Adjustable suction cup clamp

Abstract

The present invention discloses an adjustable suction cup fixture, which belongs to the field of mechanical automation technology, and includes: a mounting flange, a first support plate, a second support plate, a variable pitch translation slide, an adsorption assembly and a clamping claw assembly. The multiple groups of suction cups of the present invention can adjust the spacing through the variable pitch translation slide, and then can absorb materials of different sizes and shapes. The swing arm claw can adjust the overall spacing through the clamping claw cylinder, and then achieve the effect of rotation and grasping through the swing motor, and can also cooperate with the adsorption assembly to grasp materials of different sizes and shapes, so that the fixture can realize the clamping of materials of different sizes and shapes as a whole, and the work is very flexible and has strong versatility.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical automation and relates to an adjustable suction cup clamp. Background Art

[0002] Depending on the object being gripped, the grippers used by the end-arm to perform gripping are usually different and may even require special designs to meet the needs.

[0003] In order to meet the needs of special working conditions, relevant companies have designed a composite gripper for grabbing and sucking. For example, a Chinese patent with application number 202322686044.1 discloses a composite gripper for grabbing bagged silicon materials, including a fixed support system, a lifting and grabbing system, a peripheral clamping system, and an pearl cotton suction system. The lifting and grabbing system is embedded in the bottom of the fixed support system, the peripheral clamping system is arranged around the fixed support system, and the pearl cotton suction system is embedded in the bottom of the fixed support system.

[0004] However, this type of composite gripper has poor versatility and can only be used for materials of specific sizes and shapes. If the packaging size of the material is changed or the production line is adjusted, this type of composite gripper is difficult to continue to be used. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems in the prior art and to provide an adjustable suction cup clamp which can be suitable for clamping objects of different sizes and shapes.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] An adjustable suction cup clamp, comprising:

[0008] Mounting flange;

[0009] A first support plate, which is connected to the mounting flange through a plurality of first pillars, and a first mounting space is formed between the mounting flange and the first support plate;

[0010] A second support plate, which is connected to the first support plate through a plurality of second pillars, and a second installation space is formed between the second support plate and the first support plate;

[0011] A variable pitch translation slide, comprising a base, a spindle, a sliding block, a slide rail and a driving motor, wherein the spindle and the slide rail are parallelly mounted on the base, a plurality of curved rails are arranged on the outer wall of the spindle, a plurality of sliding blocks are slidably mounted on the slide rails and are respectively connected to the spindle through the curved rails, the driving motor is transmission-connected to the spindle, and when the spindle rotates, the plurality of sliding blocks are driven to translate along the slide rails respectively, so that the spacing between the plurality of sliding blocks changes to open or close, the base is mounted below the first support plate and passes downward through the second support plate, and the driving motor passes upward through the first support plate and is located in the first installation space;

[0012] A suction assembly, comprising a plurality of suction cups, a plurality of connecting rods and a vacuum generator, each connecting rod being equipped with a plurality of suction cups and being installed on a sliding block of a variable pitch translation slide, an air passage being provided in the connecting rod, the air passage being connected to the corresponding plurality of suction cups at the same time, the air passage being connected to the vacuum generator through an air pipe, and the vacuum generator being installed in a first installation space above the first support plate;

[0013] The clamping jaw assembly includes a clamping jaw cylinder, a clamping jaw support plate, a swinging motor, a rotating rod, and a swing arm claw. The clamping jaw cylinder is installed in the first installation space on the first support plate. There are two clamping jaw support plates, which are respectively connected to the two ends of the clamping jaw cylinder, and each clamping jaw support plate is connected to the second support plate through a linear guide rail. A swinging motor is installed above each clamping jaw support plate, and a rotating rod is installed below each clamping jaw support plate through two supports. Two swing arm claws are fixedly installed on each rotating rod. The swinging motor is connected to the rotating rod in a transmission manner. When the swinging motor drives the rotating rod to rotate, the two swing arm claws are driven to swing.

[0014] As a further improvement of the present invention, the first support column is a retractable buffer rod.

