PPU manipulator for carrying nuts
By introducing a flip anti-fall box and a buffer mechanism into the PPU manipulator, the problem of nut falling caused by unstable suction of the suction cup is solved, and safe anti-fall and efficient buffer collection of nuts are achieved.
Patent Information
- Application Number
- CN202422708213.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-07
- Publication Date
- 2025-09-09
- Estimated Expiration
- 2034-11-07
AI Technical Summary
When the suction force of the existing PPU robot is unstable, the nut is easy to fall off and difficult to find, posing a safety hazard of jamming the equipment.
A flip anti-fall box and a buffer mechanism are designed. The flip anti-fall box automatically flips under the suction cup to provide anti-fall insurance. The buffer mechanism cushions the nut through a buffer ramp and a buffer spring to reduce the risk of falling and abnormal noise.
It effectively prevents nuts from falling and getting stuck, reduces the risk of equipment failure, and ensures that nuts are accurately collected and removed.
Smart Images
Figure CN223315943U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of PPU manipulators, in particular to a PPU manipulator for transporting nuts. Background Art
[0002] The PPU robot, a highly efficient handling device, operates primarily on a cam-linkage mechanism. The following details its working principle for handling nuts: Cam-linkage Mechanism: The PPU robot utilizes a cam and connecting rod combination to achieve a specific motion trajectory. As the cam rotates, the connecting rod drives the handling portion of the robot in linear or rotational motion. Flexible Handling: The robot's flexible motion allows it to easily handle various angles and directions, including picking, moving, and placing nuts. Stable Structure: The PPU robot's stable structure ensures trouble-free operation over extended periods, ensuring accurate and reliable nut handling.
[0003] Currently, PPU manipulators use special suction cups to grasp nuts stably and firmly. However, the suction cups controlled by vacuum pumps are prone to unstable suction when the pump body seals poorly, pipes and valves malfunction, or power failures occur. Because the metal parts of nuts are small in size, they are difficult to find if they fall during transportation, and they may even become stuck in running equipment, posing a safety hazard. Utility Model Content
[0004] The purpose of the present utility model is to provide a PPU manipulator for transporting nuts, so as to solve the problems raised in the above background technology.
[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a PPU manipulator for transporting nuts, comprising a PPU manipulator body, a mounting plate fixed to the running end of the PPU manipulator body, a suction cup fixed to the lower end of the mounting plate, a transport anti-fall mechanism arranged below the suction cup, the transport anti-fall mechanism comprising a flip anti-fall box and a flip shaft, the flip anti-fall box being arranged below the mounting plate, the flip shaft being fixed to the upper end of the flip anti-fall box, a buffer mechanism being arranged inside the flip anti-fall box, the buffer mechanism comprising a buffer inclined plate, a buffer rotating shaft and a buffer spring, the buffer inclined plate being rotatably connected to the inside of the flip anti-fall box, the buffer rotating shaft being rotatably connected to the rotating groove of the inner wall of the flip anti-fall box, and the buffer spring being arranged below the buffer inclined plate.
[0006] It should be noted in the solution that a flip motor is fixed to one side surface of the mounting plate, and the output end of the flip motor is fixed to one end of the flip shaft.
[0007] It is further worth mentioning that a fixed-point rotating sleeve is embedded and fixed on one side surface of the mounting plate, and the flip shaft is rotatably connected to the fixed-point rotating sleeve.
[0008] It should be further explained that a receiving groove is provided inside the flip anti-fall box, and the suction cups are arranged and distributed above the center of the receiving groove of the flip anti-fall box.
[0009] As a preferred embodiment, one end of the buffer spring is fixed to the bottom of the buffer inclined plate, and the other end of the buffer spring is fixed to the inner bottom wall of the flip anti-fall box.
[0010] As a preferred embodiment, an elastic rubber pad is fixed to the upper portion of the buffer inclined plate, and a vent hole is opened on the upper portion of the mounting plate, and the vent hole is connected to the air drive mechanism of the PPU manipulator body.
[0011] Compared with the prior art, the PPU manipulator for handling nuts provided by the present invention has at least the following beneficial effects:
[0012] Through the set anti-fall mechanism during transportation, the flip anti-fall box can automatically flip under the suction cup during transportation and provide anti-fall insurance, thereby reducing the risk of nuts accidentally falling due to unstable suction of the suction cup and equipment failure in the middle of transportation. Anti-fall protection for small metal parts such as nuts can prevent them from being difficult to find when falling and falling into the equipment, causing hidden dangers of getting stuck.
