CN109773821A - A kind of sucker arm device, robotic arm apparatus and detection seized condition method - Google Patents
A kind of sucker arm device, robotic arm apparatus and detection seized condition method Download PDFInfo
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- CN109773821A CN109773821A CN201910018836.7A CN201910018836A CN109773821A CN 109773821 A CN109773821 A CN 109773821A CN 201910018836 A CN201910018836 A CN 201910018836A CN 109773821 A CN109773821 A CN 109773821A
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- vacuum chuck
- sucker
- mounting plate
- arm device
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Abstract
The invention discloses a kind of sucker arm device, robotic arm apparatus and detection seized condition methods, and sucker arm device includes Suction cup assembly, and Suction cup assembly includes mounting plate, and mounting plate opens up multiple installation through-holes；Multiple first vacuum chucks and multiple second vacuum chucks, the suction end diameter of first vacuum chuck is greater than the suction end diameter of the second vacuum chuck, first vacuum chuck and the second vacuum chuck are fixed on mounting plate by installation through-hole, and first the suction end of vacuum chuck and the second vacuum chuck stretch out the first side of mounting plate, the terminals of the first vacuum chuck and the second vacuum chuck stretch out the second side of mounting plate；Grab analyte detection device, crawl analyte detection device is fixed on mounting plate, and with the first vacuum chuck and the second vacuum chuck suction end positioned at ipsilateral.The sucker arm device can real-time detection sucker arm device grab the seized condition of article to be moved, improve working efficiency.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of sucker arm device, robotic arm apparatus and detection crawl
Status method.
Background technique
Sucker hand is widely used in product packaging, goods transportation and Automatic manual transmission, and the sucker hand of robot is being coped with not
Object when carrying out crawl task of similar shape, size, curvature, if accurately not grabbing product successfully, be easy to cause product
It falls, damages product.
To those skilled in the art, the seized condition of real-time detection sucker hand, effective protection sucker how to be realized
The product that hand is grabbed avoids damaged products from one of being a problem to be solved.
Summary of the invention
The present invention provides a kind of sucker arm device, robotic arm apparatus and detection seized condition method, leads to the sucker arm device
In crawl analyte detection device can real-time detection sucker arm device grab the seized condition of article to be moved, be effectively improved crawl and move
It starts building to make, improves working efficiency.
The present invention provides a kind of sucker arm device, and the sucker arm device includes Suction cup assembly, and the Suction cup assembly includes
Mounting plate, the mounting plate open up multiple installation through-holes；
The suction end diameter of multiple first vacuum chucks and multiple second vacuum chucks, first vacuum chuck is greater than institute
The suction end diameter of the second vacuum chuck is stated, first vacuum chuck and second vacuum chuck pass through the installation through-hole
It is fixed on the mounting plate, and the suction end of first vacuum chuck and second vacuum chuck stretches out the mounting plate
First side, the terminals of first vacuum chuck and the second vacuum chuck stretch out the second side of the mounting plate；
Grab analyte detection device, the crawl analyte detection device is fixed on the mounting plate, and with first vacuum chuck
With the second vacuum chuck suction end be located at it is ipsilateral.
Optionally, center arrangement of multiple crawl analyte detection devices close to the mounting plate.
Optionally, first vacuum chuck is evenly spaced in the mounting plate along first direction, and second vacuum is inhaled
Disk is evenly spaced in the mounting plate in a second direction.
Optionally, the first direction is vertical with the second direction.
Optionally, the sucker arm device further includes connection component, and the connection component includes
Connector drum, the both ends of the connector drum all have open end, and the second side of the mounting plate blocks solid
It is scheduled on the opening of described connector drum one end；
Connecting bracket, the connecting bracket are fixedly connected on the open end of the connector drum other end, and have sudden and violent
Reveal the guide through hole in the cylinder of the connector drum.
Optionally, the connecting bracket has the first connecting plate, the second connecting plate and support plate；First connecting plate with
The open end of the other end of the connector drum matches, and opens up the guide through hole；The support plate is connected in parallel
Between first connecting plate and second connecting plate being arranged.
