A vacuum suction device for industrial robots

Abstract

The present invention provides a vacuum suction device for an industrial robot, comprising a fixed plate, a positioning block is fixed on the fixed plate, a positioning rod is provided on one side of the positioning block, a hollow channel is provided in the positioning rod, and a vacuum joint is provided in the hollow channel; a vacuum main channel is provided in the fixed plate, the vacuum main channel is connected with n first longitudinal channels, and n adsorption arm assemblies are movably connected under the fixed plate; the adsorption arm assembly comprises a movable arm and a third screw, the movable arm is provided with a second longitudinal channel and a locking screw hole, the second longitudinal channel is connected under the first longitudinal channel, the third screw is connected in the locking screw hole, the radius of the first longitudinal channel and the second longitudinal channel are both greater than the radius of the threaded section of the third screw, one side of the second longitudinal channel is connected with a vacuum transverse channel, the bottom of the vacuum transverse channel is connected with m third longitudinal channels, and the bottom of the third longitudinal channel is connected with a vacuum suction cup. The present invention can form different grabbing spans by adjusting the movable arm, and has strong versatility.

Description

Technical Field

[0001] The invention relates to a suction device, and in particular discloses a vacuum suction device used for an industrial robot. Background Art

[0002] An industrial robot refers to a multi-joint manipulator or multi-degree-of-freedom robot for the industrial field, which is mainly used for handling, loading and unloading and other operations. The manipulator is a type of industrial robot.

[0003] The end of an industrial robot is usually connected to a gripping device, one of which is a vacuum suction device. The vacuum suction device in the prior art mainly includes a fixed plate and a plurality of vacuum suction cups. A plurality of vacuum channels are arranged inside the fixed plate. The ends of the vacuum channels are connected to the vacuum suction cups. Vacuuming the vacuum channels can form a negative pressure on the vacuum suction cups, thereby achieving adsorption and positioning of the target object. However, this vacuum suction device can only be applied to targets of a small size range, and has a small scope of application. Summary of the invention

[0004] Based on this, it is necessary to provide a vacuum suction device for an industrial robot to address the existing technical problems, which can adjust the position of each vacuum suction cup to adapt to targets of different sizes and has strong versatility.

[0005] To solve the problems of the prior art, the present invention discloses a vacuum suction device for an industrial robot, comprising a fixing plate, a positioning block is fixed on the fixing plate, a clamping plate is connected to one side of the positioning block by a first screw, a first semicircular groove is provided on the side of the positioning block close to the clamping plate, a second semicircular groove is provided on the side of the clamping plate close to the positioning block, a positioning rod is provided between the first semicircular groove and the second semicircular groove, a clamping groove intersecting with the second semicircular groove is provided on the side of the clamping plate away from the positioning block, a clamping plate is connected in the clamping groove by a second screw, a clamping notch is provided on the side of the positioning rod, the clamping plate is clamped in the clamping notch, a hollow channel is provided in the positioning rod, and a vacuum joint is provided in the hollow channel;

[0006] A vacuum main channel connected to the vacuum joint is provided in the fixed plate, the vacuum main channel is connected to n first longitudinal channels, n is an integer greater than 1, and n adsorption arm assemblies are movably connected under the fixed plate;

[0007] The adsorption arm assembly includes a movable arm and a third screw. One end of the movable arm is provided with a second longitudinal channel and a locking screw hole which are coaxially connected. The second longitudinal channel is connected under the first longitudinal channel. The third screw passes through the first longitudinal channel and the second longitudinal channel in sequence and is threadedly connected to the locking screw hole. The radii of the first longitudinal channel and the second longitudinal channel are both larger than the radius of the threaded section of the third screw. A vacuum transverse channel is connected to one side of the second longitudinal channel. The bottom of the vacuum transverse channel is connected to m third longitudinal channels, where m is an integer greater than 1. A vacuum suction cup is connected to the bottom of the third longitudinal channel.

[0008] Furthermore, n is greater than 2, the fixed plate is a regular polygon with n sides, the side length of the fixed plate is L, the length and width of the movable arm are p and q respectively, L=p+q, and each first longitudinal channel is located at each corner of the fixed plate.

