CN107009382A - Based on hydromechanical absorption type material taking hand - Google Patents
Based on hydromechanical absorption type material taking hand Download PDFInfo
- Publication number
- CN107009382A CN107009382A CN201710432538.3A CN201710432538A CN107009382A CN 107009382 A CN107009382 A CN 107009382A CN 201710432538 A CN201710432538 A CN 201710432538A CN 107009382 A CN107009382 A CN 107009382A
- Authority
- CN
- China
- Prior art keywords
- nozzle
- support bar
- axis
- vacuum column
- connector
- 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
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- 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
- B25J15/0633—Air-flow-actuated valves
Abstract
The invention discloses based on hydromechanical absorption type material taking hand, including connector, nozzle, heart set, rubber suction cups, nozzle is cylindrical in shape, one side opening of nozzle is larger and is provided with compressed air access equipment, another side opening of nozzle is smaller and is provided with nozzle cage, and space is left between nozzle cage and nozzle；Negative pressure cavity is provided with the downside of connector, negative pressure cavity is connected with above-mentioned space；The support bar of tubular is provided with the downside of nozzle and nozzle cage, the axis of support bar is vertical with the axis of nozzle；The inner side of support bar, which is set, intentionally to be covered, and the inner side of heart set is provided with vacuum column, and vacuum column is provided with multiple cylinder passages, the axis of cylinder passage and the diameter parallel of vacuum column；Rubber suction cups is socketed on the downside of support bar.The present invention ensures to reduce the air in vacuum chamber while the size of rubber suction cups, so as to reduce the air passed through in nozzle, reduces the time of firm absorption object.
Description
Technical field
The present invention relates to mechanical field, and in particular to based on hydromechanical absorption type material taking hand.
Background technology
Manipulator be it is a kind of can imitate some holding functions of human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument.Manipulator is the industrial robot occurred earliest, is also the modern machines occurred earliest
People, the heavy labor that it can replace people can operate to protect people to realize the mechanization and automation of production under hostile environment
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.In in life, section now
Under the progress of skill day crescent benefit, robot and the arm maximum difference for having the mankind are that flexibility ratio and resistance to dynamics.
Be exactly manipulator sharpest edges it is recursive do it is same action machinery will not always feel tired under normal circumstances！Machinery
The application of arm also will more and more extensively, and manipulator is a kind of high-tech automatic producing device that recent decades grow up,
The ability fulfiled assignment in the accuracy and environment of operation.However, material brittle smooth for surface, the object of heavier mass
Carry, be extremely difficult to require using general manipulator, in order to realize safe and efficient carrying, the crawl work of such object,
Need to complete using Pneumatic manipulator, air-negative-pressure absorption manipulator of the prior art is larger due to the passage of vacuum chamber,
Substantial amounts of compressed air, higher flow velocity is needed to realize that this proposes higher requirement to other equipment.
The content of the invention
The technical problems to be solved by the invention are that air-negative-pressure of the prior art adsorbs manipulator due to vacuum chamber
Passage is larger, it is necessary to which substantial amounts of compressed air, higher flow velocity could be realized, it is therefore intended that provides and is based on hydromechanical absorption
Formula material taking hand, reduces vacuum chamber, reduces the air supply used, and reduce air-negative-pressure material taking hand realizes condition.
The present invention is achieved through the following technical solutions：
Based on hydromechanical absorption type material taking hand, including connector, nozzle, heart set, rubber suction cups, the nozzle is in cylinder
Shape, a side opening of nozzle is larger and is provided with compressed air access equipment, and another side opening of nozzle is smaller and is provided with spray
Muzzle, space is left between the nozzle cage and nozzle；The connector is arranged on the upside of nozzle and nozzle cage, and connector is in
Cylinder, the axis of connector is vertical with the axis of nozzle；Negative pressure cavity, the negative pressure cavity and above-mentioned sky are provided with the downside of connector
Gap is connected；The support bar of tubular, the axis of the support bar and the axis of nozzle are provided with the downside of the nozzle and nozzle cage
Vertically；The inner side of the support bar, which is set, intentionally to be covered, and the inner side of the heart set is provided with vacuum column, and the vacuum column is provided with many
Individual cylinder passage, the axis of cylinder passage and the diameter parallel of vacuum column；The rubber suction cups is socketed on the downside of support bar.
