CN112390010A - Combined sucker device based on linear bearing - Google Patents
Combined sucker device based on linear bearing Download PDFInfo
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- CN112390010A CN112390010A CN202011132208.0A CN202011132208A CN112390010A CN 112390010 A CN112390010 A CN 112390010A CN 202011132208 A CN202011132208 A CN 202011132208A CN 112390010 A CN112390010 A CN 112390010A
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- China
- Prior art keywords
- sucker
- vacuum
- chuck
- linear bearing
- electromagnetic
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
Abstract
The invention provides a combined sucker device based on a linear bearing, which comprises a sucker bracket, a plurality of vacuum suckers only allowing vertical lifting and a plurality of electromagnetic suckers allowing free swinging and vertical lifting; the vacuum chuck mounting mechanism comprises a hollow floating rod and a linear bearing; one end of the hollow floating rod penetrates through the linear bearing and vertically extends to the position above the sucker beam to be connected with the vacuum generator, and the other end of the hollow floating rod is connected with the vacuum sucker; the hollow floating rod vertically ascends and descends along the vertical through hole so as to adjust the ascending and descending height of the vacuum chuck and the relative position of the vacuum chuck and the electromagnetic chuck. The electromagnetic chuck is adopted for adsorption or providing auxiliary suction, the heights of the two chucks are dynamically adjusted according to the characteristics of the workpiece, and the workpiece with an irregular shape is effectively grabbed; the hollow floating rod and the linear bearing are adopted to replace the traditional spring type vacuum chuck, so that the suction loss and uneven distribution caused by the shaking of the chuck are avoided, and the control accuracy of the suction is improved.
Description
Technical Field
The invention relates to the field of suckers, in particular to a combined sucker device based on a linear bearing.
Background
In order to realize automatic blanking, the existing laser cutting machine sometimes adopts a blanking assembly with a sucker assembly to assist blanking, for example, the sucker assembly is adopted to suck a workpiece, and then the sucker assembly is moved to enable the workpiece to leave a blanking table and be placed into a material conveying trolley.
However, since the surface of the workpiece cut by the laser is not flat and changes according to the change of the cutting process, the current vacuum chuck often has insufficient suction force due to the fact that the workpiece is adsorbed at the position of a slit after cutting, so that the workpiece is difficult to grab, and even falls from a half space, and accidents occur.
In addition, for better grabbing the work piece that has the crack on the surface, can select spring type vacuum chuck for use usually, but because spring type vacuum chuck's forward force produces the mechanism, current spring type vacuum chuck also has certain rocking in the horizontal direction, has caused the influence to the accurate control of suction.
Disclosure of Invention
The invention aims to provide a combined sucker device based on a linear bearing, which adopts a certain structural mode to arrange a vacuum sucker and an electromagnetic sucker on a sucker support at the same time, adopts the electromagnetic sucker to adsorb or provide auxiliary suction, and can dynamically adjust the heights of the two suckers according to the characteristics of workpieces to effectively grab workpieces with irregular shapes; the hollow floating rod and the linear bearing are adopted to replace the traditional spring type vacuum chuck, so that the suction loss and uneven distribution caused by the shaking of the chuck are avoided, and the control accuracy of the suction is improved.
In order to achieve the above object, the present invention provides a combined sucker device based on a linear bearing, the combined sucker device comprising a sucker bracket, and a plurality of vacuum suckers and a plurality of electromagnetic suckers detachably mounted on the sucker bracket;
the vacuum sucker mounting mechanism comprises a hollow floating rod and a linear bearing;
the linear bearing is arranged above the vertical through hole of the sucker beam; one end of the hollow floating rod penetrates through the linear bearing and vertically extends to the position above the sucker beam to be connected with the vacuum generator, and the other end of the hollow floating rod is connected with the vacuum sucker; the hollow floating rod vertically ascends and descends along the vertical through hole so as to adjust the ascending and descending height of the vacuum chuck and the relative position of the vacuum chuck and the electromagnetic chuck.
