CN215159058U

CN215159058U - Workpiece conveying system and vacuum adsorption device thereof

Info

Publication number: CN215159058U
Application number: CN202120688583.7U
Authority: CN
Inventors: 不公告发明人
Original assignee: Wuxi Lead Intelligent Equipment Co Ltd
Current assignee: Jiangsu Lidao Technology Co.,Ltd.
Priority date: 2020-12-31
Filing date: 2021-04-02
Publication date: 2021-12-14
Anticipated expiration: 2031-04-02

Abstract

The utility model relates to a work piece handling system and vacuum adsorption device thereof, two at least adsorb the piece and can adsorb the work piece simultaneously, and under the same condition of adsorption affinity that provides, the volume that each was compared in single setting in two at least adsorption can be littleer, so change in every adsorption and work piece above the less adsorption plane realization inseparable absorption of area. Moreover, under the effect of elastic component, a plurality of pieces of adsorbing can play the cushioning effect when leaning on the adsorption plane to the work piece to make two at least pieces of adsorbing homoenergetic paste the adsorption plane in the work piece better. Therefore, the adsorption force between the vacuum adsorption device and the workpiece is increased, the workpiece is not easy to fall off in the transfer process, and the reliability of workpiece transfer is improved.

Description

Workpiece conveying system and vacuum adsorption device thereof

Technical Field

The utility model relates to the technical field, in particular to work piece handling system and vacuum adsorption device thereof.

Background

During the production and processing of products, workpieces need to be transferred among various stations. At present, a workpiece conveying mechanism commonly used adopts a vacuum adsorption device to absorb a workpiece, and transports the absorbed workpiece under the driving of a driving device.

The size of part of the workpiece itself is small. Furthermore, the surface of the workpiece may be formed with holes, grooves, and the like. This results in a limited area in which the workpiece can be attracted. Therefore, when the vacuum adsorption device adsorbs the workpiece, the workpiece may not be firmly adsorbed to the vacuum adsorption device, so that the workpiece is easy to fall off, thereby affecting the reliability of workpiece transfer.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is desirable to provide a workpiece conveying system and a vacuum adsorption apparatus thereof, which can improve the reliability of workpiece transfer.

A vacuum adsorption apparatus comprising:

a support (110) having a top end and a bottom end spaced apart along a first direction;

the adsorption assembly (120) comprises a mounting seat (121) and at least two adsorption pieces (122), the mounting seat (121) is slidably mounted on the support (110) along the first direction, an air channel used for being communicated with the vacuum-pumping assembly is formed in the mounting seat (121), and the at least two adsorption pieces (122) are arranged on the mounting seat (121) and are communicated with the air channel; and

the elastic piece (130) provides elastic pre-tightening force for the mounting seat (121) from the top end to the bottom end of the support seat (110).

In one embodiment, the device further comprises a first driving member (140) fixedly arranged on the support (110), wherein the first driving member (140) can drive the mounting seat (121) to slide along a direction from the bottom end to the top end of the support (110).

In one embodiment, the adsorption assembly (120) further includes a connecting plate (123) disposed on the mounting seat (121) and extending along the first direction, a surface of the connecting plate (123) is provided with a linear rail along a length direction, a surface of the support (110) is provided with a sliding block, and the linear rail is matched with the sliding block so that the mounting seat (121) can slide along the support (110).

In one embodiment, a limiting plate (124) is formed at one end of the connecting plate (123) far away from the mounting seat (121), and the limiting plate (124) is abutted against the top end of the support (110) under the action of elastic pretension of the elastic element (130).

In one embodiment, the device further comprises a first driving element (140) fixed on the support (110), wherein the driving end of the first driving element (140) can extend to abut against the limiting plate (124), and the limiting plate (124) drives the mounting seat (121) to slide along a direction from the bottom end to the top end of the support (110).

In one embodiment, the suction assembly (120) further comprises a pressing element (125), and the pressing element (125) is arranged on the mounting seat (121) and located between the at least two suction elements (122).

In one embodiment, each of the suction members (122) includes a connecting member (1221) and a flexible nozzle (1222) sleeved at one end of the connecting member (1221), and one end of the connecting member (1221) away from the flexible nozzle (1222) is mounted to the mounting seat (121).

In one embodiment, the number of the adsorption components (120) is multiple, and the adsorption components (120) are arranged on the support (110) at intervals along a second direction perpendicular to the first direction.

