CN207290144U - It is a kind of with electromagnet and the plate adsorbent equipment of vacuum cup - Google Patents
It is a kind of with electromagnet and the plate adsorbent equipment of vacuum cup Download PDFInfo
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- CN207290144U CN207290144U CN201721274894.9U CN201721274894U CN207290144U CN 207290144 U CN207290144 U CN 207290144U CN 201721274894 U CN201721274894 U CN 201721274894U CN 207290144 U CN207290144 U CN 207290144U
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- electromagnet
- flexible
- side wall
- hole
- connecting rod
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Abstract
The utility model discloses a kind of with electromagnet and the plate adsorbent equipment of vacuum cup, including flexible organ chamber, electromagnet, connecting rod and vacuum pump.Wherein, Ring like suction disc, flexible concertina side wall and top surface are enclosed flexible organ chamber；Electromagnet is arranged on flexible organ intracavitary；One end of connecting rod is connected with robot wrist, and the other end of connecting rod stretches into flexible organ intracavitary from end face center hole, and is fixedly connected with electromagnet；When electromagnet no power, flexible concertina side wall in the raw when, the height of electromagnet is less than the length of flexible concertina side wall when in the raw.For the utility model by vacuum cup and the ingenious combination of electromagnet, one side compact, can be adapted to Bending Processing small part or small part perforate etc.；On the other hand, capture velocity is fast, and automation is efficient.
Description
Technical field
The utility model is related to the auxiliary device in sheet metal machining production line, it is particularly a kind of with electromagnet and
The plate adsorbent equipment of vacuum cup.
Background technology
Part suction device is connected to robot end, for the crawl and carrying to part.
The method of part suction at present, mainly by the following two kinds：
1st, drawn using vacuum cup
The method that vacuum cup is drawn, on the one hand, since the speed for drawing part and relieving part is very slow, according to reality
Using experience, it is general draw decontrol part need it is about 1 ~ 2 second time-consuming, the production efficiency on automatic production line be it is influential,
Efficiency is low.On the other hand, vacuum cup is flexible part, there are elastic deformation when part positions, influences precision.
2nd, drawn using electromagnet
The method that electromagnet is drawn, although fast response time, positioning accuracy is high, absolute rigidity, certain needing to have
Flexibility, namely when needing to provide certain deflection, it is difficult to meet requirement.Such as robot automation's bending field should
With.
Applicant Application No. 201510317660.7 filed in 10 days June in 2015 Chinese utility model patent,
Entitled " a kind of plate positioning grasping system and positioning crawl side applied to automatic production line that its utility model is created
Method ", it includes including with the rack, manipulator and the feeding paw being connected with manipulator for putting area, the feeding paw
Material-taking rack, several vibrators being arranged on material-taking rack corner, several electromagnet being arranged on material-taking rack lower surface and
Several vacuum cups；Each vibrator can be along the vertical guide rod of material-taking rack up-down vibration, every vertical guide rod including one
Bottom be respectively provided with a vacuum cup；The intrinsic frequency of each vibrator is all higher than the intrinsic frequency of sheet metal；Institute
State and catching block is additionally provided with rack；Each vibrator include one be arranged at the top of vertical guide rod and have two it is defeated
The rotor of shaft, the stator for being arranged at rotor outer periphery and two pieces of eccentric mass being connected respectively with two output shafts of rotor
Block；A spring is set with the vertical guide rod of material-taking rack both sides.
In above-mentioned patent application, although being provided with vacuum cup and electromagnet on fixture at the same time, it can replace both during processing
Use, quick response, high position precision, necessary flexible requirement can be played really, but remain problems, its
In two it is important the problem of be：
1. volume is too big, especially Bending Processing small part or during small part perforate completely without operability, is inhaled
Disk location arrangements are not gone down.
2. vacuum cup and electromagnet each work independently, both are only alternation relation, and vacuum cup draws part
And the speed for decontroling part is still very slowly, along with alt time, therefore still has an impact to the production efficiency of automatic production line
, efficiency is low.
