CN106514679A - Displacement detecting mechanism of vacuum sucker - Google Patents
Displacement detecting mechanism of vacuum sucker Download PDFInfo
- Publication number
- CN106514679A CN106514679A CN201611201668.8A CN201611201668A CN106514679A CN 106514679 A CN106514679 A CN 106514679A CN 201611201668 A CN201611201668 A CN 201611201668A CN 106514679 A CN106514679 A CN 106514679A
- Authority
- CN
- China
- Prior art keywords
- vacuum cup
- vertical tube
- thread bush
- vacuum sucker
- displacement
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
Abstract
The invention provides a displacement detecting mechanism of a vacuum sucker, and belongs to the field of application of vacuum suckers. The mechanism comprises a vacuum sucker, a U-shaped photoelectric switch and a detecting piece; the vacuum sucker is fixed on a mounting plate through two fixed nuts on a thread sleeve; a connecting hole is formed in one end of the detecting piece; one end of the detecting piece is fixedly sleeved on a vertical pipe through a connecting nut, and the other end of the detecting piece is in clearance fit with a groove of the U-shaped switch; and the U-shaped photoelectric switch is fixedly mounted on the mounting plate. The mechanism can detect if the vacuum sucker is excessively contacted with an object to generate reactive force for contradiction, supplies feedback signals of timely controlling the vacuum sucker to stop downwards moving and correcting through upward movement for system control, and overcomes the defect that the vacuum sucker in the prior art cannot be rightly contacted with stacked objects for accurate suction.
Description
Technical field is the present invention relates to vacuum cup application, specifically a kind of displacement detecting of vacuum cup
Mechanism.
Background technology vacuum cup is a kind of part for being usually applied on mechanical arm capture article, former by negative pressure
Reason draws article.In actual use, due to there is the difference in height on perpendicular between vacuum cup and actual object,
Need for vacuum cup to be displaced downwardly to article surface and just contact with which, then drawn.The a little higher than article surface meeting of vacuum cup
Cause between vacuum cup and article, to produce gap, it is impossible to produce negative pressure absorbing；Vacuum cup is slightly below article surface, can be easy
Damage product.The application device of existing vacuum cup cannot stop after vacuum cup is just contacted with article in time, and Jing is normal
Occur vacuum cup cannot draw article or overturn article etc. failure.Based on this, this case application is proposed.
The content of the invention is the invention provides a kind of displacement detecting mechanism of vacuum cup, can detect vacuum cup
The change in displacement produced by article counteracting force when contradicting with article, and produce corresponding feedback signal in order to controller and
When stop vacuum cup and move down, improve the success rate that vacuum cup draws article.
For achieving the above object, the invention provides a kind of displacement detecting mechanism of vacuum cup, including vacuum cup, U
Type photoswitch and detection lug, the vacuum cup are fixed on an installing plate by two fixing nuts on thread bush.Institute
State detection lug one end and offer connecting hole and by attaching nut's fixed cover on the vertical tube, its other end and U-shaped switch recess
Place gap coordinates；The U-shaped photoswitch is fixedly mounted on a mounting board.
Further, the vacuum cup is mainly combined by vertical tube, suction nozzle, three part of negative pressure joint, the vertical tube
Middle part is arranged with thread bush, and thread bush surface is provided with middle screw thread, is installed with two fixing nuts on middle screw thread, thread bush bottom
Vertical tube is convexly equipped with spacing preiection.The vertical tube surface wrap has spring, and the spring is embedded at the spiral shell that thread bush is connected with vertical tube
Stricture of vagina puts, and spring bottom is offseted with spacing preiection, and top is placed in thread bush.The vertical tube top surface be provided with for it is negative
The upper screw thread of crimp head screw thread rotation connection, is installed with attaching nut on upper screw thread.Thread bush is connected with vertical tube by spring
Structure can be promoted when vacuum cup is contacted with article.
Further, the detection lug includes fixed part, connecting portion and displacement portion, connecting portion two ends respectively with fixed part and
Displacement portion connects；The fixed part is fixedly connected with vacuum cup, and at institute's displacing portion and U-shaped switch recess, gap coordinates；Institute
State that fixed part is vertical with connecting portion to be connected.
