Miniaturized simple vacuum gripper

Abstract

The application discloses a small-sized simple vacuum grabber and belongs to the technical field of mechanical engineering, which comprises a magnetic rod and a claw hand; the magnetic rod comprises a shell, an elongated 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 the elongated cylinder; the claw hand comprises a rotating disc, a fixed disc and a claw; the telescopic cylinder and the fixed disc are connected with each other to fix the fixed disc; the driving rod and the rotating disc are connected with each other to realize the rotation of the rotating disc along with the rotation of the driving rod; the structure has the advantages of miniaturization and simplification, and the universality of the vacuum grabber in various places is greatly realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanical engineering, and particularly relates to a small and simple vacuum gripper. BACKGROUND

[0002] The vacuum gripper is a mechanical device capable of grabbing objects in a vacuum, which is cooperated with a vacuum cavity to seal the vacuum inside the cavity while grabbing objects in the vacuum chamber. At present, large vacuum grippers are mostly available on the market, and small vacuum grippers are less available and are limited in application. SUMMARY

[0003] In order to overcome the small size, simplicity and universality of the vacuum gripper, the application provides a small and simple vacuum gripper.

[0004] The technical scheme provided by the application is as follows:

[0005] A small and simple vacuum gripper comprises a magnetic rod and a claw hand.

[0006] The magnetic rod comprises an outer shell, an elongated cylinder, a telescopic cylinder, an outer magnetic ring, an inner magnetic ring and a driving rod. The lower end of the outer shell is fixedly connected with the elongated cylinder. The telescopic cylinder is arranged inside the elongated cylinder and can move along the axis of the elongated cylinder. The outer wall of the outer shell is provided with the outer magnetic ring. The inner magnetic ring is arranged inside the outer shell and interacts with the outer magnetic ring and is located at the same horizontal plane. The axial movement and rotational movement of the outer magnetic ring on the outer wall of the outer shell drive the inner magnetic ring inside the outer shell to perform corresponding axial movement and rotational movement. The lower end of the inner magnetic ring is connected with the driving rod.

[0007] The claw hand comprises a rotating disc, a fixed disc and a claw. The rotating disc and the fixed disc are both provided with through holes at the center. The rotating disc is rotatably arranged on the fixed disc. The rotating disc is formed with triangular supports from outside to inside along the circumference. Straight line movement tracks for the claw are formed between the triangular supports. The upper end of the rotating disc is fixedly connected with the driving rod. The upper end surface of the fixed disc is formed with an arc-shaped groove. The upper end of the fixed disc is fixedly connected with the telescopic cylinder. The claw comprises a cuboid, a cylinder and a claw head. The cylinder is arranged on one side of the lower part of the cuboid, and the claw head is arranged on the other side. The claw head is located in the arc-shaped groove. The cuboid is located in the straight line movement track. The claw head is located in the through hole.

[0008] In the above technical scheme, a limiting ring is arranged on the outer wall of the outer shell. A flange is arranged on the outer wall of the outer shell. The limiting ring is located above the flange. The outer magnetic ring is located between the limiting ring and the flange.

[0009] In the above technical scheme, the flange is connected with the vacuum cavity to realize sealed vacuum.

[0010] In the above technical scheme, the elongated cylinder is internally provided with a protrusion, and the telescopic cylinder is externally provided with a groove matched with the protrusion, so as to limit the rotation between the two.

[0011] In the above technical scheme, the inner magnetic ring is connected with the driving rod through a thread.

[0012] In the above technical scheme, the rotating disc is formed with a protrusion below, and the fixed disc is formed with a rotation limiting groove matched with the protrusion above, so as to realize the rotation of the rotating disc on the fixed disc through the cooperation of the protrusion and the rotation limiting groove.

[0013] In the above technical scheme, the number of the claws is six.

[0014] In the above technical scheme, the claw head is provided with a protective sleeve.

[0015] Beneficial effects:

[0016] Compared with the prior art, the structure has the advantages of miniaturization and simplification, and greatly realizes the universality of the vacuum gripper in various places. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a whole structure diagram of the grabbing device;

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

[0019] Figure 3 It is a claw hand structure diagram;

[0020] Figure 4 It is a rotating disc partial sectional view;

[0021] Figure 5 It is a fixed disc partial sectional view;

[0022] Figure 6 It is a claw and protective sleeve structure schematic diagram.

[0023] Reference signs: 1, magnetic rod; 2, claw hand; 101, shell; 102, outer magnetic ring; 103, flange; 104, elongated cylinder; 105, telescopic cylinder; 106, driving rod; 107, inner magnetic ring; 108, limiting ring; 201, rotating disc; 201-1, triangular support; 201-2, straight line motion track; 201-3, through hole; 202, fixed disc; 202-1, rotation limiting groove; 202-2, arc-shaped groove; 203, protective sleeve; 204, claw; 203-1, cuboid; 203-2, cylinder; 203-3, claw head. DETAILED DESCRIPTION

[0024] The application will be described in detail below with reference to the drawings and specific embodiments. However, the following embodiments are only used to explain the application, and the protection scope of the application should include the entire content of the claims, and the skilled in the art can fully realize the entire content of the claims of the application through the description of the following embodiments.