A workpiece handling system comprising:

a vacuum adsorption apparatus (100) as described in any of the above preferred embodiments; and

and the driving device (200) is mounted at the driving end of the driving device (200).

In one embodiment, the driving device (200) can drive the vacuum adsorption device to move in a horizontal and horizontal plane and rotate around a Z axis, and the workpiece handling system further comprises a visual detection assembly for collecting position information of the workpiece to be adsorbed.

According to the workpiece carrying system and the vacuum adsorption device thereof, the at least two adsorption pieces can adsorb the workpiece at the same time, and under the condition that the provided adsorption force is the same, the volume of each of the at least two adsorption pieces can be smaller than that of the adsorption piece arranged singly, so that the tight adsorption of the adsorption surface with smaller area on each adsorption piece and the workpiece can be realized more easily. Moreover, under the effect of elastic component, a plurality of pieces of adsorbing can play the cushioning effect when leaning on the adsorption plane to the work piece to make two at least pieces of adsorbing homoenergetic paste the adsorption plane in the work piece better. Therefore, the adsorption force between the vacuum adsorption device and the workpiece is increased, the workpiece is not easy to fall off in the transfer process, and the reliability of workpiece transfer is improved.

Drawings

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

FIG. 1 is a schematic diagram of a workpiece handling system according to a preferred embodiment of the present invention;

FIG. 2 is a front view of a vacuum chucking device of the workpiece handling system of FIG. 1;

FIG. 3 is a left side view of the vacuum attachment apparatus shown in FIG. 2;

FIG. 4 is a top view of the vacuum attachment apparatus shown in FIG. 2;

FIG. 5 is a bottom view of the mounting base of the vacuum chuck assembly shown in FIG. 2;

FIG. 6 is a schematic view of the structure of the suction member of the vacuum suction apparatus shown in FIG. 2;

fig. 7 is a schematic structural diagram of a workpiece according to an embodiment of the present invention.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship 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, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1, the present invention provides a workpiece handling system 10 and a vacuum adsorption apparatus 100. The workpiece transfer system 10 includes a vacuum suction apparatus 100 and a driving apparatus 200.

The vacuum adsorption apparatus 100 can adsorb a workpiece by vacuum adsorption. Further, the vacuum adsorption device 100 is attached to the driving end of the driving device 200. The driving device 200 is operated to drive the vacuum adsorption device 100 to move, so that the vacuum adsorption device 100 moves to the position above the workpiece to complete the adsorption, and the adsorbed workpiece is transferred to the set station.

In the present embodiment, the driving device 200 is capable of driving the vacuum suction device 100 to translate in the XY plane and rotate around the Z axis, and the workpiece handling system 10 further includes a visual inspection assembly (not shown) for acquiring position information of the workpiece to be sucked.

Specifically, the driving device 200 can drive the vacuum adsorption device 100 to move horizontally in the mutually perpendicular X and Y directions, and the Z axis extends along the Z direction perpendicular to the X and Y directions. The X, Y, and Z directions XY may be directions shown in the coordinate system of fig. 1, or may be other directions. By driving the vacuum adsorption device 100 to translate and rotate, the automation performance of the workpiece handling system 10 is improved.

The visual inspection assembly may be a camera or a structure in which a camera cooperates with a light source. The vision inspection assembly can feed back the detected position of the workpiece to a control system (not shown), and the control system can start the driving device 200 to adjust the position of the vacuum suction device 100 in the direction X, Y and the angle of the vacuum suction device 100 around the Z direction according to the real-time position of the workpiece, so that the vacuum suction device 100 can accurately align the workpiece to smoothly realize suction.

The driving device 200 in this embodiment includes a first driving assembly 210, a second driving assembly 220, and a third driving assembly 230. The first driving assembly 210 and the second driving assembly 220 may be power assemblies such as an air cylinder, an electric cylinder, and a motor screw nut set, and the third driving assembly 230 may be a rotary table, a servo motor, or a stepping motor. The second driving assembly 220 is fixed at the moving end of the first driving assembly 210, the third driving assembly 230 is fixed at the moving end of the second driving assembly 220, and the vacuum adsorption device 100 is fixed at the rotating end of the third driving assembly 230. The first driving assembly 210 drives the second driving assembly 220 to move along the X direction, the second driving assembly 220 drives the third driving assembly 230 to move along the Y direction, and the third driving assembly 230 drives the vacuum adsorption device 100 to rotate along the Z direction.

