CN110421588B - Gas path communication control device and method, control equipment and readable storage medium - Google Patents
Gas path communication control device and method, control equipment and readable storage medium Download PDFInfo
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- CN110421588B CN110421588B CN201910782466.4A CN201910782466A CN110421588B CN 110421588 B CN110421588 B CN 110421588B CN 201910782466 A CN201910782466 A CN 201910782466A CN 110421588 B CN110421588 B CN 110421588B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention discloses a gas path communication control device and method, control equipment and a readable storage medium, wherein the gas path communication control device comprises the following steps: end effector, a plurality of solenoid valve, confluence piece, vacuum detection sensor, wherein: the end effector comprises a plurality of groups of suckers and a vacuum generator arranged in the suckers, wherein each group of suckers is controlled by an electromagnetic valve and generates vacuum through the vacuum generator; the electromagnetic valves are connected with the suction tools through the first air pipe and the second air pipe to control the air passage circulation of the suction tools; the converging block is connected with the plurality of electromagnetic valves and respectively provides an air inlet channel and a vacuum detection channel for each electromagnetic valve; the vacuum detection sensor is connected with the confluence block and detects the comprehensive vacuum degree of the integral suction tool of the end effector through the vacuum detection channel. By the embodiment of the invention, the number of the vacuum detection sensors is reduced for the end effector with a plurality of groups of suction tools, and the comprehensive vacuum degree of the whole suction tool of the end effector can also be detected.
Description
Technical Field
The invention relates to the field of air pipe and air passage communication, in particular to an air passage communication control device and method, control equipment and a readable storage medium.
Background
At present, generally, the air pipe and air passage communication mode of the suction type end effector is as follows: the electromagnetic valve controls the switch of the first air pipe, and the first air pipe is connected with the air inlet of the suction tool, generates vacuum through the vacuum generator and is discharged from the air outlet. The vacuum detection sensor is connected to the vacuum port of the suction tool.
For the end effector combined by a plurality of groups of suckers, if the simple gas circuit superposition mode is adopted, the operation difficulty of controlling the operation of each group of suckers is increased, and simultaneously, the vacuum degree of each group of suckers can only be detected respectively, but the comprehensive vacuum degree of the whole sucker cannot be detected, so that the real-time reading of the parcel grabbing state is realized.
Disclosure of Invention
In view of this, the air path communication control device and method, the control device and the readable storage medium provided in the embodiments of the present invention can provide an air path connection manner based on combined control of a plurality of groups of suckers, a plurality of solenoid valves and a plurality of confluence blocks for an end effector with a plurality of groups of suckers, reduce the number of vacuum detection sensors, reduce the operation difficulty in controlling the operation of each group of suckers, and also can detect the comprehensive vacuum degree of the overall sucker of the end effector, and the value of the vacuum degree is fed back to the robot control system, thereby realizing real-time reading of the parcel grasping state.
The technical scheme adopted by the invention for solving the technical problems is as follows:
according to an aspect of an embodiment of the present invention, there is provided a gas path communication control apparatus including: end effector, a plurality of solenoid valve, confluence piece, vacuum detection sensor, wherein:
the end effector comprises a plurality of groups of suckers and a vacuum generator arranged in the suckers, wherein each group of suckers is controlled by an electromagnetic valve and generates vacuum through the vacuum generator;
the electromagnetic valves are connected with the suction tools through first air pipes and second air pipes to control the air passage circulation of the suction tools;
the manifold block is connected with a plurality of electromagnetic valves and respectively provides an air inlet channel and a vacuum detection channel for each electromagnetic valve;
the vacuum detection sensor is connected with the confluence block, and detects the comprehensive vacuum degree of the integral suction tool of the end effector through the vacuum detection channel.
In one possible design, the end effector includes a plurality of sets of suction tools, each set of suction tools includes an air inlet, a vacuum port, an air outlet, and a suction cup, and the suction cup and the vacuum port are communicated with a vacuum cavity of the vacuum generator; the electromagnetic valve controls compressed air to enter the air inlet through the first air pipe, flow through the vacuum generator to generate vacuum, and is discharged from the air outlet to be used for the suction tool to generate adsorption force; the electromagnetic valve controls the second air pipe to be communicated with the vacuum detection channel, and the second air pipe is connected with the vacuum port and used for detecting the vacuum degree of the suction tool.
In one possible design, the solenoid valve comprises a first electrifying switch, a first interface, a second electrifying switch, a second interface and a pressure port; the first interface is connected to an air inlet of the end effector through the first air pipe, and the second interface is connected to a vacuum port of the end effector through the second air pipe; the electromagnetic valve is electrified through the first electrifying switch to control the compressed air to enter the air inlet and control the vacuum detection channel to be communicated with the vacuum port.
In one possible design, the confluence block comprises a main air inlet, a first row of pipelines, a second row of pipelines and a vacuum detection port, wherein the main air inlet is communicated with the pressure port of each solenoid valve through the first row of pipelines to respectively provide an air inlet channel for each solenoid valve; and the vacuum detection port is communicated with the second interface of each electromagnetic valve through the second row pipeline, and a vacuum detection channel is respectively provided for each electromagnetic valve.
In one possible design, when the solenoid valve is not energized, the second port communicates with the second exhaust conduit for venting the vacuum detection passage.
In one possible design, the vacuum detection sensor is connected to a vacuum detection port of the manifold block, and a vacuum detection channel formed by the vacuum detection port detects the comprehensive vacuum degree of the integral suction tool of the end effector.
In a possible design, the electromagnetic valve further controls compressed air to enter the vacuum port, flow through the vacuum cavity, and be discharged by the suction cup for back blowing by the suction tool.
In one possible design, the solenoid valve controls the compressed air to enter the second port and enter the vacuum port from the second air pipe by energizing the second energizing switch.
