CN113137425A - Suction cup device - Google Patents
Suction cup device Download PDFInfo
- Publication number
- CN113137425A CN113137425A CN202010064597.1A CN202010064597A CN113137425A CN 113137425 A CN113137425 A CN 113137425A CN 202010064597 A CN202010064597 A CN 202010064597A CN 113137425 A CN113137425 A CN 113137425A
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- Prior art keywords
- suction cup
- contact rod
- contact
- support frame
- sucker
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- 230000007246 mechanism Effects 0.000 claims description 56
- 238000007789 sealing Methods 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 8
- 230000005489 elastic deformation Effects 0.000 claims description 7
- 238000001179 sorption measurement Methods 0.000 description 16
- 230000009471 action Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 230000006835 compression Effects 0.000 description 7
- 238000007906 compression Methods 0.000 description 7
- 238000001125 extrusion Methods 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000037303 wrinkles Effects 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 239000002775 capsule Substances 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011261 inert gas Substances 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a sucker device, which is characterized in that a plurality of contact rods and corresponding sensors for detecting the positions of the contact rods are arranged around a sucker, so that the angle difference between a surface to be sucked and a sucker support frame is determined according to data detected by the sensors, and an adjusting basis is provided for the angle adjustment of the sucker support frame.
Description
Technical Field
The invention relates to the field of vacuum adsorption equipment, in particular to a sucker device.
Background
In the field of industrial automation, a pneumatic sucker is used as a grabbing mechanism, and the pneumatic sucker is very widely applied. For general automation equipment, the corresponding working condition is single, and the current sucker structure can meet the requirements; however, with the popularization of the application of robots and robot arms, people try to use the robots and the robot arms to perform intelligent operation, and the robots or the robot arms are not in a single and planned scene. For a robot which uses a pneumatic suction cup to grab or climb a wall, the common traditional suction cup can not meet the working requirement in the face of uncertain environment. When the sucking disc and the surface of waiting to adsorb have great angular deviation, if can not carry out angle detection and adjust correspondingly, because can't produce effective negative pressure environment, the sucking disc will not realize adsorbing.
Disclosure of Invention
In view of the above, the present invention provides a suction cup device, which is provided with a plurality of contact rods and corresponding sensors for detecting positions of the contact rods around a suction cup, so as to determine an angle difference between a surface to be sucked and a suction cup supporting frame according to data detected by the sensors, thereby providing an adjustment basis for adjusting an angle of the suction cup supporting frame.
One embodiment of the present invention provides a suction cup device including:
the sucker support frame is fixed at the center of the sucker support frame and is positioned on one side of the sucker support frame, which faces the surface to be sucked, and the end part of the sucker is parallel to the sucker support frame;
the contact rod accommodating cavities are arranged at the periphery of the sucker support frame at intervals, each contact rod accommodating cavity extends along the direction vertical to the sucker support frame and is provided with an opening on one side facing to a surface to be sucked, each contact rod accommodating cavity is internally provided with an elastic contact mechanism, the end parts of the elastic contact mechanisms protrude out of the openings to contact the surface to be sucked, each elastic contact mechanism is provided with mutually independent elastic deformation amounts along the direction vertical to the sucker support frame, and the end parts of the elastic contact mechanisms are more adjacent to the surface to be sucked than the end parts of the suckers;
the sensor is arranged in each contact rod accommodating cavity and used for detecting the moving distance of the elastic contact mechanism in the contact rod accommodating cavity;
and the controller determines the angle difference between the surface to be adsorbed and the sucker support frame according to data detected by the sensors when the end parts of the elastic contact mechanisms are in contact with the surface to be adsorbed, controls the sucker support frame to rotate to a position parallel to the surface to be adsorbed according to the angle difference, and then controls the sucker support frame to move towards the surface to be adsorbed so that the sucker is adsorbed to the surface to be adsorbed.
Preferably, the suction cup support frame comprises:
the suction cup is fixed in the center of the disc-shaped body and is positioned on one side of the disc-shaped body facing to a surface to be sucked;
the side wall extends from the periphery of the disc-shaped body to the surface to be adsorbed, and the plurality of contact rod accommodating cavities are positioned on the outer side of the side wall;
the end of the suction cup is closer to the surface to be sucked than the end of the side wall.
