CN115431294A - Precision adsorption mechanism for manipulator - Google Patents
Precision adsorption mechanism for manipulator Download PDFInfo
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- CN115431294A CN115431294A CN202110619507.5A CN202110619507A CN115431294A CN 115431294 A CN115431294 A CN 115431294A CN 202110619507 A CN202110619507 A CN 202110619507A CN 115431294 A CN115431294 A CN 115431294A
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- block
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- linear guide
- buffer
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 74
- 238000009434 installation Methods 0.000 claims description 10
- 238000010521 absorption reaction Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 6
- 239000006260 foam Substances 0.000 description 5
- 239000004820 Pressure-sensitive adhesive Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
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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
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a precision adsorption mechanism for a manipulator, which comprises a supporting unit, wherein four groups of adsorption units are arranged on the supporting unit, each group of adsorption unit comprises a driving cylinder, a driving block, a buffer block and an adsorption module, an original point positioning block and a moving point positioning block are arranged on the supporting unit, the driving cylinder is connected with the driving block, the adsorption module is fixedly arranged on the buffer block, the buffer block is fixedly connected with the driving block, when the adsorption module is positioned at a starting point, the buffer block abuts against the original point positioning block, when the driving cylinder drives the adsorption module to move to an adsorption product position, the driving block abuts against the moving point positioning block, and the adsorption module adsorbs a product. The invention has simple structure, high product carrying efficiency and accurate positioning.
Description
Technical Field
The invention relates to an adsorption mechanism, in particular to a precise adsorption mechanism for a manipulator.
Background
With the rapid development of the electronic industry, electronic products such as notebook computers, smart phones, and PADs are becoming lighter and thinner, which leads to the trend of lighter and thinner parts for their production. The accessory of the electronic product is thin and small, so that certain difficulty is brought to the assembly of the accessory, the Foam needs to be assembled in the Bracket when the electronic product is produced at present, the Foam structure is very small, great difficulty is caused to the work of carrying the Foam, and the problems of inaccurate positioning, low efficiency and the like exist when the Foam is carried at present.
Disclosure of Invention
In order to overcome the defects, the invention provides the precise adsorption mechanism for the manipulator, four groups of adsorption modules are arranged in the mechanism, and a non-contact mode is adopted when a product is adsorbed, so that the adsorption efficiency of the product is improved, and the condition that the product is activated by external force to activate the pressure-sensitive adhesive can be prevented.
The technical scheme adopted by the invention for solving the technical problem is as follows:
the utility model provides a precision adsorption mechanism for manipulator, includes the support element, be equipped with four groups of absorption units on the support element, every group absorption unit is including driving actuating cylinder, drive actuating block, buffer block and absorption module, be equipped with the initial point locating piece on the support element and move some locating pieces, drive actuating cylinder connect in drive the actuating block, absorption module fixed mounting in on the buffer block, buffer block fixed connection in drive the actuating block, when absorption module is in the starting point, the buffer block support keep off in on the initial point locating piece, when driving actuating cylinder drive absorption module and move to adsorbing the product position, drive the actuating block support keep off in move some locating pieces, absorption module adsorbs the product.
Preferably, the supporting unit comprises a supporting frame and an installation cylinder, the installation cylinder is fixedly installed on the supporting frame, the installation cylinder is used for connecting a mechanical arm, two linear guide blocks are respectively and fixedly installed on two sides of the supporting frame, the original point positioning block is fixedly installed on the supporting frame between the two linear guide blocks, and the moving point positioning block is fixedly installed at the lower ends of the linear guide blocks.
Preferably, the driving cylinder is fixedly mounted on the support frame, and two sets of the adsorption units are slidably mounted on each linear guide block along the vertical direction of the linear guide block.
Preferably, the adsorption unit further comprises a sliding block and a connecting block, two sets of parallel guide rails are respectively arranged on the front side and the back side of the linear guide block along the vertical direction of the linear guide block, two ends of the connecting block are respectively connected to the driving block and the buffer block, and the driving block and the buffer block are slidably mounted in the guide rails through the sliding block respectively.
