CN105415235B - Self-locking flexible lattice sucker - Google Patents
Self-locking flexible lattice sucker Download PDFInfo
- Publication number
- CN105415235B CN105415235B CN201510939112.8A CN201510939112A CN105415235B CN 105415235 B CN105415235 B CN 105415235B CN 201510939112 A CN201510939112 A CN 201510939112A CN 105415235 B CN105415235 B CN 105415235B
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- Prior art keywords
- sucker
- air
- cups
- slide bar
- mobile
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/005—Vacuum work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
Abstract
The invention provides a self-locking flexible lattice sucker, comprising four parts namely telescopic sucker components, an airbag locking device, an airbag bracket and an air sucking device. The telescopic sucker components are mounted on the airbag locking device and the air sucking device; the airbag locking device is mounted on the airbag bracket; and the airbag bracket and the air sucking device are connected through a bolt and a sleeve. The telescopic sucker components include swing suckers, suck bases, hollow slide rods and moving sleeve cups. The airbag locking device includes a rigid shell, a rubber locking ring, an intake pipe and an exhaust pipe; and the rubber locking ring, the intake pipe and the exhaust pipe are mounted on the rigid shell. The self-locking flexible lattice sucker is simple in structure, wide in application range and low in cost, can be used for clamping irregular sheet type workpieces, and can automatically adjust expansion amounts of the telescopic sucker components and working angles of the swing suckers beforehand according to actual conditions of the workpieces; and the airbag locking device is started to lock the telescopic sucker components, and the air sucking device is started to realize the clamping of the workpieces.
Description
Technical field
The present invention relates to a kind of sucker structure, more particularly to a kind of self-locking flexibility dot matrix sucker, belong to irregular thin plate
The flexible assembly field of class workpiece.
Background technology
The processing of many sheet parts, such as eyelid covering, wall panel assembly, these workpiece can be designed in the manufacture process of aircraft
Species is various and complex-shaped.Traditional technological equipment adopts in a large number rigid structure, manufacture and design cycle length, development cost it is high,
Opening character is poor, using single, it is difficult to the development demand under aircraft multi items, small lot batch manufacture is met, while fixture species is various
To cause sheet parts work high cost with bad adaptability；Aircraft tooling will as guarantee aircraft manufacturing and Assembly veracity
The special equipment asked, there is very important status in Aircraft Production, and by flexible frock the system of aircraft assembling can be shortened
The time is made, to improve quality and reduce frock number, the manufacturing mode of " type is multiplex " is realized.
Number of patent application is 201320414006.4, entitled《A kind of multiple dot array self adaptive vacuum suction disc formula flexible assembly
Tooling device》Chinese patent, the sucker of the gear unit of invention is connected with pillar, is realized by servomotor and ball screw
The movement of pillar, and then change the position of sucker, for each gear unit configures a servomotor, by digital control
System realizes the control to each sucker position, and when the quantity of multiple dot array sucker is more, the servomotor in frock can compare
It is more, it is unfavorable for reducing the cost of tooling device.
So that the flexible dot matrix sucker of a kind of simple structure, concept feasible, adjusts automatically according to the shape of thin-wall workpiece
The position of section adsorption site so as to for thin-wall workpiece of different shapes has good adaptability, reduce the manufacturing cost of frock,
And increase dot matrix quantity to be conducive to increasing the positioning precision of frock.
The content of the invention
The invention aims to can be used for the clamping of irregular sheet type workpiece and provide a kind of simple, scope of application
Extensively, the self-locking flexibility dot matrix sucker of low cost, extension type can be in advance automatically adjusted during work according to the practical situation of workpiece
The stroke of the mobile a set of cups of Suction cup assembly adjusts the position of adsorption site with the operating angle for waving sucker, is then turned on air bag
Locking device locks extension type Suction cup assembly, and opens getter device to realize the clamping to workpiece.
