CN212684005U - Flexible sheet adsorption component and automatic grabbing mechanism thereof - Google Patents
Flexible sheet adsorption component and automatic grabbing mechanism thereof Download PDFInfo
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- CN212684005U CN212684005U CN202021280322.3U CN202021280322U CN212684005U CN 212684005 U CN212684005 U CN 212684005U CN 202021280322 U CN202021280322 U CN 202021280322U CN 212684005 U CN212684005 U CN 212684005U
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 98
- 230000007246 mechanism Effects 0.000 title claims abstract description 16
- 239000000463 material Substances 0.000 claims description 26
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 11
- 239000003463 adsorbent Substances 0.000 claims description 7
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 abstract description 2
- 238000007906 compression Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 15
- 238000005520 cutting process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005253 cladding Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
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Abstract
The utility model provides a flexible sheet adsorption component and an automatic grabbing mechanism thereof, belonging to the field of flexible sheet automatic grabbing mechanical structures, which comprises a negative pressure box, a negative pressure joint and an adsorption head; a negative pressure cavity is arranged in the negative pressure box; the adsorption head comprises a corrugated pipe, a connecting plate and a flexible sheet adsorption plate; the connecting plate is connected to the bottom end of the negative pressure box, the surface of the flexible sheet adsorption plate is provided with a plurality of adsorption holes, and the adsorption holes are communicated with the outer side and the inner cavity of the corrugated pipe; the vacuum chuck utilizes the negative pressure adsorption principle, combines the concept of a vacuum chuck on the basis, adds the corrugated pipe on the basis of the original negative pressure box, compresses the corrugated pipe on the surface of the flexible sheet when adsorbing the flexible sheet, the corrugated pipe in the compression state has the resetting trend, the space of the inner cavity of the corrugated pipe is increased when resetting, larger negative pressure acting force is applied to the surface of the flexible sheet instantly, in addition, the negative pressure generated by the negative pressure box, a plurality of layers of flexible sheets can be grabbed by the adsorption head instantly, and the grabbing efficiency is extremely high.
Description
Technical Field
The utility model belongs to the technical field of the automatic mechanical structure that snatchs of flexible sheet and specifically relates to a flexible sheet adsorption component and automatic mechanism that snatchs thereof is related to.
Background
Due to the influence of the softness of the flexible sheet, the flexible sheet is difficult to grasp and carry through a conventional grasping mechanism; therefore, in the processing process of the flexible sheet, manual feeding and discharging operations are generally performed, so that the efficiency is low and the labor is wasted;
in the prior art, when a common negative pressure adsorption device is used for grabbing the flexible sheets, only one sheet can be grabbed, and the grabbing efficiency is extremely low;
in addition, in the actual production course of working, cut the flexible sheet who piles up through a process, the requirement sometimes keeps getting into next process under the unchangeable condition of stacking order, often can appear among the manual operation process carrying transfer process and pile up the sheet and empty the phenomenon, lead to can't be strictly according to the unchangeable requirement of the process stacking order of last process and get into next process.
SUMMERY OF THE UTILITY MODEL
One of the objects of the utility model is to provide a flexible sheet material adsorption component, it utilizes the negative pressure adsorption principle, combine vacuum chuck's notion again on this basis, increase the bellows on the basis of original negative pressure box, when adsorbing flexible sheet material, compress the bellows in the surface of flexible sheet material, bellows under the compression state has the trend of resetting, bellows inner chamber space increases when resetting, exert great negative pressure effort to flexible sheet material surface in the twinkling of an eye, in addition in the negative pressure that negative pressure box produced, multilayer flexible sheet material can be grabbed by the adsorption head in the twinkling of an eye, it is high to snatch efficiency.
In order to solve the technical problems that the grabbing of the flexible sheet in the prior art is labor resource wasted and grabbing cannot be realized, the utility model provides a flexible sheet adsorption assembly, which comprises a negative pressure box, a negative pressure joint and an adsorption head;
a negative pressure cavity is arranged in the negative pressure box, the negative pressure joint is arranged at the top end of the negative pressure box and is communicated with the negative pressure cavity, and a negative pressure joint pipeline is communicated with an external negative pressure generator; the adsorption head comprises a corrugated pipe, a connecting plate and a flexible sheet adsorption plate; the connecting plate with the flexible sheet adsorption plate set up respectively in the both ends of bellows, the connecting plate connect in the bottom of negative pressure box, just the inner chamber of bellows with negative pressure chamber intercommunication, the face of flexible sheet adsorption plate sets up a plurality of absorption holes, and is a plurality of the absorption hole intercommunication outside with the bellows inner chamber.
