CN209740177U - sucker mechanism and feeding device for parts to be sucked - Google Patents

Abstract

the application discloses sucking disc mechanism and treat material feeding unit who draws, this sucking disc mechanism includes: the sucker assembly at least comprises a first sucker and a second sucker which is arranged adjacent to the first sucker; the vacuum generator assembly at least comprises a first vacuum generator and a second vacuum generator, and the vacuum generator assembly is used for providing compressed air for the sucker assembly to have vacuum suction force so that the sucker assembly sucks or releases the piece to be sucked; the first vacuum generator is connected with the first sucking disc through a first pipeline, and the second vacuum generator is connected with the second sucking disc through a second pipeline. In this way, this application can effectively avoid treating that the piece of drawing takes place to drop because of losing the vacuum suction power of first sucking disc, and then can avoid the economic loss that the goods dropped and brought.

Description

sucker mechanism and feeding device for parts to be sucked

Technical Field

the application relates to the technical field of feeding devices, in particular to a sucker mechanism and a feeding device for a to-be-sucked piece.

Background

In the electronic device manufacturing industry, large suction cups are often selected for lifting and/or transporting goods during the loading and transporting process of electronic devices. However, in the existing charging process, the surface of the goods may be uneven, a gap exists between the sucker and the surface of the goods, the sucker breaks vacuum and leaks air, the vacuum suction force of the sucker suddenly drops, the goods fall from a high place, the efficiency, the safety performance, the processing and production cost and the like are all not ideal, and the current production requirements are difficult to meet.

disclosure of Invention

The main technical problem who solves of this application provides a sucking disc mechanism and treats material feeding unit who draws, can effectively avoid treating that the drawing takes place to drop because of losing the vacuum suction power of first sucking disc, and then can avoid the economic loss that the goods dropped and brought.

in order to solve the technical problem, the application adopts a technical scheme that: there is provided a suction cup mechanism including: the sucker assembly at least comprises a first sucker and a second sucker which is arranged adjacent to the first sucker; the vacuum generator assembly at least comprises a first vacuum generator and a second vacuum generator, and the vacuum generator assembly is used for providing compressed air for the sucker assembly to have vacuum suction force so that the sucker assembly sucks or releases the piece to be sucked; the first vacuum generator is connected with the first sucking disc through a first pipeline, and the second vacuum generator is connected with the second sucking disc through a second pipeline.

The first sucker comprises a first contact surface in contact with a piece to be sucked, the second sucker comprises a second contact surface in contact with the piece to be sucked, and a first height difference is formed between the first contact surface and the second contact surface.

the sucker assembly further comprises a third sucker which is arranged adjacent to the first sucker; the vacuum generator assembly further comprises a third vacuum generator, and the third vacuum generator is connected with the third sucker through a third pipeline; the third sucker comprises a third contact surface which is in contact with the piece to be sucked, and a second height difference is formed between the second contact surface and the third contact surface.

Wherein the first height difference and the second height difference range from 0.5 to 10 centimeters.

Wherein, the sucking disc mechanism further includes: the buffer piece at least comprises a first sub buffer piece and a second sub buffer piece; the first sub-buffer member is bonded on the first contact surface, the second sub-buffer member is bonded on the second contact surface, and a third height difference is formed between the first sub-buffer member and the second sub-buffer member.

wherein, the bolster further includes the sub-bolster of third, and the sub-bolster of third bonds on the third contact surface, has the fourth difference in height between the sub-bolster of third and the second.

Wherein the third height difference and the fourth height difference range from 0.5 to 10 centimeters.

Wherein, the buffer piece is at least one of buffer foam or buffer elastic plastic.

wherein, the material of the buffer foam is at least one of EVA foam or asbestos; the material of the buffering elastic plastic is at least one of nitrile rubber, butadiene styrene rubber, hydrogenated nitrile rubber, ethylene propylene diene monomer rubber, silica gel, fluorine rubber, chloroprene rubber or perfluoro rubber.

The first sucker is a rectangular sucker, a plurality of air holes are formed in the rectangular sucker, and the air holes are communicated with the first pipeline and the first vacuum generator; the second sucker and the third sucker comprise a plurality of annular sub suckers arranged at intervals.

