suction assemblies 30 are arranged in a rectangular array, which can suck four workpieces respectively or simultaneously suck the same workpiece through the four suction assemblies 30. When the four suction assemblies 30 simultaneously suck the same workpiece, the contact area of the four suction assemblies 30 when sucking the workpiece is ensured to be not less than one third of the area of the surface of the workpiece being sucked.

[0035] It can be understood that in other embodiments, the number of suction assemblies 30 can also be three or five or other numbers, and the specific number and distribution of the suction assemblies 30 can be adjusted according to actual design requirements.

[0036] In the embodiment, the connecting seat 10 is provided with a connecting piece 11, which is located at the middle position of the four suction assemblies 30. The connecting piece 11 can be a connecting flange, one end of the connecting piece 11 is detachably connected to the connecting seat 10 by bolts, and the other end can also be detachably connected to the mechanical hand by bolts.

[0037] Please combine Figures 1 to 4 In an embodiment, the first sliding mechanism 21 further includes a first mounting seat 213 connected to the connecting seat 10. The first elastic member 212 is arranged along the first direction Z, one end of the first elastic member 212 is connected to the first mounting seat 213, and the other end is connected to the first sliding member 211.

[0038] In the embodiment, the first mounting seat 213 and the connecting piece 11 are located on the same side of the connecting seat 10, and the first mounting seat 213 is detachably connected to the connecting seat 10, for example, by bolts or the like.

[0039] The first mounting seat 213 is provided with a first mounting cavity 2131, the first elastic member 212 is located in the first mounting cavity 2131, and part of the first sliding member 211 is located in the first mounting cavity 2131. The first elastic member 212 is a spring, one end of the first elastic member 212 is connected to the first mounting seat 213, and the other end is connected to the first sliding member 211 located in the first mounting cavity 2131. Along the second direction X, the opposite sides of the first mounting seat 213 are provided with sliding grooves 2132, both sliding grooves 2132 are communicated with the first mounting cavity 2131, and the extension direction of the sliding groove 2132 is parallel to the first direction Z.

[0040] The first sliding member 211 includes a first sliding part 2111 and a second sliding part 2112, the first sliding part 2111 is substantially "U" shaped structure, the middle part of the first sliding part 2111 is located in the first mounting cavity 2131 and connected to the bottom end of the first elastic member 212, both ends of the first sliding part 2111 respectively extend out of the first mounting cavity 2131 through the two sliding grooves 2132, and both ends of the first sliding part 2111 can slide along the two sliding grooves 2132 respectively, so that when the first sliding member 211 slides upward along the first direction Z, the first sliding part 2111 will continuously compress the first elastic member 212.

[0041] In the embodiment, the first sliding mechanism 21 further comprises a first guide 214 connected to the connecting base 10, and the first sliding member 211 is slidably connected to the first guide 214 along the first direction Z.

[0042] The first guide 214 is a guide rail extending along the first direction Z, and the bottom end of the first guide 214 is connected to the connecting base 10. Along the second direction X, the first guide 214 is arranged on one side of the first mounting base 213 at intervals. Along the second direction X, one side of the second sliding part 2112 is detachably connected to the first sliding part 2111, for example, the second sliding part 2112 is connected to the first sliding part 2111 by bolting or the like. Along the second direction X, the other side of the second sliding part 2112 is slidably connected to the first guide 214, so as to guide the second sliding part 2112 to slide along the first direction Z through the first guide 214.

[0043] Please combine Figures 1 to 4 In an embodiment, the second sliding mechanism 22 further comprises a second mounting base 223, which is detachably connected to the first sliding member 211, and the second sliding member 221 is slidably connected to the second mounting base 223 along the first direction Z.

[0044] Along the third direction Y, the second mounting base 223 is arranged on one side of the first mounting base 213 at intervals, and the second mounting base 223 is located outside the connecting base 10, so as to avoid the second mounting base 223 being interfered by the connecting base 10 during lifting. The second mounting base 223 is connected to the second sliding part 2112, so as to drive the second sliding part 2112 to slide along the first direction Z through the second mounting base 223. In addition, the second mounting base 223 and the second sliding part 2112 can be connected by bolting or other detachable connection modes.

