CN110722590A - Vacuum chuck device and robot - Google Patents
Vacuum chuck device and robot Download PDFInfo
- Publication number
- CN110722590A CN110722590A CN201911137057.5A CN201911137057A CN110722590A CN 110722590 A CN110722590 A CN 110722590A CN 201911137057 A CN201911137057 A CN 201911137057A CN 110722590 A CN110722590 A CN 110722590A
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- CN
- China
- Prior art keywords
- vacuum
- vacuum chuck
- sucking disc
- vacuum pump
- relay
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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
-
- 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
Abstract
The invention discloses a vacuum chuck device and a robot, and belongs to the technical field of robots. The vacuum chuck device comprises a chuck mounting seat, a relay, a vacuum chuck assembly and an electric vacuum break valve, wherein the vacuum chuck assembly comprises a vacuum pump and a vacuum chuck, the relay, the vacuum pump and the electric vacuum break valve are all arranged inside the chuck mounting seat, the relay is used for being externally connected with a direct current power supply and a control mechanism, the vacuum pump and the electric vacuum break valve are all electrically connected with the relay, the vacuum chuck is communicated with the outside atmosphere when the electric vacuum break valve is configured to be opened, and the vacuum chuck adsorbs a part to be adsorbed under the action of the vacuum pump when the electric vacuum break valve is configured to be closed. This vacuum chuck device is owing to need not use alternating current power supply, just only just can realize treating the operation of snatching of adsorbing the piece under the direct current power supply drive, and consequently this vacuum chuck device not only supplies power the degree of difficulty little, and simple structure is favorable to realizing the miniaturization.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a vacuum chuck device and a robot.
Background
With the large number of applications of automated guided vehicles and robotic arms in various industries, existing composite robots are being developed toward small, lightweight, and easy-to-use. The traditional composite robot mainly adopts a vacuum grabbing scheme including an air compressor, a vacuum generator and a vacuum chuck to realize grabbing operation of the mechanical arm. However, the existing air compressor mainly adopts an alternating current power supply to supply power, and other components of the compound robot mainly adopt a direct current power supply to supply power, and the power requirements between the two are not matched, so that the power supply difficulty and the use difficulty of the compound robot are increased, the size of the existing compound robot is large, and the miniaturization cannot be realized.
Therefore, how to provide a vacuum chuck device with simple structure, convenient operation, small volume and direct current power supply is a technical problem which needs to be solved urgently.
Disclosure of Invention
The invention aims to provide a vacuum chuck device which only needs direct current power supply for driving, and has the advantages of simple structure, small volume and convenient operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
a vacuum chuck assembly comprising:
a sucker mounting seat;
the relay is arranged inside the sucker mounting seat and is used for being externally connected with a direct current power supply and a control mechanism;
the vacuum chuck assembly comprises a vacuum pump and a vacuum chuck, the vacuum pump is arranged on the chuck mounting seat and is electrically connected with the relay, and the vacuum chuck is communicated with the vacuum pump;
the electric air-break valve is arranged on the sucker mounting seat and electrically connected with the relay, the electric air-break valve is configured to be opened, the vacuum sucker is communicated with the external atmosphere, and when the electric air-break valve is configured to be closed, the vacuum sucker adsorbs a part to be adsorbed under the action of the vacuum pump.
Optionally, the electric air-break valve comprises a first air vent and a second air vent, the first air vent is communicated with the vacuum chuck, the second air vent is communicated with the outside atmosphere, and the second air vent is configured to be opened or closed.
Optionally, the vacuum chuck subassembly still includes the sucking disc air cavity, sucking disc air cavity is inside to be provided with the cavity, be provided with on the sucking disc air cavity with first interface and the second interface of cavity intercommunication, first interface be used for with the vacuum pump and first blow vent intercommunication, the second interface be used for with the vacuum chuck intercommunication.
Optionally, the number of the first interfaces is a plurality of, and the first interfaces include a vacuum-pumping port and a break port, the vacuum-pumping port is communicated with the vacuum pump, and the break port is communicated with the first vent.
Optionally, the vacuum-pumping port and the breaking port are both provided with pneumatic connectors.
Optionally, the pneumatic connector is communicated with the vacuum pump through a gas pipe;
the pneumatic connector is communicated with the first air vent through an air pipe.
Optionally, the number of the second interfaces is multiple, and each of the second interfaces is provided with one vacuum chuck.