The object of the present invention is achieved like this：Including air-bag support, air bag locking device, getter device and extension type
Suction cup assembly, the air bag locking device includes the hollow stiff case being arranged on air-bag support, on the stiff case
Dot matrix through-hole structure is provided with, rubber latch ring is provided with each through hole, the surface of each rubber latch ring is provided with ring
Connected in star, the side of the stiff case is provided with air inlet pipe installing hole and escape pipe installing hole, and air inlet pipe and escape pipe are distinguished
It is arranged in air inlet pipe installing hole and escape pipe installing hole by seal nipple, the air-bag support top is provided with cover plate；Institute
State getter device including air chamber, installed in air chamber top be air chamber cover and the exhaustor being arranged on above air chamber cover, the air chamber
Installed on the cover board by sleeve；The extension type Suction cup assembly includes waving sucker, sucker disk seat, mobile a set of cups, hollow cunning
Bar, the sucker for waving sucker is connected with sucking disk bar ball-joint, and the upper end of sucking disk bar and the lower end of sucker disk seat are connected, sucker disk seat it is upper
End is fixed with mobile a set of cups, and the hollow slide bar passes through the end of rubber latch ring, mobile a set of cups to be provided with nut II, described
The upper end of hollow slide bar is fixedly connected by nut I and pipe joint with the base plate of air chamber, and the lower end of hollow slide bar stretches to movement
A set of cups is interior and movable sleeving cup edge hollow slide bar linear motion, and the lower end of hollow slide bar is provided with O with mobile a set of cups contact position
Type sealing ring, is provided with spring between nut I and nut II, quantity and the dot matrix through hole of the extension type Suction cup assembly are tied
The quantity of the through hole of structure is equal.
Present invention additionally comprises such some architectural features：
1. dot matrix through-hole structure described in is 5 × 5 dot matrix through-hole structures, and corresponding air bag locking device has 25.
2. sucking disk bar described in connects with the junction of sucker disk seat, the junction of mobile a set of cups and sucker disk seat, hollow slide bar and pipe
The junction of head is provided with sealing ring, and pipe joint is provided with sealing ring with the junction of air chamber base plate.
Compared with prior art, the invention has the beneficial effects as follows：Present configuration is simple and convenient to operate and low cost.Adopt
With dot matrix vacuum cap type structure, the dot matrix sucker has very high flexibility, for thin-wall workpiece of different shapes, due to can
Telescopic Suction cup assembly has spring and mobile a set of cups and waves sucker structure, can automatically be adjusted according to the profile feature of workpiece
The position of section adsorption site, because the quantity of dot matrix is more, preferable to the adaptability of workpiece configurations, air bag locking device can be locked can
Telescopic Suction cup assembly makes it keep stable working condition, getter device to work to realize the clamping to workpiece.When workpiece
During type change, air bag locking device unlocks, and extension type Suction cup assembly returns under the action of the spring original state,
Further according to the profile feature adjustment adsorption site position of workpiece, it is possible to achieve the clamping of frock to different workpieces.The present invention's
Air bag locking device is using metal and rubber combined formula structure.Main body adopts metal rigidity housing, is machined with stiff case
Multiple dot matrix pore structures, rubber latch ring is arranged in the pore structure of stiff case, during work, is full of in air bag locking device
Gases at high pressure, the shape of stiff case do not change and rubber latch ring under the effect of the pressure family clamps mobile a set of cups, make
The position of mobile a set of cups is fixed, and such structure can be with the effective deformation of maximized utilization air bag locking device.Rubber latch
Ring is formed around multiple circular groove structures, and rubber latch ring can deform when working according to specific rule.Mobile a set of cups leads to
Pilot hole positioning in crossing hollow slide bar and air-bag support, prevents impact of the rubber latch ring to its axial location.The present invention is adopted
Step up mode with vacuum, using air pump power source the most.Pneumatic pinch mode response speed is fast, and operate steadily reliability.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the extension type Suction cup assembly structural representation of the present invention；
Fig. 3 is the air bag locking device partial structural diagram of the present invention；
Fig. 4 is the partial sectional view (the A-A directions section view of Fig. 3) of the air bag locking device of the present invention；
Fig. 5 is the fundamental diagram of the present invention.
In figure：1. sucker is waved, 2. sucker disk seat, 3. hollow slide bar, 4, a set of cups is moved, 5. escape pipe, 6. air inlet pipe, 7. cover
Cylinder, 8. spring, 9. bolt I, 10. sealing gasket I I, 11. bolt II, 12. bolt III, 13. pipe joints, 14. exhaustors, 15.
Sealing gasket I, 16. nut I, 17. air chamber covers, 18. rubber seal, 19. air chambers, 20. nut II, 21. stiff cases, 22.
Cover plate, 23. air-bag supports, 24. rubber latch rings, 25. sealing ring I, 26. sealing ring II, 27. pad I, 28.O type sealing rings,
29. pad II, 30. sealing ring III, 31. air inlet pipe installing holes, 32. escape pipe installing ports, 33. workpiece, 34. air pressure.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail with specific embodiment.
