Sucker grabbing mechanism
By designing a multi-rotating-axis suction cup gripping mechanism, combined with lifting, telescopic, and lateral movement devices, the problems of flexibility and stability of the gripping mechanism were solved, enabling efficient transfer and transportation of items in complex environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- XIANGTAN UNIV
- Filing Date
- 2025-07-24
- Publication Date
- 2026-04-21
AI Technical Summary
Existing gripping mechanisms are inflexible, heavy, and lack stability in complex environments, making them unsuitable for handling objects with complex shapes.
A suction cup gripping mechanism was designed, which adopts a multi-rotation axis structure and weight-reducing materials, combined with lifting, telescopic and lateral movement devices, to achieve movement in any direction and improve flexibility and stability.
It effectively reduces weight, improves range and flexibility, ensures stable operation in complex environments, and has good cost control, balancing economy and practicality.
Smart Images
Figure CN224147173U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of mechanical transmission technology, specifically to a suction cup gripping mechanism. Background Technology
[0002] In the fields of logistics handling and industrial automation, with the development of the domestic economy, logistics has become an important part of the national economy. Especially driven by e-commerce, China's express delivery volume has ranked first in the world for many consecutive years. Handling is a basic operation in the logistics chain, directly affecting supply chain efficiency and cost control.
[0003] As the logistics and handling industry's demand for gripping and placing items continues to grow, more and more related technologies are emerging. However, existing gripping mechanisms suffer from relatively poor flexibility, high weight, and poor stability in complex environments. Furthermore, gripping mechanisms are often difficult to adapt to items with complex shapes. Utility Model Content
[0004] The purpose of this utility model is to provide a suction cup gripping mechanism that solves the problems of poor flexibility, high weight, poor stability in complex environments, and difficulty in adapting to objects with complex shapes.
[0005] To achieve the above objectives, this utility model provides the following technical solution:
[0006] A suction cup gripping mechanism includes an overall frame, a bottom moving device, a suction cup gripping mechanism lifting device, a suction cup gripping mechanism telescopic device, a suction cup gripping mechanism lateral moving device, and a suction cup gripping device. The bottom moving device is located at the lower part of the overall frame, and the suction cup gripping mechanism lifting device and the suction cup gripping mechanism telescopic device are located on the overall frame. The suction cup gripping mechanism lateral moving device is located at the front end of the suction cup gripping mechanism telescopic device, and the suction cup gripping device is located at the upper left side of the suction cup gripping mechanism lateral moving device.
[0007] The suction cup gripping device includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, and a suction cup device. The first rotating shaft is located on the left side of the lateral movement device of the suction cup gripping mechanism. The second rotating shaft is connected to the left side of the first rotating shaft. The third rotating shaft is connected to the front of the second rotating shaft. The fourth rotating shaft is connected to the front of the third rotating shaft. The suction cup device is connected to the front of the fourth rotating shaft. The first rotating shaft, the second rotating shaft, the third rotating shaft, and the fourth rotating shaft are arranged in the manner of yaw, roll, pitch, roll.
[0008] Furthermore, the first rotating shaft includes a shaft-1 motor, a shaft-1 transmission bearing fixing plate, a shaft-1 bottom surface fixing plate, a shaft-1 top surface fixing plate, and a shaft-1 transmission plate. The shaft-1 motor is fixed on the lateral moving device of the suction cup gripping mechanism. The shaft-1 bottom surface fixing plate is located on the right side of the shaft-1 motor, the shaft-1 top surface fixing plate is located on the left side of the shaft-1 motor, the shaft-1 transmission bearing fixing plate is located on the left side of the shaft-1 top surface fixing plate, and the shaft-1 transmission plate is located on the left side of the shaft-1 transmission bearing fixing plate.
[0009] The second rotating shaft includes a second shaft motor, a second shaft bottom mounting plate, a second shaft internal gear set, a second shaft top mounting plate, a second shaft bearing fixing plate, a bearing retaining ring side washer, a transmission component shim, and a bearing pressure plate. The second shaft bottom mounting plate is located on the left side of the first rotating shaft. The front end of the second shaft bottom mounting plate is sequentially provided with the second shaft motor, the second shaft top mounting plate, the second shaft bearing fixing plate, the bearing retaining ring side washer, the transmission component shim, and the bearing pressure plate. The second shaft motor has the second shaft internal gear set inside.