The first sub-buffer piece is a rectangular buffer piece, the outline shape of the first sub-buffer piece is consistent with that of the rectangular sucker, a plurality of through holes are formed in the first sub-buffer piece, and the through holes and the air holes in the rectangular sucker are arranged in a one-to-one correspondence mode; the second sub buffer member and the third sub buffer member are annular buffer members, and the outline shapes of the second sub buffer member and the third sub buffer member are consistent with the outline shape of the annular sub sucker.

the first suction disc comprises a plurality of auxiliary positioning blocks arranged on the first contact surface, wherein the contour shapes of the auxiliary positioning blocks are consistent with the contour shapes of a plurality of auxiliary positioning holes in a piece to be sucked, and the auxiliary positioning blocks correspond to the auxiliary positioning holes one to one; when the suction disc assembly sucks the part to be sucked, the auxiliary positioning blocks are matched with the auxiliary positioning holes for positioning.

Wherein, the sucking disc mechanism further includes: the vacuum sensors are respectively arranged on the first sucker and the second sucker and are used for detecting the vacuum degree of the first sucker and the vacuum degree of the second sucker; and the processor is coupled with the plurality of vacuum sensors, the first vacuum generator and the second vacuum generator and used for receiving the vacuum degrees detected by the plurality of vacuum sensors and controlling the vacuum degrees of the other suckers to be enhanced to a second preset vacuum degree value when the vacuum degree of one sucker is smaller than a first preset vacuum degree value.

The second sucker and the third sucker are symmetrically arranged by taking the central shaft of the first sucker as a symmetry axis.

In order to solve the technical problem, the application adopts a technical scheme that: there is provided a feeding device for a piece to be sucked, comprising: a base; one end of the mechanical working arm is connected with the base; sucking disc mechanism, sucking disc mechanism are foretell sucking disc mechanism, include: the vacuum suction device comprises a suction cup assembly and a vacuum generator assembly, wherein the vacuum generator assembly is arranged on the mechanical working arm, and the suction cup assembly is arranged at the other end of the mechanical working arm and is used for sucking or releasing a to-be-sucked piece.

wherein, material feeding unit further includes: the CCD visual recognition mechanism is arranged above the sucker mechanism, and a lens of the CCD visual recognition mechanism faces the sucker mechanism so as to shoot and locate the sucker mechanism.

The beneficial effect of this application is: be different from prior art's condition, this application has first vacuum generator's first sucking disc and the second sucking disc that the intercommunication has second vacuum generator through the intercommunication, absorb or release and treat the piece of intaking, because second vacuum generator that the second sucking disc communicates is two independent vacuum room magic wares with first vacuum generator, therefore, when the surface unevenness of treating the piece of intaking, even there is the phenomenon that broken vacuum appears in the gap between first sucking disc and the surface of treating the piece of intaking, the second sucking disc still has the vacuum suction power, effectively avoid treating the piece of intaking and taking place to drop because of losing the vacuum suction power of first sucking disc, and then can avoid the economic loss that the goods dropped and bring, can reduce processing manufacturing cost, and guarantee production safety, satisfy the production demand.

drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:

FIG. 1 is a first structural schematic view of an embodiment of the suction cup mechanism of the present application;

FIG. 2 is a first partial schematic view of an embodiment of the suction cup mechanism of the present application;

FIG. 3 is a second structural schematic view of an embodiment of the suction cup mechanism of the present application;

FIG. 4 is a second partial schematic view of an embodiment of a suction cup mechanism of the present application;

FIG. 5 is a third partial schematic view of an embodiment of a suction cup mechanism according to the present application;

FIG. 6 is a fourth partial schematic structural view of an embodiment of a suction cup mechanism of the present application;

FIG. 7 is a schematic bottom view of the suction cup assembly of FIG. 1;

FIG. 8 is a fifth partial schematic view of an embodiment of a suction cup mechanism according to the present application;

FIG. 9 is a schematic view of a third construction of an embodiment of the suction cup mechanism of the present application;

FIG. 10 is a first schematic view of an embodiment of a feeding device for a component to be suctioned according to the present application;

Fig. 11 is a second schematic structural view of an embodiment of the feeding device for the element to be sucked according to the present application.

