Grabbing tail end of transfer robot

Abstract

The grabbing tail end of the transfer robot comprises a tail end base and an installation base, the installation base is vertically arranged in a movable cavity formed in the tail end base in a sliding mode through a deformation piece, and a plurality of suction heads stretching out of the outer side of the tail end base are arranged on the installation base in an array mode. Wherein the two ends of the deformation piece are fixedly connected into the mounting base and the movable cavity respectively, and the middle of the deformation piece is inclined so that the deformation piece can flexibly abut against the mounting base. According to the grabbing tail end of the transfer robot provided by the utility model, the deformation sheet is used for flexibly supporting the mounting seat so as to realize vertical shaking buffering on a grabbed workpiece and a suction head, so that the situation that the workpiece vibrates in the vertical direction to pull the suction head to be repeatedly stretched and extruded in the axial direction is relieved, the problems of fatigue damage and cracking of the suction head are avoided, and the working efficiency is improved. And the service life of the sucker is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of handling robots, and particularly relates to a grasping end of a handling robot. Background Art

[0002] In the process of industrial intelligentization and automation development, in order to improve the degree of automation, handling robots are often used to carry out industrial handling of objects, that is, the robot body moves to realize the process of clamping, moving and placing the object through the end fixture, so as to realize the automatic handling process.

[0003] According to the utility model patent with the publication number CN213381615U and the publication (announcement) date: June 8, 2021, a manipulator for coating workpieces is disclosed, which includes: a main body, a grasping device, a detection device and an execution device. The grasping device and the detection device are both arranged on the main body. The detection device includes a detection contact head which is arranged on the main body. When the grasping device grasps the workpiece, the detection contact head can abut against the surface of the workpiece to detect whether the surface is a coated surface. The execution device is electrically connected with the detection device. When the surface abutted by the detection contact head is a coated surface, the detection device generates a signal, and the execution device can receive the signal detected by the detection device and execute a preset action. The manipulator for coating workpieces proposed by the utility model can detect whether the coated surface of the workpiece is in the correct production and processing position while carrying the workpiece, saving manpower and time and improving production efficiency.

[0004] In the prior art including the above patent, the workpiece is adsorbed and grasped by the grasping device on the main body, and the grasping device is a plurality of suction heads. The main body descends to make the suction heads descend and adsorb on the surface of the workpiece for grasping and fixing. However, when the manipulator main body moves, vibrations in multiple directions will inevitably occur, and the vibrations are easily transmitted to the workpiece through the suction heads. The vibrations generated by the workpiece in the horizontal direction make the workpiece easy to shake horizontally but do not affect the service life of the suction heads. However, the workpiece receiving vibrations in the vertical direction easily causes the workpiece to pull the suction heads and repeatedly perform axial elongation and extrusion, which is likely to cause problems such as fatigue damage and cracking of the suction heads, affecting the service life of the suction heads. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a grasping end of a handling robot to solve the above problems.

[0006] To achieve the above purpose, the utility model provides the following technical solution: a grasping end of a handling robot, including an end seat and a mounting seat. The mounting seat is vertically slidably arranged in a movable cavity opened in the end seat through a deformation sheet, and a plurality of suction heads extending outside the end seat are arranged in an array on the mounting seat. Both ends of the deformation sheet are respectively fixedly connected to the mounting seat and the movable cavity, and the middle part of the deformation sheet is inclined so that the deformation sheet flexibly supports the mounting seat.

[0007] Preferably, it further includes a vacuum tube fixedly connected to the end seat. The vacuum tube is communicated with a negative pressure chamber opened in the mounting seat, and a connection hole communicated with the negative pressure chamber is opened on the suction head.

[0008] Preferably, it further includes a first carrier and a second carrier disposed in the movable cavity. Both the first carrier and the second carrier are located on the lower side of the mounting seat to respectively abut against both ends of the deformation sheet, and the first carrier and the second carrier are separated by the middle part of the deformation sheet.

[0009] Preferably, adjustment cavities communicated with an external air pipe are opened in both the first carrier and the second carrier.

[0010] Preferably, an arc-shaped extension part extending to the outside of the end seat is provided on the first carrier, and the adjustment cavity is communicated with the hollow interior of the arc-shaped extension part.

[0011] Preferably, both the first carrier and the second carrier are made of rubber.

[0012] In the above technical solution, a grasping end of a handling robot provided by the present utility model has the following beneficial effects: The flexible support of the mounting seat by the deformation sheet realizes vertical jitter buffering for the grasped workpiece and the suction head, thereby alleviating the situation that the workpiece vibrates and pulls the suction head in the vertical direction, repeatedly performing axial stretching and extrusion, avoiding the problems of fatigue damage and cracking of the suction head, and improving the service life of the suction head. Description of the Drawings

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present utility model. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0014] Figure 1 It is a schematic cross-sectional view of the overall structure provided by an embodiment of the present utility model;

[0015] Figure 2 It is provided by an embodiment of the present utility model Figure 1 Partial enlarged schematic view of part A.

