CN110216711A - A kind of suctorial transfer robot of band - Google Patents
A kind of suctorial transfer robot of band Download PDFInfo
- Publication number
- CN110216711A CN110216711A CN201910472774.7A CN201910472774A CN110216711A CN 110216711 A CN110216711 A CN 110216711A CN 201910472774 A CN201910472774 A CN 201910472774A CN 110216711 A CN110216711 A CN 110216711A
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- sucker
- suctorial
- transfer robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L75/00—Compositions of polyureas or polyurethanes; Compositions of derivatives of such polymers
- C08L75/04—Polyurethanes
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L83/00—Compositions of macromolecular compounds obtained by reactions forming in the main chain of the macromolecule a linkage containing silicon with or without sulfur, nitrogen, oxygen or carbon only; Compositions of derivatives of such polymers
- C08L83/04—Polysiloxanes
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L9/00—Compositions of homopolymers or copolymers of conjugated diene hydrocarbons
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L2205/00—Polymer mixtures characterised by other features
- C08L2205/03—Polymer mixtures characterised by other features containing three or more polymers in a blend
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L2205/00—Polymer mixtures characterised by other features
- C08L2205/03—Polymer mixtures characterised by other features containing three or more polymers in a blend
- C08L2205/035—Polymer mixtures characterised by other features containing three or more polymers in a blend containing four or more polymers in a blend
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L2207/00—Properties characterising the ingredient of the composition
- C08L2207/06—Properties of polyethylene
- C08L2207/062—HDPE
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- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Medicinal Chemistry (AREA)
- Polymers & Plastics (AREA)
- Organic Chemistry (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
With suctorial transfer robot, including six shaft mechanical arms and sucker；Wherein, the sucker includes disk body, and disk body includes absorption surface layer, middle layer and the body layer for being sequentially overlapped bonding；Wherein, six shaft mechanical arm bottoms are fixed on the base, end connects a taper type mounting rack, the small bottom surface of taper type mounting rack is mounted on the end, and big bottom surface is connected in suction cup carrier, and suction cup carrier lower surface is equipped with sliding slot, extending direction is equipped with screw rod along the chute, the both ends of sliding slot are equipped with swivel bearing, after at least one end of screw rod passes through a swivel bearing, connect handle；The sucker further includes mounting portion, and described mounting portion one end is connected to the back side of body layer, and the mounting portion other end is equipped with the screw thread engaged with screw rod；Mounting portion side wall is equipped with connecting column, and connecting column end is connected to sliding block, space of the sliding block between sliding slot bottom and screw rod, and sliding block can slide along the chute.The suctorial transfer robot of band provided by the present invention, can easily adjust sucker position.
Description
Technical field
The present invention relates to a kind of transfer robot (mechanical arm) more particularly to a kind of suctorial transfer robot (machines of band
Tool arm).
Background technique
Sucker has the back side for being adsorbed on adsorption plane and adsorption plane reverse side that object is attached on face.Sucker is also to remove
The common component of mechanical arm is transported, mechanical arm tail end is installed on, adsorption plane pastes on smooth surface, is evacuated adsorption plane cavity shape
At negative pressure, object is clamped, is carried.Common sucker material includes silica gel, rubber, flexible PVC and TPE.
Carry an object operated by transfer robot, often rough surface, there are some convex-concave particles, will lead to volume absorption
Face and the adaptation being attached between face reduce, and sucker is easy to be detached from, and object once falls off, it is easy to cause the accident.
In addition, existing flue gas also can cause aging damage or surface to be stained with to sucker in transfer robot workplace
Dirt, thus the adaptation for reducing sucker and being attached between face.
Moreover, common sucker material includes silica gel, nitrile rubber, flexible PVC and TPE, wherein flexible PVC and TPE are deposited
In permanent deformation, resilience is poor, hardness is low, is difficult the sucker as transfer robot.Nitrile rubber and silica gel are in rough surface
In use, performance is bad.
Summary of the invention
In view of the problems of the existing technology, this application provides a kind of suctorial transfer robots of band.
