CN106881724A - End picking-up device for robot - Google Patents
End picking-up device for robot Download PDFInfo
- Publication number
- CN106881724A CN106881724A CN201710074985.6A CN201710074985A CN106881724A CN 106881724 A CN106881724 A CN 106881724A CN 201710074985 A CN201710074985 A CN 201710074985A CN 106881724 A CN106881724 A CN 106881724A
- Authority
- CN
- China
- Prior art keywords
- gas circuit
- vacuum
- vacuum cup
- terminal
- collecting machine
- 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of end picking-up device for robot, it is characterised in that including：Vacuum cup；First gas circuit, vacuum generator is arranged in first gas circuit；Second gas circuit, destructive valve is arranged in second gas circuit；With the 3rd gas circuit, the vacuum cup is connected with the 3rd gas circuit, and first gas circuit and second gas circuit are all connected with the 3rd gas circuit.The disclosure increased destructive valve by improving the gas circuit arrangement form of vacuum cup in terminal-collecting machine part, allow terminal-collecting machine response speed faster.
Description
Technical field
This disclosure relates to a kind of terminal-collecting machine, more particularly to a kind of end picking-up device for robot with vacuum air-channel.
Background technology
With logistic industry automation continuous propulsion, by vacuum cup for main composition terminal-collecting machine in automated production
Using more and more frequent on line.Because Stacking Robots working frequency is very high, so the response speed of the vacuum air-channel to robot
Degree there has also been requirement higher.It is required that gas circuit more simple and clear, vacuum generator and terminal-collecting machine are as far as possible close, ring vacuum
Should faster.
Due to the gas circuit connected mode currently without unified standard, so be all to carry out gas circuit connection according to demands of individuals,
Many traditional vacuum gas circuits do not increase special destructive valve, reduce the reaction rate of robot.In many traditional vacuum gas
Lu Zhong, check-valves is not increased in suction cup portion, thus when there is a sucker leakage to inhale, the vacuum of the overall sucker of influence is set up.
The content of the invention
According to one embodiment of the disclosure, a kind of end picking-up device for robot is disclosed, it is characterised in that including：
Vacuum cup；
First gas circuit, vacuum generator is arranged in first gas circuit；
Second gas circuit, destructive valve is arranged in second gas circuit；With
3rd gas circuit, the vacuum cup is connected with the 3rd gas circuit, and first gas circuit and second gas
3rd gas circuit connection described in Lu Douyu.
According to one embodiment of the disclosure, vacuum table is additionally provided with second gas circuit.
According to one embodiment of the disclosure, vacuum cup is connected by check-valves with the 3rd gas circuit.
According to one embodiment of the disclosure, the 3rd gas circuit is a loop.
According to one embodiment of the disclosure, first gas circuit is multiple gas circuits, and one is both provided with each gas circuit
Individual vacuum generator.
According to one embodiment of the disclosure, the vacuum cup is multiple vacuum cups, and each vacuum cup is respective
Node at connected with the 3rd gas circuit.
According to one embodiment of the disclosure, the vacuum generator is multiple vacuum generators, each vacuum generator
Connected with the 3rd gas circuit at respective node.
According to one embodiment of the disclosure, the node of vacuum generator is arranged on two adjacent nodes of vacuum cup
Between.
Disclosed technique can be such that the vacuum air-channel of Stacking Robots becomes apparent from succinctly, and vacuum air-channel has been obtained greatly
Optimization, shortens the time for setting up vacuum, allows Stacking Robots to draw and let-down reacts faster.
Brief description of the drawings
Embodiment of the disclosure is described in detail by referring to accompanying drawing, the disclosure will become clearer, wherein：
Fig. 1 shows the overall schematic diagram of gas circuit of terminal-collecting machine；
Fig. 2 shows the partial top view of terminal-collecting machine；
Fig. 3 shows the partial side view of terminal-collecting machine；With
Fig. 4 shows the partial top view of terminal-collecting machine.
Specific embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme of this disclosure is described in further detail.In explanation
In book, same or analogous drawing reference numeral indicates same or analogous part.It is following referring to the drawings to disclosure implementation method
Illustrate that being intended to generic disclosure design of this disclosure explains, and be not construed as a kind of limitation of this disclosure.
