CN215848314U - A crashproof device, sucking disc formula clamping jaw and robot for sucking disc formula clamping jaw - Google Patents
A crashproof device, sucking disc formula clamping jaw and robot for sucking disc formula clamping jaw Download PDFInfo
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- CN215848314U CN215848314U CN202121345406.5U CN202121345406U CN215848314U CN 215848314 U CN215848314 U CN 215848314U CN 202121345406 U CN202121345406 U CN 202121345406U CN 215848314 U CN215848314 U CN 215848314U
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Abstract
The utility model relates to an anti-collision device for a sucker type clamping jaw, the sucker type clamping jaw and a robot, wherein the anti-collision device for the sucker type clamping jaw comprises a sucker mounting seat, a plurality of suckers and a plurality of clamping plates, wherein the sucker mounting seat is configured to mount the suckers; the ultrasonic ranging sensor array is arranged on the sucker mounting side of the sucker mounting seat; the ultrasonic ranging sensor array comprises a plurality of ultrasonic ranging sensors; the ultrasonic ranging sensor array is configured to sense a distance and parallelism between the chuck mount and a target workpiece. The utility model provides an anti-collision device for sucking disc formula clamping jaw utilizes each ultrasonic ranging sensor in the ultrasonic ranging sensor array, and distance and depth of parallelism between sensing sucking disc mount pad and the target work piece respectively under the condition that the target work piece is components such as glass board, the robotic arm gesture of adjustment control sucking disc formula clamping jaw position avoids sucking disc formula clamping jaw and target work piece to take place the striking, has effectively improved the use reliability of sucking disc formula clamping jaw like this.
Description
Technical Field
The utility model relates to the field of automatic application equipment, in particular to an anti-collision device for a sucker type clamping jaw, the sucker type clamping jaw and a robot.
Background
With the development of automation technology, in the field of machining, the positioning and position adjustment of the workpiece to be machined can be carried out by means of robots equipped with suction-cup type clamping jaws.
At present, the suction cup type clamping jaw is used as an executing device capable of clamping or grabbing a processed workpiece, and the power source of the executing device is generally a pneumatic driving system in a robot. However, since the pneumatic driving system is heavy, when the workpiece to be processed is a transparent and fragile planar member such as a glass plate, it is difficult to precisely control the position of the chuck type clamping jaw by the pneumatic driving system. Therefore, in the process of clamping or grabbing the workpiece to be processed by the sucker type clamping jaw, the sucker type clamping jaw and the workpiece to be processed are difficult to avoid impacting, and the workpiece to be processed is damaged.
SUMMERY OF THE UTILITY MODEL
Based on the anti-collision device for the sucker type clamping jaw and the sucker type clamping jaw, the sucker type clamping jaw and a machined workpiece can be prevented from colliding, and therefore the use reliability of the sucker type clamping jaw is improved.
An impact protection device for a suction cup jaw, comprising a suction cup mount configured to mount a plurality of suction cups; the ultrasonic ranging sensor array is arranged on the sucker mounting side of the sucker mounting seat; wherein the ultrasonic ranging sensor array comprises a plurality of ultrasonic ranging sensors; the ultrasonic ranging sensor array is configured to sense a distance and parallelism between the chuck mount and a target workpiece.
Further, the ultrasonic ranging sensor array is a rectangular array or an annular array.
Furthermore, a plurality of ultrasonic ranging sensors are evenly distributed on the sucker mounting seat.
Further, every two adjacent ultrasonic ranging sensors have a spacing therebetween, and the spacing is greater than or equal to a first threshold value.
Further, the plurality of ultrasonic ranging sensors includes at least: the distance measuring device comprises a front distance measuring sensor, a rear distance measuring sensor, a left distance measuring sensor and a right distance measuring sensor;
the front distance measuring sensor and the rear distance measuring sensor are arranged oppositely along a first direction;
the left distance measuring sensor and the right distance measuring sensor are arranged oppositely along a second direction, and the first direction is intersected with the second direction.
Further, the first direction and the second direction are perpendicular.
Further, the plurality of ultrasonic ranging sensors further includes: a center ranging sensor located at a geometric center of an area surrounded by the front ranging sensor, the rear ranging sensor, the left ranging sensor, and the right ranging sensor.
