A flexible arm material gripping device

Abstract

This utility model relates to the field of automation technology, and in particular to a flexible arm material gripping device. During boxing and packaging, flexible arms and suction cups are typically used to grip materials. However, due to the depth of the box, to prevent the gripping device from hitting the box, the material is often thrown from a height to the bottom, which can easily damage the product. Furthermore, the haphazard arrangement of materials during gripping leads to poor packing results. This flexible arm material gripping device includes a cylinder, with a mounting plate fixed to the telescopic end of the cylinder. Extension plates are slidably connected to both sides of the mounting plate, and suction cups are mounted on the extension plates, each with an air tube. During the material gripping process, a vision module scans the material's placement during adsorption. The vision module then controls the rotor of a rotating slip ring to rotate, aligning the material.

Description

Technical Field

[0001] This utility model belongs to the field of automation technology, and more specifically, it relates to a flexible arm material gripping device. Background Technology

[0002] When food products leave the factory, materials need to be boxed and packaged. Flexible arms and suction cups are usually used to grab the materials during the boxing and packaging process. When the flexible arm grabs and releases the materials, due to the depth of the box, in order to prevent the grabbing device from hitting the box, the materials are usually thrown from a height to the bottom of the box, which can easily lead to product damage. In addition, because the materials are placed in a messy manner when grabbing them, the boxing effect is not good.

[0003] Therefore, in view of this, we have studied and improved the existing structure and its shortcomings, and provided a flexible arm material gripping device in order to achieve a more practical value. Utility Model Content

[0004] To overcome the shortcomings, the technical problem of this utility model is to provide a flexible arm material gripping device that can straighten the material, making the material more neatly arranged when loaded into the box, and can reduce the placement distance of the material when it is placed upright, preventing the product from being thrown from a height and causing damage, thus ensuring the integrity of the product.

[0005] The technical implementation scheme of this utility model is as follows: a flexible arm material gripping device includes a cylinder, an installation plate fixedly connected to the telescopic end of the cylinder, extension plates slidably connected to both sides of the installation plate, suction cups provided on the extension plates, air pipes provided on the suction cups, a diverter head connected between the air pipes on two adjacent suction cups, the diverter head being connected to the input end of the suction pump through a pipe, a rotating slip ring provided at the top of the cylinder, the cylinder being connected to the flexible arm connector through the rotating slip ring, and a vision module provided on one side of the cylinder.

[0006] Optionally, the suction cup is provided with a threaded joint and a nut is connected by the thread. Two slide grooves are opened on the two extension plates respectively, and suction cups are connected to the four slide grooves respectively. The suction cups are clamped on the slide grooves by the nuts respectively.

[0007] Optionally, the bottom of the mounting plate is longitudinally rotatably connected to a first bidirectional lead screw, and the two extension plates are threadedly connected to the first bidirectional lead screw via threaded sleeves. The bottom of one of the extension plates is laterally rotatably connected to a second bidirectional lead screw, and the two suction cups on the same extension plate are threadedly connected to the second bidirectional lead screw via threaded sleeves. The two suction cups connected to the second bidirectional lead screw are respectively fixed with sleeves, and the other two suction cups are respectively fixed with fixing rods. The two sleeves are respectively sleeved with the two fixing rods.

[0008] Optionally, the rotary slip ring consists of a stator and a rotor. The top of the stator is fixedly connected to the bottom of the flexible arm joint, and the bottom of the rotor is fixedly connected to the top of the cylinder. Both the stator and the rotor are equipped with joints, which are connected to the air pump through pipes.

[0009] Optionally, one end of the first bidirectional lead screw and the second bidirectional lead screw are respectively provided with a hexagonal hole.

[0010] Optionally, the vision module is electrically connected to a controller on the flexible arm, and the rotary slip ring is electrically connected to a controller on the flexible arm.

[0011] The present invention has the following advantages: 1. During the process of the gripping device gripping and moving the material, the vision module will scan the placement state of the material during adsorption. The vision module will cause the controller to control the rotor of the rotating slip ring to rotate, so that the material is straightened and placed more neatly when it is loaded into the box. When the gripping device moves to the top of the box, the telescopic end of the cylinder will extend to reduce the placement distance of the material, prevent the product from falling from a height and causing damage, and ensure the integrity of the product.

[0012] 2. The longitudinal and lateral spacing between the suction cups can be adjusted by rotating the first and second bidirectional lead screws to improve the adaptability of the gripping device. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a flexible arm material gripping device according to the present invention.

[0014] Figure 2 This is a rear view of a flexible arm material gripping device according to this utility model.

[0015] Figure 3 This is a bottom schematic diagram of a flexible arm material gripping device according to this utility model.

[0016] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0017] 1. Cylinder; 2. Mounting plate; 3. Extension plate; 30. Slide groove; 4. First double-acting lead screw; 5. Suction cup; 61. Sleeve; 62. Fixing rod; 7. Second double-acting lead screw; 8. Air pipe; 9. Diverter head; 10. Rotary slip ring; 11. Flexible arm connector; 12. Vision module. Detailed Implementation

[0018] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0019] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0021] Example:

[0022] As attached Figure 1 To be continued Figure 3 As shown:

[0023] A flexible arm material gripping device, such as Figures 1-3 As shown, the device includes a cylinder 1, a mounting plate 2 fixedly connected to the telescopic end of the cylinder 1, extension plates 3 slidably connected to both sides of the mounting plate 2, suction cups 5 provided on the extension plates 3, air pipes 8 provided on the suction cups 5, and a diverter head 9 connected between the air pipes 8 on two adjacent suction cups 5. The diverter head 9 is connected to the input end of the suction pump through a pipe. A rotating slip ring 10 is provided on the top of the cylinder 1. The rotating slip ring 10 is composed of a stator and a rotor. The top of the stator is fixedly connected to the bottom of the flexible arm joint 11, and the bottom of the rotor is fixedly connected to the top of the cylinder 1. Both the stator and the rotor are provided with joints, which are connected to the air pump through pipes for use in adjusting the material placement angle.