Preferably, the elastic contact mechanism includes:
the contact rod is arranged in a corresponding contact rod accommodating cavity, and the end part of the contact rod extends out of the opening to contact the surface to be adsorbed;
contact lever elastic element that resets, the contact lever contact when treating adsorption surface towards the inside removal compression in contact lever holding chamber contact lever elastic element that resets is in contact lever with treat that adsorption surface breaks away from the contact the time order about contact lever restores to the initial position.
Preferably, the sensor is a pressure sensor, and the pressure sensor detects a pressure change value in the contact rod accommodating cavity so as to detect a moving distance of the contact rod in the contact rod accommodating cavity.
Preferably, the contact rod receiving chamber includes:
the sealing cavity is positioned in the contact rod accommodating cavity, one side of the sealing cavity, which is far away from the opening, is sealed by a sealing cavity upper cover, and the contact rod extends into the sealing cavity;
the first piston is positioned in the sealing cavity and is connected with the contact rod so as to reciprocate in the sealing cavity along the direction vertical to the sucker support frame under the driving of the contact rod;
the pressure sensor is connected with the upper cover of the sealed cavity to detect the pressure change value in the sealed cavity.
Preferably, the sensor is a displacement sensor, and the displacement sensor detects the moving distance of the contact rod in the contact rod accommodating cavity.
Preferably, the contact rod receiving chamber includes:
the second piston is positioned in the contact rod accommodating cavity and connected with the contact rod so as to be driven by the contact rod to reciprocate in the contact rod accommodating cavity along the direction vertical to the sucker support frame;
the limiting plate is positioned on one side, away from the surface to be adsorbed, of the contact rod accommodating cavity so as to limit the stroke range of the second piston;
and the displacement sensor is arranged on the inner wall of the contact rod accommodating cavity so as to detect the moving distance of the second piston in the contact rod accommodating cavity.
Preferably, the end of the suction cup has a plurality of flaps arranged in a direction perpendicular to the suction cup support frame, so that the end of the suction cup has an elastic deformation amount in the direction perpendicular to the suction cup support frame.
Preferably, when the angle difference is smaller than a first threshold, the controller does not control the suction cup support frame to rotate and controls the suction cup support frame to move towards the surface to be sucked, so that the suction cup is sucked to the surface to be sucked.
Preferably, the end of the contact rod has a ball.
Preferably, the stroke range of the elastic contact mechanism is greater than or equal to the distance from the end of the elastic contact mechanism to the end of the side wall.
According to the technical scheme, the embodiment provides the sucker device, the plurality of contact rods and the corresponding sensors for detecting the positions of the contact rods are arranged around the sucker, so that the angle difference between the surface to be sucked and the sucker support frame is determined according to data detected by the sensors, and the adjustment basis is provided for the angle adjustment of the sucker support frame.
In this embodiment, the end of the elastic contact mechanism is closer to the surface to be sucked than the end of the suction cup in the free state when the elastic contact mechanism is in the free state without external force, that is, the elastic contact mechanism will contact the surface to be sucked before the end of the suction cup moves towards the surface to be sucked. The angle detecting and adjusting action of the surface to be adsorbed can be completed by the sucker device of the embodiment during the process of the pressing action, and the angle detecting and adjusting action can have no influence on the process of the pressing action, so that the pressing and adsorbing processes of the sucker device can be carried out without pause. And the completion of the angle adjustment of the suction cup device before the suction of the suction cup can prevent the problems of failed suction or deformation of a robot joint, etc. caused by the wrinkle of the end (edge) of the suction cup due to the angle difference between the surface to be sucked and the suction cup device.
