CN210918114U

CN210918114U - Suction jig and construction robot

Info

Publication number: CN210918114U
Application number: CN201921715865.0U
Authority: CN
Inventors: 朱方然; 何永泰; 李永强; 田东伟
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-10-14
Filing date: 2019-10-14
Publication date: 2020-07-03
Anticipated expiration: 2029-10-14

Abstract

The utility model relates to a construction machinery technical field discloses a absorb tool and construction robot. The suction jig comprises a cross beam, a plurality of suckers, a vacuum pipeline and a plurality of vacuum logic valves. The plurality of suckers are arranged on the cross beam and used for sucking workpieces. The vacuum pipeline is communicated with the plurality of suckers. The vacuum logic valves are arranged on the vacuum pipeline and are in one-to-one correspondence with the suckers so as to selectively adjust the vacuum flow of the suckers according to the size of the workpiece. The utility model provides a suction jig can adjust the vacuum flow according to the size of work piece, and the size of self-adaptation work piece realizes the absorption to not unidimensional work piece, simultaneously, suction jig's simple structure, and convenient to use has improved absorption efficiency.

Description

Suction jig and construction robot

Technical Field

The utility model relates to a construction machinery technical field especially relates to a suction jig and construction robot.

Background

In industrial production or building construction, a workpiece or a floor is generally grasped by a suction jig. The existing suction jig generally sucks workpieces with different sizes by manually adjusting the position of a suction cup. However, the suction jig is not only complicated in structure but also inconvenient to use, resulting in a decrease in suction efficiency.

Therefore, a new suction jig is needed to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a suction jig, it compares with prior art, not only can the size of self-adaptation work piece, realizes the absorption to not unidimensional work piece, simple structure moreover, convenient to use improves and absorbs efficiency.

Another object of the utility model is to provide a construction robot, through using above-mentioned suction jig, can the size of self-adaptation work piece, realize the absorption to not unidimensional work piece, simple structure moreover, easy to use improves the efficiency of building.

In order to achieve the purpose, the utility model adopts the following technical proposal:

an absorption jig comprising:

a cross beam;

the suckers are arranged on the cross beam and used for sucking workpieces;

the vacuum pipeline is communicated with the suckers;

and the vacuum logic valves are arranged on the vacuum pipelines and are in one-to-one correspondence with the suckers so as to selectively adjust the vacuum flow of the suckers according to the size of the workpiece.

Further, still including setting up a plurality of briquetting on the crossbeam, it is a plurality of the briquetting can with the work piece supports to press in the position of placing of predetermineeing.

Furthermore, a plurality of briquetting sets up with a plurality of sucking disc one-to-one, just the sucking disc wears to establish in the briquetting.

Further, at least one of the pressing blocks is provided with a hook, and the hook can be abutted against the side edge of the workpiece.

Furthermore, two ends of the cross beam are respectively provided with at least one pressing block with the hook.

Further, the suction jig further comprises:

the position detection mechanism is arranged on the cross beam to acquire the position information of the workpiece relative to a preset placing position, and the suction jig drives the workpiece to move to the preset placing position according to the position information.

Further, the position detection mechanism is an industrial camera.

Further, the number of the position detection mechanisms is plural.

Furthermore, two ends of the cross beam are respectively provided with at least one position detection mechanism.

Further, the suction jig further comprises:

the connecting piece is arranged on the cross beam and can be connected with the tail end of the actuating mechanism.

The building robot comprises an execution mechanism and the suction jig, wherein the execution mechanism is connected with the cross beam and used for driving the suction jig to move.

Further, the construction robot is a floor installation robot.

The utility model has the advantages that:

the utility model provides a suction jig, set up the vacuum logic valve with a plurality of sucking disc one-to-ones on vacuum pipeline, when absorbing the work piece, surpass the sucking disc of work piece size owing to can not with floor surface contact, vacuum logic valve judges this sucking disc to be in gas leakage state and closes this moment, make the sucking disc that corresponds stop the evacuation, and do not surpass the sucking disc of work piece size owing to with floor surface contact, then vacuum logic valve keeps opening, make the sucking disc that corresponds keep vacuum flow, thereby make the sucking disc can adjust vacuum flow according to the size of work piece, the size of self-adaptation work piece, realize the absorption to not unidimensional work piece. And simultaneously, the utility model provides a suction jig simple structure, convenient to use is showing and is improving absorption efficiency.