Detailed Description

the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all 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 application.

Referring to fig. 1, fig. 1 is a first structural schematic diagram of an embodiment of a suction cup mechanism according to the present application. This sucking disc mechanism includes: a chuck assembly 10 and a vacuum generator assembly 20. The suction cup assembly 10 comprises at least a first suction cup 11 and a second suction cup 12 arranged adjacent to the first suction cup 11. The vacuum generator assembly 20 comprises at least a first vacuum generator 21 and a second vacuum generator 22, and the vacuum generator assembly 20 is used for providing compressed air to the suction cup assembly 10 to have vacuum suction force so as to enable the suction cup assembly 10 to suck or release the piece to be sucked. Wherein the first vacuum generator 21 is connected to the first suction cup 11 through a first pipe 31, and the second vacuum generator 22 is connected to the second suction cup 12 through a second pipe 32.

specifically, the first suction cup 11 and the second suction cup 12 may be made of an elastic rubber material, such as a silicon rubber material, and preferably, are vacuum suction cups, and can be tightly adsorbed on the surface of the member to be sucked after being pressed. The first vacuum generator 21 is communicated with the first suction cup 11 through the first pipe 31, the second vacuum generator 22 is communicated with the second suction cup 12 through the second pipe 32, and vacuum is generated when compressed air flows into the first vacuum generator 21, so that vacuum suction force is generated in the first pipe 31 and the first suction cup 11; since vacuum is generated when the compressed air flows into the second vacuum generator 22, a vacuum suction force is generated in the second duct 32 and the second suction cup 12, and thus the to-be-sucked material is vacuum-sucked and stably held by the first suction cup 11 and the second suction cup 12, and thus the to-be-sucked material can be conveyed in this state. The height of the first suction cup 11 and the second suction cup 12 is adjustable, and can fluctuate along with the movement of the piece to be sucked in specific operation.

First vacuum generator 21 and second vacuum generator 22 are two independent vacuum generator, wherein, when waiting to suck the surface unevenness of piece, first suction disc 11 probably appears and breaks the phenomenon of vacuum and leads to first vacuum generator 21 unable normal work, at this moment, because second vacuum generator 22 still can normal work, and then effectively avoids waiting to suck the piece and take place to drop because of losing the vacuum suction power of first suction disc 11.

be different from prior art's condition, this embodiment is through the first sucking disc 11 that the intercommunication has first vacuum generator 21 and the second sucking disc 12 that the intercommunication has second vacuum generator 22, absorb or release and treat the piece of inhaling, because second vacuum generator 22 that second sucking disc 12 communicates is two independent vacuum chamber spirit wares with first vacuum generator 21, consequently, when treating the surface unevenness of piece of inhaling, even there is the phenomenon that broken vacuum appears in the gap between the surface of first sucking disc 11 and the piece of waiting to inhale, second sucking disc 12 still has vacuum suction, effectively avoid treating the piece of inhaling and take place to drop because of losing the vacuum suction of first sucking disc 11, and then can avoid the economic loss that the goods dropped and bring, can reduce processing manufacturing cost, and guarantee production safety, satisfy the production demand.

Referring to fig. 2, fig. 2 is a first partial structural schematic view of an embodiment of a suction cup mechanism according to the present application. In one embodiment, the first suction cup 11 comprises a first contact surface for contacting a member to be sucked, the second suction cup 12 comprises a second contact surface for contacting a member to be sucked, and the first contact surface and the second contact surface have a first height difference Δ H1 therebetween.

In particular, in order to adapt to the surface unevenness of the piece to be sucked, the first contact surface has a first height, the second contact surface has a second height, and a fixed or variable first height difference Δ H1 is provided between the first height and the second height. The first suction plate 11 comprises a vacuum chamber and a first contact surface which presses against the surface of the component to be suctioned when the first suction plate 11 sucks the component to be suctioned and by means of the applied pressing force air can escape from the vacuum chamber. The first suction cup 11 is made of a resiliently flexible material, in particular rubber, so that the underpressure chamber can be deformed, whereby air can be evacuated. After the air escapes from the negative pressure chamber, a vacuum is formed. The second suction cup 12 comprises a vacuum chamber and a second contact surface which, when the second suction cup 12 sucks up the component to be suctioned, presses against the surface of the component to be suctioned and, by means of the applied pressing force, allows air to escape from the vacuum chamber. The first suction cup 11 is made of a resiliently flexible material, in particular rubber, so that the underpressure chamber can be deformed, whereby air can be evacuated. After the air escapes from the negative pressure chamber, a vacuum is formed.