Furthermore, the utility model provides a flexible sheet material adsorption component, consider that in the actual snatching course of working, can involve the flexible sheet material of different materials, need change different adsorption heads in a flexible way to the flexible sheet material of different materials, wherein, set up the adsorption head connecting pipe in the bottom of negative pressure box, the inner chamber of adsorption head connecting pipe communicates the negative pressure chamber, the outer pipe wall of adsorption head connecting pipe sets up the external screw thread; the surface of the connecting plate is provided with a negative pressure box connecting pipe, the inner cavity of the negative pressure box connecting pipe is communicated with the inner cavity of the corrugated pipe, the inner wall of the negative pressure box connecting pipe is provided with internal threads, and the negative pressure box connecting pipe and the adsorption head connecting pipe are in threaded connection through the internal threads and the external threads; the adsorption head and the negative pressure box which are connected by the thread can be flexibly disassembled and replaced according to different processing working conditions.
Preferably, in the flexible sheet adsorption assembly provided by the present invention, a spiral installation ring is disposed at the bottom end of the negative pressure box, a solenoid is embedded in the spiral installation ring, the solenoid cable is connected to an external power source, an annular iron core is nested on the inner annular surface of the spiral installation ring, and the inner cavity of the spiral installation ring is communicated with the negative pressure cavity; the surface of the connecting plate is provided with a steel ring, the inner cavity of the steel ring is communicated with the inner cavity of the corrugated pipe, and the end surface of the steel ring is electromagnetically adsorbed on the end surface of the annular iron core when the solenoid is electrified; this application sets up the solenoid between negative pressure box and negative pressure head, cyclic annular iron core and steel ring, after circular annular iron core is inserted to circular solenoid inside, the iron core is magnetized by the magnetic field of circular solenoid, the iron core after the magnetization has also become a magnet, because two magnetic fields stack each other, thereby make the magnetism of solenoid strengthen greatly, borrow this and be used for adsorbing the steel ring, can ensure to install the stable connection in negative pressure box of adsorption head of steel ring, can make things convenient for the two to detach when solenoid outage back right side, conveniently change the adsorption head.
Preferably, the utility model provides a pair of flexible sheet adsorbs subassembly, wherein, flexible sheet adsorbs the board and includes framework and grid board, the framework frame is located the grid board, grid space in the grid board forms adsorb the hole.
Further, the utility model provides a pair of flexible sheet adsorption component in actual processing production process, installs flexible sheet adsorption plate in corrugated pipe end face, if keep the face of flexible sheet adsorption plate and the terminal surface of bellows to flush, at actual adsorption process, the flexible sheet of multilayer only bears the negative pressure and adsorbs the effort, in this application, flexible sheet adsorption plate is sunken in the terminal surface of bellows, and this design makes the flexible sheet of multilayer cave in corrugated pipe end face certain degree of depth, and the flexible sheet part of sunken multilayer who enters bears the negative pressure and adsorbs the effort, bears the extrusion centre gripping effort that corrugated pipe end portion was applyed simultaneously, can show to improve and snatch the reliability.
Further, the utility model provides a pair of flexible sheet adsorption component, wherein, the bellows is the rubber material.
Furthermore, the utility model provides a flexible sheet material adsorption component, wherein, the end of the bellows and far away from the negative pressure box is provided with a plurality of cutting grooves, and the inner wall of the bellows is positioned at each cutting groove position and is pasted with an elastic sheet material; when the bellows pushes down and adsorbs flexible sheet, in order reliably to snatch multilayer flexible sheet, the grooving is seted up at the bellows terminal surface to this application, and at the inboard cladding elastic sheet of grooving, when the flexible sheet that the extrusion of bellows tip was piled up and is placed, bellows tip multiplate structure atress turns up, the grooving is along with the emergence of the phenomenon of turning up, the groove width progressively increases the issue, cover in the inboard elastic sheet atress of grooving and open, because its self material characteristic, there is the effort of restoring to the throne to the bellows section of jurisdiction of grooving both sides, this effort of restoring to the throne plays the effect of snatching to flexible sheet, borrow this reinforcing and snatch the.
