KR101068954B1

KR101068954B1 - Vacuum cup assembly having function for compensating the level thereof

Info

Publication number: KR101068954B1
Application number: KR1020100131708A
Authority: KR
Inventors: 조호영
Original assignee: 한국뉴매틱(주)
Priority date: 2010-12-21
Filing date: 2010-12-21
Publication date: 2011-09-29
Also published as: WO2012086949A3; WO2012086949A2

Abstract

The present invention relates to a vacuum cup assembly designed to have a level correction function. In the present invention, the vacuum cup is made of a fastener and an adsorption pad, and is compressed by an elastic member that provides a pressing force. On the other hand, the upper body to which the fastener of the vacuum cup is coupled is provided with a level slider coaxially, the elastic member is designed to elastically support the upper slider. According to the present invention, the removal and mounting of the suction pad is quick and easy, and at the same time, the height level correction function is realized with a simple structure.

Description

Vacuum cup assembly having function for compensating the level

The present invention relates to a vacuum cup assembly which is applied for the holding of an article in a vacuum transfer system, and more particularly, to a vacuum cup assembly which is designed so that the height level is naturally calibrated while the removal and mounting of the suction pad is quick and easy.

The vacuum transfer system refers to a system that operates a vacuum pump with high-speed compressed air to discharge air inside the vacuum cup, and grips the article using a negative pressure obtained in the vacuum cup internal space and transfers it to a predetermined position. In this system, the vacuum cup is combined with a separately provided pipe body to form a vacuum cup assembly, which is connected to the vacuum pump via the body.

1 illustrates a typical vacuum cup assembly 1. The vacuum cup 2 includes a ring-shaped fastener 3 having an outward jaw 4 formed therein, and an adsorption pad 5 coupled to the side surface of the fastener 3 while surrounding the outward jaw 4. The fastener 3 is formed of a hard material such as metal or plastic, the adsorption pad 5 is formed of a flexible material such as silicone, urethane, rubber, and the fastener 3 by a joining method using an adhesive or insert molding. Is fixed to.

A pipe-shaped body 6 is provided separately from the vacuum cup 2, and the fastener 3 of the vacuum cup 2 is coupled to the lower end of the body 6, so that the vacuum cup 2 and the body 6 are provided. To form a vacuum cup assembly (1) consisting of. At this time, the inner space of the suction pad 5 communicates with the central passage 7 of the body 6. Therefore, during the operation of the vacuum pump, the internal air of the vacuum cup 2 is discharged and at the same time, a negative pressure for gripping an article is formed in the internal space.

It is true that the vacuum cup assembly 1 or the vacuum cup 2 is currently usefully used. However, when used to some extent, a partial phenomenon occurs between the fastener 3 and the suction pad 5, which causes a fatal phenomenon that external air is introduced.

On the other hand, while the adsorption pad 5 has excellent adhesion and sealing properties in relation to the surface of the object to be conveyed, it also has disadvantages in that wear resistance and durability are weak. Therefore, it is often necessary to remove the damaged adsorption pad 5 and install new ones. The adsorption pad 5 fixed in the above manner is not easily removed from the fastener 3.

If the suction pad 5 is damaged, the vacuum cup 2 itself must eventually be removed from the assembly 1 and disposed of, including: first, the vacuum cup 2 even though the fastener 3 is not damaged at all. ) Itself eliminated, resulting in economic losses; Second, the removal and mounting of the vacuum cup 2 is not easy, and in particular, there is a problem that becomes impossible when the arrangement space of the assembly 1 is narrow.

The present inventors have proposed a vacuum cup assembly that can easily replace only the adsorption pad, which is registered as Republic of Korea Patent No. 932775.

2 shows the vacuum cup assembly 10 disclosed in the patent. The vacuum cup 13 includes a ring-shaped fastener 14 having an outwardly facing jaw 15 and an adsorption pad 17 having an inwardly facing jaw 16. In addition, the inward jaw 16 is provided with a ring-shaped holder 18 to cover the upper surface and the side of the inward jaw 16 in a state seated on the outward jaw (15).

A pipe-shaped body 11 is provided separately from the vacuum cup 13, and the fastener 14 of the vacuum cup 13 is coupled to the lower end ball joint 12 of the body 11. At this time, including the elastic spring 19 disposed between the body 11 and the holder 18, to form a vacuum cup assembly 10 in which the body 11 and the vacuum cup 13 is integrally coupled.

Here, the structure of the vacuum cup 13 is stabilized as the spring 19 elastically presses the holder 18. However, when the holder 18 is moved upward by hand, the adhesion between the fastener 14 and the suction pad 17 is weakened, and at this time, the suction pad 17 can be easily or simply detached from the fastener 14 or mounted. Can be.