The present invention also provides a kind of robotic arm apparatus, the robotic arm apparatus includes mechanical arm, above-described sucker hand
Device, the sucker arm device are installed in the mechanical arm.
Optionally, the robotic arm apparatus further includes vacuum pump and connecting tube, first vacuum chuck and described second
Vacuum chuck is connected to the vacuum pump by the connecting tube.
The present invention also provides a kind of detection seized condition method of robotic arm apparatus, the robotic arm apparatus includes machinery
Arm, vacuum pump, above-described sucker arm device, the sucker arm device are installed in the mechanical arm, and the vacuum pump passes through
Connecting tube connects the first vacuum chuck and the second vacuum chuck of the sucker arm device；
Detecting seized condition method includes:
S1, the driving mechanical arm drive the sucker arm device to be moved to specified crawl position；
S2, according to it is described crawl analyte detection device state of activation, determine between the sucker arm device and article to be moved
Seized condition；
If S3, the seized condition are successfully, to drive the mobile article to be moved of the mechanical arm to target position
It sets；If the seized condition is failure, S1 is thened follow the steps.
Optionally, include: between the step S1 and the step S2
S4, according to the state of activation of the crawl analyte detection device, judge whether the mechanical arm is moved to described specified grab
Fetch bit is set.
Optionally, the step S2 includes:
S21, according to the first state of activation of the crawl analyte detection device, start the vacuum pump and drive the sucker hand dress
Set crawl article to be moved；
S22, according to the second state of activation of the crawl analyte detection device, start the mechanical arm and drive the sucker hand dress
Set movement；
S23, according to the third state of activation of the crawl analyte detection device, determining will the article to be moved disengaging suction
Disk arm device is simultaneously placed in target position.
Therefore the above embodiments are based on, the present invention provides a kind of sucker arm device, the sucker of the sucker arm device
Component has mounting plate, multiple first vacuum chucks and multiple second vacuum chucks and crawl analyte detection device.It is opened on mounting plate
If multiple installation through-holes, the first vacuum chuck and the second vacuum chuck are fixed on a mounting board by installation through-hole, also, first
The suction end of vacuum chuck and the second vacuum chuck stretches out the first side of mounting plate, and the second vacuum chuck and the second vacuum are inhaled
The terminals of disk stretch out the second side of mounting plate, and crawl analyte detection device is also secured on mounting plate, and grabs analyte detection
The test side of device is located at ipsilateral with suction end.It can be to the article to be moved that sucker arm device grabs by crawl analyte detection device
Seized condition is monitored, to provide crawl success rate.
Detailed description of the invention
Fig. 1 is the structural representation of sucker arm device in the specific embodiment of the invention；
Fig. 2 to Fig. 4 is the structural schematic diagram of Suction cup assembly in the specific embodiment of the invention；
Fig. 5 is the structural schematic diagram of connection component in the specific embodiment of the invention；
Fig. 6 is the structural schematic diagram of robotic arm apparatus in the specific embodiment of the invention；
Fig. 7 is the connection relationship diagram in the specific embodiment of the invention between sucker arm device and vacuum pump.
Appended drawing reference:
10 Suction cup assemblies；
11 mounting plates；
111 first sides；
112 second sides；
12 first vacuum chucks；
13 second vacuum chucks；
14 crawl analyte detection devices；
20 connection components；
21 connector drum；
22 connecting brackets；
221 first connecting plates；
2211 guide through hole；
222 second connecting plates；
223 support plates；
30 mechanical arms；
40 vacuum pumps；
41 first vacuum pumps；
42 second vacuum pumps；
43 third vacuum pumps；
50 connecting tubes.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, right hereinafter, referring to the drawings and the embodiments,
The present invention is further described.
The structure and working principle of the sucker arm device provided in order to which the present invention will be described in detail, below to be installed with sucker hand
The structure and its course of work of the robotic arm apparatus of device are described in detail.
