Robot suction cup gripper

Abstract

The utility model relates to the technical field of robots, in particular to a robot suction cup gripper which comprises a hollow outer shell, a plurality of vacuum suction cups and an adjusting mechanism used for adjusting the distance between the vacuum suction cups on the two sides of the outer shell. The adjusting mechanism comprises two sliding blocks symmetrically arranged on the two sides of the interior of the outer shell and a linear driving module for adjusting the distance between the two sliding blocks, the multiple vacuum suction cups are detachably installed on the sliding blocks, the upper ends and the lower ends of the vacuum suction cups extend to the exterior of the outer shell, and an air bag is installed at the bottom end of the outer shell; and the bottom ends of the air bags are lower than the bottom ends of the vacuum suction cups, exhaust pipes for blowing away dust on the surfaces of the articles are installed at the bottom ends of the sliding blocks correspondingly, the exhaust pipes communicate with the interiors of the air bags, the articles of different sizes can be sucked and grabbed, meanwhile, the articles can be automatically cleaned before grabbing, and the grabbing firmness and stability are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot suction cup gripper. Background Art

[0002] Palletizing robots are the product of the organic combination of machinery and computer programs. They provide higher production efficiency for modern production. Palletizing machines are widely used in the palletizing industry. Palletizing robots greatly save labor and space. Palletizing robots are flexible, precise, fast, efficient, stable and efficient. Palletizing robot suction cup grippers are used when stacking goods.

[0003] In the Chinese Patent Literature Library, a patent with authorization announcement number CN220596343U discloses a suction cup gripper of a palletizing robot, which can grab goods of different sizes and lengths by adjusting the distance of the suction cups. By setting up a motor and fan blades, the surface of the goods can be cleaned in advance to avoid the problem of loose adsorption of the suction cups. In actual use, it is inconvenient to inspect and maintain the suction cups as needed. At the same time, the equipment investment cost is high, and the weight of the suction cup gripper is increased. Summary of the invention

[0004] The purpose of the utility model is to provide a robot suction cup gripper to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot suction cup gripper, comprising a hollow outer shell, a plurality of vacuum suction cups and an adjustment mechanism for adjusting the distance between the vacuum suction cups on both sides of the outer shell, the adjustment mechanism comprising two sliders symmetrically arranged on both sides of the inner side of the outer shell and a linear drive module for adjusting the distance between the two sliders, a plurality of the vacuum suction cups are detachably mounted on the sliders, and the upper and lower ends of the vacuum suction cups extend to the outside of the outer shell, an airbag is installed at the bottom end of the outer shell, and the bottom end of the airbag is lower than the bottom end of the vacuum suction cup, an exhaust pipe for blowing away dust on the surface of the object is installed at the bottom end of the slider, and the exhaust pipe is connected to the inside of the airbag.

[0006] Furthermore, the linear drive module includes a threaded rod and a guide slide rod installed in parallel inside the outer shell, a driving component for driving the threaded rod to rotate is installed on one side of the outer shell, and the threaded rod is provided with external threads with opposite threads on the outer side walls at both ends along its length direction, and the two slide blocks are respectively threadedly connected to the two ends of the threaded rod.

[0007] Furthermore, the number of the vacuum suction cups is four, and two vacuum suction cups are symmetrically arranged at both ends of the two sliders.

[0008] Furthermore, an air storage chamber is provided at the bottom end of the slider, and the top end of the airbag is connected to the two air storage chambers respectively through air pipes, the top end of the exhaust pipe is connected to the air storage chamber, and the bottom end of the exhaust pipe extends to the outside of the outer shell and is obliquely provided with a branch pipe, and second sliding holes are provided on both sides of the bottom end of the outer shell to accommodate the two exhaust pipes sliding back and forth along the transmission direction of the adjustment mechanism.

[0009] Furthermore, the vacuum suction cup includes a suction cup body and a connecting tube arranged at the center of the top end of the suction cup body, a limiting plate is fixed on the outer side wall of the connecting tube, and a fastening nut is threadedly connected to the connecting tube above the limiting plate.

[0010] Furthermore, the sliding block is penetrated by a through hole matching the connecting pipe.

[0011] Furthermore, a top cover is detachably mounted on the top of the outer shell, and a first sliding hole for accommodating the connecting pipe to slide back and forth along the transmission direction of the adjusting mechanism is provided through the top cover and the bottom of the outer shell.

[0012] Furthermore, a mounting plate is provided at the top end of the top cover, and a plurality of mounting holes are provided on the mounting plate.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] The robot suction cup gripper is equipped with a slider and a linear drive module to adjust the distance between the vacuum cups on both sides according to the size of the goods. It can absorb and grasp items of different sizes, and it is convenient to inspect and maintain the vacuum cups.