[0024] The cylinder 1 is connected to the flexible arm joint 11 via the rotating slip ring 10. A vision module 12 is provided on one side of the cylinder 1. The vision module 12 is electrically connected to the controller on the flexible arm. The rotating slip ring 10 is electrically connected to the controller on the flexible arm. The vision module 12 is used to send signals, the controller receives signals, and the controller controls the rotor of the rotating slip ring 10 to rotate.

[0025] The suction cup 5 is provided with a threaded joint and is connected to a nut by a thread. Two slide grooves 30 are opened on the two extension plates 3 respectively, and the suction cup 5 is connected to the four slide grooves 30 respectively. The suction cup 5 is clamped on the slide groove 30 by the nuts respectively.

[0026] The bottom of the mounting plate 2 is longitudinally rotatably connected to a first bidirectional lead screw 4. Both extension plates 3 are threadedly connected to the first bidirectional lead screw 4 via threaded sleeves. The bottom of one of the extension plates 3 is laterally rotatably connected to a second bidirectional lead screw 7. Both suction cups 5 on the same extension plate 3 are threadedly connected to the second bidirectional lead screw 7 via threaded sleeves. Sleeves 61 are fixedly connected to the two suction cups 5 connected to the second bidirectional lead screw 7, and fixing rods 62 are fixedly connected to the other two suction cups 5. The two sleeves 61 are respectively sleeved to the two fixing rods 62. One end of the first bidirectional lead screw 4 and the second bidirectional lead screw 7 is respectively opened with a hexagonal hole.

[0027] When the flexible arm controls the gripping device to grasp materials, the flexible arm first drives the suction cups 5 of the gripping device to contact the materials. The air pump controls the suction cups 5 to adsorb the materials. The flexible arm moves the materials into the box through the gripping device and places them there. During the process of the gripping device grasping and moving the materials, the vision module 12 scans the placement state of the materials during adsorption. The vision module 12 sends a signal, which is received by the controller. The controller controls the rotor of the rotating slip ring 10 to rotate, straightening the materials and making them more neatly placed when loaded into the box. When the gripping device moves to the top of the box, the telescopic end of the cylinder 1 extends to reduce the placement distance of the materials, preventing the products from falling from a height and ensuring product integrity. When dealing with materials of different sizes, the longitudinal spacing between the suction cups 5 can be adjusted by using a hex wrench to rotate the first bidirectional screw 4, and the lateral spacing between the suction cups 5 can be adjusted by loosening the suction cups 5 and rotating the second bidirectional screw 7, thereby improving the adaptability of the gripping device.

[0028] The embodiments of this utility model are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the utility model to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical applications of this utility model, and to enable those skilled in the art to understand this utility model and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A flexible arm material gripping device, characterized by: It includes a cylinder (1), a mounting plate (2) is fixedly connected to the telescopic end of the cylinder (1), an extension plate (3) is slidably connected to both sides of the mounting plate (2), a suction cup (5) is provided on the extension plate (3), an air pipe (8) is provided on the suction cup (5), a split head (9) is connected between the air pipes (8) on two adjacent suction cups (5), the split head (9) is connected to the input end of the suction pump through a pipe, a rotating slip ring (10) is provided on the top of the cylinder (1), the cylinder (1) is connected to the flexible arm joint (11) through the rotating slip ring (10), and a vision module (12) is provided on one side of the cylinder (1).

2. A flexible arm material gripping device according to claim 1, characterised in that: The suction cup (5) is provided with a threaded joint and is connected to a nut by a thread. Two slide grooves (30) are opened on the two extension plates (3) respectively. The four slide grooves (30) are respectively connected to the suction cups (5). The suction cups (5) are clamped on the slide grooves (30) by nuts respectively.

3. A flexible arm material gripping device according to claim 2, characterized in that: The bottom of the mounting plate (2) is longitudinally rotatably connected to a first bidirectional lead screw (4). The two extension plates (3) are threadedly connected to the first bidirectional lead screw (4) through threaded sleeves. The bottom of one of the extension plates (3) is laterally rotatably connected to a second bidirectional lead screw (7). The two suction cups (5) on the same extension plate (3) are threadedly connected to the second bidirectional lead screw (7) through threaded sleeves. The two suction cups (5) connected to the second bidirectional lead screw (7) are respectively fixed with sleeves (61). The other two suction cups (5) are respectively fixed with fixing rods (62). The two sleeves (61) are respectively sleeved with the two fixing rods (62).

4. A flexible arm material gripping device according to claim 3, wherein: The rotating slip ring (10) consists of a stator and a rotor. The top of the stator is fixed to the bottom of the flexible arm joint (11), and the bottom of the rotor is fixed to the top of the cylinder (1). Both the stator and the rotor are equipped with joints and are connected to the air pump through pipes.

5. A flexible arm material gripping device according to claim 4, characterized in that: The first bidirectional lead screw (4) and the second bidirectional lead screw (7) each have a hexagonal hole at one end.

6. A flexible arm material gripping device according to claim 5, characterized in that: The vision module (12) is electrically connected to the controller on the flexible arm, and the rotating slip ring (10) is electrically connected to the controller on the flexible arm.

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