The second purpose of the utility model is to provide an automatic grabbing mechanism, which is used to solve the technical problem that the grabbing of the flexible sheet material in the prior art is difficult to realize automation, and comprises a mechanical arm device and a flexible sheet material adsorption component; the mechanical arm equipment is arranged at an installation station, and the tail end of the mechanical arm is connected with the flexible sheet adsorption assembly.
Further, the utility model provides an automatic grabbing mechanism, wherein, arm equipment includes frame, cross sliding table, cantilever structure and pneumatic cylinder;
the frame is placed on the mounting station, and the cross sliding table comprises an X-axis sliding table and a Y-axis sliding table; the X-axis sliding table comprises an X-axis bottom plate, an X-axis ball screw pair and an X-axis guide column; the X-axis bottom plate is arranged on the rack, and the X-axis ball screw pair and the X-axis guide column are parallel to each other and are both erected on the X-axis bottom plate; the Y-axis sliding table comprises a Y-axis bottom plate, a Y-axis ball screw pair, a Y-axis guide column and a cantilever mounting table; the lead screw of the X-axis ball screw pair and the X-axis guide post both penetrate through the Y-axis bottom plate, the Y-axis bottom plate linearly moves along the X-axis guide post direction along with the rotation action of the X-axis ball screw pair, the Y-axis ball screw pair and the Y-axis guide post are parallel to each other and are both erected on the Y-axis bottom plate, the lead screw of the Y-axis ball screw pair and the Y-axis guide post both penetrate through the cantilever mounting table, and the cantilever mounting table linearly moves along the Y-axis guide post direction along with the rotation action of the Y-axis ball screw pair;
the cantilever structure comprises a motor base, a steering motor and a cantilever; the motor base is arranged on the cantilever mounting table, the steering motor is arranged on the motor base, and the cantilever key is connected with an output shaft of the steering motor;
the cylinder body of the hydraulic cylinder is connected with the cantilever and is far away from one end of the steering motor, and the end part of the piston rod of the hydraulic cylinder is connected with the top end of the negative pressure box.
Further, the utility model provides a pair of automatic mechanism of snatching, wherein, still include revolution mechanic, revolution mechanic includes revolving stage and rotating electrical machines, the revolving stage install in the cantilever just keeps away from turn to the one end of motor, the rotating electrical machines install in the revolving stage, the output shaft end part of rotating electrical machines connect in the cylinder body of pneumatic cylinder.
The utility model provides a pair of flexible sheet adsorption component compares with prior art and has following advantage: on one hand, the multi-layer flexible sheet material grabbing device enables the multi-layer flexible sheet material to be grabbed together, and on the other hand, the grabbing reliability of the flexible sheet material is remarkably provided under the excellent structural design; simultaneously the utility model provides a pair of automatic snatch mechanism compares with prior art and has following advantage: this application has solved the problem that traditional manual work snatched inefficiency and the manual work snatchs the easy wrong technical problem, and this application makes it possible to automize and snatch flexible sheet.
Drawings
Fig. 1 is a schematic structural view of a flexible sheet adsorption assembly of the present invention;
FIG. 2 is a schematic view of the alternate position configuration of FIG. 1;
fig. 3 is an exploded view of a first structure of a flexible sheet adsorption assembly according to the present invention;
FIG. 4 is a schematic view of the alternate position configuration of FIG. 3;
fig. 5 is a schematic structural view of a negative pressure box in the following sheet material adsorption assembly of the present invention;
FIG. 6 is a schematic view of an adsorption head structure of a sheet adsorption assembly according to the present invention;
fig. 7 is an exploded view of a second configuration of a flexible sheet adsorbent assembly according to the present invention;
FIG. 8 is a schematic view of the alternate position configuration of FIG. 7;
FIG. 9 is a schematic view of the partially assembled configuration of FIG. 7;
fig. 10 is a schematic structural view of a bellows in a flexible sheet adsorption assembly according to the present invention;
fig. 11 is a schematic structural view of an automatic gripping mechanism of the present invention;
FIG. 12 is a schematic diagram of the state-changing structure of FIG. 11;
fig. 13 is a schematic diagram of the state-changing structure of fig. 12.