Further, the sucker support comprises a sucker support body, a plurality of sucker beams and two sucker longitudinal beams;
the sucker beams are arranged in parallel, and the distance between every two adjacent sucker beams is equal; the two sucker longitudinal beams are fixed above the sucker cross beams and connected with all the sucker cross beams, the extending direction of the sucker longitudinal beams is perpendicular to the extending direction of the sucker cross beams, and the sucker cross beams are fixed on the sucker support body through the sucker longitudinal beams;
a certain amount of vertical through holes are formed in the sucker beam, each electromagnetic sucker is installed on each vertical through hole through an electromagnetic sucker installing mechanism and is adjustable in position, and each vacuum sucker is installed on each vertical through hole through a vacuum sucker installing mechanism and is adjustable in position.
Furthermore, the electromagnetic chucks are uniformly distributed, the vacuum chucks are uniformly distributed, and each electromagnetic chuck is positioned at the center of the four adjacent vacuum chucks.
Compared with the prior art, the technical scheme of the invention has the following remarkable beneficial effects:
(1) the vacuum chuck and the electromagnetic chuck are arranged on the chuck support simultaneously in a certain structural mode, the electromagnetic chuck is adopted for adsorbing or providing auxiliary suction, and meanwhile, the heights of the two chucks can be dynamically adjusted according to the characteristics of workpieces, so that the workpieces with irregular shapes can be effectively grabbed.
(2) For non-magnetic workpieces, an electromagnetic chuck is used to provide auxiliary suction by adhering a magnetic auxiliary member to the workpiece.
(3) The horizontal position of the suckers is adjusted by replacing the vertical through holes, the vertical positions of the suckers are uniformly adjusted by adopting the lifting mechanism, and the vertical position of a single sucker is independently adjusted by adjusting the connecting shaft or the hollow floating rod, so that the positions of the suckers can be flexibly adjusted, and the sucker type adjustable lifting device is more suitable for workpiece types with irregular shapes.
(4) The hollow floating rod and the linear bearing are adopted to replace the traditional spring type vacuum chuck, so that the suction loss and the uneven distribution caused by the shaking of the chuck are avoided.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural view of the combined suction cup device of the present invention.
Fig. 2 is a detailed structure diagram of the electromagnetic chuck of the present invention.
Fig. 3 is a schematic structural view of the vacuum chuck and the electromagnetic chuck of the present invention.
Fig. 4 is a detailed structure diagram of the vacuum chuck of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
With reference to fig. 1 and 3, the present invention provides a combined suction cup device based on a linear bearing, which includes a plurality of suction cup beams 2, two suction cup longitudinal beams 1, a plurality of electromagnetic suction cups 4, and a plurality of vacuum suction cups 3.
The sucker beams 2 are arranged in parallel, and the distance between every two adjacent sucker beams 2 is equal; the two sucker longitudinal beams 1 are fixed above the sucker cross beams 2 and connected with all the sucker cross beams 2, the extending direction of the sucker longitudinal beams 1 is perpendicular to the extending direction of the sucker cross beams 2, and the sucker cross beams 2 are fixed on the sucker support through the sucker longitudinal beams 1.
A certain amount of vertical through holes are formed in the sucker beam 2, each electromagnetic sucker 4 is installed on each vertical through hole through an electromagnetic sucker installation mechanism and is adjustable in position, and each vacuum sucker 3 is installed on each vertical through hole through a vacuum sucker installation mechanism and is adjustable in position;
wherein, every sucking disc crossbeam 2 only includes a kind of sucking disc, and the sucking disc type that adjacent sucking disc crossbeam 2 corresponds is different.
The vacuum cup mounting mechanism comprises a hollow floating rod 31 and a linear bearing 32.
The linear bearing 32 is arranged above the vertical through hole of the sucker beam 2; one end of the hollow floating rod 31 passes through the linear bearing 32 and vertically extends to the position above the sucker beam 2 to be connected with the vacuum generator, and the other end of the hollow floating rod is connected with the vacuum sucker 3; the hollow floating rod 31 is vertically lifted along the vertical through hole to adjust the lifting height of the vacuum chuck 3 and the relative positions of the vacuum chuck 3 and the electromagnetic chuck 4. Fig. 4 is a detailed structure diagram of the vacuum chuck of the present invention.