Optionally, the sucking disc mount pad includes sucking disc base and sucking disc shell, the hollow structure that the sucking disc shell is link up from top to bottom, the sucking disc base is connected the open-top department of sucking disc shell, the sucking disc air cavity body is connected the bottom opening part of sucking disc shell, the relay the vacuum pump with electronic broken empty valve all is located on the sucking disc base, and is located inside the sucking disc shell.
Optionally, the vacuum chuck device further comprises:
and the connecting structure is arranged on the sucker mounting seat and is used for connecting the vacuum sucker device to external equipment.
Another object of the present invention is to provide a robot which is small in size, light in weight, and excellent in usability.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot comprises the vacuum chuck device.
The invention has the beneficial effects that:
the invention provides a vacuum chuck device which comprises a chuck mounting seat, a relay, a vacuum chuck assembly and an electric vacuum breaking valve, wherein the vacuum chuck assembly comprises a vacuum pump and a vacuum chuck, the relay, the vacuum pump and the electric vacuum breaking valve are all arranged inside the chuck mounting seat, the relay is used for being externally connected with a direct current power supply and a control mechanism, the vacuum pump and the electric vacuum breaking valve are all electrically connected with the relay, the vacuum chuck is communicated with the outside atmosphere when the electric vacuum breaking valve is configured to be opened, and the vacuum chuck adsorbs a part to be adsorbed under the action of the vacuum pump when the electric vacuum breaking valve is configured to be closed. This vacuum chuck device is owing to need not use alternating current power supply, just only just can realize treating the operation of snatching of adsorbing the piece under the direct current power supply drive, and consequently this vacuum chuck device not only supplies power the degree of difficulty little, and simple structure is favorable to realizing the miniaturization.
Drawings
FIG. 1 is a schematic structural view of a vacuum chuck device provided in the present invention;
figure 2 is a cross-sectional view of a chuck air cavity provided by the present invention.
In the figure:
1. a connecting structure; 2. a suction cup base; 3. an electric air break valve; 4. a relay; 5. a vacuum pump; 6. a suction cup housing; 7. a suction cup air cavity; 701. a cavity; 702. a second interface; 703. a first interface; 8. a pneumatic joint; 9. a vacuum chuck; 10. a sucker mounting seat.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present embodiment provides a vacuum chuck device that can be externally attached to an end of a robot arm of a robot so that the robot arm of the robot can perform suction gripping work. Of course, the vacuum chuck device is also suitable for being assembled on other equipment which needs to perform the adsorption and grabbing operation besides the robot. As shown in fig. 1, the vacuum chuck device includes a chuck mounting base 10, a relay 4, a vacuum chuck assembly, and an electric blank valve 3. The vacuum chuck assembly specifically comprises a vacuum pump 5 and a vacuum chuck 9, and the vacuum chuck 9 is communicated with the vacuum pump 5. The relay 4, the vacuum pump 5 and the electric vacuum breaking valve 3 are all arranged inside the sucker mounting seat 10.
Wherein, the suction cup mounting base 10 is a mounting and fixing structure of the whole vacuum suction cup device. Specifically, as shown in fig. 1, the suction cup mounting base 10 includes a suction cup base 2 and a suction cup housing 6, the suction cup base 2 is a plate-shaped structure, and optionally, the suction cup base 2 is a circular plate. The sucker shell 6 is a hollow structure which is through up and down, and optionally, the sucker shell 6 is cylindrical. The sucking disc base 2 is connected at the top opening part of the sucking disc shell 6, and the sucking disc base 2 and the sucking disc shell 6 can be connected or clamped by adopting a connecting piece. In this embodiment, in order to guarantee joint strength and reduce the connection degree of difficulty, be provided with the constant head tank on sucking disc base 2, be provided with the locating piece that can insert in the constant head tank on sucking disc shell 6 to all be provided with the connecting hole on sucking disc base 2 and sucking disc shell 6. When the sucker base 2 and the sucker shell 6 are connected, the sucker base 2 and the sucker shell 6 are positioned by the positioning groove and the positioning block, and then the connection is realized by the screw penetrating through the connecting hole. Of course, in other embodiments, the suction cup base 2 and the suction cup housing 6 may be integrally formed to form the suction cup mounting seat 10, and the shapes of the suction cup base 2 and the suction cup housing 6 may be set to other shapes according to requirements.
