六自由度机械手真空吸附器件结构设计  

Structural Design of the Adsorption Device for a Six-Degreeof-Freedom Manipulator

作　　者：黄庆专[1] 周冬妮[1] 李燕玉[1] 蔡钟山 HUANG Qingzhuan;ZHOU Dongni;LI Yanyu;CAI Zhongshan(Fujian Electric Power Vocational and Technical College,Quanzhou,Fujian Province,362000 China;Fujian Zhangzhou Development New Energy Investment Co.,Ltd.,Zhangzhou,Fujian Province,363000 China)

机构地区：[1]福建电力职业技术学院,福建泉州362000 [2]福建漳发新能源投资有限公司,福建漳州363000

出　　处：《大众科学》2024年第19期50-52,共3页China Public Science

基　　金：福建电力职业技术学院校级科研创新团队资助项目(项目编号:2022T02)。

摘　　要：阐述一种适用于六自由度机械手的真空吸附器件.该器件通过在六自由度机械手末端J6机构上联接所设计的吸附机构,实现高效吸附功能.该活动吸附机构主要包括移动支撑架、多个真空吸盘、高压吹气执行器及控制阀.真空吸盘和高压吹气执行器均装配在可上下活动的移动支撑架上,并与现场空气动力源相连接.控制阀与真空吸盘、高压吹气执行器控制接通;移动支撑架可上下活动设置,便于触发控制阀控制真空吸盘,开启真空吸附动作.在执行负压吸附作业前,可通过高压吹气执行器对待搬运物件表面进行高压冲刷,以减少吸附时杂质的介入,确保设备吸附力的稳定性.This paper describes a vacuum adsorption device for a six-degree-of-freedom manipulator.The device realizes an efficient adsorption function by coupling the designed adsorption mechanism to a J6 mechanism at the end of the six-degree-of-freedom manipulator.The movable adsorption mechanism mainly includes a mobile support frame,a plurality of vacuum suction cups,a high-pressure blowing actuator and a control valve.Vacuum suction cups and high-pressure blowing actuators are assembled on the mobile support frame which can be moved up and down,and are connected to the air power source on site.The control valve is connected to the vacuum suction cup and high-pressure blowing actuator;the mobile support frame can be set up for up and down activities,which is convenient for triggering the control valve to control the vacuum suction cup and open the vacuum adsorption action.Before executing the negative pressure adsorption operation,the surface of the object to be transported can be flushed with high pressure through the high-pressure blowing actuator,in order to minimize the intervention of impurities during adsorption and ensure the stability of the adsorption force of the equipment.

关 键 词：真空吸附器件 真空吸盘 机械手 移动吸附机构 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]