CN212445274U - Combined type holding device and picking robot with same - Google Patents
Combined type holding device and picking robot with same Download PDFInfo
- Publication number
- CN212445274U CN212445274U CN202021129680.4U CN202021129680U CN212445274U CN 212445274 U CN212445274 U CN 212445274U CN 202021129680 U CN202021129680 U CN 202021129680U CN 212445274 U CN212445274 U CN 212445274U
- Authority
- CN
- China
- Prior art keywords
- suction
- sucker
- suction cup
- air flow
- vacuum generator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a combined type is inhaled and is held device and have its pick up robot, include: the device comprises a body, a first sucker, a second sucker and a pressure detection piece. The body defines first and second air flow passages therein, the first air flow passage having a first quick-access inlet and a first outlet, and the second air flow passage having a second quick-access inlet and a second outlet. The first sucking disc is arranged on the body, one end of the first sucking disc forms a first suction port end, and the other end of the first sucking disc is communicated with the first air flow channel. At least part of the second sucker is arranged in the first sucker, one end of the second sucker forms a second suction end and the other end of the second sucker is communicated with the second airflow channel, and the first suction end and the second suction end are located at the same end of the first sucker. The first and second fast-through inlets are used for jetting airflow to the first and second outlets respectively. The pressure detection piece is used for detecting the air pressure value of one of the first vacuum generator and the second vacuum generator and controlling the start and stop of the other vacuum generator. According to the utility model discloses a combined type is inhaled and is held device can promote and inhale and hold efficiency, saves the gas quantity, reduces occupation space.
Description
Technical Field
The utility model belongs to the technical field of adsorption equipment technique and specifically relates to a combined type is inhaled and is held device and have its robot that picks up.
Background
In the related technology, a vacuum generator capable of establishing good negative pressure is matched with a sucker for use, so that materials with smooth surfaces can be sucked well, the air consumption is low, but the sucker is difficult to suck the materials under the condition that the sucker is not tightly attached to the materials and serious air leakage occurs. In addition, the vacuum generator with large flow rate is matched with a sucking disc to be more suitable for sucking materials with uneven surfaces, and generates certain negative pressure to suck up materials with certain weight when the sucking disc is not tightly attached to the materials and serious air leakage exists.
When the flatness of the surface of the material is inconsistent, all the material cannot be sucked up by adopting the first type of sucker, and the air consumption is huge by adopting the second type of sucker. If two types of suckers are used on the same device at the same time and two sets of vacuum generation systems are matched to aim at materials with different characteristics, not only is the occupied space too large, but also the problem that how to bypass the other side needs to be considered when the two suckers absorb the materials, and more time is consumed.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a combined type suction device to enlarge application scope, and promote the suction efficiency, save gas reduces occupation space.
The utility model discloses still aim at providing one kind and have above-mentioned combined type suction device pick up the robot.
According to the utility model discloses device is held to combined type, include: a body defining a first airflow channel therein having a first quick-access inlet and a first outlet and a second airflow channel having a second quick-access inlet and a second outlet; the first sucker is arranged on the body, one end of the first sucker forms a first sucker end, and the other end of the first sucker is communicated with the first air flow channel; at least part of the second sucker is arranged in the first sucker, one end of the second sucker forms a second suction end, the other end of the second sucker is communicated with the second airflow channel, and the second suction end and the first suction end are positioned at the same end of the first sucker; the first fast-passing inlet is used for jetting airflow to the first outlet, so that the first airflow channel forms a first vacuum generator, and the first suction end forms a negative pressure area; the second quick-opening inlet is used for jetting airflow to the second outlet, so that the second airflow channel forms a second vacuum generator, and the second suction port forms a negative pressure area; in addition, the combined type holding device further comprises a pressure detection piece, the pressure detection piece is used for detecting the air pressure value of one of the first vacuum generator and the second vacuum generator, and the pressure detection piece is used for controlling the start and stop of the other one of the first vacuum generator and the second vacuum generator.
According to the utility model discloses device is held to combined type, through providing the form of a two kinds of vacuum generator cooperation operation, application scope is wide, when absorbing the material of different characteristics, can intelligent open the vacuum generator work of matching to save the gas quantity. At least part of the second sucker is arranged in the first sucker, and the combined type sucking device is integrally arranged, so that the occupied space of the combined type sucking device can be effectively reduced. And when the characteristic change of the target material needs to be changed into the vacuum generator, the sucking positions of the two suckers are basically consistent, so that the positions of the suckers do not need to be changed greatly. And when the sucking disc adjusting position, need not consider the condition that another sucking disc was walked around to a sucking disc, consequently can reduce the adjustment time, improve and hold efficiency.
