Common sucker gripper

Abstract

The utility model discloses a common sucker gripper, and belongs to the technical field of robot grippers. Comprising a fixed frame; the linear guide rails are arranged on the two sides of the fixed frame in the length direction of the fixed frame; the first suction cup modules are movably arranged at the two ends of the fixed frame along the linear guide rails; and the second suction cup module is fixed on the fixed frame in a lifting manner. The technical scheme has the beneficial effects that different metal plate products can be adsorbed and carried, the production efficiency is high, the structure is simple, the compatibility is high, and the production cost is low.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, and in particular to a suction cup gripper. Background Technology

[0002] Currently, there are two methods for gripping and handling sheet metal products: vacuum adsorption and electromagnet adsorption. When gripping and handling thin sheets, the electromagnet cannot generate a magnetic field properly due to the small thickness of the sheet metal, thus failing to effectively adsorb the sheet metal product. Consequently, the electromagnet adsorption method cannot meet the actual needs in thin sheet metal gripping and handling scenarios.

[0003] Given the limitations of electromagnet adsorption in handling thin sheets, vacuum adsorption is often used in such cases. However, stamped sheet metal often exhibits an uneven and porous surface. This unique product shape necessitates designing different suction cup mounting positions for each sheet metal product when using vacuum adsorption. This means that a new set of vacuum handling fixtures or robotic grippers must be developed for each new product, increasing production costs and preparation time, reducing production efficiency, and causing significant inconvenience and resource waste in production scenarios with frequent product changes. Utility Model Content

[0004] The purpose of this utility model is to provide a common suction cup gripper to solve the above-mentioned technical problems;

[0005] A common suction cup gripper includes,

[0006] Fixed frame;

[0007] Linear guide rails are provided on both sides of the fixed frame along the length of the fixed frame;

[0008] The first suction cup module is movably disposed at both ends of the fixed frame along the linear guide rail;

[0009] The second suction cup module is vertically and adjustablely fixed to the fixed frame.

[0010] Preferably, the first suction cup module located at the first end of the linear guide rail includes,

[0011] First fixing plate;

[0012] Multiple suction cups arranged along the length of the linear guide rail are disposed on the first fixed plate;

[0013] The suction cup array includes multiple suction cup mechanisms arranged along the width direction of the fixed frame;

[0014] The first suction cup queue and the last suction cup queue are symmetrical about the central axis of the first fixing plate;

[0015] The first suction cup mechanism in the middle suction cup queue is located between the remaining suction cup queues, and the last suction cup mechanism in the middle suction cup queue is located outside the remaining suction cup queues.

[0016] Preferably, the first suction cup module located at the second end of the linear guide rail includes,

[0017] The first fixing plate;

[0018] Multiple suction cup arrays arranged along the length of the linear guide rail are disposed on the first fixed plate;

[0019] The suction cup array includes multiple suction cup mechanisms arranged along the width direction of the fixed frame;

[0020] The first suction cup queue and the last suction cup queue are symmetrical about the central axis of the first fixing plate;

[0021] The first suction cup mechanism in the middle suction cup queue is located outside the remaining suction cup queues, and the last suction cup mechanism in the middle suction cup queue is located between the remaining suction cup queues.

[0022] Preferably, the suction cup mechanism includes,

[0023] Multi-layer suction cup body;

[0024] The self-sealing part has one end connected to the multi-layer suction cup body and the other end connected to the first fixing plate. The self-sealing part is equipped with a mechanical check valve inside.

[0025] Preferably, the second suction cup module includes,

[0026] Second fixing plate;

[0027] Multiple suction cup arrays arranged along the length direction of the linear guide rail are disposed on the second fixing plate;

[0028] The suction cup array includes multiple suction cup mechanisms arranged along the width direction of the fixed frame;

[0029] The first suction cup array and the last suction cup array are symmetrical about the central axis of the second fixing plate;

[0030] The first suction cup mechanism in the middle suction cup queue is located between the remaining suction cup queues, and the last suction cup mechanism in the middle suction cup queue is located between the remaining suction cup queues.

[0031] Preferably, the suction cup mechanism includes,

[0032] The multi-layer suction cup body;

[0033] The self-sealing part has one end connected to the multi-layer suction cup body and the other end connected to the second fixing plate.

[0034] Preferably, the first suction cup module is 150mm away from the adjacent second suction cup module.