When every elastic contact mechanism all contacted when treating the adsorption surface, if treat the adsorption surface and when sucking disc support frame is parallel, then a plurality of elastic contact mechanisms should be the exact same because the extrusion between the extrusion and the sucking disc device of treating the adsorption surface and produce the distance that moves, and when treating to have the angular difference between adsorption surface and the sucking disc support frame, then the distance that a plurality of elastic contact mechanisms moved can be inequality. In the present embodiment, the movement amounts of the plurality of elastic contact mechanisms are independent of each other, rather than being moved synchronously, which is determined only by the pressure exerted thereon by the surface to be adsorbed. In this embodiment, a sensor for measuring a movement position of each elastic contact mechanism is provided, and an angle difference between the surface to be adsorbed and the suction cup support frame is determined according to a movement distance of the plurality of elastic contact mechanisms, so that an adjustment basis is provided for angle adjustment of the suction cup support frame.
Drawings
The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention.
Fig. 1a and 1b are schematic structural views of a first embodiment of the suction cup device of the present invention.
Fig. 2 is a partial cross-sectional view of a first embodiment of the invention.
Fig. 3 is a partial cross-sectional view of a second embodiment of the invention.
Fig. 4 is a partial cross-sectional view of a third embodiment of the present invention.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout.
"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative.
For the sake of simplicity, the drawings are only schematic representations of the parts relevant to the invention, and do not represent the actual structure of the product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled.
In order to solve the problem that the sucker cannot realize effective adsorption when the sucker and the surface to be adsorbed have larger angular deviation in the prior art, the invention provides the sucker device.
Fig. 1a and 1b are schematic structural views of a first embodiment of the suction cup device of the present invention. Fig. 2 is a partial cross-sectional view of a first embodiment of the invention. As shown in fig. 1a, 1b and 2, one embodiment of the present invention provides a suction cup device including:
the sucker support frame 10 is fixed at the center of the sucker support frame 10, the sucker 20 is positioned on one side of the sucker support frame 10 facing the surface to be sucked, and the end part of the sucker 20 is parallel to the sucker support frame 10;
a plurality of contact rod receiving cavities 30, the contact rod receiving cavities 30 being disposed at intervals on the periphery of the suction cup support frame 10, each contact rod receiving cavity 30 extending along a direction perpendicular to the suction cup support frame 10 and having an opening 31 on a side facing the surface to be sucked, each contact rod receiving cavity 30 having an elastic contact mechanism 40 therein, an end of the elastic contact mechanism 40 protruding from the opening 31 to contact the surface to be sucked, each elastic contact mechanism 40 having mutually independent elastic deformation amounts along a direction perpendicular to the suction cup support frame 10, the end of the elastic contact mechanism 40 being closer to the surface to be sucked than the end of the suction cup 20;
a sensor 50, one sensor 50 for each contact rod receiving chamber 30 for detecting a moving distance of the elastic contact mechanism 40 in the contact rod receiving chamber 30;
and a controller (not shown in the figure), when the end portions of the plurality of elastic contact mechanisms 40 are all in contact with the surface to be sucked, the controller determines the angle difference between the surface to be sucked and the suction cup support frame 10 according to the data detected by the plurality of sensors 50, controls the suction cup support frame 10 to rotate to a position parallel to the surface to be sucked according to the angle difference, and then controls the suction cup support frame 10 to move towards the surface to be sucked so that the suction cup 20 is sucked to the surface to be sucked.
According to the technical scheme, the embodiment provides the sucker device, the plurality of contact rods and the corresponding sensors for detecting the positions of the contact rods are arranged around the sucker, so that the angle difference between the surface to be sucked and the sucker support frame is determined according to data detected by the sensors, and the adjustment basis is provided for the angle adjustment of the sucker support frame.
The adsorption process of the existing sucker device is generally that a controller controls a robot terminal such as a mechanical arm to drive the sucker device to move towards a to-be-adsorbed surface (usually, downwards pressing action), and after the end of the sucker is completely attached to the to-be-adsorbed surface, the sucker and the to-be-adsorbed surface generate a vacuum negative pressure environment through a vacuumizing device, so that the sucker can adsorb the to-be-adsorbed surface. And when the tip of sucking disc and treating when adsorbing the surface and have certain angular deviation, then probably only can realize the partial tip laminating of sucking disc treating the adsorption surface during pushing down the action, and the partial tip that has the sucking disc can not laminate and treat the condition of adsorption surface, then can't make the sucking disc and treat the adsorption surface through evacuating device and produce the vacuum negative pressure environment, just also can't realize the effective absorption of sucking disc.
