CN104669282B - Contact type vortex holding device - Google Patents
Contact type vortex holding device Download PDFInfo
- Publication number
- CN104669282B CN104669282B CN201310698815.7A CN201310698815A CN104669282B CN 104669282 B CN104669282 B CN 104669282B CN 201310698815 A CN201310698815 A CN 201310698815A CN 104669282 B CN104669282 B CN 104669282B
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- CN
- China
- Prior art keywords
- eddy current
- current holding
- contact eddy
- basal surface
- holding unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000000463 material Substances 0.000 claims description 7
- 239000003292 glue Substances 0.000 claims description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 238000011282 treatment Methods 0.000 description 4
- 238000005422 blasting Methods 0.000 description 2
- 239000013013 elastic material Substances 0.000 description 2
- 238000007788 roughening Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The invention discloses a contact type vortex holding device which comprises a body, a groove, a plurality of through holes and at least one anti-slip part. The body has a bottom surface and an outer side wall. The groove is formed in the body by an inner side wall and an inner top surface of the body and is connected with the bottom surface. The plurality of through holes penetrate through the body, the first ends of the through holes are located on the outer side wall, and the second ends of the through holes are located on the inner side wall. The anti-slip part is arranged on the bottom surface.
Description
Technical field
The present invention relates to a kind of holding unit, especially relate to a kind of contact holding unit that utilizes eddy current.
Background technology
In following high-tech factory, be fabricated onto assembling product from part, increasingly automated or man-machine workization is altogetherThe trend that is inevitable, so must arrange multipotency more and more and pick and place the end effect device (end of various spare parts in factoryEffector) or claim jaw (gripper).
Eddy current jaw is for tangentially injecting an eddy current cup by compressed air, and this air is along in the annular of eddy current cupAir swirl that wall produces is moving toward cup underflow, and then produces a negative pressure, and this negative pressure is by the object for this eddy current cup below(object) produce induced lift, see through and suitably adjust parameter, can make to reach balance between the weight of object and lift, reachBecome the effect of " gripping " non-contactly (real in drawing) object.
But, while using general eddy current jaw, because bottom air-flow becomes High Rotation Speed state, so by the object of gripping alsoAnd then rotation, so large pogoniasis adopts four (or its multiple) jaws that the power of its rotation is mutually offsetted, just can avoidObject rotation, and cause cost to rise and jaw complex system.
Summary of the invention
The object of the present invention is to provide a kind of contact eddy current holding unit, the suction providing by eddy current and on-slipThe frictional force fixing workpiece producing when portion contacts with this workpiece, to avoid workpiece rotation.
In an embodiment, the present invention proposes a kind of contact eddy current holding unit, and it comprises a body, a groove, manyIndividual perforation and at least one anti-slip section; This body has a basal surface and a lateral wall, and this groove is by a madial wall of this bodyForm in the inside of this body with an inner top surface, and connect this basal surface, the plurality of perforation runs through this body, and respectively this perforationFirst end be positioned at this lateral wall, and the second end of respectively this perforation is positioned at this madial wall, this anti-slip section is arranged at this basal surface.
Brief description of the drawings
Fig. 1 is the schematic perspective view of contact eddy current holding unit of the present invention the first embodiment;
Fig. 2 is the schematic perspective view at first another visual angle of embodiment;
Fig. 3 is the decomposition texture schematic diagram of the first embodiment;
Fig. 4 is the schematic perspective view of the second embodiment;
Fig. 5 is the A-A cross-sectional view of Fig. 1 embodiment;
Fig. 6 is the graph of a relation between radius and the suction of inward flange;
Fig. 7 is the cross-sectional view of the 3rd embodiment;
Fig. 8 is the graph of a relation between perforation number, angle and piercing aperture and suction;
Fig. 9 is the schematic perspective view of the 4th embodiment;
Figure 10 is the cross-sectional view of the 4th embodiment;
Figure 11 is the schematic perspective view of the 5th embodiment;
Figure 12 is the part enlarged drawing of the 11st figure;
Figure 13 is that the anti-slip section 40 of the present embodiment is arranged at basal surface 12 and draws air velocity distribution analogous diagram when workpiece 50;
Figure 14 is that the nemaline anti-slip section 40 of air flow stream is arranged at basal surface 12 and draws workpiece 50, but the quantity of perforation 30Air velocity distribution analogous diagram while being 2.
