CN202684915U - Universal sucker device with big corner - Google Patents
Universal sucker device with big corner Download PDFInfo
- Publication number
- CN202684915U CN202684915U CN 201220011759 CN201220011759U CN202684915U CN 202684915 U CN202684915 U CN 202684915U CN 201220011759 CN201220011759 CN 201220011759 CN 201220011759 U CN201220011759 U CN 201220011759U CN 202684915 U CN202684915 U CN 202684915U
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- sucker
- parallel mechanism
- degree
- gas circuit
- braking
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Abstract
The utility model relates to a universal sucker device with a big corner. The universal sucker device comprises a vacuum sucker, a three freedom degree sphere parallel mechanism, a braking device and a negative pressure gas circuit. The three freedom degree sphere parallel mechanism serves as a main supporting frame. The posture of the sucker device can be passively adjusted according to the curved surface appearance of a workpiece to be attached to the workpiece. The sucker position posture is locked through the braking device by means of a negative pressure air source. The universal sucker device has the advantages that the sucker corner range is large, movement is flexible and universality is strong, and the working application range and production efficiency of automatic feeding and discharging of a sucker type manipulator can be improved in a great degree.
Description
Technical field
The utility model relates to a kind of Univesal Disk-sucking Device with large corner, can be used on the Pneumatic suction cup formula manipulator of loading and unloading machine people in the automatic production line.
Background technology
Current era, the introduction of robot automation's production line are greatly improved the production efficiency of factory, utilize Pneumatic suction cup formula manipulator to realize that the loading and unloading of sheet metal component have become a kind of universal way.Yet the versatility of sucking disc type mechanical hand is very poor, and the profile of sheet metal component wastes time and energy in case change just need to be readjusted the sucker pose or again make jig, increases production cost.
Present actual employed sucker, after its installation was fixing, the operating angle of most suckers was namely definite, is difficult to adapt to the slightly vicissitudinous curved sheets workpiece of shape; Even if some sucker has the orbicule structure, the drift angle that can produce is also less, and poor reliability; In addition, though also have indivedual suckers to have gimbal suspension, can the larger angle of deflection, in rotation process, the center position of sucker adsorption plane needs human assistance finish the absorption task in continuous variation.
The utility model content
The purpose of this utility model is to overcome the prior art difficulty, a kind of Univesal Disk-sucking Device with large corner is provided, this device can rely on the passive adjustment of the shape of surface of the work self attitude, the absorption that can finish various thin form plates in the hemisphere work spatial domain task that is installed.
The utility model is contemplated that: give full play to that parallel institution rigidity is large, bearing capacity is strong, the precision advantages of higher, the main backstop of adjusting as the vacuum cup pose with three-degree-of-freedom spherical parallel mechanism, and be provided with brake apparatus and control vacuum cup and remain on specific expected pose.
Technical scheme that the utility model adopts is: a kind of Univesal Disk-sucking Device with large corner comprises vacuum cup, three-degree-of-freedom spherical parallel mechanism, brake apparatus and negative pressure gas circuit.It is characterized in that: the upper mounting plate of three-degree-of-freedom spherical parallel mechanism is moving platform, and is affixed with vacuum cup, and the lower platform of three-degree-of-freedom spherical parallel mechanism is fixed platform, and is affixed with base; Be connected with three revolute pair bearing pins with lower platform, 120 ° evenly distribute at the circumferencial direction interval, each revolute pair bearing pin all connects respectively a sliding sleeve by key, each sliding sleeve is concentric relative with a braking sucker, 120 ° at the circumferencial direction interval evenly distributions of braking sucker are fixed by the support that is arranged on the base; The gas circuit flexible pipe of vacuum cup is derived from the straight coupling of upper mounting plate center, passes the inner spatial domain of three-degree-of-freedom spherical parallel mechanism, as for the straight coupling place of lower platform center; The gas circuit flexible pipe of three braking sucker derivation is connected to respectively three equally distributed straight coupling places on the base periphery.
