Manipulator suction cup

Abstract

The utility model relates to the technical field of mechanical arm equipment, and provides a mechanical arm sucker which comprises a base and a fixing plate, a large sucker is fixedly installed on the top of the fixing plate, when the mechanical arm sucker is used, a worker adjusts a sliding rod to move in a movable groove according to the length of an object, the sliding rod drives a straight plate to move synchronously, and the straight plate is driven to move synchronously. The sliding blocks are adjusted to slide on the two sides of the straight plate according to the width of an article, the fixing plate moves downwards to drive the large suction cups to adsorb the center of the article, the small suction cups make contact with the article while the fixing plate moves downwards, and the buffer springs play a role in buffering the article when the telescopic columns contract; and the small suction cups extract vacuum in the air suction pipes through the vacuum generator, negative pressure is generated, so that the small suction cups have higher adsorption force on the periphery of the article, and the problems that when a single suction cup is used for adsorbing the center of the article, the suction cups can fall off once gaps exist in the positions of the suction cups, and the stability is too poor, and a large amount of loss is likely to be caused are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator equipment, in particular to a manipulator suction cup. Background Art

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms to grasp, transport objects or operate tools according to a fixed program. A manipulator usually consists of an execution mechanism, a drive system, a control system, a position detection device and other parts.

[0003] In the prior art, such as the Chinese patent number: CN210879722U, "a suction cup type manipulator", which includes a suction cup, a vacuum pipeline, a vacuum pressing shaft, a connecting pipeline, a hydraulic pipe, a rotating shaft, a suspension rod, a control box, a push rod, a bracket, a supporting leg, a roller guard shaft, a roller, a chassis, and a central rod. The suction cup is installed below the vacuum pipeline, the vacuum pipeline is embedded inside the vacuum pressing shaft, the connecting pipeline is mechanically connected with the hydraulic pipe, the suspension rod is hinged with the hydraulic pipe, one end of the hydraulic pipe far away from the suspension rod is connected with the connecting pipeline, and the lower end of the control box is connected with the upper end of the central rod. For the suction cup type manipulator of the utility model, an object is sucked by the suction cup, the air in the vacuum pipeline compresses the air to make the suction force stronger, the vacuum pressing shaft controls the air, and then the connecting pipeline supports the hydraulic pipe to make the supporting force more stable. The rotating shaft adjusts the suspension rod, and then the control box instructs the push rod to move the bracket and the supporting leg to support the ground, and the chassis supports the central rod, so that the suction cup does not fall off when working in humid weather.

[0004] In the above technology, although the vacuum pressing shaft is used to control the air and then the air is compressed by the vacuum pipeline to enhance the suction force of the suction cup, in a harsh environment, even if the air in the suction cup is compressed again, relying on a single suction cup to adsorb at the center of the object, once there is a gap at the suction cup, it will surely fall off, the stability is too poor, which is easy to cause a large amount of losses. The position of the suction cup is too fixed, and it can only rely on the movement of the robotic arm to align with the object. During production work, it is necessary to continuously operate the robotic arm to align with the object for adsorption, consuming a large amount of manpower and material resources. Summary of the Utility Model

[0005] The purpose of the utility model is to solve the problems existing in the prior art that in a harsh environment, even if the air in the suction cup is compressed again, relying on a single suction cup to adsorb at the center of the object, once there is a gap at the suction cup, it will surely fall off, the stability is too poor, which is easy to cause a large amount of losses. The position of the suction cup is too fixed, and it can only rely on the movement of the robotic arm to align with the object. During production work, it is necessary to continuously operate the robotic arm to align with the object for adsorption, consuming a large amount of manpower and material resources.

[0006] To achieve the above object, the present utility model adopts the following technical solutions: A manipulator suction cup, comprising: a base and a fixing plate. A large suction cup is fixedly installed at the top of the fixing plate. Telescopic frames are movably installed on both sides of the fixing plate. Activity grooves are formed at the tops of the two telescopic frames. Slide bars are movably installed inside the two activity grooves. Straight plates are fixedly installed at the bottoms of the two slide bars. Two sliders are movably installed on both sides of the two straight plates. Limit plates are fixedly installed on one sides of the multiple sliders. Vacuum pipes are fixedly installed at the tops of the multiple limit plates. Telescopic columns are fixedly installed at the bottoms of the multiple limit plates.