Relay 4, vacuum pump 5 and electronic broken empty valve 3 all are located sucking disc base 2 to be located inside sucking disc shell 6. In the present embodiment, the relay 4, the vacuum pump 5 and the electric blank breaking valve 3 are all mounted on the suction cup base 2. And because the volume of relay 4 and electronic rupture valve 3 is less, in order to improve the assembly compactness of whole vacuum chuck device, in this embodiment, set up relay 4 and electronic rupture valve 3 in the both sides of vacuum pump 5. Of course, in other embodiments, the relay 4, the vacuum pump 5 and the electric vacuum breaker 3 may also be connected to the inner wall of the suction cup housing 6.
The relay 4 is used for connecting a direct current power supply and a control interface of external control. Specifically, relay 4 external power cord and signal control line, the power cord is connected with DC power supply, and signal control line and control mechanism's control interface are connected to relay 4 connects the power supply circuit of vacuum pump 5 and electronic broken empty valve 3, realizes switching the switching each other between coming control vacuum pump 5 and the electronic broken empty valve 3 through the break-make of external control signal. In this embodiment, the external control signal is sent by the control mechanism, and the control mechanism may be a centralized or distributed controller, for example, the controller may be a single-chip microcomputer or may be formed by a plurality of distributed single-chip microcomputers, and the single-chip microcomputers may run a control program to control the vacuum pump 5 and the electric air-break valve 3 to realize the functions thereof. The specific structures of the relay 4 and the vacuum pump 5 are the prior art, and are not described in detail herein.
The electric vacuum breaking valve 3 is mainly used for communicating the vacuum chuck 9 with the outside atmosphere, so that the adsorption force of the vacuum chuck 9 on the to-be-adsorbed part is released after the to-be-adsorbed part reaches the target position. On-off state between electronic broken empty valve 3 and the vacuum pump 5 is opposite, and when electronic broken empty valve 3 was configured to open, vacuum pump 5 closed, and vacuum chuck 9 communicates with external atmosphere, and vacuum chuck 9 can't form vacuum environment, can't adsorb and treat the absorption piece. When the electric vacuum breaking valve 3 is configured to be closed, the vacuum pump 5 is opened, and the vacuum chuck 9 can form a vacuum environment under the action of the vacuum pump 5, so that the adsorption of the to-be-adsorbed part can be realized.
Specifically, the electric blank valve 3 includes a first vent port communicating with the vacuum chuck 9 and a second vent port communicating with the outside atmosphere, the second vent port being configured to be able to be opened or closed. The specific structure of the electric blank-breaking valve 3 and how to switch the states are the prior art, and are not described herein.
Optionally, in order to improve the adsorption stability of the vacuum chuck 9 on the to-be-adsorbed member, the vacuum chuck assembly further includes a chuck air cavity 7, as shown in fig. 2, a cavity 701 is provided inside the chuck air cavity 7, a first interface 703 and a second interface 702 communicated with the cavity 701 are provided on the chuck air cavity 7, the first interface 703 is used for being communicated with the vacuum pump 5 and the first vent, and the second interface 702 is used for being communicated with the vacuum chuck 9.
Specifically, the number of the first interfaces 703 is plural, and the plural first interfaces 703 may be divided into a vacuum pumping port and a breaking port, where the vacuum pumping port is used for communicating with the vacuum pump 5, and the breaking port is used for communicating with the first vent. In this embodiment, as shown in fig. 1, two evacuation ports and one breaking port are provided. The two vacuumizing ports and the broken hollow port are arranged in a triangle shape. Of course, in other embodiments, the number of the vacuum-pumping ports and the number of the vacuum-breaking ports may be adjusted as required, and the arrangement shape may also be adjusted as required.
Further optionally, in order to facilitate the communication between the vacuum pumping port and the vacuum pump 5 and between the breaking port and the first vent, pneumatic connectors 8 are respectively disposed on the vacuum pumping port and the breaking port, the pneumatic connectors 8 are communicated with the vacuum pump 5 through air pipes, and the pneumatic connectors 8 are communicated with the first vent through air pipes. Of course, in other embodiments, instead of air tube communication, an air passage provided inside the suction cup mounting base 10 may be used.
