Modular splicable vibration damping chuck

Abstract

The application discloses a modular and splicable damping chuck, comprising a splicable jig frame, a damping mechanism and a chuck assembly. The application can inhibit the vibration of a workpiece during carrying. Meanwhile, the damping chuck can be spliced and combined through the splicable jig frame, and can be spliced into a damping chuck with different shapes according to different structural requirements, so that the damping chuck is suitable for carrying workpieces with different structures and sizes. Compared with an existing end effector which is mainly used for a specific carrying scene, has a single structure and function and is only suitable for carrying a specific workpiece, the damping chuck has obvious advantages. The device has a simple structure and is convenient to splice, and can be used for robot carrying operation.

Description

Technical Field

[0001] This invention relates to a vibration damping suction cup, specifically a modular and assembleable vibration damping suction cup, belonging to the field of intelligent manufacturing technology. Background Technology

[0002] Material handling is a common type of operation in industrial manufacturing, especially robotic material handling, which is increasingly widely used in machine tool loading and unloading, automated assembly, and palletizing. The end effector is a key component in robotic material handling operations, and its performance largely determines the overall performance of the robotic system.

[0003] In existing technologies, the paper "Design and Research of LCD Glass Substrate Handling Robot" (Nanjing University of Information Science and Technology, Zhang Shijie, 2023) addresses the handling of LCD glass substrates. It enhances the stability of the end effector by optimizing and improving the vacuum suction cup, reducing glass breakage and increasing yield. Furthermore, it reduces robot handling time and glass breakage through trajectory optimization. However, existing technologies may have the following problems: First, existing end effectors are mainly designed for specific handling scenarios, with limited structural functionality. They are typically only suitable for handling specific workpieces, requiring different end effectors for different workpiece types and shapes. This indicates a lack of modular, assembleable vibration-damping suction cups in existing technologies. Second, elastic vibrations are prone to occur during elastic load handling, affecting the stability of robot handling operations. Existing robot end effectors primarily function as simple handling devices, mainly for handling specific loads, lacking adaptive adjustment capabilities to dynamic load changes such as workpiece vibration. Summary of the Invention

[0004] The purpose of this invention is to provide a simple, modular, and assembleable vibration-damping suction cup to solve at least one of the above-mentioned technical problems. It has a vibration-damping function, reduces vibration disturbance and damage to workpieces during handling, and can be assembled into handling devices of different shapes according to different structural requirements, making it suitable for handling workpieces of different structural sizes. The present invention achieves the above objectives through the following technical solution: a modular and assembleable vibration damping suction cup, wherein the vibration damping suction cup is a modular structure that can be assembled into suction cups of different shapes according to requirements; The vibration damping suction cup includes an assembly mold frame, a vibration damping mechanism, and a suction cup assembly. The vibration damping mechanism is connected to the suction cup assembly, and the suction cup assembly is located inside the assembly mold frame. Two adjacent assembly frames are joined and fixed together by locking hooks and locking grooves; there is at least one suction cup assembly; The assembly formwork includes side plates and a bottom plate; the side plates are provided with locking hooks and locking grooves, the locking hooks are located at the two sides of the side plates, the locking grooves are located near the middle of the side plates, the locking hooks and locking grooves are symmetrically distributed on the side plates, and a threaded hole is provided at the top center of the side plates; The base plate has a groove I in the center, and two mounting holes I are provided inside the groove I. Bearing through holes are provided on both sides of the groove I. Bearing housing mounting holes are provided on both sides of the bearing through holes. The bearing through holes are symmetrically distributed about the groove I, and the bearing housing mounting holes are symmetrically distributed about the bearing through holes.

[0005] As a further technical solution of the present invention: the assembly mold frame is a regular octagonal structure.

[0006] As a further technical solution of the present invention: the vibration damping mechanism includes piezoelectric ceramics and an amplification mechanism; The amplification mechanism has a symmetrical structure, with mounting base I and mounting base II at the top and bottom ends respectively. Mounting base I and mounting base II are provided with threaded holes, and piezoelectric ceramic mounting holes are provided at the left and right ends of the amplification mechanism. The piezoelectric ceramic is installed and fixed on the piezoelectric ceramic mounting holes of the amplification mechanism.

