CN115648262B - Absorption clamping assembly and conveying system - Google Patents
Absorption clamping assembly and conveying system Download PDFInfo
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- CN115648262B CN115648262B CN202211312570.5A CN202211312570A CN115648262B CN 115648262 B CN115648262 B CN 115648262B CN 202211312570 A CN202211312570 A CN 202211312570A CN 115648262 B CN115648262 B CN 115648262B
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- 238000010521 absorption reaction Methods 0.000 title description 2
- 238000007789 sealing Methods 0.000 claims abstract description 78
- 238000001179 sorption measurement Methods 0.000 claims abstract description 54
- 238000003860 storage Methods 0.000 claims description 21
- URLKBWYHVLBVBO-UHFFFAOYSA-N Para-Xylene Chemical group CC1=CC=C(C)C=C1 URLKBWYHVLBVBO-UHFFFAOYSA-N 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 6
- 229920006254 polymer film Polymers 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 abstract description 11
- 238000000034 method Methods 0.000 description 16
- 229910000831 Steel Inorganic materials 0.000 description 13
- 239000010959 steel Substances 0.000 description 13
- 239000011521 glass Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 239000003344 environmental pollutant Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 231100000719 pollutant Toxicity 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000003749 cleanliness Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005229 chemical vapour deposition Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 229920001973 fluoroelastomer Polymers 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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Abstract
The invention discloses an adsorption clamping assembly and a carrying system, wherein the adsorption clamping assembly comprises a sucker module, the sucker module comprises a sucker and a deformable clean sealing ring arranged at the edge of a working surface of the sucker, the working surface of the sucker is an inner concave surface, the sealing ring protruding forwards is fixedly arranged along the edge of the inner concave surface, and an adsorption groove is formed on the front side surface of the sealing ring; the concave cavity of the inner concave surface is connected with a first air passage, the groove cavity of the adsorption groove is connected with a second air passage, the first air passage is connected with a vacuum generator and an air inlet valve assembly, and the second air passage is also connected with the air inlet valve assembly; and a limiting plate is arranged outside the edge of the sucker, and one side of the limiting plate extends out towards the front of the working face. The adsorption device can form two adsorption cavities when contacting with a workpiece, and can operate in a flexible operation mode in adsorption and release stages, so that the damage to the workpiece is prevented, the surface of the workpiece is prevented from being polluted, and the adsorption device is particularly suitable for carrying and assembling large-scale precise elements such as optical elements.
Description
Technical Field
The invention belongs to the technical field of equipment assembly tools, relates to a clamping and transferring tool, and particularly relates to an adsorption clamping assembly and a conveying system.
Background
The precise assembly of large precise parts has challenges, how to flexibly, cleanly and safely pick up, and the precise identification and control of the pose are the most critical, and reliable pick-up, handling and movement and flexible assembly butt joint are the basis for realizing pose adjustment. Large parts are large in size and weight, and are extremely inconvenient to transport and displace by manpower, especially for some parts which are easy to damage. For example, in a high-power solid laser device, in order to avoid the influence of manual assembly on the cleaning performance of an optical element, an automatic assembly and calibration process method is largely adopted, and the automatic assembly and calibration process thereof has extremely high requirements on flexible pick-up and assembly of the optical element, a large number of different types of large-caliber optical elements are required to be assembled into a frame cleanly, nondestructively and precisely, the requirements on the cleanliness of the surface of the element are extremely high, and the high-energy laser optical element has high price, and has high requirements on flexibility and safety in the pick-up, transfer and assembly processes, and does not allow the edge collapse and surface film and shape distortion damage of the element. The traditional mode is to put the components into the frame by a plurality of people in a matching way, and the risks of pollution and edge breakage and angle breakage of the surfaces of the components exist. The clamping mode by using the mechanical clamp is not feasible. In the prior art, a suction device is reported to be used for transferring a workpiece with a flat surface, for example, patent document CN215592006U reports a suction device for sucking glass, but the suction cup can be in contact with the surface of a component in a large area, and the risk of polluting the surface of the component exists.
Disclosure of Invention
Accordingly, an objective of the present invention is to provide an adsorption clamping assembly.
The technical scheme is as follows:
The suction clamping assembly comprises a suction cup module, wherein the suction cup module comprises a suction cup and a deformable sealing ring arranged at the edge of the working surface of the suction cup, and is characterized in that the working surface of the suction cup is an inner concave surface, the sealing ring protruding forwards is fixedly arranged along the edge of the inner concave surface, and a suction groove is formed in the front side surface of the sealing ring;
The concave cavity of the inner concave surface is connected with a first air passage, and the groove cavity of the adsorption groove is connected with a second air passage;
The first air passage is connected with a vacuum generator, and when the vacuum generator works, the air in the groove cavity of the adsorption groove is sucked through the concave cavity of the inner concave surface;
the first air passage and the second air passage are respectively connected with an air inlet valve assembly;
and a limiting plate is arranged outside the edge of the sucker, and one side of the limiting plate extends out towards the front of the working face.
