A vacuum manipulator with a buffer structure
By designing the combination of motors, screws, transmission rods, racks, gears, buffer springs and clamping blocks in vacuum robots, the problems of insufficient suction force and shaking of items when absorbing uneven items are solved, and higher accuracy and stability are achieved.
Patent Information
- Application Number
- CN202421480739.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-26
- Publication Date
- 2025-04-01
- Estimated Expiration
- 2034-06-26
AI Technical Summary
Existing vacuum robots are prone to insufficient suction when absorbing uneven items, and the items are prone to shake when moving quickly, affecting the accuracy and stability of the robot.
A vacuum robot with a buffer structure is designed, and the stable clamping and cushioning effect of items is achieved through the combination of motor, screw rod, transmission rod, rack, gear, buffer spring and clamping block.
It effectively avoids the shaking and positional deviation of the items during the conveying process, improves the accuracy and stability of the robot, and ensures the safe grasping and transmission of items.
Smart Images
Figure CN222697249U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of vacuum manipulators, and more specifically, particularly relates to a vacuum manipulator with a buffer structure. Background Art
[0002] A vacuum manipulator is an automated device that is usually used to grasp, move and place objects in a vacuum environment. It is usually composed of a robotic arm, a suction cup, a vacuum pump and a control system. The vacuum manipulator improves the efficiency, quality and safety of industrial production by automating the tasks of grasping, moving and placing objects. It is one of the important and indispensable equipment in modern industrial automated production.
[0003] When some current vacuum manipulators are sucking objects, if the surface of the objects is uneven, it is easy for the suction force to be insufficient. When the vacuum manipulator drives the objects to move quickly, the objects are prone to shaking and moving due to inertia. If no buffering measures are taken at this time to cushion the shaking of the objects, it will affect the accuracy and stability of the manipulator, and even affect the safety of grasping objects.
[0004] Therefore, in view of this, research and improvement are conducted on the existing structure and defects, and a vacuum manipulator with a buffer structure is provided, in order to achieve a purpose with greater practical value. Utility Model Content
[0005] In order to solve the above technical problems, the utility model provides a vacuum manipulator with a buffer structure, which is achieved by the following specific technical means:
[0006] The cam is provided with a toothed plate at one end, and a toothed plate is provided at the other end of the toothed plate, and a toothed plate is provided at the other end of the toothed plate.
[0007] Furthermore, a second chamber is provided on one side of the connecting rod close to the groove, a motor is installed in the second chamber, and one end of the lead screw passes through one side of the second chamber and is connected to an output end of the motor.
[0008] Furthermore, a thread groove is provided at one end of the transmission rod 1 away from the rack 1, one end of the screw rod extends into the thread groove, and the thread on the surface of the screw rod matches the thread in the thread groove.
[0009] Furthermore, a buffer spring is installed on one side of the movable groove, a limiting block is installed on the other end of the buffer spring, and the other side of the limiting block is connected to one end of the telescopic rod.
[0010] Furthermore, a plurality of suction cups are installed on the bottom end surface of the mounting block.
[0011] Furthermore, the rack 1 and the gear are meshed with each other.
[0012] Furthermore, the pair of racks 2 are meshed with the gears, and the pair of racks 2 are located below the rack 1.
[0013] Furthermore, the surface of the clamping block is made of rubber material, and the surface of the clamping block is provided with an anti-slip texture.
[0014] Compared with the prior art, the utility model has the following beneficial effects:
[0015] Through the coordinated use of the motor, the lead screw, the threaded groove, the transmission rod 1, the rack 1, the gear, the rack 2, the transmission rod 2, the buffer spring, the telescopic rod and the clamping block, when the suction cup on the bottom end face of the mounting block sucks the object, the motor is started, and the motor drives the lead screw to rotate. Since the lead screw is threadedly connected to the threaded groove, the transmission rod 1 is driven forward when the lead screw rotates, and the transmission rod 1 drives the rack 1 to move forward. Since the rack 1 is meshed with the gear, the gear is driven to rotate when the rack 1 moves forward. Since the gear is meshed with a pair of racks 2, the pair of transmission rods 2 are driven to the cavity through the pair of racks 2 when the gear rotates. The robot moves in chamber one, a pair of transmission rods drive a pair of support blocks to move toward the middle, the support blocks drive the telescopic rod to move toward the middle through the telescopic sleeve, the telescopic rod drives the clamping block to move toward the middle and clamps the item. When the item shakes during the conveying process, the clamping block transmits the force generated by the shaking to the buffer spring through the telescopic rod. The buffer spring can buffer the force generated by the shaking. When the position of the item shifts, the buffer spring can also play a resetting role, thereby avoiding the position shift of the item when it shakes, and even the item falling off, thereby improving the accuracy and stability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a three-dimensional schematic diagram of the utility model.
