Miniaturized simple and convenient vacuum grabber

Abstract

The invention discloses a miniaturized simple vacuum grabber, which belongs to the technical field of mechanical engineering and comprises a magnetic rod and a claw. The magnetic rod comprises a shell, an extension cylinder, a telescopic cylinder, an outer magnetic ring, an inner magnetic ring and a driving rod; the lower end of the shell is fixedly connected with an extension cylinder; the claw comprises a rotating disc, a fixed disc and claws; the telescopic cylinder and the fixed disc are mutually connected to fix the fixed disc, and the driving rod and the rotating disc are mutually connected to enable the rotating disc to rotate along with rotation of the driving rod; the structure has the advantages of miniaturization, simplicity and convenience, and the universality of the vacuum grabber in various places is realized to a great extent.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical engineering, and in particular relates to a miniaturized and simple vacuum grabber. Background Art

[0002] A vacuum grabber is a mechanical device that can grab objects in a vacuum. It cooperates with the vacuum chamber to grab objects in the vacuum chamber and seal the vacuum inside the chamber. Currently, there are many large vacuum grabbers on the market, but there are fewer small vacuum grabbers and their application places are relatively limited. Summary of the invention

[0003] In order to overcome the miniaturization, simplification and universalization of the vacuum gripper, the present invention provides a miniaturized and simplified vacuum gripper.

[0004] The technical solution provided by the present invention is:

[0005] A miniaturized and simple vacuum gripper comprises a magnetic rod and a claw hand;

[0006] The magnetic rod comprises an outer shell, an elongated tube, a telescopic tube, an outer magnetic ring, an inner magnetic ring and a driving rod; the lower end of the outer shell is fixedly connected to the elongated tube, a telescopic tube which can move axially along the elongated tube is arranged inside the elongated tube, an outer magnetic ring is arranged on the outer wall of the outer shell, an inner magnetic ring which interacts with the outer magnetic ring and is located on the same horizontal plane is arranged inside the outer shell, the inner magnetic ring is driven to perform corresponding axial movement and rotational movement inside the outer shell by the axial movement and rotational movement of the outer magnetic ring on the outer wall of the outer shell, and the lower end of the inner magnetic ring is connected to the driving rod;

[0007] The claw hand includes a rotating disk, a fixed disk and a claw, and through holes are formed at the centers of the rotating disk and the fixed disk. The rotating disk is rotatably arranged on the fixed disk, and a triangular bracket is formed from the outside to the inside along the circumference of the rotating disk, and a linear motion track for the claw to move is formed between the triangular brackets. The upper end of the rotating disk is fixedly connected to the driving rod, and an arc-shaped groove is formed on the upper end surface of the fixed disk. The upper end of the fixed disk is fixedly connected to the telescopic cylinder. The claw includes a cuboid, a cylinder and a claw head. A cylinder is arranged on one side below the cuboid, and a claw head is arranged on the other side. The claw head is located in the arc-shaped groove, the cuboid is located in the linear motion track, and the claw head is located in the through hole.

[0008] In the above technical solution, a limit ring is arranged on the outer wall of the shell, a flange is arranged on the outer wall of the shell, the limit ring is located above the flange, and the outer magnetic ring is located between the limit ring and the flange.

[0009] In the above technical solution, the flange is connected to the vacuum chamber to achieve sealed vacuum.

[0010] In the above technical solution, a protrusion is provided inside the extension tube, and a groove matching the protrusion is provided outside the telescopic tube to limit rotation between the two.

[0011] In the above technical solution, the inner magnetic ring and the driving rod are connected via threads.

[0012] In the above technical solution, a protrusion is formed below the rotating disk, and a rotation limiting groove matching the protrusion is formed above the fixed disk, and the rotation of the rotating disk on the fixed disk is achieved through the cooperation between the protrusion and the rotation limiting groove.

[0013] In the above technical solution, the number of the claws is 6.

[0014] In the above technical solution, a protective cover is provided on the claw head.

[0015] Beneficial effects:

[0016] Compared with the prior art, this structure has the advantages of miniaturization and simplification, and realizes the versatility of the vacuum grabber in various places to a great extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the overall structural diagram of the grabbing device;

[0018] Figure 2 It is the structure diagram of magnetic rod;

[0019] Figure 3 This is a diagram of the claw hand structure;

[0020] Figure 4 It is a partial cross-sectional view of the rotating disk;

[0021] Figure 5 It is a partial cross-sectional view of the fixed plate;

[0022] Figure 6 Schematic diagram of the claw and protective cover structure.

[0023] Figure numerals: 1, magnetic rod; 2, claw hand; 101, shell; 102, outer magnetic ring; 103, flange; 104, extension tube; 105, telescopic tube; 106, driving rod; 107, inner magnetic ring; 108, limit ring; 201, rotating disk; 201-1 triangular bracket; 201-2, linear motion track; 201-3, through hole; 202, fixed disk; 202-1, rotation limit groove; 202-2, arc groove; 203, protective cover; 204, claw; 203-1, rectangular parallelepiped; 203-2, cylinder; 203-3, claw head. DETAILED DESCRIPTION

[0024] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. However, the following embodiments are limited to explaining the present invention, and the protection scope of the present invention should include the entire contents of the claims, and through the description of the following embodiments, those skilled in the art can fully implement the entire contents of the claims of the present invention.