Symbol description
1 contact eddy current holding unit
10 bodies
11 top surfaces
12 basal surfaces
121 inward flanges
122 outward flanges
13 lateral walls
14 madial walls
15 inner top surfaces
20 grooves
30 perforation
40 anti-slip sections
401 the first side walls
402 second sidewalls
403 the 3rd sidewalls
41 gaps
50 workpiece
51 lug bosses
60 air connectors
θ 1 first angle
θ 2 second angles
V eddy current.
Detailed description of the invention
Hereinafter with reference to the accompanying drawing of enclosing, technological means and effect that the present invention uses for reaching object described, and withThe cited embodiment of lower accompanying drawing is only aid illustration, understand, but technological means of the present invention is not limit in order to your jurorIn cited accompanying drawing.
Refer to the holding unit of contact eddy current shown in Fig. 1 to Fig. 3 and Fig. 5 the first embodiment schematic diagram, contact whirlpoolStream holding unit 1 comprises a body 10, a groove 20, multiple perforation 30 and an anti-slip section 40. Body 10 for example can be hollowCylinder, there is a top surface 11, a basal surface 12, a lateral wall 13, a madial wall 14 and an inner top surface 15. Top surface 11For being oppositely arranged, and lateral wall 13 is connected in top surface 11 with basal surface 12. Groove 20 by the madial wall 14 of this body 10 with inEnd face 15 and form in the inside of body 10, and connect basal surface 12. In the present embodiment, groove 20 is essentially one cylindricalSpace. Multiple perforation 30 run through body 10, and 30 the first end of respectively boring a hole is positioned at this lateral wall 13,30 the second end of respectively boring a holeBe positioned at madial wall 14; Each perforation 30 axially for parallel or coincide with the tangential direction of madial wall 14, and be suitable for through air connector60 import air-flows to groove 20 to form an eddy current V. Anti-slip section 40 is arranged at basal surface 12. The quantity of perforation 30 is for example fourAnd be symmetrically distributed in body 10, adjacent two perforation 30 axial angles are 90 °. In the present embodiment, the material of anti-slip section 40For elastic material, for example, be rubber polymer, on-slip rubber, low elasticity glue, silica gel or excellent power glue. Refer to Fig. 4, at another embodimentIn, anti-slip section 40 is the basal surface 12 after roughening treatment, roughening treatment is for example blasting treatment. When contact eddy current fixing dressWhen putting workpiece 50 that 1 pair of surface has a lug boss 51 and carrying out fixing operation, eddy current V produces a negative pressure, and this negative pressure is for thisThe workpiece 50 of body 10 belows produces a suction (induced lift) and a revolving force. When workpiece 50 is because induced lift is towards body10 move, and while making lug boss 51 contact anti-slip section 40, produce a frictional force with payment rotation between lug boss 51 and anti-slip section 40Power, to avoid workpiece 50 to rotate.
Refer to form 1, in the anti-slip section 40 of basal surface 12 for getting unlike material and hardness (between desolate formula scale of hardness A32To between A70) totally six kinds carry out thrust experiment, when experiment, the suction of fixing contact eddy current holding unit 1 is 125 grammes per square metres, with 18Workpiece 50 and lug boss 51 that grammes per square metre and the out-of-flatness circuit board that has a part are drawn as wish, simultaneously complete with without anti-slip section 40Two kinds of contact eddy current holding units such as metal body 10 and basal surface 12 blasting treatments in contrast. Thrust sector is to push away with oneTensiometer is fixed on the slide rail that can finely tune, the end points of pull and push dynamometer withstand be touched formula eddy current holding unit drawCircuit board one end, and shifting sledge, make pull and push dynamometer promote circuit board, and when recording respectively slide rail and moving 1,2,5 millimeter (mm)The maximum thrust value of required pull and push dynamometer. Can be found out by form 1, in the hardness range of setting, soft material on-slipEffect (promote drawn workpiece 50 required thrusts) is slightly better than hard, such as being all two kinds of results of silica gel, but more importantFactor be the impact that the difference of material itself causes.
