Robot suction cup clamp

Abstract

The utility model discloses a robot suction cup clamp, and belongs to the technical field of clamps. According to the utility model, the sucker is arranged and is used for adsorbing a workpiece; the upper part of the clamp body is provided with a first shaft and a second shaft which can enable the clamp body to turn over; the support arms can stretch or contract, the support arms are uniformly distributed in the circumferential direction of the clamp body, one end of each support arm is provided with the suction cup, and the other end of each support arm is rotationally connected with a fixed shaft arranged on the clamp body, so that the support arms can adjust the position in a swinging manner relative to the clamp body by taking the fixed shaft as the center; the clamping device is not affected by the coverage area of the clamp body, the support arms are flexible to adjust, and the clamping device has the advantages of being simple in structure, convenient and fast to use and good in universality.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of clamp, especially to a robot suction cup clamp. BACKGROUND

[0002] At present, sheet metal parts need to be transferred from one position to another position and rotated by a certain angle on the automobile body production line in order to carry out the next process, and the suction cup clamp is widely used in the clamping and transfer of automatic production line, especially plate parts.

[0003] The traditional suction cup clamp mainly comprises a clamp frame body and a suction cup, the clamp frame body is usually a cuboid or a square structure, a plurality of suction cups are installed on the clamp frame body, the suction cup can only be adjusted within the horizontal projection coverage range of the clamp frame body, the overall volume of the clamp frame body does not change, such suction cup clamp has poor versatility, occupies production space, especially when the length direction of the sheet metal part changes, the shape of the sheet metal part cannot be flexibly adapted.

[0004] Therefore, in view of the above problems, the utility model provides a robot suction cup clamp which can adapt to the shape of the part in the clamping direction. UTILITY MODEL CONTENT

[0005] The utility model aims at overcoming the defects in the prior art, providing a robot suction cup clamp, which solves the problems of poor versatility and occupation of production space in the prior art.

[0006] In order to achieve the above purpose, the utility model provides the following technical scheme:

[0007] The utility model discloses a kind of robot suction cup clamps, comprising:

[0008] Suction cup, for adsorbing workpiece;

[0009] Clamp body, the upper part of which is provided with first shaft and second shaft capable of overturning motion;

[0010] Support arm, which can be extended or retracted, is uniformly distributed along the circumference of the clamp body, wherein one end of the support arm is provided with the suction cup, and the other end is rotatably connected with the fixed shaft installed on the clamp body, so that the support arm can be adjusted in position relative to the clamp body with the fixed shaft as the center, thereby adapting to the shape of the workpiece to be clamped.

[0011] Further, it further comprises a connecting seat fixed to the upper part of the clamp body, and the connecting seat is provided with a shaft hole for installing the first shaft and the second shaft.

[0012] Further, the cross-shaped intersection virtual axis a formed by the clamp body is provided with the fixed shaft at both ends, the virtual circle b is formed by the clamp body with the fixed shaft as the center, and the positioning groove is arranged on the virtual circle b to connect with the positioning member on the support arm and position the support arm at any position.

[0013] Further, the positioning sleeve is fixedly connected with the support arm at the position corresponding to the positioning groove to be in sliding connection with the positioning groove, and the height of the positioning sleeve is less than the depth of the positioning groove.

[0014] Further, the positioning member comprises a positioning piece and a positioning nut in threaded connection with the positioning piece, and the positioning piece penetrates through the positioning sleeve.

[0015] Further, the positioning piece is a hexagonal head bolt or a pin shaft.

[0016] Further, the support arm comprises a support arm body and a support arm sub-body sleeved in the support arm body and stretched or contracted along the length of the support arm body, and the support arm body is provided with a locking structure for positioning the support arm sub-body.

[0017] Further, the locking structure comprises a locking sleeve fixedly connected with the support arm body and a locking piece in threaded connection with the locking sleeve and capable of penetrating into the inner cavity of the support arm body, and the end of the locking piece is in abutment with the support arm sub-body.

[0018] Further, the locking piece is a jackscrew or a bolt.

