A robotic manipulator suction assembly

Abstract

This invention provides a robotic gripper assembly, relating to the field of industrial robot technology, comprising: a robot drive arm; a robotic gripper body; a main board surface; a first and second auxiliary board surface; a rotation mechanism; an adjustment mechanism that extends and retracts the first and second auxiliary board surfaces towards / away from the main board surface; and multiple extension mechanisms for driving the adsorption plates to extend and retract relative to their corresponding auxiliary board surfaces. This invention, by symmetrically arranging rotatable first and second auxiliary board surfaces on both sides of the main board surface and combining them with independently extendable adsorption plates, constitutes a multi-degree-of-freedom flexible adsorption unit. Based on the unevenness of the workpiece surface, each adsorption plate is independently controlled to extend and retract slightly. This adjustment mechanism allows the entire gripping mechanism to actively conform to the workpiece contour like a hand, fundamentally solving the adsorption blind spot problem caused by the inability to deform traditional rigid suction cup frames, and significantly expanding the robot's grasping range.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically to a robotic arm suction component, which is particularly suitable for adaptive negative pressure adsorption and gripping of irregularly shaped or polyhedral workpieces. Background Technology

[0002] Currently, in industrial automated production processes, robotic arms are widely used for workpiece gripping, handling, and palletizing. For objects with flat surfaces and dense materials, robotic arms using negative pressure adsorption have advantages such as fast gripping speed and no damage to the workpiece surface, thus becoming one of the mainstream gripping methods. A typical negative pressure adsorption robotic arm usually includes a robot drive arm and a suction cup frame installed at the end of the drive arm. Multiple vacuum suction cups are fixedly installed on the suction cup frame, and these vacuum suction cups are connected to a vacuum generator through pipelines. During operation, the drive arm moves the suction cup frame above the object to be gripped, so that the suction cups contact the object surface. The vacuum generator is activated to generate negative pressure, thereby adsorbing and gripping the object.

[0003] However, existing negative pressure adsorption robots have the following technical defects: their suction cup frames are mostly one-piece rigid structures, and the layout and orientation of the suction cups are fixed. When the object to be grasped is an irregularly shaped structural part (such as a surface with curved surfaces, corners, or uneven surfaces), or the surface of the object is an irregular polyhedron, the rigid suction cup frame cannot make all the suction cups adhere to the surface of the object at the same time. This results in a reduction in the number of suction cups actually involved in adsorption, and a significant decrease in the overall adsorption force. For objects that are heavy or have an unstable center of gravity, this local adsorption is very likely to lead to grasping failure, or even cause the object to fall and be damaged or cause safety accidents. Therefore, traditional negative pressure adsorption robots are difficult to adapt to the stable grasping requirements of polyhedrons or irregularly shaped workpieces. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies by proposing an adaptive multi-faceted adsorption robotic arm suction mechanism that can automatically adjust the angle and position of the adsorption surface according to the surface characteristics of irregular workpieces to achieve stable multi-point adsorption.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robotic gripper assembly includes: a robotic drive arm; The main body of the robotic arm is connected to the output end of the robot drive arm; The main board is fixedly mounted on the main body of the robotic arm, and multiple suction components are mounted on the main board. The first and second sub-plates are symmetrically and rotatably mounted on the left and right sides of the main plate via a rotating mechanism. Both the first and second sub-plates are equipped with retractable adsorption plates, and the adsorption plates are equipped with multiple adsorption components. A rotating mechanism is disposed on the main board surface, used to drive the first sub-board surface and the second sub-board surface to rotate synchronously towards or away from the main board surface; An adjustment mechanism is installed on the rotating mechanism, and its output end is connected to the first sub-plate and the second sub-plate. By extending and retracting, the first sub-plate and the second sub-plate move closer to / away from the main plate. Multiple telescopic mechanisms are respectively disposed on the first sub-plate surface and the second sub-plate surface, and are used to drive the adsorption plate to perform forward and backward telescopic movements relative to the corresponding sub-plate surface.

