CN106514679B - A kind of displacement detecting mechanism of vacuum chuck - Google Patents
A kind of displacement detecting mechanism of vacuum chuck Download PDFInfo
- Publication number
- CN106514679B CN106514679B CN201611201668.8A CN201611201668A CN106514679B CN 106514679 B CN106514679 B CN 106514679B CN 201611201668 A CN201611201668 A CN 201611201668A CN 106514679 B CN106514679 B CN 106514679B
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- CN
- China
- Prior art keywords
- vacuum chuck
- vertical tube
- thread bush
- shaped
- screw thread
- 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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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Absorbent Articles And Supports Therefor (AREA)
Abstract
The present invention provides a kind of displacement detecting mechanisms of vacuum chuck, belong to vacuum chuck application field, including vacuum chuck, U-shaped optoelectronic switch and detection lug, the vacuum chuck is fixed on a mounting plate by two fixture nuts on thread bush, described detection lug one end offers connecting hole and is set on vertical tube by attaching nut's fixing sleeve, clearance fit at its other end and U-shaped switch recess, the U-shaped optoelectronic switch are fixedly mounted on a mounting board.The present invention is able to detect that vacuum chuck contacts the reaction force for whether excessively contacting and generating conflict with article, it provides control vacuum chuck stopping in time for system control to move down and by moving up modified feedback signal, thus the defect that the article for overcoming the vacuum chuck of the prior art that can not place with stacking is exactly in contact with and accurately draws.
Description
The present invention relates to vacuum chuck application field, specifically a kind of displacement detectings of vacuum chuck for technical field
Mechanism.
Background technique vacuum chuck is a kind of part for being usually applied to grab article on mechanical arm, passes through negative pressure original
Reason draws article.In actual use, due between vacuum chuck and actual object there are the difference in height on perpendicular,
It needs for vacuum chuck to be displaced downwardly to article surface just to contact with it, then is drawn.The a little higher than article surface meeting of vacuum chuck
Cause to generate gap between vacuum chuck and article, negative pressure absorbing can not be generated；Vacuum chuck is slightly below article surface, can be easy
Damage product.The application device of existing vacuum chuck can not stop in time after vacuum chuck is just contacted with article, often
Occur vacuum chuck can not draw article or overturn article etc. failures.Based on this, this case application is proposed.
The present invention provides a kind of displacement detecting mechanisms of vacuum chuck for summary of the invention, can detect vacuum chuck
The change in displacement generated when being contradicted with article by article reaction force, and generate corresponding feedback signal in order to controller and
When stop vacuum chuck and move down, improve the success rate that vacuum chuck draws article.
To achieve the above object, the present invention provides a kind of displacement detecting mechanisms of vacuum chuck, including vacuum chuck, U
Type optoelectronic switch and detection lug, the vacuum chuck are fixed on a mounting plate by two fixture nuts on thread bush.Institute
Detection lug one end is stated to offer connecting hole and be set on vertical tube by attaching nut's fixing sleeve, the other end and U-shaped switch recess
Locate clearance fit；The U-shaped optoelectronic switch is fixedly mounted on a mounting board.
Further, the vacuum chuck is mainly composed of vertical tube, suction nozzle, negative pressure connector three parts, the vertical tube
Middle part is arranged with thread bush, and thread bush surface is equipped with middle screw thread, is installed with two fixture nuts on middle screw thread, thread bush bottom
Vertical tube is convexly equipped with retention bead.The vertical tube surface wrap has spring, and the spring is embedded at the spiral shell that thread bush connects with vertical tube
Line is put on, and spring bottom offsets with retention bead, and top is placed in thread bush.The vertical tube top surface be equipped 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.What thread bush was connect by spring with vertical tube
Structure can push vertical tube to move up when vacuum chuck is in contact with article.
Further, the detection lug includes fixed part, interconnecting piece and displacement portion, interconnecting piece both ends respectively with fixed part and
Displacement portion connection；The fixed part is fixedly connected with vacuum chuck, clearance fit at institute's displacing portion and U-shaped switch recess；Institute
State that fixed part is vertical with interconnecting piece to be connect.
Further, the opening being adapted with groove size is equipped at the U-shaped switch recess, institute's displacing portion is arranged in
In opening and not higher than opening.