Form 1 anti-slip section material and opposing workpiece rotation required thrust table
Refer to Fig. 5, in the first embodiment, basal surface 12 is for ring-type and have an inward flange 121 and an outward flange122, and inward flange 121 is connected in madial wall 14. Because the exterior contour of body 10 is the cylinder coaxial with circular groove 20, logicalCross the radius ratio of suitable adjustment inward flange 121 and outward flange 122, suction that can optimization fixing workpiece. Refer to figure6, under the prerequisite that is 20mm at exterior contour (outward flange 122) radius of fixed gas flow and body 10, change circular recessedThe radius of groove 20 (inward flange 121), after numerical simulation, known when the radius of inward flange 121 and the radius of this outward flange 122Than in the time that 5:10 arrives 7:10, can be by suction optimization.
Refer to Fig. 7, in another embodiment, basal surface 12 by outward flange 122 to inward flange 121 inclination of caving in, inner sideWall 14 has the first angle theta 1 with basal surface 12. Refer to Fig. 8, in the time of the exterior contour of firm discharge and body 10 big or small,After the different perforation of numerical simulation 30 numbers, perforation 30 diameters and the first angle theta 1, known when this first angle theta 1 is between 90 °During to 93 °, can be by suction optimization.
In the above-described embodiments, be to overlap as single ring-type and with basal surface 12 taking anti-slip section 40 as example explanation, but,In another embodiment, anti-slip section 40 also can be multiple. Refer to Fig. 9 and Figure 10, in the present embodiment, anti-slip section 40 is multipleGraininess and distribution are arranged at basal surface 12, and 40 of each anti-slip sections have gap 41, and workpiece 50 does not need to have lug boss 51. WhenWorkpiece 50 moves while contacting anti-slip section 40 towards body 10 because of induced lift, and air-flow is flowed by 40Jian gap, each anti-slip section 41Go out, between workpiece 50 and each anti-slip section 40, produce a frictional force with payment revolving force, to avoid workpiece 50 to rotate. If workpiece 50 hasLug boss 51, similarly when workpiece 50 moves towards body 10 because of induced lift, and while making lug boss 51 butt anti-slip section 40, protrudingRise between portion 51 and anti-slip section 40 and produce a barrier force with payment revolving force, also can avoid workpiece 50 to rotate. In another embodiment,The material of multiple anti-slip sections 40 is elastic material.
In another embodiment, above-mentioned multiple anti-slip sections 40 also can be arranged at basal surface 12 equably, and have one and meetThe shape of air-flow streamline, to reduce the interference to air-flow and to prevent that suction from reducing. Refer to Figure 11 and Figure 12, at the present embodimentIn, the quantity of anti-slip section 40 is taking 4 as example, but is not limited to 4, also can be 2,3, any amount such as 8..., as long as be unlikely to rightAir velocity distribution has too much influence. Anti-slip section 40 is arranged at basal surface 12 equably, and it is one thick that each this anti-slip section 40 hasDegree, and have more the first side wall 401 and the second sidewall 402, be connected to basal surface 12, and the first side wall 401 and the second sideWall 402 is connected to each other. The first side wall 401 and the second sidewall 402 be connected to each other part can near lateral wall 13 or with this lateral wall13 overlap. The first side wall 401 can be compared with the second sidewall 402 more close lateral wall 13, the extension of the first side wall 401 and lateral wall 13 shapesBecome the first angle theta 1, the first side wall 401 and the second sidewall 402 form one second angle theta 2. Anti-slip section 40 has more the 3rd sidewall403, it is connected in basal surface 12, the first side wall 401 and the second sidewall 402 simultaneously. Please refer to Figure 13, Figure 13 is this enforcementAir velocity distribution analogous diagram when the anti-slip section 40 of example is arranged at basal surface 12 and draws workpiece 50, when air-flow is via each anti-slip section 40Between while flowing out, in order to reduce the interference to air-flow, therefore the external form of anti-slip section 40 need meet air-flow streamline, in the present embodiment,One angle theta 1 is for example between 25 ° to 50 °, and the second angle theta 2 is for example between 1 ° to 6 °, and the 3rd sidewall 403 is at basal surface 12Projection can be circular arc or half elliptic. And produce upper and lower pressure reduction for fear of air-flow through each anti-slip section 40, more to enterOne step reduces the interference to air-flow, and the first side wall 401 can be and equates in the projected length of basal surface 12 with the second sidewall 402, withMake air-flow also identical with the distance of the second sidewall 402 through the first side wall 401. The first side wall 401 and the second sidewall 402 were shown the end of atThe projection of face 12 also can be all the circular arc that curvature is equal, and the opening of circular arc is towards madial wall 14, so that the flowing more of air-flowSmooth and easy. In the present embodiment, although be bore a hole 30 quantity be 4 for example, be not limited to this.