Further, the plurality of ultrasonic ranging sensors further includes: the distance measuring device comprises a left front distance measuring sensor, a left rear distance measuring sensor, a right front distance measuring sensor and a right rear distance measuring sensor;
the left front distance measuring sensor and the right rear distance measuring sensor are arranged oppositely along a third direction;
the right front distance measuring sensor and the left rear distance measuring sensor are oppositely arranged along a fourth direction;
an included angle between the third direction and the first direction is equal to an included angle between the fourth direction and the first direction;
and an included angle between the third direction and the second direction is equal to an included angle between the fourth direction and the second direction.
Further, provide a sucking disc formula clamping jaw, include above an anti-collision device for sucking disc formula clamping jaw, still include:
a plurality of suckers mounted on a sucker mounting side of the sucker mounting base;
a control device for adjusting a distance between the plurality of suction cups and the target workpiece.
Further, the distance from the top surface of the ultrasonic ranging sensor to the sucker mounting seat is smaller than the distance from the top surface of the sucker to the sucker mounting seat;
the top surface of the ultrasonic ranging sensor is the surface deviating from the sucker mounting seat; the top surface of the sucker is the surface of the sucker, which deviates from the sucker mounting seat.
Further, the robot comprises the sucker type clamping jaw and a mechanical arm, wherein the mechanical arm is connected with the sucker type clamping jaw.
The utility model provides an anti-collision device for sucking disc formula clamping jaw, sucking disc installation side at the sucking disc mount pad sets up ultrasonic ranging sensor array, can utilize each ultrasonic ranging sensor in the ultrasonic ranging sensor array, distance and depth of parallelism between sensing sucking disc mount pad and the target work piece respectively, under the condition that the target work piece is transparent and fragile planar member such as glass board, utilize ultrasonic ranging sensor to find range like this, this anti-collision device need not to contact with the target work piece, also can sense distance and depth of parallelism between sucking disc mount pad and the target work piece fast and easily, with this arm gesture that corresponds the adjustment and can control sucking disc formula clamping jaw position, thereby can avoid sucking disc formula clamping jaw and target work piece to take place the striking, the use reliability of sucking disc formula clamping jaw has effectively been improved.
Drawings
FIG. 1 is a front view of an impact protection device for a suction cup jaw according to a first embodiment of the present application;
fig. 2 is a schematic structural diagram of an ultrasonic ranging sensor array according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of an ultrasonic ranging sensor array according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of an ultrasonic ranging sensor array according to a fourth embodiment of the present application;
fig. 5 is a schematic structural diagram of an ultrasonic ranging sensor array according to a fifth embodiment of the present application;
FIG. 6 is a schematic diagram of a single ultrasonic ranging sensor according to a sixth embodiment of the present application;
FIG. 7 is a schematic diagram of two ultrasonic ranging sensors according to a sixth embodiment of the present application;
figure 8 is a perspective view of a suction cup jaw according to a seventh embodiment of the present application.
The device comprises a sucker mounting base 1, a sucker mounting base 2, an ultrasonic ranging sensor array 21, an ultrasonic ranging sensor (first sensor), 21', an ultrasonic ranging sensor (second sensor), 211, an ultrasonic transmitter 212 and an ultrasonic receiver;
10. a crashproof device for sucking disc formula clamping jaw, 20, sucking disc, 30, breather pipe, 40, support frame.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "center," "height," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Referring to fig. 1, fig. 1 is a front view of an anti-collision device for a sucker type clamping jaw according to a first embodiment of the present invention, and the anti-collision device for a sucker type clamping jaw provided by the present invention includes a sucker mounting base 1 and an ultrasonic ranging sensor array 2. Wherein the suction cup mount 1 is configured to mount a plurality of suction cups. The ultrasonic ranging sensor array 2 is arranged on the suction cup mounting side of the suction cup mounting seat 1. The ultrasonic ranging sensor array 2 includes a plurality of ultrasonic ranging sensors 21; the ultrasonic ranging sensor 21 is configured to sense the distance and parallelism between the chuck mount 1 and a target workpiece.