[0019] In the above technical solution, the robot suction cup clamp has the following beneficial effects:

[0020] The robot suction cup clamp has the following beneficial effects: the clamp body is provided with the first shaft and the second shaft, the clamp body is connected with the end effector of the manipulator through the first shaft and the second shaft to realize the overturning action of the clamp body with the first shaft as the rotation center, the support arms are uniformly distributed in the circumferential direction of the clamp body, the suction cup is arranged at one end of the support arm, the other end of the support arm is rotatably connected with the clamp body through the positioning shaft, the support arm produces the swing motion relative to the clamp body with the fixed shaft as the center, the position of the support arm is adjusted with the fixed shaft as the center during use, the shape of the workpiece to be clamped is adapted, the flexible adjustment is realized, the position of the support arm and the suction cup can be adjusted at will without being affected by the coverage area of the clamp body, the problems of poor universality and occupation of production space in the prior art are solved, the structure is simple, the use is convenient, the universality is good, and the production efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described in the following are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0022] Figure 1 is a perspective view of a robot chuck clamp disclosed by the present application;

[0023] Figure 2 is a front view of a robot chuck clamp disclosed by the present application;

[0024] Figure 3 is a working state top view of a robot chuck clamp disclosed by the present application;

[0025] Figure 4 is another working state top view of a robot chuck clamp disclosed by the present application;

[0026] Figure 5 is another working state top view of a robot chuck clamp disclosed by the present application.

[0027] Explanation of reference signs:

[0028] 1, chuck; 2, clamping body; 201, fixed shaft; 202, positioning groove; 203, positioning piece; 3, connecting seat; 301, first shaft; 302, second shaft; 4, supporting arm; 401, supporting arm split body; 402, positioning sleeve; 403, locking sleeve; 404, locking piece; 5, workpiece. DETAILED DESCRIPTION

[0029] In order to make those skilled in the art better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the drawings.

[0030] Referring to Figure 1 as shown;

[0031] The utility model discloses a robot chuck clamp, comprising:

[0032] chuck 1 is used for adsorbing workpiece;

[0033] clamping body 2 is provided with first shaft 301 and second shaft 302 that can make it overturning motion, and the specific clamping body 2 is connected with the mechanical hand end execution mechanism through first shaft 301 and second shaft 302, and through the cooperation of first shaft 301 and second shaft 302, the second shaft 302 is driven, and the clamping body 2 is made to complete overturning action with first shaft 301 as the rotation center;

[0034] The arm 4 is capable of stretching or shrinking, and the arm 4 is uniformly distributed along the clamping body 2 in a circumferential direction. One end of the arm 4 is provided with the suction cup 1, and the other end is rotatably connected with the fixed shaft 201 arranged on the clamping body 2, so that the arm 4 produces a swinging motion relative to the clamping body 2 with the fixed shaft 201 as the center. In use, the position of the arm 4 is adjusted with the fixed shaft 201 as the center, and then the shape of the workpiece 5 to be clamped (as shown in Figure 4 、 5 The workpiece 5 to be clamped can be a cuboid structure placed horizontally or vertically.

[0035] Referring to Figure 2

[0036] Preferably, the robot suction cup clamp further comprises a connecting seat 3 fixed to the upper part of the clamping body 2, and the connecting seat 3 is provided with a shaft hole for mounting the first shaft 301 and the second shaft 302.

[0037] Specifically, the connecting seat 3 comprises a bottom plate and an ear plate fixed to the bottom plate at intervals, the ear plate extends vertically upward, and the top end and the middle part of the ear plate are provided with shaft holes for mounting the first shaft 301 and the second shaft 302. The connecting seat 3 is fixedly connected with the clamping body 2 through the bottom plate, which can be fixedly connected by welding or by bolts. In assembly, the robot executive mechanism is inserted between the two ear plates and connected with the first shaft 301 and the second shaft 302.

[0038] Referring to Figure 3

[0039] Preferably, the two ends of the virtual axis a in the form of a cross formed on the clamping body 2 are provided with the fixed shaft 201, the clamping body 2 is formed with a virtual circle b with the fixed shaft 201 as the center, and a positioning groove 202 is formed on the virtual circle b for connecting with the positioning part on the arm 4 and positioning the position of the arm 4 at any position.

