Sucking disc for manipulator

Abstract

The utility model provides a sucker for a manipulator, which solves the problems of larger stress, non-uniform stress distribution, smaller rotation angle range, explosion of an exhaust pipe and the like of the existing sucker for the manipulator, and can ensure that the 360-degree rotation air flow of the sucker is smooth and the suction force of the sucker is stable in the rotation process. Comprising a bottom plate assembly and an exhaust pipe. The bottom plate assembly comprises a first bottom plate and a second bottom plate, the first bottom plate and the second bottom plate are connected through a plurality of sets of elastic components, corresponding air suction holes are formed in the first bottom plate and the second bottom plate, one end of the air suction hole of the first bottom plate is connected with the air suction hole of the second bottom plate through an elastic pipe, and the other end of the air suction hole of the first bottom plate is connected with an air suction pipe through a spring pipe. The elastic tube and the spring tube are used for transmitting gas. The vacuum chuck is widely applied to the technical field of negative pressure chuck equipment.

Description

Technical Field

[0001] The present application relates to the technical field of negative pressure suction cup equipment, and more specifically, to a suction cup for a robot. Background Art

[0002] The manipulator handling device consists of a suction cup, a manipulator and a control system. It is widely used in the material handling process of automated production lines because of its convenient control and efficient operation. In the pharmaceutical manufacturing industry, the manipulator handling device is mainly used for palletizing and handling boxes of medicines. Its working principle is to use the vacuum pipe to draw air to form a negative pressure area inside the suction cup. The external atmospheric pressure makes the suction cup firmly adsorbed on the surface of the medicine packaging box, so that the manipulator can stably grasp and carry the medicine packaging box to the designated location.

[0003] In the prior art, the vacuum pipe of the manipulator handling device is usually a straight pipe, which is directly connected to the suction cup, generating stress on the suction cup. The stress is concentrated at the connection on the surface of the suction cup and is unevenly distributed, resulting in material fatigue at the connection. Excessive stress may also cause material deformation at the connection between the vacuum pipe and the suction cup. Under the action of stress, the durability of the vacuum pipe is reduced and it is prone to wear and rupture. The vacuum pipe needs to be replaced frequently to avoid air leakage at the connection to ensure the stability of the negative pressure adsorption of the suction cup. The maintenance cost is high and it seriously affects the efficiency of the packaging box handling operation. In addition, the stress at the connection on the surface of the suction cup and the angle at which the straight vacuum pipe is connected to the suction cup restrict the range of the rotation angle of the manipulator handling device, affecting the accuracy of the grasping and placement operations.

[0004] In order to solve the above problems, there is an urgent need for a suction cup device for a robot with less stress, uniform stress distribution and a rotation angle that is not affected by the vacuum pipe. Utility Model Content

[0005] In order to solve the above existing problems, the technical solution adopted by the utility model is: to provide a suction cup for a manipulator, which solves the problems of large stress, uneven stress distribution, small rotation angle range and easy explosion of the suction pipe of the existing manipulator suction cup, and can ensure smooth air flow of the suction cup during 360° rotation and stable suction force of the suction cup, including a bottom plate assembly and a suction pipe;

[0006] The base plate assembly includes a first base plate and a second base plate, which are connected by multiple groups of elastic components. Corresponding exhaust holes are provided on the first base plate and the second base plate. One end of the exhaust hole of the first base plate is connected to the exhaust hole of the second base plate through an elastic tube, and the other end is connected to the exhaust pipe through a spring tube. The elastic tube and the spring tube are used to transmit gas.

[0007] Preferably, a circular suction nozzle is provided at the connection between the spring tube and the first bottom plate.

[0008] Preferably, the diameter of the circular suction nozzle gradually increases in a direction approaching the first bottom plate.

[0009] Preferably, the spring tube and the circular suction nozzle are integrally connected.

[0010] Preferably, the elastic components are symmetrically and evenly distributed around the elastic tube.

[0011] Preferably, there are multiple air extraction holes on the first bottom plate and the second bottom plate, and the air extraction holes on the first bottom plate are all located inside the circular suction nozzle.

[0012] Preferably, there are three air extraction holes on the first bottom plate, and they are distributed in a regular triangle.

[0013] Preferably, the vacuum pipe is connected to a vacuum pump, and the base plate assembly is installed at the bottom of the manipulator.