Through the mode, the piece of waiting to absorb of surface unevenness can be absorbed to can avoid first sucking disc 11 or second sucking disc 12 the broken vacuum condition to appear, in order to effectively avoid waiting to absorb the piece and lose the vacuum suction power of first sucking disc 11 and second sucking disc 12.

Referring to fig. 3-4, fig. 3 is a second structural schematic diagram of an embodiment of the present disclosure, and fig. 4 is a second partial structural schematic diagram of an embodiment of the present disclosure. In one embodiment, the suction cup assembly 10 further comprises a third suction cup 13, the third suction cup 13 being disposed adjacent to the first suction cup 11; the vacuum generator assembly 20 further comprises a third vacuum generator 23, the third vacuum generator 23 is connected with the third suction cup 13 through a third pipeline 33; wherein the third suction cup 13 comprises a third contact surface for contacting with the piece to be sucked, and a second height difference deltaH 2 is formed between the second contact surface and the third contact surface.

Specifically, the third suction cup 13 may be made of an elastic rubber material, preferably a vacuum suction cup, and may be tightly attached to the surface of the member to be sucked after being pressed. The third vacuum generator 23 communicates with the third suction cup 13 through the third duct 33, and vacuum is generated when compressed air flows into the third vacuum generator 23, so that vacuum suction force is generated in the third duct 33 and the third suction cup 13, and the to-be-sucked material is sucked and stably held by the third suction cup 13, so that the to-be-sucked material can be conveyed in this state. The height of the third suction cup 13 is adjustable and can fluctuate with the movement of the piece to be sucked during specific operation.

The third vacuum generator 23, the second vacuum generator 22 and the first vacuum generator 21 are independent vacuum generators, wherein when the surface of the to-be-sucked piece is uneven, the first suction cup 11 and/or the second suction cup 12 may break vacuum to cause the first vacuum generator 21 to work abnormally, and at this time, the third vacuum generator 23 can still work normally, so that the to-be-sucked piece is effectively prevented from falling off due to loss of the vacuum suction force of the first suction cup 11 and/or the second suction cup 12.

In this way, the third suction cup 13 is matched with the first suction cup 11 and the second suction cup 12 to suck or release the to-be-sucked piece, and the third vacuum generator 23 communicated with the third suction cup 13 and the second vacuum generator 22 communicated with the second suction cup 12 and the first vacuum generator 21 are two independent vacuum apparatuses, so that when the surface of the to-be-sucked piece is uneven, even if a gap exists between the first suction cup 11 and/or the second suction cup 12 and the surface of the to-be-sucked piece to cause a vacuum breaking phenomenon, the third suction cup 13 still has a vacuum suction force, the to-be-sucked piece is effectively prevented from dropping due to the fact that the vacuum suction force of the first suction cup 11 and/or the second suction cup 12 is lost, further economic loss caused by goods dropping can be avoided, the processing and production cost can be reduced, production safety is guaranteed, and production requirements are met.

in one embodiment, the first height difference Δ H1 and the second height difference Δ H2 range from 0.5 to 10 centimeters.

Specifically, the first height difference Δ H1 and the second height difference Δ H2 may range from 0.5 cm, 1 cm, 2 cm, 5 cm, or 10 cm.

Referring to fig. 5, fig. 5 is a third partial schematic structural view of an embodiment of a suction cup mechanism according to the present application, in an embodiment, the suction cup mechanism further includes: the cushion member 40 includes at least a first sub-cushion member 41 and a second sub-cushion member 42. The first sub cushion member 41 is bonded to the first contact surface, the second sub cushion member 42 is bonded to the second contact surface, and a third height difference Δ H3 is provided between the first sub cushion member 41 and the second sub cushion member 42.

