CN107745972A - A kind of vacuum adsorption type end effector for being used for single double case crawls - Google Patents
A kind of vacuum adsorption type end effector for being used for single double case crawls Download PDFInfo
- Publication number
- CN107745972A CN107745972A CN201711187987.2A CN201711187987A CN107745972A CN 107745972 A CN107745972 A CN 107745972A CN 201711187987 A CN201711187987 A CN 201711187987A CN 107745972 A CN107745972 A CN 107745972A
- Authority
- CN
- China
- Prior art keywords
- vacuum
- magnetic valve
- end effector
- slide rail
- single double
- 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.)
- Pending
Links
Classifications
-
- 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
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of vacuum adsorption type end effector for being used for single double case crawls, it is related to intelligent machine apparatus field.The present invention includes the adjustable part such as sucking disc mechanism and vacuum suction system；Vacuum cup mechanism be used for adjusting interambulacrum away from length and width adapt to different boxes；Vacuum system includes source of the gas, air supply processing equipment, two two-position five-way valves, two vacuum generators, eight suckers and PLC compositions；Programmable controller PLC presets the switching sequence of two two-position five-way valves, and it is that four middle suckers work or eight while worked to control eight suckers respectively.The vacuum adsorption type end effector of the present invention, controlled using pneumatic actuation plus PLC, the stacking of different product can be applicable.Vacuum suction system is safe and reliable, accurately completes the stacking of single double casees, improves the application of manipulator and the efficiency of stacking.
Description
Technical field
The present invention relates to a kind of stacking end effector to rectangle corrugated case.
Background technology
At present, the job task for industrially repeating stacking is often completed by manipulator.Manipulator is often driven by motor, is grabbed
Hand is mostly rigid, fragile product, and grips position and be limited, and can only grip side or ground, poor universality.A kind of often machinery
Hand can be used only on a kind of specific product, need to change parts when changing product to adapt to new product, bad adaptability, efficiency
It is low, and be not suitable for using under conditions of vibrations.Mechanical end effector generally requires to be used under lubricating condition, it is possible to
Product, food etc. can be polluted.
The content of the invention
It is an object of the present invention to provide a kind of vacuum adsorption type end effector that can realize single double case crawls.
The present invention adopts the technical scheme that, for the vacuum adsorption type end effector of single double case crawls, including crawl
Adjustable type structure and pneumatic system；
The crawl adjustable type structure includes tie-plate, longitudinal slide rail and two horizontal slide rails, tie-plate and connect by machinery
Mouthful it is joined directly together with robot wrist, tie-plate is centrally mounted at longitudinal slide rail center, tie-plate remaining space mounting magnetic valve,
Vacuum generator and wiring cross-talk, two horizontal slide rail central distributions install link block, and the both ends of longitudinal slide rail respectively penetrate connection
4 vacuum type absorbers are fixed in caking, two horizontal slide rails inner sides respectively；
The pneumatic system includes source of the gas, pressure regulation circuit, magnetic valve one, magnetic valve two, choke valve one, choke valve
2nd, vacuum generator one, vacuum generator two, vacuum type absorber group one and vacuum type absorber group two；Source of the gas passes through pressure
Regulating loop connects magnetic valve one and magnetic valve two respectively, and magnetic valve one is by setting the gas of choke valve one and vacuum generator one
Road connection vacuum type absorber group one, magnetic valve two is by setting choke valve two and the gas circuit of vacuum generator two to connect vacuum type
Absorber group two；Magnetic valve one and magnetic valve two are controlled by digital output module.
Eight suckers are symmetrically distributed in slide rail both sides.Each vacuum type absorber is fixed in slide rail by T-nut block
On side.
The vacuum type absorber group one that the magnetic valve one controls is positioned at middle four in eight vacuum type absorbers；
The vacuum type absorber group two that magnetic valve two controls passes through magnetic valve one to be located at four of corner in eight vacuum type absorbers
Independent role or magnetic valve one and magnetic valve two act on simultaneously, realize single case or the crawl of double casees.
As a result of above technical scheme, the single double case crawl vacuum adsorption type end effectors of the present invention have following excellent
Point：
(1) vacuum adsorption type end effector of the invention is all driven using air pressure, direct by programmable controller PLC
Control magnetic valve realizes that Dan Shuan is grabbed.PLC control ensure that crawl and pile up the reliability in engineering.
(2) actuator structure is simple, practical.By adjusting the distance between sliding block, the actuator can be fitted quickly
With the demand of different product, the time of renewal part is avoided, improves efficiency.
