CN103302676B - 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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- CN103302676B CN103302676B CN201310243297.XA CN201310243297A CN103302676B CN 103302676 B CN103302676 B CN 103302676B CN 201310243297 A CN201310243297 A CN 201310243297A CN 103302676 B CN103302676 B CN 103302676B
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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 End effector of circular-groove-shapvacuum vacuum suction cup.
Background technology
Battery enterprise commonly uses a kind of special battery case, to store semi-finished product battery, facilitates battery to circulate in the processing of different production line.Battery case bottom, with seam, needs battery case bottom, upper strata seam to fall into lower floor's battery case upper end open when piling up, and seamless between every layer of battery case.Adopt that manually to pile up not only operating efficiency low, and the labour intensity of workman is also very large.
The palletizing apparatus end effector of prior art mainly contains three kinds, forked type, clamping board type and vacuum cup type, and forked type and clamping board type are all the opening and closings by 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 needs certain space, can not accomplish seamless piling.Vacuum cup is vacuumized by vavuum pump or vacuum generator by vacuum cup type end effector, and then material is sucked up, this kind of end effector can realize seamless piling, but conventional vacuum sucker is just for drawing the larger material of the adsorbable area such as flat board or carton, to narrow edge, this upper end of battery case, the material that effective adsorbable area is less is difficult to realize capturing.And battery case is fully loaded with Full Charge Capacity battery, battery is squeezed and collides danger of easily blasting.If vacuum failure, battery case comes off generation potential safety hazard.
Summary of the invention
The present invention provides a kind of and can amass less object to the narrow rim surface in upper end and carry out adsorbing carrying thus the End effector of circular-groove-shapvacuum vacuum suction cup realizing seamless piling for solving in known technology the technical problem that exists.
The technical scheme that the present invention takes for the technical problem existed in solution known technology is: a kind of End effector of circular-groove-shapvacuum vacuum suction cup, comprise the installing plate having aspirating hole, sucker is connected with below described installing plate, described sucker is formed with the rubber annular groove communicated with described aspirating hole, the edge, upper end of described rubber annular groove and absorbate part coincide.
The both sides of described sucker are respectively provided with at least one paw, the described paw of sucker side is vertical affixed with a power transmission shaft of homonymy, the two ends of described power transmission shaft are respectively 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 hinged, described axle bed is fixed on above described installing plate, and described power transmission shaft is connected with the drive end vertical rotation of cylinder, and described cylinder is arranged on above described installing plate.
Described sucker comprises affixed successively with described installing plate outer ring rubber, outer plate, inner ring rubber and clip plate from top to bottom;
Described outer ring rubber is downward opening pond grooved, and bottom land is provided with hollow structure;
Described outer plate is arranged in 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 of described outer plate and described rubber annular groove;
Under described inner ring rubber is arranged on outer plate, be downward opening pond grooved, and bottom land is provided with hollow structure, is positioned at the inside of described outer ring rubber, between described outer ring rubber and described inner ring rubber, forms described rubber annular groove;
Described clip plate is encapsulated in the groove bottom of described inner ring rubber;
The hollow structure of described aspirating hole, the hollow structure of described outer ring rubber, the hollow structure of described outer plate and described inner ring rubber is mutually through.
Angle between described paw and 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.
Described outer plate four pieces, is laid on the limit, upper and lower, left and right of the groove bottom of described outer ring rubber respectively, and is provided with spacing between adjacent described outer plate, forms described communicating groove.
The advantage that the present invention has and good effect are: adopt ring-groove-type sucker entirely to adsorb on battery case along surface; make effective adsorption area maximum; utilize paw protection mechanism can prevent in handling process because the sucker battery case caused that lost efficacy comes off; when paw lifts, its end can not encounter the upper existing battery case of thing buttress, can realize seamless piling.Structure of the present invention is simple, easy to use, safe and reliable, can be applicable to the absorption type carrying of this upper end open of similar battery case, the effectively material that adsorption area is limited.
Accompanying drawing explanation
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 sectional view of Fig. 3.
In 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, rubber annular groove.
Detailed description of the invention
For summary of the invention of the present invention, Characteristic can be understood further, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Refer to Fig. 1 ~ Fig. 4, a kind of End effector of circular-groove-shapvacuum vacuum suction cup, comprises the installing plate 1 having aspirating hole 9, below installing plate 1, is connected with sucker, described sucker is formed with the rubber annular groove 10 communicated with aspirating hole 9, rubber annular groove 10 coincide with edge, absorbate part upper end.
In the present embodiment, described sucker is formed like this: below installing plate 1, be connected with outer ring rubber 81, outer plate 82, inner ring rubber 83 and clip plate 84 from top to bottom successively; 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 pieces, is laid on the limit, upper and lower, left and right of groove bottom respectively, and between adjacent outer plate, be provided with spacing formation communicating groove, communicating groove is connected between the hollow structure of outer plate and rubber annular groove, for linking up aspirating hole and rubber annular groove, forms hollow structure between four pieces of outer plates 82.But embodiment does not limit the structure of outer plate, such as outer plate can adopt integrated one block of plate, and at central aperture, peripheral groove, links up aspirating hole and rubber annular groove.Inner ring rubber 83 is arranged on outer plate 82 times, be downward opening pond grooved, and bottom land is provided with hollow structure, is positioned at outer ring rubber 81 inner, forms rubber annular groove between outer ring rubber 81 and inner ring rubber 83.Clip plate 84 is encapsulated in 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, is bolted together in they and installing plate 1 simultaneously.The hollow structure of described aspirating hole 9, the hollow structure of described outer ring rubber 81, the hollow structure of described outer plate 82 and described inner ring rubber 83 is mutually through.