Preferably, the driving block and the buffer block are respectively located on the front side and the back side of the linear guide block and arranged in parallel with the buffer block, the connecting block is arranged perpendicular to the driving block, and the adsorption module is fixedly installed at the lower end of the buffer block.
Preferably, two groups of exhaust throttle valves are arranged on the driving cylinder and used for controlling the speed of the driving cylinder, and each of the two air suction holes in the adsorption module is connected with an air suction channel.
The invention has the beneficial effects that: the adsorption mechanism comprises a supporting unit and adsorption units, wherein the supporting unit comprises a supporting frame and an installation cylinder, the adsorption unit comprises a driving air cylinder, a driving block, a connecting block, a buffer block and an adsorption module, the driving air cylinder is fixedly installed on the supporting frame, a linear guide block, an original point positioning block and a moving point positioning block are installed on the supporting frame, the driving block and the buffer block are slidably installed on the linear guide block, the driving block and the buffer block are fixedly connected through the connecting block, the adsorption module is fixed on the buffer block, the original point positioning block and the moving point positioning block are used for accurately limiting the stroke of the driving air cylinder, four groups of adsorption units are arranged on the adsorption mechanism, and one adsorption module is arranged on each adsorption unit, so that four products can be adsorbed each time, the carrying efficiency of the products is improved, the production efficiency reaches UPH1150, and the discharge yield reaches one hundred percent; when the adsorption module is positioned above the product for a certain distance, the product is directly sucked up by vacuumizing, so that the product and the pressure-sensitive adhesive are not damaged by adopting a non-contact type product sucking mode; and be equipped with original point locating piece and moving point locating piece on the supporting element and inject the motion trail of absorption module, the position of accurate positioning absorption module has improved the positioning accuracy when absorption module adsorbs the product.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of an adsorption unit according to the present invention;
in the figure: 10-supporting unit, 11-supporting frame, 12-mounting cylinder, 13-origin positioning block, 14-moving point positioning block, 15-linear guide block, 16-guide rail, 20-adsorption unit, 21-driving cylinder, 22-exhaust throttle valve, 23-sliding block, 24-driving block, 25-connecting block, 26-buffer block, 27-adsorption module and 28-air extraction channel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For ease of description, spatially relative terms such as "over 8230," "upper surface," "above," and the like may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; above" may include both orientations "at 8230; \8230; above" and "at 8230; \8230; below". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The embodiment is as follows: as shown in fig. 1-2, a precision adsorption mechanism for a manipulator includes a supporting unit 10, four groups of adsorption units 20 are disposed on the supporting unit 10, each group of adsorption unit 20 includes a driving cylinder 21, a driving block 24, a buffer block 26 and an adsorption module 27, an original point positioning block 13 and a moving point positioning block 14 are disposed on the supporting unit 10, the driving cylinder 21 is connected to the driving block 24, the adsorption module 27 is fixedly mounted on the buffer block 26, the buffer block 26 is fixedly connected to the driving block 24, when the adsorption module 27 is located at a starting point, the buffer block 26 abuts against the original point positioning block 13, when the driving cylinder 21 drives the adsorption module 27 to move to an adsorption product position, the driving block 24 abuts against the moving point positioning block 14, and the adsorption module 27 adsorbs a product.
The invention is arranged on the mechanical arm through the supporting unit and is used for adsorbing accessories Foam in electronic products, the traditional process has low carrying efficiency and inaccurate positioning, and the mechanical arm is in direct contact and is easy to damage the products; when the adsorption module 27 is positioned above the product for a certain distance, the product is directly sucked up by vacuumizing, so that the product is not damaged by adopting a non-contact type product sucking mode; and be equipped with original point locating piece and moving point locating piece on the supporting element and inject the motion trail of absorption module, the position of accurate positioning absorption module has improved the positioning accuracy when absorption module adsorbs the product.