[0014] The beneficial effects of the utility model are as follows: the exhaust pipe is connected to the first base plate through the spring tube, and the direction of the stress on the first base plate changes with the expansion and contraction and vibration of the spring tube itself. The stress at the connection between the first base plate and the spring tube is dispersed and not concentrated in the fixed area, thereby avoiding material fatigue and improving the durability of the spring tube and the exhaust pipe; the connection angle between the spring tube and the first base plate is constantly changing, which reduces the restriction on the rotation angle of the base plate assembly, improves the range of the rotation angle of the base plate assembly and the accuracy of the placement operation, and can ensure that the suction cup can rotate 360° smoothly during the rotation process, thereby ensuring the stability of the suction force of the suction cup; an elastic tube and multiple groups of elastic components are provided between the first base plate and the second base plate, and the stress on the first base plate is reduced by multiple elastic deformations, so that the stress distribution is uniform, with a shock-absorbing effect, avoiding material deformation at the connection between the spring tube and the first base plate, and improving the stability of the negative pressure adsorption of the base plate assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 It is a structural schematic diagram of the utility model from another angle.

[0018] Explanation of symbols in the figure: 1. First bottom plate; 2. Second bottom plate; 3. Vacuum pipe; 4. Elastic component; 5. Elastic tube; 6. Spring tube; 7. Round suction nozzle; 8. Robot arm. DETAILED DESCRIPTION

[0019] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0020] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0021] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0022] A suction cup for a robot provided in an embodiment of the present application is now described.

[0023] See also Figure 1 and Figure 2 , which is a schematic diagram of the structure of the utility model at different angles. The manipulator uses a suction cup, including a bottom plate assembly and an exhaust pipe 3. The exhaust pipe 3 is connected to a vacuum pump. The bottom plate assembly is installed at the bottom of the manipulator 8. The control program drives the bottom plate assembly to move through the manipulator 8. The packaging box is adsorbed through the cooperation of the exhaust pipe 3 and the bottom plate assembly, so that the packaging box moves with the bottom plate assembly.

[0024] The bottom plate assembly includes a first bottom plate 1 and a second bottom plate 2, which are connected by multiple groups of elastic components 4. The first bottom plate 1 and the second bottom plate 2 are provided with corresponding air extraction holes. One end of the air extraction hole of the first bottom plate 1 is connected to the air extraction hole of the second bottom plate 2 through an elastic tube 5, and the other end is connected to the air extraction pipe 3 through a spring tube 6. The elastic tube 5 and the spring tube 6 are used to transmit gas to the air extraction pipe 3. Due to the characteristics of the spring tube 6, the connection angle between the spring tube 6 and the first bottom plate 1 is constantly changing, which reduces the restriction on the rotation angle of the bottom plate assembly, improves the range of the rotation angle of the bottom plate assembly and the accuracy of the placement operation, and can ensure that the suction cup rotates 360° smoothly during the rotation process, and ensure the suction force of the suction cup is stable. The elastic tube 5 and the multiple groups of elastic components 4 between the first bottom plate 1 and the second bottom plate 2 reduce the stress on the bottom plate assembly through multiple elastic deformations, making the stress distribution uniform and avoiding material deformation at the connection between the spring tube 6 and the first bottom plate 1. At the same time, the multiple groups of elastic components 4 also have a shock-absorbing effect on the bottom plate assembly, preventing the packaging box from vibrating and shaking significantly during transportation, and improving the stability of the negative pressure adsorption of the suction cup. Specifically, the elastic component 4 can be one or more of elastic structures such as springs, rubber elastic pads, and plastic elastic pads, and the elastic tube 5 and the spring tube 6 can be made of elastic materials such as rubber, plastic, or silicone.

[0025] When in use, the control program controls the robot 8 to drive the bottom plate assembly to move to the top of the packaging box and contact the surface of the packaging box. The vacuum pump starts to work and pump air. A negative pressure area is formed inside the bottom plate assembly through the exhaust pipe 3, the spring tube 6, and the elastic tube 5. Under the action of the external atmospheric pressure, the bottom plate assembly is firmly adsorbed on the surface of the packaging box. The robot 8 senses that the adsorption is completed, and drives the bottom plate assembly and the packaging box to move to the designated position. The vacuum pump stops pumping air, and the negative pressure area in the bottom plate assembly returns to normal pressure. The packaging box falls off the bottom plate assembly and is accurately placed at the designated position to complete the transportation.

[0026] Furthermore, a circular suction nozzle 7 is provided at the connection between the spring tube 6 and the first bottom plate 1. The circular suction nozzle 7 is used to expand the contact area between the spring tube 6 and the first bottom plate 1 during vacuuming, and expand the area on the surface of the first bottom plate 1 that is acted upon by the suction force. The suction force on the surface of the first bottom plate 1 is balanced with the stress at the connection between the circular suction nozzle 7 and the first bottom plate 1, thereby reducing the stress magnitude. At the same time, the circular suction nozzle 7 expands the connection area with the first bottom plate 1, thereby avoiding stress concentration and dispersing the stress evenly.

[0027] Specifically, the diameter of the circular suction nozzle 7 gradually increases in a direction approaching the first bottom plate 1 to reduce the force acting on the spring tube 6 and improve the durability of the spring tube 6 .

