CN112621800B

CN112621800B - Suction device

Info

Publication number: CN112621800B
Application number: CN202011270778.6A
Authority: CN
Inventors: 顾福乾; 尚奔; 王亚东
Original assignee: Luxshare Automation Jiangsu Ltd
Current assignee: Luxshare Automation Jiangsu Ltd
Priority date: 2020-11-13
Filing date: 2020-11-13
Publication date: 2022-04-22
Anticipated expiration: 2040-11-13
Also published as: CN112621800A

Abstract

The invention discloses a suction device which comprises a suction head, a posture adjusting mechanism, a rotary driving unit and a rack. The rotary driving unit is arranged on the rack, the posture adjusting mechanism is connected with the rotary driving unit, and the suction head is arranged on the posture adjusting mechanism. When the suction head is in contact with the surface of a product to perform suction, the posture adjusting mechanism can flexibly and automatically adjust the posture of the suction head according to the curvature of the surface of the product so as to enable the suction surface of the suction head to be parallel to the surface of the product and increase the contact area, and the posture adjusting mechanism can also rotate under the driving of the rotary driving unit so as to compensate the angle deviation of the suction head when the suction head sucks the product, so that the suction success rate of the suction device is improved, and the production efficiency of a production line is obviously improved.

Description

Suction device

Technical Field

The invention relates to the field of assembly and processing, in particular to a suction device.

Background

In the assembly process of the production line, suction and transportation are common assembly processes. Namely, the product is sucked up by using a suction device and then is transported to a preset position for subsequent assembly. For products with a curved surface, an inclined surface or an irregular surface, such as a camera, the suction head and the suction plane cannot be completely attached, so that the suction success rate is low and the suction effect is poor. The curved surface product is sucked by using the mechanical arm or the angle adjusting device, the sucking success rate can be improved, but the special device has strong pertinence, a complex structure and high price, cannot be compatible with most products and has limited applicability.

Disclosure of Invention

In view of this, the present invention provides a suction device, which has a compact structure and a wide application range, and can adapt to the curvature of the surface of a product, so as to improve the success rate of suction and further effectively improve the production efficiency.

An embodiment of the present invention provides a suction device, including:

a suction head for sucking the product;

a posture adjustment mechanism coupled to the tip, the posture adjustment mechanism configured to adjust a posture of the tip to accommodate a surface curvature of the product when the tip contacts the surface of the product;

a rotary driving unit connected with the posture adjusting mechanism, wherein the rotary driving unit is configured to drive the posture adjusting mechanism to rotate so as to adjust the angle of the sucker when sucking the product; and

the rotary driving unit is arranged on the rack.

Further, the posture adjustment mechanism includes:

a middleware;

a first swinging member provided above the intermediate member and connected to the rotary drive unit, the first swinging member being configured to rotate about a first axis with respect to the intermediate member to adjust a posture of the suction head; and

a second swinging member provided below the intermediate member and connected to the suction head, the second swinging member being configured to rotate about a second axis with respect to the intermediate member to adjust a posture of the suction head;

wherein the first and second axes are perpendicular to each other.

Furthermore, the outer surface of the middle piece is provided with two first cantilever shafts and two second cantilever shafts which protrude outwards, the first cantilever shafts and the second cantilever shafts are arranged in a crossed manner and are arranged at equal intervals along the circumferential direction of the middle piece, a connecting line of the two first cantilever shafts forms the first axis, and a connecting line of the two second cantilever shafts forms the second axis;

two first swinging arms are formed on two sides of the first swinging piece in an outward protruding mode and are rotatably connected with the corresponding first cantilever shafts;

two second swinging arms are formed by two outward protruding sides of the second swinging piece, and the second swinging piece is rotatably connected with the corresponding second cantilever shaft.

Further, the first swinging member has a hollow first inner cavity;

the second swinging piece is provided with a hollow second inner cavity;

the intermediate piece is provided with a hollow third inner cavity;

the first inner cavity, the second inner cavity and the second inner cavity are communicated with the suction head in sequence.

Further, the first inner cavity has a first head end opening and a first tail end opening, wherein two first tail end openings are provided, and are respectively located on the two first swing arms and face the first cantilever shaft;

the second inner cavity is provided with a second head end opening and a second tail end opening, wherein the number of the second head end openings is two, and the two second head end openings are respectively positioned on the two second swing arms and face the second cantilever shaft;

the third inner cavity is provided with a third upper side opening and a third lower side opening, wherein the third upper side opening is provided with two third lower side openings, the two third upper side openings are respectively positioned on the two first cantilever shafts and at least partially communicated with the corresponding first tail end openings, and the two third lower side openings are respectively positioned on the two second cantilever shafts and at least partially communicated with the corresponding second head end openings;

the suction head is communicated with the second inner cavity, the third inner cavity and the first inner cavity in sequence through the second tail end opening.

