CN113137424B - Suction cup device - Google Patents
Suction cup device Download PDFInfo
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- CN113137424B CN113137424B CN202010064543.5A CN202010064543A CN113137424B CN 113137424 B CN113137424 B CN 113137424B CN 202010064543 A CN202010064543 A CN 202010064543A CN 113137424 B CN113137424 B CN 113137424B
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- suction cup
- movable frame
- sucker
- support frame
- bottom edge
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- 230000005489 elastic deformation Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 15
- 230000008569 process Effects 0.000 abstract description 12
- 238000003825 pressing Methods 0.000 abstract description 8
- 238000001179 sorption measurement Methods 0.000 description 27
- 230000009471 action Effects 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000037303 wrinkles Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 210000004907 gland Anatomy 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The invention aims to provide a sucker device, which provides a movable frame which is in contact with a surface to be adsorbed before a sucker support frame, and the movable frame is used as a rotating fulcrum for driving the sucker support frame to rotate, so that the sucker support frame can rotate to a posture parallel to the surface to be adsorbed in the process of pressing down the sucker device.
Description
Technical Field
The invention relates to the field of vacuum adsorption equipment, in particular to a sucker device.
Background
In recent years, with the rise of the robot industry, a suction cup device is widely used for industrial robots such as sorting, transporting and the like of articles, and is also widely used in a wall-climbing robot. Traditional sucking disc has the round soft limit at the edge of sucking disc, can only absorb little attitude error, and the adsorbed in-process requires great to the holding down force of sucking disc when having attitude error, and the use scene is stricter. However, when the suction environment is uncertain, especially for a wall-climbing robot, it is difficult to integrate a plurality of sensors on the suction cup to detect the posture of the suction surface, so that an adaptive suction cup needs to be designed to solve these problems.
For example, chinese patent 201511000946.9 discloses that a circle of sensor is installed at the edge of the suction cup, and the sensor detects the relative position with the suction arm surface, so that the posture of the suction cup is controlled by two motors to make the suction cup contact with a plane in parallel.
For example, in chinese patent 201810126435.9, the suction cup holder is connected to the robot by a hinge connection method, has a certain free rotation angle, and resets the suction cup by a pressure spring, and this method of passively adjusting the posture of the suction cup by an external contact force is improved in cost and practicability, but is only suitable for posture adaptation with a small angle, and when the included angle between the suction cup and the suction surface is large, a large friction force is generated between the edge of the suction cup and the suction surface along with the downward pressing of the suction cup, which easily causes the suction failure of the edge wrinkle of the suction cup.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a suction cup device, which provides a movable frame that contacts a surface to be sucked before a suction cup supporting frame, and uses the movable frame as a rotation pivot for driving the suction cup supporting frame to rotate, so that the suction cup supporting frame can rotate to a posture parallel to the surface to be sucked during a pressing process of the suction cup device.
One embodiment of the present invention provides a suction cup device including:
the sucker support frame is fixed at the center of the sucker support frame and is positioned on one side of the sucker support frame, which faces the surface to be adsorbed, the end part of the sucker is parallel to the sucker support frame, the sucker support frame is connected to a driving device through a revolute pair, and the driving device drives the sucker support frame to move towards or away from the surface to be adsorbed;
the movable frame is arranged on one side, facing the surface to be adsorbed, of the sucker support frame, and the bottom edge of the movable frame is closer to the surface to be adsorbed than the bottom edge of the sucker support frame;
the drive arrangement drive the sucking disc support frame orientation when treating the adsorption surface and removing, the adjustable shelf is prior to the contact of sucking disc support frame treat the adsorption surface, work as the sucking disc support frame with treat when the adsorption surface has the angular difference, the holding power that comes from treating the adsorption surface that the adjustable shelf received orders about the sucking disc support frame uses the adjustable shelf is with treating the contact point on adsorption surface as the fulcrum, with the revolute pair is the rotation center, the orientation makes the direction that the angular difference reduces is rotatory, until the sucking disc support frame with treat that the adsorption surface is parallel.
