ZR electric sucker actuator with built-in air source

Abstract

The invention discloses a ZR electric suction cup actuator with a built-in air source, and relates to the technical field of automatic actuators. The device comprises a linear motion module, a rotary motion module and a built-in vacuum and positive pressure generation module which are all integrated in the same shell, and the shell is provided with a detachable upper cover; the linear motion module drives a connecting piece to move linearly through a motor, a ball screw and a guide assembly, the rotary motion module and the built-in air path module are installed on the connecting piece to move in a follow-up mode, and an extension shaft of the rotary module is of a hollow air channel structure. The built-in gas circuit module comprises a vacuum pump, an electromagnetic valve and a confluence valve terminal, is communicated with an extension shaft gas channel through a rotary joint, can switch positive and negative pressure to realize suction and release of a workpiece, and is connected and controlled by a matched sensor for detection and positioning and an aviation plug; external air source equipment is not needed, the structure is compact, pipeline winding is avoided, independent operation in multiple scenes can be achieved, the operation precision and efficiency are improved, the equipment purchase and maintenance cost is reduced, and the requirements for automatic carrying and assembling are met.

Description

Technical Field

[0001] This invention relates to the field of automated actuator technology, and more specifically to a ZR electric suction cup actuator with a built-in air source. Background Technology

[0002] ZR rotary actuators, commonly used in industrial automation, integrate linear and rotary motors to drive the actuator to perform linear reciprocating movement and rotation around an axis, meeting multiple needs such as workpiece handling, positioning, and assembly. However, existing ZR rotary actuators have significant limitations: their function of negative pressure suction and positive pressure release of workpieces relies on an external air source, requiring a series of components such as an air compressor, air tank, solenoid valve, and air pipelines. This not only increases equipment procurement and installation costs but also limits their use in scenarios without an external air source (such as temporary work sites, mobile equipment, and remote workstations) due to air pipeline layout restrictions. Furthermore, external air pipelines are cumbersome, prone to leaks and blockages, difficult to maintain, and the tangled pipelines can affect the actuator's movement flexibility, reducing operational accuracy and efficiency.

[0003] To address the aforementioned issues, there is an urgent need to develop a ZR electric suction cup actuator with a built-in air source, high integration, and independent operation, breaking the constraints of using external air sources, simplifying equipment configuration, and expanding applicable scenarios. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned problems and provide a ZR electric suction cup actuator with a built-in air source. To achieve the above objective, this invention adopts the following technical solution: A ZR electric suction cup actuator with a built-in air source includes: A linear motion module is used to drive the drive end of the actuator to reciprocate along a linear direction; A rotary motion module is used to drive the drive end of the actuator to rotate about its axis. A built-in vacuum and positive pressure generating module is integrated inside the actuator to generate negative pressure to pick up the workpiece and / or generate positive pressure to release the workpiece. The air path of the built-in vacuum and positive pressure generating module is connected to the drive end of the rotary motion module, so that negative or positive pressure can be applied to the workpiece through the drive end.

[0005] As an improvement, the linear motion module, the rotary motion module, and the built-in vacuum and positive pressure generating module are all housed and fixed within a single housing, which is provided with a top cover.

[0006] As an improvement, the linear motion module includes: a linear drive motor, a ball screw driven by the linear drive motor, a nut cooperating with the ball screw, and a guide assembly; the rotary motion module and the built-in vacuum and positive pressure generating module are mounted on a common connector, the connector is fixedly connected to the nut, and performs linear motion as the nut moves under the constraint of the guide assembly.

[0007] As an improvement, the guide assembly includes a guide rail fixedly mounted on the housing and a slider fixedly connected to the connector and sliding along the guide rail.

[0008] As an improvement, the linear drive motor is mounted on the housing via a motor mounting bracket and connected to one end of the ball screw via a coupling; the other end of the ball screw is constrained to the housing via a screw bearing and a bearing housing.