Furthermore, two first clamping jaws which are oppositely arranged are formed at the tail end of the first swing arm, a first penetrating space is formed between the two first clamping jaws, and the two first cantilever shafts are movably arranged in the corresponding first penetrating spaces in a penetrating mode respectively;

two second clamping jaws which are oppositely arranged are formed at the tail end of the second swing arm, a second penetrating space is formed between the two second clamping jaws, and the two second cantilever shafts are movably arranged in the corresponding second penetrating spaces in a penetrating mode respectively.

Further, the posture adjustment mechanism further includes:

the first elastic sheet is arranged between the two first clamping jaws of the first swing arm, and the first elastic sheet presses the first cantilever shaft on the first swing arm so as to prevent air leakage between the first tail end opening and the third upper side opening and provide a holding force for the sucker after posture adjustment; and

and the second elastic sheet is arranged between the two second clamping jaws of the second swing arm, and is pressed on the second cantilever shaft on the second swing arm so as to prevent air leakage between the second head end opening and the third lower side opening and provide a holding force for the suction head after the posture is adjusted.

Furthermore, the first cantilever shaft and the second cantilever shaft are also provided with fourth openings facing outwards, and the fourth openings are communicated with the third inner cavity;

the posture adjustment mechanism further comprises:

a plug disposed in the fourth opening in a pluggable manner.

Further, the rotation driving unit includes:

the motor stator is arranged on the rack, comprises an annular iron core and a winding arranged on the annular iron core, and is used for generating a rotating magnetic field; and

a motor rotor disposed through the motor stator and configured to receive an electrical signal to rotate around a third axis in the rotating magnetic field, wherein the third axis is a central axis of the motor rotor;

the first swinging piece is fixedly connected with the lower end of the motor rotor so as to synchronously rotate along with the motor rotor.

Further, the suction device further comprises:

an angle sensor disposed on the rotary drive unit and configured to measure a yaw angle of the motor rotor.

Further, the angle sensor is arranged in an annular structure and sleeved on the periphery of the motor rotor;

the suction device further comprises:

the upper end cover is arranged at the upper end of the motor rotor, and the lower end part of the upper end cover extends downwards and covers at least part of the angle sensor in a surrounding mode so as to protect the angle sensor and the motor rotor.

Further, the upper end of the upper end cover and the motor rotor are surrounded to form an air cavity between the upper end cover and the motor rotor;

the motor rotor is provided with at least one gas channel, the upper end of the gas channel is communicated with the gas cavity, and the lower end of the gas channel is communicated with the first head end opening on the first swinging piece.

Further, the suction device further comprises:

an air tube in communication with the air cavity and configured to deliver negative pressure to the air cavity;

furthermore, at least one sealing ring sleeved on the motor rotor is arranged in the air cavity and used for preventing the air cavity from leaking air.

Further, at least one bearing is arranged on the motor rotor.

According to the suction device provided by the embodiment of the invention, the suction head is connected to the posture adjusting mechanism, when the suction head is in contact with the surface of a product to suck, the posture adjusting mechanism can flexibly and automatically adjust the posture of the suction head according to the curvature of the surface of the product, so that the suction surface of the suction head is parallel to the surface of the product, the contact area is increased, the posture adjusting mechanism can also rotate under the driving of the rotary driving unit to compensate the angle deviation of the suction head when the suction head sucks the product, the suction success rate of the suction device is improved, and the production efficiency of a production line is obviously improved.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

FIG. 1 is a perspective view of a suction device according to an embodiment of the present invention;

FIG. 2 is an exploded view of a suction device according to an embodiment of the present invention;

FIG. 3 is an exploded view of an attitude adjustment mechanism of an embodiment of the present invention;

FIG. 4 is a cross-sectional view of a suction device of an embodiment of the present invention in one direction;

FIG. 5 is a cross-sectional view of a suction device according to an embodiment of the present invention in another direction;

FIG. 6 is a schematic diagram illustrating the attitude adjustment of the suction head according to the embodiment of the present invention;

FIG. 7 is a schematic spatial view of a cleaner head according to an embodiment of the present invention in all possible orientations;

FIG. 8 is a schematic view of a first resilient tab engaged with a first cantilevered shaft in accordance with an embodiment of the present invention;

FIG. 9 is a schematic view of the principle of bending a first elastic sheet according to an embodiment of the present invention;

FIG. 10 is a perspective view of the first oscillating member of the embodiment of the present invention;

FIG. 11 is a perspective view of an intermediate member according to an embodiment of the invention;

FIG. 12 is a top view of an upper endcap of an embodiment of the present invention.

Detailed Description

The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.

Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Unless the context clearly requires otherwise, throughout the description, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".