The suctorial transfer robot of the band provided by the present application, including six shaft mechanical arms and sucker；Wherein, described
Sucker includes disk body, and disk body includes absorption surface layer, middle layer and the body layer for being sequentially overlapped bonding；Wherein, six shaft mechanical arm bottom
Portion is fixed on the base, and end connects a taper type mounting rack, and the small bottom surface of taper type mounting rack is mounted on the end, big bottom surface
It is connected in suction cup carrier, suction cup carrier lower surface is equipped with sliding slot, and extending direction is equipped with screw rod along the chute, and the both ends of sliding slot are equipped with rotation
Shaft is held, and after at least one end of screw rod passes through a swivel bearing, connects handle；The sucker further includes mounting portion, described
Mounting portion one end is connected to the back side of body layer, and the mounting portion other end is equipped with the screw thread engaged with screw rod；The installation of mounting portion side wall
There is connecting column, connecting column end is connected to sliding block, space of the sliding block between sliding slot bottom and screw rod, and sliding block can be slided along the chute
It is dynamic.
In an advantageous embodiment, the mounting portion is equipped with the arc convex towards screw rod, and arc convex is equipped with screw thread,
And it is engaged with screw rod.
In an advantageous embodiment, the sliding block is equipped with the arc convex towards screw rod, and arc convex is equipped with screw thread, and
It is engaged with screw rod.
In an advantageous embodiment, the sliding slot is T-type, including expansion section and diminution portion, screw rod are located at diminution portion, sliding
Block is located at expansion section.
Have in preferred embodiment in one kind, the screw rod is located in the space that connecting column, mounting portion and sliding block surround.
In an advantageous embodiment, the suction cup carrier is the frame of rectangle, including two sides and is connected to two sides
Dowel between side, each side include two bodies of rod, and two body of rod surfaces are equipped with the plate muscle extended along body of rod length, and two
It is connected between the opposite plate muscle of the body of rod by plate, forms blank pipe between two bodies of rod, be equipped with exhaust tube in blank pipe, sucker is set
There is the stomata of connection adsorption plane cavity, exhaust tube passes through the stomata of connection sucker after blank pipe.
Preferably, exhaust tube is connected to aspiration pump.
In an advantageous embodiment, two bodies of rod are supported or opposed plate muscle end forms Y type, and Y shape top cladding L shape or
C-shaped plate forms the second blank pipe.
It is highly preferred that forming the sliding slot between plate and the L shape or C-shaped plate end.
It is highly preferred that the sucker quantity of each suction cup carrier installation is greater than one, it is highly preferred that independent for each sucker
One sliding slot is set.
In a kind of more preferred embodiment, the dowel and side form rectangle frame unit, along the rectangle frame unit
Inner wall be equipped with slot, bored in dowel and side angle setting right-angle prismatic, the vertical faces difference of two of right-angle prismatic cone
It is fitted on dowel and side inside wall.
Preferably, the body layer back side is equipped with lug boss, and lug boss is equipped with the first gas of connection sucker suction face cavity
Hole, lug boss are detachably attached to mounting portion, and the second stomata being connected to the first stomata, the connection of the second stomata are equipped in mounting portion
Exhaust tube.
In an advantageous embodiment, absorption surface material includes: polyoxyethylene ether, ABS (acrylonitrile-butadiene-benzene second
Alkene copolymer), PS (polystyrene), polyisoprene, polysiloxanes, lignin；Intermediate layer material includes: polysiloxanes, EVA
(ethylene-vinyl acetate copolymer), PP (polypropylene)；Bulk layer mate-rial includes: HDPE (high density polyethylene (HDPE)), PVC (polychlorostyrene
Ethylene), polyisoprene, thermoplastic polyurethane (TPU).
In an advantageous embodiment, in absorption surface layer, according to weight ratio, each component ratio includes: polyoxyethylene
Ether: 10-25 parts by weight, preferably 15-20 parts by weight；
ABS:15-30 parts by weight, preferably 20-25 parts by weight；
PS:1-10 parts by weight, preferably 5-8 parts by weight；
Polyisoprene: 40-60 parts by weight, preferably 50-55 parts by weight；
Polysiloxanes: 20-40 parts by weight, preferably 25-35 parts by weight；
Lignin: 1-8 parts by weight, preferably 3-5 parts by weight.
