CN103302676A - End effector of circular-groove-shaped vacuum suction cup - Google Patents
End effector of circular-groove-shaped vacuum suction cup Download PDFInfo
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- CN103302676A CN103302676A CN201310243297XA CN201310243297A CN103302676A CN 103302676 A CN103302676 A CN 103302676A CN 201310243297X A CN201310243297X A CN 201310243297XA CN 201310243297 A CN201310243297 A CN 201310243297A CN 103302676 A CN103302676 A CN 103302676A
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Abstract
The invention discloses an end effector of a circular-groove-shaped vacuum suction cup. The end effector comprises an installation plate, wherein air exhaust holes are formed in the installation plate; a suction cup is fixedly connected to the lower part of the installation plate ; and circular rubber grooves communicated with the air exhaust holes are formed in the suction cup and matched with an upper-end edge of an adsorbed object. According to the end effector, the circular-groove-shaped suction cup is used for being fully attached to the upper-edge surface of a battery holder, so that the effective adsorption area is the maximum; by means of a paw protection mechanism, the problem that the battery holder falls off due to failure of the suction cup in a carrying process can be avoided; and when the paw is raised, the paw cannot touch the battery holder on an object stack, and seamless stacking can be realized. The end effector is simple in structure, convenient to use, safe, reliable and applicable to adsorption type carrying of materials which are similar to battery holders and have openings at the upper ends and limited effective adsorption areas.
Description
Technical field
The present invention relates to a kind of end effector of manipulator, particularly relate to a kind of ring-groove-type vacuum cup end effector.
Background technology
The battery case of battery enterprise a kind of special use commonly used is so that storage semi-finished product battery makes things convenient for battery in the processing circulation of different production lines.The battery case bottom need to fall into lower floor's battery case upper end open with seam with battery case bottom, upper strata seam when piling up, and seamless between every layer of battery case.Adopt and to pile up manually that not only operating efficiency is low, and workman's labour intensity is also very large.
The palletizing apparatus end effector of prior art mainly contains three kinds on forked type, clamping board type and vacuum cup type, and forked type and clamping board type all are by the switching of cylinder or Driven by Hydraulic Cylinder fork pawl or clamping plate, realize the crawl to material.These two kinds of end effectors all need to open fork pawl or clamping plate to both sides after putting down material, and adjacent storeroom just need to have certain space, can not accomplish seamless piling.Vacuum cup type end effector vacuumizes vacuum cup by vavuum pump or vacuum generator, and then material sucked up, this kind end effector can be realized seamless piling, but the conventional vacuum sucker just is used for drawing the larger materials of adsorbable area such as flat board or carton, to narrow edge, this upper end of battery case, the less material of effective adsorbable area is difficult to realize crawl.And battery case is fully loaded with the Full Charge Capacity battery, and battery is squeezed and collides the danger of easily blasting.The generation potential safety hazard if vacuum failure, battery case come off.
Summary of the invention
Thereby the present invention provides a kind of can absorption the less object of narrow edge, upper end surface area to carry the ring-groove-type vacuum cup end effector of realizing seamless piling for solving the technical problem that exists in the known technology.
The technical scheme that the present invention takes for the technical problem that exists in the solution known technology is: a kind of ring-groove-type vacuum cup end effector, comprise the installing plate that has aspirating hole, below described installing plate, be connected with sucker, be formed with the rubber annular groove that communicates with described aspirating hole on the described sucker, described rubber annular groove coincide with the edge, upper end that is adsorbed object.
The both sides of described sucker respectively are provided with at least one paw, the described paw of sucker one side is vertical affixed with a power transmission shaft of homonymy, the two ends of described power transmission shaft respectively are connected with axle bed by a rocking bar, one end and the described power transmission shaft of described rocking bar are affixed, the other end and described axle bed are hinged, described axle bed be fixed on described installing plate above, described power transmission shaft is connected with the drive end vertical rotation of cylinder, described cylinder be installed in described installing plate above.
Described sucker comprises from top to bottom and described installing plate successively affixed outer ring rubber, outer plate, inner ring rubber and clip plate;
Described outer ring rubber is downward opening pond grooved, and bottom land is provided with hollow structure;
Described outer plate is arranged on the groove bottom of outer ring rubber, and described outer plate forms hollow structure and communicating groove, and described communicating groove is connected between the hollow structure and described rubber annular groove of described outer plate;
Described inner ring rubber is arranged under the outer plate, is downward opening pond grooved, and bottom land is provided with hollow structure, is positioned at the inside of described outer ring rubber, forms described rubber annular groove between described outer ring rubber and the described inner ring rubber;
Described clip plate is encapsulated on the groove bottom of described inner ring rubber;
The hollow structure of the hollow structure of described aspirating hole, described outer ring rubber, the hollow structure of described outer plate and described inner ring rubber connects mutually.