In the description of the present invention, it is to be understood that 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. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

Fig. 1-12 are schematic views of a suction device according to an embodiment of the present invention. As shown in fig. 1 and 2, the suction device includes a suction head 1, a posture adjustment mechanism 2,

rotary drive units

31,32, and a frame 4. The suction head 1 is connected to an attitude adjusting mechanism 2, the attitude adjusting mechanism 2 is connected to

rotary driving units

31,32, and the

rotary driving units

31,32 are provided on the frame 4. The suction head 1 is in direct contact with the surface of the product for sucking up the product. When the suction head 1 contacts the surface of the product, the posture adjusting mechanism 2 can flexibly and automatically adjust the posture of the suction head 1 according to the curvature of the surface of the product, so that the suction head is suitable for different surfaces of the product or different surfaces of the product. The

rotary driving units

31,32 can drive the attitude adjusting mechanism 2 to rotate, so as to drive the suction head 1 to rotate, and adjust the relative direction with the product, so as to compensate the angular deviation of the suction head 1 when sucking the product.

For example, as shown in fig. 6, the product to be sucked can be a camera 9, and the suction head 1 sucks at the position A on the surface of the camera 9. The surface of camera 9 is the curved surface, and the absorption plane alpha of suction head 1 is the plane, and nonparallel between the two is unable when absorbing laminating completely, easily causes to absorb the failure or absorb and keep the effect poor after succeeding in. The section of the geometric center point of the contact surface between the A position of the camera 9 and the suction head 1 is taken as a plane beta, and the plane beta and the plane alpha form an angle with each other. The suction head 1 of the present embodiment, after contacting the position a of the camera 9, will spontaneously generate an angular deflection by the attitude adjustment mechanism 2 (not shown in fig. 6), thereby adapting to the surface curvature of the position a to compensate for the angle between the plane α and the plane β. After the adjustment, the suction plane α and the plane to be sucked β are parallel to each other as shown by the plane γ in fig. 6. From this, the area of contact between suction head 1 and the camera 9 reaches the biggest, and the laminating degree is also the highest for the success rate of absorption is showing and is improving, and the maintenance effect after absorbing also is showing and is promoting, absorbs more reliably. It should be understood that fig. 6 is only a schematic diagram of the posture adjustment, and the shape of the suction head 1 is not limited to the embodiment.

As shown in fig. 2, in the present embodiment, the suction head 1 is connected below the attitude adjusting mechanism 2, the attitude adjusting mechanism 2 is connected below the

rotary driving units

31,32, and the

rotary driving units

31,32 are provided on the frame 4. From this for suction means can absorb the product from top to bottom, and it is bigger to absorb the field of vision, and under the cooperation of gesture guiding mechanism 2 and

rotation driving unit

31,32, absorbs the scope also wider.

As shown in fig. 3, the posture adjustment mechanism 2 includes an intermediate member 20, a first swinging member 21, and a second swinging member 22. The first swinging member 21 is provided above the intermediate member 20, and is connected to the

rotation driving units

31, 32. The second swinging member 22 is arranged below the intermediate member 20 and is connected to the cleaner head 1. The first oscillating member 21 is rotatable relative to the intermediate member 20 about a first axis X, and the second oscillating member 22 is rotatable relative to the intermediate member 20 about a second axis Y. Wherein the first axis X and the second axis Y are mutually perpendicular and together constitute the above-mentioned suction plane α.

The rotation of the first swinging member 21 or the second swinging member 22 can drive the suction head 1 to rotate synchronously, thereby realizing the posture adjustment during suction. For example, the first swinging member 21 and the intermediate member 20 are fixed relatively, and the second swinging member 22 rotates around the first axis X, so that the second swinging member 22 drives the suction head 1 to rotate relative to the intermediate member 20 and the first swinging member 21, and the suction head 1 can be rotationally adjusted in posture by taking the first axis X as an axis. For another example, if the intermediate member 20 and the second swinging member 22 are fixed relative to each other, and the first swinging member 21 rotates around the second axis Y, then the intermediate member 20 and the second swinging member 22 also rotate relative to the first swinging member 21 based on the principle of relative movement, and the second swinging member 22 drives the suction head 1 to rotate relative to the first swinging member 21, so that the suction head 1 can be rotationally adjusted in posture about the second axis Y.

The intermediate member 20, the first swinging member 21 and the second swinging member 22 may be rotatably connected to each other by respective protrusions which are outwardly convex in shape.

As shown in fig. 3, in the present embodiment, the outer shapes of the intermediate member 20, the first swinging member 21 and the second swinging member 22 are all circular bodies, two first cantilever shafts 201 and two second cantilever shafts 202 protruding outward are provided on the outer surface of the intermediate member 20, two first swinging arms 211 corresponding to the first cantilever shafts 201 are formed protruding outward on two sides of the first swinging member 21, and two second swinging arms 221 corresponding to the second cantilever shafts 202 are formed protruding outward on two sides of the second swinging member 22.

The two first cantilever shafts 201 and the two second cantilever shafts 202 are arranged in a crossed manner around the circumference of the middle part 20, and the adjacent first cantilever shafts 201 and the adjacent second cantilever shafts 202 are spaced at equal intervals. That is, a first cantilever shaft 201, a second cantilever shaft 202, a first cantilever shaft 201 and a second cantilever shaft 202 are sequentially arranged along the circumferential direction of the intermediate member 20 at intervals of 90 °, and it is easy to know that the extending directions of the first cantilever shaft 201 and the second cantilever shaft 202 are perpendicular to each other. The straight line of the connecting line of the two first cantilever shafts 201 forms a first axis X, and the straight line of the connecting line of the two second cantilever shafts 202 forms a second axis Y.

