Connecting piece and robot suction cup comprising same

Abstract

The utility model provides a connecting piece and a robot suction cup comprising the same, relates to the technical field of robot connecting structures, and solves the technical problem that the connecting piece cannot adjust the levelness of the suction cup. The connecting piece is of a U-shaped structure and comprises a first transverse plate, a vertical plate and a second transverse plate which are sequentially arranged. The second transverse plate is connected with a sucker; the first transverse plate is used for being connected with a driving shaft at the tail end of a robot arm. The device further comprises a horizontal adjusting assembly arranged on the first transverse plate, the levelness of the connecting piece relative to the tail end of the robot arm can be adjusted through the horizontal adjusting assembly, and therefore levelness adjustment of the suction cup is achieved. The first transverse plate and the second transverse plate are provided with a first shaft hole and a second shaft hole respectively. According to the utility model, the hollow metal connecting piece is adopted, so that the driving shaft of the robot and the plug-in mounting sucking disc are coaxial, the plug-in mounting precision is improved, and the horizontal leveling with higher precision is realized through the small deformation of the connecting plate generated by screwing and fastening the clamping plate and the jackscrew by virtue of the jacking positioning screw hole reserved in the connecting plate.

Description

Technical Field

[0001] The utility model relates to the technical field of robot connection structures, in particular to a connecting piece and a robot suction cup comprising the same. Background Art

[0002] With the maturity of technologies such as artificial intelligence and machine vision, industrial robots have replaced manual labor and entered various fields. An industrial robot suction cup is a device that adsorbs an object to a robot tool through negative pressure, thereby realizing automated production and processing. The suction cup usually consists of a suction cup body, a connecting piece, and a control circuit.

[0003] The applicant of the present invention has found that the prior art has at least the following technical problems: The initial connecting piece of the robot adopts a non-concentric traditional connection method, and the traditional suction cup relies on the splicing of two metal plates to connect the suction cup and the robot end drive shaft. During use, since the axis of the inserted part and the axis of the drive shaft are not coaxial, the actual insertion effect is affected, the insertion error degree is increased, and the insertion precision is reduced; moreover, the existing connecting piece cannot adjust the horizontal flatness by adjusting the tightness of the screw; during the actual high-precision electronic component insertion and positioning, there are high requirements for the levelness of the end suction cup of the robot, which is one of the key factors for accurate insertion; however, in the actual on-site hardware assembly, usually due to the cylindrical design of the fourth axis of the SCARA robot, during the assembly process of relatively fastening with the screw, due to different tightening sequences of the screws and different tightening forces of the assembly, the end suction cup connecting plate cannot be kept horizontal during actual installation, and it is difficult to adjust to the levelness that meets the positioning insertion during subsequent levelness adjustment; and during the long-term operation process, after the robot repeatedly sucks and grabs materials multiple times, it will have a certain impact on the levelness of the connecting piece, resulting in the bending of the metal plate of the connecting piece and affecting the levelness of the connecting piece. Summary of the Utility Model

[0004] The purpose of the present invention is to provide a connecting piece and a robot suction cup comprising the same, so as to solve the technical problem that the connecting piece in the prior art cannot adjust the levelness of the suction cup.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A connecting piece provided by the present invention, the connecting piece is in a U-shaped structure, and includes a first cross plate, a vertical plate, and a second cross plate arranged in sequence; the second cross plate is used for connecting with the suction cup; the first cross plate is used for connecting with the drive shaft at the end of the robot arm; and further includes a horizontal adjustment component arranged on the first cross plate, and the levelness of the connecting piece relative to the end of the robot arm can be adjusted through the horizontal adjustment component, so as to realize the adjustment of the levelness of the suction cup.

[0007] The connecting piece provided by the utility model is used for connecting the driving shaft at the end of the robot arm and the suction cup. By being set in a U shape, it can achieve micro-deformation between the two cross plates, facilitating the adjustment of the levelness. And a horizontal adjustment component is arranged on the first cross plate, which can adjust the levelness of the connecting piece, thereby realizing the adjustment of the levelness of the suction cup, improving the insertion positioning accuracy, and the insertion accuracy is increased by 20% compared with the traditional connecting plate.