[0009] As an improvement, the rotary motion module includes a rotary motor and an extension shaft driven by the rotary motor to perform rotary motion; the negative or positive pressure generated by the built-in vacuum and positive pressure generating module is transmitted to the end of the extension shaft through an air passage.

[0010] As an improvement, the built-in vacuum and positive pressure generating module includes a vacuum pump, a solenoid valve, and a manifold valve island; the vacuum pump is used to generate negative and positive pressure, the solenoid valve is installed on the manifold valve island and is used to switch the negative or positive pressure state of the gas path; the manifold valve island is connected to the stationary part of the rotary motor through a rotary joint, and the rotor part of the rotary motor is connected to the extension shaft to form a through gas passage.

[0011] As an improvement, the manifold island is provided with an air passage for connecting the vacuum pump, the solenoid valve and the rotary joint.

[0012] As an improvement, it also includes a sensor for detecting motion position and an aviation plug for connecting an external power supply to the signal line.

[0013] The advantages of this invention are: 1. This invention integrates a built-in air source, breaking the dependence on external sources: Existing technologies require supporting equipment such as air compressors and air tanks, and cannot be used independently. This solution integrates a vacuum pump, solenoid valve, and manifold valve island inside the actuator, generating positive and negative pressure independently. It does not require external air supply equipment and can operate independently in scenarios without an external air source (temporary workstations, mobile equipment), greatly expanding its applicability and saving on the cost and maintenance workload of laying air pipelines.

[0014] 2. This invention integrates three modules in a coordinated manner, resulting in a compact and efficient structure: Traditional equipment has its linear, rotary, and pneumatic systems scattered, occupying a large space and involving cumbersome pipelines. This solution integrates linear motion, rotary motion, and the built-in pneumatic module into a single housing, achieving synchronous linkage between motion and the pneumatic module through connectors. This compact structure reduces the space occupied by the equipment and avoids the impact of pipeline entanglement on motion flexibility, thereby improving operational accuracy and efficiency.

[0015] 3. Precise positioning and convenient control of this invention: With the help of a position sensor and aviation plug, it can achieve precise detection and feedback of linear displacement and rotation angle. At the same time, it can quickly switch between positive and negative pressure through a solenoid valve. It is simple to operate and can be seamlessly integrated into an automated control system, adapting to the high-precision operation requirements such as precision assembly and sorting. Attached Figure Description

[0016] Figure 1 The housing structure of a ZR electric suction cup actuator with a built-in air source as shown in Example 1. Figure 1 .

[0017] Figure 2 The housing structure of a ZR electric suction cup actuator with a built-in air source as shown in Example 1. Figure 2 .

[0018] Figure 3 This is an internal structural diagram of a ZR electric suction cup actuator with a built-in air source in Example 1.

[0019] Figure 4 This is an internal top view of a ZR electric suction cup actuator with a built-in air source in Example 1.

[0020] Figure 5 This is a module connection structure diagram of a ZR electric suction cup actuator with a built-in air source in Example 1.

[0021] Figure 6 This is a structural diagram of the linear motion module in Example 1.

[0022] Figure 7 This is a structural diagram of the rotary motion module in Example 1.

[0023] Figure 8 This is a structural diagram of the built-in vacuum and positive pressure generation module in Example 1.

[0024] Figure 9 This is a structural diagram of the connector in Example 1.

[0025] The diagram is labeled as follows: 1. Outer shell; 11. Top cover; 2. Linear motion module; 21. Linear drive motor; 22. Motor mounting bracket; 23. Coupling; 24. Ball screw; 25. Nut; 26. Screw bearing; 27. Bearing housing; 28. Guide rail; 29. ​​Slider; 3. Rotary motion module; 31. Rotary motor; 32. Extension shaft; 33. Rotary joint; 4. Built-in vacuum and positive pressure generating module; 41. Vacuum pump; 42. Solenoid valve; 43. Manifold valve island; 5. Connectors; 6. Aviation connector; 7. Sensors; 8. Linear bearings. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0027] In the description of the embodiments of the present invention, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] Furthermore, the use of terms such as "horizontal," "vertical," and "sag" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0029] In the description of the embodiments of the present invention, "multiple" means at least two.