The first oscillating member 21 is disposed above the intermediate member 20, and the first oscillating arms 211 on both sides thereof protrude outward with distal ends thereof extending slightly downward and form a pivotal connection with the corresponding first oscillating arm 211, more specifically, a pivotal connection in a direction about the first axis X. Similarly, the second swinging member 22 is located below the intermediate member 20, and the second swinging arms 221 on both sides thereof protrude outward with distal ends extending slightly upward and form a pivotal connection with the corresponding second swinging arm 221, more specifically, a pivotal direction of the pivotal connection is a rotation about the second axis Y. Thus, when one or two of the intermediate member 20, the first swinging member 21 and the second swinging member 22 are fixed relative to each other, the other two or other members can drive the suction head 1 to perform posture adjustment with the first axis X and/or the second axis Y as axes.

It will further be appreciated that the orientation of the cleaner head 1 after attitude adjustment is related to the degree of rotation thereof about the first and second axes X, Y. In addition, there is a single third axis Z which is perpendicular to both the first and second axes X, Y and at the intersection of the first and second axes X, Y, and the orientation of the cleaner head 1 after attitude adjustment is related to the angle of rotation about the third axis Z. In the present embodiment, the

rotation driving units

31 and 32 are used to drive the posture adjustment mechanism 2 to rotate around the third axis Z.

As shown in fig. 7, a spatial three-dimensional rectangular coordinate system (hereinafter referred to as coordinate system) is established with a first axis X as a coordinate axis X, a second axis Y as a coordinate axis Y, and a third axis Z as a coordinate axis Z,the origin of the coordinate system is the intersection of the three axes. Noting the orientation vector of the suction head 1 as

Bearing vector

The projection on the plane enclosed by the coordinate axis Y and the coordinate axis Z is the first offset vector

(not shown) recording orientation vectors

The projection on the plane enclosed by the coordinate axis X and the coordinate axis Z is the second offset vector

(not shown) recording orientation vectors

The projection on the plane enclosed by the coordinate axis X and the coordinate axis Y is the third offset vector

(not shown in the figure). That is to say that the first and second electrodes,

wherein the easy-to-push, first offset vector

Direction of (1) is from the orientation vector

A second offset vector determined by the angle of rotation about the coordinate axis X

Direction of (1) is from the orientation vector

A third offset vector determined by the angle of rotation about the axis Y

Direction of (1) is from the orientation vector

The angle of rotation about the coordinate axis Z. And, the first offset vector

Second offset vector

And a third offset vector

In all possible orientations, the vector sum thereof may constitute an arbitrary orientation of the coordinate system based space. Thus, rotation of the cleaner head 1 about the first axis X and/or the second axis Y and/or the third axis Z can be directed to any position in space to accommodate different curved surfaces of different products at different angles.

As shown in fig. 3, in the present embodiment, the end of the first swing arm 211 is formed with two first clamping jaws 2111 which are oppositely arranged, a first penetrating space 2a is formed between the two first clamping jaws 2111, and two first cantilever shafts 201 are respectively penetrated into the corresponding first penetrating spaces 2a, and more specifically, are penetrated into the first penetrating spaces 2a rotatably around the first axis X. Similarly, the end of the second swing arm 221 is formed with two oppositely disposed second clamping jaws 2211, a second penetrating space 2b is formed between the two second clamping jaws 2211, and the two second cantilever shafts 202 are respectively penetrated into the corresponding second penetrating spaces 2b, and more specifically, are rotatably penetrated into the second penetrating spaces 2b around the second axis Y.

The jaws, together with the swing arm, wrap at least part of the cantilevered shaft, which limits the planar motion of the cantilevered shaft so that the cantilevered shaft can only rotate in the through-space relative to the swing member, similar to a shaft in a shaft-hole fit rotating in a hole.

It should be understood that the manner of the rotational connection is not limited to the above manner, for example, the first cantilever shaft 201 and/or the second cantilever shaft 202 may also be provided in the form of a jaw, and correspondingly, the first swing arm 211 and/or the second swing arm 221 may also be provided in the form of a shaft or a rod. In addition, in some other alternative implementations, the jaw form may also be provided as an annular ring form. The posture of the suction head 1 can be adjusted as well.

In this embodiment, as shown in fig. 8, the first elastic sheet 231 is sandwiched between the two first jaws 2111, and the second elastic sheet 232 is sandwiched between the two second jaws 2211. Taking the first elastic sheet 231 as an example, when the first elastic sheet 231 is disposed between the two first clamping jaws 2111, the first elastic sheet 231 is pressed by the first clamping jaws 2111 on both sides and bent, so as to let the first cantilever shaft 201 pass through, and in the view angle of fig. 8, the first passing space 2a coincides with the position of the first cantilever shaft 201. The first elastic sheet 231 after being bent is attached to the upper end portion of the outer periphery of the first cantilever shaft 201, and the first elastic sheet 231 has elastic deformation capability and tends to recover to an original unbent state after being bent, so as to apply a force F to the first cantilever shaft 201 to press the first cantilever shaft 201 on the first oscillating arm 211.