Preferably, the suction cup support frame comprises:
the suction cup is fixed in the center of the disc-shaped body and is positioned on one side of the disc-shaped body facing to a surface to be sucked;
a side wall extending from a periphery of the disk-shaped body toward the surface to be adsorbed;
a support wall extending from a side of the disk-shaped body facing a surface to be sucked toward the surface to be sucked, the support wall being located outside the suction cup and inside the side wall, a bottom edge of the support wall being closer to the surface to be sucked than a bottom edge of the side wall;
the adjustable shelf is installed the lateral wall with between the support wall, the bottom edge of adjustable shelf is more adjacent than the bottom edge of support wall treat the adsorption surface.
Preferably, a bottom edge of the suction cup is closer to the surface to be sucked than a bottom edge of the support wall, and a bottom edge of the movable frame is closer to the surface to be sucked than a bottom edge of the suction cup.
Preferably, further comprising:
and the sucker reset spring is fixed between the sucker support frame and the revolute pair so as to drive the sucker support frame to return to the initial position when the external force received by the sucker support frame is cancelled.
Preferably, further comprising:
a movable frame return spring fixed between the movable frame and the disc-shaped body to urge the movable frame to return to an initial position when an external force applied to the movable frame is removed,
the rigidity of the movable frame return spring is greater than that of the sucker return spring.
Preferably, the movable frame includes:
an annular sidewall disposed between the sidewall and the support wall, an inner surface of the annular sidewall conforming to an outer surface of the support wall,
a lip extending horizontally outwardly from a top peripheral edge of the annular sidewall,
the lip is lapped on the movable frame retaining ring so as to limit the movable frame between the side wall and the support wall.
Preferably, the suction cup has a plurality of flaps arranged in a direction perpendicular to the suction cup support frame so that the suction cup has an elastic deformation amount in the direction perpendicular to the suction cup support frame.
Preferably, the bottom edge of the movable frame has a ball arranged along an outer circumference of the movable frame.
Preferably, a connection line between a rotation center of the rotation pair and the surface to be adsorbed is a center line of the suction cup device, and the center line is perpendicular to the surface to be adsorbed;
the contact point of the movable frame and the surface to be adsorbed is positioned on the outer side of the central line.
Preferably, the angular difference is equal to or less than 45 °.
According to the technical scheme, the suction cup device of the embodiment provides the movable frame which is in contact with the suction cup support frame prior to the adsorption surface, and the movable frame is used as a rotating fulcrum for driving the suction cup support frame to rotate, so that the suction cup support frame can rotate to the posture parallel to the adsorption surface in the pressing process of the suction cup device. And in the adjustment process, the sucker is not in contact with the surface to be adsorbed, and when the sucker is in contact with the surface to be adsorbed, the edge of the sucker is already adjusted to be parallel to the surface to be adsorbed, so that the problem that the sucker fails to adsorb due to the fact that the edge of the sucker folds is avoided. The sucking disc device of this embodiment replaces the sucking disc as sucking disc support frame pivoted fulcrum with the adjustable shelf under the sucking disc support frame with treating that there is the angular difference in the adsorption surface condition, consequently can avoid the sucking disc edge to take place the problem of fold under the effect of lower pressure.
Drawings
The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention.
Fig. 1 is a schematic view of the structure of the suction cup device of the present invention.
Fig. 2 is a first state of use diagram of the suction cup device of the present invention.
Fig. 3 is a second state of use diagram of the suction cup device of the present invention.
Fig. 4 is a partially enlarged schematic view of the suction cup device of the present invention.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout.
"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative.
For the sake of simplicity, the drawings are only schematic representations of the parts relevant to the invention, and do not represent the actual structure of the product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled.
In order to solve the problem that the sucker cannot effectively adsorb when the sucker has large angular deviation with the surface to be adsorbed in the prior art, the invention provides the sucker device.
