CN107053232A - A kind of sucking disc mechanism on robot sticking fixture - Google Patents
A kind of sucking disc mechanism on robot sticking fixture Download PDFInfo
- Publication number
- CN107053232A CN107053232A CN201710329607.8A CN201710329607A CN107053232A CN 107053232 A CN107053232 A CN 107053232A CN 201710329607 A CN201710329607 A CN 201710329607A CN 107053232 A CN107053232 A CN 107053232A
- Authority
- CN
- China
- Prior art keywords
- bellmouth
- sucker body
- robot
- sucking disc
- probe
- 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.)
- Withdrawn
Links
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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The invention discloses the sucking disc mechanism on a kind of robot sticking fixture, including sucker body, step-like first bellmouth is formed in the sucker body, the second middle bellmouth and the triconic hole of lower end, vertical suction hole is formed on the sucker body of the first bellmouth surrounding, the bearing of taper is plugged with second bellmouth, a pair of vertical passages are formed on the bearing, plug is plugged with the passage, the plug includes the rounded portions of upper end and the round platform portion of lower end, the outer wall of the rounded portions is provided with seal wear-resistant layer, the bottom in the round platform portion is connected with connecting rod, the connecting rod is connected by supporting table with vertical probe, spring is connected between the top surface of the supporting table and the bottom surface of bearing, expose the bottom surface of sucker body in the lower end of the probe, probe is provided with balancing weight.The present invention can recognize the sticking surface of pcb board, switch the sticking state and closed mode of sucker, so as to reduce vacuum forfeiture.
Description
Technical field：
The present invention relates to the technical field of robot mechanical arm, the sucker on a kind of robot sticking fixture is specifically related to
Mechanism.
Background technology：
At present, the making production of pcb board is gradually changed from traditional artificial operation to full-automatic robot manipulation.Machine
Device people realizes movement when extracting mobile pcb board usually using sticking fixture sticking pcb board, and its sticking fixture mainly has many
Vacuum cup is constituted.But for the more pcb board of some slotted eyes, vacuum cup can cause on sticking fixture in sticking
Other vacuum cups, when vacuum cup leakage quantity is more, are also produced influence by vacuum cup vacuum leak.Because sticking is pressed from both sides
Vacuum cup on tool has almost divided vacuum equally, and the vacuum cup of so multiple leakages does not work, and will can weaken its work
Vacuum cup vacuum, so as to cause vacuum degree deficiency, it is impossible to realize the sticking movement of pcb board, thus be necessary to give
Improve.
The content of the invention：
The purpose of the present invention aims to solve the problem that the problem of prior art is present can recognize the sticking surface of pcb board there is provided a kind of,
Switch the sticking state and closed mode of sucker, so as to reduce the sucking disc mechanism on the robot sticking fixture of vacuum forfeiture.
The present invention relates to the sucking disc mechanism on a kind of robot sticking fixture, including sucker body, in the sucker body
Step-like bellmouth is formed, the bellmouth includes the first bellmouth, the second middle bellmouth and lower end of upper end
Vertical suction hole, the upper end of the suction hole are formed on triconic hole, the sucker body of the first bellmouth surrounding
Top surface, lower end through sucker body are connected with the first bellmouth, and the bearing of taper, institute are plugged with second bellmouth
State to form on bearing and plug is plugged with a pair of vertical passages, the passage, the plug includes the circle of upper end
Portion and the round platform portion of lower end, the outer wall of the rounded portions is provided with seal wear-resistant layer, and the seal wear-resistant layer is close to the interior of passage
Wall, the bottom in the round platform portion is connected with connecting rod, and the connecting rod is connected by supporting table with vertical probe, the support
Spring is connected between the top surface of platform and the bottom surface of bearing, the lower end of the probe is exposed to be set on the bottom surface of sucker body, probe
There is balancing weight.