[0028] Specifically, the spring tube 6 and the circular suction nozzle 7 are integrally connected to ensure the air tightness of the device and improve the suction effect and efficiency of the vacuum pump.

[0029] Furthermore, the elastic components 4 are symmetrically and evenly distributed around the elastic tube 5 to avoid stress concentration in the bottom plate assembly and to evenly disperse the stress.

[0030] Furthermore, there are multiple air extraction holes on the first bottom plate 1 and the second bottom plate 2, and the air extraction holes on the first bottom plate 1 are all located inside the circular suction nozzle 7, so that the stress on the bottom plate assembly is kept within an appropriate range, and at the same time, the adsorption efficiency of the bottom plate assembly is improved. In one embodiment, there are three air extraction holes on the first bottom plate 1, and they are distributed in a regular triangle to improve the efficiency and stability of negative pressure adsorption of the bottom plate assembly.

[0031] The method of using the utility model is as follows: when in use, the control program controls the manipulator 8 to drive the bottom plate assembly to move and contact with the surface of the packaging box, the vacuum pump starts to evacuate air through the exhaust pipe 3, the bottom plate assembly is firmly adsorbed on the surface of the packaging box, the manipulator 8 senses that the adsorption is completed, and drives the bottom plate assembly and the packaging box to move to the specified position, the vacuum pump stops evacuating air, the packaging box is placed at the specified position, and the transportation is completed.

[0032] In the utility model, the exhaust pipe 3 is connected to the first bottom plate 1 through the spring tube 6. The direction of the stress on the first bottom plate 1 is constantly changed with the expansion and contraction and vibration of the spring tube 6. The stress at the connection between the first bottom plate 1 and the spring tube 6 is dispersed and not concentrated in the fixed area, avoiding material fatigue and improving the durability of the spring tube 6 and the exhaust pipe 3; the connection angle between the spring tube 6 and the first bottom plate 1 is constantly changing, reducing the restriction on the rotation angle of the bottom plate assembly, improving the range of the rotation angle of the bottom plate assembly and the accuracy of the placement operation, and ensuring that the suction cup can rotate 360° smoothly during the rotation process, ensuring the suction force of the suction cup is stable; an elastic tube 5 and multiple groups of elastic components 4 are provided between the first bottom plate 1 and the second bottom plate 2, and the stress on the first bottom plate is reduced by multiple elastic deformations, so that the stress distribution is uniform, avoiding material deformation at the connection between the spring tube 6 and the first bottom plate 1, and improving the stability of the negative pressure adsorption of the bottom plate assembly. The circular suction nozzle 7 expands the area on the surface of the first bottom plate 1 that is acted upon by the suction force, so that the stress is balanced, the stress is reduced, the stress concentration is avoided, and the stress is evenly dispersed.

[0033] The above-mentioned specific implementation methods do not cover the entire protection scope of the utility model. Modifications or equivalent replacements of the utility model should all fall within the patent coverage requirements of the utility model. In the utility model, the above-mentioned embodiments are only used to illustrate the technical solution of the present application, rather than to limit it; although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above-mentioned embodiments, or replace some of the technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A suction cup for a robot, comprising a base plate assembly and an air extraction pipe (3); characterized in that: The base plate assembly comprises a first base plate (1) and a second base plate (2), the first base plate (1) and the second base plate (2) being connected via a plurality of sets of elastic components (4), the first base plate (1) and the second base plate (2) being provided with corresponding air extraction holes, one end of the air extraction hole of the first base plate (1) being connected to the air extraction hole of the second base plate (2) via an elastic tube (5), and the other end being connected to the air extraction tube (3) via a spring tube (6), the elastic tube (5) and the spring tube (6) being used for transmitting gas.

2. A suction cup for a robot according to claim 1, characterized in that: A circular suction nozzle (7) is provided at the connection between the spring tube (6) and the first bottom plate (1).

3. A suction cup for a robot according to claim 2, characterized in that: The diameter of the circular suction nozzle (7) gradually increases in a direction approaching the first bottom plate (1).

4. A suction cup for a robot according to claim 2, characterized in that: The spring tube (6) and the circular suction nozzle (7) are integrally connected.

5. A robot suction cup as claimed in claim 1, characterized in that: The elastic components (4) are symmetrically and evenly distributed around the elastic tube (5).

6. A robot suction cup as claimed in claim 2, characterized in that: There are a plurality of air extraction holes on the first bottom plate (1) and the second bottom plate (2), and the air extraction holes on the first bottom plate (1) are all located inside the circular suction nozzle (7).

7. A suction cup for a robot according to claim 6, characterized in that: The number of the air extraction holes on the first bottom plate (1) is three and they are distributed in the form of a regular triangle.

8. A robot suction cup according to any one of claims 1 to 7, characterized in that: The air extraction pipe (3) is connected to a vacuum pump, and the base plate assembly is installed at the bottom of the manipulator (8).

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