Vacuum chuck gripper

Abstract

The utility model relates to the technical field of suction cup grippers, in particular to a vacuum suction cup gripper which comprises an adjusting frame with an air source pipe, a mechanical arm installation plate is fixedly connected to the surface, close to the middle of the adjusting frame, of the adjusting frame, and a large certification suction cup frame is fixedly connected to the front side, close to the inner wall of the adjusting frame, of the adjusting frame. A small label suction cup frame is fixedly connected to the rear side, close to the inner wall of the adjusting frame, of the adjusting frame, adjusting frames are fixedly connected to the front side and the rear side of the adjusting frame, and driving motors are fixedly installed on the inner walls of the adjusting frames. According to the vacuum chuck gripper, goods of different sizes can be sucked and fetched by combining with a fixed chuck rod, and additional parts are fetched, moved and mounted through a cover plate edge folding mounting frame and the like which are additionally arranged on the vacuum chuck gripper in an auxiliary manner, so that the vacuum chuck gripper and the manipulator robot can be applied to various working environments needing to grab planes.

Description

Technical Field

[0001] The utility model relates to a vacuum suction cup gripper and belongs to the technical field of suction cup grippers. Background Art

[0002] Vacuum suction cup grippers are commonly used in the field of manipulator robot grasping, and are used for manipulator robots to grasp flat plate (including soft paper) type objects. The suction cup assisted manipulator is a robot that can grasp objects. It has components such as suction cup arms, motors and controllers.

[0003] For example, a vacuum palletizing gripper with patent publication number CN202220365377.7 includes a main frame, a vacuum generator and a vacuum suction cup, wherein the vacuum generator is fixed to the main frame, guide columns are provided on both sides of the main frame, and the main frame is connected to the vacuum suction cup through the guide columns; the upper end of the guide column is slidably connected to the main frame through a linear bearing assembly, and the lower end is fixedly connected to the vacuum suction cup through a guide column seat, the linear bearing assembly can slide along the guide column, and a spring is provided on the outer periphery of the guide column, and the spring is located between the linear bearing assembly and the guide column seat; the vacuum suction cup includes a vacuum suction cup top plate, a vacuum suction cup chamber, and a vacuum suction cup sponge, the vacuum suction cup top plate is fixedly connected to the guide column seat, and the vacuum suction cup sponge contacts the goods;

[0004] Since the above-mentioned vacuum palletizing gripper absorbs the goods through the vacuum suction cup, but the entire vacuum suction cup is in an integral shape and uses the vacuum suction cup chamber therein for the absorption operation, and the different sizes of the goods make the absorption adjustment and replacement more cumbersome, and it is inconvenient to move and install additional parts such as labels and certificates, which has brought certain adverse effects on actual use, and therefore needs to be improved. Utility Model Content

[0005] The purpose of the utility model is to provide a vacuum suction cup gripper. The utility model provides a drivable and adjustable movable suction cup rod in the vacuum suction cup gripper, which can be used to absorb and pick up goods of different sizes in combination with the fixed suction cup rod, and the auxiliary cover plate folding mounting frame added to the vacuum suction cup gripper can be used to carry out the removal and installation operations of the additional parts, so that the vacuum suction cup gripper and the manipulator robot can be used in various working environments that require grasping a plane, so as to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] The vacuum suction cup gripper comprises an adjusting frame with an air source pipe, a surface of the adjusting frame near the middle thereof is fixedly connected to a manipulator mounting plate, a front side of the adjusting frame near the inner wall thereof is fixedly connected to a large certificate suction cup frame, a rear side of the adjusting frame near the inner wall thereof is fixedly connected to a small label suction cup frame, the front and rear sides of the adjusting frame are fixedly connected to an adjusting frame, a driving motor is fixedly installed on the inner wall of the adjusting frame, a bidirectional threaded rod is fixedly connected to the output end of the driving motor, a matching threaded sleeve is threadedly connected to different threaded surfaces of the bidirectional threaded rod, a limiting component is connected to the surface of the threaded sleeve, an extension plate is fixedly connected to the surface of the threaded sleeve, a movable suction cup rod is fixedly connected to the surface of the extension plate, a fixed suction cup rod is fixedly connected to the bottom of the adjusting frame, an electric cylinder with a bracket is fixedly connected to one side of the threaded sleeve, a cover plate folding mounting frame is clamped on the output end of the electric cylinder, and a small suction cup plate is fixedly installed inside the cover plate folding mounting frame.

