Grabbing type self-suction manipulator

Abstract

The utility model discloses a grabbing type self-suction mechanical arm which comprises an installation base, a suction cup assembly, a clamp assembly, an air pipe connector and a quick upper connector. A flow guide cavity is formed in the middle of the mounting base and penetrates through the upper end face and the lower end face of the mounting base. The flow guide cavity is a cylindrical cavity, and the inner walls of the upper end and the lower end of the flow guide cavity are respectively provided with internal threads; the air pipe connector is vertically arranged and is in threaded connection with the upper end of the flow guide cavity; the quick upper joint is vertically arranged and is in threaded connection with the lower end of the flow guide cavity; the air pipe interface and the quick upper joint are respectively provided with an air guide cavity penetrating through the upper and lower end surfaces; the other end of the air pipe is connected with an air pump; the suction cup assembly is connected with the quick upper connector in a quick and detachable mode through the clamping hoop assembly. According to the grabbing type self-suction mechanical arm, when vacuum suction cups of different specifications need to be disassembled or replaced, the suction cup assembly can be rapidly taken down only by unfastening the clamping hoop assembly; meanwhile, the structure is more concise and reasonable, and the number of the air pipes is reduced.

Description

Technical Field

[0001] This utility model relates to the field of gripping device technology, and in particular to a gripping self-priming robotic arm. Background Technology

[0002] Currently, in automated box packaging equipment, the logistics packaging of some goods consists of an outermost large cardboard box, inside which are several smaller cardboard boxes containing the goods. The goods packaged in these smaller cardboard boxes (hereinafter referred to as packaging boxes) usually need to be neatly arranged in layers inside the large cardboard box.

[0003] For the packaging of the aforementioned goods, existing technologies typically employ suction cup robotic arms to pick up the top of the goods (i.e., the top of the packaging box). The suction cup robotic arms have multiple vacuum suction cups at their bottom. When stacking packaging boxes, the existing robotic arms are controlled by a program to ensure precise contact with the top of the box. They then grip the box using negative pressure suction, and the robotic arms are further controlled to move and stack the boxes (within large cardboard boxes), resulting in neatly arranged stacks for convenient subsequent packaging and logistics.

[0004] However, since the equipment needs to handle different products, packaging boxes of different sizes, and large packaging cartons of different sizes, the specifications, arrangement, and spacing of the suction cups, as well as the shape and size of the suction cup mounting plate, need to be adjusted accordingly. Therefore, it is necessary to design a self-suctioning robotic arm that can easily and quickly replace suction cup components to meet the packaging needs of different products. At the same time, the existing self-suctioning robotic arm has a one-suction-cup configuration, which makes the equipment structure messy. Utility Model Content

[0005] The purpose of this utility model is to provide a gripping self-priming robotic arm with a simple and reasonable design and stable and robust operation. When it is necessary to disassemble or replace vacuum suction cups of different specifications, the suction cup assembly can be quickly removed simply by unfastening the clamp assembly. At the same time, the structure is made simpler and more reasonable, and the number of air tubes is reduced.

[0006] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows:

[0007] A gripping self-priming robotic arm includes a mounting base, a suction cup assembly, a clamp assembly, an air pipe interface, and a quick-connect fitting;

[0008] The mounting base has a flow guide cavity in the middle, which penetrates the upper and lower end faces of the mounting base; preferably, the flow guide cavity is a cylindrical cavity with internal threads on the inner walls of its upper and lower ends respectively;

[0009] The tracheal inlet is vertically positioned and threadedly connected to the upper end of the guide cavity;

[0010] The quick-connector is vertically positioned and threadedly connected to the lower end of the guide cavity;

[0011] Both the tracheal inlet and the quick connector are provided with air guide chambers that extend through their upper and lower ends; the upper end of the tracheal inlet is used to connect to the tracheal tube, and the other end of the tracheal tube is connected to the air pump.

[0012] The suction cup assembly is connected to the quick-connect interface via a clamp assembly;

[0013] The suction cup assembly includes a suction cup mounting plate, several vacuum suction cups, a quick-connect lower connector, a lower connector mounting plate, and a sealing ring. The suction cup mounting plate has an air chamber in the middle, an air outlet at its top, and several vacuum suction cups at its bottom; the air outlet is connected to the quick-connect lower connector via the lower connector mounting plate; the lower connector mounting plate is threadedly connected to the suction cup mounting plate.

[0014] Preferably, the suction cup mounting plate includes an upper plate and a lower plate. The bottom of the upper plate has a recessed cavity, and the top of the lower plate has a recessed cavity. The upper plate and the lower plate are aligned and spliced ​​together, and the two recessed cavities form the air chamber.

[0015] Preferably, the lower plate has an annular groove along the outer edge of the cavity, and a sealing ring is provided in the annular groove. The upper and lower end faces of the sealing ring are respectively attached to the upper plate and the lower plate.

[0016] Preferably, the outer side of the air outlet is provided with an annular groove two, and a sealing ring two is provided inside the annular groove two. The upper and lower end faces of the sealing ring two are respectively attached to the bottom surface of the lower connector mounting plate and the bottom of the annular groove two.