[0007] As a further technical solution of the present invention: the suction cup assembly includes a connecting plate, a suction cup push rod, and a suction cup; The connecting plate is a cross-shaped plate. The bottom surface of the connecting plate is provided with a groove II that mates with the mounting seat I of the vibration damping mechanism. The groove II is provided with a mounting hole II. The two sides of the groove II are provided with push rod through holes that mate with the suction cup push rod. The push rod through holes are symmetrically distributed about the groove II. The suction cup push rod has threads at both ends and a limiting boss at the upper end. The suction cup is fixed to the lower end of the suction cup push rod by a nut. The upper end of the suction cup push rod passes through the push rod through hole of the connecting plate until the limiting boss of the suction cup push rod contacts the connecting plate. The upper end of the suction cup push rod is then fixed to the connecting plate by a nut.

[0008] As a further technical solution of the present invention: a linear bearing is sleeved on the suction cup push rod, the inner ring of the linear bearing is engaged with the suction cup push rod, and the outer ring of the linear bearing is engaged with the bearing through hole of the assembly mold frame; the linear bearing is fixed on the base plate of the assembly mold frame through bearing seat I and bearing seat II.

[0009] As a further technical solution of the present invention: the upper end of the vibration damping mechanism is fixed to the mounting seat I on the connecting plate by bolts, and the lower end of the vibration damping mechanism is fixed to the mounting seat II on the assembly mold frame by bolts.

[0010] As a further technical solution of the present invention: the threaded hole at the top center of the upper side plate of the assembly mold frame is fixed to the connecting plate by bolts, and the connecting plate is connected to the connecting flange of the robot by bolts.

[0011] The beneficial effects of this invention are: 1) The vibration damping suction cup of the present invention is a simple modular and assembleable vibration damping suction cup that effectively integrates the assembly film frame, vibration damping mechanism, and suction cup assembly. The combination of vibration damping mechanism and suction cup assembly integrates piezoelectric ceramics and amplification mechanism, which can suppress the vibration of workpieces during handling. 2) The vibration damping suction cup of the present invention can be assembled by splicing and combining the assembly mold frame. It can be assembled into vibration damping suction cups of different shapes according to different structural requirements. It is suitable for handling workpieces of different structural sizes. Compared with the existing handling end effectors that are mainly designed for a specific handling scenario, have a single structural function, and are only suitable for specific workpieces, it has obvious advantages. It has a simple structure, is easy to assemble, and can be used for robot handling operations. Attached Figure Description

[0012] Figure 1 This is an overall structural diagram of the assembleable vibration damping suction cup of the present invention; Figure 2 This is a structural diagram of the assembly mold frame of the present invention; Figure 3 This is a structural diagram of the vibration damping mechanism of the present invention; Figure 4 This is a structural diagram of the magnified mechanism of the present invention; Figure 5 This is a structural diagram of the suction cup assembly of the present invention; Figure 6 This is a structural diagram of the connecting plate of the present invention; Figure 7 This is a structural diagram of the suction cup push rod of the present invention; Figure 8 This is a cross-sectional view of the modular vibration damping suction cup structure of the present invention; Figure 9 This is a structural diagram of the suction cup push rod assembly of the present invention; Figure 10 This is a structural diagram of the bearing housing of the present invention; Figure 11 This is a diagram of the flange mounting structure of the assembled vibration-damping suction cup robot of the present invention; Figure 12 This is one of the schematic diagrams illustrating the assembly method of the vibration damping suction cup of the present invention; Figure 13 This is a second schematic diagram illustrating the assembly method of the vibration damping suction cup of the present invention; Figure 14 This is the third schematic diagram of the assembly method of the vibration damping suction cup of the present invention; Figure 15 This is the fourth schematic diagram of the assembly method of the vibration damping suction cup of the present invention; In the picture: 100. Membrane frame assembly; 200. Vibration damping mechanism; 300. Nut; 400. Suction cup assembly; 500. Connecting plate; 501. Robot connection flange. 1001. Side panel; 1002. Bottom panel. 101. Lock hook; 102. Lock groove; 103. Groove I; 104. Threaded hole. D01, Bearing through hole; D02, Mounting hole I; D03, Bearing housing mounting hole; D05, Piezoelectric ceramic mounting hole; D06, Mounting hole II; D07, Push rod through hole. 150. Piezoelectric ceramic; 151. Amplification mechanism; 152. Mount I; 153. Mount II. 111. Connecting plate; 112. Suction cup push rod; 113. Bearing housing I; 114. Bearing housing II; 115. Suction cup; 117. Linear bearing; 118. Nut; 119. Limiting boss. 160. Groove II B01, Bolt; B02, Bolt; B03, Bolt; B04, Bolt; B05, Bolt; B06, Bolt. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] Example 1, as Figure 1 and Figure 2 As shown, the present invention is an assembled vibration-damping suction cup for object handling, which can be assembled into suction cups of different shapes as needed. The vibration-damping suction cup specifically includes an assembly frame 100, a vibration-damping mechanism 200, and a suction cup assembly 400; wherein, the vibration-damping mechanism 200 is connected to the suction cup assembly 400, the suction cup assembly 400 is located inside the assembly frame 100, and the vibration-damping mechanism 200 is mounted on the base plate 1002 of the assembly frame 100.