Preferably, a first air hole is formed in the middle of the sucker, and the first air hole is communicated with the first air channel;
the cross section of the sealing ring is Y-shaped, the tail part of the sealing ring is fixedly connected with the sucker, the two sealing lips at the front part of the sealing ring extend forwards and are separated from each other, and the two sealing lips enclose the adsorption groove;
at least one third air hole is formed in the bottom of the adsorption groove, penetrates through the tail of the sealing ring and is communicated with the second air passage.
Preferably, at least two third air holes are uniformly distributed on the sealing ring.
Preferably, the front edges of the two sealing lips are rounded, and the included angle between the groove walls at the two sides of the adsorption groove is 75-85 degrees;
the surface of the sealing lip of the sealing ring is processed with a p-xylene polymer film layer with the thickness of micron level.
Preferably, a dovetail groove is formed in the edge of the working surface of the sucker, and the tail of the sealing ring is matched with the dovetail groove and fixedly pressed into the dovetail groove.
Preferably, a second air hole is further formed in the middle of the sucker, and the second air hole is connected with a vacuum pressure sensor.
Preferably, the intake valve assembly includes a first valve group and a second valve group;
The first valve group comprises a pneumatic check valve, a pneumatic valve and a first control valve, wherein an air inlet of the first control valve is connected with the positive pressure air supply module, an air outlet of the first control valve is simultaneously connected with the pneumatic check valve and an air control port of the pneumatic valve, a one-way air inlet end of the pneumatic check valve is connected with a concave cavity of the inner concave surface, a one-way air outlet end of the pneumatic check valve is connected with an air outlet end of the pneumatic valve, and the air inlet end of the pneumatic check valve is communicated with the atmosphere through a first filter;
The one-way air outlet end of the pneumatic control one-way valve is also connected with the negative pressure air inlet end of the vacuum generator, the positive pressure air inlet end of the vacuum generator is also connected with the positive pressure air supply module through a third control valve, and the air outlet end of the vacuum generator is connected with an outer discharge one-way valve;
The second valve group comprises a second control valve and a second filter, the air outlet end of the second control valve is connected with the second air passage, and the air inlet end of the second control valve is communicated with the atmosphere through the second filter.
Preferably, the positive pressure air supply module comprises a compressed air source module, a gas storage one-way valve, a gas storage tank and a valve seat, wherein an air outlet of the compressed air source module is connected with an air inlet of the gas storage one-way valve, an air outlet of the gas storage one-way valve is connected with an air inlet of the gas storage tank, an air outlet of the gas storage tank is connected with an air inlet port of the valve seat, the valve seat is provided with at least two air outlet distribution ports, and the valve seat is connected with the air inlet of the first control valve and the air inlet of the third control valve through one air outlet distribution port respectively.
Preferably, the suction cup is rectangular, the bottom edge and the two side edges of the suction cup are respectively provided with the limiting plates, the plate surfaces of the limiting plates are parallel to the edges of the suction cup, wherein the limiting plates positioned at the bottom edge are limiting support plates, and the limiting plates positioned at the side edges are limiting baffle plates;
the limiting baffle is connected with a lateral expansion device and a sliding guide device, the expansion direction of the lateral expansion device is parallel to that of the sliding guide device, and the lateral expansion device is used for driving the limiting plate to be close to or far away from the corresponding side edge of the sucker;
The extending edge of the limit baffle is fixedly connected with a rear baffle which extends towards the middle of the sucker.
Another object of the present invention is to provide a handling system.
The technical scheme is as follows:
a handling system comprising the suction gripping assembly according to any one of the above, wherein the handling system further comprises a mechanical arm;
the sucking disc back side of the adsorption clamping assembly is fixedly stuck with a sucking disc side gun exchange disc adapter plate, and a fast assembly is connected between the sucking disc side gun exchange disc adapter plate and the tail end of the mechanical arm.
Preferably, the quick assembly comprises a sucker side gun exchange disc and a mechanical arm side gun exchange disc, wherein the sucker side gun exchange disc is fixedly arranged on the sucker side gun exchange disc adapter plate, the mechanical arm side gun exchange disc is connected with the mechanical arm side gun exchange disc adapter plate through a six-dimensional force sensor, and the mechanical arm side gun exchange disc adapter plate is fixedly connected to the tail end of the mechanical arm;
The front end of the mechanical arm side gun exchange disc is fixedly provided with a cylindrical plug connector, the rear end of the sucker side gun exchange disc is provided with a plug hole matched with the plug connector, and a pneumatic locking mechanism is arranged between the plug connector and the plug hole;
And an inserting and positioning mechanism is further arranged between the mechanical arm side gun changing disc and the sucker side gun changing disc.
