CN110216711B - Transfer robot with sucking disc - Google Patents
Transfer robot with sucking disc Download PDFInfo
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- CN110216711B CN110216711B CN201910472774.7A CN201910472774A CN110216711B CN 110216711 B CN110216711 B CN 110216711B CN 201910472774 A CN201910472774 A CN 201910472774A CN 110216711 B CN110216711 B CN 110216711B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L75/00—Compositions of polyureas or polyurethanes; Compositions of derivatives of such polymers
- C08L75/04—Polyurethanes
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L83/00—Compositions of macromolecular compounds obtained by reactions forming in the main chain of the macromolecule a linkage containing silicon with or without sulfur, nitrogen, oxygen or carbon only; Compositions of derivatives of such polymers
- C08L83/04—Polysiloxanes
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L9/00—Compositions of homopolymers or copolymers of conjugated diene hydrocarbons
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L2205/00—Polymer mixtures characterised by other features
- C08L2205/03—Polymer mixtures characterised by other features containing three or more polymers in a blend
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L2205/00—Polymer mixtures characterised by other features
- C08L2205/03—Polymer mixtures characterised by other features containing three or more polymers in a blend
- C08L2205/035—Polymer mixtures characterised by other features containing three or more polymers in a blend containing four or more polymers in a blend
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L2207/00—Properties characterising the ingredient of the composition
- C08L2207/06—Properties of polyethylene
- C08L2207/062—HDPE
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- Chemical Kinetics & Catalysis (AREA)
- Medicinal Chemistry (AREA)
- Polymers & Plastics (AREA)
- Organic Chemistry (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The transfer robot with the sucker comprises six mechanical arms and the sucker; the sucker comprises a sucker body, wherein the sucker body comprises an adsorption surface layer, a middle layer and a body layer which are sequentially overlapped and bonded; the bottom of the six-axis mechanical arm is fixed on the base, the tail end of the six-axis mechanical arm is connected with a frustum-shaped mounting rack, the small bottom surface of the frustum-shaped mounting rack is installed at the tail end, the large bottom surface of the frustum-shaped mounting rack is connected to the sucker rack, the lower surface of the sucker rack is provided with a sliding chute, a screw rod is installed along the extending direction of the sliding chute, two ends of the sliding chute are provided with rotating bearings, and at least one tail end of the screw rod is connected with a handle after penetrating through one rotating bearing; the sucker further comprises an installation part, one end of the installation part is connected to the back of the body layer, and the other end of the installation part is provided with a thread meshed with the screw; the spliced pole is installed to the installation department lateral wall, and spliced pole end connection is to the slider, and the slider is located the space between spout bottom and the screw rod, and the slider can slide along the spout. The transfer robot with the suction disc provided by the invention can conveniently adjust the position of the suction disc.
Description
Technical Field
The present invention relates to a transfer robot (robot arm), and more particularly, to a transfer robot (robot arm) with a suction cup.
Background
The suction cup has a suction surface to be sucked on the surface to which the object is attached, and a back surface opposite to the suction surface. The sucking disc is also a common part for carrying the mechanical arm, is arranged at the tail end of the mechanical arm, the adsorption surface is attached to the smooth surface, negative pressure is formed in the cavity of the adsorption surface by air suction, and an object is clamped and carried. Common suction cup materials include silicone, rubber, soft PVC, and TPE.
The object to be transported handled by the transport robot is often rough in surface, has some convex-concave particles, causes the adhesion between the forehead absorbing surface and the attached surface to be reduced, the suction cup is easy to be separated, and once the object falls off, accidents are easy to occur.
In addition, the suction pad is also damaged by aging or stained on the surface by smoke gas existing in the work place of the transfer robot, and the adhesion between the suction pad and the surface to be adhered is reduced.
Moreover, the commonly used sucker materials include silica gel, nitrile rubber, soft PVC and TPE, wherein the soft PVC and TPE have permanent deformation, poor resilience and low hardness, and are difficult to be used as a sucker of a transfer robot. Nitrile rubber and silica gel have poor performance when used on rough surfaces.
Disclosure of Invention
To the problem that prior art exists, this application provides a transfer robot with sucking disc.