In order to increase the suction force of the vacuum chuck 9 to the member to be sucked, in the present embodiment, a plurality of vacuum chucks 9 are provided. Specifically, a plurality of second ports 702 are disposed on the chuck air cavity 7, and a vacuum chuck 9 is disposed on each second port 702. In the present embodiment, as shown in fig. 1, five second ports 702 and five vacuum chucks 9 are provided. Five vacuum chucks 9 are uniformly distributed in the chuck air cavity 7. Of course, in other embodiments, the number and arrangement of the vacuum suction cups 9 can be adjusted according to the requirements.
Further, in order to facilitate the attachment of the vacuum chuck device to the robot arm of the robot, the vacuum chuck device further comprises a connecting structure 1. As shown in fig. 1, in the present embodiment, the connection structure 1 is a robot arm connection flange, the lower end of the robot arm connection flange is connected to the chuck base 2, and the upper end is used for connecting to a robot arm. Alternatively, the robot arm attachment flange may be adapted according to the model of the robot arm. Of course, in other embodiments, the connection structure 1 may be a quick-change joint or the like capable of realizing quick connection.
The working principle of the vacuum chuck device is as follows:
the power connection of electronic broken empty valve 3 and vacuum pump 5 is on relay 4, and relay 4 can external power cord and signal control line, and the break-make between electronic broken empty valve 3 and the vacuum pump 5 is switched through the external control signal that control mechanism sent to relay 4. The extraction opening of the vacuum pump 5 is connected with the sucker air cavity 7 through an air pipe and a pneumatic connector 8, and the vacuum sucker 9 adsorbs a part to be adsorbed under the driving of the vacuum pump 5. The electric air breaking valve 3 is a two-vent valve, a first vent is communicated with the sucker air cavity through an air pipe and a pneumatic connector 8, and a second vent is communicated with the outside atmosphere.
When the vacuum pump 5 works, the electric vacuum breaking valve 3 is closed and is disconnected with the atmosphere, the vacuum pump 5 sucks air between the vacuum sucker 9 and the part to be sucked through the pneumatic connector 8 and the sucker air cavity 7 to form vacuum negative pressure, and the part to be sucked is tightly attached to the vacuum sucker 9 to achieve the purpose of grabbing the part to be sucked. When the vacuum pump 5 stop work, electronic broken empty valve 3 is opened, and the atmosphere passes through pneumatic joint 8 and sucking disc air cavity 7 and gets into vacuum chuck 9, and original vacuum environment is destroyed, treats that the absorption piece breaks away from with vacuum chuck 9.
This vacuum chuck device is owing to need not use alternating current power supply, just only just can realize treating the operation of snatching of adsorbing the piece under the direct current power supply drive, therefore this vacuum chuck device can simplify the structure of vacuum gripping tool, simplifies the user mode of equipment, adopts universal supply voltage power supply, and compatible mainstream control mode satisfies the demand of composite robot to small and exquisite, light weight, easy-to-use. Therefore, the vacuum chuck device has the advantages of small power supply difficulty, simple structure, miniaturization and the like.
The embodiment also provides a robot, which comprises the vacuum chuck device, and the volume of the robot is reduced, the structure of the robot is simplified, and the robot is miniaturized by adopting the vacuum chuck device.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A vacuum chuck assembly, comprising:
a suction cup mounting base (10);
the relay (4) is arranged inside the sucker mounting seat (10) and is used for being externally connected with a direct-current power supply and a control mechanism;
the vacuum chuck assembly comprises a vacuum pump (5) and a vacuum chuck (9), the vacuum pump (5) is arranged on the chuck mounting seat (10) and is electrically connected with the relay (4), and the vacuum chuck (9) is communicated with the vacuum pump (5);
electronic broken empty valve (3), set up on sucking disc mount pad (10), and with relay (4) electricity is connected, when electronic broken empty valve (3) are configured to open, vacuum chuck (9) and external atmosphere intercommunication, when electronic broken empty valve (3) are configured to close, vacuum chuck (9) are in adsorb under the effect of vacuum pump (5) and wait to adsorb the piece.
2. Vacuum chuck assembly according to claim 1,
the electric air-break valve (3) comprises a first vent and a second vent, the first vent is communicated with the vacuum chuck (9), the second vent is communicated with the outside atmosphere, and the second vent is configured to be opened or closed.
3. Vacuum chuck assembly according to claim 2,
vacuum chuck subassembly still includes sucking disc air cavity body (7), inside cavity (701) that is provided with of sucking disc air cavity body (7), be provided with on sucking disc air cavity body (7) with first interface (703) and second interface (702) of cavity (701) intercommunication, first interface (703) be used for with vacuum pump (5) and first vent intercommunication, second interface (702) be used for with vacuum chuck (9) intercommunication.
