CN212178471U - Adsorption fixing device and robot controller - Google Patents

Abstract

The utility model provides an adsorb fixing device and robot controller relates to the fixed technical field of article installation. The utility model discloses an adsorb fixing device includes: the sucking disc is provided with a cavity and is used for adsorbing a fixed object by utilizing negative pressure generated after air is exhausted from the cavity; the valve hole is communicated with the cavity of the sucker; the one-way closing piece is used for opening the valve hole when the volume of the cavity is reduced by extrusion so as to discharge gas in the cavity, and closing the valve hole when the external pressure of the valve hole is greater than the internal pressure so as to prevent external air from entering the cavity; the main body is used for installing the sucking disc, the valve hole and the one-way closing piece. The robot controller comprises the adsorption fixing device. The utility model discloses an adsorb fixing device and robot controller, can realize with the reliable fixed of object surface stable state.

Description

Adsorption fixing device and robot controller

Technical Field

The utility model relates to an article installation fixed technical field specifically is an adsorb fixing device and robot control ware.

Background

In daily life, articles are often required to be fixed on a plane such as a table top, a wall, an automobile, and the outer surface of equipment. For the convenience of fixing, the mode of negative pressure sucking disc is mostly adopted at present, namely the sucking disc is pasted on a plane to be fixed, and then the sucking disc is squeezed to enable the volume of the inner cavity of the sucking disc to be reduced, so that air in the inner cavity is discharged. When the air in the inner cavity is exhausted, the pressure in the inner cavity is smaller than the atmospheric pressure of the environment of the outer wall of the sucker, namely the inner cavity of the sucker is in a negative pressure state, and the sucker is pressed on a plane to be fixed under the action of the external atmospheric pressure. Although the air in the inner cavity of the sucker is discharged when the sucker is squeezed at present, once the force for squeezing the sucker disappears, a part of outside air rapidly enters the inner cavity of the sucker from the position where the air is discharged, so that the pressure in the inner cavity of the sucker and the pressure on the outer wall of the sucker cannot form an obvious difference, and the sucker cannot be firmly adsorbed on a plane to be adsorbed by depending on the pressure of the outside air.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides an adsorb fixing device for solve current adsorb fixing device and adsorb not firm technical problem

The utility model also provides a robot controller adopts aforementioned absorption fixing device for solve the unable reliably fixed technical problem of current robot controller.

In a first aspect, the present invention provides an adsorption fixing device, including:

the sucking disc is provided with a cavity and is used for adsorbing a fixed object by utilizing negative pressure generated after air is exhausted from the cavity;

the valve hole is communicated with the cavity of the sucker;

the one-way closing piece is used for opening the valve hole when the volume of the cavity is reduced by extrusion so as to discharge gas in the cavity, and closing the valve hole when the external pressure of the valve hole is greater than the internal pressure so as to prevent external air from entering the cavity;

the main body is used for installing the sucking disc, the valve hole and the one-way closing piece.

Preferably, the suction fixing device further comprises an opening and closing mechanism for switching the one-way closing member between a first position at which the one-way closing member closes the valve hole and a second position at which the one-way closing member opens the valve hole.

Preferably, the switch mechanism comprises a driving member connected to the closing member, and the driving member is used for driving the closing member to move from the first position to the second position or from the second position to the first position.

Preferably, the driving member is rotatably connected to the main body, and when the driving member rotates to a first angular position relative to the main body, the closing member moves to the first position under the driving member, and when the driving member rotates to a second angular position relative to the main body, the closing member moves to the second position under the driving member.

Preferably, the switch mechanism further comprises a toggle switch, when the toggle switch is toggled to the third position, the toggle switch drives the driving member to rotate to the second angular position, and when the toggle switch is released, the toggle switch automatically returns to the fourth position from the third position to drive the driving member to rotate to the first angular position.