With reference to Fig. 1 to Fig. 5, the present invention mainly by extension type Suction cup assembly, air bag locking device, air-bag support 23 and inhales
The part of device of air four is constituted；Including waving sucker 1, sucker disk seat 2, hollow slide bar 3, mobile a set of cups 4, escape pipe 5, air inlet pipe 6, set
Cylinder 7, spring 8, bolt I 9, sealing gasket I I 10, bolt II 11, bolt III 12, pipe joint 13, exhaustor 14, sealing gasket
Piece I 15, nut I 16, air chamber cover 17, also include rubber seal 18, air chamber 19, nut II 20, stiff case 21, cover plate
22nd, air-bag support 23, rubber latch ring 24, sealing ring I 25, sealing ring II 26, pad I 27, O-ring seal 28, pad II
29th, sealing ring III 30；Extension type Suction cup assembly is arranged on above air bag locking device and getter device, air bag locking device
Above air-bag support 23, air-bag support 23 is connected with getter device by bolt I 9 and sleeve 7.
As shown in Figure 2：Described extension type Suction cup assembly includes waving sucker 1, sealing ring I 25, sucker disk seat 2, sealing
Ring II 26, mobile a set of cups 4, hollow slide bar 3, O-ring seal 28, nut II 20, spring 8, pad I 27, nut I 16, pad
Piece II 29, rubber seal 18, sealing ring III 30 and pipe joint 13；Wave sucker 1 and be provided with ball pair, waving sucker can be certainly
By swinging, wave sucker 1 and be threaded connection with sucker disk seat 2, and sealing ring I 25 is installed；There is screw thread at the two ends of mobile a set of cups 4,
Sucker disk seat 2 and sealing ring II 26 are arranged on the left end (left end in Fig. 2 refers to lower end during normal mounting) of mobile a set of cups 4, spiral shell
Female II 20 is arranged on the right-hand member of mobile a set of cups 4, and mobile a set of cups 4 is arranged on hollow slide bar 3 and can move freely, movable sleeving
Cup 4 is arranged on hollow slide bar 3 by the pilot hole positioning in hollow slide bar 3 and air-bag support 23, O-ring seal 28, spring 8
On hollow slide bar 3, the right-hand member of spring 8 is provided with pad；The right-hand member of hollow slide bar 3 has screw thread, by nut I 16, pad
Piece II 29, rubber seal 18, sealing ring III 30 and pipe joint 13 are arranged on hollow slide bar 3 on air chamber 19,
It is shown as shown in Figure 1, Figure 3 and Figure 4：Described air bag locking device includes stiff case 21, rubber latch ring 24, outlet
Pipe 5 and air inlet pipe 6；Stiff case 21 is metal hollow housing, includes 5 × 5 dot matrix through-hole structures, air inlet pipe installing hole 31
With escape pipe installing hole 32, escape pipe 5 and air inlet pipe 6 are separately mounted to air inlet pipe installing hole 31 by joint and escape pipe is installed
On hole 32；Rubber latch ring 24 is arranged on stiff case 21 by fluid sealant, and rubber latch ring 24 is formed around multiple rings
Connected in star structure, in the pressure by gas, rubber latch ring 24 can deform according to specific rule, and then lock movable sleeving
Cup 4.
As shown in Figure 1：Described air bag locking device and cover plate 22 are arranged on air-bag support 23, air chamber 19 and cover plate 22
Connected by bolt I 9 and sleeve 7 and air-bag support 23 between, sleeve 7 plays a part of to position and supports.
As shown in Figure 1：Described getter device includes air chamber 19, sealing gasket I I 10, air chamber cover 17, sealing gasket I
15th, exhaustor 14；Exhaustor 14 and sealing gasket I 15 are arranged on air chamber cover 17 by bolt III 12, air chamber cover 17 and close
Gasket II 10 is arranged on air chamber 19 by bolt II 11.