Beneficial effects of the present invention are as follows: by article when testing agency of the present invention can contradict vacuum chuck and article
Propulsive thrust caused by change in displacement pass through close to switch detected, and switched to convenient for processing, analysis number letter
Number, so that central control system is incuded in vacuum chuck the case where article surface excessively moves down, to stop vacuum in time
Sucker moves down and passing through upper in-migration in right amount contacts vacuum chuck with article surface just, it is ensured that vacuum chuck is just and stacking material
Product are contacted and are drawn, and the present invention is suitable for drawing stacked items.
In brief, whether the present invention is able to detect that vacuum chuck is contacted with article and excessively contacts and generate the anti-of conflict
Active force provides control vacuum chuck stopping in time for system control and moves down and by moving up modified feedback signal, thus gram
Take the defect that the vacuum chuck of the prior art can not be exactly in contact with and accurately draw with the article for stacking placement.
Detailed description of the invention
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 chuck stress schematic diagram；
Fig. 4 is specific embodiment of the invention vacuum chuck structure chart.
It is as shown in the figure: vacuum chuck 1, negative pressure connector 11, vertical tube 12, upper screw thread 12a, attaching nut 12b, thread bush 12c,
Vacuum pipe 12d, fixture nut 12e, internal recessing 12g, spring 12h, retention bead 12i, suction nozzle 13, detection lug 2, fixed part
21, interconnecting piece 22, displacement portion 23, U-shaped optoelectronic switch 3, mounting plate 4.
Specific embodiment
As shown in Figure 1, including vacuum chuck 1, U-shaped optoelectronic switch 3 and detection lug 2, vacuum chuck 1 passes through thread bush 12c
On two fixture nut 12e be fixed on a mounting plate 4.Detection lug 2 is L shape, includes fixed part 21, interconnecting piece 22, position
Shifting portion 23, interconnecting piece 22 and fixed part 21 are mutually connected vertically, which is fixed on vertical tube 12 by attaching nut 12b
On screw thread 12a, the both ends of interconnecting piece 21 are connect with fixed part 21, displacement portion 23 respectively, the metal that detection lug 2 is integrally formed
Piece.Displacement portion 23 is equally vertical with interconnecting piece 22 to be connect, and level is set in an opening of mounting plate 4, in vacuum chuck 1
Under driving up and down, displacement portion 23 is horizontal upper and lower in the opening.The recess portion of U-shaped optoelectronic switch 3, which is just aligned, to be open and is fixed on
On mounting plate 4.
In conjunction with shown in Fig. 2, Fig. 3, detection lug 2 and the setting of U-shaped 3 clearance fit of optoelectronic switch, in normal state, detection
Piece 2 and the interconnecting piece 21 of U-shaped 3 clearance fit of optoelectronic switch are kept vertically, and displacement portion 23 is located at the lower section of opening, and U-shaped photoelectricity is opened
Closing 3 can't detect change in displacement.When stacking the article placed reduction, article thickness is reduced, and the last time draws the sucker of article
The position 13b is higher, and the 1 place mounting plate of vacuum chuck of System Control Center control at this time 4 is whole to be moved down, when the position sucker 13b height
When degree is lower than article height, vertical tube 12 is moved up or moves up certain distance by reaction force is small.Since 2 one end of detection lug is fixed
In vacuum chuck 1, when vertical tube 12 moves up, detection lug 2, which follows, to be moved up, and the displacement portion 23 of detection lug 2 is in U-shaped optoelectronic switch 3
Moved up in groove, U-shaped optoelectronic switch 3 detect 2 displacement portion 23 of detection lug generate change in displacement and generate corresponding electric current or
Voltage signal.U-shaped optoelectronic switch 3 will test data and be sent to System Control Center, and System Control Center is according to U-shaped optoelectronic switch
The data shut-down mechanism of 3 feedbacks moves down, if the change in displacement of vacuum chuck 1 is excessive, system can control vacuum chuck 1
The reaction pressure for reducing article suffered by vacuum chuck 1 is moved up in right amount, so that vacuum chuck 1 be made to connect just with article
Touching executes suction operation again.