Here, the condition that the distance between the suction cup mount 1 and the target workpiece is reduced means that the distance between the suction cup mount 1 and the target workpiece is gradually reduced along with the movement of the position of the suction cup type clamping jaw in the process of clamping or grabbing the target workpiece by the suction cup type clamping jaw. In addition, the target value is a preset value which can be reasonably determined according to factors such as the size of the sucker, the size of the ultrasonic ranging sensor and the like.
In addition, optionally, the ultrasonic ranging sensor 21 is fixedly connected or detachably connected with the suction cup mounting base 1.
Above-mentioned anti-collision device for sucking disc formula clamping jaw sets up ultrasonic ranging sensor array 2 in the sucking disc installation side of sucking disc mount pad 1, can utilize each ultrasonic ranging sensor 21 in ultrasonic ranging sensor array 2 to sense the distance and the depth of parallelism between sucking disc mount pad 1 and the target work piece respectively to output striking early warning signal under the condition that arbitrary distance reduces to the target value. Thus, in the case where the target workpiece is a transparent and fragile planar member such as a glass plate, the distance measurement is performed by the ultrasonic distance measuring sensor 21, and the impact protection device can quickly and easily sense the distance between the suction cup mounting seat and the target workpiece without contacting the target workpiece, and output an early warning signal in real time. Therefore, the posture of the mechanical arm of the chuck type clamping jaw can be adjusted by utilizing the early warning signal, and if the impact early warning signal is output, the mechanical arm stops moving; if outputting the parallelism early warning signal, the mechanical arm adjusts the distance between each point position of the sucker (the sucker mounting seat) and the target workpiece according to the parallelism early warning signal, so that each point position of the sucker (the sucker mounting seat) and the target workpiece are kept parallel, the sucker type clamping jaw is prevented from being collided with the target workpiece, and the use reliability of the sucker type clamping jaw is effectively improved.
In addition, ultrasonic ranging sensor easily operates, and manufacturing cost is lower, and above-mentioned anticollision device comprises sucking disc mount pad and ultrasonic ranging sensor array, also is fit for being applied to in the batch production of sucking disc formula clamping jaw with it.
In the crash-proof device of the above embodiment, the arrangement of the ultrasonic ranging sensor array 2 may be various, and as shown in the first embodiment of fig. 1, the ultrasonic ranging sensor array 2 is composed of 5 ultrasonic ranging sensors 21, which is advantageous in that the distance between the front and the back and the left and the right and the parallelism can be determined. In other embodiments of the present application, as shown in fig. 2 to 5, the ultrasonic ranging sensor array 2 is a rectangular array including different numbers and combinations of the ultrasonic ranging sensors 21, so that the distances in different directions can be detected.
In another embodiment of the present invention, the ultrasonic ranging sensor array is an annular array.
By last, utilize a plurality of ultrasonic ranging sensor in the ultrasonic ranging sensor array, can be in different positions, from the distance between different direction sensing sucking disc mount pad and the target work piece to accurate output striking early warning signal.
Fig. 6 is a schematic diagram illustrating a distance measurement principle of a single ultrasonic distance measuring sensor in the sixth embodiment of the present application, and it can be understood that the ultrasonic distance measuring sensor 21 includes at least an ultrasonic transmitter 211 and an ultrasonic receiver 212. The ultrasonic ranging sensor 21 determines the distance by calculating a time difference between the ultrasonic wave transmission timing and the ultrasonic wave reception timing due to reflection by the target workpiece to the ultrasonic receiver 212.
In addition, fig. 7 shows a distance measuring schematic diagram of two ultrasonic distance measuring sensors according to a sixth embodiment of the present invention, as shown in fig. 6, in a case that the target workpiece is a planar member such as a glass plate, and the two ultrasonic distance measuring sensors measure distances respectively, the pneumatic driving system or the control system in the robot may further determine whether the surface of the suction cup mounting base is parallel to the surface of the target workpiece by using the two distances sensed by the two ultrasonic distance measuring sensors.