[0015] As a further improvement of the present invention, an anti-collision rod is arranged above the first support plate, and an anti-collision block is arranged at the upper end of the anti-collision rod.

[0016] As a further improvement of the present invention, a first position sensor is arranged below the second support plate, the first position sensor corresponds to the side surface of the connecting rod, and is used to detect the position of the connecting rod when it is opened or closed with the sliding block.

[0017] As a further improvement of the present invention, a second position sensor is arranged below the clamping claw support plate, the second position sensor corresponds to the side surface of the swing arm claw, and is used to detect the swing position of the swing arm claw.

[0018] As a further improvement of the present invention, a material detection sensor is further arranged under the second support plate, and the material detection sensor is used to detect whether there is material under the suction cup or between the swing arm claws.

[0019] As a further improvement of the present invention, a limit pin parallel to the rotating rod is arranged on the swing arm claw, and the support corresponding to the swing arm claw is provided with an arc guide angle. When the swing arm claw swings outward to the maximum position, the limit pin presses against the lower end surface of the support, and when the swing arm claw swings inward, the limit pin can move along the arc guide angle.

[0020] As a further improvement of the present invention, the swing motor is transmission-connected to the rotating rod through a pair of synchronous pulleys, and the outer diameter of the synchronous pulley at one end of the swing motor is smaller than that of the synchronous pulley at the other end of the swing motor to increase the output torque.

[0021] As a further improvement of the present invention, each suction cup is independently provided with a one-way valve.

[0022] As a further improvement of the present invention, there are multiple vacuum generators, and each vacuum generator is independently connected to an air passage of a connecting rod.

[0023] Based on the above technical solution, the embodiments of the present invention can at least produce the following technical effects:

[0024] 1. Multiple groups of suction cups can adjust the spacing through the variable-pitch translation slide, so that materials of different sizes and shapes can be sucked. The swing arm claw can adjust the overall spacing through the clamping claw cylinder, and then the swing motor can be used to achieve the effect of rotation and grasping. It can also cooperate with the adsorption component to grasp materials of different sizes and shapes, so that the clamp can realize the clamping of materials of different sizes and shapes as a whole. The work is very flexible and versatile.

[0025] 2. This fixture has a high degree of integration. When installing, it only needs to be connected to the power supply and air source to work directly. The nested assembly of multiple parts is completed through the design of the multi-layer support plate structure, making the overall structure of the fixture compact and very convenient to install and use.

[0026] 3. By using a buffer rod to connect the mounting flange, the impact on the clamped object can be reduced when the clamp is working, thereby reducing the damage rate of the product.

[0027] 4. By setting anti-collision blocks to limit the telescopic height of the buffer rod, mechanical collision between the mounting flange and the vacuum generator and drive motor can be avoided, thereby improving the safety of the clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a front perspective view of an embodiment of the present invention.

[0029] Figure 2 2 is a side perspective view of an embodiment of the present invention.

[0030] Figure 3 It is a bottom perspective view of an embodiment of the present invention.

[0031] Figure 4 It is a right side view of an embodiment of the present invention.

[0032] Figure 5 yes Figure 4 A partial enlarged view of point A in the middle.

