TWM459093U - Object gripping device - Google Patents

Description

Object picking device

The present invention relates to an object picking device, and more particularly to an object picking device capable of effectively grasping the object picking and releasing condition by switching negative pressure or pressure on the nozzle.

In today's automated processing, conveyor equipment is a very important part, which is mainly used to transport raw materials or semi-finished products through relevant processing equipment according to a preset path and rate, so as to enhance the processing capacity of the products and avoid the original Material, semi-finished or finished products are improperly damaged during transport.

In addition, among the conveying equipments used in the automated processing process, a plurality of material picking devices are arranged to be used to put the raw materials and semi-finished products into the conveying device one by one, or to take the semi-finished products or finished products on the conveying device. Collecting; traditional material picking devices mostly pick up materials through the gripping action of the device, but for objects with soft or weak texture, it is relatively difficult to control the gripping force; therefore, the industry further develops through negative The retracting device that sucks the object.

The reclaiming device, which is similar to the vacuum suction device, is mainly used for vacuum suction devices, which mainly have a plurality of suction nozzles, and each nozzle is connected to a vacuum generator through a pipeline, mainly when the vacuum generator is used. The negative pressure is generated, and the object contacted by the nozzle is adsorbed, and then the lifting and lowering displacement of the nozzle is used to achieve the purpose of sucking the object; and when the vacuum generator is closed or the pipe connecting the vacuum generator to the vacuum generator is closed, The object that was originally absorbed by the nozzle can use its own gravity And naturally fall.

However, the finished product, semi-finished product or raw material produced by some processing equipment must be normally immersed in the liquid to maintain wettability (such as contact lenses). When the suction nozzle absorbs the object immersed in the liquid, the object will be due to the action of the liquid. It is sticky with the nozzle, so when the negative pressure of the nozzle disappears, the phenomenon that the object cannot be automatically detached often occurs; even if the object and the nozzle are not affected by the viscosity of the liquid, if the object is absorbed by the nozzle Because of the electrostatic action, the quality of the object itself is too light, or because the object is in contact with the nozzle, it may not be able to automatically separate from the nozzle when the negative pressure of the nozzle disappears.

In view of this, the present invention provides an object picking device capable of effectively grasping the state of picking and releasing of an object by switching a negative pressure or a pressurizing action on the nozzle, as its main purpose.

In order to achieve the above object, the object picking device of the present invention basically comprises at least one nozzle, each nozzle is attached to a body and provided with at least one air hole for contacting the object, and the air hole is provided in the body. a communicating chamber, the body is further provided with a first passage communicating with the chamber and connected to the vacuum generator, and the body is further provided with a second passage communicating with the chamber and connecting the fluid supply source, inside the first passage Corresponding to a space at one end of the chamber, a plug member for covering the opening of the first passage and a reset member for normally pushing the plug member toward the opening of the first passage are provided; and the plug member is vacuum-generated The negative pressure of the device is separated from the opening of the first passage, so that the opening of the first passage is opened.

With the above structural features, the object picking device of the present invention connects the first passage of each nozzle to the vacuum generator through the pipeline, and connects the second passage of each nozzle with the fluid supply source. In operation, it is in the first A channel connected to the vacuum generator is opened, and the second channel is connected to the fluid supply source, and the pipe is closed, so that the chamber of the nozzle generates a negative pressure, thereby adsorbing the object in contact with the air hole of the nozzle. And, when the pipeline connecting the second passage to the fluid supply source is opened, and the pipeline connecting the first passage to the vacuum generator is closed, the predetermined fluid can be injected into the chamber of the nozzle through the second passage by the fluid supply source. Further, the chamber of the nozzle is pressurized, and the pressure is discharged from the air hole to disengage the object originally in contact with the air hole.俾 Achieve negative pressure or pressure on the nozzle by switching, effectively grasping the purpose of object capture and release.

According to the above structural feature, the object picking device is further provided with a solenoid valve for controlling the opening or closing of the pipeline to be connected to the first passage and the second passage of each nozzle, and another The solenoid valve is electrically connected and is provided with a control circuit for controlling the operation of each solenoid valve.

The object picking device is further provided with a lifting assembly for mounting the nozzle and for driving the nozzle up and down, and a translation assembly for mounting the lifting assembly for driving the lifting assembly together with the nozzle horizontal displacement; the control The circuit is electrically connected to the lifting component and the translation component and is configured to control whether the lifting component and the translation component operate.