[0013] Through the buffer mechanism, the rotating buffer ramp cooperates with the buffer spring to buffer the falling nut, and the elastic rubber pad contacts the nut in advance to reduce part of the impact force, providing efficient buffering when the nut falls, which can reduce the trouble of the nut being ejected and the harsh noise caused by strong collision. The buffer ramp is tilted in the flip anti-fall box to guide the collected nuts to one end of the box so that people can take them out accurately. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a three-dimensional diagram of the overall structure of the utility model;
[0015] Figure 2 This is a three-dimensional diagram of the flip anti-fall box structure of the utility model;
[0016] Figure 3 This is a three-dimensional diagram of the flip shaft structure of the utility model;
[0017] Figure 4 This is a three-dimensional diagram of the buffer spring structure of the present utility model.
[0018] In the figure: 1. PPU robot body; 2. Mounting plate; 3. Suction cup; 4. Vent; 5. Flip anti-fall box; 6. Flip axis; 7. Fixed-point rotating sleeve; 8. Flip motor; 9. Receiving slot; 10. Buffer ramp; 11. Buffer rotating shaft; 12. Elastic rubber pad; 13. Buffer spring. DETAILED DESCRIPTION
[0019] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.
[0020] See also Figure 1-4 The utility model provides a PPU manipulator for transporting nuts, including a PPU manipulator body 1, a mounting plate 2 is fixed to the running end of the PPU manipulator body 1, a suction cup 3 is fixed to the lower end of the mounting plate 2, and a transport anti-fall mechanism is arranged below the suction cup 3, the transport anti-fall mechanism includes a flip anti-fall box 5 and a flip shaft 6, the flip anti-fall box 5 is arranged below the mounting plate 2, the flip shaft 6 is fixed to the upper end of the flip anti-fall box 5, and a buffer mechanism is arranged inside the flip anti-fall box 5, the buffer mechanism includes a buffer inclined plate 10, a buffer rotating shaft 11 and a buffer spring 13, the buffer inclined plate 10 is rotatably connected to the inside of the flip anti-fall box 5, the buffer rotating shaft 11 is rotatably connected to the rotating groove of the inner wall of the flip anti-fall box 5, and the buffer spring 13 is arranged below the buffer inclined plate 10.
[0021] Further as Figure 1 、 Figure 2 and Figure 3 As shown, it is worth mentioning that a flip motor 8 is fixed to one side surface of the mounting plate 2 , and an output end of the flip motor 8 is fixed to one end of the flip shaft 6 .
[0022] Further as Figure 3 As shown, it is worth explaining in detail that a fixed-point rotating sleeve 7 is embedded and fixed on one side surface of the mounting plate 2 , and the flip shaft 6 is rotatably connected to the fixed-point rotating sleeve 7 .
[0023] This solution has the following working process: before use, the suction cup 3 of the PPU manipulator body 1 is connected to the negative pressure air drive mechanism, and then uses high-precision sensors and control systems to accurately identify and locate the nut to be transported. The suction cup 3 stably and firmly grasps the nut, and then through mechanical structures such as cam connecting rods, the manipulator realizes multi-axis linkage and flexibly transports the nut to the specified position. After reaching the target position, the manipulator accurately releases the nut to complete the transport task. After the suction cup 3 adsorbs the nut and lifts it to a certain height, the flip motor 8 automatically controls the flip shaft 6 to rotate on the mounting plate 2, so that the flip anti-fall box 5 can automatically flip to the bottom of the suction cup 3 during transportation and provide anti-fall insurance, thereby reducing the risk of accidental nut falling caused by unstable suction of the suction cup 3 and equipment failure in the middle. Anti-fall protection for small metal parts such as nuts can prevent them from being difficult to find when falling and falling into the equipment, causing hidden dangers of getting stuck.
[0024] According to the above working process, it can be seen that the flip anti-fall box 5 can automatically flip to the bottom of the suction cup 3 during transportation and provide an anti-fall insurance function, thereby reducing the risk of the nut accidentally falling due to unstable suction of the suction cup 3 and equipment failure in the middle. Anti-fall protection for small metal parts such as nuts can prevent them from being difficult to find when falling and falling into the equipment, causing hidden dangers of getting stuck.
[0025] Further as Figure 1 、 Figure 2 and Figure 4 As shown, it is worth explaining in detail that a receiving groove 9 is provided inside the flip anti-fall box 5 , and the suction cups 3 are arranged above the center of the receiving groove 9 of the flip anti-fall box 5 .