In the present invention working method of negative-pressure adsorption-type material taking hand be by compressed air by the larger side of nozzle opening,
Compressed air is spilt out from the larger side of nozzle opening by the less side of opening, then by nozzle cage at high speed, because
Space is left between nozzle cage and nozzle, space is also associated with negative pressure cavity and vacuum chamber, because gas passes through at a high speed, passed through at a high speed
Gas ambient pressure reduce rapidly, the air of negative pressure cavity and vacuum chamber can be taken away, meanwhile, rubber suction cups adsorb in surface light
On sliding object, vacuum chamber is closed, and the air of vacuum chamber is pulled away, and pressure reduces, and the air of negative pressure cavity is pulled away, pressure
Reduce, negative pressure cavity and vacuum chamber constitute dual structure, and ambient atmosphere pressure formation draught head, will be steady by smooth object
Solid absorption on rubber suction cups.The vacuum chamber of traditional negative-pressure adsorption-type is the larger passage in a space, and this will make
Air in vacuum chamber could must be taken away by the way that the compressed air of nozzle is more, this not only results in the waste of compressed air,
The time of firm absorption object can be also caused to increase, this is unfavorable for the increasingly faster production activity of rhythm in actual life.This
Invention is set in the vacuum chamber sets multiple cylinder passages on vacuum column, vacuum column, thus ensureing the size of rubber suction cups
While reduce air in vacuum chamber, so as to reduce the air passed through in nozzle, reduce the time of firm absorption object；
Simultaneously as cylinder channel size is smaller, when compressed gas is by nozzle, the gas in cylinder passage is easier to be pulled away,
And the cylinder passage of each small size can form certain absorption affinity, further increase the adsorption strength of rubber suction cups.
Further, corresponding rubber around multistage grid structure, and every layer of hierarchic structure is set to inhale on the inside of rubber suction cups
The consistency of thickness of disk.Multi-step is set, and when absorption affinity gradually increases, rubber suction cups produces deformation, the adsorbed object of laminating
Surface area it is more, the space of adsorbent chamber is smaller, and absorption affinity is stronger.
Further, vacuum column is arranged on inside support bar by chute.Vacuum column can be according to the differences of absorbent bodies
Carry out changing various sizes of vacuum column, improve the flexibility of absorption type material taking hand.
Further, the cylinder passage that vacuum column is set is arranged in the ring-type of rule.Cylinder passage arranging rule, flows through
Pressure produced by gas evenly, is adsorbed more stable.
The present invention compared with prior art, has the following advantages and advantages：
1st, the present invention is set in the vacuum chamber sets multiple cylinder passages on vacuum column, vacuum column, thus ensureing rubber
The air in vacuum chamber is reduced while the size of glue sucker, so as to reduce the air passed through in nozzle, firm inhale is reduced
The time of addendum part；
2nd, of the invention because cylinder channel size is smaller, when compressed gas is by nozzle, the gas in cylinder passage is more
Easily it is pulled away, and the cylinder passage of each small size can form certain absorption affinity, further increase rubber suction cups
Adsorption strength；
3rd, cylinder passage arranging rule of the present invention, the pressure produced by the gas flowed through evenly, is adsorbed more stable；
4th, vacuum column of the invention can carry out changing various sizes of vacuum column according to the different of absorbent bodies, improve and inhale
The flexibility of attached formula material taking hand.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the sectional view of vacuum column of the present invention.
Mark and corresponding parts title in accompanying drawing：
1- negative pressure cavities, 2- nozzles, 3- vacuum chambers, 4- cylinder passages, 5- vacuum columns, 6- support bars, 7- breathes freely screw, the 8- hearts
Set, 9- rubber suction cups, 10- adsorbent chambers.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment and its explanation of the invention is only used for explaining the present invention, does not make
For limitation of the invention.
Embodiment
As depicted in figs. 1 and 2, based on hydromechanical absorption type material taking hand, including connector, nozzle 2, the heart set 8, rubber
Sucker 9, the nozzle 2 is cylindrical in shape, and a side opening of nozzle 2 is larger and is provided with compressed air access equipment, nozzle 2 it is another
Side opening is smaller and is provided with nozzle cage, and space is left between the nozzle cage and nozzle 2；The connector is arranged on nozzle 2
With the upside of nozzle cage, connector is in cylinder, and the axis of connector is vertical with the axis of nozzle 2；It is provided with the downside of connector
Negative pressure cavity 1, the negative pressure cavity is connected with above-mentioned space；The nozzle 2 and the support bar 6 that tubular is provided with the downside of nozzle cage,
The axis of the support bar 6 is vertical with the axis of nozzle 2；The inner side of the support bar 6, which is set, intentionally covers 8, the heart set (8)
Inner side is provided with vacuum column 5, and the vacuum column 5 is provided with multiple cylinder passages 4, the axis of cylinder passage 4 and the axle of vacuum column 5
Line is parallel；The rubber suction cups 9 is socketed in the downside of support bar 6.
The inner side of rubber suction cups 9 sets the thickness of corresponding rubber suction cups 9 around multistage grid structure, and every layer of hierarchic structure
Unanimously.
Vacuum column 5 is arranged on inside support bar 6 by chute.
The cylinder passage 4 that vacuum column 5 is set is arranged in the ring-type of rule.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should be included
Within protection scope of the present invention.