In an advantageous embodiment, in the intermediate layer, according to weight ratio, each component ratio includes:
Polysiloxanes: 60-80 parts by weight, preferably 60-70 parts by weight；
EVA:20-40 parts by weight, preferably 25-35 parts by weight；
PP:20-50 parts by weight, preferably 30-40 parts by weight.
In an advantageous embodiment, in body layer, according to weight ratio, each component ratio includes:
HDPE:5-10 parts by weight；
PVC:20-30 parts by weight, preferably 20-25 parts by weight；
Polyisoprene: 20-30 parts by weight, preferably 20-25 parts by weight；
Thermoplastic polyurethane: 40-60 parts by weight, preferably 50-55 parts by weight.
In an advantageous embodiment, the absorption surface layer, middle layer, body layer thickness proportion are preferably (3-5): 1:
(8-15)；More it is selected as (3.5-4): 1:(10-12).
The present invention also provides the production methods of the sucker, comprising:
Melting extrusion after polysiloxanes, EVA, PP are blended, forms middle layer precursor；By uncrosslinked polyisoprene, gather
Crosslinking agent, melting extrusion, before forming absorption surface layer is added in siloxanes, lignin, PS, ABS and polyoxyethylene ether melting mixing
Body；HDPE, PVC, uncrosslinked polyisoprene, thermoplastic polyurethane melt are mixed, crosslinking agent is added, melting extrusion is formed
Body layer precursor；
Wherein, the body layer precursor of molten condition, molten condition absorption surface layer ontology be superimposed on molten condition respectively
Middle layer precursor two sides form sucker precursor；
The sucker precursor of molten condition is placed between raised mold and female mould, female mould and raised mold form
Former and formpiston, body layer precursor thereof female mould adsorb surface layer precursor thereof protrusion mold；Internal negative mold and embossed mould
Tool presses on opposite direction, and composite layer plate is extruded between female mould and raised mold by raised mold, and pressure maintaining is not to
The polyisoprene and crosslinking agent cross-linking reaction of crosslinking solidify；
Female mould and raised mold are removed, the sucker of transfer robot is obtained.
In an advantageous embodiment, the female mould bottom is equipped with and extends outward lug boss die space, protrusion
Portion die space end is equipped with opening, after the sucker precursor of molten condition is placed between raised mold and female mould, to
HDPE, PVC, uncrosslinked polyisoprene, the thermoplastic polyurethane, crosslinking agent of melting mixing are added in lug boss die space,
Pressed by opening to the material of lug boss die space, the material and female mould and embossed mould in lug boss die space it
Between material together cross-linking reaction solidify, link into an integrated entity.
In a kind of more preferred embodiment, lug boss die space can be two parts of fastening, between two parts
Equipped with the cross bar for forming perforation in lug boss.
In a kind of more preferred embodiment, perforation is not formed in lug boss die space, makes perforation after lug boss solidification.
In above content of the present invention, it is superimposed upon the material of the first surface of interlayer sheet, is flowable before pressure
State.
In above content of the present invention, sucker precursor is superimposed upon the material of interlayer sheet second surface, is before pressure
Flowable state.
It is highly preferred that lug boss material is identical as bulk layer mate-rial.
Preferably, the reaction time of uncrosslinked polyisoprene and crosslinking agent is 12-36 hours, and preferably 18-32 is small
When, preferably 24-28 hours.
Offer of the present invention with suctorial transfer robot, when carrying big mass objects, unique frame knot
Structure is capable of forming stress buffer, fatigue damage caused by the momentum for avoiding junction from being subject to is excessive.
The suctorial transfer robot of band provided by the present invention, sucker have good stain resistance, ageing resistance, from
And obtain longer service life.Present invention gained sucker maintains excellent tear resistance simultaneously.
The suctorial transfer robot of band provided by the present invention, can easily adjust sucker position.
Detailed description of the invention
Fig. 1 is the mold schematic diagram for making transfer robot sucker of the present invention.
Fig. 2 is Acetabula device structural schematic diagram of the present invention.
Fig. 3 is Acetabula device sliding groove structure schematic diagram of the present invention.