[0010] The third rotating shaft includes a third-axis motor and a third-axis transmission plate. The third-axis motor is located at the front end of the second rotating shaft, and the third-axis transmission plate is located on the upper part of the third-axis motor.
[0011] The fourth rotating shaft includes a fourth shaft motor, a fourth shaft mounting side plate, a fourth shaft drive gear, a fourth shaft driven gear, and a fourth shaft bearing assembly. The fourth shaft mounting side plates are provided on the left and right sides of the third shaft transmission plate. The fourth shaft motor is provided at the front end of the third shaft motor. The fourth shaft motor is sequentially connected to the fourth shaft drive gear, the fourth shaft driven gear, and the fourth shaft bearing assembly.
[0012] Furthermore, the overall frame, bottom moving device, suction cup gripping mechanism lifting device, suction cup gripping mechanism telescopic device, suction cup gripping mechanism lateral moving device, and suction cup gripping device are provided with several weight-reducing structural holes, and the suction cup gripping mechanism telescopic device and the suction cup gripping mechanism lateral moving device are made of glass fiber material.
[0013] The beneficial effects of this utility model are as follows: By arranging the first, second, third, and fourth rotating axes in a yaw, roll, pitch, and roll manner, and cooperating with lifting, telescopic, and lateral movement devices, the suction cup device can move in any direction, enabling the transfer and transportation of any point within a specific size. Its weight reduction design can effectively reduce its own weight while only reducing structural strength, improving endurance and flexibility, with good cost control, balancing economy and practicality. At the same time, the center of gravity is configured on the overall frame, which also makes the overall operation more stable.
[0014] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention.
[0016] Figure 2 for Figure 1 A partial structural diagram of component 6.
[0017] Figure 3 This is an exploded view of component 6.
[0018] Figure 4 This is an exploded view of the discrete states of component 6.
[0019] Explanation of reference numerals in the attached drawings: 1. Overall frame; 2. Bottom moving device; 3. Lifting device of the suction cup gripping mechanism; 4. Telescopic device of the suction cup gripping mechanism; 5. Lateral moving device of the suction cup gripping mechanism; 6. Suction cup gripping device; 60. First rotating shaft; 61. Second rotating shaft; 62. Third rotating shaft; 63. Fourth rotating shaft; 64. Suction cup device; 600. Shaft-1 motor; 601. Shaft-1 transmission bearing fixing plate; 602. Shaft-1 bottom fixing plate; 603. Shaft-1 top fixing plate; 604. Shaft 1 drive plate; 610, Shaft 2 motor; 611, Shaft 2 bottom mounting plate; 612, Shaft 2 internal gear set; 613, Shaft 2 top mounting plate; 614, Shaft 2 bearing fixing plate; 615, bearing retaining ring side washer; 616, transmission component shim; 617, bearing bearing plate; 620, Shaft 3 motor; 621, Shaft 3 drive plate; 630, Shaft 4 motor; 631, Shaft 4 mounting side plate; 632, Shaft 4 drive gear; 633, Shaft 4 driven gear; 634, Shaft 4 bearing set. Detailed Implementation
[0020] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0021] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0022] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0023] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.
[0024] Please see Figure 1 A preferred embodiment of this application shows a suction cup gripping mechanism, including an overall frame 1, a bottom moving device 2, a suction cup gripping mechanism lifting device 3, a suction cup gripping mechanism telescopic device 4, a suction cup gripping mechanism lateral moving device 5, and a suction cup gripping device 6. The bottom moving device 2 is provided at the lower part of the overall frame 1, and the suction cup gripping mechanism lifting device 3 and the suction cup gripping mechanism telescopic device 4 are provided on the overall frame 1. The suction cup gripping mechanism lateral moving device 5 is provided at the front end of the suction cup gripping mechanism telescopic device 4, and the suction cup gripping device 6 is provided at the upper left side of the suction cup gripping mechanism lateral moving device 5.