[0033] In the figure: 100, mounting flange; 200, first support plate; 210, first pillar; 300, second support plate; 310, second pillar; 400, variable pitch translation slide; 410, base; 420, sliding block; 430, driving motor; 500, adsorption assembly; 510, suction cup; 520, connecting rod; 530, vacuum generator; 600, clamping jaw assembly; 610, clamping jaw cylinder; 620, clamping jaw support plate; 630, swing motor; 640, rotating rod; 650, swing arm claw; 651, limit pin; 660, linear guide rail; 670, support; 671, arc guide angle; 680, synchronous pulley; 700, anti-collision rod; 800, first position sensor; 900, second position sensor; 1000, material detection sensor. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0036] like Figures 1 to 5As shown, the present invention provides an adjustable suction cup clamp, which mainly includes: a mounting flange 100, a first support plate 200, a second support plate 300, a variable-pitch translation slide 400, an adsorption assembly 500 and a clamping claw assembly 600, wherein: the first support plate 200 is connected to the mounting flange 100 through four first pillars 210, and a first mounting space is formed between the mounting flange 100 and the first support plate 200; the second support plate 300 is connected to the first support plate 200 through four second pillars 310, and a second mounting space is formed between the second support plate 300 and the first support plate 200; the variable-pitch translation slide 400 includes a base 41 0, spindle, sliding block 420, slide rail and driving motor 430, the spindle and the slide rail are installed in parallel on the base 410, the outer wall of the spindle is provided with a plurality of curved rails, a plurality of sliding blocks 420 are slidably arranged on the slide rails and are respectively connected to the spindle through the curved rails, the driving motor 430 is connected to the spindle by transmission, when the spindle rotates, the plurality of slide blocks are driven to move along the slide rails respectively, so that the spacing between the plurality of slide blocks changes to open or close, the base 410 is installed below the first support plate 200 and passes through the second support plate 300 downward, the driving motor 430 passes through the first support plate 200 upward and is located in the first installation space; adsorption component 5 00 includes a plurality of suction cups 510, a plurality of connecting rods 520 and a vacuum generator 530, each connecting rod 520 is installed with a plurality of suction cups 510 and is installed on a sliding block 420 of the variable pitch translation slide 400, an air passage is provided in the connecting rod 520, and the air passage is connected to the corresponding plurality of suction cups 510 at the same time, and the air passage is connected to the vacuum generator 530 through an air pipe, and the vacuum generator 530 is installed in the first installation space above the first support plate 200; the clamping jaw assembly 600 includes a clamping jaw cylinder 610, a clamping jaw support plate 620, a swing motor 630, a rotating rod 640, a swing arm claw 650, and the clamping jaw cylinder 610 Installed in the first installation space on the first support plate 200, there are two clamping jaw support plates 620 and they are respectively connected to the two ends of the clamping jaw cylinder 610, and each clamping jaw support plate 620 is connected to the second support plate 300 through a linear guide rail 660, and a swing motor 630 is installed above each clamping jaw support plate 620, and a rotating rod 640 is installed below each clamping jaw support plate 620 through two supports 670, and each rotating rod 640 is fixedly installed with two swing arm claws 650, and the swing motor 630 is connected to the rotating rod 640 in transmission, and when the swing motor 630 drives the rotating rod 640 to rotate, the two swing arm claws 650 are driven to swing.

[0037] Among them, the variable pitch translation slide 400 is an existing linear motion working mold, and its main structure and working principle can be referred to the Chinese patent document with publication number CN218032246U, which will not be repeated here.

[0038] The clamp of this embodiment has three main working modes. The first is that only the adsorption component 500 works, the second is that only the clamping jaw component 600 works, and the third is that the adsorption component 500 and the clamping jaw component 600 work at the same time. It can be flexibly selected according to different working scenes and has strong applicability.

[0039] When the adsorption assembly 500 is working, the suction cup 510 forms negative pressure through the vacuum generator 530 to absorb materials, and the spacing between multiple groups of suction cups 510 can be adjusted through the variable-distance translation slide 400, so as to absorb materials of different sizes and shapes.

[0040] The clamping assembly 600 has two clamping actions when working, one of which is that the clamping cylinder 610 drives the clamping support plate 620 to move inward as a whole, and the other is that the swing motor 630 on the clamping support plate 620 drives the swing arm claw 650 to rotate. Through the above two clamping actions, the working range of the clamping assembly 600 can be larger, that is, the swing arm claw 650 can adjust the overall spacing through the clamping cylinder 610, and then realize the rotation grasping effect through the swing motor 630, and can also cooperate with the adsorption assembly 500 to grasp materials of different sizes and shapes, so that the clamp can realize the clamping of materials of different sizes and shapes as a whole, and the work is very flexible and versatile.

[0041] The fixture has a high degree of integration and can work directly by simply connecting to the power supply and air source during installation. The nested assembly of multiple components is completed through the design of a multi-layer support plate structure, making the overall structure of the fixture compact and very convenient to install and use.