When the attitude adjustment mechanism 2 drives the suction head 1 along the first axis X to perform attitude adjustment, the first cantilever shaft 201 rotates relative to the first elastic sheet 231, and after the attitude adjustment is completed, the first elastic sheet 231 provides a holding force (not shown) to the first cantilever shaft 201, so that the attitude adjustment mechanism 2 and the suction head 1 can hold the angle after the product has been sucked. The holding force is a frictional resistance (not shown) between the first elastic sheet 231 and the outer peripheral upper end contact portion of the first cantilever shaft 201, and the frictional resistance is along the outer periphery of the first cantilever shaft 201 to suppress the rotation of the first cantilever shaft 201 when the mechanism is not subjected to other external forces.

As shown in fig. 9, the tip of the first jaw 2111 may be provided with a groove 2111a, and the end of the first elastic sheet 231 is fitted into the groove 2111a so as to be fixed between the two first jaws 2111. The height h of the groove 2111a relative to the bottom of the first swing arm 211 is smaller than the height h' of the tip of the outer periphery of the first cantilever shaft 201 relative to the bottom of the first swing arm 211, so that the first elastic sheet 231 is pushed up by the first cantilever shaft 201 and bent.

The coupling between the second resilient tab 232 and the second cantilevered shaft 202 is similar to the coupling between the first resilient tab 231 and the first cantilevered shaft 201, and will not be described again.

As shown in fig. 4 and 5, in the present embodiment, the first swinging member 21 has a hollow first internal cavity 212, the second swinging member 22 has a hollow second internal cavity 222, and the intermediate member 20 has a hollow third internal cavity 200. The first cavity 212, the second cavity 222, the third cavity 200 and the suction head 1 are communicated in sequence, so that negative pressure is transmitted to the suction head 1, and the suction head 1 can suck products.

Referring to fig. 3, 10 and 11, the first interior cavity 212 has a first head end opening 212a and a first tail end opening 212 b. The first head end opening 212a is located at an upper portion of the first swinging member 21 for receiving the negative pressure. The two first end openings 212b are respectively located on the two first swing arms 211 and face the first cantilever shaft 201. Second interior cavity 222 has a second head end opening 222a and a second tail end opening 222 b. The second head end openings 222a are two and are respectively located on the two second swing arms 221 and face the second boom shaft 202. The second end opening 222b is located at the lower part of the second swinging member 22 for connecting with the cleaner head 1 and transferring the negative pressure to the cleaner head 1. The third inner cavity 200 has a third upper side opening 201a and a third lower side opening 202 a. The third upper openings 201a are two first swinging members 21 respectively located on the two first cantilever shafts 201 and facing upward the two first cantilever shafts 201, and each third upper opening 201a is at least partially communicated with the first end opening 212b of the corresponding first swinging member 21. Two third lower openings 202a are also provided, which are respectively located on the two second cantilever shafts 202 and face the second swinging member 22 corresponding to the second cantilever shafts 202, and each third lower opening 202a is at least partially communicated with the second head end opening 222a of the corresponding second swinging member 22.

The suction head 1 is communicated with the second inner cavity 222, the third inner cavity 200 and the first inner cavity 212 in sequence through the second end opening 222b, and then receives the negative pressure transmitted from the first head end opening 212 a. More specifically, the negative pressure is transmitted to the cleaner head 1 via the first head end opening 212a, the first inner cavity 212, the first tail end opening 212b, the third upper opening 201a, the third inner cavity 200, the third lower opening 202a, the second head end opening 222a, the second inner cavity 222 and the second tail end opening 222b in this order.

The first elastic sheet 231 presses the first cantilever shaft 201 onto the first swing arm 211 to prevent air leakage between the first end opening 212b and the third upper opening 201 a. The second elastic sheet 232 presses the second suspension arm 202 onto the second swing arm 221 to prevent air leakage between the second head opening 222a and the third lower opening 202 a. When the first cantilever shaft 201 or the second cantilever shaft 202 rotates, the communication area between the first end opening 212b and the third upper side opening 201a or between the second head end opening 222a and the third lower side opening 202a increases or decreases with the rotation, but there are at least parts that are communicated with each other, so that the gas can be transmitted. Further, the area of each opening is not necessarily too large as long as the openings allow gas to pass therethrough, and if the openings are too large, for example, they extend to the outer surface of the member, the gas leakage is likely to occur.

