Sucker gripper device for parallel robot

Abstract

The utility model discloses a suction cup gripper device for a parallel robot. The suction cup gripper device comprises a box type vacuum generator, a connecting base connected with a motion platform of the parallel robot, an air guide pin column and a suction cup. An inner cavity of a box body of the box type vacuum generator is communicated with a negative pressure air suction port of an internal vacuum generator; a first through hole and a second through hole which are coaxially arranged are formed in the upper end face and the lower end face of a box body of the box type vacuum generator. A circular pipe coaxial with the first through hole is fixed on the upper end surface of the box body of the box type vacuum generator; the suction cup is arranged below the box type vacuum generator. The connecting seat is arranged at the upper end of the circular tube and is in threaded connection and fixation with the air guide pin. Through the design that the box type vacuum generator is combined with the connecting base, the air guide pin column and the suction cup, the whole structure is miniaturized, the box type vacuum suction cup has the advantages of being compact in structure, low in load, convenient and fast to adjust, capable of filtering particulate matter, stable in connection, easy to expand and the like, and the operation efficiency and practicability of the parallel robot are remarkably improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of pneumatic clamps, in particular to a suction cup gripper device for a parallel robot. Background Art

[0002] Parallel robots are automated mechanical devices with multiple degrees of freedom. They are widely used in various production lines and assembly lines to accurately and quickly complete tasks such as handling, assembly and processing of objects. In many application scenarios, parallel robots need to be equipped with grippers to perform gripping and handling tasks. These grippers usually need to work closely with the robot's motion platform to achieve efficient and precise operation.

[0003] However, existing suction cup grippers for parallel robots have some shortcomings. First, traditional suction cup grippers are often complex in structure and large in size, which not only takes up valuable robot motion platform space but also increases the robot's load. Second, the complex structure makes the installation and adjustment process of the gripper cumbersome, which is not conducive to rapid maintenance or replacement of parts. In addition, traditional suction cup grippers are easily damaged when handling environments containing particulate matter, and the connection stability needs to be improved.

[0004] In order to solve the above problems, a suction cup gripper device for a parallel robot is needed, which has a compact structure, low load, is easy to adjust, has a particle filtering function, has a stable connection and is easy to expand. Utility Model Content

[0005] The purpose of the utility model is to provide a suction cup gripper device for a parallel robot. The overall structure is miniaturized through the combined design of a box-type vacuum generator, a connecting seat, an air guide pin and a suction cup. It has multiple beneficial effects such as compact structure, low load, convenient adjustment, particle filtering, stable connection and easy expansion.

[0006] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0007] The utility model discloses a suction cup gripper device for a parallel robot, comprising a box-type vacuum generator, a connecting seat connected to a parallel robot motion platform, an air guide pin and a suction cup; the inner cavity of the box body of the box-type vacuum generator is connected to the negative pressure suction port of the vacuum generator inside the box body; the upper and lower end surfaces of the box body of the box-type vacuum generator are provided with a first through hole and a second through hole which are coaxially arranged; a circular tube which is coaxially arranged with the first through hole is fixed to the upper end surface of the box body of the box-type vacuum generator; the suction cup is arranged below the box-type vacuum generator, and the upper end of the air guide pin passes through the suction cup and the box-type vacuum generator to the inside of the circular tube; the connecting seat is placed on the upper end of the circular tube and is threadedly connected and fixed to the air guide pin.

[0008] As a preferred technical solution of the utility model, the air guide pin includes a first cylindrical section, a second cylindrical section and a third cylindrical section arranged in sequence from bottom to top; the first cylindrical section, the second cylindrical section and the third cylindrical section are jointly provided with an air guide blind hole with a lower opening; a threaded blind hole connected to the connecting seat is provided at the upper end of the third cylindrical section; an air inlet hole radially arranged and connected to the air guide blind hole is provided on the outer wall of the third cylindrical section; a first annular groove is provided on the outer wall of the third cylindrical section located on the inner side of the circular tube; a first sealing rubber ring is installed in the first annular groove.