[0017] The clamp assembly includes a clamp, bolts, and nuts. The clamp is a tightening ring with a groove on its inner side. Both the bottom end of the quick-connect upper connector and the top end of the quick-connect lower connector have fitting rings with conical surfaces. The bottom end of the upper connector aligns and fits snugly with the top end of the quick-connect lower connector, and the clamp assembly is fitted onto the outer side to connect and fix the quick-connect upper and lower connectors. Specifically, the clamp is fitted onto the outer side of the fitting rings of the quick-connect upper and lower connectors, and the clamp is tightened (reduced in diameter) by bolts and nuts to compress the quick-connect upper and lower connectors, achieving a secure connection.

[0018] Preferably, to prevent the suction cup mounting plate from rotating or loosening, the mounting base is provided with a limiting plate, the bottom end of which is attached to the left and right sides of the lower connector mounting plate, so that the lower connector mounting plate (suction cup mounting plate) and the mounting base will not rotate or shift axially.

[0019] In the complete machine, the mounting base is connected to the robotic arm, which drives the mounting base to move in the vertical and horizontal directions; the workpiece (product to be packaged) is picked up by the vacuum suction cup, and then moved by the robotic arm to the required position or subsequent processing station.

[0020] When the vacuum suction cup is working, the airflow enters the air chamber of the suction cup mounting plate from the vacuum suction cup, and then flows through the air outlet, quick lower connector, quick upper connector, air pipe interface, air pipe, and air pump in sequence.

[0021] The beneficial effects of this utility model are:

[0022] Its design is simple and reasonable, and its structure is stable and sturdy;

[0023] When it is necessary to disassemble or replace vacuum suction cups of different specifications, simply unfasten the clamp assembly to quickly remove the suction cup assembly;

[0024] At the same time, it makes the structure simpler and more reasonable, reduces the number of air tubes, and allows several vacuum suction cups to share one "air path". Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a gripping self-priming robotic arm according to the present invention;

[0026] Figure 2 This is a side view of a gripping self-priming robotic arm according to the present invention;

[0027] Figure 3 for Figure 2 Cross-sectional view along the BB direction;

[0028] Figure 4 for Figure 3 A structural diagram from another perspective;

[0029] Figure 5 This is a schematic diagram showing the connection between a gripping self-priming robotic hand and a robotic arm according to this utility model. Detailed Implementation

[0030] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding of this utility model, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0031] like Figure 1-4 As shown, a gripping self-priming robotic arm includes a mounting base 1, a suction cup assembly 2, a clamp assembly 3, an air pipe interface 4, and a quick-connect fitting 5.

[0032] The mounting base 1 has a flow guide cavity 10 in the middle, and the flow guide cavity 10 penetrates the upper and lower end faces of the mounting base 1; preferably, the flow guide cavity 10 is a cylindrical cavity, and its upper and lower inner walls are respectively provided with internal threads;

[0033] The tracheal inlet 4 is vertically positioned and threadedly connected to the upper end of the guide cavity 10.

[0034] The quick-connector 5 is vertically positioned and threadedly connected to the lower end of the guide cavity 10;

[0035] Both the tracheal interface 4 and the quick connector 5 are provided with air guide chambers 20 that penetrate their upper and lower ends; the upper end of the tracheal interface 4 is used to connect to the tracheal tube, and the other end of the tracheal tube is connected to the air pump.

[0036] The suction cup assembly 2 is connected to the quick connector 5 via the clamp assembly 3;

[0037] The suction cup assembly 2 includes a suction cup mounting plate 21, a plurality of vacuum suction cups 22, a quick-connect lower connector 23, a lower connector mounting plate 24, and a sealing ring. The suction cup mounting plate 21 has an air chamber 20 in the middle, an air outlet at the top, and a plurality of vacuum suction cups 22 at the bottom; the air outlet is connected to the quick-connect lower connector 23 through the lower connector mounting plate 24; the lower connector mounting plate 24 is threadedly connected to the suction cup mounting plate 21.

[0038] Preferably, the suction cup mounting plate 21 includes an upper plate 211 and a lower plate 212. The upper plate 211 has a recessed cavity at the bottom, and the lower plate 212 has a recessed cavity at the top. The upper plate 211 and the lower plate 212 are aligned and spliced ​​together, and the two recessed cavities form the air chamber 20.

[0039] Preferably, the lower plate 212 has an annular groove 213 on the outer edge of the cavity, and a sealing ring is provided in the annular groove 213. The upper and lower end faces of the sealing ring are respectively attached to the upper plate 211 and the lower plate 212.

[0040] Preferably, the outer side of the air outlet is provided with an annular groove 214, and a sealing ring 2 is provided inside the annular groove 214. The upper and lower end faces of the sealing ring 2 are respectively attached to the bottom surface of the lower connector mounting plate 24 and the bottom of the annular groove 214.