Before any embodiment of the disclosure is specifically described, it should be appreciated that concept disclosed herein is not by them
Application be restricted to the thin portion and the arrangement of component of the construction for illustrating in the following description or illustrating in the following figures.At these
The concept illustrated in embodiment can be practiced or carried out in a variety of ways.Specific phrase used herein and term for the ease of
Description, and should not be considered limiting.Such as " including ", "comprising" and " having " and their change herein
Wording mean including the every and every equivalent then listed and extra items.Unless dictated otherwise or limited
System, term " installation ", " connection ", " support " and " link " and its change are widely used and including peace directly or indirectly
Dress, connection, support and link.
The terminal-collecting machine of the one embodiment according to the disclosure is described in detail as follows.
A kind of end picking-up device for robot, it is characterised in that including：
Vacuum cup 10；
First gas circuit 13, vacuum generator 10 is arranged in first gas circuit 13；
Second gas circuit 14, destructive valve 5 is arranged in second gas circuit 13；With
3rd gas circuit 15, the vacuum cup 10 is connected with the 3rd gas circuit 15, and first gas circuit 13 and institute
The second gas circuit 14 is stated all to be connected with the 3rd gas circuit 15.
In the disclosure, the first gas circuit 13 is two different gas circuits from the second gas circuit 14, and vacuum generator 10 is arranged on
In first gas circuit 13, destructive valve 5 is arranged in second gas circuit 13, for setting up the first gas circuit 13 of vacuum and being used for
The second gas circuit 14 for destroying vacuum can be used parallel, shortened and be chosen the article let-down time.
Fig. 1 is the overall schematic diagram of gas circuit of terminal-collecting machine, source of the gas 1 by after rubber sleeve valve 2 and filtering pressure reducing valve 3 in robot three
Vacuum cup 10 and cylinder 12 are given at axle.
As shown in figure 1, magnetic valve 4 in an ON state when, the compressed gas from source of the gas 1 by magnetic valve 4 it is up,
Via manifold blocks 6 upwards, vacuum generator 7 is reached by the first gas circuit 13.Vacuum generator 7 connects at vacuum generator node
It is connected in the 3rd gas circuit 15.
As shown in figure 1, destructive valve 5 in an ON state when, the second gas circuit 14 connect the 3rd gas circuit 15.
As shown in figure 1, vacuum cup 10 is connected by pipeline with the 3rd gas circuit 15, and the first gas circuit 13 and the second gas circuit
14 all connect with the 3rd gas circuit 15.
Six vacuum cups 10 and correspondingly six cylinders 12 are schematically shown in Fig. 1.Those skilled in the art should
This knows that the quantity of vacuum cup 10 and cylinder 12 is not restrictive condition, and the vacuum cup and cylinder of other quantity can also be real
The technical scheme of the existing disclosure.
As shown in figure 1, each vacuum cup 10 is connected by respective check-valves 9 with the 3rd gas circuit 15.
As shown in figure 1, the 3rd gas circuit 15 goes here and there together six vacuum cups 10.In other one embodiment, the
Three gas circuits 15 can also be a loop.
As shown in figure 1, the vacuum cup according to one embodiment includes six vacuum cups, each vacuum cup is respective
Node at connected with the 3rd gas circuit 15.
As shown in figure 1, the vacuum generator according to one embodiment includes four vacuum generators, each vacuum generator
Connected with the 3rd gas circuit 15 at respective node.
As shown in figure 1, the node of vacuum generator is arranged between two adjacent nodes of vacuum cup.
As shown in figure 1, vacuum cup 10 supplies compressed air to four vacuum generators 7, each vacuum hair by supply valve 4
Raw two vacuum cups 10 in parallel of device 7, six series connection of vacuum cup 10 are realized by vacuum generator 7 and manifold blocks 6.
As shown in figure 1, source of the gas 1 is by being connected respectively to the magnetic valve for sucker after rubber sleeve valve 2 and filtering pressure reducing valve 3
4 and the magnetic valve 11 for cylinder.The magnetic valve 4 for sucker in an ON state when, compressed air pass through the quilt of manifold blocks 6
It is supplied to vacuum generator 7.Fig. 1 shows four vacuum generators 7 being connected in parallel.First vacuum generator is connected by pipeline
To the first vacuum cup and the second vacuum cup, the second vacuum generator is connected to the second vacuum cup and the 3rd vacuum by pipeline
Sucker, the 3rd vacuum generator is connected to the 4th vacuum cup and the 5th vacuum cup by pipeline, and the 4th vacuum generator passes through
Pipeline is connected to the 5th vacuum cup and the 6th vacuum cup.
