CN111515986B

CN111515986B - Adhesion and desorption mechanism and method for transferring target piece by adhesion and desorption mechanism

Info

Publication number: CN111515986B
Application number: CN202010359041.5A
Authority: CN
Inventors: 田煜; 李绿洲; 李小松; 李新新; 孟永钢
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2020-04-29
Filing date: 2020-04-29
Publication date: 2021-10-01
Anticipated expiration: 2040-04-29
Also published as: CN111515986A

Abstract

The invention discloses an adhesion and desorption mechanism and a method for transferring a target part thereof, wherein the adhesion and desorption mechanism comprises: base, location desorption subassembly and the subassembly that adheres. The positioning desorption assembly is connected to the base and comprises at least two positioning blocks, each positioning block is provided with a positioning surface suitable for being pressed on the target part, and a moving gap is formed between every two adjacent positioning blocks. The adhesion assembly comprises an adhesion rod and an adhesion piece, the adhesion piece is suitable for adhering the target piece, one end of the adhesion rod is connected with an adhesion piece, one end of the adhesion rod with the adhesion piece extends into the moving gap, the adhesion rod can move relative to the positioning block, so that the adhesion piece extends to the target piece from the moving gap to adhere, or the adhesion piece retracts to the moving gap to detach. According to the adhesion and desorption mechanism provided by the embodiment of the invention, the target piece and the adhesion part can form stable adhesion in the adhesion process, the target piece is not easy to deform in the adhesion and desorption processes, and the target piece is not easy to drop in the transfer process. The pick-and-place is quick and the position is accurate.

Description

Adhesion and desorption mechanism and method for transferring target piece by adhesion and desorption mechanism

Technical Field

The invention belongs to the technical field of mechanical transfer parts, and particularly relates to an adhesion and desorption mechanism and a method for transferring a target part by using the same.

Background

With the rapid development of mechanical automation, various manufacturing industries have developed corresponding automated production lines. The required pick-up and transfer technology is different for different production raw materials and parts. The manipulator is arranged to controllably and stably grab target pieces in different shapes, and is an important foundation and key guarantee for realizing precision manufacturing, mechanical operation, industrial production and logistics sorting.

The traditional manipulator grabbing technology can effectively realize grabbing and transferring of most objects. The traditional manipulator grabbing technology is mainly based on friction action or coating action, and stable grabbing of an object is achieved through a force sealing mode and a shape sealing mode. The two gripping modes require that the size of the object to be gripped is smaller than the rated gripping range of the manipulator or that a plurality of stable bearing points are arranged. The manipulator applies preloading in modes of wrapping, butt-clamping and the like, and then grabbing is achieved by using friction force.

However, the shapes, weights and sizes of target parts to be grabbed in industrial production are different, and when large-area materials, thin-layer materials, flexible materials and other target parts which are not easy to wrap or clamp are required to be transferred, the manipulator often cannot grab directly, otherwise the target parts are deformed or damaged, and sometimes the target parts fall off easily in the transferring process, so that the target parts are inconvenient to take and place and difficult to transfer.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an adhesion and desorption mechanism which can quickly position, adhere and desorb a target piece, is particularly suitable for transferring the target piece such as a large-area large-curvature sheet, cloth, a thin film and the like, and solves the problems that the target piece is difficult to take and place and is easy to deform in the prior art.

The invention also aims to provide a method for transferring the target part by the adhesion and desorption mechanism.

According to an embodiment of the present invention, an adhering and detaching mechanism includes: a base; the positioning and desorption assembly is connected to the base and comprises at least two positioning blocks, each positioning block is provided with a positioning surface suitable for being pressed on a target part, and a moving gap is formed between every two adjacent positioning blocks; the adhesion assembly comprises an adhesion rod and an adhesion piece, the adhesion piece is suitable for adhering the target piece, one end of the adhesion rod is connected with the adhesion piece, one end of the adhesion rod, provided with the adhesion piece, extends into the moving gap, and the adhesion rod can move relative to the positioning block so that the adhesion piece extends from the moving gap to the target piece to adhere, or the adhesion piece retracts into the moving gap to detach.

According to the adhesion and desorption mechanism provided by the embodiment of the invention, the positioning block of the positioning and desorption assembly can be contacted with the target piece by moving the base to the target piece, specifically, the positioning surface is pressed on the target piece, so that the target piece is not moved relative to the base, the target piece is positioned, the adhesion rod drives the adhesion part to pass through the moving gap and move towards the target piece, the adhesion part is contacted with the target piece and adheres to the target piece, the adhesion rod can be continuously pressed downwards in the adhesion process to enable the target piece and the adhesion part to form stable adhesion, the target piece is not easy to deform in the adhesion process, and the target piece is not easy to drop in the transfer process. After the target piece is transferred, the positioning surface continues to be pressed on the target piece, the adhesion rod drives the adhesion piece to retract into the moving gap, so that the adhesion piece and the target piece are desorbed, the target piece is not prone to deformation in the desorption process, the target piece is located at the preset position all the time, and the target piece is quick to take and place and accurate in position. The sticky accessory can be correspondingly replaced according to the difference of the picked materials, and the effect of excellent adsorption of the target piece is achieved, so that the stability of the target piece during transfer is guaranteed.

According to the adhesion and desorption mechanism provided by the embodiment of the invention, the positioning and desorption assembly comprises three positioning blocks, the positioning surface of each positioning block is located on the same plane, or the tangent plane of the positioning surface of each positioning block, which is in contact with the target piece, is located on the same plane.

According to the adhesion and desorption mechanism provided by the embodiment of the invention, the base comprises a bottom plate, the bottom plate and the positioning block are arranged at intervals, the bottom plate is provided with a guide through groove facing the moving gap, and the adhesion rod extends into the moving gap from the guide through groove.