The utility model provides a construction robot, through using the above-mentioned tool that absorbs, the size that can the self-adaptation work piece realizes the absorption to not unidimensional work piece, simple structure moreover, and easy to use has improved the efficiency of building.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a schematic structural view of a suction jig provided in an embodiment of the present invention at a first angle;

fig. 2 is a schematic structural view of the suction jig provided by the embodiment of the present invention at a second angle;

fig. 3 is a schematic structural view of the suction jig provided by the embodiment of the present invention at a third angle;

fig. 4 is a schematic structural view of the suction jig provided in the embodiment of the present invention at a fourth angle;

fig. 5 is a flow chart of the suction jig provided by the embodiment of the present invention.

In the figure:

1-a cross beam;

2-a sucker;

3-vacuum pipeline;

4-a vacuum logic valve;

5-briquetting; 51-a hook; 52-anti-slip structure;

6-position detection means;

7-a connector;

8-fixing part.

Detailed Description

In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only or to distinguish between different structures or components and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to fig. 3, the present embodiment provides a suction jig, which can be applied to a construction robot, such as a floor installation robot, for sucking a floor, and can also be applied to an automated production device for sucking a to-be-produced piece. Specifically, the suction jig comprises a beam 1, a plurality of suckers 2, a vacuum pipeline 3 and a plurality of vacuum logic valves 4. Wherein, a plurality of sucking discs 2 are arranged on the beam 1 and used for sucking workpieces. The vacuum line 3 communicates with the plurality of suction cups 2. A plurality of vacuum logic valves 4 are disposed on the vacuum line 3, and the plurality of vacuum logic valves 4 are disposed in one-to-one correspondence with the plurality of suction cups 2 to selectively adjust the vacuum flow rate of the suction cups 2 according to the size of the workpiece. Specifically, in the present embodiment, the workpiece is a floor.

The suction jig that this embodiment provided, set up the vacuum logic valve 4 with a plurality of sucking discs 2 one-to-one on vacuum pipeline 3, when absorbing the work piece, surpass work piece size sucking disc 2 because can not with floor surface contact, vacuum logic valve 4 judges this sucking disc 2 and is in gas leakage state and close this moment, make the sucking disc 2 that corresponds stop the evacuation, and do not surpass work piece size sucking disc 2 because with floor surface contact, then vacuum logic valve 4 keeps opening, make the sucking disc 2 that corresponds keep vacuum flow, thereby make sucking disc 2 can adjust vacuum flow according to the size of floor, the size of self-adaptation floor, realize the absorption to not unidimensional floor. Simultaneously, the absorption jig that this embodiment provided simple structure, convenient to use is showing and is improving absorption efficiency.

In this embodiment, the suction cup 2 and the vacuum logic valve 4 are connected to the vacuum system through a vacuum line 3. The vacuum system mainly adopts compressed air as energy, and has the advantages of wide energy acquisition way, low energy consumption, strong adaptability and high reliability.

As shown in fig. 1 to fig. 3, the suction jig provided by this embodiment further includes a connecting member 7, the connecting member 7 is disposed on the cross beam 1, and the connecting member 7 can be connected to the end of the actuating mechanism. It should be noted that the actuating mechanism refers to a mechanism such as a mechanical arm that can drive the suction jig to move. The flexible butt joint of the suction jig and the mechanical arm and other actuating mechanisms is realized through the connecting piece 7. In particular, in the present embodiment, the connecting piece 7 is a connecting flange. Of course, in other embodiments, the connecting member 7 may also take other forms of connection than a connecting flange.

Preferably, as shown in fig. 1-3, the suction jig provided in this embodiment further includes a position detection mechanism 6, the position detection mechanism 6 is disposed on the cross beam 1 to obtain the position information of the workpiece relative to the preset placing position, and the suction jig drives the workpiece to move to the preset placing position according to the position information. The position detection mechanism 6 can acquire the position information of the edge of the floor and the edge of the preset placing position, then feeds the position information back to the control system, the control system calculates the position of the floor according to the obtained related position information, and sends an instruction to the execution mechanism to adjust the position of the floor until the floor reaches the preset placing position, so that accurate positioning is realized.