In one possible design, the solenoid valve comprises a center-bleed, three-position, five-way solenoid valve.
According to another aspect of the present invention, there is provided a gas path communication control method applied to a gas path communication control device, the gas path communication control device including: the method comprises the following steps of providing an end effector comprising a plurality of groups of suckers, a plurality of electromagnetic valves, a manifold block and a vacuum detection sensor, wherein the method comprises the following steps:
each group of suckers of the end effector is controlled by one solenoid valve, and vacuum is generated by a vacuum generator arranged in the suckers;
the electromagnetic valves are connected with the suction tools through the first air pipe and the second air pipe to control the air passage circulation of the suction tools;
the manifold block is connected with a plurality of electromagnetic valves and respectively provides an air inlet channel and a vacuum detection channel for each electromagnetic valve;
the vacuum detection sensor is connected with the confluence block, and detects the comprehensive vacuum degree of the integral suction tool of the end effector through the vacuum detection channel.
According to another aspect of the present invention, there is provided a control apparatus including: the gas path communication control method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, the steps of the gas path communication control method provided by the embodiment of the invention are realized.
According to another aspect of the present invention, there is provided a readable storage medium, on which a program of a gas circuit communication control method is stored, where the program of the gas circuit communication control method is executed by a processor to implement the steps of the gas circuit communication control method provided in the embodiments of the present invention.
Compared with the related art, the gas path communication control device and method, the control equipment and the readable storage medium provided by the embodiment of the invention comprise: end effector, a plurality of solenoid valve, confluence piece, vacuum detection sensor, wherein: the end effector comprises a plurality of groups of suckers and a vacuum generator arranged in the suckers, wherein each group of suckers is controlled by an electromagnetic valve and generates vacuum through the vacuum generator; the electromagnetic valves are connected with the suction tools through first air pipes and second air pipes to control the air passage circulation of the suction tools; the manifold block is connected with a plurality of electromagnetic valves and respectively provides an air inlet channel and a vacuum detection channel for each electromagnetic valve; the vacuum detection sensor is connected with the confluence block, and detects the comprehensive vacuum degree of the integral suction tool of the end effector through the vacuum detection channel. According to the embodiment of the invention, a gas circuit connection mode based on combined control of a plurality of groups of suction tools, a plurality of electromagnetic valves and a confluence block is provided for the end effector combined by a plurality of groups of suction tools, the number of vacuum detection sensors is reduced, the operation difficulty of controlling the operation of each group of suction tools is reduced, the comprehensive vacuum degree of the whole suction tool of the end effector can be detected, the value of the vacuum degree is fed back to a robot control system, and the real-time reading of the parcel grabbing state is realized.
Drawings
Fig. 1 is a schematic structural diagram of a gas circuit communication control device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an end effector in an air path communication control device according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a suction set in an end effector in an air passage communication control device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electromagnetic valve in the gas path communication control device according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a flow converging block in the air passage communication control device according to an embodiment of the present invention;
fig. 6 is a schematic view illustrating an electromagnetic valve and a manifold in the air path communication control device according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a gas circuit communication control method according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a control device according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In one embodiment, as shown in fig. 1 to 6, the present invention provides an air path communication control device, including: end effector 10, a plurality of solenoid valves 30, a manifold block 40, a vacuum detection sensor 50, wherein:
the end effector 10 includes a plurality of sets of suckers and a vacuum generator (not shown) installed inside the suckers, each set of suckers is controlled by an electromagnetic valve 30, and vacuum is generated by the vacuum generator;
the electromagnetic valves 30 are connected with the suction tools through first air pipes and second air pipes to control the air passage circulation of the suction tools;
the confluence block 40 is connected with a plurality of electromagnetic valves 30, and provides an air inlet channel and a vacuum detection channel for each electromagnetic valve 30;
the vacuum detecting sensor 50 is connected to the manifold block 40, and detects the overall vacuum degree of the overall sucker of the end effector 10 through the vacuum detecting passage.
In this embodiment, a plurality of groups of suction tools of the end effector are connected with a plurality of electromagnetic valves, each group of suction tools is connected with a control valve through a first air pipe and a second air pipe, a confluence block is connected with the plurality of electromagnetic valves, an air inlet channel and a vacuum detection channel are respectively provided for each electromagnetic valve, the vacuum detection sensor is connected with the confluence block, and the comprehensive vacuum degree of the whole suction tool of the end effector is detected through the vacuum detection channel. The gas circuit connection mode based on the combined control of the multiple groups of suction tools, the multiple electromagnetic valves and the confluence block is provided for the end effector combined by the multiple groups of suction tools, the number of vacuum detection sensors is reduced, the operation difficulty of controlling the operation of each group of suction tools is reduced, the comprehensive vacuum degree of the whole suction tool of the end effector can be detected, the value of the vacuum degree is fed back to the robot control system, and the real-time reading of the parcel grabbing state is realized.
In one embodiment, as shown in fig. 2 and 3, the end effector 10 includes a plurality of sets of suction cups 12, each set of suction cups 12 including an air inlet 121, a vacuum port 122, an air outlet 123, and a suction cup 124; the suction cup 124 and the vacuum port 122 communicate with the vacuum chamber of the vacuum generator. In fig. 2, the sets of suckers 12 are respectively indicated by four sets of suckers 12a, 12b, 12c, 12d, but the sets of suckers are not limited to four sets.
Each set of suction tools 12 is controlled by an electromagnetic valve 30, and the electromagnetic valve 30 controls compressed air to enter the air inlet 121 through a first air pipe, flow through a vacuum generator to generate vacuum, and be discharged from the air outlet 123 for the suction disc to generate suction force.
Alternatively, the air outlet port 123 of the end effector 12 may not be connected by an air tube.