According to a further embodiment of the present invention, the adhering and detaching mechanism further comprises: the limiting assembly is connected between the bottom plate and the positioning block so as to limit the farthest distance between the bottom plate and the positioning block; the first guide piece comprises a first guide hole, a reset piece and a guide rod, the reset piece is sleeved on the guide rod to enable the positioning block to move towards the direction far away from the bottom plate, one of the first guide hole and the guide rod is arranged on the bottom plate, and the other of the first guide hole and the guide rod is arranged on the positioning block.

Optionally, the limiting assembly comprises a limiting column, a limiting hole and a terminal limiting part, the bottom plate extends downwards towards one side of the positioning block to form the limiting column, each positioning block is provided with the limiting hole which penetrates through along the thickness direction, one end of the limiting column penetrates into the limiting hole, and the end part of the limiting column is provided with the terminal limiting part, so that the part of the limiting column is kept in the limiting hole.

Advantageously, the limiting hole comprises a first cylindrical limiting hole and a second cylindrical limiting hole which are communicated, the diameter of the first cylindrical limiting hole is smaller than that of the second cylindrical limiting hole, the limiting column is in sliding fit with the first cylindrical limiting hole, and the end limiting part is arranged in the second cylindrical limiting hole.

Optionally, the limiting assembly further comprises: the limiting post is provided with a through hole along the axial direction, two ends of the limiting rod are respectively extended out of the through hole, and two ends of the limiting rod are respectively connected with the head end limiting part and the tail end limiting part.

According to a further embodiment of the present invention, the adhering and detaching mechanism further comprises: the driving mechanism is connected to the base, the output end of the driving mechanism is connected with one end, away from the adhesive part, of the adhesive rod, and the driving mechanism drives the adhesive assembly to move up and down relative to the positioning block; the width of the adhesive is smaller than the width of the moving gap.

According to a further embodiment of the present invention, the adhering and detaching mechanism further comprises: the base further comprises a side plate and a top plate, the bottom plate and the top plate are horizontally arranged, the side plate is vertically arranged and connected between the top plate and the bottom plate, the slide rail is arranged along the height direction of the side plate, the adhesion rod is connected with the slide block, the top plate is provided with the driving mechanism, and the driving mechanism is a driving motor or an electric cylinder.

According to the adhesion and desorption mechanism provided by the embodiment of the invention, the adhesion assembly further comprises a buffer connecting piece, the buffer connecting piece is arranged at one end of the adhesion rod, and one or more adhesion parts are arranged on the buffer connecting piece; the buffer connecting piece is made of hard sponge or rubber pads.

According to the method for transferring the target part by the adhesion and desorption mechanism, the adhesion and desorption mechanism is the adhesion and desorption mechanism, and the method comprises the following steps: s1, positioning contact: the positioning block is in contact with the target piece and presses the target piece tightly, the positioning block is pressed on the target piece, the adhesive part is positioned in the moving gap, and the adhesion surface of the adhesive part is higher than the positioning surface; s2, adhering: the adhesive rod drives the adhesive part to extend to the target part from the moving gap, and the adhesive part is adhered to the target part; s3, desorption: after the adhesive part drives the target part to be transferred to the right position, the positioning block is in contact with the target part and compresses the target part again, and the adhesive rod drives the adhesive part to retract to the moving gap and separate from the target part.

According to the method for transferring the target piece by the adhesion and desorption mechanism, the positioning blocks can position and press the target piece in the adhesion process and the desorption process, the target piece is not easy to deviate from a specific position in the adhesion and desorption processes, the target piece is not easy to deform, and the target piece is not easy to separate from an adhesion part in the adhesion and desorption process. The adhesion and desorption are rapid.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic perspective view of an adhering and detaching mechanism according to an embodiment of the present invention.

Fig. 2 is a front view (with a partial sectional view) of a sticking and detaching mechanism according to an embodiment of the present invention.

Fig. 3 is a side view of the adhesion and detachment mechanism according to an embodiment of the present invention.

Fig. 4 is a rear view of the adhesion/detachment mechanism according to an embodiment of the present invention.

Fig. 5 is a longitudinal sectional view of a first longitudinal surface of the adhesion/detachment mechanism according to an embodiment of the present invention.

Fig. 6 is a longitudinal sectional view of a second longitudinal surface of the adhesion/detachment mechanism according to an embodiment of the present invention.

Fig. 7 is a schematic structural view illustrating that the adhering and detaching mechanism does not contact with the target member according to an embodiment of the present invention.

Fig. 8 is a schematic structural view of the adhering and detaching mechanism adhering to the target according to an embodiment of the present invention.

Fig. 9 is a schematic structural view of the adhesion/detachment mechanism according to an embodiment of the present invention, which is transferred to the target table after adhering the target.

Fig. 10 is a schematic structural view of the adhesion/detachment mechanism according to an embodiment of the present invention, when the target member is detached from the target stage.