[0008] Furthermore, the main body of the large certificate suction cup frame is a fixed plate, and a double-rod hydraulic cylinder is fixedly installed on the bottom of the fixed plate, and an output end of the double-rod hydraulic cylinder is fixedly connected to an electric telescopic suction cup.

[0009] Furthermore, the main body of the small label suction cup holder is a fixed plate, and an electric telescopic suction cup 2 is fixedly installed inside the fixed plate. The number of the electric telescopic suction cups 2 is at least two, and the at least two electric telescopic suction cups 2 are connected to the fixed plate in an oblique manner.

[0010] Furthermore, the top of the electric telescopic suction cup 1 and the top of the electric telescopic suction cup 2 are both electric telescopic rods, and the output end of the electric telescopic rod is fixedly installed with the vacuum suction cup 1.

[0011] Furthermore, the limiting assembly includes a limiting plate and a limiting groove, the limiting plate is fixedly connected to the surface of the threaded sleeve, the limiting groove is opened on the surface of the inner wall of the adjustment frame, and the inner wall of the limiting groove and the surface of the limiting plate are slidably connected.

[0012] Furthermore, a guide plate is fixedly connected to the top of the movable suction cup rod, a guide groove is provided on the surface of the bottom of the adjustment frame, and an inner wall of the guide groove is slidably connected to the surface of the guide plate.

[0013] Furthermore, the main body of the movable suction cup rod and the main body of the fixed suction cup rod are both shock absorbers, one end of the shock absorber is fixedly connected to a vacuum suction cup 2, and the movable suction cup rod and the fixed suction cup rod are located on the same horizontal line.

[0014] The beneficial effects of the utility model are:

[0015] In the utility model, the manipulator mounting plate can be installed on the manipulator robot, and the air source pipes in the suction cups on the adjusting frame are connected to the air source, and the adjusting frame is driven to move by the movement of the manipulator. When sucking a large cover plate, the manipulator moves the vacuum suction cup structure on the adjusting frame to the cover plate stacking position. According to the size of the cover plate structure, the two movable suction cup rods at the outer side can be controlled to move, that is, the driving motor drives the bidirectional threaded rod to rotate, and under the limit setting of the limit assembly, the rotation of the bidirectional threaded rod can drive the threaded sleeve to move, and the operation of the bidirectional threaded rod can drive the threaded sleeves on different thread surfaces to move toward each other. , the distance adjustment of the two mobile suction cup rods is completed, which can adapt to the adsorption work of covers of different sizes. The fixed suction cup rod is added to play the adsorption effect of the middle support. Because the mobile suction cup rod and the fixed suction cup rod are composed of shock absorbers and vacuum suction cups, they can play the role of shock-proof buffering and adsorption and fixing. The gas is extracted to make the vacuum state between the vacuum suction cup and the cover to grab the cover. Then the subsequent manipulator moves the gripper to the top of the gypsum cargo, and the electric cylinder drives the small suction cup plate in the cover folding mounting frame to adsorb and fix the cut corner guards. After folding to the side of the cargo and putting it down, the placement of large and small cover plates can be completed.

[0016] In the utility model, the electric telescopic suction cup 1 is controlled by the double-rod hydraulic cylinder in the large certificate suction cup frame to adjust its position, and can be moved to the large certificate to absorb a large certificate. After the gluing is completed, the robot drives the vacuum suction cup gripper to stick the large certificate to the side of the goods. After sticking, the suction cup stops the vacuum work, and the large certificate is placed. The electric telescopic suction cup 2 in the small label suction cup frame can adsorb the small label for attachment and installation, and the attachment operation of the small label and the large certificate on the cover plate can be completed by control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the specific embodiments of the present invention and do not constitute a limitation to the present invention.

