CN102765092B - Adsorption device - Google Patents

Abstract

The invention discloses an adsorption device which is arranged on a mobile device to adsorb objects to be transported with different sizes. The adsorption device comprises a central shaft, a plurality of connecting rod groups and a plurality of adsorption units. Wherein, a first end of each linkage is slidably disposed on the central shaft, and each adsorption unit is pivotally connected to a second end of the corresponding linkage. When the first ends of the connecting rod group are located at a first position on the central shaft, the second ends of the connecting rod group are located on the same plane. When each first end of the connecting rod group moves from the first position on the central shaft to the second position on the central shaft, each second end of the connecting rod group is still positioned on the same plane, and the distance between the second ends of the connecting rod group is increased.

Description

Adsorption device

technical field

The invention relates to an adsorption device, and in particular to an adsorption device capable of adsorbing objects of various sizes.

Background technique

Generally speaking, the display panel is transported in the factory by a suction device connected to a robot arm. However, panels of different sizes need to be sucked by suction devices of different sizes. Therefore, to absorb panels of different sizes and shapes, the panel manufacturer needs to manually replace the adsorption device on the mechanical arm so that the number and position of the suction nozzles on the adsorption device can correspond to the panels to be adsorbed.

Manually replacing the adsorption device of the robotic arm is time-consuming and increases the risk of panel damage. In addition, it is costly to purchase and store adsorption devices of different sizes. Therefore, how to improve the adsorption device of the robotic arm to reduce costs and speed up the panel handling process to facilitate mass production of products is worth exploring.

Contents of the invention

The object of the present invention is to provide an adsorption device to solve the problem that the existing adsorption unit can only absorb objects of a single size.

In order to achieve the above purpose, the present invention provides an adsorption device, which is used to install on a mobile device to absorb objects to be transported in different sizes. The adsorption device includes a central shaft, a plurality of connecting rod groups and a plurality of adsorption units. Wherein, a first end of each connecting rod set is slidably disposed on the central axis, and each adsorption unit is pivotally connected to a second end of the corresponding connecting rod set. When each first end of the connecting rod set is located at a first position on the central axis, each second end of the connecting rod set is located on the same plane. When each first end of the connecting rod group moves from a first position on the central axis to a second position on the central axis, each second end of the connecting rod group is still located on the same plane, and each second end of the connecting rod group The distance between the ends increases.

In an embodiment of the present invention, each of the above-mentioned plurality of connecting rod groups further includes a first connecting rod and a second connecting rod, wherein the first connecting rod has the aforementioned first end and the second connecting rod. A third end of the second connecting rod is pivotally arranged on the central axis, and a fourth end of the second connecting rod is pivotally connected to the middle section of the first connecting rod. Therefore, when the first end of the first link slides from the first position to the second position, the second link can limit the moving range of the second end of the first link, which is the same as in the first position. flat.

In an embodiment of the present invention, when the first end of each first link of the above-mentioned plurality of link groups is located at the first position on the central axis, each first link has a first included angle with the central axis , when the first end of each first connecting rod is located at the second position on the central axis, each first connecting rod has a second included angle with the central axis, and the first included angle is smaller than the second included angle.

In an embodiment of the present invention, each of the plurality of connecting rod sets further includes a third connecting rod and a fourth connecting rod. A fifth end of the third connecting rod is slidably arranged on the central axis, and a sixth end of the third connecting rod is pivotally connected to a seventh end of the fourth connecting rod, and an eighth end of the fourth connecting rod is pivotally connected to The middle section of the aforementioned second connecting rod.

In an embodiment of the present invention, each of the plurality of connecting rod sets further includes a third connecting rod and a fourth connecting rod. A fifth end of the third connecting rod is slidably arranged on the central axis, and a sixth end of the third connecting rod is pivotally connected to a seventh end of the fourth connecting rod, and an eighth end of the fourth connecting rod is pivotally connected to The middle section of the first connecting rod and the fourth end of the second connecting rod.

In an embodiment of the present invention, each fourth connecting rod in the plurality of connecting rod groups includes two sub-connecting rods parallel to each other, and the aforementioned first connecting rod passes between the two sub-connecting rods.

In an embodiment of the present invention, the extending direction of the fifth end of each third connecting rod in the plurality of connecting rod sets is substantially perpendicular to the extending direction of the sixth end.

In an embodiment of the present invention, the above-mentioned adsorption device further includes a plurality of universal balls, wherein the adsorption unit is pivotally connected to the second end of the corresponding connecting rod set via the universal balls.