[0008] As a further improvement of the utility model, the horizontal adjustment component includes a setscrew positioning hole, an adjusting setscrew and a clamping plate; the clamping plate is sleeved outside the driving shaft at the end of the robot arm; the number of the setscrew positioning holes is multiple, and they are arranged in a whole circle along the circumferential direction of the first cross plate, and all the setscrew positioning holes are within the projection range of the top view of the clamping plate; the adjusting setscrew is screwed in the setscrew positioning hole, and the levelness of the connecting piece is adjusted by controlling the height of the adjusting setscrew screwed out of the setscrew positioning hole at different positions.

[0009] The utility model realizes a highly accurate leveling of the level by setting a setscrew positioning hole, an adjusting setscrew and a clamping plate, relying on the reserved jacking positioning holes on the first cross plate, and generating a small deformation of the first cross plate by tightening the clamping plate of the end driving shaft of the SCARA robot and the adjusting setscrew, thereby improving the levelness to meet the error requirements of high-precision insertion.

[0010] As a further improvement of the utility model, a first shaft hole and a second shaft hole are respectively arranged on the first cross plate and the second cross plate, and the first shaft hole and the second shaft hole are coaxially arranged; the first shaft hole is used for fixing the central connecting column of the suction cup; the second shaft hole is used for connecting the driving shaft at the end of the robot arm.

[0011] The utility model adopts a hollow metal connecting piece. Specifically, by arranging coaxially arranged first shaft holes and second shaft holes on the two cross plates of the U-shaped connecting piece, the coaxiality of the end driving shaft of the robot and the inserted suction cup is realized, eliminating the problem of insertion failure caused by the deformation of the connecting piece itself due to long-term insertion operation, greatly improving the insertion accuracy, and the coaxiality can eliminate the problem of insertion failure caused by uneven force when the insertion shaft is inserted into the driving shaft due to non-coaxiality.

[0012] As a further improvement of the utility model, at least one side wall of the second cross plate is horizontally provided with a suction cup positioning hole; the end of the suction cup positioning hole is communicated with the second shaft hole; a suction cup positioning bolt is screwed in the suction cup positioning hole, and the end abuts against the central connecting column of the suction cup.

[0013] As a further improvement of the present invention, the suction cup positioning screw hole includes a front suction cup positioning screw hole and a left suction cup positioning screw hole; the front suction cup positioning screw hole is arranged on the first side wall of the second horizontal plate; the left suction cup positioning screw hole is arranged on the second side wall adjacent to the first side wall.

[0014] As a further improvement of the present invention, the front positioning screw hole of the suction cup and the left positioning screw hole of the suction cup have the same specifications.

[0015] As a further improvement of the present invention, the first axial hole and the second axial hole have different specifications.

[0016] As a further improvement of the present invention, a drive shaft positioning screw hole is horizontally opened on at least one side wall of the first horizontal plate; the end of the drive shaft positioning screw hole is connected to the first shaft hole; the drive shaft positioning bolt is screwed in the drive shaft positioning screw hole, and the end abuts against the drive shaft at the end of the robot arm.

[0017] As a further improvement of the present invention, the connecting piece is made of a material that can be deformed after being subjected to force.

[0018] The utility model provides a robot suction cup, comprising a suction cup and a connecting piece; the suction cup is connected to a driving shaft at the end of a robot arm through the connecting piece.

[0019] The robot suction cup provided by the utility model adopts a U-shaped connecting piece and arranges a horizontal adjustment component on the first horizontal plate to solve the problem that the robot suction cup cannot adjust the flatness; by arranging a coaxial first axis hole and a second axis hole on the hollow connecting piece, the problem that the robot suction cup cannot be coaxial with the robot drive shaft is solved; by adopting the connecting piece of the end suction cup of the utility model, the insertion positioning accuracy is improved, and the insertion accuracy is improved by 20% compared with the traditional connecting plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a three-dimensional structural schematic diagram of the connector of the utility model viewed from the opening side;

[0022] Figure 2 It is a three-dimensional structural schematic diagram of the utility model connecting piece viewed from one side of the vertical plate;

[0023] Figure 3 It is the right view of the connecting piece of the present utility model;

[0024] Figure 4 It is the rear view after the connecting piece of the present utility model is reversed;

[0025] Figure 5 It is the left view of the connecting piece of the present utility model;

[0026] Figure 6 It is the front view after the connecting piece of the present utility model is reversed;

[0027] Figure 7 It is the bottom view of the connecting piece of the present utility model.