Preferably, toggle switch includes that the piece that dials and elasticity reset, the piece that dials can for the main part round trip movement between third position and fourth position, elasticity reset one end with the main part looks butt, the opposite other end with dial the piece butt, elasticity reset will dial the piece through the elastic force that acts on the piece and support tightly at the fourth position, when the piece that dials receive with the elastic force is opposite and be greater than the external force of first threshold the piece that dials moves to the third position, when external force eliminates the piece that dials and receive the elastic force effect of elasticity reset and get back to the fourth position automatically.

Preferably, the toggle piece comprises a force-bearing part and a sliding part, the main body is provided with a sliding groove for the toggle piece to slide back and forth between a third position and a fourth position, and the force-bearing part is exposed out of the outer wall of the main body.

Preferably, one end of the driving member is rotatably connected with the main body, the other opposite end of the driving member is connected with the toggle switch, and one side of the middle part of the driving member, which is close to the valve hole, is connected with the one-way closing member.

Preferably, adsorb fixing device still includes the clamping ring, the sucking disc crimping in the clamping ring with between the main part, be provided with the spliced pole on the clamping ring, be formed with the confession on the sucking disc the through-hole that the spliced pole passed, the main part is provided with the slot towards one side of clamping ring, the spliced pole of clamping ring is passed by the sucking disc one side of main part dorsad insert in the slot of main part behind the through-hole.

In a second aspect, the present invention provides a robot controller, including the first aspect, the adsorption fixing device.

Has the advantages that: the utility model discloses an adsorb fixing device utilizes the negative pressure absorption that produces behind the sucking disc cavity exhaust air on by the fixture to set up a valve opening and the one-way closure piece that can one-way switch on with the cavity intercommunication. The one-way closing piece can open the valve hole when the volume of the cavity is reduced by extrusion so as to discharge gas in the cavity, so that the sucker is in a negative pressure state, and the sucker is tightly pressed on a plane to be adsorbed by the external atmospheric pressure. The one-way closing piece can also close the valve hole when the external pressure of the valve hole is greater than the internal pressure so as to prevent external air from entering the cavity, at the moment, the external air of the sucker cannot enter the cavity of the sucker, and the sucker can keep a good negative pressure state and can be firmly fixed on the surface to be adsorbed.

The utility model discloses a robot controller is owing to adopted foretell absorption fixing device, makes robot controller can be firmly fixed on the desktop or other objects on the surface.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, without creative efforts, other drawings can be obtained according to these drawings, and these drawings are all within the protection scope of the present invention.

Fig. 1 is an exploded schematic view of an adsorption fixing device according to embodiment 1 of the present invention;

fig. 2 is a cross-sectional view of an adsorption fixing device according to embodiment 1 of the present invention;

fig. 3 is a front view of an adsorption fixing device according to embodiment 2 of the present invention;

fig. 4 is a rear view of an adsorption fixing device according to embodiment 2 of the present invention;

FIG. 5 is a schematic structural view of the pressing ring of the present invention pressing the suction cup on the main body;

fig. 6 is a three-dimensional structure diagram of the pressure ring of the present invention;

fig. 7 is a schematic structural view of the main body to which the components of the present invention are attached.

Parts and numbering in the drawings: the suction cup comprises a suction cup 100, a cavity 110, a valve hole 200, a one-way closing piece 300, a main body 400, an outer wall 410, a slot 420, a step 430, a switch mechanism 500, a driving piece 510, a toggle switch 520, a toggle piece 521, an elastic resetting piece 522, a pressing ring 600 and a connecting column 610.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In case of conflict, various features of the embodiments and examples of the present invention may be combined with each other and are within the scope of the present invention.

Example 1:

as shown in fig. 1 and 2, the present embodiment provides an adsorption fixing device, which includes a suction cup 100, a valve hole 200, a one-way closing member 300 and a main body 400, wherein the suction cup 100 is provided with a cavity 110, and the suction cup 100 is used for adsorbing on a fixed object by using a negative pressure generated after air is exhausted from the cavity 110; the valve hole 200 is communicated with the cavity 110 of the suction cup 100; the one-way closing member 300 is used to open the valve hole 200 to allow the gas in the cavity 110 to be discharged when the volume of the cavity 110 compressed is reduced, and to close the valve hole 200 to prevent the external air from entering the cavity 110 when the external pressure of the valve hole 200 is greater than the internal pressure; the main body 400 is used to mount the suction cup 100, the valve hole 200, and the one-way closing member 300.