As shown in fig. 1, the supporting unit 10 includes a supporting frame 11 and an installation cylinder 12, the installation cylinder 12 is fixedly installed on the supporting frame 11, the installation cylinder 12 is used for connecting a robot arm, two sides of the supporting frame 11 are respectively and fixedly installed with a linear guide block 15, the origin positioning block 13 is fixedly installed on the supporting frame 11 between the two linear guide blocks 15, and the moving point positioning block 14 is fixedly installed at the lower end of the linear guide block 15. The mounting cylinder 12 is located above the support frame 11, the left side and the right side of the support frame 11 are respectively provided with a linear guide block 15, the front side and the rear side of the support frame 11 are respectively provided with an original point positioning block 13, the lower end of the linear guide block 15 is connected with a moving point positioning block 14, the two linear guide blocks 15 are arranged in parallel, the moving point positioning block 14 protrudes outwards from the linear guide block 15 along the horizontal direction, and the moving point positioning block and the linear guide blocks are arranged perpendicularly.
The driving cylinder 21 is fixedly installed on the supporting frame 11, and two sets of the adsorption units 20 are slidably installed on each linear guide block 15 along the vertical direction thereof. The moving point positioning block 14 located on the linear guide block on the left side of the support frame is used for positioning two sets of driving blocks 24 on the linear guide block on the left side, the moving point positioning block 14 located on the linear guide block on the right side of the support frame is used for positioning two sets of driving blocks 24 on the linear guide block on the right side, the original point positioning block 13 located at the front end of the support frame is used for positioning two sets of buffer blocks 26 close to the front end of the support frame, and the original point positioning block located at the rear end of the support frame is used for positioning two sets of buffer blocks 26 close to the rear end of the support frame.
As shown in fig. 2, the adsorption unit 20 further includes a slider 23 and a connection block 25, two sets of parallel guide rails 16 are respectively disposed on the front side and the back side of the linear guide block 15 along the vertical direction thereof, two ends of the connection block 25 are respectively connected to a driving block 24 and a buffer block 26, and the driving block 24 and the buffer block 26 are respectively slidably mounted in the guide rails 16 through the slider 23. The driving block 24 and the buffer block 26 are respectively located on the front side and the back side of the linear guide block 15 and are arranged in parallel with the buffer block, the connecting block 25 is arranged perpendicular to the driving block 24, and the adsorption module 27 is fixedly installed at the lower end of the buffer block 26. The driving block 24 is connected to the lower end of the driving cylinder 21, the adsorption module 27 is installed at the lower end of the buffer block 26, the buffer block is connected to the driving block 24 through the connecting block 25, when the driving block 24 is driven by the driving cylinder 21 to move up and down, the driving block drives the buffer block and the adsorption module to synchronously operate, and the moving range of the driving cylinder 21 is limited between the original point positioning block 13 and the moving point positioning block 14.
Two groups of exhaust throttle valves 22 are arranged on the driving cylinder 21 and used for controlling the speed of the driving cylinder, and two air suction holes are formed in the adsorption module 27, and each air suction hole is connected with an air suction channel 28. The air exhaust channel 28 is connected with an external vacuum device, the driving cylinder 21 accurately controls the running speed of the driving cylinder through two groups of exhaust throttle valves 22, and the adsorption module adopts a double-channel non-contact type absorption mode, so that the pressure-sensitive adhesive can be prevented from being activated by external force.
The operation process of the invention is as follows: when the product is required to be adsorbed, the mechanical arm moves to a position near the product on the vibration disc, the driving cylinder 21 drives the driving block 24 to move downwards, the buffer block and the adsorption module 27 simultaneously move downwards until the driving block 24 is stopped by the passive point positioning block 14, the driving cylinder stops moving, the adsorption module 27 is located right above the product at the moment, the external vacuumizing device sucks the adsorption module through the air suction channel to suck the product onto the adsorption module 27, the mechanical arm carries the product to the position of the product carrier, the adsorption module removes vacuum to place the product on the product carrier, and the driving cylinder 21 moves upwards until the buffer block 26 abuts against the original point positioning block 13 to prepare for next carrying work.
It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. The utility model provides a precision adsorption apparatus constructs for manipulator which characterized in that: the adsorption device is characterized by comprising a supporting unit (10), wherein four groups of adsorption units (20) are arranged on the supporting unit (10), each group of adsorption unit (20) comprises a driving cylinder (21), a driving block (24), a buffer block (26) and an adsorption module (27), an original point positioning block (13) and a moving point positioning block (14) are arranged on the supporting unit (10), the driving cylinder (21) is connected to the driving block (24), the adsorption module (27) is fixedly installed on the buffer block (26), the buffer block (26) is fixedly connected to the driving block (24), when the adsorption module (27) is located at a starting point, the buffer block (26) abuts against the original point positioning block (13), when the driving cylinder (21) drives the adsorption module (27) to move to an adsorption product position, the driving block (24) abuts against the moving point positioning block (14), and the adsorption module (27) adsorbs a product.