[0041] The clamp assembly 3 includes a clamp 31, bolts, and nuts. The clamp 31 is a tightening ring with a groove 311 on its inner side. The bottom end of the quick-connect upper connector 5 and the top end of the quick-connect lower connector 23 are each provided with a fitting retaining ring 51, which has a conical surface. The bottom end of the upper connector aligns and fits with the top end of the quick-connect lower connector 23, and the clamp assembly 3 is fitted onto the outer side to connect and fix the quick-connect upper connector 5 and the quick-connect lower connector 23. Specifically, the clamp 31 is fitted onto the outer side of the fitting retaining ring 51 of the quick-connect upper connector 5 and the quick-connect lower connector 23, and the clamp 31 is tightened (reduced in diameter) by bolts and nuts to compress the quick-connect upper connector 5 and the quick-connect lower connector 23, achieving a secure connection.

[0042] Preferably, to prevent the suction cup mounting plate 21 from rotating or loosening, the mounting base 1 is provided with a limiting plate 11. The bottom end of the limiting plate 11 is attached to the left and right sides of the lower connector mounting plate 24, so that the lower connector mounting plate 24 (suction cup mounting plate 21) and the mounting base 1 will not rotate or shift axially.

[0043] like Figure 5 As shown, in the complete machine, the mounting base 1 is connected to the robotic arm 6, and the robotic arm 6 drives the mounting base 1 to move in the vertical and horizontal directions; the vacuum suction cup 22 picks up the packaging box (product to be packaged), and then the robotic arm moves the packaging box to the required position (inside the large packaging carton) or the subsequent processing station.

[0044] When the vacuum suction cup 22 is working, the airflow enters the air chamber 20 of the suction cup mounting plate 21 from the vacuum suction cup 22, and then flows through the air outlet, quick lower connector 23, quick upper connector 5, air pipe interface 4, air pipe, and air pump in sequence.

[0045] The embodiments of this utility model have been described in detail above with reference to the accompanying drawings, but this utility model is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and alterations to these embodiments without departing from the principles and spirit of this utility model will still fall within the protection scope of this utility model.

Claims

1. A gripping self-priming robotic arm, characterized in that: Includes mounting base, suction cup assembly, clamp assembly, air hose interface, and quick-connect fitting; The mounting base has a flow guide cavity in the middle, which penetrates the upper and lower end faces of the mounting base; the flow guide cavity is a cylindrical cavity with internal threads on the inner walls of its upper and lower ends respectively; The tracheal inlet is vertically positioned and threadedly connected to the upper end of the guide cavity; The quick-connector is vertically positioned and threadedly connected to the lower end of the guide cavity; Both the tracheal inlet and the quick connector are provided with air guide chambers that extend through their upper and lower ends; the upper end of the tracheal inlet is used to connect to the tracheal tube, and the other end of the tracheal tube is connected to the air pump. The suction cup assembly is detachably connected to the quick-connect fitting via a clamp assembly.

2. The gripping self-priming robotic arm according to claim 1, characterized in that: The suction cup assembly includes a suction cup mounting plate, several vacuum suction cups, a quick-connect lower connector, a lower connector mounting plate, and a sealing ring. The suction cup mounting plate has an air chamber in the middle, an air outlet at the top, and several vacuum suction cups at the bottom. The air outlet is connected to the quick-connector via the lower connector mounting plate; the lower connector mounting plate is threadedly connected to the suction cup mounting plate.

3. The gripping self-priming robotic arm according to claim 2, characterized in that: The suction cup mounting plate includes an upper plate and a lower plate. The bottom of the upper plate has a recessed cavity, and the top of the lower plate has a recessed cavity. The upper plate and the lower plate are aligned and spliced ​​together, and the two recessed cavities form the air chamber.

4. The gripping self-priming robotic arm according to claim 3, characterized in that: The lower plate has an annular groove along the outer edge of the cavity, and a sealing ring is provided in the annular groove. The upper and lower end faces of the sealing ring are respectively attached to the upper plate and the lower plate.

5. The gripping self-priming robotic arm according to claim 4, characterized in that: The outer side of the air outlet is provided with an annular groove two, and a sealing ring two is provided inside the annular groove two. The upper and lower end faces of the sealing ring two are respectively attached to the bottom surface of the lower connector mounting plate and the bottom of the annular groove two.

6. The gripping self-priming robotic arm according to claim 5, characterized in that: The clamp assembly includes a clamp, a bolt, and a nut, wherein the clamp is a tightening ring with a groove on its inner side.

7. The gripping self-priming robotic arm according to claim 5, characterized in that: Both the bottom end of the quick-connect upper connector and the top end of the quick-connect lower connector are provided with fitting retaining rings, and the fitting retaining rings are provided with conical surfaces. The bottom end of the upper connector is aligned and fitted with the top end of the quick lower connector, and a clamp assembly is fitted on the outside to connect and fix the quick upper connector and the quick lower connector.

8. The gripping self-priming robotic arm according to claim 5, characterized in that: The clamp is fitted on the outside of the fitting ring of the quick-connect upper and quick-connect lower connectors, and is tightened to the quick-connect upper and quick-connect lower connectors by bolts and nuts.

9. The gripping self-priming robotic arm according to any one of claims 1-8, characterized in that: The mounting base is equipped with a limiting plate, and the bottom end of the limiting plate is attached to the left and right sides of the lower connector mounting plate.

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