4. Vacuum chuck assembly according to claim 3,
the number of the first interfaces (703) is multiple, the multiple first interfaces (703) comprise a vacuumizing port and a breaking port, the vacuumizing port is communicated with the vacuum pump (5), and the breaking port is communicated with the first air vent.
5. Vacuum chuck assembly according to claim 4,
pneumatic connectors (8) are arranged on the vacuumizing port and the breaking port.
6. Vacuum chuck assembly according to claim 5,
the pneumatic connector (8) is communicated with the vacuum pump (5) through an air pipe;
the pneumatic connector (8) is communicated with the first air vent through an air pipe.
7. Vacuum chuck assembly according to claim 3,
the number of the second interfaces (702) is multiple, and each second interface (702) is provided with one vacuum chuck (9).
8. Vacuum chuck assembly according to claim 3,
sucking disc mount pad (10) are including sucking disc base (2) and sucking disc shell (6), hollow structure that sucking disc shell (6) are link up from top to bottom, sucking disc base (2) are connected the open-top portion department of sucking disc shell (6), sucking disc air cavity body (7) are connected the bottom opening part of sucking disc shell (6), relay (4) vacuum pump (5) with electronic broken empty valve (3) all are located on sucking disc base (2), and are located inside sucking disc shell (6).
9. The vacuum chuck assembly according to any one of claims 1 to 8, further comprising:
a connection structure (1) provided on the suction cup mounting base (10) for connecting the vacuum suction cup device to an external apparatus.
10. A robot comprising a vacuum chuck device according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911137057.5A CN110722590A (en) | 2019-11-19 | 2019-11-19 | Vacuum chuck device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911137057.5A CN110722590A (en) | 2019-11-19 | 2019-11-19 | Vacuum chuck device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110722590A true CN110722590A (en) | 2020-01-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911137057.5A Pending CN110722590A (en) | 2019-11-19 | 2019-11-19 | Vacuum chuck device and robot |
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| Country | Link |
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| CN (1) | CN110722590A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112045337A (en) * | 2020-09-14 | 2020-12-08 | 中国船舶科学研究中心 | Sucker base |
| CN112571444A (en) * | 2020-11-30 | 2021-03-30 | 哈工大机器人（合肥）国际创新研究院 | Mechanical arm vacuum adsorption system and control method thereof |
| CN112660813A (en) * | 2020-11-30 | 2021-04-16 | 哈工大机器人（合肥）国际创新研究院 | Electric vacuum chuck at tail end of mechanical arm |
| CN114055508A (en) * | 2021-12-10 | 2022-02-18 | 上海轩田工业设备有限公司 | Quick-change super-hardness multi-head multi-point adaptive suction mechanism |
| CN114291570A (en) * | 2021-12-31 | 2022-04-08 | 浙江鼎力机械股份有限公司 | Integrated vacuum chuck |
| CN116002371A (en) * | 2022-11-30 | 2023-04-25 | 北京东舟技术股份有限公司 | Electric vacuum adsorber |
-
2019
- 2019-11-19 CN CN201911137057.5A patent/CN110722590A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112045337A (en) * | 2020-09-14 | 2020-12-08 | 中国船舶科学研究中心 | Sucker base |
| CN112571444A (en) * | 2020-11-30 | 2021-03-30 | 哈工大机器人（合肥）国际创新研究院 | Mechanical arm vacuum adsorption system and control method thereof |
| CN112660813A (en) * | 2020-11-30 | 2021-04-16 | 哈工大机器人（合肥）国际创新研究院 | Electric vacuum chuck at tail end of mechanical arm |
| CN114055508A (en) * | 2021-12-10 | 2022-02-18 | 上海轩田工业设备有限公司 | Quick-change super-hardness multi-head multi-point adaptive suction mechanism |
| CN114291570A (en) * | 2021-12-31 | 2022-04-08 | 浙江鼎力机械股份有限公司 | Integrated vacuum chuck |
| EP4206112A1 (en) * | 2021-12-31 | 2023-07-05 | Zhejiang Dingli Machinery Co., LTD. | Integrated vacuum suction pad |
| CN116002371A (en) * | 2022-11-30 | 2023-04-25 | 北京东舟技术股份有限公司 | Electric vacuum adsorber |
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