Claims (4)
1. based on hydromechanical absorption type material taking hand, it is characterised in that inhaled including connector, nozzle (2), heart set (8), rubber
Disk (9), the nozzle (2) is cylindrical in shape, and a side opening of nozzle (2) is larger and is provided with compressed air access equipment, nozzle (2)
Another side opening it is smaller and be provided with nozzle cage, leave space between the nozzle cage and nozzle (2)；The connector is set
In the upside of nozzle (2) and nozzle cage, connector is in cylinder, and the axis of connector is vertical with the axis of nozzle (2)；Connector
Downside is provided with negative pressure cavity (1), and the negative pressure cavity is connected with above-mentioned space；The nozzle (2) on the downside of nozzle cage with being provided with
The support bar (6) of tubular, the axis of the support bar (6) is vertical with the axis of nozzle (2)；Set on the inside of the support bar (6)
It is equipped with the inside of heart set (8), the heart set (8) and is provided with vacuum column (5), the vacuum column (5) is provided with multiple cylinder passages
(4), the diameter parallel of the axis of cylinder passage (4) and vacuum column (5)；The rubber suction cups (9) is socketed under support bar (6)
Side.
2. according to claim 1 be based on hydromechanical absorption type material taking hand, it is characterised in that the rubber suction cups
(9) inner side sets the consistency of thickness of corresponding rubber suction cups (9) around multistage grid structure, and every layer of hierarchic structure.
3. according to claim 1 be based on hydromechanical absorption type material taking hand, it is characterised in that the vacuum column (5)
Support bar (6) is arranged on by chute internal.
4. according to claim 1 be based on hydromechanical absorption type material taking hand, it is characterised in that the vacuum column (5)
The cylinder passage (4) of setting is arranged in the ring-type of rule.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710432538.3A CN107009382A (en) | 2017-06-09 | 2017-06-09 | Based on hydromechanical absorption type material taking hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710432538.3A CN107009382A (en) | 2017-06-09 | 2017-06-09 | Based on hydromechanical absorption type material taking hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107009382A true CN107009382A (en) | 2017-08-04 |
Family
ID=59452705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710432538.3A Withdrawn CN107009382A (en) | 2017-06-09 | 2017-06-09 | Based on hydromechanical absorption type material taking hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107009382A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598959A (en) * | 2017-11-04 | 2018-01-19 | 无锡山秀科技有限公司 | A kind of ultra-thin based plate vacuumizing and adsorbing device |
| CN108582135A (en) * | 2018-07-13 | 2018-09-28 | 江苏超人智能科技有限公司 | A kind of accurate clamping type rotary fluid machine hand |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60128142A (en) * | 1983-12-14 | 1985-07-09 | Hitachi Ltd | Oscillating type absorbing device |
| JP2006224199A (en) * | 2005-02-15 | 2006-08-31 | Nissan Motor Co Ltd | Suction apparatus |
| JP4055271B2 (en) * | 1998-11-16 | 2008-03-05 | 日産自動車株式会社 | Apparatus and method for attracting and holding workpieces |
| CN203228240U (en) * | 2013-04-17 | 2013-10-09 | 任向荣 | Manipulator |
| CN204747319U (en) * | 2015-06-05 | 2015-11-11 | 浙江海洋学院 | Formula manipulator is adsorbed to punch press air current negative pressure |
| WO2017035466A1 (en) * | 2015-08-26 | 2017-03-02 | Berkshire Grey Inc. | Systems and methods for providing vacuum valve assemblies for end effectors |
-
2017
- 2017-06-09 CN CN201710432538.3A patent/CN107009382A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60128142A (en) * | 1983-12-14 | 1985-07-09 | Hitachi Ltd | Oscillating type absorbing device |
| JP4055271B2 (en) * | 1998-11-16 | 2008-03-05 | 日産自動車株式会社 | Apparatus and method for attracting and holding workpieces |
| JP2006224199A (en) * | 2005-02-15 | 2006-08-31 | Nissan Motor Co Ltd | Suction apparatus |
| CN203228240U (en) * | 2013-04-17 | 2013-10-09 | 任向荣 | Manipulator |
| CN204747319U (en) * | 2015-06-05 | 2015-11-11 | 浙江海洋学院 | Formula manipulator is adsorbed to punch press air current negative pressure |
| WO2017035466A1 (en) * | 2015-08-26 | 2017-03-02 | Berkshire Grey Inc. | Systems and methods for providing vacuum valve assemblies for end effectors |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598959A (en) * | 2017-11-04 | 2018-01-19 | 无锡山秀科技有限公司 | A kind of ultra-thin based plate vacuumizing and adsorbing device |
| CN108582135A (en) * | 2018-07-13 | 2018-09-28 | 江苏超人智能科技有限公司 | A kind of accurate clamping type rotary fluid machine hand |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170804 |
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| WW01 | Invention patent application withdrawn after publication |