[0015] like Figure 1 and Figure 2 As shown, the assembly mold 100 can be spliced ​​together, and two adjacent assembly molds 100 are spliced ​​and fixed by locking hooks 101 and locking grooves 102; there can be one or more suction cup assemblies 400.

[0016] like Figure 2As shown, the assembly mold frame 100 includes a side plate 1001 and a bottom plate 1002. The side plate 1001 is provided with a locking hook 101 and a locking groove 102. The locking hook 101 is located at the two sides of the side plate 1001, and the locking groove 102 is located near the middle of the side plate 1001. The locking hook 101 and the locking groove 102 are symmetrically distributed on the side plate 1001.

[0017] like Figure 2 and Figure 11 As shown, the top center of the side plate 1001 is provided with a threaded hole 104. The threaded hole 104 is connected and fixed to the flange 500 by bolts B05. The flange 500 is connected to the robot connection flange 501 by bolts B06.

[0018] like Figure 2 , Figure 3 , Figure 4 , Figure 8 and Figure 9 As shown, a groove I103 is provided in the center of the base plate 1002. Two mounting holes ID02 are provided inside the groove I103. The bolt B01 passes through the mounting holes ID02 in the groove I103 and engages with the threaded hole D04 provided on the mounting seat II153 at the lower end of the vibration damping mechanism 200 to fix the vibration damping mechanism 200 on the base plate 1002 of the assembly mold frame 100.

[0019] like Figure 2 and Figure 8 As shown, linear bearing through holes D01 are provided on both sides of the central groove I103 of the base plate 1002 of the assembly mold frame 100. Bearing seat mounting holes D03 are provided on both sides of the bearing through holes D01. The bearing through holes D01 are symmetrically distributed about the groove I103, and the bearing seat mounting holes D03 are symmetrically distributed about the bearing through holes D01. Bearing seats I113 and bearing seats II114 fix the linear bearing 117 on the base plate 1002 of the assembly mold frame 100.

[0020] like Figure 1 and Figure 2 As shown, the assembly mold 100 has a regular octagonal structure. The assembly mold 100 is provided with corresponding locking grooves 102 and locking hooks 101. The locking grooves 102 on the inner side of the side plate 1001 of the adjacent assembly mold 100 cooperate with the locking hooks 101 on the inner side of the side plate 1001 of the assembly mold 100. The assembly mold 100 can be assembled and connected with one or more adjacent assembly molds at the same time, and can be assembled into straight lines, crosses, rectangles, etc.

[0021] like Figure 3 and Figure 4 As shown, the vibration damping mechanism 200 includes a piezoelectric ceramic 150 and an amplification mechanism 151. The piezoelectric ceramic 150 is fixed to the inside of the amplification mechanism 151 by bolts B03.

[0022] like Figure 3 , Figure 4 , Figure 8 and Figure 9 As shown, the amplification mechanism 151 has a symmetrical structure. The upper and lower ends of the amplification mechanism 151 are respectively provided with mounting base I152 and mounting base II153. The mounting base I152 and mounting base II153 are provided with threaded holes D04. The left and right ends of the amplification mechanism 151 are provided with piezoelectric ceramic mounting holes D05. The piezoelectric ceramic 150 is installed and fixed on the piezoelectric ceramic mounting holes D05 of the amplification mechanism 151.

[0023] like Figure 3 , Figure 4 , Figure 6 , Figure 8 and Figure 9 As shown, the mounting base I152 mates with the bottom groove II160 of the connecting plate 111, and the upper mounting base I152 of the vibration damping mechanism is fixed to the connecting plate 111 of the suction cup assembly 400 by bolt B02.

[0024] like Figure 2 , Figure 3 , Figure 4 , Figure 8 and Figure 9 As shown, the mounting base II153 engages with the groove I103 in the center of the base plate 1002 of the assembly mold frame 100, and the amplification mechanism 151 is fixed to the base plate 1002 of the assembly mold frame 100 by bolt B01.

[0025] like Figure 3 and Figure 4 As shown, the piezoelectric ceramic 150 is a rectangular block, and threaded holes are provided on both sides of the piezoelectric ceramic 150; piezoelectric ceramic mounting holes D05 are provided on the left and right end faces of the amplification mechanism 151.