Fig. 4 is sucker and screw rod fit structure schematic diagram in a kind of embodiment, and Fig. 5 is sucker and spiral shell in another embodiment
Bar fit structure schematic diagram.
Fig. 6 is a rectangle frame cellular construction schematic diagram in suction cup carrier of the present invention.
Fig. 7 is a kind of sucker structure schematic diagram of the present invention.
Specific embodiment
Embodiment A1
In the present embodiment, the disk body of the sucker of transfer robot, including be sequentially overlapped the absorption surface layer of bonding, middle layer and
Body layer.Layers of material composition is as follows:
Adsorb surface layer:
Polyoxyethylene ether: 10 parts by weight；
ABS:20 parts by weight；
PS:8 parts by weight；
Polyisoprene: 50 parts by weight；
Polysiloxanes: 20 parts by weight；
Lignin: 5 parts by weight.
Middle layer:
Polysiloxanes: 60 parts by weight；
EVA:30 parts by weight；
PP:30 parts by weight.
Body layer:
HDPE:8 parts by weight；
PVC:20 parts by weight；
Polyisoprene: 20 parts by weight；
Thermoplastic polyurethane: 40 parts by weight.
Referring to Fig.1, the specific method is as follows for the mold of production sucker:
Step 1, melting extrusion after taking middle layer raw material (polysiloxanes, EVA, PP) to be blended, it is tabletted, it is formed intermediate
Layer precursor.
Take absorption surface layer raw material (uncrosslinked polyisoprene, polysiloxanes, lignin, PS, ABS and polyoxyethylene
Ether) melting mixing, crosslinking agent is added, melting extrusion forms absorption surface layer precursor.
Body layer raw material (HDPE, PVC, uncrosslinked polyisoprene, thermoplastic polyurethane) melting mixing is taken, is added and hands over
Join agent, melting extrusion forms body layer precursor.
Wherein, the body layer precursor of molten condition, absorption surface layer precursor adsorption surface layer precursor are superimposed upon absorption surface layer precursor
Middle layer precursor two sides, formed sucker precursor.
Step 2, the sucker precursor of molten condition is placed between raised mold and female mould, referring to Fig.1, raised mold
1 is equipped with spherical crown portion 11, female mould 2 and the complementary composition former of protrusion mold 1 and formpiston, middle layer precursor thereof protrusion mold 1,
Body layer precursor thereof female mould 2.
2 bottom end of female mould is equipped with the one or more cavitys 21 extended and forms lug boss die space, and cavity 21 is connected to
The recessed portion of female mould 2, another end opening；Material identical with body layer raw material is added in cavity 21.
Step 3, internal negative mold 2 presses on opposite direction with embossed mould 1, while to pressing in cavity 21, by sucker
Precursor is extruded between female mould and embossed mould, and pressure maintaining to uncrosslinked polyisoprene is reacted 24 hours with crosslinking agent, is handed over
Connection solidification.
Step 4, removal female mould and raised mold, obtain the conveying robot that the back side has one or more lug bosses
The disk body of the sucker of people.
Lug boss production perforation, mounting blocks are equipped with multiple projecting plates with screw hole, are clipped between lug boss, both ends have
The body of rod of screw thread passes through perforation and is screwed into the screw hole of projecting plate, disk body is fixed on mounting blocks, in use, mounting blocks are connected to
Transfer robot end.
Embodiment A2
In the present embodiment, the disk body of the sucker of transfer robot, including be sequentially overlapped the absorption surface layer of bonding, middle layer and
Body layer.Layers of material composition is as follows:
Adsorb surface layer:
Polyoxyethylene ether: 15 parts by weight；
ABS:30 parts by weight；
PS:5 parts by weight；
Polyisoprene: 55 parts by weight；
Polysiloxanes: 35 parts by weight；
Lignin: 3 parts by weight.
Middle layer:
Polysiloxanes: 75 parts by weight；
EVA:25 parts by weight；
PP:40 parts by weight.
Body layer:
HDPE:10 parts by weight；
PVC:20 parts by weight；
Polyisoprene: 20 parts by weight；
Thermoplastic polyurethane: 50 parts by weight.