The transfer robot with the suckers comprises six mechanical arms and suckers; the sucker comprises a sucker body, wherein the sucker body comprises an adsorption surface layer, a middle layer and a body layer which are sequentially overlapped and bonded; the bottom of the six-axis mechanical arm is fixed on the base, the tail end of the six-axis mechanical arm is connected with a frustum-shaped mounting rack, the small bottom surface of the frustum-shaped mounting rack is installed at the tail end, the large bottom surface of the frustum-shaped mounting rack is connected to the sucker rack, the lower surface of the sucker rack is provided with a sliding chute, a screw rod is installed along the extending direction of the sliding chute, two ends of the sliding chute are provided with rotating bearings, and at least one tail end of the screw rod is connected with a handle after penetrating through one rotating bearing; the sucker further comprises an installation part, one end of the installation part is connected to the back of the body layer, and the other end of the installation part is provided with a thread meshed with the screw; the spliced pole is installed to the installation department lateral wall, and spliced pole end connection is to the slider, and the slider is located the space between spout bottom and the screw rod, and the slider can slide along the spout.
In a preferred embodiment, the mounting portion is provided with an arcuate projection facing the threaded rod, the arcuate projection being threaded and engaging the threaded rod.
In a preferred embodiment, the slider is provided with an arc-shaped projection facing the screw, which arc-shaped projection is provided with a thread and engages with the screw.
In a preferred embodiment, the sliding groove is T-shaped and comprises an enlarged portion and a reduced portion, the screw is located at the reduced portion, and the sliding block is located at the enlarged portion.
In a preferred embodiment, the screw rod is positioned in a space enclosed by the connecting column, the mounting part and the sliding block.
In a preferred embodiment, the suction cup frame is a rectangular frame and comprises two sides and a connecting rib connected between the two sides, each side comprises two rod bodies, the surfaces of the two rod bodies are provided with plate ribs extending along the length of the rod body, the two opposite plate ribs of the two rod bodies are connected through a flat plate, an air pipe is formed between the two rod bodies, an air suction pipe is arranged in the air pipe, the suction cup is provided with an air hole communicated with the cavity of the adsorption surface, and the air suction pipe is communicated with the air hole of the suction cup after passing through the air pipe.
Preferably, the suction pipe is communicated with a suction pump.
In a preferred embodiment, the ends of the two opposite plate ribs of the rod body form a Y shape, and the top end of the Y shape is wrapped by an L-shaped or C-shaped plate to form a second hollow tube.
More preferably, said chute is formed between a flat plate and the end of said L-shaped or C-shaped plate.
More preferably, each suction cup rack is provided with more than one suction cup, and more preferably, a sliding groove is separately arranged for each suction cup.
In a more preferred embodiment, the connecting rib and the side edge form a rectangular frame unit, a groove is arranged along the inner wall of the rectangular frame unit, a right-angle triangular pyramid is arranged at the included angle between the connecting rib and the side edge, and two vertical surfaces of the right-angle triangular pyramid are respectively attached to the connecting rib and the inner wall of the side edge.
Preferably, the body layer back is equipped with the bellying, and the bellying is equipped with the first gas pocket of intercommunication sucking disc adsorption plane cavity, and the bellying is detachable connections to installation department, is equipped with the second gas pocket with first gas pocket intercommunication in the installation department, second gas pocket intercommunication exhaust tube.
In a preferred embodiment, the adsorbent facing material comprises: polyoxyethylene ethers, ABS (acrylonitrile-butadiene-styrene copolymer), PS (polystyrene), polyisoprene, polysiloxanes, lignin; the interlayer material comprises: polysiloxanes, EVA (ethylene vinyl acetate), PP (polypropylene); the body layer material comprises: HDPE (high density polyethylene), PVC (polyvinyl chloride), polyisoprene, Thermoplastic Polyurethane (TPU).
In a preferred embodiment, in the adsorption surface layer, the weight ratio of each component comprises:
polyoxyethylene ether: 10-25 parts by weight, preferably 15-20 parts by weight;
ABS: 15-30 parts by weight, preferably 20-25 parts by weight;
PS: 1-10 parts by weight, preferably 5-8 parts by weight;
polyisoprene: 40-60 parts by weight, preferably 50-55 parts by weight;
polysiloxane: 20-40 parts by weight, preferably 25-35 parts by weight;
lignin: 1 to 8 parts by weight, preferably 3 to 5 parts by weight.
