WO2019205154A1 - 复合吸盘、复合吸盘组件以及机械手 - Google Patents

复合吸盘、复合吸盘组件以及机械手 Download PDF

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Publication number
WO2019205154A1
WO2019205154A1 PCT/CN2018/085136 CN2018085136W WO2019205154A1 WO 2019205154 A1 WO2019205154 A1 WO 2019205154A1 CN 2018085136 W CN2018085136 W CN 2018085136W WO 2019205154 A1 WO2019205154 A1 WO 2019205154A1
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WO
WIPO (PCT)
Prior art keywords
suction cup
assembly
composite
suction
cup assembly
Prior art date
Application number
PCT/CN2018/085136
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English (en)
French (fr)
Inventor
徐熠
Original Assignee
深圳蓝胖子机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳蓝胖子机器人有限公司 filed Critical 深圳蓝胖子机器人有限公司
Priority to CN201880003550.5A priority Critical patent/CN109843516B/zh
Priority to PCT/CN2018/085136 priority patent/WO2019205154A1/zh
Publication of WO2019205154A1 publication Critical patent/WO2019205154A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present application relates to the field of suction cup technology, and in particular to a composite suction cup, a composite suction cup assembly and a robot.
  • the vacuum chuck grabs the object and is widely used in various vacuum holding devices because it does not leave scratches on the surface of the object.
  • vacuum chucks are often used to carry objects.
  • the existing vacuum chucks are roughly divided into flat suction cups and flexible suction cups.
  • the flat suction cups are usually used to absorb flat surfaces that are not easily deformed, and cannot form an effective seal for uneven surfaces, and flexible suction cups. It is often used to absorb uneven surfaces, but small-open sponge suction cups are difficult to absorb soft packaging bags, and because of the lateral pressure, it is only suitable for sucking lighter objects.
  • suction cup that can be applied to suction cups of all working conditions such as flat surface, curved surface, pleated surface, air-permeable cardboard, and plastic flexible packaging bag.
  • the embodiment of the present application provides a composite suction cup, a composite suction cup assembly, and a robot for solving the problem that the prior art cannot be applied to different surfaces of different objects at the same time, and needs to be replaced for different surfaces, thereby being inefficient.
  • a technical solution adopted by the present application is to provide a composite suction cup comprising: a suction cup assembly; a fixing frame provided with a through step assembly cavity for matching and assembling the suction cup assembly, The step assembly cavity has a depth smaller than the length of the suction cup assembly to partially expose the suction cup assembly; the auxiliary adsorption member is coupled to the fixing frame, and a first through hole is provided to surround the exposed portion of the suction cup assembly In order to perform an auxiliary sealing when the suction cup assembly performs a vacuum suction operation.
  • a composite suction cup assembly including: a plurality of suction cup assemblies; a fixing frame provided with a plurality of through-step assembly cavities for Matching assembling a plurality of the suction cup assemblies, each of the step fitting cavities corresponding to one of the suction cup assemblies, the step assembly cavity having a depth smaller than a length of the suction cup assembly to partially expose the suction cup assembly; and an auxiliary adsorption member, Connected to the holder, a plurality of first through holes are provided to enclose the exposed portion of the chuck assembly to perform an auxiliary seal when the chuck assembly performs a vacuum suction operation.
  • the robot includes: a mechanical arm; a suction device fixed on the mechanical arm; a composite suction cup assembly, and the suction
  • the device is connected to suck the object, comprising: a plurality of suction cup assemblies;
  • the fixing frame is provided with a plurality of through-step assembly cavities for matching and assembling a plurality of the suction cup assemblies, and each of the step assembly cavities corresponds to the suction cup assembly
  • the step assembly cavity has a depth smaller than the length of the chuck assembly to expose the suction cup assembly;
  • the auxiliary adsorption member is coupled to the holder, and a plurality of first through holes are provided to the suction cup assembly
  • the exposed portion is enclosed to provide an auxiliary seal when the suction cup assembly is subjected to a vacuum suction operation.
  • the beneficial effects of the present application are: by enclosing the auxiliary adsorption member at the exposed portion of the suction cup assembly, and then when the internal suction cup assembly leaks during the adsorption process, the auxiliary adsorption member further forms a sealed cavity to adsorb the object, thereby making the composite suction cup suitable for use. Improve the utilization rate of composite suction cups on the surface of various objects, and also reduce the time for replacing suction cups by adsorbing different objects and improve production efficiency.
  • FIG. 1 is a schematic exploded view of a composite suction cup according to an embodiment of the present invention
  • Figure 2 is a cross-sectional structural view of the composite suction cup of Figure 1;
  • FIG. 3 is a perspective view showing the structure of a composite suction cup assembly according to another embodiment of the present invention.
  • Figure 4 is an exploded perspective view of the composite suction cup assembly of Figure 3;
  • Figure 5 is another exploded structural view of the composite suction cup assembly of Figure 3;
  • Figure 6 is a perspective view of a three-dimensional mechanism of a robot hand according to still another embodiment of the present invention.
  • first”, “second”, and “third” in this application are used for descriptive purposes only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining “first”, “second”, and “third” may include at least one of the features, either explicitly or implicitly.
  • the meaning of “plurality” is at least two, such as two, three, etc., unless specifically defined otherwise. All directional indications (such as up, down, left, right, front, back, %) in the embodiments of the present application are only used to explain the relative positional relationship between components in a certain posture (as shown in the drawing).
  • references to "an embodiment” herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application.
  • the appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.
  • FIG. 1 is a schematic exploded view of a composite suction cup according to an embodiment of the present invention
  • FIG. 2 is a cross-sectional structural view of the composite suction cup of FIG.
  • the composite suction cup 100 may substantially include a suction cup assembly 10, a fixing frame 20, and an auxiliary adsorption member 30.
  • the fixing frame 20 is provided with a through step assembly cavity 22 for matching the assembly suction cup assembly 10, the depth of the step assembly cavity 22 being smaller than the length of the suction cup assembly 10 to partially expose the suction cup assembly 10; the auxiliary adsorption member 30 and the fixing frame 20
  • the connection is provided with a first through hole 32 for enclosing the exposed portion of the suction cup assembly 10 for auxiliary sealing when the suction cup assembly 10 performs a vacuum suction operation.