Specifically, the first sub-cushion 41 is bonded to the first contact surface by an adhesive, and the second sub-cushion 42 is bonded to the second contact surface by an adhesive. The buffering member 40 may have a variable thickness, the height of the first sub buffering member 41 from the first contact surface is adjustable, the height of the second sub buffering member 42 from the second contact surface is adjustable, in specific operation, the first sub buffering member 41 may undulate with the height of the surface of the member to be sucked, and the second sub buffering member 42 may undulate with the height of the surface of the member to be sucked, so as to adapt to clamping and positioning of the member to be sucked, which has an irregular shape. In order to accommodate irregularities of the element to be sucked, the first sub-damper 41 and the second sub-damper 42 may have a third height difference Δ H3 therebetween.

by the above manner, the connection reliability between the first sub-cushion member 41 and the first contact surface can be improved, the connection reliability between the second sub-cushion member 42 and the second contact surface can be improved, and the clamping and positioning of the to-be-sucked member with an irregular shape can be adapted.

referring to fig. 6, fig. 6 is a fourth partial structural schematic view of an embodiment of the present invention, in an embodiment, the buffer 40 further includes a third sub-buffer 43, the third sub-buffer 43 is adhered to the third contact surface, and a fourth height difference Δ H4 is formed between the third sub-buffer 43 and the second sub-buffer 42.

specifically, the third sub-buffering member 43 is bonded to the third contact surface by an adhesive, the third sub-buffering member 43 may have a variable thickness, the height of the third sub-buffering member 43 from the third contact surface is adjustable, and during specific operation, the third sub-buffering member 43 may undulate along with the height of the surface of the member to be sucked, so as to adapt to clamping and positioning of the member to be sucked, which has an irregular shape. In order to accommodate irregularities of the element to be sucked, the third sub-damper 43 and the second sub-damper 42 may have a fourth height difference Δ H4 therebetween.

in this way, the reliability of connection between the third sub-cushion 43 and the third contact surface can be improved, and the holding and positioning of the to-be-sucked member with an irregular shape can be adapted.

In one embodiment, the third height difference Δ H3 and the fourth height difference Δ H4 range from 0.5 to 10 centimeters.

specifically, the third height difference Δ H3 and the fourth height difference Δ H4 may range from 0.5 cm, 1 cm, 2 cm, 5 cm, or 10 cm.

in one embodiment, the buffer 40 is at least one of a buffer foam or a buffer elastic plastic.

Wherein, the buffer foam can be at least one of synthetic foam, EVA foam (ethylene-vinyl acetate copolymer, EVA for short), high-density PU foam or asbestos.

The material of the buffering elastic plastic is at least one of nitrile rubber, butadiene styrene rubber, hydrogenated nitrile rubber, ethylene propylene diene monomer rubber, silica gel, fluorine rubber, chloroprene rubber or perfluoro rubber.

Referring to fig. 6-7, fig. 7 is a schematic bottom view of the suction cup assembly of fig. 1, in an embodiment, the first suction cup 11 is a rectangular suction cup 11, wherein a plurality of air holes 112 are formed on the rectangular suction cup 11, and the plurality of air holes 112 are communicated with the first pipe 31 and the first vacuum generator 21. The second suction cup 12 comprises a plurality of annular sub-suction cups 120 arranged at intervals, and the third suction cup 13 comprises a plurality of annular sub-suction cups 130 arranged at intervals.

Specifically, the rectangular suction cup 11 may be provided with three, four or five air holes 112, and the function of the air holes 112 is the same as that of the annular sub-suction cups 120 and 130, so as to suck or release the to-be-sucked piece.

In an embodiment, the first sub-cushion member 41 is a rectangular cushion member 40, the outline shape of the first sub-cushion member 41 is the same as the outline shape of the rectangular suction cup 11, and a plurality of through holes are formed in the first sub-cushion member 41, and the through holes are in one-to-one correspondence with the plurality of air holes 112 on the rectangular suction cup 11. The second sub-cushion member 42 and the third sub-cushion member 43 are the annular cushion member 40, the outline shape of the second sub-cushion member 42 is identical to the outline shape of the annular sub-suction cup 120, and the outline shape of the third sub-cushion member 43 is identical to the outline shape of the annular sub-suction cup 130

Through the mode, each sub-buffer member 40 is consistent with the contour shape of the sucker, and can cover the contact surface of the sucker and the object to be sucked when each sucker is tightly pressed on the surface of the object to be sucked, so that the sucker is adaptive to the uneven surface of the object to be sucked.