(3) actuator body simple structure, lighter weight, the burden of joint of robot is reduced.
(4) present invention and uses when being odd number when permutation product be even number all using double casees crawls and singly grabs form, pole
The big efficiency for improving stacking.
The present invention vacuum adsorption type actuator can be widely applied to case class, bag class packaging packaging material densification it is impermeable
Gas, sheet material and bucket class packaging.Quick adjustment mechanism ensure that the diversity of product, and PLC directly controls magnetic valve at a distance, pacify
It is complete reliable.
Brief description of the drawings
Fig. 1 is the general construction schematic diagram that the single double casees of the present invention capture vacuum adsorption type end effector；
Fig. 2 is the front view that the single double casees of the present invention capture vacuum adsorption type end effector；
Fig. 3 is the top view that the single double casees of the present invention capture vacuum adsorption type end effector；
Fig. 4 is the pneumatic schematic diagram that the single double casees of the present invention capture vacuum adsorption type end effector.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings.
The present invention is used for the vacuum adsorption type end effector of single double case crawls as Figure 1-3, by coupling block 1.1, connection
Tie disk 1.2, longitudinal slide rail 1.3 and horizontal slide rail 1.4, the composition such as vacuum type absorber 1.5, magnetic valve；It is coupled disk 1.2 and passes through spiral shell
Tether and be connected to mechanical arm end, be coupled disk 1.2 and be coupled by longitudinal slide rail 1.3 with two identical coupling blocks 1.1, two phases
Same coupling block 1.1 is respectively arranged in two identical horizontal slide rails 1.4, and longitudinal slide rail 1.3 and two horizontal slide rails 1.4 are hung down
In line row, longitudinal slide rail 1.3 connect vacuum type absorber 1.5 by contiguous block.Tie-plate 1.2 passes through mechanical interface and robot
Wrist is joined directly together, and its complementary space is used for installing magnetic valve, vacuum generator, wiring cross-talk etc..Vacuum cup is product crawl
Important Components, eight suckers are symmetrically distributed in two both sides of horizontal slide rail 1.4.When capturing single case product, 4 among Fig. 1
Individual vacuum type absorber 1.5 works；During crawl pair case product, eight vacuum type absorbers 1.5 work simultaneously, so ensure
To the absorption affinity that product is balanced.The product center point of crawl is always positioned at the underface of tool coordinates system center of rotation, so
Reduce the inertia force and centrifugal force suffered by robot wrist.Vacuum type absorber 1.5 is fixed on horizontal cunning by T-nut block
On rail 1.4, it can be adjusted according to the width of product.Horizontal slide rail 1.4 is connected with longitudinal slide rail 1.3 by link block 1.1,
Link block 1.1 can be moved by it and adjust the distance between vacuum type absorber 1.5, length range disclosure satisfy that market is a variety of
The demand of product.
Pneumatic system principal portion：
Pneumatic system mainly has source of the gas 4.1, pressure regulation circuit 4.2, magnetic valve 1 and magnetic valve 2 4.10, throttling
Valve 1 and choke valve 2 4.9, vacuum generator 1 and vacuum generator 2 4.7, vacuum type absorber group 1 and true
The empty grade of formula absorber group 2 4.8 composition.The pneumatic schematic diagram of end effector is shown in accompanying drawing 4.Source of the gas 4.1 passes through pressure regulation circuit
4.2 connect magnetic valve 1 and magnetic valve 2 4.10 respectively, and magnetic valve 1 is by setting choke valve 1 and vacuum to occur
The gas circuit connection vacuum type absorber group 1 of device 1, magnetic valve 2 4.10 is by setting choke valve 2 4.9 and vacuum to send out
The gas circuit connection vacuum type absorber group 2 4.8 of raw device 2 4.7；Magnetic valve 1 and magnetic valve 2 4.10 are by numeral output mould
Block controls, and after magnetic valve 1 and the energization of magnetic valve 2 4.10, gases at high pressure pass through vacuum generator 1 and vacuum is sent out
Raw device 2 4.7 forms vacuum, and vacuum type absorber group 1 and vacuum type absorber group 2 4.8 will produce in the presence of negative pressure
Product pick up；Magnetic valve 1 and magnetic valve 2 4.10 power off, and gases at high pressure are direct by choke valve 1 and choke valve 2 4.9
Vacuum breaker action is completed into vacuum type absorber group 1 and vacuum type absorber group 2 4.8.Magnetic valve 1 and electromagnetism
Valve 2 4.10, which cooperates, to be completed the crawl of single double casees and piles up work.The vacuum type absorber group one that magnetic valve 1 controls
4.6 be four vacuum type absorbers among Fig. 1；And the vacuum type absorber group 2 4.8 that magnetic valve 2 4.10 controls is in Fig. 1
Four vacuum type absorbers positioned at corner.Pass through the independent role of magnetic valve 1 or magnetic valve 1 and magnetic valve 2 4.10
Act on simultaneously, realize single case or the crawl of double casees.
