Feeding and discharging mechanical arm with suction cup

Abstract

The utility model discloses a feeding and discharging mechanical arm with suction cups, and belongs to the field of mechanical arms. A feeding and discharging mechanical arm with a suction cup comprises a mechanical arm body and further comprises a mounting plate fixedly arranged at the end of the mechanical arm body. The plurality of sucker bodies are fixedly arranged on the mounting plate; the communicating pipe is used for communicating the plurality of suction cup bodies and is arranged on the mounting plate; the controller is arranged on one side of the mechanical arm body; the control pipe is fixedly arranged on the mechanical arm body; the fixed plate is fixedly arranged in the control pipe; the sealing plate is connected into the control pipe in a sealed and sliding mode, one side of the sealing plate is fixedly connected with a sealing sliding rod, and the sealing sliding rod slides on the fixing plate in a sealed mode; according to the suction cup, the reduction rate of negative pressure in the suction cup body is effectively reduced, so that workpieces are effectively prevented from falling off, and the feeding and discharging efficiency of the workpieces is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a loading and unloading robotic arm with a suction cup. Background Technique

[0002] A suction cup type robotic arm refers to a mechanism formed by the mutual cooperation of a suction cup assembly and a robotic arm assembly. Among them, the robotic arm mainly drives the suction cup assembly to move from a specified position to another position, and the suction cup assembly mainly plays the role of adsorbing and fixing the workpiece, preventing the workpiece from falling by suction. The robotic arm with a suction cup is widely used in production.

[0003] At present, when the existing loading and unloading robotic arm with a suction cup adsorbs the workpiece, it directly moves after providing a certain suction force through an air extraction pump. However, the suction cup may be damaged during long-term use, and the workpiece may have a concave defect, resulting in a possible slight air leakage phenomenon. At this time, the workpiece may fall and be damaged. Content of the Utility Model

[0004] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a loading and unloading robotic arm with a suction cup that can overcome or at least partially solve the above problems.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A loading and unloading robotic arm with a suction cup, comprising: a robotic arm body, and further comprising: a mounting plate fixedly arranged at the end of the robotic arm body; a plurality of suction cup bodies fixedly arranged on the mounting plate; a communication pipe for communicating the plurality of suction cup bodies, arranged on the mounting plate; a controller arranged on one side of the robotic arm body; a control pipe fixedly arranged on the robotic arm body; a fixing plate fixedly arranged inside the control pipe; a sealing plate sealingly and slidably connected inside the control pipe, and one side of the sealing plate is fixedly connected with a sealing slide bar, and the sealing slide bar is sealingly slidable on the fixing plate; a tension spring fixedly arranged between the sealing plate and the fixing plate; an energy storage cavity arranged between the sealing plate and the control pipe; a first air extraction pipe arranged on one side of the control pipe and communicating with the energy storage cavity; a second air extraction pipe arranged between the communication pipe and the energy storage cavity; an air extraction component for extracting the gas in the energy storage cavity; a deflation component for deflating the suction cup body.

[0007] In order to facilitate air extraction, the air extraction component includes an air extraction pump arranged on one side of the robotic arm body, and the air extraction end of the air extraction pump is communicated with the first air extraction pipe.

[0008] Preferably, the air leakage component includes an air leakage pipe fixedly arranged on the control pipe, and the air leakage pipe is communicated with the energy storage cavity, and an electromagnetic valve is arranged in the air leakage pipe.

[0009] In order to facilitate the detection of the negative pressure condition in the energy storage cavity, preferably, a sliding rheostat is fixedly connected between the fixed plate and the control pipe, and a conductive block matched with the sliding rheostat is fixedly connected to the sealing slide rod.

[0010] Preferably, an alarm is arranged on one side of the robotic arm body.

[0011] In order to facilitate rapid air leakage, further, first electromagnetic blocks are symmetrically and fixedly connected to the sealing plate, and second electromagnetic blocks matched with the first electromagnetic blocks are symmetrically and fixedly connected in the control pipe.

[0012] Compared with the prior art, the utility model provides a loading and unloading robotic arm with a suction cup, and has the following beneficial effects:

[0013] 1. For the loading and unloading robotic arm with a suction cup, the workpiece is loaded and unloaded by the robotic arm body. During the movement of the robotic arm body, if there is slight air leakage in the suction cup body, at this time, the negative pressure value in the energy storage cavity decreases, and the tension spring pulls the sealing plate to move away from the air leakage pipe, so as to effectively slow down the rate of decrease of the negative pressure in the suction cup body, and further effectively prevent the workpiece from falling.

[0014] 2. For the loading and unloading robotic arm with a suction cup, when there is an air leakage phenomenon in the suction cup body, the sealing plate slides away from the air leakage pipe. At this time, the conductive block slides on the sliding rheostat, and the controller obtains the current signal of the circuit where the conductive block and the sliding rheostat are located in real time. When the current reaches a set value one, the controller controls the air extraction pump to start pumping air continuously to provide a certain suction force, so as to effectively prevent the workpiece from falling.