In one embodiment, the end effector 10 further includes at least two connecting blocks 13, and the connecting blocks 13 are used for connecting and fixing a plurality of sets of suckers to form an integral sucker.
In one embodiment, the end effector 10 further includes a flange 15, the flange 15 being used to secure the two links 13 together and to connect the ends of the robot arms.
In one embodiment, as shown in fig. 4, the solenoid valve 30 includes a first power switch 31, a first port 32, a second power switch 33, a second port 34, a pressure port 35 (the pressure port is located on the bottom surface of the solenoid valve 30, the specific shape of the pressure port is not directly shown in fig. 4, and the schematic position of the pressure port is indicated by the reference numeral 35); the solenoid valve 30 is internally connected to the first port 32 to form a first passage, and is connected to the second port 34 to form a second passage. The first port 32 is connected to the air inlet 121 of the end effector 10 by a first air tube, and the second port 34 is connected to the vacuum port 122 of the end effector 10 by a second air tube. The electromagnetic valve 30 is powered by the first power switch 31 to control the compressed air to enter the air inlet 121 and control the vacuum detection channel to communicate with the vacuum port 122, and the electromagnetic valve 30 is powered by the second power switch 33 to control the compressed air to enter the second port 34 and enter the vacuum port 122 from the second air pipe.
The electromagnetic valve 30 further controls compressed air to enter the vacuum port 122, flow through the vacuum chamber, and be discharged by the suction cup 124 for back blowing by the suction tool.
Optionally, the solenoid valve 30 comprises a center-bleed, three-position, five-way solenoid valve.
In this embodiment, the first interface of the electromagnetic valve is connected to the air inlet of the end effector through a first air pipe, the second interface is connected to the vacuum port of the end effector through a second air pipe, the electromagnetic valve is connected to the air inlet through the first interface to control the opening and closing of the first air pipe of the set of suction tools, and the second interface is connected to the vacuum port to control the second air pipe of the set of suction tools. The gas circuit connection mode based on the combined control of the plurality of groups of suction tools, the plurality of electromagnetic valves and the confluence block is provided for the end effector combined by the plurality of groups of suction tools, the number of vacuum detection sensors is reduced, the operation difficulty of controlling the operation of each group of suction tools is reduced, and the comprehensive vacuum degree of the whole suction tool of the end effector can be detected.
In one embodiment, as shown in fig. 5, the confluence block 40 comprises a main intake hole 41, a first row of pipes 42, a second row of pipes 43, a vacuum detection port 44, wherein the first row of pipes 42 and the second row of pipes 43 are isolated from each other, and the inside of the first row of pipes 42 and the inside of the second row of pipes 43 are communicated; the main intake hole 41 is communicated with the pressure port 35 of each solenoid valve 30 through a first exhaust pipe 42 to provide an intake passage for each solenoid valve 30, respectively; the vacuum detection port 44 is communicated with the second channel of the second port 34 of each solenoid valve 30 through the second row pipe 43, and provides a vacuum detection channel for each solenoid valve 30. The electromagnetic valve controls the second air pipe to be communicated with the vacuum detection channel, and the second air pipe is connected with the vacuum port and used for detecting the vacuum degree of the suction tool. When the electromagnetic valve is not electrified, the second interface is communicated with the second row pipeline and used for discharging the vacuum detection channel.
In one embodiment, as shown in fig. 6, the vacuum detecting sensor 50 is connected to the vacuum detecting port 44 of the manifold block 40, and the vacuum detecting channel formed by the vacuum detecting port 44 detects the total vacuum degree of the whole suction device of the end effector 10.
In one embodiment, the manifold block 40 further includes plugs 45 for plugging unused inlet ports 41 and/or vacuum test ports 44.
In this embodiment, the first interface of the electromagnetic valve is connected to the air inlet of the end effector through a first air pipe, the second interface is connected to the vacuum port of the end effector through a second air pipe, the electromagnetic valve is connected to the air inlet through the first interface to control the opening and closing of the first air pipe of the set of suction tools, and the second interface is connected to the vacuum port to control the second air pipe of the set of suction tools. The main air inlet of the confluence block is communicated with the pressure port of each electromagnetic valve through a first row of pipelines to respectively provide an air inlet channel for each electromagnetic valve; the vacuum detection port is communicated with a second channel where a second interface of each electromagnetic valve is located through a second row pipeline, and a vacuum detection channel is respectively provided for each electromagnetic valve. The vacuum detection sensor is connected to the vacuum detection port of the confluence block, and the comprehensive vacuum degree of the integral suction tool of the end effector is detected through a vacuum detection channel formed by the vacuum detection port. The gas circuit connection mode based on the combined control of the multiple groups of suction tools, the multiple electromagnetic valves and the confluence block is provided for the end effector combined by the multiple groups of suction tools, the number of vacuum detection sensors is reduced, the operation difficulty of controlling the operation of each group of suction tools is reduced, the comprehensive vacuum degree of the whole suction tool of the end effector can be detected, the value of the vacuum degree is fed back to the robot control system, and the real-time reading of the parcel grabbing state is realized.
The invention provides a gas path communication control device, which is characterized in that when the device works, as shown in figure 1, a solid line in figure 1 is a gas pipe, an arrow where the gas pipe is located indicates the flowing direction of gas flow, wherein a P arrow is a pressure gas flow pipe and is used for providing pneumatic power, four upper side gas pipes are first gas pipes and are used for being connected with a gas inlet of a suction tool, four lower side gas pipes are second gas pipes and are used for being connected with a vacuum cavity of the suction tool, and the vacuum degree of the suction tool is further.