In the present embodiment, as shown in fig. 2, in the free state of the elastic contact mechanism 40 without external force, the end of the elastic contact mechanism 40 is closer to the surface to be sucked than the end of the suction cup 20 in the free state, that is, in the process of moving the suction cup device toward the surface to be sucked, the elastic contact mechanism 40 will contact the surface to be sucked before the end of the suction cup 20. The angle detecting and adjusting action of the surface to be adsorbed can be completed by the sucker device of the embodiment during the process of the pressing action, and the angle detecting and adjusting action can have no influence on the process of the pressing action, so that the pressing and adsorbing processes of the sucker device can be carried out without pause. And the completion of the angle adjustment of the suction cup device before the suction of the suction cup can prevent the problems of failed suction or deformation of a robot joint, etc. caused by the wrinkle of the end (edge) of the suction cup due to the angle difference between the surface to be sucked and the suction cup device.
Therefore, in order to accomplish the angular adjustment of the suction cup device before the end (edge) of the suction cup 20 contacts the surface to be sucked, the distance between the end of the elastic contact mechanism 40 and the end of the suction cup 20 may be adjusted according to the range of the adjustment angle.
When each elastic contact mechanism 40 has contacted the surface to be sucked, if the surface to be sucked is parallel to the suction cup support frame 10, the distances of movement of the plurality of elastic contact mechanisms 40 due to the pressing between the surface to be sucked and the suction cup device should be identical, and when there is an angular difference between the surface to be sucked and the suction cup support frame 10, the distances of movement of the plurality of elastic contact mechanisms 40 may be different. In the present embodiment, the moving amounts of the plurality of elastic contact mechanisms 40 are independent of each other, not synchronously moving, and are determined only by the pressure exerted thereon by the surface to be adsorbed. In the embodiment, a corresponding sensor 50 for measuring the moving position of each elastic contact mechanism 40 is provided, and the angular difference between the surface to be sucked and the suction cup supporting frame 10 is determined according to the moving distance of the plurality of elastic contact mechanisms 40, so as to provide an adjustment basis for the angular adjustment of the suction cup supporting frame 10.
Since three points define a plane, the suction cup device of the present embodiment is provided with three contact rod receiving cavities 30 and corresponding three elastic contact mechanisms 40, as shown in fig. 1a and 1 b. The three contact rod receiving cavities 30 are arranged at intervals, and the angular intervals may be the same or different. Preferably, the plurality of contact rod accommodating cavities are arranged at equal angular intervals for the reason of gravity center balance, and the arrangement at unequal angular intervals can be selected for avoiding other parts.
As shown in fig. 1a and 2, the suction cup support stand 10 includes:
a disc-shaped body 11, a suction cup 20 fixed in the center of the disc-shaped body 11 and located on the side of the disc-shaped body 11 facing the surface to be sucked;
a side wall 12, the side wall 12 extending from the periphery of the disc-shaped body 11 toward the surface to be adsorbed, the plurality of contact rod accommodating cavities 30 being located outside the side wall 12;
the end of the suction cup 20 is closer to the surface to be sucked than the end of the side wall 12.
When the disc-shaped body 11 is parallel to the surface to be sucked, then the end of the suction cup 20 is also parallel to the surface to be sucked, so that effective suction can be achieved. The end of the suction cup 20 being closer to the surface to be sucked than the end of the side wall 12 ensures that the end of the suction cup 20 contacts the surface to be sucked before the end of the side wall 12, and the suction cup device can continue to be pressed down after the end of the suction cup 20 contacts the surface to be sucked until the end of the side wall 12 contacts the surface to be sucked, thereby ensuring good suction of the suction cup 20 and supporting the whole suction cup device with the side wall 12. Thus, as shown in FIG. 2, the end of the side wall 12 may further include a cleat 13. The suction cup support frame 10 is further provided with an air nozzle 14 communicated with the inside of the suction cup 20.