By above-mentioned technical proposal, in the use of the present invention, under normal circumstances, balancing weight causes probe to fall, probe
Sucker body is exposed in bottom, under the pulling of probe, and plug is plugged in the passage of bearing and will ventilation by seal wear-resistant layer
Hole is blocked, because seal wear-resistant layer has the frictional force increase caused between plug and passage inwall, so that bellmouth
Interior air-extraction function power is difficult so that plug is moved up so that plug realizes the closing of sucker body.When the sticking table of pcb board
When face does not have notch, probe can be moved up by jack-up, so that plug is moved up, when the rounded portions of plug leave ventilation
Kong Shi, because round platform portion does not block passage, so as to realize that sucker body carries out sticking to pcb board；When there is groove on pcb board
During mouth, the bottom of probe falls in the slotted eye of pcb board, and probe will not be moved, and plug realizes the closure of passage, so that inhaling
Disk body will not lose vacuum.
By such scheme, sucking disc mechanism of the invention recognizes that the sticking surface of pcb board whether there is groove by probe
Mouthful, to switch the sticking state and closed mode of sucker body, so as to reduce the forfeiture of vacuum, it is ensured that the movement of pcb board
Operation.
It is preferred as one kind of such scheme, multiple equally distributed circles are formed on the outer wall of the rounded portions of the plug
Multiple arc grooves, the circular arc casting lug thereon and the arc groove one are formed on arc casting lug thereon, the inwall of the passage
One correspondence, the outer wall of circular arc casting lug thereon is provided with seal wear-resistant layer, and seal wear-resistant layer is close to the inwall of arc groove.By above-mentioned
Being correspondingly arranged for scheme, circular arc casting lug thereon and arc groove, both caused plug to be oriented to when moving up and down to plug, also made
When obtaining plug closure passage, the contact area of increase plug and passage, increasing friction force, so that plug is difficult taking out
Moved up under gas active force.
It is preferred as one kind of such scheme, circular hole is provided between first bellmouth and the second bellmouth.
Preferred, the central axis of the bellmouth, the central axis of probe and sucker body as one kind of such scheme
Central axis be located at same vertical curve on.
Preferred as one kind of such scheme, the suction hole is provided with multiple, and suction hole is in around the central axis of bellmouth
Annular is uniformly distributed.
It is preferred as one kind of such scheme, annular groove is formed on the bottom surface of the sucker body, the annular is recessed
Sealing ring is plugged with groove, the central axis of the sealing ring is located on same vertical curve with the central axis of sucker body.
It is preferred as one kind of such scheme, form screw thread on the upper end outer wall of the sucker body.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings：
The following drawings is only intended to, in doing schematic illustration and explanation to the present invention, not delimit the scope of the invention.Wherein：
Fig. 1 is half-sectional structural representation of the invention；
Fig. 2 is Fig. 1 partial structural diagram；
Fig. 3 is the structural representation between the rounded portions and passage of plug in the present invention；
Fig. 4 is overlooking the structure diagram of the invention；
Fig. 5 is present invention looks up structural representation of the invention.
Embodiment：
With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Referring to Fig. 1, Fig. 4, Fig. 5, the sucking disc mechanism on a kind of robot sticking fixture of the present invention, including sucker sheet
Formed on body 1, the upper end outer wall of the sucker body 1 on screw thread 11, the bottom surface of sucker body 1 and form annular groove 12,
Sealing ring 2 is plugged with the annular groove 12, the central axis of the central axis and sucker body 1 of the sealing ring 2 is located at
On same vertical curve, step-like bellmouth 3 is formed in sucker body 1, the bellmouth 3 includes the first bellmouth of upper end
31st, between the triconic hole 33 of the second middle bellmouth 32 and lower end, the bellmouth 32 of the first bellmouth 31 and second
Provided with circular hole 34, form vertical suction hole 13 on the sucker body 1 of the surrounding of the first bellmouth 31, the suction hole 13 it is upper
End is run through the top surface of sucker body 1, lower end and is connected with the first bellmouth 31, and suction hole 13 is provided with multiple, and suction hole 13 is around cone
The central axis in shape hole 3 is uniformly distributed in a ring.