The suction cup 100 in this embodiment may be made of a material such as silica gel, which is easily deformed when subjected to a force and can recover its original shape when the external force is removed. Wherein the suction cup 100 may take a truncated cone-like shape that is arched to one side. The surface of one side of the suction cup 100 forms a cavity 110, when the edge of the suction cup 100 is attached to a plane to be sucked, the cavity 110 of the suction cup 100 and the plane form a relatively closed cavity 110, and the valve hole 200 is communicated with the cavity 110. The valve hole 200 may be used to discharge gas in the cavity 110 to form a negative pressure in the cavity 110. Specifically, the suction cup 100 is pressed to reduce the volume of the cavity 110, and the pressure of the gas inside the valve hole 200 (i.e., the pressure of the gas inside the cavity 110) is greater than the pressure of the gas outside the valve hole 200 (i.e., the pressure of the gas outside the cavity 110), and the closing member opens the valve hole 200 by the gas pressure inside the valve hole 200, so that the gas inside the cavity 110 can be discharged out of the suction cup 100 through the valve hole 200. At this time, the suction cup 100 is in a negative pressure state, and the suction cup 100 is tightly pressed on the plane to be sucked by the external atmospheric pressure. Since the pressure outside the valve hole 200 is greater than the pressure inside it, the closing member closes the valve hole 200 by the external atmospheric pressure. At this time, the air outside the suction cup 100 cannot enter the cavity 110 of the suction cup 100, and the suction cup 100 can maintain a good negative pressure state, so that the suction cup 100 can be firmly fixed on the surface to be sucked.

In addition, the suction fixing device of the present embodiment is further provided with a main body 400, and the suction cup 100, the valve hole 200, and the one-way closing member 300 may be mounted on the main body 400. In addition, when the surface to be fixed is a horizontally upward surface, the suction cup 100 may be pressed by the gravity of the main body 400 to be deformed, so that the suction process of the suction fixing device may be simple and rapid.

The utility model discloses an adsorb fixing device can be with article fixed on the level such as desktop, wall, car, equipment surface. The adsorption fixing device that this embodiment provided can use at the robot and utilize, also can use in articles for daily use fixed field, the fixed field of equipment fixing, house ornamentation field etc..

Example 2

As shown in fig. 2 and 3, this embodiment is a further modification of embodiment 1, and the suction fixing device of this embodiment is further provided with an opening and closing mechanism 500 in addition to embodiment 1, the opening and closing mechanism 500 is used to switch the one-way closing member 300 between a first position when the one-way closing member 300 closes the valve hole 200 and a second position when the one-way closing member 300 opens the valve hole 200.

Two positions, a first position and a second position, are provided for the one-way closure 300 by way of example. When the one-way closing member 300 is located at the first position, the one-way closing member 300 just closes the valve hole 200 to block the inside and the outside of the valve hole 200, and the atmosphere outside the suction cup 100 cannot enter the cavity 110 of the suction cup 100 through the valve hole 200. When the one-way closing member 300 is located at the second position, the one-way closing member 300 does not close the valve hole 200, and the atmosphere outside the suction cup 100 can enter the cavity 110 of the suction cup 100 through the valve hole 200.

When it is desired to secure the suction attachment device to the surface to be sucked using suction cup 100, one-way closure member 300 is switched to the first position by switching mechanism 500, whereupon suction cup 100 cavity 110 remains closed and suction cup 100 cavity 110 remains in a stable negative pressure state. When the suction fixing device needs to be removed from the surface of the object, the closing member can be switched to the second position by the switching mechanism 500, the valve hole 200 is in the open state, the outside air rapidly enters the cavity 110 of the suction cup 100, the negative pressure state of the cavity 110 of the suction cup 100 is released, and the suction fixing device can be easily removed from the surface to be sucked.