The working principle of the vacuum chuck 3 is as follows: the air pump provides the air supply and produces negative pressure suction through vacuum generator, and vacuum generator is connected to vacuum chuck 3 through the cavity floating lever, and when vacuum chuck 3 and work piece contact, the inside air of sucking disc is siphoned away by vacuum generator, produces the negative pressure chamber, firmly holds the work piece. When the workpiece needs to be loosened, the air source can be closed through the electromagnetic valve, external air enters the vacuum chuck 3 to balance negative pressure, and the vacuum chuck 3 loses suction force.
In the present invention, the position of the vacuum chuck 3 in the vertical direction can also be adjusted by the hollow float lever 31 and the linear bearing 32. Specifically, the hollow floating rod 31 slides up and down in the middle of the linear bearing 32 and falls to the bottom under the action of gravity, when the cylinder presses the whole sucker support downwards, and when the vacuum sucker 3 touches a workpiece, the workpiece provides upward supporting force, so that the hollow floating rod 31 slides upwards on the linear bearing 32, and the vacuum sucker 3 which does not touch the workpiece continues downwards along with the cylinder until the workpiece provides supporting force, and thus the problem that part of the vacuum sucker 3 is difficult to adsorb to the surface of the workpiece due to the fact that the height of the workpiece is uneven is effectively solved.
The vacuum chuck 3 has an advantage in that, for any material workpiece, sufficient suction force can be provided as long as the surface flatness of the workpiece meets the condition, and if a long gap exists on the surface of the workpiece, especially if the gap extends to the outside of the vacuum chuck 3, the vacuum chuck 3 causes the suction force to drop suddenly due to the communication with the outside air. The electromagnetic chuck 4 has the advantage that for a workpiece of magnetic material, the amount of attraction is dependent only on the contact surface area, and better attraction can be provided for a surface or slope where a gap exists than for the vacuum chuck 3. The invention combines the two suckers, so that the combined sucker device can provide better suction for workpieces, particularly irregular customized workpieces and the like.
The following describes the structure of the electromagnetic chuck mounting mechanism and the vacuum chuck mounting mechanism with reference to the drawings.
With reference to fig. 2, in some examples, the electromagnetic chuck mounting mechanism includes a connecting chain 41 and a connecting shaft 42; the connecting shaft 42 is cylindrical, an external thread is arranged on one end side face of the connecting shaft, an internal thread with matched size is arranged on the inner side of the vertical through hole of the sucker beam 2, and the connecting shaft 42 is screwed in the vertical through hole of the sucker beam 2. One end of the connecting chain 41 is connected to the bottom end face of the connecting shaft 42, and the other end is connected to the top end face of the electromagnetic chuck 4.
The suction surface of the electromagnetic chuck 4 can be better adjusted here by means of the connecting chain 41. For example, since the electromagnetic chucks 4 are connected by the connecting chain 41, the electromagnetic chucks 4 have a certain angle adjustment capability. For small inclined planes on the surface of the workpiece, if the workpiece is made of magnetic material, the inclined planes can be sucked by the electromagnetic chuck 4. When the length of the connecting chain 41 allows, the suction position of the electromagnetic chuck 4 can be finely adjusted. The relative height between the electromagnetic chucks 4 can be adjusted as required by screwing the connecting shaft 42, and assuming that the heights of the electromagnetic chucks 4 in the initial state are consistent, for example, the inclined plane is sucked by the partial electromagnetic chucks 4, and the sucking positions are finely adjusted by the partial electromagnetic chucks 4, after the partial electromagnetic chucks 4 are adjusted, the relative heights between the electromagnetic chucks 4 are likely to be inconsistent, so that height difference exists, the workpiece is easy to incline during sucking, even the gravity of the workpiece is borne by only the partial chucks, and at the moment, the heights of the chucks are consistent as much as possible by adjusting the screwing length of the connecting shaft 42, so that the suction distribution is optimized and the workpiece is kept to move horizontally as much as possible. This adjustment characteristic is also applicable to a scenario where the vacuum chuck 3 and the electromagnetic chuck 4 share the workpiece gravity together or the vacuum chuck 3 separately shares the workpiece gravity, which is not described herein again.