Further, the opening being adapted with groove size is provided with the U-shaped switch recess, and institute's displacing portion is arranged in
It is open in opening and not higher than.
Beneficial effects of the present invention are as follows：Testing agency of the present invention is subject to article when can be contradicted vacuum cup with article
Propulsive thrust produced by change in displacement detected by proximity switch, and switched to be easy to the numeral letter for processing, analyzing
Number, enable central control system to sense situation about excessively moving down in article surface in vacuum cup, so as to stop vacuum in time
Sucker moves down and passes through to go up in-migration in right amount makes vacuum cup contact with article surface just, it is ensured that vacuum cup is just and stacking material
Product are contacted and are drawn, and the present invention is applied to absorption stacked items.
In brief, the present invention is able to detect that whether vacuum cup is excessively contacted with article contacts and produce the anti-of conflict
Active force, provides in time control vacuum cup for system control and stops moving down and move the feedback signal corrected by upper, so as to gram
The vacuum cup for taking prior art cannot be with the lucky defect for contacting and accurately drawing of the article that stacking is placed.
Description of the drawings
Fig. 1 is specific embodiment of the invention overall structure diagram；
Fig. 2 is specific embodiment of the invention normal condition schematic diagram；
Fig. 3 is specific embodiment of the invention vacuum cup stress schematic diagram；
Fig. 4 is specific embodiment of the invention vacuum cup structure chart.
Shown in figure：Vacuum cup 1, negative pressure joint 11, vertical tube 12, upper screw thread 12a, attaching nut 12b, thread bush 12c,
Vacuum pipe 12d, fixing nut 12e, internal recessing 12g, spring 12h, spacing preiection 12i, suction nozzle 13, detection lug 2, fixed part
21st, connecting portion 22, displacement portion 23, U-shaped photoswitch 3, installing plate 4.
Specific embodiment
As shown in figure 1, including vacuum cup 1, U-shaped photoswitch 3 and detection lug 2, vacuum cup 1 passes through thread bush 12c
On two fixing nuts 12e be fixed on an installing plate 4.Detection lug 2 is L-shaped, includes fixed part 21, connecting portion 22, position
Shifting portion 23, connecting portion 22 and fixed part 21 are mutually connected vertically, and the fixed part 21 is fixed on vertical tube 12 by attaching nut 12b
On screw thread 12a, the two ends of connecting portion 21 are connected with fixed part 21, displacement portion 23 respectively, the metal that detection lug 2 is formed in one
Piece.Displacement portion 23 is equally vertical with connecting portion 22 to be connected, and its level is located in an opening of installing plate 4, in vacuum cup 1
Under driving up and down, level is upper and lower in the opening for displacement portion 23.Just alignment is open and is fixed on the recess of U-shaped photoswitch 3 point
On installing plate 4.
With reference to shown in Fig. 2, Fig. 3, detection lug 2 is equipped with 3 gap of U-shaped photoswitch, in normal state, detection
The connecting portion 21 that piece 2 is coordinated with 3 gap of U-shaped photoswitch keeps vertical, and displacement portion 23 is located at the lower section of opening, and U-shaped light is established by cable
Close 3 and can't detect change in displacement.When the article that stacking is placed is reduced, article thickness is reduced, the last sucker for drawing article
13b positions are higher, and now 1 place installing plate of System Control Center control vacuum cup 4 is overall moves down, when sucker 13b positions height
When degree is less than article height, vertical tube 12 is subject to the small upper shifting of counteracting force or upper shifting certain distance.As 2 one end of detection lug is fixed
In vacuum cup 1, when moving on vertical tube 12, detection lug 2 follows shifting, and the displacement portion 23 of detection lug 2 is in U-shaped photoswitch 3
It is upper in groove to move, U-shaped photoswitch 3 detect the change in displacement of the generation of 2 displacement portion of detection lug 23 and produce corresponding electric current or
Voltage signal.Detection data is sent to System Control Center by U-shaped photoswitch 3, and System Control Center is according to U-shaped photoswitch
The data shut-down mechanisms of 3 feedbacks are moved down, if the change in displacement of vacuum cup 1 is excessive, system can control vacuum cup 1
The reaction pressure for reducing the article suffered by vacuum cup 1 is moved up in right amount, so that vacuum cup 1 is connect just with article
Touch and perform suction operation again.