Wherein: 1. a negative pressure box; 2. a negative pressure joint; 3. an adsorption head; 4. a negative pressure chamber; 5. a bellows; 6. a connecting plate; 7. a flexible sheet adsorption plate; 8. an adsorption hole; 9. the adsorption head is connected with a pipe; 10. an external thread; 11. a negative pressure box connecting pipe; 12. an internal thread; 13. a frame body; 14. a grid plate; 15. a frame; 16. a hydraulic cylinder; 17. an X-axis base plate; 18. an X-axis ball screw pair; 19. an X-axis guide post; 20. a Y-axis base plate; 21. a Y-axis ball screw pair; 22. a Y-axis guide post; 23. a cantilever mounting table; 24. a motor base; 25. a steering motor; 26. a cantilever; 27. a rotating table; 28. a rotating electric machine; 29. a helical mounting ring; 30. a solenoid; 31. a cable; 32. an annular iron core; 33. a steel ring; 34. grooving; 35. an elastic sheet.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person 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 "upper", "lower", "inner", "outer", "top", "bottom", "both ends", "one end", "the other end" 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 in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; it should be noted that unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be 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.
Referring to fig. 1 to 6, the present embodiment provides a flexible sheet adsorption assembly, which includes a negative pressure box 1, a negative pressure joint 2 and an adsorption head 3;
a negative pressure cavity 4 is arranged in the negative pressure box 1, the negative pressure joint 2 is arranged at the top end of the negative pressure box 1 and is communicated with the negative pressure cavity 4, and a pipeline of the negative pressure joint 2 is communicated with an external negative pressure generator; the adsorption head 3 comprises a rubber corrugated pipe 5, a connecting plate 6 and a flexible sheet adsorption plate 7; the connecting plate 6 and the flexible sheet adsorption plate 7 are respectively arranged at two ends of the corrugated pipe 5, the connecting plate 6 is connected to the bottom end of the negative pressure box 1, an inner cavity of the corrugated pipe 5 is communicated with the negative pressure cavity 4, a plurality of adsorption holes 8 are formed in the surface of the flexible sheet adsorption plate 7, and the outer sides of the adsorption holes 8 are communicated with the inner cavity of the corrugated pipe 5; considering that flexible sheets made of different materials are involved in the actual grabbing and processing process, different adsorption heads 3 need to be flexibly replaced for the flexible sheets made of different materials, wherein an adsorption head connecting pipe 9 is arranged at the bottom end of the negative pressure box 1, the inner cavity of the adsorption head connecting pipe 9 is communicated with the negative pressure cavity 4, and an external thread 10 is arranged on the outer wall of the adsorption head connecting pipe 9; a negative pressure box connecting pipe 11 is arranged on the surface of the connecting plate 6, the inner cavity of the negative pressure box connecting pipe 11 is communicated with the inner cavity of the corrugated pipe 5, an internal thread 12 is arranged on the inner wall of the negative pressure box connecting pipe 11, and the negative pressure box connecting pipe 11 is in threaded connection with the adsorption head connecting pipe 9 through the internal thread 12 and the external thread 10; the adsorption head 3 and the negative pressure box 1 which are connected by the thread can flexibly disassemble and replace the adsorption head 3 according to different processing working conditions;
as a preferred technical solution of the present application, in order to realize quick replacement of the suction head, an electromagnetic suction mode may be selected in the scheme, specifically, as shown in fig. 7 to 9, a spiral mounting ring 29 is disposed at the bottom end of the negative pressure box 1, a solenoid 30 is embedded in the spiral mounting ring 29, the solenoid 30 is connected to an external power supply through a cable 31, an annular iron core 32 is nested on an inner annular surface of the spiral mounting ring 29, and an inner cavity of the spiral mounting ring 29 is communicated with the negative pressure cavity 4; a steel ring 33 is arranged on the plate surface of the connecting plate 6, the inner cavity of the steel ring 33 is communicated with the inner cavity of the corrugated pipe 5, and the end surface of the steel ring 33 is electromagnetically adsorbed on the end surface of the annular iron core 32 when the solenoid 30 is powered on;
preferably, in this embodiment, the flexible sheet adsorption plate 7 includes a frame 13 and a grid plate 14, the frame 13 is framed on the grid plate 14, and grid gaps in the grid plate 14 form the adsorption holes 8; the structure can be suitable for adsorption of most flexible sheets, and has a wide application range;