[0025] The suction cup gripping device 6 includes a first rotating shaft 60, a second rotating shaft 61, a third rotating shaft 62, a fourth rotating shaft 63, and a suction cup device 64. The first rotating shaft 60 is located on the left side of the lateral moving device 5 of the suction cup gripping mechanism. The second rotating shaft 61 is connected to the left side of the first rotating shaft 60. The third rotating shaft 62 is connected to the front of the second rotating shaft 61. The fourth rotating shaft 63 is connected to the front of the third rotating shaft 62. The suction cup device 64 is connected to the front of the fourth rotating shaft 63. The first rotating shaft 60, the second rotating shaft 61, the third rotating shaft 62, and the fourth rotating shaft 63 are arranged in the manner of yaw, roll, pitch, roll.
[0026] The first rotating shaft 60 includes a shaft-first motor 600, a shaft-first transmission bearing fixing plate 601, a shaft-first bottom surface fixing plate 602, a shaft-first top surface fixing plate 603, and a shaft-first transmission plate 604. The shaft-first motor 600 is fixed on the lateral moving device 5 of the suction cup gripping mechanism. The shaft-first bottom surface fixing plate 602 is provided on the right side of the shaft-first motor 600, the shaft-first top surface fixing plate 603 is provided on the left side of the shaft-first motor 600, the shaft-first transmission bearing fixing plate 601 is provided on the left side of the shaft-first transmission bearing fixing plate 601, and the shaft-first transmission plate 604 is provided on the left side of the shaft-first transmission bearing fixing plate 601.
[0027] The second rotating shaft 61 includes a second shaft motor 610, a second shaft bottom mounting plate 611, a second shaft internal gear set 612, a second shaft top mounting plate 613, a second shaft bearing fixing plate 614, a bearing retaining ring side washer 615, a transmission component shim 616, and a bearing pressure plate 617. The second shaft bottom mounting plate 611 is located on the left side of the first rotating shaft 60. The front end of the second shaft bottom mounting plate 611 is sequentially provided with the second shaft motor 610, the second shaft top mounting plate 613, the second shaft bearing fixing plate 614, the bearing retaining ring side washer 615, the transmission component shim 616, and the bearing pressure plate 617. The second shaft motor 610 has a second shaft internal gear set 612 inside.
[0028] The third rotating shaft 62 includes a shaft-3 motor 620 and a shaft-3 transmission plate 621. The shaft-3 motor 620 is located at the front end of the second rotating shaft 61, and the shaft-3 transmission plate 621 is located on the upper part of the shaft-3 motor 620.
[0029] The fourth rotating shaft 63 includes a fourth shaft motor 630, a fourth shaft mounting side plate 631, a fourth shaft drive gear 632, a fourth shaft driven gear 633, and a fourth shaft bearing assembly 634. The fourth shaft mounting side plates 631 are provided on the left and right sides of the third shaft transmission plate 621. The fourth shaft motor 630 is provided at the front end of the third shaft motor 620. The fourth shaft motor 630 is connected in sequence to the fourth shaft drive gear 632, the fourth shaft driven gear 633, and the fourth shaft bearing assembly 634.
[0030] The overall frame 1, bottom moving device 2, suction cup gripping mechanism lifting device 3, suction cup gripping mechanism telescopic device 4, suction cup gripping mechanism lateral moving device 5, and suction cup gripping device 6 are provided with several weight-reducing structural holes. The suction cup gripping mechanism telescopic device 4 and suction cup gripping mechanism lateral moving device 5 are made of fiberglass material.
[0031] In use, the movement of the whole is controlled by operating the moving device. The rotating arms, lifting devices, telescopic devices, lateral moving devices and suction cups work together to quickly fix, transfer and transport items.
[0032] In summary, this utility model provides a suction cup gripping mechanism. This device arranges the first, second, third, and fourth rotating axes in a yaw, roll, pitch, and roll manner, and coordinates them with lifting, telescopic, and lateral movement devices. This allows the suction cup device to move in any direction, enabling the transfer and transportation of any point within a specific size. Its weight-reduction design effectively reduces its own weight while only reducing structural strength, improving endurance and flexibility. It also has good cost control, balancing economy and practicality. Furthermore, the center of gravity is positioned on the overall frame, making the overall operation more stable.
[0033] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0034] The embodiments described above merely illustrate the implementation of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.
