An automatically adaptable angle chuck clamp

Abstract

The application discloses an automatic angle-adapting suction disc clamp, which comprises a main support, a first bevel lever support and a second bevel lever support which are arranged perpendicularly to each other, a first horizontal sliding block and a second horizontal sliding block, at least two first vertical sliding blocks and at least two second vertical sliding blocks, at least four first elastic contacts, a first bevel lever and a second bevel lever which are rotatably arranged on the main support through a first rotating shaft and a second rotating shaft fixedly arranged on the main support, and at least two downwardly extending suction disc supporting legs which are symmetrically arranged on the first bevel lever and the second bevel lever with the first rotating shaft or the second rotating shaft as a symmetric center, and the lower end of each suction disc supporting leg is provided with a suction disc. The suction disc clamp can automatically adjust the angle of the suction disc to adapt to the inclination angle of a workpiece, ensure that the axial line of the suction disc is perpendicular to the workpiece during suction, and make the suction more stable.

Description

Technical Field

[0001] This invention relates to a clamp, and more particularly to a suction cup clamp. Background Technology

[0002] When industrial robots are palletizing, after placing one layer of parts, a pallet needs to be placed to receive the next layer of workpieces. Currently, pallet placement is usually achieved by the robot using vacuum suction cups. However, if there is an error in the transport vehicle carrying the pallet or the high end of the workpiece, the accumulated error over several layers can cause the pallet to be placed crookedly. Furthermore, the trajectory of the robot's vacuum suction cup gripper, with its rubber flared opening, is still vertically downwards. This results in uneven contact between the vacuum suction cup and the pallet, leading to seal leaks. This can cause serious production accidents such as pallet detachment and affect the automated operation of the equipment.

[0003] The current common solution is frequent manual correction and adjustment of the material board position, but this method consumes a lot of manpower and is inefficient. Another method is to add vision guidance technology to the robot to correct the gripping angle of the material board, but this method is costly and will cause a decrease in visual inspection accuracy when the material board is contaminated with oil, chips, dust, or when the ambient light is insufficient, resulting in inconvenience in use. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic adaptive angle suction cup clamp that can automatically adjust the suction cup angle to adapt to the workpiece according to the workpiece's tilt angle, ensuring that the suction cup's axis is perpendicular to the workpiece during the suction cup adsorption process, making the adsorption more stable, preventing the workpiece from detaching, improving operational safety, and increasing efficiency while reducing costs.

[0005] To achieve the above objectives, the present invention proposes an automatically adaptable angle suction cup clamp, comprising:

[0006] The main support includes a first inclined lever support and a second inclined lever support arranged perpendicularly to each other; the first inclined lever support includes a first horizontal bar and at least two first vertical bars, the second inclined lever support includes a second horizontal bar and at least two second vertical bars, the first horizontal bar and the second horizontal bar are respectively provided with horizontal grooves, and the first vertical bar and the second vertical bar are respectively provided with vertical grooves;

[0007] The first horizontal slider is capable of sliding along the horizontal groove on the first horizontal rod;

[0008] At least two first vertical sliders are capable of sliding along at least two first vertical rods respectively, and the contact surface between the first vertical slider and the first horizontal slider is a wedge-shaped surface;

[0009] The second horizontal slider can slide along the horizontal groove on the second horizontal rod;

[0010] At least two second vertical sliders are provided, each capable of sliding along at least two second vertical rods, and the contact surface between the second vertical slider and the second horizontal slider is a wedge-shaped surface.

[0011] At least four first elastic contacts are respectively disposed at the lower ends of each first vertical slider and second vertical slider;

[0012] The first inclined lever is rotatably mounted on the main support via a first rotating shaft fixed to the main support; the first inclined lever is provided with at least two downwardly extending suction cup feet, which are symmetrically arranged on the first inclined lever with the first rotating shaft as the center of symmetry.

[0013] The second inclined lever is rotatably mounted on the main support via a second rotating shaft fixed to the main support; the second inclined lever is provided with at least two downwardly extending suction cup feet, which are symmetrically arranged on the second inclined lever with the second rotating shaft as the center of symmetry.