[0040] Specifically, the clamping body 2 is in the form of a quadrilateral plate structure, the clamping body 2 is provided with the fixed shaft 201 on the diagonal lines of the quadrilateral, the diagonal lines of the quadrilateral are the virtual axis a, and the clamping body 2 is formed with the virtual circle b with the fixed shaft 201 as the center. The positioning groove 202 formed on the virtual circle b is connected with the positioning part arranged on the arm 4. In use, the angle of the arm 4 can be positioned at any position on the positioning groove 202 through the positioning part, so as to adapt to the shape of the workpiece.

[0041] Preferably, the arm 4 is fixedly connected with a positioning sleeve 402 corresponding to the position of the positioning groove 202, for sliding connection with the positioning groove 202, and the height of the positioning sleeve 402 is less than the depth of the positioning groove 202. In assembly, the positioning part is mounted through the positioning sleeve 402.

[0042] ​​Preferably, the positioning component comprises a positioning member 203 and a positioning nut screwed with the positioning member 203, in assembly, the positioning member 203 penetrates the positioning sleeve 402 and the supporting arm 4 in sequence, and the end of the positioning member 203 is connected with the positioning nut, and the positioning member 203 is a hexagonal head bolt or a pin shaft with external threads at one end and a shoulder at the other end.

[0043] Referring to Figure 2 , 3 illustrated in the drawings,

[0044] Preferably, the supporting arm 4 comprises a supporting arm body and a supporting arm sub-body 401 sleeved in the supporting arm body and extending or contracting along the length of the supporting arm body, the supporting arm body is provided with a locking structure for locking the supporting arm sub-body 401, wherein the supporting arm body is rotationally connected with the fixed shaft 201, the end of the supporting arm sub-body 401 is provided with the suction cup 1, and the supporting arm body can lock the supporting arm sub-body 401 through the locking structure to fix the extension length of the supporting arm sub-body 401, so as to position the length of the supporting arm 4 and determine the clamping area of the fixture for clamping the workpiece.

[0045] Referring to Figure 2 illustrated in the drawings,

[0046] Preferably, the locking structure comprises a locking sleeve 403 fixed on the supporting arm body and a locking member 404 screwed with the locking sleeve 403 and capable of penetrating into the inner cavity of the locking sleeve 403, and the end of the locking member 404 abuts against the supporting arm sub-body 401 to achieve the purpose of locking the supporting arm sub-body 401. The locking member 404 is a top wire or a bolt in the prior art.

[0047] In the above technical solution, the robot suction cup fixture provided by the utility model has the following advantages:

[0048] Referring to Figure 3 illustrated in the drawings, when transferring the square sheet metal part, the supporting arm 4 extends along the diagonal direction of the fixture body 2 and is locked in position, and the end suction cup 1 of the supporting arm 4 works to adsorb the plate material with the carrying plate, the robot executive mechanism drives the second shaft 302 to enable the fixture body 2 to rotate around the first shaft 301, so that the fixture body 2 can stably transfer the square plate material or the plate material close to the square shape;

[0049] Referring to Figure 4 illustrated in the drawings, when transferring the vertically placed rectangular sheet metal part, the supporting arm 4 is adjusted towards the end of the first shaft 301 and the second shaft 302 and is locked, and the end suction cup 1 of the supporting arm 4 works to adsorb the plate material to be transferred, the robot executive mechanism drives the second shaft 302 to enable the fixture body 2 to rotate around the first shaft 301, so that the fixture body 2 can stably transfer the vertically placed rectangular plate material;

[0050] Referring to Figure 5As shown, when the cuboid sheet metal horizontally placed as shown is transferred, the support arm 4 is adjusted towards both sides of the first shaft 301 and the second shaft 302 and locked, and the suction cup 1 at the end of the support arm 4 works to adsorb the plate to be transferred, the robot executive mechanism drives the second shaft 302 to enable the clamping body 2 to rotate around the first shaft 301, so that the clamping body 2 can stably transfer the horizontally placed rectangular plate;