2. The precision adsorption mechanism for a robot hand according to claim 1, wherein: the supporting unit (10) comprises a supporting frame (11) and an installation cylinder (12), the installation cylinder (12) is fixedly installed on the supporting frame (11) and the installation cylinder (12) is used for connecting a mechanical arm, a linear guide block (15) is fixedly installed on each of two sides of the supporting frame (11), an original point positioning block (13) is fixedly installed on the supporting frame (11) between the two linear guide blocks (15), and a moving point positioning block (14) is fixedly installed at the lower end of the linear guide block (15).
3. The precision adsorption mechanism for a robot hand according to claim 2, wherein: the driving air cylinder (21) is fixedly arranged on the supporting frame (11), and two groups of adsorption units (20) are slidably arranged on each linear guide block (15) along the vertical direction of the linear guide block.
4. The precision adsorption mechanism for a robot hand according to claim 3, wherein: the adsorption unit (20) further comprises a sliding block (23) and a connecting block (25), two sets of parallel guide rails (16) are respectively arranged on the front side and the back side of the linear guide block (15) along the vertical direction of the linear guide block, two ends of the connecting block (25) are respectively connected to a driving block (24) and a buffer block (26), and the driving block (24) and the buffer block (26) are respectively installed in the guide rails (16) in a sliding mode through the sliding block (23).
5. The precision adsorption mechanism for a robot hand according to claim 4, wherein: drive block (24) and buffer block (26) are located straight line guide block (15) respectively positive and negative both sides and drive block and buffer block parallel arrangement, connecting block (25) are arranged with drive block (24) are perpendicular, adsorb module (27) fixed mounting in the lower extreme of buffer block (26).
6. The precision adsorption mechanism for a robot hand according to claim 1, wherein: two groups of exhaust throttle valves (22) are arranged on the driving cylinder (21) and used for controlling the speed of the driving cylinder, two air suction holes are formed in the adsorption module (27), and each air suction hole is connected with an air suction channel (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110619507.5A CN115431294A (en) | 2021-06-03 | 2021-06-03 | Precision adsorption mechanism for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110619507.5A CN115431294A (en) | 2021-06-03 | 2021-06-03 | Precision adsorption mechanism for manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN115431294A true CN115431294A (en) | 2022-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110619507.5A Pending CN115431294A (en) | 2021-06-03 | 2021-06-03 | Precision adsorption mechanism for manipulator |
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| Country | Link |
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| CN (1) | CN115431294A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013119153A (en) * | 2011-12-09 | 2013-06-17 | Kawasaki Heavy Ind Ltd | Robot hand device |
| CN212497816U (en) * | 2020-07-03 | 2021-02-09 | 江苏立讯机器人有限公司 | Suction device |
| CN212826636U (en) * | 2020-08-07 | 2021-03-30 | 苏州润弘安创自动化科技有限公司 | Automatic sprue shearing device for injection mold |
| CN215202046U (en) * | 2021-06-03 | 2021-12-17 | 江苏杰士德精密工业有限公司 | Precision adsorption mechanism for manipulator |
-
2021
- 2021-06-03 CN CN202110619507.5A patent/CN115431294A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013119153A (en) * | 2011-12-09 | 2013-06-17 | Kawasaki Heavy Ind Ltd | Robot hand device |
| CN212497816U (en) * | 2020-07-03 | 2021-02-09 | 江苏立讯机器人有限公司 | Suction device |
| CN212826636U (en) * | 2020-08-07 | 2021-03-30 | 苏州润弘安创自动化科技有限公司 | Automatic sprue shearing device for injection mold |
| CN215202046U (en) * | 2021-06-03 | 2021-12-17 | 江苏杰士德精密工业有限公司 | Precision adsorption mechanism for manipulator |
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