[0014] Each of the first vertical sliders is provided with an outwardly extending lever, and the two ends of the first inclined lever are respectively connected to the corresponding lever; each of the second vertical sliders is provided with an outwardly extending lever, and the two ends of the second inclined lever are respectively connected to the corresponding lever.

[0015] Each suction cup foot has a corresponding suction cup at its lower end.

[0016] Furthermore, in the automatic adaptive angle suction cup clamp of the present invention, both ends of the first inclined lever and the second inclined lever are provided with waist-shaped grooves extending along their length direction, the levers pass through the corresponding waist-shaped grooves, and each lever is fitted with a corresponding retaining spring to realize the axial limiting of each lever.

[0017] Furthermore, in the automatically adaptable angle suction cup clamp of the present invention, the first elastic contact includes:

[0018] A hemisphere, the spherical surface of which is used to contact the workpiece, the hemisphere being slidably connected to a first vertical slider or a second vertical slider via a support rod;

[0019] A spring, which is sleeved around the support rod, applies an elastic force to the hemisphere.

[0020] Furthermore, in the automatic angle-adaptive suction cup clamp of the present invention, the lower ends of the first vertical slider and the second vertical slider are both provided with grooves extending along their height direction; the limiting pin passes through the grooves and is connected to the support rod.

[0021] Furthermore, the automatic angle-adaptive suction cup clamp of the present invention also includes:

[0022] The side lever has one end movably connected to the end of the first inclined lever and the other end movably connected to the end of the second inclined lever. The side lever is provided with a suction cup foot extending downward, and the lower end of the suction cup foot is provided with a suction cup.

[0023] Furthermore, in the automatic angle-adaptive suction cup clamp described in this invention, at least four edge levers are provided.

[0024] Furthermore, in the automatic adaptive angle suction cup clamp of the present invention, the ends of the first inclined lever and the second inclined lever are provided with ball heads, and the end of the side lever is provided with a spherical groove that matches the ball head. The end of the side lever is movably connected to the ends of the first inclined lever and the second inclined lever through the cooperation of the ball head and the spherical groove.

[0025] Furthermore, in the automatic adaptive angle suction cup clamp of the present invention, the side lever is also provided with an auxiliary support frame fixedly mounted across the side lever. The auxiliary support frame has at least two legs, and each leg has a second elastic contact at its lower end. The side lever is movably connected to the main bracket through an angle bisector control rod, so that the side lever can rotate around the angle bisector control rod and around its own axis.

[0026] Furthermore, in the automatic adaptive angle suction cup clamp of the present invention, one end of the angle bisector control rod is fixedly connected to the main bracket, and the other end is connected to the adapter groove on the side lever through the angle bisector ball head.

[0027] Furthermore, in the automatically adaptable angle suction cup clamp of the present invention, the second elastic contact includes:

[0028] A hemisphere, the spherical surface of which is used to contact the workpiece, the hemisphere being slidably connected to the support leg via a support rod;

[0029] A spring, which is sleeved around the support rod, applies an elastic force to the hemisphere.

[0030] The automatic angle-adaptive suction cup fixture of the present invention can automatically adjust the angle of the suction cup to adapt to the workpiece according to the tilt angle of the workpiece, ensuring that the axis of the suction cup is perpendicular to the workpiece during the suction cup adsorption process, making the adsorption more stable, preventing the workpiece from falling off, improving the safety of operation, and improving efficiency and reducing costs. Attached Figure Description

[0031] Figure 1 This diagram shows the overall structure of the automatic angle-adaptive suction cup clamp according to one embodiment of the present invention.

[0032] Figure 2 The diagram shows a schematic of the main support structure of the automatic adaptive angle suction cup clamp according to one embodiment of the present invention.

[0033] Figure 3 This diagram shows a structural schematic of the second vertical slider in one embodiment of the automatic angle-adaptive suction cup clamp described in this invention.

[0034] Figure 4 The diagram shows a partial structural schematic of the automatic angle-adaptive suction cup clamp according to one embodiment of the present invention.

[0035] Figure 5 The image shows a top view of the overall structure of the automatic angle-adaptive suction cup clamp according to one embodiment of the present invention.

[0036] Figure 6 for Figure 5 Sectional view at LL.