With reference to the operation principle of Fig. 1 and Fig. 4 explanation present invention：In order to realize the clamping to workpiece 33, first according to workpiece
Profile be pre-adjusted the location parameter of extension type Suction cup assembly, detailed process is：Extension type Suction cup assembly unit number
For 25, adjusting air bag locking device makes pressure in stiff case 21 identical with atmospheric pressure, and moving a set of cups 4 can be in hollow slide bar 3
On move freely, dot matrix sucker can give workpiece 33 appropriate precompression, make to wave sucker 1 and fully fit with the surface of workpiece 33,
Waving sucker 1 can automatically adjust, and the stroke along hollow slide bar 3 can be automatically adjusted due to the mobile a set of cups 4 of the effect of spring 8；Adjust
Air bag locking device makes pressure increase in stiff case 21, rubber latch ring 24 to deform under the influence of air pressure, clamps
Mobile a set of cups 4 prevents it from moving freely, because the axis that air-bag support 23 has guiding pore structure, mobile a set of cups 4 will not occur
Skew, now extension type Suction cup assembly is recorded according to the parameter that workpiece configurations are adjusted, when clamping same workpiece 33
Regulation need not be repeated；The pneumatic system work being connected with exhaustor 14, air chamber 19 is in vacuum state, waves at sucker 1
Produce negative pressure to realize the clamping to workpiece 33.
A kind of self-locking flexibility dot matrix sucker, it is mainly by extension type Suction cup assembly, air bag locking device, air-bag support
Constitute with the part of getter device four.Extension type Suction cup assembly is arranged on above air bag locking device and getter device, gasbag lock
Tight device is arranged on above air-bag support, and air-bag support is with getter device by bolt I and sleeve connection.
Described extension type Suction cup assembly, the component includes waving sucker, sucker disk seat, hollow slide bar and mobile a set of cups,
Sucker is waved on sucker disk seat, sucker is waved and is threaded connection with sucker disk seat, waved sucker and be provided with ball pair, wave sucker
Can freely swing, sucker disk seat is provided with passage, sucker disk seat is arranged on mobile a set of cups and by sealing ring II and seals.
Described extension type Suction cup assembly, the hollow slide bar in the component is arranged on mobile a set of cups, and mobile a set of cups can
To move freely on hollow slide bar, mobile a set of cups is by the pilot hole positioning in hollow slide bar and air-bag support, hollow slide bar
On 3 O-ring seals are installed to ensure air-tightness, nut II is arranged on one end of mobile a set of cups, and spring is arranged on hollow cunning
On bar, spring is positioned by nut II and nut I, and extension type Suction cup assembly is by pipe joint, nut I and rubber seal peace
It is mounted on the air chamber of getter device.
Described air bag locking device, the device includes stiff case, rubber latch ring, air inlet pipe and escape pipe, air inlet
Pipe and escape pipe are arranged on stiff case by seal nipple, and stiff case is provided with multiple pore structures, and rubber latch ring leads to
Fluid sealant is crossed on the stiff case, rubber latch ring is formed around multiple circular groove structures, is being pressed by gas
During power, rubber latch ring can deform according to specific rule, and then lock mobile a set of cups.
Described air bag locking device, on air-bag support, cover plate is arranged on air-bag support and air bag locking is filled
Positioning is put, by bolt I and sleeve connection between air chamber and cover plate and air-bag support.
Described getter device, the exhaustor and sealing gasket I in the device is arranged on air chamber cover by bolt III,
Air chamber cover and sealing gasket I I are arranged on air chamber by bolt II.
Described extension type Suction cup assembly, the number of its gear unit is 25.
The present invention relates to a kind of self-locking flexibility dot matrix sucker, it is mainly by extension type Suction cup assembly, air bag locking dress
Put, air-bag support and the part of getter device four are constituted.Extension type Suction cup assembly is arranged on air bag locking device and getter device
On, air bag locking device is arranged on above air-bag support, and air-bag support is with getter device by bolt and sleeve connection.It is scalable
Formula Suction cup assembly includes waving sucker, sucker disk seat, hollow slide bar and mobile a set of cups.Air bag locking device includes stiff case, rubber
Glue retaining ring, air inlet pipe and escape pipe；Rubber latch ring, air inlet pipe and escape pipe are arranged on stiff case.Present configuration
Simply, applied widely, low cost, can be used for the clamping of irregular sheet type workpiece, can be advance according to the practical situation of workpiece
The stroke for automatically adjusting extension type Suction cup assembly and the operating angle for waving sucker, opening the locking of air bag locking device can stretch
Contracting formula Suction cup assembly simultaneously opens getter device to realize the clamping to workpiece.