The vacuum chuck 3 and the electromagnetic chuck 4 occupy different spaces, different from the vacuum chuck 3, the suction force can be enhanced by additionally arranging a high-performance vacuum generator, and for the electromagnetic chuck 4, the larger the contact surface is, the stronger the suction force is. Therefore, in some cases, the electromagnetic chuck 4 having a large contact surface can be used as much as possible. In order to avoid structural interference and fine adjustment of the suction position of the electromagnetic chuck 4, the electromagnetic chuck 4 and the vacuum chuck 3 are arranged in a staggered mode, so that the electromagnetic chuck 4 is located in the middle area formed by the vacuum chucks 3. For example, as shown in fig. 1, the plurality of electromagnetic chucks 4 are uniformly distributed, the plurality of vacuum chucks 3 are uniformly distributed, and each electromagnetic chuck is located at the center of four vacuum chucks 3 adjacent to the electromagnetic chuck. It should be understood that the electromagnetic chucks 4 and the vacuum chucks 3 may also be non-uniformly distributed, but it is more reasonable to stagger the two in order to avoid structural interference.
In the invention, in addition to the height adjustment of the suckers through the connecting shaft 42 or the screwing length of the hollow floating rod, the unified adjustment and the large-amplitude adjustment of a plurality of suckers are realized by optimizing the structure of the sucker beam 2, so that the whole sucker device is more suitable for workpieces with irregular shapes, such as workpieces with steps on the surface.
Specifically, the plurality of suction cup beams 2 are divided into two parts: a first beam set comprising a suction cup beam 2 having a length L1 greater than a length L2 of a suction cup beam 2 comprised by a second beam set; the first cross beam group is fixedly connected to the lower end surfaces of the two sucker longitudinal beams 1 and extends to the outer sides of the sucker longitudinal beams 1; the second cross beam group is installed on the opposite side surfaces of the two sucker longitudinal beams 1 through a lifting mechanism and lifted along the opposite side surfaces of the two sucker longitudinal beams 1.
Preferably, a certain amount of vertical guide rails are uniformly distributed on the opposite side surfaces of the sucker longitudinal beam 1; the lifting mechanism comprises a moving assembly and a driving assembly; the two end faces of the sucker beam 2 contained in the second beam group in the extending direction are mounted on the vertical guide rail through the moving assembly and move along the vertical guide rail under the action of the driving assembly.
Through the structure of the sucker beam 2, the sucker beam 2 can carry the sucker hung below the sucker beam to lift uniformly. In order to increase the number of suction cups on the same suction cup cross beam 2 as much as possible, the suction cup longitudinal beams 1 may be connected to both end positions of the first cross beam group.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (4)
1. A combined sucker device based on a linear bearing is characterized by comprising a sucker support, a plurality of vacuum suckers which are only allowed to vertically lift and are arranged on the sucker support through a vacuum sucker mounting mechanism, and a plurality of electromagnetic suckers which are only allowed to freely swing and vertically lift and are arranged on the sucker support through an electromagnetic sucker mounting mechanism;
the vacuum sucker mounting mechanism comprises a hollow floating rod and a linear bearing;
the linear bearing is arranged above the vertical through hole of the sucker beam; one end of the hollow floating rod penetrates through the linear bearing and vertically extends to the position above the sucker beam to be connected with the vacuum generator, and the other end of the hollow floating rod is connected with the vacuum sucker; the hollow floating rod vertically ascends and descends along the vertical through hole so as to adjust the ascending and descending height of the vacuum chuck and the relative position of the vacuum chuck and the electromagnetic chuck.
2. The linear bearing based combination suction cup device according to claim 1, wherein the suction cup bracket comprises a suction cup bracket body, M suction cup beams and two suction cup longitudinal beams;
the M sucker beams are arranged in parallel, the space between every two adjacent sucker beams is equal, and the sucker beams are fixed on the sucker support body through the sucker longitudinal beams;
and each sucker beam is provided with a certain amount of vertical through holes, and the electromagnetic suckers and the vacuum suckers are correspondingly arranged on the vertical through holes one by one and have adjustable positions.