Referring to fig. 8, fig. 8 is a schematic view of a fifth partial structure of an embodiment of the suction cup mechanism of the present application, in an embodiment, the first suction cup 11 includes a plurality of auxiliary positioning blocks 113 disposed on the first contact surface, wherein the contour shapes of the plurality of auxiliary positioning blocks 113 are identical to the contour shapes of the plurality of auxiliary positioning holes 501 on the to-be-sucked piece 501, and the plurality of auxiliary positioning blocks 113 correspond to the plurality of auxiliary positioning holes 501 one to one. When the suction cup assembly 10 sucks the to-be-sucked piece 501, the plurality of auxiliary positioning blocks 113 are matched with the plurality of auxiliary positioning holes 501 for positioning.

Specifically, this embodiment utilizes the characteristics that a plurality of holes are generally formed in the to-be-sucked piece 501, the auxiliary positioning block 113 is arranged at the position, corresponding to the auxiliary positioning hole 501, on the outer surface of the to-be-sucked piece 501 on the first contact surface, when the to-be-sucked piece 501 is placed, the auxiliary positioning block 113 can be inserted into the auxiliary positioning hole 501 of the to-be-sucked piece 501, so that the auxiliary positioning hole 501 can play a role in positioning the to-be-sucked piece 501, the to-be-sucked piece 501 is prevented from horizontally moving under the action of external force, and therefore the to-be-sucked.

Referring to fig. 9, fig. 9 is a schematic diagram of a third structure of an embodiment of the present disclosure, in an embodiment, the suction cup mechanism further includes: a plurality of vacuum sensors 61, 62 provided on the first suction cup 11 and the second suction cup 12, respectively, for detecting a vacuum degree of the first suction cup 11 and a vacuum degree of the second suction cup 12, and a processor 70. The processor 70 is coupled to the plurality of vacuum sensors, the first vacuum generator 21 and the second vacuum generator 22, and is configured to receive the vacuum degrees detected by the plurality of vacuum sensors, and control the vacuum degrees of the remaining suckers to be increased to a second preset vacuum degree value when the vacuum degree of one of the suckers is smaller than a first preset vacuum degree value.

Specifically, the first vacuum sensor 61 is disposed on the first suction cup 11, and is used for sensing the vacuum pressure of the first suction cup 11 and transmitting the sensed vacuum pressure to the processor 70. The second vacuum sensor 62 is disposed on the second suction cup 12 for sensing the vacuum level of the second suction cup 12 and transmitting the same to the processor 70. When the vacuum degree of one of the suction cups is smaller than the first preset vacuum degree value, the processor 70 is configured to control the vacuum degrees of the remaining suction cups to be increased to a second preset vacuum degree value.

The first vacuum sensor 61 and the second vacuum sensor 62 compare the detected vacuum degree with the stored first preset vacuum degree value, and when the vacuum degree is smaller than the first preset vacuum degree value, the processor 70 controls the vacuum degrees of the other suckers to be enhanced to the second preset vacuum degree value, and can send warning signals, so that effective adsorption of the second sucker 12 can be ensured.

With reference to fig. 7, in an embodiment, the second suction cup 12 and the third suction cup 13 are symmetrically disposed about the central axis of the first suction cup 11.

specifically, since the top view of the to-be-sucked piece is generally a regular rectangle, the second suction cup 12 and the third suction cup 13 are symmetrically arranged with the central axis of the first suction cup 11 as the symmetry axis, so that the to-be-sucked piece can be sucked in a balanced vacuum manner, and the to-be-sucked piece is prevented from being inclined in the sucking process.