The gas circuit communication control device has the following specific working process:
when a first electrifying switch (positioned on the right side of the electromagnetic valve in fig. 1) of the electromagnetic valve is electrified, an electromagnetic valve coil connected with the first electrifying switch is electrified, and under the action of the electromagnetic valve coil, a pressure port of the electromagnetic valve is communicated with a first channel where a first interface is positioned, so that an air inlet of an end effector communicated with the first interface is communicated with the pressure port. Compressed air enters a first exhaust pipe of the confluence block from a main air inlet of the confluence block, passes through an air inlet channel formed by the first exhaust pipe and each electromagnetic valve pressure port and then enters a first air pipe communicated with the electromagnetic valve pressure port, the first air pipe is connected with an air inlet of the end effector and generates vacuum through the vacuum generator, so that a vacuum cavity is formed inside the suction tool, and gas generated by the vacuum generator is exhausted from the air outlet. At the moment, a vacuum cavity is formed inside the suction tool to produce suction force for adsorption, so that objects can be adsorbed. The vacuum detection sensor detects the comprehensive vacuum degree of the integral suction tool of the end effector through a vacuum detection channel formed by a vacuum detection port of the manifold block.
When a second switch (located on the left side of the solenoid valve in fig. 1) of the solenoid valve is energized, a solenoid valve coil connected with the second switch is energized, and under the action of the solenoid valve coil, a pressure port of the solenoid valve is communicated with a second channel where a second interface is located, so that a vacuum port of an end effector communicated with the second interface is communicated with the pressure port. Compressed air enters a second row of pipelines of the confluence block from a main air inlet of the confluence block, passes through an air inlet channel formed by a second row of pipelines and each electromagnetic valve pressure port, and then enters a second air pipe communicated with the electromagnetic valve pressure ports, so that vacuum generated by a vacuum generator is destroyed, a vacuum cavity formed inside the suction tool is destroyed, and air flow is blown out from the suction cup port. At the moment, the vacuum cavity formed inside the suction tool loses suction force due to being damaged, and the suction disc is blown back by gas, so that the adsorbed object is released.
In one embodiment, as shown in fig. 7, the present invention provides a gas path communication control method, applied to a gas path communication control device, including: the method comprises the following steps of providing an end effector comprising a plurality of groups of suckers, a plurality of electromagnetic valves, a manifold block and a vacuum detection sensor, wherein the method comprises the following steps:
step S1, each group of suction device of the end effector is controlled by a solenoid valve and generates vacuum through a vacuum generator arranged in the suction device;
step S2, connecting the electromagnetic valves with the suction devices through a first air pipe and a second air pipe to control the air passage circulation of the suction devices;
step S3, the confluence block is connected with a plurality of solenoid valves and respectively provides an air inlet channel and a vacuum detection channel for each solenoid valve;
and step S4, connecting the vacuum detection sensor with the confluence block, and detecting the comprehensive vacuum degree of the whole suction tool of the end effector through the vacuum detection channel.
In this embodiment, a plurality of groups of suction devices of the end effector are connected to a plurality of the electromagnetic valves, each group of suction devices is controlled by one electromagnetic valve to control the first air pipe switch of the group of suction devices and the second air pipe of the group of suction devices, the confluence block is connected to a plurality of the electromagnetic valves to respectively provide an air inlet channel and a vacuum detection channel for each electromagnetic valve, the vacuum detection sensor is connected to the confluence block, and the comprehensive vacuum degree of the whole suction device of the end effector is detected through the vacuum detection channel. The gas circuit connection mode based on the combined control of the multiple groups of suction tools, the multiple electromagnetic valves and the confluence block is provided for the end effector combined by the multiple groups of suction tools, the number of vacuum detection sensors is reduced, the operation difficulty of controlling the operation of each group of suction tools is reduced, the comprehensive vacuum degree of the whole suction tool of the end effector can be detected, the value of the vacuum degree is fed back to the robot control system, and the real-time reading of the parcel grabbing state is realized.
In one embodiment, the end effector includes a plurality of sets of suction cups, each set of suction cups including an air inlet, a vacuum port, an air outlet, and a suction cup. In step S1, the method includes: each group of suction tools is controlled by an electromagnetic valve, and the electromagnetic valve controls compressed air to enter the air inlet through the first air pipe, flow through the vacuum generator to generate vacuum and be discharged from the air outlet, so that the suction disc generates suction force.
In one embodiment, the solenoid valve comprises a first electrifying switch, a first interface, a second electrifying switch, a second interface and a pressure port. The solenoid valve is internally connected with the first interface to form a first channel, and is connected with the second interface to form a second channel. In step S2, the first port is connected to the air inlet of the end effector through a first air tube, the second port is connected to the vacuum port of the end effector through a second air tube, the solenoid valve controls the compressed air to enter the air inlet and controls the vacuum detection channel to communicate with the vacuum port through the first power switch, and the solenoid valve controls the compressed air to enter the second port and enter the vacuum port through the second air tube through the second power switch.
In this embodiment, the first interface of the electromagnetic valve is connected to the air inlet of the end effector through a first air pipe, the second interface is connected to the vacuum port of the end effector through a second air pipe, the electromagnetic valve is connected to the air inlet through the first interface to control the opening and closing of the first air pipe of the set of suction tools, and the second interface is connected to the vacuum port to control the second air pipe of the set of suction tools. The gas circuit connection mode based on the combined control of the plurality of groups of suction tools, the plurality of electromagnetic valves and the confluence block is provided for the end effector combined by the plurality of groups of suction tools, the number of vacuum detection sensors is reduced, the operation difficulty of controlling the operation of each group of suction tools is reduced, and the comprehensive vacuum degree of the whole suction tool of the end effector can be detected.