Reference numerals:

an adhering and desorbing mechanism 100,

A base 1,

A bottom plate 11, a guide through groove 111, a side plate 12, a top plate 13,

A positioning desorption component 2, a positioning block 21, a positioning surface 211, a moving gap 212,

An adhesive component 3,

An adhesive rod 31, an adhesive cross rod 311, an adhesive guide rod 312, an adhesive connecting rod 313,

An adhesive part 32,

A buffer connecting piece 33,

A limiting component 4,

A limit post 41,

A limit hole 42, a first cylindrical limit hole 421, a second cylindrical limit hole 422,

A tail end limiting piece 43,

A head end limiting piece 44,

A limit rod 45,

A first guide 5, a first guide hole 51, a reset member 52, a guide rod 53, a first guide hole, a second guide hole, a third guide hole, a fourth guide hole, a fifth guide hole, a sixth guide hole, a fourth guide hole, a fifth guide hole, a sixth guide hole, a fifth guide hole, a fourth guide hole, a fifth guide hole, a sixth guide hole, a fifth guide hole, a sixth guide hole, a fourth guide hole, a fifth guide hole, a sixth guide hole, a fourth guide hole, a sixth guide, a fourth guide hole, a fifth guide, a fourth guide hole, a fifth guide hole, a fourth guide hole, a fifth guide, a fourth guide hole, a fifth guide hole, a fifth guide, a fourth guide hole, a fifth guide hole, a fifth guide, a fifth,

A second guide member 6, a slide rail 61, a slider 62,

A drive mechanism 7, a motor output shaft 71, a drive motor 72,

Target 200, placing table 300, target table 400.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus should not be construed as limiting the present invention.

The following describes the adhesion/desorption mechanism 100 according to the embodiment of the present invention with reference to the drawings.

An adhering and detaching mechanism 100 according to an embodiment of the present invention, as shown in fig. 1, includes: base 1, location desorption subassembly 2 and adhere subassembly 3.

As shown in fig. 1 and 2, the positioning and desorbing assembly 2 is connected to the base 1, the positioning and desorbing assembly 2 includes at least two positioning blocks 21, each positioning block 21 has a positioning surface 211 adapted to press on the target 200, and a moving gap 212 is formed between two adjacent positioning blocks 21. It should be noted that the positioning surface 211 may form surface contact with the target 200, or may form point contact or line contact with the target 200 (see fig. 7-10 for schematic structures of the target 200).

It should be noted that the target 200 in the present application may be a large-area large-curvature sheet, cloth, film, etc., and any light flexible thin material is suitable for the target 200 in the present application.

As shown in fig. 2, the adhering assembly 3 includes an adhering rod 31 and an adhering member 32, and the adhering member 32 is adapted to adhere to the target member 200. It should be noted that the adhesive member 32 of the present application may be an adhesive foot unit, and the surface of the adhesive foot may be an appropriate surface of the adhesive layer for the surface of the target member 200 made of different materials. For wallpaper, for example, a weakly adhesive tape or a more strongly pressure sensitive adhesive may be used. For the cloth, a bionic surface with adhesiveness, such as a thin disc-shaped array structure similar to gecko toes, and other adhering units with high adhesiveness can be adopted.

The adhesive piece 32 is connected to one end of the adhesive rod 31, one end of the adhesive rod 31 with the adhesive piece 32 extends into the moving gap 212, and the adhesive rod 31 can move relative to the positioning block 21 to enable the adhesive piece 32 to extend from the moving gap 212 to the target piece 200 for adhesion or enable the adhesive piece 32 to retract into the moving gap 212 for detachment.

As can be seen from the above structure, in the adhesion and detachment mechanism 100 according to the embodiment of the present invention, the base 1 can be moved toward the target 200 by a human hand or an external mechanical arm, and at the same time, the positioning block 21 of the positioning and detachment assembly 2 contacts the target 200 first, specifically, the positioning surface 211 presses on the target 200, so that the target 200 is not moved relative to the base 1 of the present application, and the target 200 is positioned.

The pressing and positioning effects of the positioning blocks 21 on the target piece 200 are maintained, the adhesion rod 31 is moved to drive the adhesion piece 32 to pass through the moving gap 212 and move towards the target piece 200, so that the adhesion piece 32 contacts with the target piece 200 and adheres to the target piece 200, the adhesion rod 31 can be continuously pressed downwards in the adhesion process to enable the target piece 200 and the adhesion piece 32 to form stable adhesion, the target piece 200 is not easy to deform in the adhesion process, the surface of the target piece 200 corresponding to the moving gap 212 between the two positioning blocks 21 is smooth, the adhesion piece 32 can form a large contact surface with the target piece 200, the adhesion piece 32 and the target piece 200 form stable connection, the target piece 200 is not easy to fall off in the transfer process, and therefore the transfer of the target piece 200 is stable and efficient.

After the target 200 is transferred, as shown in fig. 10, the positioning surface 211 continuously presses on the target 200 and positions the target 200 relative to the target table 400, the adhesive rod 31 drives the adhesive 32 to retract into the moving gap 212, so that the adhesive 32 is detached from the target 200, during the detachment process, since the positioning block 21 always presses on the target 200, the target 200 is not easily deformed or wrinkled due to the detachment from the adhesive 32, and the target 200 is always located at a preset position on the target table 400, the target 200 is quickly taken and placed, and the position for placing the target 200 is accurate.

The adhesion piece 32 can be replaced correspondingly according to different picked materials, the excellent effect of adsorbing the target piece 200 is achieved, and the stability of the target piece 200 in transfer is guaranteed.

It can be understood that the adhesion and desorption mechanism based on interfacial adhesion and desorption can effectively realize the picking, transferring and placing of the target piece, is particularly suitable for light flexible thin-layer materials which are difficult to transfer, and provides a new solution for the transfer of the layered target piece 200 in industrial production. The invention can realize high-speed, stable and repeated grabbing and operation of the light flexible thin-layer material, can realize uniform bearing and stripping of the adhered surface, expands the field and range of the transferable target part 200 and has excellent market application potential. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In some embodiments of the present invention, as shown in fig. 4, the positioning and detaching assembly 2 includes three positioning blocks 21, and the positioning surface 211 of each positioning block 21 is located on the same plane. In these examples, the positioning surface 211 of the positioning block 21 is formed as a flat surface, so that the area of the target 200 corresponding to the moving gap 212 is also formed as a flat surface, and when the adhesive member 32 moves toward the target 200, the surface of the adhesive member 32 forms a better contact angle with the surface of the target 200, and the adhesion contact surface is increased.