Compared with the prior art, the invention has the beneficial effects that:
(1) The sucker is attached to the surface of a workpiece to be conveyed, the sealing ring of the sucker is attached to the edge of the workpiece, a main vacuum cavity is formed between the inner concave surface of the sucker and the surface of the workpiece under the action of the vacuum generator, and then an auxiliary vacuum cavity is passively formed between the suction groove and the surface of the workpiece, so that sufficient suction force is provided for conveying the workpiece;
(2) Due to the deformability of the sealing ring, the sealing ring can be tightly attached to the surface of a workpiece, and can play a role in buffering in the adsorption and release stages, so that the flexible operation of the adsorption and release of the workpiece is realized, and the damage to the workpiece can be effectively prevented by the flexible operation mode;
(3) Only the edge sealing ring part of the sucker is contacted with the surface of the workpiece, so that the surface of the workpiece is prevented from being polluted; the material and the plating layer of the sealing ring are designed so that contact marks are not easily caused on the surface of a workpiece;
(4) The limiting plate supports and limits the workpiece from the edge of the workpiece, so that the carrying stability is improved;
(5) The pneumatic control module can stably control the vacuum degree formed when the clamp adsorbs a workpiece in a proper range, so that stable adsorption is maintained, and damage to a surface film layer of the workpiece is avoided;
(6) The compressed air source and the pneumatic control module are respectively provided with an air filter, the surface of the workpiece is always contacted with clean air in the vacuumizing and vacuum breaking processes, the surface of the workpiece is prevented from being polluted, and the pneumatic control module has important significance for precision optical elements.
Drawings
FIG. 1 is a schematic view of a first view angle according to an embodiment of the present invention;
FIG. 2 is a schematic structural view from another perspective of FIG. 1, with the intake valve assembly not shown;
FIG. 3 is an enlarged view of section m of FIG. 2, shown in cross-section;
FIG. 4 is a schematic diagram of a control air path of the pneumatic control module;
FIG. 5 is a schematic diagram of a deformation process of the seal ring for adsorbing and releasing a workpiece;
FIG. 6 is a schematic diagram of a second embodiment of the present invention, in which a block-shaped workpiece is sucked and clamped;
Fig. 7 is a schematic diagram of the mechanical arm side gun changing disc and the sucker side gun changing disc after being disassembled, which illustrates the corresponding structure between the two, and the steel balls in the figure are in an ejection state.
Detailed Description
The invention is further described below with reference to examples and figures.
Example 1
As shown in fig. 1 to 3, an adsorption clamping assembly comprises a suction cup module, wherein the suction cup module comprises a suction cup 100 and a deformable sealing ring 200 arranged at the edge of the working surface of the suction cup 100, the working surface of the suction cup 100 is an inner concave surface, the sealing ring 200 protruding forwards is fixedly arranged along the edge of the inner concave surface, and an adsorption groove 210 is formed on the front side surface of the sealing ring 200. The concave cavity of the inner concave surface is connected with a first air passage, and the groove cavity of the adsorption groove 210 is connected with a second air passage. The first air passage is connected with a vacuum generator 300, and when the vacuum generator 300 works, air in the concave cavity of the inner concave surface is pumped, and a main vacuum cavity is formed in the concave cavity of the inner concave surface; meanwhile, due to deformability of the sealing ring 200, the gas in the groove cavity of the adsorption groove 210 flows into the main vacuum cavity under the driving of the pressure difference, so that the auxiliary vacuum cavity is gradually formed in the groove cavity of the adsorption groove 210.
The second air passage and the first air passage are respectively connected with an air inlet valve assembly. A limiting plate is further arranged outside the edge of the sucker 100, and one side of the limiting plate extends out towards the front of the working face.
The shape of the suction cup 100 may be adaptively designed according to the shape of the workpiece, such as rectangular, circular, etc. The suction cup 100 is abutted against the surface of the workpiece to be conveyed, so that the sealing ring 200 is abutted against the edge of the workpiece. Under the action of the vacuum generator 300, a main vacuum cavity is formed between the inner concave surface of the suction cup 100 and the surface of the workpiece, and the workpiece is sucked on the suction cup; then, an auxiliary vacuum chamber is formed between the suction groove 210 and the surface of the workpiece. The limiting plate supports and limits the workpiece from the edge of the workpiece, so that the carrying stability is improved. After the workpiece moves to the installation position, the main vacuum cavity is firstly broken in vacuum through the air inlet valve assembly, the auxiliary vacuum cavity still keeps a vacuum state in the process, the workpiece corner and the inner wall of the installation hole are prevented from being damaged due to collision caused by vibration of suddenly separating the workpiece from the sucker, then the auxiliary vacuum cavity is broken in vacuum, the sealing ring 200 is slowly released, the safety guarantee when the workpiece is separated from the sealing ring 200 is improved, the impact is reduced, and the workpiece is slowly separated from the sucker. Because the deformability of the sealing ring 200 can be tightly attached to the surface of the workpiece, the sealing ring can play a role in buffering in the adsorption and release phases, realizes flexible operation of workpiece adsorption and release, and prevents damage to the workpiece. In addition, only the edge sealing ring part of the sucker is contacted with the surface of the workpiece, so that the surface of the workpiece is prevented from being polluted.
Specifically, a first air hole 110 is formed in the middle of the suction cup 100, and the first air hole 110 is communicated with the first air channel. The middle part of the sucker 100 is also provided with a second air hole 120, and the second air hole 120 is connected with a vacuum pressure sensor 121 for monitoring the vacuum pressure in the main vacuum cavity in real time, and the pressure value can be set and fed back in a closed loop, so that the automatic control is convenient to realize.