In an embodiment of the present invention, the above-mentioned adsorption device further includes a plurality of suction pipes, and the suction pipes communicate with the adsorption unit to a suction device.

In an embodiment of the present invention, the adsorption unit of the above-mentioned adsorption device is a suction nozzle.

Based on the above, after the adsorption device of the present invention is installed on a moving device, when the position of the first end relative to the central axis changes, the distance between the adsorption units pivotally connected to the second end will also change accordingly, so it can be used for adsorption Various sizes of goods to be shipped.

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail together with the accompanying drawings.

Description of drawings

Fig. 1 is a perspective view of an adsorption device according to an embodiment of the present invention;

Fig. 2 is a side view of the first end of the adsorption device of Fig. 1 in a first position;

Fig. 3 is a side view of the first end of the adsorption device of Fig. 1 in a second position;

Fig. 4 is a schematic diagram of the adsorption unit of Fig. 1 being pivotally connected to the connecting rod group via universal balls;

Fig. 5 is a schematic top view of the adsorption device of Fig. 4 with an additional suction pipe.

Description of main component symbols

100: adsorption device

110, 110a: items to be transported

120: central axis

130: Connecting rod group

130a: first link group

130b: second link group

131: first connecting rod

131a: first end

131b: second end

132: Second connecting rod

132a: third end

132b: fourth end

133: Third link

133a: fifth terminal

133b: sixth terminal

134: Fourth connecting rod

134a: seventh terminal

134b: eighth terminal

1341, 1342, 1361, 1362: sub-connecting rod

135: fifth link

135a: ninth terminal

135b: tenth terminal

136: Sixth connecting rod

136a: Eleventh terminal

136b: Twelfth terminal

140: adsorption unit

150: universal ball

160: suction pipe

A, B: Plane

P1: first position

P2: second position

θ1: the first included angle

θ2: second included angle

d1, d2: distance

Detailed ways

FIG. 1 is a perspective view of an adsorption device according to an embodiment of the present invention. Please refer to FIG. 1 , the adsorption device 100 of this embodiment can be installed on a mobile device (not shown in FIG. 1 ) to adsorb objects 110 of different sizes. The moving device is, for example, a robot arm, which can move the adsorption device 100 and the object to be transported 110 to a desired position of the user after the adsorption device 100 absorbs the object to be transported 110 . The adsorption device 100 of this embodiment includes a central shaft 120 , a plurality of connecting rod sets 130 and a plurality of adsorption units 140 . Wherein, a first end 131 a of each connecting rod set 130 is slidably disposed on the central axis 120 , and each adsorption unit 140 is pivotally connected to a second end 131 b of the corresponding connecting rod set 130 .

Fig. 2 is a side view of the first end of the adsorption device of Fig. 1 in a first position. Fig. 3 is a side view of the first end of the adsorption device of Fig. 1 in a second position. Please refer to FIG. 2 and FIG. 3 at the same time. When each first end 131 a of the connecting rod set 130 is located at a first position P1 on the central axis 120 , each second end 131 b of the connecting rod set 130 is located on the same plane A. Referring to FIG. When each first end 131a of the connecting rod set 130 moves from the first position P1 on the central axis 120 to a second position P2 on the central axis 120, each second end 131b of the connecting rod set 130 is relative to the central axis 120 The heights of the connecting rods 130 can be kept constant or changed, but the second ends 131b are still located on the same plane B, and the distance between the second ends 131b of the connecting rod set 130 is increased, changing from d1 to d2. Plane A and plane B may be the same plane or different planes.

Therefore, by controlling the position of the first end 131a of the link group 130 on the central axis 120, the distance between each second end 131b can be changed, and thus the distance between the adsorption units 140 pivotally connected to each second end 131b can be controlled. . When the distance between each adsorption unit 140 changes, the adsorption range of the adsorption device 100 also changes accordingly. For example, the size of the object to be transported 110a in FIG. 3 is larger than that of the object to be transported 110 in FIG. Small becomes large to fit the size of the load 110a.

Please refer to FIG. 2 and FIG. 3 at the same time. In detail, each link set 130 of the aforementioned plurality of link sets 130 includes a first link 131 and a second link 132 . Wherein, the first connecting rod 131 has a first end 131a and a second end 131b, a third end 132a of the second connecting rod 132 is pivotally mounted on the central axis 120, and a fourth end 132b of the second connecting rod 132 is pivotally connected to The middle section of the first connecting rod 131. Therefore, when the first end 131a of the first link 131 slides from the first position P1 to the second position P2, the second link 132 pulls the second end 131b of the first link 131 away from the central axis 120 move.