Vacuum generator 7 is vacuumized, so that vacuum cup 10 is in vacuum state, so that adsorbent article.
Each vacuum cup 10 is furnished with check-valves 9, accordingly even when being that the vacuum cup 10 connected also ensures that some
The other vacuum cups 10 when article is not drawn onto of vacuum cup 10 remain to set up vacuum, and vacuum is integrally set up to terminal-collecting machine is
One protection mechanism.
Second gas circuit 14 is furnished with special destructive valve 5, and destructive valve 5 is connected to terminal-collecting machine both sides of the edge by the second gas circuit 14
Two vacuum cups 10.It is series connection due to all vacuum cups 10, it is possible to reaching all vacuum cups 10 of destruction
The effect of vacuum.When Prospect of Robot Sorting System puts down article, compressed air is provided by special destructive valve 5, reach destruction vacuum
Purpose.
Thus destruction vacuum is divided into two gas circuits, i.e. the first gas circuit 13 and the second gas circuit 14 with vacuum is set up.For setting up
First gas circuit 13 of vacuum and can parallel be used for destroying the second gas circuit 14 of vacuum, shortened when being chosen article let-down
Between.
As shown in figure 1, when needs put down and are chosen article, connecting destructive valve 5 to reach the purpose of destruction vacuum.Due to
Six vacuum cups 10 are connected in series by the second gas circuit 14, thus connection destructive valve 5 can destroy all six vacuum cups
10 vacuum.
As shown in figure 1, be additionally provided with vacuum table 8 in the second gas circuit 14, vacuum table 8 can be with monitor in real time terminal-collecting machine near
The vacuum of gas circuit, is used to confirm whether vacuum is set up, and then judges whether terminal-collecting machine adsorbs and be chosen article.
On the contrary, it is traditional in the prior art, conventional terminal-collecting machine is confirmed using proximity switch or vision system
The working condition of terminal-collecting machine, causes one signal reaction of many waits, reduces the operating efficiency of Prospect of Robot Sorting System.
As shown in figure 1, source of the gas 1 is by being connected respectively to the magnetic valve for sucker after rubber sleeve valve 2 and filtering pressure reducing valve 3
4 and the magnetic valve 11 for cylinder.The magnetic valve 11 for cylinder in an ON state when, compressed air is fed into cylinder
12。
Six cylinders are shown in Fig. 1, are divided into two groups.Each group of cylinder includes two cylinders, is controlled by magnetic valve 11
Two actions of cylinder of system.Second group of cylinder includes four cylinders, and four cylinders are constituted a pair two-by-two, and by an electromagnetism
Valve controls four actions of cylinder.
Fig. 2 shows the partial top view of terminal-collecting machine.
As shown in Fig. 2 magnetic valve 4, binding post and manifold blocks 6 are arranged at three axles of robot.Due to robot
Three axles at relative motion amplitude it is smaller, and away from terminal-collecting machine, thus for the self structure of terminal-collecting machine provides bigger sky
Between.
Four vacuum cups 10 are shown in Fig. 2, in the middle part of terminal-collecting machine two vacuum cups 10 is arranged on and is not had in fig. 2
There is display.As can be seen from Figure 3 six vacuum cups 10 are provided with the framework of terminal-collecting machine altogether, three is provided with every side
Vacuum cup 10.
The position of manifold blocks 6 is also show in Fig. 2.As shown in Figure 2, manifold blocks 6 are arranged at three axles of robot.
Fig. 3 shows the partial side view of terminal-collecting machine.
As shown in figure 3, tracheae is introduced from three axles, the manifold blocks being fixed on terminal-collecting machine are linked into, are respectively inhaled on terminal-collecting machine
Disk tracheae is separated from manifold blocks, gas circuit is seemed more clean and tidy, and effectively saves space, realizes maximally effective pipe
The road method of salary distribution.
The set location of the first gas circuit 13, vacuum table 8 and vacuum cup 10 is shown in figure 3.Can from accompanying drawing 3
Go out, the first gas circuit 13 includes four into inverted U-shaped pipeline.From figure 3, it can be seen that being provided with the side of the framework of terminal-collecting machine
Three vacuum cups 10
Fig. 4 shows the partial top view of terminal-collecting machine.
The set location of the second gas circuit 14 and vacuum cup 10 is shown in fig. 4.Equipped with special in second gas circuit 14
Destructive valve 5, two vacuum cups 10 of terminal-collecting machine both sides of the edge are connected to by the second gas circuit 14.