[0035] Preferably, an electric cylinder module is provided on the inner side of the linear guide rail;

[0036] One of the first suction cup modules is connected to one of the electric cylinder modules.

[0037] Preferably, cylinder modules are provided on both sides of the fixed frame;

[0038] One of the second suction cup modules is connected to two of the cylinder modules.

[0039] Preferably, the bottom of the fixed frame is provided with a mounting flange.

[0040] The advantages of this utility model are: it can adsorb and transport different sheet metal products, resulting in high production efficiency, simple structure, high compatibility, and low production cost. Attached Figure Description

[0041] Figure 1 This is a structural schematic diagram of the common suction cup gripper of this utility model;

[0042] Figure 2 This is a side view of the first suction cup module located at the first end of the linear guide rail of this utility model.

[0043] In the attached diagram: 1. Fixed frame; 2. Linear guide rail; 3. First suction cup module; 4. Second suction cup module; 5. First fixing plate; 6. Suction cup array; 7. Suction cup mechanism; 71. Multi-layer suction cup body; 72. Self-sealing part; 73. Mechanical check valve; 8. Second fixing plate; 9. Electric cylinder module; 10. Pneumatic cylinder module; 11. Mounting flange. Detailed Implementation

[0044] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0045] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0046] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

[0047] A common suction cup gripper, such as Figure 1 As shown, including,

[0048] Fixed frame 1;

[0049] Linear guide rails 2 are provided on both sides of the fixed frame 1 along the length of the fixed frame 1;

[0050] The first suction cup module 3 is movably mounted at both ends of the fixed frame 1 along the linear guide rail 2;

[0051] The second suction cup module 4 is vertically and adjustablely fixed to the fixed frame 1.

[0052] Specifically, this utility model provides a common suction cup gripper. The fixed frame 1 is the main body of the gripper. The first suction cup module 3 can move left and right on the linear guide rail 2 laid on the fixed frame 1. The second suction cup module 4 is fixed on the fixed frame 1 and can move up and down on the fixed frame 1. It can adsorb and transport sheet metal products of different sizes, shapes and internal shapes. It has high production efficiency, simple structure, low cost, and great compatibility with the later updates and iterations of sheet metal products in the factory, reducing the investment cost of such transport fixtures or robot grippers in the later stage.

[0053] In a preferred embodiment, the first suction cup module 3 located at the first end of the linear guide rail 2 includes,

[0054] First fixing plate 5;

[0055] Multiple suction cups 6 arranged along the length of the linear guide rail 2 are mounted on the first fixed plate 5;

[0056] The suction cup array 6 includes multiple suction cup mechanisms 7 arranged along the width direction of the fixed frame 1;

[0057] The first suction cup queue 6 and the tail suction cup queue 6 are symmetrical along the central axis of the first fixed plate 5;

[0058] The first suction cup mechanism 7 in the middle suction cup queue 6 is located between the remaining suction cup queues 6, and the tail suction cup mechanism 7 in the middle suction cup queue 6 is located on the outside of the remaining suction cup queues 6.

[0059] The first suction cup module 3 located at the second end of the linear guide rail 2 includes...

[0060] First fixing plate 5;

[0061] Multiple suction cups 6 arranged along the length of the linear guide rail 2 are mounted on the first fixed plate 5;

[0062] The suction cup array 6 includes multiple suction cup mechanisms 7 arranged along the width direction of the fixed frame 1;

[0063] The first suction cup queue 6 and the tail suction cup queue 6 are symmetrical along the central axis of the first fixed plate 5;

[0064] The first suction cup mechanism 7 in the middle suction cup queue 6 is located outside the remaining suction cup queue 6, and the tail suction cup mechanism 7 in the middle suction cup queue 6 is located between the remaining suction cup queue 6.

[0065] Specifically, in this embodiment, each suction cup queue 6 in the first suction cup module 3 located on the linear guide rail 2 has 15 suction cup mechanisms 7, which provides a more uniform and stable adsorption force when adsorbing objects, and has better adaptability to objects of different shapes and sizes. Whether it is a long strip object or a large square object, sufficient adsorption area can be guaranteed by the simultaneous operation of multiple suction cup mechanisms 7.