[0016] Explanation of the reference numerals in the drawings:

[0017] 1. End seat; 11. Connection part; 12. Movable cavity; 2. Mounting seat; 21. Negative pressure chamber; 3. Suction head; 31. Connection hole; 4. Deformation sheet; 51. First carrier; 511. Arc-shaped extension part; 52. Second carrier; 53. Adjustment cavity; 6. Vacuum tube. Detailed implementation manners

[0018] In order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present disclosure with reference to the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0019] As Figure 1-2 shown, a grasping end of a handling robot includes an end seat 1 and a mounting seat 2. The mounting seat 2 is vertically slidably disposed in a movable cavity 12 opened in the end seat 1 through a deformation sheet 4, and a plurality of suction heads 3 extending outside the end seat 1 are arranged in an array on the mounting seat 2. Both ends of the deformation sheet 4 are respectively fixedly connected to the mounting seat 2 and the movable cavity 12, and the middle part of the deformation sheet 4 is inclined so that the deformation sheet 4 flexibly supports the mounting seat 2.

[0020] Specifically, as Figure 1 shown, a connecting portion 11 for connecting the main body of the handling robot is provided on the end seat 1. A movable cavity 12 is opened in the end seat 1, and deformation sheets 4 are symmetrically arranged in the movable cavity 12. The mounting seat 2 is vertically slidably disposed in the movable cavity 12. Since the middle part of the deformation sheet 4 is inclined, one end of the deformation sheet 4 is at a high position and the other end is at a low position. The high-position end of the deformation sheet 4 is fixedly connected to the mounting seat 2, and the low-position end of the deformation sheet 4 is fixedly connected to the end seat 1. Thus, the deformation sheet 4 is used as a support member to flexibly support the mounting seat 2. When the end seat 1 descends so that the suction heads 3 on the mounting seat 2 adsorb and grasp a workpiece, if vibrations occur during workpiece handling, the vertically occurring vibrations are easily transmitted to the mounting seat 2 and drive the deformation sheet 4 to deform. Then, through the flexible support of the deformation sheet 4, vertical jitter buffering is realized for the grasped workpiece and the suction heads 3, thereby alleviating the situation where the workpiece vibrates in the vertical direction and pulls the suction heads 3 to repeatedly perform axial elongation and extrusion, avoiding the problems of fatigue damage and cracking of the suction heads 3, and improving the service life of the suction heads 3. Further, since the deformation sheet 4 is used to flexibly support the mounting seat 2, when the end seat 1 descends so that the suction heads 3 adsorb the workpiece, if the descending height of the end seat 1 is too large, the mounting seat 2 can slide vertically upward under the reaction force to pull the deformation sheet 4 to deform, and thus the suction heads 3 can rise adaptively, thereby avoiding the problem of excessive extrusion damage to the suction heads 3 caused by the excessive descending height of the end seat 1 and further improving the protection of the suction heads 3.

[0021] In the above technical solution, the flexible support of the mounting base 2 by the deformation piece 4 is used to achieve vertical jitter buffering for the grabbed workpiece and the suction head 3, thereby alleviating the situation that the workpiece vibrates and pulls the suction head 3 axially for repeated elongation and extrusion in the vertical direction, avoiding the problems of fatigue damage and cracking of the suction head 3, and improving the service life of the suction head 3.

[0022] As a further embodiment provided by the present utility model, it further includes a vacuum tube 6 fixedly connected to the end seat 1. The vacuum tube 6 is communicated with a negative pressure cavity 21 opened in the mounting base 2, and a connection hole 31 communicated with the negative pressure cavity 21 is opened on the suction head 3.

[0023] Specifically, as Figure 1 shown, the vacuum tube 6 is installed on the end seat 1 so that the vacuum tube 6 sucks air from the negative pressure cavity 21, and then the connection hole 31 is communicated with the vacuum tube 6 to generate a vacuum suction force on the suction head 3, providing a stable guarantee for grabbing and adsorbing the workpiece. The vacuum tube 6 is communicated with an external vacuum pump, and the specific gas path connection and working principle are not described in detail here.

[0024] As a further embodiment provided by the present utility model, it further includes a first carrier 51 and a second carrier 52 disposed in the movable cavity 12, and both the first carrier 51 and the second carrier 52 are located on the lower side of the mounting base 2 to respectively abut against both ends of the deformation piece 4, and the first carrier 51 and the second carrier 52 are separated by the middle part of the deformation piece 4.