In a preferred embodiment, in the intermediate layer, the component proportions include, by weight:
polysiloxane: 60-80 parts by weight, preferably 60-70 parts by weight;
EVA: 20-40 parts by weight, preferably 25-35 parts by weight;
PP: 20 to 50 parts by weight, preferably 30 to 40 parts by weight.
In a preferred embodiment, in the body layer, the weight ratio of each component comprises:
HDPE: 5-10 parts by weight;
PVC: 20-30 parts by weight, preferably 20-25 parts by weight;
polyisoprene: 20-30 parts by weight, preferably 20-25 parts by weight;
thermoplastic polyurethane: 40 to 60 parts by weight, preferably 50 to 55 parts by weight.
In a preferred embodiment, the thickness ratio of the adsorption surface layer, the middle layer and the body layer is preferably (3-5):1 (8-15); more preferably (3.5-4) and (1), (10-12).
The invention also provides a manufacturing method of the sucker, which comprises the following steps:
mixing polysiloxane, EVA and PP, and then performing melt extrusion to form an intermediate layer precursor; melting and mixing non-crosslinked polyisoprene, polysiloxane, lignin, PS, ABS and polyoxyethylene ether, adding a crosslinking agent, and melting and extruding to form an adsorption surface layer precursor; melting and mixing HDPE, PVC, uncrosslinked polyisoprene and thermoplastic polyurethane, adding a crosslinking agent, and melting and extruding to form a body layer precursor;
the body layer precursor in the molten state and the adsorption surface layer body in the molten state are respectively superposed on two sides of the intermediate layer precursor in the molten state to form a sucker precursor;
placing a molten sucker precursor between a convex mold and a concave mold, wherein the concave mold and the convex mold form a female mold and a male mold, the body layer precursor is contacted with the concave mold, and the adsorption surface layer precursor is contacted with the convex mold; pressing the concave die and the convex die in opposite directions, extruding the composite layer sheet between the concave die and the convex die by the convex die, and maintaining the pressure until the non-crosslinked polyisoprene and the crosslinking agent react, crosslink and solidify;
and removing the concave mould and the convex mould to obtain the sucker of the transfer robot.
In a preferred embodiment, a convex part mold space is arranged at the bottom of the concave mold and extends outwards, an opening is arranged at the tail end of the convex part mold space, after the sucker precursor in a molten state is placed between the convex mold and the concave mold, molten and mixed HDPE, PVC, non-crosslinked polyisoprene, thermoplastic polyurethane and a crosslinking agent are added into the convex part mold space, pressure is applied to a material in the convex part mold space through the opening, and the material in the convex part mold space and the material between the concave mold and the convex mold react, crosslink and solidify together to be connected into a whole.
In a more preferred embodiment, the boss mold space may be two portions that snap together with a cross-bar between the two portions that forms perforations in the bosses.
In a more preferred embodiment, no perforations are formed in the boss mold space and the bosses are cured to form perforations.
In the above aspect of the invention, the material overlying the first surface of the interlayer sheet, prior to application of pressure, is in a flowable state.
In the above aspect of the invention, the material applied to the second surface of the interlayer sheet by the sucker precursor is in a flowable state prior to application of pressure.
More preferably, the material of the projections is the same as the material of the body layer.
Preferably, the reaction time of the uncrosslinked polyisoprene with the crosslinking agent is from 12 to 36 hours, preferably from 18 to 32 hours, preferably from 24 to 28 hours.
According to the transfer robot with the suction disc, when a large-mass object is transferred, the unique frame structure can form stress buffering, and fatigue damage caused by overlarge impulse on a connection part is avoided.
The carrying robot with the sucker has the advantages that the sucker has good pollution resistance and ageing resistance, and the service life is longer. Meanwhile, the sucker obtained by the invention keeps excellent tear resistance.
The transfer robot with the suction disc provided by the invention can conveniently adjust the position of the suction disc.
Drawings
Fig. 1 is a schematic view of a mold for manufacturing a chuck of a transfer robot according to the present invention.
FIG. 2 is a schematic view of a sucking disc device according to the present invention.
FIG. 3 is a schematic view of the chute structure of the sucking disc device of the present invention.
Fig. 4 is a schematic diagram illustrating a structure of a suction cup and a screw rod in one embodiment, and fig. 5 is a schematic diagram illustrating a structure of a suction cup and a screw rod in another embodiment.