[0018] Figure 1 It is a schematic diagram of the overall structure of the vacuum suction cup gripper of the utility model;

[0019] Figure 2 It is a bottom-up cross-sectional view of the vacuum suction cup gripper of the utility model;

[0020] Figure 3 It is a side view of an electric telescopic suction cup 1 in the vacuum suction cup gripper of the utility model;

[0021] Figure 4 This is an enlarged view of point A of the vacuum suction cup gripper of the utility model;

[0022] Numbers in the figure: 1. Adjustment frame; 2. Manipulator mounting plate; 3. Large certificate suction cup frame; 4. Small label suction cup frame; 5. Adjustment frame; 6. Drive motor; 7. Bidirectional threaded rod; 8. Threaded sleeve plate; 9. Extension plate; 10. Mobile suction cup rod; 11. Fixed suction cup rod; 12. Electric cylinder; 13. Cover plate folding mounting frame; 14. Small suction cup plate; 15. Double-rod hydraulic cylinder; 16. Electric telescopic suction cup one; 17. Electric telescopic suction cup two; 18. Vacuum suction cup one; 19. Limit plate; 20. Limit groove; 21. Guide plate; 22. Guide groove; 23. Shock absorber; 24. Vacuum suction cup two; 25. Electric telescopic rod. DETAILED DESCRIPTION

[0023] 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 in 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.

[0024] Example 1 Please refer to Figure 1-Figure 4 , the utility model provides a technical solution:

[0025] The vacuum suction cup gripper comprises an adjustment frame 1 with an air source pipe, a manipulator mounting plate 2 is fixedly connected to the surface of the adjustment frame 1 near the middle thereof, a large certificate suction cup frame 3 is fixedly connected to the front side of the adjustment frame 1 near the inner wall thereof, a small label suction cup frame 4 is fixedly connected to the rear side of the adjustment frame 1 near the inner wall thereof, an adjustment frame 5 is fixedly connected to the front and rear sides of the adjustment frame 1, a drive motor 6 is fixedly installed on the inner wall of the adjustment frame 5, a bidirectional threaded rod 7 is fixedly connected to the output end of the drive motor 6, and the bidirectional threaded rod 7 is not A matching threaded sleeve 8 is threadedly connected to the threaded surface, the surface of the threaded sleeve 8 is connected to a limiting component, the surface of the threaded sleeve 8 is fixedly connected to an extension plate 9, the surface of the extension plate 9 is fixedly connected to a movable suction cup rod 10, the bottom of the adjustment frame 1 is fixedly connected to a fixed suction cup rod 11, one side of the threaded sleeve 8 is fixedly connected to an electric cylinder 12 with a bracket, the output end of the electric cylinder 12 is clamped with a cover plate folding mounting frame 13, and a small suction cup plate 14 is fixedly installed inside the cover plate folding mounting frame 13.

[0026] Specifically, Figure 1-Figure 4As shown, the limit assembly includes a limit plate 19 and a limit groove 20, the limit plate 19 is fixedly connected to the surface of the threaded sleeve 8, the limit groove 20 is opened on the surface of the inner wall of the adjustment frame 5, the inner wall of the limit groove 20 and the surface of the limit plate 19 are slidably connected, and the movement trajectory of the threaded sleeve 8 is limited by the setting of the limit plate 19 and the limit groove 20, so that the rotation of the bidirectional threaded rod 7 can drive the threaded sleeve 8 to move.

[0027] Specifically, Figure 1-Figure 4 As shown, a guide plate 21 is fixedly connected to the top of the movable suction cup rod 10, and a guide groove 22 is provided on the surface of the bottom of the adjusting frame 1. The inner wall of the guide groove 22 and the surface of the guide plate 21 are slidably connected. Through the arrangement of the guide plate 21 and the guide groove 22, the smooth movement of the movable suction cup rod 10 is guaranteed to prevent it from tilting.