In some embodiments, when the pressure detecting member is used for detecting the first vacuum generator, the sensing end of the pressure detecting member is arranged in the first air flow passage or the first suction cup; when the pressure detection piece is used for detecting the second vacuum generator, the sensing end of the pressure detection piece is arranged in the second airflow channel or the second sucker.
In some embodiments, the second air flow passage is located inside the first air flow passage, and the second outlet communicates with the first air flow passage to be exhausted by the first outlet.
In some embodiments, the second suction cup is a plurality.
Specifically, the number of the first air flow channels is one, and the number of the second air flow channels is multiple, wherein the second air flow channels correspond to the second suction cups one to one.
In some embodiments, the first suction cup and the second suction cup are both flexible tubes.
Specifically, when the first suction cup and the second suction cup are both at a natural extension length, the second suction end of the second suction cup is located outside the first suction cup.
In some alternative embodiments, the second suction end of the second suction cup is located within the first suction cup when the first suction cup and the second suction cup are each shortened to a minimum.
In some embodiments, the body comprises: the first outlet is arranged at one end of the first shell part, and the first quick-opening inlet is arranged on the first shell part; an adapter ring connected to the other end of the first housing portion; the second shell part is connected to the adapter ring, the first suction disc is connected to the second shell part, the first air flow channel is defined in the first shell part and the second shell part, and the second shell part is provided with the second quick-opening inlet; the third shell portion is arranged in the second shell portion, the second airflow channel is limited inside the third shell portion, and the second sucker is connected to the third shell portion.
According to the utility model discloses pick up robot, include: arm with the combined type suction device of the above embodiment of the present invention, the combined type suction device is provided on the arm.
According to the utility model discloses pick up robot holds the form that the dress provided two kinds of vacuum generator cooperation operations through the combined type to the arm can pick up two kinds of materials of surfacing and surface unevenness, reduces gas consumption simultaneously. For example, when the mechanical arm carries out picking operation, at least one of the first vacuum generator and the second vacuum generator can be intelligently started according to the surface characteristics of the material so as to suck the material. In addition, at least part of the second sucker is arranged in the first sucker, so that the combined type sucking device is integrated, and the occupied space of the repeated picking robot can be effectively reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural view of a composite type holding apparatus according to an embodiment of the present invention (in which arrows show the flowing direction of air flow);
FIG. 2 is a schematic structural view of a composite holding apparatus according to an embodiment of the present invention (wherein, when the second vacuum generator is activated, the second suction cup will hold the surfacing material);
fig. 3 is a schematic structural diagram of a composite holding device according to an embodiment of the present invention (in which, when the first vacuum generator is activated, the first suction cup will hold the material with uneven surface);
FIG. 4 is a perspective view of the composite holder of an embodiment of the present invention (wherein the composite holder is cut along the axis to show the internal fit);
fig. 5 is a schematic view of an application scenario of the picking robot in the embodiment of the present invention (wherein, the picking robot can pick up a material with a flat surface, and can also pick up a material with a non-flat surface).
Reference numerals:
a pick-up robot 1000,
A composite holding device 100,
A body 1, a first air flow channel 11, a first fast-opening inlet 111, a first outlet 112, a second air flow channel 12, a second fast-opening inlet 121, a second outlet 122, a first shell portion 13, an adapter ring 14, a second shell portion 15, a third shell portion 16, a first shell portion 13, a second shell portion 15, a second shell portion,
A first suction disc 2, a first suction end 21,
A second sucker 3, a second sucker end 31,
A pressure detection piece 4,
A mounting seat 5,
The robotic arm 200.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "inner", "outer", "center", "axial", 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 simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
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, and may be, for example, fixedly connected, detachably connected, or integrally connected; 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.
A composite type holding apparatus 100 according to an embodiment of the present invention is described below with reference to fig. 1 to 4.