[0009] Furthermore, a vacuum branch channel is connected between each first longitudinal channel and the vacuum main channel.

[0010] Furthermore, the main vacuum channel passes through the two end surfaces of the fixed plate, the vacuum branch channel passes through the side surface of the fixed plate, the vacuum transverse channel passes through the two end surfaces of the movable arm, the locking screw hole passes through the bottom surface of the movable arm, both ends of the main vacuum channel are connected to a first plug, one end of the vacuum branch channel is connected to a second plug, the bottom end of the locking screw hole is connected to a third plug, and both ends of the vacuum transverse channel are connected to a fourth plug.

[0011] Furthermore, the vacuum joint is a high-speed rotary joint.

[0012] Furthermore, a gasket is provided between the screw head of the third screw and the fixing plate.

[0013] Furthermore, a first sealing ring is provided between the gasket and the fixing plate.

[0014] Furthermore, a boss is integrally formed at one end of the top of the movable arm, the second longitudinal channel passes through the boss, and the top surface of the boss is attached to the bottom surface of the fixed plate.

[0015] Furthermore, a second sealing ring is connected between the boss and the fixing plate.

[0016] Furthermore, a limiting groove with a depth of d is provided on the top surface of the boss, the second sealing ring is located in the limiting groove, and the thickness of the second sealing ring is D, where D>d.

[0017] The beneficial effects of the present invention are as follows: the present invention discloses a vacuum suction device for an industrial robot, wherein a plurality of adjustable suction arm assemblies are arranged at the bottom of a fixed plate, and the position of each vacuum suction cup can be adjusted by adjusting the position of a movable arm, so that the vacuum suction device can form different grasping spans, so that the suction device can better match the size and shape of the target object, thereby effectively improving the stability of the grasping action, having strong versatility, and having a stable and firm overall structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the decomposition structure of the present invention.

[0020] Figure 3 It is a schematic diagram of the top structure of the present invention.

[0021] Figure 4 For the present invention Figure 3 Schematic diagram of the cross-sectional structure along the line A-A'.

[0022] Figure 5 For the present invention Figure 3 Schematic diagram of the cross-sectional structure of B-B'.

[0023] Figure 6 For the present invention Figure 5 Schematic diagram of the enlarged structure of C in the figure.

[0024] Figure 7 It is a schematic structural diagram of a three-arm embodiment of the present invention.

[0025] Figure 8 It is a schematic structural diagram of a four-arm embodiment of the present invention.

[0026] The accompanying drawings are marked as follows: fixed plate 10, vacuum main channel 11, first plug 111, first longitudinal channel 12, vacuum branch channel 13, second plug 131, positioning block 20, first semicircular groove 21, positioning rod 22, positioning notch 221, hollow channel 222, vacuum joint 23, clamping plate 30, first screw 301, second semicircular groove 31, positioning groove 32, positioning plate 33, second screw 331, adsorption arm assembly 40, movable arm 41, third screw 42, gasket 421, first sealing ring 422, second longitudinal channel 43, locking screw hole 44, third plug 441, vacuum transverse channel 45, fourth plug 451, third longitudinal channel 46, vacuum suction cup 47, boss 48, limiting groove 481, second sealing ring 49. DETAILED DESCRIPTION

[0027] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0028] refer to Figures 1 to 8 .