Based on the above, when the first end 131a of each first link 131 of the link set 130 is located at the first position P1 on the central axis 120, the included angle between each first link 131 and the central axis 120 is The first included angle θ1. When the first end 131a of the first connecting rod 131 is located at the second position P2 on the central axis 120, each first connecting rod 131 has a second included angle θ2 with the central axis 120, and the first included angle θ1 is smaller than the second Angle θ2. That is to say, when the first end 131a is located at the first position P1 on the central axis 120, the first included angle θ1 between the first connecting rod 131 and the central axis 120 is relatively small, and the distance between the second ends 131b is naturally relatively small. . Conversely, when the first end 131a is located at the second position P2 on the central axis 120 , the second included angle θ2 between the first connecting rod 131 and the central axis 120 is larger, and the distance between the second ends 131b is of course larger.

Please refer to Figure 1 again. In detail, the link set 130 of this embodiment can be divided into a plurality of first link sets 130a and a plurality of second link sets 130b. Each first connecting rod set 130 a includes a first connecting rod 131 , a second connecting rod 132 , a third connecting rod 133 and a fourth connecting rod 134 . Each second connecting rod set 130b includes a first connecting rod 131 , a second connecting rod 132 , a fifth connecting rod 135 and a sixth connecting rod 136 . In this embodiment, in order to match the shape of the object to be transported 110 , the first connecting rods 131 in the first connecting rod set 130 a and the second connecting rod set 130 b have different lengths. In more detail, the length of the first link 131 in the first link set 130a is greater than the length of the first link 131 in the second link set 130b. Cooperating with its pivotal position on the central axis 120, the second ends 131b of the first connecting rods 131 of different lengths will be located at different positions on the object to be transported 110, so that the adsorption unit 140 pivoted on the second end 131b can absorb At different locations of the to-be-shipped item 110 .

As far as this embodiment is concerned, the shape of the object to be transported 110 is rectangular, and the first connecting rods 131 in the first connecting rod group 130a can absorb each diagonal area of the object to be transported 110, and the connecting rods in the second connecting rod group 130b The first connecting rod 131 absorbs the midpoint of the two long sides of the object to be transported 110 . In this embodiment, the connecting rod group 130 includes four first connecting rod groups 130a and two second connecting rod groups 130b, but actually the designer can design an appropriate first connecting rod group according to the shape of the object 110 to be transported. The number of the rod set 130a and the second connecting rod set 130b makes the adsorption force of the adsorption device 100 uniform.

Based on the above, in order to match the first connecting rods 131 with different lengths, the positions of the connection points between the connecting rods in the first connecting rod set 130 a and the second connecting rod set 130 b are different. In the following, among the first connecting rod group 130a and the second connecting rod group 130b, the connection mode between each connecting rod and the position of the corresponding connecting point will be described, and the first connecting rod group 130a and the second connecting rod group 130a and the second connecting rod group will be described. The connection relationship between the rod group 130b and the central axis 120 .

As shown in FIG. 1 , in each first connecting rod set 130a, a fifth end 133a of the third connecting rod 133 is slidably disposed on the central axis 120, and a sixth end 133b of the third connecting rod 133 is pivotally connected. A seventh end 134 a of the fourth link 134 is pivotally connected to an eighth end 134 b of the second link 132 . In each second link group 130b, a ninth end 135a of the fifth link 135 is slidably disposed on the central axis 120, and a tenth end 135b of the fifth link 135 is pivotally connected to a sixth link 136. The eleventh end 136 a and the twelfth end 136 b of the sixth link 136 are pivotally connected to the middle section of the first link 131 and the fourth end 132 b of the second link 132 .

In the first link group 130a, the fourth link 134 includes two sub-links 1341 and 1342 parallel to each other, and the corresponding first link 131 passes between the two sub-links 1341 and 1342 . In the second link group 130b, the sixth link 136 includes two sub-links 1361 and 1362 parallel to each other, and the corresponding first link 131 passes between the two sub-links 1361 and 1362 . In addition, the third connecting rod 133 and the fifth connecting rod 135 are L-shaped connecting rods, that is, the extending direction of the fifth end 133a of the third connecting rod 133 is substantially perpendicular to the extending direction of the sixth end 133b, and the fifth connecting rod 135 The extension direction of the ninth end 135a is substantially perpendicular to the tenth end 135b.