The lifting assembly has at least one bottom plate for mounting the suction nozzle, and a plurality of power cylinders for driving the bottom plate to reciprocate upward and downward at the bottom plate.

The translating component has at least one laterally arranged linear slide rail, and a slide rail for mounting the lifting assembly is disposed on the linear slide rail, and a servo motor for driving the slide carriage to reciprocate along the linear slide rail is further disposed.

According to the above structural feature, each of the nozzles is provided with an assembly section having an inner diameter relatively larger than that of the first passage opening in the first passage of the body, and the plug member can be disposed in the assembly section and can be assembled A segment-displaced sphere is formed, and the reset element can be formed by a spring disposed in the assembly section and in contact with the sphere.

The body of each of the suction nozzles has a spherical shape in a portion in which the air holes are provided.

Specifically, the object picking device of the present invention can effectively control the picking and releasing of the object by switching negative pressure or pressure on the nozzle, effectively solving the problem that the quality of the object itself is too light due to static electricity, or It is because the object and the nozzle are in contact with each other, which causes the object to be detached from the nozzle. It can even effectively overcome the problem that the object cannot be smoothly separated from the nozzle due to the adhesion of the liquid; therefore, it is particularly suitable for application. Normally immersed in liquid objects (such as contact lenses), and can be further processed in the processing or inspection process of the object under the control of the control circuit to perform object selection.

10‧‧‧ objects

20‧‧‧Vacuum Generator

21‧‧‧ pipeline

22‧‧‧ solenoid valve

30‧‧‧ Fluid supply source

31‧‧‧pipe

32‧‧‧ solenoid valve

40‧‧‧ nozzle

41‧‧‧Ontology

411‧‧‧ vent

412‧‧‧ chamber

413‧‧‧First Passage

414‧‧‧second channel

415‧‧‧ Assembly section

42‧‧‧ body

43‧‧‧Reset components

44‧‧‧Control circuit

45‧‧‧ Lifting components

451‧‧‧floor

452‧‧Power cylinder

46‧‧‧Translation components

461‧‧‧Linear slides

462‧‧‧Slide

463‧‧‧Servo motor

47‧‧‧ Container

The first figure is a schematic diagram of the basic structure and use configuration of the object picking device of the first embodiment of the present invention.

The second figure is a cross-sectional view of the nozzle structure of the object picking device of the present invention in the state in which the object is picked up.

The third figure is a cross-sectional view of the nozzle structure of the object picking device of the present invention in the state in which the object is released.

The fourth figure is a schematic diagram of the basic structure of the object picking device of the second embodiment of the present invention.

The fifth figure is a schematic diagram of the action of the object capturing device of the second embodiment of the present invention for capturing an object.

The sixth figure is a schematic view of the action of the object picking device of the second embodiment of the present invention for releasing a part of the object.

The first figure is a schematic diagram of the basic structure and the use configuration of the object picking device of the first embodiment, the second drawing of the object picking device of the present invention, the nozzle structure of the object, and the third figure. The object picking device of the present invention basically includes at least one suction nozzle 40, and each of the suction nozzles 40 is disposed on a body 41 and is provided with at least one object to be attached to the object. 10, the contact hole 411, a cavity 412 communicating with each air hole 411 is disposed in the body 41, and the body 41 is further provided with a first passage 413 communicating with the chamber 412 for connecting the vacuum generator 20, and the body 41 is further A second passage 414 is provided to communicate with the chamber 412 and is connected to the fluid supply source 30. A space corresponding to one end of the chamber 412 is disposed inside the first passage 413, and a plug for blocking the opening of the first passage 413 is disposed. a member 42 and a reset member 43 that normally pushes the plug member 42 toward the opening of the first passage 413; and the plug member 42 is detachable from the opening of the first passage 413 under the negative pressure of the vacuum generator 20, so that One channel 413 opening is open.

In the first step 413 of the body 41, the nozzles 40 are provided with an inner mounting portion 415 having an inner diameter relatively larger than the opening of the first passage 413. The plug member 42 can be disposed in the assembly section. The ball 415 can be formed in the assembly section 415, and the reset element 43 can be formed by a spring disposed in the assembly section 415 and in contact with the ball, mainly by the spring force of the spring (reset element 43). The ball (plug 42) produces a force that normally pushes toward the opening of the first passage 413, and the opening of the first passage 413 to the chamber 412 is shielded by the ball (plug 42).