In the present embodiment, installing plate 1 installs two suckers 8, two battery cases can be drawn at every turn, during work, battery case forms annular seal space along in press-in annular chamber, vacuumized by the steam vent on installing plate, realize vacuum suction.
In order to prevent causing handled thing to come off because sucker loses efficacy in handling process, ensure production safety, the present invention is also 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 are respectively provided with at least one paw 6, the paw 6 of sucker 8 side is vertical affixed with a power transmission shaft 5 of homonymy, the two ends of power transmission shaft 5 are respectively 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 hinged, axle bed 4 is fixed on above installing plate 1, and power transmission shaft 5 is connected with the drive end vertical rotation of cylinder 2, and cylinder 2 is arranged on above installing plate 1.Paw 6 is comparatively suitable with rocking bar 7 one-tenth 35 ° ~ 55 °, and different according to the height lifted, angle can adjust, and good angle is 45 °.
In order to limit the outer swinging of rocking bar 7, axle bed 4 is fixed with block 3, block 3 is positioned at the below of rocking bar 7.During work, cylinder 2 promotes power transmission shaft 5, drives in paw 6 to accommodate to put, and described block 3 limits the angle of the outer pendulum of rocking bar 7.
Operation principle of the present invention:
Battery case during to pile up, when the present invention works, palletizing apparatus drives end effector to move downward, and by the annular groove die cavity of edge, battery case upper end press-in vacuum cup, forms annular seal space, is vacuumized, realize vacuum suction by the steam vent on installing plate.End effector pick up battery case move upward certain distance stop, accommodate in air cylinder driven paw and put, paw is made to be in below battery case, once battery case dropped because sucker lost efficacy in handling process, paw can catch the battery case dropped from below, to prevent battery case from falling, ensure production safety.When end effector moves to thing buttress top setpoint distance, cylinder drives paw to put outward and opens, paw is in the process opened, the battery case on thing buttress can not be encountered, and paw can be raised up on installing plate, during to ensure to transfer battery case, paw can not encounter the battery case on side, realizes seamless piling; Then, in sucker, pass into air, battery case transferred by end effector, completes the work of piling up.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protect, can also make a lot of form, these all belong within protection scope of the present invention.
Claims (6)
1. an End effector of circular-groove-shapvacuum vacuum suction cup, it is characterized in that, comprise the installing plate having aspirating hole, sucker is connected with below described installing plate, described sucker is formed with the rubber annular groove communicated with described aspirating hole, the edge, upper end of described rubber annular groove and absorbate part coincide, and the edge, upper end of absorbate part is pressed in described rubber annular groove.
2. End effector of circular-groove-shapvacuum vacuum suction cup according to claim 1, it is characterized in that, the both sides of described sucker are respectively provided with at least one paw, the described paw of sucker side is vertical affixed with a power transmission shaft of homonymy, the two ends of described power transmission shaft are respectively 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 hinged, described axle bed is fixed on above described installing plate, described power transmission shaft is connected with the drive end vertical rotation of cylinder, and described cylinder is arranged on above described installing plate.
3. End effector of circular-groove-shapvacuum vacuum suction cup according to claim 2, is characterized in that, described sucker comprises affixed successively with described installing plate outer ring rubber, outer plate, inner ring rubber and clip plate from top to bottom;
Described outer ring rubber is downward opening pond grooved, and bottom land is provided with hollow structure;
Described outer plate is arranged in 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 of described outer plate and described rubber annular groove;
Under described inner ring rubber is arranged on outer plate, be downward opening pond grooved, and bottom land is provided with hollow structure, is positioned at the inside of described outer ring rubber, between described outer ring rubber and described inner ring rubber, forms described rubber annular groove;
Described clip plate is encapsulated in the groove bottom of described inner ring rubber;
The hollow structure of described aspirating hole, the hollow structure of described outer ring rubber, the hollow structure of described outer plate and described inner ring rubber is mutually through.
4. End effector of circular-groove-shapvacuum vacuum suction cup according to claim 2, is characterized in that, the angle between described paw and described rocking bar is 35 ° ~ 55 °.
5. End effector of circular-groove-shapvacuum vacuum suction cup 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. End effector of circular-groove-shapvacuum vacuum suction cup according to claim 3, it is characterized in that, described outer plate four pieces, be laid on the limit, upper and lower, left and right of the groove bottom of described outer ring rubber respectively, and be provided with spacing between 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 |
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| 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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| Publication Number | Publication Date |
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| CN103302676A CN103302676A (en) | 2013-09-18 |
| CN103302676B true 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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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104276411B (en) * | 2014-09-15 | 2016-08-24 | 南通凯迪自动机械有限公司 | PP sheet gripping transfer machine |
| CN105084021B (en) * | 2015-06-26 | 2018-08-14 | 东莞智动力电子科技有限公司 | A kind of intelligent robot handgrip for palletizing 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 |
| CN109849034B (en) * | 2019-03-20 | 2022-03-29 | 湖北平安电工科技股份公司 | Clamp for dragging and carrying soft fragile sticky paper |
| CN210061176U (en) * | 2019-06-11 | 2020-02-14 | 苏州哈工众志自动化科技有限公司 | Material taking mechanism of piece discharging manipulator |
| 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 |
Citations (4)
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|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09267284A (en) * | 1996-04-03 | 1997-10-14 | Kubota Corp | Hand device for robot |
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2013
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| CN103302676A (en) | 2013-09-18 |
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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. |