  • the chuck assembly 10 is secured in the step assembly cavity 22, the length of the chuck assembly 10 being greater than the depth of the step assembly cavity 22 such that a portion of the chuck assembly 10 exposes the step assembly cavity 22.
  • the auxiliary absorbing member 30 is fixedly coupled to one side of the holder 20 where the step fitting chamber 22 is provided so as to be enclosed on the exposed portion of the chuck assembly 10.
  • the diameter of the first through hole 32 and the diameter of the step assembly cavity 22 may be the same, and the diameter of the step assembly cavity 22 is larger than the maximum diameter of the suction cup assembly 10, so that the auxiliary adsorption member 30 and the suction cup assembly 10 are There is a gap between them.
  • the diameter of the first through hole 32 may be different from the diameter of the step fitting cavity 22, but it should also be ensured that a gap is left between the auxiliary adsorbing member 30 and the chuck assembly 10.
  • the composite suction cup 100 When the composite suction cup 100 is in operation, its internal atmospheric pressure is lower than the external atmospheric pressure, so that the auxiliary adsorbing member 30 is easily deformed under the action of the external atmospheric pressure, so that the inner wall thereof is recessed toward the inside.
  • the gap between the step fitting cavity 22 and the chuck assembly 10 prevents interference with the inner chuck assembly 10 when the auxiliary adsorbing member 30 is deformed.
  • the gap between the step assembly chamber 22 and the chuck assembly 10 is too large, so that the volume of the closed space formed by the holder 20 and the auxiliary adsorbing member 30 is large, and the vacuum environment takes too long to perform vacuum adsorption. Affect the adsorption efficiency.
  • the auxiliary absorbing member 30 when the thickness of the auxiliary absorbing member 30 is set to be large, so that the auxiliary absorbing member 30 is deformed under the action of the external atmospheric pressure, the auxiliary absorbing member 30 may be disposed to be attached to the exposed portion of the suction cup assembly 10, To further reduce the inhalation time.
  • the auxiliary suction member 30 is disposed on the periphery of the suction cup assembly 10, thereby assisting the internal suction cup assembly 10 to be sealed.
  • the sealing chamber can be further formed to adsorb the object, thereby being applicable. On the surface of different objects, it is not necessary to replace the suction cup when adsorbing different objects to improve efficiency.
  • the composite suction cup 100 when the composite suction cup 100 is adsorbed, if the suction cup assembly 10 does not leak, the object is adsorbed on the suction cup assembly 10; if the suction cup assembly 10 leaks, the object is adsorbed on the auxiliary adsorption member 30.
  • a suction device (not shown) draws air, so that the air in the suction cup assembly 10 directly communicating with the suction device is first sucked away, forming a negative in the suction cup assembly 10.
  • the pressure is applied to the suction cup assembly 10.
  • the auxiliary adsorbing member 30 contacts the surface of the object, thereby assisting the air in the adsorbing member 30 to be sucked away, thereby forming a negative pressure in the auxiliary adsorbing member 30.
  • the object is caused to be adsorbed on the auxiliary adsorbing member 30.
  • the end surface of the auxiliary adsorption member 30 away from the fixing frame 20 is flush with the end surface of the suction cup assembly 10 away from the fixing frame 20 side.
  • the lower end surface of the auxiliary adsorption member 30 is flush with the lower end surface of the suction cup assembly 10, that is, the lower auxiliary suction member 30 and the suction cup assembly 10 are compressed.
  • the end faces are at the same horizontal position, that is, the height of the auxiliary adsorbing member 30 in the initial state can be adjusted according to the auxiliary adsorbing members 30 of different elastic properties, so that the lower end surface of the auxiliary adsorbing member 30 after compression is aligned with the lower end surface of the chuck assembly 10. level.
  • the amount of compression of the auxiliary adsorbing member 30 is the same as the amount of compression of the chuck assembly 10.
  • the advantage of such an arrangement is that when the composite suction cup 100 is subjected to adsorption of, for example, a soft bag material, since the lower end surface of the auxiliary adsorption member 30 is flush with the lower end surface of the suction cup assembly 10, the soft bag material can be flatly adsorbed on the composite suction cup 100. Lower end to avoid deformation of the material.
  • the suction cup assembly 10 includes a mounting head 12, a suction tube 14 and a suction cup 16 which are sequentially connected.
  • the cross-sectional area of the mounting head 12 is smaller than the cross-sectional area of the suction tube 14, and the mounting head 12.
  • the partial suction tube 14 and the step assembly cavity 22 match the insertion sleeve, and the suction cup 16 and the partial suction tube 14 are exposed relative to the fixed frame 20.
  • the step assembly cavity 22 includes a first cavity 222 and a second cavity 224.
  • the cross-sectional area of the first cavity 222 is smaller than the cross-sectional area of the second cavity 224.
  • the first cavity 222 is used to match the receiving head 12, and the second The cavity 224 is used to match the receiving portion suction tube 14.
  • the step assembly cavity 22 includes a first cavity 222 and a second cavity 224, wherein the cross-sectional area of the first cavity 222 is smaller than the cross-sectional area of the second cavity 224 to form the step assembly cavity 22.
  • the cross-sectional area of the first cavity 222 refers to the area of the cross section of the first cavity 222 along the radial direction of the first cavity 222
  • the cross-sectional area of the second cavity 224 refers to the diameter of the second cavity 224 along the second cavity 224. The area of the section to the direction.
  • the mounting head 12 is inserted into the first cavity 222, and the suction tube 14 connected to the mounting head 12 is partially received in the second cavity 224.
  • the cross-sectional area of the mounting head 12 is smaller than the cross-sectional area of the suction tube 14 so that the outer shape of the suction cup assembly 10 is adapted to the outer shape of the step assembly cavity 22, thereby making the structure more compact, so that the volume of the auxiliary adsorption member 30 is enclosed. It is as small as possible to reduce the inhalation time when the auxiliary adsorbent 30 is sealed, and to improve the adsorption efficiency.