[0006] Furthermore, the rotating mechanism includes a motor and a drive shaft. The motor is mounted on the main board surface, and the drive shaft is rotatably supported on the side of the main board surface by multiple bearings and is connected to the output end of the motor.

[0007] Furthermore, the adjustment mechanism includes a first telescopic cylinder and a mounting plate. The mounting plate is fixedly installed on the periphery of the drive shaft and can rotate with the drive shaft. The cylinder body of the first telescopic cylinder is fixed on the mounting plate. The output end of the first telescopic cylinder is equipped with a connecting bracket that is correspondingly connected to the first sub-plate surface or the second sub-plate surface.

[0008] Furthermore, the adsorption plate is mounted on the corresponding first or second sub-plate surface via a telescopic mechanism; The telescopic mechanism includes multiple second telescopic cylinders. The cylinder body of the second telescopic cylinder is fixed to the corresponding sub-plate surface near the edge. The piston rod of the second telescopic cylinder is fixedly connected to the adsorption plate to drive the adsorption plate to extend and retract perpendicular to the sub-plate surface.

[0009] Furthermore, the suction assembly includes a vacuum suction cup, a vacuum generating tube, and a solenoid valve. The vacuum suction cup is mounted on the surface of the main board or the adsorption plate and is connected to the vacuum generating tube through an internal air passage or an external pipeline. The vacuum generating tube and the solenoid valve are both integrated and mounted on the back of the main board or the adsorption plate. The solenoid valve is used to control the connection and disconnection between the vacuum suction cup and the external air source.

[0010] Furthermore, both the main board surface and the adsorption plate have concealed airflow channels inside for connecting the vacuum suction cup and the vacuum generating tube. The main board surface and the adsorption plate are provided with quick connectors connected to the airflow channels for connecting external vacuum pipelines.

[0011] Furthermore, the robot drive arm includes an upper arm, a forearm, and a wrist. The end of the upper arm is hinged to the beginning of the forearm, the end of the forearm is hinged to the beginning of the wrist, and the main body of the robotic hand is mounted on the end of the wrist.

[0012] Furthermore, the main board surface has a rectangular plate-like structure, and both the first and second sub-board surfaces have rectangular plate-like structures.

[0013] Furthermore, the drive shaft is mounted on the motherboard via a bearing seat, the bearing seat being used to install the bearing, and the motor being a servo motor or a stepper motor, and equipped with a reducer.

[0014] Furthermore, it also includes a control system, which is electrically connected to the robot drive arm, rotation mechanism, telescopic mechanism and suction components. The control system is used to control the rotation angle of the first sub-plate and the second sub-plate and the telescopic amount of the suction plate according to the three-dimensional model of the object to be grasped or the sensor detection data, so that all suction components are attached to the surface of the object.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention constructs a multi-degree-of-freedom flexible adsorption unit by symmetrically arranging a first and second sub-plates on both sides of the main panel, combined with independently extendable adsorption plates. When facing irregularly shaped structural parts or polyhedral workpieces such as V-shaped, arc-shaped, or stepped parts, the control system can drive the two sub-plates to rotate synchronously to the optimal envelope angle. At the same time, according to the unevenness of the workpiece surface, it can independently control each adsorption plate to perform slight extension and retraction. This "contour-following" adjustment mechanism allows the entire suction mechanism to actively conform to the contour of the workpiece like a palm, fundamentally solving the "adsorption blind zone" problem caused by the inability to deform traditional rigid suction cup frames, and significantly expanding the robot's grasping range.