[0007] The technical effect of adopting the above further solution is: By setting the slide bar, it can move inside the activity groove according to the length of the item, so as to adjust the position of the straight plate. The telescopic column is used for buffering the relative force when the limit plate moves downward and the small suction cup adsorbs the item.

[0008] As a preferred embodiment, buffer springs are arranged on the outer surfaces of the multiple telescopic columns. Small suction cups are fixedly installed at the bottoms of the multiple telescopic columns. The multiple vacuum pipes penetrate through the inside of the telescopic columns and are connected to the inner walls of the small suction cups. Air suction pipes are fixedly installed at the tops of the multiple vacuum pipes.

[0009] The technical effect of adopting the above further solution is: By setting the buffer spring, when the telescopic column buffers the relative force of the small suction cup, it contracts at the bottom of the limit plate to strengthen the buffering of the relative force of the small suction cup. The air suction pipe is used to extract the air inside the small suction cup to form a negative pressure state, increasing the adsorption force of the small suction cup on the item and reducing the dropping of the item.

[0010] As a preferred embodiment, a vacuum generator is fixedly installed on one side of the fixing plate. The air suction pipe is fixedly connected to both sides of the vacuum generator. A U-shaped plate is fixedly installed at the top of the fixing plate. Rotating shafts are fixedly installed on both sides of the U-shaped plate.

[0011] The technical effect of adopting the above further solution is: When the small suction cup adsorbs an item, the air generated inside is extracted by the vacuum generator through the air suction pipe to the small suction cup, making the inside of the small suction cup in a negative pressure state and enhancing the adsorption force. The rotation angle of the rotating shaft is controlled by the control panel. The rotation of the rotating shaft drives the U-shaped plate to synchronously rotate the fixing plate, enabling the fixing plate to be flipped.

[0012] As a preferred embodiment, a support frame is fixedly installed at the top of the base. A cylinder is fixedly installed at the top of the support frame. A support plate is sleeved on the outer surface of the cylinder.

[0013] The technical effects of adopting the above further solution are as follows: The cylinder and the support frame provide the support for the whole device, and the support plate is used to fix the air cylinder so that it will not fall off.

[0014] As a preferred embodiment, a cylinder is fixedly installed on the top of the support plate, and a U-shaped frame is movably installed on the top of the cylinder.

[0015] The technical effects of adopting the above further solution are as follows: The output end of the cylinder is connected to the linkage shaft, and the up and down movement of the cylinder can drive the linkage shaft to move up and down. The U-shaped frame moves and rotates on the top of the cylinder. When an object is adsorbed and the direction needs to be rotated, the U-shaped frame can be rotated on the top of the cylinder through the control panel.

[0016] As a preferred embodiment, two first fixed shafts are fixedly connected to both sides of the inner wall of the U-shaped frame, support bars are sleeved on the outer surfaces of the two first fixed shafts, a second fixed shaft is sleeved on one side of one of the support bars, and two gravity discs are fixedly installed on both sides of the second fixed shaft.

[0017] The technical effects of adopting the above further solution are as follows: The first fixed shaft is used to fix the support bar, and the second fixed shaft is used to support the relative direction of the device by the lever principle when the object is adsorbed by air.

[0018] As a preferred embodiment, the output end of the cylinder is fixedly installed with a linkage shaft, the linkage shaft is fixedly installed on the outer surfaces of both sides of the two support bars, and fixing blocks are fixedly installed on one side of the two support bars.

[0019] The technical effects of adopting the above further solution are as follows: The cylinder pushes the linkage shaft to move up and down, so that the support bars move up and down synchronously through the linkage shaft, and the support bars drive the fixing blocks to move up and down.

[0020] As a preferred embodiment, the bottom of the fixing block is movably installed with an L-shaped rod through a disc, and a control panel is fixedly installed on one side of the L-shaped rod.

[0021] The technical effects of adopting the above further solution are as follows: The up and down movement of the fixing block can drive the L-shaped rod to move synchronously, the up and down movement of the L-shaped rod drives the fixing plate to move up and down, and the L-shaped rod can perform a turning movement through the disc at the bottom of the fixing block.