Described extension type Suction cup assembly includes waving sucker 1, sucker disk seat 2, hollow slide bar 3 and mobile a set of cups 4, waves
Sucker 1 is arranged on sucker disk seat 2, is waved sucker 1 and is threaded connection with sucker disk seat 2, and spring 8 is arranged on hollow slide bar 3, empty
Heart slide bar 3 and nut II20 are arranged on mobile a set of cups 4.One end of hollow slide bar 3 is threaded, extension type Suction cup assembly
It is arranged on the air chamber 19 of getter device by pipe joint 13, nut I16 and rubber seal 18, mobile a set of cups 4 is by hollow
Pilot hole positioning in slide bar 3 and air-bag support 23.
Described air bag locking device includes stiff case 21, rubber latch ring 24, air inlet pipe 6 and escape pipe 5, air inlet pipe
6 and escape pipe 5 be arranged on stiff case 21 on, rubber latch ring 24 by fluid sealant be arranged on stiff case 21 on.Described
Air bag locking device and cover plate 22 are arranged on air-bag support 23, and bolt is passed through between air chamber 19 and cover plate 22 and air-bag support 23
I9 and sleeve 7 connect.Described exhaustor 14 and sealing gasket I 15 is arranged on air chamber cover 17 by bolt III12, air chamber cover
17 and sealing gasket I I10 by bolt II11 be arranged on air chamber 19 on.The number of described extension type Suction cup assembly is 25.
Claims (3)
1. a kind of self-locking flexibility dot matrix sucker, it is characterised in that：Including air-bag support, air bag locking device, getter device and
Extension type Suction cup assembly, the air bag locking device includes the hollow stiff case being arranged on air-bag support, described firm
Dot matrix through-hole structure is provided with property housing, rubber latch ring is provided with each through hole, the surface of each rubber latch ring
It is provided with annular groove, the side of the stiff case is provided with air inlet pipe installing hole and escape pipe installing hole, air inlet pipe and goes out
Trachea is arranged in air inlet pipe installing hole and escape pipe installing hole respectively by seal nipple, and the air-bag support top is provided with
Cover plate；The getter device include air chamber, installed in air chamber top be air chamber cover and the exhaustor being arranged on above air chamber cover, institute
State air chamber to install on the cover board by sleeve；The extension type Suction cup assembly include waving sucker, sucker disk seat, mobile a set of cups,
Hollow slide bar, the sucker for waving sucker is connected with sucking disk bar ball-joint, and the upper end of sucking disk bar is connected with the lower end of sucker disk seat, sucker
The upper end of seat is fixed with mobile a set of cups, and the hollow slide bar passes through the end of rubber latch ring, mobile a set of cups to be provided with nut
II, the upper end of the hollow slide bar is fixedly connected by nut I and pipe joint with the base plate of air chamber, and the lower end of hollow slide bar is stretched into
Extremely mobile a set of cups is interior and movable sleeving cup edge hollow slide bar linear motion, and the lower end of hollow slide bar sets with mobile a set of cups contact position
O-ring seal is equipped with, spring, the quantity and dot matrix of the extension type Suction cup assembly are provided between nut I and nut II
The quantity of the through hole of through-hole structure is equal.
2. a kind of self-locking flexibility dot matrix sucker according to claim 1, it is characterised in that：The dot matrix through-hole structure
It is 5 × 5 dot matrix through-hole structures, corresponding air bag locking device has 25.
3. a kind of self-locking flexibility dot matrix sucker according to claim 1 and 2, it is characterised in that：The sucking disk bar and suction
The junction of the junction, hollow slide bar and pipe joint of the junction of disk seat, mobile a set of cups and sucker disk seat is provided with sealing ring,
Pipe joint is provided with sealing ring with the junction of air chamber base plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510939112.8A CN105415235B (en) | 2015-12-11 | 2015-12-11 | Self-locking flexible lattice sucker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510939112.8A CN105415235B (en) | 2015-12-11 | 2015-12-11 | Self-locking flexible lattice sucker |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105415235A CN105415235A (en) | 2016-03-23 |
| CN105415235B true CN105415235B (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510939112.8A Active CN105415235B (en) | 2015-12-11 | 2015-12-11 | Self-locking flexible lattice sucker |
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| CN (1) | CN105415235B (en) |
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| US5964568A (en) * | 1994-11-09 | 1999-10-12 | Codatto; Antonio | Device for gripping and handling pieces of sheet material and manipulator of pieces of sheet material comprising this device |
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| CN205201372U (en) * | 2015-12-11 | 2016-05-04 | 哈尔滨工程大学 | From flexible dot matrix sucking disc of locking -type |
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| Publication number | Publication date |
|---|---|
| CN105415235A (en) | 2016-03-23 |
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