[0029] The embodiment of the present invention discloses a vacuum suction device for an industrial robot, such as Figure 1-6As shown, it includes a fixing plate 10, a positioning block 20 is fixed on the fixing plate 10, one side of the positioning block 20 is connected to a clamping plate 30 by a first screw 301, the positioning block 20 and the clamping plate 30 are both provided with screw holes matching the first screw 301, a first semicircular groove 21 is provided on the side of the positioning block 20 close to the clamping plate 30, a second semicircular groove 31 is provided on the side of the clamping plate 30 close to the positioning block 20, a positioning rod 22 is provided between the first semicircular groove 21 and the second semicircular groove 31, the radius of the positioning rod 22 is respectively equal to the radius of the first semicircular groove 21 and the radius of the second semicircular groove 31, and a first semicircular groove 21 is provided on the side of the clamping plate 30 away from the positioning block 20. The two semicircular grooves 31 intersect a positioning groove 32, and a positioning plate 33 is connected to the positioning groove 32 through a second screw 331. The bottom of the positioning groove 32 and the positioning block are provided with screw holes matching the second screw 331. The side of the positioning rod 22 is provided with a positioning notch 221, and the positioning plate 33 is clamped in the positioning notch 221, which can effectively limit the position between the positioning rod 22, the positioning hole and the clamping plate 30, avoiding the positioning rod 22 from being offset or tilted. The clamping structure is stable and reliable. The positioning rod 22 is provided with a hollow channel 222 running through both ends, and a vacuum joint 23 is provided in the hollow channel 222, and the vacuum joint 23 is connected to the output end of the vacuum generator;

[0030] The fixed plate 10 is provided with a vacuum main channel 11 connected to the vacuum joint 23, and the vacuum main channel 11 is connected to n first longitudinal channels 12 that penetrate the upper and lower surfaces of the fixed plate 10, and the vacuum main channel 11 and the first longitudinal channels 12 are both circular through-hole structures, and n is an integer greater than 1, that is, n is at least 2, and n adsorption arm assemblies 40 are movably connected under the fixed plate 10, and the structures of the adsorption arm assemblies 40 of each group are the same;

[0031] In the same set of adsorption arm assemblies 40, the adsorption arm assemblies 40 include a movable arm 41 and a third screw 42. One end of the movable arm 41 is provided with a second longitudinal channel 43 and a locking screw hole 44 which are coaxially connected. The second longitudinal channel 43 and the locking screw hole 44 are both circular through-hole structures. The second longitudinal channel 43 is located above the locking screw hole 44. The second longitudinal channel 43 is connected to the bottom of the first longitudinal channel 12. The third screw 42 passes through the first longitudinal channel 12 and the second longitudinal channel 43 in sequence and is threadedly connected to the locking screw hole 44. The radius of the first longitudinal channel 12 and the radius of the second longitudinal channel 43 are both larger than the first longitudinal channel 12. The radius of the threaded section of the third screw 42 can ensure that the first longitudinal channel 12 and the second longitudinal channel 43 are interconnected and can flow gas. The third screw 42 is threadedly connected to the locking screw hole 44. The screw head of the third screw 42 is against the upper surface of the fixed plate 10 to avoid gas leakage. One side of the second longitudinal channel 43 is connected to a vacuum transverse channel 45 located in the movable arm 41, and the bottom of the vacuum transverse channel 45 is connected to m third longitudinal channels 46, where m is an integer greater than 1, that is, m is at least 2, and the bottom of each third longitudinal channel 46 is connected to a vacuum suction cup 47.

[0032] When the present invention is applied, the positioning rod 22 can be the output shaft of an industrial robot such as a SCARA robot. The positioning block 20 cooperates with the clamping plate 30 and the positioning plate 33 to achieve a reliable positioning connection effect for the positioning rod 22. The SCARA robot adjusts the position of the positioning block 20 by driving the output shaft. The output end of the vacuum generator is connected to the vacuum connector 23. A vacuum channel structure that is connected and sealed at all places except the entrance and exit is formed between the vacuum main channel 11, the first longitudinal channel 12, the second longitudinal channel 43, the vacuum transverse channel 45 and the third longitudinal channel 46. When the suction device is driven to the surface of the target object by the industrial robot, the vacuum generator vacuums the vacuum channel, and a negative pressure is formed in the vacuum suction cup 47 to absorb and grasp the target object. After loosening the third screw 42, the position of the movable arm 41 can be adjusted, and rotating the movable arm 41 can form different grasping spans, so that the suction device can better match the size of the target object, thereby effectively improving the stability of the grasping action, and having strong versatility.