This vacuum cup assembly 10 clearly solves the problem of the vacuum cup assembly 1 described above. However, this structure is not optimal for vacuum transfer systems.

In the vacuum transfer system, the vacuum cup assembly 10 is connected to the robotic arm through a bracket provided on the body 11, and usually depends on the size or weight of the object to be transferred, but usually two or more. It is provided with. Then, the robotic arm is moved to contact the suction pad 17 of the vacuum cup assembly 10 to the surface of the object to be transferred.

By the way, the vacuum cup assembly 10 has its height level fixed by the fixing bracket as follows: Firstly, excessive force is applied when the vacuum cup assembly 10 is brought into contact with the surface of the object to be conveyed, in particular adsorption. There is a risk of the pad 17 being damaged; Second, there is a problem that can not properly respond to the surface of the object having a bent or stepped.

The present invention is proposed to solve the above problems of the conventional vacuum cup assembly. It is an object of the present invention to provide a vacuum cup assembly which is designed such that the removal and mounting of the adsorption pad only is quick and easy while the height level is naturally corrected.

In fact, there are many configurations in which the height level is calibrated in the vacuum cup field. However, they have complex design and structure problems, length and size problems, difficult disassembly and assembly problems, and productivity problems. The present inventors have completed the present invention, recognizing that level correction can be implemented very simply without these problems, based on the above-described Korean Patent No. 932775.

The vacuum cup assembly of the present invention is:

A body including a pipe-shaped inner tube having an air discharge first passage extending therein, and a cylindrical level slider fitted to the outer surface of the inner tube and arranged coaxially and movable up and down;

A ring-shaped fastener coupled coaxially to the lower end of the inner tube and having a side outward jaw formed therein, and a flexible adsorption pad formed thereon with an inwardly facing jaw seated on the outwardly facing jaw; A vacuum cup in communication;

A ring member disposed to contact the upper surface of the fastener on which the inner pad of the suction pad is seated; Up and down movable holder including an elastic member for pressing and fixing the suction pad;

It includes.

Preferably, the lower end of the body is coupled to the pipe-shaped ball joint having a second passage therein. The fastener is rotatably coupled to the ball portion of the ball joint, and the inner space of the suction pad communicates with the first passage via the second passage.

Preferably, the holder is a 'b' shaped member formed to be in contact with the upper surface and the side of the suction pad. In addition, the coil spring is a conical spring that extends downward.

According to the invention, the adsorption pad is fixed by the 'compression' fixing method by the up and down movable holder and the elastic spring. Accordingly, the holder can be easily operated to release the fixing of the suction pad, and thus the suction pad can be removed and mounted quickly and easily. In addition, since the gap between the fastener and the adsorption pad is completely sealed, there is no gap, and there is no fear that external air flows into the vacuum cup.

In a preferred embodiment, the vacuum cup assembly of the present invention is designed such that the vacuum cup can be rotated using a ball joint. Thus the response of the vacuum cup to the inclined surface of the article is improved.

In particular, the vacuum cup assembly of the present invention comprises a level slider which is supported to move up and down on the inner tube of the body by using the elastic spring for pressing the flowable holder. Therefore, there is an effect that the level correction of the device can be implemented very simply without difficult and complicated design.

1 illustrates a conventional vacuum cup assembly.
Figure 2 illustrates another conventional vacuum cup assembly.
3 is a perspective view of a vacuum cup assembly according to the present invention;
4 is a cross-sectional view of FIG.
5 is an exploded cross-sectional view of FIG. 3.
6 is a cross-sectional view for explaining the operation of FIG. 3.
7 is an external view for explaining another operation of FIG.

Features and effects of the present invention described or not described above will become more apparent through the embodiments described below with reference to the accompanying drawings.

3 and 4, the vacuum cup assembly according to the present invention is denoted by reference numeral 100. The vacuum cup assembly 100 includes a pipe-shaped body 20, a vacuum cup 30 coupled to a lower end of the body 20, and a cup holder disposed between the body 20 and the vacuum cup 30 ( 40).

The body 20 includes an inner tube 21 and a level slider 22 arranged coaxially. The inner tube 21 is a pipe-shaped member having an air discharge first passage 23 extending up and down therein, and the slider 22 is fitted to an outer surface of the inner tube 21 to move up and down a predetermined section. It is a cylindrical member to be joined. In the figure, reference numeral 25 denotes a bush fitted to the inner surface of the slider 22. In addition, an annular protrusion 24 is formed on the surface of the slider 22, by which spring or other mechanical elements can be conveniently installed.