[0030] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0031] The present invention will now be described in detail and specifically through specific embodiments to enable a better understanding of the invention. However, the following embodiments do not limit the scope of protection of the present invention. Example

[0032] This embodiment discloses a ZR electric suction cup actuator with a built-in air source.

[0033] like Figures 1 to 9 As shown, this embodiment includes a linear motion module 2, a rotary motion module 3, a built-in vacuum and positive pressure generating module 4, as well as auxiliary components such as a housing 1, a sensor 7, and an aviation connector 6. The structure, connection relationship, function, and cooperative logic of each module are explained in detail below: (a) Overall integration and protective components: outer shell 1 and auxiliary components like Figure 1 , Figure 2 , Figure 3 As shown, the linear motion module 2, rotary motion module 3, and built-in vacuum and positive pressure generating module 4 are all housed and fixed within a single housing 1. The housing 1 is made of high-strength aluminum alloy, balancing structural stability and lightweight requirements, effectively protecting internal components from dust and impact damage. A top cover 11 is provided on the top of the housing 1, which is detachably connected by bolts, facilitating the installation, inspection, and maintenance of internal components. The housing 1 is also equipped with an aviation connector 6 and a sensor 7. The aviation connector 6 is used to connect to an external power supply and control signal lines, enabling power supply and command control of each module. The sensor 7 is used to detect the linear motion position and rotation angle of the actuator drive end, providing position signals for precise positioning and improved operational accuracy.

[0034] (ii) Linear motion module 2: realizes linear reciprocating movement of the drive end like Figure 4 , Figure 5 , Figure 6 As shown, linear motion module 2 provides linear driving force to the actuator. It adopts a precision transmission structure of "motor + ball screw 24 + guide assembly" to ensure the smoothness and positioning accuracy of linear motion. Its specific composition and function are as follows: 1. Power and Transmission Components: These include a linear drive motor 21, a motor mounting bracket 22, a coupling 23, a ball screw 24, a nut 25, a screw bearing 26, and a bearing housing 27. The linear drive motor 21 is fixedly mounted inside the housing 1 via the motor mounting bracket 22. The motor output shaft is rigidly connected to one end of the ball screw 24 via the coupling 23 to achieve power transmission. The other end of the ball screw 24 is constrained to the housing 1 via the screw bearing 26 and the bearing housing 27. The bearing housing 27 is fixed to the inner wall of the housing 1, providing stable rotational support for the ball screw 24 and ensuring no offset during transmission. The nut 25 is threadedly engaged with the ball screw 24. When the linear drive motor 21 drives the ball screw 24 to rotate, the nut 25 can reciprocate linearly along the axial direction of the ball screw 24.

[0035] 2. Guiding Component: Includes a guide rail 28 and a slider 29. The guide rail 28 is fixedly mounted on the inner wall of the housing 1. The slider 29 slides along the guide rail 28 and can move along the guide rail 28. The slider 29 is fixedly connected to a common connector 5, which is also fixed to the aforementioned nut 25, forming a linkage structure of "nut 25-connector 5-slider 29". Under the constraint of the guiding component, the rotational movement of the nut 25 is restricted, and it can only drive the connector 5, the slider 29, and the rotational motion module 3 and the built-in vacuum and positive pressure generating module 4 mounted on the connector 5 to make smooth linear reciprocating movement along the guide rail 28, realizing the linear displacement adjustment of the actuator drive end.

