CN110271031A - A kind of lifting pinching vacuum chuck fixture and application method - Google Patents
A kind of lifting pinching vacuum chuck fixture and application method Download PDFInfo
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- CN110271031A CN110271031A CN201910383485.XA CN201910383485A CN110271031A CN 110271031 A CN110271031 A CN 110271031A CN 201910383485 A CN201910383485 A CN 201910383485A CN 110271031 A CN110271031 A CN 110271031A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000000694 effects Effects 0.000 claims description 5
- 230000001186 cumulative effect Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007373 indentation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000009467 reduction Effects 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The invention belongs to robot clamp technical field, a kind of lifting pinching vacuum chuck fixture and application method are disclosed, mounting rack is provided with；Mounting rack lower end has been bolted sucker；Mounting rack upper end has been bolted clamp connecting plate, a three axis cylinders have been bolted on the downside of clamp connecting plate both ends, three axis cylinder lower ends have been bolted guide rail frame, it is bolted an one-way cylinder on the upside of guide rail frame left and right ends, clamping plate has been bolted in two one-way cylinder output shaft lower ends；Three axis cylinder of camera is bolted in the mounting groove of mounting rack lower end, 3D camera has been bolted in the output shaft lower end of three axis cylinder of camera, and 3D camera is pierced by the rectangular through-hole that sucker center opens up.The present invention identifies that cargo identification can not be carried out by solving by the article that cylinder, sucker and clamping plate are combined design and 3D camera, can not grab, damage, the slow problem of crawl beat.
Description
Technical field
The invention belongs to robot clamp technical field more particularly to a kind of lifting pinching vacuum chuck fixture and uses
Method.
Background technique
Currently, the immediate prior art in the industry: using clipping type and absorption type, drive rotary shaft by cylinder.
It is the too fast damage of robot speed that robot clamp at present, which is the problem of drawing cabinet using vacuum chuck, bring,
Bad carton outer packing；For the film packaging of surface indentation, it can not grab or grab just to fall, cause greatly to lose；And
Lack optional 3D industrial camera identification function.
In conclusion problem of the existing technology is:
(1) existing robot clamp is easily damaged carton outsourcing when robot speed is too fast loaded on the thin of surface indentation
Film packaging, can not grab or grab just to fall, cause greatly to lose；
(2) lack optional 3D industrial camera identification function, cargo can not be identified.
Solve the difficulty of above-mentioned technical problem:
1, the cooperation of camera and fixture sucker, camera are completed after taking pictures by the effect elongation contraction of three axis cylinders, not shadow
Ring the crawl of sucker；
2, clamping plate is gone up and down by three axis cylinders, and the acting on of one-way cylinder completes kinds of goods in the case where not moving sucker
Absorption clamps；
3, under the action of spring arrangement, clamping plate laterally sets back.
Solve the meaning of above-mentioned technical problem:
1, camera identification function is added, without interfering to clamp strap；
2, it can satisfy the safety crawl of the kinds of goods of various ranges；
3, without adding additional machinery power, reduction implicit costs are simple and easy to do.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of lifting pinching vacuum chuck fixture and users
Method.
The invention is realized in this way a kind of lifting pinching vacuum chuck fixture is provided with
Mounting rack；
It is provided with connecting tube among mounting rack, connecting tube upper and lower ends are welded with orthogonal mounting groove, under mounting rack
End has been bolted sucker；
Mounting rack upper end has been bolted clamp connecting plate, has been bolted on the downside of clamp connecting plate both ends
One three axis cylinder, three axis cylinder lower ends are fixed with guide rail frame by spiral shell, pass through bolt on the upside of guide rail frame left and right ends
It is fixed with an one-way cylinder, clamping plate has been bolted in two one-way cylinder output shaft lower ends；
Three axis cylinder of camera is bolted in the mounting groove of mounting rack lower end, under the output shaft of three axis cylinder of camera
3D camera has been bolted in end, and 3D camera is pierced by the rectangular through-hole that sucker center opens up.
The present invention can not only be by the nonstandard cargo of sucker vacsorb, while can also be by going up and down and moving left and right clamping plate
Cargo is clamped, when robot high speed operation also can guarantee that cargo is not fallen out, and outer packing will not damage, whole to be conducive to improve
The efficiency of robot crawl cargo.The present invention by by cylinder, sucker and clamping plate be combined design and 3D camera article
Identification, cargo identification can not be carried out by solving, and can not be grabbed, be damaged, the slow problem of crawl beat.