In order to improve the conveying efficiency of the workpiece conveying system 10, a mounting plate 240 is fixedly disposed at the rotating end of the third driving assembly 230, and a plurality of vacuum suction devices 100 are fixed above the mounting plate 240. Thus, the driving device 200 can drive the vacuum suction devices 100 to synchronously move to the designated position and simultaneously suck the workpiece. Or, the vacuum adsorption devices 100 sequentially adsorb the workpieces, and after the adsorption of the workpieces is completed, the driving device 200 drives the workpieces to move to the set station for the processes of detection, loading and the like.

Referring to fig. 2 to 4, the vacuum adsorption apparatus 100 of the preferred embodiment of the present invention includes a support 110, an adsorption element 120 and an elastic element 130.

The support 110 may be a plate-like structure for supporting. In the workpiece handling apparatus 10 described above, the support 110 may be directly fixed to and move with the drive end of the drive device 200. The support 110 has a top end and a bottom end spaced apart in a first direction. Wherein the top end refers to the upper end shown in fig. 2, the bottom end refers to the lower end shown in fig. 2, and the first direction is a vertical direction.

The suction assembly 120 includes a mounting seat 121 and at least two suction members 122. The mounting seat 121 may be an integrally formed structure, or may be formed by splicing a plurality of parts. Wherein the mount 121 is slidably mounted to the support 110 in a first direction. The mounting seat 121 may be slidably connected to the support 110 through a guiding member, which may be a sliding rail, a guiding rod, or the like.

Specifically, in this embodiment, the suction assembly 120 further includes a connecting plate 123 disposed on the mounting seat 121 and extending along the first direction, a linear rail 1231 is disposed on a surface of the connecting plate 123 along the length direction, a slider 111 is disposed on a surface of the support seat 110, and the linear rail 1231 is engaged with the slider 111, so that the mounting seat 121 is slidable along the support seat 110. The connecting plate 123 may be integrally formed with the mounting seat 121, or may be fixed to one side of the mounting seat 121 by a screw fastening method. The connecting plate 123 is in a strip shape, so that the arrangement of the line rail 1231 is convenient.

Of course, the mounting seat 121 and the support 110 may be connected by a guide rod. For example, two guide rods are fixed on the support 110 in parallel, and the connecting plate 123 is slidably sleeved on the outer surfaces of the two guide rods.

Further, the mounting seat 121 is formed with an air passage (not shown) for communicating with a vacuum pumping assembly (not shown). The vacuum pumping assembly may be a vacuum pump, a vacuum generator, or the like, and is generally connected to the air passage of the mounting seat 121 in an external connection manner. In addition, the vacuum pumping assembly may also be used as one of the components of the vacuum suction apparatus 100, and fixed on the support 110. At least two adsorbing members 122 are provided in the mount 121 and communicate with the air passage.

The mounting base 121 is generally provided with a connector or an air inlet for connecting a vacuum pumping assembly, and the vacuum pumping assembly can be communicated with the adsorbing member 122 through an air passage. The first direction, i.e., the vertical direction shown in fig. 2, coincides with the moving direction of the suction member 122 when sucking the workpiece. When the vacuum suction apparatus 100 sucks the workpiece, the suction member 122 may be supported on the surface of the workpiece from top to bottom along with the mounting seat 121. Then, the vacuum pumping assembly is started to form negative pressure on the joint surface of the adsorption piece 122 and the workpiece, so that the workpiece can be adsorbed. When the workpiece is released, the vacuum pumping assembly forms positive pressure on the joint surface of the adsorption piece 122 and the workpiece, and the adsorption piece 122 is lifted from bottom to top.

At least two suction members 122 of the mounting base 121 can be sucked to the workpiece. As shown in fig. 5, four suction members 122 are provided on the mount 121, but the number of the suction members 122 may be three or other numbers depending on the region where the workpiece can be sucked. The plurality of adsorbing members 122 can adsorb the workpiece at the same time, so that the adsorbing force is stronger.

In addition, in the workpiece 20 shown in fig. 7, since the groove structure 21 is opened on the surface of the workpiece 20, the area of the suction surface 22 on which the workpiece 20 can be sucked is small. In the vacuum adsorption apparatus 100, the plurality of adsorption members 122 are used for adsorption, and under the condition that the provided adsorption force is the same, the volume of each adsorption member 122 can be smaller than that of a single adsorption member, so that it is easier to realize close adsorption between each adsorption member 122 and the adsorption surface 22 with a smaller area on the workpiece 20.