In one embodiment, the confluence block comprises a main air inlet hole, a first row of pipelines, a second row of pipelines and a vacuum detection port, wherein the first row of pipelines and the second row of pipelines are isolated from each other, and the interiors of the first row of pipelines and the second row of pipelines are communicated. In step S3, the method includes: the main air inlet is communicated with the pressure port of each electromagnetic valve through a first row of pipelines and provides an air inlet channel for each electromagnetic valve respectively; the vacuum detection port is communicated with a second channel where a second interface of each electromagnetic valve is located through a second row pipeline, and a vacuum detection channel is respectively provided for each electromagnetic valve. When the electromagnetic valve is not electrified, the second interface is communicated with the second row pipeline and used for discharging the vacuum detection channel.
In one embodiment, in step S4, the vacuum detecting sensor is connected to the vacuum detecting port of the manifold block, and the vacuum detecting channel formed by the vacuum detecting port detects the integrated vacuum degree of the whole suction device of the end effector.
In this embodiment, the first interface of the electromagnetic valve is connected to the air inlet of the end effector through a first air pipe, the second interface is connected to the vacuum port of the end effector through a second air pipe, the electromagnetic valve is connected to the air inlet through the first interface to control the opening and closing of the first air pipe of the set of suction tools, and the second interface is connected to the vacuum port to control the second air pipe of the set of suction tools. The main air inlet of the confluence block is communicated with the pressure port of each electromagnetic valve through a first row of pipelines to respectively provide an air inlet channel for each electromagnetic valve; the vacuum detection port is communicated with a second channel where a second interface of each electromagnetic valve is located through a second row pipeline, and a vacuum detection channel is respectively provided for each electromagnetic valve. The vacuum detection sensor is connected to the vacuum detection port of the confluence block, and the comprehensive vacuum degree of the integral suction tool of the end effector is detected through a vacuum detection channel formed by the vacuum detection port. The gas circuit connection mode based on the combined control of the multiple groups of suction tools, the multiple electromagnetic valves and the confluence block is provided for the end effector combined by the multiple groups of suction tools, the number of vacuum detection sensors is reduced, the operation difficulty of controlling the operation of each group of suction tools is reduced, the comprehensive vacuum degree of the whole suction tool of the end effector can be detected, the value of the vacuum degree is fed back to the robot control system, and the real-time reading of the parcel grabbing state is realized.
It should be noted that the method embodiment and the apparatus embodiment belong to the same concept, and specific implementation processes thereof are described in detail in the apparatus embodiment, and technical features in the apparatus embodiment are correspondingly applicable in the method embodiment, which is not described herein again.
The technical solution of the present invention is further described in detail with reference to the following specific examples.
In one embodiment, as shown in fig. 1 to 6, the present invention provides an air passage communication control device. In this embodiment, an example in which the end effector includes 4 sets of suction tools and 4 solenoid valves will be described.
An air passage communication control device, comprising: end effector 10, 4 solenoid valves 30, conflux block 40, vacuum detection sensor 50, wherein:
the end effector 10 includes 4 sets of suckers 12(12a, 12b, 12c, 12d), each set of suckers 12 including an air inlet 121, a vacuum port 122, an air outlet 123 and a suction cup 124; the suction cup 124 and the vacuum port 122 communicate with the vacuum chamber of the vacuum generator. Each set of suction tools 12 is controlled by an electromagnetic valve 30, the electromagnetic valve 30 controls compressed air to enter the air inlet 121 through a first air pipe, flow through a vacuum generator installed inside the suction tool to generate vacuum, and be discharged from the air outlet 123 for the suction disc to generate suction force. Wherein the air outlet 123 is not connected with an air pipe.
The electromagnetic valve 30 comprises a first electrifying switch 31, a first interface 32, a second electrifying switch 33, a second interface 34 and a pressure port 35; the solenoid valve 30 is internally connected to the first port 32 to form a first passage, and is connected to the second port 34 to form a second passage. The first port 32 is connected to the air inlet 121 of the end effector 10 through a first air pipe, the second port 34 is connected to the vacuum port 122 of the end effector 10 through a second air pipe, the solenoid valve 30 electrically controls the compressed air to enter the air inlet 121 and controls the vacuum detection channel to communicate with the vacuum port 122 through the first power-on switch 31, and the solenoid valve 30 electrically controls the compressed air to enter the second port 34 and enter the vacuum port 122 through the second air pipe through the second power-on switch 33.
The confluence block 40 comprises a main air inlet 41, a first row of pipelines 42, a second row of pipelines 43 and a vacuum detection port 44, wherein the first row of pipelines 42 and the second row of pipelines 43 are isolated from each other, and the interiors of the first row of pipelines 42 and the second row of pipelines 43 are communicated; the main air inlet hole 41 is connected and communicated with the pressure port 35 of each electromagnetic valve 30 through a first row of pipelines 42, and an air inlet channel is respectively provided for each electromagnetic valve 30; the vacuum detection port 44 is communicated with the second channel of the second port 34 of each solenoid valve 30 through the second row pipe 43, and provides a vacuum detection channel for each solenoid valve 30. When the electromagnetic valve is not electrified, the second interface is communicated with the second row pipeline and used for discharging the vacuum detection channel.
The vacuum detecting sensor 50 is connected to the vacuum detecting port 44 of the manifold block 40, and detects the overall vacuum degree of the overall sucker of the end effector 10 through a vacuum detecting passage formed by the vacuum detecting port 44.