In other examples, the tangent plane of the positioning surface 211 of each positioning block 21 contacting the target member 200 is located on the same plane. In these examples, the positioning block 21 may have a curved surface, and a surface of the positioning block 21 contacting the target member 200 forms a curved surface, which forms the positioning surface 211. The curved surface may be a cylindrical curved surface, and the positioning surface 211 formed by the cylindrical curved surface is in line contact with the target piece 200; the curved surface may be a spherical surface, and the spherical surface makes point contact with the target member 200.

In the above example, regardless of whether the positioning surface 211 is a flat surface or a curved surface, the target object 200 on the placing table 300 or the target object 200 on the object table 400 can be stably positioned and pressed, so as to facilitate the adhesion of the adhered piece 32 to the target object 200 during the adhesion process or the desorption of the adhered piece 32 to the target object 200 during the desorption process.

Advantageously, the positioning surface 211 is flat and distinct from the surface of the adhesive member 32 to prevent adhesion of the positioning surface 211 to the object member 200.

Advantageously, as shown in fig. 4, the positioning surface 211 of each positioning block 211 is a plane, and the surfaces of each positioning surface 211 coincide. Thereby, the positioning block 211 is conveniently pressed on the light flexible thin material which is horizontally arranged.

Of course, the positioning blocks 211 in the present application are not limited to the three positioning blocks, and may also be in other numbers, which are not described herein again.

In some embodiments of the present invention, as shown in fig. 1, the base 1 includes a bottom plate 11, the bottom plate 11 is spaced apart from the positioning block 21, and a distance between the bottom plate 11 and the positioning block 21 is adjustable. Through setting up bottom plate 11, conveniently set up polylith locating piece 21 on base 1.

Optionally, through bottom plate 11 and the locating piece 21 that the interval set up about setting up in this application to make the adhesion pole 31 along upper and lower direction reciprocating motion in order forming with target 200 adhere with the desorption, linear motion will promote the speed of adhering with the desorption, is convenient for adhere the pole 31 and drive the motion of adhesion spare 32.

As shown in fig. 1, the bottom plate 11 is provided with a guide groove 111 facing the moving gap 212, and the adhesion rod 31 projects from the guide groove 111 into the moving gap 212. The adhesive rod 31 can move to the position of the target member 200 through the guide groove 111 and the moving gap 212 in sequence, and both the guide groove 111 and the moving gap 212 provide rough guidance for the movement of the adhesive member 32, so as to prevent the adhesive member 32 from being largely tilted during the movement to the target member 200.

Optionally, the width of the adhesive member 32 is smaller than the width of the moving gap 212, so that the adhesive member 32 does not touch the positioning block 21 during the up-and-down movement of the adhesive member 32, and the smoothness of the up-and-down movement of the adhesive member 32 is ensured.

Advantageously, the gap between the adhering part 32 and the positioning block 31 is a minimum mechanical error distance, that is, when the adhering and detaching mechanism 100 is formed, the minimum precision of mechanical processing can be achieved, and the minimum gap of the normal reciprocating motion of the adhering part 32 in the moving gap 212 can be ensured, when the gap is adopted, on one hand, the adhering part 32 can be ensured to move up and down smoothly without clamping stagnation, and on the other hand, when the positioning block 21 is positioned on the target part 200, the distance between the positioning blocks 21 is not too large to cause the target part 200 to bulge towards the moving gap 212, so that the contact angle between the adhering part 32 and the target part 200 is ensured to be appropriate, the adhering effect is ensured, the peeling angle can be increased, and the rapid detaching and releasing of the target part 200 are achieved.

In some embodiments of the present invention, as shown in fig. 2 and 3, the adhering and detaching mechanism 100 further includes: a spacing assembly 4 and a first guide 5, the spacing assembly 4 is connected between the base plate 11 and the positioning block 21 to limit the maximum distance between the base plate 11 and the positioning block 21.

As shown in fig. 5, the first guide 5 includes a first guide hole 51, a reset member 52, and a guide rod 53, the reset member 52 is fitted over the guide rod 53 to move the positioning block 21 in a direction away from the base plate 11, one of the first guide hole 51 and the guide rod 53 is provided on the base plate 11, and the other of the first guide hole 51 and the guide rod 53 is provided on the positioning block 21.

Alternatively, the reset element 52 is a spring element, the bottom of which contacts the top of the positioning block 21 and the top of which contacts the base plate 11.

Therefore, in these examples, the distance between the base plate 11 and the positioning block 21 is adjustable, specifically, as shown in fig. 7, when the adhesion and detachment mechanism 100 is in a free state (not contacting the target member 200), the reset member 52 drives the positioning block 21 to move away from the base plate 11, and moves to the farthest distance between the base plate 11 and the positioning block 21 limited by the limiting assembly 4, and at the same time, the adhesion member 32 is retracted in the moving gap 212.

As shown in fig. 8, when the adhering and detaching mechanism 100 is to take and place the target object 200 on the placing table 300, the reset piece 52 is compressed, the distance between the positioning block 21 and the bottom plate 11 is reduced, and the positioning surface 211 is pressed against the target object 200, so that the target object 200 is kept stationary with respect to the placing table 300, and at this time, when the adhering rod 31 drives the adhering piece 32 to move downward and contact the target object 200, the contact angle is appropriate, the contact area is large, and the position of the target object 200 with respect to the placing table 300 is not easily changed. The target member 200 adhered to the adhering member 32 at this time can be transferred to the target table in fig. 9 by transferring the adhering and detaching mechanism 100.