Angle between described paw and the described rocking bar is 35 °～55 °.
The outside of described axle bed is connected with block, and described block is positioned at the below of described rocking bar.
Four of described outer plates are laid on respectively on the limit, upper and lower, left and right of groove bottom of described outer ring rubber, and are provided with spacing between the adjacent described outer plate, form described communicating groove.
Advantage and good effect that the present invention has are: adopt the ring-groove-type sucker entirely to adsorb on the battery case along the surface; make effective adsorption area maximum; utilize the paw protection mechanism can prevent that the battery case that causes because of the sucker inefficacy from coming off in handling process; its end can not run into the upper existing battery case of thing buttress when paw lifted, and can realize seamless piling.The present invention is simple in structure, and is easy to use, safe and reliable, can be applicable to this upper end open of similar battery case, the effectively absorption type carrying of the limited material of adsorption area.
Description of drawings
Fig. 1 is explosive view of the present invention;
Fig. 2 is the structural representation of the present invention with Machine guarding;
Fig. 3 is the upward view of Fig. 2;
Fig. 4 is the A-A cutaway view of Fig. 3.
Among the figure: 1, installing plate, 2, cylinder, 3, block, 4, axle bed, 5, power transmission shaft, 6, paw, 7, rocking bar, 8, sucker, 81, outer ring rubber, 82, outer plate, 83, inner ring rubber, 84, clip plate, 9, aspirating hole, 10, the rubber annular groove.
The specific embodiment
For further understanding summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and cooperate accompanying drawing to be described in detail as follows:
See also Fig. 1～Fig. 4, a kind of ring-groove-type vacuum cup end effector comprises the installing plate 1 that has aspirating hole 9, is connected with sucker below installing plate 1, be formed with the rubber annular groove 10 that communicates with aspirating hole 9 on the described sucker, rubber annular groove 10 be adsorbed edge, object upper end and coincide.
In the present embodiment, described sucker is to form like this: be connected with successively outer ring rubber 81, outer plate 82, inner ring rubber 83 and clip plate 84 below installing plate 1 from top to bottom; Outer ring rubber 81 is downward opening pond grooved, and bottom land is provided with hollow structure, outer plate 82 is arranged on the groove bottom of outer ring rubber, in the present embodiment, outer plate 82 has four, is laid on respectively on the limit, upper and lower, left and right of groove bottom, and be provided with spacing between the adjacent outer plate and form communicating groove, communicating groove is connected between the hollow structure and rubber annular groove of outer plate, is used for linking up aspirating hole and rubber annular groove, forms hollow structure between four outer plates 82.But embodiment does not limit the structure of outer plate, and for example outer plate can adopt an integrated plate, and in middle perforate, peripheral groove is linked up aspirating hole and rubber annular groove.Inner ring rubber 83 is arranged on outer plate 82 times, is downward opening pond grooved, and bottom land is provided with hollow structure, is positioned at outer ring rubber 81 inside, forms the rubber annular groove between outer ring rubber 81 and the inner ring rubber 83.Clip plate 84 is encapsulated on the groove bottom of inner ring rubber 83, and the hollow structure shutoff of outer ring rubber 81, outer plate 82 and inner ring rubber 83 is tight, simultaneously they and installing plate 1 usefulness bolt is linked together.The hollow structure of the hollow structure of described aspirating hole 9, described outer ring rubber 81, the hollow structure of described outer plate 82 and described inner ring rubber 83 connects mutually.
In the present embodiment, two suckers 8 are installed on the installing plate 1, can be drawn two battery cases at every turn, form annular seal space in the annular chamber along being pressed on the battery case during work, vacuumize by the steam vent on the installing plate, realize vacuum suction.
In order to prevent in handling process being handled upside down thing and coming off because sucker loses efficacy to cause, guarantee production safety, the present invention also is provided with Machine guarding, and Machine guarding comprises cylinder 2, block 3, axle bed 4, power transmission shaft 5, paw 6 and rocking bar 7.The both sides of each sucker 8 respectively are provided with at least one paw 6, the paw 6 of sucker 8 one sides is vertical affixed with a power transmission shaft 5 of homonymy, the two ends of power transmission shaft 5 respectively are connected with axle bed 4 by a rocking bar 7, one end and the power transmission shaft 5 of rocking bar 7 are affixed, one end and axle bed 4 are hinged, axle bed 4 be fixed on installing plate 1 above, power transmission shaft 5 is connected with the drive end vertical rotation of cylinder 2, cylinder 2 be installed in installing plate 1 above.Paw 6 is comparatively suitable with 7 one-tenth 35 °～55 ° of rocking bars, and different according to the height that lifts, angle can be adjusted, and angle is 45 ° preferably.