The invention provides a gas path communication control device of a suction type end effector, which is characterized in that:
when a first electrifying switch of the electromagnetic valve is electrified, an electromagnetic valve coil connected with the first electrifying switch is electrified, and under the action of the electromagnetic valve coil, a pressure port of the electromagnetic valve is communicated with a first channel where a first interface is located, so that an air inlet of an end effector communicated with the first interface is communicated with the pressure port. Compressed air enters a first exhaust pipe of the confluence block from a main air inlet of the confluence block, passes through an air inlet channel formed by the first exhaust pipe and each electromagnetic valve pressure port and then enters a first air pipe communicated with the electromagnetic valve pressure port, the first air pipe is connected with an air inlet of the end effector and generates vacuum through the vacuum generator, so that a vacuum cavity is formed inside the suction tool, and gas generated by the vacuum generator is exhausted from the air outlet. At the moment, a vacuum cavity is formed inside the suction tool to produce suction force for adsorption, so that objects can be adsorbed. The vacuum detection sensor detects the comprehensive vacuum degree of the integral suction tool of the end effector through a vacuum detection channel formed by a vacuum detection port of the manifold block.
When a second switch of the electromagnetic valve is electrified, an electromagnetic valve coil connected with the second switch is electrified, and under the action of the electromagnetic valve coil, a pressure port of the electromagnetic valve is communicated with a second channel where a second interface is located, so that a vacuum port of an end effector communicated with the second interface is communicated with the pressure port. Compressed air enters a second row of pipelines of the confluence block from a main air inlet of the confluence block, passes through an air inlet channel formed by a second row of pipelines and each pressure port of the solenoid valve, and then enters a second air pipe communicated with the pressure ports of the solenoid valves, so that vacuum generated by the vacuum generator is destroyed, a vacuum cavity formed inside the suction tool is destroyed, and air flow is blown out from the suction tool port. At this time, the vacuum chamber formed inside the suction tool is broken to lose suction force, thereby releasing the sucked object.
The invention provides a gas path communication control device of a suction type end effector, wherein a first interface of an electromagnetic valve is connected to a gas inlet of the end effector through a first gas pipe, a second interface of the electromagnetic valve is connected to a vacuum port of the end effector through a second gas pipe, the electromagnetic valve is connected with the gas inlet through the first interface to control the switch of the first gas pipe of the group of suction tools, and the second interface of the electromagnetic valve is connected with the vacuum port to control the second gas pipe of the group of suction tools. The main air inlet of the confluence block is communicated with the pressure port of each electromagnetic valve through a first row of pipelines to respectively provide an air inlet channel for each electromagnetic valve; the vacuum detection port is communicated with the second interface of each electromagnetic valve through a second row pipeline, and a vacuum detection channel is respectively provided for each electromagnetic valve. The vacuum detection sensor is connected to the vacuum detection port of the confluence block, and the comprehensive vacuum degree of the integral suction tool of the end effector is detected through a vacuum detection channel formed by the vacuum detection port. The gas circuit connection mode based on the combination control of the 4 groups of suction tools, the 4 electromagnetic valves and the 4 confluence blocks is provided for the end effector with the combination of the 4 groups of suction tools, the number of vacuum detection sensors is reduced, the operation difficulty of controlling the operation of each group of suction tools is reduced, the comprehensive vacuum degree of the whole suction tool of the end effector can be detected, the value of the vacuum degree is fed back to a robot control system, and the real-time reading of the parcel grabbing state is realized.
In addition, an embodiment of the present invention further provides a control device, as shown in fig. 8, where the control device 900 includes: a memory 902, a processor 901 and one or more computer programs stored in the memory 902 and executable on the processor 901, wherein the memory 902 and the processor 901 are coupled together by a bus system 903, and the one or more computer programs are executed by the processor 901 to implement the following steps of a gas circuit communication control method provided by an embodiment of the present invention:
step S1, each group of suction device of the end effector is controlled by a solenoid valve and generates vacuum through a vacuum generator arranged in the suction device;
step S2, connecting the electromagnetic valves with the suction devices through a first air pipe and a second air pipe to control the air passage circulation of the suction devices;
step S3, the confluence block is connected with a plurality of solenoid valves and respectively provides an air inlet channel and a vacuum detection channel for each solenoid valve;
and step S4, connecting the vacuum detection sensor with the confluence block, and detecting the comprehensive vacuum degree of the whole suction tool of the end effector through the vacuum detection channel.
The end effector comprises a plurality of groups of suction tools, and each group of suction tools comprises an air inlet, a vacuum port, an air outlet and a sucker. In step S1, the method includes: each group of suction tools is controlled by an electromagnetic valve, and the electromagnetic valve controls compressed air to enter the air inlet through the first air pipe, flow through the vacuum generator to generate vacuum and be discharged from the air outlet, so that the suction disc generates suction force.
The electromagnetic valve comprises a first electrifying switch, a first interface, a second electrifying switch, a second interface and a pressure port. The solenoid valve is internally connected with the first interface to form a first channel, and is connected with the second interface to form a second channel. In step S2, the first port is connected to the air inlet of the end effector through a first air tube, the second port is connected to the vacuum port of the end effector through a second air tube, the solenoid valve controls the compressed air to enter the air inlet and controls the vacuum detection channel to communicate with the vacuum port through the first power switch, and the solenoid valve controls the compressed air to enter the second port and enter the vacuum port through the second air tube through the second power switch.
This collection flow block includes total inlet port, first row of pipeline, second row of pipeline, vacuum detection mouth, and wherein, this first row of pipeline and this second row of pipeline keep apart each other, and inside and the second row of pipeline of first row of pipeline are the intercommunication. In step S3, the method includes: the main air inlet is communicated with the pressure port of each electromagnetic valve through a first row of pipelines and provides an air inlet channel for each electromagnetic valve respectively; the vacuum detection port is communicated with a second channel where a second interface of each electromagnetic valve is located through a second row pipeline, and a vacuum detection channel is respectively provided for each electromagnetic valve. When the electromagnetic valve is not electrified, the second interface is communicated with the second row pipeline and used for discharging the vacuum detection channel.
