CN110027004B - Component pickup device and pickup method - Google Patents
Component pickup device and pickup method Download PDFInfo
- Publication number
- CN110027004B CN110027004B CN201910405689.9A CN201910405689A CN110027004B CN 110027004 B CN110027004 B CN 110027004B CN 201910405689 A CN201910405689 A CN 201910405689A CN 110027004 B CN110027004 B CN 110027004B
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- clamping jaw
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- picked
- assembly
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000005086 pumping Methods 0.000 claims description 5
- 238000001179 sorption measurement Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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
-
- 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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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a component picking device and a picking method, the component picking device comprises: the clamping assembly, the driving assembly and the vacuumizing assembly; the clamping assembly is used for clamping the part to be picked up, the driving assembly is used for driving the clamping assembly to be opened or closed, the vacuumizing assembly is used for vacuumizing, so that negative pressure is formed around the part to be picked up, and the part to be picked up is adsorbed in the clamping assembly. The application can obviously improve the success rate of picking up the parts and the picking efficiency of the parts by matching the clamping mode with the adsorption mode to pick up the parts together.
Description
Technical Field
The application belongs to the technical field of pickup devices, and particularly relates to a component pickup device and a pickup method.
Background
At present, when small parts such as gaskets, nuts, balls or semi-cones are picked up in a narrow space on site, the small parts are usually picked up directly by hands or manually by using tools such as tweezers or pliers. However, the existing manual pick-up mode is inefficient in operation and the picked-up parts are also prone to falling.
Disclosure of Invention
In order to overcome the problems in the related art to at least a certain extent, the present application provides a component pickup apparatus and a pickup method.
According to a first aspect of an embodiment of the present application, there is provided a component pickup apparatus including:
The clamping assembly is used for clamping the workpiece,
The driving assembly is used for driving the driving assembly,
A vacuum pumping assembly;
the clamping assembly is used for clamping the part to be picked up, the driving assembly is used for driving the clamping assembly to be opened or closed, the vacuumizing assembly is used for vacuumizing, so that negative pressure is formed around the part to be picked up, and the part to be picked up is adsorbed in the clamping assembly.
In the component pickup device, the clamping assembly comprises a first clamping jaw, a second clamping jaw and a hinge shaft, wherein the first clamping jaw and the second clamping jaw adopt the same structure and are arranged in a mirror image mode; the middle upper part of the first clamping jaw and the middle upper part of the second clamping jaw are connected together through the hinge shaft.
Further, the first caliper clamping jaw comprises a clamping jaw, a clamping body and a clamping handle; the clamping jaw adopts a cuboid structure, one end of the clamping jaw in the height direction is provided with a boss, the other end of the clamping jaw is provided with a clamp, and the clamp is detachably connected with the clamping jaw;
the clamp body comprises two vertical rods and a cross rod which are arranged in parallel, the two vertical rods are vertically arranged on the boss at intervals along the width direction of the clamping jaw, and the opposite ends of the connecting ends of the two vertical rods and the boss are connected through the cross rod;
Round holes are formed in opposite ends of the connecting ends of the two vertical rods and the boss along the direction parallel to the width direction of the cross rod, and the hinge shaft is arranged in the round holes; the clamp handle is integrally formed with or fixedly connected with one end of one vertical rod provided with the round hole, and the clamp handle is parallel to the other vertical rod; the side face of the pliers handle in the thickness direction is provided with an eccentric hole.
Further, along the height direction of the clamp handle, the aperture of one end of the eccentric hole, which is close to the vertical rod, is larger than the aperture of the other end of the eccentric hole, which is far away from the vertical rod.
Still further, the drive assembly includes a cylinder, a connecting rod, and a drive shaft; a piston rod of the air cylinder is connected with one end of the connecting rod, and the other end of the connecting rod is connected with the driving shaft; the driving shaft is perpendicular to the side face of the clamp handle where the eccentric hole is located, and the cylinder drives the driving shaft to do up-and-down reciprocating motion in the eccentric hole through the connecting rod along the height direction of the first clamp clamping jaw.
Still further, the evacuation assembly includes a vacuum generator, a suction tube, and a channel; the channel is formed in the clamping jaw along the height direction of the clamping jaw; one end of the suction pipe is connected with the vacuum generator, and the other end of the suction pipe is connected with the channel.
Further, the air suction port of the channel is arranged at the joint of the clamping jaw and the clamp, and the air discharge port of the channel is arranged on the boss and is positioned between the two vertical rods; the suction pipe is connected with the exhaust port.