As shown in fig. 2, the elastic contact mechanism 40 includes:
the contact rod 41, the contact rod 41 is set up in a correspondent contact rod and set up in the cavity 30, the end of the contact rod 41 stretches out from the opening 31 in order to contact the surface to be adsorbed;
the contact rod return elastic element 42 compresses the contact rod return elastic element 42 when the contact rod 41 contacts the surface to be adsorbed and drives the contact rod 41 to return to the initial free position when the contact rod 41 is separated from the surface to be adsorbed by the contact rod return elastic element 42. In the present embodiment, the contact lever return elastic element 42 is selected as a return spring sleeved on the contact lever 41, and one end of the return spring abuts against the end of the contact lever 41, and the other end abuts against the contact lever accommodating cavity 30.
As shown in fig. 2, the end of the contact rod 41 has a ball 43.
The balls 43 ensure that the contact between the end of the contact rod 41 and the surface to be adsorbed is point contact, not surface contact, which may affect the accuracy of the determination of the angle of the surface to be adsorbed, since surface contact may affect the displacement of the contact rod 41.
The range of travel of the resilient contact means 40 should be greater than or equal to the distance between the end of the resilient contact means 40 to the end of the side wall 12.
In the embodiment shown in fig. 2, the sensor 50 is a pressure sensor 50a, and the pressure sensor 50a detects a pressure change value in the contact rod receiving cavity 30 to detect a moving distance of the contact rod 41 in the contact rod receiving cavity 30.
Wherein, in particular, the contact bar accommodation chamber 30 includes:
the sealing cavity 32 is positioned in the contact rod accommodating cavity 30, one side of the sealing cavity 32, which is far away from the opening 31, is sealed by the sealing cavity upper cover 33, and the contact rod 41 extends into the sealing cavity 32;
a first piston 34, the first piston 34 is positioned in the sealed cavity 32 and connected with the contact rod 41 to reciprocate in the sealed cavity 32 along the direction vertical to the sucker support frame 10 under the driving of the contact rod 41, so as to compress or release the gas in the sealed cavity 32;
the pressure sensor 50a is in contact with the capsule upper cover 33 to detect a pressure change value in the capsule 32.
Wherein the sealed chamber 32 is preferably filled with a compressed inert gas. The pressure sensor 50a may be a pressure film sensor fixed to the seal chamber upper cover 33 by the sensor fixing plate 35, and compresses gas in the seal chamber 32 when the first piston 34 moves in the seal chamber 32 under the driving of the contact rod 41, so that the pressure in the seal chamber 32 is changed, and the pressure change value is proportional to the compression stroke of the contact rod 41, so that the moving distance of the contact rod 41 in the contact rod receiving chamber 30 or the seal chamber 32 can be determined by measuring the pressure change value. Wherein the contact rod return spring element 42 and the air pressure within the seal chamber 32 are both adjustable.
Through the data of the three pressure sensors 50a, the angular deviation between the disc-shaped body 11 and the surface to be adsorbed can be determined, and the angle of the suction cup support frame 10 is adjusted to make the disc-shaped body 11 parallel to the surface to be adsorbed, so as to ensure that the suction cup 20 can be well adsorbed to the surface to be adsorbed.
Preferably, the end of the suction cup 20 may have a flange 22 extending at an angle from the periphery of the side wall of the suction cup towards the outside to provide a guide for the contact of the suction cup 20 with the surface to be sucked.
Fig. 3 is a partial cross-sectional view of a second embodiment of the invention. The embodiment shown in fig. 3 has substantially the same structure as the embodiment of fig. 2, the same type of sensor, the same structure of the chuck support, the contact rod receiving cavity, and the elastic contact mechanism, and the difference is that the structure of the chuck is different.
In the embodiment shown in fig. 3, the end of the suction cup 20 'has a plurality of flaps 21 aligned in a direction perpendicular to the suction cup support frame 10, so that the end of the suction cup 20' has an elastic deformation amount in the direction perpendicular to the suction cup support frame 10.