Further, vacuum system associated elements have been bolted in the mounting groove of mounting rack upper end.
The present invention can receive external control signal by air-control device, control the gas circuit folding of sucker.
Further, clamping plate upper end in two sides has been bolted fixing groove, and spring lever both ends are set in fixing groove, bullet
Spring base is provided with support rod, and support rod both ends outer sheath is equipped with spring, and outer spring end, which is provided with, is set in consolidating on the outside of support rod
Determine sleeve, fixes sleeve card, which is set, to be fixed in fixing groove.
The present invention can apply outside thrust by the spring at spring lever both ends to the clamping plate of two sides, can assist left and right
Clamping plate restores to initial position.
Further, multiple vertical flutings are offered among clamping plate.
The present invention can reduce the weight of clamping plate by fluting vertically, while the shape of clamped cargo is conveniently observed in side
State.
Detailed description of the invention
Fig. 1 is lifting pinching vacuum chuck fixture explosive view provided in an embodiment of the present invention；
Fig. 2 is lifting pinching vacuum chuck clamp structure schematic diagram provided in an embodiment of the present invention；
Fig. 3 is 3D camera mounting structure schematic diagram provided in an embodiment of the present invention；
Fig. 4 is one-way cylinder, mounting rack and clamp region schematic diagram provided in an embodiment of the present invention；
Fig. 5 is sucker pictorial diagram provided in an embodiment of the present invention；
Fig. 6 is kinds of goods clamping structure schematic diagram provided in an embodiment of the present invention；
Fig. 7 is clamping plate structure drop schematic diagram provided in an embodiment of the present invention；
Fig. 8 is lifting handgrip-sucker suction structural schematic diagram provided in an embodiment of the present invention；
Fig. 9 is camera structure drop schematic diagram provided in an embodiment of the present invention；
Figure 10 is clamping plate clamping cargo flow chart provided in an embodiment of the present invention；
In figure: 1, three axis cylinder；2, one-way cylinder；3, mounting rack；4, sucker；5,3D camera；6, three axis cylinder of camera；7,
Guide rail frame；8, spring lever；9, vacuum system associated elements；10, clamping plate；11, clamp connecting plate.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows.
As shown in Figure 1 to Figure 3, lifting pinching vacuum chuck fixture provided in an embodiment of the present invention includes: three axis cylinders
1, one-way cylinder 2, mounting rack 3, sucker 4,3D camera 5, three axis cylinder 6 of camera, guide rail frame 7, spring lever 8, vacuum system are closed
Join element 9, clamping plate 10, clamp connecting plate 11.
Connecting tube is provided among mounting rack 3, connecting tube upper and lower ends are welded with orthogonal mounting groove, mounting rack 3
Lower end has been bolted sucker 4；3 upper end of mounting rack has been bolted clamp connecting plate 11, and 11 liang of clamp connecting plate
A three axis cylinders 1 have been bolted in end downside, and three axis cylinders, 1 lower end has been bolted guide rail frame 7, guide rail
It is bolted an one-way cylinder 2 on the upside of 7 left and right ends of frame, two 2 output shaft lower ends of one-way cylinder pass through
It has been bolted clamping plate 10；Three axis cylinder 6 of camera, three axis gas of camera have been bolted in the mounting groove of 3 lower end of mounting rack
3D camera 5 has been bolted in the output shaft lower end of cylinder 6, and 3D camera 5 is pierced by the rectangular through-hole that 4 center of sucker opens up.
Preferably, being bolted vacuum system associated elements 9 in 3 upper end mounting groove of mounting rack.
Preferably, clamping plate 10 upper end in two sides has been bolted fixing groove, 8 both ends of spring lever are set in fixing groove
Interior, spring lever 8 is provided with support rod, and support rod both ends outer sheath is equipped with spring, and outer spring end, which is provided with, to be set in outside support rod
The fixes sleeve of side, fixes sleeve card, which is set, to be fixed in fixing groove.
Preferably, offering multiple vertical flutings among clamping plate 10.
Preferably, vacuum system associated elements are provided with solenoid valve, vacuum generator, pressure sensor；Pass through two
The effect of four energization reversal valve (being integrated in inside) Lai Shixian " air blowings " and " air-breathing "；Vacuum generator is generated using positive pressure gas source
Negative pressure.
