CN-122008292-A - Vacuum chuck device, mechanical arm and robot for nonferrous metal plate

CN122008292ACN 122008292 ACN122008292 ACN 122008292ACN-122008292-A

Abstract

The invention relates to the technical field of suckers, and discloses a vacuum sucker device for nonferrous metal plates, a mechanical arm and a robot, wherein the vacuum sucker device comprises a connecting piece and a connecting piece, wherein the connecting piece is used for connecting with the tail end of the mechanical arm; the vacuum chuck is arranged below the mounting seat and is connected with an external vacuum device through a vacuum pipeline. According to the invention, the vacuum chuck is communicated with the vacuum device through the external vacuum pipeline, flexible grabbing of the nonferrous metal plate is realized by means of negative pressure, meanwhile, the universal head can realize multi-degree-of-freedom deflection, the surface tilting and mounting errors of the self-adaptive plate are guaranteed to be fully attached, the two symmetrical anti-rotation shafts are hinged with the vacuum chuck through the universal joint and form a double-universal adjusting structure with the universal head, the vacuum chuck can realize multi-directional angle self-adaptive deflection, the surfaces of workpieces with different inclinations or curved surfaces are attached, the adsorption sealing and the operation stability are guaranteed, and therefore the suitability and the safety of the robot operation are improved.

Inventors

ZHAO ZHENGTIAN
LI JIANHUA
LI DACHAO
LI CHUNLING
Shao Yinzhuo

Assignees

兰州理工大学

Dates

Publication Date: 20260512
Application Date: 20260409

Claims (7)

1. A vacuum chuck device for nonferrous metal plates, comprising: The connecting piece is used for being connected with the tail end of the mechanical arm; the mounting seat is fixedly arranged below the connecting piece; the vacuum chuck is arranged below the mounting seat and is connected with an external vacuum device through a vacuum pipeline; The plurality of anti-rotation shafts are symmetrically arranged on the mounting seat, the upper ends of the plurality of anti-rotation shafts movably penetrate through the mounting seat and extend to the upper side of the mounting seat, the lower ends of the plurality of anti-rotation shafts are fixedly connected with universal joints, the other ends of the universal joints are hinged with second hinging seats, and the plurality of second hinging seats are fixedly arranged on the upper surface of the vacuum chuck; The springs are sleeved outside one end of the anti-rotation shaft above the mounting seat in a one-to-one correspondence manner, one end of each spring is fixedly connected with the upper end of the anti-rotation shaft, and the other end of each spring is fixedly connected with the mounting seat; The universal head is fixedly arranged between the vacuum chuck and the mounting seat and is positioned at the center of the vacuum chuck, and the universal joints are uniformly wound on the periphery of the universal head and form a double-universal adjusting structure with the universal head.
2. The vacuum chuck device for a nonferrous metal plate as set forth in claim 1, further comprising: The plurality of cylinders are symmetrically arranged below the mounting seat respectively, the top ends of the plurality of cylinders are fixedly arranged on the lower surface of the mounting seat, the output ends of the plurality of cylinders are respectively hinged with a first hinging seat, and the plurality of first hinging seats are fixedly arranged on the upper surface of the vacuum chuck.
3. The vacuum chuck device for a nonferrous metal plate of claim 1, wherein the vacuum chuck is a flexible material comprising one of a silicone rubber, polyurethane, fluororubber, silicone rubber, nitrile rubber, or polyether based elastomer.
4. The vacuum chuck device for nonferrous metal plates of claim 1, wherein the bottom of the vacuum chuck is provided with a plurality of adsorption holes, and the adsorption holes are distributed in a triangle, uniform, independent distribution in different areas, annular distribution or mixed distribution mode.
5. A robot arm comprising the vacuum chuck device for nonferrous metal plates according to any one of claims 1 to 4.
6. A robot comprising the vacuum chuck device for a nonferrous metal plate according to any one of claims 1 to 4 or the robot arm according to claim 6.
7. A method of using a vacuum chuck device for nonferrous metal plates according to any one of claims 1 to 4, comprising the steps of: the vacuum chuck is connected with the tail end of the mechanical arm through a connecting piece, then the mechanical arm carries the vacuum chuck to move to the upper side of the plate, the position of the vacuum chuck is adjusted through the mechanical arm, the center of the vacuum chuck is aligned with the gravity center of the plate or a preset adsorption point, and the bottom surface of the vacuum chuck is kept parallel to the surface of the plate; The mechanical arm controls the vacuum chuck to descend, so that the bottom surface of the vacuum chuck contacts with the upper surface of the plate, after the bottom surface of the vacuum chuck contacts with the upper surface of the plate, if the surface of the plate is inclined, uneven or slightly curved, the universal head is used for adaptively adjusting the angle between the vacuum chuck and the mounting seat, and simultaneously a plurality of universal joints on the outer side are matched and adjusted synchronously to adjust the connection position of the anti-rotation shaft and the vacuum chuck, so that the anti-rotation shaft is driven to adaptively shift along with the vacuum chuck, and the spring is compressed or stretched until the bottom surface of the vacuum chuck is completely tightly attached to the surface of the plate; Starting an external vacuum device, vacuumizing the vacuum chuck through a vacuum pipeline, and generating negative pressure in the vacuum chuck to ensure that the vacuum chuck is firmly adsorbed on the surface of a plate; after the mechanical arm places the plate material at the target position, the external vacuum device breaks the air and releases the pressure to release the negative pressure in the vacuum chuck, and at the moment, the spring drives the vacuum chuck to return to the initial position under the action of the elastic force.