Fig. 1 is a schematic view of the structure of the suction cup device of the present invention. Fig. 2 is a first state of use diagram of the suction cup device of the present invention. As shown in fig. 1 and 2, one embodiment of the present invention provides a suction cup device including:
the sucker support frame 10 is characterized in that a sucker 20 is fixed in the center of the sucker support frame 10 and is positioned on one side, facing the surface 2 to be adsorbed, of the sucker support frame 10, the end part of the sucker 20 is parallel to the sucker support frame 10, the sucker support frame 10 is connected to a driving device (not shown in the figure) through a revolute pair 1, and the driving device drives the sucker support frame 10 to move towards or away from the surface 2 to be adsorbed;
the movable frame 30, the movable frame 30 is installed on one side of the surface to be adsorbed facing the sucker support frame 10, the movable frame 30 can move along the direction perpendicular to the sucker support frame 10 under the action of external force, the movable frame 30 has a first initial position where the bottom edge of the movable frame is more adjacent to the surface to be adsorbed 2 than the bottom edge of the sucker support frame 10 and a first storage position where the bottom edge of the movable frame is stored inside the sucker support frame 10 under the action of external force as shown in fig. 3, and the bottom edge of the movable frame 30 is parallel to the bottom edge of the sucker support frame 10;
when the driving device drives the suction cup supporting frame 10 to move towards the surface to be adsorbed 2, the movable frame 30 contacts the surface to be adsorbed 2 before the suction cup supporting frame 10, and when the suction cup supporting frame 10 has an angle difference α with the surface to be adsorbed 2 as shown in fig. 2, the supporting force from the surface to be adsorbed 2 borne by the movable frame 30 drives the suction cup supporting frame 10 to rotate in a direction of reducing the angle difference α with the contact point a of the movable frame 30 and the surface to be adsorbed 2 as a fulcrum and with the revolute pair 1 as a rotation center until the suction cup supporting frame 10 is parallel to the surface to be adsorbed.
Wherein, revolute pair 1 is as the connecting piece between sucking disc device and the drive arrangement, and it is except providing the effect of connecting, still needs to provide the ascending degree of freedom in two at least directions for the sucking disc device to make the sucking disc device can adjust the direction when having the angular difference with treating the adsorption surface, make the edge of sucking disc parallel with treating the adsorption surface when with treating the adsorption surface contact, thereby guarantee that the sucking disc can adsorb well to treating the adsorption surface. Preferably, the revolute pair 1 may be in the form of a spherical hinge as shown in fig. 1, and the suction cup support frame 10 has a spherical cavity for accommodating a spherical head of the spherical hinge 1, the spherical head of the spherical hinge 1 being capable of rotating relative to the suction cup support frame 10 within the spherical cavity, and the spherical head being enclosed within the spherical cavity by a sealing gland 16. Wherein, ball pivot 1 can have the air flue 1a with the inner chamber intercommunication of sucking disc 20 to adsorb to treating through evacuating device make the sucking disc and treat that the adsorption surface produces vacuum negative pressure environment after adsorption surface 2 at sucking disc 20, thereby realize that the sucking disc treats the adsorption of adsorption surface.
The revolute pair 1 may also take the form of a construction such as a multi-stage link, a robot joint, etc., which needs to be able to provide at least two degrees of freedom in directions.
In the present embodiment, the suction cup device is moved toward the surface to be sucked (generally referred to as a pressing-down action) by the driving device, which provides a pressing force toward the surface to be sucked 2, which is a downward pressing force in fig. 1 and 2, to the suction cup supporting frame 10 through the revolute pair 1. Since the bottom edge of the movable frame 30 is closer to the surface to be sucked 2 than the bottom edge of the suction cup support frame 10, the movable frame 30 contacts the surface to be sucked 2 prior to the suction cup support frame 10.
When there is an angular difference α between the suction cup support frame 10 and the surface to be sucked 2 as shown in fig. 2, the bottom edge of the movable frame 30 makes point contact with the surface to be sucked 2, and the movable frame 30 receives an upward supporting force F1 from the surface to be sucked 2. The supporting force F1 is transmitted to the suction cup supporting frame 10 through the movable frame 30, and drives the suction cup supporting frame 10 to rotate clockwise as shown in fig. 2 with the center of the revolute pair 1 as the center of rotation, i.e., drives the suction cup supporting frame 10 to rotate in a direction such that the angle difference α is reduced. Further, since the suction cup device is connected to the driving device and receives downward pressure from the driving device, the supporting force F1 and the pressure force F2 cooperate to drive the suction cup supporting frame 10 to rotate around the center of the revolute pair 1 in a direction such that the angle difference α is reduced.