[0033] In this embodiment, n is greater than 2, and the fixed plate 10 is a regular polygonal plate structure with n sides. The side length of the fixed plate 10 is L, and the length and width of the movable arm 41 are p and q respectively, L=p+q. Each first longitudinal channel 12 is located at each corner of the fixed plate 10, that is, the first longitudinal channel 12 is arranged close to the four corner ends of the fixed plate 10, which can make full use of the space of the fixed plate 10, thereby ensuring that when sucking a small-sized target, each movable arm 41 is folded under each edge of the fixed plate 10, reducing the area occupied by the entire suction device when each movable arm 41 is shrunk to the minimum span, thereby effectively reducing the occupied space and saving materials. Each edge of the movable arm 41 is provided with a yield chamfer to ensure smooth adjustment of the movable arm 41. When n=3, as shown in Figure 7; when n=4, as shown in Figure 7, Figure 8 As shown, there are four groups of adsorption arm assemblies 40 . Figure 1-6 In the two-arm structure when n=2, the fixing plate 10 is rectangular.

[0034] In this embodiment, a vacuum branch channel 13 is connected between each first longitudinal channel 12 and the vacuum main channel 11. The vacuum branch channel 13 is located in the fixed plate 10. The vacuum branch channel 13 can ensure that each first longitudinal channel 12 can be distributed in various corners of the fixed plate 10, thereby fully utilizing the space of the fixed plate 10.

[0035] Based on the above embodiment, the vacuum main channel 11 passes through the two end surfaces of the fixed plate 10, the vacuum branch channel 13 passes through the side of the fixed plate 10, the vacuum transverse channel 45 passes through the two end surfaces of the movable arm 41, and the locking screw hole 44 passes through the bottom surface of the movable arm 41. The drilling process is convenient, which can reduce the processing cost and improve the processing efficiency. Both ends of the vacuum main channel 11 are connected to a first plug 111, one end of the vacuum branch channel 13 is connected to a second plug 131, the second plug 131 is located at the end of the vacuum branch channel 13 passing through the fixed plate 10, the bottom end of the locking screw hole 44 is connected to a third plug 441, and both ends of the vacuum transverse channel 45 are connected to a fourth plug 451. The first plug 111, the second plug 131, the third plug 441 and the fourth plug 451 are rubber sealing plugs, which can effectively ensure the sealing of each channel.

[0036] In this embodiment, the vacuum joint 23 is a high-speed rotating joint, which ensures that the vacuum generator and its output end will not be affected when the suction device is driven.

[0037] In this embodiment, a gasket 421 is disposed between the screw head of each third screw 42 and the fixing plate 10 , and the threaded section of the third screw 42 passes through the gasket 421 , which can effectively improve the stability of the connection structure.

[0038] Based on the above embodiment, a first rubber sealing ring 422 is provided between each gasket 421 and the fixing plate 10, and the threaded section of the third screw 42 is arranged through the first sealing ring 422 to ensure the top sealing of the first longitudinal channel 12, which can effectively prevent gas leakage from the top of the first longitudinal channel 12.

[0039] In this embodiment, a boss 48 is integrally formed at one end of the top of each movable arm 41, and the second longitudinal channel 43 passes through the boss 48. The top surface of the boss 48 is attached to the bottom surface of the fixed plate 10, and the boss 48 is located below the first longitudinal channel 12. The boss 48 can effectively reduce the contact area between the movable arm 41 and the fixed plate 10, thereby effectively reducing the friction force, improving the smoothness of the movement of the movable arm 41 relative to the fixed plate 10, and reducing the wear between the components.

[0040] Based on the above embodiment, a second rubber sealing ring 49 is connected between each boss 48 and the fixing plate 10, and the third screw 42 is arranged through the second sealing ring 49, which can ensure that the connection structure between the first longitudinal channel 12 and the second longitudinal channel 43 is reliably sealed.

[0041] Based on the above embodiment, the top surface of each boss 48 is provided with a circular limiting groove 481 with a depth of d, and each second sealing ring 49 is respectively located in each limiting groove 481. The thickness of the second sealing ring 49 is D, D>d, which can effectively ensure the sealing performance of the connecting structure between the first longitudinal channel 12 and the second longitudinal channel 43.