Referring to Fig. 1, Fig. 2, Fig. 5, it is plugged with the bearing 4 of taper, the bearing 4 and forms in second bellmouth 32
Plug 5 is plugged with a pair of vertical passages 41, the passage 41, the plug 5 includes the rounded portions 51 of upper end with
The round platform portion 52 at end, the outer wall of the rounded portions 51 is provided with seal wear-resistant layer 6, and the seal wear-resistant layer 6 is close to passage 41
Inwall, the bottom in the round platform portion 52 is connected with connecting rod 7, and the connecting rod 7 is connected by supporting table 8 with vertical probe 9,
Spring 10 is connected between the top surface of the supporting table 8 and the bottom surface of bearing 4, sucker body 1 is exposed in the lower end of the probe 9
Bottom surface, probe 9 is provided with balancing weight 20.
Referring to Fig. 2, Fig. 3, multiple equally distributed circular arc casting lug thereons are formed on the outer wall of the rounded portions 51 of the plug 5
511, multiple arc grooves 411, the circular arc casting lug thereon 511 and the arc groove are formed on the inwall of the passage 41
411 correspond, and the outer wall of circular arc casting lug thereon 511 is provided with seal wear-resistant layer 6, and seal wear-resistant layer 6 is close to arc groove 411
Inwall.
Referring to Fig. 1, the central axis position of the central axis of the bellmouth 3, the central axis of probe 9 and sucker body 1
In on same vertical curve.
In the specific implementation, under normal circumstances, balancing weight 20 causes probe 9 to fall to the present invention, and suction is exposed in the bottom of probe 9
Disk body 1, under the pulling of probe 9, plug 5 is plugged in the passage 41 of bearing 4 and by seal wear-resistant layer 6 by passage 41
Closure, because seal wear-resistant layer 6 has the frictional force increase caused between plug 5 and the inwall of passage 41, so that taper
Air-extraction function power in hole 3 is difficult so that plug 5 is moved up so that plug 5 realizes the closing of sucker body 1.When pcb board
When sticking surface does not have notch, probe 9 can be moved up by jack-up, so that plug 5 is moved up, when the circle of plug 5
When passage 41 is left in portion 51, because round platform portion 52 does not block passage 41, so as to realize that sucker body 1 is carried out to pcb board
Sticking；When there is notch on pcb board, the bottom of probe 9 falls in the slotted eye of pcb board, and probe 9 will not be moved, and plug 5 is realized
The closure of passage 41, so that sucker body 1 will not lose vacuum.
In said process, circular arc casting lug thereon 511 is correspondingly arranged with arc groove 411, both plug 5 is being moved up and down
When plug 5 is oriented to, when also causing the closure passage 41 of plug 5, the contact area of increase plug 5 and passage 41 increases
Big frictional force, so that plug 5 is difficult to move up under air-extraction function power.
In summary, sucking disc mechanism of the invention recognizes that the sticking surface of pcb board whether there is notch by probe 9,
To switch the sticking state and closed mode of sucker body 1, so as to reduce the forfeiture of vacuum, it is ensured that the mobile work of pcb board
Industry.
Sucking disc mechanism on robot sticking fixture provided by the present invention, is only the embodiment of the present invention, but
Protection scope of the present invention is not limited thereto, any one skilled in the art the invention discloses technology model
In enclosing, change or replacement can be readily occurred in, should all be covered within the scope of the present invention.Therefore, protection scope of the present invention
It should be based on the protection scope of the described claims.
Claims (7)
1. the sucking disc mechanism on a kind of robot sticking fixture, including sucker body (1), it is characterised in that：The sucker body
(1) step-like bellmouth (3) is formed in, the bellmouth includes the first bellmouth (31) of upper end, the second middle cone
Formed on shape hole (32) and the triconic hole (33) of lower end, the sucker body (1) of the first bellmouth (31) surrounding perpendicular
Straight suction hole (13), the upper end of the suction hole is run through the top surface of sucker body (1), lower end and is connected with the first bellmouth (31)
It is logical, it is plugged with second bellmouth (32) on the bearing (4) of taper, the bearing and forms a pair of vertical passages
(41) plug (5), is plugged with the passage, the plug includes the rounded portions (51) of upper end and the round platform portion of lower end
(52), the outer wall of the rounded portions (51) is provided with seal wear-resistant layer (6), and the seal wear-resistant layer is close to the interior of passage (41)
Wall, the bottom of the round platform portion (52) is connected with connecting rod (7), and the connecting rod passes through supporting table (8) and vertical probe (9)
Connection, is connected with spring (10), the lower end dew of the probe (9) between the top surface of the supporting table (8) and the bottom surface of bearing (4)
Go out the bottom surface of sucker body (1), probe (9) is provided with balancing weight (20).