[0026] like Figure 3 and Figure 4 As shown, the two ends of the piezoelectric ceramic 150 are in contact with the inner side of the amplification mechanism 151, and the piezoelectric ceramic 150 is fixed inside the amplification mechanism 151 by bolts B03.

[0027] During use, the piezoelectric ceramic 150 is connected to the controller via wires. The controller processes the collected vibration signals and outputs electrical signals to control the piezoelectric ceramic to work and control the up and down movement of the telescopic control amplification mechanism 151 of the piezoelectric ceramic 150, thereby achieving vibration reduction.

[0028] like Figure 5 As shown, the suction cup assembly includes a connecting plate 111, a suction cup push rod 112, and a suction cup 115; the connecting plate 111 and the upper end of the suction cup push rod 112 are fixed together by a nut 300, and the lower end of the suction cup push rod 112 and the suction cup 115 are fixed together by a nut 118.

[0029] like Figure 6 As shown, the connecting plate 111 is a cross-shaped plate. The bottom surface of the connecting plate 111 is provided with a groove II160 that mates with the mounting seat I152 of the vibration damping mechanism 200. The groove II160 is provided with a mounting hole IIID06. The two sides of the groove II160 are provided with push rod through holes D07 that mate with the suction cup push rod 112. The push rod through holes D07 are symmetrically distributed about the groove II160.

[0030] like Figure 4 , Figure 5 and Figure 6 As shown, the bottom groove II160 of the connecting plate 111 mates with the mounting base I of the amplification mechanism 151. The bolt passes through the mounting hole II106 of the connecting plate 111 and mates with the threaded hole D04 on the mounting base I152 of the amplification mechanism 151 to fix the connecting plate 111 and the amplification mechanism 151.

[0031] like Figure 5 , Figure 6 and Figure 7 As shown, the push rod through holes D07 at both ends of the connecting plate 111 are respectively engaged with the threads at the upper end of the suction cup push rod 112, and the suction cup push rod 112 is fixed to the connecting plate 111 with nuts 300.

[0032] like Figure 7 As shown, the suction cup push rod 112 has threads at both ends, and a limiting boss 119 is provided at the upper end of the suction cup push rod 112. The limiting boss 119 is used to fix the upper end of the suction cup push rod 112 and plays a limiting role.

[0033] like Figure 6 and Figure 7 As shown, the threaded portion of the upper end of the suction cup push rod 112 passes through the push rod through hole D07 of the connecting plate 111 until the limiting boss 119 of the suction cup push rod 112 contacts the connecting plate 111. The threaded portion of the upper end of the suction cup push rod 112 engages with the push rod through hole D07 and is fixed with a nut 300.

[0034] like Figure 7 As shown, the suction cup 115 is fixed to the suction cup push rod 112 by the nut 118.

[0035] like Figure 7 , Figure 8 and Figure 9 As shown, a linear bearing 117 is fitted on the suction cup push rod 112. The inner ring of the linear bearing 117 mates with the suction cup push rod 112, and the outer ring mates with the bearing through hole D01 of the assembly mold frame 100.

[0036] like Figure 2 , Figure 8 , Figure 9 and Figure 10As shown, linear bearing 117 is a standard part. The outer ring of linear bearing 117 mates with the inner side of bearing housing I 113 and bearing housing II 114. Linear bearing 117 is fixed to the base plate 1002 of assembly mold frame 100 by bolt B04 through bearing housing I 113 and bearing housing II 114.

[0037] like Figure 8 and Figure 9 As shown, the suction cup push rod 112 is assembled with the inner ring of the linear bearing 117, so that the suction cup push rod 112 can move up and down within the linear bearing 117.

[0038] like Figure 9 As shown, there are two suction cup components 400, as follows: Figure 11 As shown, when using the vibration damping suction cup, the connecting plate 500 is connected to the connecting flange 501 of the robot via bolt B06. The vibration damping suction cup can be used for robot handling operations.

[0039] The vibration damping suction cup of the present invention has a modular structure and can be assembled into suction cups of different shapes as needed by assembling the assembly mold 100. Two adjacent assembly molds 100 are spliced ​​and fixed by locking hooks 101 and locking grooves 102. like Figure 12 As shown, a square vibration damping suction cup is assembled from four modular, assembleable vibration damping suction cups by splicing and fixing the locking hooks and locking grooves of the assembly frame.

[0040] like Figure 13 As shown, a straight-line vibration damping suction cup is assembled from five modular, assembleable vibration damping suction cups by splicing and fixing the locking hooks and locking grooves of the assembly frame.