In order to limit the outer swinging of rocking bar 7, be fixed with block 3 on the axle bed 4, block 3 is positioned at the below of rocking bar 7.During work, cylinder 2 promotes power transmission shaft 5, drives to accommodate in the paw 6 to put, the angle of described block 3 restriction rocking bars 7 outer pendulum.
Operation principle of the present invention:
Battery case is as example when piling up, and when the present invention worked, palletizing apparatus drove end effector and moves downward, and edge, battery case upper end is pressed in the annular groove die cavity of vacuum cup, forms annular seal space, vacuumizes by the steam vent on the installing plate, realizes vacuum suction.End effector picks up the battery case certain distance that moves upward to be stopped, accommodate in the air cylinder driven paw and put, make paw be in the battery case below, in case battery case dropped because sucker loses efficacy in handling process, paw can be caught from the below battery case that drops, to prevent that battery case from falling, guarantee production safety.When end effector moves to thing buttress top setpoint distance, cylinder drives the outer pendulum of paw and opens, paw is in the process of opening, can not run into the battery case on the thing buttress, and paw can be raised up on the installing plate, when transferring battery case with assurance, paw can not run into the battery case on next door, realizes seamless piling; Then, pass into air in sucker, end effector is transferred battery case, finishes the work of piling up.
Although the above is described the preferred embodiments of the present invention by reference to the accompanying drawings; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away from the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within protection scope of the present invention.
Claims (6)
1. ring-groove-type vacuum cup end effector, it is characterized in that, comprise the installing plate that has aspirating hole, below described installing plate, be connected with sucker, be formed with the rubber annular groove that communicates with described aspirating hole on the described sucker, described rubber annular groove coincide with the edge, upper end that is adsorbed object.
2. ring-groove-type vacuum cup end effector according to claim 1, it is characterized in that, the both sides of described sucker respectively are provided with at least one paw, the described paw of sucker one side is vertical affixed with a power transmission shaft of homonymy, the two ends of described power transmission shaft respectively are connected with axle bed by a rocking bar, one end and the described power transmission shaft of described rocking bar are affixed, the other end and described axle bed are hinged, described axle bed be fixed on described installing plate above, described power transmission shaft is connected with the drive end vertical rotation of cylinder, described cylinder be installed in described installing plate above.
3. ring-groove-type vacuum cup end effector according to claim 2 is characterized in that, described sucker comprises from top to bottom and described installing plate successively affixed outer ring rubber, outer plate, inner ring rubber and clip plate;
Described outer ring rubber is downward opening pond grooved, and bottom land is provided with hollow structure;
Described outer plate is arranged on the groove bottom of outer ring rubber, and described outer plate forms hollow structure and communicating groove, and described communicating groove is connected between the hollow structure and described rubber annular groove of described outer plate;
Described inner ring rubber is arranged under the outer plate, is downward opening pond grooved, and bottom land is provided with hollow structure, is positioned at the inside of described outer ring rubber, forms described rubber annular groove between described outer ring rubber and the described inner ring rubber;
Described clip plate is encapsulated on the groove bottom of described inner ring rubber;
The hollow structure of the hollow structure of described aspirating hole, described outer ring rubber, the hollow structure of described outer plate and described inner ring rubber connects mutually.
4. ring-groove-type vacuum cup end effector according to claim 2 is characterized in that, the angle between described paw and the described rocking bar is 35 °～55 °.
5. ring-groove-type vacuum cup end effector according to claim 2 is characterized in that, the outside of described axle bed is connected with block, and described block is positioned at the below of described rocking bar.