As shown in figure 3, vacuum cup 1 includes being sequentially connected negative pressure joint 11, vertical tube 12 and the suction nozzle for communicating from the top down
13, vacuum pipe is equipped with inside negative pressure joint 11, vertical tube 12 and suction nozzle 13 communicate, negative pressure joint 11 is for connecting with vacuum equipment
Connect, suction nozzle 13 for contact with stacked items and after the air in vacuum equipment aspiration vacuum pipeline using principle of negative pressure draw
Stacked items.
12 top surface of vertical tube is provided with the upper screw thread 12a for being connected with 11 female thread screw thread rotation of negative pressure joint, upper spiral shell
Attaching nut 12b is installed with stricture of vagina 12a.It is tightened during fixed part 21 is set in screw thread 12a and by attaching nut 12b
On vacuum cup 1.Vacuum pipe 12d is provided with vacuum cup 1.Thread bush 12c, thread bush 12c tables is arranged with the middle part of vertical tube 12
Face is provided with middle screw thread, is installed with two fixing nuts 12e on middle screw thread, and the vertical tube 12 of thread bush 12c bottoms is convexly equipped with limit convex
12i is played, spacing preiection 12i is used for preventing thread bush 12c from gliding.Contacted with vertical tube 12 middle and lower parts of side of thread bush 12c are set
There is internal recessing 12g, 12 surface wrap of vertical tube has spring 12h, spring 12h to be just embedded in the internal recessing 12g of thread bush 12c,
Between thread bush 12c and vertical tube 12, spring 12h is in nature open configuration, and its length is less than thread bush 12c length, its
Bottom is offseted with spacing preiection 12i, and top is placed in thread bush 12c.Thread bush 12c is with 12 body of vertical tube spring 12h's
Promote lower generation change in displacement.12 bottom of vertical tube is provided with lower screw thread, and lower screw thread is the interior spiral shell of external screw thread and 13 connecting pole 13a of suction nozzle
Stricture of vagina matching thread connects.
The present invention provides a kind of displacement detecting mechanism for using cooperatively for vacuum cup 1, can be by vacuum cup 1 and article
During conflict, produced change in displacement switchs to be easy to the data transfer for analyzing and processing to System Control Center, true to stop in real time
1 standard component of suction disk is enable 1 standard component of vacuum cup to fall exactly and draw on article article to bottom offset.Present invention knot
Structure is simple, easy to use, applied widely, occasion is more.
Claims (4)
1. a kind of displacement detecting mechanism of vacuum cup, it is characterised in that：Including vacuum cup, U-shaped photoswitch and detection lug,
The vacuum cup is fixed on an installing plate by two fixing nuts on thread bush；Described detection lug one end offers company
Connect hole and by attaching nut's fixed cover on the vertical tube, gap coordinates at its other end and U-shaped switch recess；The U-shaped light
Electric switch is fixedly mounted on a mounting board.
2. the displacement detecting mechanism of a kind of vacuum cup according to claim 1, it is characterised in that：The vacuum cup master
To be combined by vertical tube, suction nozzle, three part of negative pressure joint, the riser middle is arranged with thread bush, and thread bush surface is provided with
Middle screw thread, is installed with two fixing nuts on middle screw thread, the vertical tube of thread bush bottom is convexly equipped with spacing preiection；The vertical tube surface
Spring is wound with, the spring is embedded on the thread bush that thread bush is connected with vertical tube, and spring bottom is offseted with spacing preiection, is pushed up
Portion is placed in thread bush；The vertical tube top surface is provided with the upper screw thread for being rotatably connected with negative pressure joint screw thread, upper spiral shell
Attaching nut is installed with stricture of vagina.