[0025] Example

[0026] like Figure 1 As shown, the patent of the present invention provides a miniaturized and simple vacuum gripper, which is divided into two parts, a magnetic rod 1 and a claw hand 2.

[0027] The magnetic rod 1 includes a shell 101, an outer magnetic ring 102, a flange 103, an elongated tube 104, a telescopic tube 105, a driving rod 106, an inner magnetic ring 107 and a limiting ring 108. The overall shape of the magnetic rod 1 is cylindrical. The flange 103 and the shell 101 are fixed together by welding. At the same time, a limiting ring 108 is welded on the upper section of the shell 101. The telescopic tube 105 is placed in the elongated tube 104 from the upper end. The elongated tube 104 is provided with a protrusion inside and a groove is provided on the outer end surface of the telescopic tube 105 to limit the rotation between the two. The fixing between the shell 101 and the elongated tube 104 is fixed by welding. The inner magnetic ring 107 is threaded inside and connected and fixed with the driving rod 106 by threaded connection. The driving rod 106 is placed inside the shell 101. The outer magnetic ring 102 is sleeved on the shell 101 and is at the same horizontal position as the inner magnetic ring 107, which is used to control the vertical movement and rotation of the driving rod 106.

[0028] The claw hand 2 includes a rotating disk 201, a fixed disk 202 and a claw 204. The rotating disk 201 and the fixed disk 202 are in the shape of a circular ring, wherein a through hole 201-3 is machined on the top of the rotating disk 201, a triangular bracket 201-1 with a uniform circumference is arranged inside, which is used to form a linear motion track 201-2, and a protrusion is provided at the bottom for limiting. The fixed disk 202 is machined with a through hole of the same size as the rotating disk 201, and an arc groove 202-2 with a uniform circumference is machined on the upper end surface, and a rotation limiting groove 202-1 is machined at the edge of the upper end surface. The claw 204 is connected to the arc groove 202-2 of the fixed disk 202 through its cylinder 203-2, and the rotating disk 201 is connected to the rotation limiting groove 202-1 on the upper end surface of the fixed disk through its bottom protrusion, wherein the cuboid 203-1 at the upper end of the claw is in the linear motion track 201-2 in the rotating disk 201. The bottom of the claw 204 is covered with a protective cover 203 that cooperates with it.

[0029] The magnetic rod 1 and the claw hand 2 are fixedly connected by welding the telescopic cylinder 105 and the fixed disk 202 and the driving rod 106 and the rotating disk 201 in pairs. The telescopic cylinder 105 and the fixed disk 202 are connected to each other to fix the fixed disk, and the driving rod 106 and the rotating disk 201 are connected to each other to realize the rotation of the rotating disk 201 as the driving rod 106 rotates.

[0030] Preferably, the upper inner diameter of the shell 101 is 63 mm, the height is 250 mm, the lower inner diameter is 60 mm, the height is 50 mm, and the wall thickness is 1.5 mm; the inner diameter of the extension tube 104 is 60 mm, the height is 170 mm, the wall thickness is 1.5 mm, and the raised cross-section of the inner end face of the cylinder is a rectangle of 4 mm × 0.75 mm; the inner diameter of the telescopic tube 105 is 54 mm, the height is 150 mm, the wall thickness is 1.5 mm, and the groove cross-section of the outer end face of the round tube is a rectangle of 4 mm × 1 mm.

[0031] Preferably, the upper section of the driving rod 106 has an inner diameter of 20 mm, a wall thickness of 5 mm, and a height of 100 mm. The upper end surface of the upper section is machined with an M30 thread with a depth of 20 mm. The lower section has an inner diameter of 28 mm, a wall thickness of 1 mm, and a height of 300 mm.

[0032] Preferably, the outer diameter of the outer magnetic ring 102 is 86 mm, the inner diameter is 66 mm, and the height is 20 mm; the outer diameter of the inner magnetic ring 107 is 50 mm, the inner diameter is 30 mm, and the height is 20 mm; the outer magnetic ring 102 is sleeved on the outer shell, and the inner magnetic ring 107 is fixed to the driving rod by a spiral connection, and the outer magnetic ring 102 and the inner magnetic ring 107 are in the same horizontal position.

[0033] Preferably, the limit ring 108 is welded on the upper section of the housing 101 at a distance of 60 mm from the upper end surface, and is used to limit the sliding distance of the outer magnetic ring 102 along the housing 101. The moving distance of the outer magnetic ring 102 on the housing 101 is 150 mm.