[0051] Advantages:

[0052] The robot suction cup clamp designed in the utility model has the clamping body provided with the first shaft and the second shaft, firstly, the first shaft and the second shaft are connected with the end executive mechanism of the mechanical hand, the clamping body is realized to complete the overturning action with the first shaft as the rotating center, secondly, the clamping body is uniformly distributed with the support arm in the circumferential direction, the suction cup is installed at one end of the support arm, the other end is rotationally connected with the clamping body through the positioning shaft, the support arm generates the swing motion relative to the clamping body with the fixed shaft as the center, the position of the support arm is adjusted with the fixed shaft as the center during use, and then the shape of the workpiece to be clamped is adapted, flexible adjustment is realized, the position of the support arm and the suction adsorption position of the suction cup can be arbitrarily adjusted without being affected by the covered area of the clamping body, the problems of poor universality and occupied production space in the prior art are solved, the utility model has the advantages of simple structure, convenient use, good universality and the beneficial effect of helping to improve the production efficiency.

[0053] The above only describes some exemplary embodiments of the utility model in a descriptive manner, without doubt, for ordinary skilled in the art, the described embodiments can be modified in various different ways without deviating from the spirit and scope of the utility model. Therefore, the above drawings and description are illustrative in nature and should not be understood as limiting the scope of protection of the utility model claims.

Claims

1. A robotic suction cup gripper, characterized in that, The utility model relates to a kind of robot suction cup clamps, including: Suction cup (1) for adsorbing workpiece; Clamping body (2), the upper portion of which is provided with a first shaft (301) and a second shaft (302) capable of making it overturning movement; Supporting arm (4) can be extended or contracted, the supporting arm (4) is evenly distributed along the clamping body (2) circumferentially, wherein one end of the supporting arm (4) is mounted with the suction cup (1), and the other end is rotatably connected with the fixed shaft (201) installed on the clamping body (2), so that the supporting arm (4) can be adjusted in position relative to the clamping body (2) with the fixed shaft (201) as the center, and then adapt to the shape of the workpiece (5) to be clamped.

2. A robotic suction cup gripper according to claim 1, wherein ； It also includes a connecting seat (3) fixed on the upper part of the clamping body (2), which is provided with a shaft hole for mounting the first shaft (301) and the second shaft (302).

3. The robot suction cup clamp of claim 1, wherein: The clamping body (2) is formed with a virtual axis a in the shape of a cross at both ends, and the clamping body (2) is formed with a virtual circle b with the fixed shaft (201) as the center, and a positioning groove (202) is formed on the virtual circle b for connecting with the positioning member on the supporting arm (4) and positioning the supporting arm (4) at any position.

4. A robotic suction cup gripper according to claim 3, wherein ； The supporting arm (4) is fixed with a positioning sleeve (402) corresponding to the position of the positioning groove (202), for sliding connection with the positioning groove (202), and the height of the positioning sleeve (402) is less than the depth of the positioning groove (202).

5. A robotic suction cup gripper according to claim 4, wherein ； The positioning member includes a positioning piece (203) and a positioning nut threaded with the positioning piece (203), and the positioning piece (203) penetrates the positioning sleeve (402).

6. A robotic suction cup gripper according to claim 5, wherein ； The positioning piece (203) is a hexagonal head bolt or a pin shaft.

7. A robotic suction cup gripper as claimed in claim 1, wherein ； The supporting arm (4) includes a supporting arm body and a supporting arm part (401) sleeved in the supporting arm body and extended or contracted along the length of the supporting arm body, and the supporting arm body is provided with a locking structure for positioning the supporting arm part (401).

8. A robotic suction cup gripper according to claim 7, wherein ； The locking structure includes a locking sleeve (403) fixed on the supporting arm body and a locking piece (404) threaded with the locking sleeve (403) and capable of penetrating into the inner cavity of the supporting arm body, and the locking piece (404) abuts against the supporting arm part (401) at the end.

9. A robotic suction cup gripper according to claim 8, wherein ； The locking piece (404) is a jackscrew or a bolt.

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