[0015] 3. For the loading and unloading robotic arm with a suction cup, the controller controls the first electromagnetic block and the second electromagnetic block to be energized so that they adsorb each other, and controls the electromagnetic valve to open, so as to facilitate the rapid air leakage of the suction cup body. When the workpiece falls to the designated position, during the movement of the robotic arm body, the controller controls the first electromagnetic block and the second electromagnetic block to be powered off, thus effectively improving the loading and unloading efficiency of the workpiece.

[0016] Parts not involved in the device are the same as or can be implemented by the prior art. The utility model effectively slows down the rate of decrease of the negative pressure in the suction cup body, thereby effectively preventing the workpiece from falling, and effectively improving the loading and unloading efficiency of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of a loading and unloading robotic arm with a suction cup proposed by the utility model;

[0018] Figure 2 This is a schematic cross-sectional view of a control pipe in a loading and unloading robotic arm with a suction cup proposed by the present utility model;

[0019] Figure 3 This is a schematic cross-sectional view of a mounting plate and a suction cup body in a loading and unloading robotic arm with a suction cup proposed by the present utility model.

[0020] In the figure: 1. Robotic arm body; 101. Air extraction pump; 102. First air extraction pipe; 103. Second air extraction pipe; 104. Mounting plate; 105. Suction cup body; 106. Connecting pipe; 107. Controller; 108. Alarm; 2. Control pipe; 201. Fixed plate; 202. Sealing plate; 203. Sealing slide bar; 204. Tension spring; 205. Energy storage cavity; 206. Air release pipe; 207. Solenoid valve; 208. Slide rheostat; 209. Conductive block; 210. First electromagnetic block; 211. Second electromagnetic block. Specific embodiments

[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments.

[0022] Embodiment 1: Refer to Figures 1 - 3 , a loading and unloading robotic arm with a suction cup, including: a robotic arm body 1, and further including: a mounting plate 104, fixedly arranged at the end of the robotic arm body 1; a plurality of suction cup bodies 105, fixedly arranged on the mounting plate 104; a connecting pipe 106 for connecting a plurality of suction cup bodies 105, arranged on the mounting plate 104; a controller 107, arranged on one side of the robotic arm body 1; a control pipe 2, fixedly arranged on the robotic arm body 1; a fixed plate 201, fixedly arranged inside the control pipe 2; a sealing plate 202, sealingly and slidably connected inside the control pipe 2, and one side of the sealing plate 202 is fixedly connected with a sealing slide bar 203, and the sealing slide bar 203 is sealingly slidable on the fixed plate 201; a tension spring 204, fixedly arranged between the sealing plate 202 and the fixed plate 201; an energy storage cavity 205, arranged between the sealing plate 202 and the control pipe 2; a first air extraction pipe 102, arranged on one side of the control pipe 2, and the first air extraction pipe 102 is communicated with the energy storage cavity 205; a second air extraction pipe 103, arranged between the connecting pipe 106 and the energy storage cavity 205; an air extraction assembly for extracting the gas inside the energy storage cavity 205; an air release assembly for deflating the suction cup body 105.

[0023] The air extraction assembly includes an air extraction pump 101 arranged on one side of the robotic arm body 1, and the air extraction end of the air extraction pump 101 is communicated with the first air extraction pipe 102.

[0024] The air release component includes an air release pipe 206 fixedly arranged on the control pipe 2, and the air release pipe 206 is communicated with the energy storage cavity 205, and a solenoid valve 207 is arranged in the air release pipe 206.

[0025] When loading and unloading, the manipulator body 1 moves the mounting plate 104 to a set position, and makes a plurality of suction cup bodies 105 adsorb on the workpiece. The controller 107 controls the air extraction pump 101 to work. The air extraction pump 101 extracts the gas in the energy storage cavity 205 through the first air extraction pipe 102. The gas in the suction cup body 105 enters the energy storage cavity 205 through the communication pipe 106 and the second air extraction pipe 103, and finally is extracted by the air extraction pump 101 through the first air extraction pipe 102, so that a negative pressure is formed inside the suction cup body 105 to adsorb the workpiece. At the same time, the sealing plate 202 slides towards the direction close to the air release pipe 206 under the action of the negative pressure, and pulls the tension spring 204 to store energy in the tension spring 204. Then, the workpiece is loaded and unloaded by the manipulator body 1. During the movement of the manipulator body 1, if there is slight air leakage in the suction cup body 105, at this time, the negative pressure value in the energy storage cavity 205 decreases, and the tension spring 204 pulls the sealing plate 202 to move away from the air release pipe 206, so as to effectively slow down the rate of decrease of the negative pressure in the suction cup body 105, and further effectively prevent the workpiece from falling.