As shown in fig. 10, when the adhering and detaching mechanism 100 is to place the target object 200 on the target platform 400, the distance between the positioning block 21 and the bottom plate 11 is still kept at a minimum, and the positioning block 21 is continuously positioned and pressed on the target object 200, at this time, the adhering rod 31 drives the adhering part 32 to move upwards and retreat into the moving gap 212, and in the process of peeling the adhering part 32 and the target object 200, because the positioning block 21 is always pressed on the target object 200, the target object 200 is not changed in position relative to the target platform 400, and is not easily deformed, so that the target object 200 is placed at a preset position.

Alternatively, as shown in fig. 3 and 5, the limiting component 4 includes a limiting post 41, a limiting hole 42, and a terminal limiting member 43, one side of the bottom plate 11 facing the positioning block 21 extends downward to form the limiting post 41, each positioning block 21 is provided with a limiting hole 42 penetrating along the thickness direction, one end of the limiting post 41 penetrates into the limiting hole 42, and the end of the limiting post 41 is provided with the terminal limiting member 43, so that part of the limiting post 41 is held in the limiting hole 42. By adopting the end limiting piece 43, the limiting column 41 is kept in the positioning block 21, and the connection between the base 1 and the positioning desorption assembly 2 is effectively ensured.

Advantageously, as shown in fig. 5, the limiting hole 42 includes a first cylindrical limiting hole 421 and a second cylindrical limiting hole 422 communicating with each other, the diameter of the first cylindrical limiting hole 421 is smaller than that of the second cylindrical limiting hole 422, the limiting column 41 is slidably fitted in the first cylindrical limiting hole 421, and the end limiting member 43 is disposed in the second cylindrical limiting hole 422. Through setting up the spacing hole of two cylindricality that the diameter is different, will not only make and form sliding fit between spacing post 41 and the spacing hole 421 of first cylindricality, provide the direction for the removal of locating piece 21 for bottom plate 11, also make terminal locating part 43 unable follow the spacing hole 421 of first cylindricality deviate from to remain throughout in the spacing hole 422 of second cylindricality, guarantee the relation of connection between bottom plate 11 and the locating piece 21.

Alternatively, the end stop 43 may be a spacer or an end plate.

Optionally, as shown in fig. 5, the position limiting assembly 4 further includes: the limiting rod 45 and the head end limiting part 44, the limiting column 41 is provided with a through via hole along the axial direction, two ends of the limiting rod 45 respectively extend out of the via hole, and two ends of the limiting rod 45 are respectively connected with the head end limiting part 44 and the tail end limiting part 43. Through setting up this gag lever post 45 and head end locating part 44, will make the connection between terminal locating part 43 and the spacing post 41 more reliable, head end locating part 44 is dismantled to the accessible during assembly, and insert gag lever post 45 and terminal locating part 43 simultaneously in spacing post 41, the assembly of terminal locating part 43 then can be accomplished to reinstallate head end locating part 44, and convenient assembling has simplified the manufacturing process when spacing post 41 and terminal locating part 43 integrated into one piece, has promoted the stability after connecting.

Optionally, the head end limiting member 44 is a bolt or an end plate, and the limiting rod 45 is a screw rod.

In the present application, the base 1 applies a force by an external mechanical arm or a human hand to change a distance between the base 1 and the positioning block 21, or the entire adhesion and detachment structure 100 is transferred to a corresponding position by moving the base 1, and the external mechanical arm is controlled to conveniently adjust a posture of the positioning block 21 and to enable the positioning block 21 to approach the target 200 along a normal direction of the target 200.

In some embodiments of the present invention, as shown in fig. 3 and 4, the adhering and detaching mechanism 100 further includes: the driving mechanism 7 is connected to the base 1, the output end of the driving mechanism 7 is connected to one end, away from the adhesive part 32, of the adhesive rod 31, and the driving mechanism 7 drives the adhesive component 3 to move up and down relative to the positioning block 21. The driving mechanism 7 provides an independent driving force for the movement of the adhesion rod 31, so that the adhesion rod 31 and the adhesion piece 32 can move up and down relative to the base 1 and the positioning block 21, when the adhesion piece 32 contacts the target piece 200, the contact directions are kept consistent, the same pulling force can be generated to realize the bearing uniformity of each adhesion piece 32, and the grabbing capacity of the whole adhesion and desorption mechanism 100 is effectively improved.

Alternatively, as shown in fig. 3, the driving mechanism 7 is a driving motor 72, and a motor output shaft 71 of the driving motor 72 is connected to the adhesive rod 31. In particular a linear motor. The linear motion along the up-and-down direction is convenient.

Alternatively, the driving motor 7 is an electric cylinder, and an output end of the electric cylinder is connected to the adhesion rod 31.

By adopting the linear motor or the electric cylinder, the space is saved, an additional transmission device is not needed, the cost is low, and the vertical movement is convenient and quick.

Of course, this application can also set up middle drive mechanism, like lead screw and nut to adopt rotating electrical machines, also can realize reciprocating to gluing pole 31, other can realize this application also can be suitable for to gluing the driven actuating mechanism and the drive mechanism of the upper and lower drive of pole 31, do not do here and describe repeatedly.

Optionally, the driving mechanism 7 is electrically connected to the electronic control system, and sends an instruction through the electronic control system, so as to adjust the moving distance and the moving time. Through the Input and Output (IO) signal control of the driving mechanism 7, the control is simple and convenient, and the system development and integration of industrial production and flow process are facilitated. The drive mechanism 7 can be braked by force feedback of the adhesive lever 21.