As shown in fig. 2, the vacuum pressure sensor 121 is disposed on the back side of the suction cup 100.
As shown in fig. 3, the cross section of the sealing ring 200 is in a Y shape, the tail of the sealing ring 200 is fixedly connected with the suction cup 100, two sealing lips 201 at the front of the sealing ring 200 extend forward and are separated from each other, and the two sealing lips 201 enclose the suction groove 210. At least one third air hole 220 is formed at the bottom of the adsorption groove 210, and the third air hole 220 penetrates the tail of the sealing ring 200 and is communicated with the second air passage. The sealing lip 201 is designed such that it is separated from each other and deformed appropriately when it is abutted against the surface of a workpiece.
In order to improve the consistency of the surface coating deformation of the sealing ring 200 and the workpiece, at least two third air holes 220 are uniformly distributed on the sealing ring 200. In this embodiment, the suction cup 100 is rectangular, the sealing ring 200 is rectangular frame, and a third air hole 220 is formed in the middle of each side of the sealing ring.
The first air hole 110, the second air hole 120 and the third air hole 220 all penetrate out to the back side of the sucker 200 and are connected with corresponding functional components through an adapter, an air pipe and the like, and the adapter and the air passage formed by the air pipe form a first air passage or a second air passage.
In order to facilitate the adhesion of the seal ring 200 to the surface of the workpiece, the front edges of the two seal lips 201 are rounded, and the included angle between the groove walls at the two sides of the suction groove 210 is 75-85 °, preferably 80 °.
The seal ring 200 body can be made of fluororubber material, has the hardness of about 60, and has low air release rate and moderate hardness. Before use, the glass element is placed in a high vacuum environment to separate out pollutants possibly existing in the glass element, and then the glass element is cleaned, baked and the like to remove the pollutants, so that the damage to the surface of the adsorbed glass element in the use process is small, the residual of the pollutants on the surface of the adsorbed glass element is small, and the glass element is safe and clean. When used for carrying glass elements, the surface of the sealing lip 201 of the sealing ring 200 is processed with a p-xylene polymer film layer with a thickness of a micron order by adopting a chemical vapor deposition process. The coating has the characteristics of high cleanliness, wear resistance, corrosion resistance and dust resistance, and prevents marks on the surface of the element after the optical element is adsorbed.
The seal ring 200 is installed in the following manner: as shown in fig. 3, the edge of the working surface of the sucker 100 is provided with a dovetail groove 130, and the tail of the sealing ring 200 is matched with the dovetail groove 130 and fixedly pressed into the dovetail groove. Specifically, the outer edge of the suction cup 100 is fixedly provided with a continuous flange 101 facing the front, the flange 101 is internally provided with a sealing ring pressing bar 140 in parallel, and a dovetail groove 130 with an angle of about 30 degrees is formed between the sealing ring pressing bar 140 and the flange 101, so that the tail part of the sealing ring 200 is conveniently pressed and fixed.
The suction cup 100 is rectangular, the bottom edge and the two side edges of the suction cup 100 are respectively provided with the limiting plates, the plate surfaces of the limiting plates are parallel to the edges of the suction cup 100, wherein the limiting plates positioned at the bottom edge are limiting support plates 160, and the limiting plates positioned at the side edges are limiting baffle plates 170. When the workpiece is adsorbed and moved, the limiting support plate 160 plays a supporting role on the workpiece, so that the load of the sealing ring 200 is reduced, and the stability is improved.
The limit stop 170 is connected with a lateral expansion device 180 and a sliding guide device 190, the expansion direction of the lateral expansion device 180 is parallel to the sliding guide device 190, and the lateral expansion device 180 is used for driving the limit stop to approach or separate from the corresponding side edge of the sucker 100. The extending edge of the limit baffle 170 is also fixedly connected with a back baffle 171, and the back baffle 171 extends towards the middle of the sucker 100.
The lateral expansion device 180 may be an air cylinder, the sliding guide device 190 may be a sliding rail and sliding block mechanism, in this embodiment, a free end of a piston rod of the air cylinder is connected with a bracket, the bracket is connected with a sliding block of the sliding guide device 190, two limit baffles 170 are fixedly connected on the bracket, and the two limit baffles 170 are separately arranged at the edge of the sucker 100. Before the workpiece is adsorbed by the device, the limit baffles 170 on two sides are mutually separated to two sides, so that the workpiece is positioned between the limit baffles, the adsorption rear limit baffles 170 are attached to the workpiece, and the rear baffle 171 can play a constraint role on the workpiece from the other side of the workpiece.
In order to facilitate placement of the suction cup, a storage positioning blind hole 150 is further formed in the working surface of the suction cup 100, so that the suction cup 100 can be placed on the bracket according to a design mode.