[0025] Specifically, as Figure 2 shown, the first carrier 51 and the second carrier 52 are separated by the middle part of the deformation piece 4, and both the first carrier 51 and the second carrier 52 are located below the mounting base 2. When the workpiece generates vertical jitter, the mounting base 2 moves vertically so that the first carrier 51 and the second carrier 52 can also be used to share the buffering pressure of the deformation piece 4, thereby avoiding damage to the deformation piece 4 caused by excessive vertical jitter. The service life of the deformation piece 4 is improved. Secondly, the presence of the first carrier 51 and the second carrier 52 can also improve the vertical stability and service life of the mounting base 2.

[0026] As a further embodiment provided by the present utility model, adjustment cavities 53 communicated with an external air pipe are opened in both the first carrier 51 and the second carrier 52.

[0027] Specifically, as Figure 2 shown, adjustment cavities 53 are opened in both the first carrier 51 and the second carrier 52, and the adjustment cavities 53 are communicated with an external air pipe. Gas can be filled into the adjustment cavities 53 through the air pipe to adjust the buffering strength of the first carrier 51 and the second carrier 52 on the mounting base 2, and then the controllable degree of the jitter amplitude when grabbing the workpiece is realized, and then it is applicable to grab and transport workpieces of different sizes and weights, taking into account applicability and grabbing stability.

[0028] As a further embodiment provided by the present utility model, an arc-shaped extension portion 511 extending to the outside of the end seat 1 is provided on the first carrier 51, and the adjustment cavity 53 is communicated with the hollow interior of the arc-shaped extension portion 511.

[0029] Specifically, as Figure 2 shown, an arc-shaped extension portion 511 extending to the outside of the end seat 1 is provided on the first carrier 51. When the suction head 3 grabs the workpiece, at this time, the arc-shaped extension portion 511 extending to the outside of the end seat 1 on the first carrier 51 covers the outside of the suction head 3 of the end seat 1, thereby reducing the problem that the external dust is sucked into the end of the suction head 3 by the suction force, resulting in a decrease in the grasping stability. Secondly, since the adjustment cavity 53 is communicated with the hollow interior of the arc-shaped extension portion 511, when adjusting the buffering strength of the first carrier 51 and the second carrier 52 on the mounting seat 2 by adjusting the air pressure in the adjustment cavity 53, since the change in air pressure will cause the inclination degree of the arc-shaped extension portion 511 to change, the adjustment of the buffering strength of the mounting seat 2 can be indicated by the inclination degree of the arc-shaped extension portion 511, which is convenient for actual adjustment and use.

[0030] As a further embodiment provided by the present utility model, both the first carrier 51 and the second carrier 52 are made of rubber.

[0031] Specifically, both the first carrier 51 and the second carrier 52 are made of rubber to improve their service life.

[0032] Only some exemplary embodiments of the present utility model have been described by way of illustration above. Without doubt, for those of ordinary skill in the art, the described embodiments can be modified in various different ways without departing from the spirit and scope of the present utility model. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the protection scope of the claims of the present utility model.

Claims

1. A gripping end of a handling robot, characterized in that: The invention comprises an end seat (1) and a mounting seat (2), wherein the mounting seat (2) is vertically slidably arranged in an active cavity (12) opened in the end seat (1) through a deformable sheet (4), and a plurality of suction heads (3) extending out of the outside of the end seat (1) are arranged in an array on the mounting seat (2), wherein the two ends of the deformable sheet (4) are respectively fixedly connected to the mounting seat (2) and the active cavity (12), and the middle part of the deformable sheet (4) is inclined so that the deformable sheet (4) flexibly supports the mounting seat (2).

2. The gripping end of a handling robot according to claim 1, characterized in that: It also includes a vacuum tube (6) fixedly connected to the end seat (1), the vacuum tube (6) is connected to a negative pressure chamber (21) provided in the mounting seat (2), and the suction head (3) is provided with a connection hole (31) connected to the negative pressure chamber (21).

3. The gripping end of a handling robot according to claim 1, characterized in that: The invention also comprises a first bearing member (51) and a second bearing member (52) which are arranged in the movable cavity (12), and the first bearing member (51) and the second bearing member (52) are both located on the lower side of the mounting seat (2) so as to respectively contact the two ends of the deformable sheet (4), and the first bearing member (51) and the second bearing member (52) are separated by the middle part of the deformable sheet (4).

4. The gripping end of a handling robot according to claim 3, characterized in that: The first bearing member (51) and the second bearing member (52) are both provided with an adjustment cavity (53) which is connected to an external air pipe.

5. The gripping end of a handling robot according to claim 4, characterized in that: The first bearing member (51) is provided with an arc-shaped extension portion (511) extending to the outside of the end seat (1), and the adjustment cavity (53) is communicated with the hollow interior of the arc-shaped extension portion (511).

6. The gripping end of a handling robot according to claim 5, characterized in that: The first bearing member (51) and the second bearing member (52) are both rubber members.

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