3. the displacement detecting mechanism of a kind of vacuum cup according to claim 1, it is characterised in that：The detection lug includes
Fixed part, connecting portion and displacement portion, connecting portion two ends are connected with fixed part and displacement portion respectively；The fixed part and vacuum cup
It is fixedly connected, at institute's displacing portion and U-shaped switch recess, gap coordinates；The fixed part is vertical with connecting portion to be connected.
4. the displacement detecting mechanism of a kind of vacuum cup according to claim 1, it is characterised in that：The U-shaped switch is recessed
The opening being adapted with groove size is provided with groove, is open during institute's displacing portion is arranged in opening and not higher than.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611201668.8A CN106514679B (en) | 2016-12-23 | 2016-12-23 | A kind of displacement detecting mechanism of vacuum chuck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611201668.8A CN106514679B (en) | 2016-12-23 | 2016-12-23 | A kind of displacement detecting mechanism of vacuum chuck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514679A true CN106514679A (en) | 2017-03-22 |
| CN106514679B CN106514679B (en) | 2019-02-05 |
Family
ID=58337385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611201668.8A Active CN106514679B (en) | 2016-12-23 | 2016-12-23 | A kind of displacement detecting mechanism of vacuum chuck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106514679B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110963307A (en) * | 2018-09-28 | 2020-04-07 | 捷普电子(广州)有限公司 | Fixing module |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05246700A (en) * | 1992-03-06 | 1993-09-24 | Hitachi Juki Seizo:Kk | Load suspending device |
| CN201784825U (en) * | 2010-07-14 | 2011-04-06 | 武汉人天包装技术有限公司 | Combined vacuum sucker |
| CN103084923A (en) * | 2011-11-03 | 2013-05-08 | 江苏高精机电装备有限公司 | Clamp detecting mechanism |
| CN203865565U (en) * | 2014-05-20 | 2014-10-08 | 珠海镇东有限公司 | Automatic vacuum suction plate device |
| CN204357914U (en) * | 2014-12-16 | 2015-05-27 | 福州汇智集佳电子技术有限公司 | A kind of self adaptive vacuum suction disc |
| CN204748198U (en) * | 2015-06-18 | 2015-11-11 | 湖州云水桥精工机械有限公司 | Locating surface accuracy testing device |
| CN105500384A (en) * | 2016-02-02 | 2016-04-20 | 江苏豪林自动化科技有限公司 | Manipulator sucker operating signal trigger device |
| CN206383151U (en) * | 2016-12-23 | 2017-08-08 | 绍兴环思智慧科技股份有限公司 | A kind of displacement detecting mechanism of vacuum cup |
-
2016
- 2016-12-23 CN CN201611201668.8A patent/CN106514679B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05246700A (en) * | 1992-03-06 | 1993-09-24 | Hitachi Juki Seizo:Kk | Load suspending device |
| CN201784825U (en) * | 2010-07-14 | 2011-04-06 | 武汉人天包装技术有限公司 | Combined vacuum sucker |
| CN103084923A (en) * | 2011-11-03 | 2013-05-08 | 江苏高精机电装备有限公司 | Clamp detecting mechanism |
| CN203865565U (en) * | 2014-05-20 | 2014-10-08 | 珠海镇东有限公司 | Automatic vacuum suction plate device |
| CN204357914U (en) * | 2014-12-16 | 2015-05-27 | 福州汇智集佳电子技术有限公司 | A kind of self adaptive vacuum suction disc |
| CN204748198U (en) * | 2015-06-18 | 2015-11-11 | 湖州云水桥精工机械有限公司 | Locating surface accuracy testing device |
| CN105500384A (en) * | 2016-02-02 | 2016-04-20 | 江苏豪林自动化科技有限公司 | Manipulator sucker operating signal trigger device |
| CN206383151U (en) * | 2016-12-23 | 2017-08-08 | 绍兴环思智慧科技股份有限公司 | A kind of displacement detecting mechanism of vacuum cup |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110963307A (en) * | 2018-09-28 | 2020-04-07 | 捷普电子(广州)有限公司 | Fixing module |
| CN110963307B (en) * | 2018-09-28 | 2022-05-24 | 捷普电子(广州)有限公司 | Fixing module |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106514679B (en) | 2019-02-05 |
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