2. the sucking disc mechanism on robot sticking fixture according to claim 1, it is characterised in that：The plug (5)
Formed on the outer wall of rounded portions (51) on multiple equally distributed circular arc casting lug thereons (511), the inwall of the passage (41)
Multiple arc grooves (411) are formed, the circular arc casting lug thereon (511) corresponds with the arc groove (411), and circular arc is convex
Go out the outer wall of block (511) provided with seal wear-resistant layer (6), seal wear-resistant layer is close to the inwall of arc groove (411).
3. the sucking disc mechanism on robot sticking fixture according to claim 1, it is characterised in that：First bellmouth
(31) circular hole (34) is provided between the second bellmouth (32).
4. the sucking disc mechanism on robot sticking fixture according to claim 1, it is characterised in that：The bellmouth (3)
Central axis, the central axis of the central axis of probe (9) and sucker body (1) is located on same vertical curve.
5. the sucking disc mechanism on robot sticking fixture according to claim 1 or 4, it is characterised in that：The suction hole
(13) it is provided with multiple, suction hole (13) is uniformly distributed in a ring around the central axis of bellmouth (3).
6. the sucking disc mechanism on robot sticking fixture according to claim 1, it is characterised in that：The sucker body
(1) formed on bottom surface and sealing ring (2), the center of the sealing ring are plugged with annular groove (12), the annular groove
The central axis of axis and sucker body (1) is located on same vertical curve.
7. the sucking disc mechanism on robot sticking fixture according to claim 1, it is characterised in that：The sucker body
(1) screw thread (11) is formed on upper end outer wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710329607.8A CN107053232A (en) | 2017-05-11 | 2017-05-11 | A kind of sucking disc mechanism on robot sticking fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710329607.8A CN107053232A (en) | 2017-05-11 | 2017-05-11 | A kind of sucking disc mechanism on robot sticking fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107053232A true CN107053232A (en) | 2017-08-18 |
Family
ID=59596288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710329607.8A Withdrawn CN107053232A (en) | 2017-05-11 | 2017-05-11 | A kind of sucking disc mechanism on robot sticking fixture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053232A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972059A (en) * | 2017-12-22 | 2018-05-01 | 微可为（厦门）真空科技有限公司 | A kind of detachable suction lip and automation suction device |
| CN108861304A (en) * | 2018-06-12 | 2018-11-23 | 佛山市百明实业有限公司 | A kind of mobile sucker of steel plate |
| CN110081068A (en) * | 2019-04-29 | 2019-08-02 | 吉林大学 | A kind of multi-cavity type vacuum chuck |
| CN114644227A (en) * | 2022-05-18 | 2022-06-21 | 邳州市亿林木业有限公司 | Wood carrying mechanical arm with protection function |
-
2017
- 2017-05-11 CN CN201710329607.8A patent/CN107053232A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972059A (en) * | 2017-12-22 | 2018-05-01 | 微可为（厦门）真空科技有限公司 | A kind of detachable suction lip and automation suction device |
| CN108861304A (en) * | 2018-06-12 | 2018-11-23 | 佛山市百明实业有限公司 | A kind of mobile sucker of steel plate |
| CN110081068A (en) * | 2019-04-29 | 2019-08-02 | 吉林大学 | A kind of multi-cavity type vacuum chuck |
| CN114644227A (en) * | 2022-05-18 | 2022-06-21 | 邳州市亿林木业有限公司 | Wood carrying mechanical arm with protection function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20170818 |
|
| WW01 | Invention patent application withdrawn after publication |