Preferably, as shown in fig. 1, the suction jig provided by this embodiment further includes a plurality of pressing blocks 5 disposed on the cross beam 1, and the plurality of pressing blocks 5 can press the floor against a preset placing position. The pressing block 5 is pressed against the floor, so that the floor can be clamped into the clamping groove of the adjacent floor, and the floor is fixed. Through the cooperation of the pressing block 5 and the position detection mechanism 6, the pressing block 5 can complete the positioning and fixing of the floor under the guidance of vision.

Optionally, in this embodiment, the cross beam 1 is a solid cross beam or a hollow profile. Of course, in other embodiments, the cross beam 1 may also be a plate or the like. Alternatively, as shown in fig. 1 to 3, in the present embodiment, the plurality of suction cups 2 are arranged at intervals along the extending direction of the beam 1. Specifically, in the present embodiment, six suction cups 2 are provided at intervals in the extending direction of the cross member 1. Of course, in other embodiments, the number of the suction cups 2 may be flexibly adjusted according to actual requirements, and meanwhile, the size of the suction cups 2 may also be flexibly adjusted according to actual requirements, which is not limited herein, so as to achieve the purpose of sucking floors of various sizes or weights. In addition, according to the actual requirements of the shape and size of the floor, in other embodiments, the plurality of suction cups 2 may also be arranged on the cross beam 1 in other manners, for example, two or three rows are arranged on the cross beam 1, or a rectangular array or a circular array is arranged on the cross beam 1, or a plurality of support beams perpendicular to the cross beam 1 are arranged on the cross beam 1, and the suction cups 2 are arranged at two ends of each support beam.

Alternatively, as shown in fig. 2 and 3, a plurality of pressing blocks 5 and a plurality of suction cups 2 are arranged in a one-to-one correspondence, and the suction cups 2 are inserted into the pressing blocks 5. Arranged in this way, the floor can be more evenly stressed, because the suction cup 2 provides an upward suction to the floor, while the press block 5 can provide a downward counter pressure to the floor.

Preferably, as shown in fig. 4, at least one of the pressing pieces 5 is provided with a hook 51, and the hook 51 can abut against a side edge of the floor. The hook 51 can limit the floor and prevent the floor from sliding towards the hook 51. Specifically, in the present embodiment, the hook 51 is located at the end of the pressing block 5.

Optionally, two ends of the beam 1 are respectively provided with at least one pressing block 5 with a hook 51. In the present embodiment, two ends of the beam 1 are respectively provided with one pressing block 5 having a hook 51, and the middle of the beam 1 is provided with four pressing blocks 5 without hooks 51. Of course, the number of the pressing blocks 5 can be flexibly adjusted according to the actual requirements of the size and shape of the floor, and is not limited herein. In addition, the arrangement of the pressing blocks 5 can also be adjusted according to the actual requirements such as the size and shape of the floor, and is not limited herein.

Preferably, as shown in fig. 4, the pressing block 5 is provided with an anti-slip structure 52. After the floor is sucked by the suction jig, the floor may be inclined under the driving of the actuating mechanism, and the anti-slip structure 52 can increase the friction between the pressing block 5 and the floor, so as to prevent the floor from slipping. Specifically, in the present embodiment, the anti-slip structure 52 is serrated. Of course, in other embodiments, the anti-slip structure 52 may also be a plurality of hemispherical protrusions, etc., and is not limited herein.

Specifically, in the present embodiment, the position detection mechanism 6 is an industrial camera. The industrial camera obtains the position information of the floor relative to a preset placing position by photographing. Of course, in other embodiments, the position detection mechanism 6 may also be a position detection sensor or a position detection sensor combined with an industrial camera, and is not limited herein. Optionally, the industrial camera is arranged on the beam 1 by means of a fixing 8. Further, the fixing member 8 is L-shaped. Through the mounting 8 that sets up the L shape, can make the industry camera can shoot the ground board edge, avoid the collection that the floor disturbed position information.

Preferably, the number of the position detection mechanisms 6 is plural. Specifically, in the present embodiment, both ends of the cross beam 1 are provided with at least one position detection mechanism 6, respectively. Specifically, in the present embodiment, the two ends of the cross member 1 are provided with one position detection mechanism 6, respectively. Of course, in other embodiments, the number and arrangement of the position detecting mechanisms 6 may be flexibly adjusted according to actual requirements such as the size and shape of the floor, so as to meet different requirements of floor position detection, which is not limited herein.