[0042] Preferably, the first support 210 is a retractable buffer rod. By using the buffer rod to connect the mounting flange 100, the impact on the clamped object can be reduced when the clamp is working, thereby reducing the damage rate of the product.

[0043] Furthermore, an anti-collision rod 700 is arranged above the first support plate 200, and an anti-collision block is arranged on the upper end of the anti-collision rod 700. By setting the anti-collision block to limit the telescopic height of the buffer rod, mechanical collision between the mounting flange 100 and the vacuum generator 530 and the driving motor 430 is avoided, thereby improving the safety of the clamp.

[0044] In addition, a first position sensor 800 is provided below the second support plate 300. The first position sensor 800 corresponds to the side of the connecting rod 520 and is used to detect the position of the connecting rod 520 opening or closing with the sliding block 420. A second position sensor 900 is provided below the clamping claw support plate 620. The second position sensor 900 corresponds to the side of the swing arm claw 650 and is used to detect the swing position of the swing arm claw 650. Both the first position sensor 800 and the second position sensor 900 can act as a travel switch to perform soft limit on the suction cup 510 and the swing arm claw 650. A material detection sensor 1000 is also provided below the second support plate 300. The material detection sensor 1000 is used to detect whether there is material below the suction cup 510 or between the swing arm claws 650. By providing multiple detection sensors, it is possible to effectively ensure that the fixture can be reliably and safely automated, and reduce the failure rate and damage rate to the product.

[0045] It is worth mentioning that a limit pin 651 parallel to the rotating rod (640) is provided on the swing arm claw 650, and a support 670 corresponding to the swing arm claw 650 is provided with an arc guide angle 671. When the swing arm claw swings outward to the maximum position, the limit pin 651 abuts against the lower end surface of the support 670, and when the swing arm claw 650 swings inward, the limit pin 651 can move along the arc guide angle 671. That is, the ingenious design of the limit pin 651 realizes the mechanical limit of the swing arm claw 650 at the extreme position, so as to further improve the reliability and safety of the clamp.

[0046] Preferably, the swing motor 630 is connected to the rotating rod 640 through a pair of synchronous pulleys 680, and the outer diameter of the synchronous pulley 680 at one end of the swing motor 630 is smaller than that of the synchronous pulley 680 at the other end of the swing motor 630 to increase the output torque. This allows the clamp to use a motor with smaller power and volume to achieve the rotation of the swing arm claw 650, and the overall structure of the clamp is more compact.

[0047] After the adsorption assembly 500 has been working for a long time, individual suction cups 510 may fail due to leakage. Therefore, the suction cups 510 in the present clamp are independently provided with a one-way valve. When individual suction cups 510 leak, it will not affect the overall air path. The adsorption assembly 500 can still maintain a certain adsorption capacity, so that the clamp has a higher fault tolerance.

[0048] Similarly, there are multiple vacuum generators 530, and each vacuum generator 530 is separately connected to the air passage of a connecting rod 520, so that when a single vacuum generator 530 fails, other suction cups 510 can continue to work normally, further improving the fault tolerance capability. By controlling the independent operation of multiple vacuum generators, it is possible to achieve partition control of the suction cups 510 on multiple groups of connecting rods 520, so as to individually pick up and place materials on the same group of suction cups 510, further improving the scope of application of the clamp and improving versatility.