The utility model operation principle is: before sucker did not adsorb, gas circuit disconnects, and was required according to the sucker operating attitude, the three-degree-of-freedom spherical parallel mechanism associated movement, and the drive sliding sleeve plays rotation with one; When arriving the assigned work position, gas circuit is connected under the suction that slides over the braking sucker rapidly slippage and is adjacent to the braking sucker, and three-degree-of-freedom spherical parallel mechanism suddenly stops thereupon, then realizes the braking of Universal vacuum chuck.
The beneficial effects of the utility model are: but adopt the three-degree-of-freedom spherical parallel mechanism of implementation space three-rotational-freedom to adjust carrier as the Universal vacuum chuck attitude, so that the sucker corner greatly increases; Utilize brake apparatus to automatically lock the required pose of Universal sucker by source of the gas, make adhesive more convenient, firm.
The Univesal Disk-sucking Device that the utlity model has large corner has that corner is large, motion flexibly, the advantage such as highly versatile, accurate positioning, manufacturing be easier, can improve to a great extent the work scope of application and the production efficiency of sucking disc type mechanical hand automatic loading/unloading.
Description of drawings
Fig. 1 is the Univesal Disk-sucking Device structural representation that the utlity model has large corner;
Schematic diagram when Fig. 2 is 45 ° of vacuum cup deflections among Fig. 1.
The specific embodiment
By reference to the accompanying drawings, embodiment of the present utility model is described as follows:
Referring to Fig. 1, three-degree-of-freedom spherical parallel mechanism is made of upper mounting plate 2, lower platform 7 and three identical branch roads connections of structure, and upper mounting plate 2 is connected with vacuum cup 1, and lower platform 7 is fixing with base 8; Every a upper circular arc pole 4 and a lower circular arc pole 6 are contained in branch road mechanism, wherein, between upper mounting plate 2 and the upper circular arc pole 4, between upper circular arc pole 4 and the lower circular arc pole 6 and between lower circular arc pole 6 and the lower platform 7, respectively by three revolute pair bearing pins 3,5,15 connections; Three branch roads of described mechanism axis of rotation of totally nine revolute pairs intersect at same point, and three revolute pairs that link to each other with upper mounting plate 2 and three revolute pairs that link to each other with lower platform 7 are in the 120 ° of installations in the equal interval of circumferencial direction, and upper and lower two platforms of original state are parallel.
Referring to Fig. 1 and Fig. 2, each all is connected a sliding sleeve 17 by key 16 with the revolute pair bearing pin 15 that lower platform 7 links to each other, this sliding sleeve 17 can rotate around bearing pin also can axially have minute movement along it, and each sliding sleeve 17 is concentric relative with a braking sucker 18 respectively, the position of described braking sucker 18 is fixed by the support 14 that is arranged on the base 8, the in pairs 120 ° of evenly distributions at the circumferencial direction interval of sliding sleeve 17 and braking sucker 18.
The gas circuit flexible pipe 10 of vacuum cup 1 end begins from the straight coupling 9 of upper mounting plate 2 centers, passes the inner spatial domain of three-degree-of-freedom spherical parallel mechanism, ends to the straight coupling 11 of lower platform 7 centers; Three road tracheaes 12 of being derived by braking sucker 18 are connected respectively to three equally distributed straight coupling 13 places on base 8 peripheries; When the gas circuit connecting and disconnecting, three braking suckers 18 occur to draw and release movement simultaneously, and then can realize the fixing of three-degree-of-freedom spherical parallel mechanism and loosen, thus the pose of control vacuum cup 1.In the base 8 through and off that magnetic valve is controlled respectively vacuum cup 1 and three braking sucker 18 gas circuits can be installed.