[0041] like Figure 14 As shown, the cross-shaped vibration damping suction cup is assembled from nine modular, assembleable vibration damping suction cups by splicing and fixing the locking hooks and locking grooves of the assembly frame.

[0042] like Figure 15 As shown, a rectangular vibration damping suction cup is assembled from 12 modular, assembleable vibration damping suction cups by splicing and fixing the locking hooks and locking grooves of the assembly frame.

[0043] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0044] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A modular, assembleable vibration-damping suction cup, characterized in that: The vibration damping suction cup is a modular structure that can be assembled into suction cups of different shapes according to requirements; The vibration damping suction cup includes an assembly mold frame (100), a vibration damping mechanism (200), and a suction cup assembly (400). The vibration damping mechanism (200) is connected to the suction cup assembly (400), and the suction cup assembly (400) is located inside the assembly mold frame (100). Two adjacent assembly mold frames (100) are spliced ​​and fixed by locking hooks (101) and locking grooves (102); there is at least one suction cup assembly (400); The assembly frame (100) includes a side plate (1001) and a bottom plate (1002); the side plate (1001) is provided with a locking hook (101) and a locking groove (102). The locking hook (101) is located at the two sides of the side plate (1001), and the locking groove (102) is located near the middle of the side plate (1001). The locking hook (101) and the locking groove (102) are symmetrically distributed on the side plate (1001), and a threaded hole is provided at the top center of the side plate (1001). The base plate (1002) has a groove I (103) in the center. The groove I (103) has two mounting holes I (D02) inside. The groove I (103) has bearing through holes (D01) on both sides. The bearing through holes (D01) have bearing seat mounting holes (D03) on both sides. The bearing through holes (D01) are symmetrically distributed about the groove I (103), and the bearing seat mounting holes (D03) are symmetrically distributed about the bearing through holes (D01). The vibration damping mechanism (200) includes a piezoelectric ceramic (150) and an amplification mechanism (151); The amplification mechanism (151) is a symmetrical structure. Mounting base I (152) and mounting base II (153) are respectively provided at the upper and lower ends of the amplification mechanism (151). Threaded holes are provided on mounting base I (152) and mounting base II (153). Piezoelectric ceramic mounting holes (D05) are provided at the left and right ends of the amplification mechanism (151). Piezoelectric ceramic (150) is installed and fixed on the piezoelectric ceramic mounting holes (D05) of the amplification mechanism (151). The suction cup assembly (400) includes a connecting plate (111), a suction cup push rod (112), and a suction cup (115). The connecting plate (111) is a cross-shaped plate. The bottom surface of the connecting plate (111) is provided with a groove II (160) that cooperates with the mounting seat I (152) of the vibration damping mechanism (200). The groove II (160) is provided with a mounting hole II (D06). The two sides of the groove II (160) are provided with push rod through holes (D07) that cooperate with the suction cup push rod (112). The push rod through holes (D07) are symmetrically distributed about the groove II (160). The suction cup push rod (112) has threads at both ends and a limiting boss (119) at the upper end. The suction cup (115) is fixed to the lower end of the suction cup push rod (112) by a nut. The upper end of the suction cup push rod (112) passes through the push rod through hole (D07) of the connecting plate (111) until the limiting boss (119) of the suction cup push rod (112) contacts the connecting plate (111). The upper end of the suction cup push rod (112) is fixed to the connecting plate (111) by a nut.

2. The vibration damping suction cup according to claim 1, characterized in that: The assembly frame (100) is a regular octagonal structure.

3. The vibration-damping suction cup according to claim 1, characterized in that: A linear bearing (117) is fitted on the suction cup push rod (112). The inner ring of the linear bearing (117) is engaged with the suction cup push rod (112), and the outer ring of the linear bearing (117) is engaged with the bearing through hole (D01) of the assembly mold frame (100). The linear bearing (117) is fixed on the base plate (1002) of the assembly mold frame (100) through bearing seat I (113) and bearing seat II (114).

4. The vibration-damping suction cup according to claim 1, characterized in that: The upper end of the vibration damping mechanism (200) is fixed to the mounting seat I (152) on the connecting plate (111) by bolts, and the lower end of the vibration damping mechanism (200) is fixed to the mounting seat II (153) on the assembly mold frame (100) by bolts.

5. The vibration-damping suction cup according to claim 1 or 4, characterized in that: The threaded hole at the top center of the upper side plate (1001) of the assembly mold frame (100) is fixed to the connecting plate (500) by bolts, and the connecting plate (500) is connected to the connecting flange (501) of the robot by bolts.

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