Referring to fig. 10, fig. 10 is a first structural schematic diagram of an embodiment of a feeding device for a to-be-sucked material according to the present application, and the present application provides a feeding device 100 for a to-be-sucked material, where the feeding device 100 for a to-be-sucked material includes: a base 101, a mechanical work arm 102, and a suction cup mechanism 103. One end of the mechanical work arm 102 is connected to the base 101. The suction cup mechanism 103 includes: the suction cup assembly 10 and the vacuum generator assembly 20, wherein the vacuum generator assembly 20 is arranged on the mechanical working arm 102, the suction cup assembly 10 is arranged at the other end of the mechanical working arm 102, and the suction cup assembly 10 is used for sucking or releasing a piece to be sucked.

specifically, the mechanical arm 102 is fixed to the upper end of the base 101, and the mechanical arm 102 may include a rotating chassis 91, a column 92, a rotating shaft 93, a connecting arm 94, and an expansion link 95. The rotating chassis 91 is installed on the base 101, the rotating chassis 91 is connected with the upright post 92, the rotating shaft 93 is installed between the upright post 92 and the connecting arm 94, the other end of the connecting arm 94 is connected with the telescopic rod 95, one end of the telescopic rod 95 is embedded into the connecting arm 94, and the suction cup assembly 10 is installed at the other end of the telescopic rod 95 and used for sucking or releasing a to-be-sucked piece.

It should be noted that the suction cup mechanism 103 of the present embodiment is the suction cup mechanism in the above embodiment, and for a detailed description, reference is made to the embodiment section of the above suction cup mechanism, which is not described herein again.

Different from the situation in the prior art, the feeding device 100 for the to-be-sucked piece of the embodiment sucks or releases the to-be-sucked piece through the first sucking disc 11 communicated with the first vacuum generator 21 and the second sucking disc 12 communicated with the second vacuum generator 22, and because the second vacuum generator 22 and the first vacuum generator 21 communicated with the second sucking disc 12 are two independent vacuum apparatuses, when the surface of the to-be-sucked piece is uneven, even if a gap exists between the first sucking disc 11 and the surface of the to-be-sucked piece and the vacuum is broken, the second sucking disc 12 still has vacuum suction force, thereby effectively avoiding the to-be-sucked piece from falling due to the loss of the vacuum suction force of the first sucking disc 11, further avoiding economic loss caused by cargo falling, reducing the processing and production cost, ensuring the production safety, and meeting the production requirements.

Referring to fig. 11, fig. 11 is a second structural schematic diagram of an embodiment of a feeding device for a to-be-sucked member according to the present application, in an embodiment, the feeding device 100 further includes: the CCD visual recognition mechanism 96 is arranged above the sucker mechanism 103, and a lens of the CCD visual recognition mechanism 96 faces the sucker mechanism 103 so as to shoot and position the sucker mechanism 103.

specifically, the CCD vision recognition mechanism 96 monitors the suction cup mechanism 103 and the object 50 to be sucked in real time to obtain images containing the suction cup mechanism 103 and the object 50 to be sucked, and transmits the obtained images to an image processor (not shown), and the image processor performs image processing to correct, smooth and enhance the images, so as to obtain three-dimensional coordinates of the suction cup mechanism 103 and the object 50 to be sucked, and position the suction cup mechanism 103.

the above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (15)

1. A suction cup mechanism, comprising:

The sucker assembly at least comprises a first sucker and a second sucker which is arranged adjacent to the first sucker;

The vacuum generator assembly at least comprises a first vacuum generator and a second vacuum generator, and is used for providing compressed air for the sucker assembly to have vacuum suction force so that the sucker assembly sucks or releases a piece to be sucked;

The first vacuum generator is connected with the first suction cup through a first pipeline, and the second vacuum generator is connected with the second suction cup through a second pipeline.

2. The suction cup mechanism of claim 1,

The first sucker comprises a first contact surface in contact with the piece to be sucked, the second sucker comprises a second contact surface in contact with the piece to be sucked, and a first height difference is formed between the first contact surface and the second contact surface.

3. The suction cup mechanism of claim 2,

the sucker assembly further comprises a third sucker which is arranged adjacent to the first sucker;

The vacuum generator assembly further comprises a third vacuum generator, and the third vacuum generator is connected with the third sucker through a third pipeline;

The third sucker comprises a third contact surface which is in contact with the piece to be sucked, and a second height difference is formed between the second contact surface and the third contact surface.