In this embodiment, the switch mechanism 500 includes a driving member 510, the driving member 510 is connected to the sealing member, and the driving member 510 is used for driving the sealing member to move from the first position to the second position or from the second position to the first position. The present embodiment utilizes the driving member 510 to move the sealing member, so that the sealing member can move from the first position to the second position or from the second position to the first position, thereby realizing the switching of the sealing member between the first position and the second position.

The moving mode of the closing piece can be a straight line moving mode, a rotating mode around a certain center and an arbitrary track moving mode, wherein the track of the closing piece moving from the first position to the second position and the track of the closing piece moving from the second position to the first position can be the same or different. The particular manner of movement is not limited herein.

In a preferred embodiment, the driving member 510 is rotatably connected to the main body 400, and when the driving member 510 rotates to a first angular position relative to the main body 400, the sealing member moves to the first position under the driving member 510, and when the driving member 510 rotates to a second angular position relative to the main body 400, the sealing member moves to the second position under the driving member 510.

The present embodiment employs a manner of rotating the driver 510 to switch the closure between the first and second positions. The drive member 510 is rotatable about its connection point with the body 400, the drive member 510 rotating while moving the closure at a position corresponding to the position at which the drive member 510 is rotated. When the actuator 510 is rotated to the first angular position, the closure member is brought to the first position, keeping the valve opening 200 closed. When the driver 510 is rotated to the second angular position, the closure member is brought to the second position, causing the valve opening 200 to open.

As a further improvement, in this embodiment, the switch mechanism 500 further includes a toggle switch 520, when the toggle switch 520 is toggled to the third position, the toggle switch 520 drives the driving member 510 to rotate to the second angular position, and when the toggle switch 520 is released, the toggle switch 520 automatically returns from the third position to the fourth position to drive the driving member 510 to rotate to the first angular position.

When the adsorption fixing device is used, one surface of the adsorption fixing device with the sucker 100 can be directly faced to a plane to be adsorbed, and the sucker 100 is squeezed by the gravity of the adsorption device to enable the sucker 100 to form negative pressure and then be adsorbed on the plane of an object. When the suction fixing device needs to be removed from the sucked plane, the user can toggle the toggle switch 520 to the third position, the toggle switch 520 drives the driving member 510 to rotate to the second angular position, the driving member 510 drives the one-way closing member 300 to move to the second position to open the valve hole 200, the negative pressure of the cavity 110 of the suction cup 100 is rapidly released, and the suction fixing device can be immediately removed from the sucked plane. When the user releases the toggle switch 520, the toggle switch 520 automatically returns to the fourth position to re-close the valve hole 200.

The toggle switch 520 may include a toggle element 521 and an elastic reset element 522, the toggle element 521 may move back and forth between a third position and a fourth position relative to the main body 400, one end of the elastic reset element 522 abuts against the main body 400, the other end opposite to the toggle element 521 abuts against the elastic reset element 522, the elastic reset element 522 abuts against the toggle element 521 at the fourth position by an elastic force acting on the toggle element 521, the toggle element 521 moves to the third position when the toggle element 521 receives an external force which is opposite to the elastic force and is greater than a first threshold, and the toggle element 521 automatically returns to the fourth position when the external force is removed by the elastic force of the elastic reset element 522.

The elastic restoring member 522 of the present embodiment may employ a spring. The one-way closing member 300 is switched between the first position and the second position by moving the toggle switch 520 back and forth. The elastic restoring member 522 is always in a compressed state, and the compressed elastic restoring member 522 is pushed against the toggle switch 520 at the fourth position by the elastic force generated by the trend of the elastic restoring member 522, so that the one-way closing member 300 is kept in a state of closing the valve hole 200. When the toggle element 521 is toggled by the user in a direction that the elastic reset element 522 continues to be compressed and the force toggled by the user is greater than a certain value, the elastic reset element 522 continues to be compressed, the toggle element 521 is toggled to the third position, the one-way closing element 300 is driven to the fourth position, and the valve hole 200 is opened. When the user releases the toggle member 521, the spring extends to push the toggle member 521 back to the fourth position.