Specifically, the fourth link 134 in the first link set 130a is pivotally connected to the middle section of the third link 133 and the second link 132, so when the third link 133 changes the fifth end 133a on the central axis When the position is 120, the third connecting rod 133 drives the fourth connecting rod 134, and at this moment, the fourth connecting rod 134 drives the second connecting rod 132 to rotate from the third end 132a as a fulcrum. Since the second connecting rod 132 is pivotally connected to the first connecting rod 131, during the rotation of the second connecting rod 132, the second connecting rod 132 will drive the first end 131a of the first connecting rod 131 to slide on the central shaft 120, And at the same time, the distance between the second end 131b and the central axis 120 is changed. When the distance between the second end 131b of the first connecting rod 131 and the central axis 120 changes, the adsorption range of the adsorption device 100 can be changed. Therefore, in the first connecting rod set 130a, the third connecting rod 133 and the fourth connecting rod 134 have the function of driving. Similarly, in the second connecting rod group 130b, by changing the position of the fifth connecting rod 135 relative to the central axis 120, the corresponding first connecting rod 131 can be driven, so details will not be repeated here.

FIG. 4 is a schematic diagram illustrating that the adsorption unit of FIG. 1 is pivotally connected to the connecting rod group via universal balls. Only one universal ball 150 is schematically shown in FIG. 4 . Actually, each adsorption unit 140 can be pivotally connected to the second end 131 b of the connecting rod set 130 via the corresponding universal ball 150 . Therefore, when the adsorption unit 140 of the adsorption device 100 touches the object to be transported 110 to be adsorbed, the universal ball 150 rolls thereupon, so that the adsorption unit 140 can be moved and positioned at will, and finally the adsorption surface of each adsorption unit 140 can be evenly Access to cargo 110 .

Fig. 5 is a schematic top view of the adsorption device of Fig. 4 with an additional suction pipe. The adsorption device 100 further includes a plurality of suction pipes 160 , and the suction pipes 160 communicate with the adsorption unit 140 to a suction device (not shown in FIG. 5 ). When the suction device pumps air, the air between the adsorption unit 140 and the object to be transported 100 is sucked out by the suction pipe 160 , and the adsorption unit 140 , such as a suction nozzle, can absorb the object to be transported 110 . Using the air suction device in conjunction with the adsorption unit 140 to absorb the object 110 to be transported can move the object 110 without damaging the surface of the object 110 to be transported.

The adsorption device 100 of this embodiment can be applied to, for example, a panel factory to transport panel products or glass substrates of different sizes in the factory, but is not limited thereto. In actual application, it can cooperate with the automatic control system in the factory building, and use the panels or glass substrates of various sizes produced in the factory as the control parameters to control the first connecting rods 131 in the connecting rod group 130 of the adsorption device 100. The position of the first end 131a relative to the central axis 120 . Or, control the position of the third connecting rod 133 and the fifth connecting rod 135 on the central axis, and then use the third connecting rod 133 and the fifth connecting rod 135 to drive the corresponding first connecting rod 131 to change the adsorption device 100 the adsorption range.

For example, when the panel size of the production line in the factory has two sizes of 24 inches and 42 inches, if the size of the panel to be adsorbed changes, the user only needs to use the automatic control system to change the position of the first end 131a of each first connecting rod 131. position, the adsorption device 100 can adjust the adsorption range. Cooperating with the universal ball 150, air extraction device and adsorption unit 140 in the aforementioned adsorption device 100, the panel can be adsorbed without scratching the surface of the panel. At this time, the automatic control system controls the mobile device such as a mechanical arm to The purpose of delivering the product can be achieved by delivering the panel to the desired location. Of course, the user can also control the positions of the fifth end 133 a of the third link 133 and the ninth end 135 a of the fifth link 135 to achieve the same effect.

In the prior art, panel manufacturers need to manually replace different adsorption devices 100 for panels of different sizes, which not only wastes time but also wastes manpower. If the panel manufacturer adopts the adsorption device 100 of this embodiment, the time for replacing the adsorption device 100 can be saved, which has the advantages of saving time and manpower to save costs.

Of course, the size of the panel is not limited to 24 inches and 42 inches, and there are more choices of sizes. The user can define the position of the first end 131 a of each first connecting rod 131 relative to the central axis 120 according to the actual situation of the production line and according to the size of different objects to be transported 110 . Therefore, the adsorption device 100 of this embodiment can absorb objects 100 of different sizes, and is very flexible in use.