4. The suction cup mechanism of claim 3,

The first height difference and the second height difference range from 0.5 to 10 centimeters.

5. The suction cup mechanism of claim 3, further comprising:

the buffer piece at least comprises a first sub buffer piece and a second sub buffer piece;

The first sub-buffer piece is bonded on the first contact surface, the second sub-buffer piece is bonded on the second contact surface, and a third height difference is formed between the first sub-buffer piece and the second sub-buffer piece.

6. The suction cup mechanism of claim 5,

The buffer further comprises a third sub-buffer bonded to the third contact surface, and a fourth height difference is provided between the third sub-buffer and the second sub-buffer.

7. The suction cup mechanism of claim 6,

the third height difference and the fourth height difference range from 0.5 to 10 centimeters.

8. The suction cup mechanism of claim 5,

the buffer piece is at least one of buffer foam or buffer elastic plastic;

Wherein the material of the buffer foam is at least one of EVA foam or asbestos;

The material of the buffering elastic plastic is at least one of nitrile rubber, butadiene styrene rubber, hydrogenated nitrile rubber, ethylene propylene diene monomer rubber, silica gel, fluorine rubber, chloroprene rubber or perfluoro rubber.

9. The suction cup mechanism of claim 6,

The first sucker is a rectangular sucker, wherein a plurality of air holes are formed in the rectangular sucker, and the air holes are communicated with the first pipeline and the first vacuum generator;

the second sucker and the third sucker comprise a plurality of annular sub-suckers arranged at intervals.

10. the suction cup mechanism of claim 9,

The first sub-buffer piece is a rectangular buffer piece, the outline shape of the first sub-buffer piece is consistent with that of the rectangular sucker, a plurality of through holes are formed in the first sub-buffer piece, and the through holes are in one-to-one correspondence with the air holes in the rectangular sucker;

the second sub buffer part and the third sub buffer part are annular buffer parts, and the outline shapes of the second sub buffer part and the third sub buffer part are consistent with the outline shape of the annular sub sucker.

11. The suction cup mechanism of claim 2,

The first suction disc comprises a plurality of auxiliary positioning blocks arranged on the first contact surface, wherein the contour shapes of the auxiliary positioning blocks are consistent with the contour shapes of a plurality of auxiliary positioning holes on the piece to be sucked, and the auxiliary positioning blocks correspond to the auxiliary positioning holes one to one;

when the sucker component sucks the piece to be sucked, the auxiliary positioning blocks are matched with the auxiliary positioning holes for positioning.

12. The suction cup mechanism of claim 1, further comprising:

The vacuum sensors are respectively arranged on the first sucker and the second sucker and are used for detecting the vacuum degree of the first sucker and the vacuum degree of the second sucker;

And the processor is coupled with the plurality of vacuum sensors, the first vacuum generator and the second vacuum generator and is used for receiving the vacuum degrees detected by the plurality of vacuum sensors and controlling the vacuum degrees of the other suckers to be enhanced to a second preset vacuum degree value when the vacuum degree of one sucker is smaller than a first preset vacuum degree value.

13. the suction cup mechanism of claim 3,

the second sucker and the third sucker are symmetrically arranged by taking the central shaft of the first sucker as a symmetry axis.

14. A feeding device for pieces to be sucked, characterized by comprising:

A base;

One end of the mechanical working arm is connected with the base;

A suction cup mechanism as claimed in any one of claims 1 to 13, comprising: the vacuum suction device comprises a suction cup assembly and a vacuum generator assembly, wherein the vacuum generator assembly is arranged on the mechanical working arm, and the suction cup assembly is arranged at the other end of the mechanical working arm and is used for sucking or releasing the part to be sucked.

15. a feeding device for pieces to be sucked according to claim 14, characterized in that the feeding device for pieces to be sucked further comprises:

CCD visual identification mechanism sets up the top of sucking disc mechanism, CCD visual identification mechanism's camera lens orientation sucking disc mechanism is in order to be right sucking disc mechanism shoots the location.