[0028] Furthermore, the main body of the movable suction cup rod 10 and the main body of the fixed suction cup rod 11 are both shock absorbers 23, one end of the shock absorber 23 is fixedly connected to a vacuum suction cup 24, and the movable suction cup rod 10 and the fixed suction cup rod 11 are located on the same horizontal line. The movable suction cup rod 10 and the fixed suction cup rod 11 are both composed of a shock absorber 23 and a vacuum suction cup 24, which can play a role of shock-resistant buffering effect and adsorption and fixing.

[0029] Example 2 Please refer to Figure 1-Figure 4 The difference between this embodiment and embodiment 1 is that the main body of the large certificate suction cup frame 3 is a fixed plate, and a double-rod hydraulic cylinder 15 is fixedly installed at the bottom of the fixed plate, and the output end of the double-rod hydraulic cylinder 15 is fixedly connected to an electric telescopic suction cup 16. The main body of the small label suction cup frame 4 is a fixed plate, and an electric telescopic suction cup 2 17 is fixedly installed inside the fixed plate. The number of the electric telescopic suction cup 2 17 is at least two, and the at least two electric telescopic suction cups 2 17 are connected to the fixed plate in a beveled manner. The top of the electric telescopic suction cup 16 and the top of the electric telescopic suction cup 2 17 are both electric telescopic rods 25, and the output end of the electric telescopic rod 25 is fixedly installed with a vacuum suction cup 18. The double-rod hydraulic cylinder 15 controls the electric telescopic suction cup 16 to adjust its position, and can be moved to the large certificate to absorb a large certificate of different sizes. The electric telescopic suction cup 2 17 in the small label suction cup frame 4 can absorb the small label for attachment and installation, and the electric telescopic rod 25 can start the driving telescopic method to move, which can drive the vacuum suction cup 18 to absorb the large certificate and the small label.

[0030] Working principle of the utility model: when in use, the manipulator mounting plate 2 can be installed on the manipulator robot (not shown in the figure), the air source pipes in the suction cups on the adjustment frame 1 are connected to the air source, and the adjustment frame 1 is driven to move by the movement of the manipulator. When sucking a large cover plate, the manipulator moves the vacuum suction cup structure on the adjustment frame 1 to the cover plate stacking position. According to the size of the cover plate structure, the two movable suction cup rods 10 at the outer side can be controlled to move, that is, the driving motor 6 is operated to drive the bidirectional threaded rod 7 to rotate, and the limit plate 19 and the limit groove 20 are set. The movement trajectory of the threaded sleeve 8 is limited, so that the rotation of the two-way threaded rod 7 can drive the threaded sleeve 8 to move, and the operation of the two-way threaded rod 7 can drive the threaded sleeves 8 on different thread surfaces to move toward each other, completing the distance adjustment of the two mobile suction cup rods 10, which can adapt to the adsorption of cover plates of different sizes. The fixed suction cup rod 11 is added to play the adsorption effect of the intermediate support. Because the mobile suction cup rod 10 and the fixed suction cup rod 11 are both composed of a shock absorber 23 and a vacuum suction cup 24, they can play a role of shock-resistant buffering and adsorption and fixing. The gas is extracted to form a vacuum state between the vacuum suction cup 24 and the cover plate, and the cover plate is picked up. Then the robot moves the gripper to the top of the gypsum cargo, and the electric cylinder 12 operates to drive the small suction cup plate 14 in the cover plate folding mounting frame 13 to adsorb and fix the cut and folded corner guards, and then fold them to the side of the cargo and put them down, and the large cover plate is placed. Subsequently, the robot is operated in the same way to control the suction cup to the small cover plate for adsorption. Subsequently, the robot moves to the top of the cargo and brings the folded area of ​​the small cover corner guard to the other side of the cargo, and folds the folded area of ​​the small cover corner guard to the other side of the cargo and puts it down. After the lower cover and the small cover are placed, the manipulator continues to drive the double-rod hydraulic cylinder 15 in the large certificate suction cup frame 3 to control the electric telescopic suction cup 16 to adjust the position, and can move to the large certificate to absorb a large certificate. After the gluing is completed, the manipulator drives the vacuum suction cup gripper to stick the large certificate to the side of the goods. After it is tightly attached, the suction cup stops the vacuum work, and the large certificate is placed. The electric telescopic suction cup 2 17 in the small label suction cup frame 4 can adsorb the small label for attachment and installation, so that the vacuum suction cup gripper and the manipulator robot can be used in various working environments that require grasping a plane.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vacuum suction cup gripper, comprising an adjustment frame (1) with an air supply pipe, characterized in that: The adjusting frame (1) has a manipulator mounting plate (2) fixedly connected to its surface near the middle thereof, a large certificate suction cup frame (3) fixedly connected to the front side of the adjusting frame (1) near its inner wall, a small label suction cup frame (4) fixedly connected to the rear side of the adjusting frame (1) near its inner wall, an adjusting frame (5) fixedly connected to the front and rear sides of the adjusting frame (1), a driving motor (6) fixedly mounted on the inner wall of the adjusting frame (5), a bidirectional threaded rod (7) fixedly connected to the output end of the driving motor (6), and corresponding threaded rods (7) threadedly connected to different threaded surfaces of the bidirectional threaded rod (7). An adaptable threaded sleeve (8), the surface of the threaded sleeve (8) is connected to a limiting component, the surface of the threaded sleeve (8) is fixedly connected to an extension plate (9), the surface of the extension plate (9) is fixedly connected to a movable suction cup rod (10), the bottom of the adjustment frame (1) is fixedly connected to a fixed suction cup rod (11), one side of the threaded sleeve (8) is fixedly connected to an electric cylinder (12) with a bracket, the output end of the electric cylinder (12) is clamped with a cover plate folding mounting frame (13), and a small suction cup plate (14) is fixedly installed inside the cover plate folding mounting frame (13).