Refer to Figure 14, Figure 14 is that the nemaline anti-slip section 40 of air flow stream is arranged at basal surface 12 and draws workpiece 50, butAir velocity distribution analogous diagram when the quantity of perforation 30 is 2. In this embodiment, the first angle theta 1 is also between 25 ° to 50 °,The second angle theta 2 is also between 1 ° to 6 °, and the 3rd sidewall 403 also can be circular arc or semiellipse in the projection of basal surface 12Shape, therefore the quantity of known perforation 30 there is no obvious impact to the shape of anti-slip section 40.
In sum, contact eddy current holding unit of the present invention can fixing nonplanar object (for example circuit board) or planeObject, and only reach with easy structure the effect that prevents from being subject to the rotation of fixing workpiece, and can be by overall suction optimization, to saveEconomize single unit system cost.
Although the present invention has disclosed the present invention in conjunction with above embodiment, but it is not in order to limit the present invention, anyIn affiliated technical field, be familiar with this operator, without departing from the spirit and scope of the present invention, can do a little change and retouching,Therefore protection scope of the present invention is when being as the criterion depending on claims person of defining.
Claims (19)
1. a contact eddy current holding unit, comprising:
Body, has a basal surface and a lateral wall;
Groove, its madial wall by this body and an inner top surface and form in the inside of this body, and connect this basal surface;
Multiple perforation, it runs through this body, and the first end of respectively this perforation is positioned at this lateral wall, and each the second end position of this perforationIn this madial wall; And
At least one anti-slip section, it is arranged at this basal surface;
Wherein, the plurality of perforation be suitable for importing air-flow to this groove to form an eddy current, this contact eddy current holding unit is suitable forFixing one workpiece, this workpiece has a lug boss; When this eddy current provides a suction by this workpiece during towards this ontological adsorption theory, should be onlyCunning portion contacts with this lug boss, with this workpiece of fixing.
2. contact eddy current holding unit according to claim 1, is characterized in that, the material of this anti-slip section is elasticity materialMatter.
3. contact eddy current holding unit according to claim 2, is characterized in that, the material of this anti-slip section is for syntheticGlue, on-slip rubber, low elasticity glue, silica gel or excellent power glue.
4. contact eddy current holding unit according to claim 1, is characterized in that, this anti-slip section is that this basal surface is through thickChange processor.
5. contact eddy current holding unit according to claim 1, is characterized in that, this basal surface is ring-type and has oneInward flange and an outward flange, and this inward flange is connected in this madial wall.
6. contact eddy current holding unit according to claim 5, is characterized in that, the radius of this inward flange and this outsideThe ratio of the radius of edge arrives 7:10 between 5:10.
7. contact eddy current holding unit according to claim 5, is characterized in that, this basal surface by this outward flange to thisInward flange depression tilts.
8. contact eddy current holding unit according to claim 7, is characterized in that the folder of this madial wall and this basal surfaceAngle is between 90 ° to 93 °.
9. contact eddy current holding unit according to claim 5, is characterized in that, this anti-slip section be ring-type and with this endSurface overlaps.
10. contact eddy current holding unit according to claim 1, is characterized in that, this anti-slip section is multiple and scattersBe arranged at this basal surface.
11. contact eddy current holding units according to claim 1, is characterized in that, this groove is cylindrical, and respectively shouldThe axially parallel of perforation or coincide with the tangential direction of this madial wall.
12. contact eddy current holding units according to claim 10, is characterized in that, incite somebody to action when this eddy current provides this suctionThis workpiece is in the time of this ontological adsorption theory, and the plurality of anti-slip section contacts with this workpiece, and this air-flow is by between between the plurality of anti-slip sectionGap flows out, with this workpiece of fixing.