[0016] 2. Due to the angle adjustment of the first and second auxiliary plates and the expansion and contraction compensation of the adsorption plates, it is ensured that all vacuum suction cups on the main plate and the two side adsorption plates can form effective contact with the workpiece surface in the optimal posture. This maximizes the number of suction cups involved in adsorption, significantly enhances the adsorption force, and makes the force more uniform. For heavy, irregularly shaped workpieces with an off-center center of gravity, this multi-point balanced adsorption can provide a stable gripping force, effectively avoiding the risk of workpiece falling due to local air leakage or insufficient adsorption force, and greatly improving the operational safety and reliability of automated production lines. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the main structure of the robotic arm of the present invention; Figure 3 This is a schematic diagram of the sub-plate structure of the present invention; Figure 4 This is a schematic diagram of the rotating mechanism and adjusting mechanism of the present invention; Figure 5 This is a schematic diagram of the main / sub-plate structure of the present invention; Figure 6 This is a schematic diagram of the vacuum suction cup structure of the present invention.

[0018] Legend: 1. Robot drive arm; 11. Upper arm; 12. Forearm; 13. Wrist; 2. Main body of the robotic arm; 21. Main board surface; 22. First auxiliary board surface; 23. Second auxiliary board surface; 3. Suction assembly; 31. Vacuum suction cup; 32. Vacuum generating tube; 33. Solenoid valve; 4. Rotating mechanism; 41. Motor; 42. Drive shaft; 43. Bearing; 44. Shaft seat; 5. Adsorption plate; 6. Adjustment mechanism; 61. First telescopic cylinder; 62. Mounting plate; 63. Connecting bracket; 7. Telescopic mechanism; 71. Second telescopic cylinder. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] Example 1 like Figure 1-6 As shown, the present invention provides a technical solution: a robotic arm suction component, which aims to improve the adaptability and stability of the robot when grasping objects, and is especially suitable for grasping objects with irregular shapes.

[0021] The robotic arm's suction component mainly consists of the following parts: Robot drive arm 1: As the power source and motion execution basis of the entire suction assembly, it can achieve multi-degree-of-freedom motion, providing a flexible operating space for the main body of the robot arm; Robotic arm body 2: Connected to the output end of robot drive arm 1, it is the core load-bearing structure of the suction component, and other key components are installed on it; Main board surface 21: It is fixedly installed on the main body 2 of the robotic arm and is the main mounting surface of the entire suction assembly. Multiple suction components 3 are installed on the main board surface 21. These suction components 3 directly act on the surface of the object to achieve initial adsorption and grasping. The first sub-plate 22 and the second sub-plate 23 are symmetrically and rotatably mounted on the left and right sides of the main plate 21 via a rotating mechanism 4, respectively. This design allows the sub-plates to be flexibly adjusted according to the shape of the object. Both the first sub-plate 22 and the second sub-plate 23 are equipped with retractable suction plates 5, and the suction plates 5 are also equipped with multiple suction components 3, further expanding the suction range and enhancing the stability of the gripping.

[0022] Rotation mechanism 4: Located on the main board surface 21, it is a key component for driving the movement of the first sub-board surface 22 and the second sub-board surface 23; it can drive the first sub-board surface 22 and the second sub-board surface 23 to rotate synchronously towards or away from the main board surface 21, thereby adapting to the grasping needs of objects of different widths.

[0023] Adjustment mechanism 6: Installed on the rotating mechanism 4, the output end is connected to the first sub-plate 22 and the second sub-plate 23. Through telescopic movement, the adjustment mechanism 6 can drive the first sub-plate 22 and the second sub-plate 23 to move closer to or further away from the main plate 21, further adjusting the position of the suction component to better fit the object surface.

[0024] Multiple telescopic mechanisms 7 are respectively disposed on the first sub-plate surface 22 and the second sub-plate surface 23, and are used to drive the adsorption plate 5 to extend and retract relative to the corresponding sub-plate surface. This allows the adsorption plate 5 to be precisely adjusted according to the depth or protruding parts of the object, ensuring that the adsorption component is in full contact with the object surface.