Embodiment A3
In the present embodiment, the disk body of the sucker of transfer robot, including be sequentially overlapped the absorption surface layer of bonding, middle layer and
Body layer.Layers of material composition is as follows:
Adsorb surface layer:
Polyoxyethylene ether: 25 parts by weight；
ABS:30 parts by weight；
PS:10 parts by weight；
Polyisoprene: 50 parts by weight；
Polysiloxanes: 40 parts by weight；
Lignin: 2 parts by weight.
Middle layer:
Polysiloxanes: 80 parts by weight；
EVA:40 parts by weight；
PP:20 parts by weight.
Body layer:
HDPE:10 parts by weight；
PVC:30 parts by weight；
Polyisoprene: 25 parts by weight；
Thermoplastic polyurethane: 50 parts by weight.
Embodiment A4
In the present embodiment, the disk body of the sucker of transfer robot, including be sequentially overlapped the absorption surface layer of bonding, middle layer and
Body layer.Layers of material composition is as follows:
Adsorb surface layer:
Polyoxyethylene ether: 15 parts by weight；
ABS:25 parts by weight；
PS:8 parts by weight；
Polyisoprene: 58 parts by weight；
Polysiloxanes: 24 parts by weight；
Lignin: 8 parts by weight.
Middle layer:
Polysiloxanes: 72 parts by weight；
EVA:36 parts by weight；
PP:22 parts by weight.
Body layer:
HDPE:8 parts by weight；
PVC:26 parts by weight；
Polyisoprene: 25 parts by weight；
Thermoplastic polyurethane: 48 parts by weight.
Comparative example A 1
Sucker is made using nitrile rubber.
Comparative example A 2
Sucker is made using silica gel (dimethylsiloxane polymer).
Embodiment A1-A4 and comparative example A 1-A2, is made and is fabricated to 100cm respectively2、500cm2、1000cm2Sorption face
Product tests sorptive force (unit: N) on the workpiece of roughness 1.6, as a result as follows:
The application until sucker, consistency and elasticity is taken into account, compared to common nitrile rubber and silica gel, in large area
In the case of, sorptive force is obviously improved.Since polyisoprene is cross-linked to form complementary networks system, so that the application sucker is with good
Good anti-permanent change ability.
The sucker suction face contamination resistance of embodiment A1-A4 production, wearability test result are as follows:
| Surface contact angle (degree) | DIN abrasion loss (cm3) | |
| Embodiment 1 | 118 | 0.16 |
| Embodiment 2 | 120 | 0.15 |
| Embodiment 3 | 125 | 0.14 |
| Embodiment 4 | 123 | 0.16 |
| Comparative example 1 | 95 | 0.15 |
| Comparative example 2 | 88 | 0.12 |
Compared to comparative example, the application uses a large amount of resin raw materials, but wearability does not reduce.The application contact angle is bright
It is aobvious to be greater than comparative example, it is meant that the significant decrease of surface tension has the ability of the oil rub resistance of replacement.
Embodiment B1
Referring to Fig. 2-Fig. 7, using the disk body of any one sucker in above-described embodiment A1-A4, production is used for conveying robot
The Acetabula device of people, to obtain with suctorial transfer robot.
Acetabula device includes taper type mounting rack 7, suction cup carrier 3 and sucker 8 in the present embodiment, taper type mounting rack 7 it is small
Bottom surface is equipped with connecting flange 71, for installation into six shaft mechanical arms (end of six-joint robot), the outsole of taper type mounting rack 7
Face connecting sucker frame 3.Referring to Fig. 3,3 lower surface of suction cup carrier is equipped with sliding slot 30, and sliding slot is T shape, including expansion section and diminution portion, expands
Big portion is located at the slot bottom of sliding slot.The both ends in diminution portion, are respectively equipped with a swivel bearing 33, and swivel bearing is inserted into 31 end of screw rod
In 33, one end of screw rod 31 passes through a swivel bearing 33, stretches out sliding slot 30, the part of stretching connects a handle 32, handle
32 can be the drive shaft for connecting driving motor, be perhaps also possible to the shapes such as ellipse, prism can facilitate with hand or
Spanner turns.
The sucker 8 includes the disk body of sucker, and disk body includes absorption surface layer, middle layer and the ontology for being sequentially overlapped bonding
Layer.