The object picking device of the present invention, when in use, connects the first passage 413 of each suction nozzle 40 with the vacuum generator 20 through the pipes 21, 31, and the second passage 414 of each suction nozzle 40 with the fluid. The supply source 30 is connected; in principle, the switching effect of the negative pressure or the pressurization of the chamber 412 of the suction nozzle 40 can be achieved by the interaction of the vacuum generator 20 and the fluid supply source 30.

Of course, the object picking device of the present invention may further be provided at the first channel 413 of each nozzle 40 and the pipelines 21, 31 of the second channel 414, respectively, for opening or closing the control pipelines 21, 31. The solenoid valves 22, 32 are further provided with a control circuit 44 electrically connected to each of the solenoid valves 22, 32 for controlling the operation of the solenoid valves 22, 32, and connected to the vacuum generator 20 by switching the first passage 413. The pipeline 21 and the second passage 414 are connected to the fluid supply source 20 to open or close the pipeline to achieve a switching effect of the negative pressure or pressure on the chamber 412 of the nozzle 40.

The object picking device of the present invention, in operation, as shown in the second figure, each nozzle 40 is opened in the first passage 413 connected to the line 21 of the vacuum generator 20, and the second passage 414 is connected to the fluid supply source. When the pipe 31 of the 30 is closed, the chamber 412 of the suction nozzle 40 can be caused to generate a negative pressure, thereby adsorbing the object 10 in contact with the air hole 411 of the suction nozzle 40; then each nozzle 40 can be as shown in the third figure. As shown, the line 31 connected to the fluid supply source 30 in its second passage 414 is opened, and the first passage 413 is connected to the line 21 of the vacuum generator 20 in a closed state, and is sucked by the suction nozzle 40. The object 10 is released.

Since the plug member 42 in the first passage 413 simultaneously loses the negative pressure of the vacuum generator 20 when the first passage 413 is connected to the line 21 of the vacuum generator 20, the resetting member 43 can be used. The plug member 42 does shield the opening of the first passage 413 to the chamber 412, and the conduit 31 connected to the fluid supply source 30 in cooperation with the second passage 414 is opened, so that the predetermined fluid can be passed through the second by the fluid supply source 30. The passage 414 is injected into the chamber 412 of the suction nozzle 40, thereby pressurizing the chamber 412 of the suction nozzle 40, and the pressure is discharged outward from the air hole 411 to disengage the object 10 originally in contact with the air hole 411.俾 The negative pressure or pressure is applied to the suction nozzle 40 by switching, and the object 10 is effectively grasped and released.

In the specific implementation of the present invention, the fluid supply source 30 used may be air compressor, high pressure gas according to the application object or actual processing conditions. The bottle or the pressurized pump is configured to achieve the purpose of injecting air or liquid into the nozzle 40; as for the processing equipment or the conveying device applied by the creation, the animal or the device 10 can be sucked through the device or device of the device itself. The way the mouth 40 is displaced achieves the action of automatic reclaiming or discharging.

Furthermore, the object picking device of the present invention may further comprise a lifting assembly 45 for mounting the suction nozzle 40 for driving the suction nozzle 40 up and down, as shown in the fourth figure, and a lifting assembly for mounting the lifting assembly. And a translation assembly 46 for driving the lifting assembly 45 together with the horizontal displacement of the suction nozzle 40; the control circuit 44 is electrically connected to the lifting assembly 45 and the translation assembly 46 and controls whether the lifting assembly 45 and the translation assembly 45 are activated or not.俾 Under the integrated operation of the lifting assembly 45 and the translating assembly 46, the animal-carrying member 10 is displaced along a predetermined path to achieve the effect of automatic reclaiming or discharging.

In the embodiment shown in the fourth embodiment, the lifting assembly 45 has at least one bottom plate 451 for mounting the suction nozzle 40, and a plurality of power cylinders 452 for driving the bottom plate 451 up and down to be reciprocally displaced at each bottom plate 451; The translating assembly 46 has at least one laterally disposed linear slide rail 461. The linear slide rail 461 is provided with a sliding seat 462 for mounting the lifting assembly 45, and a driving slide 462 is reciprocally displaced along the linear sliding rail 461. The servo motor 463 is mainly driven by the servo motor 463 and the power cylinder 452 to drive the nozzle 40 to accurately displace.

It is worth mentioning that, due to the object picking device of the present invention, the negative pressure or pressure can be applied to the suction nozzle 40 by switching, thereby effectively grasping the state of extraction and release of the object 10, effectively solving the problem of static electricity and the object itself. The quality is too light, or the object 10 cannot be detached from the suction nozzle 40 because the object is in contact with the nozzle, and the object 10 can be effectively prevented from being detached from the suction nozzle 40 due to the adhesion of the liquid. It is especially suitable for the application of objects 10 (such as contact lenses) that need to be immersed in liquid in a normal state.