Claims
1. A suction cup gripping mechanism, characterized in that, The device includes an overall frame (1), a bottom moving device (2), a suction cup gripping mechanism lifting device (3), a suction cup gripping mechanism telescopic device (4), a suction cup gripping mechanism lateral moving device (5), and a suction cup gripping device (6). The bottom moving device (2) is located at the lower part of the overall frame (1). The suction cup gripping mechanism lifting device (3) and the suction cup gripping mechanism telescopic device (4) are located on the overall frame (1). The suction cup gripping mechanism lateral moving device (5) is located at the front end of the suction cup gripping mechanism telescopic device (4). The suction cup gripping device (6) is located on the upper left side of the suction cup gripping mechanism lateral moving device (5). The suction cup gripping device (6) includes a first rotating shaft (60), a second rotating shaft (61), a third rotating shaft (62), a fourth rotating shaft (63), and a suction cup device (64). The first rotating shaft (60) is located on the left side of the lateral moving device (5) of the suction cup gripping mechanism. The second rotating shaft (61) is connected to the left side of the first rotating shaft (60). The third rotating shaft (62) is connected to the front of the second rotating shaft (61). The fourth rotating shaft (63) is connected to the front of the third rotating shaft (62). The suction cup device (64) is connected to the front of the fourth rotating shaft (63). The first rotating shaft (60), the second rotating shaft (61), the third rotating shaft (62), and the fourth rotating shaft (63) are arranged in the manner of yaw, roll, pitch, roll.
2. A suction cup gripping mechanism as claimed in claim 1, characterized in that The first rotating shaft (60) includes a shaft-1 motor (600), a shaft-1 transmission bearing fixing plate (601), a shaft-1 bottom surface fixing plate (602), a shaft-1 top surface fixing plate (603), and a shaft-1 transmission plate (604). The shaft-1 motor (600) is fixed on the lateral moving device (5) of the suction cup gripping mechanism. The shaft-1 bottom surface fixing plate (602) is provided on the right side of the shaft-1 motor (600), the shaft-1 top surface fixing plate (603) is provided on the left side of the shaft-1 motor (600), the shaft-1 transmission bearing fixing plate (601) is provided on the left side of the shaft-1 top surface fixing plate (603), and the shaft-1 transmission plate (604) is provided on the left side of the shaft-1 transmission bearing fixing plate (601). The second rotating shaft (61) includes a second shaft motor (610), a second shaft bottom mounting plate (611), a second shaft internal gear set (612), a second shaft top mounting plate (613), a second shaft bearing fixing plate (614), a bearing retaining ring side washer (615), a transmission component shim (616), and a bearing pressure plate (617). The second shaft bottom mounting plate (611) is located on the left side of the first rotating shaft (60). The front end of the second shaft bottom mounting plate (611) is sequentially provided with the second shaft motor (610), the second shaft top mounting plate (613), the second shaft bearing fixing plate (614), the bearing retaining ring side washer (615), the transmission component shim (616), and the bearing pressure plate (617). The second shaft motor (610) is provided with the second shaft internal gear set (612). The third rotating shaft (62) includes a shaft three motor (620) and a shaft three transmission plate (621). The shaft three motor (620) is located at the front end of the second rotating shaft (61), and the shaft three transmission plate (621) is located on the upper part of the shaft three motor (620). The fourth rotating shaft (63) includes a fourth shaft motor (630), a fourth shaft mounting side plate (631), a fourth shaft drive gear (632), a fourth shaft driven gear (633), and a fourth shaft bearing assembly (634). The fourth shaft mounting side plate (631) is provided on the left and right sides of the third shaft transmission plate (621). The fourth shaft motor (630) is provided at the front end of the third shaft motor (620). The fourth shaft motor (630) is connected in sequence to the fourth shaft drive gear (632), the fourth shaft driven gear (633), and the fourth shaft bearing assembly (634).
3. A suction cup gripping mechanism as claimed in claim 1, characterized in that The overall frame (1), bottom moving device (2), suction cup gripping mechanism lifting device (3), suction cup gripping mechanism telescopic device (4), suction cup gripping mechanism lateral moving device (5), and suction cup gripping device (6) are provided with several weight-reducing structural holes. The suction cup gripping mechanism telescopic device (4) and the suction cup gripping mechanism lateral moving device (5) are made of glass fiber material.