[0036] (III) Rotational Motion Module 3: Enables the drive end to rotate around the axis like Figure 4 , Figure 5 , Figure 7 As shown, the rotary motion module 3 is mounted on the connecting member 5 and moves linearly synchronously with the connecting member 5. It can also independently drive the actuator to rotate, providing a rotary positioning function for the workpiece. Its structure and function are as follows: The rotary motion module 3 mainly includes a rotary motor 31 and an extension shaft 32. The rotary motor 31 is fixedly mounted on the connector 5, with one end of its output shaft rigidly connected to the extension shaft 32 (i.e., the actuator drive end), and the other end connected to the air circuit assembly of the built-in vacuum and positive pressure generating module 4. The extension shaft 32 has a hollow structure with an internal air passage for transmitting positive or negative pressure to the workpiece contact end. The connection between the extension shaft 32 and the output shaft of the rotary motor 31 is limited and fixed by a snap ring and a linear bearing 8 to ensure coaxiality and stability during rotation and prevent shaking from affecting the suction accuracy. When the rotary motor 31 starts, it can directly drive the extension shaft 32 to rotate around its own axis to achieve workpiece rotation positioning. The rotation angle is detected and fed back by the sensor 7 to meet the angle requirements of different operations.

[0037] (iv) Built-in vacuum and positive pressure generation module 4: autonomously generates positive and negative pressure to realize workpiece suction and release. like Figure 4 , Figure 5 , Figure 8 As shown, this module is integrated inside the actuator and is the core for realizing workpiece suction and release. It does not require an external air source and is linked with the rotary motion module 3 through the built-in air circuit. The specific composition and air circuit transmission logic are as follows: 1. Core gas generation and control components: including vacuum pump 41 (negative pressure pump), solenoid valve 42, manifold island 43, and rotary joint 33. Vacuum pump 41 is used to generate negative and positive pressure independently, replacing an external air compressor and adapting to different operational needs (negative pressure is used to suck up workpieces, and positive pressure is used to release workpieces); manifold island 43 is fixedly installed on connector 5, with a pre-set air passage inside, used to integrate the air path connection of vacuum pump 41, solenoid valve 42, and rotary joint 33, realizing centralized management of the air path; solenoid valve 42 is installed on manifold island 43 and connected to aviation plug 6 through circuitry, receiving external control commands to switch the negative or positive pressure state of the air path, realizing rapid switching between sucking and releasing actions.

[0038] 2. Gas Path Transmission Structure: The rotary joint 33 connects the manifold valve island 43 and the stationary part of the rotary motor 31. Its function is to solve the connection problem between the rotating part and the fixed gas path, and to avoid gas path entanglement. The gas path transmission path is as follows: the negative / positive pressure generated by the vacuum pump 41 is delivered to the solenoid valve 42 through the internal gas passage of the manifold valve island 43. After the solenoid valve 42 switches the gas path state, it is then transmitted to the rotor part of the rotary motor 31 through the rotary joint 33. The rotor part is connected to the hollow extension shaft 32, and finally transmitted to the execution end (workpiece contact end) through the internal gas passage of the extension shaft 32, realizing the negative pressure suction or positive pressure release of the workpiece.

[0039] (V) Collaborative Working Logic Throughout the Entire Process 1. Power and control start-up: Connect the external power supply and controller via aviation plug 6, sensor 7 initializes positioning, and each module enters standby mode.

[0040] 2. Linear displacement adjustment: The controller issues a linear motion command, the linear drive motor 21 starts, and drives the ball screw 24 to rotate through the coupling 23. The nut 25 moves along the screw axis, driving the connecting piece 5 and the rotating module and air circuit module installed on it to make linear motion under the constraint of the guide rail 28-slider 29 until the extension shaft 32 reaches the preset position above the workpiece. The sensor 7 feeds back the position signal, and the linear motion stops.

[0041] 3. Negative pressure suction of workpiece: The controller issues a suction command, the vacuum pump 41 starts to generate negative pressure, the solenoid valve 42 switches to the negative pressure air path, and the negative pressure is transmitted to the execution end through the manifold valve island 43, rotary joint 33, and extension shaft 32 air passage to adsorb the workpiece; the sensor 7 detects the adsorption pressure, and after confirming that the adsorption is firm, it proceeds to the next step.

[0042] 4. Rotation positioning and handling: According to the operation requirements, the rotary motor 31 is started, driving the extension shaft 32 and the adsorbed workpiece to rotate to the preset angle, and the sensor 7 feeds back the angle signal; then the linear drive motor 21 is started again, driving the workpiece to move linearly to the target position.