[0028] In the figure, 1 is the first cross plate; 2 is the vertical plate; 3 is the second cross plate; 4 is the first shaft hole; 5 is the second shaft hole; 6 is the front positioning screw hole of the suction cup; 7 is the left positioning screw hole of the suction cup; 8 is the positioning screw hole of the drive shaft; 9 is the positioning screw hole of the setscrew. Specific embodiments

[0029] To make the purpose, technical solutions and advantages of the present utility model clearer, the technical solutions of the present utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other implementation manners obtained by those of ordinary skill in the art without making creative efforts belong to the scope protected by the present utility model.

[0030] Embodiment 1:

[0031] As Figures 1 - 7 shown, the present utility model provides a connecting piece, which is used for connecting the drive shaft at the end of the robot arm and the suction cup; specifically, the connecting piece in this embodiment is of a U-shaped structure and is made of a hollow metal piece. The connecting piece includes a first cross plate 1, a vertical plate 2 and a second cross plate 3 arranged in sequence; during processing, it is necessary to ensure the parallelism between the first cross plate 1 and the second cross plate 3, and ensure the perpendicularity between the vertical plate 2 and the first cross plate 1 and the second cross plate 3, so as to ensure the accuracy during the horizontal adjustment of the connecting piece, and ensure the coaxiality requirement of the shaft holes between the first cross plate 1 and the second cross plate 3.

[0032] In this embodiment, the second cross plate 3 is used to connect with the suction cup; specifically, the center position of the suction cup has a connecting post, and the connecting post is installed on the second cross plate 3, thereby realizing the connection between the suction cup and the second cross plate 3; the first cross plate 1 is used to connect with the drive shaft at the end of the robot arm. Specifically, the drive shaft is installed on the first cross plate 1, and air pipes, electric control wires, etc. for controlling the movement of the suction cup are sequentially passed through the first cross plate 1 and the second cross plate 3 and then connected to the suction cup; a horizontal adjustment component is further included on the first cross plate 1. By means of the horizontal adjustment component, the levelness of the connecting part relative to the end of the robot arm can be adjusted, thereby realizing the adjustment of the levelness of the suction cup.

[0033] The connecting part provided by the utility model is used for the connection between the drive shaft at the end of the robot arm and the suction cup. By being set in a U shape, micro-deformation between the two cross plates can be realized, which is convenient for levelness adjustment. And a horizontal adjustment component is arranged on the first cross plate 1, which can adjust the levelness of the connecting part, thereby realizing the adjustment of the levelness of the suction cup, improving the insertion positioning accuracy, and the insertion accuracy is increased by 20% compared with the traditional connecting plate.

[0034] As Figures 1 - 7 shown, as an optional embodiment of the utility model, the horizontal adjustment component includes a set screw positioning hole 9, an adjusting set screw and a clamping plate; the clamping plate is sleeved outside the drive shaft at the end of the robot arm. The clamping plate not only realizes the connection between the drive shaft and the first cross plate 1, but also plays a limiting role; during installation, the clamping plate is installed on the first cross plate 1; the drive shaft is arranged in the first shaft hole 4 of the first cross plate 1; the number of the set screw positioning holes 9 is multiple, and they are arranged in a whole circle along the circumferential direction of the first cross plate 1, and all the set screw positioning holes 9 are within the projection range of the clamping plate in the top view; the adjusting set screw is screwed in the set screw positioning hole 9, and the levelness of the connecting part is adjusted by controlling the height of the adjusting set screw screwed out of the set screw positioning hole 9 at different positions.

[0035] The utility model realizes a highly accurate leveling of the level by setting the set screw positioning hole 9, the adjusting set screw and the clamping plate, relying on the reserved jacking positioning holes on the first cross plate 1, and generating a small deformation of the first cross plate 1 by tightening and fixing the clamping plate of the SCARA robot end drive shaft and the adjusting set screw, so as to improve the levelness and meet the error requirements of high-precision insertion.