The elastic member 130 provides the mounting seat 121 with an elastic pre-load force directed from the top end to the bottom end of the support 110. The elastic member 130 may be a spring, a tension spring, an elastic rope, or the like, in this embodiment, the elastic member 130 is a tension spring, one end of the tension spring is connected to the support 110, the other end of the tension spring is connected to the mounting seat 121, and the tension force generated by the tension spring generates an elastic pre-tightening tension force on the adsorption assembly 10. Moreover, the direction of the elastic pre-tightening tension is opposite to the direction of the pressure generated by the workpiece on the suction attachment 122. That is, in the vacuum adsorption apparatus 100 shown in fig. 2, the elastic biasing force is directed from top to bottom.

In this embodiment, a limiting plate 124 is formed at an end of the connecting plate 123 away from the mounting seat 121, and the limiting plate 124 abuts against a top end of the support 110 under the elastic pretension force of the elastic element 130. The abutting force between the limiting plate 124 and the support 110 is offset by the elastic pre-tightening force of the elastic element, so that the absorption assembly 120 maintains the balance of the position on the support 110.

Since the mount 121 is slidable in the first direction with respect to the support 110. Therefore, the entire adsorption unit 120 has the capability of elastically floating in the first direction by the elastic member 130. When the suction member 122 moves from top to bottom to abut against the surface of the workpiece, the suction assembly 120 is driven to elastically retract by a certain amount along the first direction by the reverse acting force exerted by the workpiece.

That is, the suction assembly 120 also has a buffer property, so as to prevent the suction member 122 from damaging the workpiece during suction. Moreover, under the action of the elastic member 130, the plurality of adsorbing members 122 can elastically float within a certain range when abutting against the adsorbing surface of the workpiece, so that each adsorbing member 122 can better abut against the adsorbing surface of the workpiece, and the reliability of adsorption is further improved.

Referring to fig. 6, in the present embodiment, each of the suction elements 122 includes a connecting element 1221 and a flexible nozzle 1222 sleeved at one end of the connecting element 1221, and one end of the connecting element 1221 away from the flexible nozzle 1222 is mounted on the mounting base 121.

The connection member 1221 may be a hollow structure formed by molding a hard material such as metal or plastic, and can support the flexible nozzle 1222. One end of the connection member 1221 may be threaded to facilitate threaded connection with the mounting base 121. The other end of the connector 1221 may be provided with a boss (not shown), and the flexible nozzle 1222 may be engaged with the connector 1221 via the boss. The flexible nozzle 1222 may be molded from a material such as silicone, and thus may be elastically deformed when abutting against a surface of a workpiece. Thus, the flexible suction nozzles 1222 of the suction members 121 can be well attached to the surface of the workpiece, and the reliability of the suction of the vacuum suction apparatus 100 is further improved.

Referring to fig. 3 and 4 again, in the present embodiment, the vacuum absorption device 100 further includes a first driving member 140 fixedly disposed on the support base 110, and the first driving member 140 can drive the mounting base 121 to slide along a direction from the bottom end of the support base 110 to the top end.

The first driving member 140 may be a cylinder, an electric cylinder, a motor screw pair, or the like. Under the driving of the first driving member 140, the mounting seat 121 can overcome the elastic pre-load force of the elastic member 130, so as to slide from the bottom end to the top end (from bottom to top) relative to the support 110. In this way, when the vacuum suction apparatus 100 needs to release the workpiece, the first driving member 140 can automatically move the suction member 122 away from the workpiece, thereby improving the automation performance of the vacuum suction apparatus 100.

The first driving member 140 can be in transmission connection with any region on the absorption assembly 120, as long as it can drive the mounting base 121 to ascend relative to the support 110. Such as:

specifically, in the present embodiment, the driving end of the first driving element 140 can extend to abut against the limiting plate 124, and the limiting plate 124 drives the mounting seat 121 to slide along a direction from the bottom end of the support 110 to the top end.

The moving end of the first driving member 140 is disposed opposite to the limiting plate 124, and is not connected to the limiting plate 124. When the suction member 122 needs to be away from the workpiece, the first driving member 140 is actuated to extend the moving end thereof upward to abut against the surface of the limiting plate 124. The limiting plate 124 drives the mounting seat 121 and the adsorbing member 122 fixed thereto to move upward synchronously until the adsorbing assembly 120 is far away from the workpiece. The structure is simple, and a complex transmission mechanism is not required to be configured.