As shown in fig. 4, the intake valve assembly includes a first valve block 700 and a second valve block 800. The first valve set 700 includes a pneumatic check valve 730, a pneumatic check valve 720 and a first control valve 710, where an air inlet of the first control valve 710 is connected with the positive pressure air supply module 900, an air outlet of the first control valve 710 is simultaneously connected with the pneumatic check valve 730 and a pneumatic control port of the pneumatic check valve 720, a unidirectional air inlet end of the pneumatic check valve 730 is connected with the concave cavity of the concave surface, a unidirectional air outlet end of the pneumatic check valve 730 is connected with an air outlet end of the pneumatic check valve 720, and an air inlet end of the pneumatic check valve 720 is communicated with the atmosphere through a first filter 721. The unidirectional air outlet end of the pneumatic control check valve 730 is further connected to the negative pressure air inlet end of the vacuum generator 300, the positive pressure air inlet end of the vacuum generator 300 is also connected to the positive pressure air supply module 900 through the third control valve 310, and the air outlet end of the vacuum generator 300 is connected to the discharge check valve 320.
The second valve block 800 includes a second control valve 810 and a second filter 820, an air outlet end of the second control valve 810 is connected to the second air passage, and an air inlet end of the second control valve 810 is communicated with the atmosphere through the second filter 820.
Wherein the first control valve 710, the second control valve 810, and the third control valve 310 may each be solenoid valves. In order to control the on-off state of each valve body and realize automatic control, a controller is arranged. The pressure signal receiving end of the controller is connected with the pressure signal output end of the vacuum pressure sensor 121, and the controller is provided with a control signal end group, wherein the control signal end group comprises a group of control signal output ends, and one control signal output end is connected with the control signal input ends of the first control valve 710, the second control valve 810, the third control valve 310 and the positive pressure air supply module 900. Accordingly, the controller receives the vacuum value fed back from the vacuum pressure sensor 121 to control the respective valve bodies.
The process of the clamping assembly of the embodiment for adsorbing and releasing the workpiece comprises the following steps: the sucker 100 is operated to face the workpiece to be sucked until the sealing ring 200 is abutted against the workpiece, at this time, the controller outputs a signal to enable the positive pressure air supply module 900 to be in an air supply state, and at the same time, the controller outputs a signal to enable the third control valve 310 to be opened. The first control valve 710 is in a normally open state. The first control valve 710 will close the pneumatic control valve 720 in the open state and place the pneumatic control check valve 730 in a unidirectional conductive state. When the third control valve 310 is opened, the vacuum generator 300 starts to operate, and the air in the concave surface of the suction cup 100 is extracted through the air-controlled check valve 730, so that a main vacuum chamber is formed between the concave surface of the suction cup 100 and the surface of the workpiece. At this time, since the groove cavity of the adsorption groove 210 is separated from the main vacuum cavity only by the inner sealing lip 201 of the sealing ring 200, the inner sealing lip 201 is deformed by the pressure difference between both sides, and the gas in the groove cavity of the adsorption groove 210 flows into the main vacuum cavity, so that an auxiliary vacuum cavity is passively formed between the adsorption groove 210 and the surface of the workpiece. During this process, the vacuum pressure sensor 121 continuously monitors the vacuum level in the main vacuum chamber and feeds it back to the controller. If the vacuum level in the main vacuum chamber is close to the set upper pressure limit, the controller outputs a signal to close the positive pressure air supply module 900 and the third control valve 310. The pneumatically controlled check valve 730 prevents reverse flow of gas into the main vacuum chamber. The clamp begins to carry the workpiece.
If the vacuum chamber leaks slowly, the vacuum degree approaches the set pressure lower limit, the controller opens the positive pressure air supply module 900 and the third control valve 310 again, and the vacuum generator 300 operates again to extract the air in the main vacuum chamber. This cycle forms a closed loop control.
When the workpiece is transported to the assembly position, the controller output signal closes the positive pressure air supply module 900, the third control valve 310, and the first control valve 710. The vacuum generator 300 is no longer pumping. In the closed state of the first control valve 710, the pneumatic control valve 720 is in an open state, the pneumatic control check valve 730 is in a bi-directional ventilation state, and the external air flows into the main vacuum chamber after being filtered by the first filter 721, and breaks the vacuum. However, in this process, since the two sealing lips 201 of the "Y" shaped seal ring 200 are pressed against the surface of the workpiece by the external air pressure in a state of being separated from each other, as shown in fig. 5, the auxiliary vacuum chamber is still maintained, and the workpiece is sucked by the seal ring 200 without falling. After the air pressure in the main vacuum chamber is restored, the controller outputs a signal to open the second control valve 810, and the external air is filtered by the second filter 820 and then enters the auxiliary vacuum chamber. The air pressure in the groove cavity of the suction groove 210 gradually increases, the deformation of the seal lip 201 gradually recovers, the workpiece achieves a very small displacement movement in the vertical direction, and slowly reaches the final installation position, thereby achieving flexible release, as illustrated in fig. 5.
For a precision optical element with a functional film layer on the surface, the vacuum pressure cannot be too small when the precision optical element is adsorbed, otherwise the vacuum pressure cannot be too large, and otherwise the surface of the optical element can be damaged. Therefore, for safety, there are two vacuum pressure sensors 121 for monitoring the upper and lower pressure values, respectively.