as a further preferred technical scheme of this embodiment, in the actual processing production process, install flexible sheet adsorption plate 7 in 5 terminal surfaces of bellows, if keep the face of flexible sheet adsorption plate 7 and the terminal surface of bellows 5 flush, in the actual adsorption process, the multilayer flexible sheet only bears the negative pressure adsorption effort, in this embodiment, flexible sheet adsorption plate 7 sinks in the terminal surface of bellows 5, and this design makes the multilayer flexible sheet sink in the terminal surface of bellows 5 certain degree of depth, and the multilayer flexible sheet part that sinks bears the negative pressure adsorption effort, bears the extrusion centre gripping effort that the bellows 5 tip was applyed simultaneously, can show improvement and snatch the reliability.
In order to further enhance the grabbing effect, as shown in fig. 10, a plurality of cutting grooves 34 are formed in the end portion of the corrugated tube 5 away from the negative pressure box 1, and an elastic sheet 35 is attached to the inner wall of the corrugated tube 5 at the position of each cutting groove 34, where the elastic sheet is a rubber sheet in this embodiment; when bellows 5 pushes down and adsorbs flexible sheet, in order to reliably snatch multilayer flexible sheet, grooving 34 is seted up at bellows 5 terminal surface to this application, and at grooving 34 inboard cladding elastic sheet 35, when the flexible sheet that 5 tip extrusion stacks up the placing of bellows, 5 tip multiplate structure atress of bellows turn up, the grooving is along with the emergence of the phenomenon of turning up, the groove width progressively increases, cover in 34 inboard elastic sheet 35 atress of grooving and open, because its self material characteristic, there is the effort of restoring to the throne to the bellows piece of grooving 34 both sides, this effort of restoring to the throne plays the effect of snatching to flexible sheet, borrow this reinforcing and snatch the effect.
As shown in fig. 11 to 13, the present embodiment provides an automatic gripping mechanism, which includes a robot arm device and a flexible sheet material adsorption assembly; the mechanical arm equipment is arranged at an installation station, and the tail end of the mechanical arm is connected with the flexible sheet adsorption assembly; the mechanical arm equipment comprises a rack 15, a cross sliding table, a cantilever structure, a hydraulic cylinder 16 and a rotating structure;
the rack 15 is placed on the mounting station, and the cross sliding table comprises an X-axis sliding table and a Y-axis sliding table; the X-axis sliding table comprises an X-axis bottom plate 17, an X-axis ball screw pair 18 and an X-axis guide column 19; the X-axis bottom plate 17 is mounted on the rack 15, and the X-axis ball screw pair 18 and the X-axis guide column 19 are parallel to each other and are erected on the X-axis bottom plate 17; the Y-axis sliding table comprises a Y-axis bottom plate 20, a Y-axis ball screw pair 21, a Y-axis guide column 22 and a cantilever mounting table 23; the lead screw of the X-axis ball screw pair 18 and the X-axis guide post 19 both penetrate the Y-axis base plate 20, the Y-axis base plate 20 linearly moves in the X-axis direction along the X-axis guide post 19 along with the rotation of the X-axis ball screw pair 18, the Y-axis ball screw pair 21 and the Y-axis guide post 22 are parallel to each other and both mounted on the Y-axis base plate 20, the lead screw of the Y-axis ball screw pair 21 and the Y-axis guide post both penetrate the cantilever mounting table 23, and the cantilever mounting table 23 linearly moves in the Y-axis direction along the Y-axis guide post 22 along with the rotation of the Y-axis ball screw pair 21;
the cantilever structure comprises a motor base 24, a steering motor 25 and a cantilever 26; the motor base 24 is mounted on the cantilever mounting table 23, the steering motor 25 is mounted on the motor base 24, and the cantilever 26 is in key connection with an output shaft of the steering motor 25;
the cylinder body of the hydraulic cylinder 16 is connected to the cantilever 26 and one end far away from the steering motor 25, and the end part of the piston rod of the hydraulic cylinder 16 is connected to the top end of the negative pressure box 1;
the rotating structure comprises a rotating platform 27 and a rotating motor 28, the rotating platform 27 is installed on the cantilever 26 and is far away from one end of the steering motor 25, the rotating motor 28 is installed on the rotating platform 27, and the end part of the output shaft of the rotating motor 28 is connected to the cylinder body of the hydraulic cylinder 16.
