Negative pressure type manipulator
The negative pressure robot uses negative pressure to absorb parts, which solves the problem of parts easily deforming or destroying when clamping by the robot, and achieves the effect of unchanging the shape of the part and fast loading and unloading.
Patent Information
- Application Number
- CN202421849196.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-31
- Publication Date
- 2025-06-24
- Estimated Expiration
- 2034-07-31
AI Technical Summary
When existing robots clamp thin-walled or irregular curved parts, they can easily lead to deformation or damage of the parts and cause losses.
A negative pressure robot is used to absorb parts by generating pressure by negative pressure to avoid squeezing the parts and ensure that the shape of the parts remains unchanged during the suction process.
It effectively avoids deformation and surface damage of parts during the absorption process, ensures the original structural shape of parts, and improves the efficiency of loading and unloading.
Smart Images
Figure CN223013211U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of manipulators, in particular to a negative pressure type manipulator. Background Technique
[0002] In order to improve the production efficiency of products, reduce production processes and lower labor costs, more and more enterprises introduce automated production lines. Automated production lines require loading and unloading. Since manual labor cannot well match the production line speed and there are safety risks, manipulators are used for material movement in loading, unloading and intermediate processes. A manipulator is an automated operating device that can imitate some action functions of human hands and arms and is used to grasp, transport objects or operate tools according to a fixed program. Its characteristic is that it can complete various expected operations through programming.
[0003] At present, most of the various manipulators on the market move objects by clamping. Due to the instability of the clamping force, when clamping thin-walled parts, the parts are likely to be deformed, thus destroying the original shape structure of the parts; when encountering irregular curved surface parts, the curved surface shape of the parts may be damaged due to the action of contact stress, resulting in part scrapping, bringing no small losses to enterprises. Therefore, a negative pressure type manipulator is needed. Content of the Utility Model
[0004] The purpose of the utility model is to provide a negative pressure type manipulator to solve the technical problems mentioned in the background technique. The negative pressure type manipulator provided by the utility model generates pressure by negative pressure to suck parts, ensuring that the parts neither deform nor damage the surface of the parts during the sucking process, and ensuring the original structural shape of the parts.
[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:
[0006] A negative pressure type manipulator includes a connecting seat, a hydraulic motor, a bracket, a lifting mechanism and an adsorption mechanism. A fixing plate is arranged inside the connecting seat. The hydraulic motor is arranged inside the connecting seat. The output end of the hydraulic motor is connected with a gear. A slewing bearing is arranged below the fixing plate. The slewing bearing is meshed and connected with the gear. The bracket is connected below the slewing bearing. The lifting mechanism is connected below the bracket. The adsorption mechanism is connected below the lifting mechanism.
[0007] Further, a rotary joint is arranged at the center of the slewing bearing. The upper end of the rotary joint passes through the fixing plate and is connected to the fixing plate.
[0008] Further, a hydraulic control valve group is connected to the upper end of the rotary joint. The hydraulic control valve group is connected to the rotary joint through an oil pipe. The hydraulic control valve group is connected to the hydraulic motor through an oil pipe.
[0009] Furthermore, two connecting rods are respectively arranged inside the bracket. The two connecting rods are arranged in parallel. Threads are respectively arranged at both ends of the connecting rods, and both ends of the connecting rods are respectively fixed by nuts.
[0010] Furthermore, the lifting mechanism includes a hydraulic cylinder and a telescopic rod. There are two hydraulic cylinders, and the two hydraulic cylinders are arranged diagonally. The upper end of the hydraulic cylinder is connected to the connecting rod. There are two telescopic rods, and the two telescopic rods are arranged diagonally. The upper end of the telescopic rod is connected to the connecting rod.
[0011] Furthermore, a tension spring is sleeved outside the telescopic rod, and both ends of the tension spring are respectively connected to both ends of the telescopic rod.