  • the cross-sectional areas of the mounting head 12 and the suction tube 14 refer to the area of the cross section of the mounting head 12 and the suction tube 14 in the radial direction.
  • the mounting head 12 is provided with a limiting portion 122 , and the limiting portion 122 is limited to abut against the second cavity 224 .
  • the diameter of the limiting portion 122 is greater than the diameter of the first cavity 222 such that the suction cup assembly 10 is confined in the step fitting cavity 22 while the suction device is performing inhalation.
  • the suction cup 14 is a bellows.
  • the bellows refers to a tubular elastic sensing member which is joined by a foldable corrugated sheet in a folding and contracting direction, and the bellows has elasticity and can be displaced under pressure.
  • the advantage of using the bellows is that the bellows is more sensitive to external forces and is easily deformed along its axial direction. Therefore, when the suction device inhales, the bellows reacts quickly, reducing the time required for inhalation.
  • both ends of the suction cylinder 14 are connected to the mounting head 12 and the suction cup 16, respectively.
  • the one end of the mounting head 12 received in the second cavity 224 is provided with an external thread 124.
  • the end of the suction tube 14 connected to the mounting head 12 is provided with an internal thread 142, and the mounting head 12 and the suction tube 14 pass the above external thread.
  • 124 is threadedly coupled to the internal thread 142 to provide a fixed connection of the mounting head 12 to the suction tube 14.
  • the diameter of the bellows may be slightly smaller than the diameter of the mounting head 12.
  • the connecting end of the bellows and the mounting head 12 is first heated, and then the The thermally expanded bellows is sleeved on the mounting head 12.
  • the bellows is cooled and contracted, it can be tightly sleeved outside the mounting head 12 to achieve the connection of the mounting head 12 to the bellows.
  • the mounting head 12 and the suction tube 14 may be connected and fixed in other manners, such as a snap connection, a snap fit, etc., which are not limited herein.
  • the suction cup 16 is coupled to the end of the suction cup 14, and the suction cup 16 includes an inner surface 162 and an outer surface 164 that abuts against the periphery of the auxiliary sorbent member 30.
  • one end of the suction cup 16 is connected to the suction tube 14, and the diameter of the suction cup 16 is gradually increased in a direction away from the suction tube 14, so that the end of the suction cup 16 abuts on the periphery of the auxiliary adsorption member 30.
  • the advantage of such an arrangement is that, on the one hand, the suction surface of the suction cup 16 can be made as large as possible, and on the other hand, a gap is left between the suction tube 14 and the auxiliary adsorption member 30 to prevent the suction tube 14 and the auxiliary adsorption member 30 from occurring. put one's oar in.
  • the suction cup 16 is detachably connected to the suction tube 14.
  • threads may be respectively provided on the suction cylinder 14 and the suction cup 16 to be connected by threads. It is also possible to provide a buckle on the suction tube 14 and the suction cup 16, and to connect them by a buckle, etc., which are not enumerated here.
  • the advantage of the detachable connection is that part of the parts can be replaced when the suction tube 14 or the suction cup 16 is damaged, saving costs.
  • the suction cup 16 can be integrally formed with the suction tube 14.
  • the advantage of one-piece molding is that it reduces the machining process.
  • a plurality of stiffeners 166 are disposed on the inner surface 162 and/or the outer surface 164 of the suction cup 16.
  • the reinforcing ribs 166 may be disposed on the inner surface 162 of the suction cup 16, and the reinforcing ribs 166 are evenly distributed on the suction cup 16 in the axial direction of the suction cup 16.
  • the ribs 166 may be disposed on the outer surface 164 of the suction cup 16 and the ribs 166 are evenly distributed on the suction cup 16 in the axial direction of the suction cup 16.
  • the stiffeners 166 can also be disposed on both the inner surface 162 and the outer surface 164 to further enhance the strength of the suction cup 16 and prevent the suction cup 16 from deforming as it is being adsorbed.
  • the auxiliary adsorbing member 30 is an EPDM (Ethylene Propylene Diene Monomer) sponge. Since the surface of the EPDM sponge is smooth and fine, the quality is light, the stretching strength is large, the resilience is good, the foaming is uniform, the waterproof performance is first-class, and the aging resistance is obtained, the EPDM sponge is used as the auxiliary adsorbing member 30. Moreover, since the EPDM sponge is resistant to wear, it is less prone to deformation in long-term use, and the cost can be reduced.
  • EPDM Ethylene Propylene Diene Monomer
  • the auxiliary adsorbing member 30 is connected to the fixing frame 20 by bonding or pressing.
  • the auxiliary adsorbing member 30 can be attached to the holder 20 by a double-sided tape. It is also possible to apply glue to the side of the holder 20 where the step fitting chamber 22 is opened, thereby fixing the auxiliary adsorbing member 30 to the holder 20. It is also possible to provide a buckle on the fixing frame 20, and a connecting portion that is engaged with the snap-fit on the auxiliary adsorbing member 30, so that the auxiliary adsorbing member 30 is connected to the fixing frame 20 by means of a press-fitting. It is not listed here one by one.
  • FIG. 3 is a schematic perspective view of a composite suction cup assembly according to another embodiment of the present invention
  • FIG. 4 is an exploded perspective view of the composite suction cup assembly of FIG. 3
  • FIG. 5 is a composite suction cup assembly of FIG. Another schematic diagram of the exploded structure.
  • the present application also provides a composite suction cup assembly 200 that includes a plurality of suction cup assemblies 210, a holder 220, and an auxiliary sorbent 230.
  • the fixing frame 220 is provided with a plurality of through-step assembly cavities 226 for matching and assembling a plurality of suction cup assemblies 210.
  • Each of the step assembly cavities 226 corresponds to a suction cup assembly 210, and the depth of the step assembly chamber 226 is smaller than the length of the suction cup assembly 210.