Fig. 6 is a schematic structural view of a rectangular frame unit in the suction cup holder of the present invention.
FIG. 7 is a schematic view of a chuck structure according to the present invention.
Detailed Description
Example A1
In this embodiment, the disk body of transfer robot's sucking disc is including the absorption surface course, intermediate level and the body layer that superpose the bonding in proper order. The materials of each layer are as follows:
adsorption surface layer:
polyoxyethylene ether: 10 parts by weight;
ABS: 20 parts by weight;
PS: 8 parts by weight;
polyisoprene: 50 parts by weight;
polysiloxane: 20 parts by weight;
lignin: 5 parts by weight.
An intermediate layer:
polysiloxane: 60 parts by weight;
EVA: 30 parts by weight;
PP: 30 parts by weight.
A body layer:
HDPE: 8 parts by weight;
PVC: 20 parts by weight;
polyisoprene: 20 parts by weight;
thermoplastic polyurethane: 40 parts by weight.
Referring to fig. 1, the method for manufacturing the suction cup comprises the following steps:
The raw materials of the adsorption surface layer (non-crosslinked polyisoprene, polysiloxane, lignin, PS, ABS and polyoxyethylene ether) are taken for melt mixing, added with a crosslinking agent and subjected to melt extrusion to form the precursor of the adsorption surface layer.
Taking raw materials (HDPE, PVC, non-crosslinked polyisoprene and thermoplastic polyurethane) of the body layer, melting and mixing, adding a crosslinking agent, and melting and extruding to form a precursor of the body layer.
The body layer precursor and the adsorption surface layer precursor in a molten state are superposed on two sides of the middle layer precursor of the adsorption surface layer precursor to form the sucker precursor.
And 2, placing the sucker precursor in a molten state between a convex mold and a concave mold, wherein referring to fig. 1, the convex mold 1 is provided with a spherical crown part 11, the concave mold 2 and the convex mold 1 are complementary to form a female mold and a male mold, the intermediate layer precursor contacts the convex mold 1, and the body layer precursor contacts the concave mold 2.
One or more extended cavities 21 are arranged at the bottom end of the concave die 2 to form a convex die space, the cavities 21 are communicated with the concave part of the concave die 2, and the other end of the concave die is opened; the same material as the body layer stock material is added to the cavity 21.
And 3, pressing the inner concave die 2 and the convex die 1 in opposite directions, pressing the cavity 21, extruding the sucker precursor between the inner concave die and the convex die, maintaining the pressure until the non-crosslinked polyisoprene reacts with the crosslinking agent for 24 hours, and crosslinking and curing.
And 4, removing the concave mould and the convex mould to obtain a disc body of the sucker of the transfer robot with one or more convex parts on the back surface.
The bellying preparation is perforated, and the installation piece is equipped with a plurality of protruding boards that have the screw, presss from both sides between the bellying, and the body of rod that both ends were threaded passes in the screw of perforation twist protruding board, is fixed in the installation piece with the disk body, and during the use, it can at transfer robot end to connect the installation piece.
Example A2
In this embodiment, the disk body of transfer robot's sucking disc is including the absorption surface course, intermediate level and the body layer that superpose the bonding in proper order. The materials of each layer are as follows:
adsorption surface layer:
polyoxyethylene ether: 15 parts by weight;
ABS: 30 parts by weight;
PS: 5 parts by weight;
polyisoprene: 55 parts by weight;
polysiloxane: 35 parts by weight;
lignin: 3 parts by weight.
An intermediate layer:
polysiloxane: 75 parts by weight;
EVA: 25 parts by weight;
PP: 40 parts by weight.
A body layer:
HDPE: 10 parts by weight;
PVC: 20 parts by weight;
polyisoprene: 20 parts by weight;
thermoplastic polyurethane: 50 parts by weight.
Example A3
In this embodiment, the disk body of transfer robot's sucking disc is including the absorption surface course, intermediate level and the body layer that superpose the bonding in proper order. The materials of each layer are as follows:
adsorption surface layer:
polyoxyethylene ether: 25 parts by weight;
ABS: 30 parts by weight;
PS: 10 parts by weight;
polyisoprene: 50 parts by weight;
polysiloxane: 40 parts by weight;
lignin: 2 parts by weight.