Specifically, a line connecting the rotation center of the revolute pair 1 and the surface to be adsorbed 2 is a center line L of the suction cup device, and the center line L is perpendicular to the surface to be adsorbed 2. In order to generate the supporting force F1 to rotate the suction cup supporting frame 10 about the center of the revolute pair 1, the contact point a needs not to coincide with the center line L. And in order for the supporting force F1 to generate the force for rotating the suction cup supporting frame 10 in the direction for reducing the angle difference α, the contact point a of the movable frame 30 with the surface to be sucked needs to be located outside the centerline L. That is, the center line L has an intersection with the bottom surface of the suction cup device (the surface on which the bottom edge of the suction cup 20 is located), and the edge of the movable frame 30 opposite to the contact point a is located on a different side of the center line L from the contact point a.
In the pressing process, under the combined action of the supporting force F1 and the pressure F2, the suction cup supporting frame 10 rotates with the contact point a of the movable frame 30 and the surface to be adsorbed as a fulcrum and the center of the revolute pair 1 as a rotation center in a direction that the angle difference α is reduced until the suction cup supporting frame 10 is parallel to the surface to be adsorbed 2 and the angle difference α is 0, and then as shown in fig. 3, the contact between the movable frame 30 and the surface to be adsorbed 2 is changed from point contact to surface contact or line contact, and the movable frame 30 is subjected to the uniformly distributed supporting force as a whole, so that the suction cup supporting frame 10 stops rotating. Continued depression of the drive mechanism may cause the movable frame 30 to continue moving toward the interior of the suction cup support frame 10 to move from the first initial position to the first stowed position shown in fig. 3. The bottom edge of the suction cup 20 is now in contact with the surface to be sucked 2, which can already be adjusted to a position parallel to the surface to be sucked 2 when in contact, and the problem of suction failure due to wrinkles occurring at the edge thereof can be avoided.
According to the technical scheme, the suction cup device of the embodiment provides the movable frame which is in contact with the suction cup support frame prior to the adsorption surface, and the movable frame is used as a rotating fulcrum for driving the suction cup support frame to rotate, so that the suction cup support frame can rotate to the posture parallel to the adsorption surface in the pressing process of the suction cup device. And in the adjustment process, the sucker is not in contact with the surface to be adsorbed, and when the sucker is in contact with the surface to be adsorbed, the edge of the sucker is already adjusted to be parallel to the surface to be adsorbed, so that the problem that the sucker fails to adsorb due to the fact that the edge of the sucker folds is avoided. The sucking disc device of this embodiment replaces the sucking disc as sucking disc support frame pivoted fulcrum with the adjustable shelf under the sucking disc support frame with treating that there is the angular difference in the adsorption surface condition, consequently can avoid the sucking disc edge to take place the problem of fold under the effect of lower pressure.
As shown in fig. 1 and 2, the suction cup support stand 10 includes:
a disc-shaped body 11, a suction cup 20 being fixed in the center of the disc-shaped body 11 and located on the side of the disc-shaped body 11 facing the surface to be sucked 2;
a side wall 12, the side wall 12 extending from the periphery of the disc-shaped body 11 toward the surface to be adsorbed 2;
a support wall 13 extending from a side of the disc-shaped body 11 facing the surface to be sucked 2 toward the surface to be sucked 2, the support wall 13 being located outside the suction cup 20 and inside the side wall 12, a bottom edge of the support wall 13 being closer to the surface to be sucked 2 than a bottom edge of the side wall 12;
the movable frame 30 is installed in the annular gap between the side wall 12 and the support wall 13, and the bottom edge of the movable frame 30 is closer to the surface to be sucked than the bottom edge of the support wall 13 in the first initial state.
Preferably, the disc-shaped body 11 may be disc-shaped, and correspondingly, the movable frame 30 may be in the shape of a circular ring, which is inserted in the annular gap between the side wall 12 and the support wall 13, with the center for exposing the suction cup 20.
Wherein, the movable frame 30 includes:
an annular side wall 32, the annular side wall 32 being interposed between the side wall 12 and the support wall 13, the inner surface of the annular side wall 32 abutting the outer surface of the support wall 13,
a lip 33, the lip 33 extending horizontally outward from the top periphery of the annular side wall 32,
the bottom edge of the side wall 12 has a horizontally inwardly extending shelf retainer 15 and the lip 33 overlaps the shelf retainer 15 to retain the shelf 30 between the side wall 12 and the support wall 13. The position at which the lip 33 overlaps the movable frame stop ring 15 corresponds to the first initial position of the movable frame 30.