Specifically, two ultrasonic ranging sensors are respectively a first sensor 21A and a second sensor 21B, and the distance sensed by the first sensor 21A is a first distance d1The distance sensed by the second sensor 21B is a second distance d2For example. Thus sensing the first distance d1And a second distance d2Then, the first distance d is determined1And a second distance d2Whether or not equal. If the first distance d1Is equal to the second distance d2It means that the surface of the suction cup mount is parallel to the surface of the target workpiece 3; if the first distance d1Is not equal to the second distance d2It means that the surface of the chuck mounting base is not parallel to the surface of the target workpiece, and it is necessary to adjust the posture of the robot arm, wherein if the first distance d is provided1Greater than the second distance d2It means that the portion of the suction cup mounting base corresponding to the position of the first sensor 21A needs to be close to the target workpiece by a third distance d3，d3＝d1-d2. Similarly, if the second distance d2Greater than the first distance d1It means that the portion of the suction cup mounting base corresponding to the position of the second sensor 21B needs to be close to the target workpiece by a fourth distance d4，d4＝d2-d1。
In an embodiment of the present invention, there is a space between every two adjacent ultrasonic ranging sensors; the interval is greater than or equal to a first threshold. Here, the first threshold value can be determined comprehensively according to factors such as the size of the sucker mounting seat, the number of the suckers, the size of the ultrasonic ranging sensor, the sensitivity of the ultrasonic ranging sensor and the like, and the distance measurement of every two adjacent ultrasonic ranging sensors is not influenced mutually.
In addition, according to the distance measuring principle of the ultrasonic distance measuring sensors in some of the foregoing embodiments, the plurality of ultrasonic distance measuring sensors in the ultrasonic distance measuring sensor array may also have other various arrangements.
In a possible embodiment, the plurality of ultrasonic ranging sensors comprises at least: the distance measuring device comprises a front distance measuring sensor, a rear distance measuring sensor, a left distance measuring sensor and a right distance measuring sensor. Wherein, preceding range finding sensor sets up along first direction with back range finding sensor relatively. The left distance measuring sensor and the right distance measuring sensor are arranged oppositely along a second direction, and the first direction is intersected with the second direction. In this way, while the distances between the front, rear, left and right parts of the suction cup mounting seat and the target workpiece are effectively sensed, whether the surface of the suction cup mounting seat is parallel to the surface of the target workpiece can be respectively determined from the first direction and the second direction.
Optionally, the first direction and the second direction are perpendicular, for example, the first direction is a vertical direction, and the second direction is a horizontal direction.
In another possible embodiment, the plurality of ultrasonic ranging sensors further includes: a central ranging sensor. The central distance measuring sensor is positioned at the geometric center of an area surrounded by the front distance measuring sensor, the rear distance measuring sensor, the left distance measuring sensor and the right distance measuring sensor. Therefore, when the distance between each part of the sucker mounting seat and the target workpiece is effectively sensed, the central distance measuring sensor can be used as a reference, and whether the surface of the sucker mounting seat is parallel to the surface of the target workpiece or not is determined respectively from the directions of the front distance measuring sensor, the rear distance measuring sensor, the left distance measuring sensor and the right distance measuring sensor, so that the posture of the robot arm can be adjusted more accurately.
In another embodiment of the present application, the plurality of ultrasonic ranging sensors further includes: a left front ranging sensor, a left rear ranging sensor, a right front ranging sensor and a right rear ranging sensor. The left front distance measuring sensor and the right rear distance measuring sensor are arranged oppositely along the third direction. The right front distance measuring sensor and the left rear distance measuring sensor are oppositely arranged along the fourth direction. The included angle between the third direction and the first direction is equal to the included angle between the fourth direction and the first direction. The included angle between the third direction and the second direction is equal to the included angle between the fourth direction and the second direction. In this way, while the distance between each part of the sucker mounting seat and the target workpiece is effectively sensed, on the basis of some embodiments, whether the surface of the sucker mounting seat is parallel to the surface of the target workpiece or not can be further determined from the directions of the left front distance measuring sensor, the left rear distance measuring sensor, the right front distance measuring sensor and the right rear distance measuring sensor, so as to adjust the posture of the robot arm more accurately.