According to the embodiment of the present invention, as shown in fig. 1 and 4, the combined type holding device 100 includes: the suction cup comprises a body 1, a first suction cup 2 and a second suction cup 3. A first air flow path 11 and a second air flow path 12 are defined in the body 1, the first air flow path 11 having a first quick-opening inlet 111 and a first outlet 112, the second air flow path 12 having a second quick-opening inlet 121 and a second outlet 122. The first suction cup 2 is arranged on the body 1, one end of the first suction cup 2 forms a first suction end 21 and the other end is communicated with the first air flow channel 11. At least part of the second suction cup 3 is arranged in the first suction cup 2, one end of the second suction cup 3 forms a second suction end 31, the other end of the second suction cup 3 is communicated with the second airflow channel 12, and the second suction end 31 and the first suction end 21 are positioned at the same end of the first suction cup 2; the first fast-through inlet 111 is used for injecting air flow to the first outlet 112, so that the first air flow channel 11 constitutes a first vacuum generator, and the first suction end 21 forms a negative pressure region; the second quick-opening inlet 121 is used for jetting the air flow toward the second outlet 122, so that the second air flow channel 12 constitutes a second vacuum generator and the second suction end 31 forms a negative pressure region. In addition, the combined type holding device 100 further comprises a pressure detection part 4, the pressure detection part 4 is used for detecting the air pressure value of one of the first vacuum generator and the second vacuum generator, and the pressure detection part 4 is used for controlling the start and stop of the other one of the first vacuum generator and the second vacuum generator.
For convenience of description, in order to better describe the composite type suction device 100 in the embodiment of the present invention, the first quick-opening inlet 111 is defined as a flow larger than the second quick-opening inlet 121, and the pressure detecting element 4 is used for detecting the air pressure value of the second vacuum generator, and the pressure detecting element 4 is used for controlling the start and stop of the first vacuum generator. Therefore, in the actual use process, the two vacuum generators can be used according to different material characteristics, and the use method is flexible. As shown in fig. 2, when the composite holding apparatus 100 holds a material that is flat, the second fast-opening inlet 121 injects an air flow to the second outlet 122, so that the second air flow channel 12 forms a second vacuum generator, which is equivalent to activating the second vacuum generator, so that the second suction port end 31 forms a negative pressure area, so that a higher vacuum negative pressure can be established between the second suction cup 3 and the surface of the material, and the second suction cup 3 can suck the material. As shown in fig. 3, when the composite holding apparatus 100 holds a material that is not flat, within a half minute to two minutes after the second vacuum generator is started, if the pressure detecting element 4 detects that the air pressure value of the second vacuum generator is greater than the preset value, the pressure detecting element 4 may control the first vacuum generator to be turned on to hold the material. Therefore, whether the first vacuum generator is started or not can be intelligently selected according to the flatness of the surface of the material. Here, when the first quick-opening inlet 111 injects the air flow toward the first outlet 112, the first air flow path 11 constitutes a first vacuum generator, which is equivalent to activating the first vacuum generator, so that the first suction port 21 forms a negative pressure region. If the flow rate of the first fast-passing inlet 111 is large, even if the first suction cup 2 is not tightly attached to the surface of the material and air leaks, a certain negative pressure can be generated at the position of the first suction cup 2, and the material with a certain weight can be sucked up. .
At least part of the second suction cup 3 is arranged in the first suction cup 2, so that the composite type holding device 100 is highly integrated, and the occupied space of the composite type holding device 100 can be effectively reduced. And because the second sucking disc 3 is just in first sucking disc 2 department, therefore when changing vacuum generator, the sucking disc need not shift, consequently is favorable to practicing thrift the absorption time, promotes and holds efficiency.
Of course, the flow rate of the first fast-opening inlet 111 may also be smaller than the flow rate of the second fast-opening inlet 121, in which case the pressure detecting element 4 is used for detecting the air pressure value of the first vacuum generator, and the pressure detecting element 4 is used for controlling the start and stop of the second vacuum generator. And the intelligent material holding can be realized. The definitions herein are for the purpose of more clearly describing the interaction of the components and are not intended to be limiting.