[0025] Example 2 like Figure 1-6 As shown, the specific structure and connection method of each component are further described in detail: Rotation mechanism 4 includes a motor 41 and a drive shaft 42. The motor 41 is mounted on the main board surface 21 and provides power for the entire rotation process. The drive shaft 42 is rotatably supported on the side of the main board surface 21 by multiple bearings 43 and is connected to the output end of the motor 41. This design ensures that the drive shaft 42 can rotate smoothly and efficiently, thereby driving the sub-board surface to perform corresponding movements. The drive shaft 42 is mounted on the main board surface 21 by a bearing seat 44. The bearing seat 44 is used to install the bearings 43, providing stable support for the drive shaft 42. The motor 41 is selected as a servo motor or a stepper motor and is equipped with a reducer, which can precisely control the rotation angle and speed to meet the needs of different gripping scenarios.

[0026] Adjustment mechanism 6 includes a first telescopic cylinder 61 and a mounting plate 62. The mounting plate 62 is fixedly installed on the periphery of the drive shaft 42 and can rotate synchronously with the drive shaft 42. The cylinder body of the first telescopic cylinder 61 is fixed on the mounting plate 62, and a connecting bracket 63 is installed at its output end. The connecting bracket 63 is connected to the first sub-plate surface 22 or the second sub-plate surface 23. When the first telescopic cylinder 61 extends or retracts, the connecting bracket 63 drives the sub-plate surface to move closer to or further away from the main plate surface 21, thereby achieving a preliminary adjustment of the position of the suction component.

[0027] Installation of the adsorption plate 5: The adsorption plate 5 is installed on the corresponding first sub-plate surface 22 or second sub-plate surface 23 through the telescopic mechanism 7. The telescopic mechanism 7 includes multiple second telescopic cylinders 71. The cylinder body of the second telescopic cylinder 71 is fixed to the corresponding sub-plate surface near the edge. The piston rod of the second telescopic cylinder 71 is fixedly connected to the adsorption plate 5. This installation method allows the adsorption plate 5 to telescopically move perpendicular to the sub-plate surface under the drive of the second telescopic cylinder 71, further adjusting the contact position between the adsorption component and the object surface.

[0028] Structure of suction component 3: Suction component 3 includes vacuum suction cup 31, vacuum generating tube 32 and solenoid valve 33. Vacuum suction cup 31 is installed on the surface of main board 21 or adsorption plate 5 and directly contacts the surface of the object. It achieves adsorption function by generating negative pressure. Vacuum suction cup 31 is connected to vacuum generating tube 32 through internal air channel or external pipeline. Vacuum generating tube 32 and solenoid valve 33 are both integrated and installed on the back of main board 21 or adsorption plate 5. Solenoid valve 33 is used to control the opening and closing of vacuum suction cup 31 and external air source, thereby achieving precise control of adsorption process.

[0029] Airflow channel design: The main board surface 21 and the adsorption plate 5 are both provided with hidden airflow channels to connect the vacuum suction cup 31 and the vacuum generating tube 32. This design makes the entire suction assembly look cleaner and reduces the risk of interference and damage caused by exposed pipes. The main board surface 21 and the adsorption plate 5 are provided with quick connectors that connect to the airflow channels for connecting external vacuum pipes, which facilitates installation and maintenance.

[0030] Structure of robot drive arm 1: Robot drive arm 1 includes a large arm 11, a forearm 12, and a wrist 13. The end of the large arm 11 is hinged to the beginning of the forearm 12, and the end of the forearm 12 is hinged to the beginning of the wrist 13. The main body 2 of the robotic hand is mounted on the end of the wrist 13. This multi-joint structure enables robot drive arm 1 to achieve complex three-dimensional spatial movements, providing a wide operating range for the robotic hand to pick up components.

[0031] Panel shape: The main panel 21 is a rectangular panel structure, and the first sub-panel 22 and the second sub-panel 23 are also rectangular panels. This regular shape design facilitates the processing and installation of components, and also helps to optimize the layout and adjustment of components.