In the present embodiment, the suction assembly 120 further includes a pressing member 125, and the pressing member 125 is disposed on the mounting seat 121 and located between the at least two suction members 122.

The workpieces may be lifted after being transferred to the corresponding carriers by the workpiece handling system 10. Therefore, after the workpiece is released from the carrier by the absorption member 122, the driving device 200 can drive the pressing member 125 to continuously press the upper surface of the workpiece, so as to flatten the workpiece, and the bottom surface of the workpiece can be horizontally supported on the carrier.

The pressing member 125 is generally a block-shaped structure and can be fixed to the mounting seat 121 by means of bonding, screwing, or the like. The pressing member 125 is generally made of an elastic material, such as polyurethane, so that the pressing member 125 has a certain elasticity, thereby preventing damage to the workpiece when pressing the workpiece.

In addition, in another embodiment, the suction assembly 120 is multiple, and the plurality of suction assemblies 120 are disposed at intervals along a second direction perpendicular to the first direction on the support 110.

Specifically, the second direction is a horizontal direction shown in fig. 2. Thus, the vacuum adsorption device 100 can adsorb a plurality of workpieces at the same time, which is helpful for improving efficiency. At this point, the mounting plate 240 in the workpiece handling system 10 may be replaced with the pedestal 100. That is, the support 110 is directly fixed to the driving end of the driving device 200.

In the workpiece handling system 10 and the vacuum adsorption apparatus 100 thereof, the at least two adsorption elements 122 can simultaneously adsorb the workpiece, and under the condition of providing the same adsorption force, the volume of each of the at least two adsorption elements 122 can be smaller than that of a single adsorption element, so that it is easier for each adsorption element 122 and the adsorption surface with a smaller area on the workpiece to realize close adsorption. Moreover, under the effect of elastic component 130, a plurality of absorption pieces 122 can play the cushioning effect when leaning on to the adsorption plane of work piece to make two at least absorption pieces 122 all can paste the adsorption plane of work piece better. Thus, the adsorption force between the vacuum adsorption device 100 and the workpiece is increased, and the workpiece is not easy to fall off in the transfer process, so that the reliability of workpiece transfer is improved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A vacuum adsorption apparatus, comprising:

2. The vacuum suction device as claimed in claim 1, further comprising a first driving member (140) fixed to the support (110), wherein the first driving member (140) can drive the mounting seat (121) to slide along a direction from the bottom end to the top end of the support (110).

3. The vacuum suction device according to claim 1, wherein the suction assembly (120) further comprises a connecting plate (123) disposed on the mounting seat (121) and extending along the first direction, a surface of the connecting plate (123) is provided with a linear rail along a length direction, a surface of the support (110) is provided with a sliding block, and the linear rail is matched with the sliding block so that the mounting seat (121) can slide along the support (110).

4. The vacuum adsorption device according to claim 3, wherein a limiting plate (124) is formed at one end of the connecting plate (123) far away from the mounting seat (121), and the limiting plate (124) abuts against the top end of the support (110) under the action of the elastic pre-tightening force of the elastic element (130).

5. The vacuum adsorption device according to claim 4, further comprising a first driving member (140) fixed to the support (110), wherein a driving end of the first driving member (140) can extend to abut against the limiting plate (124), and the limiting plate (124) drives the mounting seat (121) to slide along a direction from the bottom end to the top end of the support (110).

6. The vacuum suction device according to claim 1, wherein the suction assembly (120) further comprises a pressing member (125), the pressing member (125) is disposed on the mounting seat (121) and located between the at least two suction members (122).

7. The vacuum suction device according to claim 1, wherein each suction member (122) comprises a connecting member (1221) and a flexible suction nozzle (1222) sleeved at one end of the connecting member (1221), and one end of the connecting member (1221) away from the flexible suction nozzle (1222) is mounted on the mounting seat (121).

8. The vacuum suction device according to claim 1, wherein the suction assembly (120) is provided in plurality, and the suction assemblies (120) are disposed at intervals on the support (110) along a second direction perpendicular to the first direction.

9. A workpiece handling system, comprising:

the vacuum adsorption device (100) of any one of the preceding claims 1 to 8; and

10. The workpiece handling system according to claim 9, wherein the drive device (200) is capable of translating the vacuum suction device in an XY plane and rotating about a Z axis, the workpiece handling system further comprising a visual detection assembly for acquiring position information of a workpiece to be sucked.