[0026] Further as Figure 4 As shown, it is worth mentioning that one end of the buffer spring 13 is fixed to the bottom of the buffer inclined plate 10, and the other end of the buffer spring 13 is fixed to the inner bottom wall of the flip anti-fall box 5. When the nut falls into the flip anti-fall box 5, the buffer inclined plate 10 is rotated and connected to the flip anti-fall box 5, and the buffer spring 13 is arranged in the flip anti-fall box 5 to control the flipping amplitude of the buffer inclined plate 10. In this way, the buffer inclined plate 10 in the rotating state cooperates with the buffer spring 13 to buffer the falling nut, and the elastic rubber pad 12 pre-contacts the nut to remove part of the impact force, providing efficient buffering when the nut falls, which can reduce the trouble of the nut being ejected and the harsh noise caused by strong collision. In addition, the buffer inclined plate 10 is tilted in the flip anti-fall box 5 to guide the collected nuts to one end of the box so that people can take them out accurately.
[0027] Further as Figure 1As shown, it is worth noting that an elastic rubber pad 12 is fixed to the upper part of the buffer inclined plate 10, and a vent hole 4 is opened on the upper part of the mounting plate 2, and the vent hole 4 is connected to the air drive mechanism of the PPU manipulator body 1.
[0028] In summary: the flip anti-fall box 5 can automatically flip to the bottom of the suction cup 3 during transportation and provide anti-fall insurance, thereby reducing the risk of nuts accidentally falling due to unstable suction of the suction cup 3 and equipment failure in the middle. Anti-fall protection for small metal parts such as nuts can prevent them from being difficult to find and falling into the equipment when falling, causing hidden dangers of getting stuck; the rotating buffer ramp 10 cooperates with the buffer spring 13 to buffer the falling nuts, and the elastic rubber pad 12 pre-contacts the nuts to reduce part of the impact force, providing efficient buffering when the nuts fall, which can reduce the trouble of nuts being ejected and strong collisions causing harsh noises. In addition, the buffer ramp 10 is tilted in the flip anti-fall box 5 to guide the collected nuts to one end of the box so that people can take them out accurately.
[0029] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. Although the embodiments of the present invention have been shown and described, this does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention. Regarding the contents of the embodiments of the present invention, ordinary technicians in this field can understand that these embodiments can be subjected to various changes, modifications, substitutions and variations without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.
Claims
1. A PPU manipulator for transporting nuts, comprising a PPU manipulator body (1), characterized in that: The running end of the PPU manipulator body (1) is fixed with a mounting plate (2), the lower end of the mounting plate (2) is fixed with a suction cup (3), a transport anti-falling mechanism is arranged below the suction cup (3), the transport anti-falling mechanism comprises a flip anti-falling box (5) and a flip shaft (6), the flip anti-falling box (5) is arranged below the mounting plate (2), the flip shaft (6) is fixed to the upper end of the flip anti-falling box (5), a buffer mechanism is arranged inside the flip anti-falling box (5), the buffer mechanism comprises a buffer inclined plate (10), a buffer rotating shaft (11) and a buffer spring (13), the buffer inclined plate (10) is rotatably connected to the inside of the flip anti-falling box (5), the buffer rotating shaft (11) is rotatably connected to the rotating groove of the inner wall of the flip anti-falling box (5), and the buffer spring (13) is arranged below the buffer inclined plate (10).
2. A PPU manipulator for transporting nuts according to claim 1, characterized in that: A flip motor (8) is fixed on one side surface of the mounting plate (2), and an output end of the flip motor (8) is fixed on one end of the flip shaft (6).
3. A PPU manipulator for transporting nuts according to claim 2, characterized in that: A fixed-point rotating sleeve (7) is embedded and fixed on one side surface of the mounting plate (2), and the flip shaft (6) is rotatably connected to the fixed-point rotating sleeve (7).
4. A PPU manipulator for transporting nuts according to claim 3, characterized in that: A receiving groove (9) is provided inside the flip anti-fall box (5), and the suction cups (3) are arranged and distributed above the center of the receiving groove (9) of the flip anti-fall box (5).
5. A PPU manipulator for transporting nuts according to claim 4, characterized in that: One end of the buffer spring (13) is fixed to the bottom of the buffer inclined plate (10), and the other end of the buffer spring (13) is fixed to the inner bottom wall of the flip anti-fall box (5).
6. A PPU manipulator for transporting nuts according to claim 5, characterized in that: An elastic rubber pad (12) is fixed to the upper portion of the buffer inclined plate (10), and a vent hole (4) is provided on the upper portion of the mounting plate (2), and the vent hole (4) is connected to the air drive mechanism of the PPU manipulator body (1).