Claims (1)
1. Univesal Disk-sucking Device with large corner, comprise vacuum cup (1), three-degree-of-freedom spherical parallel mechanism, brake apparatus and negative pressure gas circuit, it is characterized in that: the upper mounting plate of three-degree-of-freedom spherical parallel mechanism (2) is moving platform, affixed with vacuum cup (1), the lower platform of three-degree-of-freedom spherical parallel mechanism (7) is fixed platform, and is affixed with base (8); Be connected with three revolute pair bearing pins (15) with lower platform (7), 120 ° evenly distribute at the circumferencial direction interval, each revolute pair bearing pin (15) all connects respectively a sliding sleeve (17) by key (16), each sliding sleeve (17) is concentric relative with a braking sucker (18), 120 ° at the circumferencial direction interval evenly distributions of braking sucker (18), fixing by the support (14) that is arranged on the base (8); The gas circuit flexible pipe (10) of vacuum cup (1) is derived from the straight coupling (9) of upper mounting plate (2) center, passes the inner spatial domain of three-degree-of-freedom spherical parallel mechanism, locates as for the straight coupling (11) of lower platform (7) center; Three equally distributed straight couplings (13) that the gas circuit flexible pipe (12) that three braking suckers (18) are derived is connected to respectively on base (8) periphery are located.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220011759 CN202684915U (en) | 2012-01-12 | 2012-01-12 | Universal sucker device with big corner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220011759 CN202684915U (en) | 2012-01-12 | 2012-01-12 | Universal sucker device with big corner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202684915U true CN202684915U (en) | 2013-01-23 |
Family
ID=47540582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220011759 Expired - Fee Related CN202684915U (en) | 2012-01-12 | 2012-01-12 | Universal sucker device with big corner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202684915U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103671462A (en) * | 2013-12-19 | 2014-03-26 | 上海交通大学 | Piezoelectric valveless micropump suction cup based on parallel connection compliant mechanism |
| CN103878785A (en) * | 2014-03-21 | 2014-06-25 | 北京航空航天大学 | Constant speed parallel type power transmission device |
| CN104029197A (en) * | 2014-06-26 | 2014-09-10 | 山东大学（威海） | Vector propulsion mechanism of underwater robot |
| CN104985590A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | six-freedom-degree parallel mechanism achieving partial decoupling |
| CN105500365A (en) * | 2016-01-26 | 2016-04-20 | 南京航空航天大学 | Hybrid robot with six degrees of freedom |
| CN112050711A (en) * | 2019-06-07 | 2020-12-08 | 卡尔蔡司工业测量技术有限公司 | Rotary probe for a measuring device and measuring device |
-
2012
- 2012-01-12 CN CN 201220011759 patent/CN202684915U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103671462A (en) * | 2013-12-19 | 2014-03-26 | 上海交通大学 | Piezoelectric valveless micropump suction cup based on parallel connection compliant mechanism |
| CN103671462B (en) * | 2013-12-19 | 2015-10-14 | 上海交通大学 | Based on the piezoelectricity valve free pump sucker of parallel connection compliant mechanism |
| CN103878785A (en) * | 2014-03-21 | 2014-06-25 | 北京航空航天大学 | Constant speed parallel type power transmission device |
| CN103878785B (en) * | 2014-03-21 | 2016-03-02 | 北京航空航天大学 | A kind of parallel-connection type power transmission device of constant speed |
| CN104029197A (en) * | 2014-06-26 | 2014-09-10 | 山东大学（威海） | Vector propulsion mechanism of underwater robot |
| CN104029197B (en) * | 2014-06-26 | 2016-01-20 | 山东大学（威海） | A kind of vector propulsion mechanism of underwater robot |
| CN104985590A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | six-freedom-degree parallel mechanism achieving partial decoupling |
| CN105500365A (en) * | 2016-01-26 | 2016-04-20 | 南京航空航天大学 | Hybrid robot with six degrees of freedom |
| CN112050711A (en) * | 2019-06-07 | 2020-12-08 | 卡尔蔡司工业测量技术有限公司 | Rotary probe for a measuring device and measuring device |
| US11543230B2 (en) | 2019-06-07 | 2023-01-03 | Carl Zeiss Industrielle Messtechnik Gmbh | Articulating probe |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130123 Termination date: 20150112 |
|
| EXPY | Termination of patent right or utility model |