[0025] Embodiment

[0026] As shown in the drawings, the application provides a small and simple vacuum gripper, which is divided into two parts, a magnetic rod 1 and a claw hand 2. Figure 1 The magnetic rod 1 includes an outer shell 101, an outer magnetic ring 102, a flange 103, an elongated cylinder 104, an extension cylinder 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 outer shell 101 are fixed together by welding, and the limiting ring 108 is welded on the upper part of the outer shell 101, the extension cylinder 105 is placed in the elongated cylinder 104, the inside of the elongated cylinder 104 is provided with a protrusion and the outer end face of the extension cylinder 105 is provided with a groove, which limits the rotation between the two, and the fixing between the outer shell 101 and the elongated cylinder 104 is fixed by welding. The inner magnetic ring 107 is internally threaded and connected and fixed with the driving rod 106 by threaded connection, the driving rod 106 is placed inside the outer shell 101, the outer magnetic ring 102 is sleeved on the outer shell 101 and is at the same horizontal position with the inner magnetic ring 107, which is used to control the vertical movement and rotational movement of the driving rod 106.

[0027] The claw hand 2 includes a rotating disc 201, a fixed disc 202 and a claw 204. Among them, the rotating disc 201 and the fixed disc 202 are overall circular, wherein the rotating disc 201 is provided with a through hole 201-3 at the top, and is internally provided with a triangular support 201-1 uniformly distributed in the circumference, which is used to form a straight line motion track 201-2, and is provided with a protrusion at the bottom for limiting. The fixed disc 202 is provided with a through hole with the same size as the rotating disc 201, and is provided with an arc-shaped groove 202-2 uniformly distributed in the circumference on the upper end face, and is provided with a rotation limiting groove 202-1 at the edge of the upper end face. The claw 204 is connected with the arc-shaped groove 202-2 of the fixed disc 202 through the cylinder 203-2 thereof, and the rotating disc 201 is connected with the rotation limiting groove 202-1 on the upper end face of the fixed disc through the protrusion at the bottom thereof, wherein the rectangular body 203-1 at the upper end of the claw is in the straight line motion track 201-2 in the rotating disc 201. The claw 204 is sleeved with a protective sleeve 203 matched therewith at the bottom.

[0028]

[0029] ​The magnetic rod 1 and the claw hand 2 are fixedly connected by welding between the telescopic cylinder 105 and the fixed disc 202 and between the driving rod 106 and the rotating disc 201, and the telescopic cylinder 105 and the fixed disc 202 are connected with each other to fix the fixed disc, and the driving rod 106 and the rotating disc 201 are connected with each other to rotate the rotating disc 201 with the driving rod 106.

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

[0031] Preferably, the inner diameter of the upper end of the shell 101 is 63 mm, the height is 250 mm, the inner diameter of the lower end is 60 mm, the height is 50 mm, and the wall thickness is 1.5 mm; the inner diameter of the telescopic cylinder 104 is 60 mm, the height is 170 mm, and the wall thickness is 1.5 mm, and the cross section of the protrusion on the inner end face of the cylinder is a rectangle of 4 mm x 0.75 mm; the inner diameter of the telescopic cylinder 105 is 54 mm, the height is 150 mm, and the wall thickness is 1.5 mm, and the cross section of the groove on the outer end face of the cylinder is a rectangle of 4 mm x 1 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 shell, the inner magnetic ring 107 is fixed on the driving rod through the screw link, and the outer magnetic ring 102 and the inner magnetic ring 107 are in the same horizontal position.

[0033] Preferably, the limiting ring 108 is welded on the upper end of the shell 101, which is 60 mm away from the upper end face, and is used for limiting the sliding distance of the outer magnetic ring 102 along the shell 101, and the moving distance of the outer magnetic ring 102 on the shell 101 is 150 mm.

[0034] Preferably, the rotating disc 201 is a whole circular ring, the outer diameter is 48 mm, the inner diameter is 24 mm, the height is 1 mm, the inner part is provided with six sector-shaped supports which are uniformly distributed in the circumference to form a linear motion track, the width of the linear motion track is 5 mm, and the length is 18 mm, so that the object moves in the track, and the lower end is provided with a convex structure, the cross section of the convex structure is a rectangle of 1 mm x 2 mm in the upper end and a semicircle with a radius of 1 mm in the lower end.

[0035] Preferably, the fixed disc 202 is a whole circular ring, the outer diameter is 52 mm, the inner diameter is 24 mm, and the height is 5 mm, the upper end face is provided with six circular arc tracks which are distributed in the circumference, and the edge is provided with a groove with a cross section of a rectangle in the upper end and a groove in the 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 housing 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 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 internal welding 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, which protects 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 by: Includes magnetic rod and claw hand; The magnetic rod includes a shell, an elongated tube, a telescopic tube, an outer magnetic ring, an inner magnetic ring and a driving rod; the lower end of the shell is fixedly connected to the elongated tube, a telescopic tube is provided inside the elongated tube and can move axially along the elongated tube, an outer magnetic ring is provided on the outer wall of the shell, an inner magnetic ring is provided inside the shell that interacts with the outer magnetic ring and is located on the same horizontal plane as the outer magnetic ring, the axial movement and rotational movement of the outer magnetic ring on the outer wall of the shell drive the inner magnetic ring to perform corresponding axial movement and rotational movement inside the 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 a through hole is formed at the center 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 provided on one side below the cuboid, and a claw head is provided on the other side. The claw head is located in the arc 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 provided on the outer wall of the shell, a flange is provided 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. The 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. The 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. The 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. The 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. The 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 provided on the claw head.

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