Wherein the bending direction of the folded edge 21 can be substantially along the extending direction of the disc-shaped body 11, the extending directions of the plurality of folded edges 21 are opposite, and the plurality of folded edges 21 are arranged end to end along the direction perpendicular to the suction cup support frame 10, so as to have the elastic deformation amount perpendicular to the direction of the suction cup support frame 10 by the mutual approaching of the folded edges 21 when the suction cups 20' are contacted on the surface to be sucked. In addition, since the folded edge 21 extends along the circumferential direction of the suction cup 20 ', the folded edge 21 may have different amounts of compression at different positions in the circumferential direction of the suction cup 20 ', so that, when the angular difference between the surface to be sucked and the suction cup support frame is within a certain range, the suction cup 20 ' may achieve good contact with the surface to be sucked in the entire circumferential direction by the different amounts of compression of the folded edge 21 at the different positions in the circumferential direction, thereby achieving adaptive adjustment.
Therefore, when the angle difference between the surface to be sucked and the suction cup supporting frame is smaller than the first threshold, the controller may not control the rotation of the suction cup supporting frame 10 and control the suction cup supporting frame 10 to move toward the surface to be sucked, so that the suction cup 20' is sucked to the surface to be sucked.
Wherein the suction cup 20' and the suction cup 20 may both be made of a material having a certain flexibility and/or elasticity. The first threshold value is determined according to the structure of the suction cup 20' and the structure of the entire suction cup device.
Fig. 4 is a partial cross-sectional view of a third embodiment of the present invention. The embodiment shown in fig. 4 has substantially the same structure as the embodiment shown in fig. 3, and the suction cup, the suction cup support frame and the elastic contact mechanism have the same structure, which is different from the sensor type and the structure inside the corresponding contact rod accommodating cavity.
As shown in fig. 4, the sensor is a displacement sensor 50b, and the displacement sensor 50b detects the moving distance of the contact rod 41 in the contact rod accommodating chamber 30. The displacement sensor 50b may be, for example, a capacitive grating sensor.
Correspondingly, the contact lever accommodation chamber 30 includes:
a second piston 36, wherein the second piston 36 is located in the contact rod accommodating cavity 30 and is connected with the contact rod 41 so as to be driven by the contact rod 41 to reciprocate in the contact rod accommodating cavity 30 along a direction perpendicular to the sucker support frame 10;
and the limiting plate 37, wherein the limiting plate 37 is positioned on one side of the contact rod accommodating cavity 30, which is far away from the surface to be adsorbed, so as to limit the stroke range of the second piston 36.
The displacement sensor 50b is installed at an inner wall of the contact rod receiving chamber 30 to detect a moving distance of the second piston 36 within the contact rod receiving chamber 30.
The position-limiting plate 37 may also be implemented by a top cover of the closed contact rod-receiving cavity 30, and accordingly, the end of the second piston 36 may be configured as a planar structure.
The displacement sensor has an advantage in that the moving distance of the contact lever 41 can be directly measured, thereby directly determining the angle of the surface to be sucked and the angle difference between the surface to be sucked and the suction cup support frame from the measurement data of the plurality of displacement sensors.
In the present embodiment, the suction cup 20 'having the folded edge is also employed, so that when the angular difference between the surface to be sucked and the suction cup support frame is within a certain range, the suction cup 20' can be brought into good contact with the surface to be sucked in the entire circumferential direction by different amounts of compression of the folded edge 21 at different positions in the circumferential direction, thereby achieving adaptive adjustment. Of course, the structure of the suction cup 20 used in one of the embodiments can also be adopted in the present embodiment.
According to the technical scheme, the embodiment provides the sucker device, the plurality of contact rods and the corresponding sensors for detecting the positions of the contact rods are arranged around the sucker, so that the angle difference between the surface to be sucked and the sucker support frame is determined according to data detected by the sensors, and the adjustment basis is provided for the angle adjustment of the sucker support frame.
In this embodiment, the end of the elastic contact mechanism is closer to the surface to be sucked than the end of the suction cup in the free state when the elastic contact mechanism is in the free state without external force, that is, the elastic contact mechanism will contact the surface to be sucked before the end of the suction cup moves towards the surface to be sucked. The angle detecting and adjusting action of the surface to be adsorbed can be completed by the sucker device of the embodiment during the process of the pressing action, and the angle detecting and adjusting action can have no influence on the process of the pressing action, so that the pressing and adsorbing processes of the sucker device can be carried out without pause. And the completion of the angle adjustment of the suction cup device before the suction of the suction cup can prevent the problems of failed suction or deformation of a robot joint, etc. caused by the wrinkle of the end (edge) of the suction cup due to the angle difference between the surface to be sucked and the suction cup device.