Wherein the bottom edge of the suction cup 20 is closer to the surface to be sucked 2 than the bottom edge of the support wall 13, and the bottom edge of the movable frame 30 is closer to the surface to be sucked 2 than the bottom edge of the suction cup 20 when it is at the first initial position. That is, the height of the bottom edge of the suction cup 20 is located between the bottom edge of the support arm 13 and the bottom edge of the movable frame 30.
Accordingly, in the adsorption process, the movable frame 30, the suction cup 20, and the support arm 13 are in order of contacting the surface to be adsorbed. When the support arm 13 contacts the surface to be sucked, the bottom edge of the suction cup 20 is compressed to some extent, so that a good contact with the surface to be sucked can be ensured, and then the negative pressure in the suction cup cavity can be generated by the vacuum device at this time. Of course, the vacuum device may also be constantly pumped during the depression of the suction cup to ensure good contact of the suction cup 20 with the surface to be sucked.
Preferably, the bottom of the support arm 13 has a sealing ring 17 capable of preventing sliding friction when in contact with the surface to be sucked and sealing water, dust, etc., which may affect the suction of the suction cup 20 from the outside.
As shown in fig. 1, the suction cup device of the present embodiment further includes:
and the sucker return spring 14 is fixed between the sucker support frame 10 and the revolute pair 1, so that the sucker support frame 10 is driven to return to the initial position when the external force applied to the sucker support frame 10 is removed.
Correspondingly, the suction cup device of the present embodiment further includes:
a movable frame return spring 31, the movable frame return spring 31 being fixed between the movable frame 30 and the disc-shaped body 11 to urge the movable frame 30 to return to an initial position when the external force applied to the movable frame 30 is removed, wherein the rigidity of the movable frame return spring 31 is greater than that of the suction cup return spring 14.
In a preferred embodiment of the present invention, the bottom edge of the movable frame 30 has a ball 43, and the ball 43 is disposed along the outer circumference of the movable frame 30. The balls 43 allow the movable frame 30 to move when in contact with the surface 2 to be adsorbed without "jamming" due to static friction with the surface 2 to be adsorbed. The balls 43 are held in their raceways against falling out by a ball gland 44.
Specifically, as shown in fig. 4, the bottom edge of the movable frame 30 has a ball groove provided along the outer circumference of the bottom edge of the movable frame 30, so that the movable frame 30 can be ensured to be in contact with the balls 43, but not the bottom edge of the movable frame 30, when contacting the surface to be sucked with any point of the bottom edge thereof. Further, the center of the ball 43 is located inside the boundary line D of the ball groove, that is, the center of the ball 43 is closer to the inside of the movable frame 30 than the boundary line D of the ball groove, thereby ensuring that the ball 43 can be firmly mounted to the movable frame 30.
Correspondingly, in the sucking process of the sucking disc device of the embodiment, when the sucking disc 20 contacts with the surface to be sucked 2 with a certain included angle, the movable frame 30 contacts with the surface to be sucked first, because the edge balls 43 of the movable frame 30 have a rolling degree of freedom, the movable frame 30 and the surface 2 to be adsorbed are relatively moved by an external force, because the rigidity of the movable frame return spring 31 is greater than that of the sucker return spring 14, the movable frame 30 compresses the sucker return spring 14 at the same time, so that the spherical hinge 1 and the sucker support frame 10 rotate relatively, when the sucker support frame 10 is self-adaptively adjusted to be parallel to the surface to be sucked, the sucker return spring 14 stops deforming, at the same time, the movable frame return spring 31 starts to be compressed until the sucker 20 is contacted with the surface 2 to be sucked, since the suction cup 10 has a certain deformability, it is possible to adsorb a surface to be adsorbed having a slight unevenness on the surface. When the sucking disc 20 contacts the surface 2 to be adsorbed, the vacuum degree in the cavity of the sucking disc is rapidly reduced (the air pump is always in an outward air pumping state in the process that the sucking disc is pressed down), the sucking disc 20 is compressed, and finally the sealing ring 17 contacts the surface 2 to be adsorbed, so that an adsorption period is completed.