Description

Vacuum chuck device, mechanical arm and robot for nonferrous metal plate Technical Field The invention relates to the technical field of suckers, in particular to a vacuum sucker device for nonferrous metal plates, a mechanical arm and a robot. Background At present, in nonferrous metal sheet production process, often cut nonferrous metal sheet into the sheet material of certain specification size and supply to the low reaches enterprise, on the production line of shearing, often carry the link such as accomplish material loading, unloading to the sheet material through the robot, its sucking disc is mostly fixed design, often need through industrial robot such as six series connection arm when using, calculate end effector space coordinate, adjust overall position through arm joint motion, make the passive laminating sheet surface of sucking disc, drive panel transport to target position by the robot after the completion absorption. The structural design of the traditional vacuum chuck generally has obvious rigid constraint, and the core function of the traditional vacuum chuck generally only supports the Z-axis vertical lifting motion with a single dimension, but lacks the self-adaptive compensation capability for the plate placement inclination (such as assembly deviation, mold deformation or complex working conditions such as curved surface support). In addition, the existing vacuum chuck device generally relies on an industrial robot (such as a six-axis serial mechanical arm) to carry out integral position adjustment in a large-range space, and the typical implementation mode of the existing vacuum chuck device is that the space coordinates (X/Y/Z translation and rotation angles around three axes) of an end effector are calculated through a mechanical arm joint kinematics model, so that a vacuum chuck at a fixed position passively follows the mechanical arm to complete target position adjustment. Disclosure of Invention In order to solve the technical problems, the invention provides a vacuum chuck device for a nonferrous metal plate, a mechanical arm and a robot. The invention provides a vacuum chuck device for nonferrous metal plates, which comprises: The connecting piece is used for being connected with the tail end of the mechanical arm; the mounting seat is fixedly arranged below the connecting piece; the vacuum chuck is arranged below the mounting seat and is connected with an external vacuum device through a vacuum pipeline; The plurality of anti-rotation shafts are symmetrically arranged on the mounting seat, the upper ends of the plurality of anti-rotation shafts movably penetrate through the mounting seat and extend to the upper side of the mounting seat, the lower ends of the plurality of anti-rotation shafts are fixedly connected with universal joints, the other ends of the universal joints are hinged with second hinging seats, and the plurality of second hinging seats are fixedly arranged on the upper surface of the vacuum chuck; The springs are sleeved outside one end of the anti-rotation shaft above the mounting seat in a one-to-one correspondence manner, one end of each spring is fixedly connected with the upper end of the anti-rotation shaft, and the other end of each spring is fixedly connected with the mounting seat; The universal head is fixedly arranged between the vacuum chuck and the mounting seat and is positioned at the center of the vacuum chuck, and the universal joints are uniformly wound on the periphery of the universal head and form a double-universal adjusting structure with the universal head. Further, the method further comprises the following steps: The plurality of cylinders are symmetrically arranged below the mounting seat respectively, the top ends of the plurality of cylinders are fixedly arranged on the lower surface of the mounting seat, the output ends of the plurality of cylinders are respectively hinged with a first hinging seat, and the plurality of first hinging seats are fixedly arranged on the upper surface of the vacuum chuck. Further, the vacuum chuck is a flexible material, and the flexible material comprises one of silica gel, polyurethane, fluororubber, silicone rubber, nitrile rubber or polyether-based elastomer. Further, the bottom of the vacuum chuck is provided with a plurality of adsorption holes, and the adsorption holes are distributed in a triangular mode, a uniform mode, an independent distribution in different areas, an annular distribution mode or a mixed layout mode. A mechanical arm comprises the vacuum chuck device for the nonferrous metal plate. A robot comprising a vacuum chuck device for a nonferrous metal plate as described above or a robot arm as described above. The application method of the vacuum chuck device for the nonferrous metal plate comprises the following steps: the vacuum chuck is connected with the tail end of the mechanical arm through a connecting piece, then the mechanical arm carries the vacuum chuck to move to th