Utility model content
The technical problems to be solved in the utility model be in view of the above shortcomings of the prior art, and provide one kind with electricity
The plate adsorbent equipment of magnet and vacuum cup, this it is a kind of with the plate adsorbent equipment of electromagnet and vacuum cup by vacuum
Sucker and the ingenious combination of electromagnet, one side compact, can be adapted to Bending Processing small part or small part perforate etc.；Separately
On the one hand, capture velocity is fast, and automation is efficient.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
It is a kind of with electromagnet and the plate adsorbent equipment of vacuum cup, including flexible organ chamber, electromagnet, connecting rod
And vacuum pump.
Flexible organ chamber includes Ring like suction disc, flexible concertina side wall and top surface, Ring like suction disc, flexible concertina side wall and top surface
It is enclosed flexible organ chamber.
Ring like suction disc is arranged on the bottom of flexible concertina side wall, and Ring like suction disc is provided centrally with sucker centre bore.
Top surface is arranged on the top of flexible concertina side wall, and top surface is provided centrally with end face center hole.
Electromagnet is arranged on flexible organ intracavitary, and the central coaxial of electromagnet is provided with magnetic blow out centre through hole.
One end of connecting rod is connected with robot wrist, and the other end of connecting rod stretches into flexible organ from end face center hole
Intracavitary, and be fixedly connected with electromagnet.
The central coaxial of connecting rod is provided with bar central through hole, and one end of bar central through hole is connected with magnetic blow out centre through hole
Logical, the other end of bar central through hole or middle part are connected by tracheae with vacuum pump.
When electromagnet no power, flexible concertina side wall in the raw when, the height of electromagnet, which is less than, is in nature shape
The length of flexible concertina side wall during state.
The periphery of connecting rod is set with sealing barrier plate；After connecting rod is fixedly connected with electromagnet, sealing barrier plate with
The sealing of top surface lateral wall coordinates.
Connecting rod is sealedly and fixedly connected with the matched one end of electromagnet with magnetic blow out centre through hole.
Ring like suction disc, flexible concertina side wall and top surface are wholely set.
For the utility model by vacuum cup and the ingenious combination of electromagnet, one side compact, can be adapted to bending to add
Work small part or small part perforate etc.；On the other hand, capture velocity is fast, and automation is efficient.
Brief description of the drawings
Fig. 1 shows a kind of stereochemical structure with electromagnet and the plate adsorbent equipment of vacuum cup of the utility model
Schematic diagram.
Fig. 2 shows that the utility model is a kind of with electromagnet and the cross-section structure of the plate adsorbent equipment of vacuum cup
Schematic diagram.
Fig. 3 shows that the utility model is a kind of with electromagnet and the plate adsorbent equipment and panel stiffness of vacuum cup
Structure diagram when drawing and positioning.
Fig. 4 shows that the utility model is a kind of flexible with the plate adsorbent equipment of electromagnet and vacuum cup and plate
Structure diagram during absorption.
Fig. 5 is shown a kind of during sheet metal bending to be mended with the plate adsorbent equipment deviation of electromagnet and vacuum cup
Dimensional structure diagram when repaying.
Fig. 6 is shown a kind of during sheet metal bending to be mended with the plate adsorbent equipment deviation of electromagnet and vacuum cup
Cross-sectional view when repaying.
Wherein have：
10. flexible organ chamber；
11. Ring like suction disc；111. sucker centre bore；12. flexible concertina side wall；13. top surface；131. end face center hole；
20. electromagnet；21. magnetic blow out centre through hole；
30. connecting rod；31. bar central through hole；32. seal barrier plate；
40. robot wrist；50. plate；60. upper mold；61. bending head；70. lower die；71. bending groove.
Embodiment
The utility model is described in further detail with specific better embodiment below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, it is a kind of with electromagnet and the plate adsorbent equipment of vacuum cup, including flexible organ
Chamber 10, electromagnet 20, connecting rod 30 and vacuum pump.
Flexible organ chamber is mainly enclosed by Ring like suction disc 11, flexible concertina side wall 12 and top surface 13, further, annular
Sucker, flexible concertina side wall and top surface are preferably to be wholely set.