[0037] Figure 7 for Figure 5 Cross-sectional view at point MM.

[0038] Figure 8 This diagram shows a schematic representation of the side lever structure of the automatic adaptive angle suction cup clamp according to one embodiment of the present invention.

[0039] Figure 9 for Figure 5 Sectional view at point DD.

[0040] Figure 10 for Figure 5 Sectional view at EE.

[0041] Figure 11 The image shows a side view of the overall structure of the automatic angle-adaptive suction cup clamp according to one embodiment of the present invention.

[0042] Figure 12 for Figure 11 Sectional view at point BB.

[0043] Figure 13 for Figure 5 Sectional view at point KK.

[0044] Figure 14 The diagram shows a bottom-view overall structure of the automatic angle-adaptive suction cup clamp according to one embodiment of the present invention. Detailed Implementation

[0045] The automatic angle-adaptive suction cup clamp of the present invention will be further explained and described below with reference to the accompanying drawings and specific embodiments. However, this explanation and description do not constitute an undue limitation on the technical solution of the present invention.

[0046] Figure 1 This diagram shows the overall structure of the automatic angle-adaptive suction cup clamp according to one embodiment of the present invention.

[0047] like Figure 1 As shown, in some embodiments, the automatically adapting angle suction cup clamp may include:

[0048] The system comprises: a main support 1; a first horizontal slider 21 capable of sliding horizontally; at least two first vertical sliders 22 capable of sliding vertically, the contact surfaces of the first vertical sliders 22 and the first horizontal sliders 21 being wedge-shaped; a second horizontal slider 31 capable of sliding horizontally; at least two second vertical sliders 32 capable of sliding vertically, the contact surfaces of the second vertical sliders 32 and the second horizontal sliders 31 being wedge-shaped; at least four first elastic contacts 4 respectively disposed at the lower ends of each first vertical slider 22 and second vertical slider 32; a first inclined lever 5 rotatably mounted on the main support 1; the first inclined lever 5 having at least two downwardly extending suction cup feet 9; a second inclined lever 6 rotatably mounted on the main support 1; the second inclined lever 6 having at least two downwardly extending suction cup feet; and suction cups 91 correspondingly disposed at the lower ends of each suction cup foot 9.

[0049] Figure 2 The diagram shows a schematic of the main support structure of the automatic adaptive angle suction cup clamp according to one embodiment of the present invention.

[0050] like Figure 2 As shown, in some specific embodiments, the main support 1 may include: a first inclined lever support 11 and a second inclined lever support 12 arranged perpendicularly to each other; the first inclined lever support 11 includes a first horizontal rod 111 and at least two first vertical rods 112, the second inclined lever support 12 includes a second horizontal rod 121 and at least two second vertical rods 122, the first horizontal rod 111 and the second horizontal rod 121 are respectively provided with horizontal grooves 14, the first vertical rod 112 and the second vertical rod 122 are respectively provided with vertical grooves 15; a first rotating shaft 51 and a second rotating shaft 61 arranged perpendicularly to each other.

[0051] Figure 3 This diagram shows a structural schematic of the second vertical slider in one embodiment of the automatic angle-adaptive suction cup clamp described in this invention.

[0052] like Figure 3As shown, in some more specific embodiments, a lever 221 extending outward may be provided below the second vertical slider 32, the lever 221 being used to connect with the second inclined lever 6. A dovetail 224 may be provided on one side of the second vertical slider 32, allowing it to slide in the vertical groove 15, in which case the vertical groove 15 may be correspondingly set as a dovetail groove. A groove 222 may also be provided below the second vertical slider 32 for connecting with the first elastic contact 4.

[0053] It should be noted that the first vertical slider 22 can also be equipped with a lever 221, a dovetail 224, and a groove 222, just like the second vertical slider 32.

[0054] Figure 4 The diagram shows a partial structural schematic of the automatic angle-adaptive suction cup clamp according to one embodiment of the present invention.

[0055] Figure 5 The image shows a top view of the overall structure of the automatic angle-adaptive suction cup clamp according to one embodiment of the present invention.

[0056] Figure 6 for Figure 5 Sectional view at LL.

[0057] Figure 7 for Figure 5 Cross-sectional view at point MM.