When every elastic contact mechanism all contacted when treating the adsorption surface, if treat the adsorption surface and when sucking disc support frame is parallel, then a plurality of elastic contact mechanisms should be the exact same because the extrusion between the extrusion and the sucking disc device of treating the adsorption surface and produce the distance that moves, and when treating to have the angular difference between adsorption surface and the sucking disc support frame, then the distance that a plurality of elastic contact mechanisms moved can be inequality. In the present embodiment, the movement amounts of the plurality of elastic contact mechanisms are independent of each other, rather than being moved synchronously, which is determined only by the pressure exerted thereon by the surface to be adsorbed. In this embodiment, a sensor for measuring a movement position of each elastic contact mechanism is provided, and an angle difference between the surface to be adsorbed and the suction cup support frame is determined according to a movement distance of the plurality of elastic contact mechanisms, so that an adjustment basis is provided for angle adjustment of the suction cup support frame.
Furthermore, the invention can also provide a sucker structure with a certain self-adaptive function, and the hem of the sucker structure can have different compression amounts at different positions in the peripheral direction of the sucker, so that when the angle difference between the surface to be sucked and the sucker support frame is within a certain range, the sucker can be in good contact with the surface to be sucked in the whole peripheral direction through the different compression amounts at the different positions of the hem in the peripheral direction, and the self-adaptive adjustment is realized.
In this document, "a" does not mean that the number of the relevant portions of the present invention is limited to "only one", and "a" does not mean that the number of the relevant portions of the present invention "more than one" is excluded.
Unless otherwise indicated, numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges subsumed therein.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications such as combinations, divisions or repetitions of the features without departing from the technical spirit of the present invention are included in the scope of the present invention.
Claims (11)
1. A suction cup device, comprising:
the sucker support frame (10), a sucker (20) is fixed in the center of the sucker support frame (10) and is positioned on one side of the sucker support frame (10) facing the surface to be sucked, and the end part of the sucker (20) is parallel to the sucker support frame (10);
a plurality of contact rod receiving cavities (30), the contact rod receiving cavities (30) are arranged at the periphery of the sucker support frame (10) at intervals, each contact rod receiving cavity (30) extends along the direction perpendicular to the sucker support frame (10) and is provided with an opening (31) at one side facing to the surface to be sucked, each contact rod receiving cavity (30) is internally provided with an elastic contact mechanism (40), the end part of each elastic contact mechanism (40) extends out of the opening (31) to contact the surface to be sucked, each elastic contact mechanism (40) is provided with mutually independent elastic deformation along the direction perpendicular to the sucker support frame (10), and the end part of each elastic contact mechanism (40) is more adjacent to the surface to be sucked than the end part of the sucker (20);
a sensor (50), each contact rod receiving cavity (30) having one sensor (50) for detecting a moving distance of the elastic contact mechanism (40) within the contact rod receiving cavity (30);
and the controller is used for determining the angle difference between the surface to be adsorbed and the sucker support frame (10) according to the data detected by the sensors (50) when the end parts of the elastic contact mechanisms (40) are in contact with the surface to be adsorbed, controlling the sucker support frame (10) to rotate to a position parallel to the surface to be adsorbed according to the angle difference, and then controlling the sucker support frame (10) to move towards the surface to be adsorbed so as to enable the sucker (20) to be adsorbed to the surface to be adsorbed.
2. The suction cup device as claimed in claim 1, wherein the suction cup support frame (10) comprises:
a disc-shaped body (11), a suction cup (20) being fixed in the centre of the disc-shaped body (11) and located on the side of the disc-shaped body (11) facing the surface to be sucked;
a side wall (12), said side wall (12) extending from the periphery of said disc-shaped body (11) towards said surface to be sucked, said plurality of contact rod housing cavities (30) being located outside said side wall (12);
the end of the suction cup (20) is closer to the surface to be sucked than the end of the side wall (12).