The working principle of the invention is:
3D camera is taken pictures: the pressure of compressed air is converted mechanical energy by three axis cylinders, and entire camera is driven to do with it
Lower reciprocating motion so that camera, which reaches to be returned to after sucker outside shooting, in situ does not influence next work.
After above clamp movement to kinds of goods, photographing signals are sent by external control system and are associated with to the vacuum system on fixture
Element 9, vacuum system associated elements 9 receive the gas that the three axis cylinder 6 of camera being connected on 3D camera 5 is opened after photographing signals
Road, 3D camera 5 eject sucker 4 (as shown in Figure 5) by air pressure, and camera fields of view no longer receives limitation, and air-control device 9 reaches a level pressure
Strong backward external control system output signal.After external control system receives the signal of the feedback of vacuum system associated elements 9, control
3D camera 5 processed is taken pictures.Camera, which is issued, to air-control device 9 from external control system again after the completion of taking pictures withdraws signal, fixture
Vacuum system associated elements 9 receive the signal after close gas circuit, 3D camera 5 is automatically withdrawn into position shown in Fig. 3.
Air-control device 9 passes through the effect of two four energization reversal valve (being integrated in inside) Lai Shixian " air blowings " and " air-breathing "；
Vacuum generator generates negative pressure using positive pressure gas source.
Vacuum chuck grabs kinds of goods principle: positive pressure being converted to subatmospheric negative pressure using vacuum generator, is formed
Pressure difference generates suction.
After fixture is adjacent to and is grabbed kinds of goods surface (as shown in Figure 6), external control system is associated with to the vacuum system of fixture
Element 9, which is sent, draws signal, and vacuum system associated elements 9 are opened after receiving the signal and sucker is sent out by the vacuum of air circuit connection
Raw device converts negative pressure for positive pressure and generates suction, so that kinds of goods be sucked.After vacuum system associated elements 9 reach certain pressure intensity,
To external control system output signal, so far vacuum chuck crawl kinds of goods are completed.It is inhaled when vacuum system associated elements 9 receive stopping
After the number of winning the confidence, sucker gas circuit is closed, and kinds of goods will be no longer drawn.
The elongation of fixture fixation device: the pressure of compressed air is converted mechanical energy by three axis cylinders, and driving mechanism straight line is past
Multiple movement, allows fixation device to extend and be returned to original position.
After external control system sends fixation device elongation signal to holder vacuum system relationship element 9, vacuum system is closed
Connection element 9 receives the gas circuit of opening three axis cylinder 1 of two sides after the signal, and clamping plate never retracted position (shown in such as Fig. 7 (a)) becomes
For extended state (shown in such as Fig. 7 (b)), vacuum system associated elements 9 are beaten after vacuum system associated elements 9 reach certain pressure intensity
Single-phase 2 gas circuit of cylinder is opened simultaneously to external control system output signal.So far two three axis cylinders being connected on fixture clamping plate
Decline entire cleat assembly and slide plate component by elongation, completes half covering articles with process.
Fixture fixation device clamps kinds of goods: two one-way cylinders supply cumulative by piston side and generate air pressure, and air pressure pushes away
Piston generates thrust and releases, so that clamping plate pushes down kinds of goods, kinds of goods and clamping plate generate biggish frictional force, to clamp kinds of goods；
One-way cylinder is that single-acting cylinder sets back by spring arrangement.
After one-way cylinder gas circuit 2 is opened, lateral 2 gas bar of one-way cylinder is extruded by positive pressure, is driven by cylinder sliding rail
Both sides clamping plate clamps kinds of goods.When cargo to be put down, external control system is issued to air-control device stops clamping signal, vacuum system
After system associated elements receive the signal, closes lateral one-way cylinder gas circuit clamping plate and laterally rebounded, spring lever 8 can pass through both ends
Spring apply outside thrust to the clamping plate of two sides, so that left and right clamping plate be assisted to restore to initial position, hereafter turn off suction
Disk two sides are connected to three axis cylinders, 1 gas circuit on clamping plate, and the clamping plate of two sides returns to original state.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (6)
1. a kind of lifting pinching vacuum chuck fixture, which is characterized in that the lifting pinching vacuum chuck fixture is provided with
Mounting rack；
Connecting tube is provided among mounting rack, connecting tube upper and lower ends are welded with orthogonal mounting groove, and mounting rack lower end is logical
It crosses bolt and is fixed with sucker；
Mounting rack upper end has been bolted clamp connecting plate, has been bolted one on the downside of clamp connecting plate both ends
Three axis cylinders, three axis cylinder lower ends have been bolted guide rail frame, have been consolidated by bolt on the upside of guide rail frame left and right ends
Surely there is an one-way cylinder, clamping plate has been bolted in two one-way cylinder output shaft lower ends；
Three axis cylinder of camera is bolted in the mounting groove of mounting rack lower end, the output shaft lower end of three axis cylinder of camera is logical
It crosses and has been bolted 3D camera, 3D camera is pierced by the rectangular through-hole that sucker center opens up.
