Self-adaptive suction cup mechanism

Abstract

The utility model discloses a self-adaptive suction cup mechanism. The device comprises a supporting frame, at least two first guide rods and second guide rods which are movably arranged on the supporting frame, at least one first suction cup arranged below the first guide rods, at least one second suction cup arranged below the second guide rods, and a clamping jaw air cylinder which is arranged on the supporting frame and used for clamping the first guide rods and the second guide rods to fix the positions, the first guide rod and the second guide rod can independently float up and down so that the first suction cup and the second suction cup can be sucked to the surfaces of different heights. When the first suction cup and the second suction cup correspond to the adsorption faces of different heights, the suction cup making contact with the first suction cup pushes the guide rod to stretch out and draw back and float, the other suction cup continues to descend to make contact with the adsorption face, and after the first suction cup and the second suction cup make contact with the surface of a product to be adsorbed, the clamping jaw air cylinder clamps the first guide rod and the second guide rod; and the stable grasping of the product in the state is kept, so that the self-adaptive adsorption clamping of different height surfaces of the special-shaped product is realized.

Description

Technical field:

[0001] The utility model relates to the technical field of product taking and placing, in particular to an adaptive suction cup mechanism. Background technology:

[0002] A suction cup is a device that uses the principle of negative pressure to generate suction, and is usually made of soft rubber or silicone. When negative pressure is applied to the inside of the suction cup, they can adhere to a flat, smooth surface and provide sufficient gripping force to grab the product. When using a suction cup as a material-grabbing device to grab a product, the suction cup needs to be attached to a flat, smooth surface to ensure the stability of adsorption. When grabbing large-sized products, multiple suction cups are required to cooperate in grabbing. However, for products with stepped surfaces, it is difficult for multiple suction cups to be adsorbed to the product surface at the same time, resulting in insufficient gripping force, and the accuracy of picking and releasing materials is also difficult to guarantee. For example, a suction cup-type material-grabbing device with Chinese patent application number 201620888089.4 is used. In this patent, multiple suction cups 5 are set at the bottom of the three-axis moving mechanism 2 to absorb the flat surface of the product. However, when the surface to be grasped of the product has multiple steps, it cannot be applied.

[0003] In view of this, the inventor proposes the following technical solution. Utility model content:

[0004] The utility model aims to overcome the deficiencies of the prior art and provide an adaptive suction cup mechanism.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solutions: an adaptive suction cup mechanism, comprising: a support frame, at least two first guide rods and a second guide rod movably arranged on the support frame, at least one first suction cup arranged below the first guide rod, at least one second suction cup arranged below the second guide rod, and a clamping cylinder arranged on the support frame and used to clamp the first guide rod and the second guide rod to fix the position, wherein the first guide rod and the second guide rod can float up and down independently so that the first suction cup and the second suction cup can be adsorbed on surfaces at different heights.

[0006] Furthermore, in the above technical solution, the first guide rod and the second guide rod are respectively sleeved with a first and a second compression spring for pushing the first and the second suction cups to elastically extend downward.

[0007] Furthermore, in the above technical solution, the upper ends of the first guide rod and the second guide rod are provided with a first limit stop ring and a second limit stop ring for limiting and preventing separation from the support frame.

[0008] Furthermore, in the above technical solution, the lower ends of the first guide rod and the second guide rod are respectively provided with a first mounting plate and a second mounting plate for mounting the first suction cup and the second suction cup, wherein at least two first suction cups are arranged on the first mounting plate, and at least two second suction cups are arranged on the second mounting plate.

[0009] Furthermore, in the above technical solution, the clamping cylinder is provided with a first clamping plate and a second clamping plate for clamping the first guide rod and the second guide rod, and a first clamping groove and a second clamping groove are provided between the first clamping plate and the second clamping plate, which can clamp the first guide rod and the second guide rod.

[0010] Furthermore, in the above technical solution, the support frame includes a bottom plate, a top plate and at least four columns arranged between the bottom plate and the top plate, the first guide rod and the second guide rod pass through the bottom plate, and the clamping cylinder and the suction cup are respectively located on the upper and lower sides of the bottom plate.

[0011] Furthermore, in the above technical solution, the bottom plate is provided with a first sliding sleeve and a second sliding sleeve for respectively sliding the first guide rod and the second guide rod.

[0012] After adopting the above technical scheme, the utility model has the following beneficial effects compared with the prior art: in the utility model, the first suction cup and the second suction cup are respectively installed on the lower ends of the movable first guide rod and the second guide rod, and the first guide rod and the second guide rod are clamped at a fixed height by a clamping claw cylinder. When the first suction cup and the second suction cup correspond to adsorption surfaces of different heights, the suction cup that contacts first will push the guide rod to expand and contract and float, so that the other suction cup can continue to descend and contact the adsorption surface. After the first suction cup and the second suction cup are in contact with and adsorbed on the surface of the product, the clamping claw cylinder clamps the first guide rod and the second guide rod to ensure that the first suction cup and the second suction cup can always be adsorbed on the surface of the product during the subsequent transfer process, and maintain a stable grip on the product in this state, thereby realizing adaptive adsorption and clamping of different height surfaces of special-shaped products. Description of the drawings:

[0013] Figure 1 It is a structural schematic diagram of the utility model. Specific implementation method:

[0014] The utility model is further described below in conjunction with specific embodiments and drawings.

[0015] The working principle of the utility model is to adopt a telescopic suction cup structure that is symmetrical on the left and right and is separated and independent from each other. When taking a product, the clamping claw cylinder 6 opens, and the first suction cup 4 and the second suction cup 5 are pressed down and automatically stop after contacting the product. Since the telescopic heights of the left and right first guide rods 2 and the second guide rods 3 are different at this time, after the clamping claw cylinder 6 is closed and clamps the first guide rods 2 and the second guide rods 3, the entire module can maintain a stable horizontal state when driving the product to take and place, and the first suction cup 4 and the second suction cup 5 remain adsorbed on planes at different heights of the product.

[0016] See Figure 1 As shown, an adaptive suction cup mechanism comprises: a support frame 1, at least two first guide rods 2 and second guide rods 3 movably arranged on the support frame 1, at least one first suction cup 4 arranged below the first guide rod 2, at least one second suction cup 5 arranged below the second guide rod 3, and a clamping claw cylinder 6 arranged on the support frame 1 and used for clamping the first guide rod 2 and the second guide rod 3 to fix the position, wherein the first guide rod 2 and the second guide rod 3 can float up and down independently so that the first suction cup 4 and the second suction cup 5 can be adsorbed on surfaces at different heights. The first suction cup 4 and the second suction cup 5 are respectively installed on the lower ends of the movable first guide rod 2 and the second guide rod 3, and the first guide rod 2 and the second guide rod 3 are clamped at a fixed height by the clamping claw cylinder 6. When the first suction cup 4 and the second suction cup 5 correspond to adsorption surfaces of different heights, the suction cup that contacts first will push the guide rod to expand and contract and float, so that the other suction cup can continue to descend and contact the adsorption surface. After the first suction cup 4 and the second suction cup 5 are in contact with and adsorbed on the surface of the product, the clamping claw cylinder 6 clamps the first guide rod 2 and the second guide rod 3 to ensure that the first suction cup 4 and the second suction cup 5 can always be adsorbed on the surface of the product during the subsequent transfer process, and keep a stable grip on the product in this state, thereby realizing adaptive adsorption and clamping of different height surfaces of special-shaped products.

[0017] The first guide rod 2 and the second guide rod 3 are respectively sleeved with a first and a second compression spring 7 and a second compression spring 8 for pushing the first suction cup 4 and the second suction cup 5 to elastically extend downward. The first and the second compression springs 7 and 8 are respectively sleeved on the first and the second guide rods 2 and 3, and the first and the second suction cups 4 and 5 can maintain elastic floating by using the reset thrust generated by the first and the second compression springs 7 and 8, so that after the first and the second suction cups 4 and 5 are sequentially contacted and adsorbed to different surfaces of the product, and after the clamping cylinder 6 clamps the first and the second guide rods 2 and 3, the first and the second suction cups 4 and 5 can stably remain in a relative plane to grasp the product, preventing the product from shaking or swaying during the movement, so that the horizontal state can be stably maintained during the product taking and placing action.

[0018] The upper ends of the first guide rod 2 and the second guide rod 3 are provided with a first limit stop ring 21 and a second limit stop ring 31 for limiting and preventing separation from the support frame 1. The first limit stop ring 21 and the second limit stop ring 31 provided on the first guide rod 2 and the second guide rod 3 can limit the first guide rod 2 and the second guide rod 3 on the support frame 1 to prevent the first guide rod 2 and the second guide rod 3 from being pushed off from the support frame 1 due to gravity and the action force of the first and second compression springs 7 and 8.

[0019] The lower ends of the first guide rod 2 and the second guide rod 3 are respectively provided with a first mounting plate 22 and a second mounting plate 32 for mounting the first suction cup 4 and the second suction cup 5, wherein at least two first suction cups 4 are arranged on the first mounting plate 22, and at least two second suction cups 5 are arranged on the second mounting plate 32.