In step S4, the vacuum detecting sensor is connected to the vacuum detecting port of the manifold block, and the vacuum detecting channel formed by the vacuum detecting port detects the total vacuum degree of the entire vacuum tool of the end effector.
The method disclosed in the above embodiments of the present invention may be applied to the processor 901, or implemented by the processor 901. The processor 901 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by an integrated logic circuit of hardware or an instruction in the form of software in the processor 901. The processor 901 may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 901 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 902, and the processor 901 reads the information in the memory 902 and performs the steps of the foregoing method in combination with the hardware thereof.
It is to be understood that the memory 902 of embodiments of the present invention may be either volatile memory or nonvolatile memory, and may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic Random Access Memory (FRAM), a magnetic Random Access Memory (Flash Memory) or other Memory technologies, a Compact disc Read-Only Memory (CD-ROM), a Digital Versatile Disc (DVD), or other optical disc storage, magnetic cartridge, magnetic tape, magnetic Disk storage, or other magnetic storage devices; volatile Memory can be Random Access Memory (RAM), and by way of exemplary and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Double Data Rate Synchronous Random Access Memory (ESDRAM), Synchronous Link Dynamic Random Access Memory (SLDRAM), Direct Memory bus Random Access Memory (DRRAM). The described memory for embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
It should be noted that the apparatus embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are described in detail in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the apparatus embodiment, which is not described herein again.
In addition, in an exemplary embodiment, an embodiment of the present invention further provides a computer storage medium, specifically a computer-readable storage medium, for example, a memory 902 storing a computer program, where the computer storage medium stores one or more programs of a gas circuit communication control method, and when the one or more programs of the gas circuit communication control method are executed by a processor 901, the following steps of the gas circuit communication control method provided by the embodiment of the present invention are implemented:
step S1, each group of suction device of the end effector is controlled by a solenoid valve and generates vacuum through a vacuum generator arranged in the suction device;
step S2, connecting the electromagnetic valves with the suction devices through a first air pipe and a second air pipe to control the air passage circulation of the suction devices;
step S3, the confluence block is connected with a plurality of solenoid valves and respectively provides an air inlet channel and a vacuum detection channel for each solenoid valve;
and step S4, connecting the vacuum detection sensor with the confluence block, and detecting the comprehensive vacuum degree of the whole suction tool of the end effector through the vacuum detection channel.
The end effector comprises a plurality of groups of suction tools, and each group of suction tools comprises an air inlet, a vacuum port, an air outlet and a sucker. In step S1, the method includes: each group of suction tools is controlled by an electromagnetic valve, and the electromagnetic valve controls compressed air to enter the air inlet through the first air pipe, flow through the vacuum generator to generate vacuum and be discharged from the air outlet, so that the suction disc generates suction force.
The electromagnetic valve comprises a first electrifying switch, a first interface, a second electrifying switch, a second interface and a pressure port. The solenoid valve is internally connected with the first interface to form a first channel, and is connected with the second interface to form a second channel. In step S2, the first port is connected to the air inlet of the end effector through a first air tube, the second port is connected to the vacuum port of the end effector through a second air tube, the solenoid valve controls the compressed air to enter the air inlet and controls the vacuum detection channel to communicate with the vacuum port through the first power switch, and the solenoid valve controls the compressed air to enter the second port and enter the vacuum port through the second air tube through the second power switch.
This collection flow block includes total inlet port, first row of pipeline, second row of pipeline, vacuum detection mouth, and wherein, this first row of pipeline and this second row of pipeline keep apart each other, and inside and the second row of pipeline of first row of pipeline are the intercommunication. In step S3, the method includes: the main air inlet is communicated with the pressure port of each electromagnetic valve through a first row of pipelines and provides an air inlet channel for each electromagnetic valve respectively; the vacuum detection port is communicated with a second channel where a second interface of each electromagnetic valve is located through a second row pipeline, and a vacuum detection channel is respectively provided for each electromagnetic valve. When the electromagnetic valve is not electrified, the second interface is communicated with the second row pipeline and used for discharging the vacuum detection channel.
In step S4, the vacuum detecting sensor is connected to the vacuum detecting port of the manifold block, and the vacuum detecting channel formed by the vacuum detecting port detects the total vacuum degree of the entire vacuum tool of the end effector.
It should be noted that, the program embodiment of the gas circuit connection control method on the computer-readable storage medium and the method embodiment belong to the same concept, and specific implementation processes thereof are described in detail in the method embodiment, and technical features in the method embodiment are correspondingly applicable to the embodiment of the computer-readable storage medium, which is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (11)
1. The utility model provides a gas circuit intercommunication controlling means which characterized in that includes: end effector, a plurality of solenoid valve, confluence piece, vacuum detection sensor, wherein:
the end effector comprises a plurality of groups of suckers and a vacuum generator arranged in the suckers, wherein each group of suckers is controlled by an electromagnetic valve and generates vacuum through the vacuum generator;
the electromagnetic valves are connected with the suction tools through first air pipes and second air pipes to control the air passage circulation of the suction tools;
the manifold block is connected with a plurality of electromagnetic valves and respectively provides an air inlet channel and a vacuum detection channel for each electromagnetic valve;
the vacuum detection sensor is connected with the confluence block and detects the comprehensive vacuum degree of the integral suction tool of the end effector through the vacuum detection channel,
each group of suction tools of the end effector comprises an air inlet, a vacuum port, an air outlet and a suction cup, and the suction cup and the vacuum port are communicated with a vacuum cavity of the vacuum generator; the electromagnetic valve controls compressed air to enter the air inlet through the first air pipe, flow through the vacuum generator to generate vacuum, and is discharged from the air outlet to be used for the suction tool to generate adsorption force; the electromagnetic valve controls the second air pipe to be communicated with the vacuum detection channel, and the second air pipe is connected with the vacuum port and used for detecting the vacuum degree of the suction tool.