In the vacuum transfer system, the first passage 23 is connected to the suction port of the vacuum pump. Meanwhile, the vacuum cup assembly 100 is connected to a robot arm designed to move according to a system control program via a bracket (see symbol 50 in FIG. 6) fixed to the slider 22. 29 is provided on the outer circumferential surface of the slider 22 for fixing the bracket.

The first passage 23 of the inner tube 21 of the body 20 is in communication with the internal space S of the vacuum cup 30, and this relationship is not hindered by the ball joint 26 described later. .

The lower end of the inner tube 21, the ball joint 26 is coupled as a pipe-like member having a second passage 27 therein. More specifically, the ball joint 26 includes one coupling end portion and the opposite ball portion 28 integrally, and the coupling end portion is inserted into the lower portion of the first passage 23 in the inner tube 21. Combined. Naturally, the ball 28 is projected below the inner tube (21). The second passage 27 communicates with the first passage 23 of the inner tube 21.

In this embodiment, the ball joint 26 is provided only for the purpose of allowing the vacuum cup 30 to be rotated. Therefore, in other embodiments that do not have this purpose, the ball joint 26 and its associated components may be omitted. In that case, the vacuum cup 30 will be directly coupled to the lower end of the inner tube 21 of the body 20, where the inner space S of the vacuum cup 30 will be in direct communication with the first passage 23. .

The vacuum cup 30 has a hollow ring-type fastener 31 having an outwardly facing jaw 34 formed on an outer side thereof, and an inwardly facing jaw 36 that is seated on the outwardly facing shoulder 34 formed thereon. Pad 35 is made. The fastener 31 is coaxially coupled to the lower end of the inner tube 21 of the body 20, and preferably rotatably coupled to the lower ball 28 of the ball joint 26.

In a specific design, the fastener 31 has an upper structure 32 having an inner surface 32a of a shape corresponding to the upper hemisphere of the ball 28, and the lower hemisphere of the ball 28 ( It includes a lower structure (33) having an inner surface (33a) of the shape corresponding to the bottom surface, and both structures (32, 33) are fastened while receiving the ball portion 28 to face each other. Accordingly, the fastener 31 is rotatably coupled around the ball 28. In this case, the inner space S of the suction pad 35 communicates with the first passage 23 of the inner tube 21 of the body 20 via the second passage 27 of the ball joint 26.

In the drawing, the outward jaw 34 is formed in the lower structure 33, but may be formed in the upper structure 32 depending on the design. The adsorption pad 35 formed of a flexible material having excellent adhesion and sealing properties such as silicone, urethane, and rubber is caught on the outward jaw 34 of the fastener 31, and according to the structure of the holder 40 described below. It is fixed to the fastener 31 in a 'compression' manner.

The holder 40 includes a ring member 42 disposed to contact the upper surface of the fastener 31 on which the inward jaw 36 is seated, and one end of which is supported by the slider 22 of the body 20. It includes an elastic member 41 capable of flowing up and down elastically pressing the 42. Structurally, the elastic member 41 is designed to simultaneously provide elastic pressure to the lower suction pad 35 and the upper slider 22.

That is, the suction pad 35 and the inward jaw 36 are compressed by the downward pressure applied to the ring member 42 by the elastic member 41. By this 'compression' method, the adsorption pad 35 is fixed to the fastener 31. At the same time, the slider 22 is elastically supported to move up and down by the upward pressure applied by the elastic member 41.

In a specific embodiment, the elastic member 41 is preferably a coil spring coaxially disposed on the outside of the body 20, more preferably a conical spring that extends downward. The coil spring as the elastic member 41 provides an advantage of easy up and down flow of the holder 40. Conical springs also provide a wider pressure distribution than conventional springs.

In a specific form, the ring member 42 is designed in a 'b' shape to be in contact with the upper surface and the side of the suction pad (35). This form is effective to prevent the inward jaw 36 and the suction pad 35 from being randomly released from the home position. In addition, the ring member 42 has an upward protrusion formed at an edge portion, and the other end of the coil spring 41 is supported by the protrusion. This structure is a necessary choice to prevent the spring 41 from leaving.

Referring to FIG. 5, by holding the ring member 42 of the holder 40 and raising it upward (arrow 'A'), the pressing fixation of the suction pad 35 is forcibly released. In this state, the suction pad 35 is merely caught by the fastener 31. On the other hand, since the suction pad 35 is formed of a flexible material, the suction pad 35 can be easily removed from the fastener 31 even if the suction pad 35 is grasped and lowered in this state (arrow 'B'). do.