[0045] The second mounting base 223 is provided with a second mounting cavity 2231 extending from the surface of the second mounting base 223 away from the first mounting base 213 to penetrate the second mounting base 223 along the third direction Y. The second elastic member 222 is a spring, and the second elastic member 222 is arranged in the second mounting cavity 2231 along the first direction Z. One end of the second elastic member 222 is connected to the second mounting base 223, and the other end is connected to the second sliding member 221, so that when the second sliding member 221 moves upward along the first direction Z, the second sliding member 221 continuously compresses the spring.

[0046] In the embodiment, the second sliding mechanism 22 further comprises a second guide 224 connected to the second mounting base 223, and the second sliding member 221 is slidably connected to the second guide 224.

[0047] The second guide 224 is a linear bearing, which is installed on the bottom end surface of the second mounting seat 223. The bottom end surface of the second mounting seat 223 is provided with a through hole 2232, which communicates with the second mounting cavity 2231. The second sliding member 221 is a substantially circular rod structure, which is arranged in the linear bearing, and the top end of the second sliding member 221 can pass through the through hole 2232 and enter the second mounting cavity 2231, so that the second sliding member 221 is connected with the second elastic member 222 in the second mounting cavity 2231.

[0048] It is worth noting that the caliber of the linear bearing and the caliber of the through hole 2232 are both larger than the outer diameter of the second elastic member 222, so that the second elastic member 222 can also enter the linear bearing from the through hole 2232.

[0049] When the suction assembly 30 is pushed upward by the workpiece, the suction assembly 30 drives the second sliding member 221 to move upward, and the second sliding member 221 continuously compresses the second elastic member 222 until the second elastic member 222 is compressed to the limit position and cannot be continuously compressed. At this time, the second sliding member 221 abuts against the second mounting seat 223 and drives the second mounting seat 223 to move upward, and the second mounting seat 223 drives the first sliding member 211 to move upward, and the first sliding member 211 continuously compresses the first elastic member 212. In this way, the two-stage sliding structure can reduce the length of the suction structure 100 in the first direction Z.

[0050] Please refer to Figures 4 to 6 In an embodiment, the suction assembly 30 includes a suction seat 32, a suction member 33, and a suction piece 31. The suction piece 31 is connected to the second sliding member 221, and one side of the suction piece 31 is provided with a suction air duct 310. The suction member 33 is configured to suck the vacuum of the suction air duct 310.

[0051] In this embodiment, one side of the suction seat 32 is connected to the bottom end of the second sliding member 221, and the suction piece 31 is connected to the other side of the suction seat 32 away from the second sliding member 221. The suction seat 32 is provided with an air cavity 322, and one side of the suction seat 32 close to the suction piece 31 is provided with a suction passage 323, which communicates with the air cavity 322. The other side of the suction seat 32 away from the suction piece 31 is provided with a suction port 321, which communicates with the air cavity 322. The suction member 33 is a vacuum generator, which is installed on the suction seat 32, and the suction end of the suction member 33 communicates with the suction port 321, so as to suck the vacuum of the air cavity 322.

[0052] The suction air passage 310 is arranged on the side of the suction member 31 away from the suction seat 32, and extends along the first direction Z to pass through the suction member 31. The suction air passage 310 is communicated with the suction passage 323, so that the suction member 33 can perform vacuumizing treatment on the suction air passage 310 through the suction passage 323, thereby forming a negative pressure environment at the opening of the suction air passage 310 away from the suction seat 32, so that the workpiece to be sucked is adsorbed on the suction member 31.

[0053] Further, the suction member 31 is configured to be elastically deformed for adapting to the surface of the workpiece to be sucked. The suction member 31 can be made of sponge or the like, which can be elastically deformed based on the shape of the surface of the workpiece when pressed on the surface of the workpiece, so that the suction member 31 can be closely attached to the surface of the workpiece, thereby improving the adsorption effect of the suction member 31 on the workpiece. In addition, for the case that the workpiece is coated with an electrostatic bag, the outer surface of the electrostatic bag is uneven, and the suction member 31 can be well adsorbed on the surface of the electrostatic bag by elastic deformation.