As shown in fig. 3 and 4, the toggle member 521 in this embodiment further includes a force-receiving portion and a sliding portion, the main body 400 is provided with a sliding slot for the toggle member 521 to slide back and forth between the third position and the fourth position, and the force-receiving portion is exposed out of the outer wall 410 of the main body 400. The force-receiving portion may be disposed near one of the sidewalls of the main body 400, and the sliding slot may be used to limit the moving direction of the toggle member 521, so that the toggle member 521 may be switched between the third position and the fourth position. When the sliding device is used, a user can conveniently stir the stressed part exposed out of the main body 400 to enable the sliding part to move along the sliding groove. In addition, one side of the stress part, which is back to the main body 400, can be provided with grooves or lines to increase the friction coefficient of the stress part, so that a user can conveniently stir the stress part.

In this embodiment, one end of the driving member 510 is rotatably connected to the main body 400, the other end is connected to the toggle switch 520, and the side of the middle of the driving member 510 near the valve hole 200 is connected to the one-way closing member 300. The embodiment of the present invention arranges the centers of rotation of the sliding toggle switch 520 and the driving member 510 at both ends of the driving member 510, so that the driving member 510 can be driven to rotate by applying a small force to the toggle switch 520, and the one-way closing member 300 is connected to the middle portion of the driving member 510, so that the one-way closing member 300 can be located close to the valve hole 200, thereby enabling the one-way closing member 300 to be switched between the first position and the second position more rapidly and accurately.

As a preferred solution, the rotating member can be made into an obtuse triangle, wherein two acute angles are respectively connected to the toggle switch 520 and the main body 400 at obtuse angles, and the one-way sealing member 300, so that the structural rigidity of the rotating member can be improved, the rotating member can be prevented from being deformed and bent, and the sensitivity of the switch mechanism 500 can be improved.

Example 2

As shown in fig. 2 and 6, in this embodiment, the adsorption fixing device further includes a pressing ring 600, the suction cup 100 is pressed between the pressing ring 600 and the main body 400, the pressing ring 600 is provided with a connection column 610, the suction cup 100 is provided with a through hole for the connection column 610 to pass through, one side of the main body 400 facing the pressing ring 600 is provided with a slot 420, and one side of the connection column 610 of the pressing ring 600, which is opposite to the main body 400 from the suction cup 100, passes through the through hole and then is inserted into the slot 420 of the main body 400. The utility model discloses a clamping ring 600 fixes sucking disc 100 on main part 400, makes whole absorption fixing device can fix on the object surface through sucking disc 100 reliably.

As shown in fig. 7, in the present embodiment, a mounting groove for mounting the suction cup 100 is formed on a side of the main body 400 facing the suction cup 100, and the mounting groove is formed by recessing a surface of the main body 400 facing the suction cup 100 toward a surface of the main body 400 facing away from the suction cup 100. The suction cup 100 may be inserted into the mounting groove and the suction cup 100 may be pressed against the body 400 by the aforementioned pressing ring 600. The main body 400 may further have a through hole formed therein to communicate a surface of the main body 400 facing away from the suction cup 100 with the mounting groove in which the suction cup 100 is mounted. The through-hole may be divided into two parts, one for placing the valve hole 200 and the other for placing the one-way closing member 300. A step 430 for positioning the axial position of the valve hole 200 may be provided at a certain position of the through hole in the axial direction thereof, and the outer wall 410 of the valve hole 200 may be formed with a boss correspondingly, which abuts on the step 430 of the through hole when assembled. The one-way closure 300 may take the form of a spherical ball. An end of the valve hole 200 facing the one-way closing member 300 is formed with a frustum-shaped hole, and the bottom of the spherical one-way closing member 300 is placed at the frustum-shaped hole to close the valve hole 200.