13. contact eddy current holding units according to claim 10, is characterized in that, each this anti-slip section also hasOne sidewall, the second sidewall and the 3rd sidewall, be connected to this basal surface and be connected to each other.
14. contact eddy current holding units according to claim 13, is characterized in that, this first side wall and this second sideWall equates in the projected length of this basal surface.
15. contact eddy current holding units according to claim 14, is characterized in that, this first side wall and this second sideWall is all in the projection of this basal surface the circular arc that curvature is equal.
16. contact eddy current holding units according to claim 13, is characterized in that, this first side wall and this second sideThe wall part that is connected to each other overlaps near this lateral wall or with this lateral wall.
17. contact eddy current holding units according to claim 16, is characterized in that, this first side wall is this second sideMore close this lateral wall of wall, the extension of this first side wall and this lateral wall shape have angle, and this angle is between 25 ° to 50 °.
18. contact eddy current holding units according to claim 17, is characterized in that, this first side wall and this second sideWall shape has angle, and this angle is between 1 ° to 6 °.
19. contact eddy current holding units according to claim 13, is characterized in that, the 3rd sidewall is at this basal surfaceBe projected as a circular arc or half elliptic.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102143191A TWI526380B (en) | 2013-11-27 | 2013-11-27 | Contact holding device using vortex |
| TW102143191 | 2013-11-27 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104669282A CN104669282A (en) | 2015-06-03 |
| CN104669282B true CN104669282B (en) | 2016-05-25 |
Family
ID=53305126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310698815.7A Active CN104669282B (en) | 2013-11-27 | 2013-12-18 | Contact type vortex holding device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104669282B (en) |
| TW (1) | TWI526380B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7148105B2 (en) * | 2017-09-20 | 2022-10-05 | 株式会社ハーモテック | suction device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4226822A1 (en) * | 1992-08-14 | 1994-02-17 | Fezer Maschf Albert | Vacuum-operated handling device - comprises basic panel with lateral channel system leading to surface openings each of which is enclosed within raised rings |
| CN1336272A (en) * | 2000-07-31 | 2002-02-20 | Smc株式会社 | Vacuum gripping pad |
| CN1765013A (en) * | 2004-03-03 | 2006-04-26 | 秋山泉 | Non-contact holding device, and non-contact holding and conveying device |
| CN101295661A (en) * | 2007-04-24 | 2008-10-29 | 东京毅力科创株式会社 | Substrate attracting device and substrate transfer apparatus |
| WO2008147558A1 (en) * | 2007-05-25 | 2008-12-04 | Corning Incorporated | Apparatus for handling a glass sheet |
| JP2010099826A (en) * | 2008-09-29 | 2010-05-06 | Nitto Denko Corp | Suction sheet |
| CN101829987A (en) * | 2010-01-29 | 2010-09-15 | 东莞宏威数码机械有限公司 | Self-regulation type optical disk gripping device |
-
2013
- 2013-11-27 TW TW102143191A patent/TWI526380B/en active
- 2013-12-18 CN CN201310698815.7A patent/CN104669282B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4226822A1 (en) * | 1992-08-14 | 1994-02-17 | Fezer Maschf Albert | Vacuum-operated handling device - comprises basic panel with lateral channel system leading to surface openings each of which is enclosed within raised rings |
| CN1336272A (en) * | 2000-07-31 | 2002-02-20 | Smc株式会社 | Vacuum gripping pad |
| CN1765013A (en) * | 2004-03-03 | 2006-04-26 | 秋山泉 | Non-contact holding device, and non-contact holding and conveying device |
| CN101295661A (en) * | 2007-04-24 | 2008-10-29 | 东京毅力科创株式会社 | Substrate attracting device and substrate transfer apparatus |
| WO2008147558A1 (en) * | 2007-05-25 | 2008-12-04 | Corning Incorporated | Apparatus for handling a glass sheet |
| JP2010099826A (en) * | 2008-09-29 | 2010-05-06 | Nitto Denko Corp | Suction sheet |
| CN101829987A (en) * | 2010-01-29 | 2010-09-15 | 东莞宏威数码机械有限公司 | Self-regulation type optical disk gripping device |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI526380B (en) | 2016-03-21 |
| CN104669282A (en) | 2015-06-03 |
| TW201520152A (en) | 2015-06-01 |
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