[0036] As Figure 1 and Figure 2 shown, as an optional embodiment of the utility model, a first shaft hole 4 and a second shaft hole 5 are respectively arranged on the first cross plate 1 and the second cross plate 3, and the first shaft hole 4 and the second shaft hole 5 are coaxially arranged; the first shaft hole 4 is used to fix the central connecting post of the suction cup; the second shaft hole 5 is used to connect the drive shaft at the end of the robot arm.

[0037] During installation, the central connecting column of the suction cup passes through the second shaft hole 5, and the drive shaft at the end of the robot arm passes through the first shaft hole 4. Since the first shaft hole 4 and the second shaft hole 5 are coaxial structures, and the connecting column corresponds to the central position of the suction cup, the drive shaft is installed in the first shaft hole 4, thus realizing the coaxial setting of the suction cup and the drive shaft at the end of the robot arm.

[0038] The utility model realizes the coaxiality of the drive shaft at the end of the robot and the inserted suction cup by adopting a hollow metal connecting piece, specifically by providing coaxial first shaft hole 4 and second shaft hole 5 on two cross plates of the U-shaped connecting piece, eliminates the problem of insertion failure caused by the deformation of the connecting piece itself due to long-term insertion operation, greatly improves the insertion accuracy, and the coaxiality can eliminate the problem of insertion failure caused by uneven force when the insertion shaft is inserted into the drive shaft due to non-coaxiality.

[0039] For the convenience of fixing the connecting column and the drive shaft, in this embodiment, as Figures 1 - 7 shown, at least one side wall of the second cross plate 3 is horizontally provided with a suction cup positioning screw hole; the end of the suction cup positioning screw hole communicates with the second shaft hole 5; the suction cup positioning bolt is screwed in the suction cup positioning screw hole, and the end abuts against the central connecting column of the suction cup.

[0040] Specifically, the suction cup positioning screw hole includes a suction cup front positioning screw hole 6 and a suction cup left positioning screw hole 7; the suction cup front positioning screw hole 6 is provided on the first side wall of the second cross plate 3; the suction cup left positioning screw hole 7 is provided on the second side wall adjacent to the first side wall.

[0041] By providing suction cup positioning screw holes on adjacent side walls of the second cross plate 3, the different-direction limitation and positioning of the suction cup connecting column are realized, the stable fixation of the connecting column is realized, and it is easy to disassemble and adjust.

[0042] Furthermore, in this embodiment, the suction cup front positioning screw hole 6 and the suction cup left positioning screw hole 7 have the same specification.

[0043] Considering the different specifications of the suction cup connecting column and the drive shaft at the end of the robot arm, in this embodiment, the first shaft hole 4 and the second shaft hole 5 have different specifications.

[0044] The specification of the first shaft hole 4 is adapted to the specification of the drive shaft at the end of the robot arm, and the specification of the second shaft hole 5 is adapted to the specification of the suction cup connecting column.

[0045] For the convenience of installing and fixing the drive shaft, in this embodiment, at least one side wall of the first cross plate 1 is horizontally provided with a drive shaft positioning screw hole 8; the end of the drive shaft positioning screw hole 8 communicates with the first shaft hole 4; the drive shaft positioning bolt is screwed in the drive shaft positioning screw hole 8, and the end abuts against the drive shaft at the end of the robot arm.

[0046] As an alternative embodiment of the present utility model, in order to facilitate the first cross plate 1 to undergo a slight deformation under the action of the top thrust when adjusting the fastening of the setscrew, in this embodiment, the connecting member is made of a material that can generate deformation when stressed.

[0047] The connecting member of the present utility model can solve two problems, one is the coaxiality problem, and the other is the horizontal adjustment problem; adjusting the fastening and jacking of the setscrew and the clamping plate will cause a slight metal deformation between the first cross plate 1 and the clamping plate, and this slight deformation can cause the connecting member and the suction cup to swing slightly, achieving fine adjustment of the levelness.

[0048] Embodiment 2:

[0049] As Figures 1 - 7 shown, the present utility model provides a robot suction cup, including a suction cup and a connecting member; the suction cup is connected to the drive shaft at the end of the robot arm through the connecting member.