When the object picking device of the present invention is applied to the picking operation of the contact lens, it is preferable that the body 41 of each of the suction nozzles 40 has a spherical shape in a portion in which the air hole 411 is provided, as shown in FIG. The shape of the object 10 (contact lens) is combined to produce an optimal adsorption effect; in particular, the object picking device of the present invention is adapted to the actual transmission mode of the object 10 (contact lens), as shown in the fourth and sixth figures. And a plurality of suction nozzles 40 are arranged in an array on the bottom plate 451 of the lifting assembly 45, and under the control of the control circuit 44, the suction nozzles 40 can be separately controlled after the object 10 (contact lens) is captured. Release function.

For example, each time the object 10 (contact lens) is picked up, the nozzle 40 corresponding to each of the captured objects 10 (contact lenses) is in a negative pressure state, and then the object 10 (contact lens) is placed in the opposite direction. During the transfer, the control circuit 44 can switch the suction nozzle 40 of the relative position of the article 10 (contact lens) determined to be defective, and pressurize the object 10 (contact lens) determined to be defective. During the transfer process, it falls into the preset container 47, and can be further processed in the processing or inspection process of the object 10, and cooperates with the object 10 to perform the sorting work.

In summary, the present invention provides a better and feasible object retrieval device, and submits a new patent application according to law; the technical content and technical features of the creation have been disclosed above, but those familiar with the technology may still be based on this The creation of the creation and the various changes and modifications that do not depart from the creative spirit of the case. Therefore, the scope of the present invention is not limited to the embodiments disclosed, but includes various alternatives and modifications that do not depart from the present invention and are covered by the following claims.

10‧‧‧ objects

20‧‧‧Vacuum Generator

21‧‧‧ pipeline

22‧‧‧ solenoid valve

30‧‧‧ Fluid supply source

31‧‧‧pipe

32‧‧‧ solenoid valve

41‧‧‧Ontology

411‧‧‧ vent

412‧‧‧ chamber

413‧‧‧First Passage

414‧‧‧second channel

415‧‧‧ Assembly section

42‧‧‧ body

43‧‧‧Reset components

44‧‧‧Control circuit

Claims (7)

An object picking device comprises: at least one nozzle, each nozzle is provided on a body with at least one air hole for contacting the object, and a chamber communicating with each air hole is arranged in the body, and another body is provided on the body a first passage communicating with the chamber and connected to the vacuum generator, the body further having a second passage communicating with the chamber and connecting the fluid supply source, and corresponding to the space at one end of the chamber inside the first passage a plug member for shielding the opening of the first passage and a reset member for normally pushing the plug toward the first passage opening; and the plug member is capable of being under the negative pressure of the vacuum generator and the first passage The opening is disengaged to open the first passage opening. The object picking device according to claim 1, wherein the object picking device is disposed at a pipeline of the first passage and the second passage of each nozzle, and is respectively provided with an electromagnetic for opening or closing the pipeline to be controlled. The valve is further provided with a control circuit electrically connected to each solenoid valve for controlling the operation of each solenoid valve. The object picking device of claim 2, wherein the object picking device is provided with a lifting assembly for mounting the suction nozzle and for driving the suction nozzle up and down, and a lifting assembly for driving and lifting The component is coupled with the horizontal displacement displacement component of the nozzle; the control circuit is electrically connected to the lifting component and the translation component and is configured to control whether the lifting component and the translation component operate. The object picking device of claim 3, wherein the lifting assembly has at least one bottom plate for mounting the suction nozzle, and each of the bottom plates is provided with a plurality of power cylinders for driving the upper and lower reciprocating displacements of the bottom plate. The object picking device of claim 3, wherein the translating component has at least one laterally arranged linear slide rail, the slide rail is provided with a slide for mounting the lifting assembly, and the other is provided with a driving slide along the line. Servo motor for reciprocating displacement of a slide rail. The object picking device of claim 1, wherein each of the suction nozzles is provided with an assembly section having an inner diameter relatively larger than the opening of the first passage in the first passage of the body, and the plug member can be assembled from the assembly. The ball is formed within the segment and displaceable in the assembly section, and the reset element may be formed by a spring disposed in the assembly section and in contact with the ball. The object picking device according to claim 1 or 6, wherein the body of each of the suction nozzles has a spherical shape in a portion in which the air holes are provided.