As shown in fig. 3, in order to facilitate product processing, in the present embodiment, the first swinging member 21 and the intermediate member 20 are annular, and the first cantilever shaft 201 and the second cantilever shaft 202 of the intermediate member 20 further have a fourth opening 2004 facing outward, and the fourth opening 2004 is communicated with the third inner cavity 200. A plug 2004a is removably disposed over the fourth opening 2004 to block the aperture to prevent leakage from the third lumen 200.

As shown in fig. 2, 3 and 5, in the present embodiment, the

rotary drive units

31,32 include a motor stator 31 and a motor rotor 32. The motor stator 31 includes an annular core and a winding disposed on the annular core, and is configured to generate a rotating magnetic field. The motor rotor 32 is a cylindrical structure and penetrates through the motor stator 31, and the central axis of the motor rotor 32 is the third axis Z. The first swinging member 21 is fixedly connected to the lower end of the motor rotor 32, and thus can rotate synchronously around the third axis Z following the motor rotor 32.

As shown in fig. 4 and 5, the motor rotor 32 further has two gas channels 320, and in this embodiment, the number of the gas channels 320 is two, and the two gas channels are respectively disposed on two sides of the motor rotor 32. The gas channel 320 is a hollow cavity in the body of the motor rotor 32, which is distinguished from a hollow cylinder hole of the cylinder structure of the motor rotor 32, and the gas channel 320 is a cavity pipeline on the cylinder wall. The cavity may be a straight line or a curved line, and the extending direction is along the up-down direction of the motor rotor 32.

The lower end of the motor rotor 32 extends into an annular hole in the center of the annular body of the first oscillating member 21 and can be fixedly connected by means of a snap-fit structure (not shown) on the contact surface or by means of fasteners (not shown) or the like. The lower end of the air passage 320 opens at the portion where the motor rotor 32 is connected to the first swinging member 21, and the opening may be directed to the side, that is, the first head end opening 212a of the first inner cavity 212, and at least partially communicated to the first head end opening 212a, so that the negative pressure can be supplied to the attitude adjusting mechanism 2 and the cleaner head 1. In the present embodiment, since there are two gas passages 320, the first head end opening 212a also has two, and is located on both sides of the first swinging member 21, respectively, and faces inward.

As shown in fig. 1 and 2, fig. 4 and fig. 5, the suction device of the present embodiment may further include an angle sensor 5, and the angle sensor 5 is used for measuring the deflection angle of the motor rotor 32. The angle sensor 5 may be electrically connected to a system-side control unit (e.g., a computer, not shown) to which measured data is transmitted in real time after the deflection angle of the motor rotor 32 is measured. The control unit analyzes the data to calculate whether and how large the angular deviation is between the attitude adjusting mechanism 2 and the product, and further controls the motor rotor 32 to rotate by a proper angle to compensate the angular deviation.

In this embodiment, the angle sensor 5 is an annular structure and is sleeved on the outer periphery of the motor rotor 32. When the motor rotor 32 is not rotated, the angle sensor 5 records the position and state of the motor rotor 32 as an initial angle of 0 °. When the motor rotor 32 rotates, the angle sensor 5 senses the position and state change of the motor rotor 32 and compares the position and state change with the initial angle, so that the real-time deflection angle of the motor rotor 32 is obtained.

As shown in fig. 1, 2 and 12, the suction device of the present embodiment further includes an upper end cover 6, and the upper end cover 6 is disposed at an upper end of the motor rotor 32, that is, at the other end opposite to the end where the posture adjustment mechanism 2 is located. The angle sensor 5 is located below the upper end cover 6. The upper end face of the upper end cover 6 can be provided with through holes corresponding to and aligned with the cylinder holes of the motor rotor 32, the side face of the upper end cover 6 surrounds the motor rotor 32, and the lower end part of the upper end cover 6 extends downwards to cover at least part of the angle sensor 5 so as to protect the angle sensor 5 and the motor rotor 32.

As shown in fig. 4 and 5, a portion of the upper end cover 6 surrounding the motor rotor 32 is formed with an air chamber 60 located between the upper end cover 6 and the motor rotor 32, the air chamber 60 being located at the center of the upper end cover 6, and below which the angle sensor 5 is located. The air chamber 60 is a hollow inner space of the upper end cap 6, and is formed as a relatively closed space having only an air inlet and an air outlet by being wrapped with the side wall of the motor rotor 32 after the motor rotor 32 is inserted. The upper end of the air passage 320 of the motor rotor 32 may have an opening toward the outside so as to be communicated to the air chamber 60.

As shown in fig. 1 and 2, the suction device of the present embodiment may further include an air tube 7. The upper end cover 6 is also provided with an air inlet 61 (see fig. 12), and the air inlet 61 communicates the external space with the air chamber 60. One end of the air tube 7 may be connected to a negative pressure pump (not shown), and the other end is inserted into the air inlet 61 to be communicated to the air chamber 60. Therefore, the whole suction device delivers negative pressure through the negative pressure pump, and finally inputs the negative pressure to the suction head 1 after sequentially passing through the air pipe 7, the air inlet 61, the air cavity 60, the air channel 320, the first inner cavity 212, the third inner cavity 200 and the second inner cavity 222, so that the product can be sucked.