Referring to Fig. 4, sucker 8 further includes mounting portion 9, and described 9 one end of mounting portion is connected to the back side of body layer, mounting portion 9
The other end is equipped with the screw thread engaged with screw rod 31.For example, mounting portion 9 is equipped with the arc convex 92 towards screw rod 31, screw thread is engaged
Positioned at the surface of arc convex 92.Mounting portion 9 is equipped with one or more connecting columns 93, connecting column in the two sides of arc convex 92
93 ends are connected to sliding block 94, and sliding block 94 is located at the space (such as expansion section) between 30 bottom of sliding slot and screw rod 31, sliding block 94
It can 30 sliding along the chute.
When rotating screw rod 31, under the drive of engagement screw thread, mounting portion 9 is driven power, and sliding block 94 is along the chute
30 slidings, to adjust the position of sucker 8.
The suction cup carrier 3 is the frame of rectangle, including two sides 4 and the dowel 5 being connected between two sides, often
A side includes two bodies of rod 42, and two 42 surfaces of the body of rod are equipped with the plate muscle extended along body of rod length, the opposite plate of two bodies of rod
It is connected between muscle by plate, forms blank pipe 41 between two bodies of rod, be equipped with exhaust tube in blank pipe 41, the ontology of sucker 8 is set
There is the stomata 81 of connection adsorption plane cavity, exhaust tube passes through the stomata 81 of connection sucker after blank pipe 41.
Mounting portion 9 is equipped with the second stomata 91 being connected to stomata 81, and the second stomata 91 is connected to exhaust tube.
The plate muscle end that two bodies of rod are supported or opposed forms Y type, and Y shape top cladding L shape or C-shaped plate, forms the second blank pipe.
Preferably, between plate and L shape or C-shaped plate, the sliding slot 30 is formed.
Referring to Fig. 3, the dowel 4 forms rectangle frame unit with side 5, and the application suction cup carrier 3 is as shown in multiple Fig. 3
Rectangle frame unit be connected in sequence.Inner wall along the rectangle frame unit is equipped with slot, including plate muscle sliding slot 40, side sliding slot
50, the angle setting right-angle prismatic in dowel 4 Yu side 5 bores 6 (if using plane shown in Fig. 3 as bottom surface, for trigone
Column, if using plane shown in Fig. 3 as side, for triangular pyramid), two vertical faces company of being fitted in respectively of right-angle prismatic cone 6
It connects on muscle and side inside wall.
In the present embodiment, due to being provided with multiple hollow spaces in the frame structure of suction cup carrier, it can be formed to stress
Buffering avoids fatigue damage brought by the overweight impact caused by each connection structure and joint of robot of the object carried,
Compared to solid suction cup carrier, service life can extend 30% or more.Meanwhile special connection structure, it can also ensure that sucker
The fastness of frame.
Embodiment B2
The body layer back side is equipped with lug boss 82, and lug boss 82 is equipped with the first stomata of connection sucker suction face cavity
81, lug boss 82 is detachably attached to mounting portion 9, is equipped with the second stomata 91 being connected to stomata 81, the second stomata in mounting portion 9
91 connection exhaust tubes.For example, forming gap between L shape or C-shaped plate and plate, mounting portion 9 is fixed in gap, the second stomata 91
The exhaust tube that the opposite plate muscle enters blank pipe 41, and is connected in blank pipe 41 is passed through after bending.Alternatively, mounting portion 9 is fixed
In the plate, after the second stomata 91 passes through plate, the exhaust tube in blank pipe 41 is connected.
In addition, sliding block 94 is equipped with arc convex 92 towards the direction of screw rod 31 referring to Fig. 5, similarly, engagement screw thread is located at
The surface of arc convex 92.Mounting portion 9 is equipped with one or more connecting columns 93,93 end of connecting column in the two sides of arc convex 92
End is connected to sliding block 94, and sliding block 94 is located at the space (such as expansion section) between 30 bottom of sliding slot and screw rod 31, and sliding block 94 can edge
Sliding slot 30 slides.
When rotating screw rod 31, under the drive of engagement screw thread, sliding block 94 is driven power, along the chute 30 sliding,
To adjust the position of sucker 8.