[0022] Compared with the prior art, the advantages and positive effects of the present utility model are as follows:

[0023] 1. When the utility model is in use, the staff adjusts the movement of the sliding rod inside the movable groove according to the length of the article. The sliding rod drives the straight plate to move synchronously. The slider slides on both sides of the straight plate according to the width of the article. After the adjustment is completed, the air cylinder and the vacuum generator are started. By adjusting the control panel, the rotational torque of the rotating shaft is controlled. The output end of the air cylinder pushes the linkage shaft, so that the support bar moves on the outer surfaces of the fixed shaft 1 and the fixed shaft 2. The support bar drives the fixed block to move up and down. The fixed block drives the L-shaped rod to move the fixed plate up and down through the U-shaped plate. The fixed plate moves downward to drive the large suction cup to adsorb the center of the article.

[0024] 2. When the fixed plate of the utility model moves downward, it drives the straight plate to move the limit plate downward synchronously. When the small suction cup contacts the article, when the telescopic column contracts, the buffer spring plays a buffering role for it. The small suction cup extracts the vacuum inside the suction pipe through the vacuum generator, generating negative pressure to make the adsorption force of the small suction cup on the periphery of the article stronger. At this time, the support bar moves upward and drives the fixed plate to move upward through the L-shaped rod to lift the article, solving the problem that relying on a single suction cup to adsorb at the center of the article, once there is a gap at the suction cup, it will surely fall off, the stability is too poor, the position of the suction cup is too fixed, and it can only rely on the movement of the robotic arm to align with the article. During production work, it is necessary to continuously operate the robotic arm to align with the article for adsorption, consuming a large amount of manpower and material resources. Description of the Drawings

[0025] Figure 1 It is a schematic diagram of the main structure of a robotic arm suction cup provided by the utility model;

[0026] Figure 2 It is a schematic side view structure diagram of a robotic arm suction cup provided by the utility model;

[0027] Figure 3 It is a schematic front view structure diagram of a robotic arm suction cup provided by the utility model;

[0028] Figure 4 It is an enlarged structure diagram of the telescopic frame part of a robotic arm suction cup provided by the utility model.

[0029] Legend Explanation:

[0030] 1. Base; 2. Fixed plate; 3. Control panel; 101. Support frame; 102. Cylinder; 103. Support plate; 104. Cylinder; 105. Linkage shaft; 106. U-shaped frame; 107. Fixed shaft 1; 108. Support bar; 109. Fixed shaft 2; 110. Gravity disk; 111. Fixed block; 112. L-shaped rod; 201. Telescopic frame; 202. Moving slot; 203. Sliding rod; 204. Straight plate; 205. Slide block; 206. Limit plate; 207. Buffer spring; 208. Telescopic column; 209. Small suction cup; 210. Suction pipe; 211. Vacuum generator; 212. Large suction cup; 213. U-shaped plate; 214. Rotating shaft; 215. Vacuum pipeline. Detailed implementation mode

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to Figures 1 to 4 , the present invention provides a technical solution: a manipulator suction cup, including a base 1 and a fixed plate 2. A large suction cup 212 is fixedly installed on the top of the fixed plate 2. Telescopic frames 201 are movably installed on both sides of the fixed plate 2. Moving slots 202 are opened at the tops of the two telescopic frames 201. Sliding rods 203 are movably installed inside the two moving slots 202. Straight plates 204 are fixedly installed at the bottoms of the two sliding rods 203. Two slide blocks 205 are movably installed on both sides of the two straight plates 204. Limit plates 206 are fixedly installed on one side of the multiple slide blocks 205. Vacuum pipelines 215 are fixedly installed on the tops of the multiple limit plates 206. Telescopic columns 208 are fixedly installed at the bottoms of the multiple limit plates 206. By setting the sliding rod 203, it can move inside the moving slot 202 according to the length of the item, so as to adjust the position of the straight plate 204. The telescopic column 208 is used for buffering the relative force when the limit plate 206 moves downward and the small suction cup 209 adsorbs the item.

[0033] Such as Figures 1 to 4As shown, buffer springs 207 are provided on the outer surfaces of multiple telescopic columns 208. Small suction cups 209 are fixedly installed at the bottoms of the multiple telescopic columns 208. Multiple vacuum pipes 215 penetrate through the inside of the telescopic columns 208 and are connected to the inner walls of the small suction cups 209. Suction pipes 210 are fixedly installed at the tops of the multiple vacuum pipes 215. By providing the buffer springs 207, when the telescopic columns 208 buffer the relative force on the small suction cups 209, they contract at the bottom of the limit plate 206 to strengthen the relative force buffer of the small suction cups 209. The suction pipes 210 are used to extract the air inside the small suction cups 209 to form a negative pressure state, increasing the adsorption force of the small suction cups 209 on the items and reducing the dropping of the items.