According to the utility model discloses device 100 is held to combined type, through providing the form of a two kinds of vacuum generator cooperation operation, application scope is wide, when absorbing the material of different characteristics, can intelligently open the vacuum generator work of matching to save the gas quantity. At least part of the second suction cup 3 is arranged in the first suction cup 2, and the composite type suction device 100 is integrally arranged, so that the occupied space of the composite type suction device 100 can be effectively reduced. And when the characteristic change of the target material needs to be changed into the vacuum generator, the sucking positions of the two suckers are basically consistent, so that the positions of the suckers do not need to be changed greatly. And when the sucking disc adjusting position, need not consider the condition that another sucking disc was walked around to a sucking disc, consequently can reduce the adjustment time, improve and hold efficiency.
In some embodiments, when the pressure detecting member 4 is used to detect the first vacuum generator, the sensing end of the pressure detecting member 4 is provided in the first air flow path 11 or the first suction pad 2. Here, the sensing end of the pressure sensor 4 can be arranged in the first air flow channel 11 and also in the first suction cup 2, thereby providing more flexible and various configurations to adapt to different materials.
When the pressure detecting member 4 is used to detect the second vacuum generator, the sensing end of the pressure detecting member 4 is disposed in the second air flow path 12 or the second suction cup 3. Here, the sensing end of the pressure sensor 4 can be arranged in the second air flow channel 12 and also in the second suction cup 3, thereby providing more flexible and various configurations to adapt to different materials.
Alternatively, the pressure detecting member 4 may be a vacuum pressure sensor. Taking the example that the flow rate of the second vacuum generator is smaller than that of the first vacuum generator, as shown in fig. 2, the second vacuum generator can establish a higher vacuum negative pressure when the second suction cup 3 is well attached to the material, and can suck up the material. When the surface of the material is uneven and the second sucker 3 is poorly attached to the material, the material cannot be sucked up, negative pressure in the vacuum loop is poorly established at the moment, and the vacuum negative pressure is far lower than the level of the first sucker 2 when the material is well attached. As shown in fig. 3, when the vacuum pressure sensor detects that the negative pressure is not well established and exceeds the set threshold, the first vacuum generator is started, and the first suction cup 2 is used for absorbing the materials. Therefore, the consumption of gas can be reduced under the condition of ensuring that the materials are sucked up.
In some embodiments, as shown in FIG. 4, the second air flow channel 12 is located inside the first air flow channel 11, and the second outlet 122 communicates with the first air flow channel 11 to be exhausted by the first outlet 112. Therefore, the structure of the combined type suction device 100 is more compact, the layout is more reasonable, the integration degree of the combined type suction device 100 is further improved, and the occupied space of the combined type suction device 100 is reduced. In addition, the layout is also favorable for the flow of air flow, and the suction efficiency of the materials is further improved.
In some embodiments, as shown in fig. 4, the second suction cup 3 is plural. It can be understood that the arrangement of the plurality of second suction cups 3 can increase the probability of picking up the uneven material, for example, the probability of picking up the flat part of the surface of the uneven material can be increased, thereby increasing the holding efficiency of the composite holding device 100 and reducing the gas consumption.
Specifically, as shown in fig. 4, there is one first air flow path 11, and there are a plurality of second air flow paths 12 corresponding to the second suction cups 3 one to one. Therefore, the layout can further improve the integration degree of the combined type suction device 100, is beneficial to the flow of air flow, and further improves the suction efficiency of the combined type suction device 100.
In some embodiments, the first suction cup 2 and the second suction cup 3 are both flexible tubes. The first sucker 2 and the second sucker 3 are convenient to lift, and the mutual blocking effect between the first sucker 2 and the second sucker 3 can be reduced.
Specifically, when the first suction cup 2 and the second suction cup 3 are both at the natural elongation length, the second suction end 31 of the second suction cup 3 is located outside the first suction cup 2. Therefore, the second suction cup 3 can be fully contacted with the material, and the situation that the second suction cup 3 is blocked by the first suction cup 2 is reduced.
In some alternative embodiments, the second suction end 31 of the second suction cup 3 is located within the first suction cup 2 when the first suction cup 2 and the second suction cup 3 are each shortened to the shortest. When starting first vacuum generator like this, can make second sucking disc 3 shrink inwards more easily, reduce the outside thrust that second sucking disc 3 pushed the material, make first sucking disc 2 inseparabler with the material contact, adsorb more firmly.