Pneumatic system is made up of four branch roads：All the way for gas by source of the gas, air-source treater by a two-position five-way valve,
Vacuum is formed by a vacuum generator, four vacuum type absorbers is connected to, forms the absorption of the actuator of the system
The absorption loop of corrugated case；Another way be gas by source of the gas, air-source treater by a two-position five-way valve, by a section
Valve is flowed, then it is connected to four vacuum type absorbers by a vacuum generator, the actuator for forming the system piles up corrugation
The pneumatic circuit of carton.The pneumatic circuit of other two-way communicates with above-mentioned.Two-way gas circuit, which cooperates, completes double case crawls and list
Case captures.
Claims (4)
1. a kind of vacuum adsorption type end effector for being used for single double case crawls, it is characterised in that including capturing adjustable type structure
And pneumatic system；
The crawl adjustable type structure includes tie-plate (1.2), longitudinal slide rail (1.3) and two horizontal slide rails (1.4), tie-plate
(1.2) it is joined directly together by mechanical interface and robot wrist, tie-plate (1.2) is centrally mounted at longitudinal slide rail (1.3) center,
Tie-plate (1.2) remaining space mounting magnetic valve, vacuum generator and wiring cross-talk, two horizontal slide rail (1.4) central distributions
Link block (1.1) is installed, the both ends of longitudinal slide rail (1.3) respectively penetrate link block (1.1), two horizontal slide rails (1.4) inner sides
4 vacuum type absorbers (1.5) are fixed respectively；
The pneumatic system include source of the gas (4.1), pressure regulation circuit (4.2), magnetic valve one (4.3), magnetic valve two (4.10),
Choke valve one (4.4), choke valve two (4.9), vacuum generator one (4.5), vacuum generator two (4.7), vacuum type absorber
One (4.6) of group and vacuum type absorber group two (4.8)；Source of the gas (4.1) connects magnetic valve respectively by pressure regulation circuit (4.2)
One (4.3) and magnetic valve two (4.10), magnetic valve one (4.3) is by setting choke valve one (4.4) and vacuum generator one (4.5)
Gas circuit connection vacuum type absorber group one (4.6), magnetic valve two (4.10) by set choke valve two (4.9) and vacuum generation
The gas circuit connection vacuum type absorber group two (4.8) of device two (4.7)；Magnetic valve one (4.3) and magnetic valve two (4.10) are by numeral
Output module controls.
2. the vacuum adsorption type end effector according to claim 1 for being used for single double case crawls, it is characterised in that eight
Sucker is symmetrically distributed in slide rail (1.4) both sides.
3. the vacuum adsorption type end effector according to claim 1 for being used for single double case crawls, it is characterised in that each
Vacuum type absorber (1.5) is fixed on slide rail (1.4) medial surface by T-nut block.