In the embodiment shown in fig. 1, the end of the suction cup 20 has a plurality of flaps 21 arranged in a direction perpendicular to the suction cup support frame 10 so that the end of the suction cup 20 has an elastic deformation amount in the direction perpendicular to the suction cup support frame 10.
Wherein the bending direction of the folded edge 21 can be substantially along the extending direction of the disc-shaped body 11, the extending directions of the plurality of folded edges 21 are opposite, and the plurality of folded edges 21 are arranged end to end along the direction perpendicular to the suction cup support frame 10, so as to have the elastic deformation amount perpendicular to the direction of the suction cup support frame 10 by the mutual approaching of the folded edges 21 when the suction cups 20 are contacted on the surface to be sucked. In addition, since the folded edge 21 extends along the circumferential direction of the suction cup 20, the folded edge 21 may have different amounts of compression at different positions in the circumferential direction of the suction cup 20, so that, when the surface to be sucked is slightly uneven, the suction cup 20 may achieve good contact with the surface to be sucked in the entire circumferential direction by the different amounts of compression at the different positions of the folded edge 21 in the circumferential direction, thereby achieving adaptive adjustment.
Wherein the suction cup 20' may be made of a material having a certain flexibility and/or elasticity.
According to the technical scheme, the suction cup device disclosed by the invention has the following advantages:
1. the fundamental reason of the edge wrinkle phenomenon of the traditional sucker in the self-adaptive adjustment process is that the direct friction force between the sucker and the adsorption surface is too large, and the device avoids the direct contact between the sucker and the adsorption surface in the posture adjustment process by adding the movable frame; in addition, static friction is converted into rolling friction through the balls, and self-adaptive adjustment can be completed only by applying smaller downward pressure on the whole device.
2. The traditional passive adaptive sucker can only absorb a small range of attitude errors (within 10 degrees), but the device can greatly improve the range of adaptive adjustment, and only needs to ensure that a contact point is out of a central line (as shown in figure 2, the contact point can reach more than 30 degrees, and is related to specific structural dimensions, and particularly can reach up to 45 degrees).
3. For the wall climbing robot, when the included angle between the sucker and the adsorption surface is large, the joint of the traditional passive self-adaptive sucker is easy to deform due to the fact that the passive adjustment range of the sucker is small, and control of the robot is not facilitated.
In this document, "a" does not mean that the number of the relevant portions of the present invention is limited to "only one", and "a" does not mean that the number of the relevant portions of the present invention "more than one" is excluded.
Unless otherwise indicated, numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges subsumed therein.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications such as combinations, divisions or repetitions of the features without departing from the technical spirit of the present invention are included in the scope of the present invention.
Claims (10)
1. A suction cup device, comprising:
the sucker support frame (10), a sucker (20) is fixed in the center of the sucker support frame (10) and is positioned on one side of the sucker support frame (10) facing a surface to be sucked, the end part of the sucker (20) is parallel to the sucker support frame (10), the sucker support frame (10) is connected to a driving device through a revolute pair (1), and the driving device drives the sucker support frame (10) to move towards or away from the surface to be sucked;
a movable frame (30), wherein the movable frame (30) is arranged on one side of the sucker support frame (10) facing to the surface to be adsorbed, the movable frame (30) is provided with a first initial position, the bottom edge of the first initial position is more adjacent to the surface to be adsorbed than the bottom edge of the sucker support frame (10), and a first accommodating position, the bottom edge of the first initial position is accommodated in the sucker support frame (10);
the driving device drives the sucker support frame (10) to face the surface to be adsorbed when moving, the movable frame (30) is in contact with the surface to be adsorbed before the sucker support frame (10), when the sucker support frame (10) and the surface to be adsorbed have an angle difference, the supporting force of the surface to be adsorbed, which is borne by the movable frame (30), drives the sucker support frame (10) to rotate in the direction in which the angle difference is reduced by taking the contact point of the movable frame (30) and the surface to be adsorbed as a fulcrum and taking the revolute pair (1) as a rotation center until the sucker support frame (10) is parallel to the surface to be adsorbed.