In some embodiments, as shown in fig. 4, the body 1 comprises: a first shell portion 13, an adapter ring 14, a second shell portion 15, and a third shell portion 16. One end of the first housing portion 13 is provided with a first outlet 112, and the first housing portion 13 is provided with a first quick-access inlet 111. An adapter ring 14 is attached to the other end of the first housing portion 13. The second housing part 15 is connected to the adapter ring 14, and the first suction cup 2 is connected to the second housing part 15. The second casing portion 15 defines the first air flow passage 11 therein, and the second casing portion 15 is provided with a second quick-access inlet 121. The third shell portion 16 is disposed in the second shell portion 15, the third shell portion 16 internally defines the second airflow passage 12, and the second suction cup 3 is coupled to the third shell portion 16. Therefore, the structural strength of the composite suction device 100 can be improved, the integration degree of the composite suction device 100 can be further improved, and the occupied space of the composite suction device 100 can be reduced. In addition, the first casing part 13 and the third casing part 15 are not connected through a pipeline, so that the air flow can be favorably circulated, the distance between the first casing and the first suction tray 2 is reduced, and the problem of reduction of the suction flow of the first suction tray 2 caused by the overlong pipeline is solved.
Optionally, the first shell portion 13 and the adaptor ring 14 may be connected by screws, threads, interference fit, clasping, fastening, or gluing, and the like, and the sealing manner may be elastic sealing gasket sealing, thread sealing, fastening, or packing sealing, and the connection manner and the sealing manner of the first shell portion 13 and the adaptor ring 14 are not limited herein.
Alternatively, the adaptor ring 14 and the second housing portion 15 may be connected by screws, threads, interference fit, clasping connection, or adhesive bonding and sealing methods, and the sealing methods may be elastic sealing gasket sealing, thread sealing, or packing sealing, and the connection methods and the sealing methods of the adaptor ring 14 and the second housing portion 15 are not limited herein.
Alternatively, the second housing portion 15 and the first suction cup 2 may be connected by screws, snap-fit connection, glue bonding, or the like, and the manner of connecting the second housing portion 15 and the first suction cup 2 is not limited herein.
Alternatively, the second suction cup 3 and the third shell 16 may be connected by screws, snaps or adhesives, and the connection manner of the second suction cup 3 and the third shell is not limited herein.
Alternatively, the third shell portion 16 and the second shell portion 15 may be connected by an interference fit, a threaded connection, a snap connection, or an adhesive, and the connection manner of the third shell portion 16 and the second shell portion 15 is not limited herein.
Of course, in other embodiments, the first shell portion 13, the adapter ring 14, the second shell portion 15, and the third shell portion 16 may also be integrally formed, and the specific form of the body 1 is not limited herein.
Alternatively, a first quick-connect coupling may be coupled to the first quick-connect inlet 111 and a second quick-connect coupling may be coupled to the second quick-connect inlet 121, the first quick-connect coupling being threadably coupled to the first shell portion 13 and the second quick-connect coupling being threadably coupled to the third shell portion 16.
Alternatively, the second quick-connect connector and the third housing 16 and the pressure detector 4 may be connected by an air tube.
Optionally, as shown in fig. 4, the composite holding apparatus 100 further includes a mounting seat 5, the mounting seat 5 may be disposed on the first shell portion 13, and the mounting seat 5 may be connected to other external components, such as a robot arm, and improve the mounting stability of the composite holding apparatus 100. Here, the mounting seat 5 and the first shell portion 13 can be connected by screws, and of course, in other embodiments, the mounting seat 5 and the first shell portion 13 can be connected by welding, plugging, etc., and the mounting seat 5 and the first shell portion 13 can also be integrally formed, and the specific arrangement form between the mounting seat 5 and the first shell portion 13 is not limited herein.
The composite type holding apparatus 100 according to an embodiment of the present invention will be described with reference to fig. 4.
According to the utility model discloses device 100 is held to combined type, include: the suction cup comprises a body 1, a first suction cup 2, a second suction cup 3 and a pressure detection piece 4.
The body 1 includes a first shell portion 13, an adaptor ring 14, a second shell portion 15, and a third shell portion 16. One end of the first housing portion 13 is provided with a first outlet 112, and the first housing portion 13 is provided with a first quick-access inlet 111. An adapter ring 14 is attached to the other end of the first housing portion 13. The second housing part 15 is connected to the adapter ring 14, and the first suction cup 2 is connected to the second housing part 15. The second casing portion 15 defines the first air flow passage 11 therein, and the second casing portion 15 is provided with a second quick-access inlet 121. The third shell portion 16 is disposed within the second shell portion 15, and the third shell portion 16 internally defines the second airflow passage 12.