[0017] Figure 2 It is a schematic diagram of a top view of a partial structure of the utility model.
[0018] Figure 3It is a three-dimensional schematic diagram of a partial structure of the utility model.
[0019] Figure 4 It is a schematic side view of part of the structure of the utility model.
[0020] Figure 5 This utility model Figure 2 A is an enlarged schematic diagram.
[0021] Figure 6 This utility model Figure 2 A magnified schematic diagram of B.
[0022] In the figure, the corresponding relationship between the component names and the figure numbers is as follows:
[0023] 1. Robotic arm; 2. Connecting rod; 3. Groove; 301. Screw rod; 4. Transmission rod 1; 401. Rack 1; 402. Threaded groove; 5. Mounting block; 6. Chamber 1; 601. Slide 1; 602. Gear; 603. Slide 2; 7. Transmission rod 2; 701. Rack 2; 8. Support block; 9. Telescopic sleeve; 901. Movable groove; 902. Telescopic rod; 903. Buffer spring; 904. Limit block; 10. Clamping block; 11. Chamber 2; 12. Motor; 13. Suction cup. DETAILED DESCRIPTION
[0024] The following is a further detailed description of the implementation of the present utility model in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.
[0025] In the description of the present invention, unless otherwise specified, "multiple" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention 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 operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0027] Example:
[0028] As attached Figure 1 To Attachment Figure 6 As shown:
[0029] The utility model provides a vacuum manipulator with a buffer structure, including a mechanical arm 1, a connecting rod 2 is installed on one side of the upper end surface of the mechanical arm 1, a groove 3 is provided at one end of the connecting rod 2, a screw rod 301 is rotatably connected to one side of the groove 3, a transmission rod 4 is slidably connected in the groove 3, a mounting block 5 is installed at one end of the connecting rod 2, a chamber 6 is provided in the mounting block 5, a slide groove 601 is provided on one side of the chamber 6 close to the connecting rod 2, one end of the transmission rod 4 passes through the slide groove 601 and extends into the chamber 6 and is installed with a rack A gear 602 is rotatably connected in the chamber 6, and two slide grooves 603 are provided on both sides of the chamber 6. A transmission rod 7 is slidably connected in a pair of slide grooves 603. A rack 701 is installed at one end of a pair of transmission rods 7 close to the chamber 6. A support block 8 is installed at the other end of the transmission rod 7. A pair of telescopic sleeves 9 are installed on one side of the support block 8. A movable groove 901 is provided on one side of the telescopic sleeve 9. A telescopic rod 902 is movably connected in the movable groove 901, and a clamping block 10 is installed at one end of the telescopic rod 902.
[0030] Among them, a chamber 2 11 is provided on one side of the connecting rod 2 close to the groove 3, and a motor 12 is installed in the chamber 2 11. One end of the screw rod 301 passes through one side of the chamber 2 11 and is connected to the output end of the motor 12. The motor 12 drives the screw rod 301 to rotate.
[0031] Among them, a thread groove 402 is provided at one end of the transmission rod 1 away from the rack 1 401, one end of the screw rod 301 extends into the thread groove 402, and the thread on the surface of the screw rod 301 matches the thread in the thread groove 402. Since the screw rod 301 is threadedly connected with the thread groove 402, when the screw rod 301 rotates, it drives the transmission rod 1 4 to move forward, and the transmission rod 1 4 drives the rack 1 401 to move forward.
[0032] Among them, a buffer spring 903 is installed on one side of the movable groove 901, and a limit block 904 is installed on the other end of the buffer spring 903. The other side of the limit block 904 is connected to one end of the telescopic rod 902. When the object shakes during the transportation process, the clamping block 10 transmits the force generated by the shaking to the buffer spring 903 through the telescopic rod 902. The buffer spring 903 can buffer the force generated by the shaking. When the position of the object is offset, the buffer spring 903 can also play a resetting role.
[0033] A plurality of suction cups 13 are installed on the bottom end surface of the mounting block 5 , and objects can be sucked by the suction cups 13 .
[0034] Among them, the rack 1 401 and the gear 602 are meshed with each other. Since the rack 1 401 and the gear 602 are meshed with each other, the gear 602 is driven to rotate when the rack 1 401 moves forward. Since the gear 602 and a pair of rack 2 701 are meshed with each other, when the gear 602 rotates, the pair of transmission rods 2 7 are driven to move into the chamber 1 6 through the pair of rack 2 701.
[0035] The pair of racks 701 are meshed with the gear 602 , and the pair of racks 701 are located below the rack 401 .