Incorporated by reference to attached drawing 1 to shown in Fig. 5, Fig. 1 is the structural representation of sucker arm device in the specific embodiment of the invention；Fig. 2
It is the structural schematic diagram of Suction cup assembly in the specific embodiment of the invention to Fig. 4；Fig. 5 is connection component in the specific embodiment of the invention
Structural schematic diagram.
It should be noted that herein presented " first, second " merely to distinguish statement, do not represent importance,
Therefore primary-slave relation, sequencing etc. do not constitute the claimed technical solution of the application using " first, second " and limit
System.
As depicted in figs. 1 and 2, the present invention provides a kind of sucker arm device, and the Suction cup assembly 10 of the sucker arm device has
Mounting plate 11, multiple first vacuum chucks 12 and multiple second vacuum chucks 13 and crawl analyte detection device 14.On mounting plate 11
Multiple installation through-holes are opened up, the first vacuum chuck 12 and the second vacuum chuck 13 are fixed on mounting plate 11 by installation through-hole,
Also, the suction end of the first vacuum chuck 12 and the second vacuum chuck 13 stretches out the first side 111 of mounting plate 11, and second is true
The terminals of suction disk 13 and the second vacuum chuck 13 stretch out the second side 112 of mounting plate 11, grab analyte detection device 14
It is fixed on mounting plate 11, and the test side for grabbing analyte detection device 14 and suction end are positioned at ipsilateral.By grabbing analyte detection device
The seized condition of 14 articles to be moved that can be grabbed to sucker arm device is monitored, to provide crawl success rate.
Specifically, crawl analyte detection device 14 can be photoelectric sensor, it is, of course, also possible to for other sensors etc..
Further, multiple crawl analyte detection devices 14 are installed on mounting plate 11, and multiple crawl analyte detection devices 14 lean on
The center arrangement of nearly mounting plate 11.In a specific embodiment, as shown in Figure 3 and Figure 4, two crawls are installed on mounting plate 11
Analyte detection device 14, and two crawl analyte detection devices 14 are symmetricly set on the center two sides of mounting plate 11.So set, can mention
The detection accuracy of height crawl analyte detection device 14, promotes the detection accuracy to the article to be moved of different size size.
Further the first vacuum chuck 12 is evenly spaced in mounting plate 11 along first direction, and the second vacuum chuck 13 is along
Two directions are evenly spaced in mounting plate 11.
In a particular embodiment, there are two the first vacuum chuck 12 and three the second vacuum chucks for installing on mounting plate 11
13, the square setting of mounting plate 11, three of them second vacuum chuck 13 is arranged along the diagonal of square, and one second
Vacuum chuck 13 is located at the center of square, and it is second true to be symmetricly set on center position for the second vacuum chuck of another two 13
The two sides of suction disk 13, two the first vacuum chucks 12 are arranged on another diagonal line, and this two the first vacuum chucks 12
It is symmetricly set on the two sides of the second vacuum chuck 13 positioned at center position.
In a particular embodiment, it is preferable that first direction is vertical with second direction.
For the various embodiments described above, sucker arm device further includes connection component 20, and connection component 20 has connector drum 21
With connecting bracket 22.The both ends of connector drum 21 all have open end, and the second side 112 of mounting plate 11 blocks the company of being fixed on
The opening of 21 one end of connect cylinder body, and connecting bracket 22 is fixedly connected on the open end of 21 other end of connector drum, and has sudden and violent
Reveal the guide through hole 2211 in the cylinder of connector drum 21.
By the connection component 20, it can be assembled on mechanical arm 30 for the sucker arm device and connection support is provided.Also,
After the closure of second side 112 of mounting plate 11 is fixed on the open end of connector drum 21, by 12 He of the first vacuum chuck
The terminals of second vacuum chuck 13 are hidden into connector drum 21, protect connecting part.Also, the connector drum 21 can be suction
The installation of disk component 10 provides support.