2. The suction cup device as claimed in claim 1, wherein the suction cup support frame (10) comprises:
a disc-shaped body (11), a suction cup (20) being fixed in the centre of the disc-shaped body (11) and located on the side of the disc-shaped body (11) facing the surface to be sucked;
a side wall (12), said side wall (12) extending from the periphery of said disc-shaped body (11) towards said surface to be sorbed;
a support wall (13), the support wall (13) extending from a side of the disc-shaped body (11) facing a surface to be sucked toward the surface to be sucked, the support wall (13) being located outside the suction cup (20) and inside the side wall (12), a bottom edge of the support wall (13) being closer to the surface to be sucked than a bottom edge of the side wall (12);
the movable frame (30) is arranged between the side wall (12) and the supporting wall (13), and the bottom edge of the movable frame (30) is more adjacent to the surface to be adsorbed than the bottom edge of the supporting wall (13) when the movable frame is at a first initial position.
3. The suction cup device according to claim 2, wherein a bottom edge of the suction cup (20) is closer to the surface to be sucked than a bottom edge of the support wall (13), and a bottom edge of the movable frame (30) is closer to the surface to be sucked than the bottom edge of the suction cup (20) in the first initial position.
4. The suction cup device of claim 3, further comprising:
a sucker return spring (14), the sucker return spring (14) is fixed between the sucker support frame (10) and the revolute pair (1) to drive the sucker support frame (10) to return to the initial position when the external force applied to the sucker support frame (10) is removed.
5. The suction cup device of claim 4, further comprising:
a movable frame return spring (31), the movable frame return spring (31) being fixed between the movable frame (30) and the disc-shaped body (11) to urge the movable frame (30) to return from a first storage position to a first initial position when an external force applied to the movable frame (30) is removed,
the rigidity of the movable frame return spring (31) is greater than that of the sucker return spring (14).
6. Suction cup device according to claim 2, characterized in that said movable frame (30) comprises:
an annular side wall (32), the annular side wall (32) being disposed between the side wall (12) and the support wall (13), an inner surface of the annular side wall (32) conforming to an outer surface of the support wall (13),
a lip (33), said lip (33) extending horizontally outward from a top periphery of said annular sidewall (32),
the bottom edge of the side wall (12) is provided with a movable frame check ring (15) which extends inwards and horizontally, and the lip edge (33) is lapped on the movable frame check ring (15) so as to limit the movable frame (30) between the side wall (12) and the supporting wall (13).
7. Suction cup device according to any of claims 3 to 6, wherein the suction cup (20) has a plurality of flaps (21) aligned in a direction perpendicular to the suction cup support frame (10) so that the suction cup (20) has an elastic deformation amount in the direction perpendicular to the suction cup support frame (10).
8. Suction cup device according to any of claims 3 to 6, characterized in that the bottom edge of the movable frame (30) has a ball (43), said ball (43) being arranged along the outer circumference of the movable frame (30).
9. A suction cup device according to any one of claims 3 to 6, wherein a line connecting a rotation center of the rotation pair (1) and the surface to be sucked is a center line (L) of the suction cup device, the center line (L) being perpendicular to the surface to be sucked;
the contact point (A) of the movable frame (30) and the surface to be adsorbed is positioned outside the central line (L).
10. Suction cup device according to claim 9, characterised in that said angular difference is equal to or less than 45 °.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010064543.5A CN113137424B (en) | 2020-01-20 | 2020-01-20 | Suction cup device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010064543.5A CN113137424B (en) | 2020-01-20 | 2020-01-20 | Suction cup device |
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| CN113137424A CN113137424A (en) | 2021-07-20 |
| CN113137424B true CN113137424B (en) | 2022-05-27 |
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| CN202010064543.5A Active CN113137424B (en) | 2020-01-20 | 2020-01-20 | Suction cup device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113878609B (en) * | 2021-10-12 | 2023-07-14 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Suction cup, suction assembly and end effector |
| CN114714074B (en) * | 2022-03-07 | 2023-09-22 | 宁波均普智能制造股份有限公司 | Automatic production line of electric compressor and electric compressor |
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| CN113137424A (en) | 2021-07-20 |
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