[0054] As shown in Figure 7 , and referring to Figure 1 , the embodiment also provides a workpiece taking device 200, which comprises a moving assembly 40 and the above-mentioned suction structure 100. The moving assembly 40 is drivingly connected with the connecting seat 10 of the suction structure 100, and is used to drive the connecting seat 10 to move.

[0055] The moving assembly 40 is a mechanical hand or the like, which can drive the suction assembly 30 to move above the position where the workpiece is located, and then drive the suction assembly 30 to move downward until the suction member 31 is attached to the surface of the workpiece, so that the workpiece is adsorbed on the suction member 31. Subsequently, the moving assembly 40 drives the suction assembly 30 to move to another position, and then places the workpiece on the position.

[0056] In the above, the specific embodiments of the present application are described with reference to the drawings. However, those skilled in the art can understand that various changes and replacements can be made to the specific embodiments of the present application without departing from the scope of the present application. These changes and replacements are within the scope defined by the present application.

Claims

1. A pick-up structure, characterized by, The application relates to a material suction structure, comprising: a connecting base; a plurality of sliding assemblies connected to the connecting base, the sliding assemblies comprising a first sliding mechanism and a second sliding mechanism; the first sliding mechanism comprising a first sliding piece and a first elastic piece, the first sliding piece being slidably connected to the connecting base in a first direction, and the first elastic piece being configured to provide a first elastic force to the first sliding piece in the first direction; the second sliding mechanism comprising a second sliding piece and a second elastic piece, the second sliding piece being slidably connected to the first sliding piece in the first direction, and the second elastic piece being configured to provide a second elastic force to the second sliding piece in the first direction; and a plurality of material suction assemblies corresponding to the plurality of sliding assemblies, each second sliding piece of the plurality of sliding assemblies being connected to a corresponding material suction assembly. The second sliding mechanism further comprises a second mounting base, the second mounting base being detachably connected to the first sliding piece, and the second sliding piece being slidably connected to the second mounting base in the first direction.

2. The suction structure according to claim 1, wherein The second elastic piece is arranged in the first direction, one end of the second elastic piece being connected to the second mounting base and the other end being connected to the second sliding piece.

3. The suction structure according to claim 2, wherein The second sliding mechanism further comprises a second guide piece, the second guide piece being connected to the second mounting base, and the second sliding piece being slidably connected to the second guide piece.

4. The suction structure according to claim 2, wherein The first sliding mechanism further comprises a first mounting base, the first mounting base being connected to the connecting base, and the first elastic piece being arranged in the first direction, one end of the first elastic piece being connected to the first mounting base and the other end being connected to the first sliding piece.

5. The suction structure according to claim 1, wherein The first sliding mechanism further comprises a first guide piece, the first guide piece being connected to the connecting base, and the first sliding piece being slidably connected to the first guide piece in the first direction.

6. The suction structure according to claim 1, wherein The material suction assembly comprises a suction piece and a material suction piece, the material suction piece being connected to the second sliding piece, one side of the material suction piece being provided with a material suction air channel, and the suction piece being configured to suck air from the material suction air channel.

7. The suction structure according to claim 1, wherein The material suction piece is configured to be elastically deformed to adapt to the surface of a material to be sucked.

8. The suction structure according to claim 7, wherein The material suction assembly further comprises a material suction base, one side of the material suction base being connected to the second sliding piece, the material suction piece being connected to the other side of the material suction base away from the second sliding piece, the material suction base being provided with a suction passage, the suction passage being communicated with the material suction air channel, and a suction end of the suction piece being communicated with the suction passage.

9. The suction structure according to claim 7, wherein The application further relates to a material suction device, comprising a moving assembly and the material suction structure according to any one of claims 1 to 9, the moving assembly being drivingly connected to the connecting base of the material suction structure to drive the connecting base to move.

10. A pick-up device, characterized in that ​

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