Further, the component pickup device further comprises spring plungers, the two spring plungers are oppositely arranged on two sides of the clamping jaw in the first clamping jaw and the clamping jaw in the second clamping jaw, the spring plungers are used for limiting the opening travel of the clamping jaw in the first clamping jaw and the clamping jaw in the second clamping jaw, and the spring plungers are further used for propping up the two clamping jaws when the first clamping jaw and the second clamping jaw are closed.
According to a second aspect of the embodiment of the present application, the present application also provides a component pickup method, which includes the steps of: providing the component pickup device according to any one of the above;
Starting the air cylinder, wherein the air cylinder drives the driving shaft to move upwards in the eccentric hole through the connecting rod, and the first clamping jaw and the second clamping jaw are opened at two sides of the part to be picked up;
starting a vacuum generator, wherein the vacuum generator is vacuumized in the channel through a suction pipe, so that negative pressure is formed around the part to be picked up, and the part to be picked up is adsorbed on a profiling surface of a clamp, wherein the clamping jaw in the first clamping jaw of the clamp is connected with the clamping jaw in the second clamping jaw of the clamp;
The cylinder drives the driving shaft to move downwards in the eccentric hole through the connecting rod, the first clamping jaw and the second clamping jaw are closed, and the clamp clamps the part to be picked up.
The component pickup method further comprises the following steps: when the first clamping jaw and the second clamping jaw are closed and the clamp clamps the part to be picked up, the first clamping jaw and the second clamping jaw are tightly propped by the two spring plungers.
According to the above specific embodiments of the present application, at least the following advantages are achieved: according to the component picking device, the clamping assembly, the driving assembly and the vacuumizing assembly are arranged, the clamping assembly is used for clamping the component to be picked, the driving assembly drives the clamping assembly to be opened or closed, and the vacuumizing assembly vacuumizes the periphery of the component to be picked so as to form negative pressure to enable the component to be picked to be adsorbed in the clamping assembly; the application can obviously improve the success rate of picking up the parts and the picking efficiency of the parts by matching the clamping mode with the adsorption mode to pick up the parts together. In addition, the spring plunger is arranged at one end of the clamping component for clamping the part, so that the two clamping jaws for clamping the part can be tightly propped against each other, the condition that the picked part is easy to drop is avoided, and the success rate of picking the part is further improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the application, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic diagram of an overall structure of a component pickup device according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a clamping assembly in a component pickup device according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of a first clamping jaw in a component pickup device according to an embodiment of the present application.
Fig. 4 is a cross-sectional view of a first clamping jaw in a component pickup device according to an embodiment of the present application.
Reference numerals illustrate:
1. A clamping assembly; 11. a first caliper jaw; 111. a clamping jaw; 112. a clamp body; 1121. a vertical rod; 1122. a cross bar; 1123. a round hole; 113. a clamp handle; 1131. an eccentric hole; 114. a boss; 115. a clamp; 12. a second caliper jaw; 13. a hinge shaft;
2. a drive assembly; 21. a cylinder; 22. a connecting rod; 23. a drive shaft;
3. a vacuum pumping assembly; 31. a suction pipe; 32. a channel;
4. Spring plunger.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the spirit of the present disclosure will be clearly described in the following drawings and detailed description, and any person skilled in the art, after having appreciated the embodiments of the present disclosure, may make alterations and modifications by the techniques taught by the present disclosure without departing from the spirit and scope of the present disclosure.
The exemplary embodiments of the present application and the descriptions thereof are intended to illustrate the present application, but not to limit the present application. In addition, the same or similar reference numerals are used for the same or similar parts in the drawings and the embodiments.
The terms "first," "second," …, etc. as used herein do not denote a particular order or sequence, nor are they intended to limit the application, but rather are merely used to distinguish one element or operation from another in the same technical term.
With respect to directional terms used herein, for example: upper, lower, left, right, front or rear, etc., are merely references to the directions of the drawings. Thus, directional terminology is used for purposes of illustration and is not intended to be limiting.
As used herein, the terms "comprising," "including," "having," "containing," and the like are intended to be inclusive and mean an inclusion, but not limited to.
As used herein, "and/or" includes any or all combinations of such things.
Reference herein to "a plurality" includes "two" and "more than two"; the term "plurality of sets" as used herein includes "two sets" and "more than two sets".