[0015] By setting up an air bag and an exhaust pipe, the dust on the surface of the object can be blown away in advance by squeezing the air bag before grabbing the object. The structure is simple and practical. At the same time, the weight of the suction cup gripper can be reduced, and the equipment investment can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the three-dimensional structure of the utility model when viewed from above;

[0018] Figure 3 This is a schematic diagram of the three-dimensional structure of the adjustment mechanism of the utility model;

[0019] Figure 4 This is a schematic diagram of the cross-sectional structure of the slider of the utility model.

[0020] In the figure: 1. outer shell; 101. top cover; 102. first slide hole; 103. second slide hole; 104. mounting plate; 2. vacuum suction cup; 201. suction cup body; 202. connecting pipe; 203. limit plate; 204. fastening nut; 3. adjustment mechanism; 301. slider; 3011. air storage chamber; 302. linear drive module; 3021. threaded rod; 3022. drive member; 3023. guide slide rod; 4. airbag; 401. air pipe; 5. exhaust pipe. DETAILED DESCRIPTION

[0021] 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. In the description of the utility model, it should be noted that the terms "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the utility model. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In order to make the terms "including" and any variations of them in the specification and claims of the utility model and the above-mentioned drawings, it is intended to cover non-exclusive inclusions.

[0022] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In addition, in the description of the present utility model, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model.

[0023] See also Figure 1-4The utility model provides an embodiment: a robot suction cup gripper, comprising a hollow outer shell 1, a plurality of vacuum suction cups 2 and an adjustment mechanism 3 for adjusting the distance between the vacuum suction cups 2 on both sides of the outer shell 1. In this embodiment, the outer shell 1 is a rectangular hollow structure, and the vacuum suction cup 2 comprises a suction cup body 201 and a connecting pipe 202 arranged at the top center of the suction cup body 201. When working, the connecting pipe 202 is connected to the vacuum pump through a pipeline, so that the inside of the suction cup body 201 can be vacuumized. A limiting plate 203 is fixed on the outer wall of the connecting pipe 202, and a fastening nut 204 is threadedly connected to the connecting pipe 202 above the limiting plate 203;

[0024] The adjusting mechanism 3 includes two sliders 301 symmetrically arranged on both sides of the inner side of the outer shell 1 and a linear driving module 302 for adjusting the distance between the two sliders 301. The linear driving module 302 includes a threaded rod 3021 and a guide slide bar 3023 installed in parallel inside the outer shell 1. A driving member 3022 for driving the threaded rod 3021 to rotate is installed on one side of the outer shell 1. The driving member 3022 can be a motor or a hand wheel for electric or manual adjustment. In this embodiment, it is set as a motor. The outer side walls of the threaded rod 3021 at both ends along its length direction are provided with external threads with opposite threads. The two sliders 301 are respectively threadedly connected with the two ends of the threaded rod 3021. There are two guide slide bars 3023, which are respectively installed on both sides of the threaded rod 3021. The two sliders 301 are slidably connected with the guide slide bar 3023 to play a role of guiding and limiting. The rotation of the threaded rod 3021 drives the sliders 301 on both sides to move toward or away from each other, so that the distance between the vacuum suction cups 2 on both sides can be adjusted according to the size of the object.

[0025] A plurality of vacuum suction cups 2 are detachably mounted on the slider 301. The slider 301 is provided with a through hole matching the connecting tube 202. The upper and lower ends of the vacuum suction cup 2 extend to the outside of the outer shell 1. During assembly, the connecting tube 202 is passed through the through hole and then threadedly connected to the fastening nut 204, and the slider 301 is clamped between the limit plate 203 and the fastening nut 204. In this embodiment, the number of vacuum suction cups 2 is set to four, and two vacuum suction cups 2 are symmetrically arranged at both ends of the two sliders 301, and other numbers can also be set as needed;

[0026] An airbag 4 is installed at the bottom end of the outer shell 1, and the bottom end of the airbag 4 is lower than the bottom end of the vacuum suction cup 2. An exhaust pipe 5 for blowing away dust on the surface of the object is installed at the bottom end of the slider 301, and the exhaust pipe 5 is connected with the inside of the airbag 4. Specifically, an air storage cavity 3011 is arranged at the bottom end of the slider 301, and the top end of the airbag 4 is connected with the two air storage cavities 3011 through the air pipe 401 respectively. The air pipe 401 is arranged inside the outer shell 1, and the air pipe 401 is a hose. The top end of the exhaust pipe 5 is connected with the air storage cavity 3011, and the bottom end of the exhaust pipe 5 extends to the outside of the outer shell 1 and is obliquely provided with a branch pipe. The exhaust pipe 5 is provided Placed between the two vacuum suction cups 2, the two branch pipes are tilted downward, which can blow away the dust on the surface of the objects at the corresponding positions of the two vacuum suction cups 2 in advance. The two sides of the bottom end of the outer shell 1 are penetrated with second sliding holes 103 for accommodating two exhaust pipes 5 to slide back and forth along the transmission direction of the adjustment mechanism 3. The exhaust pipes 5 can slide horizontally synchronously with the slider 301. When working, the gas inside the squeezed airbag 4 can clean the surface of the object in advance. When the gripper is separated from the object, the airbag 4 automatically rebounds, and the cleaning can continue when the next object is grabbed. No power is needed, which reduces the weight of the gripper and reduces the equipment investment;

[0027] A top cover 101 is detachably mounted on the top of the outer shell 1. The top cover 101 can be connected to the outer shell 1 by bolts, and the bottom of the top cover 101 and the outer shell 1 are penetrated by a first sliding hole 102 for accommodating the connecting pipe 202 to slide back and forth along the transmission direction of the adjustment mechanism 3.