[0034] As Figures 1 to 4 shown, a vacuum generator 211 is fixedly installed on one side of the fixing plate 2. The suction pipes 210 are fixedly connected to both sides of the vacuum generator 211. A U-shaped plate 213 is fixedly installed on the top of the fixing plate 2. Rotating shafts 214 are fixedly installed on both sides of the U-shaped plate 213. When the small suction cups 209 adsorb items, the air generated inside is extracted from the small suction cups 209 by the vacuum generator 211 through the suction pipes 210, making the inside of the small suction cups 209 in a negative pressure state and enhancing the adsorption force. The rotation angle of the rotating shafts 214 is controlled by the control panel 3. The rotation of the rotating shafts 214 drives the U-shaped plate 213 to rotate the fixing plate 2 synchronously, enabling the fixing plate 2 to be flipped.

[0035] As Figures 1 to 4 shown, a support frame 101 is fixedly installed on the top of the base 1. A cylinder 102 is fixedly installed on the top of the support frame 101. A support plate 103 is sleeved on the outer surface of the cylinder 102. The cylinder 102 and the support frame 101 provide support for the entire device. The support plate 103 is used to fix the cylinder 104 so that it will not fall.

[0036] As Figures 1 to 4 shown, a cylinder 104 is fixedly installed on the top of the support plate 103. A U-shaped frame 106 is movably installed on the top of the cylinder 102. The output end of the cylinder 104 is connected to a linkage shaft 105. The up and down push of the cylinder 104 can drive the linkage shaft 105 to move up and down. The U-shaped frame 106 moves and rotates on the top of the cylinder 102. When the item is adsorbed and needs to be rotated, the U-shaped frame 106 can be rotated on the top of the cylinder 102 through the control panel 3.

[0037] As Figures 1 to 4As shown in the figure, two fixed shafts 107 are fixedly connected to both sides of the inner wall of the U-shaped frame 106. Support bars 108 are sleeved on the outer surfaces of the two fixed shafts 107. A fixed shaft 109 is sleeved on one side of one of the support bars 108. Two gravity disks 110 are fixedly installed on both sides of the fixed shaft 109. The fixed shaft 107 is used to fix the support bar 108, and the fixed shaft 109 is used to support the relative direction of the device by the lever principle when the article is adsorbed with gas.

[0038] As Figures 1 to 4 shown in the figure, a linkage shaft 105 is fixedly installed at the output end of the cylinder 104. The linkage shaft 105 is fixedly installed on the outer surfaces of both sides of the two support bars 108. A fixed block 111 is fixedly installed on one side of the two support bars 108. The cylinder 104 pushes the linkage shaft 105 to move up and down, so that the support bars 108 move up and down synchronously through the linkage shaft 105, and the support bars 108 drive the fixed block 111 to move up and down.

[0039] As Figures 1 to 4 shown in the figure, an L-shaped rod 112 is movably installed at the bottom of the fixed block 111 through a disk. A control panel 3 is fixedly installed on one side of the L-shaped rod 112. The up and down movement of the fixed block 111 can drive the L-shaped rod 112 to move synchronously. The up and down movement of the L-shaped rod 112 drives the fixed plate 2 to move up and down. The L-shaped rod 112 can perform a turning movement through the disk at the bottom of the fixed block 111.