In the above example, as shown in fig. 2, the adhering and detaching mechanism 100 further includes: the second guide part 6, the second guide part 6 include sliding fit's slide rail 61 and slider 62, and base 1 still includes curb plate 12 and roof 13, and bottom plate 11 and roof 13 level set up, and curb plate 12 is vertical to be set up and connect between roof 13 and bottom plate 11, and curb plate 12 is equipped with slide rail 61 along the direction of height, adheres to be equipped with slider 62 on the pole 31, is equipped with actuating mechanism 7 on the roof 13. Through the arrangement of the second guide member 6, the driving mechanism 7 can drive the adhesion rod 31 to move more stably, the adhesion rod 31 can move up and down in the moving gap 212 without being blocked easily, and the adhesion rod 31 can move more quickly. The side plate 12 and the top plate 13 form a space for the second guiding member 6 and the adhesion assembly 3 to move in the base 1, and the side plate 12 and the bottom plate 11 form an effective support for the sliding rail 61, so that the position of the sliding rail 61 relative to the base 1 is not changed.

Alternatively, the top plate 13 is integrally connected with the slide rail 61, one end of the top plate 13 is connected with the side plate 12, and the top plate 13 provides a suitable arrangement position for the driving mechanism 7, so that the driving mechanism 7 can be a linear motor or an electric cylinder, and the adhesion rod 31 is moved up and down.

In other examples, the top plate 13 may not be disposed on the base 1, and the sliding rail 61 may be disposed in an "Contraband" shape, and the driving mechanism 7 is disposed directly on top of the sliding rail 61.

In other examples, the side plates 12 of the base 1 may be directly provided with slide rails.

As shown in fig. 4, a plurality of bolt mounting holes may be formed in the rear portion of the side plate 12 to connect with an external robot arm, the robot arm is driven by an external motor to move, so as to transfer the adhering and detaching mechanism 100, or the distance between the base 1 and the positioning block 21 is shortened by driving of the external motor, so that the restoring member is compressed, and the positioning block 21 is pressed against the target member 200.

In the description of the present invention, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between the described features, whether they are sequential or not.

Alternatively, as shown in fig. 2, the adhesion rod 31 includes an adhesion cross rod 311, an adhesion guide rod 312 and an adhesion connecting rod 313, wherein the top of the adhesion connecting rod 313 is connected to the output end of the driving mechanism 7, two opposite ends of the adhesion connecting rod 313 are respectively connected to one adhesion cross rod 311, the adhesion cross rod 311 extends to the position right above the moving gap 212, the adhesion guide rod 312 is connected to the lower portion of the adhesion cross rod 311, the adhesion guide rod 312 extends downward into the moving gap 212, and the bottom of the adhesion guide rod 312 is connected to the adhesion part 32. Through the structure of the adhesion rod 31 with the structure, not only the adhesion rod 31 is easily connected with the driving mechanism 7, but also the adhesion rod 31 can conveniently extend into the moving gap 212, the adhesion rod 31 can conveniently be connected with the adhesion part 32, the driving mechanism 7 can easily apply force through the adhesion rod 31, and finally the driving force of the driving mechanism 7 is quickly transmitted to the target member 200.

In some embodiments of the present invention, as shown in fig. 6, the adhesion assembly 3 further includes a buffer connector 33, the buffer connector 33 is disposed at one end of the adhesion rod 31, and one or more adhesion parts 32 are disposed on the buffer connector 33. The buffering effect of the adhesive part 32 is greatly improved by arranging the buffering connecting piece 33, so that the adhesive part 32 is more stable and more uniform in stress when being contacted with the target part 200, the bearing capacity or force application is more uniform, and the stable adhesion state is convenient to maintain; on the other hand, it is convenient to provide a plurality of adhesive members 32, so as to increase the action point between the adhering and detaching mechanism 100 and the target member 200.

Optionally, the cushion connection 33 is a hard sponge.

Optionally, the cushion connection 33 is a rubber pad.

Alternatively, when the adhesive member 32 of the present application is a plurality of adhesive feet, it may be distributed symmetrically or asymmetrically.

In some examples of the present invention, the adhering and detaching mechanism 100 further includes a cover covering the base 1 and connected to the base 1 by screws. The outer cover improves the aesthetic appearance of the adhesion and detachment mechanism 100 and protects the internal structure.

A method of transferring the target member 200 by the adhering and desorbing mechanism 100 according to the embodiment of the present invention will be described below with reference to the drawings attached to the specification.

A method for transferring a target member 200 by an adhesion and desorption mechanism 100, wherein the adhesion and desorption mechanism 100 is the adhesion and desorption mechanism 100, and the method comprises the following steps:

s1, positioning contact: the positioning block 21 is in contact with the target piece 200 and presses the target piece 200, the positioning block 21 is pressed on the target piece 200, the adhesion piece 32 is positioned in the moving gap 212, and the adhesion surface of the adhesion piece 32 is higher than the positioning surface 211;

s2, as shown in fig. 8, adhesion: the adhesive rod 31 drives the adhesive part 32 to extend from the moving gap 212 to the target member 200, and the adhesive part 32 adheres to the target member 200;

s3, desorption: after the adhesive member 32 drives the target member 200 to move to the position as shown in fig. 9, as shown in fig. 10, the positioning block 21 contacts the target member 200 and presses the target member 200 again, and the adhesive rod 31 drives the adhesive member 32 to retract to the moving gap 212 and separate from the target member 200.