The working process and principle of the automatic grabbing mechanism of the embodiment are as follows: after the flexible sheet to be grabbed is stacked in the previous process, the cross sliding table drives the steering motor 25 to an approaching position, at the moment, the steering motor 25 drives the cantilever 26 to rotate to point to the direction of the flexible sheet to be grabbed, the direction of the adsorption head 3 is preset according to the placement direction of the flexible sheet, at the moment, the rotary motor 28 drives the adsorption head 3 to rotate to be consistent with the direction of the flexible sheet, the hydraulic cylinder 16 drives the negative pressure box 1 to press downwards until the lower end of the corrugated pipe 5 is pressed against the surface of the flexible sheet to be grabbed, only the corrugated pipe 5 is compressed for a certain distance, meanwhile, the flexible sheet is sunken in the end face of the corrugated pipe 5 and is pressed against the adsorption plate 7 of the flexible sheet, the hydraulic cylinder 16 is controlled to lift the adsorption head 3 on which the flexible sheet is adsorbed, in the process, the negative pressure introduced through the negative pressure connector 2, the negative pressure formed by the expansion of the reset inner cavity of the corrugated, the multi-layer flexible sheet material can be reliably adsorbed on the adsorption head 3; then the cross sliding table drives the steering motor 25 to be close to the position of the next process, the motor is rotated to control the cantilever 26 to rotate to the position above the target point of the flexible sheet, the rotating motor 28 controls the placing direction of the flexible sheet, the hydraulic cylinder 16 places the flexible sheet to the target position, and the external negative pressure generator closes the negative pressure, so that the automatic carrying of the flexible sheet is completed.
The details of the present invention are well known to those skilled in the art.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A flexible sheet adsorption component is characterized by comprising a negative pressure box, a negative pressure joint and an adsorption head;
a negative pressure cavity is arranged in the negative pressure box, the negative pressure joint is arranged at the top end of the negative pressure box and is communicated with the negative pressure cavity, and a negative pressure joint pipeline is communicated with an external negative pressure generator; the adsorption head comprises a corrugated pipe, a connecting plate and a flexible sheet adsorption plate; the connecting plate with the flexible sheet adsorption plate set up respectively in the both ends of bellows, the connecting plate connect in the bottom of negative pressure box, just the inner chamber of bellows with negative pressure chamber intercommunication, the face of flexible sheet adsorption plate sets up a plurality of absorption holes, and is a plurality of the absorption hole intercommunication outside with the bellows inner chamber.
2. The flexible sheet material adsorption assembly according to claim 1, wherein an adsorption head connecting pipe is arranged at the bottom end of the negative pressure box, an inner cavity of the adsorption head connecting pipe is communicated with the negative pressure cavity, and an outer pipe wall of the adsorption head connecting pipe is provided with an external thread; the surface of the connecting plate is provided with a negative pressure box connecting pipe, the inner cavity of the negative pressure box connecting pipe is communicated with the inner cavity of the corrugated pipe, the inner wall of the negative pressure box connecting pipe is provided with an internal thread, and the negative pressure box connecting pipe and the adsorption head connecting pipe are in threaded connection through the internal thread and the external thread.