[0050] The robot suction cup provided by the present utility model solves the problem that the robot suction cup cannot adjust the flatness by adopting a U-shaped connecting member and arranging a horizontal adjustment component on the first cross plate 1; by arranging a coaxial first shaft hole 4 and a second shaft hole 5 on the hollow connecting member, the problem that the robot suction cup cannot be coaxial with the robot drive shaft is solved; by adopting the connecting member of the end suction cup of the present utility model, the levelness is adjusted by tightening the adjusting setscrew in the setscrew positioning screw hole 9 to generate a slight deformation of the connecting member, improving the insertion positioning accuracy, and the insertion accuracy is increased by 20% compared with the traditional connecting plate.

[0051] Here, it should be noted first that "inward" is the direction towards the center of the accommodation space, and "outward" is the direction away from the center of the accommodation space.

[0052] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the Figure 1 orientation or positional relationship shown, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0054] In the present utility model, unless otherwise clearly defined and limited, terms such as "installed", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0055] In the present utility model, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0056] In the description of this specification, the description with reference to terms such as "an embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0057] The above are only the specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of changes or substitutions, which should all be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the said claims.

Claims

1. A connecting piece, characterized in that, The connecting member is a U-shaped structure, including a first horizontal plate, a vertical plate and a second horizontal plate arranged in sequence; the second horizontal plate is used to connect with the suction cup; the first horizontal plate is used to connect with the driving shaft at the end of the robot arm; and it also includes a horizontal adjustment component arranged on the first horizontal plate, through which the horizontal adjustment component can be adjusted the horizontality of the connecting member relative to the end of the robot arm, thereby realizing the horizontality adjustment of the suction cup.

2. The connecting member according to claim 1, wherein The horizontal adjustment component includes a top screw positioning screw hole, an adjusting top screw and a clamp; the clamp is sleeved on the outside of the driving shaft at the end of the robot arm; there are multiple top screw positioning screw holes, which are arranged in a full circle along the circumferential direction of the first cross plate, and all the top screw positioning screw holes are located within the projection range of the top view of the clamp; the adjusting top screw is screwed into the top screw positioning screw hole, and the horizontal adjustment of the connecting part is achieved by controlling the height of the adjusting top screw at different positions screwed out of the top screw positioning screw hole.

3. The connecting member according to claim 1, wherein, The first horizontal plate and the second horizontal plate are respectively provided with a first axial hole and a second axial hole, and the first axial hole and the second axial hole are coaxially arranged; the first axial hole is used to fix the central connecting column of the suction cup; the second axial hole is used to connect the driving shaft at the end of the robot arm.

4. The connecting member according to claim 3, characterized in that, A suction cup positioning screw hole is horizontally opened on at least one side wall of the second horizontal plate; the end of the suction cup positioning screw hole is connected to the second axial hole; the suction cup positioning bolt is screwed into the suction cup positioning screw hole, and the end thereof abuts against the central connecting column of the suction cup.

5. The connecting member according to claim 4, wherein, The suction cup positioning screw hole includes a front suction cup positioning screw hole and a left suction cup positioning screw hole; the front suction cup positioning screw hole is arranged on the first side wall of the second horizontal plate; the left suction cup positioning screw hole is arranged on the second side wall adjacent to the first side wall.

6. The connector according to claim 5, characterized in that, The specifications of the front positioning screw hole of the suction cup and the left positioning screw hole of the suction cup are the same.

7. The connecting member according to claim 3, wherein The first axial hole and the second axial hole have different specifications.

8. The connecting member according to claim 3, wherein, A drive shaft positioning screw hole is horizontally opened on at least one side wall of the first horizontal plate; the end of the drive shaft positioning screw hole is connected to the first shaft hole; the drive shaft positioning bolt is screwed into the drive shaft positioning screw hole, and the end thereof abuts against the drive shaft at the end of the robot arm.

9. The connecting member according to claim 2, characterized in that, The connecting piece is made of a material that can be deformed after being subjected to force.

10. A robot suction cup, characterized in that, It comprises a suction cup and a connecting piece as described in any one of claims 1 to 9; the suction cup is connected to the driving shaft at the end of the robot arm through the connecting piece.

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