The positive pressure air supply module 900 is configured to provide positive pressure clean air. In order to ensure safety, the positive pressure air supply module 900 includes a compressed air source module 910, a gas storage check valve 920, a gas storage tank 930 and a valve seat 940, where an air outlet of the compressed air source module 910 is connected with an air inlet of the gas storage check valve 920, an air outlet of the gas storage check valve 920 is connected with an air inlet of the gas storage tank 930, an air outlet of the gas storage tank 930 is connected with an air inlet port of the valve seat 940, the valve seat 940 is provided with at least two air outlet distribution ports, and the valve seat 940 is connected with an air inlet of the first control valve 710 and an air inlet of the third control valve 310 through one air outlet distribution port respectively. The air tank 930 is provided for the purpose of improving the safety of the air control module. If the sudden power failure occurs during the transportation process, the first control valve 710 is normally open, so that the gas in the gas tank 930 can maintain the pneumatic control valve 720 in a closed state, and the pneumatic control one-way valve 730 is in a one-way conduction state, so that the vacuum degree of the main vacuum cavity is maintained within a certain period of time. If the sudden power-off and gas-off occur, the second control valve 810 is in a normally closed state, and the suction force generated by the auxiliary vacuum cavity can still enable the sealing ring 200 to adsorb the workpiece, so that the workpiece is prevented from falling off. Therefore, the adsorption clamping assembly of the embodiment comprehensively considers the aspects of the sucker structure, the pneumatic control module design and the like, improves the adsorption stability and the safety, and ensures that the adsorption clamping assembly is operated in a flexible mode during adsorption and release.
Example two
As shown in fig. 6, a handling system includes the suction gripping assembly described above, and further includes a robotic arm 400. The sucking disc 100 back side of the adsorption clamping assembly is fixedly attached with a sucking disc side gun changing disc adapter plate 601, and a fast assembly is connected between the sucking disc side gun changing disc adapter plate 601 and the tail end of the mechanical arm 400.
The quick assembly comprises a sucker side gun changing disc 600 and a mechanical arm side gun changing disc 500, wherein the sucker side gun changing disc 600 is fixedly installed on the sucker side gun changing disc adapter plate 601, the mechanical arm side gun changing disc 500 is connected with a mechanical arm side gun changing disc adapter plate 410 through a six-dimensional force sensor 420, and the mechanical arm side gun changing disc adapter plate 410 is fixedly connected to the tail end of the mechanical arm 400. The front end of the mechanical arm side gun changing disc 500 is fixedly provided with a cylindrical plug 510, the rear end of the sucker side gun changing disc 600 is provided with a plug hole 610 matched with the plug 510, and a pneumatic locking mechanism is arranged between the plug 510 and the plug hole 610. An inserting and positioning mechanism is further arranged between the mechanical arm side gun changing disc 500 and the sucker side gun changing disc 600.
As shown in fig. 7, the pneumatic locking mechanism includes an ejector mechanism disposed on the plug 510, the ejector mechanism can radially extend out from a side wall of the plug 510, and a locking groove 620 adapted to the ejector mechanism is formed on a wall of the plug hole 610.
Specifically, the ejection mechanism includes steel balls 520, at least three steel ball holes are formed in the plug 510, the steel ball holes are arranged along the radial direction of the plug 510 and penetrate through the side wall of the plug 510, all the steel ball holes are uniformly distributed around the column center line of the plug 510, one steel ball 520 is arranged in each steel ball hole, and the diameter of the outer end of each steel ball hole is smaller than that of the steel ball 520. The mechanical arm side gun changing disc 500 is provided with a piston hole, the piston hole extends into the plug 510 and is communicated with the inner ends of all the steel ball holes, a piston is arranged in the piston hole, the piston is driven to move by an external compressed air device, and when the piston moves towards the plug 510, the steel balls 520 are partially ejected outwards into the locking groove 620, so that the mechanical arm side gun changing disc 500 and the sucker side gun changing disc 600 are locked, and the locking force is greater than 1 x 10 4 N. The structure of the piston, the piston hole and the steel ball hole is not shown in the figure, and the ejection mechanism can be used for referencing the prior art.
The plugging positioning mechanism comprises a taper pin 530 extending forward from the front end of the mechanical arm side gun changing plate 500, and a positioning hole 630 formed at the rear end of the sucker side gun changing plate 600. Two pairs of taper pins 530 and locating holes 630 are provided for accurately aligning the suction cup side gun changer 600 with the robot side gun changer 500.
The quick assembly is convenient for realizing quick automatic loading and unloading and replacing sucker assemblies of different models.
The sucker side gun changing disc 600 and the mechanical arm side gun changing disc 500 are respectively provided with aviation plugs for electric control. In addition, the sucker side gun changing disc 600 and the mechanical arm side gun changing disc 500 are respectively provided with air holes relatively, and are communicated after being assembled, so that the first air passage and the second air passage are ventilated, and the electromagnetic valve for breaking vacuum can be arranged on the mechanical arm 400, and the automatic control is convenient to realize.