An intermediate layer:
polysiloxane: 80 parts by weight;
EVA: 40 parts by weight;
PP: 20 parts by weight.
A body layer:
HDPE: 10 parts by weight;
PVC: 30 parts by weight;
polyisoprene: 25 parts by weight;
thermoplastic polyurethane: 50 parts by weight.
Example A4
In this embodiment, the disk body of transfer robot's sucking disc is including the absorption surface course, intermediate level and the body layer that superpose the bonding in proper order. The materials of each layer are as follows:
adsorption surface layer:
polyoxyethylene ether: 15 parts by weight;
ABS: 25 parts by weight;
PS: 8 parts by weight;
polyisoprene: 58 parts by weight;
polysiloxane: 24 parts by weight;
lignin: 8 parts by weight.
An intermediate layer:
polysiloxane: 72 parts by weight;
EVA: 36 parts by weight;
PP: 22 parts by weight.
A body layer:
HDPE: 8 parts by weight;
PVC: 26 parts by weight;
polyisoprene: 25 parts by weight;
thermoplastic polyurethane: 48 parts by weight.
Comparative example A1
The sucking disc is made of nitrile rubber.
Comparative example A2
The suction cup is made of silica gel (dimethyl siloxane polymer).
Examples A1-A4 and comparative examples A1-A2 were each prepared to 100cm2、500cm2、1000cm2The suction force (unit: N) was measured on a workpiece having a roughness of 1.6, and the results were as follows:
hardness and elasticity are compromise to this application sucking disc up to, compare in butadiene-acrylonitrile rubber and silica gel commonly used, and under the large tracts of land condition, the suction is obviously improved. The polyisoprene is crosslinked to form an interpenetrating network system, so that the sucker has good permanent deformation resistance.
The results of the tests on the anti-contamination capability and the abrasion resistance of the suction surface of the suction cup manufactured in the example A1-A4 are as follows:
| surface contact angle (degree) | DIN abrasion (cm)3) | |
| Example 1 | 118 | 0.16 |
| Example 2 | 120 | 0.15 |
| Example 3 | 125 | 0.14 |
| Example 4 | 123 | 0.16 |
| Comparative example 1 | 95 | 0.15 |
| Comparative example 2 | 88 | 0.12 |
Compared with the comparative example, the present application uses a large amount of resin raw material, but the abrasion resistance is not lowered. The contact angle is significantly larger in the present application than in the comparative example, meaning a significant reduction in surface tension with the ability to resist oil contamination for replacement.
Example B1
Referring to fig. 2 to 7, a suction cup device for a transfer robot was fabricated using a tray body of any one of the suction cups of the above-described embodiments a1 to a4, thereby obtaining a transfer robot with a suction cup.
The suction cup device in the embodiment comprises a frustum-shaped mounting frame 7, a suction cup frame 3 and a suction cup 8, wherein a connecting flange 71 is arranged on the small bottom surface of the frustum-shaped mounting frame 7 and used for being mounted on a six-axis mechanical arm (the tail end of a six-axis robot), and the large bottom surface of the frustum-shaped mounting frame 7 is connected with the suction cup frame 3. Referring to fig. 3, the lower surface of the suction cup holder 3 is provided with a sliding groove 30, which is T-shaped and includes an enlarged portion and a reduced portion, wherein the enlarged portion is located at the bottom of the sliding groove. Two ends of the reducing part are respectively provided with a rotating bearing 33, the tail end of the screw rod 31 is inserted into the rotating bearing 33, one end of the screw rod 31 penetrates through the rotating bearing 33 and extends out of the sliding groove 30, the extending part is connected with a handle 32, the handle 32 can be a driving shaft for connecting a driving motor, or can be in an oval shape, a prism shape and the like, and can be conveniently screwed by a hand or a wrench.
The sucking disc 8 comprises a disc body of the sucking disc, and the disc body comprises an adsorption surface layer, a middle layer and a body layer which are sequentially overlapped and bonded.