The utility model provides an anti-collision device for sucking disc formula clamping jaw, sucking disc installation side at the sucking disc mount pad sets up ultrasonic ranging sensor array, can utilize each ultrasonic ranging sensor in the ultrasonic ranging sensor array, distance and depth of parallelism between sensing sucking disc mount pad and the target work piece respectively, under the condition that the target work piece is transparent and fragile planar member such as glass board, utilize ultrasonic ranging sensor to find range like this, this anti-collision device need not to contact with the target work piece, also can sense distance and depth of parallelism between sucking disc mount pad and the target work piece fast and easily, with this arm gesture that corresponds the adjustment and can control sucking disc formula clamping jaw position, thereby can avoid sucking disc formula clamping jaw and target work piece to take place the striking, the use reliability of sucking disc formula clamping jaw has effectively been improved.
Further, fig. 8 shows a perspective view of a suction cup type clamping jaw of the seventh embodiment of the present application, the present application provides a suction cup type clamping jaw, comprising: the crash-proof device 10 according to any of the above embodiments, and the plurality of suction cups 20 mounted on the suction-cup mounting side of the suction-cup mounting base 1, the number and the arrangement positions of the suction cups 20 may be selected according to actual requirements.
In one embodiment, the distance from the top surface of the ultrasonic ranging sensor 21 to the suction cup mount 1 is smaller than the distance from the top surface of the suction cup 20 to the suction cup mount 1. Wherein, the top surface of ultrasonic ranging sensor 21 is its surface that deviates from sucking disc mount pad 1, that is, the distance of the top surface of ultrasonic ranging sensor 21 to sucking disc mount pad 1 is the height of ultrasonic ranging sensor 21 for sucking disc mount pad 1. The top surface of the suction cup 20 is the surface thereof facing away from the suction cup mount 1, i.e. the distance of the top surface of the suction cup 20 to the suction cup mount 1 is the height of the suction cup 20 relative to the suction cup mount 1. In this way, the ultrasonic ranging sensor array 2 is disposed on the suction cup mounting side of the suction cup mounting base 1, and does not affect the clamping or grabbing action of each suction cup 20 on the target workpiece.
In addition, it will be appreciated that the suction cup type gripper also typically includes air tubes 30 connected to each suction cup 20 in a one-to-one correspondence, and a support bracket 40 for assisting in supporting each air tube 30. The supporting frame 40 is disposed on one side of the suction cup mounting base 1 departing from the suction cup, and can be fixedly connected with the suction cup mounting base 1 or be of an integrated structure. Each of the air tubes 30 may be connected to a pneumatic drive system within the robot, which may also be connected to a control system within the robot, which is not described in detail herein. Of course, other implementations of the suction jaw are also possible.
Further, the chuck type clamping jaw also comprises a control device, and the control device is used for adjusting the distance between the plurality of suction cups and the target workpiece. Specifically, when the suction cups suck a flat target workpiece, it is necessary to ensure that the distances between the plurality of suction cups and the target workpiece are equal, so as to ensure that the surface of the target workpiece and the plurality of suction cups on the suction cup type clamping jaws are in a parallel state. When the robot is in use, the ultrasonic ranging sensor can measure and calculate the distance between the suction disc (the suction disc mounting seat) and a target workpiece, and the robot arm posture which can control the position of the suction disc type clamping jaw is adjusted through the control device, so that the plurality of suction discs and the target workpiece are kept parallel.
Further, the application provides a robot, including above sucking disc formula clamping jaw still include the arm, the arm is connected above sucking disc formula clamping jaw.
The beneficial effects that can be achieved by the suction cup type clamping jaw and the robot in one embodiment of the utility model are the same as those that can be achieved by the anti-collision device for the suction cup type clamping jaw provided in some embodiments, and are not described herein again.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. An anti-collision device for a suction cup type clamping jaw, comprising:
a suction cup mount configured to mount a plurality of suction cups;
the ultrasonic ranging sensor array is arranged on the sucker mounting side of the sucker mounting seat;
wherein the ultrasonic ranging sensor array comprises a plurality of ultrasonic ranging sensors; the ultrasonic ranging sensor array is configured to sense a distance and parallelism between the chuck mount and a target workpiece.