The process of transferring the optical element by using the conveying system of the invention is as follows:
1) The mechanical arm moves, the gun changing disc taper pin at the tail end of the mechanical arm and the positioning hole on the sucker are used for accurately positioning, and the steel balls are ejected out under the action of an internal piston of a gun disc at the side of the external compressed air driving mechanical arm and are locked with the gun disc at the side of the sucker;
2) After the gun changing disc feeds back the locking signal, the mechanical arm moves to take away the vacuum adsorption component (before taking away, the vacuum adsorption component is fixed at a storage station through a storage positioning hole);
3) A signal is conducted at one position of an electromagnetic valve of the control cylinder, compressed air is conducted with the cylinder through an air vent, and a limit baffle 170 of the adsorption assembly is driven to open;
4) The mechanical arm automatically adjusts the angle of the mechanical arm according to the detection result of the relative angle between the detection sucker and the element, and the mechanical arm is in parallel butt joint with the element to be adsorbed;
5) The second control valve 800, which is separately connected with the third air hole 220 on the sealing ring, is closed, the third control valve 310, which is connected with the first air hole 110, is conducted, the vacuum generator works, the adsorption groove on the sealing ring and the sucker cavity are vacuumized, the sealing ring is attached to the adsorbed element, and along with the increase of the vacuum pressure, the sealing ring is slowly deformed, and enough adsorption force is formed on the surface of the element;
6) The vacuum pressure sensor connected with the second air hole 120 monitors the vacuum pressure value, when the vacuum pressure value reaches the set value, the third control valve 310 is closed, and the vacuum generator stops working;
7) After the system receives a stop working signal of the vacuum generator, controlling the other position of the electromagnetic valve of the air cylinder to be conducted, and driving the air cylinder to tighten the limit baffle 170 of the adsorption assembly;
8) After the system receives the cylinder tightening signal, the mechanical arm moves to move the element to a designated position;
9) The mechanical arm automatically adjusts the six-degree-of-freedom gesture according to the relative deviation value of the system detection element relative to the position of the target assembly frame body so as to ensure that the element does not interfere with the inner wall of the frame body in the process of assembling the subsequent element into the frame;
10 The electromagnetic valve of the control cylinder is conducted in one position, and the cylinder drives the limit baffle 170 of the sucker to open so as to prevent the side stop block of the clamp from interfering with the target frame body in the process of assembling the subsequent elements into the frame;
11 The mechanical arm automatically sends the element into the target frame;
12 The mechanical arm feeds back an in-place signal to the control system, the system sends out a vacuum breaking instruction, the first control valve 710 connected with the first air hole 110 is opened, the air control valve 720 is conducted, the air control one-way valve 730 is conducted in a two-way mode, the atmosphere enters the main vacuum cavity to break vacuum, and the sucker cavity is conducted with the atmosphere;
13 Then a second control valve 800 connected with the air hole 3 of the sealing ring is conducted to assist the vacuum cavity to break vacuum and conduct with the atmosphere, the deformation of the sealing ring is slowly recovered, and the element is stably contacted with the bearing surface of the frame body;
14 According to the vacuum pressure value monitored by the vacuum pressure sensor connected with the second air hole 120 and the force value monitored by the six-dimensional force sensor, whether the judging element is completely separated from the sealing ring or not is judged, and if the judging element is completely separated from the sealing ring, the mechanical arm automatically moves to a safe position to wait.
Finally, it should be noted that the above description is only a preferred embodiment of the present invention, and that many similar changes can be made by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. The utility model provides an adsorb centre gripping subassembly, includes sucking disc module, and this sucking disc module includes sucking disc (100) and sets up at flexible sealing washer (200) at this sucking disc (100) working face edge, its characterized in that: the working surface of the sucker (100) is an inner concave surface, the sealing ring (200) protruding forwards is fixedly arranged along the edge of the inner concave surface, and an adsorption groove (210) is formed on the front side surface of the sealing ring (200);
the concave cavity of the inner concave surface is connected with a first air passage, and the groove cavity of the adsorption groove (210) is connected with a second air passage;
the first air passage is connected with a vacuum generator (300), and when the vacuum generator (300) works, air in the groove cavity of the adsorption groove (210) is sucked through the concave cavity of the inner concave surface;
the first air passage and the second air passage are respectively connected with an air inlet valve assembly;
A limiting plate is arranged outside the edge of the sucker (100), and one side of the limiting plate extends out towards the front of the working face;
a first air hole (110) is formed in the middle of the sucker (100), and the first air hole (110) is communicated with the first air channel;
the cross section of the sealing ring (200) is Y-shaped, the tail part of the sealing ring (200) is fixedly connected with the sucker (100), two sealing lips (201) at the front part of the sealing ring (200) extend forwards and are separated from each other, and an adsorption groove (210) is formed by surrounding the two sealing lips (201);
at least one third air hole (220) is formed in the bottom of the adsorption groove (210), and the third air hole (220) penetrates through the tail part of the sealing ring (200) and is communicated with the second air passage;