Example 4

This embodiment provides a robot controller that includes the suction fixing device of any of the preceding embodiments. In this embodiment, a suction fixing device may be attached to the bottom of the robot controller, and the robot controller may be stably fixed on a table or the surface of another object by the suction fixing device without falling down even when pushed by a hand. In addition, the robot controller of the present embodiment can open the valve hole 200 through the opening and closing mechanism 500 provided at the suction device, and release the negative pressure state of the suction cup 100, thereby rapidly and conveniently separating the robot controller from the surface of the object.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims (10)

1. Adsorb fixing device, its characterized in that includes:

the sucking disc is provided with a cavity and is used for adsorbing a fixed object by utilizing negative pressure generated after air is exhausted from the cavity;

the valve hole is communicated with the cavity of the sucker;

the one-way closing piece is used for opening the valve hole when the volume of the cavity is reduced by extrusion so as to discharge gas in the cavity, and closing the valve hole when the external pressure of the valve hole is greater than the internal pressure so as to prevent external air from entering the cavity;

the main body is used for installing the sucking disc, the valve hole and the one-way closing piece.

2. The suction fixture of claim 1, further comprising: and the switching mechanism is used for switching the one-way closing piece between a first position and a second position, the first position is a position where the one-way closing piece is used for closing the valve hole, and the second position is a position where the valve hole is opened when the one-way closing piece is used for opening the valve hole.

3. The suction attachment fixture of claim 2 wherein the switch mechanism includes a drive member coupled to the closure member, the drive member being configured to move the closure member from the first position to the second position or from the second position to the first position.

4. The suction attachment device of claim 3 wherein the actuating member is rotatably coupled to the body, the closure member being movable by the actuating member to the first position when the actuating member is rotated relative to the body to the first angular position, and the closure member being movable by the actuating member to the second position when the actuating member is rotated relative to the body to the second angular position.

5. The suction attachment fixture of claim 4 wherein the switch mechanism further includes a toggle switch, the toggle switch driving the drive member to rotate to the second angular position when the toggle switch is toggled to the third position; when the toggle switch is released, the toggle switch automatically returns to the fourth position from the third position to drive the driving member to rotate to the first angular position.

6. The suction attachment fixture of claim 5 wherein the toggle switch includes a toggle member and a resilient return member, the toggle member being movable back and forth between a third position and a fourth position relative to the body; one end of the elastic reset piece is abutted against the main body, the other opposite end of the elastic reset piece is abutted against the shifting piece, and the shifting piece is abutted against the fourth position by the elastic reset piece through the elastic force acting on the shifting piece; when the shifting piece is subjected to an external force which is opposite to the elastic force and is greater than a first threshold value, the shifting piece moves to a third position; when the external force is eliminated, the shifting piece automatically returns to the fourth position under the action of the elastic force of the elastic resetting piece.

7. The suction attachment of claim 6 wherein the toggle member comprises: the main body is provided with a sliding groove for the toggle piece to slide back and forth between a third position and a fourth position, and the stressed part is exposed out of the outer wall of the main body.

8. The suction attachment of claim 5 wherein the actuator is pivotally connected at one end to the body and at an opposite end to the toggle switch, the actuator being connected at a side of the actuator intermediate portion adjacent the valve opening to the one-way closure member.

9. The adsorption fixing device of any one of claims 1 to 8, further comprising a pressing ring, wherein the sucker is pressed between the pressing ring and the main body, a connecting column is arranged on the pressing ring, a through hole for the connecting column to pass through is formed in the sucker, a slot is formed in one side, facing the pressing ring, of the main body, and the connecting column of the pressing ring is inserted into the slot of the main body after passing through the through hole from one side, facing away from the main body, of the sucker.

10. Robot controller, characterized in that it comprises a suction fixture according to any of claims 1 to 9.

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