[0066] In a preferred embodiment, referencing Figure 2 The suction cup mechanism 7 includes,

[0067] Multi-layer suction cup body 71;

[0068] The self-sealing part 72 has one end connected to the multi-layer suction cup body 71 and the other end connected to the first fixing plate 5. A mechanical check valve 73 is provided inside the self-sealing part 72.

[0069] Specifically, the multi-layer suction cup body 71 utilizes the elasticity and deformability of the material. When the suction cup contacts the surface of an object, the multi-layer structure can deform to different degrees according to the shape of the object's surface.

[0070] For example, the outermost suction cup first contacts the object and deforms to some extent. As the pressure increases, the inner suction cups gradually adhere to the object's surface. This multi-layered adhesion is like wrapping an irregularly shaped object with multiple layers of soft material, which better fills the gap between the object's surface and the suction cups, expelling air and thus generating greater adhesion.

[0071] The fixed frame 1 is made of aluminum, which has a relatively low density, about one-third that of steel. This makes the fixed frame 1 lightweight. The lighter weight provides numerous conveniences during the installation, handling, and use of the equipment.

[0072] For example, if the fixed frame 1 is used for a moving part in an automated production line, a lighter weight can reduce the load on power equipment such as motors and reduce energy consumption.

[0073] Meanwhile, the lighter fixed frame 1 is easier to handle manually and adjust in position during the installation process, which improves the efficiency of installation.

[0074] In a preferred embodiment, the second suction cup module 4 includes,

[0075] Second fixing plate 8;

[0076] Multiple suction cups 6 arranged along the length of the linear guide rail 2 are mounted on the second fixed plate 8;

[0077] The suction cup array 6 includes multiple suction cup mechanisms 7 arranged along the width direction of the fixed frame 1;

[0078] The first suction cup queue 6 and the tail suction cup queue 6 are symmetrical along the central axis of the second fixing plate 8;

[0079] The first suction cup mechanism 7 in the middle suction cup queue 6 is located between the remaining suction cup queues 6, and the tail suction cup mechanism 7 in the middle suction cup queue 6 is located between the remaining suction cup queues 6.

[0080] Specifically, in this embodiment, the first suction cup queue 6 and the tail suction cup queue 6 each have 11 suction cup mechanisms 7, and the middle suction cup queue 6 has 10 suction cup mechanisms 7.

[0081] The difference in the number of suction cup mechanisms 7 can be used to achieve targeted adsorption control based on factors such as the shape, weight, and center of gravity distribution of the object.

[0082] For example, when adsorbing objects whose center of gravity is biased to one side, the working state of the suction cup mechanism 7 in different queues can be reasonably adjusted. By utilizing the characteristics of the number and layout of the suction cups, the point of application of the resultant force of the adsorption force can be matched with the center of gravity of the object, thereby achieving more precise adsorption and handling.

[0083] In a preferred embodiment, the suction cup mechanism 7 includes,

[0084] Multi-layer suction cup body 71;

[0085] The self-sealing part 72 has one end connected to the multi-layer suction cup body part 71 and the other end connected to the second fixing plate 8.

[0086] Specifically, the suction cup mechanism 7 on the second fixing plate 8 and the first fixing plate 5 has the same structure. It is composed of a multi-layer suction cup body 71 and a self-sealing part 72 connecting the multi-layer suction cup body 71. The original single-layer suction cup is changed to a multi-layer suction cup (three-layer suction cups are used in this embodiment for description), and a self-sealing part 72 is added to each suction cup (to ensure that the suction cup does not leak air when adsorbing and perforating).

[0087] The suction cup assembly integrates a mechanical check valve 73. When the suction cup does not cover the workpiece, the check valve automatically closes to ensure the system vacuum level, has an air leakage prevention function, and ensures the efficiency of handling and suction power.

[0088] In a preferred embodiment, the first suction cup module 3 is 150mm away from the adjacent second suction cup module 4.

[0089] Specifically, it allows the vacuum suction cup to move 150mm to the left and right, making it compatible with products ranging from 1500mm to 1800mm in size.

[0090] In a preferred embodiment, an electric cylinder module 9 is provided on the inner side of the linear guide rail 2;

[0091] One first suction cup module 3 is connected to one electric cylinder module 9.