Ring like suction disc is arranged on the bottom of flexible concertina side wall, and Ring like suction disc is provided centrally with sucker centre bore 111.
Top surface is arranged on the top of flexible concertina side wall, and top surface is provided centrally with end face center hole 131.
Electromagnet is arranged on flexible organ intracavitary, and the central coaxial of electromagnet is provided with magnetic blow out centre through hole 21.
One end of connecting rod is connected with robot wrist 40, and the other end of connecting rod stretches into flexible wind from end face center hole
Qin intracavitary, and be fixedly connected with electromagnet, preferably it is sealedly and fixedly connected with magnetic blow out centre through hole.
The central coaxial of connecting rod is provided with bar central through hole 31, and one end of bar central through hole is connected with magnetic blow out centre through hole
Logical, the other end of bar central through hole or middle part are connected by tracheae with vacuum pump.
When electromagnet no power, flexible concertina side wall in the raw when, the height of electromagnet, which is less than, is in nature shape
The length of flexible concertina side wall during state.
The periphery suit of connecting rod preferably has sealing barrier plate 32；After connecting rod is fixedly connected with electromagnet, sealing resistance
Baffle coordinates with the sealing of top surface lateral wall.
A kind of method using with the progress plate absorption of the plate adsorbent equipment of electromagnet and vacuum cup and bending,
Include the following steps.
Step 1, panel stiffness is drawn and is positioned.
Electromagnet is powered, under the action of electromagnetic attraction, the compression of flexible concertina side wall in flexible organ chamber, electromagnet from
Sucker centre bore exposes, and is mutually adsorbed with plate, plate is drawn and is positioned, as shown in Figure 3.
Above-mentioned electromagnet is adsorbed with plate for rigidity, draws fast response time, and positioning accuracy is high.In addition, electromagnet with
During plate adsorbs, the portion gas of flexible organ intracavitary can be discharged outside chamber, reduce follow-up flexible organ chamber and inhale vacuum
The required time, enables the production efficiency of automatic production line to be improved.
Further, step S1, pre-suction vacuum are further included：When in step 1, plate and electromagnet are formed after rigidly adsorbing, very
Empty pump startup, carries out pre-suction vacuum to bar central through hole and magnetic blow out centre through hole, further saves in step 3, and plate is flexible to be inhaled
Take the required time.
Step 2, plate is transferred：Plate after the absorption of step 1 rigidity or step S1 pre-suction vacuum is placed on bending station
Lower die on, and make plate treats that bending part is corresponding with the bending groove 71 of lower die；Then, upper mold moves downward, until
The bending first 61 of upper mold treats that bending part is in contact with plate, until clamping and positioning plate.
Step 3, plate is flexible draws.
Board clamp in step 2 is next, electromagnet power-off, and desorbs and contact with plate.
Then, vacuum pump is sucked vacuum flexible organ chamber by bar central through hole, is formed between Ring like suction disc and plate
Flexibility absorption, as shown in Figure 4.
Step 4, bending and deviation compensation：While plate is adsorbed by flexibility, the bending head of upper mold, continues traveling downwardly, makes plate
Material bending；As shown in Figure 5 and Figure 6, while sheet metal bending, flexible organ chamber deforms, and plate is turned over and robot
List action deviation compensates.
The preferred embodiment of the utility model described in detail above, still, the utility model are not limited to above-mentioned reality
Apply the detail in mode, in the range of the technology design of the utility model, can to the technical solution of the utility model into
The a variety of equivalents of row, these equivalents belong to the scope of protection of the utility model.