The terms "about," "approximately" and the like as used herein are used to modify any quantity or error that could be slightly varied without the slight variation or error altering its nature. In general, the range of slight variations or errors modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other values. It should be understood by those skilled in the art that the above mentioned values can be adjusted according to the actual requirements, and are not limited thereto.
Certain words used to describe the application will be discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the application.
As shown in fig. 1, the component pickup apparatus provided by the present application includes a clamping assembly 1, a driving assembly 2, and a vacuum pumping assembly 3. Wherein, the driving component 2 is used for driving the clamping component 1 to open or close so that the clamping component 1 clamps the parts to be picked up. The vacuumizing assembly 3 is used for forming negative pressure around the part to be picked up so as to enable the part to be picked up to be adsorbed in the clamping assembly 1, and the situation that the part to be picked up falls from the clamping assembly 1 is avoided.
Compared with the mode of manually picking up the parts, the part picking device has the characteristics of high picking efficiency, high picking success rate and the like; and the component pickup device of the present application can be applied to various types of component pickup environments. The component pickup device provided by the application can be used for conveniently and rapidly picking up components to be picked up in a narrow space or in an electrified environment.
In a specific embodiment, as shown in FIG. 2, the clamping assembly 1 includes a first caliper jaw 11, a second caliper jaw 12, and a hinge shaft 13. The first clamping jaw 11 and the second clamping jaw 12 adopt the same structure and are arranged in a mirror image mode. The upper middle portion of the first caliper jaw 11 and the upper middle portion of the second caliper jaw 12 are connected together by a hinge shaft 13.
As shown in fig. 3, the first caliper jaw 11 includes a jaw 111, a jaw body 112, and a jaw handle 113. The clamping jaw 111 adopts the cuboid structure, and its one end of direction of height is provided with boss 114, and the other end is provided with anchor clamps 115, and anchor clamps 115 and clamping jaw 111 detachable connection. The surface of the clamp 115, which contacts with the part to be picked up, is a profiling surface, and the clamps 115 with different profiling surfaces can be set according to the shapes of different parts to be picked up.
As shown in fig. 3 and 4, the clamp body 112 includes two vertical bars 1121 and a cross bar 1122, which are arranged in parallel, and along the width direction of the clamping jaw 111, the two vertical bars 1121 are vertically arranged on the boss 114 at intervals, and opposite ends of the connection ends of the two vertical bars 1121 and the boss 114 are connected by the cross bar 1122.
Along the direction parallel to the width direction of the cross bar 1122, circular holes 1123 are provided at opposite ends of the connecting ends of the two vertical bars 1121 and the boss 114, and the hinge shaft 13 is provided in the circular holes 1123. The clamp handle 113 is integrally formed with or fixedly connected with one end of one vertical rod 1121 provided with a round hole 1123, and the clamp handle 113 is parallel to the other vertical rod 1121. The clamp handle 113 is provided with an eccentric hole 1131 on a side surface in the thickness direction thereof. Along the height direction of the clamp handle 113, the aperture of the eccentric hole 1131 near one end of the vertical rod 1121 is larger than the aperture of the eccentric hole 1131 far from the other end of the vertical rod 1121.
As shown in fig. 1, the driving assembly 2 includes a cylinder 21, a connecting rod 22, and a driving shaft 23. The piston rod of the air cylinder 21 is connected with one end of the connecting rod 22, the other end of the connecting rod 22 is connected with the driving shaft 23, the driving shaft 23 is perpendicular to the side face of the clamp handle 113 where the eccentric hole 1131 is located, and the air cylinder 21 drives the driving shaft 23 to reciprocate up and down in the eccentric hole 1131 through the connecting rod 22 along the height direction of the first clamp clamping jaw 11, so that the first clamp clamping jaw 11 and the second clamp clamping jaw 12 are opened or closed.
The evacuation assembly 3 includes a vacuum generator (not shown), a suction tube 31 and a channel 32. Along the height direction of the clamping jaw 111, a channel 32 is formed inside the clamping jaw 111. The suction opening of the channel 32 is provided at the junction of the jaw 111 and the clamp 115. The exhaust port of the channel 32 is disposed on the boss 114 and between the two vertical bars 1121. One end of the suction pipe 31 is connected to the exhaust port, and the other end is connected to the vacuum generator.
It can be understood that the inside of the clamping jaw in the first clamping jaw of the caliper and the inside of the clamping jaw in the second clamping jaw of the caliper are respectively provided with a channel 32, the exhaust ports of the two channels 32 are respectively and correspondingly connected with a suction pipe 31, the suction ports of the two channels 32 are respectively and correspondingly arranged at the connection part of the clamping jaw 111 and the clamp 115, and the vacuum pumping assembly 3 pumps the periphery of the part to be picked up into vacuum through the suction ports to form negative pressure, so that the part to be picked up is adsorbed on the profiling surfaces of the two opposite clamps 115.