[0012] Furthermore, the adsorption mechanism includes a connecting plate, a connecting block and a suction cup. There are three connecting plates, and the connecting plates are arranged horizontally. The three connecting plates are parallel to each other. There are two connecting blocks, and the connecting blocks are arranged vertically. The two connecting blocks are parallel to each other, and the connecting blocks are connected to the upper surface of the connecting plate. The suction cup is connected to the lower surface of the connecting plate.
[0013] Furthermore, two supports are respectively arranged on the connecting block, and the lower end of the telescopic rod or the hydraulic cylinder is connected to the support.
[0014] Furthermore, a number of fixing blocks are equidistantly arranged on the connecting plate. Fixing bolts are respectively arranged on both sides of the fixing block. A negative pressure air pipe joint is arranged on the fixing block. The negative pressure air pipe joint respectively passes through the fixing block and the connecting plate. The upper end of the negative pressure air pipe joint is connected to an external negative pressure source, and the lower end of the negative pressure air pipe joint is connected to the suction cup.
[0015] Due to the adoption of the above technical solutions, the present utility model has the following beneficial effects:
[0016] The negative-pressure manipulator set in the present utility model generates pressure by negative pressure to suck parts, and will not squeeze the parts, ensuring that the parts will neither be deformed nor damaged on the surface during the sucking process, ensuring the original structural shape of the parts, and at the same time having the characteristics of fast loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 is a schematic structural diagram of the negative-pressure manipulator of the present utility model;
[0018] Figure 2 is an internal schematic diagram of the connecting seat of the present utility model;
[0019] Figure 3 is a schematic diagram of the connection between the lifting mechanism and the adsorption mechanism of the present utility model.
[0020] In the attached drawings, 1 is a connecting seat, 2 is a hydraulic motor, 3 is a bracket, 4 is a lifting mechanism, 5 is an adsorption mechanism, 6 is a slewing bearing, 7 is a gear, 8 is a fixing plate, 9 is a rotary joint, 10 is an oil pipe, 11 is a hydraulic control valve group, 12 is a connecting rod, 13 is a nut, 14 is a hydraulic cylinder, 15 is a telescopic rod, 16 is a tension spring, 17 is a connecting plate, 18 is a connecting block, 19 is a suction cup, 20 is a support, 21 is a fixing block, and 22 is a negative pressure air pipe joint. Detailed implementation manners
[0021] For the purpose, technical solutions and advantages of the present utility model to be more clearly understood, the following preferred embodiments are cited with reference to the attached drawings to further elaborate on the present utility model. However, it should be noted that many details listed in the specification are only for enabling the reader to have a thorough understanding of one or more aspects of the present utility model, and these aspects of the present utility model can be implemented even without these specific details.
[0022] As Figure 1-2 shown, a negative pressure type manipulator includes a connecting seat 1, a hydraulic motor 2, a bracket 3, a lifting mechanism 4 and an adsorption mechanism 5. A fixing plate 8 is arranged inside the connecting seat 1. The hydraulic motor 2 is arranged inside the connecting seat 1, and the hydraulic motor 2 is connected to the connecting seat 1. The output end of the hydraulic motor 2 is connected with a gear 7. A slewing bearing 6 is arranged below the fixing plate 8, and the slewing bearing 6 is meshed and connected with the gear 7. The bracket 3 is connected below the slewing bearing 6, the lifting mechanism 4 is connected below the bracket 3, and the adsorption mechanism 4 is connected below the lifting mechanism 4. Starting the hydraulic motor 2 drives the gear 7 to rotate, the gear 7 drives the slewing bearing 6 to rotate, and when the slewing bearing 6 rotates, it drives the bracket 3 to rotate, so that the lifting mechanism 4 and the adsorption mechanism 5 rotate, realizing 360-degree rotation.