Referring to fig. 4, the suction cup 8 further includes a mounting portion 9, one end of the mounting portion 9 is connected to the back surface of the body layer, and the other end of the mounting portion 9 is provided with a thread engaged with the screw 31. For example, the mounting portion 9 is provided with an arc-shaped projection 92 facing the screw 31, and the engaging thread is located on the surface of the arc-shaped projection 92. The mounting portion 9 is provided with one or more connecting posts 93 on both sides of the arc-shaped projection 92, the ends of the connecting posts 93 are connected to sliders 94, the sliders 94 are located in a space (e.g., an enlarged portion) between the bottom of the slide groove 30 and the screw 31, and the sliders 94 can slide along the slide groove 30.
When the screw 31 is rotated, the mounting portion 9 is driven by the engaging thread, and the slider 94 slides along the slide groove 30, thereby adjusting the position of the suction cup 8.
The suction cup frame 3 is a rectangular frame and comprises two sides 4 and connecting ribs 5 connected between the two sides, each side comprises two rod bodies 42, the surfaces of the two rod bodies 42 are provided with plate ribs extending along the length of the rod bodies, the two rod bodies are connected with each other through flat plates, an air pipe 41 is formed between the two rod bodies, an air suction pipe is arranged in the air pipe 41, the body of the suction cup 8 is provided with an air hole 81 communicated with an adsorption surface cavity, and the air suction pipe penetrates through the air hole 81 communicated with the suction cup behind the air pipe 41.
The mounting portion 9 is provided with a second air hole 91 communicated with the air hole 81, and the second air hole 91 is communicated with the air exhaust pipe.
The tail ends of the plate ribs of the two rod bodies which are opposite to each other form a Y shape, and the top end of the Y shape is wrapped by an L-shaped or C-shaped plate to form a second hollow pipe. Preferably, between the flat plate and the L-shaped or C-shaped plate, said chute 30 is formed.
Referring to fig. 3, the connecting ribs 4 and the side edges 5 form a rectangular frame unit, and the suction cup holder 3 of the present application is formed by sequentially connecting a plurality of rectangular frame units shown in fig. 3. The inner wall along rectangle frame unit is equipped with the groove, including lath spout 40, side spout 50, sets up right angle triangular pyramid 6 (if use the plane shown in fig. 3 as the bottom surface, then be the triangular prism, if use the plane shown in fig. 3 as the side, then be the triangular pyramid) in the contained angle department of splice bar 4 and side 5, and two vertically faces of right angle triangular pyramid 6 are laminated respectively on splice bar and side inner wall.
In this embodiment, because be provided with a plurality of hollow part in the frame construction of suction cup frame, can form the buffering to the stress, avoid the object of transport overweight to each connection structure and the fatigue damage that the impact that the robot joint caused, compare in solid suction cup frame, life can prolong more than 30%. Meanwhile, the firmness of the suction disc frame can be ensured by the special connecting structure.
Example B2
The back of the body layer is provided with a protruding part 82, the protruding part 82 is provided with a first air hole 81 communicated with the cavity of the suction surface of the suction disc, the protruding part 82 is detachably connected to the mounting part 9, a second air hole 91 communicated with the air hole 81 is arranged in the mounting part 9, and the second air hole 91 is communicated with an exhaust tube. For example, a gap is formed between the L-shaped or C-shaped plate and the flat plate, the mounting portion 9 is fixed in the gap, and the second air hole 91 is bent to penetrate through the opposite ribs to enter the hollow tube 41 and is connected to the air suction tube in the hollow tube 41. Alternatively, the mounting portion 9 is fixed to the plate, and the second air hole 91 is connected to the air exhaust pipe in the hollow pipe 41 after passing through the plate.
In addition, referring to fig. 5, the slider 94 is provided with an arc-shaped projection 92 in a direction toward the screw 31, and likewise, the engaging thread is provided on the surface of the arc-shaped projection 92. The mounting portion 9 is provided with one or more connecting posts 93 on both sides of the arc-shaped projection 92, the ends of the connecting posts 93 are connected to sliders 94, the sliders 94 are located in a space (e.g., an enlarged portion) between the bottom of the slide groove 30 and the screw 31, and the sliders 94 can slide along the slide groove 30.
When the screw 31 is rotated, the slider 94 is driven by the engaging screw to slide along the slide groove 30, thereby adjusting the position of the suction cup 8.
The embodiments of the present invention have been described in detail, but the embodiments are merely examples, and the present invention is not limited to the embodiments described above. Any equivalent modifications and substitutions to those skilled in the art are also within the scope of the present invention. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.