[0043] 5. Positive pressure release of workpiece: The controller issues a release command, the solenoid valve 42 switches to the positive pressure air path, the vacuum pump 41 generates positive pressure, which is transmitted to the actuator through the air path to blow away the workpiece; then all modules reset and wait for the next operation command.

[0044] The specific embodiments of the present invention have been described in detail above, but they are merely examples, and the present invention is not equivalent to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions to the present invention are also within the scope of the present invention. Therefore, all equivalent transformations and modifications made without departing from the spirit and scope of the present invention should be covered within the scope of the present invention.

Claims

1. A ZR electric suction cup actuator with a built-in air source, characterized in that, include: Linear motion module (2) is used to drive the drive end of the actuator to reciprocate along a linear direction; A rotary motion module (3) is used to drive the drive end of the actuator to rotate around its axis; Built-in vacuum and positive pressure generating module (4), integrated inside the actuator, is used to generate negative pressure to suck up the workpiece and / or generate positive pressure to release the workpiece; The air path of the built-in vacuum and positive pressure generating module (4) is connected to the drive end of the rotary motion module (3), so that negative pressure or positive pressure can be applied to the workpiece through the drive end.

2. The ZR electric suction cup actuator with a built-in air source according to claim 1, characterized in that, The linear motion module (2), the rotary motion module (3) and the built-in vacuum and positive pressure generating module (4) are all housed and fixed in an integral shell (1), and the shell (1) is provided with a top cover (11).

3. The ZR electric suction cup actuator with a built-in air source according to claim 1, characterized in that, The linear motion module (2) includes: a linear drive motor (21), a ball screw (24) driven by the linear drive motor (21), a nut (25) cooperating with the ball screw (24), and a guide assembly; the rotary motion module (3) and the built-in vacuum and positive pressure generating module (4) are mounted on a common connector (5), the connector (5) is fixedly connected to the nut (25), and moves linearly with the movement of the nut (25) under the constraint of the guide assembly.

4. A ZR electric suction cup actuator with a built-in air source according to claim 2 or 3, characterized in that, The guide assembly includes a guide rail (28) fixedly mounted on the housing (1) and a slider (29) fixedly connected to the connector (5) and sliding along the guide rail (28).

5. A ZR electric suction cup actuator with a built-in air source according to claim 4, characterized in that, The linear drive motor (21) is mounted on the housing (1) via a motor fixing component (22) and connected to one end of the ball screw (24) via a coupling (23); the other end of the ball screw (24) is constrained on the housing (1) via a screw bearing (26) and a bearing seat (27).

6. A ZR electric suction cup actuator with a built-in air source according to claim 1, characterized in that, The rotary motion module (3) includes a rotary motor (31) and an extension shaft (32) driven by the rotary motor (31) to perform rotary motion; the negative pressure or positive pressure generated by the built-in vacuum and positive pressure generating module (4) is transmitted to the end of the extension shaft (32) through the air passage.

7. A ZR electric suction cup actuator with a built-in air source according to claim 6, characterized in that, The built-in vacuum and positive pressure generating module (4) includes a vacuum pump (41), a solenoid valve (42), and a manifold valve island (43); the vacuum pump (41) is used to generate negative pressure and positive pressure, and the solenoid valve (42) is installed on the manifold valve island (43) to switch the negative or positive pressure state of the gas path; the manifold valve island (43) is connected to the stationary part of the rotary motor (31) through a rotary joint (33), and the rotor part of the rotary motor (31) is connected to the extension shaft (32) to form a through gas passage.

8. A ZR electric suction cup actuator with a built-in air source according to claim 7, characterized in that, The manifold island (43) is provided with an air passage for connecting the vacuum pump (41), the solenoid valve (42) and the rotary joint (33).

9. A ZR electric suction cup actuator with a built-in air source according to claim 1, characterized in that, It also includes a sensor (7) for detecting motion position and an aviation plug (6) for connecting an external power supply and signal line.

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