[0023] As Figure 2 shown, a rotary joint 9 is arranged at the center of the slewing bearing 6. The upper end of the rotary joint 9 passes through the fixing plate 8, and the rotary joint 9 is connected to the fixing plate 8. The inner ring of the slewing bearing 6 is connected to the connecting seat 1 through external bolts, and the outer ring of the slewing bearing 6 is connected to the bracket 3 through external bolts. The upper end of the rotary joint 9 is connected with a hydraulic control valve group 11. The hydraulic control valve group 11 is connected to the rotary joint 9 through an oil pipe 10, and the hydraulic control valve group 11 is connected to the hydraulic motor 2 through an oil pipe 10. External hydraulic power is connected to the hydraulic control valve group 11. A part of it reaches the hydraulic cylinder 14 through the central rotary joint 9 to control the lifting of the adsorption mechanism 5, and another part enters the hydraulic motor 2. The hydraulic rotary motor 2 drives the gear 7 to rotate, the gear 7 drives the slewing bearing 6 to rotate, controlling the rotation of the adsorption mechanism 5, and accurately controlling the adsorption of the suction cup 19 to the part.
[0024] As Figure 1 and Figure 3As shown in the figure, two connecting rods 12 are respectively arranged inside the bracket 3. The two connecting rods 12 are arranged in parallel. Threads (not marked in the figure) are respectively arranged at both ends of the connecting rod 12, and both ends of the connecting rod 12 are fixed by nuts 13. The nuts 13 fix the connecting rod 12 on the bracket 3 to prevent the connecting rod 12 from moving or falling off.
[0025] As Figure 3 shown in the figure, the lifting mechanism 4 includes hydraulic cylinders 14 and telescopic rods 15. There are two hydraulic cylinders 14, and the two hydraulic cylinders 14 are arranged diagonally. The upper ends of the hydraulic cylinders 14 are connected to the connecting rod 12. There are two telescopic rods 15, and the two telescopic rods 15 are arranged diagonally. The upper ends of the telescopic rods 15 are connected to the connecting rod 12. A tension spring 16 is sleeved outside the telescopic rod 15, and both ends of the tension spring 16 are respectively connected to both ends of the telescopic rod 15. When the hydraulic cylinder 14 stretches, the telescopic rod 15 extends, and the tension spring 16 is in a stretched state, lowering the adsorption mechanism 5 below; when the hydraulic cylinder 14 retracts, the telescopic rod 15 retracts, and the tension spring 16 is in a contracted state, raising the adsorption mechanism 5 below.
[0026] The adsorption mechanism 5 includes a connecting plate 17, a connecting block 18 and a suction cup 19. There are three connecting plates 17, and the connecting plates 17 are arranged horizontally. The three connecting plates 17 are parallel to each other. There are two connecting blocks 18, and the connecting blocks 18 are arranged vertically. The two connecting blocks 18 are parallel to each other, and the connecting blocks 18 are connected to the upper surface of the connecting plate 17. The connecting plate 17 and the connecting block 18 are fixed by welding. The suction cup 19 is connected below the connecting plate 17. Two supports 20 are respectively arranged on the connecting block 18, and the two supports 20 are fixed to the connecting block 18 by welding. The lower end of the telescopic rod 15 or the hydraulic cylinder 14 is connected to the support 20. A number of fixing blocks 21 are arranged at equal intervals on the connecting plate 17. Fixing bolts 22 are respectively arranged on both sides of the fixing block 21. The fixing bolts 22 are used to limit the position of the fixing block 21 to prevent the fixing block 21 from moving. A negative pressure air pipe joint 23 is arranged on the fixing block 21. The negative pressure air pipe joint 23 passes through the fixing block 21 and the connecting plate 17 respectively. The upper end of the negative pressure air pipe joint 23 is connected to an external negative pressure source, and the lower end of the negative pressure air pipe joint 23 is connected to the suction cup 19. Connect the suction pipe of the negative pressure device to the negative pressure air pipe joint 23, and turn on the negative pressure device. When the suction cup 19 approaches the part, due to the action of the negative pressure air flow, the part will be adsorbed on the suction cup 19, and how to control the equipment to load or unload the part.