2. lifting pinching vacuum chuck fixture as described in claim 1, which is characterized in that lead in the mounting groove of mounting rack upper end
It crosses bolt and is fixed with air-control device.
3. lifting pinching vacuum chuck fixture as described in claim 1, which is characterized in that two sides clamping plate upper end passes through spiral shell
Bolt is fixed with fixing groove, and spring lever both ends are set in fixing groove, and spring lever is provided with support rod, is arranged on the outside of support rod both ends
There is spring, outer spring end is provided with the fixes sleeve being set on the outside of support rod, and fixes sleeve card, which is set, to be fixed in fixing groove.
4. lifting pinching vacuum chuck fixture as described in claim 1, which is characterized in that offered among clamping plate multiple perpendicular
Straight fluting.
5. a kind of application method of the pinching vacuum chuck fixture of lifting as described in claim 1, which is characterized in that the lifting
The application method of pinching vacuum chuck fixture includes:
(1) 3D camera is taken pictures: the pressure of compressed air is converted mechanical energy by three axis cylinders, and entire camera is driven to do up and down with it
It moves back and forth；
(2) after above clamp movement to kinds of goods, photographing signals is sent by external control system and are associated with to the vacuum system on fixture
Element, vacuum system associated elements receive the gas circuit that the three axis cylinder of camera being connected on 3D camera is opened after photographing signals, 3D
Camera ejects sucker by air pressure, and air-control device reaches after certain pressure intensity to external control system output signal；External control system
After the signal for receiving the feedback of vacuum system associated elements, control 3D camera is taken pictures；It is controlled again by outside after the completion of taking pictures
System issues camera to air-control device and withdraws signal, and the vacuum system associated elements of fixture close gas circuit, 3D after receiving the signal
Camera automatically retracts position；
(3) air-control device realizes the effect blown with air-breathing by two four energization reversal valves；Vacuum generator utilizes positive pressure gas
Source generates negative pressure；
(4) vacuum chuck grabs kinds of goods: positive pressure being converted to subatmospheric negative pressure using vacuum generator, forms pressure
Difference generates suction；
(5) after fixture is adjacent to and is grabbed kinds of goods surface, external control system sends to the vacuum system associated elements of fixture and draws
Signal, vacuum system associated elements, which receive, to be opened after the signal and sucker is by the vacuum generator of air circuit connection, by positive-pressure rotary
It turns to negative pressure and generates suction, so that kinds of goods be sucked.After vacuum system associated elements reach certain pressure intensity, to external control system
Output signal, so far vacuum chuck crawl kinds of goods are completed.After vacuum system associated elements, which receive stopping, drawing signal, sucker gas
Road is closed, and kinds of goods will be no longer drawn；
(6) fixture fixation device extends: the pressure of compressed air is converted mechanical energy, driving mechanism linear reciprocation by three axis cylinders
Movement, so that fixation device extends and be returned to original position；
(7) after external control system sends fixation device elongation signal to holder vacuum system relationship element, vacuum system association
Element receives the gas circuit of opening three axis cylinder of two sides after the signal, and clamping plate never retracted position becomes extended state, vacuum system
Vacuum system associated elements open single-phase cylinder gas circuit simultaneously to external control system output after associated elements reach certain pressure intensity
Signal；So far two three axis cylinders being connected on fixture clamping plate are made under entire cleat assembly and slide plate component by elongation
Drop completes half covering articles with process.