[0020] The clamping cylinder 6 is provided with a first clamping plate 61 and a second clamping plate 62 for clamping the first guide rod 2 and the second guide rod 3, and a first clamping groove and a second clamping groove are provided between the first clamping plate 61 and the second clamping plate 62, which can clamp the first guide rod 2 and the second guide rod 3.

[0021] The support frame 1 includes a bottom plate 11, a top plate 12 and at least four columns 13 disposed between the bottom plate 11 and the top plate 12, the first guide rod 2 and the second guide rod 3 penetrate the bottom plate 11, and the clamping claw cylinder 6 and the suction cup are respectively located at the upper and lower sides of the bottom plate 11. The bottom plate 11 is provided with a first sliding sleeve 14 and a second sliding sleeve 15 for the first guide rod 2 and the second guide rod 3 to slide respectively.

[0022] To sum up, when the utility model is used, the support frame 1 is driven by the manipulator motion module to move downward. When the first suction cup 4 or the second suction cup 5 contacts the product first, it will push the first guide rod 2 or the second guide rod 3 to shrink, so that the other suction cup can continue to move closer to the surface of the product. After the first suction cup 4 and the second suction cup 5 are in contact with the surface of the product, the first guide rod 2 and the second guide rod 3 are at different extension heights. The first guide rod 2 and the second guide rod 3 are clamped by the clamping claw cylinder 6 at the same time, so that the first suction cup 4 and the second suction cup 5 are kept at different heights to adsorb and grasp the product. Therefore, when the manipulator motion module drives the support frame 1 to transfer, the first suction cup 4 and the second suction cup 5 can still stably clamp the product and keep moving in a horizontal state to avoid shaking or swaying of the product. In this way, adaptive height adjustment is achieved according to different heterogeneous products, and different surfaces of heterogeneous products are adsorbed and clamped simultaneously, which not only reduces the hardware cost, but also reduces the debugging cost, and the product can stably maintain a horizontal state during the picking and placing process.

[0023] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. Any equivalent changes or modifications made according to the structure, characteristics and principles described in the patent application scope of the present invention should be included in the patent application scope of the present invention.

Claims

1. An adaptive suction cup mechanism, characterized in that: include: A support frame (1), at least two first guide rods (2) and second guide rods (3) movably arranged on the support frame (1), at least one first suction cup (4) arranged below the first guide rod (2), at least one second suction cup (5) arranged below the second guide rod (3), and a clamping claw cylinder (6) arranged on the support frame (1) and used for clamping the first guide rod (2) and the second guide rod (3) to fix their positions, wherein the first guide rod (2) and the second guide rod (3) can float up and down independently so that the first suction cup (4) and the second suction cup (5) can be adsorbed on surfaces at different heights.

2. The adaptive suction cup mechanism according to claim 1, characterized in that: The first guide rod (2) and the second guide rod (3) are respectively sleeved with a first compression spring (7) and a second compression spring (8) for pushing the first suction cup (4) and the second suction cup (5) to elastically extend downward.

3. The adaptive suction cup mechanism according to claim 2, characterized in that: The upper ends of the first guide rod (2) and the second guide rod (3) are provided with a first limit stop ring (21) and a second limit stop ring (31) for limiting and preventing separation from the support frame (1).

4. The adaptive suction cup mechanism according to claim 1, characterized in that: A first mounting plate (22) and a second mounting plate (32) for mounting the first suction cup (4) and the second suction cup (5) are respectively arranged at the lower ends of the first guide rod (2) and the second guide rod (3), wherein at least two first suction cups (4) are arranged on the first mounting plate (22), and at least two second suction cups (5) are arranged on the second mounting plate (32).

5. The adaptive suction cup mechanism according to claim 1, characterized in that: The clamping claw cylinder (6) is provided with a first clamping plate (61) and a second clamping plate (62) for clamping the first guide rod (2) and the second guide rod (3), and a first clamping groove and a second clamping groove are provided between the first clamping plate (61) and the second clamping plate (62) for clamping the first guide rod (2) and the second guide rod (3).

6. An adaptive suction cup mechanism according to any one of claims 1 to 5, characterized in that: The support frame (1) comprises a bottom plate (11) and a top plate (12) and at least four columns (13) arranged between the bottom plate (11) and the top plate (12); the first guide rod (2) and the second guide rod (3) penetrate the bottom plate (11); and the clamping claw cylinder (6) and the suction cup (6) are respectively located on the upper and lower sides of the bottom plate (11).

7. The adaptive suction cup mechanism according to claim 6, characterized in that: The bottom plate (11) is provided with a first sliding sleeve (14) and a second sliding sleeve (15) for the first guide rod (2) and the second guide rod (3) to slide respectively.

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