One end of the first suction cup 2 constitutes a first suction end 21 and the other end is connected to the second housing.
One end of the second suction cup 3 constitutes a second suction end 31 and the other end is connected to the third shell portion 16. The second suction cup 3 is plural. The first suction cup 2 and the second suction cup 3 are both flexible tubes. When both the first suction cup 2 and the second suction cup 3 are at a natural elongation length, the second suction end 31 of the second suction cup 3 is located outside the first suction cup 2. When the first suction cup 2 and the second suction cup 3 are each shortened to the shortest, the second suction end 31 of the second suction cup 3 is located inside the first suction cup 2.
The pressure detection part 4 is used for detecting the air pressure value in the second air flow channel 12 or the second suction cup 3, and the pressure detection part 4 is used for controlling the start and stop of the first vacuum generator.
The number of the first air flow channels 11 is one, the number of the second air flow channels 12 is multiple, the number of the second air flow channels 12 corresponds to the number of the second suction cups 3, and the sum of the flow rates of the multiple second air flow channels 12 is smaller than the flow rate of the first air flow channels 11. The first quick-opening inlet 111 is used for injecting the air flow toward the first outlet 112, so that the first air flow passage 11 constitutes a first vacuum generator and the first suction port end 21 forms a negative pressure region. The second quick-opening inlet 121 is used for jetting the air flow toward the second outlet 122, so that the second air flow channel 12 constitutes a second vacuum generator and the second suction end 31 forms a negative pressure region.
A pickup robot 1000 according to an embodiment of the present invention is described below with reference to the drawings.
According to the utility model discloses pick up robot 1000, include: the robot arm 200 and the combined type suction device 100 according to the above embodiment of the present invention, the combined type suction device 100 is disposed on the robot arm 200.
According to the utility model discloses pick up robot 1000 through the combined type holding the form that the dress provided two kinds of vacuum generator cooperation operation to arm 200 can pick up the material of surfacing and surface unevenness, reduces gas consumption simultaneously. Such as the robot arm 200, may intelligently activate at least one of the first and second vacuum generators to suck up the material based on the surface characteristics of the material. In addition, at least part of the second suction cup 3 is arranged in the first suction cup 2, so that the combined type suction device 100 is integrally arranged, and the occupied space of the re-picking robot 1000 can be effectively reduced.
Other configurations of the pick robot 1000 according to an embodiment of the present invention, such as a control device and the like, and operations are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A composite suction device, comprising:
a body defining a first airflow channel therein having a first quick-access inlet and a first outlet and a second airflow channel having a second quick-access inlet and a second outlet;
the first sucker is arranged on the body, one end of the first sucker forms a first sucker end, and the other end of the first sucker is communicated with the first air flow channel;
at least part of the second sucker is arranged in the first sucker, one end of the second sucker forms a second suction end, the other end of the second sucker is communicated with the second airflow channel, and the second suction end and the first suction end are positioned at the same end of the first sucker; wherein the content of the first and second substances,
the first fast-passing inlet is used for jetting airflow to the first outlet, so that the first airflow channel forms a first vacuum generator, and the first suction port end forms a negative pressure area;
the second quick-opening inlet is used for jetting airflow to the second outlet, so that the second airflow channel forms a second vacuum generator, and the second suction port forms a negative pressure area; in addition, the first and second substrates are,
the combined type holding device further comprises a pressure detection piece, the pressure detection piece is used for detecting the air pressure value of one of the first vacuum generator and the second vacuum generator, and the pressure detection piece is used for controlling the start and stop of the other one of the first vacuum generator and the second vacuum generator.
2. The composite holding device as claimed in claim 1, wherein when the pressure detecting member is used to detect the first vacuum generator, the sensing end of the pressure detecting member is disposed in the first air flow passage or the first suction cup; when the pressure detection piece is used for detecting the second vacuum generator, the sensing end of the pressure detection piece is arranged in the second airflow channel or the second sucker.
3. The composite holding device of claim 1, wherein the second air flow channel is located inside the first air flow channel, and the second outlet communicates with the first air flow channel to be exhausted by the first outlet.