3. The linear bearing based combination suction cup device according to claim 1, wherein the electromagnetic suction cup mounting mechanism comprises a connection chain and a connection shaft;
the connecting shaft is cylindrical, an external thread is arranged on one end side face of the connecting shaft, an internal thread with matched size is arranged on the inner side of the vertical through hole of the sucker beam, and the connecting shaft is screwed in the vertical through hole of the sucker beam;
one end of the connecting chain is connected to the bottom end face of the connecting shaft, and the other end of the connecting chain is connected to the top end face of the electromagnetic chuck.
4. The linear bearing based combination chuck device according to claim 1, wherein the vacuum chucks are distributed in a uniform lattice pattern, and each electromagnetic chuck is located at the center of four vacuum chucks adjacent to the electromagnetic chuck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011132208.0A CN112390010A (en) | 2020-10-21 | 2020-10-21 | Combined sucker device based on linear bearing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011132208.0A CN112390010A (en) | 2020-10-21 | 2020-10-21 | Combined sucker device based on linear bearing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112390010A true CN112390010A (en) | 2021-02-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011132208.0A Pending CN112390010A (en) | 2020-10-21 | 2020-10-21 | Combined sucker device based on linear bearing |
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| CN (1) | CN112390010A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0357904A1 (en) * | 1988-09-09 | 1990-03-14 | Horst Witte Entwicklungs- und Vertriebs-KG | Magnetic chuck for clamping or lifting work pieces |
| CN204873395U (en) * | 2015-08-07 | 2015-12-16 | 明光瑞智电子科技有限公司 | Novel steel sheet is absorb device |
| CN105217312A (en) * | 2015-10-20 | 2016-01-06 | 许继电气股份有限公司 | A kind of metal blank is separated grabbing device |
| CN105819208A (en) * | 2016-06-13 | 2016-08-03 | 无锡力优医药自动化技术有限公司 | Automatic infusion bag feeding production line |
| CN205771965U (en) * | 2016-05-19 | 2016-12-07 | 汪立 | Intelligence cleaning equipment |
| CN110937400A (en) * | 2019-12-06 | 2020-03-31 | 湖南精正设备制造有限公司 | Production line loading attachment |
| CN211030284U (en) * | 2019-10-19 | 2020-07-17 | 苏州耀鑫新型包装材料有限公司 | Turnover mechanism of automatic plastic sucking machine |
| CN211464615U (en) * | 2019-12-25 | 2020-09-11 | 倍闻智能科技(上海)有限公司 | Plate truss loading attachment |
-
2020
- 2020-10-21 CN CN202011132208.0A patent/CN112390010A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0357904A1 (en) * | 1988-09-09 | 1990-03-14 | Horst Witte Entwicklungs- und Vertriebs-KG | Magnetic chuck for clamping or lifting work pieces |
| CN204873395U (en) * | 2015-08-07 | 2015-12-16 | 明光瑞智电子科技有限公司 | Novel steel sheet is absorb device |
| CN105217312A (en) * | 2015-10-20 | 2016-01-06 | 许继电气股份有限公司 | A kind of metal blank is separated grabbing device |
| CN205771965U (en) * | 2016-05-19 | 2016-12-07 | 汪立 | Intelligence cleaning equipment |
| CN105819208A (en) * | 2016-06-13 | 2016-08-03 | 无锡力优医药自动化技术有限公司 | Automatic infusion bag feeding production line |
| CN211030284U (en) * | 2019-10-19 | 2020-07-17 | 苏州耀鑫新型包装材料有限公司 | Turnover mechanism of automatic plastic sucking machine |
| CN110937400A (en) * | 2019-12-06 | 2020-03-31 | 湖南精正设备制造有限公司 | Production line loading attachment |
| CN211464615U (en) * | 2019-12-25 | 2020-09-11 | 倍闻智能科技(上海)有限公司 | Plate truss loading attachment |
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Application publication date: 20210223 |
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