  • the auxiliary adsorbing member 230 is coupled to the fixing frame 220, and a plurality of first through holes 232 are provided to enclose the exposed portion of the suction cup assembly 210 for performing vacuum suction operation on the suction cup assembly 210. Auxiliary seal.
  • the structure of the suction cup assembly 210 is the same as that of the suction cup assembly 10 in the previous embodiment. Refer to the suction cup assembly 10 in the previous embodiment, and details are not described herein again.
  • the composite suction cup assembly 200 includes five suction cup assemblies 210 that are evenly distributed around the periphery of one suction cup assembly 210.
  • the shape of the fixing frame 220 may be a rectangle
  • the four suction cup assemblies 210 are distributed on the four corners of the rectangular fixing frame 220
  • the other suction cup assembly 210 is located at the center position of the rectangular fixing frame 220.
  • the auxiliary absorbing member 230 is further provided with a plurality of second through holes 234 for increasing the deformation capability of the auxiliary absorbing member 230.
  • the auxiliary absorbing member 230 is provided with a plurality of first through holes 232 for accommodating the suction cup assembly 210, and a plurality of second through holes 234 are formed in the vacant area where the first through holes 232 are opened, that is, the second through holes 234 are formed.
  • the first through hole 232 does not interfere with each other.
  • the second through hole 234 is opened at a position where the auxiliary adsorbing member 230 has a large space, so as to reduce the deformation capability of the vacant area auxiliary adsorbing member 230, thereby controlling the auxiliary adsorption in the region of the first through hole 232.
  • the shape variable of the member 230 is the same as the shape variable of the auxiliary absorbing member 230 disposed in the region of the second through hole 234.
  • the fixing frame 220 is further provided with a visual recognition device (not shown), and the auxiliary adsorption member 230 is further provided with a avoidance hole 236, and the visual recognition device is received in the escape hole 236.
  • a visual recognition device may be disposed on the fixing frame 220 for recognizing the object under the composite suction cup assembly 200, so that the composite suction cup assembly 200 is attracted to the center position of the object, so that the object is evenly stressed and convenient to suck. .
  • the second through hole 234 and the escape hole 236 are common holes, or the second through hole 234 and the escape hole 236 are independent holes.
  • the second through hole 234 may be disposed corresponding to the visual recognition device to accommodate the visual recognition device in the second through hole 234.
  • the fixing frame 220 is provided with an air guiding passage 228, and the air guiding passage 228 communicates each step assembling cavity 226.
  • the air guiding passages 228 connect the first cavities 221 of each of the step fitting cavities 226, so that the gas in each of the chucking assemblies 210 can be evenly distributed, so that each The suction force on a suction cup assembly 210 is the same, so that the object is evenly stressed.
  • the composite suction cup assembly 200 further includes a cover plate 240, and the cover plate 240 is covered on the side of the fixing frame 220 where the air guiding passage 228 is disposed.
  • a plurality of counterbore holes 242 are defined in the periphery of the cover plate 240.
  • a plurality of blind holes 223 are correspondingly disposed on the fixing frame 220.
  • the cover plate 240 can be fixed to the fixing frame 220 by screws (not shown). Upper to achieve the sealing of the air guiding passage 228.
  • the fixing bracket 220 is disposed on the side of the air guiding passage 228 and further provided with a first sealing member 225.
  • the first sealing member 225 is disposed around the air guiding passage 228.
  • the second sealing member is disposed on the side of the fixing bracket 220 adjacent to the fixing bracket 220. 242, the first seal 225 cooperates with the second seal 242 to seal the air guide passage 228.
  • the first sealing member 225 and the second sealing member 242 may be interfitting grooves and sealing rings, and the sealing ring is received in the groove to further seal the air guiding passage 228.
  • the first seal 225 and the second seal 242 may also be sealant coated on opposite ends of the holder 220 and the cover 240, respectively, for bonding to achieve further sealing of the air guide passage 228.
  • Other forms of sealing the air guiding passage 228 are also within the scope of the present application, and are not enumerated here.
  • Figure 6 is a perspective view of a three-dimensional mechanism of a robot hand according to still another embodiment of the present invention.
  • the present application also provides a robot 400 that includes a robotic arm 500, a getter device 600, and a composite suction cup assembly 300.
  • the suction device 600 is fixed on the robot arm 500.
  • the composite suction cup assembly 300 is connected to the air suction device 600 to absorb the object.
  • the composite suction cup assembly 300 includes: a plurality of suction cup assemblies 310, a fixing frame 320, and an auxiliary adsorption member 330.
  • the fixing frame 320 A plurality of through-step assembly cavities (not shown) are provided for matingly assembling a plurality of suction cup assemblies 310, each of the step assembly cavities corresponding to a suction cup assembly 310 having a depth less than a length of the suction cup assembly 310
  • the suction cup assembly 310 is partially exposed; the auxiliary adsorbing member 330 is coupled to the fixing frame 320, and a plurality of first through holes (not shown) are provided to enclose the exposed portion of the suction cup assembly 310 for performing on the suction cup assembly 310. Auxiliary sealing during vacuum adsorption.
  • the structure of the composite suction cup assembly 300 is the same as that of the composite suction cup assembly 200 in the previous embodiment. For reference, the description in the above embodiments will be omitted.