[0034] Preferably, the rotating disk 201 is in the shape of a ring as a whole, with an outer diameter of 48 mm, an inner diameter of 24 mm, and a height of 1 mm. Six fan-shaped brackets evenly distributed around the circumference are provided inside to form a linear motion track. The linear motion track has a width of 5 mm and a length of 18 mm, so that the object can move within its track. A protruding structure is provided in the lower section, and the cross-section of the protruding structure is a rectangle of 1 mm×2 mm in the upper section and a semicircle with a radius of 1 mm in the lower section.

[0035] Preferably, the fixed disk 202 is in the shape of a ring as a whole, with an outer diameter of 52 mm, an inner diameter of 24 mm, and a height of 5 mm. The upper end surface is machined with 6 circumferentially distributed arc tracks, and the edge is machined with a groove with a cross-section of an upper section and a lower end.

[0036] Preferably, the total number of the claws 204 is 6, the upper section is a cuboid with a length of 15 mm, a width of 5 mm, and a height of 2 mm, and the cuboid is placed on the linear motion track of the rotating disk so that it moves along the linear motion track; the lower end face of the cuboid is provided with a cylinder with a diameter of 2 mm and a height of 3 mm, and the cylinder is placed in the circular arc track on the upper end face of the fixed disk, so that the claws 204 move along the circular arc track, and the maximum outward extension range of the claws is a regular hexagon with a side length of 4 mm; the lower section is a claw-shaped structure, and the lower section of the claw is covered with a protective cover 203.

[0037] Preferably, the shell 101, the extension tube 104, the telescopic tube 105, the driving rod 107, the rotating disk 201, the fixed disk 202 and the claw 204 are made of stainless steel material with high strength and wear resistance.

[0038] Preferably, the material used for the outer magnetic ring 102 and the inner magnetic ring 107 is neodymium iron boron or samarium cobalt, the inner and outer end surfaces of the ring are magnetized, and the magnetic field strength of the core can reach 1.1T.

[0039] Preferably, the flange is a CF63 internally welded flange, which can be connected to the vacuum chamber through the flange to achieve sealed vacuum.

[0040] Preferably, the protective cover 203 is made of rubber material, which can protect the clamped items while also increasing friction to prevent the items from slipping due to insufficient friction.

[0041] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A miniaturized and simple vacuum gripper, characterized in that: Includes magnetic rod and claw hand; The magnetic rod comprises an outer shell, an elongated tube, a telescopic tube, an outer magnetic ring, an inner magnetic ring and a driving rod; the lower end of the outer shell is fixedly connected to the elongated tube, a telescopic tube which can move axially along the elongated tube is arranged inside the elongated tube, an outer magnetic ring is arranged on the outer wall of the outer shell, an inner magnetic ring which interacts with the outer magnetic ring and is located on the same horizontal plane is arranged inside the outer shell, the inner magnetic ring is driven to perform corresponding axial movement and rotational movement inside the outer shell by the axial movement and rotational movement of the outer magnetic ring on the outer wall of the outer shell, and the lower end of the inner magnetic ring is connected to the driving rod; The claw hand includes a rotating disk, a fixed disk and a claw, and through holes are formed at the centers of the rotating disk and the fixed disk. The rotating disk is rotatably arranged on the fixed disk, and a triangular bracket is formed from the outside to the inside along the circumference of the rotating disk, and a linear motion track for the claw to move is formed between the triangular brackets. The upper end of the rotating disk is fixedly connected to the driving rod, and an arc-shaped groove is formed on the upper end surface of the fixed disk. The upper end of the fixed disk is fixedly connected to the telescopic cylinder. The claw includes a cuboid, a cylinder and a claw head. A cylinder is arranged on one side below the cuboid, and a claw head is arranged on the other side. The claw head is located in the arc-shaped groove, the cuboid is located in the linear motion track, and the claw head is located in the through hole.

2. A miniaturized and simple vacuum gripper according to claim 1, characterized in that: A limiting ring is arranged on the outer wall of the shell, a flange is arranged on the outer wall of the shell, the limiting ring is located above the flange, and the outer magnetic ring is located between the limiting ring and the flange.

3. A miniaturized and simple vacuum gripper according to claim 2, characterized in that: The flange is connected to the vacuum chamber to achieve sealed vacuum.

4. A miniaturized and simple vacuum gripper according to claim 1, characterized in that: A protrusion is provided inside the extension tube, and a groove matching the protrusion is provided outside the telescopic tube to limit rotation between the two.

5. A miniaturized and simple vacuum gripper according to claim 1, characterized in that: The inner magnetic ring is connected to the driving rod via threads.

6. A miniaturized and simple vacuum gripper according to claim 1, characterized in that: A protrusion is formed below the rotating disk, and a rotation limiting groove matching the protrusion is formed above the fixed disk. The rotation of the rotating disk on the fixed disk is achieved through the cooperation between the protrusion and the rotation limiting groove.

7. A miniaturized and simple vacuum gripper according to claim 1, characterized in that: The number of the claws is 6.

8. The miniaturized and simple vacuum gripper according to claim 1, characterized in that: A protective cover is arranged on the claw head.

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