And connecting bracket 22 has assembly space between mechanical arm 30 and connector drum 21, convenient for connection component 20 is filled
It is fitted on mechanical arm 30, avoids interfering between mechanical arm 30 and connector drum 21, also, be also further the first vacuum chuck 12
Wiring with the second vacuum chuck 13 provides space.
In a particular embodiment, as shown in figure 5, the connecting bracket 22 has the first connecting plate 221, the second connecting plate 222
With support plate 223；The open end of first connecting plate 221 and the other end of connector drum 21 matches, and opens up guide through hole
2211；Support plate 223 is connected between the first connecting plate 221 disposed in parallel and the second connecting plate 222.
Wherein, two pieces of support plates 223 are symmetrically connected between the first connecting plate 221 and the second connecting plate 222, also, are propped up
Fagging 223 opens up lightening hole, can either be easily installed operation, and can reduce the weight of connection component 20.
Based on above-mentioned sucker arm device, the present invention also provides a kind of robotic arm apparatus, which includes machinery
Sucker arm device in arm 30, the various embodiments described above, sucker arm device are installed on mechanical arm 30.
In conjunction with shown in Fig. 1, Fig. 5 and Fig. 6, the connecting bracket 22 of connection component 20 is detachably connected in the sucker arm device
On mechanical arm 30.
Further, which further includes vacuum sheet and connecting tube 50, the first vacuum chuck 12 and the second vacuum
Sucker 13 is connected to vacuum pump 40 by connecting tube 50.As shown in connection with fig. 7, connecting tube 50 is connected by the first connecting plate 221 and second
Space between fishplate bar 222 is penetrated in connector drum 21 by guide through hole 2211, and then true with the first vacuum chuck 12 and second
The terminals of suction disk 13 are connected to.
In a particular embodiment, which includes three vacuum pumps 40, wherein the first vacuum pump 41 connection two the
One vacuum chuck 12, the connection of the second vacuum pump 42 is located at the second vacuum chuck 13 of center position, and third vacuum pump 43 connects
Logical the second vacuum pump of another two 42.So set, mutual by the first vacuum pump 41, the second vacuum pump 42 and third vacuum pump 43
Independent control the first vacuum chuck 12 and the second vacuum chuck 13, thus it is dexterous, be accurately controlled sucker arm device, it is ensured that first
The suction force of vacuum chuck 12 and the second vacuum chuck 13.
In the present invention, it is low pressure micro air pump that vacuum pump 40, which uses, to evade in the prior art using large-scale gas
The problem that noise caused by pump is big, occupied space is big.The robotic arm apparatus can be used for a variety of small-sized, lightweight product crawls.
By above-mentioned setting, the integrated of mechanical arm 30 and sucker arm device is effectively realized, and reduce the mechanical arm and set
Standby size meets the design requirement to robotic arm apparatus miniaturization, densification.
Based on above-mentioned robotic arm apparatus, the present invention also provides a kind of detection seized condition methods.
The detection grasping means includes the following steps:
S1, driving mechanical arm 30 drive sucker arm device to be moved to specified crawl position；
S2, according to crawl analyte detection device 14 state of activation, determine the crawl between sucker arm device and article to be moved
State；
If S3, seized condition are successfully, to drive the mobile article to be moved of mechanical arm 30 to target position；If crawl
State is failure, thens follow the steps S1.
Further, include: between step S1 and step S2
S4, according to crawl analyte detection device 14 state of activation, judge whether mechanical arm 30 is moved to specified crawl position.
Further, step S2 includes:
S21, according to crawl analyte detection device 14 the first state of activation, starting vacuum pump 40 drive sucker arm device crawl to
Mobile article；
S22, according to the second state of activation of crawl analyte detection device 14, starting mechanical arm 30 drives sucker arm device mobile；
S23, according to crawl analyte detection device 14 third state of activation, determine by article to be moved be detached from sucker arm device,
And it is placed in target position.