Abstract

一种复合吸盘(100)、复合吸盘组件(200)以及机械手(400)，包括：吸盘组件(10,210)、固定架(20,220)以及辅助吸附件(30,230)；固定架(20,220)设有贯通的台阶装配腔(22,226)以用于匹配装配吸盘组件(10,210)，台阶装配腔(22,226)的深度小于吸盘组件(10,210)的长度以使吸盘组件(10,210)部分外露；辅助吸附件(30,230)与固定架(20,220)连接，设有第一通孔(32,232)以将吸盘组件(10,210)外露的部分围合，以在吸盘组件(10,210)进行真空吸附作业时进行辅助密封。通过在吸盘组件(10,210)的外露部分围合辅助吸附件(30,230)，进而在内部吸盘组件(10,210)在吸附过程中出现漏气时，进一步形成密封以吸附物体，从而使复合吸盘(100)、复合吸盘组件(200)以及机械手(400)适用于不同物体表面，提高其利用率。

Description

复合吸盘、复合吸盘组件以及机械手 【技术领域】
本申请涉及吸盘技术领域，特别是涉及一种复合吸盘、复合吸盘组件以及机械手。
【背景技术】
真空吸盘抓取物体，由于不会在物体表面留下抓痕，因而广泛应用于各种真空吸持设备。在工业生产中常使用真空吸盘来搬运物体，现有的真空吸盘大致分为平面吸盘和柔性吸盘，平面吸盘通常用于吸取不易产生变形的平面，对于不平整表面无法形成有效的密封，而柔性吸盘则常用于吸取不平整表面，但是小开孔的海绵吸盘很难吸取软包装袋，且由于侧向受大气压的影响，仅适用于吸取质量较轻的物体。本申请的发明人在长期的研究和实践的过程中发现，目前还没有一种吸盘能够同时应用于平面、曲面、褶皱表面、透气纸板、塑料软包装袋等所有工况的吸盘。
【发明内容】
本申请实施例提供了一种复合吸盘、复合吸盘组件以及机械手，用于解决现有技术中存在的无法同时适用于各种不同物体表面，需要针对不同物体表面进行更换，从而效率低下的问题。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种复合吸盘，所述复合吸盘包括：吸盘组件；固定架，设有贯通的台阶装配腔以用于匹配装配所述吸盘组件，所述台阶装配腔的深度小于所述吸盘组件的长度以使所述吸盘组件部分外露；辅助吸附件，与所述固定架连接，设有一第一通孔以将所述吸盘组件外露的部分围合，以在所述吸盘组件进行真空吸附作业 时进行辅助密封。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种复合吸盘组件，所述复合吸盘组件包括：多个吸盘组件；固定架，设有多个贯通的台阶装配腔以用于匹配装配多个所述吸盘组件，每一所述台阶装配腔对应一所述吸盘组件，所述台阶装配腔的深度小于所述吸盘组件的长度以使所述吸盘组件部分外露；辅助吸附件，与所述固定架连接，设有多个第一通孔以将所述吸盘组件的外露的部分围合，以在所述吸盘组件进行真空吸附作业时进行辅助密封。
为解决上述技术问题，本申请采用的又一个技术方案是：提供一种机械手，所述机械手包括：机械臂；吸气装置，固定在所述机械臂上；复合吸盘组件，与所述吸气装置连接以吸取物体，包括：多个吸盘组件；固定架，设有多个贯通的台阶装配腔以用于匹配装配多个所述吸盘组件，每一所述台阶装配腔对应一所述吸盘组件，所述台阶装配腔的深度小于所述吸盘组件的长度以使所述吸盘组件部分外露；辅助吸附件，与所述固定架连接，设有多个第一通孔以将所述吸盘组件的外露的部分围合，以在所述吸盘组件进行真空吸附作业时进行辅助密封。
本申请的有益效果是：通过在吸盘组件的外露部分围合辅助吸附件，进而当内部吸盘组件在吸附过程中出现漏气时，辅助吸附件进一步形成密封腔以吸附物体，从而使复合吸盘适用于各种不同物体表面，提高复合吸盘的利用率，同时也可减少因吸附不同物体更换吸盘的时间，提高生产效率。
【附图说明】
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不 付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1是本发明一实施例复合吸盘的分解结构示意图；
图2是图1中复合吸盘的剖视结构示意图；
图3是本发明另一实施例复合吸盘组件的立体结构示意图；
图4是图3中复合吸盘组件的分解结构示意图；
图5是图3中复合吸盘组件的另一分解结构示意图；
图6是本发明又一实施例机械手的立体机构示意图。
【具体实施方式】
下面结合附图和实施例，对本本申请作进一步的详细描述。特别指出的是，以下实施例仅用于说明本本申请，但不对本本申请的范围进行限定。同样的，以下实施例仅为本本申请的部分实施例而非全部实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本本申请保护的范围。
本申请中的术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括至少一个该特征。本本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。本本申请实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤 或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
请参阅图1和图2，图1是本发明一实施例复合吸盘的分解结构示意图，图2是图1中复合吸盘的剖视结构示意图。本实施例中，复合吸盘100大致可以包括吸盘组件10、固定架20和辅助吸附件30。其中，固定架20设有贯通的台阶装配腔22以用于匹配装配吸盘组件10，台阶装配腔22的深度小于吸盘组件10的长度以使吸盘组件10部分外露；辅助吸附件30与固定架20连接，设有一第一通孔32以将吸盘组件10外露的部分围合，以在吸盘组件10进行真空吸附作业时进行辅助密封。