Claims (8)
1. A transfer robot with a sucker is characterized by comprising six mechanical arms and a sucker; the sucker comprises a sucker body, wherein the sucker body comprises an adsorption surface layer, a middle layer and a body layer which are sequentially overlapped and bonded; the bottom of the six-axis mechanical arm is fixed on the base, the tail end of the six-axis mechanical arm is connected with a frustum-shaped mounting rack, the small bottom surface of the frustum-shaped mounting rack is installed at the tail end, the large bottom surface of the frustum-shaped mounting rack is connected to the sucker rack, the lower surface of the sucker rack is provided with a sliding chute, a screw rod is installed along the extending direction of the sliding chute, two ends of the sliding chute are provided with rotating bearings, and at least one tail end of the screw rod is connected with a handle after penetrating through one rotating bearing; the sucker further comprises an installation part, one end of the installation part is connected to the back of the body layer, and the other end of the installation part is provided with a thread meshed with the screw; a connecting column is arranged on the side wall of the mounting part, the tail end of the connecting column is connected to a sliding block, the sliding block is positioned in a space between the bottom of the sliding groove and the screw rod, and the sliding block can slide along the sliding groove;
the sucker frame is a rectangular frame and comprises two side edges and connecting ribs connected between the two side edges, each side edge comprises two rod bodies, plate ribs extending along the length of each rod body are arranged on the surfaces of the two rod bodies, the plate ribs opposite to the two rod bodies are connected through a flat plate, and a hollow pipe is formed between the two rod bodies; an exhaust pipe is arranged in the hollow pipe, the sucker is provided with a first air hole communicated with the cavity of the adsorption surface, and the exhaust pipe penetrates through the hollow pipe and is communicated with the first air hole of the sucker; the tail ends of the plate ribs of the two rod bodies which are opposite to each other form a Y shape, and the top end of the Y shape is wrapped by an L-shaped or C-shaped plate to form a second hollow pipe.
2. The carrier robot with suction cups as claimed in claim 1, wherein the mounting portion is provided with an arc-shaped projection facing the screw, or the slider is provided with an arc-shaped projection facing the screw, wherein the arc-shaped projection is provided with a thread and engaged with the screw.
3. The carrier robot with suction cups as claimed in claim 1, wherein the slide groove is T-shaped and includes an enlarged portion and a reduced portion, the screw is located at the reduced portion, and the slider is located at the enlarged portion.
4. The carrier robot with suction cups of claim 1, wherein the screw is located in a space surrounded by the connection column, the mounting portion and the slider.
5. The transfer robot with suction cup of claim 1, wherein the back of the body layer is provided with a protruding portion, the protruding portion is provided with a first air hole communicated with the cavity of the suction surface of the suction cup, the protruding portion is detachably connected to the mounting portion, the mounting portion is provided with a second air hole communicated with the first air hole, and the second air hole is communicated with the air exhaust pipe.
6. The carrier robot with suction cups according to claim 1, wherein, in the suction surface layer,
according to the weight ratio, the components comprise:
polyoxyethylene ether: 10-25 parts by weight;
ABS: 15-30 parts by weight;
PS: 1-10 parts by weight;
polyisoprene: 40-60 parts by weight;
polysiloxane: 20-40 parts by weight;
lignin: 1-8 parts by weight.
7. The carrier robot with suction cups of claim 1, wherein, in the intermediate layer,
according to the weight ratio, the components comprise:
polysiloxane: 60-80 parts by weight;
EVA: 20-40 parts by weight;
PP: 20-50 parts by weight.
8. The carrier robot with suction cups of claim 1, wherein, in the body layer,
according to the weight ratio, the components comprise:
HDPE: 5-10 parts by weight;
PVC: 20-30 parts by weight;
polyisoprene: 20-30 parts by weight;
thermoplastic polyurethane: 40-60 parts by weight.
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|---|---|---|---|
| CN201910472774.7A CN110216711B (en) | 2019-05-31 | 2019-05-31 | Transfer robot with sucking disc |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910472774.7A CN110216711B (en) | 2019-05-31 | 2019-05-31 | Transfer robot with sucking disc |
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| CN110216711A CN110216711A (en) | 2019-09-10 |
| CN110216711B true CN110216711B (en) | 2022-04-08 |
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| Publication number | Publication date |
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| CN110216711A (en) | 2019-09-10 |
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