[0042] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A vacuum suction device for an industrial robot, characterized in that: The invention comprises a fixing plate (10), a positioning block (20) being fixed on the fixing plate (10), one side of the positioning block (20) being connected to a clamping plate (30) via a first screw (301), a first semicircular groove (21) being provided on a side of the positioning block (20) close to the clamping plate (30), a second semicircular groove (31) being provided on a side of the clamping plate (30) close to the positioning block (20), a positioning rod (22) being provided between the first semicircular groove (21) and the second semicircular groove (31), A locking groove (32) intersecting with the second semicircular groove (31) is provided on the side of the clamping plate (30) away from the positioning block (20); a locking plate (33) is connected to the locking groove (32) via a second screw (331); a locking notch (221) is provided on the side of the positioning rod (22); the locking plate (33) is locked in the locking notch (221); a hollow channel (222) is provided in the positioning rod (22); a vacuum joint (23) is provided in the hollow channel (222); The fixed plate (10) is provided with a vacuum main channel (11) connected to the vacuum joint (23), the vacuum main channel (11) is connected to n first longitudinal channels (12), n is an integer greater than 1, and n adsorption arm assemblies (40) are movably connected under the fixed plate (10); The suction arm assembly (40) comprises a movable arm (41) and a third screw (42); one end of the movable arm (41) is provided with a second longitudinal channel (43) and a locking screw hole (44) which are coaxially connected; the second longitudinal channel (43) is connected to the lower part of the first longitudinal channel (12); the third screw (42) passes through the first longitudinal channel (12) and the second longitudinal channel (43) in sequence and is threadedly connected to the locking screw hole (44); the radii of the first longitudinal channel (12) and the second longitudinal channel (43) are both greater than the radius of the thread section of the third screw (42); one side of the second longitudinal channel (43) is connected to a vacuum transverse channel (45); the bottom of the vacuum transverse channel (45) is connected to m third longitudinal channels (46), where m is an integer greater than 1; the bottom of the third longitudinal channel (46) is connected to a vacuum suction cup (47); n is greater than 2, the fixed plate (10) is a regular polygon with n sides, the side length of the fixed plate (10) is L, the length and width of the movable arm (41) are p and q respectively, L=p+q, and each of the first longitudinal channels (12) is located at each corner of the fixed plate (10); A vacuum branch channel (13) is connected between each of the first longitudinal channels (12) and the vacuum main channel (11); The vacuum main channel (11) passes through the two end surfaces of the fixed plate (10), the vacuum branch channel (13) passes through the side surface of the fixed plate (10), the vacuum transverse channel (45) passes through the two end surfaces of the movable arm (41), the locking screw hole (44) passes through the bottom surface of the movable arm (41), both ends of the vacuum main channel (11) are connected to a first plug (111), one end of the vacuum branch channel (13) is connected to a second plug (131), the bottom end of the locking screw hole (44) is connected to a third plug (441), and both ends of the vacuum transverse channel (45) are connected to a fourth plug (451); A boss (48) is integrally formed at one end of the top of the movable arm (41), the second longitudinal channel (43) passes through the boss (48), and the top surface of the boss (48) is attached to the bottom surface of the fixed plate (10).

2. A vacuum suction device for an industrial robot according to claim 1, characterized in that: The vacuum joint (23) is a high-speed rotary joint.

3. A vacuum suction device for an industrial robot according to claim 1, characterized in that: A gasket (421) is provided between the screw head of the third screw (42) and the fixing plate (10).

4. A vacuum suction device for an industrial robot according to claim 3, characterized in that: A first sealing ring (422) is provided between the gasket (421) and the fixing plate (10).

5. The vacuum suction device for an industrial robot according to claim 1, characterized in that: A second sealing ring (49) is connected between the boss (48) and the fixing plate (10).

6. A vacuum suction device for an industrial robot according to claim 5, characterized in that: The top surface of the boss (48) is provided with a limiting groove (481) with a depth of d, the second sealing ring (49) is located in the limiting groove (481), and the thickness of the second sealing ring (49) is D, where D>d.

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