The vacuum generator is of the prior art and will not be described in detail here. When in use, the vacuum generators with corresponding models can be selected according to specific requirements.
In the above embodiment, as shown in fig. 1, the component pickup device of the present application is further provided with spring plungers 4, where two spring plungers 4 are disposed on two sides of the clamping jaw 111 of the first clamping jaw 11 and the clamping jaw 111 of the second clamping jaw 12, and the spring plungers 4 are used to limit the opening stroke of the clamping jaw 111 of the first clamping jaw 11 and the clamping jaw 111 of the second clamping jaw 12, and also are used to press against the two clamping jaws 111 when the first clamping jaw 11 and the second clamping jaw 12 are closed, so that the two clamping jaws 111 can clamp the component to be picked up.
When the cylinder 21 drives the driving shaft 23 to move upwards in the eccentric hole 1131 through the connecting rod 22, the first clamping jaw 11 and the second clamping jaw 12 are opened at two sides of the part to be picked up, and on the basis that the eccentric hole 1131 can limit the opening stroke of the clamping jaw 111 and the second clamping jaw 12 in the first clamping jaw 11, the spring in the spring plunger 4 is compressed along the direction away from the part to be picked up, and the compression amount of the spring further limits the opening stroke of the clamping jaw 111 and the second clamping jaw 12 in the first clamping jaw 11.
When the cylinder 21 drives the driving shaft 23 to move downward in the eccentric hole 1131 through the connecting rod 22, the first and second caliper jaws 11 and 12 are closed to clamp the component to be picked up. The spring in the spring plunger 4 restores elastic deformation to the direction of approaching the part to be picked up, so that the clamping jaws 111 on two sides of the part to be picked up are propped up, and the two clamping jaws 111 clamp the part to be picked up; thereby improving the picking efficiency of the parts and the success rate of the picking of the parts.
Based on the component pickup device provided by the application, the application also provides a component pickup device pickup method, which comprises the following steps:
s1, starting an air cylinder 21, wherein the air cylinder 21 drives a driving shaft 23 to move upwards in an eccentric hole 1131 through a connecting rod 22, and the first clamping jaw 11 and the second clamping jaw 12 are opened at two sides of a part to be picked up.
S2, starting a vacuum generator, wherein the vacuum generator is used for vacuumizing in the channel 32 through the suction pipe 31, and negative pressure is formed around the part to be picked up, so that the part to be picked up is adsorbed on the profiling surface of the clamp 115.
S3, the cylinder 21 drives the driving shaft 23 to move downwards in the eccentric hole 1131 through the connecting rod 22, and the first clamping jaw 11 and the second clamping jaw 12 are closed to clamp the part to be picked up.
The step S2 and the step S3 may be performed simultaneously or sequentially.
In the above steps S1 and S3, the cylinder 21 drives the driving shaft 23 to reciprocate up and down in the eccentric hole 1131 through the connecting rod 22, and the first and second caliper jaws 11 and 12 perform a circular motion about the hinge shaft 13.
The above-mentioned part pick-up device pick-up method further includes the following steps: when the spring plungers 4 are provided, the first and second caliper jaws 11 and 12 are closed and the clamp 115 clamps the component to be picked up, the two spring plungers 4 press the first and second caliper jaws 11 and 12 tightly.
The component picking method picks up the components by two modes of clamping and vacuum suction, and can remarkably improve the success rate of component picking, thereby greatly improving the production efficiency.
The foregoing is merely illustrative of the embodiments of this application and any equivalent and equivalent changes and modifications can be made by those skilled in the art without departing from the spirit and principles of this application.