4. The composite suction device as claimed in claim 1, wherein the second suction cup is plural.
5. The composite holding device of claim 4, wherein the number of the first air flow channel is one, and the number of the second air flow channels is plural, one for one corresponding to the number of the second suction cups.
6. The composite suction device of claim 1, wherein the first suction cup and the second suction cup are both flexible tubes.
7. The composite suction device recited in claim 6, wherein the second suction end of the second suction cup is positioned outside the first suction cup when the first suction cup and the second suction cup are both at a natural elongation length.
8. The composite suction device recited in claim 6, wherein the second suction end of the second suction cup is positioned within the first suction cup when the first suction cup and the second suction cup are each shortened to a minimum.
9. The composite suction device according to any one of claims 1 to 8, wherein the body comprises:
the first outlet is arranged at one end of the first shell part, and the first quick-opening inlet is arranged on the first shell part;
an adapter ring connected to the other end of the first housing portion;
the second shell part is connected to the adapter ring, the first suction disc is connected to the second shell part, the first air flow channel is defined in the first shell part and the second shell part, and the second shell part is provided with the second quick-opening inlet;
the third shell portion is arranged in the second shell portion, the second airflow channel is limited inside the third shell portion, and the second sucker is connected to the third shell portion.
10. A pick robot, comprising: a robotic arm and a composite suction device according to any one of claims 1 to 9, said composite suction device being provided on said robotic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021129680.4U CN212445274U (en) | 2020-06-17 | 2020-06-17 | Combined type holding device and picking robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021129680.4U CN212445274U (en) | 2020-06-17 | 2020-06-17 | Combined type holding device and picking robot with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212445274U true CN212445274U (en) | 2021-02-02 |
Family
ID=74470999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021129680.4U Active CN212445274U (en) | 2020-06-17 | 2020-06-17 | Combined type holding device and picking robot with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212445274U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116080983A (en) * | 2022-12-27 | 2023-05-09 | 广州市华南畜牧设备有限公司 | Hatching egg sucker, hatching egg device and control method |
-
2020
- 2020-06-17 CN CN202021129680.4U patent/CN212445274U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116080983A (en) * | 2022-12-27 | 2023-05-09 | 广州市华南畜牧设备有限公司 | Hatching egg sucker, hatching egg device and control method |
| CN116080983B (en) * | 2022-12-27 | 2024-04-19 | 广州市华南畜牧设备有限公司 | Hatching egg sucker, hatching egg device and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212445274U (en) | Combined type holding device and picking robot with same | |
| WO2019205154A1 (en) | Composite suction cup, composite suction cup assembly, and mechanical arm | |
| CN104903219A (en) | Vacuum gripping device | |
| WO2013149583A1 (en) | Suction apparatus having suction cup and glass-wiping device thereof | |
| WO2010028120A3 (en) | Vacuum cleaner bag docking assembly | |
| CN113799157A (en) | Combined type holding device and picking robot with same | |
| CN220222646U (en) | Partition sucking disc device | |
| CN112157672A (en) | Annular groove vacuum chuck | |
| CN216104768U (en) | Sucking disc module, suction tool and robot of many sucking discs | |
| CN112109022A (en) | A absorb subassembly for adsorbing annular work piece | |
| CN219167269U (en) | Sealing connection structure of breast pump milk storage container | |
| CN217822715U (en) | Solid brilliant quick-witted suction nozzle of accurate installation wafer | |
| CN212271540U (en) | Vacuum chuck system and floor tile paving equipment | |
| CN213499269U (en) | End effector and robot | |
| CN212170466U (en) | Sucking disc for sucking medical infusion bottle | |
| WO2014048383A1 (en) | Suction cup device and glass-wiping device thereof | |
| CN220294095U (en) | Improved boxing target | |
| CN219098283U (en) | Suction nozzle structure and mounting equipment | |
| CN217861311U (en) | Flexible sucking disc assembly | |
| CN216884021U (en) | Adsorption device for sucking special-shaped workpieces | |
| CN215016745U (en) | Dust collection opening control valve for dust collector floor brush, floor brush for dust collector and dust collector | |
| CN216326256U (en) | Locking mechanism of combined assembling machine | |
| CN217194108U (en) | Vacuum chuck connecting structure for machine tool | |
| CN212653119U (en) | Dust-proof device for electric drill bit | |
| CN210189553U (en) | Self-sealing vacuum sucker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |