Multi-linkage mechanical arm suction cup

Abstract

The utility model relates to the technical field of suckers, in particular to a multi-connection mechanical arm sucker which comprises a fixing rod and a sucker body, a fixing plate is welded to the bottom end of the fixing rod, a guide rail is welded to the surface of the fixing plate, a suction mechanism is installed on the surfaces of the guide rail and the fixing rod, and the sucker body is installed on the surface of the suction mechanism. Adjusting mechanisms are mounted on the surfaces of the fixing rods and the guide rails; according to the multi-linkage mechanical arm suction cup, the range can be adjusted according to objects needing to be sucked and fixed through the adjusting mechanism, the objects do not need to be sucked and fixed by means of multiple rows of suction cups, and therefore the purposes of being wide in use range and saving the number of the suction cups are achieved; and the vertical cylinder is extruded through rotation of the arc-shaped frame, so that the sliding blocks move in the guide rails, the multiple sliding blocks get close to or get away from each other at the same time, and the multiple suction cup bodies get close to or get away from each other.

Description

Technical Field

[0001] The utility model relates to the technical field of suction cups, in particular to a multi-joint manipulator suction cup. Background Art

[0002] An important task of the handling robot is to carry materials. There is a suction cup under the palm of the robot, and there is a suction cup seat on the palm for installing the suction cup, and the suction cup is installed on the suction cup seat.

[0003] After checking, the public (announcement) number: CN203125526U discloses a multi-joint manipulator suction cup. This technology discloses "it includes a suction cup panel, a plurality of suction cup openings are provided below the suction cup panel, and a plurality of suction cup openings have respective bronchi behind them, and a plurality of bronchi converge into a main airway, and the suction cup panel, the plurality of suction cup openings, the bronchi, and the main airway are an integrated structure, and the suction cup panel of the multi-joint manipulator suction cup is a square structure"; and other technical solutions; it has "easy installation, the suction cup is not easy to be damaged, and the adsorption force is strong." and other technical effects;

[0004] However, the above device is to install multiple suction cup ports under a suction cup panel, and it is necessary to use multiple rows of suction cups to adsorb and fix the object. It is impossible to adjust the range according to the need to adsorb and fix the object, which not only causes a waste of multiple suction cups, but also limits the scope of use and cannot meet the user's needs.

[0005] In order to solve the above problems, a multi-joint robot suction cup is proposed in the present application. Utility Model Content

[0006] In order to solve the problems raised in the above background technology, the utility model provides a multi-joint manipulator suction cup, which has the characteristics of adjusting the range according to the objects to be sucked and fixed, and does not need to use multiple rows of suction cups to adsorb and fix the objects, and has a wide range of uses.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multi-joint manipulator suction cup, comprising a fixing rod and a suction cup body, a fixing plate is welded to the bottom end of the fixing rod, a guide rail is welded to the surface of the fixing plate, a suction mechanism is installed on the surface of the guide rail and the fixing rod, the suction cup body is installed on the surface of the suction mechanism, and an adjustment mechanism is installed on the surface of the fixing rod and the guide rail;

[0008] The adjustment mechanism includes a slider, a rotating drum, a turntable, an arc frame, gear one, a motor and gear two. The slider is slidably engaged with the surface of the guide rail, the rotating drum is rotatably sleeved on the surface of the lower end of the fixed rod through a bearing, the turntable is sleeved and welded on the surface of the lower end of the rotating drum, and one end of the arc frame close to the turntable is welded to the surface of the turntable.

[0009] As a preferred multi-joint manipulator suction cup of the utility model, one side of the motor is fixedly connected to the back side of the fixed rod through a support, the rotating shaft of the motor is fixedly connected to the top of the gear 2, and the gear is welded to the surface of the upper end of the rotating drum.

[0010] As a preferred embodiment of the multi-joint manipulator suction cup of the utility model, the gear one is meshed with the gear two, and the motor is a self-locking motor.

[0011] As a preferred multi-joint manipulator suction cup of the utility model, the suction mechanism includes a vertical tube, a fixed ball, a movable ball, a cover body, a hose, an air hole and an air pipe, the top of the vertical tube slides through the top of the slider, the top of the fixed ball is connected with the bottom end of the vertical tube, the movable ball rotates on the inner wall of the fixed ball, and the top of the suction cup body is connected with the bottom of the movable ball.

[0012] As a preferred embodiment of the multi-joint manipulator suction cup of the utility model, the cover body is sleeved and welded on the surface of the top end of the fixing rod, and the two ends of the hose are respectively connected to the surface of the cover body and the top end of the vertical tube.

[0013] As a preferred embodiment of the multi-joint manipulator suction cup of the utility model, the air hole is opened on the top of the movable ball, and the rear end of the air pipe is connected to the top of the front side of the cover body.

[0014] As a preferred multi-joint manipulator suction cup of the utility model, a spring is fixedly connected to one side of the slider, one end of the spring is fixedly connected to the inner wall of the guide rail, a fixing bolt is threadedly embedded on the side of the slider away from the spring, and a mounting plate is welded to the top of the fixing rod.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] 1. The multi-joint manipulator suction cup can adjust the range according to the need to absorb and fix the object through the adjustment mechanism. There is no need to use multiple rows of suction cups to absorb and fix the object, thereby achieving the purpose of wide range of use and the advantage of saving the number of suction cups. In the adjustment mechanism, the motor drives the second gear to rotate, and then the first gear, the rotating cylinder, the rotating disk and the arc frame rotate. The vertical cylinder is squeezed by the rotation of the arc frame, and the slider moves in the guide rail, so that multiple sliders are approached or moved away at the same time, realizing the approach or distance of multiple suction cup bodies, and achieving the purpose of adjusting the diameter of the object adsorption position.

[0017] 2. The multi-joint manipulator suction cup can absorb the gas in the suction cup body through the suction mechanism to form a vacuum inside the suction cup body, so that the suction cup body can stably adsorb and fix the object. In the suction mechanism, the movable ball can be rotated and adjusted on the inner wall of the fixed ball, so that multiple suction cups can be rotated at a certain angle in multiple directions under the fixed ball, which can achieve a more stable effect when adsorbing objects with irregular surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the utility model when viewed from above;

[0021] Figure 3 It is a partial cross-sectional structural schematic diagram of the utility model;

[0022] Figure 4 For this utility model Figure 3 A is a schematic diagram of the enlarged structure of the middle part;

[0023] Figure 5 It is a schematic diagram of the cross-sectional structure of the vertical cylinder and the sliding block in the utility model.

[0024] In the figure: 1. fixing rod; 2. fixing plate; 3. guide rail; 4. suction mechanism; 401. vertical cylinder; 402. fixed ball; 403. movable ball; 404. cover body; 405. hose; 406. air hole; 407. air pipe; 5. suction cup body; 6. adjustment mechanism; 601. slider; 602. rotating cylinder; 603. rotating disk; 604. arc frame; 605. gear one; 606. motor; 607. gear two; 7. spring; 8. fixing bolt; 9. mounting plate. DETAILED DESCRIPTION

[0025] 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.

[0026] Example 1

[0027] like Figure 1-Figure 3 As shown;

[0028] A multi-joint manipulator suction cup comprises a fixing rod 1 and a suction cup body 5;

[0029] In this implementation scheme: the existing CN203125526U {publication (announcement) number}: discloses a multi-joint manipulator suction cup, and this technology discloses "it includes a suction cup panel, a plurality of suction cup openings are arranged under the suction cup panel, and the plurality of suction cup openings have their own bronchi behind them, and the plurality of bronchi converge into a main airway, and the suction cup panel, the plurality of suction cup openings, the bronchi, and the main airway are an integrated structure, and the suction cup panel of the multi-joint manipulator suction cup is a square structure"; and other technical schemes; it has "easy installation, the suction cup is not easy to be damaged, and the adsorption force is strong." and other technical effects, regarding this existing land management equipment, this An application is made for further improvement, for details, please refer to the disclosed technology below; to solve the technical problems existing in this prior art, as disclosed in the background technology above, "the above-mentioned device is through installing multiple suction cup openings under a suction cup panel, and it is necessary to use multiple rows of suction cups to adsorb and fix the object, and it is impossible to adjust the range according to the need to absorb and fix the object, which not only causes a waste of multiple suction cups, but also limits the scope of use and cannot meet the user's use needs". In terms of use, this problem is obviously a real problem that exists and is relatively difficult to solve. In view of this, in order to solve this technical problem, the following improvement plan is proposed.

[0030] More specifically:

[0031] like Figure 1-Figure 5 As shown;

[0032] Combining the above:

[0033] A multi-joint manipulator suction cup, comprising a fixing rod 1 and a suction cup body 5, a fixing plate 2 is welded to the bottom end of the fixing rod 1, a guide rail 3 is welded to the surface of the fixing plate 2, a suction mechanism 4 is installed on the surface of the guide rail 3 and the fixing rod 1, the suction cup body 5 is installed on the surface of the suction mechanism 4, and an adjustment mechanism 6 is installed on the surface of the fixing rod 1 and the guide rail 3;

[0034] The adjusting mechanism 6 includes a slider 601, a rotating drum 602, a turntable 603, an arc frame 604, a gear 1 605, a motor 606 and a gear 2 607. The slider 601 is slidably engaged with the surface of the guide rail 3. The rotating drum 602 is rotatably sleeved on the surface of the lower end of the fixed rod 1 through a bearing. The turntable 603 is sleeved and welded on the surface of the lower end of the rotating drum 602. One end of the arc frame 604 close to the turntable 603 is welded to the surface of the turntable 603.

[0035] In the present embodiment: the desertification area land management equipment can adjust the range according to the need to absorb and fix the object through the adjustment mechanism 6, and there is no need to use multiple rows of suction cups to absorb and fix the object, thereby achieving the purpose of wide range of use and the advantage of saving the number of suction cups. In the adjustment mechanism 6, the motor 606 drives the gear 2 607 to rotate, and then the gear 1 605, the rotating drum 602, the rotating disk 603 and the arc frame 604 are rotated. The vertical cylinder 401 is squeezed by the rotation of the arc frame 604, and the slider 601 is moved in the guide rail 3, so that multiple sliders 601 are approached or moved away at the same time, realizing the approach or distance of multiple suction cup bodies 5, and achieving the purpose of adjusting the diameter of the object adsorption position.

[0036] Going further:

[0037] In an optional embodiment: one side of the motor 606 is fixedly connected to the back side of the fixed rod 1 through a support, the rotating shaft of the motor 606 is fixedly connected to the top of the gear 2 607 , and the gear 1 605 is sleeved and welded on the surface of the upper end of the rotating drum 602 .

[0038] In this embodiment, the motor 606 works to rotate the gear 2 607 to drive the gear 1 605 to rotate, so that the rotating drum 602 connected to the gear 1 605 rotates, and drives the arc frame 604 to rotate and adjust.

[0039] Going further:

[0040] In an optional embodiment: gear one 605 is meshed with gear two 607, and motor 606 is a self-locking motor.

[0041] In this embodiment: after the motor 606 is turned on and off, the rotating shaft thereon can be self-locked, so that the arc frame 604 after rotation adjustment is limited and fixed, so that it will not move randomly, and then the vertical tube 401 and the slider 601 are positioned, thereby positioning and fixing the suction cup body 5 after movement.

[0042] Going further:

[0043] In an optional embodiment: the suction mechanism 4 includes a vertical cylinder 401, a fixed ball 402, a movable ball 403, a cover body 404, a hose 405, an air hole 406 and an air pipe 407, the top of the vertical cylinder 401 slides through the top of the slider 601, the top of the fixed ball 402 is connected to the bottom of the vertical cylinder 401, the movable ball 403 rotates on the inner wall of the fixed ball 402, and the top of the suction cup body 5 is connected to the bottom of the movable ball 403.

[0044] In this embodiment: the air pipe 407 is connected to an external suction pump to control the operation of the suction pump, and the gas in the suction cup body 5 is sucked through the cover body 404 and the hose 405 to form a vacuum inside the suction cup body 5, so that the suction cup body 5 can stably adsorb and fix the object.

[0045] Going further:

[0046] In an optional embodiment: the cover body 404 is sleeved and welded on the surface of the top end of the fixing rod 1 , and two ends of the hose 405 are respectively connected to the surface of the cover body 404 and the top end of the vertical tube 401 .

[0047] In this embodiment: when the suction pump sucks air into the cover body 404, multiple vertical tubes 401 can be sucked through multiple hoses 405, thereby absorbing the gas in the suction cup body 5 to form a vacuum inside it, so that the suction cup body 5 can stably adsorb and fix the object.

[0048] Going further:

[0049] In an optional embodiment: the air hole 406 is opened at the top of the movable ball 403 , and the rear end of the air pipe 407 is connected to the top of the front side of the cover body 404 .

[0050] In this embodiment: under the action of the air hole 406, the fixed ball 402 and the movable ball 403 are kept connected. When the suction cup body 5 drives the movable ball 403 to rotate on the inner wall of the fixed ball 402, the fixed ball 402 and the movable ball 403 can still be kept connected, and then the gas in the movable ball 403 and the suction cup body 5 is sucked through the vertical tube 401 to form a negative pressure to fix the object.

[0051] Going further:

[0052] In an optional embodiment: a spring 7 is fixedly connected to one side of the slider 601, one end of the spring 7 is fixedly connected to the inner wall of the guide rail 3, a fixing bolt 8 is threadedly embedded on the side of the slider 601 away from the spring 7, and a mounting plate 9 is welded to the top of the fixing rod 1.

[0053] In this embodiment: under the buffering effect of the spring 7, the slider 601 is more stable when moving, and the vertical cylinder 401 passing through the slider 601 is fixed by the fixing bolt 8, which is convenient for disassembly and assembly of the vertical cylinder 401, and then convenient for replacement of the suction cup body 5. At the same time, the length of the vertical cylinder 401 passing through the slider 601 can be adjusted, so as to adjust the position of the suction cup body 5. Through the mounting plate 9, the device can be easily installed on the robot arm with the cooperation of bolts and nuts.

[0054] The working principle and use process of this utility model:

[0055] When the utility model is in use, the motor 606 drives the gear 2 607 to rotate, thereby rotating the gear 1 605, the rotating drum 602, the rotating disk 603 and the arc frame 604. The rotation of the arc frame 604 squeezes the vertical cylinder 401, so that the slider 601 moves in the guide rail 3, so that multiple sliders 601 are simultaneously approached or separated, and multiple suction cup bodies 5 are approached or separated, so as to achieve the purpose of adjusting the diameter of the object adsorption position. The range is adjusted according to the need to absorb fixed objects, and there is no need to use multiple rows of suction cups to adsorb and fix objects. The purpose of wide range of use and saving of the number of suction cups can be achieved. The air pipe 407 is connected to an external suction pump to control the operation of the suction pump. The gas in the suction cup body 5 is sucked through the cover body 404 and the hose 405 to form a vacuum inside the suction cup body 5, so that the suction cup body 5 can stably adsorb and fix the object. The movable ball 403 can be rotated and adjusted on the inner wall of the fixed ball 402, so that multiple suction cups can be rotated at a certain angle in multiple directions under the fixed ball 402, which can achieve a more stable effect when adsorbing objects with irregular surfaces.

[0056] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-joint manipulator suction cup, comprising a fixing rod (1) and a suction cup body (5), characterized in that: A fixing plate (2) is welded to the bottom end of the fixing rod (1), a guide rail (3) is welded to the surface of the fixing plate (2), a suction mechanism (4) is installed on the surface of the guide rail (3) and the fixing rod (1), the suction cup body (5) is installed on the surface of the suction mechanism (4), and an adjustment mechanism (6) is installed on the surface of the fixing rod (1) and the guide rail (3); The adjusting mechanism (6) comprises a slider (601), a rotating drum (602), a rotating disk (603), an arc frame (604), a gear 1 (605), a motor (606) and a gear 2 (607); the slider (601) is slidably engaged with the surface of the guide rail (3); the rotating drum (602) is rotatably sleeved on the surface of the lower end of the fixed rod (1) through a bearing; the rotating disk (603) is sleeved and welded on the surface of the lower end of the rotating drum (602); and one end of the arc frame (604) close to the rotating disk (603) is welded to the surface of the rotating disk (603).

2. A multi-joint robot suction cup according to claim 1, characterized in that: One side of the motor (606) is fixedly connected to the back side of the fixed rod (1) via a support, the rotating shaft of the motor (606) is fixedly connected to the top of the second gear (607), and the first gear (605) is sleeved and welded on the surface of the upper end of the rotating drum (602).

3. The multi-joint robot suction cup according to claim 1, characterized in that: The gear one (605) is meshed with the gear two (607), and the motor (606) is a self-locking motor.

4. The multi-joint robot suction cup according to claim 1, characterized in that: The suction mechanism (4) comprises a vertical cylinder (401), a fixed ball (402), a movable ball (403), a cover body (404), a hose (405), an air hole (406) and an air pipe (407); the top of the vertical cylinder (401) slides through the top of the slider (601); the top of the fixed ball (402) is connected to the bottom of the vertical cylinder (401); the movable ball (403) rotates on the inner wall of the fixed ball (402); and the top of the suction cup body (5) is connected to the bottom of the movable ball (403).

5. The multi-joint robot suction cup according to claim 4, characterized in that: The cover body (404) is sleeved and welded on the surface of the top end of the fixing rod (1), and the two ends of the hose (405) are respectively connected to the surface of the cover body (404) and the top end of the vertical tube (401).

6. The multi-joint robot suction cup according to claim 4, characterized in that: The air hole (406) is opened at the top of the movable ball (403), and the rear end of the air pipe (407) is connected to the top of the front side of the cover body (404).

7. The multi-joint robot suction cup according to claim 1, characterized in that: A spring (7) is fixedly connected to one side of the slider (601), one end of the spring (7) is fixedly connected to the inner wall of the guide rail (3), a fixing bolt (8) is threadedly embedded on the side of the slider (601) away from the spring (7), and a mounting plate (9) is welded to the top of the fixing rod (1).

Images