3. Suction cup device according to claim 1, characterized in that said elastic contact means (40) comprise:
the contact rod (41), the contact rod (41) is arranged in a corresponding contact rod accommodating cavity (30), and the end part of the contact rod (41) extends out of the opening (31) to contact the surface to be adsorbed;
the contact rod resetting elastic element (42) is compressed by the contact rod (41) towards the movement inside the contact rod accommodating cavity (30) when the contact rod (41) is contacted with the surface to be adsorbed, and the contact rod resetting elastic element (42) drives the contact rod (41) to return to an initial position when the contact rod (41) is separated from the surface to be adsorbed.
4. The suction cup device according to claim 3, wherein the sensor (50) is a pressure sensor (50a), and the pressure sensor (50a) detects a pressure change value in the contact lever receiving cavity (30) to detect a moving distance of the contact lever (41) in the contact lever receiving cavity (30).
5. Suction cup device, according to claim 4, characterized in that said contact rod housing cavity (30) comprises:
the sealing cavity (32) is positioned in the contact rod accommodating cavity (30), one side of the sealing cavity (32) departing from the opening (31) is sealed by a sealing cavity upper cover (33), and the contact rod (41) extends into the sealing cavity (32);
a first piston (34), wherein the first piston (34) is positioned in the sealed cavity (32) and is connected with the contact rod (41) so as to be driven by the contact rod (41) to move in a reciprocating manner in the sealed cavity (32) along a direction perpendicular to the sucker supporting frame (10);
the pressure sensor (50a) is connected with the sealed cavity upper cover (33) to detect the pressure change value in the sealed cavity (32).
6. The suction cup device according to claim 3, wherein the sensor (50) is a displacement sensor (50b), and the displacement sensor (50b) detects a moving distance of the contact rod (41) within the contact rod receiving cavity (30).
7. Suction cup device according to claim 6, characterized in that said contact rod housing cavity (30) comprises:
the second piston (36) is positioned in the contact rod accommodating cavity (30) and is connected with the contact rod (41) so as to be driven by the contact rod (41) to move in a reciprocating manner in the contact rod accommodating cavity (30) along a direction perpendicular to the sucker supporting frame (10);
a limiting plate (37), wherein the limiting plate (37) is positioned on one side of the contact rod accommodating cavity (30) which is far away from the surface to be adsorbed so as to limit the stroke range of the second piston (36);
and the displacement sensor (50b) is arranged on the inner wall of the contact rod accommodating cavity (30) so as to detect the moving distance of the second piston (36) in the contact rod accommodating cavity (30).
8. Suction cup device according to any of claims 3 to 7, wherein the end of the suction cup (20) has a plurality of flaps (21) aligned in a direction perpendicular to the suction cup support frame (10) so that the end of the suction cup (20) has an elastic deformation amount in the direction perpendicular to the suction cup support frame (10).
9. The suction cup device according to claim 8, wherein when the angular difference is smaller than a first threshold value, the controller does not control the suction cup holder (10) to rotate and controls the suction cup holder (10) to move toward the surface to be sucked so that the suction cup (20) is sucked to the surface to be sucked.
10. Suction cup device according to claim 8, characterized in that the contact rod (41) has a ball (43) at its end.
11. The suction cup device according to claim 2, wherein a stroke range of the elastic contact mechanism (40) is equal to or greater than a distance from an end of the elastic contact mechanism (40) to an end of the side wall (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010064597.1A CN113137425B (en) | 2020-01-20 | 2020-01-20 | Suction cup device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010064597.1A CN113137425B (en) | 2020-01-20 | 2020-01-20 | Suction cup device |
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| Publication Number | Publication Date |
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| CN113137425A true CN113137425A (en) | 2021-07-20 |
| CN113137425B CN113137425B (en) | 2022-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010064597.1A Active CN113137425B (en) | 2020-01-20 | 2020-01-20 | Suction cup device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114535492A (en) * | 2022-02-15 | 2022-05-27 | 上海威若顿机械制造有限公司 | Prejudgment type riveting data acquisition device and riveting tool |
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| Publication number | Publication date |
|---|---|
| CN113137425B (en) | 2022-07-05 |
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