[0009] As a preferred technical solution of the utility model, a metal filter mesh is installed at the end of the air guide blind hole.

[0010] As a preferred technical solution of the utility model, a connecting head with an inner circle and an outer square coaxially arranged with the second through hole is fixed on the lower surface of the box body of the box-type vacuum generator; the outer wall of the second cylindrical section cooperates with the inner wall of the connecting head; the outer wall of the second cylindrical section located inside the connecting head is provided with two second annular grooves; and a second sealing rubber ring is installed in the second annular groove.

[0011] As a preferred technical solution of the utility model, the connecting seat includes a circular plate; a first threaded column coaxially fixed to the lower surface of the circular plate and connected to the threaded blind hole is fixed; a hexagonal column is coaxially fixed to the upper surface of the circular plate; a second threaded column is fixed to the upper end of the hexagonal column; the second threaded column is threadedly connected to a flange nut and two locking nuts from bottom to top.

[0012] As a preferred technical solution of the utility model, a rectangular groove cooperating with the connecting head is provided at the upper end of the suction cup; and a circular groove cooperating with the first cylindrical segment is provided inside the suction cup.

[0013] As a preferred technical solution of the utility model, a threaded hole is provided on the front, rear and right side of the box body of the box-type vacuum generator; a bolt plug is threadedly sealed and connected to the threaded hole.

[0014] The utility model has the following beneficial effects:

[0015] 1. The utility model makes the overall structure miniaturized and integrated through the combined design of the box-type vacuum generator, the connecting seat, the air guide pin and the suction cup, saving space on the parallel robot motion platform; due to the compactness of the structure, the weight occupied by the device on the parallel robot is reduced, thereby reducing the fixed load of the robot.

[0016] 2. The design of the structure of the utility model simplifies the installation and adjustment process, making it possible to quickly and conveniently perform maintenance or replace parts in actual operation.

[0017] 3. The connecting seat of the utility model is stably connected to the movable platform through the circular plate, the first threaded column, the hexagonal column, the second threaded column, the flange nut and the locking nut, thereby improving the stability and convenience of operation.

[0018] 4. The utility model effectively prevents the inhaled particles from damaging the box-type vacuum generator by setting up the metal filter mesh, and automatically removes the particles by gravity when the items are put down.

[0019] 5. The utility model is designed with a threaded hole on the side of the box-type vacuum generator for sealing the connecting bolt plug. When necessary, the bolt plug can be removed, the quick connector can be installed and the connecting pipe can be connected to provide synchronous negative pressure to the newly added suction cups, thereby realizing the function of synchronous adsorption and grasping of multiple suction cups.

[0020] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 The utility model is a schematic diagram of the structure of the suction cup gripper device for the parallel robot.

[0023] Figure 2 for Figure 1 Schematic diagram of the axis section.

[0024] Figure 3 This is a schematic diagram of the structure of a box-type vacuum generator.

[0025] Figure 4 It is a structural schematic diagram of the connecting seat.

[0026] Figure 5 It is a schematic diagram of the structure of the gas guide pin.

[0027] Figure 6 It is a schematic diagram of the structure of the suction cup.

[0028] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0029] 1-box vacuum generator, 2-connecting seat, 3-air guide pin, 4-suction cup, 5-bolt plug, 11-first through hole, 12-second through hole, 13-round tube, 14-connecting head, 15-threaded hole, 21-round plate, 22-first threaded column, 23-hexagonal prism, 24-second threaded column, 25-flange nut, 26-locking nut, 31-first cylindrical section, 32-second cylindrical section, 33-third cylindrical section, 34-air guide blind hole, 35-threaded blind hole, 36-air inlet, 37-first annular groove, 38-first sealing rubber ring, 39-metal filter mesh, 310-second annular groove, 311-second sealing rubber ring, 41-rectangular groove, 42-circular groove. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Specific embodiment one:

[0032] See also Figure 1-6 As shown, the utility model is a suction cup gripper device for a parallel robot, comprising a box-type vacuum generator 1, a connecting seat 2 connected to the parallel robot motion platform, an air guide pin 3 and a suction cup 4. The inner cavity of the box body of the box-type vacuum generator 1 is connected to the negative pressure suction port of its vacuum generator. The upper and lower end surfaces of the box body of the box-type vacuum generator 1 are provided with a first through hole 11 and a second through hole 12 which are coaxially arranged. A circular tube 13 which is coaxially arranged with the first through hole 11 is fixed to the upper end surface of the box body of the box-type vacuum generator 1. The suction cup 4 is arranged below the box-type vacuum generator 1, and the upper end of the air guide pin 3 passes through the suction cup 4 and the box-type vacuum generator 1 to the circular tube 13. The connecting seat 2 is placed on the upper end of the circular tube 13 and is threadedly connected and fixed with the air guide pin 3.

[0033] The air guide pin 3 includes a first cylindrical section 31, a second cylindrical section 32 and a third cylindrical section 33 arranged in sequence from bottom to top. The first cylindrical section 31, the second cylindrical section 32 and the third cylindrical section 33 are jointly provided with an air guide blind hole 34 with a lower opening. The upper end of the third cylindrical section 33 is provided with a threaded blind hole 35 connected and matched with the connecting seat 2. The outer wall of the third cylindrical section 33 is provided with an air inlet hole 36 arranged radially and connected with the air guide blind hole 34. The outer wall of the third cylindrical section 33 located on the inner side of the circular tube 13 is provided with a first annular groove 37. A first sealing rubber ring 38 is installed in the first annular groove 37. A rectangular groove 41 is provided at the upper end of the suction cup 4 to match the connector 14. A circular groove 42 is provided inside the suction cup 4 to match the first cylindrical section 31. A connector 14 with an inner circle and an outer square coaxially arranged with the second through hole 12 is fixed on the lower surface of the box body of the box-type vacuum generator 1. The outer wall of the second cylindrical section 32 is matched with the inner wall of the connector 14. The outer wall of the second cylindrical section 32 located inside the connector 14 is provided with two second annular grooves 310. The second annular grooves 310 are provided with second sealing rubber rings 311.

[0034] The combination of the box-type vacuum generator 1, the connecting seat 2, the air guide pin 3 and the suction cup 4 integrates the vacuum generator and the vacuum suction cup in a small integrated manner. The overall structure is compact, the space occupied on the parallel robot motion platform is small, the fixed load of the parallel robot is reduced, and the adjustment is convenient and quick.

[0035] In order to prevent particles from affecting the cassette vacuum generator 1, a metal filter mesh 39 is installed at the end of the air guide blind hole 34. The metal filter mesh 39 can effectively filter the particles sucked by the suction cup 4, and the particles fall under natural gravity when the suction cup 4 puts down the object.

[0036] Among them, the connecting seat 2 includes a circular plate 21. A first threaded column 22 connected and matched with the threaded blind hole 35 is coaxially fixed on the lower surface of the circular plate 21. A hexagonal column 23 is coaxially fixed on the upper surface of the circular plate 21. A second threaded column 24 is fixed to the upper end of the hexagonal column 23. The second threaded column 24 is threadedly connected with a flange nut 25 and two locking nuts 26 from bottom to top. When in use, the second threaded column 24 passes through the movable platform of the parallel robot, the flange nut 25 fits on the lower surface of the movable platform, and the two locking nuts 26 are locked on the upper surface of the movable platform. The connecting seat 2 fastens the air guide pin 3 and the suction cup 4 at the bottom, and is stably connected to the movable platform at the top, and the overall installation and connection process is quick and convenient.