4. the vacuum adsorption type end effector according to claim 1 for being used for single double case crawls, it is characterised in that described
The vacuum type absorber group one (4.6) of magnetic valve one (4.3) control is positioned at middle four in eight vacuum type absorbers；Electricity
The vacuum type absorber group two (4.8) of magnet valve two (4.10) control is led to be located at four of corner in eight vacuum type absorbers
Cross magnetic valve one (4.6) independent role or magnetic valve one (4.6) and magnetic valve two (4.10) while act on, realize single case or double casees
Crawl.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711187987.2A CN107745972A (en) | 2017-11-24 | 2017-11-24 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711187987.2A CN107745972A (en) | 2017-11-24 | 2017-11-24 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107745972A true CN107745972A (en) | 2018-03-02 |
Family
ID=61252307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711187987.2A Pending CN107745972A (en) | 2017-11-24 | 2017-11-24 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107745972A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093608A (en) * | 2018-10-12 | 2018-12-28 | 安徽海思达机器人有限公司 | A kind of box taking machine tool hand |
| CN109202347A (en) * | 2018-09-13 | 2019-01-15 | 华中科技大学 | A kind of refrigerator doors liner laser cutting system and method |
| CN109623796A (en) * | 2019-02-25 | 2019-04-16 | 广东格乐智能设备有限公司 | A kind of truss robot |
| CN110450185A (en) * | 2019-08-01 | 2019-11-15 | 广东华工佳源环保科技有限公司 | A kind of moulded paper pulp product dry and wet base transfer robot |
| CN110480666A (en) * | 2019-08-30 | 2019-11-22 | 桂林航天工业学院 | A kind of position adjustable manipulator sucker device |
| CN110561480A (en) * | 2019-09-19 | 2019-12-13 | 常州工学院 | Modular robot finger and gripper |
| CN110844194A (en) * | 2019-12-03 | 2020-02-28 | 上海龙腾科技股份有限公司 | Rotary box taking and opening mechanism |
| CN110900572A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Manipulator capable of carrying special-shaped plate |
| CN110900571A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Novel manipulator |
| CN110900573A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Mechanical arm capable of carrying special-shaped plate |
| CN110900570A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Novel mechanical arm |
| CN110900574A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Intelligent limiting mechanical arm |
| CN112456144A (en) * | 2021-01-27 | 2021-03-09 | 苏州维嘉科技股份有限公司 | Automatic loading and unloading device |
| US20210107777A1 (en) * | 2019-09-30 | 2021-04-15 | Pilz Gmbh & Co. Kg | Apparatus and Method for Lifting an Elongated Container |
| CN113479640A (en) * | 2021-06-16 | 2021-10-08 | 苏州博杰智能科技有限公司 | Sucker clamp control system and control method based on visual detection technology |
| CN113734812A (en) * | 2021-08-23 | 2021-12-03 | 深圳市燕麦科技股份有限公司 | Gas path control system with vacuum suction and vacuum breaking functions and control method thereof |
| CN114918643A (en) * | 2022-06-24 | 2022-08-19 | 株洲时代新材料科技股份有限公司 | Cover plate grabbing tool |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202347A (en) * | 2018-09-13 | 2019-01-15 | 华中科技大学 | A kind of refrigerator doors liner laser cutting system and method |
| CN109093608A (en) * | 2018-10-12 | 2018-12-28 | 安徽海思达机器人有限公司 | A kind of box taking machine tool hand |
| CN109623796A (en) * | 2019-02-25 | 2019-04-16 | 广东格乐智能设备有限公司 | A kind of truss robot |
| CN110450185A (en) * | 2019-08-01 | 2019-11-15 | 广东华工佳源环保科技有限公司 | A kind of moulded paper pulp product dry and wet base transfer robot |
| CN110450185B (en) * | 2019-08-01 | 2023-12-05 | 广东华工环源环保科技有限公司 | Pulp molding product dry and wet blank transfer robot |
| CN110480666A (en) * | 2019-08-30 | 2019-11-22 | 桂林航天工业学院 | A kind of position adjustable manipulator sucker device |
| CN110561480A (en) * | 2019-09-19 | 2019-12-13 | 常州工学院 | Modular robot finger and gripper |
| US20210107777A1 (en) * | 2019-09-30 | 2021-04-15 | Pilz Gmbh & Co. Kg | Apparatus and Method for Lifting an Elongated Container |
| US11673782B2 (en) * | 2019-09-30 | 2023-06-13 | Pilz Gmbh & Co. Kg | Apparatus and method for lifting an elongated container |
| CN110844194A (en) * | 2019-12-03 | 2020-02-28 | 上海龙腾科技股份有限公司 | Rotary box taking and opening mechanism |
| CN110900571A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Novel manipulator |
| CN110900574A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Intelligent limiting mechanical arm |
| CN110900570A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Novel mechanical arm |
| CN110900573A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Mechanical arm capable of carrying special-shaped plate |
| CN110900572A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Manipulator capable of carrying special-shaped plate |
| CN112456144A (en) * | 2021-01-27 | 2021-03-09 | 苏州维嘉科技股份有限公司 | Automatic loading and unloading device |
| CN113479640A (en) * | 2021-06-16 | 2021-10-08 | 苏州博杰智能科技有限公司 | Sucker clamp control system and control method based on visual detection technology |
| CN113734812A (en) * | 2021-08-23 | 2021-12-03 | 深圳市燕麦科技股份有限公司 | Gas path control system with vacuum suction and vacuum breaking functions and control method thereof |
| CN114918643A (en) * | 2022-06-24 | 2022-08-19 | 株洲时代新材料科技股份有限公司 | Cover plate grabbing tool |
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