6. ring-groove-type vacuum cup end effector according to claim 3, it is characterized in that four of described outer plates are laid on respectively on the limit, upper and lower, left and right of groove bottom of described outer ring rubber, and be provided with spacing between the adjacent described outer plate, form described communicating groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310243297.XA CN103302676B (en) | 2013-06-18 | 2013-06-18 | End effector of circular-groove-shaped vacuum suction cup |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310243297.XA CN103302676B (en) | 2013-06-18 | 2013-06-18 | End effector of circular-groove-shaped vacuum suction cup |
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| CN103302676A true CN103302676A (en) | 2013-09-18 |
| CN103302676B CN103302676B (en) | 2015-06-10 |
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| CN201310243297.XA Active CN103302676B (en) | 2013-06-18 | 2013-06-18 | End effector of circular-groove-shaped vacuum suction cup |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104276411A (en) * | 2014-09-15 | 2015-01-14 | 南通凯迪自动机械有限公司 | PP film clamping and transferring machine |
| CN105084021A (en) * | 2015-06-26 | 2015-11-25 | 张萍 | Intelligent robot gripper for stacking system |
| CN105397827A (en) * | 2015-11-11 | 2016-03-16 | 太仓市伦文机械有限公司 | Glass product clamping device |
| CN107398919A (en) * | 2017-08-04 | 2017-11-28 | 芜湖挺优机电技术有限公司 | Sheet material carries special pneumatic robot device |
| CN108639751A (en) * | 2018-07-10 | 2018-10-12 | 深圳福美信自动化工程有限公司 | A kind of separation method of adsorbent equipment and extra adsorption production |
| CN109849034A (en) * | 2019-03-20 | 2019-06-07 | 湖北平安电工股份有限公司 | It is a kind of for dragging the gripper for carrying soft frangible sticky paper |
| CN110817405A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Novel snatch and carry device |
| CN110919683A (en) * | 2019-10-28 | 2020-03-27 | 四川航天燎原科技有限公司 | Suction nozzle for picking up components of automatic tin coating machine and picking-up method |
| WO2020248500A1 (en) * | 2019-06-11 | 2020-12-17 | 苏州哈工众志自动化科技有限公司 | Material-fecthing mechanism of discharging manipulator |
Citations (5)
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| JPH09267284A (en) * | 1996-04-03 | 1997-10-14 | Kubota Corp | Hand device for robot |
| KR20110139461A (en) * | 2010-06-23 | 2011-12-29 | (주)쏠백 | Vacuum sticking apparatus |
| CN202264225U (en) * | 2011-09-01 | 2012-06-06 | 蔡进辉 | Operating device of clamping machine with claw and rechargeable suction plate |
| CN102530548A (en) * | 2012-01-31 | 2012-07-04 | 宁波大学 | Compound type pneumatic non-contact gas claw |
| KR20120084883A (en) * | 2011-01-21 | 2012-07-31 | 주식회사 야스 | A substrate holder attaching and detaching device |
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2013
- 2013-06-18 CN CN201310243297.XA patent/CN103302676B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09267284A (en) * | 1996-04-03 | 1997-10-14 | Kubota Corp | Hand device for robot |
| KR20110139461A (en) * | 2010-06-23 | 2011-12-29 | (주)쏠백 | Vacuum sticking apparatus |
| KR20120084883A (en) * | 2011-01-21 | 2012-07-31 | 주식회사 야스 | A substrate holder attaching and detaching device |
| CN202264225U (en) * | 2011-09-01 | 2012-06-06 | 蔡进辉 | Operating device of clamping machine with claw and rechargeable suction plate |
| CN102530548A (en) * | 2012-01-31 | 2012-07-04 | 宁波大学 | Compound type pneumatic non-contact gas claw |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104276411A (en) * | 2014-09-15 | 2015-01-14 | 南通凯迪自动机械有限公司 | PP film clamping and transferring machine |
| CN105084021A (en) * | 2015-06-26 | 2015-11-25 | 张萍 | Intelligent robot gripper for stacking system |
| CN105397827A (en) * | 2015-11-11 | 2016-03-16 | 太仓市伦文机械有限公司 | Glass product clamping device |
| CN107398919A (en) * | 2017-08-04 | 2017-11-28 | 芜湖挺优机电技术有限公司 | Sheet material carries special pneumatic robot device |
| CN108639751A (en) * | 2018-07-10 | 2018-10-12 | 深圳福美信自动化工程有限公司 | A kind of separation method of adsorbent equipment and extra adsorption production |
| CN109849034A (en) * | 2019-03-20 | 2019-06-07 | 湖北平安电工股份有限公司 | It is a kind of for dragging the gripper for carrying soft frangible sticky paper |
| WO2020248500A1 (en) * | 2019-06-11 | 2020-12-17 | 苏州哈工众志自动化科技有限公司 | Material-fecthing mechanism of discharging manipulator |
| CN110919683A (en) * | 2019-10-28 | 2020-03-27 | 四川航天燎原科技有限公司 | Suction nozzle for picking up components of automatic tin coating machine and picking-up method |
| CN110919683B (en) * | 2019-10-28 | 2024-04-19 | 四川航天燎原科技有限公司 | Suction nozzle for picking up components of automatic tin coating machine and picking up method |
| CN110817405A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Novel snatch and carry device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103302676B (en) | 2015-06-10 |
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Address after: 300457 Tianjin Binhai New Area Tianjin Economic and Technological Development Zone Nanhai Road 156 Tongchang 29 plant 01 Patentee after: CHENXING (TIANJIN) AUTOMATION EQUIPMENT CO.,LTD. Address before: 301701 503-19, comprehensive office building on the north side of Yunjing Road, auto parts Industrial Park, Wuqing District, Tianjin (centralized office area) Patentee before: CHENXING (TIANJIN) AUTOMATION EQUIPMENT CO.,LTD. |
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