Preferably, the edge of the air chamber 60 may be further provided with a sealing ring 321 which is sleeved on the motor rotor 32, so as to seal the air chamber 60 to prevent air leakage from the air chamber 60. As shown in fig. 2, 4 and 5, in the present embodiment, the upper and lower ends of the air chamber 60 are respectively provided with a sealing ring 321, so that the sealing effect is better.

In addition, it should be added that the suction head 1 can be a conventional suction head, and can be fixedly connected with the second swinging member 22 by a fastener (such as a pin, a screw, etc.), and the suction head 1 also has a hollow inner cavity inside and is at least partially aligned with the second end opening 222b when fixedly connected so as to be communicated with the second inner cavity 222. Since the structure of the cleaner head 1 and the manner of connection to other components are easily conceivable, no further details are given here.

In this embodiment, as shown in fig. 4 and 5, the frame 4 also has an annular body and is fitted over the motor rotor 32, which on the one hand supports the motor stator 31 and on the other hand also serves as a structural integral connection and load-bearing. As shown in fig. 1 and 2, a connection plate 41 can be connected to the outside of the frame 4, and the connection plate 41 is used for connecting with other equipment or fixed end, so that the suction device has an installation position in the production line.

The connecting plate 41 may be fixed to the frame 4 by means of a fastener connection, and may also be connected to other devices or fixed ends by means of fasteners.

As shown in fig. 2, 4 and 5, the suction device may further include bearings 8, and the number and positions of the bearings 8 are not limited. In the present embodiment, two bearings 8 are provided. One of which is located above the angle sensor 5, surrounded by the upper end cap 6 and fitted over the motor rotor 32. The other is positioned between the motor stator 31 and the attitude adjusting mechanism 2, is surrounded by the frame 4 and is sleeved on the motor rotor 32. The bearing 8 is used for supporting the rotating body, reducing the friction damping between the motor rotor 32 and the (fixed) motor stator 31, the angle sensor 5 and other components when the motor rotor rotates, and ensuring the rotation precision.

The suction device is characterized in that the attitude adjusting mechanism is connected with the suction head, when the suction head is in contact with the surface of a product to suck, the attitude adjusting mechanism can self-adjust the attitude of the suction head according to the flexibility of the curvature of the surface of the product, so that the suction surface of the suction head is parallel to the surface of the product, the contact area is increased, and the attitude adjusting mechanism can also rotate under the driving of the rotary driving unit to compensate the angle deviation of the suction head when the suction head sucks the product, thereby improving the suction success rate of the suction device and obviously improving the production efficiency of a production line.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A suction device, comprising:

a suction head (1) for sucking up a product;

a posture adjustment mechanism (2) connected with the suction head (1), wherein the posture adjustment mechanism (2) is configured to adjust the posture of the suction head (1) to adapt to the surface curvature of the product when the suction head (1) contacts the surface of the product;

a rotary driving unit (31,32) connected with the posture adjustment mechanism (2), wherein the rotary driving unit (31,32) is configured to drive the posture adjustment mechanism (2) to rotate so as to adjust the angle of the sucker (1) when sucking the product; and

a frame (4), the rotary drive unit (31,32) being arranged on the frame (4);

wherein the posture adjustment mechanism (2) comprises:

an intermediate member (20);

a first oscillating member (21) arranged above the intermediate member (20) and connected to the rotary drive unit (31,32), the first oscillating member (21) being configured to rotate about a first axis (X) relative to the intermediate member (20) to adjust the attitude of the tip (1); and

a second oscillating member (22), said second oscillating member (22) being arranged below said intermediate member (20) and connected to said nozzle (1), said second oscillating member (22) being configured to rotate about a second axis (Y) with respect to said intermediate member (20) so as to adjust the attitude of said nozzle (1);

wherein the first axis (X) and the second axis (Y) are mutually perpendicular;

the outer surface of the middle piece (20) is provided with two first cantilever shafts (201) and two second cantilever shafts (202) which protrude outwards, the first cantilever shafts (201) and the second cantilever shafts (202) are arranged in a crossed mode and are arranged at equal intervals along the circumferential direction of the middle piece (20), a connecting line of the two first cantilever shafts (201) forms the first axis (X), and a connecting line of the two second cantilever shafts (202) forms the second axis (Y);

two first swinging arms (211) are formed on two sides of the first swinging piece (21) in an outward protruding mode, and the first swinging arms (211) are rotatably connected with the corresponding first cantilever shafts (201);

two second swinging arms (221) are formed by protruding outwards on two sides of the second swinging piece (22), and the second swinging piece (22) is rotatably connected with the corresponding second cantilever shaft (202);

wherein the first oscillating piece (21) has a hollow first inner cavity (212);

the second oscillating piece (22) has a hollow second inner cavity (222);

the intermediate piece (20) is provided with a hollow third inner cavity (200);