[0040] Working principle: This device is a manipulator suction cup. When in use, the operator adjusts the sliding rod 203 to move inside the movable slot 202 according to the length of the item. The sliding rod 203 drives the straight plate 204 to move synchronously. The operator adjusts the slider 205 to slide on both sides of the straight plate 204 according to the width of the item. After the adjustment is completed, the cylinder 104 and the fixed plate 2 and the vacuum generator 211 are started. The rotation torque of the rotating shaft 214 is controlled by adjusting the control panel 3. The output end of the cylinder 104 pushes the linkage shaft 105, so that the support bar 108 moves on the outer surfaces of the fixed shaft one 107 and the fixed shaft two 109. The support bar 108 drives the fixed block 111 to move up and down. The fixed block 111 drives the L-shaped rod 112 to move the fixed plate 2 up and down through the U-shaped plate 213. When the fixed plate 2 moves downward, it drives the large suction cup 212 to adsorb the center of the item. When the fixed plate 2 moves downward, it also drives the straight plate 204 to move the limiting plate 206 downward synchronously. When the small suction cup 209 contacts the item, when the telescopic column 208 contracts, the buffer spring 207 plays a buffering role for it. The small suction cup 209 then extracts the vacuum inside the suction pipe 210 through the vacuum generator 211, generating negative pressure to make the adsorption force of the small suction cup 209 on the periphery of the item stronger. At this time, the support bar 108 moves upward and drives the fixed plate 2 to move upward through the L-shaped rod 112 to lift the item, solving the problem that in a harsh environment, even if the air in the suction cup is compressed again, relying on a single suction cup to adsorb at the center of the item, once there is a gap at the suction cup, it will surely fall off, the stability is too poor, and it is easy to cause a large amount of losses. The position of the suction cup is too fixed, and it can only rely on the movement of the robotic arm to align with the item. During production work, it is necessary to continuously operate the robotic arm to align with the item for adsorption, consuming a large amount of manpower and material resources.

[0041] The above are only the preferred embodiments of the present invention, and are not limitations to the present invention in other forms. Any person skilled in the art may use the technical content disclosed above to make changes or modifications into equivalent embodiments with equivalent changes and apply them to other fields. However, as long as it does not depart from the technical solution content of the present invention, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims

1. A mechanical hand suction cup, comprising: Base (1) and fixed plate (2), characterized in that: a large suction cup (212) is fixedly installed at the top of the fixed plate (2), telescopic frames (201) are movably installed on both sides of the fixed plate (2), movable slots (202) are opened at the tops of the two telescopic frames (201), sliding rods (203) are movably installed inside the two movable slots (202), straight plates (204) are fixedly installed at the bottoms of the two sliding rods (203), two sliders (205) are movably installed on both sides of the two straight plates (204), limiting plates (206) are fixedly installed on one side of the plurality of sliders (205), vacuum pipes (215) are fixedly installed at the tops of the plurality of limiting plates (206), and telescopic columns (208) are fixedly installed at the bottoms of the plurality of limiting plates (206).

2. The manipulator suction cup according to claim 1, characterized in that: Buffer springs (207) are arranged on the outer surfaces of the plurality of telescopic columns (208), small suction cups (209) are fixedly installed at the bottoms of the plurality of telescopic columns (208), the plurality of vacuum pipes (215) penetrate through the inside of the telescopic columns (208) and are connected to the inner walls of the small suction cups (209), and air suction pipes (210) are fixedly installed at the tops of the plurality of vacuum pipes (215).

3. The manipulator suction cup according to claim 2, characterized in that: A vacuum generator (211) is fixedly installed on one side of the fixed plate (2), the air suction pipe (210) is fixedly connected to both sides of the vacuum generator (211), a U-shaped plate (213) is fixedly installed at the top of the fixed plate (2), and rotating shafts (214) are fixedly installed on both sides of the U-shaped plate (213).

4. The manipulator suction cup according to claim 3, wherein: A support frame (101) is fixedly installed at the top of the base (1), a cylinder (102) is fixedly installed at the top of the support frame (101), and a support plate (103) is sleeved on the outer surface of the cylinder (102).

5. The manipulator suction cup according to claim 4, characterized in that: An air cylinder (104) is fixedly installed at the top of the support plate (103), and a U-shaped frame (106) is movably installed at the top of the cylinder (102).

6. The manipulator suction cup according to claim 5, characterized in that: Two fixed shafts one (107) are fixedly connected to both sides of the inner wall of the U-shaped frame (106), support bars (108) are sleeved on the outer surfaces of the two fixed shafts one (107), a fixed shaft two (109) is sleeved on one side of one of the support bars (108), and two gravity disks (110) are fixedly installed on both sides of the fixed shaft two (109).

7. The manipulator suction cup according to claim 6, characterized in that: A linkage shaft (105) is fixedly installed at the output end of the air cylinder (104), the linkage shaft (105) is fixedly installed on the outer surfaces of both sides of the two support bars (108), and a fixed block (111) is fixedly installed on one side of the two support bars (108).

8. The manipulator suction cup according to claim 7, characterized in that: The bottom of the fixed block (111) is movably installed with an L-shaped rod (112) through a disk, and a control panel (3) is fixedly installed on one side of the L-shaped rod (112).

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