[0036] Among them, the surface of the clamping block 10 is made of rubber material, and the surface of the clamping block 10 is provided with an anti-skid texture. The rubber material can prevent wear on the object during clamping, and the anti-skid texture can have an anti-skid effect.
[0037] The working principle of this embodiment:
[0038] Through the coordinated use of the motor 12, the screw rod 301, the threaded groove 402, the transmission rod 4, the rack 1401, the gear 602, the rack 2 701, the transmission rod 27, the buffer spring 903, the telescopic rod 902 and the clamping block 10, when the suction cup 13 on the bottom end surface of the mounting block 5 sucks the object, the motor 12 is started, and the motor 12 drives the screw rod 301 to rotate. Since the screw rod 301 is threadedly connected with the threaded groove 402, the screw rod 301 drives the transmission rod 4 to move forward when it rotates, and the transmission rod 4 drives the rack 1 401 to move forward. Since the rack 1 401 and the gear 602 are meshed with each other, the gear 602 is rotated when the rack 1 401 moves forward. Since the gear 602 is meshed with a pair of rack 2 701, the gear 602 When rotating, a pair of racks 2 701 drives a pair of transmission rods 2 7 to move into chamber 1 6, and a pair of transmission rods 2 7 drives a pair of support blocks 8 to move toward the middle. The support block 8 drives the telescopic rod 902 to move toward the middle through the telescopic sleeve 9, and the telescopic rod 902 drives the clamping block 10 to move toward the middle and clamps the object. When the object shakes during the conveying process, the clamping block 10 transmits the force generated by the shaking to the buffer spring 903 through the telescopic rod 902. The buffer spring 903 can buffer the force generated by the shaking. When the position of the object is offset, the buffer spring 903 can also play a resetting role, thereby avoiding the position of the object from shifting when it is shaken, or even the object falling off, thereby improving the accuracy and stability of the manipulator.
[0039] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific purposes.
Claims
1. A vacuum manipulator with a buffer structure, comprising a manipulator arm (1), characterized in that: A connecting rod (2) is installed on one side of the upper end surface of the mechanical arm (1), and a groove (3) is provided at one end of the connecting rod (2), and a screw rod (301) is rotatably connected to one side of the groove (3), and a transmission rod (4) is slidably connected in the groove (3). A mounting block (5) is installed on one end of the connecting rod (2), and a chamber (6) is provided in the mounting block (5), and a slide groove (601) is provided on the side of the chamber (6) close to the connecting rod (2). One end of the transmission rod (4) passes through the slide groove (601) and extends into the chamber (6) and is installed with a rack (401), and the chamber (6) is rotatable. A gear (602) is connected, two slide grooves (603) are provided on both sides of the chamber one (6), a pair of the two slide grooves (603) are slidably connected with a transmission rod (7), a pair of the two transmission rods (7) are installed with a rack (701) at one end close to the chamber one (6), a support block (8) is installed at the other end of the transmission rod (7), a pair of telescopic sleeves (9) are installed on one side of the support block (8), a movable groove (901) is provided on one side of the telescopic sleeve (9), a telescopic rod (902) is movably connected in the movable groove (901), and a clamping block (10) is installed at one end of the telescopic rod (902).
2. The vacuum manipulator with a buffer structure as claimed in claim 1, characterized in that: A second chamber (11) is provided on one side of the connecting rod (2) close to the groove (3), a motor (12) is installed in the second chamber (11), and one end of the lead screw (301) passes through one side of the second chamber (11) and is connected to an output end of the motor (12).
3. The vacuum manipulator with a buffer structure as claimed in claim 1, characterized in that: A thread groove (402) is provided at one end of the transmission rod (4) away from the rack (401), one end of the screw rod (301) extends into the thread groove (402), and the screw rod (301) is threadedly connected to the thread groove (402).
4. The vacuum manipulator with a buffer structure as claimed in claim 1, characterized in that: A buffer spring (903) is installed on one side of the movable groove (901), a limit block (904) is installed on the other end of the buffer spring (903), and the other side of the limit block (904) is connected to one end of the telescopic rod (902).
5. The vacuum manipulator with a buffer structure as claimed in claim 1, characterized in that: A plurality of suction cups (13) are mounted on the bottom end surface of the mounting block (5).
6. The vacuum manipulator with a buffer structure as claimed in claim 1, characterized in that: The rack 1 (401) and the gear (602) are meshed with each other.
7. The vacuum manipulator with a buffer structure as claimed in claim 1, characterized in that: The pair of racks 2 (701) are both meshed with the gear (602), and the pair of racks 2 (701) are located below the rack 1 (401).
8. The vacuum manipulator with a buffer structure as claimed in claim 1, characterized in that: The surface of the clamping block (10) is made of rubber material, and the surface of the clamping block (10) is provided with an anti-slip texture.