the intake valve assembly includes a first valve group (700) and a second valve group (800);
The first valve group (700) comprises a pneumatic check valve (730), a pneumatic check valve (720) and a first control valve (710), wherein an air inlet of the first control valve (710) is connected with the positive pressure air supply module (900), an air outlet of the first control valve (710) is simultaneously connected with a pneumatic control port of the pneumatic check valve (730) and a pneumatic control port of the pneumatic check valve (720), a one-way air inlet end of the pneumatic check valve (730) is connected with a concave cavity of the concave surface, a one-way air outlet end of the pneumatic check valve (730) is connected with an air outlet end of the pneumatic check valve (720), and an air inlet end of the pneumatic check valve (720) is communicated with the atmosphere through a first filter (721);
The one-way air outlet end of the pneumatic control one-way valve (730) is also connected with the negative pressure air inlet end of the vacuum generator (300), the positive pressure air inlet end of the vacuum generator (300) is also connected with the positive pressure air supply module (900) through a third control valve (310), and the air outlet end of the vacuum generator (300) is connected with an outer discharge one-way valve (320);
The second valve group (800) comprises a second control valve (810) and a second filter (820), the air outlet end of the second control valve (810) is connected with the second air passage, and the air inlet end of the second control valve (810) is communicated with the atmosphere through the second filter (820);
The positive pressure air supply module (900) comprises a compressed air source module (910), an air storage one-way valve (920), an air storage tank (930) and a valve seat (940), wherein an air outlet of the compressed air source module (910) is connected with an air inlet of the air storage one-way valve (920), an air outlet of the air storage one-way valve (920) is connected with an air inlet of the air storage tank (930), an air outlet of the air storage tank (930) is connected with an air inlet port of the valve seat (940), the valve seat (940) is provided with at least two air outlet distribution ports, and the valve seat (940) is connected with an air inlet of the first control valve (710) and an air inlet of the third control valve (310) through one air outlet distribution port respectively;
The sucker (100) is rectangular, the bottom edge and the two side edges of the sucker (100) are respectively provided with the limiting plates, the plate surfaces of the limiting plates are parallel to the edges of the sucker (100), the limiting plates positioned at the bottom edge are limiting supporting plates (160), and the limiting plates positioned at the side edges are limiting baffles (170);
the limiting baffle (170) is connected with a lateral expansion device (180) and a sliding guide device (190), the expansion direction of the lateral expansion device (180) is parallel to the sliding guide device (190), and the lateral expansion device (180) is used for driving the limiting plate to be close to or far away from the corresponding side edge of the sucker (100);
The extending edge of the limit baffle (170) is fixedly connected with a rear baffle (171), and the rear baffle (171) extends towards the middle of the sucker (100).
2. An adsorption gripping assembly according to claim 1, wherein: at least two third air holes (220) are uniformly distributed on the sealing ring (200).
3. An adsorption gripping assembly according to claim 1, wherein: the front edges of the two sealing lips (201) are rounded, and the included angle between the groove walls at the two sides of the adsorption groove (210) is 75-85 degrees;
The surface of a sealing lip (201) of the sealing ring (200) is processed with a p-xylene polymer film layer with the thickness of a micron order.
4. An adsorption gripping assembly according to claim 1, wherein: the edge of the working surface of the sucker (100) is provided with a dovetail groove (130), and the tail part of the sealing ring (200) is matched with the dovetail groove (130) and fixedly pressed in the dovetail groove.
5. An adsorption gripping assembly according to claim 1, wherein: the middle part of the sucker (100) is also provided with a second air hole (120), and the second air hole (120) is connected with a vacuum pressure sensor (121).
6. A handling system comprising an adsorption clamp assembly according to any one of claims 1 to 5, characterized in that: also comprises a mechanical arm (400);
A sucker side gun changing plate adapter plate (601) is fixedly attached to the back side of a sucker (100) of the adsorption clamping assembly, and a fast assembly is connected between the sucker side gun changing plate adapter plate (601) and the tail end of the mechanical arm (400);
The quick assembly comprises a sucker side gun changing disc (600) and a mechanical arm side gun changing disc (500), wherein the sucker side gun changing disc (600) is fixedly arranged on the sucker side gun changing disc adapter plate (601), the mechanical arm side gun changing disc (500) is connected with a mechanical arm side gun changing disc adapter plate (410) through a six-dimensional force sensor (420), and the mechanical arm side gun changing disc adapter plate (410) is fixedly connected to the tail end of the mechanical arm (400);
the front end of the mechanical arm side gun changing disc (500) is fixedly provided with a cylindrical plug connector (510), the rear end of the sucker side gun changing disc (600) is provided with a plug hole (610) matched with the plug connector (510), and a pneumatic locking mechanism is arranged between the plug connector (510) and the plug hole (610);
And an inserting and positioning mechanism is further arranged between the mechanical arm side gun changing disc (500) and the sucker side gun changing disc (600).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211312570.5A CN115648262B (en) | 2022-10-25 | 2022-10-25 | Absorption clamping assembly and conveying system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211312570.5A CN115648262B (en) | 2022-10-25 | 2022-10-25 | Absorption clamping assembly and conveying system |
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| CN115648262A CN115648262A (en) | 2023-01-31 |
| CN115648262B true CN115648262B (en) | 2024-06-07 |
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