As can be seen from the above steps, in the method for transferring the target object 200 by the adhesion and desorption mechanism 100 according to the embodiment of the present invention, the positioning block 21 can position and press the target object 200 both during adhesion and during desorption, the target object 200 is not easily deviated from a specific position during adhesion and desorption, the target object 200 is not easily deformed, and the target object 200 is not easily separated from the adhesion part 32 during adhesion stabilization transfer. The adhesive and the desorption are rapid, and the adhesive is particularly suitable for light flexible thin-layer materials.

Alternatively, when the adhering and detaching mechanism 100 has the limiting assembly 4 and the first guiding element 5, the restoring element 52 is compressed to the shortest distance in step S2, and the distance between the positioning block 21 and the base 1 is the smallest. Using this step S2 will cause positioning block 21 to create a certain preload on target part 200.

The following describes a specific structure of the adhering and desorbing mechanism 100 and a method for transferring the target 200 by the adhering and desorbing mechanism 100 according to an embodiment of the present invention with reference to the drawings. The embodiments of the present invention may be all embodiments obtained by combining the foregoing technical solutions, and are not limited to the following specific embodiments, which fall within the scope of the present invention.

Example 1

An adhering and detaching mechanism 100, as shown in fig. 1, includes: base 1, location desorption subassembly 2 and adhere subassembly 3.

As shown in fig. 1 and 2, the positioning and desorption assembly 2 is connected to the base 1, the positioning and desorption assembly 2 includes three positioning blocks 21, each positioning block 21 has a positioning surface 211 adapted to press on the target 200, and a moving gap 212 is formed between two adjacent positioning blocks 21. The positioning surface 211 is formed as a horizontal surface.

As shown in fig. 2, the adhering assembly 3 includes an adhering rod 31 and an adhering member 32, and the adhering member 32 is adapted to adhere to the target member 200. The adhesive piece 32 is connected to one end of the adhesive rod 31, one end of the adhesive rod 31 with the adhesive piece 32 extends into the moving gap 212, and the adhesive rod 31 can move relative to the positioning block 21 to enable the adhesive piece 32 to extend from the moving gap 212 to the target piece 200 for adhesion or enable the adhesive piece 32 to retract into the moving gap 212 for detachment.

A method for transferring a target member 200 by an adhesion and desorption mechanism 100, wherein the adhesion and desorption mechanism 100 is the adhesion and desorption mechanism 100 in embodiment 1, and the method comprises the following steps:

Example 2

A sticking and detaching mechanism 100, which is different from embodiment 1, further includes: a stop assembly 4 and a first guide 5.

As shown in fig. 1, the base 1 includes a bottom plate 11, the bottom plate 11 and the positioning block 21 are disposed at an interval, and a distance between the bottom plate 11 and the positioning block 21 is adjustable. As shown in fig. 1, the bottom plate 11 is provided with a guide groove 111 facing the moving gap 212, and the adhesion rod 31 projects from the guide groove 111 into the moving gap 212. The stop assembly 4 is connected between the base plate 11 and the positioning block 21 to limit the maximum distance between the base plate 11 and the positioning block 21.

As shown in fig. 5, the first guide 5 includes a first guide hole 51, a reset member 52, and a guide rod 53, the reset member 52 is fitted over the guide rod 53 to move the positioning block 21 in a direction away from the base plate 11, one of the first guide hole 51 and the guide rod 53 is provided on the base plate 11, and the other of the first guide hole 51 and the guide rod 53 is provided on the positioning block 21. Return member 52 is a spring member.

A method for transferring a target 200 by an adhesion/desorption mechanism 100, which is different from embodiment 1, wherein the adhesion/desorption mechanism 100 is the adhesion/desorption mechanism 100 of embodiment 2, and further comprises the following steps:

in step S2, the restoring element 52 is compressed to the shortest distance, and the distance between the positioning block 21 and the base 1 is the smallest.

Example 3

Unlike embodiment 1, at least a part of the positioning block 21 is formed into a columnar body, and the positioning surface 211 is formed into a columnar surface in the adhesion/detachment mechanism 100.

A method for transferring the target member 200 by the adhesion and desorption mechanism 100 is similar to the steps in embodiment 1, and is not described herein.

Example 4

Unlike embodiment 1, the adhering and detaching mechanism 100 is configured such that the positioning block 21 is partially formed as a spherical body and the positioning surface 211 is formed as a spherical surface.

Example 5

Unlike embodiment 1, the adhering and detaching mechanism 100 is configured such that, as shown in fig. 3 and 4, the adhering and detaching mechanism 100 further includes: the driving mechanism 7 is connected to the base 1, the output end of the driving mechanism 7 is connected to one end, away from the adhesive part 32, of the adhesive rod 31, and the driving mechanism 7 drives the adhesive component 3 to move up and down relative to the positioning block 21. As shown in fig. 3, the driving mechanism 7 is a driving motor 72, and the motor output shaft 71 of the driving motor 72 is connected to the adhesive rod 31. The driving motor is a linear motor.

Example 6

The utility model provides an adhere desorption mechanism 100, is different from embodiment 2, still includes second guide 6, second guide 6 includes sliding fit's slide rail 61 and slider 62, and base 1 still includes curb plate 12 and roof 13, and bottom plate 11 and roof 13 level set up, and curb plate 12 sets up and connects between roof 13 and bottom plate 11 vertically, and curb plate 12 is equipped with slide rail 61 along the direction of height, adheres to be connected with slider 62 on the pole 31, is equipped with actuating mechanism 7 on the roof 13. The top of the slide rail 61 contacts the top plate 13, the rear of the slide rail 61 contacts the side plate 12, and the bottom of the slide rail 61 contacts the bottom plate 11.

A method for transferring the target member 200 by the adhering and detaching mechanism 100 is similar to the steps in embodiment 2, and is not described herein.