In a particular embodiment, when needing to grab article to be moved, the vision positioning system on mechanical arm 30 determines should
The position of article to be moved, driving mechanical arm 30 drive sucker arm device to be moved to specified crawl position, obtain crawl analyte detection
First state of activation of device 14, first state of activation is for judging whether sucker arm device accurately reaches specified crawl position.
In a particular embodiment, when multiple crawl analyte detection devices 14 are set, when only one crawl analyte detection device 14 for state of activation or
It is unactivated state, then illustrates that deviation occurs in the positioning of sucker arm device, repositioning is needed to be grabbed.When all crawls
When analyte detection device 14 is in state of activation, then illustrate the accurate positioning of sucker arm device, can carry out grabbing work in next step.
Based on above-mentioned, when all crawl analyte detection devices 14 are in state of activation, start vacuum pump 40, thus driving the
One vacuum chuck 12 and the second vacuum chuck 13 carry out grabbing article to be moved.
Further, mechanical arm 30 drives the examination of sucker arm device to lift, and article to be moved is lifted one end from initial position
After distance, then the second state of activation of crawl analyte detection device 14 is obtained, if the second state of activation is all crawl analyte detection devices 14
It is unactivated state, then illustrates grasp force deficiency, grab to fail, driving mechanical arm 30 returns to initial pose；If second swashs
State living be all crawl analyte detection devices 14 at least one be state of activation, then illustrate to grab successfully, and then starting mechanical arm
30 drive sucker arm device mobile, mobile from initial position to target position.
Further, after mechanical arm 30 drives sucker arm device to be moved to target position, air admission valve, release are opened
Article to be moved obtains the third state of activation for grabbing analyte detection device 14 at this time, if third state of activation is all crawl quality testings
Surveying device 14 has one only for state of activation, then illustrates that article to be moved does not fall off from sucker arm device also；If third activates shape
State is that all crawl analyte detection devices 14 are unactivated state, then illustrates that article to be moved is successfully detached from from sucker arm device,
And then mechanical arm 30 can return to initial position.
It can also obtain and grab before opening air admission valve after mechanical arm 30 drives sucker arm device to be moved to target position
The state of activation of analyte detection device 14 is taken, if all crawl analyte detection devices 14 are unactivated state at this time, illustrates be moved through
Cheng Zhong, article to be moved fall off from sucker arm device, and mobile failure, mechanical arm 30 returns to initial pose；If all crawl quality testings
Surveying at least one in device 14 is state of activation, then illustrates to grab successfully, can carry out above-mentioned disengaging operation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (11)
1. a kind of sucker arm device, which is characterized in that the sucker arm device includes Suction cup assembly, and the Suction cup assembly includes
Mounting plate, the mounting plate open up multiple installation through-holes；
Multiple first vacuum chucks and multiple second vacuum chucks, the suction end diameter of first vacuum chuck are greater than described the
The suction end diameter of two vacuum chucks, first vacuum chuck and second vacuum chuck are fixed by the installation through-hole
In the mounting plate, and the suction end of first vacuum chuck and second vacuum chuck stretches out the of the mounting plate
The terminals of one side, first vacuum chuck and the second vacuum chuck stretch out the second side of the mounting plate；
Grab analyte detection device, the crawl analyte detection device is fixed on the mounting plate, and with first vacuum chuck and institute
The suction end of second vacuum chuck is located at ipsilateral.
2. sucker arm device according to claim 1, which is characterized in that multiple crawl analyte detection devices are close to the peace
The center arrangement of loading board.
3. sucker arm device according to claim 1, which is characterized in that first vacuum chuck is uniform along first direction
It is arranged in the mounting plate, second vacuum chuck is evenly spaced in the mounting plate in a second direction.
4. sucker arm device according to claim 3, which is characterized in that the first direction and the second direction are hung down
Directly.