2. The gas circuit communication control device according to claim 1, wherein the solenoid valve comprises a first energizing switch, a first port, a second energizing switch, a second port, and a pressure port; the first interface is connected to an air inlet of the end effector through the first air pipe, and the second interface is connected to a vacuum port of the end effector through the second air pipe; the electromagnetic valve is electrified through the first electrifying switch to control the compressed air to enter the air inlet and control the vacuum detection channel to be communicated with the vacuum port.
3. The air path communication control device according to claim 2, wherein the confluence block comprises a main air inlet, a first row of pipelines, a second row of pipelines and a vacuum detection port, wherein the main air inlet is connected and communicated with the pressure port of each solenoid valve through the first row of pipelines to respectively provide an air inlet channel for each solenoid valve; and the vacuum detection port is communicated with the second interface of each electromagnetic valve through the second row pipeline, and a vacuum detection channel is respectively provided for each electromagnetic valve.
4. The air path communication control device according to claim 3, wherein when the solenoid valve is not energized, the second port is communicated with the second row of pipes for discharging the vacuum detection passage.
5. The gas circuit communication control device according to claim 4, wherein the vacuum detection sensor is connected to a vacuum detection port of the manifold block, and a vacuum detection channel formed by the vacuum detection port detects a comprehensive vacuum degree of the overall sucker of the end effector.
6. The air passage communication control device according to claim 2, wherein the solenoid valve further controls compressed air to enter the vacuum port, flow through the vacuum chamber, and be discharged by the suction cup for back blowing by the suction tool.
7. The air passage communication control device according to claim 6, wherein the solenoid valve is energized through the second energizing switch to control the compressed air to enter the second port and enter the vacuum port through the second air pipe.
8. The air path communication control device according to any one of claims 1 to 7, wherein the solenoid valve comprises a center-bleed three-position five-way solenoid valve.
9. A gas circuit communication control method applied to a gas circuit communication control device according to any one of claims 1 to 8, the gas circuit communication control device comprising: the method comprises the following steps of providing an end effector comprising a plurality of groups of suckers, a plurality of electromagnetic valves, a manifold block and a vacuum detection sensor, wherein the method comprises the following steps:
each group of suckers of the end effector is controlled by one solenoid valve, and vacuum is generated by a vacuum generator arranged in the suckers;
the electromagnetic valves are connected with the suction tools through the first air pipe and the second air pipe to control the air passage circulation of the suction tools;
the manifold block is connected with a plurality of electromagnetic valves and respectively provides an air inlet channel and a vacuum detection channel for each electromagnetic valve;
the vacuum detection sensor is connected with the confluence block and detects the comprehensive vacuum degree of the integral suction tool of the end effector through the vacuum detection channel;
each group of suction tools of the end effector comprises an air inlet, a vacuum port, an air outlet and a suction cup, and the suction cup and the vacuum port are communicated with a vacuum cavity of the vacuum generator; the electromagnetic valve controls compressed air to enter the air inlet through the first air pipe, flow through the vacuum generator to generate vacuum, and is discharged from the air outlet to be used for the suction tool to generate adsorption force; the electromagnetic valve controls the second air pipe to be communicated with the vacuum detection channel, and the second air pipe is connected with the vacuum port and used for detecting the vacuum degree of the suction tool.
10. A control apparatus, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of a gas circuit communication control method as claimed in claim 9.
11. A readable storage medium, characterized in that the readable storage medium has stored thereon a program of a gas circuit communication control method, which when executed by a processor implements the steps of a gas circuit communication control method according to claim 9.
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| CN110980279B (en) * | 2019-11-27 | 2021-10-19 | 深圳蓝胖子机器智能有限公司 | Gas path control system and method, robot, control device and readable storage medium |
| CN114905236A (en) * | 2021-02-08 | 2022-08-16 | 广东博智林机器人有限公司 | Pipeline installation method and device and pipeline installation robot |
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| US4499752A (en) * | 1983-06-22 | 1985-02-19 | Varian Associates, Inc. | Counterflow leak detector with cold trap |
| JPS60119045U (en) * | 1984-01-19 | 1985-08-12 | 凸版印刷株式会社 | Automatic conveyor for thin plates |
| KR101004600B1 (en) * | 2010-06-03 | 2010-12-28 | 주식회사 삼인이엔지 | Moving apparatus using vacuum absorption |
| CN102751224B (en) * | 2011-04-22 | 2015-04-15 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Sucker, sucker system and transmission system with sucker |
| US20130241225A1 (en) * | 2012-03-15 | 2013-09-19 | Shenzhen China Star Optoelectronics Technology Co. Ltd. | Vacuum pickup device and method for pickup |
| CN103787102B (en) * | 2014-02-27 | 2016-08-17 | 张家港市华机环保新能源科技有限公司 | Plate vacuum suction device and method for hoisting plate by using same |
| CN204339375U (en) * | 2014-12-02 | 2015-05-20 | 竹昌精密冲压件(上海)有限公司 | A kind of Digit Control Machine Tool inhales vacuum plant automatically |
| CN107053233A (en) * | 2017-05-26 | 2017-08-18 | 湖南锐科机器人技术有限公司 | A kind of stamp swinging mechanical hand |
| CN207470595U (en) * | 2017-06-20 | 2018-06-08 | 深圳市九天中创自动化设备有限公司 | A kind of vacuum cup control device and system |
| CN209273471U (en) * | 2018-11-08 | 2019-08-20 | 深圳蓝胖子机器人有限公司 | A kind of end effector |
| CN209175767U (en) * | 2018-11-13 | 2019-07-30 | 深圳蓝胖子机器人有限公司 | Combined sucking disc device, end effector and robot |
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