[0058] like Figures 4 to 7 As shown, in some specific embodiments, the first horizontal slider 21 can be disposed on the first horizontal rod 111, and can slide along the horizontal groove 14 on the first horizontal rod 111; the first vertical slider 22 can be disposed on the first vertical rod 112, and can slide along the first vertical rod 112 respectively; the second horizontal slider 31 can be disposed on the second horizontal rod 121, and can slide along the horizontal groove 14 on the second horizontal rod 121; the second vertical slider can be disposed on the second vertical rod 122, and can slide along the second vertical rod 122 respectively. 2. Sliding; The first inclined lever 5 can be rotatably mounted on the main support 1 via the first rotating shaft 51 fixed on the main support 1; At least two suction cup feet 9 can be provided on the first inclined lever 5, which can be symmetrically arranged on the first inclined lever 5 with the first rotating shaft 51 as the center of symmetry; The second inclined lever 6 can be rotatably mounted on the main support 1 via the second rotating shaft 61 fixed on the main support 1; At least two suction cup feet 9 can be provided on the second inclined lever 6, which can be symmetrically arranged on the second inclined lever 6 with the second rotating shaft 61 as the center of symmetry.

[0059] In some more specific embodiments, both ends of the first inclined lever 5 and the second inclined lever 6 are provided with waist-shaped grooves 52 extending along their length direction. The levers 221 on the first vertical slider 22 and the second vertical slider 32 pass through the corresponding waist-shaped grooves 52. Each lever 221 is fitted with a corresponding snap ring 223 to achieve axial limiting of each lever 221.

[0060] Continue reading Figure 1 ,like Figure 1 As shown, in some specific embodiments, the automatic adaptive angle suction cup clamp may also include side levers 8, and at least four side levers 8 may be provided, one end of which is movably connected to the end of the first inclined side lever 5, and the other end of which is movably connected to the end of the second inclined side lever 6.

[0061] Figure 8 This diagram shows a schematic representation of the side lever structure of the automatic adaptive angle suction cup clamp according to one embodiment of the present invention.

[0062] Figure 9 for Figure 5 Sectional view at point DD.

[0063] Figure 10 for Figure 5 Sectional view at EE.

[0064] like Figures 8 to 10 As shown, in some more specific embodiments, the end of the edge lever 8 may be provided with a spherical groove 71, and correspondingly, the ends of the first inclined lever 5 and the second inclined lever 6 may be provided with ball heads 7 adapted to the spherical groove (e.g., ...). Figures 4 to 7 As shown), the end of the side lever 8 can be movably connected to the ends of the first inclined lever 5 and the second inclined lever 6 through the cooperation of the ball head 7 and the spherical groove 71. The side lever 8 can also be provided with an auxiliary support frame 81 fixedly mounted across the side lever 8. The auxiliary support frame 81 has at least two legs 811, and the lower end of each leg 811 can be provided with a leg groove 83 connected to the second elastic contact 41. Furthermore, the main support 1 can also be provided with an angle bisector control rod 13, one end of which is fixedly connected to the main support 1, and the other end of which is provided with an angle bisector ball head 131 (as shown). Figure 2 As shown, the side lever 8 can also be provided with an adapter groove 82 that matches the angle bisector ball head 131, so that the side lever 8 is movably connected to the main bracket 1 through the angle bisector control rod 13, allowing the side lever 8 to rotate both around the angle bisector control rod 13 and around its own axis. At this time, because the axial direction of the side lever 8 is restricted by the adapter groove 82, it cannot move in the axial direction. At the same time, the side lever 8 can also be provided with a downwardly extending suction cup foot 9, and the lower end of the suction cup foot is provided with a suction cup 91.

[0065] Figure 11 The image shows a side view of the overall structure of the automatic angle-adaptive suction cup clamp according to one embodiment of the present invention.

[0066] Figure 12 for Figure 11 Sectional view at point BB.

[0067] Figure 13 for Figure 5 Sectional view at point KK.