5. sucker arm device according to claim 1-4, which is characterized in that the sucker arm device further includes connecting
Connected components, the connection component include
Connector drum, the both ends of the connector drum all have open end, and the second side closure of the mounting plate is fixed on
The opening of described connector drum one end；
Connecting bracket, the connecting bracket are fixedly connected on the open end of the connector drum other end, and have exposure institute
State the guide through hole in the cylinder of connector drum.
6. sucker arm device according to claim 5, which is characterized in that the connecting bracket has the first connecting plate, the
Two connecting plates and support plate；The open end of first connecting plate and the other end of the connector drum matches, and opens up
The guide through hole；The support plate is connected between first connecting plate disposed in parallel and second connecting plate.
7. a kind of robotic arm apparatus, which is characterized in that the robotic arm apparatus includes any one of mechanical arm, claim 1-6 institute
The sucker arm device stated, the sucker arm device are installed in the mechanical arm.
8. sucker arm device according to claim 7, which is characterized in that the robotic arm apparatus further includes vacuum pump and company
Adapter tube, first vacuum chuck are connected to the vacuum pump by the connecting tube with second vacuum chuck.
9. a kind of detection seized condition method of robotic arm apparatus, which is characterized in that the robotic arm apparatus includes mechanical arm, true
Sky pump, sucker arm device described in any one of claims 1-6, the sucker arm device is installed in the mechanical arm, described true
Sky pump connects the first vacuum chuck and the second vacuum chuck of the sucker arm device by connecting tube；
Detecting seized condition method includes:
S1, the driving mechanical arm drive the sucker arm device to be moved to specified crawl position；
S2, according to it is described crawl analyte detection device state of activation, determine grabbing between the sucker arm device and article to be moved
Take state；
If S3, the seized condition are successfully, to drive the mobile article to be moved of the mechanical arm to target position；Such as
Seized condition described in fruit is failure, thens follow the steps S1.
10. detection seized condition method according to claim 9, which is characterized in that in the step S1 and the step
Include: between S2
S4, according to it is described crawl analyte detection device state of activation, judge whether the mechanical arm is moved to the specified crawl position
It sets.
11. detection seized condition method according to claim 9, which is characterized in that the step S2 includes:
S21, according to the first state of activation of the crawl analyte detection device, start the vacuum pump and the sucker arm device driven to grab
Take article to be moved；
S22, according to the second state of activation of the crawl analyte detection device, start the mechanical arm and the sucker arm device driven to move
It is dynamic；
S23, according to the third state of activation of the crawl analyte detection device, determining will the article to be moved disengaging sucker hand
Device is simultaneously placed in target position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910018836.7A CN109773821A (en) | 2019-01-09 | 2019-01-09 | A kind of sucker arm device, robotic arm apparatus and detection seized condition method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910018836.7A CN109773821A (en) | 2019-01-09 | 2019-01-09 | A kind of sucker arm device, robotic arm apparatus and detection seized condition method |
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| Publication Number | Publication Date |
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| CN109773821A true CN109773821A (en) | 2019-05-21 |
Family
ID=66500243
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910018836.7A Pending CN109773821A (en) | 2019-01-09 | 2019-01-09 | A kind of sucker arm device, robotic arm apparatus and detection seized condition method |
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Cited By (3)
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| CN110296680A (en) * | 2019-06-11 | 2019-10-01 | 清华大学 | The attitude measurement method and system of robot crawl kinds of goods |
| CN110722590A (en) * | 2019-11-19 | 2020-01-24 | 南京极智嘉机器人有限公司 | Vacuum chuck device and robot |
| CN114655700A (en) * | 2022-03-09 | 2022-06-24 | 中陆福智能科技(苏州)有限公司 | Full-automatic suction system |
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| CN110722590A (en) * | 2019-11-19 | 2020-01-24 | 南京极智嘉机器人有限公司 | Vacuum chuck device and robot |
| CN114655700A (en) * | 2022-03-09 | 2022-06-24 | 中陆福智能科技(苏州)有限公司 | Full-automatic suction system |
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Application publication date: 20190521 |
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| RJ01 | Rejection of invention patent application after publication |