Claims (4)
1. A component pickup apparatus, comprising:
The clamping assembly is used for clamping the workpiece,
The driving assembly is used for driving the driving assembly,
A vacuum pumping assembly;
the clamping assembly is used for clamping the part to be picked up, the driving assembly is used for driving the clamping assembly to be opened or closed, the vacuumizing assembly is used for vacuumizing so as to enable negative pressure to be formed around the part to be picked up, and the part to be picked up is adsorbed in the clamping assembly;
The clamping assembly comprises a first clamping jaw, a second clamping jaw and a hinge shaft, wherein the first clamping jaw and the second clamping jaw adopt the same structure and are arranged in a mirror image manner; the middle upper part of the first clamping jaw and the middle upper part of the second clamping jaw are connected together through the hinge shaft;
The first caliper clamping jaw comprises a clamping jaw, a clamping body and a clamping handle; the clamping jaw adopts a cuboid structure, one end of the clamping jaw in the height direction is provided with a boss, the other end of the clamping jaw is provided with a clamp, and the clamp is detachably connected with the clamping jaw;
the clamp body comprises two vertical rods and a cross rod which are arranged in parallel, the two vertical rods are vertically arranged on the boss at intervals along the width direction of the clamping jaw, and the opposite ends of the connecting ends of the two vertical rods and the boss are connected through the cross rod;
Round holes are formed in opposite ends of the connecting ends of the two vertical rods and the boss along the direction parallel to the width direction of the cross rod, and the hinge shaft is arranged in the round holes; the clamp handle is integrally formed with or fixedly connected with one end of one vertical rod provided with the round hole, and the clamp handle is parallel to the other vertical rod; the side face of the caliper handle in the thickness direction is provided with an eccentric hole; along the height direction of the clamp handle, the aperture of one end of the eccentric hole, which is close to the vertical rod, is larger than the aperture of the other end of the eccentric hole, which is far away from the vertical rod;
The driving assembly comprises a cylinder, a connecting rod and a driving shaft; a piston rod of the air cylinder is connected with one end of the connecting rod, and the other end of the connecting rod is connected with the driving shaft; the driving shaft is perpendicular to the side face of the clamp handle where the eccentric hole is located, and the cylinder drives the driving shaft to reciprocate up and down in the eccentric hole through the connecting rod along the height direction of the first clamp clamping jaw;
The vacuumizing assembly comprises a vacuum generator, a suction pipe and a channel; the channel is formed in the clamping jaw along the height direction of the clamping jaw; one end of the suction pipe is connected with the vacuum generator, and the other end of the suction pipe is connected with the channel;
The air suction port of the channel is arranged at the joint of the clamping jaw and the clamp, and the air discharge port of the channel is arranged on the boss and is positioned between the two vertical rods; the suction pipe is connected with the exhaust port.
2. The component pickup device according to claim 1, further comprising spring plungers, the two spring plungers being disposed on opposite sides of the first and second caliper jaws, the spring plungers being for limiting an opening stroke of the first and second caliper jaws, and for urging the two caliper jaws when the first and second caliper jaws are closed.
3. A component pickup method, comprising the steps of:
providing the component pickup device according to any one of claims 1 to 2;
Starting the air cylinder, wherein the air cylinder drives the driving shaft to move upwards in the eccentric hole through the connecting rod, and the first clamping jaw and the second clamping jaw are opened at two sides of the part to be picked up;
starting a vacuum generator, wherein the vacuum generator is vacuumized in the channel through a suction pipe, so that negative pressure is formed around the part to be picked up, and the part to be picked up is adsorbed on a profiling surface of a clamp, wherein the clamping jaw in the first clamping jaw of the clamp is connected with the clamping jaw in the second clamping jaw of the clamp;
The cylinder drives the driving shaft to move downwards in the eccentric hole through the connecting rod, the first clamping jaw and the second clamping jaw are closed, and the clamp clamps the part to be picked up.
4. The component pickup method according to claim 3, further comprising the steps of: when the first clamping jaw and the second clamping jaw are closed and the clamp clamps the part to be picked up, the first clamping jaw and the second clamping jaw are tightly propped by the two spring plungers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405689.9A CN110027004B (en) | 2019-05-16 | 2019-05-16 | Component pickup device and pickup method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405689.9A CN110027004B (en) | 2019-05-16 | 2019-05-16 | Component pickup device and pickup method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110027004A CN110027004A (en) | 2019-07-19 |
| CN110027004B true CN110027004B (en) | 2024-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910405689.9A Active CN110027004B (en) | 2019-05-16 | 2019-05-16 | Component pickup device and pickup method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110027004B (en) |
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Effective date of registration: 20191209 Address after: Room 126, 750 Zhubai Road, Nanhui New Town, Pudong New District, Shanghai, 201306 Applicant after: SHANGHAI XINSONG ROBOT CO.,LTD. Address before: No. 1765 (10) Chuanqiao Road, Shanghai Pudong New Area Free Trade Pilot Area, 20106 Applicant before: SHANGHAI SIASUN ROBOT & AUTOMATION CO.,LTD. |
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