[0026] When the workpiece needs to be put down, the controller 107 controls the solenoid valve 207 to open. At this time, the outside air enters the energy storage cavity 205, thereby reducing the negative pressure value in the suction cup body 105 and making the workpiece fall to the designated position.

[0027] Embodiment 2: Refer to Figures 1 - 3 , a loading and unloading manipulator with a suction cup, which is basically the same as Embodiment 1. Further, a sliding rheostat 208 is fixedly connected between the fixed plate 201 and the control pipe 2, and a conductive block 209 matched with the sliding rheostat 208 is fixedly connected to the sealing slide bar 203.

[0028] An alarm 108 is arranged on one side of the manipulator body 1.

[0029] First electromagnetic blocks 210 are symmetrically and fixedly connected to the sealing plate 202, and second electromagnetic blocks 211 matched with the first electromagnetic blocks 210 are symmetrically and fixedly connected in the control pipe 2.

[0030] During the transfer of the workpiece, when the suction cup body 105 leaks air, the sealing plate 202 slides away from the air discharge pipe 206. At this time, the conductive block 209 slides on the sliding rheostat 208, and the controller 107 obtains the current signal of the circuit where the conductive block 209 and the sliding rheostat 208 are located in real time. When the current reaches a set value one, the controller 107 controls the air extraction pump 101 to start pumping air continuously to provide a certain suction force, thereby effectively preventing the workpiece from falling.

[0031] When the workpiece accidentally falls, the air extraction pump 101 keeps working. At this time, when the current signal of the circuit where the sliding rheostat 208 and the conductive block 209 are located reaches a set value two, the controller 107 controls the alarm 108 to sound, prompting the staff that the workpiece has fallen.

[0032] When it is necessary to put down the workpiece, the controller 107 controls the first electromagnet 210 and the second electromagnet 211 to be energized so that they attract each other, and controls the solenoid valve 207 to open, thereby facilitating the rapid deflation of the suction cup body 105. When the workpiece falls to the designated position, during the movement of the robotic arm body 1, the controller 107 controls the first electromagnet 210 and the second electromagnet 211 to be de-energized, thereby effectively improving the loading and unloading efficiency of the workpiece.

[0033] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A loading and unloading robot arm with a suction cup, comprising: The robot arm body (1) is characterized by further comprising: A mounting plate (104) fixedly arranged at the end of the mechanical arm body (1); A plurality of suction cup bodies (105) are fixedly arranged on the mounting plate (104); A connecting pipe (106) for connecting a plurality of suction cup bodies (105), arranged on the mounting plate (104); A controller (107) is arranged on one side of the robot arm body (1); A control tube (2) fixedly arranged on the mechanical arm body (1); A fixed plate (201) fixedly disposed in the control tube (2); A sealing plate (202) is sealingly slidably connected in the control tube (2), and a sealing sliding rod (203) is fixedly connected to one side of the sealing plate (202), and the sealing sliding rod (203) sealingly slides on the fixed plate (201); A tension spring (204) fixedly disposed between the sealing plate (202) and the fixing plate (201); An energy storage chamber (205) is arranged between the sealing plate (202) and the control tube (2); A first air extraction pipe (102) is arranged on one side of the control pipe (2), and the first air extraction pipe (102) is connected to the energy storage chamber (205); A second air extraction pipe (103) is arranged between the connecting pipe (106) and the energy storage chamber (205); A gas extraction component for extracting gas from the energy storage chamber (205); A deflation component is provided for deflation of the suction cup body (105).

2. A loading and unloading robot arm with a suction cup according to claim 1, characterized in that: The air extraction component comprises an air extraction pump (101) arranged on one side of the robot arm body (1), and an air extraction end of the air extraction pump (101) is connected to a first air extraction pipe (102).

3. The loading and unloading robot arm with a suction cup according to claim 1, characterized in that: The air release component comprises an air release pipe (206) fixedly arranged on the control pipe (2), and the air release pipe (206) is connected to the energy storage chamber (205), and an electromagnetic valve (207) is arranged in the air release pipe (206).

4. The loading and unloading robot arm with a suction cup according to claim 1, characterized in that: A sliding rheostat (208) is fixedly connected between the fixed plate (201) and the control tube (2), and a conductive block (209) matching the sliding rheostat (208) is fixedly connected to the sealing sliding rod (203).

5. The loading and unloading robot arm with a suction cup according to claim 4, characterized in that: An alarm (108) is provided on one side of the robot arm body (1).

6. The loading and unloading robot arm with a suction cup according to claim 1, characterized in that: A first electromagnetic block (210) is symmetrically fixedly connected to the sealing plate (202), and a second electromagnetic block (211) matching the first electromagnetic block (210) is symmetrically fixedly connected inside the control tube (2).

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