[0027] The negative type manipulator set by the present utility model uses negative pressure to generate pressure to suck parts, will not squeeze the parts, ensures that the parts do not deform during the suction process, and will not damage the surface of the parts, ensures the original structural shape of the parts, and at the same time has the characteristics of fast loading and unloading.
[0028] The above are only the preferred embodiments of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present utility model, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present utility model.
Claims
1. A negative pressure manipulator, characterized in that: The invention comprises a connecting seat (1), a hydraulic motor (2), a bracket (3), a lifting mechanism (4) and an adsorption mechanism (5); a fixing plate (8) is arranged inside the connecting seat (1); the hydraulic motor (2) is arranged on the inner side of the connecting seat (1); the output end of the hydraulic motor (2) is connected to a gear (7); a slewing bearing (6) is arranged below the fixing plate (8); the slewing bearing (6) is meshingly connected to the gear (7); the bracket (3) is connected below the slewing bearing (6); the lifting mechanism (4) is connected below the bracket (3); and the adsorption mechanism (5) is connected below the lifting mechanism (4).
2. A negative pressure manipulator according to claim 1, characterized in that: A swivel joint (9) is arranged at the center of the swivel bearing (6), the upper end of the swivel joint (9) passes through the fixed plate (8), and the swivel joint (9) is connected to the fixed plate (8).
3. A negative pressure manipulator according to claim 2, characterized in that: The upper end of the rotary joint (9) is connected to a hydraulic control valve group (11), the hydraulic control valve group (11) and the rotary joint (9) are connected via an oil pipe (10), and the hydraulic control valve group (11) and the hydraulic motor (2) are connected via an oil pipe (10).
4. A negative pressure manipulator according to claim 1, characterized in that: Two connecting rods (12) are respectively arranged inside the bracket (3), the two connecting rods (12) are arranged in parallel, both ends of the connecting rods (12) are respectively provided with threads, and the two ends of the connecting rods (12) are respectively fixed by nuts (13).
5. A negative pressure manipulator according to claim 1, characterized in that: The lifting mechanism (4) comprises a hydraulic cylinder (14) and a telescopic rod (15); two hydraulic cylinders (14) are provided, the two hydraulic cylinders (14) are arranged diagonally, and the upper ends of the hydraulic cylinders (14) are connected to the connecting rod (12); two telescopic rods (15) are provided, the two telescopic rods (15) are arranged diagonally, and the upper ends of the telescopic rods (15) are connected to the connecting rod (12).
6. A negative pressure manipulator according to claim 5, characterized in that: A tension spring (16) is sleeved on the outer side of the telescopic rod (15), and two ends of the tension spring (16) are respectively connected to two ends of the telescopic rod (15).
7. A negative pressure manipulator according to claim 1, characterized in that: The adsorption mechanism (5) comprises a connecting plate (17), a connecting block (18) and a suction cup (19); three connecting plates (17) are provided, the connecting plates (17) are arranged horizontally, and the three connecting plates (17) are respectively parallel; two connecting blocks (18) are provided, the connecting blocks (18) are arranged vertically, and the two connecting blocks (18) are respectively parallel; the connecting block (18) is connected to the upper side of the connecting plate (17), and the suction cup (19) is connected to the lower side of the connecting plate (17).
8. A negative pressure manipulator according to claim 7, characterized in that: Two supports (20) are respectively arranged on the connection block (18), and the lower ends of the telescopic rod (15) or the hydraulic cylinder (14) are connected to the supports (20).
9. A negative pressure manipulator according to claim 7, characterized in that: A plurality of fixing blocks (21) are arranged at equal distances on the connecting plate (17), fixing bolts (22) are arranged on both sides of the fixing blocks (21), and a negative pressure air pipe joint (23) is arranged on the fixing blocks (21), and the negative pressure air pipe joint (23) passes through the fixing blocks (21) and the connecting plate (17), respectively, and the upper end of the negative pressure air pipe joint (23) is connected to an external negative pressure source, and the lower end of the negative pressure air pipe joint (23) is connected to the suction cup (19).