[0032] Control System: This also includes a control system that is electrically connected to the robot drive arm 1, the rotating mechanism 4, the telescopic mechanism 7, and the suction assembly 3. The control system can precisely control the rotation angle of the first sub-plate 22 and the second sub-plate 23, as well as the telescopic amount of the suction plate 5, based on the 3D model of the object to be grasped or sensor detection data, so that all suction assemblies 3 are tightly attached to the object surface, ensuring the stability and reliability of the grasping.

[0033] The workflow of this invention is as follows: When the robotic arm picks up components for industrial production, the control system is first activated and obtains information such as the shape, size and position of the object through sensors or a pre-input three-dimensional model of the object to be picked up. Next, the control system plans the motion trajectory of the robot drive arm 1 based on this information, and drives the robot drive arm 1 to move the manipulator suction component to a suitable position above the object to be grasped. Then, the control system controls the motor 41 of the rotating mechanism 4 to start, drive the drive shaft 42 to rotate, drive the mounting plate 62 and the first telescopic cylinder 61 to rotate, thereby causing the first sub-plate surface 22 and the second sub-plate surface 23 to rotate synchronously relative to the main plate surface 21, adjusting the angle of the sub-plate surface to initially adapt to the shape of the object. Subsequently, the control system controls the extension and retraction of the first telescopic cylinder 61 of the adjustment mechanism 6 according to the distance between the object and the suction component. Through the connecting bracket 63, the first sub-plate 22 and the second sub-plate 23 move closer to or away from the main plate 21, further adjusting the position of the suction component so that it is closer to the object surface. Then, the control system controls the extension and retraction of the second extension cylinder 71 of the extension mechanism 7, driving the adsorption plate 5 to extend and retract relative to the corresponding sub-plate surface, so that the adsorption component 3 on the adsorption plate 5 can accurately fit the protruding part or recessed area of ​​the object surface. Once all suction components 3 are tightly attached to the surface of the object, the control system controls the solenoid valve 33 of the suction components 3 to open, so that the vacuum suction cup 31 is connected to the external air source, the vacuum generating tube 32 generates negative pressure, and the vacuum suction cup 31 adsorbs the surface of the object. Finally, the control system controls the robot drive arm 1 to move the grasped object to the designated position, completing one grasping operation. After the grasping is completed, the control system controls the solenoid valve 33 to close, releasing the negative pressure of the vacuum suction cup 31, causing the object to separate from the suction component. Then the robotic arm suction component returns to the initial position, waiting for the next grasping task. Through such a series of precise controls and adjustments, the present invention can achieve efficient and stable grasping of objects of various irregular shapes, meeting the needs of industrial production.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic gripper suction component, characterized in that, include: Robotic drive arm (1); The main body of the robotic arm (2) is connected to the output end of the robot drive arm (1); The main board surface (21) is fixedly installed on the main body (2) of the robotic arm, and multiple suction components (3) are installed on the main board surface (21). The first sub-plate (22) and the second sub-plate (23) are symmetrically and rotatably mounted on the left and right sides of the main plate (21) via a rotating mechanism (4). Both the first sub-plate (22) and the second sub-plate (23) are equipped with retractable adsorption plates (5), and the adsorption plates (5) are equipped with multiple adsorption components (3). A rotating mechanism (4) is disposed on the main board surface (21) and is used to drive the first sub-board surface (22) and the second sub-board surface (23) to rotate synchronously towards or away from the main board surface (21); The adjustment mechanism (6) is installed on the rotating mechanism (4), and its output end is connected to the first sub-plate (22) and the second sub-plate (23). By extending and retracting, the first sub-plate (22) and the second sub-plate (23) move closer to / away from the main plate (21). Multiple telescopic mechanisms (7) are respectively disposed on the first sub-plate surface (22) and the second sub-plate surface (23) to drive the adsorption plate (5) to perform forward and backward telescopic movements relative to the corresponding sub-plate surface.