To sum up, in the adsorption device of the present invention, when the position of the first end of the connecting rod group relative to the central axis changes, the relative distance between the second ends changes so that they are pivotally connected to the corresponding connecting rod group The adsorption range of the adsorption unit at the second end can be changed accordingly, so that the adsorption device can absorb objects to be transported with different sizes. In addition, the connecting rod set further includes the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod which have driving functions. Its first end is at the position of the central axis.

Although the present invention has been disclosed in conjunction with the above embodiments, it is not intended to limit the present invention. Anyone skilled in the art can make some modifications and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention should be defined by the appended claims.

Claims (8)

1. An adsorption device for being installed on a mobile device to absorb objects of different sizes to be transported, the adsorption device comprising: a central axis; a plurality of connecting rod sets, wherein a first end of each of the connecting rod sets is slidably disposed on the central axis; and a plurality of adsorption units, each of which is pivotally connected to a second end of a corresponding link group, When the first ends of the connecting rod groups are located at a first position on the central axis, the second ends of the connecting rod groups are located on the same plane, When the first ends of the connecting rods move from the first position on the central axis to a second position on the central axis, the second ends of the connecting rods are still on the same plane , and the distance between the second ends of the connecting rod groups increases, The plurality of connecting rod groups include a plurality of first connecting rod groups and a plurality of second connecting rod groups, matching the pivotal positions of the first connecting rod groups and the second connecting rod groups on the central axis, The position of the second end of the first linkage set on the object to be transported and the position of the second end of the second linkage set on the object to be transported can be respectively determined differently , Each of the connecting rod groups includes: a first link, wherein the first link has the first end and the second end; a second link, wherein a third end of the second link is pivotally mounted on the central axis, and a fourth end of the second link is pivotally connected to the middle section of the first link; a third connecting rod, wherein a fifth end of the third connecting rod is slidably disposed on the central axis; and A fourth link, wherein a sixth end of the third link is pivotally connected to a seventh end of the fourth link, and an eighth end of the fourth link is pivotally connected to the middle section of the second link . 2. An adsorption device for installing on a mobile device to absorb objects of different sizes to be transported, the adsorption device comprising: a central axis; a plurality of connecting rod sets, wherein a first end of each of the connecting rod sets is slidably disposed on the central axis; and a plurality of adsorption units, each of which is pivotally connected to a second end of a corresponding link group, When the first ends of the connecting rod groups are located at a first position on the central axis, the second ends of the connecting rod groups are located on the same plane, When the first ends of the connecting rods move from the first position on the central axis to a second position on the central axis, the second ends of the connecting rods are still on the same plane , and the distance between the second ends of the connecting rod groups increases, The plurality of connecting rod groups include a plurality of first connecting rod groups and a plurality of second connecting rod groups, matching the pivotal positions of the first connecting rod groups and the second connecting rod groups on the central axis, The position of the second end of the first linkage set on the object to be transported and the position of the second end of the second linkage set on the object to be transported can be respectively determined differently , Each of the connecting rod groups includes: a first link, wherein the first link has the first end and the second end; a second link, wherein a third end of the second link is pivotally mounted on the central axis, and a fourth end of the second link is pivotally connected to the middle section of the first link; a third connecting rod, wherein a fifth end of the third connecting rod is slidably disposed on the central axis; and A fourth link, wherein a sixth end of the third link is pivotally connected to a seventh end of the fourth link, and an eighth end of the fourth link is pivotally connected to the middle section of the first link with the fourth end of the second connecting rod. 3. The adsorption device according to claim 1 or 2, wherein when the first end is at the first position on the central axis, the first connecting rod has a first included angle with the central axis, and the first When the end is located at the second position on the central axis, the first connecting rod has a second included angle with the central axis, and the first included angle is smaller than the second included angle. 4. The adsorption device according to claim 1 or 2, wherein the fourth link comprises two sub-links parallel to each other, and the first link passes between the sub-links. 5. The adsorption device according to claim 1 or 2, wherein the extending direction of the fifth end of the third connecting rod is substantially perpendicular to the extending direction of the sixth end. 6. The adsorption device according to claim 1 or 2, further comprising a plurality of universal balls, wherein the adsorption units are pivotally connected to the second end of the corresponding connecting rod set via the universal balls. 7. The adsorption device according to claim 1 or 2, further comprising a plurality of suction pipes connecting the adsorption units to a suction device. 8. The adsorption device according to claim 1 or 2, wherein the adsorption units are suction nozzles.