在本实施例中，吸盘组件10固定在台阶装配腔22中，吸盘组件10的长度大于台阶装配腔22的深度，从而吸盘组件10的一部分露出台阶装配腔22。辅助吸附件30与固定架20设置台阶装配腔22的一侧固定连接，从而围合在吸盘组件10外露的部分上。
其中，在本实施例中，第一通孔32的直径与台阶装配腔22的直径可以相同，台阶装配腔22的直径大于吸盘组件10的最大直径，从而使得辅助吸附件30与吸盘组件10之间留有空隙。在其余实施例中，第一通孔32的直径与台阶装配腔22的直径可以不相同，但也应该保证辅助吸附件30与吸盘组件10之间留有空隙。
复合吸盘100在工作时，其内部大气压小于外部大气压，从而辅助吸附件30在外界大气压的作用下，容易发生变形，使得其内壁向内部凹陷。台阶装配腔22与吸盘组件10之间的空隙可以防止辅助吸附件30发生变形时与内 部的吸盘组件10发生干涉。
另一方面，台阶装配腔22与吸盘组件10之间的空隙太大会使得固定架20与辅助吸附件30组成的密闭空间的体积较大，在进行真空吸附时，真空环境的发生时间太长，影响吸附效率。
可选地，当设置的辅助吸附件30的厚度较大，以至于辅助吸附件30在外界大气压作用下形变较小时，可以设置辅助吸附件30贴附围合在吸盘组件10外露的部分上，以进一步减少吸气时间。
本实施例，通过在吸盘组件10的外围设置辅助吸附件30，从而对内部的吸盘组件10进行辅助密封，在内部的吸盘组件10吸附失败时，能够进一步形成密封腔以吸附物体，因而可以适用于不同物体的表面，不需要在吸附不同物体时，对吸盘进行更换，提高效率。
可选地，复合吸盘100吸附时，若吸盘组件10不漏气，则物体被吸附于吸盘组件10上；若吸盘组件10漏气，则物体被吸附于辅助吸附件30上。
具体地，复合吸盘100在进行吸附时，吸气装置(图中未示出)抽气，从而与吸气装置直接连通的吸盘组件10内的空气首先被吸走，在吸盘组件10内形成负压，使得物体被吸附于吸盘组件10上。当吸盘组件10与物体的表面之间存在缝隙发生漏气时，由于辅助吸附件30与物体表面接触，进而辅助吸附件30内的空气被吸走，从而在辅助吸附件30内形成负压，使得物体被吸附于辅助吸附件30上。
可选地，复合吸盘100吸附时，辅助吸附件30远离固定架20一侧的端面与吸盘组件10远离固定架20一侧的端面齐平。
具体地，当复合吸盘100接触物体表面，吸气装置吸气进行吸附时，辅助吸附件30的下端面与吸盘组件10的下端面齐平，即辅助吸附件30与吸盘组件10压缩后的下端面处于同一水平位置，也就是说可根据不同弹性性能的辅助吸附件30，调整初始状态下辅助吸附件30的高度，以适应压缩后辅助吸 附件30的下端面与吸盘组件10的下端面齐平。可选地，辅助吸附件30的压缩量与吸盘组件10的压缩量相同。这样设置的好处在于，当复合吸盘100在进行例如软袋材料的吸附时，由于辅助吸附件30的下端面与吸盘组件10的下端面齐平可以使得软袋材料平整的吸附在复合吸盘100的下端，避免造成材料的变形。
可选地，在本实施例中，请继续参阅图2，吸盘组件10包括依次连接的安装头12、吸筒14以及吸盘16，安装头12的截面积小于吸筒14的截面积，安装头12、部分吸筒14与台阶装配腔22匹配插套，吸盘16及部分吸筒14相对固定架20外露。台阶装配腔22包括第一腔体222和第二腔体224，第一腔体222的截面积小于第二腔体224的截面积，第一腔体222用于匹配收容安装头12，第二腔体224用于匹配收容部分吸筒14。
具体地，台阶装配腔22包括第一腔体222和第二腔体224，其中，第一腔体222的截面积小于第二腔体224的截面积以形成台阶装配腔22。第一腔体222的截面积是指第一腔体222沿第一腔体222径向的截面的面积，第二腔体224的截面积是指第二腔体224沿第二腔体224径向的截面的面积。
安装头12插套在第一腔体222内，与安装头12连接的吸筒14部分容置在第二腔体224内。其中，安装头12的截面积小于吸筒14的截面积，以使吸盘组件10的外形与台阶装配腔22的外形相适配，从而使得结构更加紧凑，使得辅助吸附件30所围设的体积尽可能的小，以减小使用辅助吸附件30密封时的吸气时间，提高吸附效率。安装头12和吸筒14的截面积均是指安装头12和吸筒14沿径向的截面的面积。
可选地，安装头12上设置有限位部122，限位部122限位抵接于第二腔体224内。具体地，限位部122的直径大于第一腔体222的直径，以使得吸气装置在进行吸气时，吸盘组件10被限制在台阶装配腔22中。
可选地，吸筒14为波纹管。具体地，波纹管是指用可折叠皱纹片沿折叠 伸缩方向连接成的管状弹性敏感元件，波纹管具有弹性，在压力作用下能产生位移。使用波纹管的好处在于，波纹管对外力较为敏感，容易沿其轴向发生变形，因而在吸气装置吸气时，波纹管反应迅速，减少吸气所需的时间。
在本实施例中，如图2所示，吸筒14的两端分别与安装头12和吸盘16进行连接。具体地，安装头12容置于第二腔体224内的一端上设置有外螺纹124，吸筒14与安装头12连接一端设置有内螺纹142，安装头12和吸筒14通过以上外螺纹124和内螺纹142的螺纹配合连接，实现安装头12与吸筒14的固定连接。
在又一实施例中，还可以设置波纹管的直径略小于安装头12的直径，在进行安装头12与波纹管的连接时，先对波纹管与安装头12连接一端进行加热，而后将受热膨胀的波纹管套接在安装头12上，当波纹管冷却收缩后，即可紧密的套接在安装头12的外部，实现安装头12与波纹管的连接。当然，在其他实施例中，还可以采用其他的方式将安装头12与吸筒14连接固定，例如卡扣连接，卡合等，此处不做限定。
可选地，吸盘16连接于吸筒14的端部，吸盘16包括内表面162和外表面164，外表面164抵接于辅助吸附件30的周沿上。具体地，吸盘16的一端与吸筒14连接，在远离吸筒14的方向上，吸盘16的直径逐渐变大，以使得吸盘16的末端抵接于辅助吸附件30的周沿上。这样设置的好处在于，一方面，可以使得吸盘16的吸附表面尽可能的大，另一方面也使得吸筒14与辅助吸附件30之间留有空隙，避免吸筒14与辅助吸附件30发生干涉。