[0049] The above description is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. An adjustable suction cup clamp, characterized in that: include: Mounting flange (100); A first support plate (200) connected to the mounting flange (100) via a plurality of first pillars (210), wherein a first mounting space is formed between the mounting flange (100) and the first support plate (200); A second support plate (300) connected to the first support plate (200) via a plurality of second pillars (310), wherein a second installation space is formed between the second support plate (300) and the first support plate (200); A variable pitch translation slide (400) comprises a base (410), a main shaft, a sliding block (420), a slide rail and a driving motor (430), wherein the main shaft and the slide rail are installed in parallel on the base (410), a plurality of curved rails are provided on the outer wall of the main shaft, a plurality of sliding blocks (420) are slidably arranged on the slide rails and are respectively connected to the main shaft through the curved rails, the driving motor (430) is drivingly connected to the main shaft, and when the main shaft rotates, the plurality of sliding blocks are driven to translate along the slide rails respectively, so that the spacing between the plurality of sliding blocks changes to open or close, the base (410) is installed below the first support plate (200) and passes downward through the second support plate (300), and the driving motor (430) passes upward through the first support plate (200) and is located in the first installation space; A suction assembly (500) comprising a plurality of suction cups (510), a plurality of connecting rods (520) and a vacuum generator (530); each connecting rod (520) is mounted with a plurality of suction cups (510) and is mounted on a sliding block (420) of a variable pitch translation slide (400); an air passage is provided in the connecting rod (520), the air passage is connected to the corresponding plurality of suction cups (510) at the same time, the air passage is connected to the vacuum generator (530) via an air pipe, and the vacuum generator (530) is mounted in a first mounting space above the first support plate (200); The clamping jaw assembly (600) comprises a clamping jaw cylinder (610), a clamping jaw support plate (620), a swing motor (630), a rotating rod (640), and a swing arm claw (650). The clamping jaw cylinder (610) is installed in a first installation space on a first support plate (200). There are two clamping jaw support plates (620) and they are respectively connected to two ends of the clamping jaw cylinder (610). Each clamping jaw support plate (620) is connected to a second support plate (300) via a linear guide rail (660). The swing motor (630) is connected to the rotating rod (640), and a swing arm claw (650) is installed on the upper side of each clamping claw support plate (620). A rotating rod (640) is installed on the lower side of each clamping claw support plate (620) through two supports (670). Two swing arm claws (650) are fixedly installed on each rotating rod (640). The swing motor (630) is connected to the rotating rod (640) in a transmission manner. When the swing motor (630) drives the rotating rod (640) to rotate, the two swing arm claws (650) are driven to swing.

2. The adjustable suction cup clamp according to claim 1, characterized in that: The first support column (210) is a retractable buffer rod.

3. The adjustable suction cup clamp according to claim 2, characterized in that: An anti-collision rod (700) is arranged above the first support plate (200), and an anti-collision block is arranged at the upper end of the anti-collision rod (700).

4. The adjustable suction cup clamp according to claim 1, characterized in that: A first position sensor (800) is provided below the second support plate (300), the first position sensor (800) corresponds to the side surface of the connecting rod (520), and is used to detect the position of the connecting rod (520) when it is opened or retracted along with the sliding block (420).

5. The adjustable suction cup clamp according to claim 1, characterized in that: A second position sensor (900) is provided below the clamping claw support plate (620); the second position sensor (900) corresponds to the side surface of the swing arm claw (650) and is used to detect the swing position of the swing arm claw (650).

6. The adjustable suction cup clamp according to claim 1, characterized in that: A material detection sensor (1000) is also provided below the second support plate (300), and the material detection sensor (1000) is used to detect whether there is material below the suction cup (510) or between the swing arm claws (650).

7. The adjustable suction cup clamp according to claim 1, characterized in that: The swing arm claw (650) is provided with a limit pin (651) parallel to the rotating rod (640), and the support (670) corresponding to the swing arm claw (650) is provided with an arc-shaped guide angle (671). When the swing arm claw swings outward to a maximum position, the limit pin (651) abuts against the lower end surface of the support (670), and when the swing arm claw (650) swings inward, the limit pin (651) can move along the arc-shaped guide angle (671).

8. The adjustable suction cup clamp according to claim 1, characterized in that: The swing motor (630) is transmission-connected to the rotating rod (640) via a pair of synchronous pulleys (680), and the outer diameter of the synchronous pulley (680) at one end of the swing motor (630) is smaller than that of the synchronous pulley (680) at one end of the swing motor (630) to increase the output torque.

9. The adjustable suction cup clamp according to claim 1, characterized in that: Each suction cup (510) is independently provided with a one-way valve.

10. The adjustable suction cup clamp according to claim 1, characterized in that: There are a plurality of vacuum generators (530), and each vacuum generator (530) is independently connected to an air passage of a connecting rod (520).

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