Sucker device for collaborative robot

Abstract

The utility model relates to the technical field of robot equipment, and discloses a suction cup device for a collaborative robot, which comprises a support plate and a moving seat, buffer cylinders are fixedly arranged at four corners of the support plate, buffer rods are slidably arranged in the four buffer cylinders, and limiting plates are fixedly arranged at the upper ends of the four buffer rods. The lower ends of the four buffer rods are fixedly connected with suction cup connectors, the lower ends of the four suction cup connectors are fixedly connected with suction cups, the outer walls of the four buffer rods are sleeved with springs, a motor is fixedly arranged on one side of the interior of the movable base, the output end of the motor is fixedly connected with a lead screw, and the outer wall of the lead screw is sleeved with a movable sleeve in a threaded mode. A connecting block is fixedly arranged at the lower end of the movable sleeve, and the lower end of the connecting block is fixedly connected to the middle of the upper end of the supporting plate. According to the device, the position of the suction cup set can be adjusted, so that the suction cup set and a workpiece are accurately positioned, meanwhile, the suction cups are pressed downwards to be buffered, and the workpiece is protected.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment, in particular to a suction cup device for a collaborative robot. Background Art

[0002] Nowadays, the use of collaborative robots to transport objects is very common in production. Among them, the combination of the end of the collaborative robot and the suction cup to grasp, stack and transport applications, its suction force and stability play an important role in improving the efficiency of the production line.

[0003] However, most existing collaborative robots use suction cup devices. When the suction cup presses down the workpiece, if the pressure is too great, the workpiece will be damaged. When sucking workpieces at different horizontal lines (such as Z-shaped plates), the suction cups are at the same horizontal line and cannot suck the workpiece.

[0004] Therefore, those skilled in the art provide a suction cup device for a collaborative robot to solve the problems raised in the above-mentioned background technology. Utility Model Content

[0005] The purpose of the utility model is to solve the shortcomings of the prior art and to propose a suction cup device for a collaborative robot, which can adjust the position of the suction cup group so that it can be accurately positioned with the workpiece, and at the same time, the downward pressure of the suction cup can be buffered to protect the workpiece.

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

[0007] A suction cup device for a collaborative robot comprises a support plate and a movable seat, wherein buffer cylinders are fixedly arranged at the four corners of the support plate, buffer rods are slidably arranged inside the four buffer cylinders, limit plates are fixedly arranged at the upper ends of the four buffer rods, suction cup connectors are fixedly connected to the lower ends of the four buffer rods, suction cups are fixedly connected to the lower ends of the four suction cup connectors, and springs are sleeved on the outer walls of the four buffer rods;

[0008] A motor is fixedly arranged on one side inside the movable seat, a screw rod is fixedly connected to the output end of the motor, a movable sleeve is provided on the threaded sleeve on the outer wall of the screw rod, a connecting block is fixedly arranged on the lower end of the movable sleeve, and the lower end of the connecting block is fixedly connected to the middle part of the upper end of the support plate.

[0009] Furthermore, the four buffer cylinders are provided with sliding grooves inside, and the four limit plates slide inside the corresponding sliding grooves respectively;

[0010] Through the above technical solution, the limiting plate slides in the slide groove and can limit the position of the plate at the same time.

[0011] Furthermore, two ends of the four suction cup connectors are respectively connected to the corresponding buffer cylinders and suction cups;

[0012] Through the above technical solution, the gas in the suction cup enters the buffer cylinder through the suction cup connector and is discharged.

[0013] Furthermore, two ends of the four springs are fixedly connected to the corresponding buffer cylinders and suction cup connectors respectively;

[0014] Through the above technical solution, the suction cup is buffered by the action of the spring.

[0015] Furthermore, the four limit plates are provided with connection holes inside, the upper ends of the four buffer cylinders are provided with conduits, and the lower ends of the four conduits are respectively connected to the corresponding connection holes;

[0016] Through the above technical solution, the conduit is externally connected to the air pumping device, and the gas in the buffer rod is pumped out through the air pumping device.

[0017] Furthermore, a rotating seat is fixedly arranged inside the movable seat and on a side away from the motor, and the side of the screw rod away from the motor extends into the rotating seat;

[0018] Through the above technical solution, the other end of the screw rod is supported by the rotating seat.

[0019] Furthermore, a slider is fixedly provided at the front end of the movable sleeve, a slide bar is fixedly provided at the front end of the movable seat, and the slider slides within the upper limit position of the slide bar;

[0020] Through the above technical solution, the movable sleeve is limited by the action of the slider and the slide rod.

[0021] The utility model has the following beneficial effects:

[0022] 1. The utility model proposes a suction cup device for a collaborative robot. When the suction cup sucks a workpiece, the buffer rod slides in the slide groove of the buffer cylinder and is acted upon by a spring so that the suction cup is buffered when pressing down on the workpiece to prevent damage to the workpiece due to excessive downward pressure of the suction cup. The device can also suck workpieces in different planes, such as a Z-shaped plate.

[0023] 2. The utility model proposes a suction cup device for a collaborative robot, which drives the lead screw to rotate through a motor, and is limited by the sliding rod and the sliding block, so that the movable sleeve moves on the lead screw, thereby driving the support plate at the lower end to move the suction cup, thereby realizing the function of facilitating the adjustment of the suction cup position, so that the suction cup can absorb the workpiece more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1This is a three-dimensional diagram of a suction cup device for a collaborative robot proposed in the utility model;

[0025] Figure 2 This is a front cross-sectional view of a suction cup device for a collaborative robot proposed in the utility model;

[0026] Figure 3 A schematic diagram of the suction cup structure of a suction cup device for a collaborative robot proposed in the utility model;

[0027] Figure 4 This is a schematic diagram of a screw rod limiting structure of a suction cup device for a collaborative robot proposed in the utility model;

[0028] Figure 5 for Figure 2 Enlarged view of point A in the middle.

[0029] Legend:

[0030] 1. Support plate; 2. Buffer cylinder; 3. Slide groove; 4. Buffer rod; 5. Limit plate; 6. Suction cup; 7. Spring; 8. Guide tube; 9. Moving seat; 10. Motor; 11. Screw rod; 12. Rotating seat; 13. Movable sleeve; 14. Connecting block; 15. Sliding block; 16. Sliding rod; 17. Suction cup connecting tube; 18. Connecting hole. DETAILED DESCRIPTION

[0031] 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.

[0032] Reference Figure 1-5 The utility model provides an embodiment: a suction cup device for a collaborative robot, comprising a support plate 1 and a moving seat 9, buffer cylinders 2 are fixedly arranged at the four corners of the support plate 1, buffer rods 4 are slidably arranged inside the four buffer cylinders 2, and limit plates 5 are fixedly arranged at the upper ends of the four buffer rods 4. The lower ends of the four buffer rods 4 are fixedly connected with suction cup connectors 17, and the lower ends of the four suction cup connectors 17 are fixedly connected with suction cups 6, and the outer walls of the four buffer rods 4 are sleeved with springs 7;

[0033] A motor 10 is fixedly arranged on one side inside the movable seat 9, and a screw rod 11 is fixedly connected to the output end of the motor 10. A movable sleeve 13 is threadedly sleeved on the outer wall of the screw rod 11, and a connecting block 14 is fixedly arranged on the lower end of the movable sleeve 13. The lower end of the connecting block 14 is fixedly connected to the middle part of the upper end of the support plate 1.

[0034] The four buffer cylinders 2 are each provided with a slide groove 3, and the four limit plates 5 slide in the corresponding slide grooves 3 respectively. The limit plates 5 slide in the slide grooves 3 and can limit the same time. The two ends of the four suction cup connectors 17 are respectively connected with the corresponding buffer cylinders 2 and suction cups 6. The gas in the suction cups 6 enters the buffer cylinder 2 through the suction cup connectors 17 for discharge. The two ends of the four springs 7 are respectively fixedly connected with the corresponding buffer cylinders 2 and suction cup connectors 17. The suction cups 6 are buffered by the action of the springs 7. The four limit plates 5 are each provided with a connecting hole 18. The upper ends of the four buffer cylinders 2 are each provided with a conduit 8. The lower ends of the four conduits 8 are respectively connected to the corresponding connecting holes 18. The conduits 8 are externally connected to the vacuum device, and the gas in the buffer rod 4 is extracted through the vacuum device. A rotating seat 12 is fixedly provided inside the movable seat 9 and on the side away from the motor 10. The side of the screw rod 11 away from the motor 10 extends into the rotating seat 12, and the other end of the screw rod 11 is supported by the rotating seat 12. A slider 15 is fixedly provided at the front end of the movable sleeve 13, and a slide rod 16 is fixedly provided at the front end of the movable seat 9. The slider 15 slides on the upper limit of the slide rod 16, and the movable sleeve 13 is limited by the action of the slider 15 and the slide rod 16.

[0035] Working principle: When the cooperative robot is in use with the suction cup device, the motor 10 drives the lead screw 11 to rotate, and the movable sleeve 13 is limited by the slide rod 16 and the slider 15, so that the movable sleeve 13 moves on the lead screw 11, thereby driving the support plate 1 at the lower end to move the suction cup 6. After the position of the suction cup 6 is adjusted, the workpiece is sucked by the suction cup 6. At this time, the buffer rod 4 slides in the slide groove 3 of the buffer cylinder 2, and is acted upon by the spring 7, so that the suction cup 6 is buffered when pressing the workpiece down.

[0036] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A suction cup device for a collaborative robot, comprising a support plate (1) and a movable seat (9), characterized in that: Buffer cylinders (2) are fixedly arranged at the four corners of the support plate (1), buffer rods (4) are slidably arranged inside the four buffer cylinders (2), limit plates (5) are fixedly arranged at the upper ends of the four buffer rods (4), suction cup connectors (17) are fixedly connected to the lower ends of the four buffer rods (4), suction cups (6) are fixedly connected to the lower ends of the four suction cup connectors (17), and springs (7) are sleeved on the outer walls of the four buffer rods (4); A motor (10) is fixedly arranged on one side of the interior of the movable seat (9); a screw rod (11) is fixedly connected to the output end of the motor (10); a movable sleeve (13) is threadedly sleeved on the outer wall of the screw rod (11); a connecting block (14) is fixedly arranged at the lower end of the movable sleeve (13); and the lower end of the connecting block (14) is fixedly connected to the middle part of the upper end of the support plate (1).

2. A suction cup device for a collaborative robot according to claim 1, characterized in that: The four buffer cylinders (2) are each provided with a slide groove (3) inside, and the four limit plates (5) slide inside the corresponding slide grooves (3) respectively.

3. The suction cup device for a collaborative robot according to claim 1, characterized in that: Two ends of the four suction cup connectors (17) are respectively connected to the corresponding buffer cylinders (2) and suction cups (6).

4. The suction cup device for a collaborative robot according to claim 1, characterized in that: Two ends of the four springs (7) are respectively fixedly connected to the corresponding buffer cylinders (2) and suction cup connectors (17).

5. The suction cup device for a collaborative robot according to claim 1, characterized in that: The four limit plates (5) are each provided with a connection hole (18) inside, the upper ends of the four buffer cylinders (2) are each provided with a conduit (8), and the lower ends of the four conduits (8) are respectively connected to the inside of the corresponding connection holes (18).

6. The suction cup device for a collaborative robot according to claim 1, characterized in that: A rotating seat (12) is fixedly arranged inside the movable seat (9) on a side away from the motor (10), and the side of the screw rod (11) away from the motor (10) extends into the rotating seat (12).

7. The suction cup device for a collaborative robot according to claim 1, characterized in that: A slider (15) is fixedly provided at the front end of the movable sleeve (13), a slide bar (16) is fixedly provided inside the front end of the movable seat (9), and the slider (15) slides within the limit position of the slide bar (16).

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