其中，在本实施例中，吸盘16与吸筒14可拆卸连接。具体地，可以在吸筒14和吸盘16上分别设置螺纹，通过螺纹进行连接。还可以在吸筒14和吸盘16上分别设置卡扣，通过卡扣进行连接等，此处不一一列举。可拆卸连接的好处在于，可以在吸筒14或者吸盘16损坏时，进行部分零件的更换，节约成本。
在其他实施例中，吸盘16可以与吸筒14一体成型。一体成型的好处在于，可以减少加工工艺。
可选地，在吸盘16的内表面162和/或外表面164上设置有多个加强筋166。具体地，在本实施例中，加强筋166可以设置在吸盘16的内表面162上，且加强筋166沿吸盘16的轴向均匀分布在吸盘16上。在另一实施例中，加强筋166可以设置在吸盘16的外表面164上，且加强筋166沿吸盘16的轴向均匀分布在吸盘16上。在其他实施例中，加强筋166还可以同时设置在内表面162和外表面164上，以进一步加强吸盘16的强度，防止吸盘16在进行吸附时发生变形。
可选地，辅助吸附件30为EPDM(Ethylene Propylene Diene Monomer，三元乙丙橡胶)海绵。由于EPDM海绵表面光滑细致、质量轻、伸缩强度大、回弹性好、发泡均匀、防水性能一流、耐老化，因而使用EPDM海绵作为辅助吸附件30。而且由于EPDM海绵耐磨损，长期使用不易发生变形，可以减少成本。
可选地，辅助吸附件30通过粘接或压扣方式与固定架20连接。具体地，可以利用双面胶将辅助吸附件30粘贴在固定架20上。还可以在固定架20开设台阶装配腔22的一侧涂覆胶水，从而将辅助吸附件30固定在固定架20上。还可以在固定架20上设置卡扣，在辅助吸附件30上设置与卡扣配合的连接部，从而采用压扣的方式将辅助吸附件30与固定架20连接。此处不再一一列举。
请参阅图3-图5，图3是是本发明另一实施例复合吸盘组件的立体结构示意图；图4是图3中复合吸盘组件的分解结构示意图；图5是图3中复合吸盘组件的另一分解结构示意图。
本申请还提供一种复合吸盘组件200，该复合吸盘组件200包括多个吸盘组件210、固定架220和辅助吸附件230。其中，固定架220设有多个贯通的 台阶装配腔226以用于匹配装配多个吸盘组件210，每一台阶装配腔226对应一吸盘组件210，台阶装配腔226的深度小于吸盘组件210的长度以使吸盘组件210部分外露；辅助吸附件230与固定架220连接，设有多个第一通孔232以将吸盘组件210的外露的部分围合，以在吸盘组件210进行真空吸附作业时进行辅助密封。
其中，吸盘组件210的结构与上一实施例中的吸盘组件10的结构相同，可参照上一实施例中的吸盘组件10，此处不再赘述。
可选地，在本实施例中，复合吸盘组件200包括五个吸盘组件210，四个吸盘组件210均匀分布于一个吸盘组件210的外围。
具体地，在本实施例中，固定架220的形状可以为矩形，四个吸盘组件210分布在矩形固定架220的四个角上，另一个吸盘组件210位于矩形固定架220的中心位置处。
可选地，辅助吸附件230上还开设有多个第二通孔234，第二通孔234用于增大辅助吸附件230的形变能力。具体地，辅助吸附件230上开设有多个容置吸盘组件210的第一通孔232，在开设第一通孔232的空余区域开设多个第二通孔234，即，第二通孔234与第一通孔232互不干涉。在本实施例中，第二通孔234开设在辅助吸附件230空余区域较多的位置，以便减小空余区域辅助吸附件230的形变能力，从而控制设置第一通孔232区域内的辅助吸附件230的形变量与设置第二通孔234区域内的辅助吸附件230的形变量相同。
可选地，固定架220上还设置有视觉识别装置(图中未示出)，辅助吸附件230上还开设有避让孔236，视觉识别装置容置于避让孔236内。具体地，还可以在固定架220上设置视觉识别装置，以用于对复合吸盘组件200下的物体进行识别，使得复合吸盘组件200吸附在物体的中心位置处，使得物体受力均匀，方便吸取。
可选地，第二通孔234和避让孔236为共同孔，或第二通孔234和避让孔236为独立孔。具体地，第二通孔234可以对应视觉识别装置设置，以使视觉识别装置容置于第二通孔234内。
可选地，固定架220上开设有导气通道228，导气通道228将每一台阶装配腔226连通。具体地，在本实施例中，如图4所示，导气通道228将每一台阶装配腔226的第一腔体221相连，从而可以使得每一吸盘组件210内的气体均匀分布，使得每一吸盘组件210上的吸附力相同，从而使物体受力均匀。
可选地，如图4所示，在本实施例中，复合吸盘组件200还包括一盖板240，盖板240封盖在固定架220设置导气通道228一侧。其中，在盖板240的周边设置有多个沉头孔242，在固定架220上对应设置有多个盲孔223，可以通过螺钉(图中未示出)将盖板240固定在固定架220上，以实现导气通道228的密封。
可选地，固定架220设置导气通道228一侧还设置有第一密封件225，第一密封件225环绕导气通道228设置；盖板240靠近固定架220一侧设置有第二密封件242，第一密封件225与第二密封件242配合，以密封导气通道228。其中，第一密封件225和第二密封件242可以是相互配合的凹槽和密封圈，密封圈容置于凹槽中，从而对导气通道228进一步密封。第一密封件225和第二密封件242还可以是密封胶，分别涂布在固定架220和盖板240的相对两端，粘接以实现对导气通道228的进一步密封。将导气通道228密封的其他形式也属于本申请保护的范围，此处不一一列举。
图6是本发明又一实施例机械手的立体机构示意图。