On the contrary, when the inner jaw 36 of the suction pad 35 is seated on the outer jaw 34 of the fastener 20 (arrow 'C') and the ring member 42 is released again, the ring member 42 While descending by the elastic member 41 (arrow 'D'), it is in the same state as in FIG. 4, and the suction pad 35 is fixed in a 'compression' manner. Thus, according to the vacuum cup assembly 100 of the present invention, the removal and mounting of the suction pad 35 can be made quickly and easily.

Referring to FIG. 6, in the vacuum transfer system, the first passage 23 is connected to the suction port of the vacuum pump. The vacuum cup assembly 100 is connected to a robotic arm designed to move according to a system control program via a bracket 50 fixed to the slider 22.

As the robotic arm moves, the suction pad 35 of the vacuum cup assembly 100 comes into contact with the surface of the object to be conveyed. In this case, the level slider 22 corresponds to the pad contact strength or the surface curve and step of the object. It moves up and down, whereby the height level of the vacuum cup assembly 100 is naturally corrected. The figure shows a state in which the bracket 50 and the slider 22 are considerably lowered (see the thick arrows), and in a relatively high state, the level of the vacuum cup assembly 100 is corrected.

The spring 41 is preferably conical and has a larger contraction width than other straight springs, which is advantageous for level adjustment.

In this state, high-speed compressed air passes through the vacuum pump. At this time, the internal air of the vacuum cup 30 is introduced into the vacuum pump via the second passage 27 of the ball joint 26 and the first passage 23 of the inner tube 21 and discharged to the outside together with the compressed air. (See thin continuous arrow). In this process, a vacuum and a negative pressure are formed inside the vacuum cup 30, and the object is gripped by the formed negative pressure.

Referring to FIG. 7, the vacuum cup 30 is rotated at a predetermined angle θ at the center X of the ball 28 of the ball joint 26. Therefore, the suction pad 35 of the vacuum cup 30 can be easily and accurately contacted according to any posture or angle of the article.

During the gripping and conveying of the article, the vacuum cup 30 is rotated by the load of itself and the article. At this time, the elastic member 41 of the holder 40 suppresses excessive rotation of the vacuum cup 30 to reach an equilibrium, so that a safe operation can be performed. Even in this case, the conical spring as the elastic member 41 provides a wide pressure distribution, thereby allowing the vacuum cup 30 to reach an equilibrium faster.

20. Body 21.Inner Tube
22. Slider 23. First passage
26. Ball joint 27. Second passage
30. Vacuum Cup 31. Fasteners
35. Suction Pad 40. Holder
41. Elastic member 42. Ring member

Claims

A body including a pipe-shaped inner tube having an air discharge first passage extending therein, and a cylindrical level slider fitted to the outer surface of the inner tube and coaxially disposed and coupled up and down;
A ring-shaped fastener coupled coaxially to the lower end of the inner tube and having a side outward jaw formed therein, and a flexible adsorption pad formed thereon with an inward jaw seated on the outward jaw, wherein an inner space of the adsorption pad is connected to the first passage. In communication with the vacuum cup,
A ring member disposed to contact the upper surface of the fastener on which the inward jaw of the suction pad is seated, and a coil spring disposed coaxially to the outside of the body, one end of which is supported by an upper slider to elastically press the lower ring member Up and down movable holder including an elastic member for pressing and fixing the suction pad,
It includes;
A pipe-shaped ball joint having a second passage therein is coupled to the lower end of the inner tube of the body, and the fastener is rotatably coupled to the ball portion of the ball joint, wherein the inner space of the suction pad is the second passage. Communicating with the first passage via;
Vacuum cup assembly having a level correction function, characterized in that.

delete

The method of claim 1,
The slider is a vacuum cup assembly having a level correction function, characterized in that it comprises a bracket fixing nut member provided on the outer peripheral surface.

The method of claim 1,
The fastener includes: an upper structure having an inner surface corresponding to an upper hemisphere of the ball portion and a lower structure having an inner surface corresponding to a lower hemisphere of the ball portion; The upper structure and the lower structure are fastened while receiving the ball portion opposite to each other; At this time, the outward jaw is a vacuum cup assembly having a level correction function, characterized in that formed on the upper structure or the lower structure selectively.

The method of claim 1,
The holder is a vacuum cup assembly having a level correction function, characterized in that the 'b' shaped member formed to be in contact with the upper surface and the side of the suction pad.

delete

The method of claim 1,
The coil spring is a vacuum cup assembly having a level correction function, characterized in that the conical spring extending downwards.

The method of claim 5,
The ring member has an upward protrusion formed on the edge portion, the other end of the spring is a vacuum cup assembly having a level correction function, characterized in that supported by the protrusion.