6. the application method of lifting pinching vacuum chuck fixture as claimed in claim 5, which is characterized in that the lifting folder
Tightly the user of type vacuum chuck fixture includes:
Fixture fixation device clamps kinds of goods: two one-way cylinders supply cumulative by piston side and generate air pressure, and air pressure, which pushes, lives
Plug generates thrust and releases, so that clamping plate pushes down kinds of goods, kinds of goods and clamping plate generate biggish frictional force, clamp kinds of goods；One-way cylinder
It sets back for single-acting cylinder by spring arrangement；
After one-way cylinder gas circuit is opened, lateral one-way cylinder gas bar is extruded by positive pressure, drives both sides folder by cylinder sliding rail
Plate clamps kinds of goods；When cargo to be put down, external control system is issued to air-control device stops clamping signal, vacuum system association
After element receives the signal, closes lateral one-way cylinder gas circuit clamping plate and laterally rebounded, spring lever is by the spring at both ends to two
The clamping plate of side applies outside thrust, and auxiliary left and right clamping plate restores to initial position, hereafter turns off sucker two sides and be connected to folder
Three axis cylinder gas circuits on plate, the clamping plate of two sides return to original state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910383485.XA CN110271031A (en) | 2019-05-09 | 2019-05-09 | A kind of lifting pinching vacuum chuck fixture and application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910383485.XA CN110271031A (en) | 2019-05-09 | 2019-05-09 | A kind of lifting pinching vacuum chuck fixture and application method |
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| CN110271031A true CN110271031A (en) | 2019-09-24 |
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| CN201910383485.XA Pending CN110271031A (en) | 2019-05-09 | 2019-05-09 | A kind of lifting pinching vacuum chuck fixture and application method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654588A (en) * | 2019-10-31 | 2020-01-07 | 厦门宏泰智能制造有限公司 | Boxing equipment and corresponding boxing method |
| CN111844048A (en) * | 2020-08-04 | 2020-10-30 | 合肥盛恩智能装备科技有限公司 | Robot clamp grabbing algorithm |
| CN113459135A (en) * | 2021-07-08 | 2021-10-01 | 哈尔滨东安华孚机械制造有限公司 | Clamping device for cylinder cover assembly line and working method |
| CN114772279A (en) * | 2022-04-27 | 2022-07-22 | 芜湖固高自动化技术有限公司 | Casket-like bowl reloading robot and terminal executive device thereof |
| CN115592699A (en) * | 2022-11-16 | 2023-01-13 | 山西中部智造科技有限公司（Cn） | Automatic change rotatory centre gripping manipulator |
| CN116901044A (en) * | 2023-09-13 | 2023-10-20 | 深圳盛世创展实业有限公司 | Router casing snatchs and uses manipulator |
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|---|---|---|---|---|
| CN110654588A (en) * | 2019-10-31 | 2020-01-07 | 厦门宏泰智能制造有限公司 | Boxing equipment and corresponding boxing method |
| CN111844048A (en) * | 2020-08-04 | 2020-10-30 | 合肥盛恩智能装备科技有限公司 | Robot clamp grabbing algorithm |
| CN111844048B (en) * | 2020-08-04 | 2021-09-28 | 合肥盛恩智能装备科技有限公司 | Robot clamp grabbing algorithm |
| CN113459135A (en) * | 2021-07-08 | 2021-10-01 | 哈尔滨东安华孚机械制造有限公司 | Clamping device for cylinder cover assembly line and working method |
| CN113459135B (en) * | 2021-07-08 | 2023-04-07 | 哈尔滨东安华孚机械制造有限公司 | Clamping device for cylinder cover assembly line and working method |
| CN114772279A (en) * | 2022-04-27 | 2022-07-22 | 芜湖固高自动化技术有限公司 | Casket-like bowl reloading robot and terminal executive device thereof |
| CN115592699A (en) * | 2022-11-16 | 2023-01-13 | 山西中部智造科技有限公司（Cn） | Automatic change rotatory centre gripping manipulator |
| CN115592699B (en) * | 2022-11-16 | 2023-04-07 | 山西中部智造科技有限公司 | Automatic change rotatory centre gripping manipulator |
| CN116901044A (en) * | 2023-09-13 | 2023-10-20 | 深圳盛世创展实业有限公司 | Router casing snatchs and uses manipulator |
| CN116901044B (en) * | 2023-09-13 | 2023-11-14 | 深圳盛世创展实业有限公司 | Router casing snatchs and uses manipulator |
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