[0037] In order to increase the practicality of the box-type vacuum generator 1, a threaded hole 15 is provided on the front, back and right side of the box body of the box-type vacuum generator 1. A bolt plug 5 is threadedly sealed and connected to the threaded hole 15. When the suction cup needs to be expanded, the bolt plug 5 is removed, and then a quick connector is installed and connected to the pipe to provide synchronous negative pressure to the newly added suction cup to realize synchronous adsorption and grasping of multiple suction cups.

[0038] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0039] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A suction cup gripper device for a parallel robot, characterized in that: It comprises a box-type vacuum generator (1), a connecting seat (2) connected to the parallel robot motion platform, an air guide pin (3) and a suction cup (4); The upper and lower end surfaces of the box body of the box-type vacuum generator (1) are provided with a first through hole (11) and a second through hole (12) which are coaxially arranged; a round tube (13) which is coaxially arranged with the first through hole (11) is fixed to the upper end surface of the box body of the box-type vacuum generator (1); The suction cup (4) is arranged below the box-type vacuum generator (1); the upper end of the air guide pin (3) passes through the suction cup (4) and the box-type vacuum generator (1) to the inside of the round tube (13); the connecting seat (2) is placed on the upper end of the round tube (13) and is threadedly connected and fixed to the air guide pin (3).

2. The suction cup gripper device for a parallel robot according to claim 1, characterized in that: The air guide pin (3) comprises a first cylindrical section (31), a second cylindrical section (32) and a third cylindrical section (33) which are arranged in sequence from bottom to top; the first cylindrical section (31), the second cylindrical section (32) and the third cylindrical section (33) are jointly provided with an air guide blind hole (34) with a lower opening; the third cylindrical section (33) is provided with a threaded blind hole (35) at an upper end thereof for connecting with the connecting seat (2); the outer wall of the third cylindrical section (33) is provided with an air inlet hole (36) which is arranged radially and communicates with the air guide blind hole (34); a first annular groove (37) is provided on a portion of the outer wall of the third cylindrical section (33) located on the inner side of the circular tube (13); and a first sealing rubber ring (38) is installed in the first annular groove (37).

3. The suction cup gripper device for a parallel robot according to claim 2, characterized in that: A metal filter mesh (39) is installed at the end of the air guide blind hole (34).

4. The suction cup gripper device for a parallel robot according to claim 2, characterized in that: A connecting head (14) is fixed on the lower surface of the box body of the box-type vacuum generator (1) and is coaxially arranged with the second through hole (12) and has an inner circle and an outer square; the outer wall of the second cylindrical section (32) cooperates with the inner wall of the connecting head (14); the outer wall of the part of the second cylindrical section (32) located inside the connecting head (14) is provided with two second annular grooves (310); and a second sealing rubber ring (311) is installed in the second annular groove (310).

5. The suction cup gripper device for a parallel robot according to claim 2, characterized in that: The connecting seat (2) comprises a circular plate (21); a first threaded column (22) connected and matched with the threaded blind hole (35) is coaxially fixed on the lower surface of the circular plate (21); a hexagonal column (23) is coaxially fixed on the upper surface of the circular plate (21); a second threaded column (24) is fixed at the upper end of the hexagonal column (23); and the second threaded column (24) is threadedly connected to a flange nut (25) and two locking nuts (26) from bottom to top.

6. The suction cup gripper device for a parallel robot according to claim 4, characterized in that: The upper end of the suction cup (4) is provided with a rectangular groove (41) that cooperates with the connecting head (14); and the interior of the suction cup (4) is provided with a circular groove (42) that cooperates with the first cylindrical section (31).

7. The suction cup gripper device for a parallel robot according to claim 1, characterized in that: The box body of the box-type vacuum generator (1) is provided with a threaded hole (15) on the front, rear and right sides; a bolt plug (5) is threadedly sealed and connected to the threaded hole (15).

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