2. The vacuum suction cup gripper according to claim 1, characterized in that: The main body of the large certificate suction cup frame (3) is a fixed plate, and a double-rod hydraulic cylinder (15) is fixedly installed at the bottom of the fixed plate, and the output end of the double-rod hydraulic cylinder (15) is fixedly connected to an electric telescopic suction cup 1 (16).

3. The vacuum suction cup gripper according to claim 2, characterized in that: The main body of the small label suction cup frame (4) is a fixed plate, and an electric telescopic suction cup 2 (17) is fixedly installed inside the fixed plate. The number of the electric telescopic suction cup 2 (17) is at least two, and the at least two electric telescopic suction cups 2 (17) are connected to the fixed plate in the form of an oblique edge.

4. The vacuum suction cup gripper according to claim 3, characterized in that: The top of the electric telescopic suction cup 1 (16) and the top of the electric telescopic suction cup 2 (17) are both electric telescopic rods (25), and the output end of the electric telescopic rod (25) is fixedly mounted with a vacuum suction cup 1 (18).

5. The vacuum suction cup gripper according to claim 1, characterized in that: The limiting assembly comprises a limiting plate (19) and a limiting groove (20); the limiting plate (19) is fixedly connected to the surface of the threaded sleeve plate (8); the limiting groove (20) is formed on the surface of the inner wall of the adjustment frame (5); the inner wall of the limiting groove (20) and the surface of the limiting plate (19) are slidably connected.

6. The vacuum suction cup gripper according to claim 1, characterized in that: A guide plate (21) is fixedly connected to the top of the movable suction cup rod (10), a guide groove (22) is provided on the surface of the bottom of the adjustment frame (1), and an inner wall of the guide groove (22) is slidably connected to the surface of the guide plate (21).

7. The vacuum suction cup gripper according to claim 1, characterized in that: The main body of the movable suction cup rod (10) and the main body of the fixed suction cup rod (11) are both shock absorbers (23), one end of the shock absorber (23) is fixedly connected to a vacuum suction cup 2 (24), and the movable suction cup rod (10) and the fixed suction cup rod (11) are located on the same horizontal line.

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