Example 7

Unlike embodiment 1, in an adhering and detaching mechanism 100, as shown in fig. 6, an adhering assembly 3 further includes a buffer connecting member 33, the buffer connecting member 33 is disposed at one end of an adhering rod 31, and one or more adhering parts 32 are disposed on the buffer connecting member 33. The buffer connection 33 is a hard sponge.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Three positioning blocks 21 are shown in fig. 1 for illustrative purposes, but it is obvious to those skilled in the art after reading the above technical solutions that the solution can be applied to two or more positioning blocks 21, which also falls within the protection scope of the present invention.

Other configurations of the adhesion and desorption mechanism 100 and the method of transferring the target 200 thereof according to the embodiment of the present invention, such as transferring the adhesion and desorption mechanism 100 of the present application by using an external robot arm, and controlling the distance and time of the up-and-down movement of the adhesion rod 31 of the present application by an electric control means, are known to those skilled in the art, and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An adhering and desorbing mechanism, comprising:

a base;

the positioning and desorption assembly is connected to the base and comprises at least two positioning blocks, each positioning block is provided with a positioning surface suitable for being pressed on a target part, and a moving gap is formed between every two adjacent positioning blocks;

the adhesion assembly comprises an adhesion rod and an adhesion piece, the adhesion piece is suitable for adhering the target piece, one end of the adhesion rod is connected with the adhesion piece, one end of the adhesion rod, provided with the adhesion piece, extends into the moving gap, and the adhesion rod can move relative to the positioning block so that the adhesion piece extends from the moving gap to the target piece to adhere, or the adhesion piece retracts into the moving gap to detach.

2. The adhesion and desorption mechanism according to claim 1, wherein the positioning and desorption assembly comprises three positioning blocks, and the positioning surface of each positioning block is located on the same plane, or the tangent plane of the positioning surface of each positioning block, which is in contact with the target member, is located on the same plane.

3. The adhering and desorbing mechanism according to claim 1, wherein the base includes a bottom plate, the bottom plate is spaced apart from the positioning block, a guiding slot is formed in the bottom plate opposite to the moving gap, and the adhering rod extends into the moving gap from the guiding slot.

4. The adhesion desorption mechanism of claim 3, further comprising:

the limiting assembly is connected between the bottom plate and the positioning block so as to limit the farthest distance between the bottom plate and the positioning block;

the first guide piece comprises a first guide hole, a reset piece and a guide rod, the reset piece is sleeved on the guide rod to enable the positioning block to move towards the direction far away from the bottom plate, one of the first guide hole and the guide rod is arranged on the bottom plate, and the other of the first guide hole and the guide rod is arranged on the positioning block.

5. The adhering and desorbing mechanism according to claim 4, wherein the limiting component comprises a limiting post, a limiting hole, and a terminal limiting member, the bottom plate extends downward toward one side of the positioning blocks to form the limiting post, each of the positioning blocks is provided with the limiting hole penetrating along the thickness direction, one end of the limiting post penetrates into the limiting hole, and the terminal limiting member is provided at the end of the limiting post to keep part of the limiting post in the limiting hole.

6. The adhering and desorbing mechanism according to claim 5, wherein the limiting holes comprise a first cylindrical limiting hole and a second cylindrical limiting hole which are communicated with each other, the diameter of the first cylindrical limiting hole is smaller than that of the second cylindrical limiting hole, the limiting post is slidably engaged with the first cylindrical limiting hole, and the end limiting member is disposed in the second cylindrical limiting hole.

7. The adhering and desorbing mechanism according to claim 5, wherein the limiting assembly further comprises: the limiting post is provided with a through hole along the axial direction, two ends of the limiting rod are respectively extended out of the through hole, and two ends of the limiting rod are respectively connected with the head end limiting part and the tail end limiting part.

8. The adhesion desorption mechanism of claim 3, further comprising:

the driving mechanism is connected to the base, the output end of the driving mechanism is connected with one end, away from the adhesive part, of the adhesive rod, and the driving mechanism drives the adhesive assembly to move up and down relative to the positioning block; the width of the adhesive is smaller than the width of the moving gap.

9. The adhesion desorption mechanism of claim 8, further comprising: a second guide part which comprises a slide rail and a slide block which are in sliding fit,

the base further comprises a side plate and a top plate, the bottom plate and the top plate are horizontally arranged, the side plate is vertically arranged and connected between the top plate and the bottom plate, the side plate is provided with the sliding rail along the height direction, the adhesion rod is connected with the sliding block, the top plate is provided with the driving mechanism, and the driving mechanism is a driving motor or an electric cylinder.

10. The adhering and desorbing mechanism according to any one of claims 1 to 9, wherein the adhering assembly further comprises a buffer connecting member disposed at one end of the adhering rod, the buffer connecting member being disposed with one or more of the adhering parts; the buffer connecting piece is made of hard sponge or rubber pads.

11. A method for transferring a target part by an adhesion and desorption mechanism is characterized in that,

the adhering and desorbing mechanism according to any one of claims 1 to 10, comprising the steps of:

s1, positioning contact: the positioning block is in contact with the target piece and presses the target piece tightly, the positioning block is pressed on the target piece, the adhesive part is positioned in the moving gap, and the adhesion surface of the adhesive part is higher than the positioning surface;

s2, adhering: the adhesive rod drives the adhesive part to extend to the target part from the moving gap, and the adhesive part is adhered to the target part;

s3, desorption: after the adhesive part drives the target part to be transferred to the right position, the positioning block is in contact with the target part and compresses the target part again, and the adhesive rod drives the adhesive part to retract to the moving gap and separate from the target part.