As shown in fig. 5, the working process of the suction jig provided by this embodiment when sucking the floor is as follows:

(1) the execution mechanism connected with the suction jig receives the instruction of the control system and moves the suction jig to the position of the floor to be sucked;

(2) after the suction jig reaches the position of the floor, the control system starts the vacuum system, and the suction disc 2 sucks the floor in a self-adaptive manner according to the size of the floor;

(3) after the floor is sucked by the sucking disc 2 and reaches the vacuum degree set by the vacuum system, the control system sends an instruction to the execution mechanism to control the execution mechanism to move the floor to the position near the preset placing position;

(4) after the suction jig reaches the position close to the preset placing position, a position detection mechanism 6 on the suction jig shoots the floor and the preset placing position, the obtained floor position is sent to a control system, and the control system analyzes and processes the collected position information and sends an instruction to an execution mechanism to control the execution mechanism to adjust the floor to the preset placing position;

(5) after the floor reaches a preset placing position, the control system sends an instruction to the actuating mechanism to drive the pressing block 5 on the suction jig to press the floor so as to fix the floor;

(6) after the floor is fixed, the control system controls the vacuum system to stop working, the sucking disc 2 is separated from the floor, and one-time operation process is completed.

The suction jig provided by the embodiment can be self-adaptive to the overall dimension of the floor, and adopts the sucker 2 to suck the floor, so that the floor is flexibly grabbed, the floor surface damage is avoided, and meanwhile, the visual identification matching pressing block 5 of the position detection mechanism 6 can realize the functions of extruding, fixing, accurately positioning the floor and the like. The suction jig can be used for the tail ends of various automatic devices, realizes various complex actions on the floor, and has the advantages of low energy consumption, strong adaptability and high reliability.

The embodiment also provides a construction robot, which comprises an actuating mechanism and the suction jig, wherein the actuating mechanism is connected with the cross beam 1 and used for driving the suction jig to move. Further, in the present embodiment, the construction robot is a floor installation robot. Of course, in other embodiments, the construction robot may also be a tile laying robot or the like. The construction robot that this embodiment provided, through using above-mentioned suction jig, can the size of self-adaptation floor, realize the absorption to not unidimensional floor, simple structure moreover, easy to use has improved floor installation effectiveness.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. The utility model provides an absorb tool which characterized in that includes:

a cross beam (1);

the suckers (2) are arranged on the cross beam (1) and used for sucking workpieces;

a vacuum pipeline (3) which is communicated with the suckers (2);

the vacuum logic valves (4) are arranged on the vacuum pipeline (3) and are in one-to-one correspondence with the suckers (2) so as to selectively adjust the vacuum flow of the suckers (2) according to the size of the workpiece.

2. The suction jig according to claim 1, further comprising a plurality of pressing blocks (5) disposed on the cross beam (1), wherein the plurality of pressing blocks (5) can press the workpiece against a preset placing position.

3. The suction jig according to claim 2, wherein a plurality of the pressing blocks (5) and a plurality of the suckers (2) are arranged in a one-to-one correspondence, and the suckers (2) are arranged in the pressing blocks (5) in a penetrating manner.

4. Suction jig according to claim 2, characterized in that at least one of the pressing blocks (5) is provided with a hook (51), said hook (51) being capable of abutting against a side edge of the work piece.

5. Suction jig according to claim 4, characterized in that both ends of the crossbeam (1) are provided with at least one said pressing block (5) with said hook (51), respectively.

6. The suction jig according to any one of claims 1 to 5, further comprising:

the position detection mechanism (6) is arranged on the cross beam (1) to acquire the position information of the workpiece relative to a preset placing position, and the suction jig drives the workpiece to move to the preset placing position according to the position information.

7. Suction jig according to claim 6, characterized in that the position detection means (6) is an industrial camera.

8. Suction jig according to claim 6, characterized in that the number of the position detection means (6) is a plurality.

9. The suction jig according to claim 8, wherein at least one position detection mechanism (6) is respectively arranged at two ends of the cross beam (1).

10. The suction jig of claim 1, further comprising:

the connecting piece (7), the connecting piece (7) set up on crossbeam (1), connecting piece (7) can be connected with actuating mechanism's end.

11. A construction robot comprising an actuator, characterized in that it further comprises a suction jig according to any one of claims 1 to 10, said actuator being connected to said cross beam (1) for driving said suction jig to move.

12. The construction robot according to claim 11, wherein the construction robot is a floor mounted robot.