[0068] like Figures 11 to 13 As shown, in some more specific embodiments, both the first resilient contact 4 and the second resilient contact 41 may include:

[0069] A hemisphere 401, whose spherical surface is used to contact the workpiece; a support rod 403, through which the hemisphere 401 is slidably connected to the first vertical slider 22, the second vertical slider 32, or the support leg 811, the support rod 403 extending into the groove 222 of the first vertical slider 22 or the second vertical slider 32, or into the support leg groove 83 of the support leg 811; a limiting pin 404, which passes through the groove 222 or the support leg groove 83 and is connected to the support rod 403 to play a vertical limiting role; a spring 402, which is sleeved on the periphery of the support rod 403 to apply an elastic force to the hemisphere 401.

[0070] Figure 14 The diagram shows a bottom-view overall structure of the automatic angle-adaptive suction cup clamp according to one embodiment of the present invention.

[0071] In one specific embodiment, the first elastic contact 4, the second elastic contact 41, and the suction cup 91 are arranged as follows: Figure 14 As shown. In this embodiment, four first elastic contacts 4 are provided, eight second elastic contacts 41 are provided, and eight suction cups 91 are provided.

[0072] In this manner, the motion relationships of the first inclined lever 5, the second inclined lever 6, and the edge lever 8 when gripping the workpiece are as follows:

[0073] First inclined lever 5 and second inclined lever 6: The first elastic contacts 4 on both sides of the first inclined lever 5 and the second inclined lever 6 first contact the workpiece. One of the first vertical sliders 22 or the second vertical slider 32, which first contacts the workpiece, moves upward, and then, through contact with the wedge-shaped surface of the first horizontal slider 21 or the second horizontal slider 31, converts the displacement into a horizontal direction, thereby driving the other first vertical slider 22 or the second vertical slider 32 to move downward, thus bringing the first elastic contacts 4 at both ends of the first inclined lever 5 and the second inclined lever 6 to the same height. The lever 221 at the lower part of the first vertical slider 22 or the second vertical slider 32 drives the first inclined lever 5 or the second inclined lever 6 to rotate around the first rotating shaft 51 or the second rotating shaft 61, thereby ensuring that the axis of the suction cup 91 fixedly installed at both ends of the first inclined lever 5 and the second inclined lever 6 is adaptively deflected at an angle to ensure that it is perpendicular to the workpiece and improve the sealing performance of the suction cup 91.

[0074] Side lever 8: The two ends of the side lever 8 are movably connected to the two ends of the first inclined lever 5 and the second inclined lever 6 through ball heads 7. When the first elastic contacts 4 at the two ends of the first inclined lever 5 and the second inclined lever 6 are at different heights, the side lever 8 will be driven to rotate adaptively around the angle bisector control rod 13. At the same time, under the action of the second spring contacts 41 at the bottom of the auxiliary support frame 81 extending to both sides in the middle of the side lever 8, it will also rotate adaptively around its own axis, further ensuring that the suction cup 91 in the middle of the side lever 8 can adaptively tilt the inclined workpiece, thereby ensuring the sealing of the suction cup 91.

[0075] Through the above methods, the automatic angle-adaptive suction cup clamp of the present invention can ensure that the axis of the suction cup is perpendicular to the workpiece when gripping an inclined workpiece, making the suction cup adsorption more stable, preventing the workpiece from falling off, improving the safety of operation, and increasing efficiency while reducing costs.

[0076] It should be noted that the prior art portion of the protection scope of this invention is not limited to the embodiments given in this application. All prior art that does not contradict the solution of this invention, including but not limited to prior patent documents, prior publications, prior public uses, etc., can be included in the protection scope of this invention.

[0077] Furthermore, the combination of the technical features in this case is not limited to the combination methods described in the claims of this case or the combination methods described in the specific embodiments. All technical features described in this case can be freely combined or combined in any way, unless they contradict each other.

[0078] It should also be noted that the embodiments listed above are merely specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments, and similar changes or modifications made thereto are those that can be directly derived or easily conceived by those skilled in the art from the content disclosed in the present invention, and should all fall within the protection scope of the present invention.