2. The robotic arm suction assembly according to claim 1, characterized in that, The rotating mechanism (4) includes a motor (41) and a drive shaft (42). The motor (41) is mounted on the main board surface (21). The drive shaft (42) is rotatably supported on the side of the main board surface (21) by multiple bearings (43) and is connected to the output end of the motor (41) for transmission.

3. The robotic arm suction assembly according to claim 2, characterized in that, The adjustment mechanism (6) includes a first telescopic cylinder (61) and a mounting plate (62). The mounting plate (62) is fixedly installed on the periphery of the drive shaft (42) and can rotate with the drive shaft (42). The cylinder body of the first telescopic cylinder (61) is fixed on the mounting plate (62). The output end of the first telescopic cylinder (61) is equipped with a connecting bracket (63) which is correspondingly connected to the first sub-plate surface (22) or the second sub-plate surface (23).

4. The robotic arm suction assembly according to claim 1, characterized in that, The adsorption plate (5) is installed on the corresponding first sub-plate surface (22) or second sub-plate surface (23) via a telescopic mechanism (7); The telescopic mechanism (7) includes a plurality of second telescopic cylinders (71). The cylinder body of the second telescopic cylinder (71) is fixed to the corresponding sub-plate surface near the edge. The piston rod of the second telescopic cylinder (71) is fixedly connected to the adsorption plate (5) to drive the adsorption plate (5) to extend and retract perpendicular to the sub-plate surface.

5. The robotic arm suction assembly according to claim 1, characterized in that, The suction assembly (3) includes a vacuum suction cup (31), a vacuum generating tube (32), and a solenoid valve (33). The vacuum suction cup (31) is installed on the surface of the main board (21) or the adsorption plate (5) and is connected to the vacuum generating tube (32) through an internal air passage or an external pipeline. The vacuum generating tube (32) and the solenoid valve (33) are both integrated and installed on the back of the main board (21) or the adsorption plate (5). The solenoid valve (33) is used to control the connection and disconnection between the vacuum suction cup (31) and the external air source.

6. The robotic arm suction assembly according to claim 5, characterized in that, The main board surface (21) and the adsorption plate (5) are both provided with a hidden airflow channel for connecting the vacuum suction cup (31) and the vacuum generating tube (32). The main board surface (21) and the adsorption plate (5) are provided with quick connectors connected to the airflow channel for connecting to external vacuum pipelines.

7. The robotic arm suction assembly according to claim 1, characterized in that, The robot drive arm (1) includes an upper arm (11), a forearm (12) and a wrist (13). The end of the upper arm (11) is hinged to the beginning of the forearm (12), and the end of the forearm (12) is hinged to the beginning of the wrist (13). The robot hand body (2) is mounted on the end of the wrist (13).

8. A robotic manipulator suction assembly according to claim 1, characterized in that, The main board surface (21) has a rectangular plate structure, and the first sub-board surface (22) and the second sub-board surface (23) both have rectangular plate structures.

9. A robotic manipulator suction assembly according to claim 2, characterized in that, The drive shaft (42) is mounted on the main board surface (21) via a bearing seat (44). The bearing seat (44) is used to install the bearing (43). The motor (41) is a servo motor or a stepper motor and is equipped with a reducer.

10. A robotic gripper suction assembly according to claim 1, characterized in that, It also includes a control system, which is electrically connected to the robot drive arm (1), the rotation mechanism (4), the telescopic mechanism (7) and the suction assembly (3), and is used to control the rotation angle of the first sub-plate (22) and the second sub-plate (23) and the telescopic amount of the suction plate (5) according to the three-dimensional model of the object to be grasped or the sensor detection data, so that all suction assemblies (3) are attached to the surface of the object.

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