2. The impact protection device for sucker jaws of claim 1, wherein the array of ultrasonic ranging sensors is in a rectangular array or an annular array.
3. The impact protection device for sucker jaws of claim 1, wherein a plurality of said ultrasonic ranging sensors are evenly distributed on said sucker mounting base.
4. The impact protection device for sucker jaws of claim 2 or 3, wherein there is a spacing between each adjacent two of the ultrasonic ranging sensors, the spacing being greater than or equal to a first threshold.
5. The impact protection device for sucker jaws of claim 1, wherein said plurality of ultrasonic ranging sensors comprises at least: the distance measuring device comprises a front distance measuring sensor, a rear distance measuring sensor, a left distance measuring sensor and a right distance measuring sensor;
the front distance measuring sensor and the rear distance measuring sensor are arranged oppositely along a first direction;
the left distance measuring sensor and the right distance measuring sensor are arranged oppositely along a second direction, and the first direction is intersected with the second direction.
6. The impact protection device for sucker jaws of claim 5, wherein the first direction and the second direction are perpendicular.
7. The impact protection device for sucker jaws of claim 5, wherein the plurality of ultrasonic ranging sensors further comprises: a center ranging sensor located at a geometric center of an area surrounded by the front ranging sensor, the rear ranging sensor, the left ranging sensor, and the right ranging sensor.
8. The impact protection device for sucker jaws of any one of claims 5 to 7, wherein the plurality of ultrasonic ranging sensors further comprises: the distance measuring device comprises a left front distance measuring sensor, a left rear distance measuring sensor, a right front distance measuring sensor and a right rear distance measuring sensor;
the left front distance measuring sensor and the right rear distance measuring sensor are arranged oppositely along a third direction;
the right front distance measuring sensor and the left rear distance measuring sensor are oppositely arranged along a fourth direction;
an included angle between the third direction and the first direction is equal to an included angle between the fourth direction and the first direction;
and an included angle between the third direction and the second direction is equal to an included angle between the fourth direction and the second direction.
9. A suction jaw, comprising an impact protection device for a suction jaw according to any one of claims 1-8, further comprising:
a plurality of suckers mounted on a sucker mounting side of the sucker mounting base;
a control device for adjusting a distance between the plurality of suction cups and the target workpiece.
10. The suction jaw of claim 9,
the distance from the top surface of the ultrasonic ranging sensor to the sucker mounting seat is smaller than the distance from the top surface of the sucker to the sucker mounting seat;
the top surface of the ultrasonic ranging sensor is the surface deviating from the sucker mounting seat; the top surface of the sucker is the surface of the sucker, which deviates from the sucker mounting seat.
11. A robot comprising a suction jaw according to claim 9 or 10, further comprising a robot arm, said robot arm being connected to said suction jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121345406.5U CN215848314U (en) | 2021-06-17 | 2021-06-17 | A crashproof device, sucking disc formula clamping jaw and robot for sucking disc formula clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121345406.5U CN215848314U (en) | 2021-06-17 | 2021-06-17 | A crashproof device, sucking disc formula clamping jaw and robot for sucking disc formula clamping jaw |
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| Publication Number | Publication Date |
|---|---|
| CN215848314U true CN215848314U (en) | 2022-02-18 |
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| CN202121345406.5U Active CN215848314U (en) | 2021-06-17 | 2021-06-17 | A crashproof device, sucking disc formula clamping jaw and robot for sucking disc formula clamping jaw |
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| CN (1) | CN215848314U (en) |
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Effective date of registration: 20240709 Address after: Room 1096, Building C, No. 555 Dongchuan Road, Minhang District, Shanghai Patentee after: FLEXIV ROBOTICS, Ltd. Country or region after: China Patentee after: Feixi Technology Co.,Ltd. Country or region after: Britain Patentee after: Shanghai Yuanfei Intelligent Technology Co.,Ltd. Address before: Room 1096, building C, 555 Dongchuan Road, Minhang District, Shanghai Patentee before: FLEXIV ROBOTICS, Ltd. Country or region before: China Patentee before: Feixi Technology Co.,Ltd. Country or region before: Britain |