Claims

1. An automatically adaptable angle suction cup clamp, characterized in that, include: The main support includes a first inclined lever support and a second inclined lever support arranged perpendicularly to each other; the first inclined lever support includes a first horizontal bar and at least two first vertical bars, the second inclined lever support includes a second horizontal bar and at least two second vertical bars, the first horizontal bar and the second horizontal bar are respectively provided with horizontal grooves, and the first vertical bar and the second vertical bar are respectively provided with vertical grooves; The first horizontal slider is capable of sliding along the horizontal groove on the first horizontal rod; At least two first vertical sliders are capable of sliding along at least two first vertical rods respectively, and the contact surface between the first vertical slider and the first horizontal slider is a wedge-shaped surface; The second horizontal slider can slide along the horizontal groove on the second horizontal rod; At least two second vertical sliders, each capable of sliding along at least two second vertical rods, wherein the contact surface between the second vertical slider and the second horizontal slider is a wedge-shaped surface; At least four first elastic contacts are respectively disposed at the lower ends of each first vertical slider and second vertical slider; The first inclined lever is rotatably mounted on the main support via a first rotating shaft fixed to the main support; the first inclined lever is provided with at least two downwardly extending suction cup feet, which are symmetrically arranged on the first inclined lever with the first rotating shaft as the center of symmetry. The second inclined lever is rotatably mounted on the main support via a second rotating shaft fixed to the main support; the second inclined lever is provided with at least two downwardly extending suction cup feet, which are symmetrically arranged on the second inclined lever with the second rotating shaft as the center of symmetry. Each of the first vertical sliders is provided with an outwardly extending lever, and the two ends of the first inclined lever are respectively connected to the corresponding lever; each of the second vertical sliders is provided with an outwardly extending lever, and the two ends of the second inclined lever are respectively connected to the corresponding lever. Each suction cup foot has a corresponding suction cup at its lower end.

2. The automatic angle-adaptive suction cup clamp as described in claim 1, characterized in that, Both ends of the first and second inclined levers are provided with waist-shaped grooves extending along their length direction. The levers pass through the corresponding waist-shaped grooves, and each lever is fitted with a retaining spring to achieve axial limiting of each lever.

3. The automatic angle-adaptive suction cup clamp as described in claim 1, characterized in that, The first resilient contact includes: A hemisphere, the spherical surface of which is used to contact the workpiece, the hemisphere being slidably connected to a first vertical slider or a second vertical slider via a support rod; A spring, which is sleeved around the support rod, applies an elastic force to the hemisphere.

4. The automatic angle-adaptive suction cup clamp as described in claim 3, characterized in that, The lower ends of the first and second vertical sliders are provided with grooves extending along their height direction; the limiting pins pass through the grooves and are connected to the support rods.

5. The automatic angle-adaptive suction cup clamp as described in any one of claims 1-4, characterized in that, It also includes: The side lever has one end movably connected to the end of the first inclined lever and the other end movably connected to the end of the second inclined lever. The side lever is provided with a suction cup foot extending downward, and the lower end of the suction cup foot is provided with a suction cup.

6. The automatic angle-adaptive suction cup clamp as described in claim 5, characterized in that, The side levers are provided with at least four.

7. The automatic angle-adaptive suction cup clamp as described in claim 5, characterized in that, The ends of the first and second inclined levers are provided with ball heads, and the ends of the side levers are provided with spherical grooves adapted to the ball heads. The ends of the side levers are movably connected to the ends of the first and second inclined levers through the cooperation of the ball heads and the spherical grooves.

8. The automatic angle-adaptive suction cup clamp as described in claim 5, characterized in that, The side lever is also provided with an auxiliary support frame that is fixedly installed across the side lever. The auxiliary support frame has at least two legs, and each leg has a second elastic contact at its lower end. The side lever is movably connected to the main bracket through an angle bisector control rod, so that the side lever can rotate around the angle bisector control rod and around its own axis.

9. The automatic angle-adaptive suction cup clamp as described in claim 8, characterized in that, One end of the angle bisector control rod is fixedly connected to the main bracket, and the other end is connected to the adapter groove on the side lever through the angle bisector ball head.

10. The automatic angle-adaptive suction cup clamp as described in claim 8, characterized in that, The second resilient contact includes: A hemisphere, the spherical surface of which is used to contact the workpiece, the hemisphere being slidably connected to the support leg via a support rod; A spring, which is sleeved around the support rod, applies an elastic force to the hemisphere.

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