As shown in figure 3, vacuum chuck 1 includes being sequentially connected the negative pressure connector 11, vertical tube 12 and suction nozzle communicated from the top down
13, vacuum pipe is equipped with inside negative pressure connector 11, vertical tube 12 and suction nozzle 13 and is communicated, and negative pressure connector 11 is used for and vacuum equipment connects
It connects, suction nozzle 13 is used to contact with stacked items and be drawn after the air in vacuum equipment suction vacuum pipe using principle of negative pressure
Stacked items.
12 top surface of vertical tube is equipped with the upper screw thread 12a for connecting with 11 internal screw thread screw thread rotation of negative pressure connector, upper spiral shell
Attaching nut 12b is installed on line 12a.Fixed part 21 is set in screw thread 12a and is tightened by attaching nut 12b
On vacuum chuck 1.Vacuum pipe 12d is equipped in vacuum chuck 1.Thread bush 12c, thread bush 12c table are arranged in the middle part of vertical tube 12
Face is equipped with middle screw thread, is installed with two fixture nut 12e on middle screw thread, the vertical tube 12 of the bottom thread bush 12c is convexly equipped with limit convex
12i is played, retention bead 12i is for preventing thread bush 12c from gliding.Be in contact with vertical tube 12 middle and lower part of side thread bush 12c is 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 length is less than thread bush 12c length,
Bottom offsets with retention bead 12i, and top is placed in thread bush 12c.Thread bush 12c and 12 ontology of vertical tube are spring 12h's
Push lower generation change in displacement.12 bottom of vertical tube is equipped with lower screw thread, and lower screw thread is the interior spiral shell of external screw thread and 13 connecting column 13a of suction nozzle
The connection of line matching thread.
The present invention be vacuum chuck 1 provide it is a kind of with the use of displacement detecting mechanism, can be by vacuum chuck 1 and article
Generated change in displacement switchs to pass to System Control Center convenient for the data of analysis processing when conflict, true to stop in real time
1 standard component of suction disk enables 1 standard component of vacuum chuck accurately to fall on and draws article on article to bottom offset.Knot of the present invention
Structure is simple, easy to use, applied widely, occasion is more.
Claims (3)
1. a kind of displacement detecting mechanism of vacuum chuck, including vacuum chuck, U-shaped optoelectronic switch, the U-shaped optoelectronic switch are fixed
Installation is on a mounting board, it is characterised in that: and the vacuum chuck is mainly composed of vertical tube, suction nozzle, negative pressure connector three parts,
The vacuum chuck is fixed on a mounting plate by two fixture nuts on thread bush；The vertical tube surface wrap has bullet
Spring, the spring are embedded on the thread bush that thread bush connects with vertical tube；It is L-shaped gold based on detection lug equipped with detection lug
Belong to piece comprising fixed part, interconnecting piece and displacement portion, interconnecting piece both ends are connect with fixed part and displacement portion respectively；The fixation
Portion is set on vertical tube by attaching nut's fixing sleeve, clearance fit at institute's displacing portion and U-shaped switch recess；The fixed part with
Interconnecting piece vertically connects.
2. a kind of displacement detecting mechanism of vacuum chuck according to claim 1, it is characterised in that: the riser middle set
Equipped with thread bush, thread bush surface is equipped with middle screw thread, is installed with two fixture nuts on middle screw thread, the vertical tube of thread bush bottom is convex
Equipped with retention bead；Spring bottom offsets with retention bead, and top is placed in thread bush；The vertical tube top surface, which is equipped with, to be used
In rotating the upper screw thread connected with negative pressure joint screw thread, attaching nut is installed on upper screw thread.
3. a kind of displacement detecting mechanism of vacuum chuck according to claim 1, it is characterised in that: the U-shaped switch is recessed
The opening being adapted with groove size is equipped at slot, institute's displacing portion is arranged in opening and not higher than opening.
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 CN106514679A (en) | 2017-03-22 |
| CN106514679B true 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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110963307B (en) * | 2018-09-28 | 2022-05-24 | 捷普电子(广州)有限公司 | Fixing module |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05246700A (en) * | 1992-03-06 | 1993-09-24 | Hitachi Juki Seizo:Kk | Load suspending device |
-
2016
- 2016-12-23 CN CN201611201668.8A patent/CN106514679B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106514679A (en) | 2017-03-22 |
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