Claims (4)
- It is 1. a kind of with electromagnet and the plate adsorbent equipment of vacuum cup, it is characterised in that：Including flexible organ chamber, electromagnetism Iron, connecting rod and vacuum pump；Flexible organ chamber includes Ring like suction disc, flexible concertina side wall and top surface, and Ring like suction disc, flexible concertina side wall and top surface enclose Form flexible organ chamber；Ring like suction disc is arranged on the bottom of flexible concertina side wall, and Ring like suction disc is provided centrally with sucker centre bore；Top surface is arranged on the top of flexible concertina side wall, and top surface is provided centrally with end face center hole；Electromagnet is arranged on flexible organ intracavitary, and the central coaxial of electromagnet is provided with magnetic blow out centre through hole；One end of connecting rod is connected with robot wrist, and the other end of connecting rod stretches into flexible organ chamber from end face center hole It is interior, and be fixedly connected with electromagnet；The central coaxial of connecting rod is provided with bar central through hole, and one end of bar central through hole is connected with magnetic blow out centre through hole, bar The other end of central through hole or middle part are connected by tracheae with vacuum pump；When electromagnet no power, flexible concertina side wall in the raw when, when the height of electromagnet is less than in the raw The length of flexible concertina side wall.
- It is 2. according to claim 1 with electromagnet and the plate adsorbent equipment of vacuum cup, it is characterised in that：Connection The periphery of bar is set with sealing barrier plate；After connecting rod is fixedly connected with electromagnet, seals barrier plate and top surface lateral wall is close Envelope coordinates.
- It is 3. according to claim 1 with electromagnet and the plate adsorbent equipment of vacuum cup, it is characterised in that：Connection Bar is sealedly and fixedly connected with the matched one end of electromagnet with magnetic blow out centre through hole.
- It is 4. according to claim 1 with electromagnet and the plate adsorbent equipment of vacuum cup, it is characterised in that：Annular Sucker, flexible concertina side wall and top surface are wholely set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721274894.9U CN207290144U (en) | 2017-09-29 | 2017-09-29 | It is a kind of with electromagnet and the plate adsorbent equipment of vacuum cup |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721274894.9U CN207290144U (en) | 2017-09-29 | 2017-09-29 | It is a kind of with electromagnet and the plate adsorbent equipment of vacuum cup |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207290144U true CN207290144U (en) | 2018-05-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721274894.9U Active CN207290144U (en) | 2017-09-29 | 2017-09-29 | It is a kind of with electromagnet and the plate adsorbent equipment of vacuum cup |
Country Status (1)
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| CN (1) | CN207290144U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107876650A (en) * | 2017-09-29 | 2018-04-06 | 南京邮电大学 | A kind of variation rigidity part suction device and sheet material draw bending method |
| CN112091989A (en) * | 2020-08-26 | 2020-12-18 | 宁波大学 | Medical apparatus nurse auxiliary robot |
| CN115158506A (en) * | 2022-08-15 | 2022-10-11 | 中关村科学城城市大脑股份有限公司 | Combined type sucking disc device applied to wall-climbing robot and wall-climbing robot |
| CN115158506B (en) * | 2022-08-15 | 2024-04-12 | 中关村科学城城市大脑股份有限公司 | Be applied to wall climbing robot's combination formula sucking disc device and wall climbing robot |
-
2017
- 2017-09-29 CN CN201721274894.9U patent/CN207290144U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107876650A (en) * | 2017-09-29 | 2018-04-06 | 南京邮电大学 | A kind of variation rigidity part suction device and sheet material draw bending method |
| CN107876650B (en) * | 2017-09-29 | 2019-02-19 | 南京邮电大学 | A kind of variation rigidity part suction device and plate draw bending method |
| CN112091989A (en) * | 2020-08-26 | 2020-12-18 | 宁波大学 | Medical apparatus nurse auxiliary robot |
| CN112091989B (en) * | 2020-08-26 | 2022-02-18 | 宁波大学 | Medical apparatus nurse auxiliary robot |
| CN115158506A (en) * | 2022-08-15 | 2022-10-11 | 中关村科学城城市大脑股份有限公司 | Combined type sucking disc device applied to wall-climbing robot and wall-climbing robot |
| CN115158506B (en) * | 2022-08-15 | 2024-04-12 | 中关村科学城城市大脑股份有限公司 | Be applied to wall climbing robot's combination formula sucking disc device and wall climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Zhangjiagang Institute of Zhangjiagang Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: X2020980007094 Denomination of utility model: A plate adsorption device with electromagnet and vacuum chuck Granted publication date: 20180501 License type: Common License Record date: 20201026 |
|
| EE01 | Entry into force of recordation of patent licensing contract |