[0092] Specifically, the first suction cup module 3 is mounted on the electric cylinder module 9 and the linear guide rail 2 using screws. The electric cylinder module 9 drives the first suction cup module 3 to move on the linear guide rail 2, allowing the first suction cup module 3 to move 150mm to the left and right, which can adjust the suction position and increase compatibility with different products.

[0093] In a preferred embodiment, cylinder modules 10 are provided on both sides of the fixed frame 1;

[0094] A second suction cup module 4 is connected to two cylinder modules 10.

[0095] Specifically, the middle second suction cup module 4 is connected to the cylinder module 10 using screws. The cylinder module 10 drives the two second suction cup modules 4 to perform lifting and lowering movements. It can be used for products with a size range of 1000mm-1200mm.

[0096] In a preferred embodiment, the bottom of the fixed frame 1 is provided with a mounting flange 11.

[0097] Specifically, the flange 11 facilitates the connection of the gripper assembly to the robot end effector.

[0098] Align the flange's connection holes with the corresponding holes on the robot's end effector, and then secure them using bolts or other fasteners. This reduces errors and uncertainties during installation and improves installation efficiency.

[0099] For example, compared to some complex welding or special connection methods, flange connections do not require specialized welding equipment and highly skilled operators, thus reducing installation costs.

[0100] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A common suction cup gripper, characterized in that, include, Fixed frame; Linear guide rails are provided on both sides of the fixed frame along the length of the fixed frame; The first suction cup module is movably disposed at both ends of the fixed frame along the linear guide rail; The second suction cup module is vertically and adjustablely fixed to the fixed frame.

2. The common suction cup gripper according to claim 1, characterized in that, The first suction cup module located at the first end of the linear guide rail includes... First fixing plate; Multiple suction cups arranged along the length of the linear guide rail are disposed on the first fixed plate; The suction cup array includes multiple suction cup mechanisms arranged along the width direction of the fixed frame; The first suction cup queue and the last suction cup queue are symmetrical about the central axis of the first fixing plate; The first suction cup mechanism in the middle suction cup queue is located between the remaining suction cup queues, and the last suction cup mechanism in the middle suction cup queue is located outside the remaining suction cup queues.

3. The common suction cup gripper according to claim 2, characterized in that, The first suction cup module located at the second end of the linear guide rail includes, The first fixing plate; Multiple suction cup arrays arranged along the length of the linear guide rail are disposed on the first fixing plate; The suction cup array includes multiple suction cup mechanisms arranged along the width direction of the fixed frame; The first suction cup queue and the last suction cup queue are symmetrical about the central axis of the first fixing plate; The first suction cup mechanism in the middle suction cup queue is located outside the remaining suction cup queues, and the last suction cup mechanism in the middle suction cup queue is located between the remaining suction cup queues.

4. The common suction cup gripper according to claim 2, characterized in that, The suction cup mechanism includes, Multi-layer suction cup body; The self-sealing part has one end connected to the multi-layer suction cup body and the other end connected to the first fixing plate. The self-sealing part is equipped with a mechanical check valve inside.

5. The common suction cup gripper according to claim 4, characterized in that, The second suction cup module includes, Second fixing plate; Multiple suction cup arrays arranged along the length direction of the linear guide rail are disposed on the second fixing plate; The suction cup array includes multiple suction cup mechanisms arranged along the width direction of the fixed frame; The first suction cup array and the last suction cup array are symmetrical about the central axis of the second fixing plate; The first suction cup mechanism in the middle suction cup queue is located between the remaining suction cup queues, and the last suction cup mechanism in the middle suction cup queue is located between the remaining suction cup queues.

6. The common suction cup gripper according to claim 5, characterized in that, The suction cup mechanism includes, The multi-layer suction cup body; The self-sealing part has one end connected to the multi-layer suction cup body and the other end connected to the second fixing plate.

7. The common suction cup gripper according to claim 1, characterized in that, The first suction cup module is 150mm away from the adjacent second suction cup module.

8. The common suction cup gripper according to claim 1, characterized in that, An electric cylinder module is provided on the inner side of the linear guide rail; One of the first suction cup modules is connected to one of the electric cylinder modules.

9. The common suction cup gripper according to claim 1, characterized in that, Cylinder modules are provided on both sides of the fixed frame; One of the second suction cup modules is connected to two of the cylinder modules.

10. The common suction cup gripper according to claim 1, characterized in that, The bottom of the fixed frame is provided with a mounting flange.

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