the first inner cavity (212), the second inner cavity (222) and the third inner cavity (200) are communicated with the suction head (1) in sequence;

wherein the first inner cavity (212) has a first head end opening (212a) and a first tail end opening (212b), and two first tail end openings (212b) are respectively positioned on the two first swing arms (211) and face the first cantilever shaft (201);

the second inner cavity (222) has a second head end opening (222a) and a second tail end opening (222b), wherein two second head end openings (222a) are respectively positioned on the two second swing arms (221) and face the second cantilever shaft (202);

the third inner cavity (200) is provided with a third upper opening (201a) and a third lower opening (202a), wherein the number of the third upper openings (201a) is two, the third upper openings are respectively positioned on the two first cantilever shafts (201) and at least partially communicated with the corresponding first tail end openings (212b), the number of the third lower openings (202a) is also two, the third lower openings are respectively positioned on the two second cantilever shafts (202) and at least partially communicated with the corresponding second head end openings (222 a);

the suction head (1) is communicated with the second inner cavity (222), the third inner cavity (200) and the first inner cavity (212) in sequence through the second end opening (222 b).

2. The suction device according to claim 1, characterized in that the end of the first swing arm (211) is formed with two first clamping jaws (2111) arranged oppositely, a first through space (2a) is formed between the two first clamping jaws (2111), and the two first cantilever shafts (201) are respectively movably inserted into the corresponding first through spaces (2 a);

the end of the second swing arm (221) is provided with two second clamping jaws (2211) which are oppositely arranged, a second penetrating space (2b) is formed between the second clamping jaws (2211), and the second cantilever shaft (202) is movably penetrated and arranged in the second penetrating space (2b) correspondingly.

3. The suction device according to claim 2, characterized in that the attitude adjustment mechanism (2) further comprises:

the first elastic sheet (231) is arranged between the two first clamping jaws (2111) of the first swing arm (211), and the first elastic sheet (231) presses the first cantilever shaft (201) on the first swing arm (211) so as to avoid air leakage between the first tail end opening (212b) and the third upper side opening (201a) and provide a holding force for the suction head (1) after the posture is adjusted; and

and the second elastic sheet (232) is arranged between the two second clamping jaws (2211) of the second swing arm (221), and the second elastic sheet (232) is pressed on the second cantilever shaft (202) on the second swing arm (221) so as to avoid air leakage between the second head end opening (222a) and the third lower side opening (202a) and provide a holding force for the suction head (1) after the posture is adjusted.

4. The suction device as claimed in claim 1, wherein the first cantilever shaft (201) and the second cantilever shaft (202) further have a fourth opening (2004) facing outward, the fourth opening (2004) communicating with the third lumen (200);

the posture adjustment mechanism (2) further comprises:

a plug (2004a), the plug (2004a) being pluggably disposed in the fourth opening (2004).

5. Suction device according to any one of claims 1-4, characterized in that the rotary drive unit (31,32) comprises:

the motor stator (31) is arranged on the rack (4), and the motor stator (31) comprises an annular iron core and a winding arranged on the annular iron core and is used for generating a rotating magnetic field; and

a motor rotor (32), wherein the motor rotor (32) is arranged in the motor stator (31) in a penetrating manner and is configured to receive an electric signal to rotate around a third axis (Z) in the rotating magnetic field, and the third axis (Z) is a central axis of the motor rotor (32);

the first swinging piece (21) is fixedly connected with the lower end of the motor rotor (32) so as to synchronously rotate along with the motor rotor (32).

6. The suction device as recited in claim 5, further comprising:

an angle sensor (5), the angle sensor (5) being arranged on the rotary drive unit (31,32) and being configured to measure a yaw angle of the motor rotor (32).

7. The suction device according to claim 6, characterized in that the angle sensor (5) is arranged in a ring structure and sleeved on the outer circumference of the motor rotor (32);

the suction device further comprises:

the upper end cover (6) is arranged at the upper end of the motor rotor (32), and the lower end part of the upper end cover (6) extends downwards and covers at least part of the angle sensor (5) in a surrounding mode so as to protect the angle sensor (5) and the motor rotor (32).

8. The suction device as claimed in claim 7, characterized in that the upper end of the upper end cover (6) encloses with the motor rotor (32) an air chamber (60) between the upper end cover (6) and the motor rotor (32);

the motor rotor (32) is provided with at least one air channel (320), the upper end of the air channel (320) is communicated with the air cavity (60), and the lower end of the air channel (320) is communicated with the first head end opening (212a) on the first swinging piece (21).

9. The suction device as recited in claim 8, further comprising:

an air tube (7), the air tube (7) communicating with the air chamber (60) and configured to deliver negative pressure to the air chamber (60).

10. The suction device as claimed in claim 8, wherein at least one sealing ring (321) is arranged in the air chamber (60) and arranged on the motor rotor (32), and the sealing ring (321) is used for preventing air leakage of the air chamber (60).

11. Suction device according to claim 5, characterized in that the motor rotor (32) is also provided with at least one bearing (8).