[0028] A mounting plate 104 is disposed at the top of the top cover 101, and a plurality of mounting holes are disposed on the mounting plate 104, which facilitates the installation and fixing of the gripper and the manipulator during operation.

[0029] Working principle: During operation, each vacuum suction cup 2 is connected to the vacuum pump through a pipeline. When the gripper is moved and pressed against the surface of the object, the airbag 4 first contacts the object. The airbag 4 is compressed to discharge the internal gas downward through the exhaust pipe 5, blowing away the dust on the surface of the object in advance. The gripper continues to move until the suction cup body 201 is close to the surface of the object. The vacuum pump extracts the gas inside the suction cup body 201 to achieve adsorption and fixation. When objects of different sizes need to be grasped, the threaded rod 3021 is driven to rotate through the driving member 3022, and then the sliders 301 on both sides are driven to move to the middle or to both sides at the same time, thereby adjusting the distance between the vacuum suction cups 2 on both sides of the outer shell 1.

[0030] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A robot suction cup gripper, comprising a hollow outer shell (1), a plurality of vacuum suction cups (2), and an adjustment mechanism (3) for adjusting the distance between the vacuum suction cups (2) on both sides of the outer shell (1), characterized in that: The adjustment mechanism (3) comprises two sliders (301) symmetrically arranged on both sides of the interior of the outer shell (1) and a linear drive module (302) for adjusting the distance between the two sliders (301); a plurality of the vacuum suction cups (2) are detachably mounted on the sliders (301); and the upper and lower ends of the vacuum suction cups (2) extend to the exterior of the outer shell (1); an air bag (4) is mounted at the bottom end of the outer shell (1); and the bottom end of the air bag (4) is lower than the bottom end of the vacuum suction cup (2); and an exhaust pipe (5) for blowing away dust on the surface of an object is mounted at the bottom end of the sliders (301); and the exhaust pipe (5) is connected to the interior of the air bag (4).

2. The robot suction cup gripper according to claim 1, characterized in that: The linear drive module (302) comprises a threaded rod (3021) and a guide slide bar (3023) which are installed in parallel inside the outer shell (1); a driving member (3022) for driving the threaded rod (3021) to rotate is installed on one side of the outer shell (1); the threaded rod (3021) has external threads with opposite threads arranged on the outer side walls at both ends along its length direction; and the two slide bars (301) are respectively threadedly connected to the two ends of the threaded rod (3021).

3. The robot suction cup gripper according to claim 1, characterized in that: The number of the vacuum suction cups (2) is four, and two vacuum suction cups (2) are symmetrically arranged at both ends of the two sliding blocks (301).

4. The robot suction cup gripper according to claim 1, characterized in that: The bottom end of the slider (301) is provided with an air storage cavity (3011), the top end of the air bag (4) is respectively connected to the two air storage cavities (3011) through the air pipe (401), the top end of the exhaust pipe (5) is connected to the air storage cavity (3011), and the bottom end of the exhaust pipe (5) extends to the outside of the outer shell (1) and is provided with a branch pipe at an angle, and second sliding holes (103) are provided through both sides of the bottom end of the outer shell (1) to accommodate the two exhaust pipes (5) sliding back and forth along the transmission direction of the adjustment mechanism (3).

5. The robot suction cup gripper according to claim 1, characterized in that: The vacuum suction cup (2) comprises a suction cup body (201) and a connecting pipe (202) arranged at the center of the top end of the suction cup body (201), a limiting plate (203) being fixed on the outer side wall of the connecting pipe (202), and a fastening nut (204) being threadedly connected to the connecting pipe (202) above the limiting plate (203).

6. The robot suction cup gripper according to claim 5, characterized in that: The sliding block (301) is provided with a through hole which matches the connecting pipe (202).

7. The robot suction cup gripper according to claim 5, characterized in that: A top cover (101) is detachably mounted on the top of the outer shell (1), and a first sliding hole (102) is provided through the bottom of the top cover (101) and the outer shell (1) to accommodate the connecting pipe (202) to slide back and forth along the transmission direction of the adjustment mechanism (3).

8. The robot suction cup gripper according to claim 7, characterized in that: A mounting plate (104) is provided at the top end of the top cover (101), and a plurality of mounting holes are provided on the mounting plate (104).

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