As can be seen that the second gas circuit 14 includes a series of pipelines being cascaded from accompanying drawing 4.Figure 4 illustrates
Four vacuum cups 10
Beneficial effect
The connected mode of this vacuum cup establishes duplicate protection to the vacuum of sucker, will not occur because of a vacuum
The accidental damage of device causes to draw product failure.As shown in figure 1, if the first vacuum generator fails, now other vacuum
Generator still can provide vacuum for the first to the 3rd vacuum cup, be worked together with the third and fourth vacuum generator, still
Robot crawl work can be completed.
Destructive valve is increased at terminal-collecting machine, the reaction speed of vacuum breaker is greatly improved, to adapt to capture robot
Working frequency.
The vacuum line structure of terminal-collecting machine is optimized, makes gas circuit simply efficient, improve the reaction of terminal-collecting machine vacuum foundation
Efficiency, and then realize high speed stacking.
The disclosure is described with reference to one exemplary embodiment.It will become apparent, however, that those skilled in the art retouch above-mentioned
Various selectable variations and modifications can be apparent under the teaching stated.Thus, the disclosure is included and falls into appended claims
All selectable variations and modifications within spirit and scope.
Although describing this theme by acting on specific language for structure member and/or method, should
Understand that concept disclosed herein is not only restricted to the specific embodiment of description.But, in above-described specific part and work
Disclosed with by form as an example.For example, in various embodiments, different types of dynamic power machine can include that anterior power is defeated
Go out apparatus system construction and control system.The other examples of the modification of disclosed concept are without departing from disclosed concept
It is also possible in the case of scope.
Claims (8)
1. a kind of end picking-up device for robot, it is characterised in that including：
Vacuum cup；
First gas circuit, vacuum generator is arranged in first gas circuit；
Second gas circuit, destructive valve is arranged in second gas circuit；With
3rd gas circuit, the vacuum cup is connected with the 3rd gas circuit, and first gas circuit and second gas circuit are all
Connected with the 3rd gas circuit.
2. end picking-up device for robot according to claim 1, it is characterised in that：Negative pressure is additionally provided with second gas circuit
Table.
3. end picking-up device for robot according to claim 1, it is characterised in that：Vacuum cup passes through check-valves and the 3rd gas circuit
Connection.
4. end picking-up device for robot according to claim 1, it is characterised in that：3rd gas circuit is a loop.
5. end picking-up device for robot according to claim 1, it is characterised in that：First gas circuit is multiple gas circuits, every
A vacuum generator is both provided with individual gas circuit.
6. end picking-up device for robot according to claim 1, it is characterised in that：The vacuum cup is multiple vacuum cups,
Each vacuum cup is connected at respective node with the 3rd gas circuit.
7. end picking-up device for robot according to claim 6, it is characterised in that：The vacuum generator is that multiple vacuum occur
Device, each vacuum generator is connected at respective node with the 3rd gas circuit.
8. end picking-up device for robot according to claim 7, it is characterised in that：The node of vacuum generator is arranged on adjacent
Between two nodes of vacuum cup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710074985.6A CN106881724B (en) | 2017-02-10 | 2017-02-10 | Robot end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710074985.6A CN106881724B (en) | 2017-02-10 | 2017-02-10 | Robot end effector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106881724A true CN106881724A (en) | 2017-06-23 |
| CN106881724B CN106881724B (en) | 2020-07-31 |
Family
ID=59179662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710074985.6A Active CN106881724B (en) | 2017-02-10 | 2017-02-10 | Robot end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106881724B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112718524A (en) * | 2020-12-12 | 2021-04-30 | 江西洪都航空工业集团有限责任公司 | Composite material sorting method |
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| Publication number | Publication date |
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| CN106881724B (en) | 2020-07-31 |
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Effective date of registration: 20190805 Address after: 300 457 days First Floor, Phase 2, No. 10, Fourth Avenue, Binhai New Area Economic and Technological Development Zone, Tianjin Applicant after: Tianjin Jingdong Shentuo Robot Technology Co., Ltd. Address before: 100195 Beijing city Haidian District xingshikou Road No. 65 building 11C Creative Park West West west Shan East 1-4 layer 1-4 layer Applicant before: Beijing Jingdong Shangke Information Technology Co., Ltd. Applicant before: Beijing Jingdong Century Commerce Co., Ltd. |
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