本申请还提供一种机械手400，该机械手400包括：机械臂500、吸气装置600以及复合吸盘组件300。吸气装置600固定在机械臂500上，复合吸盘组件300与吸气装置600连接以吸取物体，该复合吸盘组件300包括：多个 吸盘组件310、固定架320以及辅助吸附件330，固定架320设有多个贯通的台阶装配腔(图中未示出)以用于匹配装配多个吸盘组件310，每一台阶装配腔对应一吸盘组件310，台阶装配腔的深度小于吸盘组件310的长度以使吸盘组件310部分外露；辅助吸附件330与固定架320连接，设有多个第一通孔(图中未示出)以将吸盘组件310的外露的部分围合，以在吸盘组件310进行真空吸附作业时进行辅助密封。
其中，复合吸盘组件300的结构与上一实施例中的复合吸盘组件200的结构相同，可参照上述实施例中的描述，此处不再赘述。
以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (20)

  1. 一种复合吸盘，其特征在于，所述复合吸盘包括：
    吸盘组件；
    固定架，设有贯通的台阶装配腔以用于匹配装配所述吸盘组件，所述台阶装配腔的深度小于所述吸盘组件的长度以使所述吸盘组件部分外露；
    辅助吸附件，与所述固定架连接，设有一第一通孔以将所述吸盘组件外露的部分围合，以在所述吸盘组件进行真空吸附作业时进行辅助密封。
  2. 根据权利要求1所述的复合吸盘，其特征在于，所述复合吸盘吸附时，若所述吸盘组件不漏气，则物体被吸附于所述吸盘组件上；
    若所述吸盘组件漏气，则所述物体被吸附于所述辅助吸附件上。
  3. 根据权利要求2所述的复合吸盘，其特征在于，所述复合吸盘吸附时，所述辅助吸附件远离所述固定架一侧的端面与所述吸盘组件远离所述固定架一侧的端面齐平。
  4. 根据权利要求1所述的复合吸盘，其特征在于，所述吸盘组件包括依次连接的安装头、吸筒以及吸盘，所述安装头的截面积小于所述吸筒的截面积，所述安装头、部分所述吸筒与所述台阶装配腔匹配插套，所述吸盘及部分所述吸筒相对所述固定架外露，所述台阶装配腔包括第一腔体和第二腔体，所述第一腔体的截面积小于所述第二腔体的截面积，所述第一腔体用于匹配收容所述安装头，所述第二腔体用于匹配收容部分所述吸筒。
  5. 根据权利要求4所述的复合吸盘，其特征在于，所述安装头上设置有限位部，所述限位部限位抵接于所述第二腔体内。
  6. 根据权利要求4所述的复合吸盘，其特征在于，所述吸筒为波纹管。
  7. 根据权利要求4所述的复合吸盘，其特征在于，所述吸盘连接于所述吸筒的端部，所述吸盘包括内表面和外表面，所述外表面抵接于所述辅助吸附件的周沿上。
  8. 根据权利要求7所述的复合吸盘，其特征在于，所述内表面和/或所述外表面上设置有多个加强筋。
  9. 根据权利要求1所述的复合吸盘，其特征在于，所述辅助吸附件为EPDM海绵。
  10. 根据权利要求9所述的复合吸盘，其特征在于，所述辅助吸附件通过粘接或压扣方式与所述固定架连接。
  11. 一种复合吸盘组件，其特征在于，所述复合吸盘组件包括：
    多个吸盘组件；
    固定架，设有多个贯通的台阶装配腔以用于匹配装配多个所述吸盘组件，每一所述台阶装配腔对应一所述吸盘组件，所述台阶装配腔的深度小于所述吸盘组件的长度以使所述吸盘组件部分外露；
    辅助吸附件，与所述固定架连接，设有多个第一通孔以将所述吸盘组件的外露的部分围合，以在所述吸盘组件进行真空吸附作业时进行辅助密封。
  12. 根据权利要求11所述的复合吸盘组件，其特征在于，每一所述吸盘组件均包括依次连接的安装头、吸筒以及吸盘，所述安装头的截面积小于所述吸筒的截面积，所述安装头、部分所述吸筒与所述台阶装配腔匹配插套，所述吸盘及部分所述吸筒相对所述固定架外露，所述台阶装配腔包括第一腔体和第二腔体，所述第一腔体的截面积小于所述第二腔体的截面积，所述第一腔体用于匹配收容所述安装头，所述第二腔体用于匹配收容部分所述吸筒。
  13. 根据权利要求11所述的复合吸盘组件，其特征在于，所述复合吸盘组件包括五个所述吸盘组件，四个所述吸盘组件均匀分布于一个所述吸盘组件的外围。
  14. 根据权利要求11所述的复合吸盘组件，其特征在于，所述辅助吸附件上还开设有多个第二通孔，所述第二通孔用于增大所述辅助吸附件的形变能力。
  15. 根据权利要求14所述的复合吸盘组件，其特征在于，所述固定架上还设置有视觉识别装置，所述辅助吸附件上还开设有避让孔，所述视觉识别装置容置于所述避让孔内。
  16. 根据权利要求15所述的复合吸盘组件，其特征在于，所述第二通孔和所述避让孔为共同孔，或所述第二通孔和所述避让孔为独立孔。
  17. 根据权利要求11所述的复合吸盘组件，其特征在于，所述固定架上开设有导气通道，所述导气通道将每一所述台阶装配腔连通。
  18. 根据权利要求11所述的复合吸盘组件，其特征在于，所述复合吸盘组件还包括一盖板，所述盖板封盖在所述固定架设置所述导气通道一侧。
  19. 根据权利要求18所述的复合吸盘组件，其特征在于，所述固定架设置所述导气通道一侧还设置有第一密封件，所述第一密封件环绕所述导气通道设置；所述盖板靠近所述固定架一侧设置有第二密封件，所述第一密封件与所述第二密封件配合，以密封所述导气通道。
  20. 一种机械手，其特征在于，所述机械手包括：
    机械臂；
    吸气装置，固定在所述机械臂上；
    复合吸盘组件，与所述吸气装置连接以吸取物体，包括：
    多个吸盘组件；
    固定架，设有多个贯通的台阶装配腔以用于匹配装配多个所述吸盘组件，每一所述台阶装配腔对应一所述吸盘组件，所述台阶装配腔的深度小于所述吸盘组件的长度以使所述吸盘组件部分外露；
    辅助吸附件，与所述固定架连接，设有多个第一通孔以将所述吸盘组件的外露的部分围合，以在所述吸盘组件进行真空吸附作业时进行辅助密封。
PCT/CN2018/085136 2018-04-28 2018-04-28 复合吸盘、复合吸盘组件以及机械手 WO2019205154A1 (zh)

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