3. The flexible sheet adsorption assembly according to claim 1, wherein a spiral installation ring is arranged at the bottom end of the negative pressure box, a solenoid is embedded in the spiral installation ring, the solenoid cable is connected with an external power supply, an annular iron core is embedded in the inner annular surface of the spiral installation ring, and the inner cavity of the spiral installation ring is communicated with the negative pressure cavity; the surface of the connecting plate is provided with a steel ring, the inner cavity of the steel ring is communicated with the inner cavity of the corrugated pipe, and the end face of the steel ring is electromagnetically adsorbed on the end face of the annular iron core under the power-on state of the solenoid.
4. The flexible sheet adsorbent assembly of claim 1, wherein the flexible sheet adsorbent plate comprises a frame and a grid plate, wherein the frame is framed by the grid plate, and grid voids in the grid plate form the adsorbent holes.
5. The flexible sheet adsorbent assembly of claim 1 or 4, wherein the flexible sheet adsorbent plate is recessed within an end face of the bellows.
6. The flexible sheet adsorbent assembly of claim 1 wherein the bellows is rubber.
7. The assembly of claim 1, wherein the end of the bellows away from the vacuum box has a plurality of slots, and an elastic sheet is attached to the inner wall of the bellows at each of the slots.
8. An automatic grabbing mechanism for loading the flexible sheet adsorption assembly of any one of claims 1 to 7, wherein the automatic grabbing mechanism comprises a mechanical arm device and the flexible sheet adsorption assembly; the mechanical arm equipment is arranged at an installation station, and the tail end of the mechanical arm is connected with the flexible sheet adsorption assembly.
9. The automatic gripping mechanism of claim 8, wherein the robotic arm apparatus includes a frame, a cross slide, a boom structure, and a hydraulic cylinder;
the frame is placed on the mounting station, and the cross sliding table comprises an X-axis sliding table and a Y-axis sliding table; the X-axis sliding table comprises an X-axis bottom plate, an X-axis ball screw pair and an X-axis guide column; the X-axis bottom plate is arranged on the rack, and the X-axis ball screw pair and the X-axis guide column are parallel to each other and are both erected on the X-axis bottom plate; the Y-axis sliding table comprises a Y-axis bottom plate, a Y-axis ball screw pair, a Y-axis guide column and a cantilever mounting table; the lead screw of the X-axis ball screw pair and the X-axis guide post both penetrate through the Y-axis bottom plate, the Y-axis bottom plate linearly moves along the X-axis guide post direction along with the rotation action of the X-axis ball screw pair, the Y-axis ball screw pair and the Y-axis guide post are parallel to each other and are both erected on the Y-axis bottom plate, the lead screw of the Y-axis ball screw pair and the Y-axis guide post both penetrate through the cantilever mounting table, and the cantilever mounting table linearly moves along the Y-axis guide post direction along with the rotation action of the Y-axis ball screw pair;
the cantilever structure comprises a motor base, a steering motor and a cantilever; the motor base is arranged on the cantilever mounting table, the steering motor is arranged on the motor base, and the cantilever key is connected with an output shaft of the steering motor;
the cylinder body of the hydraulic cylinder is connected with the cantilever and is far away from one end of the steering motor, and the end part of the piston rod of the hydraulic cylinder is connected with the top end of the negative pressure box.
10. The automatic grabbing mechanism of claim 9, further comprising a rotating structure, wherein the rotating structure comprises a rotating table and a rotating motor, the rotating table is mounted at one end of the cantilever away from the steering motor, the rotating motor is mounted at the rotating table, and an output shaft end of the rotating motor is connected to the cylinder body of the hydraulic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021280322.3U CN212684005U (en) | 2020-07-04 | 2020-07-04 | Flexible sheet adsorption component and automatic grabbing mechanism thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021280322.3U CN212684005U (en) | 2020-07-04 | 2020-07-04 | Flexible sheet adsorption component and automatic grabbing mechanism thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212684005U true CN212684005U (en) | 2021-03-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021280322.3U Expired - Fee Related CN212684005U (en) | 2020-07-04 | 2020-07-04 | Flexible sheet adsorption component and automatic grabbing mechanism thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212684005U (en) |
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2020
- 2020-07-04 CN CN202021280322.3U patent/CN212684005U/en not_active Expired - Fee Related
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