Specific embodiments of the present invention are described in detail above, but it is merely an example, the present invention is simultaneously unlimited
It is formed on particular embodiments described above.To those skilled in the art, any couple of present invention carries out equivalent modifications and
Substitution is also all among scope of the invention.Therefore, without departing from the spirit and scope of the invention made by equal transformation and
Modification, all should be contained within the scope of the invention.
Claims (10)
1. a kind of suctorial transfer robot of band, which is characterized in that including six shaft mechanical arms and sucker；Wherein, the sucker
Including disk body, disk body includes absorption surface layer, middle layer and the body layer for being sequentially overlapped bonding；Wherein, six shaft mechanical arm bottoms are solid
Fixed end connects a taper type mounting rack on the base, and the small bottom surface of taper type mounting rack is mounted on the end, big bottom surface connection
In suction cup carrier, suction cup carrier lower surface is equipped with sliding slot, and extending direction is equipped with screw rod along the chute, and the both ends of sliding slot are equipped with rotary shaft
It holds, after at least one end of screw rod passes through a swivel bearing, connects handle；The sucker further includes mounting portion, the installation
Portion one end is connected to the back side of body layer, and the mounting portion other end is equipped with the screw thread engaged with screw rod；Mounting portion side wall is equipped with company
Column is connect, connecting column end is connected to sliding block, space of the sliding block between sliding slot bottom and screw rod, and sliding block can slide along the chute.
2. the suctorial transfer robot of band according to claim 1, which is characterized in that the mounting portion is equipped with towards spiral shell
The arc convex of bar and/or the sliding block are equipped with the arc convex towards screw rod, wherein arc convex is equipped with screw thread, and and spiral shell
Bar engagement.
3. the suctorial transfer robot of band according to claim 1, which is characterized in that the sliding slot is T-type, including is expanded
Big portion and diminution portion, screw rod are located at diminution portion, and sliding block is located at expansion section.
4. the suctorial transfer robot of band according to claim 1, which is characterized in that the screw rod be located at connecting column,
In the space that mounting portion and sliding block surround.
5. the suctorial transfer robot of band according to claim 1, which is characterized in that the suction cup carrier is the frame of rectangle
Frame, including two sides and the dowel being connected between two sides, each side includes two bodies of rod, two body of rod surfaces
Equipped with the plate muscle extended along body of rod length, connected between the opposite plate muscle of two bodies of rod by plate, the shape between two bodies of rod
At blank pipe.
6. the suctorial transfer robot of band according to claim 5, which is characterized in that the plate muscle end that two bodies of rod are supported or opposed
End forms Y type, and Y shape top cladding L shape or C-shaped plate, forms the second blank pipe.
7. the suctorial transfer robot of band according to claim 1, which is characterized in that the body layer back side is equipped with convex
The portion of rising, lug boss are equipped with the first stomata of connection sucker suction face cavity, and lug boss is detachably attached to mounting portion, in mounting portion
Equipped with the second stomata being connected to the first stomata, the second stomata is connected to exhaust tube.
8. the suctorial transfer robot of band according to claim 1, which is characterized in that in absorption surface layer, according to weight
Amount ratio, each component ratio include:
Polyoxyethylene ether: 10-25 parts by weight；
ABS:15-30 parts by weight；
PS:1-10 parts by weight；
Polyisoprene: 40-60 parts by weight；
Polysiloxanes: 20-40 parts by weight；
Lignin: 1-8 parts by weight.
9. the suctorial transfer robot of band according to claim 1, which is characterized in that in the intermediate layer, according to weight
Ratio, each component ratio include:
Polysiloxanes: 60-80 parts by weight；
EVA:20-40 parts by weight；
PP:20-50 parts by weight.
10. the suctorial transfer robot of band according to claim 1, which is characterized in that in body layer, according to weight
Ratio, each component ratio include:
HDPE:5-10 parts by weight；
PVC:20-30 parts by weight；
Polyisoprene: 20-30 parts by weight；
Thermoplastic polyurethane: 40-60 parts by weight.
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| CN110216711B CN110216711B (en) | 2022-04-08 |
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| CN110216711B (en) | 2022-04-08 |
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